Triggering the dfu bootloader works

Cargo.lock

@@ -214,6 +214,12 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "core-foundation-sys"
+version = "0.8.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
+
 [[package]]
 name = "cortex-m"
 version = "0.7.7"
@@ -367,6 +373,12 @@ dependencies = [
  "nb 1.1.0",
 ]
 
+[[package]]
+name = "embedded-io"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
+
 [[package]]
 name = "embedded-io"
 version = "0.6.1"
@@ -664,6 +676,16 @@ dependencies = [
  "hashbrown",
 ]
 
+[[package]]
+name = "io-kit-sys"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
+dependencies = [
+ "core-foundation-sys",
+ "mach2",
+]
+
 [[package]]
 name = "is-terminal"
 version = "0.4.12"
@@ -699,6 +721,26 @@ version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
+[[package]]
+name = "libudev"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
+dependencies = [
+ "libc",
+ "libudev-sys",
+]
+
+[[package]]
+name = "libudev-sys"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
+dependencies = [
+ "libc",
+ "pkg-config",
+]
+
 [[package]]
 name = "litrs"
 version = "0.4.1"
@@ -721,6 +763,15 @@ version = "0.4.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
 
+[[package]]
+name = "mach2"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19b955cdeb2a02b9117f121ce63aa52d08ade45de53e48fe6a38b39c10f6f709"
+dependencies = [
+ "libc",
+]
+
 [[package]]
 name = "matchit"
 version = "0.7.3"
@@ -791,6 +842,17 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
+[[package]]
+name = "nix"
+version = "0.26.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
+dependencies = [
+ "bitflags 1.3.2",
+ "cfg-if",
+ "libc",
+]
+
 [[package]]
 name = "nom"
 version = "7.1.3"
@@ -971,6 +1033,12 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
+[[package]]
+name = "pkg-config"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "953ec861398dccce10c670dfeaf3ec4911ca479e9c02154b3a215178c5f566f2"
+
 [[package]]
 name = "portable-atomic"
 version = "1.7.0"
@@ -985,6 +1053,8 @@ checksum = "5f7f0a8d620d71c457dd1d47df76bb18960378da56af4527aaa10f515eee732e"
 dependencies = [
  "cobs",
  "defmt",
+ "embedded-io 0.4.0",
+ "embedded-io 0.6.1",
  "heapless 0.7.17",
  "serde",
 ]
@@ -1091,7 +1161,10 @@ dependencies = [
  "humantime",
  "log",
  "nom",
+ "postcard",
+ "radomctl-protocol",
  "serde_json",
+ "serialport",
  "tokio",
  "tokio-macros 0.2.6",
  "tower-http",
@@ -1299,6 +1372,24 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serialport"
+version = "4.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ba776acc8c373b9175829206229366273225436845c04f9c20aab8099960e2e"
+dependencies = [
+ "bitflags 2.6.0",
+ "cfg-if",
+ "core-foundation-sys",
+ "io-kit-sys",
+ "libudev",
+ "mach2",
+ "nix",
+ "scopeguard",
+ "unescaper",
+ "winapi",
+]
+
 [[package]]
 name = "sharded-slab"
 version = "0.1.7"
@@ -1672,6 +1763,15 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e87a2ed6b42ec5e28cc3b94c09982969e9227600b2e3dcbc1db927a84c06bd69"
 
+[[package]]
+name = "unescaper"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c878a167baa8afd137494101a688ef8c67125089ff2249284bd2b5f9bfedb815"
+dependencies = [
+ "thiserror",
+]
+
 [[package]]
 name = "unicase"
 version = "2.7.0"
@@ -1704,7 +1804,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "065e4eaf93db81d5adac82d9cef8f8da314cb640fa7f89534b972383f1cf80fc"
 dependencies = [
  "embedded-hal 0.2.7",
- "embedded-io",
+ "embedded-io 0.6.1",
  "nb 1.1.0",
  "usb-device",
 ]

daemon/Cargo.toml

@@ -11,8 +11,11 @@ humantime = "2.1.0"
 log = "0.4.21"
 nom = "7.1.3"
 serde_json = "1.0.118"
+serialport = "4.5.1"
 tokio = {version = "1.37.0", features = ["full"]}
 tokio-macros = { version = "0.2.0-alpha.6" }
 tower-http = { version = "0.5.2", features = ["fs", "trace"] }
 tracing = "0.1.40"
 tracing-subscriber = "0.3.18"
+radomctl-protocol = { path = "../protocol" }
+postcard = {version = "1.0.10", features = ["use-std"]}

