First end-to-end movement

Cargo.lock

@@ -53,7 +53,7 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6d36fc52c7f6c869915e99412912f22093507da8d9e942ceaf66fe4b7c14422a"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -63,7 +63,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5bf74e1b6e971609db8ca7a9ce79fd5768ab6ae46441c572e46cf596f59e57f8"
 dependencies = [
  "anstyle",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -230,9 +230,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.6.1"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
+checksum = "325918d6fe32f23b19878fe4b34794ae41fc19ddbe53b10571a4874d44ffd39b"
 
 [[package]]
 name = "cc"
@@ -319,7 +319,7 @@ dependencies = [
  "lazy_static",
  "libc",
  "unicode-width",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -612,42 +612,92 @@ dependencies = [
 ]
 
 [[package]]
-name = "futures-channel"
+name = "futures"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
+checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-executor",
+ "futures-io",
+ "futures-sink",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-channel"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
 dependencies = [
  "futures-core",
+ "futures-sink",
 ]
 
 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
 
 [[package]]
-name = "futures-sink"
+name = "futures-executor"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
+checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
-
-[[package]]
-name = "futures-task"
-version = "0.3.30"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
-
-[[package]]
-name = "futures-util"
-version = "0.3.30"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
 dependencies = [
  "futures-core",
  "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-io"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
+
+[[package]]
+name = "futures-macro"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.72",
+]
+
+[[package]]
+name = "futures-sink"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
+
+[[package]]
+name = "futures-task"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
+
+[[package]]
+name = "futures-util"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-io",
+ "futures-macro",
+ "futures-sink",
+ "futures-task",
+ "memchr",
  "pin-project-lite",
  "pin-utils",
+ "slab",
 ]
 
 [[package]]
@@ -872,7 +922,7 @@ checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
 dependencies = [
  "hermit-abi",
  "libc",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -980,6 +1030,15 @@ version = "2.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
 
+[[package]]
+name = "memoffset"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5de893c32cde5f383baa4c04c5d6dbdd735cfd4a794b0debdb2bb1b421da5ff4"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "mime"
 version = "0.3.17"
@@ -1011,6 +1070,18 @@ dependencies = [
  "adler",
 ]
 
+[[package]]
+name = "mio"
+version = "0.8.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a4a650543ca06a924e8b371db273b2756685faae30f8487da1b56505a8f78b0c"
+dependencies = [
+ "libc",
+ "log",
+ "wasi",
+ "windows-sys 0.48.0",
+]
+
 [[package]]
 name = "mio"
 version = "1.0.1"
@@ -1020,7 +1091,20 @@ dependencies = [
  "hermit-abi",
  "libc",
  "wasi",
- "windows-sys",
+ "windows-sys 0.52.0",
+]
+
+[[package]]
+name = "mio-serial"
+version = "5.0.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "20a4c60ca5c9c0e114b3bd66ff4aa5f9b2b175442be51ca6c4365d687a97a2ac"
+dependencies = [
+ "log",
+ "mio 0.8.11",
+ "nix",
+ "serialport",
+ "winapi",
 ]
 
 [[package]]
@@ -1047,6 +1131,8 @@ dependencies = [
  "bitflags 1.3.2",
  "cfg-if",
  "libc",
+ "memoffset",
+ "pin-utils",
 ]
 
 [[package]]
@@ -1194,7 +1280,7 @@ dependencies = [
  "libc",
  "redox_syscall",
  "smallvec",
- "windows-targets",
+ "windows-targets 0.52.6",
 ]
 
 [[package]]
@@ -1365,9 +1451,12 @@ version = "0.1.0"
 dependencies = [
  "anyhow",
  "axum",
+ "bytes",
  "clap",
  "dfu-libusb",
  "fern",
+ "futures",
+ "futures-util",
  "humantime",
  "indicatif",
  "libusb1-sys",
@@ -1380,6 +1469,8 @@ dependencies = [
  "serialport",
  "tokio",
  "tokio-macros 0.2.6",
+ "tokio-serial",
+ "tokio-util",
  "tower-http",
  "tracing",
  "tracing-subscriber",
@@ -1631,6 +1722,15 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "slab"
+version = "0.4.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
+dependencies = [
+ "autocfg",
+]
+
 [[package]]
 name = "smallvec"
 version = "1.13.2"
@@ -1644,7 +1744,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
 dependencies = [
  "libc",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -1810,13 +1910,13 @@ dependencies = [
  "backtrace",
  "bytes",
  "libc",
- "mio",
+ "mio 1.0.1",
  "parking_lot",
  "pin-project-lite",
  "signal-hook-registry",
  "socket2",
  "tokio-macros 2.4.0",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -1842,14 +1942,31 @@ dependencies = [
 ]
 
