Triggering the dfu bootloader works

Cargo.lock

@@ -1118,6 +1118,15 @@ dependencies = [
  "nom",
 ]
 
+[[package]]
+name = "nu-ansi-term"
+version = "0.50.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7957b9740744892f114936ab4a57b3f487491bbeafaf8083688b16841a4240e5"
+dependencies = [
+ "windows-sys 0.61.2",
+]
+
 [[package]]
 name = "num"
 version = "0.4.3"
@@ -1395,6 +1404,8 @@ dependencies = [
  "tokio-serial",
  "tokio-util",
  "tower-http",
+ "tracing",
+ "tracing-subscriber",
 ]
 
 [[package]]
@@ -1641,6 +1652,15 @@ dependencies = [
  "windows-sys 0.52.0",
 ]
 
+[[package]]
+name = "sharded-slab"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f40ca3c46823713e0d4209592e8d6e826aa57e928f09752619fc696c499637f6"
+dependencies = [
+ "lazy_static",
+]
+
 [[package]]
 name = "shlex"
 version = "1.3.0"
@@ -1821,6 +1841,15 @@ dependencies = [
  "syn 2.0.111",
 ]
 
+[[package]]
+name = "thread_local"
+version = "1.1.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f60246a4944f24f6e018aa17cdeffb7818b76356965d03b07d6a9886e8962185"
+dependencies = [
+ "cfg-if",
+]
+
 [[package]]
 name = "time"
 version = "0.3.44"
@@ -1959,9 +1988,21 @@ checksum = "63e71662fa4b2a2c3a26f570f037eb95bb1f85397f3cd8076caed2f026a6d100"
 dependencies = [
  "log",
  "pin-project-lite",
+ "tracing-attributes",
  "tracing-core",
 ]
 
+[[package]]
+name = "tracing-attributes"
+version = "0.1.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+]
+
 [[package]]
 name = "tracing-core"
 version = "0.1.36"
@@ -1969,6 +2010,32 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "db97caf9d906fbde555dd62fa95ddba9eecfd14cb388e4f491a66d74cd5fb79a"
 dependencies = [
  "once_cell",
+ "valuable",
+]
+
+[[package]]
+name = "tracing-log"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee855f1f400bd0e5c02d150ae5de3840039a3f54b025156404e34c23c03f47c3"
+dependencies = [
+ "log",
+ "once_cell",
+ "tracing-core",
+]
+
+[[package]]
+name = "tracing-subscriber"
+version = "0.3.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f30143827ddab0d256fd843b7a66d164e9f271cfa0dde49142c5ca0ca291f1e"
+dependencies = [
+ "nu-ansi-term",
+ "sharded-slab",
+ "smallvec",
+ "thread_local",
+ "tracing-core",
+ "tracing-log",
 ]
 
 [[package]]
@@ -2059,6 +2126,12 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
+[[package]]
+name = "valuable"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65"
+
 [[package]]
 name = "vcell"
 version = "0.1.3"

daemon/Cargo.toml

@@ -14,8 +14,6 @@ serde_json = "1.0.118"
 serialport = "4.5.1"
 tokio = {version = "1.37.0", features = ["full"]}
 tower-http = { version = "0.6.8", features = ["fs", "trace"] }
-radomctl-protocol = { path = "../protocol" }
-postcard = {version = "1.0.10", features = ["use-std"]}
 dfu-libusb = "0.5.5"
 rusb = "0.9"
 clap = { version = "4.5.19", features = ["derive"] }
@@ -25,3 +23,8 @@ tokio-util = { version = "0.7.13", features = ["codec", "rt"] }
 bytes = "1.9.0"
 futures = "0.3.31"
 nom-language = "0.1.0"
+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/main.rs

@@ -12,13 +12,17 @@ use tokio::{
     task::JoinSet,
 };
 use tokio_serial;
-use tower_http::{services::ServeFile, trace::TraceLayer};
 
 use radomctld::{
     logger::setup_logger,
     rotctlprotocol::{parse_command, Command},
     rotor::control_rotor,
 };
+use tower_http::{
+    services::{ServeDir, ServeFile},
+    trace::TraceLayer,
+};
+
 
 async fn process_socket(
     socket: TcpStream,

firmware/src/bootloader.rs

@@ -1,5 +1,5 @@
 use core::mem::MaybeUninit;
-
+use core::ptr::addr_of_mut;
 use stm32f4xx_hal::pac;
 
 fn jump_to_bootloader() {
@@ -23,19 +23,25 @@ fn jump_to_bootloader() {
 
 const BOOTLOADER_REQUESTED: u32 = 0xdecafbad;
 
