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Opentrons · Oct 26, 2023 · 759eac8 · 759eac8
1 parent bd16ea6
commit 759eac8
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Showing 49 changed files with 323 additions and 214 deletions.
diff --git a/gantry/core/tasks_proto.cpp b/gantry/core/tasks_proto.cpp
@@ -62,11 +62,13 @@ auto gantry::tasks::start_tasks(
     tmc2130::configs::TMC2130DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> interfaces::diag0_handler {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> interfaces::diag0_handler {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
-    auto& motion = mc_task_builder.start(5, "motion controller",
-                                         motion_controller, ::queues, ::queues, ::queues);
+    auto& motion =
+        mc_task_builder.start(5, "motion controller", motion_controller,
+                              ::queues, ::queues, ::queues);
     auto& tmc2130_driver = motor_driver_task_builder.start(
         5, "tmc2130 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -122,7 +124,8 @@ auto gantry::tasks::start_tasks(
 
 void gantry::tasks::call_run_diag0_interrupt() {
     if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks().motion_controller->run_diag0_interrupt();
+        return gantry::tasks::get_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 

diff --git a/gantry/core/tasks_rev1.cpp b/gantry/core/tasks_rev1.cpp
@@ -61,11 +61,13 @@ auto gantry::tasks::start_tasks(
     tmc2160::configs::TMC2160DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) -> interfaces::diag0_handler {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
+    -> interfaces::diag0_handler {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
-    auto& motion = mc_task_builder.start(5, "motion controller",
-                                         motion_controller, ::queues, ::queues, ::queues);
+    auto& motion =
+        mc_task_builder.start(5, "motion controller", motion_controller,
+                              ::queues, ::queues, ::queues);
     auto& tmc2160_driver = motor_driver_task_builder.start(
         5, "tmc2160 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -121,7 +123,8 @@ auto gantry::tasks::start_tasks(
 
 void gantry::tasks::call_run_diag0_interrupt() {
     if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks().motion_controller->run_diag0_interrupt();
+        return gantry::tasks::get_tasks()
+            .motion_controller->run_diag0_interrupt();
     }
 }
 

diff --git a/gantry/firmware/interfaces_proto.cpp b/gantry/firmware/interfaces_proto.cpp
@@ -86,11 +86,12 @@ struct motion_controller::HardwareConfig motor_pins_x {
             .port = GPIOB,
             .pin = GPIO_PIN_7,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -130,11 +131,12 @@ struct motion_controller::HardwareConfig motor_pins_y {
             .port = GPIOB,
             .pin = GPIO_PIN_5,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -143,8 +145,7 @@ struct motion_controller::HardwareConfig motor_pins_y {
 };
 
 static tmc2130::configs::TMC2130DriverConfig gantry_x_driver_configs{
-    .registers = {.gconfig = {.en_pwm_mode = 1,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 0x2,
                                  .run_current = 0x18,
                                  .hold_current_delay = 0x7},
@@ -167,8 +168,7 @@ static tmc2130::configs::TMC2130DriverConfig gantry_x_driver_configs{
     }};
 
 static tmc2130::configs::TMC2130DriverConfig gantry_y_driver_configs{
-    .registers = {.gconfig = {.en_pwm_mode = 1,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 0x2,
                                  .run_current = 0x18,
                                  .hold_current_delay = 0x7},
@@ -244,8 +244,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(), motor_hardware_iface, stallcheck,
-    update_position_queue);
+    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
+    motor_hardware_iface, stallcheck, update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -287,7 +287,8 @@ void interfaces::initialize(diag0_handler* call_diag0_handler) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler, enc_overflow_callback);
+    initialize_timer(call_motor_handler, call_diag0_handler,
+                     enc_overflow_callback);
 
