Added usb serial communication

Cargo.lock

@@ -146,7 +146,7 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version",
+ "rustc_version 0.2.3",
 ]
 
 [[package]]
@@ -197,6 +197,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
 [[package]]
 name = "colored"
 version = "1.9.4"
@@ -361,6 +367,12 @@ dependencies = [
  "nb 1.1.0",
 ]
 
+[[package]]
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
 [[package]]
 name = "embedded-storage"
 version = "0.3.1"
@@ -488,6 +500,15 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
 
+[[package]]
+name = "hash32"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hash32"
 version = "0.3.1"
@@ -503,13 +524,28 @@ version = "0.14.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 
+[[package]]
+name = "heapless"
+version = "0.7.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
+dependencies = [
+ "atomic-polyfill",
+ "hash32 0.2.1",
+ "rustc_version 0.4.1",
+ "serde",
+ "spin",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "heapless"
 version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
- "hash32",
+ "defmt",
+ "hash32 0.3.1",
  "serde",
  "stable_deref_trait",
 ]
@@ -941,6 +977,18 @@ version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "da544ee218f0d287a911e9c99a39a8c9bc8fcad3cb8db5959940044ecfc67265"
 
+[[package]]
+name = "postcard"
+version = "1.0.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f7f0a8d620d71c457dd1d47df76bb18960378da56af4527aaa10f515eee732e"
+dependencies = [
+ "cobs",
+ "defmt",
+ "heapless 0.7.17",
+ "serde",
+]
+
 [[package]]
 name = "powerfmt"
 version = "0.2.0"
@@ -1008,15 +1056,20 @@ dependencies = [
  "defmt-brtt",
  "defmt-rtt",
  "embedded-hal 1.0.0",
+ "heapless 0.8.0",
  "nb 1.1.0",
  "num",
  "num-traits",
  "panic-probe",
+ "postcard",
  "qmc5883l",
+ "radomctl-protocol",
  "rtic",
  "rtic-monotonics",
  "stm32f4xx-hal",
  "ufmt",
+ "usb-device",
+ "usbd-serial",
  "xca9548a",
 ]
 
@@ -1024,7 +1077,7 @@ dependencies = [
 name = "radomctl-protocol"
 version = "0.1.0"
 dependencies = [
- "heapless",
+ "heapless 0.8.0",
  "serde",
 ]
 
@@ -1142,7 +1195,16 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver",
+ "semver 0.9.0",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
+dependencies = [
+ "semver 1.0.23",
 ]
 
 [[package]]
@@ -1172,6 +1234,12 @@ dependencies = [
  "semver-parser",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
@@ -1265,6 +1333,15 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
@@ -1304,6 +1381,7 @@ dependencies = [
  "nb 1.1.0",
  "rand_core",
  "stm32f4",
+ "synopsys-usb-otg",
  "time",
  "vcell",
  "void",
@@ -1343,6 +1421,18 @@ version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a7065abeca94b6a8a577f9bd45aa0867a2238b74e8eb67cf10d492bc39351394"
 
+[[package]]
+name = "synopsys-usb-otg"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e948d523b316939545d8b21a48c27aef150ce25321b9f95ff7978647a806a6fe"
+dependencies = [
+ "cortex-m",
+ "embedded-hal 0.2.7",
+ "usb-device",
+ "vcell",
+]
+
 [[package]]
 name = "thiserror"
 version = "1.0.63"
@@ -1597,6 +1687,28 @@ version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
+[[package]]
+name = "usb-device"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
+dependencies = [
+ "heapless 0.8.0",
+ "portable-atomic",
+]
+
+[[package]]
+name = "usbd-serial"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "065e4eaf93db81d5adac82d9cef8f8da314cb640fa7f89534b972383f1cf80fc"
+dependencies = [
+ "embedded-hal 0.2.7",
+ "embedded-io",
+ "nb 1.1.0",
+ "usb-device",
+]
+
 [[package]]
 name = "valuable"
 version = "0.1.0"

