feat(pipettes): add acceleration to TipActionRequest message (#653)

include/can/core/messages.hpp

@@ -1252,6 +1252,7 @@ struct TipActionRequest
  mm_per_tick velocity;
  can::ids::PipetteTipActionType action;
  uint8_t request_stop_condition;
+ um_per_tick_sq acceleration;
 
  template <bit_utils::ByteIterator Input, typename Limit>
  static auto parse(Input body, Limit limit) -> TipActionRequest {
@@ -1261,6 +1262,7 @@ struct TipActionRequest
  mm_per_tick velocity = 0;
  uint8_t _action = 0;
  uint8_t request_stop_condition = 0;
+ um_per_tick_sq acceleration = 0;
  uint32_t msg_ind = 0;
 
  body = bit_utils::bytes_to_int(body, limit, msg_ind);
@@ -1270,6 +1272,7 @@ struct TipActionRequest
  body = bit_utils::bytes_to_int(body, limit, velocity);
  body = bit_utils::bytes_to_int(body, limit, _action);
  body = bit_utils::bytes_to_int(body, limit, request_stop_condition);
+ body = bit_utils::bytes_to_int(body, limit, acceleration);
 
  return TipActionRequest{
  .message_index = msg_ind,
@@ -1278,7 +1281,8 @@ struct TipActionRequest
  .duration = duration,
  .velocity = velocity,
  .action = static_cast<can::ids::PipetteTipActionType>(_action),
- .request_stop_condition = request_stop_condition};
+ .request_stop_condition = request_stop_condition,
+ .acceleration = acceleration};
  }
 
  auto operator==(const TipActionRequest& other) const -> bool = default;

include/eeprom/core/update_data_rev_task.hpp

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <vector>
+
 #include "common/core/bit_utils.hpp"
 #include "eeprom/core/data_rev.hpp"
 #include "eeprom/core/dev_data.hpp"

include/motor-control/core/motor_messages.hpp

@@ -43,6 +43,7 @@ struct GearMotorAck : public Ack {
  uint32_t start_step_position;
  can::ids::PipetteTipActionType action;
  can::ids::GearMotorId gear_motor_id;
+ uint8_t position_flags;
 };
 
 struct Move { // NOLINT(cppcoreguidelines-pro-type-member-init)

include/motor-control/core/stepper_motor/motion_controller.hpp

@@ -206,6 +206,8 @@ class PipetteMotionController {
  hardware(hardware_iface),
  motion_constraints(constraints),
  queue(queue),
+ steps_per_um(convert_to_fixed_point_64_bit(
+ linear_motion_sys_config.get_usteps_per_um(), 31)),
  steps_per_mm(convert_to_fixed_point_64_bit(
  linear_motion_sys_config.get_usteps_per_mm(), 31)),
  um_per_step(convert_to_fixed_point_64_bit(
@@ -229,11 +231,13 @@ class PipetteMotionController {
  void move(const can::messages::TipActionRequest& can_msg) {
  steps_per_tick velocity_steps =
  fixed_point_multiply(steps_per_mm, can_msg.velocity);
+ steps_per_tick_sq acceleration_steps =
+ fixed_point_multiply(steps_per_um, can_msg.acceleration);
  GearMotorMove msg{
  can_msg.message_index,
  can_msg.duration,
  velocity_steps,
- 0,
+ acceleration_steps,
  can_msg.group_id,
  can_msg.seq_id,
  can_msg.request_stop_condition,
@@ -317,6 +321,8 @@ class PipetteMotionController {
  StepperMotorHardwareIface& hardware;
  MotionConstraints motion_constraints;
  GenericQueue& queue;
+
+ sq31_31 steps_per_um{0};
  sq31_31 steps_per_mm{0};
  sq31_31 um_per_step{0};
  bool enabled = false;

