Opentrons · ryanthecoder · Oct 25, 2024 · Oct 24, 2024 · Oct 24, 2024 · Oct 24, 2024
diff --git a/gantry/core/tasks_proto.cpp b/gantry/core/tasks_proto.cpp
@@ -55,20 +55,18 @@ static auto eeprom_data_rev_update_builder =
 /**
  * Start gantry tasks.
  */
-auto gantry::tasks::start_tasks(
+void gantry::tasks::start_tasks(
     can::bus::CanBus& can_bus,
     motion_controller::MotionController<lms::BeltConfig>& motion_controller,
     spi::hardware::SpiDeviceBase& spi_device,
     tmc2130::configs::TMC2130DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
-    -> interfaces::diag0_handler {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
-    auto& motion =
-        mc_task_builder.start(5, "motion controller", motion_controller,
-                              ::queues, ::queues, ::queues, ::queues);
+    auto& motion = mc_task_builder.start(5, "motion controller",
+                                         motion_controller, ::queues, ::queues);
     auto& tmc2130_driver = motor_driver_task_builder.start(
         5, "tmc2130 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -118,15 +116,6 @@ auto gantry::tasks::start_tasks(
     ::queues.usage_storage_queue = &usage_storage_task.get_queue();
 
     mh_tsk.start_task();
-
-    return gantry::tasks::call_run_diag0_interrupt;
-}
-
-void gantry::tasks::call_run_diag0_interrupt() {
-    if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks()
-            .motion_controller->run_diag0_interrupt();
-    }
 }
 
 gantry::queues::QueueClient::QueueClient(can::ids::NodeId this_fw)
@@ -142,11 +131,6 @@ void gantry::queues::QueueClient::send_motor_driver_queue(
     motor_driver_queue->try_write(m);
 }
 
-void gantry::queues::QueueClient::send_motor_driver_queue_isr(
-    const tmc2130::tasks::TaskMessage& m) {
-    static_cast<void>(motor_driver_queue->try_write_isr(m));
-}
-
 void gantry::queues::QueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/gantry/core/tasks_rev1.cpp b/gantry/core/tasks_rev1.cpp
@@ -54,20 +54,18 @@ static auto tail_accessor = eeprom::dev_data::DevDataTailAccessor{queues};
 /**
  * Start gantry ::tasks.
  */
-auto gantry::tasks::start_tasks(
+void gantry::tasks::start_tasks(
     can::bus::CanBus& can_bus,
     motion_controller::MotionController<lms::BeltConfig>& motion_controller,
     spi::hardware::SpiDeviceBase& spi_device,
     tmc2160::configs::TMC2160DriverConfig& driver_configs,
     motor_hardware_task::MotorHardwareTask& mh_tsk,
     i2c::hardware::I2CBase& i2c2,
-    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface)
-    -> interfaces::diag0_handler {
+    eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
-    auto& motion =
-        mc_task_builder.start(5, "motion controller", motion_controller,
-                              ::queues, ::queues, ::queues, ::queues);
+    auto& motion = mc_task_builder.start(5, "motion controller",
+                                         motion_controller, ::queues, ::queues);
     auto& tmc2160_driver = motor_driver_task_builder.start(
         5, "tmc2160 driver", driver_configs, ::queues, spi_task_client);
     auto& move_group =
@@ -117,15 +115,6 @@ auto gantry::tasks::start_tasks(
     ::queues.usage_storage_queue = &usage_storage_task.get_queue();
 
     mh_tsk.start_task();
-
-    return gantry::tasks::call_run_diag0_interrupt;
-}
-
-void gantry::tasks::call_run_diag0_interrupt() {
-    if (gantry::tasks::get_tasks().motion_controller) {
-        return gantry::tasks::get_tasks()
-            .motion_controller->run_diag0_interrupt();
-    }
 }
 
 gantry::queues::QueueClient::QueueClient(can::ids::NodeId this_fw)
@@ -141,11 +130,6 @@ void gantry::queues::QueueClient::send_motor_driver_queue(
     motor_driver_queue->try_write(m);
 }
 
