build fixes

Opentrons · Apr 30, 2024 · a553c8b · a553c8b
1 parent 070ad67
commit a553c8b
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Showing 3 changed files with 30 additions and 6 deletions.
diff --git a/include/motor-control/core/stepper_motor/motor.hpp b/include/motor-control/core/stepper_motor/motor.hpp
@@ -18,7 +18,11 @@ using namespace freertos_message_queue;
 
 template <lms::MotorMechanicalConfig MEConfig>
 struct Motor {
+#ifdef USE_SENSOR_MOVE
+    using GenericQueue = FreeRTOSMessageQueue<SensorSyncMove>;
+#else
     using GenericQueue = FreeRTOSMessageQueue<Move>;
+#endif
     using UpdatePositionQueue = FreeRTOSMessageQueue<
         can::messages::UpdateMotorPositionEstimationRequest>;
 

diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -49,26 +49,46 @@ struct Empty {
 
 template <class SensorClient>
 struct SensorClientHelper {
-    inline static void send_to_pressure_sensor_queue(
+    inline static void send_to_pressure_sensor_queue_rear(
         SensorClient& sensor_client,
         can::messages::BindSensorOutputRequest& m) {
         sensor_client.send_pressure_sensor_queue_rear_isr(m);
     }
-    inline static void send_to_capacitive_sensor_queue(
+    inline static void send_to_pressure_sensor_queue_front(
+        SensorClient& sensor_client,
+        can::messages::BindSensorOutputRequest& m) {
+        sensor_client.send_pressure_sensor_queue_front_isr(m);
+    }
+    inline static void send_to_capacitive_sensor_queue_rear(
         SensorClient& sensor_client,
         can::messages::BindSensorOutputRequest& m) {
         sensor_client.send_capacitive_sensor_queue_rear_isr(m);
     }
+    inline static void send_to_capacitive_sensor_queue_front(
+        SensorClient& sensor_client,
+        can::messages::BindSensorOutputRequest& m) {
+        sensor_client.send_capacitive_sensor_queue_front_isr(m);
+    }
 };
 
 template <>
 struct SensorClientHelper<Empty> {
-    inline static void send_to_pressure_sensor_queue(
+    inline static void send_to_pressure_sensor_queue_rear(
+        Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
+        std::ignore = sensor_client;
+        std::ignore = m;
+    }
+    inline static void send_to_pressure_sensor_queue_front(
+        Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
+        std::ignore = sensor_client;
+        std::ignore = m;
+    }
+    inline static void send_to_capacitive_sensor_queue_rear(
         Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
         std::ignore = sensor_client;
         std::ignore = m;
     }
-    inline static void send_to_capacitive_sensor_queue(
+    inline static void send_to_capacitive_sensor_queue_front(
         Empty& sensor_client, can::messages::BindSensorOutputRequest& m) {
         std::ignore = sensor_client;
         std::ignore = m;

diff --git a/pipettes/core/CMakeLists.txt b/pipettes/core/CMakeLists.txt
@@ -28,7 +28,7 @@ function(target_pipettes_core_multi TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=EIGHT_CHANNEL)
     if(${USE_SENSOR_MOVE})
-    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=1800)
+    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=1700)
     target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC
@@ -39,7 +39,7 @@ function(target_pipettes_core_96 TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=NINETY_SIX_CHANNEL)
     if(${USE_SENSOR_MOVE})
-    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=900)
+    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=800)
     target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC