remove unused tasks

remove copy/paste fragments
fix simulator and tests
remove i2c/spi/eeprom related files

common/firmware/gpio.c

@@ -42,11 +42,4 @@ __attribute__((section( ".ccmram" )))
 #endif
 bool gpio_is_set(void* port, uint16_t pin, uint8_t active_setting) {
     return HAL_GPIO_ReadPin(port, pin) == active_setting;
-}
-
-#ifdef ENABLE_CCMRAM
-__attribute__((section( ".ccmram" )))
-#endif
-uint8_t gpio_read(void* port, uint16_t pin) {
-    return HAL_GPIO_ReadPin(port, pin);
-}
+}

common/firmware/gpio.cpp

@@ -24,12 +24,4 @@ __attribute__((section( ".ccmram" )))
 auto gpio::is_set(const gpio::PinConfig& pc)
     -> bool {
     return gpio_is_set(pc.port, pc.pin, pc.active_setting);
-}
-
-#ifdef ENABLE_CCMRAM
-__attribute__((section( ".ccmram" )))
-#endif
-auto gpio::read_pin(const gpio::PinConfig& pc)
-    -> uint8_t {
-    return gpio_read(pc.port, pc.pin);
-}
+}

hepa-uv/core/CMakeLists.txt

@@ -1,4 +1,4 @@
-function(target_hepauv_core TARGET)
+function(target_hepa_uv_core TARGET)
     target_sources(${TARGET} PUBLIC
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_tasks.cpp
             ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks.cpp)

hepa-uv/core/can_tasks.cpp

@@ -1,6 +1,5 @@
 #include <span>
 
-#include "eeprom/core/message_handler.hpp"
 #include "hepa-uv/core/can_task.hpp"
 
 using namespace can::dispatch;
@@ -10,10 +9,6 @@ static auto& main_queues = hepauv_tasks::get_main_queues();
 auto can_sender_queue = freertos_message_queue::FreeRTOSMessageQueue<
     can::message_writer_task::TaskMessage>{};
 
-/** The parsed message handler */
-static auto gripper_info_handler =
-    gripper_info::GripperInfoMessageHandler{main_queues, main_queues};
-
 /** Handler of system messages. */
 static auto system_message_handler =
     can::message_handlers::system::SystemMessageHandler{
@@ -27,18 +22,6 @@ static auto system_message_handler =
 static auto system_dispatch_target =
     can_task::SystemDispatchTarget{system_message_handler};
 
-/** Handler for eeprom messages.*/
-static auto eeprom_message_handler =
-    eeprom::message_handler::EEPromHandler{main_queues, main_queues};
-static auto eeprom_dispatch_target =
-    can::dispatch::DispatchParseTarget<decltype(eeprom_message_handler),
-                                       can::messages::WriteToEEPromRequest,
-                                       can::messages::ReadFromEEPromRequest>{
-        eeprom_message_handler};
-
-static auto gripper_info_dispatch_target =
-    can_task::GripperInfoDispatchTarget{gripper_info_handler};
-
 struct CheckForNodeId {
     can::ids::NodeId node_id;
     auto operator()(uint32_t arbitration_id) const {
@@ -58,8 +41,7 @@ static auto main_dispatcher = can::dispatch::Dispatcher(
         return ((node_id == can::ids::NodeId::broadcast) ||
                 (node_id == can::ids::NodeId::hepa_uv));
     },
-    system_dispatch_target, gripper_info_dispatch_target,
-    eeprom_dispatch_target);
+    system_dispatch_target);
 
 auto static reader_message_buffer =
     freertos_message_buffer::FreeRTOSMessageBuffer<1024>{};

hepa-uv/core/tasks.cpp

@@ -2,12 +2,7 @@
 
 #include "common/core/freertos_task.hpp"
 #include "common/core/freertos_timer.hpp"
-#include "eeprom/core/dev_data.hpp"
 #include "hepa-uv/core/can_task.hpp"
-#include "hepa-uv/firmware/eeprom_keys.hpp"
-#include "hepa-uv/firmware/gpio_drive_hardware.hpp"
-#include "spi/core/tasks/spi_task.hpp"
-#include "spi/core/writer.hpp"
 
