got scheduler to blink status led

hepa-uv/core/CMakeLists.txt

@@ -1,9 +1,7 @@
 function(target_hepauv_core TARGET)
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_tasks.cpp
-            ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks.cpp
-            ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks_g.cpp
-            ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks_z.cpp)
+            ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks.cpp)
     target_include_directories(${TARGET} PUBLIC ${CMAKE_CURRENT_FUNCTION_LIST_DIR})
     target_link_libraries(${TARGET} PUBLIC common-core)
     target_include_directories(${TARGET} INTERFACE ${CMAKE_SOURCE_DIR}/cpp-utils/include)

hepa-uv/core/can_tasks.cpp

@@ -6,25 +6,11 @@
 using namespace can::dispatch;
 
 static auto& main_queues = hepauv_tasks::get_main_queues();
-static auto& z_queues = hepauv_tasks::z_tasks::get_queues();
-static auto& g_queues = hepauv_tasks::g_tasks::get_queues();
 
 auto can_sender_queue = freertos_message_queue::FreeRTOSMessageQueue<
     can::message_writer_task::TaskMessage>{};
 
 /** The parsed message handler */
-static auto can_motor_handler =
-    can::message_handlers::motor::MotorHandler{z_queues};
-static auto can_move_group_handler =
-    can::message_handlers::move_group::MoveGroupHandler{z_queues};
-static auto can_motion_handler =
-    can::message_handlers::motion::MotionHandler{z_queues};
-static auto can_brushed_motor_handler =
-    can::message_handlers::motor::BrushedMotorHandler{g_queues};
-static auto can_brushed_motion_handler =
-    can::message_handlers::motion::BrushedMotionHandler{g_queues};
-static auto can_brushed_move_group_handler =
-    can::message_handlers::move_group::BrushedMoveGroupHandler{g_queues};
 static auto gripper_info_handler =
     gripper_info::GripperInfoMessageHandler{main_queues, main_queues};
 static auto sensor_handler = sensors::handlers::SensorHandler{main_queues};
@@ -51,24 +37,6 @@ static auto eeprom_dispatch_target =
                                        can::messages::ReadFromEEPromRequest>{
         eeprom_message_handler};
 
-static auto motor_dispatch_target =
-    can_task::MotorDispatchTarget{can_motor_handler};
-
-static auto motion_group_dispatch_target =
-    can_task::MoveGroupDispatchTarget{can_move_group_handler};
-
-static auto motion_dispatch_target =
-    can_task::MotionControllerDispatchTarget{can_motion_handler};
-
-static auto brushed_motor_dispatch_target =
-    can_task::BrushedMotorDispatchTarget{can_brushed_motor_handler};
-
-static auto brushed_motion_dispatch_target =
-    can_task::BrushedMotionDispatchTarget{can_brushed_motion_handler};
-
-static auto brushed_motion_group_dispatch_target =
-    can_task::BrushedMoveGroupDispatchTarget{can_brushed_move_group_handler};
-
 static auto gripper_info_dispatch_target =
     can_task::GripperInfoDispatchTarget{gripper_info_handler};
 
@@ -86,18 +54,6 @@ struct CheckForNodeId {
     }
 };
 
-CheckForNodeId check_for_z{.node_id = can::ids::NodeId::gripper_z};
-
-CheckForNodeId check_for_g{.node_id = can::ids::NodeId::gripper_g};
-
-static auto dispatcher_z = can::dispatch::Dispatcher(
-    check_for_z, motor_dispatch_target, motion_group_dispatch_target,
-    motion_dispatch_target);
-
-static auto dispatcher_g = can::dispatch::Dispatcher(
-    check_for_g, brushed_motion_dispatch_target, brushed_motor_dispatch_target,
-    brushed_motion_group_dispatch_target);
-
 /** Dispatcher to the various handlers */
 static auto main_dispatcher = can::dispatch::Dispatcher(
     [](uint32_t arbitration_id) -> bool {
@@ -108,9 +64,8 @@ static auto main_dispatcher = can::dispatch::Dispatcher(
                 (node_id == can::ids::NodeId::gripper_z) ||
                 (node_id == can::ids::NodeId::gripper_g));
     },
-    dispatcher_z, dispatcher_g, system_dispatch_target,
-    gripper_info_dispatch_target, eeprom_dispatch_target,
-    sensor_dispatch_target);
+    system_dispatch_target, gripper_info_dispatch_target,
+    eeprom_dispatch_target, sensor_dispatch_target);
 
 auto static reader_message_buffer =
     freertos_message_buffer::FreeRTOSMessageBuffer<1024>{};

hepa-uv/core/tasks.cpp

@@ -60,12 +60,9 @@ static auto eeprom_data_rev_update_builder =
  */
 void hepauv_tasks::start_tasks(
     can::bus::CanBus& can_bus,
-    brushed_motor::BrushedMotor<lms::GearBoxConfig>& grip_motor,
     i2c::hardware::I2CBase& i2c2, i2c::hardware::I2CBase& i2c3,
     sensors::hardware::SensorHardwareBase& sensor_hardware,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface,
-    motor_hardware_task::MotorHardwareTask& zmh_tsk,
-    motor_hardware_task::MotorHardwareTask& gmh_tsk) {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
     tasks.can_writer = &can_writer;
@@ -118,14 +115,6 @@ void hepauv_tasks::start_tasks(
         &capacitive_sensor_task_front.get_queue();
     queues.capacitive_sensor_queue_rear =
         &capacitive_sensor_task_rear.get_queue();
-
-    g_tasks::start_task(grip_motor, tasks, queues, tail_accessor);
-
-    z_tasks::get_queues().set_queue(&can_writer.get_queue());
-    g_tasks::get_queues().set_queue(&can_writer.get_queue());
-
-    zmh_tsk.start_task();
-    gmh_tsk.start_task();
 }
 
 hepauv_tasks::QueueClient::QueueClient(can::ids::NodeId this_fw)

hepa-uv/firmware/CMakeLists.txt

@@ -12,8 +12,6 @@ set(REVISIONS hepa-rev1)
 # Add source files that should be checked by clang-tidy here
 set(HEPAUV_FW_LINTABLE_SRCS
         ${CMAKE_CURRENT_SOURCE_DIR}/freertos_idle_timer_task.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/interfaces_grip_motor.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/interfaces_z_motor.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/eeprom_keys.cpp
         ${COMMON_EXECUTABLE_DIR}/system/iwdg.cpp
         ${CAN_FW_DIR}/hal_can_bus.cpp
@@ -27,9 +25,7 @@ set(HEPAUV_FW_NON_LINTABLE_SRCS
         ${CMAKE_CURRENT_SOURCE_DIR}/clocking.c
         ${CMAKE_CURRENT_SOURCE_DIR}/utility_gpio.c
         ${CMAKE_CURRENT_SOURCE_DIR}/can.c
-        ${CMAKE_CURRENT_SOURCE_DIR}/motor_hardware_g.c
-        ${CMAKE_CURRENT_SOURCE_DIR}/motor_hardware_z.c
-        ${CMAKE_CURRENT_SOURCE_DIR}/motor_hardware_shared.c
+        ${CMAKE_CURRENT_SOURCE_DIR}/led_hardware.c
         ${CMAKE_CURRENT_SOURCE_DIR}/i2c_setup.c
         ${COMMON_EXECUTABLE_DIR}/errors/errors.c
         ${COMMON_EXECUTABLE_DIR}/system/app_update.c