-void gantry::queues::QueueClient::send_motor_driver_queue_isr(
-    const tmc2160::tasks::TaskMessage& m) {
-    static_cast<void>(motor_driver_queue->try_write_isr(m));
-}
-
 void gantry::queues::QueueClient::send_move_group_queue(
     const move_group_task::TaskMessage& m) {
     move_group_queue->try_write(m);

diff --git a/gantry/firmware/interfaces_proto.cpp b/gantry/firmware/interfaces_proto.cpp
@@ -244,8 +244,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
-    motor_hardware_iface, stallcheck, update_position_queue);
+    motor_queue, gantry::queues::get_queues(), motor_hardware_iface, stallcheck,
+    update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -281,14 +281,13 @@ static constexpr auto can_bit_timings =
     can::bit_timings::BitTimings<170 * can::bit_timings::MHZ, 100,
                                  500 * can::bit_timings::KHZ, 800>{};
 
-void interfaces::initialize(diag0_handler* call_diag0_handler) {
+void interfaces::initialize() {
     // Initialize SPI
     if (initialize_spi(get_axis_type()) != HAL_OK) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler,
-                     enc_overflow_callback);
+    initialize_timer(call_motor_handler, enc_overflow_callback);
 
     // Start the can bus
     canbus.start(can_bit_timings);

diff --git a/gantry/firmware/interfaces_rev1.cpp b/gantry/firmware/interfaces_rev1.cpp
@@ -271,8 +271,8 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
-    motor_hardware_iface, stallcheck, update_position_queue);
+    motor_queue, gantry::queues::get_queues(), motor_hardware_iface, stallcheck,
+    update_position_queue);
 
 static auto encoder_background_timer =
     motor_encoder::BackgroundTimer(motor_interrupt, motor_hardware_iface);
@@ -309,14 +309,13 @@ static constexpr auto can_bit_timings =
     can::bit_timings::BitTimings<170 * can::bit_timings::MHZ, 100,
                                  500 * can::bit_timings::KHZ, 800>{};
 
-void interfaces::initialize(diag0_handler* call_diag0_handler) {
+void interfaces::initialize() {
     // Initialize SPI
     if (initialize_spi(get_axis_type()) != HAL_OK) {
         Error_Handler();
     }
 
-    initialize_timer(call_motor_handler, call_diag0_handler,
-                     enc_overflow_callback);
+    initialize_timer(call_motor_handler, enc_overflow_callback);
 
     // Start the can bus
     canbus.start(can_bit_timings);

diff --git a/gantry/firmware/main_proto.cpp b/gantry/firmware/main_proto.cpp
@@ -16,8 +16,6 @@
 #include "gantry/core/tasks_proto.hpp"
 #include "i2c/firmware/i2c_comms.hpp"
 
-static interfaces::diag0_handler call_diag0_handler = nullptr;
-
 static auto i2c_comms2 = i2c::hardware::I2C();
 static auto i2c_handles = I2CHandlerStruct{};
 
@@ -46,11 +44,11 @@ auto main() -> int {
 
     app_update_clear_flags();
 
-    interfaces::initialize(&call_diag0_handler);
+    interfaces::initialize();
     i2c_setup(&i2c_handles);
     i2c_comms2.set_handle(i2c_handles.i2c2);
 
-    call_diag0_handler = gantry::tasks::start_tasks(
+    gantry::tasks::start_tasks(
         interfaces::get_can_bus(), interfaces::get_motor().motion_controller,
         interfaces::get_spi(), interfaces::get_driver_config(),
         interfaces::get_motor_hardware_task(), i2c_comms2, eeprom_hw_iface);

diff --git a/gantry/firmware/main_rev1.cpp b/gantry/firmware/main_rev1.cpp
@@ -16,8 +16,6 @@
 #include "gantry/core/tasks_rev1.hpp"
 #include "i2c/firmware/i2c_comms.hpp"
 
