feat(reference-module): add reference module project

Author: vegano1

CMakePresets.json

@@ -79,7 +79,8 @@
                 "thermocycler-gen2",
                 "heater-shaker",
                 "tempdeck-gen3",
-                "flex-stacker"
+                "flex-stacker",
+                "reference-module"
             ]
         },
         {
@@ -92,7 +93,8 @@
                 "thermocycler-gen2-build-and-test",
                 "heater-shaker-build-and-test",
                 "tempdeck-gen3-build-and-test",
-                "flex-stacker-build-and-test"
+                "flex-stacker-build-and-test",
+                "reference-module-build-and-test"
             ]
         },
         {
@@ -174,6 +176,26 @@
                 "flex-stacker-debug"
             ]
         },
+        {
+            "name": "reference-module-binary",
+            "displayName": "reference-module binary",
+            "description": "Build the reference-module cross binary",
+            "configurePreset": "stm32-cross",
+            "jobs": 4,
+            "targets": [
+                "reference-module"
+            ]
+        },
+        {
+            "name": "reference-module-debug",
+            "displayName": "reference-module debug",
+            "description": "Build the reference-module cross debug",
+            "configurePreset": "stm32-cross",
+            "jobs": 4,
+            "targets": [
+                "reference-module-debug"
+            ]
+        },
         {
             "name": "lint",
             "displayName": "lint all",
@@ -185,7 +207,8 @@
                 "common-lint",
                 "thermocycler-gen2-lint",
                 "tempdeck-gen3-lint",
-                "flex-stacker-lint"
+                "flex-stacker-lint",
+                "reference-module-lint"
             ]
         },
         {
@@ -199,7 +222,8 @@
                 "common-format",
                 "thermocycler-gen2-format",
                 "tempdeck-gen3-format",
-                "flex-stacker-format"
+                "flex-stacker-format",
+                "reference-module-format"
             ]
         },
         {
@@ -213,7 +237,8 @@
                 "common-format",
                 "thermocycler-gen2-format",
                 "tempdeck-gen3-format",
-                "flex-stacker-format"
+                "flex-stacker-format",
+                "reference-module-format"
             ]
         },
         {
@@ -226,7 +251,8 @@
                 "heater-shaker-simulator",
                 "thermocycler-gen2-simulator",
                 "tempdeck-gen3-simulator",
-                "flex-stacker-simulator"
+                "flex-stacker-simulator",
+                "reference-module-simulator"
             ]
         },
         {
@@ -239,7 +265,8 @@
                 "heater-shaker-simulator",
                 "thermocycler-gen2-simulator",
                 "tempdeck-gen3-simulator",
-                "flex-stacker-simulator"
+                "flex-stacker-simulator",
+                "reference-module-simulator"
             ]
         },
         {
@@ -253,7 +280,8 @@
                 "common-build-and-test",
                 "thermocycler-gen2-build-and-test",
                 "tempdeck-gen3-build-and-test",
-                "flex-stacker-build-and-test"
+                "flex-stacker-build-and-test",
+                "reference-module-build-and-test"
             ]
         },
         {
@@ -296,6 +324,16 @@
                 "flex-stacker-build-and-test"
             ]
         },
+        {
+            "name": "reference-module-tests",
+            "displayName": "tests",
+            "description": "Runs build-and-test target for reference-module",
+            "configurePreset": "stm32-host",
+            "jobs": 4,
+            "targets": [
+                "reference-module-build-and-test"
+            ]
+        },
         {
             "name": "common-tests",
             "displayName": "tests",

stm32-modules/CMakeLists.txt

@@ -50,5 +50,6 @@ add_subdirectory(heater-shaker)
 add_subdirectory(thermocycler-gen2)
 add_subdirectory(tempdeck-gen3)
 add_subdirectory(flex-stacker)
+add_subdirectory(reference-module)
 
 coverage_evaluate()

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

@@ -0,0 +1,23 @@
+/**
+ * @file firmware_tasks.hpp
+ * @brief Expands on generic tasks.hpp to provide specific typedefs
+ * for the firmware build
+ */
+#pragma once
+
+#include "firmware/freertos_message_queue.hpp"
+#include "reference-module/tasks.hpp"
+
+namespace tasks {
+
+using FirmwareTasks = Tasks<FreeRTOSMessageQueue>;
+
+constexpr size_t COMMS_STACK_SIZE = 2048;
+constexpr uint8_t COMMS_TASK_PRIORITY = 1;
+
+constexpr size_t SYSTEM_STACK_SIZE = 256;
+constexpr uint8_t SYSTEM_TASK_PRIORITY = 1;
+
+constexpr size_t UI_STACK_SIZE = 256;
+constexpr uint8_t UI_TASK_PRIORITY = 1;
+}  // namespace tasks

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

@@ -0,0 +1,24 @@
+#pragma once
+
+#include "FreeRTOS.h"
+#include "firmware/firmware_tasks.hpp"
+#include "firmware/freertos_message_queue.hpp"
+#include "firmware/i2c_comms.hpp"
+#include "task.h"
+
+namespace ui_control_task {
+
+// Actual function that runs in the task
+auto run(tasks::FirmwareTasks::QueueAggregator* aggregator,
+         i2c::hardware::I2C* i2c_comms) -> void;
+}  // namespace ui_control_task
+
+namespace host_comms_control_task {
+// Actual function that runs in the task
+auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void;
+}  // namespace host_comms_control_task
+
+namespace system_control_task {
+// Actual function that runs in the task
+auto run(tasks::FirmwareTasks::QueueAggregator* aggregator) -> void;
+}  // namespace system_control_task

