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Opentrons · Dec 12, 2024 · 6560aa6 · 6560aa6
1 parent 3310394
commit 6560aa6
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Showing 18 changed files with 739 additions and 49 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/CMakeLists.txt b/stm32-modules/flex-stacker/firmware/CMakeLists.txt
@@ -21,7 +21,9 @@ set(${TARGET_MODULE_NAME}_FW_LINTABLE_SRCS
     ${SYSTEM_DIR}/freertos_idle_timer_task.cpp
     ${SYSTEM_DIR}/freertos_system_task.cpp
     ${SYSTEM_DIR}/system_policy.cpp
+    ${SYSTEM_DIR}/i2c_comms.cpp
     ${UI_DIR}/freertos_ui_task.cpp
+    ${UI_DIR}/ui_policy.cpp
     ${MOTOR_CONTROL_DIR}/freertos_motor_task.cpp
     ${MOTOR_CONTROL_DIR}/freertos_motor_driver_task.cpp
     ${MOTOR_CONTROL_DIR}/motor_driver_policy.cpp
@@ -36,6 +38,7 @@ set(${TARGET_MODULE_NAME}_FW_NONLINTABLE_SRCS
     ${SYSTEM_DIR}/hal_tick.c
     ${SYSTEM_DIR}/system_serial_number.c
     ${SYSTEM_DIR}/system_hardware.c
+    ${SYSTEM_DIR}/i2c_hardware.c
     ${UI_DIR}/ui_hardware.c
     ${COMMS_DIR}/usbd_conf.c
     ${COMMS_DIR}/usbd_desc.c

diff --git a/stm32-modules/flex-stacker/firmware/main.cpp b/stm32-modules/flex-stacker/firmware/main.cpp
@@ -1,12 +1,15 @@
 #include "FreeRTOS.h"
+#include "task.h"
+
+#include "ot_utils/freertos/freertos_task.hpp"
 #include "firmware/firmware_tasks.hpp"
 #include "firmware/freertos_tasks.hpp"
 #include "firmware/motor_hardware.h"
+#include "firmware/i2c_comms.hpp"
+#include "firmware/i2c_hardware.h"
 #include "firmware/system_stm32g4xx.h"
 #include "flex-stacker/messages.hpp"
-#include "ot_utils/freertos/freertos_task.hpp"
 #include "systemwide.h"
-#include "task.h"
 
 #pragma GCC diagnostic push
 // NOLINTNEXTLINE(clang-diagnostic-unknown-warning-option)
@@ -15,6 +18,8 @@
 #pragma GCC diagnostic pop
 
 using EntryPoint = std::function<void(tasks::FirmwareTasks::QueueAggregator *)>;
+using EntryPointUI = std::function<void(
+    tasks::FirmwareTasks::QueueAggregator *, i2c::hardware::I2C *)>;
 
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto motor_driver_task_entry = EntryPoint(motor_driver_task::run);
@@ -23,7 +28,7 @@ static auto motor_driver_task_entry = EntryPoint(motor_driver_task::run);
 static auto motor_task_entry = EntryPoint(motor_control_task::run);
 
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
-static auto ui_task_entry = EntryPoint(ui_control_task::run);
+static auto ui_task_entry = EntryPointUI(ui_control_task::run);
 
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto host_comms_entry = EntryPoint(host_comms_control_task::run);
@@ -51,7 +56,7 @@ static auto host_comms_task =
 
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto ui_task =
-    ot_utils::freertos_task::FreeRTOSTask<tasks::UI_STACK_SIZE, EntryPoint>(
+    ot_utils::freertos_task::FreeRTOSTask<tasks::UI_STACK_SIZE, EntryPointUI>(
         ui_task_entry);
 
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
@@ -71,18 +76,22 @@ extern "C" void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
     }
 }
 
+static auto i2c2_comms = i2c::hardware::I2C();
+static auto i2c3_comms = i2c::hardware::I2C();
+static auto i2c_handles = I2CHandlerStruct{};
+
 auto main() -> int {
     HardwareInit();
 
-    system_task.start(tasks::SYSTEM_TASK_PRIORITY, "System", &aggregator);
+    i2c_hardware_init(&i2c_handles);
+    i2c2_comms.set_handle(i2c_handles.i2c2, I2C_BUS_2);
+    i2c3_comms.set_handle(i2c_handles.i2c3, I2C_BUS_3);
 
-    driver_task.start(tasks::MOTOR_DRIVER_TASK_PRIORITY, "Motor Driver",
-                      &aggregator);
+    system_task.start(tasks::SYSTEM_TASK_PRIORITY, "System", &aggregator);
+    driver_task.start(tasks::MOTOR_DRIVER_TASK_PRIORITY, "Motor Driver", &aggregator);
     motor_task.start(tasks::MOTOR_TASK_PRIORITY, "Motor", &aggregator);
-
     host_comms_task.start(tasks::COMMS_TASK_PRIORITY, "Comms", &aggregator);
-
-    ui_task.start(tasks::UI_TASK_PRIORITY, "UI", &aggregator);
+    ui_task.start(tasks::UI_TASK_PRIORITY, "UI", &aggregator, &i2c2_comms);
 
     vTaskStartScheduler();
     return 0;

diff --git a/stm32-modules/flex-stacker/firmware/system/i2c_comms.cpp b/stm32-modules/flex-stacker/firmware/system/i2c_comms.cpp
@@ -0,0 +1,27 @@
+#include <stdint.h>
+
+#include "firmware/i2c_comms.hpp"
+#include "firmware/i2c_hardware.h"
+#include "systemwide.h"
+
+using namespace i2c::hardware;
+
+auto I2C::set_handle(HAL_I2C_HANDLE i2c_handle, I2C_BUS i2c_bus) -> void {
+    this->handle = i2c_handle;
+    this->bus = i2c_bus;
+    i2c_register_handle(this->handle, this->bus);
+}
+
+auto I2C::i2c_write(uint16_t dev_addr, uint16_t reg, uint8_t* data,
+                    uint16_t size) -> RxTxReturn {
+    MessageT resp{0};
+    auto ret = hal_i2c_write(bus, dev_addr, reg, data, size, TIMEOUT);
+    return RxTxReturn(ret, resp);
+}
+
+auto I2C::i2c_read(uint16_t dev_addr, uint16_t reg, uint16_t size)
+    -> RxTxReturn {
+    MessageT resp{0};
+    auto ret = hal_i2c_read(bus, dev_addr, reg, resp.data(), size, TIMEOUT);
+    return RxTxReturn(ret, resp);
+}