fix bad merge

Opentrons · Jan 3, 2025 · 9ef6d69 · 9ef6d69
1 parent 91a2e8b
commit 9ef6d69
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Showing 8 changed files with 20 additions and 352 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/CMakeLists.txt b/stm32-modules/flex-stacker/firmware/CMakeLists.txt
@@ -32,7 +32,6 @@ set(${TARGET_MODULE_NAME}_FW_LINTABLE_SRCS
     ${TOF_SENSOR_DIR}/freertos_tof_driver_task.cpp
     ${TOF_SENSOR_DIR}/freertos_tof_sensor_task.cpp
     ${TOF_SENSOR_DIR}/tof_driver_policy.cpp
-    ${TOF_SENSOR_DIR}/i2c_comms.cpp
     )
 
 # Add source files that should NOT be checked by clang-tidy here
@@ -51,7 +50,6 @@ set(${TARGET_MODULE_NAME}_FW_NONLINTABLE_SRCS
     ${MOTOR_CONTROL_DIR}/motor_hardware.c
     ${MOTOR_CONTROL_DIR}/motor_spi_hardware.c
     ${TOF_SENSOR_DIR}/tof_sensor_hardware.c
-    ${TOF_SENSOR_DIR}/i2c_hardware.c
     )
 
 add_executable(${TARGET_MODULE_NAME}

diff --git a/stm32-modules/flex-stacker/firmware/tof_sensor/i2c_comms.cpp b/stm32-modules/flex-stacker/firmware/tof_sensor/i2c_comms.cpp
diff --git a/stm32-modules/flex-stacker/firmware/tof_sensor/i2c_hardware.c b/stm32-modules/flex-stacker/firmware/tof_sensor/i2c_hardware.c
diff --git a/stm32-modules/flex-stacker/firmware/tof_sensor/tof_driver_policy.cpp b/stm32-modules/flex-stacker/firmware/tof_sensor/tof_driver_policy.cpp
@@ -2,6 +2,7 @@
 
 #include "firmware/tof_driver_policy.hpp"
 #include "firmware/tof_sensor_hardware.h"
+#include "firmware/hardware_iface.hpp"
 #include "systemwide.h"
 
 using namespace tof::hardware;
@@ -11,11 +12,13 @@ auto TOFDriverPolicy::enable_tof_sensor(TOFSensorID sensor_id, bool enable) -> v
 }
 
 auto TOFDriverPolicy::i2c_write(uint16_t dev_addr, uint16_t reg, uint8_t* data,
-                    uint16_t size) -> RxTxReturn {
-    return i2c_comms->i2c_write(dev_addr, reg, data, size);
+                    uint16_t size) -> i2c::hardware::RxTxReturn {
+    return i2c::hardware::RxTxReturn();
+    //return i2c_comms->i2c_write(dev_addr, reg, data, size);
 }
 
 auto TOFDriverPolicy::i2c_read(uint16_t dev_addr, uint16_t reg, uint16_t size)
-    -> RxTxReturn {
-    return i2c_comms->i2c_read(dev_addr, reg, size);
+    -> i2c::hardware::RxTxReturn {
+    return i2c::hardware::RxTxReturn();
+    //return i2c_comms->i2c_read(dev_addr, reg, size);
 }
diff --git a/stm32-modules/flex-stacker/firmware/tof_sensor/tof_sensor_hardware.c b/stm32-modules/flex-stacker/firmware/tof_sensor/tof_sensor_hardware.c
@@ -2,78 +2,9 @@
 #include "stm32g4xx_hal_gpio.h"
 
 #include "firmware/tof_sensor_hardware.h"
-#include "firmware/i2c_hardware.h"
 #include "systemwide.h"
 #include "main.h"
 