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

@@ -0,0 +1,28 @@
+#pragma once
+
+#include <cstdint>
+#include <optional>
+#include <tuple>
+
+using std::size_t;
+static constexpr size_t MESSAGE_LEN = 5;
+using MessageT = std::array<uint8_t, MESSAGE_LEN>;
+
+namespace i2c::hardware {
+using RxTxReturn = uint8_t;
+class I2CBase {
+  public:
+    I2CBase() = default;
+    virtual ~I2CBase() = default;
+    I2CBase(const I2CBase&) = default;
+    auto operator=(const I2CBase&) -> I2CBase& = default;
+    I2CBase(I2CBase&&) = default;
+    auto operator=(I2CBase&&) -> I2CBase& = default;
+
+    virtual auto i2c_read(uint16_t dev_addr, uint16_t reg, uint8_t* data,
+                          uint16_t size) -> RxTxReturn;
+    virtual auto i2c_write(uint16_t dev_addr, uint16_t reg, uint8_t* data,
+                           uint16_t size) -> RxTxReturn;
+};
+
+}  // namespace i2c::hardware

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

@@ -0,0 +1,31 @@
+#pragma once
+
+#include <algorithm>
+#include <cstdint>
+#include <optional>
+
+#include "firmware/hardware_iface.hpp"
+#include "firmware/i2c_hardware.h"
+#include "systemwide.h"
+
+namespace i2c::hardware {
+class I2C : public I2CBase {
+  public:
+    explicit I2C() = default;
+    ~I2C() final = default;
+    I2C(const I2C &) = delete;
+    I2C(const I2C &&) = delete;
+    auto operator=(const I2C &) = delete;
+    auto operator=(const I2C &&) = delete;
+
+    auto i2c_read(uint16_t dev_addr, uint16_t reg, uint8_t *data, uint16_t size)
+        -> RxTxReturn final;
+    auto i2c_write(uint16_t dev_addr, uint16_t reg, uint8_t *data,
+                   uint16_t size) -> RxTxReturn final;
+    auto set_handle(HAL_I2C_HANDLE i2c_handle, I2C_BUS bus) -> void;
+
+  private:
+    I2C_BUS bus = NO_BUS;
+    HAL_I2C_HANDLE handle = nullptr;
+};
+}  // namespace i2c::hardware

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

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "systemwide.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+typedef enum I2C_BUS {
+    I2C_BUS_2,
+    I2C_BUS_3,
+    NO_BUS,
+} I2C_BUS;
+
+typedef void *HAL_I2C_HANDLE;
+
+typedef struct HandlerStruct {
+    HAL_I2C_HANDLE i2c2;
+    HAL_I2C_HANDLE i2c3;
+} I2CHandlerStruct;
+
+void i2c_hardware_init(I2CHandlerStruct *i2c_handles);
+bool i2c_register_handle(HAL_I2C_HANDLE handle, I2C_BUS bus);
+uint8_t hal_i2c_write(I2C_BUS bus, uint16_t DevAddress, uint8_t reg,
+                      uint8_t *data, uint16_t size);
+uint8_t hal_i2c_read(I2C_BUS bus, uint16_t DevAddress, uint16_t reg,
+                     uint8_t *data, uint16_t size);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif  // __cplusplus

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

@@ -0,0 +1,21 @@
+#ifndef SYSTEM_HARDWARE_H__
+#define SYSTEM_HARDWARE_H__
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/**
+ * @brief Enter the bootloader. This function never returns.
+ */
+void system_hardware_enter_bootloader(void);
+void system_hardware_gpio_init(void);
+uint16_t system_hardware_reset_reason(void);
+void enable_eeprom_write(bool enable);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif  // __cplusplus
+#endif  // _SYSTEM_HARDWARE_H__

stm32-modules/include/reference-module/firmware/system_policy.hpp

@@ -0,0 +1,26 @@
+#pragma once
+
+#include <array>
+
+#include "firmware/system_hardware.h"
+#include "firmware/system_serial_number.h"
+#include "reference-module/errors.hpp"
+#include "systemwide.h"
+
+class SystemPolicy {
+  private:
+    static constexpr std::size_t SYSTEM_SERIAL_NUMBER_LENGTH =
+        SYSTEM_WIDE_SERIAL_NUMBER_LENGTH;
+    static constexpr uint8_t ADDRESS_LENGTH = 8;
+    static constexpr uint8_t ADDRESSES =
+        SYSTEM_SERIAL_NUMBER_LENGTH / ADDRESS_LENGTH;
+
+  public:
+    auto initialize() -> void;
+    auto enter_bootloader() -> void;
+    auto set_serial_number(
+        std::array<char, SYSTEM_SERIAL_NUMBER_LENGTH> system_serial_number)
+        -> errors::ErrorCode;
+    auto get_serial_number() -> std::array<char, SYSTEM_SERIAL_NUMBER_LENGTH>;
+    [[nodiscard]] auto last_reset_reason() const -> uint16_t;
+};

stm32-modules/include/reference-module/firmware/system_serial_number.h

@@ -0,0 +1,23 @@
+#ifndef __SYSTEM_SERIAL_NUMBER_H_
+#define __SYSTEM_SERIAL_NUMBER_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+struct writable_serial {
+    uint64_t contents[3];
+};
+
+bool system_set_serial_number(struct writable_serial* to_write);
+
+uint64_t system_get_serial_number(uint8_t address);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif  // __cplusplus
+#endif  // __SYSTEM_SERIAL_NUMBER_H_