 #pragma GCC diagnostic push
 // NOLINTNEXTLINE(clang-diagnostic-unknown-warning-option)
@@ -18,124 +13,19 @@
 static auto tasks = hepauv_tasks::AllTask{};
 static auto queues = hepauv_tasks::QueueClient{can::ids::NodeId::hepa_uv};
 
-static auto eeprom_task_builder =
-    freertos_task::TaskStarter<512, eeprom::task::EEPromTask>{};
-
-static auto i2c2_task_client =
-    i2c::writer::Writer<freertos_message_queue::FreeRTOSMessageQueue>();
-static auto i2c3_task_client =
-    i2c::writer::Writer<freertos_message_queue::FreeRTOSMessageQueue>();
-
-static auto i2c2_task_builder =
-    freertos_task::TaskStarter<512, i2c::tasks::I2CTask>{};
-static auto i2c3_task_builder =
-    freertos_task::TaskStarter<512, i2c::tasks::I2CTask>{};
-
-template <template <typename> typename QueueImpl>
-using PollerWithTimer =
-    i2c::tasks::I2CPollerTask<QueueImpl, freertos_timer::FreeRTOSTimer>;
-static auto i2c2_poll_task_builder =
-    freertos_task::TaskStarter<1024, PollerWithTimer>{};
-static auto i2c3_poll_task_builder =
-    freertos_task::TaskStarter<1024, PollerWithTimer>{};
-
-static auto i2c2_poll_client =
-    i2c::poller::Poller<freertos_message_queue::FreeRTOSMessageQueue>{};
-static auto i2c3_poll_client =
-    i2c::poller::Poller<freertos_message_queue::FreeRTOSMessageQueue>{};
-
-static auto tail_accessor = eeprom::dev_data::DevDataTailAccessor{queues};
-static auto eeprom_data_rev_update_builder =
-    freertos_task::TaskStarter<512, eeprom::data_rev_task::UpdateDataRevTask>{};
-
-// PushButtonBlink Test Task
-static auto pushbutton_task_builder =
-    freertos_task::TaskStarter<512, pushbutton_task::PushButtonTask>{};
-
-static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins {
-    .push_button_led = gpio::PinConfig {
-        .port = LED_DRIVE_PORT,
-        .pin = LED_DRIVE_PIN,
-        .active_setting = GPIO_PIN_SET
-    },
-    .push_button = gpio::PinConfig {
-        .port = HEPA_NO_MCU_PORT,
-        .pin = HEPA_NO_MCU_PIN,
-        .active_setting = GPIO_PIN_SET
-    },
-    .reed_switch = gpio::PinConfig {
-        .port = REED_SW_MCU_PORT,
-        .pin = REED_SW_MCU_PIN,
-        .active_setting = GPIO_PIN_SET
-    },
-    .door_open = gpio::PinConfig {
-        .port = DOOR_OPEN_MCU_PORT,
-        .pin = DOOR_OPEN_MCU_PIN,
-        .active_setting = GPIO_PIN_SET
-    }
-};
-
-
 /**
- * Start gripper tasks.
+ * Start hepa_uv tasks.
  */
-void hepauv_tasks::start_tasks(
-    can::bus::CanBus& can_bus,
-    i2c::hardware::I2CBase& i2c2, i2c::hardware::I2CBase& i2c3,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) {
+void hepauv_tasks::start_tasks(can::bus::CanBus& can_bus) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
     tasks.can_writer = &can_writer;
     queues.set_queue(&can_writer.get_queue());
-
-    auto& i2c2_task = i2c2_task_builder.start(5, "i2c2", i2c2);
-    i2c2_task_client.set_queue(&i2c2_task.get_queue());
-    auto& i2c3_task = i2c3_task_builder.start(5, "i2c3", i2c3);
-    i2c3_task_client.set_queue(&i2c3_task.get_queue());
-
-    auto& i2c2_poller_task =
-        i2c2_poll_task_builder.start(5, "i2c2 poller", i2c2_task_client);
-    i2c2_poll_client.set_queue(&i2c2_poller_task.get_queue());
-    auto& i2c3_poller_task =
-        i2c3_poll_task_builder.start(5, "i2c3 poller", i2c3_task_client);
-    i2c3_poll_client.set_queue(&i2c3_poller_task.get_queue());
-
-    auto& eeprom_task = eeprom_task_builder.start(5, "eeprom", i2c3_task_client,
-                                                  eeprom_hw_iface);
-#if PCBA_PRIMARY_REVISION != 'b'
-    auto& eeprom_data_rev_update_task = eeprom_data_rev_update_builder.start(
-        5, "data_rev_update", queues, tail_accessor, table_updater);
-#endif
-
-    tasks.i2c2_task = &i2c2_task;
-    tasks.i2c3_task = &i2c3_task;
-    tasks.i2c2_poller_task = &i2c2_poller_task;
-    tasks.i2c3_poller_task = &i2c3_poller_task;
-    tasks.eeprom_task = &eeprom_task;
-#if PCBA_PRIMARY_REVISION != 'b'
-    tasks.update_data_rev_task = &eeprom_data_rev_update_task;
-#endif
-
-    queues.i2c2_queue = &i2c2_task.get_queue();
-    queues.i2c3_queue = &i2c3_task.get_queue();
-    queues.i2c2_poller_queue = &i2c2_poller_task.get_queue();
-    queues.i2c3_poller_queue = &i2c3_poller_task.get_queue();
-    queues.eeprom_queue = &eeprom_task.get_queue();
-
-    // PushButtonBlink Test Task
-    auto& pushbutton_task =
-        pushbutton_task_builder.start(5, "pushbutton", gpio_drive_pins);
-    tasks.pushbutton_task = &pushbutton_task;
 }
 