-static I2C_HandleTypeDef hi2c2;
-static I2C_HandleTypeDef hi2c3;
-
-HAL_I2C_HANDLE MX_I2C2_Init()
-{
-    hi2c2.State = HAL_I2C_STATE_RESET;
-    hi2c2.Instance = I2C2;
-    hi2c2.Init.Timing = 0x10C0ECFF;
-    hi2c2.Init.OwnAddress1 = 0;
-    hi2c2.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-    hi2c2.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-    hi2c2.Init.OwnAddress2 = 0;
-    hi2c2.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
-    hi2c2.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-    hi2c2.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-    if (HAL_I2C_Init(&hi2c2) != HAL_OK)
-    {
-        Error_Handler();
-    }
-    /** Configure Analogue filter
-    */
-    if (HAL_I2CEx_ConfigAnalogFilter(&hi2c2, I2C_ANALOGFILTER_ENABLE) != HAL_OK)
-    {
-        Error_Handler();
-    }
-    /** Configure Digital filter
-    */
-    if (HAL_I2CEx_ConfigDigitalFilter(&hi2c2, 0) != HAL_OK)
-    {
-        Error_Handler();
-    }
-
-    /** I2C Fast mode Plus enable */
-    __HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C2);
-
-    return &hi2c2;
-}
-
-HAL_I2C_HANDLE MX_I2C3_Init() {
-    hi2c3.Instance = I2C3;
-    hi2c3.Init.Timing = 0x10C0ECFF;
-    hi2c3.Init.OwnAddress1 = 0;
-    hi2c3.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
-    hi2c3.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
-    hi2c3.Init.OwnAddress2 = 0;
-    hi2c3.Init.OwnAddress2Masks = I2C_OA2_NOMASK;
-    hi2c3.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE;
-    hi2c3.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE;
-    if (HAL_I2C_Init(&hi2c3) != HAL_OK) {
-        Error_Handler();
-    }
-    /** Configure Analogue filter
-     */
-    if (HAL_I2CEx_ConfigAnalogFilter(&hi2c3, I2C_ANALOGFILTER_ENABLE) !=
-        HAL_OK) {
-        Error_Handler();
-    }
-    /** Configure Digital filter
-     */
-    if (HAL_I2CEx_ConfigDigitalFilter(&hi2c3, 0) != HAL_OK) {
-        Error_Handler();
-    }
-
-    /** I2C Fast mode Plus enable */
-    __HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C3);
-
-    return &hi2c3;
-}
 
 /**
  * @brief enable the eeprom write protect pin.
@@ -129,38 +60,3 @@ void enable_tof_sensor_write(TOFSensorID sensor_id, bool enable) {
         HAL_GPIO_WritePin(TOF_EN_Z_PORT, TOF_EN_Z_PIN, enable ? GPIO_PIN_SET : GPIO_PIN_RESET);
     }
 }
-
-void i2c_hardware_init(I2CHandlerStruct* i2c_handles) {
-    HAL_I2C_HANDLE i2c2 = MX_I2C2_Init();
-    HAL_I2C_HANDLE i2c3 = MX_I2C3_Init();
-    i2c_handles->i2c2 = i2c2;
-    i2c_handles->i2c3 = i2c3;
-    eeprom_write_protect_init();
-    tof_write_protect_init();
-
-    // write protect the eeprom
-    enable_eeprom_write(false);
-    // Disable tof sensors
-    enable_tof_sensor_write(TOF_X, false);
-    enable_tof_sensor_write(TOF_Z, false);
-}
-
-void I2C2_EV_IRQHandler(void)
-{
-    HAL_I2C_EV_IRQHandler(&hi2c2);
-}
-
-void I2C2_ER_IRQHandler(void)
-{
-    HAL_I2C_ER_IRQHandler(&hi2c2);
-}
-
-void I2C3_EV_IRQHandler(void)
-{
-    HAL_I2C_EV_IRQHandler(&hi2c3);
-}
-
-void I2C3_ER_IRQHandler(void)
-{
-    HAL_I2C_ER_IRQHandler(&hi2c3);
-}