feat(flex-stacker): Motor timer bringup (#454)

Bringing up the motor timers for XLZ axes with them ticking at 100KHz. --------- Co-authored-by: Ryan howard <[email protected]>
Opentrons · Aug 13, 2024 · 2a06ed3 · 2a06ed3
1 parent 40921d4
commit 2a06ed3
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Showing 16 changed files with 470 additions and 115 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/CMakeLists.txt b/stm32-modules/flex-stacker/firmware/CMakeLists.txt
@@ -22,6 +22,7 @@ set(${TARGET_MODULE_NAME}_FW_LINTABLE_SRCS
     ${MOTOR_CONTROL_DIR}/freertos_motor_task.cpp
     ${MOTOR_CONTROL_DIR}/freertos_motor_driver_task.cpp
     ${MOTOR_CONTROL_DIR}/motor_driver_policy.cpp
+    ${MOTOR_CONTROL_DIR}/motor_policy.cpp
     )
 
 # Add source files that should NOT be checked by clang-tidy here

diff --git a/stm32-modules/flex-stacker/firmware/main.cpp b/stm32-modules/flex-stacker/firmware/main.cpp
@@ -3,6 +3,7 @@
 #include "firmware/freertos_tasks.hpp"
 #include "firmware/system_stm32g4xx.h"
 #include "ot_utils/freertos/freertos_task.hpp"
+#include "systemwide.h"
 #include "task.h"
 
 using EntryPoint = std::function<void(tasks::FirmwareTasks::QueueAggregator *)>;
@@ -28,6 +29,7 @@ static auto motor_task =
 static auto ui_task =
     ot_utils::freertos_task::FreeRTOSTask<tasks::UI_STACK_SIZE, EntryPoint>(
         ui_task_entry);
+
 auto main() -> int {
     HardwareInit();
 

diff --git a/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_task.cpp b/stm32-modules/flex-stacker/firmware/motor_control/freertos_motor_task.cpp
@@ -3,10 +3,23 @@
 #include "firmware/motor_hardware.h"
 #include "firmware/motor_policy.hpp"
 #include "flex-stacker/motor_task.hpp"
+#include "motor_interrupt.hpp"
 #include "ot_utils/freertos/freertos_timer.hpp"
+#include "stm32g4xx_it.h"
+#include "systemwide.h"
 
 namespace motor_control_task {
 
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto x_motor_interrupt =
+    motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_X);
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto z_motor_interrupt =
+    motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_Z);
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
+static auto l_motor_interrupt =
+    motor_interrupt_controller::MotorInterruptController(MotorID::MOTOR_L);
+
 enum class Notifications : uint8_t {
     INCOMING_MESSAGE = 1,
 };
@@ -20,15 +33,34 @@ static tasks::FirmwareTasks::MotorQueue
 // NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 static auto _top_task = motor_task::MotorTask(_queue, nullptr);
 
+static auto callback_glue(MotorID motor_id) {
+    switch (motor_id) {
+        case MotorID::MOTOR_L:
+            l_motor_interrupt.tick();
+            break;
+        case MotorID::MOTOR_X:
+            x_motor_interrupt.tick();
+            break;
+        case MotorID::MOTOR_Z:
+            z_motor_interrupt.tick();
+            break;
+        default:
+            break;
+    }
+}
+
 auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void {
     auto* handle = xTaskGetCurrentTaskHandle();
     _queue.provide_handle(handle);
     aggregator->register_queue(_queue);
     _top_task.provide_aggregator(aggregator);
 
     motor_hardware_init();
-
+    initialize_callbacks(callback_glue);
     auto policy = motor_policy::MotorPolicy();
+    policy.enable_motor(MotorID::MOTOR_L);
+    policy.enable_motor(MotorID::MOTOR_X);
+    policy.enable_motor(MotorID::MOTOR_Z);
     while (true) {
         _top_task.run_once(policy);
     }