Merge branch 'edge' into stacker_fix-limit-switch

Opentrons · Nov 25, 2024 · ca3ffd3 · ca3ffd3
2 parents 6364d5c + 5a03363
commit ca3ffd3
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Showing 5 changed files with 4 additions and 14 deletions.
diff --git a/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c b/stm32-modules/flex-stacker/firmware/motor_control/motor_hardware.c
@@ -85,7 +85,7 @@ static motor_hardware_t _motor_hardware = {
         .direction = {L_DIR_PORT, L_DIR_PIN, GPIO_PIN_SET},
         .step = {L_STEP_PORT, L_STEP_PIN, GPIO_PIN_SET},
         .limit_switch_minus = {L_N_HELD_PORT, L_N_HELD_PIN, GPIO_PIN_RESET},
-        .limit_switch_plus = {L_N_RELEASED_PORT, L_N_RELEASED_PIN, GPIO_PIN_RESET},
+        .limit_switch_plus = {0},
         .diag0 = {MOTOR_DIAG0_PORT, MOTOR_DIAG0_PIN, GPIO_PIN_SET},
         .ebrake = {0},
     },
@@ -178,9 +178,6 @@ void motor_hardware_gpio_init(void){
     init.Pin = L_N_HELD_PIN;
     HAL_GPIO_Init(L_N_HELD_PORT, &init);
 
-    init.Pin = L_N_RELEASED_PIN;
-    HAL_GPIO_Init(L_N_RELEASED_PORT, &init);
-
     /*Configure GPIO pins : INPUTs IRQ */
     init.Mode = GPIO_MODE_IT_FALLING;
     init.Pull = GPIO_PULLUP;

diff --git a/stm32-modules/include/flex-stacker/firmware/motor_hardware.h b/stm32-modules/include/flex-stacker/firmware/motor_hardware.h
@@ -94,8 +94,6 @@ bool hw_is_estop_pin(uint16_t pin);
 /* Note: Mechanical limit switches */
 #define L_N_HELD_PIN (GPIO_PIN_5)
 #define L_N_HELD_PORT (GPIOB)
-#define L_N_RELEASED_PIN (GPIO_PIN_11)
-#define L_N_RELEASED_PORT (GPIOC)
 
 /**************** COMMON ********************/
 #define N_ESTOP_PIN (GPIO_PIN_6)

diff --git a/stm32-modules/include/flex-stacker/flex-stacker/gcodes_motor.hpp b/stm32-modules/include/flex-stacker/flex-stacker/gcodes_motor.hpp
@@ -764,13 +764,11 @@ struct GetLimitSwitches {
         std::sized_sentinel_for<InputIt, InLimit>
     static auto write_response_into(InputIt buf, InLimit limit, int x_extended,
                                     int x_retracted, int z_extended,
-                                    int z_retracted, int l_released, int l_held)
-        -> InputIt {
+                                    int z_retracted, int l_held) -> InputIt {
         int res = 0;
         res = snprintf(&*buf, (limit - buf),
-                       "M119 XE:%i XR:%i ZE:%i ZR:%i LR:%i LH:%i OK\n",
-                       x_extended, x_retracted, z_extended, z_retracted,
-                       l_released, l_held);
+                       "M119 XE:%i XR:%i ZE:%i ZR:%i LR:%i OK\n", x_extended,
+                       x_retracted, z_extended, z_retracted, l_held);
         if (res <= 0) {
             return buf;
         }

diff --git a/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp b/stm32-modules/include/flex-stacker/flex-stacker/messages.hpp
@@ -176,7 +176,6 @@ struct GetLimitSwitchesResponses {
     bool x_retract_triggered;
     bool z_extend_triggered;
     bool z_retract_triggered;
-    bool l_released_triggered;
     bool l_held_triggered;
 };
 

diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
@@ -330,8 +330,6 @@ class MotorTask {
                 policy.check_limit_switch(MotorID::MOTOR_Z, true),
             .z_retract_triggered =
                 policy.check_limit_switch(MotorID::MOTOR_Z, false),
-            .l_released_triggered =
-                policy.check_limit_switch(MotorID::MOTOR_L, true),
             .l_held_triggered =
                 policy.check_limit_switch(MotorID::MOTOR_L, false),
         };