fix(flex-stacker): increase comms task stack size (#463)

* increase comm task stack size

* we can actually use float now

* Revert "float input keeps crashing the fw so switching to using uint32_t for currents"

This reverts commit 7557bfb.

* update move to limit switch message as well

stm32-modules/include/flex-stacker/firmware/firmware_tasks.hpp

@@ -12,15 +12,12 @@ namespace tasks {
 
 using FirmwareTasks = Tasks<FreeRTOSMessageQueue>;
 
-constexpr size_t HOST_STACK_SIZE = 2048;
-constexpr uint8_t HOST_TASK_PRIORITY = 1;
+constexpr size_t COMMS_STACK_SIZE = 2048;
+constexpr uint8_t COMMS_TASK_PRIORITY = 1;
 
 constexpr size_t SYSTEM_STACK_SIZE = 256;
 constexpr uint8_t SYSTEM_TASK_PRIORITY = 1;
 
-constexpr size_t COMMS_STACK_SIZE = 256;
-constexpr uint8_t COMMS_TASK_PRIORITY = 1;
-
 constexpr size_t MOTOR_STACK_SIZE = 256;
 constexpr uint8_t MOTOR_TASK_PRIORITY = 1;
 

stm32-modules/include/flex-stacker/flex-stacker/gcodes_motor.hpp

@@ -174,7 +174,7 @@ struct ArgL {
 
 struct SetRunCurrent {
     MotorID motor_id;
-    uint32_t current;
+    float current;
 
     using ParseResult = std::optional<SetRunCurrent>;
     static constexpr auto prefix = std::array{'M', '9', '0', '6', ' '};
@@ -184,19 +184,19 @@ struct SetRunCurrent {
         static constexpr auto prefix = std::array{'X'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
     struct ZArg {
         static constexpr auto prefix = std::array{'Z'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
     struct LArg {
         static constexpr auto prefix = std::array{'L'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
 
     template <typename InputIt, typename Limit>
@@ -211,7 +211,7 @@ struct SetRunCurrent {
         }
         auto ret = SetRunCurrent{
             .motor_id = MotorID::MOTOR_X,
-            .current = 0,
+            .current = 0.0,
         };
 
         auto arguments = res.first.value();
@@ -239,7 +239,7 @@ struct SetRunCurrent {
 
 struct SetHoldCurrent {
     MotorID motor_id;
-    uint32_t current;
+    float current;
 
     using ParseResult = std::optional<SetHoldCurrent>;
     static constexpr auto prefix = std::array{'M', '9', '0', '7', ' '};
@@ -249,19 +249,19 @@ struct SetHoldCurrent {
         static constexpr auto prefix = std::array{'X'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
     struct ZArg {
         static constexpr auto prefix = std::array{'Z'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
     struct LArg {
         static constexpr auto prefix = std::array{'L'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
 
     template <typename InputIt, typename Limit>
@@ -276,7 +276,7 @@ struct SetHoldCurrent {
         }
         auto ret = SetHoldCurrent{
             .motor_id = MotorID::MOTOR_X,
-            .current = 0,
+            .current = 0.0,
         };
 
         auto arguments = res.first.value();
@@ -479,10 +479,10 @@ struct MoveMotorInSteps {
 
 struct MoveMotorInMm {
     MotorID motor_id;
-    int32_t mm;
-    uint32_t mm_per_second;
-    uint32_t mm_per_second_sq;
-    uint32_t mm_per_second_discont;
+    float mm;
+    float mm_per_second;
+    float mm_per_second_sq;
+    float mm_per_second_discont;
 
     using ParseResult = std::optional<MoveMotorInMm>;
     static constexpr auto prefix = std::array{'G', '0', ' '};
@@ -492,39 +492,39 @@ struct MoveMotorInMm {
         static constexpr auto prefix = std::array{'X'};
         static constexpr bool required = false;
         bool present = false;
-        int32_t value = 0;
+        float value = 0;
     };
     struct ZArg {
         static constexpr auto prefix = std::array{'Z'};
         static constexpr bool required = false;
         bool present = false;
-        int32_t value = 0;
+        float value = 0;
     };
     struct LArg {
         static constexpr auto prefix = std::array{'L'};
         static constexpr bool required = false;
         bool present = false;
-        int32_t value = 0;
+        float value = 0;
     };
     struct VelArg {
         static constexpr auto prefix = std::array{'V'};
         static constexpr bool required = true;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
 
     struct AccelArg {
         static constexpr auto prefix = std::array{'A'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
 
     struct DiscontArg {
         static constexpr auto prefix = std::array{'D'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
 
     template <typename InputIt, typename Limit>
@@ -540,10 +540,10 @@ struct MoveMotorInMm {
         }
         auto ret = MoveMotorInMm{
             .motor_id = MotorID::MOTOR_X,
-            .mm = 0,
-            .mm_per_second = 0,
-            .mm_per_second_sq = 0,
-            .mm_per_second_discont = 0,
+            .mm = 0.0,
+            .mm_per_second = 0.0,
+            .mm_per_second_sq = 0.0,
+            .mm_per_second_discont = 0.0,
         };
 
         auto arguments = res.first.value();
@@ -587,9 +587,9 @@ struct MoveMotorInMm {
 struct MoveToLimitSwitch {
     MotorID motor_id;
     bool direction;
-    uint32_t mm_per_second;
-    uint32_t mm_per_second_sq;
-    uint32_t mm_per_second_discont;
+    float mm_per_second;
+    float mm_per_second_sq;
+    float mm_per_second_discont;
 
