Merge branch 'edge' into flex-stacker_enable-spi-dma

Opentrons · Aug 22, 2024 · e24453f · e24453f
2 parents ddef2c8 + ee98300
commit e24453f
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Showing 10 changed files with 202 additions and 150 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/host_comms_task/freertos_comms_task.cpp b/stm32-modules/flex-stacker/firmware/host_comms_task/freertos_comms_task.cpp
@@ -1,8 +1,6 @@
 /*
  * firmware-specific functions, data, and hooks for host comms control
  */
-#include "firmware/freertos_comms_task.hpp"
-
 #include <array>
 #include <functional>
 #include <utility>

diff --git a/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_task.cpp b/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_task.cpp
@@ -31,7 +31,8 @@ static tasks::FirmwareTasks::MotorQueue
            "Motor Queue");
 
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-static auto _top_task = motor_task::MotorTask(_queue, nullptr);
+static auto _top_task = motor_task::MotorTask(
+    _queue, nullptr, x_motor_interrupt, z_motor_interrupt, l_motor_interrupt);
 
 static auto callback_glue(MotorID motor_id) {
     switch (motor_id) {