feat(vacuum-module): more sensor hardware + sensor read functionality

[caila-marashaj]

Overview

With this code, once a FreeRTOSTask is connected to the sensor policies, you should be able to read from all sensors, as well as interact with the eoc and reset pins on the MPR pressure sensor.

Another note: the atmosphere pressure sensor (lps22df)'s pins aren't actually connected to the MCU as of this hardware revision. There's just a TODO noting that we should add that when it's connected.

Changelog

• added read functionality to both pressure sensor policies
• moved sensor hardware initialization from system_hardware to its own file
• defined pin values in main.h and reference those, rather than the HAL_GPIO defs directly

[vegano1]

lets use the DEV_ADDRESS and MEASURE_PRESSURE_COMMAND defines, lets add write_buff.

[vegano1]

this gets allocated on the call stack, so lets create a global read/write buffer like so.

constexpr uint8_t PRESSURE_FRAME_LEN = 10;
std::array<uint8_t, PRESSURE_FRAME_LEN> READ_BUFF = {0};
std::array<uint8_t, PRESSURE_FRAME_LEN> WRITE_BUFF = {0};

then we can pass these buffers to the i2c_write and i2c_read functions like so

policy->i2c_write(DEVICE_ADDRESS, MEASURE_PRESSURE_COMMAND, READ_BUFF.data(), 4);

[vegano1]

• lets use the 7bit address (0x5C) and bitshift this instead, so we know explicitly what address we are targeting.
• lets also add a comment that we are grounding the SA0 pin to use 0x5C address

[vegano1]

• lets use the 7bit address (0x5C) and bitshift this instead, so we know explicitly what address we are targeting.
• lets also add a comment that we are grounding the SA0 pin to use 0x5C address

[vegano1]

Left a few comments

[sfoster1]

Confused by those min and max reading numbers - those need 24 or so bits, so either the data type is wrong or the numbers are wrong

[sfoster1]

this doesn't seem right, it's not a 16 bit number

[caila-marashaj]

you're right- the pressure output is 3 bytes, it's a 24 bit number. I've changed it to uint32_t

[sfoster1]

ditto

[vegano1]

• this should use a WRITE_BUFF
• this should write 1 byte instead of 0

[vegano1]

also, should this be using i2c_master_write instead? i remember we were having issues with the i2c_write

[codecov-commenter]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 77.84%. Comparing base (d834200) to head (1dea21e).
⚠️ Report is 5 commits behind head on edge.

Additional details and impacted files

@@            Coverage Diff             @@
##             edge     #543      +/-   ##
==========================================
+ Coverage   77.52%   77.84%   +0.31%     
==========================================
  Files          83       86       +3     
  Lines        7743     7773      +30     
==========================================
+ Hits         6003     6051      +48     
+ Misses       1740     1722      -18     

see 4 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.