Merge branch 'edge' into flex-stacker-tof-sensors-bringup

stm32-modules/flex-stacker/firmware/CMakeLists.txt

@@ -22,7 +22,9 @@ 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
     ${MOTOR_CONTROL_DIR}/motor_driver_policy.cpp
@@ -41,6 +43,7 @@ set(${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

stm32-modules/flex-stacker/firmware/host_comms_task/usbd_desc.c

@@ -233,18 +233,18 @@ uint8_t *USBD_Class_InterfaceStrDescriptor(USBD_SpeedTypeDef speed, uint16_t *le
   */
 static void Get_SerialNum(void)
 {
-  uint32_t deviceserial0, deviceserial1, deviceserial2;
+  uint32_t sg_0, sg_1;
+  uint32_t pointer = USB_STRING_SERIAL_BASE;
+  // Serial number is stored in 6 32-bit words
+  for (uint8_t idx = 0; idx < 4; idx++) {
+      sg_0 = *(uint32_t *)(pointer + 4);
+      sg_1 = *(uint32_t *)(pointer);
 
-  deviceserial0 = *(uint32_t *)(UID_BASE+4);
-  deviceserial1 = *(uint32_t *)(UID_BASE+8);
-  deviceserial2 = *(uint32_t *)(UID_BASE+12);
+      if (sg_0 == 0U) break;
 
-  deviceserial0 += deviceserial2;
-
-  if (deviceserial0 != 0U)
-  {
-    IntToUnicode(deviceserial0, &USBD_StringSerial[2], 8U);
-    IntToUnicode(deviceserial1, &USBD_StringSerial[18], 4U);
+      IntToUnicode(sg_0, &USBD_StringSerial[2 + 16*idx], 4U);
+      IntToUnicode(sg_1, &USBD_StringSerial[10 + 16*idx], 4U);
+      pointer += 8;
   }
 }
 
@@ -259,20 +259,15 @@ static void IntToUnicode(uint32_t value, uint8_t *pbuf, uint8_t len)
 {
   uint8_t idx = 0U;
 
-  for (idx = 0U ; idx < len ; idx ++)
+  for (idx = 0U; idx < len; idx++)
   {
-    if (((value >> 28)) < 0xAU)
-    {
-      pbuf[ 2U * idx] = (value >> 28) + '0';
-    }
-    else
-    {
-      pbuf[2U * idx] = (value >> 28) + 'A' - 10U;
-    }
-
-    value = value << 4;
-
+    // Extract the most significant byte
+    pbuf[2U * idx] = (value >> 24) & 0xFF;
+    // Add a null byte for Unicode (UTF-16)
     pbuf[2U * idx + 1] = 0U;
+
+    // Shift the value to process the next byte
+    value = value << 8;
   }
 }
 

stm32-modules/flex-stacker/firmware/host_comms_task/usbd_desc.h

@@ -26,8 +26,8 @@
 
 /* Exported types ------------------------------------------------------------*/
 /* Exported constants --------------------------------------------------------*/
-
-#define USB_SIZ_STRING_SERIAL 0x1A
+#define USB_SIZ_STRING_SERIAL 0x32
+#define USB_STRING_SERIAL_BASE 0x0807F800
 
 /* Exported macro ------------------------------------------------------------*/
 /* Exported functions ------------------------------------------------------- */

stm32-modules/flex-stacker/firmware/main.cpp

@@ -1,69 +1,66 @@
 #include "FreeRTOS.h"
-#include "task.h"
-
-#include "ot_utils/freertos/freertos_task.hpp"
-#include "firmware/freertos_tasks.hpp"
 #include "firmware/firmware_tasks.hpp"
+#include "firmware/freertos_tasks.hpp"
 #include "firmware/i2c_comms.hpp"
+#include "firmware/i2c_hardware.h"
 #include "firmware/motor_hardware.h"
-#include "firmware/tof_sensor_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)
 #pragma GCC diagnostic ignored "-Wvolatile"
 #include "stm32g4xx_hal.h"
 #pragma GCC diagnostic pop
 
-// NOLINTBEGIN(cppcoreguidelines-avoid-non-const-global-variables)
-
-// Task EntryPoint
 using EntryPoint = std::function<void(tasks::FirmwareTasks::QueueAggregator *)>;
-using EntryPointTOFDriver = std::function<void(
-    tasks::FirmwareTasks::QueueAggregator *, i2c::hardware::I2C *)>;
+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);
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto motor_task_entry = EntryPoint(motor_control_task::run);
-static auto ui_task_entry = EntryPoint(ui_control_task::run);
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+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);
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto system_task_entry = EntryPoint(system_control_task::run);
-static auto tof_driver_task_entry = EntryPointTOFDriver(tof_driver_task::run);
-static auto tof_sensor_task_entry = EntryPoint(tof_sensor_task::run);
 
-// Tasks
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto driver_task =
     ot_utils::freertos_task::FreeRTOSTask<tasks::MOTOR_DRIVER_STACK_SIZE,
                                           EntryPoint>(motor_driver_task_entry);
-
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto motor_task =
     ot_utils::freertos_task::FreeRTOSTask<tasks::MOTOR_STACK_SIZE, EntryPoint>(
         motor_task_entry);
-
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto host_comms_task =
     ot_utils::freertos_task::FreeRTOSTask<tasks::COMMS_STACK_SIZE, EntryPoint>(
         host_comms_entry);
-
+// 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)
 static auto system_task =
     ot_utils::freertos_task::FreeRTOSTask<tasks::SYSTEM_STACK_SIZE, EntryPoint>(
         system_task_entry);
 
-static auto tof_d_task = ot_utils::freertos_task::FreeRTOSTask<
-    tasks::TOF_DRIVER_STACK_SIZE, EntryPointTOFDriver>(tof_driver_task_entry);
-
-static auto tof_s_task =
-    ot_utils::freertos_task::FreeRTOSTask<tasks::TOF_SENSOR_STACK_SIZE,
-                                          EntryPoint>(tof_sensor_task_entry);
-
-// Agregator
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto aggregator = tasks::FirmwareTasks::QueueAggregator();
 
-// NOLINTEND(cppcoreguidelines-avoid-non-const-global-variables)
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto i2c2_comms = i2c::hardware::I2C();
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto i2c3_comms = i2c::hardware::I2C();
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto i2c_handles = I2CHandlerStruct{};
 
 extern "C" void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
     switch (GPIO_Pin) {
@@ -77,27 +74,20 @@ 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();
 
     i2c_hardware_init(&i2c_handles);
-    i2c2_comms.set_handle(i2c_handles.i2c2);
-    i2c3_comms.set_handle(i2c_handles.i2c3);
+
+    i2c2_comms.set_handle(i2c_handles.i2c2, I2C_BUS_2);
+    i2c3_comms.set_handle(i2c_handles.i2c3, I2C_BUS_3);
 
     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);
-    tof_d_task.start(tasks::TOF_DRIVER_TASK_PRIORITY, "TOF Driver", &aggregator,
-                     &i2c3_comms);
-    tof_s_task.start(tasks::TOF_SENSOR_TASK_PRIORITY, "TOF Sensor",
-                     &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;

stm32-modules/flex-stacker/firmware/system/i2c_comms.cpp

@@ -0,0 +1,27 @@
+#include "firmware/i2c_comms.hpp"
+
+#include <cstdint>
+
+#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->bus = i2c_bus;
+    i2c_register_handle(i2c_handle, i2c_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);
+    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);
+    return RxTxReturn(ret, resp);
+}