-static interfaces::diag0_handler call_diag0_handler = nullptr;
-
 static auto i2c_comms2 = i2c::hardware::I2C();
 static auto i2c_handles = I2CHandlerStruct{};
 
@@ -46,11 +44,11 @@ auto main() -> int {
 
     app_update_clear_flags();
 
-    interfaces::initialize(&call_diag0_handler);
+    interfaces::initialize();
     i2c_setup(&i2c_handles);
     i2c_comms2.set_handle(i2c_handles.i2c2);
 
-    call_diag0_handler = gantry::tasks::start_tasks(
+    gantry::tasks::start_tasks(
         interfaces::get_can_bus(), interfaces::get_motor().motion_controller,
         interfaces::get_spi(), interfaces::get_driver_config(),
         interfaces::get_motor_hardware_task(), i2c_comms2, eeprom_hw_iface);

diff --git a/gantry/firmware/motor_hardware.c b/gantry/firmware/motor_hardware.c
@@ -59,7 +59,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* hspi) {
 
         // Diag0
         GPIO_InitStruct.Pin = GPIO_PIN_5;
-        GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING_FALLING;
+        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
         GPIO_InitStruct.Pull = GPIO_NOPULL;
         HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
     }
@@ -127,7 +127,6 @@ HAL_StatusTypeDef initialize_spi(enum GantryAxisType gantry_type) {
 
 static motor_interrupt_callback timer_callback = NULL;
 static encoder_overflow_callback enc_overflow_callback = NULL;
-static diag0_interrupt_callback* diag0_callback = NULL;
 
 
 /**
@@ -149,9 +148,6 @@ void MX_GPIO_Init(void) {
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
-
-    HAL_NVIC_SetPriority(EXTI9_5_IRQn, 5, 0);
-    HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
 }
 
 // motor timer: 200kHz from
@@ -248,16 +244,6 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
     }
 }
 
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
-    if (GPIO_Pin == GPIO_PIN_5) {
-        if (diag0_callback != NULL) {
-            if (*diag0_callback != NULL) {
-                (*diag0_callback)();
-            }
-        }
-    }
-}
-
 void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim) {
     if (htim == &htim2) {
         /* Peripheral clock enable */
@@ -277,10 +263,9 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim) {
     }
 }
 
-void initialize_timer(motor_interrupt_callback callback, diag0_interrupt_callback* diag0_int_callback, encoder_overflow_callback enc_callback) {
+void initialize_timer(motor_interrupt_callback callback, encoder_overflow_callback enc_callback) {
     timer_callback = callback;
     enc_overflow_callback = enc_callback;
-    diag0_callback = diag0_int_callback;
     MX_GPIO_Init();
     MX_TIM7_Init();
     Encoder_GPIO_Init();

diff --git a/gantry/firmware/motor_hardware.h b/gantry/firmware/motor_hardware.h
@@ -14,12 +14,11 @@ extern TIM_HandleTypeDef htim2;
 
 typedef void (*motor_interrupt_callback)();
 typedef void (*encoder_overflow_callback)(int32_t);
-typedef void (*diag0_interrupt_callback)();
 
 HAL_StatusTypeDef initialize_spi(enum GantryAxisType);
 void gantry_driver_CLK_init(enum GantryAxisType);
 
-void initialize_timer(motor_interrupt_callback callback, diag0_interrupt_callback* diag0_int_callback, encoder_overflow_callback enc_callback);
+void initialize_timer(motor_interrupt_callback callback, encoder_overflow_callback enc_callback);
 
