use new methods

Opentrons · Jul 1, 2024 · f05b409 · f05b409
1 parent 1a67548
commit f05b409
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Showing 4 changed files with 13 additions and 3 deletions.
diff --git a/include/can/core/ids.hpp b/include/can/core/ids.hpp
@@ -216,6 +216,7 @@ enum class SensorOutputBinding {
     report = 0x2,
     max_threshold_sync = 0x4,
     auto_baseline_report = 0x8,
+    multi_sensor_sync = 0x10,
 };
 
 /** How a sensor's threshold should be interpreted. */

diff --git a/include/sensors/core/tasks/capacitive_driver.hpp b/include/sensors/core/tasks/capacitive_driver.hpp
@@ -91,8 +91,10 @@ class FDC1004 {
 
     void set_bind_sync(bool should_bind) {
         bind_sync = should_bind;
-        hardware.set_sync_required(sensor_id);
-        hardware.reset_sync(sensor_id);
+        hardware.set_sync_enabled(sensor_id, should_bind);
+    }
+    void set_multi_sensor_sync(bool should_bind) {
+        hardware.set_sync_required(sensor_id, should_bind);
     }
 
     void set_max_bind_sync(bool should_bind) {
@@ -279,6 +281,7 @@ class FDC1004 {
 
         if (max_capacitance_sync) {
             if (capacitance > fdc1004::MAX_CAPACITANCE_READING) {
+                // Use the set_sync that always sets the sync line here
                 hardware.set_sync();
             } else {
                 hardware.reset_sync(sensor_id);

diff --git a/include/sensors/core/tasks/pressure_driver.hpp b/include/sensors/core/tasks/pressure_driver.hpp
@@ -88,8 +88,11 @@ class MMR920 {
 
     void set_bind_sync(bool should_bind) {
         bind_sync = should_bind;
+        hardware.set_sync_enabled(sensor_id, should_bind);
+    }
+
+    void set_multi_sensor_sync(bool should_bind) {
         hardware.set_sync_required(sensor_id, should_bind);
-        hardware.reset_sync(sensor_id);
     }
 
     void set_max_bind_sync(bool should_bind) {

diff --git a/include/sensors/core/tasks/pressure_sensor_task.hpp b/include/sensors/core/tasks/pressure_sensor_task.hpp
@@ -130,6 +130,9 @@ class PressureMessageHandler {
         driver.set_echoing(
             m.binding &
             static_cast<uint8_t>(can::ids::SensorOutputBinding::report));
+        driver.set_multi_sensor_sync(
+            m.binding &
+            static_cast<uint8_t>(can::ids::SensorOutputBinding::multi_sensor_sync));
         driver.set_bind_sync(
             m.binding &
             static_cast<uint8_t>(can::ids::SensorOutputBinding::sync));