     // Start the can bus
     canbus.start(can_bit_timings);

diff --git a/gantry/firmware/interfaces_rev1.cpp b/gantry/firmware/interfaces_rev1.cpp
@@ -86,11 +86,12 @@ struct motion_controller::HardwareConfig motor_pins_x {
             .port = GPIOB,
             .pin = GPIO_PIN_7,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -130,11 +131,12 @@ struct motion_controller::HardwareConfig motor_pins_y {
             .port = GPIOB,
             .pin = GPIO_PIN_7,
             .active_setting = GPIO_PIN_RESET},
-    .estop_in = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOA,
-        .pin = GPIO_PIN_10,
-        .active_setting = GPIO_PIN_RESET},
+    .estop_in =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOA,
+            .pin = GPIO_PIN_10,
+            .active_setting = GPIO_PIN_RESET},
     .diag0 = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
         .port = GPIOC,
@@ -143,8 +145,7 @@ struct motion_controller::HardwareConfig motor_pins_y {
 };
 
 static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
-    .registers = {.gconfig = {.en_pwm_mode = 0,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 16,
                                  .run_current = 31,
                                  .hold_current_delay = 0x7},
@@ -184,8 +185,7 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
     }};
 
 static tmc2160::configs::TMC2160DriverConfig motor_driver_config_y{
-    .registers = {.gconfig = {.en_pwm_mode = 0,
-                              .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
                   .ihold_irun = {.hold_current = 16,
                                  .run_current = 31,
                                  .hold_current_delay = 0x7},
@@ -271,8 +271,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(), motor_hardware_iface, stallcheck,
-    update_position_queue);
+    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
+    motor_hardware_iface, stallcheck, update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -315,7 +315,8 @@ void interfaces::initialize(diag0_handler* call_diag0_handler) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler, enc_overflow_callback);
+    initialize_timer(call_motor_handler, call_diag0_handler,
+                     enc_overflow_callback);
 
     // Start the can bus
     canbus.start(can_bit_timings);

diff --git a/gantry/simulator/interfaces.cpp b/gantry/simulator/interfaces.cpp
@@ -89,8 +89,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(), motor_interface, stallcheck,
-    update_position_queue);
+    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
+    motor_interface, stallcheck, update_position_queue);
 
 static motor_interrupt_driver::MotorInterruptDriver A(motor_queue,
                                                       motor_interrupt,

diff --git a/gripper/firmware/interfaces_z_motor.cpp b/gripper/firmware/interfaces_z_motor.cpp
@@ -190,8 +190,9 @@ static motor_class::Motor z_motor{
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gripper_tasks::z_tasks::get_queues(), gripper_tasks::z_tasks::get_queues(), motor_hardware_iface,
-    stallcheck, update_position_queue);
+    motor_queue, gripper_tasks::z_tasks::get_queues(),
+    gripper_tasks::z_tasks::get_queues(), motor_hardware_iface, stallcheck,
+    update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);

diff --git a/gripper/simulator/interfaces.cpp b/gripper/simulator/interfaces.cpp
@@ -94,8 +94,9 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gripper_tasks::z_tasks::get_queues(), gripper_tasks::z_tasks::get_queues(), motor_interface,
-    stallcheck, update_position_queue);
+    motor_queue, gripper_tasks::z_tasks::get_queues(),
+    gripper_tasks::z_tasks::get_queues(), motor_interface, stallcheck,
+    update_position_queue);
 
 static motor_interrupt_driver::MotorInterruptDriver A(motor_queue,
                                                       motor_interrupt,

diff --git a/head/core/tasks_proto.cpp b/head/core/tasks_proto.cpp
@@ -140,8 +140,9 @@ void head_tasks::start_tasks(
     head_queues.eeprom_queue = &eeprom_task.get_queue();
 
     // Start the left motor tasks
-    auto& left_motion = left_mc_task_builder.start(
-        5, "left mc", left_motion_controller, left_queues, left_queues, left_queues);
+    auto& left_motion =
+        left_mc_task_builder.start(5, "left mc", left_motion_controller,
+                                   left_queues, left_queues, left_queues);
     auto& left_tmc2130_driver = left_motor_driver_task_builder.start(
         5, "left motor driver", left_driver_configs, left_queues,
         spi3_task_client);
@@ -169,8 +170,9 @@ void head_tasks::start_tasks(
     left_queues.usage_storage_queue = &left_usage_storage_task.get_queue();
 