 [[package]]
-name = "tokio-util"
+name = "tokio-serial"
-version = "0.7.11"
+version = "5.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1"
+checksum = "aa6e2e4cf0520a99c5f87d5abb24172b5bd220de57c3181baaaa5440540c64aa"
+dependencies = [
+ "bytes",
+ "cfg-if",
+ "futures",
+ "log",
+ "mio-serial",
+ "tokio",
+ "tokio-util",
+]
+
+[[package]]
+name = "tokio-util"
+version = "0.7.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7fcaa8d55a2bdd6b83ace262b016eca0d79ee02818c5c1bcdf0305114081078"
 dependencies = [
  "bytes",
  "futures-core",
  "futures-sink",
+ "futures-util",
+ "hashbrown",
  "pin-project-lite",
  "tokio",
 ]
@@ -2117,13 +2234,37 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
+[[package]]
+name = "windows-sys"
+version = "0.48.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
+dependencies = [
+ "windows-targets 0.48.5",
+]
+
 [[package]]
 name = "windows-sys"
 version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.52.6",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
+dependencies = [
+ "windows_aarch64_gnullvm 0.48.5",
+ "windows_aarch64_msvc 0.48.5",
+ "windows_i686_gnu 0.48.5",
+ "windows_i686_msvc 0.48.5",
+ "windows_x86_64_gnu 0.48.5",
+ "windows_x86_64_gnullvm 0.48.5",
+ "windows_x86_64_msvc 0.48.5",
 ]
 
 [[package]]
@@ -2132,28 +2273,46 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
 dependencies = [
- "windows_aarch64_gnullvm",
+ "windows_aarch64_gnullvm 0.52.6",
- "windows_aarch64_msvc",
+ "windows_aarch64_msvc 0.52.6",
- "windows_i686_gnu",
+ "windows_i686_gnu 0.52.6",
  "windows_i686_gnullvm",
- "windows_i686_msvc",
+ "windows_i686_msvc 0.52.6",
- "windows_x86_64_gnu",
+ "windows_x86_64_gnu 0.52.6",
- "windows_x86_64_gnullvm",
+ "windows_x86_64_gnullvm 0.52.6",
- "windows_x86_64_msvc",
+ "windows_x86_64_msvc 0.52.6",
 ]
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.52.6"
@@ -2166,24 +2325,48 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
 
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.52.6"

daemon/Cargo.toml

@@ -24,3 +24,8 @@ libusb1-sys = "0.6"
 rusb = "0.9"
 clap = { version = "4.5.19", features = ["derive"] }
 indicatif = "0.17.8"
+tokio-serial = {version = "5.4.4", features = ["codec", "rt"] }
+tokio-util = { version = "0.7.13", features = ["codec", "rt"] }
+bytes = "1.9.0"
+futures-util = "0.3.31"
+futures = "0.3.31"

daemon/src/main.rs

@@ -1,7 +1,16 @@
 use anyhow::Result;
+use anyhow::{anyhow, Context};
+use axum::{
+    extract::State,
+    http::StatusCode,
+    routing::{get, post},
+    Json, Router,
+};
+use clap::Parser;
 use fern::colors::{Color, ColoredLevelConfig};
 use log::{debug, error, info, warn, Level};
 use serde_json::{json, Value};
+use std::time::Duration;
 use std::{borrow::Borrow, io};
 use tokio::{
     self,
@@ -10,13 +19,7 @@ use tokio::{
     sync::{mpsc, watch},
     task::JoinSet,
 };
-
+use tokio_serial;
-use axum::{
-    extract::State,
-    http::StatusCode,
-    routing::{get, post},
-    Json, Router,
-};
 use tower_http::{
     services::{ServeDir, ServeFile},
     trace::TraceLayer,
@@ -86,16 +89,61 @@ struct AxumAppState {
     pos_rx: watch::Receiver<(f32, f32)>,
 }
 
