Merge branch 'edge' into vm-pressure-sensor-policies

Author: vegano1

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

@@ -0,0 +1,19 @@
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+#include <stdbool.h>
+#include <stdint.h>
+
+void pump_hardware_init(void);
+bool hw_start_pump_motor();
+bool hw_stop_pump_motor();
+void hw_set_pump_duty_cycle(uint16_t duty);
+uint16_t hw_get_pump_duty_cycle(void);
+bool hw_enable_pump_tach(bool enable);
+float hw_get_pump_rpm(void);
+void tach_period_overflow_callback(void);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif  // __cplusplus

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

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <cstdint>
+
+#include "firmware/pump_hardware.h"
+#include "systemwide.h"
+
+namespace pump_policy {
+
+class PumpPolicy {
+  public:
+    auto start_pump_motor() -> bool;
+    auto stop_pump_motor() -> bool;
+    auto set_pump_duty_cycle(uint16_t duty) -> void;
+    auto get_pump_duty_cycle() -> uint16_t;
+    auto enable_pump_tach() -> bool;
+    auto get_pump_rpm() -> float;
+};
+}  // namespace pump_policy

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

@@ -0,0 +1,19 @@
+#ifndef VENT_HARDWARE_H__
+#define VENT_HARDWARE_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif  // __cplusplus
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "systemwide.h"
+
+void vent_hardware_init(void);
+void hw_open_vent(bool open);
+
+#ifdef __cplusplus
+}  // extern "C"
+#endif  // __cplusplus
+#endif  // _VENT_HARDWARE_H__

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

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "systemwide.h"
+
+namespace vent_policy {
+
+class VentPolicy {
+  public:
+    auto open_vent(bool open) -> void;
+};
+}  // namespace vent_policy

stm32-modules/vacuum-module/firmware/CMakeLists.txt

@@ -6,14 +6,16 @@ add_STM32G4_driver(${TARGET_MODULE_NAME})
 add_STM32G4_freertos(${TARGET_MODULE_NAME})
 add_STM32G4_usb(${TARGET_MODULE_NAME})
 
+set(COMMON_MCU_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../common/STM32G491")
+set(COMMON_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../common/src")
+set(GDBINIT_PATH "${CMAKE_CURRENT_BINARY_DIR}/../../common/STM32G491/gdbinit")
+set(COMMS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/host_comms_task")
 set(SYSTEM_DIR "${CMAKE_CURRENT_SOURCE_DIR}/system")
 set(UI_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ui")
+set(VENT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/vent")
+set(PUMP_DIR "${CMAKE_CURRENT_SOURCE_DIR}/pump")
 set(ATMOSPHERE_PS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/atmosphere-pressure-sensor")
 set(VACUUM_PS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/vacuum-pressure-sensor")
-set(COMMS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/host_comms_task")
-set(COMMON_MCU_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../common/STM32G491")
-set(COMMON_SRC_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../../common/src")
-set(GDBINIT_PATH "${CMAKE_CURRENT_BINARY_DIR}/../../common/STM32G491/gdbinit")
 
 # Add source files that should be checked by clang-tidy here
 set(${TARGET_MODULE_NAME}_FW_LINTABLE_SRCS
@@ -25,6 +27,8 @@ set(${TARGET_MODULE_NAME}_FW_LINTABLE_SRCS
     ${SYSTEM_DIR}/i2c_comms.cpp
     ${UI_DIR}/freertos_ui_task.cpp
     ${UI_DIR}/ui_policy.cpp
+    ${VENT_DIR}/vent_policy.cpp
+    ${PUMP_DIR}/pump_policy.cpp
     ${ATMOSPHERE_PS_DIR}/atmosphere_pressure_sensor_policy.cpp
     ${VACUUM_PS_DIR}/vacuum_pressure_sensor_policy.cpp
     )
@@ -42,6 +46,8 @@ set(${TARGET_MODULE_NAME}_FW_NONLINTABLE_SRCS
     ${COMMS_DIR}/usbd_conf.c
     ${COMMS_DIR}/usbd_desc.c
     ${COMMS_DIR}/usb_hardware.c
+    ${VENT_DIR}/vent_hardware.c
+    ${PUMP_DIR}/pump_hardware.c
     ${VACUUM_PS_DIR}/vacuum_pressure_sensor_hardware.c
     )
 

stm32-modules/vacuum-module/firmware/main.cpp

@@ -5,7 +5,9 @@
 #include "firmware/freertos_tasks.hpp"
 #include "firmware/i2c_comms.hpp"
 #include "firmware/i2c_hardware.h"
+#include "firmware/pump_hardware.h"
 #include "firmware/system_stm32g4xx.h"
+#include "firmware/vent_hardware.h"
 #include "firmware/vacuum_pressure_sensor_hardware.h"
 #include "ot_utils/freertos/freertos_task.hpp"
 #include "systemwide.h"
@@ -54,8 +56,10 @@ static auto i2c_handles = I2CHandlerStruct{};
 auto main() -> int {
     HardwareInit();
 
-    i2c_hardware_init(&i2c_handles);
+    vent_hardware_init();
+    pump_hardware_init();
     vacuum_pressure_sensor_hardware_init();
+    i2c_hardware_init(&i2c_handles);
 
     i2c2_comms.set_handle(i2c_handles.i2c2, I2C_BUS_2);
     i2c3_comms.set_handle(i2c_handles.i2c3, I2C_BUS_3);