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Triggering the dfu bootloader works

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Sebastian 2024-10-03 22:54:05 +02:00
parent bf672e3df1
commit 2d0a54eccc
9 changed files with 239 additions and 36 deletions
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102
Cargo.lock generated
View file

@ -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",
]

3
daemon/Cargo.toml
View file

@ -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"]}

16
daemon/src/bin/trigger-dfu.rs Normal file
View file

@ -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();
}

3
daemon/src/lib.rs Normal file
View file

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

13
daemon/src/main.rs
View file

@ -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 rotor::control_rotor;
use rotctlprotocol::{parse_command, Command};
use radomctld::{
logger::setup_logger,
rotctlprotocol::{parse_command, Command},
rotor::control_rotor,
};
async fn process_socket(
socket: TcpStream,

2
firmware/.cargo/config.toml
View file

@ -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",

59
firmware/src/bootloader.rs Normal file
View file

@ -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();
}

52
firmware/src/main.rs
View file

@ -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())
.pclk1(42.MHz())
.pclk2(84.MHz())
.require_pll48clk()
.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(
unsafe { USB_BUS.as_ref().unwrap() },
UsbVidPid(0x16c0, 0x27dd),
)
let uid = signature::Uid::get();
static mut SERIAL: String<16> = String::new();
unsafe {
write!(SERIAL, "{}{:x}{:x}", uid.lot_num(), uid.x(), uid.y()).unwrap();
}
let usb_dev = unsafe {
UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0x16c0, 0x27dd))
.device_class(usbd_serial::USB_CLASS_CDC)
.strings(&[StringDescriptors::default()
.manufacturer("Amteurfunk Forschungs Gruppe")
.product("Radom Controler")])
.product("Radom Controler")
.serial_number(SERIAL.as_ref())])
.unwrap()
.build();
.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_spi::spawn().ok();
//poll_i2c::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();

17
memory.x
View file

@ -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 */