     // Start the right motor tasks
-    auto& right_motion = right_mc_task_builder.start(
-        5, "right mc", right_motion_controller, right_queues, right_queues, right_queues);
+    auto& right_motion =
+        right_mc_task_builder.start(5, "right mc", right_motion_controller,
+                                    right_queues, right_queues, right_queues);
     auto& right_tmc2130_driver = right_motor_driver_task_builder.start(
         5, "right motor driver", right_driver_configs, right_queues,
         spi2_task_client);

diff --git a/head/core/tasks_rev1.cpp b/head/core/tasks_rev1.cpp
@@ -145,8 +145,9 @@ void head_tasks::start_tasks(
     head_queues.eeprom_queue = &eeprom_task.get_queue();
 #endif
     // Start the left motor tasks
-    auto& left_motion = left_mc_task_builder.start(
-        5, "left mc", left_motion_controller, left_queues, left_queues, left_queues);
+    auto& left_motion =
+        left_mc_task_builder.start(5, "left mc", left_motion_controller,
+                                   left_queues, left_queues, left_queues);
     auto& left_tmc2160_driver = left_motor_driver_task_builder.start(
         5, "left motor driver", left_driver_configs, left_queues,
         spi3_task_client);
@@ -182,8 +183,9 @@ void head_tasks::start_tasks(
 #endif
 
     // Start the right motor tasks
-    auto& right_motion = right_mc_task_builder.start(
-        5, "right mc", right_motion_controller, right_queues, right_queues, right_queues);
+    auto& right_motion =
+        right_mc_task_builder.start(5, "right mc", right_motion_controller,
+                                    right_queues, right_queues, right_queues);
     auto& right_tmc2160_driver = right_motor_driver_task_builder.start(
         5, "right motor driver", right_driver_configs, right_queues,
         spi2_task_client);

diff --git a/head/firmware/main_proto.cpp b/head/firmware/main_proto.cpp
@@ -268,8 +268,9 @@ static stall_check::StallCheck stallcheck_right(
 static motor_hardware::MotorHardware motor_hardware_right(
     pin_configurations_right, &htim7, &htim2, right_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_right(
-    motor_queue_right, head_tasks::get_right_queues(), head_tasks::get_right_queues(), motor_hardware_right,
-    stallcheck_right, update_position_queue_right);
+    motor_queue_right, head_tasks::get_right_queues(),
+    head_tasks::get_right_queues(), motor_hardware_right, stallcheck_right,
+    update_position_queue_right);
 
 static auto encoder_background_timer_right =
     motor_encoder::BackgroundTimer(motor_interrupt_right, motor_hardware_right);
@@ -289,8 +290,9 @@ static stall_check::StallCheck stallcheck_left(
 static motor_hardware::MotorHardware motor_hardware_left(
     pin_configurations_left, &htim7, &htim3, left_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_left(
-    motor_queue_left, head_tasks::get_left_queues(), head_tasks::get_left_queues(), motor_hardware_left,
-    stallcheck_left, update_position_queue_left);
+    motor_queue_left, head_tasks::get_left_queues(),
+    head_tasks::get_left_queues(), motor_hardware_left, stallcheck_left,
+    update_position_queue_left);
 
 static auto encoder_background_timer_left =
     motor_encoder::BackgroundTimer(motor_interrupt_left, motor_hardware_left);

diff --git a/head/firmware/main_rev1.cpp b/head/firmware/main_rev1.cpp
@@ -286,8 +286,9 @@ static stall_check::StallCheck stallcheck_right(
 static motor_hardware::MotorHardware motor_hardware_right(
     pin_configurations_right, &htim7, &htim2, right_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_right(
-    motor_queue_right, head_tasks::get_right_queues(), head_tasks::get_right_queues(), motor_hardware_right,
-    stallcheck_right, update_position_queue_right);
+    motor_queue_right, head_tasks::get_right_queues(),
+    head_tasks::get_right_queues(), motor_hardware_right, stallcheck_right,
+    update_position_queue_right);
 
