Merge branch 'main' into RET-1025_handle_motor_driver_errors

.github/workflows/release_bundle.yaml

@@ -103,55 +103,22 @@ jobs:
           replacesArtifacts: true
           allowUpdates: true
 
-      - name: 'Add firmware images artifact'
+      - name: 'Add firmware category zips'
         uses: 'ncipollo/[email protected]'
         with:
-          artifacts: ./firmware-images-${{github.ref_name}}.zip
+          artifacts: ./firmware-*-${{github.ref_name}}.zip
           artifactContentType: application/zip
           allowUpdates: true
           omitBodyDuringUpdate: true
           omitDraftDuringUpdate: true
           omitNameDuringUpdate: true
           omitPrereleaseDuringUpdate: true
 
-      - name: 'Add firmware robot images artifact'
+      - name: 'Add latest firmware images'
         uses: 'ncipollo/[email protected]'
         with:
-          artifacts: ./firmware-robot-images-${{github.ref_name}}.zip
-          artifactContentType: application/zip
-          allowUpdates: true
-          omitBodyDuringUpdate: true
-          omitDraftDuringUpdate: true
-          omitNameDuringUpdate: true
-          omitPrereleaseDuringUpdate: true
-
-      - name: 'Add firmware pipette images artifact'
-        uses: 'ncipollo/[email protected]'
-        with:
-          artifacts: ./firmware-pipette-images-${{github.ref_name}}.zip
-          artifactContentType: application/zip
-          allowUpdates: true
-          omitBodyDuringUpdate: true
-          omitDraftDuringUpdate: true
-          omitNameDuringUpdate: true
-          omitPrereleaseDuringUpdate: true
-
-      - name: 'Add firmware gripper images artifact'
-        uses: 'ncipollo/[email protected]'
-        with:
-          artifacts: ./firmware-gripper-images-${{github.ref_name}}.zip
-          artifactContentType: application/zip
-          allowUpdates: true
-          omitBodyDuringUpdate: true
-          omitDraftDuringUpdate: true
-          omitNameDuringUpdate: true
-          omitPrereleaseDuringUpdate: true
-
-      - name: 'Add firmware applications artifact'
-        uses: 'ncipollo/[email protected]'
-        with:
-          artifacts: ./firmware-applications-${{github.ref_name}}.zip
-          artifactContentType: application/zip
+          artifacts: './firmware-*-images-${{github.ref_name}}/*.hex'
+          artifactContentType: text/plain
           allowUpdates: true
           omitBodyDuringUpdate: true
           omitDraftDuringUpdate: true

CMakeLists.txt

@@ -69,6 +69,8 @@ if (${CMAKE_CROSSCOMPILING})
 
     add_compile_definitions(ENABLE_CCMRAM)
 
+    add_compile_definitions(ENABLE_CROSS_ONLY_HEADERS)
+
     configure_file(common/firmware/platform_specific_hal_conf.h.in ${CMAKE_BINARY_DIR}/generated/platform_specific_hal_conf.h)
     configure_file(common/firmware/platform_specific_hal.h.in ${CMAKE_BINARY_DIR}/generated/platform_specific_hal.h)
 

bootloader/firmware/stm32G4/CMakeLists.txt

@@ -64,17 +64,17 @@ endmacro()
 foreach_revision(
     PROJECT_NAME bootloader-gantry-x
     CALL_FOREACH_REV gantry_x_bootloader_loop
-    REVISIONS a1 b1 c1
-    SOURCES _g4_sources _g4_sources _g4_sources
+    REVISIONS a1 b1 c1 c2
+    SOURCES _g4_sources _g4_sources _g4_sources _g4_sources
     NO_CREATE_IMAGE_HEX
     NO_CREATE_INSTALL_RULES
     )
 
 foreach_revision(
     PROJECT_NAME bootloader-gantry-y
     CALL_FOREACH_REV gantry_y_bootloader_loop
-    REVISIONS a1 b1 c1
-    SOURCES _g4_sources _g4_sources _g4_sources
+    REVISIONS a1 b1 c1 c2
+    SOURCES _g4_sources _g4_sources _g4_sources _g4_sources
     NO_CREATE_IMAGE_HEX
     NO_CREATE_INSTALL_RULES
     )
@@ -93,8 +93,8 @@ endmacro()
 foreach_revision(
     PROJECT_NAME bootloader-gripper
     CALL_FOREACH_REV gripper_bootloader_loop
-    REVISIONS a1 b1 c1
-    SOURCES gripper_sources gripper_sources gripper_sources
+    REVISIONS a1 b1 c1 c2
+    SOURCES gripper_sources gripper_sources gripper_sources gripper_sources
     NO_CREATE_IMAGE_HEX
     NO_CREATE_INSTALL_RULES
     )
@@ -132,26 +132,26 @@ set(_pipette_sources ${_g4_sources} ./pipette_handle_messages.c)
 foreach_revision(
     PROJECT_NAME bootloader-pipettes-single
     CALL_FOREACH_REV pipettes_single_bootloader_loop
-    REVISIONS b1 c2
-    SOURCES _pipette_sources _pipette_sources
+    REVISIONS b1 c2 d1
+    SOURCES _pipette_sources _pipette_sources _pipette_sources
     NO_CREATE_IMAGE_HEX
     NO_CREATE_INSTALL_RULES
     )
 
