add motor pins

stm32-modules/include/stacker/stacker/errors.hpp

@@ -19,7 +19,7 @@ enum class ErrorCode {
 auto errorstring(ErrorCode code) -> const char*;
 
 template <typename Input, typename Limit>
-    requires std::forward_iterator<Input> && std::sized_sentinel_for<Limit, Input>
+requires std::forward_iterator<Input> && std::sized_sentinel_for<Limit, Input>
 constexpr auto write_into(Input start, Limit end, ErrorCode code) -> Input {
     const char* str = errorstring(code);
     return write_string_to_iterpair(start, end, str);

stm32-modules/stacker/CMakeLists.txt

@@ -3,14 +3,13 @@
 # This variable defines the name of the target for this subfolder.
 set(TARGET_MODULE_NAME "stacker")
 
-#add_subdirectory(src)
+add_subdirectory(src)
 
 if (${CMAKE_CROSSCOMPILING})
     add_subdirectory(firmware)
-    add_subdirectory(src)
 else()
     add_subdirectory(tests)
-#    add_subdirectory(simulator)
+    add_subdirectory(simulator)
 endif()
 
 file(GLOB_RECURSE ${TARGET_MODULE_NAME}_SOURCES_FOR_FORMAT

stm32-modules/stacker/firmware/CMakeLists.txt

@@ -7,6 +7,7 @@ add_STM32G4_freertos(${TARGET_MODULE_NAME})
 add_STM32G4_usb(${TARGET_MODULE_NAME})
 
 set(SYSTEM_DIR "${CMAKE_CURRENT_SOURCE_DIR}/system")
+set(MOTOR_CONTROL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/motor_control")
 set(COMMS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/host_comms_task")
 set(COMMON_MCU_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../common/STM32G491")
 set(COMMON_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../common/src")
@@ -15,7 +16,8 @@ set(GDBINIT_PATH "${CMAKE_CURRENT_BINARY_DIR}/../../common/STM32G491/gdbinit")
 # Add source files that should be checked by clang-tidy here
 set(${TARGET_MODULE_NAME}_FW_LINTABLE_SRCS
     ${COMMS_DIR}/usb_hardware.c
-        )
+    ${MOTOR_CONTROL_DIR}/motor_hardware.c
+    )
 
 # Add source files that should NOT be checked by clang-tidy here
 set(${TARGET_MODULE_NAME}_FW_NONLINTABLE_SRCS

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

@@ -26,16 +26,14 @@
 
 /* Private typedef -----------------------------------------------------------*/
 /* Private define ------------------------------------------------------------*/
-// TODO(frank 05-06-2022): Uncomment these VID/PID definitions and replace
-// the temporary values that replicate the Gen1 tempdeck.
-//#define USBD_VID                      0x04D8
-//#define USBD_PID                      0xed8c
+// TODO(alise): Uncomment these VID/PID definitions and replace
+// the temporary values with the actual values for the shuttle
 #define USBD_VID                      0x04D8  /* same as Gen1 TD */
 #define USBD_PID                      0xee93  /* same as Gen1 TD */
 #define USBD_LANGID_STRING            0x0409  /* Replace '0xbbb' with your device language ID */
 #define USBD_MANUFACTURER_STRING      "Opentrons" /* Add your manufacturer string */
-#define USBD_PRODUCT_HS_STRING        "Tempdeck HS" /* Add your product High Speed string */
-#define USBD_PRODUCT_FS_STRING        "Tempdeck FS" /* Add your product Full Speed string */
+#define USBD_PRODUCT_HS_STRING        "Stacker HS" /* Add your product High Speed string */
+#define USBD_PRODUCT_FS_STRING        "Stacker FS" /* Add your product Full Speed string */
 #define USBD_CONFIGURATION_HS_STRING  "Serial Config HS" /* Add your configuration High Speed string */
 #define USBD_INTERFACE_HS_STRING      "Serial Interface HS" /* Add your Interface High Speed string */
 #define USBD_CONFIGURATION_FS_STRING  "Serial Config FS" /* Add your configuration Full Speed string */