+#[derive(Parser)]
+struct Cli {
+    /// The usb serial number of the radom-controller
+    #[arg(short, long)]
+    serialnumber: String,
+
+    /// Listen address for the webserver
+    #[arg(short, long, default_value = "0.0.0.0:8000")]
+    web_listen_address: String,
+
+    /// Listen address for rotctl
+    #[arg(short, long, default_value = "0.0.0.0:1337")]
+    rotctl_listen_address: String,
+}
+
 #[tokio::main]
 async fn main() -> Result<()> {
     setup_logger()?;
 
+    let args = Cli::parse();
+
+    let ports = tokio_serial::available_ports().unwrap_or(Vec::<serialport::SerialPortInfo>::new());
+
+    let mut radom_port: Option<String> = None;
+    for port in ports {
+        match port.port_type {
+            serialport::SerialPortType::UsbPort(usb_port_info) => {
+                match usb_port_info.serial_number {
+                    Some(serial) => {
+                        debug!("Found a serial port with: {}", serial);
+                        if serial == args.serialnumber {
+                            radom_port = Some(port.port_name.to_owned());
+                            info!("Found radom-controller as {}", port.port_name)
+                        }
+                    }
+                    None => continue,
+                }
+            }
+            _ => continue,
+        }
+    }
+
+    let radom_port = match radom_port {
+        Some(port) => port,
+        _ => {
+            return Err(anyhow!("No matching port found."));
+        }
+    };
+
     let (cmd_tx, cmd_rx) = mpsc::channel::<Command>(16);
     let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
 
     let mut tasks = JoinSet::new();
 
-    tasks.spawn(async move { control_rotor(cmd_rx, pos_tx).await });
+    tasks.spawn(async move { control_rotor(cmd_rx, pos_tx, radom_port).await });
 
     let state = AxumAppState {
         pos_rx: pos_rx.clone(),
@@ -108,14 +156,14 @@ async fn main() -> Result<()> {
             .with_state(state)
             .layer(TraceLayer::new_for_http());
 
-        let listener = tokio::net::TcpListener::bind("0.0.0.0:8000").await?;
+        let listener = tokio::net::TcpListener::bind(args.web_listen_address).await?;
         axum::serve(listener, app).await?;
 
         Ok(())
     });
 
     tasks.spawn(async move {
-        let listener = TcpListener::bind("127.0.0.1:1337").await?;
+        let listener = TcpListener::bind(args.rotctl_listen_address).await?;
 
         loop {
             let (socket, _) = listener.accept().await?;

daemon/src/rotor.rs

@@ -1,5 +1,11 @@
 use anyhow::Result;
+use bytes::{BufMut, BytesMut};
+use futures::{stream::StreamExt, SinkExt};
 use log::{debug, error, info, warn};
+use postcard::{from_bytes_cobs, to_stdvec_cobs};
+use radomctl_protocol::{HostMessage, PositionTarget, RadomMessage};
+use std::{env, io, str, time::Duration};
+use tokio::time::sleep;
 use tokio::{
     self,
     io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
@@ -7,46 +13,82 @@ use tokio::{
     sync::{self, mpsc, watch},
     time,
 };
+use tokio_serial::SerialPortBuilderExt;
+use tokio_util::codec::{Decoder, Encoder};
 
 use crate::rotctlprotocol::{parse_command, Command};
 
+struct ProtocolCodec;
+
+impl Decoder for ProtocolCodec {
+    type Item = RadomMessage;
+    type Error = io::Error;
+
+    fn decode(&mut self, src: &mut BytesMut) -> Result<Option<Self::Item>, Self::Error> {
+        let frame_end = src.as_ref().iter().position(|b| *b == 0);
+        if let Some(n) = frame_end {
+            let mut frame = src.split_to(n + 1);
+            let host_msg = from_bytes_cobs::<RadomMessage>(&mut frame).unwrap();
+            return Ok(Some(host_msg));
+        }
+        Ok(None)
+    }
+}
+
+impl Encoder<HostMessage> for ProtocolCodec {
+    type Error = io::Error;
+
+    fn encode(&mut self, item: HostMessage, dst: &mut BytesMut) -> Result<(), Self::Error> {
+        let msg_bytes = to_stdvec_cobs(&item).unwrap();
+        dst.put(msg_bytes.as_slice());
+        dst.put_u8(0);
+        Ok(())
+    }
+}
+
 pub async fn control_rotor(
     mut rx_cmd: mpsc::Receiver<Command>,
     pos_tx: watch::Sender<(f32, f32)>,
+    radom_port: String,
 ) -> Result<()> {
-    let mut actual_az = 0.0;
+    let port = tokio_serial::new(radom_port, 115_200)
-    let mut actual_el = 0.0;
+        .timeout(Duration::from_millis(10))
+        .open_native_async()
+        .expect("Failed to open port");
 
