feat(sensors): enable logging both pressure sensors on the 8/96

include/bootloader/core/ids.h

@@ -194,6 +194,8 @@ typedef enum {
 typedef enum {
     can_sensorid_s0 = 0x0,
     can_sensorid_s1 = 0x1,
+    can_sensorid_unused = 0x2,
+    can_sensorid_both = 0x3,
 } CANSensorId;
 
 /** Links sensor threshold triggers to pins. */
@@ -238,6 +240,7 @@ typedef enum {
     can_movestopcondition_stall = 0x10,
     can_movestopcondition_ignore_stalls = 0x20,
     can_movestopcondition_limit_switch_backoff = 0x40,
+    can_movestopcondition_sensor_report = 0x80,
 } CANMoveStopCondition;
 
 /** A bit field of the arbitration id parts. */

include/can/core/ids.hpp

@@ -208,6 +208,7 @@ enum class SensorId {
     S0 = 0x0,
     S1 = 0x1,
     UNUSED = 0x2,
+    BOTH = 0x3,
 };
 
 /** Links sensor threshold triggers to pins. */
@@ -252,6 +253,7 @@ enum class MoveStopCondition {
     stall = 0x10,
     ignore_stalls = 0x20,
     limit_switch_backoff = 0x40,
+    sensor_report = 0x80,
 };
 
 /** High-level type of pipette. */

include/motor-control/core/brushed_motor/brushed_motor_interrupt_handler.hpp

@@ -121,6 +121,7 @@ class BrushedMotorInterruptHandler {
                         true, AckMessageId::complete_without_condition);
                 }
                 break;
+            case MoveStopCondition::sensor_report:
             case MoveStopCondition::ignore_stalls:
             case MoveStopCondition::limit_switch_backoff:
             case MoveStopCondition::sync_line:
@@ -301,6 +302,7 @@ class BrushedMotorInterruptHandler {
             case MoveStopCondition::sync_line:
             case MoveStopCondition::ignore_stalls:
             case MoveStopCondition::limit_switch_backoff:
+            case MoveStopCondition::sensor_report:
                 // this is an unused move stop condition for the brushed motor
                 // just return with no condition
                 // TODO creat can bus error messages and send that instead

