feat(hepa-uv): Add the initial project for the HEPA/UV module (#740)

* Added HEPA/UV module project, which builds and idles the drive pin indefinitely 
* Added hepa_uv NodeId 0x32 and hepa_uv_bootloader NodeID 0x3e to match monorepo
* Added GPIO pin configuration to match board design
* Added placeholder test
* Added CI project

.github/workflows/hepa_uv.yaml

@@ -0,0 +1,122 @@
+name: "HEPA/UV build/test"
+on:
+  pull_request:
+    paths:
+      - "hepa-uv/**"
+      - "common/**"
+      - "can/**"
+      - "include/**"
+      - "!include/pipettes/**"
+      - "!include/gantry/**"
+      - "!include/head/**"
+      - "cmake/*"
+      - "!cmake/Arduino*"
+      - "CMakeLists.txt"
+      - "hepa-uv/CMakeLists.txt"
+      - "CMakePresets.json"
+      - ".clang-format"
+      - ".clang-tidy"
+  push:
+    paths:
+      - "hepa-uv/**"
+      - "common/**"
+      - "can/**"
+      - "spi/**"
+      - "include/**"
+      - "!include/pipettes/**"
+      - "!include/gantry/**"
+      - "!include/head/**"
+      - "cmake/*"
+      - "!cmake/Arduino*"
+      - "CMakeLists.txt"
+      - "hepa-uv/CMakeLists.txt"
+      - "CMakePresets.json"
+      - ".clang-format"
+      - ".clang-tidy"
+      - ".github/workflows/hepa_uv.yaml"
+    branches:
+      - "*"
+    tags:
+      - "hepa_uv@*"
+  workflow_dispatch:
+
+env:
+  ci: 1
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  cross-compile-check:
+    name: "Cross-Compile/Check"
+    runs-on: "ubuntu-20.04"
+    timeout-minutes: 20
+    steps:
+      - uses: "actions/checkout@v2"
+        with:
+          fetch-depth: 0
+      - uses: "actions/cache@v3"
+        with:
+          path: "./stm32-tools"
+          key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }}
+      - name: "Configure"
+        run: cmake --preset=cross . -DCMAKE_BUILD_TYPE=RelWithDebInfo
+      - name: "Format"
+        run: cmake --build ./build-cross --target hepa-uv-format-ci
+      - name: "Build"
+        run: cmake --build ./build-cross --target hepa-uv-images hepa-uv-applications
+      - name: "Lint"
+        run: cmake --build ./build-cross --target hepa-uv-lint
+
+  host-compile-test:
+    name: "Host-Compile/Test"
+    runs-on: "ubuntu-20.04"
+    timeout-minutes: 10
+    steps:
+      - name: Update and install gcc-10 & g++-10
+        run: |
+          sudo apt update
+          sudo apt install gcc-10 g++-10
+
+      - name: Checkout ot3-firmware repository
+        uses: "actions/checkout@v2"
+        with:
+          fetch-depth: 0
+          path: ot3-firmware
+
+      - name: Checkout opentrons repository
+        uses: actions/checkout@v3
+        with:
+          repository: "Opentrons/opentrons"
+          path: opentrons
+
+      - name: Cache stm32-tools
+        uses: "actions/cache@v3"
+        with:
+          path: "./stm32-tools"
+          key: ${{ runner.os }}-${{ hashFiles('**/cmake/*') }}-${{ secrets.CACHE_VERSION }}
+
+      - name: "Configure"
+        run: cmake --preset=host-gcc10 .
+        working-directory: ot3-firmware
+
+      - name: 'Build and test'
+        run: cmake --build ./build-host --target hepa-uv-build-and-test
+        working-directory: ot3-firmware
+
+      - name: 'Setup state_manager'
+        run: cmake --build ./build-host/ --target state-manager-setup
+        working-directory: ot3-firmware
+
+      - name: 'Build simulator'
+        run: cmake --build ./build-host --target hepa-uv-simulator
+        working-directory: ot3-firmware
+
+      - name: "Upload artifacts"
+        if: github.event_name != 'pull_request'
+        uses: actions/upload-artifact@v3
+        with:
+          name: "hepa-uv-simulator-${{github.ref_name}}"
+          path: |
+            build-host/hepa-uv/simulator/hepa-uv-simulator

CMakeLists.txt

@@ -114,6 +114,7 @@ add_subdir_for_archs(SUBDIR gantry ARCHS cortex-m4)
 add_subdir_for_archs(SUBDIR head ARCHS cortex-m4)
 add_subdir_for_archs(SUBDIR gripper ARCHS cortex-m4)
 add_subdir_for_archs(SUBDIR pipettes ARCHS cortex-m4 cortex-m33)
+add_subdir_for_archs(SUBDIR hepa-uv ARCHS cortex-m4)
 list(REMOVE_DUPLICATES LINT_TARGETS)
 
 message(VERBOSE "Checking if cross-compiling.")
@@ -141,6 +142,7 @@ file(GLOB_RECURSE SOURCES_FOR_FORMAT
         ./spi/*.hpp ./spi/*.cpp
         ./eeprom/*.hpp ./eeprom/*.cpp ./rear-panel/*.hpp
         ./rear-panel/*.cpp
+        ./hepa-uv/*.cpp
         )
 
