Revert "feat(motion-control): handle motor driver errors (#716)"

This reverts commit 762d6d5.
Opentrons · May 10, 2024 · d1366da · d1366da
1 parent b743bb5
commit d1366da
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Showing 105 changed files with 386 additions and 1,501 deletions.
diff --git a/.github/workflows/build-tests.yaml b/.github/workflows/build-tests.yaml
@@ -18,7 +18,7 @@ jobs:
   build-and-test:
     name: Run all tests
     runs-on: "ubuntu-20.04"
-    timeout-minutes: 20
+    timeout-minutes: 10
     steps:
       - name: Checkout ot3-firmware repo
         uses: actions/checkout@v4

diff --git a/gantry/core/tasks_proto.cpp b/gantry/core/tasks_proto.cpp
@@ -55,20 +55,18 @@ static auto eeprom_data_rev_update_builder =
 /**
  * Start gantry tasks.
  */
-auto gantry::tasks::start_tasks(
+void gantry::tasks::start_tasks(
     can::bus::CanBus& can_bus,
     motion_controller::MotionController<lms::BeltConfig>& motion_controller,
     spi::hardware::SpiDeviceBase& spi_device,
     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) {
     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, ::queues);
+    auto& motion = mc_task_builder.start(5, "motion controller",
+                                         motion_controller, ::queues, ::queues);
     auto& tmc2130_driver = motor_driver_task_builder.start(
         5, "tmc2130 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -118,15 +116,6 @@ auto gantry::tasks::start_tasks(
     ::queues.usage_storage_queue = &usage_storage_task.get_queue();
 
     mh_tsk.start_task();
-
-    return gantry::tasks::call_run_diag0_interrupt;
-}
-
-void gantry::tasks::call_run_diag0_interrupt() {
-    if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks()
-            .motion_controller->run_diag0_interrupt();
-    }
 }
 
 gantry::queues::QueueClient::QueueClient(can::ids::NodeId this_fw)
@@ -142,11 +131,6 @@ void gantry::queues::QueueClient::send_motor_driver_queue(
     motor_driver_queue->try_write(m);
 }
 
-void gantry::queues::QueueClient::send_motor_driver_queue_isr(
-    const tmc2130::tasks::TaskMessage& m) {
-    static_cast<void>(motor_driver_queue->try_write_isr(m));
-}
-
 void gantry::queues::QueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/gantry/core/tasks_rev1.cpp b/gantry/core/tasks_rev1.cpp
@@ -54,20 +54,18 @@ static auto tail_accessor = eeprom::dev_data::DevDataTailAccessor{queues};
 /**
  * Start gantry ::tasks.
  */
-auto gantry::tasks::start_tasks(
+void gantry::tasks::start_tasks(
     can::bus::CanBus& can_bus,
     motion_controller::MotionController<lms::BeltConfig>& motion_controller,
     spi::hardware::SpiDeviceBase& spi_device,
     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) {
     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, ::queues);
+    auto& motion = mc_task_builder.start(5, "motion controller",
+                                         motion_controller, ::queues, ::queues);
     auto& tmc2160_driver = motor_driver_task_builder.start(
         5, "tmc2160 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -117,15 +115,6 @@ auto gantry::tasks::start_tasks(
     ::queues.usage_storage_queue = &usage_storage_task.get_queue();
 
     mh_tsk.start_task();
-
-    return gantry::tasks::call_run_diag0_interrupt;
-}
-
-void gantry::tasks::call_run_diag0_interrupt() {
-    if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks()
-            .motion_controller->run_diag0_interrupt();
-    }
 }
 
 gantry::queues::QueueClient::QueueClient(can::ids::NodeId this_fw)
@@ -141,11 +130,6 @@ void gantry::queues::QueueClient::send_motor_driver_queue(
     motor_driver_queue->try_write(m);
 }
 
-void gantry::queues::QueueClient::send_motor_driver_queue_isr(
-    const tmc2160::tasks::TaskMessage& m) {
-    static_cast<void>(motor_driver_queue->try_write_isr(m));
-}
-
 void gantry::queues::QueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/gantry/firmware/interfaces_proto.cpp b/gantry/firmware/interfaces_proto.cpp
@@ -86,16 +86,10 @@ 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},
-    .diag0 = {
+    .estop_in = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOC,
-        .pin = GPIO_PIN_5,
+        .port = GPIOA,
+        .pin = GPIO_PIN_10,
         .active_setting = GPIO_PIN_RESET}
 };
 
@@ -131,21 +125,15 @@ 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},
-    .diag0 = {
+    .estop_in = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOC,
-        .pin = GPIO_PIN_5,
+        .port = GPIOA,
+        .pin = GPIO_PIN_10,
         .active_setting = GPIO_PIN_RESET}
 };
 
 static tmc2130::configs::TMC2130DriverConfig gantry_x_driver_configs{
-    .registers = {.gconfig = {.en_pwm_mode = 1, .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 1},
                   .ihold_irun = {.hold_current = 0x2,
                                  .run_current = 0x18,
                                  .hold_current_delay = 0x7},
@@ -168,7 +156,7 @@ 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},
                   .ihold_irun = {.hold_current = 0x2,
                                  .run_current = 0x18,
                                  .hold_current_delay = 0x7},
@@ -244,8 +232,8 @@ 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(), motor_hardware_iface, stallcheck,
+    update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -281,14 +269,13 @@ static constexpr auto can_bit_timings =
     can::bit_timings::BitTimings<170 * can::bit_timings::MHZ, 100,
                                  500 * can::bit_timings::KHZ, 800>{};
 
