Added firmware

.gitignore

@@ -1,2 +1,2 @@
 /target
-output.log
+/*/output.log

Cargo.toml

@@ -1,18 +1,9 @@
-[package]
-name = "radomctld"
-version = "0.1.0"
-edition = "2021"
+[workspace]
+resolver = "2"
+
+members = [ 
+    "daemon",
+    "firmware",
+]
+
 
-[dependencies]
-anyhow = "1.0.83"
-axum = { version = "0.7.5", features = ["macros"] }
-fern = { version = "0.6.2", features = ["colored"] }
-humantime = "2.1.0"
-log = "0.4.21"
-nom = "7.1.3"
-serde_json = "1.0.118"
-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"

daemon/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+name = "radomctld"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+anyhow = "1.0.83"
+axum = { version = "0.7.5", features = ["macros"] }
+fern = { version = "0.6.2", features = ["colored"] }
+humantime = "2.1.0"
+log = "0.4.21"
+nom = "7.1.3"
+serde_json = "1.0.118"
+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"

firmware/.cargo/config.toml

@@ -0,0 +1,21 @@
+[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"
+rustflags = [
+  "-C", "linker=flip-link",
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+]
+
+[build]
+target = "thumbv7em-none-eabihf"
+
+[alias]
+rb = "run --bin"
+rrb = "run --release --bin"
+
+[env]
+DEFMT_LOG = "debug"

firmware/.gitignore

@@ -0,0 +1,2 @@
+/target
+Cargo.lock

firmware/Cargo.toml

@@ -0,0 +1,80 @@
+[package]
+name = "radomctl-firmware"
+edition = "2021"
+version = "0.1.0"
+
+[dependencies]
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
+defmt = { version = "0.3", features = ["encoding-rzcobs"] }
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+rtic = { version = "2.0.1", features = [ "thumbv7-backend" ] }
+defmt-rtt = "0.4"
+stm32f4xx-hal = { version = "0.21.0", features = ["stm32f401"] }
+embedded-hal = {version = "1.0.0"}
+nb = "1.0.0"
+num-traits = { version = "0.2", default-features = false, features = ["libm"] }
+num = {version = "0.4", default-features = false}
+ufmt = "0.2.0"
+qmc5883l = "0.0.1"
+rtic-monotonics = {version = "2.0.2", features = ["cortex-m-systick"]}
+xca9548a = "0.2.1"
+
+[features]
+# set logging levels here
+default = ["defmt-default"]
+
+# do NOT modify these features
+defmt-default = []
+defmt-trace = []
+defmt-debug = []
+defmt-info = []
+defmt-warn = []
+defmt-error = []
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+
+# uncomment this to switch from the crates.io version of defmt to its git version
+# check app-template's README for instructions
+# [patch.crates-io]
+# defmt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
+# defmt-rtt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
+# defmt-test = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
+# panic-probe = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }

