feat(pipettes): send most recent sensor data after probe

[caila-marashaj]

Overview

After a liquid probe, we want to send the 500 most recent pressure data readings in a buffer over CAN to determine on the Python side if we've successfully hit liquid, hit the bottom of a piece of labware, or not found liquid at all.

This pr creates a circular buffer of pressure sensor data, meaning that after every i2c transaction, we'll write the pressure reading to the buffer. When we reach the end of the buffer, we'll circle back to the front of the buffer and continue overwriting the oldest data until the probing is finished. Then, after receiving a SendAccumulatedSensorDataRequest, we send the buffer in order starting from the oldest data.

Changelog

• create a sensor buffer regardless of compile target
• change p_buff in all sensor firmware to sensor_buffer, since the capacitive sensor now uses this too
• change the buffer size for all pipettes to 500
• create a new function in pressure_driver to manage the buffer
• change the way we send the data buffer to accommodate the new shape of the data

Test Plan

for single, multi, and 96 channel pipettes:

• run liquid probe and make sure that still works the same
• afterward, using can_control, send a SendAccumulatedSensorDataRequest
• make sure 500 read_sensor_response messages are sent over CAN
• make sure that the readings in those messages align with the sensor responses sent over CAN during the probe

Todo

I plan on adding a test for this in a follow-up pr

[ryanthecoder]

This doesn't go inside this if block, it should be the if(echo_this_time) block otherwise we are double logging the data
and we can remove the ifdef from the if(echo_this_time) block

[sfoster1]

Looks good once tested, though I'm curious about the use of (*buff).at() - why not either buff->at() or (*buff)[]? the latter is probably faster since it doesn't range check; this would normally be bad but we can't handle exceptions anyway.