daemon/src/bin/trigger-dfu.rs

@@ -0,0 +1,16 @@
+use std::time::Duration;
+
+use postcard::{from_bytes_cobs, to_stdvec_cobs};
+use radomctl_protocol::*;
+use radomctld::logger::setup_logger;
+
+pub fn main() -> () {
+    let mut port = serialport::new("/dev/ttyACM0", 115_200)
+        .timeout(Duration::from_millis(10))
+        .open()
+        .expect("Failed to open port");
+
+    let host_msg = HostMessage::TriggerDFUBootloader;
+    let msg_bytes = to_stdvec_cobs(&host_msg).unwrap();
+    port.write_all(&msg_bytes).unwrap();
+}

daemon/src/lib.rs

@@ -0,0 +1,3 @@
+pub mod logger;
+pub mod rotctlprotocol;
+pub mod rotor;

daemon/src/main.rs

@@ -1,7 +1,3 @@
-mod logger;
-mod rotctlprotocol;
-mod rotor;
-
 use anyhow::Result;
 use fern::colors::{Color, ColoredLevelConfig};
 use log::{debug, error, info, warn, Level};
@@ -26,10 +22,11 @@ use tower_http::{
     trace::TraceLayer,
 };
 
-use logger::setup_logger;
+use radomctld::{
-use rotor::control_rotor;
+    logger::setup_logger,
-
+    rotctlprotocol::{parse_command, Command},
-use rotctlprotocol::{parse_command, Command};
+    rotor::control_rotor,
+};
 
 async fn process_socket(
     socket: TcpStream,

firmware/.cargo/config.toml

@@ -1,6 +1,6 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
 # TODO(2) replace `$CHIP` with your chip's name (see `probe-run --list-chips` output)
-runner = "probe-run --chip STM32F401CCU6"
+runner = "probe-rs run --chip STM32F401CCUx"
 rustflags = [
   "-C", "linker=flip-link",
   "-C", "link-arg=-Tlink.x",

firmware/src/bootloader.rs

@@ -0,0 +1,59 @@
+use core::ptr::addr_of_mut;
+
+use stm32f4xx_hal::pac;
+
+fn jump_to_bootloader() {
+    unsafe {
+        cortex_m::interrupt::disable();
+
+        let address: u32 = 0x1FFF0000;
+
+        let device = pac::Peripherals::steal();
+        device.SYSCFG.memrm.modify(|_, w| w.bits(0x01));
+
+        let mut p = cortex_m::Peripherals::steal();
+        p.SCB.invalidate_icache();
+        p.SCB.vtor.write(address as u32);
+
+        cortex_m::interrupt::enable();
+
+        cortex_m::asm::bootload(address as *const u32);
+    }
+}
+
+const BOOTLOADER_REQUESTED: u32 = 0xdecafbad;
+
+fn magic_mut_ptr() -> *mut u32 {
+    extern "C" {
+        #[link_name = "_dfu_magic"]
+        static mut magic: u32;
+    }
+
+    unsafe { addr_of_mut!(magic) }
+}
+
+fn get_bootloader_flag() -> u32 {
+    unsafe { magic_mut_ptr().read_volatile() }
+}
+
+fn set_bootloader_flag() {
+    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
+}
+
+fn clear_bootloader_flag() {
+    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
+}
+
+pub fn init() {
+    let requested = get_bootloader_flag() == BOOTLOADER_REQUESTED;
+    if requested {
+        clear_bootloader_flag();
+        jump_to_bootloader();
+    }
+}
+
+pub fn reboot_to_bootloader() -> ! {
+    defmt::info!("Rebooting into the bootloader");
+    set_bootloader_flag();
+    cortex_m::peripheral::SCB::sys_reset();
+}

firmware/src/main.rs

@@ -6,6 +6,8 @@ use defmt_brtt as _; // global logger
 use panic_probe as _;
 use stm32f4xx_hal as _;
 
+mod bootloader;
+
 // same panicking *behavior* as `panic-probe` but doesn't print a panic message
 // this prevents the panic message being printed *twice* when `defmt::panic` is invoked
 #[defmt::panic_handler]
@@ -21,7 +23,9 @@ mod app {
 
     use as5048a::AS5048A;
 
-    use heapless::Vec;
+    use core::fmt::Write;
+    use heapless::{String, Vec};
+    use num_traits::{Float, FloatConst};
     use postcard::{from_bytes_cobs, to_vec_cobs};
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
@@ -29,14 +33,12 @@ mod app {
         otg_fs::{UsbBus, UsbBusType, USB},
         pac::{I2C1, SPI1},
         prelude::*,
-        spi,
+        signature, spi,
     };
-    use usb_device::class_prelude::UsbBusAllocator;
     use usb_device::prelude::*;
+    use usb_device::{class_prelude::UsbBusAllocator, device};
     use usbd_serial::SerialPort;
 
