consolidate hardware initializer

Opentrons · Jan 23, 2024 · ce39ee7 · ce39ee7
1 parent 48d6fe3
commit ce39ee7
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Showing 11 changed files with 31 additions and 156 deletions.
diff --git a/hepa-uv/core/tasks.cpp b/hepa-uv/core/tasks.cpp
@@ -36,8 +36,8 @@ void hepauv_tasks::start_tasks(
     can_task::start_reader(can_bus);
 
     // TODO: including led_hardware for testing, this should be a AssesorClient
-    auto& hepa_task =
-        hepa_task_builder.start(5, "hepa_fan", gpio_drive_pins, hepa_hardware, queues);
+    auto& hepa_task = hepa_task_builder.start(5, "hepa_fan", gpio_drive_pins,
+                                              hepa_hardware, queues);
     auto& uv_task =
         uv_task_builder.start(5, "uv_ballast", gpio_drive_pins, queues);
     auto& led_control_task =

diff --git a/hepa-uv/firmware/hardware.c b/hepa-uv/firmware/hardware.c
diff --git a/hepa-uv/firmware/hepa_control_hardware.cpp b/hepa-uv/firmware/hepa_control_hardware.cpp
@@ -1,9 +1,9 @@
 #include "hepa-uv/firmware/hepa_control_hardware.hpp"
-#include "hepa-uv/firmware/hardware.h"
 
-using namespace hepa_control_hardware;
+#include "hepa-uv/firmware/hepauv_hardware.h"
 
+using namespace hepa_control_hardware;
 
 void HepaControlHardware::set_hepa_fan_speed(uint32_t duty_cycle) {
-    hepa_fan_hw_update_pwm(duty_cycle);
+    set_hepa_fan_pwm(duty_cycle);
 }
diff --git a/hepa-uv/firmware/led_control_task/led_control_hardware.cpp b/hepa-uv/firmware/led_control_task/led_control_hardware.cpp
@@ -6,9 +6,7 @@
 using namespace led_control_hardware;
 
 // NOLINTNEXTLINE(readability-convert-member-functions-to-static)
-auto LEDControlHardware::initialize() -> void {
-    initialize_hepauv_hardware();
-}
+auto LEDControlHardware::initialize() -> void { initialize_hepauv_hardware(); }
 
 void LEDControlHardware::set_button_led_power(uint8_t button, uint32_t r,
                                               uint32_t g, uint32_t b,

diff --git a/hepa-uv/firmware/main_rev1.cpp b/hepa-uv/firmware/main_rev1.cpp
@@ -22,9 +22,9 @@
 #include "common/firmware/utility_gpio.h"
 #include "hepa-uv/core/messages.hpp"
 #include "hepa-uv/core/tasks.hpp"
-#include "hepa-uv/firmware/led_control_hardware.hpp"
 #include "hepa-uv/firmware/hepa_control_hardware.hpp"
 #include "hepa-uv/firmware/hepauv_hardware.h"
+#include "hepa-uv/firmware/led_control_hardware.hpp"
 #include "hepa-uv/firmware/utility_gpio.h"
 
 static auto iWatchdog = iwdg::IndependentWatchDog{};
@@ -131,7 +131,8 @@ auto main() -> int {
 
     canbus.start(can_bit_timings);
 
-    hepauv_tasks::start_tasks(canbus, gpio_drive_pins, hepa_hardware, led_hardware);
+    hepauv_tasks::start_tasks(canbus, gpio_drive_pins, hepa_hardware,
+                              led_hardware);
 
     iWatchdog.start(6);
 

diff --git a/include/hepa-uv/core/hepa_task.hpp b/include/hepa-uv/core/hepa_task.hpp
@@ -6,8 +6,8 @@
 #include "common/core/message_queue.hpp"
 #include "common/firmware/gpio.hpp"
 #include "hepa-uv/core/constants.h"
-#include "hepa-uv/core/messages.hpp"
 #include "hepa-uv/core/led_control_task.hpp"
+#include "hepa-uv/core/messages.hpp"
 #include "hepa-uv/firmware/gpio_drive_hardware.hpp"
 #include "hepa-uv/firmware/hepa_control_hardware.hpp"
 