-    let mut target_az = 0.0;
+    let (mut port_writer, mut port_reader) = ProtocolCodec.framed(port).split();
-    let mut target_el = 0.0;
 
     loop {
         tokio::select! {
             Some(command) = rx_cmd.recv() => {
                 match command {
                     Command::SetPos(az, el) => {
-                        info!("Received set pos {} {}", az, el);
+                        //info!("Received set pos {} {}", az, el);
-                        target_az = az;
+                        port_writer.send(HostMessage::SetTarget(PositionTarget { az, el })).await?;
-                        target_el = el;
                     }
                     _ => {}
                 }
             },
+
             _ = time::sleep(time::Duration::from_millis(100)) => {
-                if target_az < actual_az {
+                    //info!("Requesting status");
-                    actual_az -= 1.0;
+                    port_writer.send(HostMessage::RequestStatus).await?;
-                } else if  target_az > actual_az  {
-                    actual_az += 1.0;
-                }
-
-                if target_el < actual_el {
-                    actual_el -= 1.0;
-                } else if  target_el > actual_el  {
-                    actual_el += 1.0;
-                }
-
-                pos_tx.send((actual_az, actual_el)).unwrap();
             },
+
+            msg = port_reader.next() => {
+                match msg {
+                    Some(Ok(msg)) => {
+                        match msg {
+                            RadomMessage::Status(status) => {
+                                //info!("Received status {:?}", status);
+                                pos_tx.send((status.position.az, status.position.el)).unwrap();
+                            }
+                            _ => {}
+                        }
+                    }
+                    _ => {}
+                }
+            }
             else => return Ok(())
         };
     }

firmware/src/main.rs

@@ -43,7 +43,7 @@ mod app {
 
     use qmc5883l::{self, QMC5883L};
 
-    use radomctl_protocol::*;
+    use radomctl_protocol::{HostMessage, *};
 
     use crate::bootloader;
     use rtic_monotonics::systick::prelude::*;
@@ -57,6 +57,10 @@ mod app {
     struct Shared {
         az_angle: i32,
         az_compass: i32,
+        az_target: i32,
+
+        el_angle: i32,
+        el_target: i32,
     }
 
     // Local resources go here
@@ -223,10 +227,14 @@ mod app {
         poll_i2c::spawn().ok();
         poll_spi::spawn().ok();
         move_az::spawn().ok();
+        move_el::spawn().ok();
 
         (
             Shared {
                 az_angle: 0,
+                az_target: 0,
+                el_angle: 0,
+                el_target: 0,
                 az_compass: 0,
             },
             Local {
@@ -332,16 +340,18 @@ mod app {
         }
     }
 
-    #[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle])]
+    #[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle, el_angle])]
     async fn poll_spi(mut cx: poll_spi::Context) {
         let spi1 = cx.local.spi1;
         let encoder_az = cx.local.encoder_az;
+        let encoder_el = cx.local.encoder_el;
 
         loop {
+            /*
             let (diag, gain) = encoder_az.diag_gain(spi1).unwrap();
             defmt::info!("diag: {:08b} gain: {}", diag, gain);
             defmt::info!("magnitude: {:?}", encoder_az.magnitude(spi1).unwrap());
-
+            */
             let raw_angle = encoder_az.angle(spi1).unwrap();
             let angle_deg = raw_angle as i32 * 3600 / 16384;
 
@@ -349,24 +359,29 @@ mod app {
                 *az_angle = angle_deg;
             });
 
-            defmt::info!("angle: {:?}", angle_deg);
+            defmt::info!("az angle: {:?}", angle_deg);
+
+            let raw_angle = encoder_el.angle(spi1).unwrap();
+            let angle_deg = raw_angle as i32 * 3600 / 16384;
+
+            cx.shared.el_angle.lock(|el_angle| {
+                *el_angle = angle_deg;
+            });
+
+            defmt::info!("el angle: {:?}", angle_deg);
 
