add enum for sensor version

Author: ahiuchingau

include/pipettes/core/sensor_tasks.hpp

@@ -8,6 +8,7 @@
 #include "i2c/core/poller.hpp"
 #include "i2c/core/writer.hpp"
 #include "motor-control/core/tasks/usage_storage_task.hpp"
+#include "sensors/core/mmr920.hpp"
 #include "sensors/core/sensor_hardware_interface.hpp"
 #include "sensors/core/tasks/capacitive_sensor_task.hpp"
 #include "sensors/core/tasks/environmental_sensor_task.hpp"
@@ -39,7 +40,8 @@ void start_tasks(CanWriterTask& can_writer, I2CClient& i2c3_task_client,
                  I2CPollerClient& i2c1_poller_client,
                  sensors::hardware::SensorHardwareBase& sensor_hardware_primary,
                  can::ids::NodeId id,
-                 eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware);
+                 eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware,
+                 sensors::mmr920::SensorVersion sensor_version);
 
 void start_tasks(
     CanWriterTask& can_writer, I2CClient& i2c3_task_client,
@@ -48,7 +50,8 @@ void start_tasks(
     sensors::hardware::SensorHardwareBase& sensor_hardware_primary,
     sensors::hardware::SensorHardwareBase& sensor_hardware_secondary,
     can::ids::NodeId id,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware);
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware,
+    sensors::mmr920::SensorVersion sensor_version);
 
 /**
  * Access to all sensor/eeprom tasks. This will be a singleton.

include/sensors/core/mmr920.hpp

@@ -31,11 +31,21 @@ constexpr uint16_t ADDRESS = 0x67 << 1;
 
 // Pressure cannot be measured beyond +/-8226.4F on the old sensors
 // New sensors have double the threshold but half the fidelity
-#if PCBA_PRIMARY_REVISION == 'e'
-constexpr float MAX_PRESSURE_READING = 16452.8F;
-#else
-constexpr float MAX_PRESSURE_READING = 8226.4F;
-#endif
+
+enum class SensorVersion : int {
+    mmr920c04 = 0,
+    mmr920c10 = 1,
+};
+
+[[nodiscard]] inline static auto get_max_pressure_reading(SensorVersion version)
+-> float {
+    if (version == SensorVersion::mmr920c10) {
+        return 16452.8F;
+    } else {
+        return 8226.4F;
+    }
+}
+
 enum class SensorStatus : uint8_t {
     SHUTDOWN = 0x0,
     IDLE = 0xE5,
@@ -267,25 +277,27 @@ struct __attribute__((packed, __may_alias__)) StatusCommand {
 struct PressureResult {
     // Pascals per 1 cmH20
     static constexpr float CMH20_TO_PASCALS = 98.0665;
-    // conversion factor of a given 3 byte measurement to Pascals
-    static constexpr float PA_PER_COUNT =
-#if PCBA_PRIMARY_REVISION == 'e'
-        2 * 1e-5 * CMH20_TO_PASCALS;  // 1.0e-5cmH2O/count * 98.0665Pa/cmH2O
-#else
-        1e-5 * CMH20_TO_PASCALS;  // 1.0e-5cmH2O/count * 98.0665Pa/cmH2O
-#endif
     uint32_t reading : 32 = 0;
 
-    [[nodiscard]] static auto to_pressure(uint32_t reg) -> float {
+    [[nodiscard]] static auto get_pa_per_count(SensorVersion version) -> float {
+        // conversion factor of a given 3 byte measurement to Pascals
+        if (version == SensorVersion::mmr920c10) {
+            return 2 * 1e-5 * CMH20_TO_PASCALS;  // 1.0e-5cmH2O/count * 98.0665Pa/cmH2O
+        }
+        return 1e-5 * CMH20_TO_PASCALS;  // 1.0e-5cmH2O/count * 98.0665Pa/cmH2O
+    }
+
+    [[nodiscard]] static auto to_pressure(uint32_t reg, SensorVersion version) -> float {
         // Pressure is converted to pascals
         // Sign extend pressure result
         if ((reg & 0x00800000) != 0) {
             reg |= 0xFF000000;
         } else {
             reg &= 0x007FFFFF;
         }
+
         float pressure =
-            static_cast<float>(static_cast<int32_t>(reg)) * PA_PER_COUNT;
+            static_cast<float>(static_cast<int32_t>(reg)) * get_pa_per_count(version);
         return pressure;
     }
 };

include/sensors/core/tasks/pressure_driver.hpp

@@ -35,13 +35,15 @@ class MMR920 {
     MMR920(I2CQueueWriter &writer, I2CQueuePoller &poller,
            CanClient &can_client, OwnQueue &own_queue,
            sensors::hardware::SensorHardwareBase &hardware,
-           const can::ids::SensorId &id)
+           const can::ids::SensorId &id,
+           const sensors::mmr920::SensorVersion version)
         : writer(writer),
           poller(poller),
           can_client(can_client),
           own_queue(own_queue),
           hardware(hardware),
-          sensor_id(id) {}
+          sensor_id(id),
+          sensor_version(version){}
 
