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feat(vacuum-module): add vacuum module project
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‎CMakePresets.json‎

Lines changed: 56 additions & 19 deletions
Original file line numberDiff line numberDiff line change
@@ -76,11 +76,12 @@
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"configurePreset": "stm32-cross",
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"jobs": 8,
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"targets": [
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"reference-module",
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"thermocycler-gen2",
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"heater-shaker",
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"tempdeck-gen3",
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"flex-stacker",
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"reference-module"
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"vacuum-module"
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]
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},
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{
@@ -90,11 +91,32 @@
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"configurePreset": "stm32-host",
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"jobs": 8,
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"targets": [
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"reference-module-build-and-test",
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"thermocycler-gen2-build-and-test",
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"heater-shaker-build-and-test",
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"tempdeck-gen3-build-and-test",
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"flex-stacker-build-and-test",
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"reference-module-build-and-test"
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"vacuum-module-build-and-test"
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]
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},
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{
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"name": "reference-module-binary",
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"displayName": "reference-module binary",
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"description": "Build the reference-module cross binary",
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"configurePreset": "stm32-cross",
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"jobs": 4,
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"targets": [
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"reference-module"
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]
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},
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{
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"name": "reference-module-debug",
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"displayName": "reference-module debug",
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"description": "Build the reference-module cross debug",
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"configurePreset": "stm32-cross",
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"jobs": 4,
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"targets": [
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"reference-module-debug"
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]
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},
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{
@@ -177,23 +199,23 @@
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]
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},
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{
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"name": "reference-module-binary",
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"displayName": "reference-module binary",
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"description": "Build the reference-module cross binary",
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"name": "vacuum-module-binary",
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"displayName": "vacuum-module binary",
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"description": "Build the vacuum-module cross binary",
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"configurePreset": "stm32-cross",
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"jobs": 4,
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"targets": [
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"reference-module"
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"vacuum-module"
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]
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},
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{
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"name": "reference-module-debug",
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"displayName": "reference-module debug",
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"description": "Build the reference-module cross debug",
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"name": "vacuum-module-debug",
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"displayName": "vacuum-module debug",
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"description": "Build the vacuum-module cross debug",
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"configurePreset": "stm32-cross",
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"jobs": 4,
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"targets": [
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"reference-module-debug"
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"vacuum-module-debug"
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]
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},
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{
@@ -203,12 +225,13 @@
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"configurePreset": "stm32-cross",
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"jobs": 4,
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"targets": [
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"reference-module-lint",
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"heater-shaker-lint",
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"common-lint",
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"thermocycler-gen2-lint",
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"tempdeck-gen3-lint",
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"flex-stacker-lint",
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"reference-module-lint"
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"vacuum-module-lint"
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]
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},
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{
@@ -218,12 +241,13 @@
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"configurePreset": "stm32-cross",
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"jobs": 4,
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"targets": [
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"reference-module-format",
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"heater-shaker-format",
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"common-format",
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"thermocycler-gen2-format",
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"tempdeck-gen3-format",
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"flex-stacker-format",
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"reference-module-format"
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"vacuum-module-format"
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]
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},
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{
@@ -233,12 +257,13 @@
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"configurePreset": "stm32-host",
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"jobs": 4,
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"targets": [
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"reference-module-format",
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"heater-shaker-format",
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"common-format",
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"thermocycler-gen2-format",
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"tempdeck-gen3-format",
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"flex-stacker-format",
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"reference-module-format"
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"vacuum-module-format"
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]
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},
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{
@@ -248,11 +273,12 @@
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"configurePreset": "stm32-host",
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"jobs": 4,
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"targets": [
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"reference-module-simulator",
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"heater-shaker-simulator",
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"thermocycler-gen2-simulator",
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"tempdeck-gen3-simulator",
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"flex-stacker-simulator",
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"reference-module-simulator"
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"vacuum-module-simulator"
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]
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},
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{
@@ -262,11 +288,11 @@
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"configurePreset": "stm32-host-gcc10",
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"jobs": 4,
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"targets": [
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"reference-module-simulator",
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"heater-shaker-simulator",
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"thermocycler-gen2-simulator",
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"tempdeck-gen3-simulator",
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"flex-stacker-simulator",
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"reference-module-simulator"
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"vacuum-module-simulator"
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]
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},
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{
@@ -276,11 +302,22 @@
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"configurePreset": "stm32-host",
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"jobs": 4,
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"targets": [
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"reference-module-build-and-test",
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"heater-shaker-build-and-test",
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"common-build-and-test",
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"thermocycler-gen2-build-and-test",
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"tempdeck-gen3-build-and-test",
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"flex-stacker-build-and-test",
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"vacuum-module-build-and-test"
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]
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},
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{
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"name": "reference-module-tests",
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"displayName": "tests",
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"description": "Runs build-and-test target for reference-module",
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"configurePreset": "stm32-host",
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"jobs": 4,
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"targets": [
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"reference-module-build-and-test"
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]
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},
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]
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},
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{
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"name": "reference-module-tests",
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"name": "vacuum-module-tests",
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"displayName": "tests",
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"description": "Runs build-and-test target for reference-module",
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"description": "Runs build-and-test target for vacuum-module",
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"configurePreset": "stm32-host",
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"jobs": 4,
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"targets": [
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"reference-module-build-and-test"
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"vacuum-module-build-and-test"
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]
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},
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{