stm32-modules/stacker/firmware/motor_control/motor_hardware.c

@@ -0,0 +1,60 @@
+#include "stm32g4xx_hal.h"
+
+/******************* Motor Z *******************/
+
+/** Motor hardware **/
+#define Z_STEP_PIN (GPIO_PIN_2)
+#define Z_STEP_PORT (GPIOC)
+#define Z_DIR_PIN (GPIO_PIN_1)
+#define Z_DIR_PORT (GPIOC)
+#define Z_EN_PIN (GPIO_PIN_3)
+#define Z_EN_PORT (GPIOA)
+#define Z_N_BRAKE_PIN(GPIO_PIN_7)
+#define Z_N_BRAKE_PORT(GPIOB)
+
+/** Limit switches **/
+/* Note: Photointerrupters limit switches */
+#define Z_MINUS_LIMIT_PIN (GPIO_PIN_3)
+#define Z_MINUS_LIMIT_PORT (GPIOC)
+#define Z_PLUS_LIMIT_PIN (GPIO_PIN_0)
+#define Z_PLUS_LIMIT_PORT (GPIOA)
+
+
+/******************* Motor X *******************/
+
+/** Motor hardware **/
+#define X_STEP_PIN (GPIO_PIN_7)
+#define X_STEP_PORT (GPIOA)
+#define X_DIR_PIN (GPIO_PIN_6)
+#define X_DIR_PORT (GPIOA)
+#define X_EN_PIN (GPIO_PIN_4)
+#define X_EN_PORT (GPIOA)
+#define X_N_BRAKE_PIN(GPIO_PIN_9)
+#define X_N_BRAKE_PORT(GPIOB)
+
+
+/** Limit switches **/
+/* Note: Photointerrupters limit switches */
+#define X_MINUS_LIMIT_PIN (GPIO_PIN_1)
+#define X_MINUS_LIMIT_PORT (GPIOA)
+#define X_PLUS_LIMIT_PIN (GPIO_PIN_2)
+#define X_PLUS_LIMIT_PORT (GPIOA)
+
+
+/******************* Motor L *******************/
+
+/** Motor hardware **/
+#define L_STEP_PIN (GPIO_PIN_1)
+#define L_STEP_PORT (GPIOB)
+#define L_DIR_PIN (GPIO_PIN_0)
+#define L_DIR_PORT (GPIOB)
+#define L_EN_PIN (GPIO_PIN_4)
+#define L_EN_PORT (GPIOA)
+
+
+/** Limit switches **/
+/* Note: Mechanical limit switches */
+#define L_N_HELD_PIN (GPIO_PIN_5)
+#define L_N_HELD_PORT (GPIOB)
+#define L_N_RELEASED_PIN (GPIO_PIN_11)
+#define L_N_RELEASED_PORT (GPIO_PIN_C)

stm32-modules/stacker/firmware/system/main.h

@@ -1,21 +1,21 @@
 /* USER CODE BEGIN Header */
 /**
-  ******************************************************************************
-  * @file           : main.h
-  * @brief          : Header for main.c file.
-  *                   This file contains the common defines of the application.
-  ******************************************************************************
-  * @attention
-  *
-  * Copyright (c) 2024 STMicroelectronics.
-  * All rights reserved.
-  *
-  * This software is licensed under terms that can be found in the LICENSE file
-  * in the root directory of this software component.
-  * If no LICENSE file comes with this software, it is provided AS-IS.
-  *
-  ******************************************************************************
-  */
+ ******************************************************************************
+ * @file           : main.h
+ * @brief          : Header for main.c file.
+ *                   This file contains the common defines of the application.
+ ******************************************************************************
+ * @attention
+ *
+ * Copyright (c) 2024 STMicroelectronics.
+ * All rights reserved.
+ *
+ * This software is licensed under terms that can be found in the LICENSE file
+ * in the root directory of this software component.
+ * If no LICENSE file comes with this software, it is provided AS-IS.
+ *
+ ******************************************************************************
+ */
 /* USER CODE END Header */
 
 /* Define to prevent recursive inclusion -------------------------------------*/