Added usb serial communication
This commit is contained in:
Sebastian
parent
78db26addc
commit
bf672e3df1
120
Cargo.lock
generated
120
Cargo.lock
generated
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@ -146,7 +146,7 @@ version = "0.2.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
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dependencies = [
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"rustc_version",
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"rustc_version 0.2.3",
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]
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[[package]]
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@ -197,6 +197,12 @@ version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
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[[package]]
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name = "cobs"
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version = "0.2.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
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[[package]]
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name = "colored"
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version = "1.9.4"
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@ -361,6 +367,12 @@ dependencies = [
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"nb 1.1.0",
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]
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[[package]]
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name = "embedded-io"
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version = "0.6.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
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[[package]]
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name = "embedded-storage"
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version = "0.3.1"
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@ -488,6 +500,15 @@ version = "0.29.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
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[[package]]
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name = "hash32"
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version = "0.2.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
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dependencies = [
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"byteorder",
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]
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[[package]]
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name = "hash32"
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version = "0.3.1"
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@ -503,13 +524,28 @@ version = "0.14.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
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[[package]]
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name = "heapless"
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version = "0.7.17"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
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dependencies = [
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"atomic-polyfill",
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"hash32 0.2.1",
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"rustc_version 0.4.1",
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"serde",
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"spin",
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"stable_deref_trait",
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]
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[[package]]
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name = "heapless"
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version = "0.8.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
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dependencies = [
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"hash32",
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"defmt",
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"hash32 0.3.1",
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"serde",
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"stable_deref_trait",
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]
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@ -941,6 +977,18 @@ version = "1.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "da544ee218f0d287a911e9c99a39a8c9bc8fcad3cb8db5959940044ecfc67265"
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[[package]]
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name = "postcard"
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version = "1.0.10"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5f7f0a8d620d71c457dd1d47df76bb18960378da56af4527aaa10f515eee732e"
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dependencies = [
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"cobs",
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"defmt",
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"heapless 0.7.17",
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"serde",
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]
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[[package]]
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name = "powerfmt"
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version = "0.2.0"
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@ -1008,15 +1056,20 @@ dependencies = [
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"defmt-brtt",
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"defmt-rtt",
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"embedded-hal 1.0.0",
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"heapless 0.8.0",
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"nb 1.1.0",
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"num",
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"num-traits",
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"panic-probe",
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"postcard",
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"qmc5883l",
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"radomctl-protocol",
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"rtic",
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"rtic-monotonics",
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"stm32f4xx-hal",
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"ufmt",
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"usb-device",
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"usbd-serial",
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"xca9548a",
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]
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@ -1024,7 +1077,7 @@ dependencies = [
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name = "radomctl-protocol"
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version = "0.1.0"
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dependencies = [
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"heapless",
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"heapless 0.8.0",
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"serde",
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]
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@ -1142,7 +1195,16 @@ version = "0.2.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
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dependencies = [
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"semver",
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"semver 0.9.0",
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]
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[[package]]
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name = "rustc_version"
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version = "0.4.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
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dependencies = [
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"semver 1.0.23",
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]
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[[package]]
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@ -1172,6 +1234,12 @@ dependencies = [
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"semver-parser",
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]
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[[package]]
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name = "semver"
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version = "1.0.23"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
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[[package]]
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name = "semver-parser"