 #ifdef __cplusplus
 }  // extern "C"

diff --git a/gantry/firmware/stm32g4xx_it.c b/gantry/firmware/stm32g4xx_it.c
@@ -147,7 +147,6 @@ void FDCAN1_IT0_IRQHandler(void) {
  */
 void TIM7_IRQHandler(void) { HAL_TIM_IRQHandler(&htim7); }
 void TIM2_IRQHandler(void) { HAL_TIM_IRQHandler(&htim2); }
-void EXTI9_5_IRQHandler(void) { HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_5); }
 
 
 extern void xPortSysTickHandler(void);

diff --git a/gantry/simulator/interfaces.cpp b/gantry/simulator/interfaces.cpp
@@ -89,16 +89,14 @@ static stall_check::StallCheck stallcheck(
  * Handler of motor interrupts.
  */
 static motor_handler::MotorInterruptHandler motor_interrupt(
-    motor_queue, gantry::queues::get_queues(), gantry::queues::get_queues(),
-    motor_interface, stallcheck, update_position_queue);
+    motor_queue, gantry::queues::get_queues(), motor_interface, stallcheck,
+    update_position_queue);
 
 static motor_interrupt_driver::MotorInterruptDriver A(motor_queue,
                                                       motor_interrupt,
                                                       motor_interface,
                                                       update_position_queue);
-void interfaces::initialize(diag0_handler* call_diag0_handler) {
-    static_cast<void>(call_diag0_handler);
-}
+void interfaces::initialize() {}
 
 static po::variables_map options{};
 

diff --git a/gantry/simulator/main.cpp b/gantry/simulator/main.cpp
@@ -12,8 +12,6 @@ void signal_handler(int signum) {
     exit(signum);
 }
 
-static interfaces::diag0_handler call_diag0_handler = NULL;
-
 int main(int argc, char** argv) {
     signal(SIGINT, signal_handler);
 
@@ -23,10 +21,10 @@ int main(int argc, char** argv) {
             return pcTaskGetName(xTaskGetCurrentTaskHandle());
         });
 
-    interfaces::initialize(&call_diag0_handler);
+    interfaces::initialize();
     interfaces::initialize_sim(argc, argv);
 
-    call_diag0_handler = gantry::tasks::start_tasks(
+    gantry::tasks::start_tasks(
         interfaces::get_can_bus(), interfaces::get_motor().motion_controller,
         interfaces::get_spi(), interfaces::get_driver_config(),
         interfaces::get_motor_hardware_task(), *interfaces::get_sim_i2c2(),

diff --git a/gripper/core/tasks.cpp b/gripper/core/tasks.cpp
@@ -62,7 +62,7 @@ static auto eeprom_data_rev_update_builder =
 /**
  * Start gripper tasks.
  */
-auto gripper_tasks::start_tasks(
+void gripper_tasks::start_tasks(
     can::bus::CanBus& can_bus,
     motor_class::Motor<lms::LeadScrewConfig>& z_motor,
     brushed_motor::BrushedMotor<lms::GearBoxConfig>& grip_motor,
@@ -72,8 +72,7 @@ auto gripper_tasks::start_tasks(
     sensors::hardware::SensorHardwareBase& sensor_hardware,
     eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface,
     motor_hardware_task::MotorHardwareTask& zmh_tsk,
-    motor_hardware_task::MotorHardwareTask& gmh_tsk)
-    -> z_motor_iface::diag0_handler {
+    motor_hardware_task::MotorHardwareTask& gmh_tsk) {
     auto& can_writer = can_task::start_writer(can_bus);
     can_task::start_reader(can_bus);
     tasks.can_writer = &can_writer;
@@ -132,8 +131,8 @@ auto gripper_tasks::start_tasks(
     queues.capacitive_sensor_queue_rear =
         &capacitive_sensor_task_rear.get_queue();
 
-    auto diag0_handler = z_tasks::start_task(
-        z_motor, spi_device, driver_configs, tasks, queues, tail_accessor);
+    z_tasks::start_task(z_motor, spi_device, driver_configs, tasks, queues,
+                        tail_accessor);
 
     g_tasks::start_task(grip_motor, tasks, queues, tail_accessor);
 
@@ -142,8 +141,6 @@ auto gripper_tasks::start_tasks(
 
     zmh_tsk.start_task();
     gmh_tsk.start_task();
-
-    return diag0_handler;
 }
 
 gripper_tasks::QueueClient::QueueClient(can::ids::NodeId this_fw)