firmware/Cargo.toml

@@ -10,7 +10,7 @@ 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"] }
+stm32f4xx-hal = { version = "0.21.0", features = ["stm32f401", "usb_fs"] }
 embedded-hal = {version = "1.0.0"}
 nb = "1.0.0"
 num-traits = { version = "0.2", default-features = false, features = ["libm"] }
@@ -20,6 +20,12 @@ qmc5883l = "0.0.1"
 rtic-monotonics = {version = "2.0.2", features = ["cortex-m-systick"]}
 xca9548a = "0.2.1"
 as5048a = { git = "https://github.com/LongHairedHacker/as5048a", rev="b15d716bf47ce4975a6cefebf82006c9b09e8fea"}
+usb-device = "0.3.2"
+usbd-serial = "0.2.2"
+postcard = {version = "1.0.10", features = ["use-defmt"]} 
+heapless = {version = "0.8.0", features = ["defmt-03"]}
+radomctl-protocol = { path = "../protocol" }
+
 
 [features]
 # set logging levels here

firmware/src/main.rs

@@ -21,13 +21,19 @@ mod app {
 
     use as5048a::AS5048A;
 
+    use heapless::Vec;
+    use postcard::{from_bytes_cobs, to_vec_cobs};
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
         i2c,
+        otg_fs::{UsbBus, UsbBusType, USB},
         pac::{I2C1, SPI1},
         prelude::*,
         spi,
     };
+    use usb_device::class_prelude::UsbBusAllocator;
+    use usb_device::prelude::*;
+    use usbd_serial::SerialPort;
 
     use num_traits::{Float, FloatConst};
 
@@ -35,10 +41,14 @@ mod app {
 
     use qmc5883l::{self, QMC5883L};
 
+    use radomctl_protocol::*;
+
     use rtic_monotonics::systick::prelude::*;
 
     systick_monotonic!(Mono, 4000);
 
+    const USB_BUFFER_SIZE: usize = 64;
+
     // Shared resources go here
     #[shared]
     struct Shared {
@@ -58,13 +68,17 @@ mod app {
         spi_cs3: gpiob::PB15<Output<PushPull>>,
         spi1: spi::Spi<SPI1>,
 
-        az_enable: gpioa::PA12<Output<PushPull>>,
+        az_enable: gpioa::PA10<Output<PushPull>>,
         az_dir: gpioa::PA15<Output<PushPull>>,
         az_step: gpiob::PB3<Output<PushPull>>,
 
         el_enable: gpiob::PB4<Output<PushPull>>,
         el_dir: gpioa::PA8<Output<PushPull>>,
         el_step: gpioa::PA9<Output<PushPull>>,
+
+        usb_dev: UsbDevice<'static, UsbBusType>,
+        usb_serial: SerialPort<'static, UsbBusType>,
+        usb_buffer: Vec<u8, USB_BUFFER_SIZE>,
     }
 
     #[init]
@@ -89,8 +103,6 @@ mod app {
 
         defmt::info!("Clock Setup done");
 
-        defmt::info!("Clock Setup done");
-
         // Acquire the GPIO peripherials
         let gpioa = cx.device.GPIOA.split();
         let gpiob = cx.device.GPIOB.split();
@@ -98,6 +110,40 @@ mod app {
 
         let board_led = gpioc.pc13.into_push_pull_output();
 
+        defmt::info!("Basic gpio setup done");
+
+        static mut EP_MEMORY: [u32; 1024] = [0; 1024];
+        static mut USB_BUS: Option<usb_device::bus::UsbBusAllocator<UsbBusType>> = None;
+
+        let usb = USB::new(
+            (
+                cx.device.OTG_FS_GLOBAL,
+                cx.device.OTG_FS_DEVICE,
+                cx.device.OTG_FS_PWRCLK,
+            ),
+            (gpioa.pa11, gpioa.pa12),
+            &clocks,
+        );
+
+        unsafe {
+            USB_BUS.replace(UsbBus::new(usb, &mut EP_MEMORY));
+        }
+
+        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),
+        )
+        .device_class(usbd_serial::USB_CLASS_CDC)
+        .strings(&[StringDescriptors::default()
+            .manufacturer("Amteurfunk Forschungs Gruppe")
+            .product("Radom Controler")])
+        .unwrap()
+        .build();
+
+        defmt::info!("USB Setup done");
+
         // Todo: Check if internal pullups work here
         let scl = gpiob.pb6.into_alternate_open_drain();
         let sda = gpiob.pb7.into_alternate_open_drain();
@@ -142,7 +188,7 @@ mod app {
 