 hepauv_tasks::QueueClient::QueueClient(can::ids::NodeId this_fw)
     : can::message_writer::MessageWriter{this_fw} {}
 
-void hepauv_tasks::QueueClient::send_eeprom_queue(
-    const eeprom::task::TaskMessage& m) {
-    eeprom_queue->try_write(m);
-}
-
 /**
  * Access to the tasks singleton
  * @return

hepa-uv/firmware/CMakeLists.txt

@@ -12,7 +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}/eeprom_keys.cpp
         ${COMMON_EXECUTABLE_DIR}/system/iwdg.cpp
         ${CAN_FW_DIR}/hal_can_bus.cpp
         ${CAN_FW_DIR}/utils.c
@@ -64,7 +63,7 @@ macro(hepauv_loop)
         STM32G4xx_FreeRTOS_${_driver_suffix}
         PROPERTIES FREERTOS_HEAP_IMPLEMENTATION "heap_5")
 
-    target_hepauv_core(${REVISION_TARGET})
+    target_hepa_uv_core(${REVISION_TARGET})
     target_ot_motor_control(${REVISION_TARGET})
 
     target_i2c_firmware(${REVISION_TARGET})

hepa-uv/firmware/main_rev1.cpp

@@ -20,11 +20,8 @@
 #include "common/firmware/gpio.hpp"
 #include "common/firmware/iwdg.hpp"
 #include "common/firmware/utility_gpio.h"
-#include "hepa-uv/core/interfaces.hpp"
 #include "hepa-uv/core/tasks.hpp"
 #include "hepa-uv/firmware/utility_gpio.h"
-#include "i2c/firmware/i2c_comms.hpp"
-#include "sensors/firmware/sensor_hardware.hpp"
 
 static auto iWatchdog = iwdg::IndependentWatchDog{};
 
@@ -56,46 +53,16 @@ static constexpr auto can_bit_timings =
     can::bit_timings::BitTimings<170 * can::bit_timings::MHZ, 100,
                                  500 * can::bit_timings::KHZ, 800>{};
 
