move GpioDrivePins init out of task.cpp to satisfy simulator

Opentrons · Jan 18, 2024 · ce009c5 · ce009c5
1 parent 985e96b
commit ce009c5
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Showing 4 changed files with 46 additions and 40 deletions.
diff --git a/hepa-uv/core/tasks.cpp b/hepa-uv/core/tasks.cpp
@@ -15,50 +15,15 @@
 static auto tasks = hepauv_tasks::AllTask{};
 static auto queues = hepauv_tasks::QueueClient{can::ids::NodeId::hepa_uv};
 
-static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{
-    .door_open =
-        gpio::PinConfig{
-            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = DOOR_OPEN_MCU_PORT,
-            .pin = DOOR_OPEN_MCU_PIN,
-            .active_setting = DOOR_OPEN_MCU_AS},
-    .reed_switch =
-        gpio::PinConfig{
-            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = REED_SW_MCU_PORT,
-            .pin = REED_SW_MCU_PIN,
-            .active_setting = REED_SW_MCU_AS},
-    .hepa_push_button =
-        gpio::PinConfig{
-            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = HEPA_NO_MCU_PORT,
-            .pin = HEPA_NO_MCU_PIN,
-        },
-    .uv_push_button =
-        gpio::PinConfig{
-            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = UV_NO_MCU_PORT,
-            .pin = UV_NO_MCU_PIN,
-        },
-    .hepa_on_off =
-        gpio::PinConfig{
-            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-            .port = HEPA_ON_OFF_PORT,
-            .pin = HEPA_ON_OFF_PIN,
-            .active_setting = HEPA_ON_OFF_AS},
-    .uv_on_off = gpio::PinConfig{
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = UV_ON_OFF_MCU_PORT,
-        .pin = UV_ON_OFF_MCU_PIN,
-        .active_setting = UV_ON_OFF_AS}};
-
 static auto hepa_task_builder =
     freertos_task::TaskStarter<512, hepa_task::HepaTask>{};
 
 /**
  * Start hepa_uv tasks.
  */
-void hepauv_tasks::start_tasks(can::bus::CanBus& can_bus) {
+void hepauv_tasks::start_tasks(
+    can::bus::CanBus& can_bus,
+    gpio_drive_hardware::GpioDrivePins& gpio_drive_pins) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
 

diff --git a/hepa-uv/firmware/main_rev1.cpp b/hepa-uv/firmware/main_rev1.cpp
@@ -54,6 +54,43 @@ static constexpr auto can_bit_timings =
     can::bit_timings::BitTimings<170 * can::bit_timings::MHZ, 100,
                                  500 * can::bit_timings::KHZ, 800>{};
 
+static auto gpio_drive_pins = gpio_drive_hardware::GpioDrivePins{
+    .door_open =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = DOOR_OPEN_MCU_PORT,
+            .pin = DOOR_OPEN_MCU_PIN,
+            .active_setting = DOOR_OPEN_MCU_AS},
+    .reed_switch =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = REED_SW_MCU_PORT,
+            .pin = REED_SW_MCU_PIN,
+            .active_setting = REED_SW_MCU_AS},
+    .hepa_push_button =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = HEPA_NO_MCU_PORT,
+            .pin = HEPA_NO_MCU_PIN,
+        },
+    .uv_push_button =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = UV_NO_MCU_PORT,
+            .pin = UV_NO_MCU_PIN,
+        },
+    .hepa_on_off =
+        gpio::PinConfig{
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = HEPA_ON_OFF_PORT,
+            .pin = HEPA_ON_OFF_PIN,
+            .active_setting = HEPA_ON_OFF_AS},
+    .uv_on_off = gpio::PinConfig{
+        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+        .port = UV_ON_OFF_MCU_PORT,
+        .pin = UV_ON_OFF_MCU_PIN,
+        .active_setting = UV_ON_OFF_AS}};
+
 static auto& hepa_queue_client = hepauv_tasks::get_main_queues();
 
 extern "C" void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
@@ -83,7 +120,7 @@ auto main() -> int {
 
     canbus.start(can_bit_timings);
 
-    hepauv_tasks::start_tasks(canbus);
+    hepauv_tasks::start_tasks(canbus, gpio_drive_pins);
 
     iWatchdog.start(6);
 

diff --git a/hepa-uv/simulator/CMakeLists.txt b/hepa-uv/simulator/CMakeLists.txt
@@ -47,6 +47,8 @@ target_compile_definitions(hepa-uv-simulator PUBLIC ENABLE_LOGGING)
 
 target_can_simlib(hepa-uv-simulator)
 
+target_hepa_uv_core(hepa-uv-simulator)
+
 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(hepa-uv-simulator

diff --git a/include/hepa-uv/core/tasks.hpp b/include/hepa-uv/core/tasks.hpp
@@ -2,13 +2,15 @@
 #include "can/core/message_writer.hpp"
 #include "common/core/freertos_timer.hpp"
 #include "hepa-uv/core/hepa_task.hpp"
+#include "hepa-uv/firmware/gpio_drive_hardware.hpp"
 
 namespace hepauv_tasks {
 
 /**
  * Start hepa-uv tasks.
  */
-void start_tasks(can::bus::CanBus& can_bus);
+void start_tasks(can::bus::CanBus& can_bus,
+                 gpio_drive_hardware::GpioDrivePins& gpio_drive_pins);
 
 /**
  * Access to all the message queues in the system.