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version = "0.7.0"
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@ -1265,6 +1333,15 @@ dependencies = [
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"windows-sys",
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]
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[[package]]
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name = "spin"
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version = "0.9.8"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
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dependencies = [
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"lock_api",
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]
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[[package]]
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name = "stable_deref_trait"
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version = "1.2.0"
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@ -1304,6 +1381,7 @@ dependencies = [
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"nb 1.1.0",
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"rand_core",
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"stm32f4",
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"synopsys-usb-otg",
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"time",
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"vcell",
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"void",
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@ -1343,6 +1421,18 @@ version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a7065abeca94b6a8a577f9bd45aa0867a2238b74e8eb67cf10d492bc39351394"
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[[package]]
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name = "synopsys-usb-otg"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e948d523b316939545d8b21a48c27aef150ce25321b9f95ff7978647a806a6fe"
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dependencies = [
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"cortex-m",
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"embedded-hal 0.2.7",
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"usb-device",
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"vcell",
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]
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[[package]]
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name = "thiserror"
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version = "1.0.63"
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@ -1597,6 +1687,28 @@ version = "1.0.12"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
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[[package]]
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name = "usb-device"
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version = "0.3.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
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dependencies = [
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"heapless 0.8.0",
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"portable-atomic",
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]
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[[package]]
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name = "usbd-serial"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "065e4eaf93db81d5adac82d9cef8f8da314cb640fa7f89534b972383f1cf80fc"
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dependencies = [
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"embedded-hal 0.2.7",
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"embedded-io",
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"nb 1.1.0",
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"usb-device",
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]
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[[package]]
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name = "valuable"
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version = "0.1.0"
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@ -10,7 +10,7 @@ defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
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panic-probe = { version = "0.3", features = ["print-defmt"] }
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rtic = { version = "2.0.1", features = [ "thumbv7-backend" ] }
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defmt-rtt = "0.4"
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stm32f4xx-hal = { version = "0.21.0", features = ["stm32f401"] }
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stm32f4xx-hal = { version = "0.21.0", features = ["stm32f401", "usb_fs"] }
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embedded-hal = {version = "1.0.0"}
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nb = "1.0.0"
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num-traits = { version = "0.2", default-features = false, features = ["libm"] }
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@ -20,6 +20,12 @@ qmc5883l = "0.0.1"
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rtic-monotonics = {version = "2.0.2", features = ["cortex-m-systick"]}
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xca9548a = "0.2.1"
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as5048a = { git = "https://github.com/LongHairedHacker/as5048a", rev="b15d716bf47ce4975a6cefebf82006c9b09e8fea"}
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usb-device = "0.3.2"
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usbd-serial = "0.2.2"
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postcard = {version = "1.0.10", features = ["use-defmt"]}
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heapless = {version = "0.8.0", features = ["defmt-03"]}
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radomctl-protocol = { path = "../protocol" }
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[features]
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# set logging levels here
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@ -13,24 +13,27 @@ fn panic() -> ! {
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cortex_m::asm::udf()
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}
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#[rtic::app(
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device = stm32f4xx_hal::pac,
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dispatchers = [SPI3]
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)]
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mod app {
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use as5048a::AS5048A;
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use heapless::Vec;
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use postcard::{from_bytes_cobs, to_vec_cobs};
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use stm32f4xx_hal::{
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gpio::{gpioa, gpiob, gpioc, Output, PushPull},
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i2c,
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otg_fs::{UsbBus, UsbBusType, USB},
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pac::{I2C1, SPI1},
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prelude::*,
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spi,
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};
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use usb_device::class_prelude::UsbBusAllocator;
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use usb_device::prelude::*;
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use usbd_serial::SerialPort;
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use num_traits::{Float, FloatConst};
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@ -38,10 +41,14 @@ mod app {
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use qmc5883l::{self, QMC5883L};
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use radomctl_protocol::*;
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use rtic_monotonics::systick::prelude::*;
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systick_monotonic!(Mono, 1000);
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const USB_BUFFER_SIZE: usize = 64;
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// Shared resources go here
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#[shared]
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struct Shared {
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@ -60,13 +67,17 @@ mod app {
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spi_cs3: gpiob::PB15<Output<PushPull>>,
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spi1: spi::Spi<SPI1>,
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az_enable: gpioa::PA12<Output<PushPull>>,
