├── .clang-format ├── .clang-tidy ├── .codecov.yml ├── .github ├── actions │ └── main-setup │ │ └── action.yaml └── workflows │ ├── build-simulators.yaml │ ├── build-tests.yaml │ ├── codecov.yaml │ ├── cross-compile-all.yaml │ ├── format-lint.yaml │ ├── release_bundle.yaml │ ├── run_emulation.yaml │ └── start-ot3-build.yaml ├── .gitignore ├── CMakeLists.txt ├── CMakePresets.json ├── FindPoetry.cmake ├── LICENSE ├── README.md ├── bootloader ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── message_handler.c │ ├── messages.c │ ├── update_state.c │ └── util.c ├── firmware │ ├── CMakeLists.txt │ ├── crc32.c │ ├── main.c │ ├── stm32G4 │ │ ├── CMakeLists.txt │ │ ├── can.c │ │ ├── clocking.c │ │ ├── gripper_startup.c │ │ ├── head_startup.c │ │ ├── node_id_stm32g4xx.c │ │ ├── pipette_handle_messages.c │ │ ├── startup │ │ │ ├── CMakeLists.txt │ │ │ ├── STM32G491RETx_FLASH.ld │ │ │ └── startup_stm32g491xx.s │ │ ├── stm32g4xx_hal_conf.h │ │ ├── stm32g4xx_it.c │ │ ├── stm32g4xx_it.h │ │ ├── system_stm32g4xx.c │ │ └── system_stm32g4xx.h │ └── updater.c ├── simulator │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── freertos_idle_timer_task.cpp │ ├── main.cpp │ └── updater.cpp └── tests │ ├── CMakeLists.txt │ ├── test_main.cpp │ ├── test_message_handler.cpp │ ├── test_messages.cpp │ ├── test_tool_detection.cpp │ └── test_util.cpp ├── calculate_checksum.py ├── can ├── CMakeLists.txt ├── README.md ├── core │ ├── CMakeLists.txt │ ├── can_bus.cpp │ └── types.cpp ├── firmware │ ├── hal_can.c │ ├── hal_can_bus.cpp │ └── utils.c ├── simlib │ ├── CMakeLists.txt │ └── transport.cpp └── tests │ ├── CMakeLists.txt │ ├── test_arbitration_id.cpp │ ├── test_bit_timings.cpp │ ├── test_can_bus.cpp │ ├── test_can_message_buffer.cpp │ ├── test_dispatch.cpp │ ├── test_main.cpp │ ├── test_messages.cpp │ └── test_parse.cpp ├── cmake ├── AddBuildAndTestTarget.cmake ├── Arduino.cmake ├── ArduinoToolchain.cmake ├── FindBoost.cmake ├── FindCatch2.cmake ├── FindClang.cmake ├── FindCrossGCC.cmake ├── FindFakeIt.cmake ├── FindFreeRTOS.cmake ├── FindGDBSVDTools.cmake ├── FindMpalandPrintf.cmake ├── FindOpenOCD.cmake ├── FindPoetry.cmake ├── FindSTM32F303BSP.cmake ├── FindSTM32G4xx.cmake ├── FindSTM32L5xx.cmake ├── LICENSE ├── README.md ├── STM32CortexM33GCCCrossToolchain.cmake ├── STM32CortexM4GCCCrossToolchain.cmake ├── VersionForProject.cmake ├── boost-cmake │ ├── .gitignore │ ├── CMakeLists.txt │ ├── LICENSE.md │ ├── README.md │ ├── azure-pipelines.yml │ ├── build.sh │ ├── cmake │ │ ├── Modules │ │ │ ├── AddBoostLib.cmake │ │ │ ├── AddBoostTest.cmake │ │ │ ├── CheckBoostVersion.cmake │ │ │ ├── CheckPreprocessor.cmake │ │ │ ├── FindIconv.cmake │ │ │ ├── PlatformDetect.cmake │ │ │ ├── StandaloneBuild.cmake │ │ │ └── ccache.cmake │ │ └── Toolchains │ │ │ └── ios.cmake │ ├── libs │ │ ├── atomic.cmake │ │ ├── chrono.cmake │ │ ├── container.cmake │ │ ├── context.cmake │ │ ├── context │ │ │ ├── jump_combined.S │ │ │ ├── make_combined.S │ │ │ └── ontop_combined.S │ │ ├── coroutine.cmake │ │ ├── date_time.cmake │ │ ├── exception.cmake │ │ ├── fiber.cmake │ │ ├── filesystem.cmake │ │ ├── graph.cmake │ │ ├── graph_parallel.cmake │ │ ├── header.cmake │ │ ├── iostreams.cmake │ │ ├── locale.cmake │ │ ├── log.cmake │ │ ├── math.cmake │ │ ├── mpi.cmake │ │ ├── program_options.cmake │ │ ├── random.cmake │ │ ├── regex.cmake │ │ ├── serialization.cmake │ │ ├── system.cmake │ │ ├── test.cmake │ │ ├── thread.cmake │ │ ├── timer.cmake │ │ ├── type_erasure.cmake │ │ └── wave.cmake │ ├── patch │ │ └── 1.63.0 │ │ │ ├── context_0001_arm64_cpu.patch │ │ │ └── context_0002_macOS_execution_context.patch │ └── repack.sh └── codecov │ ├── .travis.yml │ ├── CMakeLists.txt │ ├── LICENSE │ ├── README.md │ ├── cmake │ ├── FindGcov.cmake │ ├── FindLcov.cmake │ ├── Findcodecov.cmake │ └── llvm-cov-wrapper │ └── src │ ├── CMakeLists.txt │ ├── bar │ ├── CMakeLists.txt │ └── bar.c │ ├── fortran │ ├── CMakeLists.txt │ └── hello.f │ ├── libfoo │ ├── CMakeLists.txt │ ├── bar.c │ ├── foo.c │ └── foo.h │ └── libheader │ ├── CMakeLists.txt │ └── header.h ├── common ├── CMakeLists.txt ├── cmake │ ├── ClangTidy.cmake │ └── RevisionHandling.cmake ├── core │ ├── CMakeLists.txt │ ├── generate_version.cmake │ ├── revision.c.in │ └── version.c.in ├── firmware │ ├── CMakeLists.txt │ ├── STM32G491RETx │ │ ├── CMakeLists.txt │ │ ├── STM32G491RETx_FLASH.ld │ │ ├── gdbinit.template │ │ ├── startup_stm32g491xx.s │ │ └── stm32g4discovery.cfg │ ├── errors │ │ └── errors.c │ ├── gpio.c │ ├── gpio.cpp │ ├── gpio.h │ ├── platform_specific_hal.h.in │ ├── platform_specific_hal_conf.h.in │ ├── system │ │ ├── CMakeLists.txt │ │ ├── app_update.c │ │ ├── iwdg.c │ │ └── iwdg.cpp │ └── uart │ │ ├── CMakeLists.txt │ │ ├── uart.c │ │ └── uart_comms.cpp ├── simulation │ ├── CMakeLists.txt │ ├── app_update.cpp │ ├── logging.cpp │ └── state_manager.cpp └── tests │ ├── CMakeLists.txt │ ├── test_allocator.cpp │ ├── test_bit_utils.cpp │ ├── test_debounce.cpp │ ├── test_main.cpp │ └── test_synchronization.cpp ├── cpp-utils ├── .clang-format ├── .clang-tidy ├── .github │ └── workflows │ │ └── cpp-utils.yaml ├── .gitignore ├── CMakeLists.txt ├── CMakePresets.json ├── LICENSE ├── README.md ├── cmake │ ├── AddBuildAndTestTarget.cmake │ ├── Arduino.cmake │ ├── ArduinoToolchain.cmake │ ├── FindBoost.cmake │ ├── FindCatch2.cmake │ ├── FindClang.cmake │ ├── FindCrossGCC.cmake │ ├── FindFakeIt.cmake │ ├── FindFreeRTOS.cmake │ ├── FindGDBSVDTools.cmake │ ├── FindMpalandPrintf.cmake │ ├── FindOpenOCD.cmake │ ├── FindSTM32F303BSP.cmake │ ├── FindSTM32G4xx.cmake │ ├── FindSTM32L5xx.cmake │ ├── LICENSE │ ├── README.md │ ├── STM32CortexM33GCCCrossToolchain.cmake │ ├── STM32CortexM4GCCCrossToolchain.cmake │ ├── VersionForProject.cmake │ └── boost-cmake │ │ ├── .gitignore │ │ ├── CMakeLists.txt │ │ ├── LICENSE.md │ │ ├── README.md │ │ ├── azure-pipelines.yml │ │ ├── build.sh │ │ ├── cmake │ │ ├── Modules │ │ │ ├── AddBoostLib.cmake │ │ │ ├── AddBoostTest.cmake │ │ │ ├── CheckBoostVersion.cmake │ │ │ ├── CheckPreprocessor.cmake │ │ │ ├── FindIconv.cmake │ │ │ ├── PlatformDetect.cmake │ │ │ ├── StandaloneBuild.cmake │ │ │ └── ccache.cmake │ │ └── Toolchains │ │ │ └── ios.cmake │ │ ├── libs │ │ ├── atomic.cmake │ │ ├── chrono.cmake │ │ ├── container.cmake │ │ ├── context.cmake │ │ ├── context │ │ │ ├── jump_combined.S │ │ │ ├── make_combined.S │ │ │ └── ontop_combined.S │ │ ├── coroutine.cmake │ │ ├── date_time.cmake │ │ ├── exception.cmake │ │ ├── fiber.cmake │ │ ├── filesystem.cmake │ │ ├── graph.cmake │ │ ├── graph_parallel.cmake │ │ ├── header.cmake │ │ ├── iostreams.cmake │ │ ├── locale.cmake │ │ ├── log.cmake │ │ ├── math.cmake │ │ ├── mpi.cmake │ │ ├── program_options.cmake │ │ ├── random.cmake │ │ ├── regex.cmake │ │ ├── serialization.cmake │ │ ├── system.cmake │ │ ├── test.cmake │ │ ├── thread.cmake │ │ ├── timer.cmake │ │ ├── type_erasure.cmake │ │ └── wave.cmake │ │ ├── patch │ │ └── 1.63.0 │ │ │ ├── context_0001_arm64_cpu.patch │ │ │ └── context_0002_macOS_execution_context.patch │ │ └── repack.sh ├── include │ └── ot_utils │ │ ├── core │ │ ├── bit_utils.hpp │ │ ├── buffer_type.hpp │ │ ├── filters │ │ │ ├── ema.hpp │ │ │ └── sma.hpp │ │ ├── fixed_point.hpp │ │ ├── logging.h │ │ ├── message_utils.hpp │ │ ├── pid.hpp │ │ ├── synchronization.hpp │ │ └── timer.hpp │ │ └── freertos │ │ ├── freertos_sleep.hpp │ │ ├── freertos_synchronization.hpp │ │ ├── freertos_task.hpp │ │ └── freertos_timer.hpp ├── src │ ├── CMakeLists.txt │ ├── logging.cpp │ └── pid.cpp └── tests │ ├── CMakeLists.txt │ ├── test_bit_utils.cpp │ ├── test_ema.cpp │ ├── test_fixed_point.cpp │ ├── test_main.cpp │ ├── test_message_utils.cpp │ ├── test_pid.cpp │ ├── test_sma.cpp │ └── test_synchronization.cpp ├── eeprom ├── CMakeLists.txt └── tests │ ├── CMakeLists.txt │ ├── test_data_rev.cpp │ ├── test_dev_data.cpp │ ├── test_eeprom_task.cpp │ ├── test_hardware_iface.cpp │ ├── test_main.cpp │ ├── test_message_handler.cpp │ ├── test_revision.cpp │ └── test_serial_number.cpp ├── emulation_setups └── ci │ └── ot3_only.yaml ├── gantry ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── axis_type_x.cpp │ ├── axis_type_y.cpp │ ├── can_task.cpp │ ├── tasks_proto.cpp │ ├── tasks_rev1.cpp │ └── utils.cpp ├── firmware │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── axis_hardware_config.h │ ├── axis_x_proto_hardware_config.c │ ├── axis_x_rev1_hardware_config.c │ ├── axis_y_proto_hardware_config.c │ ├── axis_y_rev1_hardware_config.c │ ├── can.c │ ├── clocking.c │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ ├── i2c_setup.c │ ├── interfaces_proto.cpp │ ├── interfaces_rev1.cpp │ ├── main_proto.cpp │ ├── main_rev1.cpp │ ├── motor_hardware.c │ ├── motor_hardware.h │ ├── stm32g4xx_hal_conf.h │ ├── stm32g4xx_it.c │ ├── stm32g4xx_it.h │ ├── system_stm32g4xx.c │ ├── system_stm32g4xx.h │ └── utility_gpio.c ├── simulator │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ ├── interfaces.cpp │ └── main.cpp └── tests │ ├── CMakeLists.txt │ ├── test_linear_motion_config.cpp │ └── test_main.cpp ├── generate_header.py ├── gripper ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── can_tasks.cpp │ ├── tasks.cpp │ ├── tasks_g.cpp │ └── tasks_z.cpp ├── firmware │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── can.c │ ├── clocking.c │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ ├── i2c_setup.c │ ├── interfaces_grip_motor.cpp │ ├── interfaces_z_motor.cpp │ ├── main_proto.cpp │ ├── main_rev1.cpp │ ├── motor_hardware.h │ ├── motor_hardware_g.c │ ├── motor_hardware_shared.c │ ├── motor_hardware_z.c │ ├── stm32g4xx_hal_conf.h │ ├── stm32g4xx_it.c │ ├── stm32g4xx_it.h │ ├── system_stm32g4xx.c │ ├── system_stm32g4xx.h │ └── utility_gpio.c ├── simulator │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ ├── interfaces.cpp │ └── main.cpp └── tests │ ├── CMakeLists.txt │ ├── test_linear_motion_config.cpp │ └── test_main.cpp ├── head ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── can_task.cpp │ ├── tasks_proto.cpp │ └── tasks_rev1.cpp ├── firmware │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── can.c │ ├── clocking.c │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ ├── i2c_setup.c │ ├── main_proto.cpp │ ├── main_rev1.cpp │ ├── motor_hardware.h │ ├── motor_hardware_common.c │ ├── motor_hardware_proto.c │ ├── motor_hardware_rev1.c │ ├── presence_sensing_hardware.cpp │ ├── stm32g4xx_hal_conf.h │ ├── stm32g4xx_it.c │ ├── stm32g4xx_it.h │ ├── system_stm32g4xx.c │ ├── system_stm32g4xx.h │ ├── utility_hardware.c │ └── utility_hardware.h ├── simulator │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ └── main.cpp └── tests │ ├── CMakeLists.txt │ ├── test_main.cpp │ ├── test_presence_sensing_driver.cpp │ └── test_presence_sensing_queue.cpp ├── header_generation_utils ├── header_generation_utils │ ├── __init__.py │ ├── py.typed │ └── utils.py ├── poetry.lock └── pyproject.toml ├── hepa-uv ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── can_tasks.cpp │ └── tasks.cpp ├── firmware │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── can.c │ ├── clocking.c │ ├── freertos_idle_timer_task.cpp │ ├── hepa_control_task │ │ └── hepa_control_hardware.cpp │ ├── hepa_hardware.c │ ├── i2c_setup.c │ ├── led_control_task │ │ └── led_control_hardware.cpp │ ├── led_hardware.c │ ├── main_rev1.cpp │ ├── stm32g4xx_hal_conf.h │ ├── stm32g4xx_it.c │ ├── stm32g4xx_it.h │ ├── system_stm32g4xx.c │ ├── system_stm32g4xx.h │ ├── timer_hardware.c │ ├── timer_hardware.h │ ├── utility_gpio.c │ ├── uv_control_task │ │ └── uv_control_hardware.cpp │ ├── uv_hardware.c │ └── uv_hardware.h ├── simulator │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── freertos_idle_timer_task.cpp │ └── main.cpp └── tests │ ├── CMakeLists.txt │ ├── test_leds.cpp │ └── test_main.cpp ├── i2c ├── CMakeLists.txt ├── firmware │ ├── CMakeLists.txt │ ├── i2c.c │ └── i2c_comms.cpp ├── simulation │ ├── CMakeLists.txt │ └── i2c_sim.cpp └── tests │ ├── CMakeLists.txt │ ├── test_i2c_poll_impl.cpp │ ├── test_i2c_poll_task.cpp │ ├── test_i2c_poller.cpp │ ├── test_i2c_task.cpp │ ├── test_i2c_writer.cpp │ ├── test_main.cpp │ └── test_transaction.cpp ├── include ├── bootloader │ ├── core │ │ ├── ids.h │ │ ├── message_handler.h │ │ ├── messages.h │ │ ├── node_id.h │ │ ├── pipette_type.h │ │ ├── system_specific_message_handlers.h │ │ ├── update_state.h │ │ ├── updater.h │ │ └── util.h │ └── firmware │ │ ├── can.h │ │ ├── constants.h │ │ ├── crc32.h │ │ └── system.h ├── can │ ├── core │ │ ├── arbitration_id.hpp │ │ ├── bit_timings.hpp │ │ ├── can_bus.hpp │ │ ├── can_message_buffer.hpp │ │ ├── can_writer_task.hpp │ │ ├── dispatch.hpp │ │ ├── freertos_can_dispatch.hpp │ │ ├── ids.hpp │ │ ├── message_core.hpp │ │ ├── message_handlers │ │ │ ├── motion.hpp │ │ │ ├── motor.hpp │ │ │ ├── move_group.hpp │ │ │ ├── presence_sensing.hpp │ │ │ └── system.hpp │ │ ├── message_writer.hpp │ │ ├── messages.hpp │ │ ├── parse.hpp │ │ └── types.h │ ├── firmware │ │ ├── hal_can.h │ │ ├── hal_can_bus.hpp │ │ └── utils.h │ ├── simlib │ │ ├── filter.hpp │ │ ├── sim_canbus.hpp │ │ ├── socket_transport.hpp │ │ ├── socketcan_transport.hpp │ │ └── transport.hpp │ └── tests │ │ └── mock_message_buffer.hpp ├── common │ ├── core │ │ ├── adc_channel.hpp │ │ ├── allocator.hpp │ │ ├── app_update.h │ │ ├── bit_utils.hpp │ │ ├── buffer_type.hpp │ │ ├── debounce.hpp │ │ ├── freertos_message_buffer.hpp │ │ ├── freertos_message_queue.hpp │ │ ├── freertos_synchronization.hpp │ │ ├── freertos_task.hpp │ │ ├── freertos_timer.hpp │ │ ├── hardware_delay.hpp │ │ ├── logging.h │ │ ├── message_buffer.hpp │ │ ├── message_queue.hpp │ │ ├── message_utils.hpp │ │ ├── sensor_buffer.hpp │ │ ├── synchronization.hpp │ │ ├── timer.hpp │ │ └── version.h │ ├── firmware │ │ ├── can.h │ │ ├── clocking.h │ │ ├── errors.h │ │ ├── gpio.hpp │ │ ├── iwdg.h │ │ ├── iwdg.hpp │ │ ├── uart.h │ │ ├── uart_comms.hpp │ │ └── utility_gpio.h │ ├── simulation │ │ ├── state_manager.hpp │ │ └── state_manager_parser.hpp │ └── tests │ │ ├── mock_adc_channel.hpp │ │ ├── mock_message_queue.hpp │ │ ├── mock_message_writer.hpp │ │ ├── mock_queue_client.hpp │ │ └── mock_timer.hpp ├── eeprom │ ├── core │ │ ├── accessor.hpp │ │ ├── addresses.hpp │ │ ├── data_rev.hpp │ │ ├── dev_data.hpp │ │ ├── hardware_iface.hpp │ │ ├── message_handler.hpp │ │ ├── messages.hpp │ │ ├── revision.hpp │ │ ├── serial_number.hpp │ │ ├── task.hpp │ │ ├── types.hpp │ │ └── update_data_rev_task.hpp │ ├── simulation │ │ └── eeprom.hpp │ └── tests │ │ ├── mock_eeprom_listener.hpp │ │ └── mock_eeprom_task_client.hpp ├── gantry │ ├── core │ │ ├── axis_type.h │ │ ├── can_task.hpp │ │ ├── interfaces_proto.hpp │ │ ├── interfaces_rev1.hpp │ │ ├── queues.hpp │ │ ├── tasks_proto.hpp │ │ ├── tasks_rev1.hpp │ │ └── utils.hpp │ ├── firmware │ │ ├── eeprom_keys.hpp │ │ └── i2c_setup.h │ └── simulator │ │ └── interfaces.hpp ├── gripper │ ├── core │ │ ├── can_task.hpp │ │ ├── gripper_info.hpp │ │ ├── interfaces.hpp │ │ ├── tasks.hpp │ │ └── utils.hpp │ ├── firmware │ │ ├── eeprom_keys.hpp │ │ ├── i2c_setup.h │ │ └── utility_gpio.h │ └── simulation │ │ └── sim_interfaces.hpp ├── head │ ├── core │ │ ├── adc.hpp │ │ ├── attached_tools.hpp │ │ ├── can_task.hpp │ │ ├── presence_sensing_driver.hpp │ │ ├── queues.hpp │ │ ├── tasks │ │ │ ├── messages.hpp │ │ │ └── presence_sensing_driver_task.hpp │ │ ├── tasks_proto.hpp │ │ ├── tasks_rev1.hpp │ │ └── utils.hpp │ ├── firmware │ │ ├── eeprom_keys.hpp │ │ ├── i2c_setup.h │ │ └── presence_sensing_hardware.hpp │ ├── simulator │ │ └── presence_sensing.hpp │ └── tests │ │ └── mock_presence_sensing_client.hpp ├── hepa-uv │ ├── core │ │ ├── can_task.hpp │ │ ├── constants.h │ │ ├── hepa_task.hpp │ │ ├── hepauv_info.hpp │ │ ├── interfaces.hpp │ │ ├── led_control_task.hpp │ │ ├── message_handler.hpp │ │ ├── messages.hpp │ │ ├── tasks.hpp │ │ └── uv_task.hpp │ └── firmware │ │ ├── gpio_drive_hardware.hpp │ │ ├── hepa_control_hardware.hpp │ │ ├── hepa_hardware.h │ │ ├── i2c_setup.h │ │ ├── led_control_hardware.hpp │ │ ├── led_hardware.h │ │ ├── utility_gpio.h │ │ ├── uv_control_hardware.hpp │ │ └── uv_hardware.h ├── i2c │ ├── core │ │ ├── hardware_iface.hpp │ │ ├── messages.hpp │ │ ├── poller.hpp │ │ ├── poller_impl.hpp │ │ ├── tasks │ │ │ ├── i2c_poller_task.hpp │ │ │ └── i2c_task.hpp │ │ ├── transaction.hpp │ │ └── writer.hpp │ ├── firmware │ │ ├── i2c.h │ │ └── i2c_comms.hpp │ ├── simulation │ │ ├── device.hpp │ │ └── i2c_sim.hpp │ └── tests │ │ └── mock_response_queue.hpp ├── motor-control │ ├── core │ │ ├── brushed_motor │ │ │ ├── brushed_motion_controller.hpp │ │ │ ├── brushed_motor.hpp │ │ │ ├── brushed_motor_interrupt_handler.hpp │ │ │ ├── driver_interface.hpp │ │ │ └── error_tolerance_config.hpp │ │ ├── linear_motion_system.hpp │ │ ├── motor_concepts.hpp │ │ ├── motor_hardware_interface.hpp │ │ ├── motor_messages.hpp │ │ ├── move_group.hpp │ │ ├── stall_check.hpp │ │ ├── stepper_motor │ │ │ ├── motion_controller.hpp │ │ │ ├── motor.hpp │ │ │ ├── motor_encoder_background_timer.hpp │ │ │ ├── motor_interrupt_handler.hpp │ │ │ ├── tmc2130.hpp │ │ │ ├── tmc2130_driver.hpp │ │ │ ├── tmc2160.hpp │ │ │ └── tmc2160_driver.hpp │ │ ├── tasks │ │ │ ├── brushed_motion_controller_task.hpp │ │ │ ├── brushed_motor_driver_task.hpp │ │ │ ├── brushed_move_group_task.hpp │ │ │ ├── gear_tmc2160_motor_driver_task.hpp │ │ │ ├── messages.hpp │ │ │ ├── motion_controller_task.hpp │ │ │ ├── motor_hardware_task.hpp │ │ │ ├── move_group_task.hpp │ │ │ ├── move_status_reporter_task.hpp │ │ │ ├── tmc2130_motor_driver_task.hpp │ │ │ ├── tmc2160_motor_driver_task.hpp │ │ │ ├── tmc_motor_driver_common.hpp │ │ │ └── usage_storage_task.hpp │ │ ├── types.hpp │ │ ├── usage_messages.hpp │ │ └── utils.hpp │ ├── firmware │ │ ├── brushed_motor │ │ │ ├── brushed_motor_hardware.hpp │ │ │ └── driver_hardware.hpp │ │ ├── motor_control_hardware.h │ │ └── stepper_motor │ │ │ └── motor_hardware.hpp │ ├── simulation │ │ ├── brushed_motor_interrupt_driver.hpp │ │ ├── motor_interrupt_driver.hpp │ │ ├── sim_motor_driver_hardware_iface.hpp │ │ └── sim_motor_hardware_iface.hpp │ └── tests │ │ ├── mock_brushed_motor_components.hpp │ │ ├── mock_motor_hardware.hpp │ │ └── mock_move_status_reporter_client.hpp ├── pipettes │ ├── core │ │ ├── can_task.hpp │ │ ├── central_tasks.hpp │ │ ├── configs.hpp │ │ ├── dispatch_builder.hpp │ │ ├── gear_motor_tasks.hpp │ │ ├── i2c_poller_impl.hpp │ │ ├── interfaces.hpp │ │ ├── linear_motor_tasks.hpp │ │ ├── motor_configurations.hpp │ │ ├── mount_sense.hpp │ │ ├── peripheral_tasks.hpp │ │ ├── pipette_info.hpp │ │ ├── pipette_type.h │ │ ├── sensor_tasks.hpp │ │ ├── tasks.hpp │ │ └── tasks │ │ │ ├── gear_move_status_reporter_task.hpp │ │ │ ├── message_handlers │ │ │ ├── motion.hpp │ │ │ └── move_group.hpp │ │ │ ├── messages.hpp │ │ │ ├── motion_controller_task.hpp │ │ │ └── move_group_task.hpp │ ├── firmware │ │ ├── eeprom_keys.hpp │ │ ├── i2c_setup.h │ │ ├── interfaces.hpp │ │ ├── interfaces_g4.hpp │ │ └── utility_configurations.hpp │ ├── simulator │ │ └── interfaces.hpp │ └── tests │ │ ├── test_motor_control.hpp │ │ └── test_spi_comms.hpp ├── rear-panel │ ├── core │ │ ├── bin_msg_ids.hpp │ │ ├── binary_parse.hpp │ │ ├── constants.h │ │ ├── double_buffer.hpp │ │ ├── lights │ │ │ ├── animation_handler.hpp │ │ │ ├── animation_math.hpp │ │ │ └── animation_queue.hpp │ │ ├── messages.hpp │ │ ├── queues.hpp │ │ ├── tasks.hpp │ │ └── tasks │ │ │ ├── hardware_task.hpp │ │ │ ├── heartbeat_task.hpp │ │ │ ├── host_comms_task.hpp │ │ │ ├── light_control_task.hpp │ │ │ ├── light_control_update_timer.hpp │ │ │ └── system_task.hpp │ └── firmware │ │ ├── freertos_comms_task.hpp │ │ ├── gpio_drive_hardware.hpp │ │ ├── hal_util.h.in │ │ ├── i2c_setup.h │ │ ├── led_hardware.h │ │ ├── light_control_hardware.hpp │ │ ├── system_hardware.h │ │ ├── usb_hardware.h │ │ └── utility_gpio.h ├── sensors │ ├── core │ │ ├── fdc1004.hpp │ │ ├── hdc3020.hpp │ │ ├── message_handlers │ │ │ └── sensors.hpp │ │ ├── mmr920.hpp │ │ ├── pie4ioe5.hpp │ │ ├── sensor_hardware_interface.hpp │ │ ├── sensors.hpp │ │ ├── tasks │ │ │ ├── capacitive_driver.hpp │ │ │ ├── capacitive_sensor_task.hpp │ │ │ ├── environment_driver.hpp │ │ │ ├── environmental_sensor_task.hpp │ │ │ ├── pressure_driver.hpp │ │ │ ├── pressure_sensor_task.hpp │ │ │ ├── read_sensor_board_rev_task.hpp │ │ │ └── tip_presence_notification_task.hpp │ │ └── utils.hpp │ ├── firmware │ │ └── sensor_hardware.hpp │ ├── simulation │ │ ├── fdc1004.hpp │ │ ├── hdc3020.hpp │ │ ├── mmr920.hpp │ │ └── mock_hardware.hpp │ └── tests │ │ ├── callbacks.hpp │ │ └── mock_hardware.hpp └── spi │ ├── core │ ├── messages.hpp │ ├── spi.hpp │ ├── tasks │ │ └── spi_task.hpp │ ├── utils.hpp │ └── writer.hpp │ ├── firmware │ ├── spi.h │ └── spi_comms.hpp │ ├── simulation │ └── spi.hpp │ └── tests │ └── mock_response_queue.hpp ├── motor-control ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── motor_hardware_interface.cpp │ ├── stall_check.cpp │ ├── types.cpp │ └── utils.cpp ├── firmware │ ├── CMakeLists.txt │ ├── brushed_motor │ │ ├── brushed_motor_driver_hardware.cpp │ │ └── brushed_motor_hardware.cpp │ ├── motor_control_hardware.c │ └── stepper_motor │ │ └── motor_hardware.cpp └── tests │ ├── CMakeLists.txt │ ├── test_brushed_motor_error_tolerance_handling.cpp │ ├── test_brushed_motor_interrupt_handler.cpp │ ├── test_fixed_point_utils.cpp │ ├── test_limit_switch.cpp │ ├── test_limit_switch_backoff.cpp │ ├── test_linear_motion_config.cpp │ ├── test_main.cpp │ ├── test_motor_driver.cpp │ ├── test_motor_flags.cpp │ ├── test_motor_interrupt_handler.cpp │ ├── test_motor_interrupt_queue.cpp │ ├── test_motor_position_tracker.cpp │ ├── test_motor_pulse.cpp │ ├── test_motor_stall_handling.cpp │ ├── test_move_group.cpp │ ├── test_move_status_handling.cpp │ ├── test_stall_check.cpp │ └── test_sync_handling.cpp ├── pipettes ├── CMakeLists.txt ├── core │ ├── CMakeLists.txt │ ├── can_task_high_throughput.cpp │ ├── can_task_low_throughput.cpp │ ├── central_tasks.cpp │ ├── configs.cpp │ ├── gear_motor_tasks.cpp │ ├── linear_motor_tasks.cpp │ ├── peripheral_tasks.cpp │ └── sensor_tasks.cpp ├── firmware │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── can.c │ ├── clocking.c │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ ├── hardware_config.c │ ├── hardware_config.h │ ├── i2c_setup.c │ ├── interfaces.cpp │ ├── main.cpp │ ├── motor_configurations.cpp │ ├── motor_hardware.c │ ├── motor_hardware.h │ ├── motor_timer_hardware.c │ ├── motor_timer_hardware.h │ ├── pipette_utility_gpio.h │ ├── stm32g4xx_hal_conf.h │ ├── stm32g4xx_it.c │ ├── stm32g4xx_it.h │ ├── system_stm32g4xx.c │ ├── system_stm32g4xx.h │ ├── utility_configurations.cpp │ └── utility_gpio.c ├── simulator │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── eeprom_keys.cpp │ ├── freertos_idle_timer_task.cpp │ ├── interfaces.cpp │ ├── main.cpp │ └── motor_configurations.cpp └── tests │ ├── CMakeLists.txt │ ├── test_gear_move_status_handling.cpp │ ├── test_main.cpp │ └── test_mount_detection.cpp ├── push ├── rear-panel ├── CMakeLists.txt ├── README.md ├── core │ ├── CMakeLists.txt │ ├── lights │ │ └── animation_math.cpp │ ├── queues.cpp │ └── tasks.cpp ├── firmware │ ├── CMakeLists.txt │ ├── FreeRTOSConfig.h │ ├── clocking.c │ ├── freertos_idle_timer_task.cpp │ ├── host_comms_task │ │ ├── README.md │ │ ├── freertos_comms_task.cpp │ │ ├── usb_hardware.c │ │ ├── usbd_conf.c │ │ ├── usbd_conf.h │ │ ├── usbd_desc.c │ │ └── usbd_desc.h │ ├── i2c_setup.c │ ├── led_hardware.c │ ├── light_control_task │ │ ├── README.md │ │ └── light_control_hardware.cpp │ ├── main.cpp │ ├── stm32g4xx_hal_conf.h │ ├── stm32g4xx_it.c │ ├── stm32g4xx_it.h │ ├── system_hardware.c │ ├── system_stm32g4xx.c │ ├── system_stm32g4xx.h │ └── utility_gpio.c ├── startup │ ├── CMakeLists.txt │ ├── STM32G491 │ │ ├── CMakeLists.txt │ │ ├── STM32G491RETx_FLASH.ld │ │ ├── clear_wp_stm32g491.cfg │ │ ├── gdbinit.template │ │ ├── lock_stm32g491.cfg │ │ ├── startup_hal.c │ │ ├── startup_hal.h │ │ ├── startup_stm32g491xx.s │ │ ├── startup_system_stm32g4xx.c │ │ ├── startup_system_stm32g4xx.h │ │ ├── stm32g4discovery.cfg │ │ ├── stm32g4xx_hal_conf.h │ │ └── unlock_stm32g491.cfg │ └── application-startup │ │ ├── CMakeLists.txt │ │ ├── README.md │ │ ├── STM32_MODULE_STARTUP.ld │ │ ├── module-startup.S │ │ ├── startup_checks.c │ │ ├── startup_checks.h │ │ ├── startup_it.c │ │ ├── startup_jumps.c │ │ ├── startup_jumps.h │ │ ├── startup_main.c │ │ ├── startup_memory.c │ │ └── startup_memory.h └── test │ ├── CMakeLists.txt │ ├── test_light_animation.cpp │ ├── test_main.cpp │ └── test_messages.cpp ├── run_simulators.sh ├── scripts ├── calculate_checksum.py ├── hex_combine.py └── subsystem_versions.py ├── sensors ├── CMakeLists.txt └── tests │ ├── CMakeLists.txt │ ├── test_capacitive_sensor.cpp │ ├── test_capacitive_sensor_utils.cpp │ ├── test_environment_driver.cpp │ ├── 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