include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp

@@ -379,7 +379,20 @@ class MotorInterruptHandler {
          */
         return tick_count < buffered_move.duration;
     }
-
+#ifdef USE_PRESSURE_MOVE
+    auto send_bind_message(can::ids::SensorId sensor, uint8_t binding) -> void {
+        auto msg = can::messages::BindSensorOutputRequest{
+            .message_index = buffered_move.message_index,
+            .sensor = can::ids::SensorType::pressure,
+            .sensor_id = sensor,
+            .binding = binding};
+        if (sensor == can::ids::SensorId::S0) {
+            send_to_pressure_sensor_queue_rear(msg);
+        } else {
+            send_to_pressure_sensor_queue_front(msg);
+        }
+    }
+#endif
     void update_move() {
         _has_active_move = move_queue.try_read_isr(&buffered_move);
         if (_has_active_move) {
@@ -388,13 +401,13 @@ class MotorInterruptHandler {
                 hardware.get_encoder_pulses();
 #ifdef USE_PRESSURE_MOVE
             if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
-                auto msg = can::messages::BindSensorOutputRequest{
-                    .message_index = buffered_move.message_index,
-                    .sensor = can::ids::SensorType::pressure,
-                    .sensor_id = buffered_move.sensor_id,
-                    .binding = static_cast<uint8_t>(0x3)  // sync and report
-                };
-                send_to_pressure_sensor_queue(msg);
+                uint8_t binding = static_cast<uint8_t>(0x3);  // sync and report
+                if (buffered_move.sensor_id == can::ids::SensorId::BOTH) {
+                    send_bind_message(can::ids::SensorId::S0, binding);
+                    send_bind_message(can::ids::SensorId::S1, binding);
+                } else {
+                    send_bind_message(buffered_move.sensor_id, binding);
+                }
             }
 #endif
         }
@@ -486,13 +499,14 @@ class MotorInterruptHandler {
         build_and_send_ack(ack_msg_id);
 #ifdef USE_PRESSURE_MOVE
         if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
-            auto stop_msg = can::messages::BindSensorOutputRequest{
-                .message_index = buffered_move.message_index,
-                .sensor = can::ids::SensorType::pressure,
-                .sensor_id = buffered_move.sensor_id,
-                .binding =
-                    static_cast<uint8_t>(can::ids::SensorOutputBinding::sync)};
-            send_to_pressure_sensor_queue(stop_msg);
+            uint8_t binding =
+                static_cast<uint8_t>(can::ids::SensorOutputBinding::sync);
+            if (buffered_move.sensor_id == can::ids::SensorId::BOTH) {
+                send_bind_message(can::ids::SensorId::S0, binding);
+                send_bind_message(can::ids::SensorId::S1, binding);
+            } else {
+                send_bind_message(buffered_move.sensor_id, binding);
+            }
         }
 #endif
         set_buffered_move(MotorMoveMessage{});
@@ -638,12 +652,20 @@ class MotorInterruptHandler {
             static_cast<uint32_t>(position_tracker >> 31));
     }
 #ifdef USE_PRESSURE_MOVE
-    void send_to_pressure_sensor_queue(
+    void send_to_pressure_sensor_queue_rear(
         can::messages::BindSensorOutputRequest& m) {
         std::ignore = sensor_tasks::get_queues()
                           .pressure_sensor_queue_rear->try_write_isr(m);
         // if (!success) {this->cancel_and_clear_moves();}
     }
+    void send_to_pressure_sensor_queue_front(
+        can::messages::BindSensorOutputRequest& m) {
+        // send to both queues, they will handle their own gating based on
+        // sensor id
+        std::ignore = sensor_tasks::get_queues()
+                          .pressure_sensor_queue_front->try_write_isr(m);
+        // if (!success) {this->cancel_and_clear_moves();}
+    }
 #endif
     uint64_t tick_count = 0x0;
     static constexpr const q31_31 tick_flag = 0x80000000;

pipettes/core/CMakeLists.txt

@@ -28,7 +28,8 @@ function(target_pipettes_core_multi TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=EIGHT_CHANNEL)
     if(${USE_PRESSURE_MOVE})
-    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=2800)
+    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=1800)
+    target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_task_low_throughput.cpp)
@@ -38,7 +39,8 @@ function(target_pipettes_core_96 TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=NINETY_SIX_CHANNEL)
     if(${USE_PRESSURE_MOVE})
-    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=1800)
+    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=900)
+    target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_task_high_throughput.cpp)
@@ -48,7 +50,8 @@ function(target_pipettes_core_384 TARGET REVISION)
     target_pipettes_core_common(${TARGET} ${REVISION})
     target_compile_definitions(${TARGET} PUBLIC PIPETTE_TYPE_DEFINE=THREE_EIGHTY_FOUR_CHANNEL)
     if(${USE_PRESSURE_MOVE})
-    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=1800)
+    target_compile_definitions(${TARGET} PUBLIC P_BUFF_SIZE=1500)
+    target_compile_definitions(${TARGET} PUBLIC USE_TWO_BUFFERS=true)
     endif()
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_task_high_throughput.cpp)

pipettes/core/sensor_tasks.cpp

@@ -7,6 +7,9 @@
 static auto tasks = sensor_tasks::Tasks{};
 static auto queue_client = sensor_tasks::QueueClient{};
 static std::array<float, PRESSURE_SENSOR_BUFFER_SIZE> p_buff;
+#ifdef USE_TWO_BUFFERS
+static std::array<float, PRESSURE_SENSOR_BUFFER_SIZE> p_buff_front;
+#endif
 static auto eeprom_task_builder =
     freertos_task::TaskStarter<512, eeprom::task::EEPromTask>{};
 