 # Targets for formatting. These are here rather than in individual target CMakeLists (e.g.

CMakePresets.json

@@ -139,6 +139,17 @@
         "gripper"
       ]
     },
+    {
+      "name": "hepa-uv",
+      "displayName": "hepa-uv binary",
+      "description": "Build the hepa-uv cross binary",
+      "configurePreset": "cross",
+      "jobs": 4,
+      "targets": [
+        "hepa-uv"
+      ]
+    },
+
     {
       "name": "gantry",
       "displayName": "gantry binaries",
@@ -212,7 +223,8 @@
         "bootloader-gripper-applications",
         "bootloader-pipettes-single-applications",
         "bootloader-pipettes-multi-applications",
-        "bootloader-pipettes-96-applications"
+        "bootloader-pipettes-96-applications",
+        "bootloader-hepa-uv-applications"
       ]
     },
     {
@@ -230,7 +242,8 @@
         "pipettes-single-simulator",
         "pipettes-multi-simulator",
         "pipettes-96-simulator",
-        "gripper-simulator"
+        "gripper-simulator",
+        "hepa-uv-simulator"
       ]
     },
     {
@@ -248,7 +261,8 @@
         "pipettes-single-simulator",
         "pipettes-multi-simulator",
         "pipettes-96-simulator",
-        "gripper-simulator"
+        "gripper-simulator",
+        "hepa-uv-simulator"
       ]
     }
   ]

bootloader/firmware/stm32G4/CMakeLists.txt

@@ -156,6 +156,25 @@ foreach_revision(
     NO_CREATE_INSTALL_RULES
     )
 
+set(hepauv_sources ${_g4_sources})
+
+macro(hepauv_bootloader_loop)
+  target_link_libraries(${REVISION_TARGET}
+      PUBLIC STM32G491RETx_bootloader
+      STM32G4xx_Drivers_Bootloader
+      bootloader-core)
+
+  target_compile_definitions(${REVISION_TARGET} PUBLIC node_id_hepa_uv)
+endmacro()
+
+foreach_revision(
+    PROJECT_NAME bootloader-hepa-uv
+    CALL_FOREACH_REV hepauv_bootloader_loop
+    REVISIONS b1
+    SOURCES hepauv_sources
+    NO_CREATE_IMAGE_HEX
+    NO_CREATE_INSTALL_RULES
+    )
 
 target_include_directories(STM32G4xx_Drivers_Bootloader
         PUBLIC .)

bootloader/firmware/stm32G4/node_id_stm32g4xx.c

@@ -73,9 +73,11 @@ CANNodeId get_node_id(void) {
 #elif defined(node_id_pipette_left)
     return can_nodeid_pipette_left_bootloader;
 #elif defined(node_id_pipette_right)
-    return can_nodeid_pipette_right_bootloader
+    return can_nodeid_pipette_right_bootloader;
 #elif defined(node_id_pipette_dynamic)
     return get_dynamic_nodeid();
+#elif defined(node_id_hepa_uv)
+    return can_nodeid_hepa_uv_bootloader;
 #else
 #error "No node id"
 #endif

common/firmware/gpio.c

@@ -42,4 +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;
-}
+}

common/firmware/gpio.cpp

@@ -24,4 +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);
-}
+}

hepa-uv/CMakeLists.txt

@@ -0,0 +1,33 @@
+# hepa-uv source tree
+
+add_subdirectory(core)
+
+if (${CMAKE_CROSSCOMPILING})
+    if (${ARM_ARCH_TYPE} STREQUAL "cortex-m4")
+        add_subdirectory(firmware)
+    endif ()
+else ()
+    add_subdirectory(simulator)
+    add_subdirectory(tests)
+endif ()
+
+file(GLOB_RECURSE HEPA_SOURCES_FOR_FORMAT ./*.cpp ./*.hpp ../include/hepa-uv/*.hpp)
+
+# Targets for formatting. These are here rather than in individual target CMakeLists (e.g.
+# the ones in tests/ or firmware/) because they don't have semantic reasoning involved and
+# can therefore operate on file globs, unlike lint/static analysis
+
+# Target for use during dev - edits files
+add_custom_target(
+        hepa-uv-format
+        ALL
+        COMMAND ${Clang_CLANGFORMAT_EXECUTABLE} -style=file -i ${HEPA_SOURCES_FOR_FORMAT}
+)
+
+# Target for use in ci - warnings are errors, doesn't edit files
+add_custom_target(
+        hepa-uv-format-ci
+        COMMAND ${Clang_CLANGFORMAT_EXECUTABLE} -style=file -Werror --ferror-limit=0 -n ${HEPA_SOURCES_FOR_FORMAT}
+)
+
+set(LINT_TARGETS ${LINT_TARGETS} PARENT_SCOPE)

hepa-uv/core/CMakeLists.txt

@@ -0,0 +1,8 @@
+function(target_hepa_uv_core TARGET)
+    target_sources(${TARGET} PUBLIC
+            ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/can_tasks.cpp
+            ${CMAKE_CURRENT_FUNCTION_LIST_DIR}/tasks.cpp)
+    target_include_directories(${TARGET} PUBLIC ${CMAKE_CURRENT_FUNCTION_LIST_DIR})
+    target_link_libraries(${TARGET} PUBLIC common-core)
+    target_include_directories(${TARGET} INTERFACE ${CMAKE_SOURCE_DIR}/cpp-utils/include)
+endfunction()