include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp

@@ -50,7 +50,6 @@ class MotorInterruptHandler {
  using MoveQueue = QueueImpl<MotorMoveMessage>;
  using UpdatePositionQueue =
  QueueImpl<can::messages::UpdateMotorPositionEstimationRequest>;
-
  MotorInterruptHandler() = delete;
  MotorInterruptHandler(MoveQueue& incoming_move_queue,
  StatusClient& outgoing_queue,
@@ -289,6 +288,7 @@ class MotorInterruptHandler {
  auto homing_stopped() -> bool {
  if (limit_switch_triggered()) {
  position_tracker = 0;
+ hardware.reset_step_tracker();
  finish_current_move(AckMessageId::stopped_by_condition);
  return true;
  }
@@ -515,7 +515,7 @@ class MotorInterruptHandler {
  * message and update the motor position if such a message exists.
  */
  auto handle_update_position_queue() -> void {
- can::messages::UpdateMotorPositionEstimationRequest msg;
+ can::messages::UpdateMotorPositionEstimationRequest msg = {};
 
  if (update_position_queue.try_read_isr(&msg)) {
  auto encoder_pulses = hardware.get_encoder_pulses();
@@ -549,16 +549,16 @@ class MotorInterruptHandler {
 
  /**
  * @brief While a move is active, this function should be called to
- * check if there is a pending UpdateMotorPositionEstimationRequest and send
- * an error message over CAN if such a message exists.
+ * check if there is a pending UpdateMotorPositionEstimationRequest and
+ * send an error message over CAN if such a message exists.
  *
  */
  auto handle_update_position_queue_error() -> void {
  if (!update_position_queue.has_message_isr()) {
  return;
  }
 
- can::messages::UpdateMotorPositionEstimationRequest msg;
+ can::messages::UpdateMotorPositionEstimationRequest msg = {};
  if (update_position_queue.try_read_isr(&msg)) {
  auto response = can::messages::ErrorMessage{
  .message_index = msg.message_index,

include/pipettes/core/tasks/gear_move_status_reporter_task.hpp

@@ -62,7 +62,7 @@ class MoveStatusMessageHandler {
  .seq_id = message.seq_id,
  .current_position_um = end_position,
  .encoder_position_um = 0,
- .position_flags = 0,
+ .position_flags = message.position_flags,
  .ack_id = static_cast<uint8_t>(message.ack_id),
  .action = message.action,
  // TODO: In a follow-up PR, tip sense reporting will

include/pipettes/core/tasks/motion_controller_task.hpp

@@ -100,8 +100,8 @@ class MotionControllerMessageHandler {
 
  void handle(const can::messages::TipActionRequest& m) {
  LOG("Motion Controller Received a tip action request: velocity=%d, "
- "groupid=%d, seqid=%d\n",
- m.velocity, m.group_id, m.seq_id);
+ "acceleration=%d, groupid=%d, seqid=%d\n",
+ m.velocity, m.acceleration, m.group_id, m.seq_id);
  controller.move(m);
  }
 

motor-control/tests/test_limit_switch.cpp

@@ -82,7 +82,7 @@ SCENARIO("MoveStopCondition::limit_switch with the limit switch triggered") {
  std::get<Ack>(test_objs.reporter.messages.back());
  REQUIRE(read_ack.ack_id == AckMessageId::stopped_by_condition);
  REQUIRE(read_ack.encoder_position == 50);
- REQUIRE(read_ack.current_position_steps == 350);
+ REQUIRE(read_ack.current_position_steps == 0);
  }
  THEN(
  "the stepper position flag and encoder position flags are "

motor-control/tests/test_motor_pulse.cpp

@@ -340,7 +340,7 @@ TEST_CASE("Finishing a move") {
  auto msg = std::get<Ack>(test_objs.reporter.messages[0]);
  REQUIRE(msg.group_id == move.group_id);
  REQUIRE(msg.seq_id == move.seq_id);
- REQUIRE(msg.current_position_steps == 100);
+ REQUIRE(msg.current_position_steps == 0);
  REQUIRE(msg.encoder_position == 200);
  REQUIRE(msg.position_flags == 0x0);