     using ParseResult = std::optional<MoveToLimitSwitch>;
     static constexpr auto prefix = std::array{'G', '5', ' '};
@@ -617,19 +617,19 @@ struct MoveToLimitSwitch {
         static constexpr auto prefix = std::array{'V'};
         static constexpr bool required = true;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
     struct AccelArg {
         static constexpr auto prefix = std::array{'A'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
     struct DiscontArg {
         static constexpr auto prefix = std::array{'D'};
         static constexpr bool required = false;
         bool present = false;
-        uint32_t value = 0;
+        float value = 0;
     };
 
     template <typename InputIt, typename Limit>
@@ -646,9 +646,9 @@ struct MoveToLimitSwitch {
         auto ret = MoveToLimitSwitch{
             .motor_id = MotorID::MOTOR_X,
             .direction = false,
-            .mm_per_second = 0,
-            .mm_per_second_sq = 0,
-            .mm_per_second_discont = 0,
+            .mm_per_second = 0.0,
+            .mm_per_second_sq = 0.0,
+            .mm_per_second_discont = 0.0,
         };
 
         auto arguments = res.first.value();

stm32-modules/include/flex-stacker/flex-stacker/host_comms_task.hpp

@@ -389,7 +389,7 @@ class HostCommsTask {
             messages::SetMotorCurrentMessage{.id = id,
                                              .motor_id = gcode.motor_id,
                                              .run_current = gcode.current,
-                                             .hold_current = 0};
+                                             .hold_current = 0.0};
         if (!task_registry->send(message, TICKS_TO_WAIT_ON_SEND)) {
             auto wrote_to = errors::write_into(
                 tx_into, tx_limit, errors::ErrorCode::INTERNAL_QUEUE_FULL);
@@ -413,7 +413,7 @@ class HostCommsTask {
         auto message =
             messages::SetMotorCurrentMessage{.id = id,
                                              .motor_id = gcode.motor_id,
-                                             .run_current = 0,
+                                             .run_current = 0.0,
                                              .hold_current = gcode.current};
         if (!task_registry->send(message, TICKS_TO_WAIT_ON_SEND)) {
             auto wrote_to = errors::write_into(

stm32-modules/include/flex-stacker/flex-stacker/messages.hpp

@@ -92,8 +92,8 @@ struct ForceUSBDisconnect {
 struct SetMotorCurrentMessage {
     uint32_t id;
     MotorID motor_id;
-    uint32_t run_current;
-    uint32_t hold_current;
+    float run_current;
+    float hold_current;
 };
 
 struct SetTMCRegisterMessage {
@@ -144,19 +144,19 @@ struct MoveMotorInStepsMessage {
 struct MoveMotorInMmMessage {
     uint32_t id;
     MotorID motor_id;
-    int32_t mm;
-    uint32_t mm_per_second;
-    uint32_t mm_per_second_sq;
-    uint32_t mm_per_second_discont;
+    float mm;
+    float mm_per_second;
+    float mm_per_second_sq;
+    float mm_per_second_discont;
 };
 
 struct MoveToLimitSwitchMessage {
     uint32_t id;
     MotorID motor_id;
     bool direction;
-    uint32_t mm_per_second;
-    uint32_t mm_per_second_sq;
-    uint32_t mm_per_second_discont;
+    float mm_per_second;
+    float mm_per_second_sq;
+    float mm_per_second_discont;
 };
 
 struct GetLimitSwitchesMessage {

stm32-modules/include/flex-stacker/flex-stacker/motor_driver_task.hpp

@@ -244,11 +244,11 @@ class MotorDriverTask {
                        tmc2160::TMC2160Interface<Policy>& tmc2160_interface)
         -> void {
         auto response = messages::AcknowledgePrevious{.responding_to_id = m.id};
-        if (m.hold_current != 0) {
+        if (m.hold_current != 0.0) {
             driver_conf_from_id(m.motor_id).ihold_irun.hold_current =
                 get_current_value(m.motor_id, m.hold_current);
         };
-        if (m.run_current != 0) {
+        if (m.run_current != 0.0) {
             driver_conf_from_id(m.motor_id).ihold_irun.run_current =
                 get_current_value(m.motor_id, m.run_current);
         }

stm32-modules/include/flex-stacker/flex-stacker/tmc2160.hpp

@@ -139,7 +139,7 @@ class TMC2160 {
 
     // NOLINTNEXTLINE(readability-convert-member-functions-to-static)
     [[nodiscard]] auto convert_peak_current_to_tmc2160_value(
-        uint32_t peak_c, const GlobalScaler& glob_scale,
+        float peak_c, const GlobalScaler& glob_scale,
         const TMC2160MotorCurrentConfig& current_config) const -> uint32_t {
         /*
          * This function allows us to calculate the current scaling value (rms)
@@ -157,11 +157,8 @@ class TMC2160 {
         auto VOLTAGE_INV = current_config.r_sense / current_config.v_sf;
         auto RMS_CURRENT_CONSTANT =
             globale_scaler_inv * CS_SCALER * VOLTAGE_INV;
-        auto fixed_point_constant = static_cast<uint32_t>(
-            RMS_CURRENT_CONSTANT * static_cast<float>(1LL << 16));
-        uint64_t shifted_current_cs =
-            static_cast<uint64_t>(fixed_point_constant) *
-            static_cast<uint64_t>(peak_c);
+        auto shifted_current_cs = static_cast<uint64_t>(
+            RMS_CURRENT_CONSTANT * peak_c * static_cast<float>(1LL << 32));
         auto current_cs = static_cast<uint32_t>(shifted_current_cs >> 32);
         if (current_cs > 32) {
             current_cs = 32;