     /**
      * @brief Check if the MMR92 has been initialized.
@@ -287,12 +289,12 @@ class MMR920 {
 
         save_pressure(shifted_data_store);
         auto pressure = mmr920::PressureResult::to_pressure(
-            _registers.pressure_result.reading);
+            _registers.pressure_result.reading, sensor_version);
 
         if (max_pressure_sync) {
             bool this_tick_over_threshold =
                 std::fabs(pressure - current_pressure_baseline_pa) >=
-                mmr920::MAX_PRESSURE_READING;
+                mmr920::get_max_pressure_reading(sensor_version);
             bool over_threshold = false;
             if (this_tick_over_threshold) {
                 max_pressure_consecutive_readings =
@@ -374,7 +376,7 @@ class MMR920 {
 
         uint32_t shifted_data_store = temporary_data_store >> 8;
 
-        auto pressure = mmr920::PressureResult::to_pressure(shifted_data_store);
+        auto pressure = mmr920::PressureResult::to_pressure(shifted_data_store, sensor_version);
         pressure_running_total += pressure;
 
         if (!m.id.is_completed_poll) {
@@ -451,6 +453,7 @@ class MMR920 {
     OwnQueue &own_queue;
     hardware::SensorHardwareBase &hardware;
     const can::ids::SensorId &sensor_id;
+    const sensors::mmr920::SensorVersion sensor_version;
 
     mmr920::MMR920RegisterMap _registers{};
     mmr920::FilterSetting filter_setting =

include/sensors/core/tasks/pressure_sensor_task.hpp

@@ -7,6 +7,7 @@
 #include "i2c/core/messages.hpp"
 #include "i2c/core/poller.hpp"
 #include "i2c/core/writer.hpp"
+#include "sensors/core/mmr920.hpp"
 #include "sensors/core/tasks/pressure_driver.hpp"
 #include "sensors/core/utils.hpp"
 
@@ -21,8 +22,9 @@ class PressureMessageHandler {
         I2CQueueWriter &i2c_writer, I2CQueuePoller &i2c_poller,
         CanClient &can_client, OwnQueue &own_queue,
         sensors::hardware::SensorHardwareBase &hardware,
-        const can::ids::SensorId &id)
-        : driver{i2c_writer, i2c_poller, can_client, own_queue, hardware, id} {}
+        const can::ids::SensorId &id,
+        const sensors::mmr920::SensorVersion& version)
+        : driver{i2c_writer, i2c_poller, can_client, own_queue, hardware, id, version} {}
     PressureMessageHandler(const PressureMessageHandler &) = delete;
     PressureMessageHandler(const PressureMessageHandler &&) = delete;
     auto operator=(const PressureMessageHandler &)
@@ -192,9 +194,10 @@ class PressureSensorTask {
     [[noreturn]] void operator()(
         i2c::writer::Writer<QueueImpl> *writer,
         i2c::poller::Poller<QueueImpl> *poller, CanClient *can_client,
-        sensors::hardware::SensorHardwareBase *hardware) {
+        sensors::hardware::SensorHardwareBase *hardware,
+        sensors::mmr920::SensorVersion *sensor_version) {
         auto handler = PressureMessageHandler{
-            *writer, *poller, *can_client, get_queue(), *hardware, sensor_id};
+            *writer, *poller, *can_client, get_queue(), *hardware, sensor_id, *sensor_version};
         handler.initialize();
         utils::TaskMessage message{};
         for (;;) {

pipettes/core/sensor_tasks.cpp

@@ -46,7 +46,8 @@ void sensor_tasks::start_tasks(
     sensor_tasks::I2CPollerClient& i2c2_poller_client,
     sensors::hardware::SensorHardwareBase& sensor_hardware_primary,
     can::ids::NodeId id,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware) {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware,
+    sensors::mmr920::SensorVersion sensor_version) {
     // Low throughput sensor task (single channel)
     queue_client.set_node_id(id);
     auto& queues = sensor_tasks::get_queues();
@@ -69,7 +70,7 @@ void sensor_tasks::start_tasks(
         5, "enviro sensor", i2c3_task_client, i2c3_poller_client, queues);
     auto& pressure_sensor_task_rear = pressure_sensor_task_builder_rear.start(
         5, "pressure sensor s0", pressure_i2c_client, pressure_i2c_poller,
-        queues, sensor_hardware_primary);
+        queues, sensor_hardware_primary, sensor_version);
     auto& capacitive_sensor_task_rear =
         capacitive_sensor_task_builder_rear.start(
             5, "capacitive sensor s0", i2c3_task_client, i2c3_poller_client,
@@ -102,7 +103,8 @@ void sensor_tasks::start_tasks(
     sensors::hardware::SensorHardwareBase& sensor_hardware_primary,
     sensors::hardware::SensorHardwareBase& sensor_hardware_secondary,
     can::ids::NodeId id,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware) {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hardware,
+    sensors::mmr920::SensorVersion sensor_version) {
     // High throughput sensor task (eight and ninety six channel)
     queue_client.set_node_id(id);
     auto& queues = sensor_tasks::get_queues();
@@ -133,10 +135,12 @@ void sensor_tasks::start_tasks(
         5, "enviro sensor", i2c3_task_client, i2c3_poller_client, queues);
     auto& pressure_sensor_task_rear = pressure_sensor_task_builder_rear.start(
         5, "pressure sensor s0", primary_pressure_i2c_client,
-        primary_pressure_i2c_poller, queues, sensor_hardware_primary);
+        primary_pressure_i2c_poller, queues, sensor_hardware_primary,
+        sensor_version);
     auto& pressure_sensor_task_front = pressure_sensor_task_builder_front.start(
         5, "pressure sensor s1", secondary_pressure_i2c_client,
-        secondary_pressure_i2c_poller, queues, sensor_hardware_secondary);
+        secondary_pressure_i2c_poller, queues, sensor_hardware_secondary,
+        sensor_version);
     auto& capacitive_sensor_task_rear =
         capacitive_sensor_task_builder_rear.start(
             5, "capacitive sensor s0", i2c3_task_client, i2c3_poller_client,