 static auto encoder_background_timer_right =
     motor_encoder::BackgroundTimer(motor_interrupt_right, motor_hardware_right);
@@ -311,8 +312,9 @@ static stall_check::StallCheck stallcheck_left(
 static motor_hardware::MotorHardware motor_hardware_left(
     pin_configurations_left, &htim7, &htim3, left_usage_config);
 static motor_handler::MotorInterruptHandler motor_interrupt_left(
-    motor_queue_left, head_tasks::get_left_queues(), head_tasks::get_left_queues(), motor_hardware_left,
-    stallcheck_left, update_position_queue_left);
+    motor_queue_left, head_tasks::get_left_queues(),
+    head_tasks::get_left_queues(), motor_hardware_left, stallcheck_left,
+    update_position_queue_left);
 
 static auto encoder_background_timer_left =
     motor_encoder::BackgroundTimer(motor_interrupt_left, motor_hardware_left);

diff --git a/head/simulator/main.cpp b/head/simulator/main.cpp
@@ -94,8 +94,9 @@ static stall_check::StallCheck stallcheck_right(
     linear_config.get_usteps_per_mm() / 1000.0F, utils::STALL_THRESHOLD_UM);
 
 static motor_handler::MotorInterruptHandler motor_interrupt_right(
-    motor_queue_right, head_tasks::get_right_queues(), head_tasks::get_right_queues(), motor_interface_right,
-    stallcheck_right, update_position_queue_right);
+    motor_queue_right, head_tasks::get_right_queues(),
+    head_tasks::get_right_queues(), motor_interface_right, stallcheck_right,
+    update_position_queue_right);
 
 static stall_check::StallCheck stallcheck_left(
     linear_config.get_encoder_pulses_per_mm() / 1000.0F,
@@ -117,8 +118,9 @@ static motor_class::Motor motor_right{
     motor_queue_right, update_position_queue_right};
 
 static motor_handler::MotorInterruptHandler motor_interrupt_left(
-    motor_queue_left, head_tasks::get_left_queues(), head_tasks::get_left_queues(), motor_interface_left,
-    stallcheck_left, update_position_queue_left);
+    motor_queue_left, head_tasks::get_left_queues(),
+    head_tasks::get_left_queues(), motor_interface_left, stallcheck_left,
+    update_position_queue_left);
 
 static motor_class::Motor motor_left{
     motor_sys_config, motor_interface_left,

diff --git a/include/can/core/message_handlers/motion.hpp b/include/can/core/message_handlers/motion.hpp
@@ -17,8 +17,8 @@ class MotionHandler {
         std::variant<std::monostate, DisableMotorRequest, EnableMotorRequest,
                      GetMotionConstraintsRequest, SetMotionConstraints,
                      ReadLimitSwitchRequest, MotorPositionRequest,
-                     UpdateMotorPositionEstimationRequest,
-                     GetMotorUsageRequest, MotorDriverErrorEncountered>;
+                     UpdateMotorPositionEstimationRequest, GetMotorUsageRequest,
+                     MotorDriverErrorEncountered>;
 
     MotionHandler(MotionTaskClient &motion_client)
         : motion_client{motion_client} {}

diff --git a/include/can/core/messages.hpp b/include/can/core/messages.hpp
@@ -198,7 +198,8 @@ using MotorPositionRequest = Empty<MessageId::motor_position_request>;
 using UpdateMotorPositionEstimationRequest =
     Empty<MessageId::update_motor_position_estimation_request>;
 
-using MotorDriverErrorEncountered = Empty<MessageId::motor_driver_error_encountered>;
+using MotorDriverErrorEncountered =
+    Empty<MessageId::motor_driver_error_encountered>;
 
 struct WriteToEEPromRequest : BaseMessage<MessageId::write_eeprom> {
     uint32_t message_index;

diff --git a/include/gantry/core/interfaces_proto.hpp b/include/gantry/core/interfaces_proto.hpp
@@ -14,7 +14,7 @@ extern "C" typedef void (*diag0_handler)(void);
 /**
  * Initialize the hardware portability layer.
  */
-void initialize(diag0_handler* call_diag0_handler);
+void initialize(diag0_handler *call_diag0_handler);
 
 /**
  * Get the CAN bus interface.