 foreach_revision(
     PROJECT_NAME bootloader-pipettes-multi
     CALL_FOREACH_REV pipettes_multi_bootloader_loop
-    SOURCES _pipette_sources _pipette_sources
-    REVISIONS b1 c2
+    SOURCES _pipette_sources _pipette_sources _pipette_sources
+    REVISIONS b1 c2 d1
     NO_CREATE_IMAGE_HEX
     NO_CREATE_INSTALL_RULES
     )
 
 foreach_revision(
     PROJECT_NAME bootloader-pipettes-96
     CALL_FOREACH_REV pipettes_ninety_six_bootloader_loop
-    REVISIONS b1 c1
-    SOURCES _pipette_sources _pipette_sources
+    REVISIONS b1 c1 d2
+    SOURCES _pipette_sources _pipette_sources _pipette_sources
     NO_CREATE_IMAGE_HEX
     NO_CREATE_INSTALL_RULES
     )

common/tests/test_debounce.cpp

@@ -32,3 +32,71 @@ SCENARIO("debouncing gpio pins works") {
         }
     }
 }
+
+SCENARIO("debouncing with holdoff cnt works") {
+    GIVEN("a state value and bounce value") {
+        debouncer::Debouncer subject{.holdoff_cnt = 2};
+        WHEN("switching from unset to set") {
+            subject.debounce_update(true);
+            CHECK(subject.cnt == 0);
+            subject.debounce_update(true);
+            CHECK(subject.cnt == 1);
+            THEN("state stays the same on the first two ticks") {
+                REQUIRE(subject.debounce_state() == false);
+            }
+            subject.debounce_update(true);
+            THEN("state updates on the third tick") {
+                REQUIRE(subject.debounce_state() == true);
+                THEN("cnt gets reset") { CHECK(subject.cnt == 0); }
+            }
+            WHEN("reset is called") {
+                subject.reset();
+                THEN("values are reset") {
+                    REQUIRE(subject.cnt == 0);
+                    REQUIRE(subject.state_bounce == false);
+                    REQUIRE(subject.state == false);
+                    // holdoff cnt remains the same
+                    REQUIRE(subject.holdoff_cnt == 2);
+                }
+            }
+        }
+        WHEN("switching from set to unset") {
+            // make sure the state is true
+            subject.debounce_update(true);
+            subject.debounce_update(true);
+            subject.debounce_update(true);
+
+            subject.debounce_update(false);
+            subject.debounce_update(false);
+            THEN("state stays the same on the first two ticks") {
+                REQUIRE(subject.debounce_state() == true);
+            }
+            subject.debounce_update(false);
+            THEN("state updates on the third tick") {
+                REQUIRE(subject.debounce_state() == false);
+            }
+        }
+        WHEN("switching from set to unset before holdoff cnt is reached") {
+            // make sure the state is true
+            subject.debounce_update(true);
+            subject.debounce_update(true);
+            CHECK(subject.cnt == 1);
+            subject.debounce_update(false);
+            THEN("cnt gets reset back to 0") {
+                CHECK(subject.cnt == 0);
+                REQUIRE(subject.debounce_state() == false);
+            }
+            THEN("it requires another 3 updates to actually update the state") {
+                subject.debounce_update(true);
+                CHECK(subject.cnt == 0);
+                REQUIRE(subject.debounce_state() == false);
+                subject.debounce_update(true);
+                CHECK(subject.cnt == 1);
+                REQUIRE(subject.debounce_state() == false);
+                subject.debounce_update(true);
+                CHECK(subject.cnt == 0);
+                REQUIRE(subject.debounce_state() == true);
+            }
+        }
+    }
+}

gantry/firmware/CMakeLists.txt

@@ -53,6 +53,7 @@ set(GANTRY_X_B1_SRCS
     ${CMAKE_SOURCE_DIR}/gantry/firmware/axis_x_rev1_hardware_config.c
 )
 set(GANTRY_X_C1_SRCS ${GANTRY_X_B1_SRCS})
+set(GANTRY_X_C2_SRCS ${GANTRY_X_C1_SRCS})
 
 set(GANTRY_Y_A1_SRCS
     ${GANTRY_BASE_SOURCES}
@@ -65,6 +66,7 @@ set(GANTRY_Y_B1_SRCS
     ${CMAKE_SOURCE_DIR}/gantry/firmware/axis_y_rev1_hardware_config.c
 )
 set(GANTRY_Y_C1_SRCS ${GANTRY_Y_B1_SRCS})
+set(GANTRY_Y_C2_SRCS ${GANTRY_Y_C1_SRCS})
 
