Added firmware

This commit is contained in:
Sebastian 2024-07-28 21:41:42 +02:00
parent f2fe686b0e
commit 4fb87dbae1
15 changed files with 2170 additions and 163 deletions

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/target /target
output.log /*/output.log

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[package] [workspace]
name = "radomctld" resolver = "2"
version = "0.1.0"
edition = "2021" 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"

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[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"

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[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"

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/target
Cargo.lock

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[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)" }

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#![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;
}
}
}

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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);