-void interfaces::initialize(diag0_handler* call_diag0_handler) {
+void interfaces::initialize() {
     // Initialize SPI
     if (initialize_spi(get_axis_type()) != HAL_OK) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler,
-                     enc_overflow_callback);
+    initialize_timer(call_motor_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
@@ -86,16 +86,10 @@ 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},
-    .diag0 = {
+    .estop_in = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOC,
-        .pin = GPIO_PIN_5,
+        .port = GPIOA,
+        .pin = GPIO_PIN_10,
         .active_setting = GPIO_PIN_RESET}
 };
 
@@ -131,21 +125,15 @@ 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},
-    .diag0 = {
+    .estop_in = {
         // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOC,
-        .pin = GPIO_PIN_5,
+        .port = GPIOA,
+        .pin = GPIO_PIN_10,
         .active_setting = GPIO_PIN_RESET}
 };
 
 static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
-    .registers = {.gconfig = {.en_pwm_mode = 0, .diag0_error = 1},
+    .registers = {.gconfig = {.en_pwm_mode = 0},
                   .ihold_irun = {.hold_current = 16,
                                  .run_current = 31,
                                  .hold_current_delay = 0x7},
@@ -171,7 +159,6 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_config_x{
                               .freewheel = 0,
                               .pwm_reg = 0x7,
                               .pwm_lim = 0xC},
-                  .drvconf = {.ot_select = 0},
                   .glob_scale = {.global_scaler = 0xA7}},
     .current_config =
         {
@@ -185,7 +172,7 @@ 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},
                   .ihold_irun = {.hold_current = 16,
                                  .run_current = 31,
                                  .hold_current_delay = 0x7},
@@ -211,7 +198,6 @@ static tmc2160::configs::TMC2160DriverConfig motor_driver_config_y{
                               .freewheel = 0,
                               .pwm_reg = 0x7,
                               .pwm_lim = 0xC},
-                  .drvconf = {.ot_select = 0},
                   .glob_scale = {.global_scaler = 0xA7}},
     .current_config =
         {
@@ -271,8 +257,8 @@ 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(), motor_hardware_iface, stallcheck,
+    update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -309,14 +295,13 @@ static constexpr auto can_bit_timings =
     can::bit_timings::BitTimings<170 * can::bit_timings::MHZ, 100,
                                  500 * can::bit_timings::KHZ, 800>{};
 
-void interfaces::initialize(diag0_handler* call_diag0_handler) {
+void interfaces::initialize() {
     // Initialize SPI
     if (initialize_spi(get_axis_type()) != HAL_OK) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler,
-                     enc_overflow_callback);
+    initialize_timer(call_motor_handler, enc_overflow_callback);
 
     // Start the can bus
     canbus.start(can_bit_timings);

diff --git a/gantry/firmware/main_proto.cpp b/gantry/firmware/main_proto.cpp
@@ -16,8 +16,6 @@
 #include "gantry/core/tasks_proto.hpp"
 #include "i2c/firmware/i2c_comms.hpp"
 
-static interfaces::diag0_handler call_diag0_handler = nullptr;
-
 static auto i2c_comms2 = i2c::hardware::I2C();
 static auto i2c_handles = I2CHandlerStruct{};
 
@@ -46,11 +44,11 @@ auto main() -> int {
 
     app_update_clear_flags();
 
-    interfaces::initialize(&call_diag0_handler);
+    interfaces::initialize();
     i2c_setup(&i2c_handles);
     i2c_comms2.set_handle(i2c_handles.i2c2);
 
-    call_diag0_handler = gantry::tasks::start_tasks(
+    gantry::tasks::start_tasks(
         interfaces::get_can_bus(), interfaces::get_motor().motion_controller,
         interfaces::get_spi(), interfaces::get_driver_config(),
         interfaces::get_motor_hardware_task(), i2c_comms2, eeprom_hw_iface);

diff --git a/gantry/firmware/main_rev1.cpp b/gantry/firmware/main_rev1.cpp
@@ -16,8 +16,6 @@
 #include "gantry/core/tasks_rev1.hpp"
 #include "i2c/firmware/i2c_comms.hpp"
 
-static interfaces::diag0_handler call_diag0_handler = nullptr;
-
 static auto i2c_comms2 = i2c::hardware::I2C();
 static auto i2c_handles = I2CHandlerStruct{};
 
@@ -46,11 +44,11 @@ auto main() -> int {
 
     app_update_clear_flags();
 
-    interfaces::initialize(&call_diag0_handler);
+    interfaces::initialize();
     i2c_setup(&i2c_handles);
     i2c_comms2.set_handle(i2c_handles.i2c2);
 
-    call_diag0_handler = gantry::tasks::start_tasks(
+    gantry::tasks::start_tasks(
         interfaces::get_can_bus(), interfaces::get_motor().motion_controller,
         interfaces::get_spi(), interfaces::get_driver_config(),
         interfaces::get_motor_hardware_task(), i2c_comms2, eeprom_hw_iface);