 macro(gantry_loop_internal)
     set(_gli_options)
@@ -122,14 +124,14 @@ endmacro()
 foreach_revision(
     PROJECT_NAME gantry-x
     CALL_FOREACH_REV gantry_loop_internal_x
-    REVISIONS a1 b1 c1
-    SOURCES GANTRY_X_A1_SRCS GANTRY_X_B1_SRCS GANTRY_X_C1_SRCS
+    REVISIONS a1 b1 c1 c2
+    SOURCES GANTRY_X_A1_SRCS GANTRY_X_B1_SRCS GANTRY_X_C1_SRCS GANTRY_X_C2_SRCS
     )
 foreach_revision(
     PROJECT_NAME gantry-y
     CALL_FOREACH_REV gantry_loop_internal_y
-    REVISIONS a1 b1 c1
-    SOURCES GANTRY_Y_A1_SRCS GANTRY_Y_B1_SRCS GANTRY_Y_C1_SRCS
+    REVISIONS a1 b1 c1 c2
+    SOURCES GANTRY_Y_A1_SRCS GANTRY_Y_B1_SRCS GANTRY_Y_C1_SRCS GANTRY_Y_C2_SRCS
     )
 
 

gripper/core/tasks.cpp

@@ -160,7 +160,9 @@ void gripper_tasks::QueueClient::send_pressure_sensor_queue_front(
 void gripper_tasks::QueueClient::send_pressure_sensor_queue_rear(
     const sensors::utils::TaskMessage&) {}
 
-void gripper_tasks::QueueClient::send_tip_notification_queue(
+void gripper_tasks::QueueClient::send_tip_notification_queue_rear(
+    const sensors::tip_presence::TaskMessage&) {}
+void gripper_tasks::QueueClient::send_tip_notification_queue_front(
     const sensors::tip_presence::TaskMessage&) {}
 
 /**

gripper/firmware/CMakeLists.txt

@@ -49,6 +49,7 @@ set(GRIPPER_SRCS_B1
         ${CMAKE_CURRENT_SOURCE_DIR}/main_rev1.cpp
 )
 set(GRIPPER_SRCS_C1 ${GRIPPER_SRCS_B1})
+set(GRIPPER_SRCS_C2 ${GRIPPER_SRCS_C1})
 
 macro(gripper_loop)
     set(_driver_suffix ${PROJECT_NAME}_${REVISION})
@@ -88,8 +89,8 @@ endmacro()
 
 foreach_revision(
     PROJECT_NAME gripper
-    REVISIONS a1 b1 c1
-    SOURCES GRIPPER_SRCS_A1 GRIPPER_SRCS_B1 GRIPPER_SRCS_C1
+    REVISIONS a1 b1 c1 c2
+    SOURCES GRIPPER_SRCS_A1 GRIPPER_SRCS_B1 GRIPPER_SRCS_C1 GRIPPER_SRCS_C2
     CALL_FOREACH_REV gripper_loop)
 
 alias_for_revision(PROJECT_NAME gripper REVISION a1 REVISION_ALIAS proto)

include/bootloader/core/ids.h

@@ -67,6 +67,8 @@ typedef enum {
     can_messageid_brushed_motor_conf_request = 0x45,
     can_messageid_brushed_motor_conf_response = 0x46,
     can_messageid_set_gripper_error_tolerance = 0x47,
+    can_messageid_gripper_jaw_state_request = 0x48,
+    can_messageid_gripper_jaw_state_response = 0x49,
     can_messageid_acknowledgement = 0x50,
     can_messageid_read_presence_sensing_voltage_request = 0x600,
     can_messageid_read_presence_sensing_voltage_response = 0x601,

include/can/core/ids.hpp

@@ -72,6 +72,8 @@ enum class MessageId {
     brushed_motor_conf_request = 0x45,
     brushed_motor_conf_response = 0x46,
     set_gripper_error_tolerance = 0x47,
+    gripper_jaw_state_request = 0x48,
+    gripper_jaw_state_response = 0x49,
     acknowledgement = 0x50,
     read_presence_sensing_voltage_request = 0x600,
     read_presence_sensing_voltage_response = 0x601,

include/can/core/message_handlers/motion.hpp

@@ -48,7 +48,8 @@ class BrushedMotionHandler {
     using MessageType =
         std::variant<std::monostate, DisableMotorRequest, EnableMotorRequest,
                      ReadLimitSwitchRequest, MotorPositionRequest,
-                     SetGripperErrorToleranceRequest, GetMotorUsageRequest>;
+                     SetGripperErrorToleranceRequest, GetMotorUsageRequest,
+                     GripperJawStateRequest>;
 
     BrushedMotionHandler(BrushedMotionTaskClient &motion_client)
         : motion_client{motion_client} {}