‎stm32-modules/CMakeLists.txt‎

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@@ -46,10 +46,11 @@ execute_process(COMMAND
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)
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add_subdirectory(common)
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add_subdirectory(reference-module)
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add_subdirectory(heater-shaker)
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add_subdirectory(thermocycler-gen2)
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add_subdirectory(tempdeck-gen3)
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add_subdirectory(flex-stacker)
53-
add_subdirectory(reference-module)
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add_subdirectory(vacuum-module)
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coverage_evaluate()

‎stm32-modules/README.md‎

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@@ -9,3 +9,9 @@ All the CMake stuff in here should be done according to https://cliutils.gitlab.
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- `./heater-shaker` contains all of the code specific to the heater/shaker module
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- `./thermocycler-gen2` contains all of the code specific to the thermocycler-gen2 module
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- `./include` contains all the headers, sorted by subdirectory - e.g. `include/common/` is where include files common to all modules live. Within each base `include/` directory, files are sorted into further subdirectories based off of their use - for example, `include/heater-shaker/firmware` contains files specific to the heater/shaker cross-compile build. This is done (rather than the reverse, `firmware/include`) so that code can have liens like `#include "firmware/whatever.hpp"`, which makes it apparent in the code itself what domain the header is in.
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## Reference Module
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The `./reference-module` is a barebones implementation of an stm32 module that is used
16+
as a starting point when adding new modules. It sets up the bootloader, main application,
17+
usb connectivity, status LED, and i2c.

‎stm32-modules/include/vacuum-module/firmware/firmware_tasks.hpp‎

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/**
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* @file firmware_tasks.hpp
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* @brief Expands on generic tasks.hpp to provide specific typedefs
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* for the firmware build
5+
*/
6+
#pragma once
7+
8+
#include "firmware/freertos_message_queue.hpp"
9+
#include "vacuum-module/tasks.hpp"
10+
11+
namespace tasks {
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using FirmwareTasks = Tasks<FreeRTOSMessageQueue>;
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constexpr size_t COMMS_STACK_SIZE = 2048;
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constexpr uint8_t COMMS_TASK_PRIORITY = 1;
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constexpr size_t SYSTEM_STACK_SIZE = 256;
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constexpr uint8_t SYSTEM_TASK_PRIORITY = 1;
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constexpr size_t UI_STACK_SIZE = 256;
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constexpr uint8_t UI_TASK_PRIORITY = 1;
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} // namespace tasks

‎stm32-modules/include/vacuum-module/firmware/freertos_tasks.hpp‎

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#pragma once
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#include "FreeRTOS.h"
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#include "firmware/firmware_tasks.hpp"
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#include "firmware/freertos_message_queue.hpp"
6+
#include "firmware/i2c_comms.hpp"
7+
#include "task.h"
8+
9+
namespace ui_control_task {
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// Actual function that runs in the task
12+
auto run(tasks::FirmwareTasks::QueueAggregator* aggregator,
13+
i2c::hardware::I2C* i2c_comms) -> void;
14+
} // namespace ui_control_task
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namespace host_comms_control_task {
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// Actual function that runs in the task
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auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void;
19+
} // namespace host_comms_control_task
20+
21+
namespace system_control_task {
22+
// Actual function that runs in the task
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auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void;
24+
} // namespace system_control_task