firmware/src/main.rs

@@ -0,0 +1,186 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+use defmt_brtt as _; // global logger
+
+use panic_probe as _;
+use stm32f4xx_hal as _;
+
+// 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]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+use rtic::app;
+
+#[rtic::app(
+    device = stm32f4xx_hal::pac,
+    dispatchers = [SPI3]
+)]
+mod app {
+
+    use cortex_m::{asm, singleton};
+    use stm32f4xx_hal::{
+        gpio::{self, gpioa, gpiob, gpioc, Alternate, Analog, Input, OpenDrain, Output, PushPull},
+        i2c,
+        pac::I2C1,
+        prelude::*,
+    };
+
+    use num_traits::{Float, FloatConst};
+
+    use xca9548a::{Error, SlaveAddr, Xca9548a};
+
+    use qmc5883l::{self, OutputDataRate, OversampleRate, QMC5883L};
+
+    use rtic_monotonics::systick::prelude::*;
+
+    systick_monotonic!(Mono, 1000);
+
+    // Shared resources go here
+    #[shared]
+    struct Shared {
+        // TODO: Add resources
+    }
+
+    // Local resources go here
+    #[local]
+    struct Local {
+        i2cmux: Xca9548a<i2c::I2c<I2C1>>,
+        board_led: gpioc::PC13<Output<PushPull>>,
+    }
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        defmt::info!("init");
+
+        let rcc = cx.device.RCC.constrain();
+
+        // Freeze the configuration of all the clocks in the system and store the frozen frequencies in
+        // `clocks`
+        let clocks = rcc
+            .cfgr
+            .use_hse(25.MHz())
+            .require_pll48clk()
+            .sysclk(84.MHz())
+            .hclk(84.MHz())
+            .pclk1(42.MHz())
+            .pclk2(84.MHz())
+            .freeze();
+
+        Mono::start(cx.core.SYST, clocks.sysclk().to_Hz());
+
+        defmt::info!("Clock Setup done");
+
+        defmt::info!("Clock Setup done");
+
+        // Acquire the GPIOC peripheral
+        let mut gpiob = cx.device.GPIOB.split();
+        let mut gpioc = cx.device.GPIOC.split();
+
+        let board_led = gpioc.pc13.into_push_pull_output();
+
+        let scl = gpiob.pb6.into_alternate_open_drain();
+        let sda = gpiob.pb7.into_alternate_open_drain();
+        let mut i2c = i2c::I2c::new(
+            cx.device.I2C1,
+            (scl, sda),
+            i2c::Mode::Standard {
+                frequency: 400.kHz(),
+            },
+            &clocks,
+        );
+
+        defmt::info!("I2C Setup done");
+
+        let mut i2cmux = Xca9548a::new(i2c, SlaveAddr::default());
+        i2cmux.select_channels(0b0000_0001).unwrap();
+
+        defmt::info!("I2C MUX Setup done");
+
+        poll_i2c::spawn().ok();
+
+        (
+            Shared {
+                // Initialization of shared resources go here
+            },
+            Local { i2cmux, board_led },
+        )
+    }
+
+    #[task(local = [i2cmux, board_led])]
+    async fn poll_i2c(cx: poll_i2c::Context) {
+        let i2cmux = cx.local.i2cmux;
+        let board_led = cx.local.board_led;
+
+        let parts = i2cmux.split();
+
+        let mut compass1 = QMC5883L::new(parts.i2c0).unwrap();
+        compass1.reset().unwrap();
+        compass1.continuous().unwrap();
+
+        let mut compass2 = QMC5883L::new(parts.i2c1).unwrap();
+        compass2.reset().unwrap();
+        compass2.continuous().unwrap();
+
+        let declination_rads: f32 = 65.0 / 180.0 * f32::PI();
+
+        loop {
+            board_led.toggle();
+
+            loop {
+                defmt::info!("Compass 1");
+                match compass1.mag() {
+                    Ok((x, y, z)) => {
+                        defmt::info!("x1: {} y1: {} z1: {}", x, y, z);
+
+                        let mut heading = (y as f32).atan2(x as f32); //+ declination_rads;
+                        if heading < 0.0 {
+                            heading += 2.0 * f32::PI();
+                        } else if heading > 2.0 * f32::PI() {
+                            heading -= 2.0 * f32::PI();
+                        }
+                        let heading_degrees = heading * 180.0 / f32::PI();
+                        defmt::info!("Heading1 {}", heading_degrees);
+                        break;
+                    }
+                    Err(qmc5883l::Error::NotReady) => {
+                        Mono::delay(1000.millis()).await;
+                    }
+                    e => {
+                        let _ = e.unwrap();
+                    }
+                }
+            }
+
+            loop {
+                defmt::info!("Compass 2");
+                match compass2.mag() {
+                    Ok((x, y, z)) => {
+                        defmt::info!("x2: {} y2: {} z2: {}", x, y, z);
+
+                        let mut heading = (y as f32).atan2(x as f32); //+ declination_rads;
+                        if heading < 0.0 {
+                            heading += 2.0 * f32::PI();
+                        } else if heading > 2.0 * f32::PI() {
+                            heading -= 2.0 * f32::PI();
+                        }
+                        let heading_degrees = heading * 180.0 / f32::PI();
+                        defmt::info!("Heading2 {}", heading_degrees);
+                        break;
+                    }
+                    Err(qmc5883l::Error::NotReady) => {
+                        Mono::delay(1000.millis()).await;
+                    }
+                    e => {
+                        let _ = e.unwrap();
+                    }
+                }
+            }
+
+            Mono::delay(100.millis()).await;
+        }
+    }
+}

memory.x

@@ -0,0 +1,11 @@
+MEMORY
+{
+  /* NOTE K = KiBi = 1024 bytes */
+  FLASH : ORIGIN = 0x08000000, LENGTH = 256K 
+  RAM : ORIGIN = 0x20000000, LENGTH = 64K
+}
+
+/* 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 */
+_stack_start = ORIGIN(RAM) + LENGTH(RAM);