@@ -18,10 +18,13 @@ using TaskMessage = interrupt_task_messages::TaskMessage;
 template <led_control_task::TaskClient LEDControlClient>
 class HepaMessageHandler {
   public:
-    explicit HepaMessageHandler(gpio_drive_hardware::GpioDrivePins &drive_pins,
-                                hepa_control_hardware::HepaControlHardware &hepa_hardware,
-                                LEDControlClient &led_control_client)
-        : drive_pins{drive_pins}, hepa_hardware{hepa_hardware}, led_control_client{led_control_client} {
+    explicit HepaMessageHandler(
+        gpio_drive_hardware::GpioDrivePins &drive_pins,
+        hepa_control_hardware::HepaControlHardware &hepa_hardware,
+        LEDControlClient &led_control_client)
+        : drive_pins{drive_pins},
+          hepa_hardware{hepa_hardware},
+          led_control_client{led_control_client} {
         // get current state
         hepa_push_button = gpio::is_set(drive_pins.hepa_push_button);
         // turn off the HEPA fan
@@ -93,10 +96,12 @@ class HepaTask {
      * Task entry point.
      */
     template <led_control_task::TaskClient LEDControlClient>
-    [[noreturn]] void operator()(gpio_drive_hardware::GpioDrivePins *drive_pins,
-                                hepa_control_hardware::HepaControlHardware *hepa_hardware,
-                                LEDControlClient *led_control_client) {
-        auto handler = HepaMessageHandler{*drive_pins, *hepa_hardware, *led_control_client};
+    [[noreturn]] void operator()(
+        gpio_drive_hardware::GpioDrivePins *drive_pins,
+        hepa_control_hardware::HepaControlHardware *hepa_hardware,
+        LEDControlClient *led_control_client) {
+        auto handler = HepaMessageHandler{*drive_pins, *hepa_hardware,
+                                          *led_control_client};
         TaskMessage message{};
         for (;;) {
             if (queue.try_read(&message, queue.max_delay)) {

diff --git a/include/hepa-uv/core/interfaces.hpp b/include/hepa-uv/core/interfaces.hpp
@@ -17,7 +17,7 @@ class LEDControlInterface {
                                       uint32_t b, uint32_t w) -> void = 0;
 };
 
-} // led_control namespace
+}  // namespace led_control
 
 namespace hepa_control {
 
@@ -27,9 +27,10 @@ class HepaControlInterface {
     HepaControlInterface(const HepaControlInterface&) = delete;
     HepaControlInterface(HepaControlInterface&&) = delete;
     auto operator=(HepaControlInterface&&) -> HepaControlInterface& = delete;
-    auto operator=(const HepaControlInterface&) -> HepaControlInterface& = delete;
+    auto operator=(const HepaControlInterface&)
+        -> HepaControlInterface& = delete;
     virtual ~HepaControlInterface() = default;
 
     virtual void set_hepa_fan_speed(uint32_t duty_cycle);
-}; 
-} // hepa_control namespace
+};
+}  // namespace hepa_control
diff --git a/include/hepa-uv/core/led_control_task.hpp b/include/hepa-uv/core/led_control_task.hpp
@@ -4,8 +4,8 @@
 
 #include "common/core/message_queue.hpp"
 #include "hepa-uv/core/constants.h"
-#include "hepa-uv/core/messages.hpp"
 #include "hepa-uv/core/interfaces.hpp"
+#include "hepa-uv/core/messages.hpp"
 
 namespace led_control_task {
 

diff --git a/include/hepa-uv/core/tasks.hpp b/include/hepa-uv/core/tasks.hpp
@@ -5,8 +5,8 @@
 #include "hepa-uv/core/led_control_task.hpp"
 #include "hepa-uv/core/uv_task.hpp"
 #include "hepa-uv/firmware/gpio_drive_hardware.hpp"
-#include "hepa-uv/firmware/led_control_hardware.hpp"
 #include "hepa-uv/firmware/hepa_control_hardware.hpp"
+#include "hepa-uv/firmware/led_control_hardware.hpp"
 
 namespace hepauv_tasks {
 

diff --git a/include/hepa-uv/firmware/hardware.h b/include/hepa-uv/firmware/hardware.h
diff --git a/include/hepa-uv/firmware/hepa_control_hardware.hpp b/include/hepa-uv/firmware/hepa_control_hardware.hpp
@@ -19,4 +19,4 @@ class HepaControlHardware : public HepaControlInterface {
     void set_hepa_fan_speed(uint32_t duty_cycle);
 };
 
-}  // namespace led_control_hardware
+}  // namespace hepa_control_hardware