-    use num_traits::{Float, FloatConst};
-
     use xca9548a::{SlaveAddr, Xca9548a};
 
     use qmc5883l::{self, QMC5883L};
@@ -45,6 +47,8 @@ mod app {
 
     use rtic_monotonics::systick::prelude::*;
 
+    use crate::bootloader;
+
     systick_monotonic!(Mono, 1000);
 
     const USB_BUFFER_SIZE: usize = 64;
@@ -82,6 +86,8 @@ mod app {
 
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
+        bootloader::init();
+
         defmt::info!("init");
 
         let rcc = cx.device.RCC.constrain();
@@ -91,11 +97,8 @@ mod app {
         let clocks = rcc
             .cfgr
             .use_hse(25.MHz())
-            .require_pll48clk()
             .sysclk(84.MHz())
-            .hclk(84.MHz())
+            .require_pll48clk()
-            .pclk1(42.MHz())
-            .pclk2(84.MHz())
             .freeze();
 
         Mono::start(cx.core.SYST, clocks.sysclk().to_Hz());
@@ -130,16 +133,23 @@ mod app {
 
         let usb_serial = usbd_serial::SerialPort::new(unsafe { USB_BUS.as_ref().unwrap() });
 
-        let usb_dev = UsbDeviceBuilder::new(
+        let uid = signature::Uid::get();
-            unsafe { USB_BUS.as_ref().unwrap() },
+
-            UsbVidPid(0x16c0, 0x27dd),
+        static mut SERIAL: String<16> = String::new();
-        )
+        unsafe {
-        .device_class(usbd_serial::USB_CLASS_CDC)
+            write!(SERIAL, "{}{:x}{:x}", uid.lot_num(), uid.x(), uid.y()).unwrap();
-        .strings(&[StringDescriptors::default()
+        }
-            .manufacturer("Amteurfunk Forschungs Gruppe")
+
-            .product("Radom Controler")])
+        let usb_dev = unsafe {
-        .unwrap()
+            UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0x16c0, 0x27dd))
-        .build();
+                .device_class(usbd_serial::USB_CLASS_CDC)
+                .strings(&[StringDescriptors::default()
+                    .manufacturer("Amteurfunk Forschungs Gruppe")
+                    .product("Radom Controler")
+                    .serial_number(SERIAL.as_ref())])
+                .unwrap()
+                .build()
+        };
 
         defmt::info!("USB Setup done");
 
@@ -158,7 +168,7 @@ mod app {
         defmt::info!("I2C Setup done");
 
         let mut i2cmux = Xca9548a::new(i2c, SlaveAddr::default());
-        i2cmux.select_channels(0b0000_0001).unwrap();
+        //i2cmux.select_channels(0b0000_0001).unwrap();
 
         defmt::info!("I2C MUX Setup done");
 
@@ -197,8 +207,8 @@ mod app {
 
         defmt::info!("Motor Setup done");
 
-        poll_i2c::spawn().ok();
+        //poll_i2c::spawn().ok();
-        poll_spi::spawn().ok();
+        //poll_spi::spawn().ok();
 
         (
             Shared { az_angle: 0 },
@@ -402,9 +412,11 @@ mod app {
                                 to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
                             serial.write(bytes.as_slice()).unwrap();
                         }
-                        HostMessage::TriggerDFUBootloader => todo!(),
+                        HostMessage::TriggerDFUBootloader => {
+                            bootloader::reboot_to_bootloader();
+                        }
                     },
-                    Err(err) => defmt::error!("Unable to parse host message: {}", err),
+                    Err(err) => defmt::error!("Unable to parse host message"),
                 };
 
                 *buffer = Vec::<u8, USB_BUFFER_SIZE>::from_slice(rest).unwrap();

memory.x

@@ -1,10 +1,23 @@
 MEMORY
 {
-  /* NOTE K = KiBi = 1024 bytes */
   FLASH : ORIGIN = 0x08000000, LENGTH = 256K 
-  RAM : ORIGIN = 0x20000000, LENGTH = 64K
+  UNINIT: ORIGIN = 0x20000000, LENGTH = 0x10
+  RAM : ORIGIN = 0x20000010, LENGTH = 64K - LENGTH(UNINIT)
 }
 
+SECTIONS {
+  .uninit_flags (NOLOAD) : ALIGN(4)
+  {
+    . = ALIGN(4);
+    __suninit_flags = .;
+    _dfu_magic = .; . += 4;
+    *(.uninit_flags .uninit_flags.*)
+    . = ALIGN(4);
+    __euninit_flags = .;
+  } > UNINIT
+}
+
+
 /* This is where the call stack will be allocated. */
 /* The stack is of the full descending type. */
 /* NOTE Do NOT modify `_stack_start` unless you know what you are doing */