‎stm32-modules/include/vacuum-module/firmware/hardware_iface.hpp‎

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#pragma once
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#include <cstdint>
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#include <optional>
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#include <tuple>
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7+
using std::size_t;
8+
static constexpr size_t MESSAGE_LEN = 5;
9+
using MessageT = std::array<uint8_t, MESSAGE_LEN>;
10+
11+
namespace i2c::hardware {
12+
using RxTxReturn = uint8_t;
13+
class I2CBase {
14+
public:
15+
I2CBase() = default;
16+
virtual ~I2CBase() = default;
17+
I2CBase(const I2CBase&) = default;
18+
auto operator=(const I2CBase&) -> I2CBase& = default;
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I2CBase(I2CBase&&) = default;
20+
auto operator=(I2CBase&&) -> I2CBase& = default;
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virtual auto i2c_read(uint16_t dev_addr, uint16_t reg, uint8_t* data,
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uint16_t size) -> RxTxReturn;
24+
virtual auto i2c_write(uint16_t dev_addr, uint16_t reg, uint8_t* data,
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uint16_t size) -> RxTxReturn;
26+
};
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} // namespace i2c::hardware

‎stm32-modules/include/vacuum-module/firmware/i2c_comms.hpp‎

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#pragma once
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#include <algorithm>
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#include <cstdint>
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#include <optional>
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#include "firmware/hardware_iface.hpp"
8+
#include "firmware/i2c_hardware.h"
9+
#include "systemwide.h"
10+
11+
namespace i2c::hardware {
12+
class I2C : public I2CBase {
13+
public:
14+
explicit I2C() = default;
15+
~I2C() final = default;
16+
I2C(const I2C &) = delete;
17+
I2C(const I2C &&) = delete;
18+
auto operator=(const I2C &) = delete;
19+
auto operator=(const I2C &&) = delete;
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auto i2c_read(uint16_t dev_addr, uint16_t reg, uint8_t *data, uint16_t size)
22+
-> RxTxReturn final;
23+
auto i2c_write(uint16_t dev_addr, uint16_t reg, uint8_t *data,
24+
uint16_t size) -> RxTxReturn final;
25+
auto set_handle(HAL_I2C_HANDLE i2c_handle, I2C_BUS bus) -> void;
26+
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private:
28+
I2C_BUS bus = NO_BUS;
29+
HAL_I2C_HANDLE handle = nullptr;
30+
};
31+
} // namespace i2c::hardware

‎stm32-modules/include/vacuum-module/firmware/i2c_hardware.h‎

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#pragma once
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#include <stdbool.h>
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#include <stdint.h>
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#include "systemwide.h"
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#ifdef __cplusplus
9+
extern "C" {
10+
#endif // __cplusplus
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12+
typedef enum I2C_BUS {
13+
I2C_BUS_2,
14+
I2C_BUS_3,
15+
NO_BUS,
16+
} I2C_BUS;
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typedef void *HAL_I2C_HANDLE;
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typedef struct HandlerStruct {
21+
HAL_I2C_HANDLE i2c2;
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HAL_I2C_HANDLE i2c3;
23+
} I2CHandlerStruct;
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void i2c_hardware_init(I2CHandlerStruct *i2c_handles);
26+
bool i2c_register_handle(HAL_I2C_HANDLE handle, I2C_BUS bus);
27+
uint8_t hal_i2c_write(I2C_BUS bus, uint16_t DevAddress, uint8_t reg,
28+
uint8_t *data, uint16_t size);
29+
uint8_t hal_i2c_read(I2C_BUS bus, uint16_t DevAddress, uint16_t reg,
30+
uint8_t *data, uint16_t size);
31+
32+
#ifdef __cplusplus
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} // extern "C"
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#endif // __cplusplus

‎stm32-modules/include/vacuum-module/firmware/system_hardware.h‎

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#ifndef SYSTEM_HARDWARE_H__
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#define SYSTEM_HARDWARE_H__
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#ifdef __cplusplus
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extern "C" {
5+
#endif // __cplusplus
6+
7+
#include <stdbool.h>
8+
#include <stdint.h>
9+
10+
/**
11+
* @brief Enter the bootloader. This function never returns.
12+
*/
13+
void system_hardware_enter_bootloader(void);
14+
void system_hardware_gpio_init(void);
15+
uint16_t system_hardware_reset_reason(void);
16+
void enable_eeprom_write(bool enable);
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#ifdef __cplusplus
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} // extern "C"
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#endif // __cplusplus
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#endif // _SYSTEM_HARDWARE_H__

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