             Mono::delay(1.millis()).await;
         }
     }
 
-    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_compass])]
+    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_target])]
     async fn move_az(mut cx: move_az::Context) {
         let az_enable = cx.local.az_enable;
         let az_dir = cx.local.az_dir;
         let az_step = cx.local.az_step;
 
-        let mut counter = 0;
-        let mut az_target = 0;
-
         loop {
-            //let az_target = 1800; //cx.shared.az_compass.lock(|az_compass| *az_compass);
+            let az_target = cx.shared.az_target.lock(|az_target| *az_target);
-
             let az_angle = cx.shared.az_angle.lock(|az_angle| *az_angle);
             let diff = az_angle - az_target;
 
@@ -385,7 +400,7 @@ mod app {
                 1.millis()
             };
 
-            if diff.abs() > 5 {
+            if diff.abs() > 50 {
                 az_enable.set_low();
                 if diff < 0 {
                     az_dir.set_high();
@@ -401,16 +416,56 @@ mod app {
                 az_enable.set_high();
                 Mono::delay(delay).await;
             }
+        }
+    }
 
-            counter = (counter + 1) % 1000;
+    #[task(local = [el_enable, el_dir, el_step], shared = [el_angle, el_target])]
-            if counter == 0 {
+    async fn move_el(mut cx: move_el::Context) {
-                az_target = (az_target + 450) % 3600;
+        let el_enable = cx.local.el_enable;
+        let el_dir = cx.local.el_dir;
+        let el_step = cx.local.el_step;
+
+        loop {
+            let el_target = cx.shared.el_target.lock(|el_target| *el_target);
+            let el_angle = cx.shared.el_angle.lock(|el_angle| *el_angle);
+            let diff = el_angle - el_target;
+
+            defmt::info!(
+                "angle diff/target/actual: {:?}/{:?}/{:?}",
+                diff,
+                el_target,
+                el_angle
+            );
+
+            let delay = if diff.abs() < 10 {
+                10.millis()
+            } else if diff < 100 {
+                5.millis()
+            } else {
+                1.millis()
             };
+
+            if diff.abs() > 50 {
+                el_enable.set_low();
+                if diff < 0 {
+                    el_dir.set_high();
+                } else {
+                    el_dir.set_low();
+                }
+
+                el_step.set_low();
+                Mono::delay(delay / 2).await;
+                el_step.set_high();
+                Mono::delay(delay / 2).await;
+            } else {
+                el_enable.set_high();
+                Mono::delay(delay).await;
+            }
         }
     }
 
-    #[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
+    #[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer], shared=[az_target, el_target, az_angle, el_angle])]
-    fn usb_fs(cx: usb_fs::Context) {
+    fn usb_fs(mut cx: usb_fs::Context) {
         let usb_dev = cx.local.usb_dev;
         let serial = cx.local.usb_serial;
         let buffer = cx.local.usb_buffer;
@@ -443,8 +498,8 @@ mod app {
                         HostMessage::RequestStatus => {
                             let status = StatusMessage {
                                 position: Position {
-                                    az: 42.0,
+                                    az: cx.shared.az_angle.lock(|az| (*az / 10) as f32),
-                                    el: 23.0,
+                                    el: cx.shared.el_angle.lock(|el| (*el / 10) as f32),
                                     az_endcoder: 0.0,
                                     el_encoder: 0.0,
                                     az_magnetic: 0.0,
@@ -457,6 +512,10 @@ mod app {
                                 to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
                             serial.write(bytes.as_slice()).unwrap();
                         }
+                        HostMessage::SetTarget(pos) => {
+                            cx.shared.az_target.lock(|az| *az = (pos.az * 10.0) as i32);
+                            cx.shared.el_target.lock(|el| *el = (pos.el * 10.0) as i32);
+                        }
                         HostMessage::TriggerDFUBootloader => {
                             bootloader::reboot_to_bootloader();
                         }

protocol/src/lib.rs

@@ -11,6 +11,7 @@ pub enum RadomMessage {
 #[derive(Serialize, Deserialize, Debug, PartialEq)]
 pub enum HostMessage {
     RequestStatus,
+    SetTarget(PositionTarget),
     TriggerDFUBootloader,
 }
 
@@ -35,3 +36,9 @@ pub enum Alarm {
     AZEncoderFault,
     ELEncoderFault,
 }
+
+#[derive(Serialize, Deserialize, Debug, PartialEq)]
+pub struct PositionTarget {
+    pub az: f32,
+    pub el: f32,
+}