         defmt::info!("SPI Setup done");
 
-        let mut az_enable = gpioa.pa12.into_push_pull_output();
+        let mut az_enable = gpioa.pa10.into_push_pull_output();
         az_enable.set_high();
         let az_dir = gpioa.pa15.into_push_pull_output();
         let az_step = gpiob.pb3.into_push_pull_output();
@@ -179,6 +225,10 @@ mod app {
                 el_enable,
                 el_dir,
                 el_step,
+
+                usb_dev,
+                usb_serial,
+                usb_buffer: Vec::new(),
             },
         )
     }
@@ -317,4 +367,64 @@ mod app {
             }
         }
     }
+
+    #[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
+    fn usb_fs(cx: usb_fs::Context) {
+        let usb_dev = cx.local.usb_dev;
+        let serial = cx.local.usb_serial;
+        let buffer = cx.local.usb_buffer;
+
+        if !usb_dev.poll(&mut [serial]) {
+            return;
+        }
+
+        let mut tmp = [0u8; 16];
+        match serial.read(&mut tmp) {
+            Ok(count) if count > 0 => {
+                if buffer.extend_from_slice(&tmp[0..count]).is_err() {
+                    buffer.clear();
+                    defmt::error!("Buffer overflow while waiting for the end of the packet");
+                }
+            }
+            _ => {}
+        }
+
+        loop {
+            if let Some(idx) = buffer.iter().position(|&x| x == 0) {
+                let (msg, rest) = buffer.split_at(idx + 1);
+
+                let mut message = [0u8; 128];
+                message[0..msg.len()].clone_from_slice(msg);
+                let host_msg = from_bytes_cobs::<HostMessage>(&mut message);
+
+                match host_msg {
+                    Ok(host_msg) => match host_msg {
+                        HostMessage::RequestStatus => {
+                            let status = StatusMessage {
+                                position: Position {
+                                    az: 42.0,
+                                    el: 23.0,
+                                    az_endcoder: 0.0,
+                                    el_encoder: 0.0,
+                                    az_magnetic: 0.0,
+                                    el_magnetic: 0.0,
+                                },
+                                alarms: Vec::new(),
+                            };
+                            let device_msg = RadomMessage::Status(status);
+                            let bytes =
+                                to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
+                            serial.write(bytes.as_slice()).unwrap();
+                        }
+                        HostMessage::TriggerDFUBootloader => todo!(),
+                    },
+                    Err(err) => defmt::error!("Unable to parse host message: {}", err),
+                };
+
+                *buffer = Vec::<u8, USB_BUFFER_SIZE>::from_slice(rest).unwrap();
+            } else {
+                break;
+            }
+        }
+    }
 }

protocol/src/lib.rs

@@ -16,18 +16,18 @@ pub enum HostMessage {
 
 #[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
 pub struct StatusMessage {
-    position: Position,
+    pub position: Position,
-    alarms: Vec<Alarm, 64>,
+    pub alarms: Vec<Alarm, 64>,
 }
 
 #[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
 pub struct Position {
-    az: f32,
+    pub az: f32,
-    el: f32,
+    pub el: f32,
-    az_endcoder: f32,
+    pub az_endcoder: f32,
-    el_encoder: f32,
+    pub el_encoder: f32,
-    az_magnetic: f32,
+    pub az_magnetic: f32,
-    el_magnetic: f32,
+    pub el_magnetic: f32,
 }
 
 #[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]