@@ -140,7 +143,15 @@ void sensor_tasks::start_tasks(
     auto& pressure_sensor_task_front = pressure_sensor_task_builder_front.start(
         5, "pressure sensor s1", secondary_pressure_i2c_client,
         secondary_pressure_i2c_poller, queues, sensor_hardware_secondary,
-        sensor_version, p_buff);
+        sensor_version,
+#ifdef USE_TWO_BUFFERS
+        p_buff_front);
+#else
+        // we don't want to build a second buffer for the single channel, but if
+        // we dont pass in the correct sized array here, compilation fails
+        // this doesn't matter though cause single channels will never call this
+        p_buff);
+#endif
     auto& capacitive_sensor_task_rear =
         capacitive_sensor_task_builder_rear.start(
             5, "capacitive sensor s0", i2c3_task_client, i2c3_poller_client,

push

@@ -59,8 +59,12 @@ def _build_fw(zip_path, apps_path):
         for fname in os.listdir(apps_path):
             zf.write(os.path.join(apps_path, fname), fname)
 
-def _transfer_firmware(host, repo_path, scp, ssh):
-    apps_path = os.path.join(repo_path, 'dist', 'applications')
+def _transfer_firmware(host, repo_path, scp, ssh, sensors):
+    dist_dir = "dist"
+    if sensors
+        dist_dir = dist_dir+"-sensors"
+    apps_path = os.path.join(repo_path, 'dist-sensor', 'applications')
+    apps_path = os.path.join(repo_path, 'dist-sensor', 'applications')
     with _controlled_tempdir() as td:
         local_zip_path = os.path.join(td, 'fw.zip')
         robot_zip_path = '/tmp/fw.zip'
@@ -69,9 +73,14 @@ def _transfer_firmware(host, repo_path, scp, ssh):
         _ssh(ssh, host, 'unzip -o {zip_path} -d /usr/lib/firmware/'.format(zip_path=robot_zip_path))
         _ssh(ssh, host, 'rm {zip_path}'.format(zip_path=robot_zip_path))
 
-def _prep_firmware(repo_path, cmake):
-    _cmd([cmake, '--build', '--preset=firmware-g4', '--target', 'firmware-applications'], cwd=repo_path)
-    _cmd([cmake, '--install', './build-cross', '--component', 'Applications'], cwd=repo_path)
+def _prep_firmware(repo_path, cmake, sensors):
+    preset = "firmware-g4"
+    working_dir = "./build-cross"
+    if sensors
+        preset = preset+"-sensors"
+        working_dir = working_dir+"-sensors"
+    _cmd([cmake, '--build', f'--preset={preset}', '--target', 'firmware-applications'], cwd=repo_path)
+    _cmd([cmake, '--install', f'{working_dir}', '--component', 'Applications'], cwd=repo_path)
 
 @contextmanager
 def _prep_robot(host, ssh):
@@ -99,13 +108,13 @@ def _restart_robot(host, ssh):
 def _do_push(host, repo_path, build, restart):
     ssh, scp, cmake = _find_utils()
     if build:
-        _prep_firmware(repo_path, cmake)
+        _prep_firmware(repo_path, cmake, sensors)
     with _prep_robot(host, ssh):
-        _transfer_firmware(host, repo_path, scp, ssh)
+        _transfer_firmware(host, repo_path, scp, ssh, sensors)
     if restart:
         _restart_robot(host, ssh)
 
-def push(host, repo_path=None, build=True, restart=True):
+def push(host, repo_path=None, build=True, restart=True, sensors=False):
     repo = repo_path or os.dirname(__file__)
     try:
         _do_push(host, repo, build, restart)
@@ -125,7 +134,7 @@ def _push_from_argparse(args):
     if args.key:
         _SSH_EXTRA_OPTS.append('-i')
         _SSH_EXTRA_OPTS.append(args.key)
-    return push(args.host, os.path.abspath(args.repo_path), not args.no_build, not args.no_restart)
+    return push(args.host, os.path.abspath(args.repo_path), not args.no_build, not args.no_restart, args.sensors)
 
 def _arg_parser(parent=None):
     parents = []
@@ -156,6 +165,11 @@ def _arg_parser(parent=None):
         type=str,
         help='Private SSH key to use'
     )
+    parser.add_argument(
+        '--sensors',
+        type=str,
+        help='Private SSH key to use'
+    )
     return parser
 
 def _main():