-/**
- * I2C handles
- */
-static auto i2c_comms2 = i2c::hardware::I2C();
-static auto i2c_comms3 = i2c::hardware::I2C();
-static auto i2c_handles = I2CHandlerStruct{};
-
-static constexpr auto eeprom_chip =
-    eeprom::hardware_iface::EEPromChipType::ST_M24128_BF;
-
-class EEPromHardwareInterface
-    : public eeprom::hardware_iface::EEPromHardwareIface {
-  public:
-    EEPromHardwareInterface()
-        : eeprom::hardware_iface::EEPromHardwareIface(eeprom_chip) {}
-    void set_write_protect(bool enable) final {
-        if (enable) {
-            disable_eeprom_write();
-        } else {
-            enable_eeprom_write();
-        }
-    }
-};
-static auto eeprom_hw_iface = EEPromHardwareInterface();
-
 auto main() -> int {
     HardwareInit();
     RCC_Peripheral_Clock_Select();
     utility_gpio_init();
 
     app_update_clear_flags();
 
-    i2c_setup(&i2c_handles);
-    i2c_comms2.set_handle(i2c_handles.i2c2);
-    i2c_comms3.set_handle(i2c_handles.i2c3);
-
     canbus.start(can_bit_timings);
 
-    hepauv_tasks::start_tasks(
-        canbus, i2c_comms2, i2c_comms3, eeprom_hw_iface);
+    hepauv_tasks::start_tasks(canbus);
 
     iWatchdog.start(6);
 

hepa-uv/simulator/CMakeLists.txt

@@ -24,40 +24,38 @@ list(APPEND FREERTOS_SOURCES "${FreeRTOS_SOURCE_DIR}/FreeRTOS/Source/portable/Th
 
 
 # Create the freertos lib
-add_library(freertos-gripper STATIC ${FREERTOS_SOURCES})
+add_library(freertos-hepa-uv STATIC ${FREERTOS_SOURCES})
 
-set(GRIPPER_SIMULATOR_SRC
+set(HEPA_UV_SIMULATOR_SRC
         ${CMAKE_CURRENT_SOURCE_DIR}/main.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/interfaces.cpp
         ${CMAKE_CURRENT_SOURCE_DIR}/freertos_idle_timer_task.cpp
-        ${CMAKE_CURRENT_SOURCE_DIR}/eeprom_keys.cpp
         )
 
 add_executable(
-        gripper-simulator
-        ${GRIPPER_SIMULATOR_SRC}
+        hepa-uv-simulator
+        ${HEPA_UV_SIMULATOR_SRC}
 )
 
-add_revision(TARGET gripper-simulator REVISION a1)
+add_revision(TARGET hepa-uv-simulator REVISION a1)
 
 
 if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Linux" AND DEFINED ENV{USE_SOCKETCAN})
-    target_compile_definitions(gripper-simulator PUBLIC USE_SOCKETCAN)
+    target_compile_definitions(hepa-uv-simulator PUBLIC USE_SOCKETCAN)
 endif ()
 
-target_compile_definitions(gripper-simulator PUBLIC ENABLE_LOGGING)
+target_compile_definitions(hepa-uv-simulator PUBLIC ENABLE_LOGGING)
 
-target_can_simlib(gripper-simulator)
+target_can_simlib(hepa-uv-simulator)
 
-target_gripper_core(gripper-simulator)
+target_hepa_uv_core(hepa-uv-simulator)
 
-target_ot_motor_control(gripper-simulator)
+target_ot_motor_control(hepa-uv-simulator)
 
-target_i2c_simlib(gripper-simulator)
+target_i2c_simlib(hepa-uv-simulator)
 
-target_link_libraries(gripper-simulator PRIVATE can-core common-simulation freertos-gripper pthread Boost::boost Boost::program_options state_manager)
+target_link_libraries(hepa-uv-simulator PRIVATE can-core common-simulation freertos-hepa-uv pthread Boost::boost Boost::program_options state_manager)
 
-set_target_properties(gripper-simulator
+set_target_properties(hepa-uv-simulator
         PROPERTIES CXX_STANDARD 20
         CXX_STANDARD_REQUIRED TRUE
         C_STANDARD 11