pipettes/firmware/main.cpp

@@ -30,6 +30,7 @@
 #include "pipettes/core/sensor_tasks.hpp"
 #include "pipettes/firmware/interfaces_g4.hpp"
 #include "pipettes/firmware/utility_configurations.hpp"
+#include "sensors/core/mmr920.hpp"
 #include "sensors/firmware/sensor_hardware.hpp"
 #include "spi/firmware/spi_comms.hpp"
 
@@ -147,6 +148,14 @@ extern "C" void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
     }
 }
 
+#if PCBA_PRIMARY_REVISION == 'e'
+static constexpr auto pressure_sensor_version =
+    sensors::mmr920::SensorVersion::mmr920c10;
+#else
+static constexpr auto pressure_sensor_version =
+    sensors::mmr920::SensorVersion::mmr920c04;
+#endif
+
 // Unfortunately, these numbers need to be literals or defines
 // to get the compile-time checks to work so we can't actually
 // correctly rely on the hal to get these numbers - they need
@@ -183,7 +192,7 @@ auto initialize_motor_tasks(
                               peripheral_tasks::get_i2c1_poller_client(),
                               sensor_hardware_container.primary,
                               sensor_hardware_container.secondary.value(), id,
-                              eeprom_hardware_iface);
+                              eeprom_hardware_iface, pressure_sensor_version);
 
     initialize_linear_timer(plunger_callback);
     initialize_gear_timer(gear_callback_wrapper);
@@ -210,15 +219,17 @@ auto initialize_motor_tasks(
                                   peripheral_tasks::get_i2c1_poller_client(),
                                   sensor_hardware_container.primary,
                                   sensor_hardware_container.secondary.value(),
-                                  id, eeprom_hardware_iface);
+                                  id, eeprom_hardware_iface,
+                                  pressure_sensor_version);
     } else {
         sensor_tasks::start_tasks(*central_tasks::get_tasks().can_writer,
                                   peripheral_tasks::get_i2c3_client(),
                                   peripheral_tasks::get_i2c3_poller_client(),
                                   peripheral_tasks::get_i2c1_client(),
                                   peripheral_tasks::get_i2c1_poller_client(),
                                   sensor_hardware_container.primary, id,
-                                  eeprom_hardware_iface);
+                                  eeprom_hardware_iface,
+                                  pressure_sensor_version);
     }
 
     initialize_linear_timer(plunger_callback);

sensors/tests/test_pressure_driver.cpp

@@ -9,6 +9,7 @@
 #include "i2c/tests/mock_response_queue.hpp"
 #include "motor-control/core/utils.hpp"
 #include "sensors/core/tasks/pressure_driver.hpp"
+#include "sensors/core/mmr920.hpp"
 #include "sensors/core/tasks/pressure_sensor_task.hpp"
 #include "sensors/core/utils.hpp"
 #include "sensors/tests/mock_hardware.hpp"
@@ -58,7 +59,7 @@ SCENARIO("Testing the pressure sensor driver") {
     writer.set_queue(&i2c_queue);
     poller.set_queue(&i2c_poll_queue);
     sensors::tasks::MMR920 driver(writer, poller, queue_client, pressure_queue,
-                                  hardware, sensor_id);
+                                  hardware, sensor_id, sensors::mmr920::SensorVersion::mmr920c04);
 
     can::message_writer_task::TaskMessage empty_can_msg{};
 

sensors/tests/test_pressure_sensor.cpp

@@ -56,7 +56,8 @@ SCENARIO("Receiving messages through the pressure sensor message handler") {
     poller.set_queue(&i2c_poll_queue);
 
     auto sensor = sensors::tasks::PressureMessageHandler{
-        writer, poller, queue_client, response_queue, mock_hw, sensor_id};
+        writer, poller, queue_client, response_queue, mock_hw, sensor_id,
+        sensors::mmr920::SensorVersion::mmr920c04};
 
     GIVEN("A TransactionResponse message") {
         can_queue.reset();