driver fixes

Author: caila-marashaj

stm32-modules/include/vacuum-module/vacuum-module/MPRLL0025PA00001A.hpp

@@ -4,21 +4,23 @@
 #include <cstdint>
 #include <optional>
 
+#include "firmware/vacuum_pressure_sensor_policy.hpp"
+
 namespace vacuum_pressure_sensor {
 
 template <typename P>
 concept MPRPolicy = requires(P p, uint16_t dev_addr, uint16_t reg,
                              uint16_t size, uint8_t* data) {
-    { p.i2c_read(dev_addr, reg, data, size) } -> std::same_as<RxTxReturn>;
-    { p.i2c_write(dev_addr, reg, data, size) } -> std::same_as<RxTxReturn>;
+    { p.i2c_read(dev_addr, reg, data, size) } -> std::same_as<i2c::hardware::RxTxReturn>;
+    { p.i2c_write(dev_addr, reg, data, size) } -> std::same_as<i2c::hardware::RxTxReturn>;
 };
 
 constexpr uint8_t DEV_ADDRESS = 0x30;
 constexpr uint8_t MEASURE_PRESSURE_COMMAND = 0xAA;
 constexpr uint8_t STATUS_BUSY_FLAG = 0x20;
-constexpr uint16_t OUTPUT_MAX = 15099494;
-constexpr uint16_t OUTPUT_MIN = 1677722;
-constexpr uint16_t OUTPUT_RANGE_COUNTS = OUTPUT_MAX - OUTPUT_MIN;
+constexpr uint32_t OUTPUT_MAX = 15099494;
+constexpr uint32_t OUTPUT_MIN = 1677722;
+constexpr uint32_t OUTPUT_RANGE_COUNTS = OUTPUT_MAX - OUTPUT_MIN;
 // range for this particular model is 0-25 PSI
 constexpr uint16_t PRESSURE_RANGE_PSI = 25;
 
@@ -31,7 +33,7 @@ struct StatusByte {
 
 class MPRLL0025PA00001 {
   public:
-    auto initialize(MPRPolicy* policy) -> void {
+    auto initialize(hardware::VacuumPressureSensorPolicy* policy) -> void {
         if (_policy == nullptr) {
             _policy = policy;
         }
@@ -41,10 +43,10 @@ class MPRLL0025PA00001 {
         uint8_t read_buff[4] = {0x00};
         bool sensor_busy = true;
 
-        policy->i2c_write(0x18 << 1, 0xAA, read_buff, 0);
+        _policy->i2c_write(0x18 << 1, 0xAA, read_buff, 0);
 
         for (int i = 0; i < retries; i++) {
-            policy->i2c_master_read(0x18 << 1, read_buff, 4);
+            _policy->i2c_master_read(0x18 << 1, read_buff, 4);
             auto status_byte = read_buff[0];
             sensor_busy = static_cast<bool>(status_byte & STATUS_BUSY_FLAG);
 
@@ -58,12 +60,12 @@ class MPRLL0025PA00001 {
     }
 
   private:
-    MPRPolicy* _policy{nullptr};
+    hardware::VacuumPressureSensorPolicy* _policy{nullptr};
 
     auto convert_pressure(uint8_t* sensor_output) -> uint16_t {
         auto pressure_read_counts =
-            sensor_outputf[1] << 16 | sensor_output[2] << 8 | sensor_outputf[3];
-        pressure_psi =
+            sensor_output[1] << 16 | sensor_output[2] << 8 | sensor_output[3];
+        auto pressure_psi =
             (pressure_read_counts * PRESSURE_RANGE_PSI) / OUTPUT_RANGE_COUNTS;
         return pressure_psi;
     }

stm32-modules/include/vacuum-module/vacuum-module/lps22df.hpp

@@ -4,6 +4,8 @@
 #include <cstdint>
 #include <optional>
 
+#include "firmware/atmosphere_pressure_sensor_policy.hpp"
+
 namespace lps22df {
 
 template <typename P>
@@ -28,7 +30,7 @@ constexpr uint8_t PRESSURE_READY_FLAG = 0x01;
 
 class LPS222DF {
   public:
-    auto initialize(LPS22DFPolicy* policy) -> void {
+    auto initialize(atmosphere_pressure_sensor::hardware::AtmospherePressureSensorPolicy* policy) -> void {
         if (_policy == nullptr) {
             _policy = policy;
         }
@@ -61,14 +63,14 @@ class LPS222DF {
     }
 
   private:
-    LPS22DFPolicy* _policy{nullptr};
+    atmosphere_pressure_sensor::hardware::AtmospherePressureSensorPolicy* _policy{nullptr};
 
     auto convert_pressure(uint8_t* sensor_output) -> uint16_t {
         auto pressure_read_bytes = {sensor_output[1], sensor_output[2],
                                     sensor_output[3]};
         // test that this is accurate
         auto pressure_read_counts =
-            sensor_outputf[1] << 16 | sensor_output[2] << 8 | sensor_outputf[3];
+            sensor_output[1] << 16 | sensor_output[2] << 8 | sensor_output[3];
         auto pressure_hPa = pressure_read_counts / SENSOR_SENSITIVITY;
         return pressure_hPa
     }