-#[link_section = ".uninit.DFU_FLAG"]
+fn magic_mut_ptr() -> *mut u32 {
-static mut DFU_FLAG: MaybeUninit<u32> = MaybeUninit::uninit();
+    extern "C" {
+        #[link_name = "_dfu_magic"]
+        static mut magic: u32;
+    }
+
+    unsafe { addr_of_mut!(magic) }
+}
 
 fn get_bootloader_flag() -> u32 {
-    unsafe { DFU_FLAG.assume_init() }
+    unsafe { magic_mut_ptr().read_volatile() }
 }
 
 fn set_bootloader_flag() {
-    unsafe { DFU_FLAG.write(BOOTLOADER_REQUESTED) };
+    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
 }
 
 fn clear_bootloader_flag() {
-    unsafe { DFU_FLAG.write(0) };
+    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
 }
 
 pub fn init() {

firmware/src/main.rs

@@ -23,10 +23,15 @@ mod app {
 
     use as5048a::AS5048A;
 
+    use crate::bootloader;
     use core::fmt::Write;
     use heapless::{String, Vec};
     use num_traits::{Float, FloatConst};
     use postcard::{from_bytes_cobs, to_vec_cobs};
+    use qmc5883l::{self, QMC5883L};
+    use radomctl_protocol::*;
+    use radomctl_protocol::{HostMessage, *};
+    use rtic_monotonics::systick::prelude::*;
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
         i2c,
@@ -39,20 +44,9 @@ mod app {
     use usb_device::prelude::*;
     use usb_device::{class_prelude::UsbBusAllocator, device};
     use usbd_serial::SerialPort;
-
     use xca9548a::{SlaveAddr, Xca9548a};
 
-    use qmc5883l::{self, QMC5883L};
+    systick_monotonic!(Mono, 1000);
-
-    use radomctl_protocol::{HostMessage, *};
-
-    use crate::bootloader;
-
-    use radomctl_protocol::*;
-
-    use rtic_monotonics::systick::prelude::*;
-
-    systick_monotonic!(Mono, 4000);
 
     const USB_BUFFER_SIZE: usize = 64;
 
@@ -104,6 +98,8 @@ mod app {
 
         Mono::start(cx.core.SYST, rcc.clocks.sysclk().to_Hz());
 
+        defmt::info!("Clock Setup done");
+
         // Acquire the GPIO peripherials
         let gpioa = cx.device.GPIOA.split(&mut rcc);
         let gpiob = cx.device.GPIOB.split(&mut rcc);
@@ -132,22 +128,11 @@ mod app {
 
         let usb_serial = usbd_serial::SerialPort::new(unsafe { USB_BUS.as_ref().unwrap() });
 
-        let serial = unsafe {
+        let uid = signature::Uid::get();
-            let u_id0 = 0x1FFF_7A10 as *const u32;
-            let u_id2 = 0x1FFF_7A18 as *const u32;
-
-            defmt::debug!("UID0: {:x}", u_id0.read());
-            defmt::debug!("UID2: {:x}", u_id2.read());
-
-            // See https://community.st.com/t5/stm32-mcus-products/usb-bootloader-serial-number/td-p/432148
-            (u_id0.read() as u64 + u_id2.read() as u64) << 16
-                | (u_id2.read() as u64 & 0xFF00) >> 8
-                | (u_id2.read() as u64 & 0x00FF) << 8
-        };
 
         static mut SERIAL: String<16> = String::new();
         unsafe {
-            write!(SERIAL, "{:X}", serial).unwrap();
+            write!(SERIAL, "{}{:x}{:x}", uid.lot_num(), uid.x(), uid.y()).unwrap();
         }
 
         let usb_dev = unsafe {
@@ -177,7 +162,7 @@ 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");
 

memory.x

@@ -1,9 +1,23 @@
 MEMORY
 {
   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 */