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az_enable: gpioa::PA10<Output<PushPull>>,
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az_dir: gpioa::PA15<Output<PushPull>>,
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az_step: gpiob::PB3<Output<PushPull>>,
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el_enable: gpiob::PB4<Output<PushPull>>,
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el_dir: gpioa::PA8<Output<PushPull>>,
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el_step: gpioa::PA9<Output<PushPull>>,
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usb_dev: UsbDevice<'static, UsbBusType>,
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usb_serial: SerialPort<'static, UsbBusType>,
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usb_buffer: Vec<u8, USB_BUFFER_SIZE>,
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}
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#[init]
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@ -91,8 +102,6 @@ mod app {
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defmt::info!("Clock Setup done");
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defmt::info!("Clock Setup done");
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// Acquire the GPIO peripherials
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let gpioa = cx.device.GPIOA.split();
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let gpiob = cx.device.GPIOB.split();
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@ -100,6 +109,40 @@ mod app {
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let board_led = gpioc.pc13.into_push_pull_output();
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defmt::info!("Basic gpio setup done");
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static mut EP_MEMORY: [u32; 1024] = [0; 1024];
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static mut USB_BUS: Option<usb_device::bus::UsbBusAllocator<UsbBusType>> = None;
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let usb = USB::new(
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(
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cx.device.OTG_FS_GLOBAL,
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cx.device.OTG_FS_DEVICE,
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cx.device.OTG_FS_PWRCLK,
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),
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(gpioa.pa11, gpioa.pa12),
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&clocks,
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);
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unsafe {
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USB_BUS.replace(UsbBus::new(usb, &mut EP_MEMORY));
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}
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let usb_serial = usbd_serial::SerialPort::new(unsafe { USB_BUS.as_ref().unwrap() });
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let usb_dev = UsbDeviceBuilder::new(
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unsafe { USB_BUS.as_ref().unwrap() },
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UsbVidPid(0x16c0, 0x27dd),
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)
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.device_class(usbd_serial::USB_CLASS_CDC)
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.strings(&[StringDescriptors::default()
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.manufacturer("Amteurfunk Forschungs Gruppe")
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.product("Radom Controler")])
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.unwrap()
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.build();
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defmt::info!("USB Setup done");
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// Todo: Check if internal pullups work here
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let scl = gpiob.pb6.into_alternate_open_drain();
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let sda = gpiob.pb7.into_alternate_open_drain();
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@ -144,7 +187,7 @@ mod app {
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defmt::info!("SPI Setup done");
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let az_enable = gpioa.pa12.into_push_pull_output();
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let az_enable = gpioa.pa10.into_push_pull_output();
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let az_dir = gpioa.pa15.into_push_pull_output();
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let az_step = gpiob.pb3.into_push_pull_output();
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@ -175,6 +218,10 @@ mod app {
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el_enable,
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el_dir,
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el_step,
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usb_dev,
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usb_serial,
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usb_buffer: Vec::new(),
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},
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)
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}
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@ -306,4 +353,64 @@ mod app {
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}
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}
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}
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#[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
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fn usb_fs(cx: usb_fs::Context) {
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let usb_dev = cx.local.usb_dev;
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let serial = cx.local.usb_serial;
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let buffer = cx.local.usb_buffer;
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if !usb_dev.poll(&mut [serial]) {
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return;
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}
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let mut tmp = [0u8; 16];
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match serial.read(&mut tmp) {
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Ok(count) if count > 0 => {
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if buffer.extend_from_slice(&tmp[0..count]).is_err() {
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buffer.clear();
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defmt::error!("Buffer overflow while waiting for the end of the packet");
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}
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}
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_ => {}
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}
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loop {
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if let Some(idx) = buffer.iter().position(|&x| x == 0) {
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let (msg, rest) = buffer.split_at(idx + 1);
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let mut message = [0u8; 128];
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message[0..msg.len()].clone_from_slice(msg);
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let host_msg = from_bytes_cobs::<HostMessage>(&mut message);
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match host_msg {
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Ok(host_msg) => match host_msg {
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HostMessage::RequestStatus => {
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let status = StatusMessage {
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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;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -16,18 +16,18 @@ pub enum HostMessage {
|
|||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
|
||||
pub struct StatusMessage {
|
||||
position: Position,
|
||||
alarms: Vec<Alarm, 64>,
|
||||
pub position: Position,
|
||||
pub alarms: Vec<Alarm, 64>,
|
||||
}
|
||||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
|
||||
pub struct Position {
|
||||
az: f32,
|
||||
el: f32,
|
||||
az_endcoder: f32,
|
||||
el_encoder: f32,
|
||||
az_magnetic: f32,
|
||||
el_magnetic: f32,
|
||||
pub az: f32,
|
||||
pub el: f32,
|
||||
pub az_endcoder: f32,
|
||||
pub el_encoder: f32,
|
||||
pub az_magnetic: f32,
|
||||
pub el_magnetic: f32,
|
||||
}
|
||||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
|
||||
|
|
|
|||
Loading…
Reference in a new issue