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 0.2.3",
+ "rustc_version",
 ]
 
 [[package]]
@@ -197,12 +197,6 @@ 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"
@@ -214,12 +208,6 @@ dependencies = [
  "winapi",
 ]
 
-[[package]]
-name = "core-foundation-sys"
-version = "0.8.7"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
-
 [[package]]
 name = "cortex-m"
 version = "0.7.7"
@@ -373,18 +361,6 @@ dependencies = [
  "nb 1.1.0",
 ]
 
-[[package]]
-name = "embedded-io"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
-
-[[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"
@@ -512,15 +488,6 @@ 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"
@@ -536,28 +503,13 @@ 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 = [
- "defmt",
+ "hash32",
- "hash32 0.3.1",
  "serde",
  "stable_deref_trait",
 ]
@@ -676,16 +628,6 @@ dependencies = [
  "hashbrown",
 ]
 
-[[package]]
-name = "io-kit-sys"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
-dependencies = [
- "core-foundation-sys",
- "mach2",
-]
-
 [[package]]
 name = "is-terminal"
 version = "0.4.12"
@@ -721,26 +663,6 @@ version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
-[[package]]
-name = "libudev"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
-dependencies = [
- "libc",
- "libudev-sys",
-]
-
-[[package]]
-name = "libudev-sys"
-version = "0.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
-dependencies = [
- "libc",
- "pkg-config",
-]
-
 [[package]]
 name = "litrs"
 version = "0.4.1"
@@ -763,15 +685,6 @@ version = "0.4.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
 
-[[package]]
-name = "mach2"
-version = "0.4.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19b955cdeb2a02b9117f121ce63aa52d08ade45de53e48fe6a38b39c10f6f709"
-dependencies = [
- "libc",
-]
-
 [[package]]
 name = "matchit"
 version = "0.7.3"
@@ -842,17 +755,6 @@ version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
-[[package]]
-name = "nix"
-version = "0.26.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
-dependencies = [
- "bitflags 1.3.2",
- "cfg-if",
- "libc",
-]
-
 [[package]]
 name = "nom"
 version = "7.1.3"
@@ -1033,32 +935,12 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
-[[package]]
-name = "pkg-config"
-version = "0.3.31"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "953ec861398dccce10c670dfeaf3ec4911ca479e9c02154b3a215178c5f566f2"
-
 [[package]]
 name = "portable-atomic"
 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",
- "embedded-io 0.4.0",
- "embedded-io 0.6.1",
- "heapless 0.7.17",
- "serde",
-]
-
 [[package]]
 name = "powerfmt"
 version = "0.2.0"
@@ -1126,20 +1008,15 @@ 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",
 ]
 
@@ -1147,7 +1024,7 @@ dependencies = [
 name = "radomctl-protocol"
 version = "0.1.0"
 dependencies = [
- "heapless 0.8.0",
+ "heapless",
  "serde",
 ]
 
@@ -1161,10 +1038,7 @@ dependencies = [
  "humantime",
  "log",
  "nom",
- "postcard",
- "radomctl-protocol",
  "serde_json",
- "serialport",
  "tokio",
  "tokio-macros 0.2.6",
  "tower-http",
@@ -1268,16 +1142,7 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver 0.9.0",
+ "semver",
-]
-
-[[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]]
@@ -1307,12 +1172,6 @@ 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"
@@ -1372,24 +1231,6 @@ dependencies = [
  "serde",
 ]
 
-[[package]]
-name = "serialport"
-version = "4.5.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ba776acc8c373b9175829206229366273225436845c04f9c20aab8099960e2e"
-dependencies = [
- "bitflags 2.6.0",
- "cfg-if",
- "core-foundation-sys",
- "io-kit-sys",
- "libudev",
- "mach2",
- "nix",
- "scopeguard",
- "unescaper",
- "winapi",
-]
-
 [[package]]
 name = "sharded-slab"
 version = "0.1.7"
@@ -1424,15 +1265,6 @@ 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"
@@ -1472,7 +1304,6 @@ dependencies = [
  "nb 1.1.0",
  "rand_core",
  "stm32f4",
- "synopsys-usb-otg",
  "time",
  "vcell",
  "void",
@@ -1512,18 +1343,6 @@ 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"
@@ -1763,15 +1582,6 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e87a2ed6b42ec5e28cc3b94c09982969e9227600b2e3dcbc1db927a84c06bd69"
 
-[[package]]
-name = "unescaper"
-version = "0.1.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c878a167baa8afd137494101a688ef8c67125089ff2249284bd2b5f9bfedb815"
-dependencies = [
- "thiserror",
-]
-
 [[package]]
 name = "unicase"
 version = "2.7.0"
@@ -1787,28 +1597,6 @@ 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 0.6.1",
- "nb 1.1.0",
- "usb-device",
-]
-
 [[package]]
 name = "valuable"
 version = "0.1.0"

daemon/Cargo.toml

@@ -11,11 +11,8 @@ humantime = "2.1.0"
 log = "0.4.21"
 nom = "7.1.3"
 serde_json = "1.0.118"
-serialport = "4.5.1"
 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"
-radomctl-protocol = { path = "../protocol" }
-postcard = {version = "1.0.10", features = ["use-std"]}

daemon/src/bin/trigger-dfu.rs

@@ -1,16 +0,0 @@
-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/lib.rs

@@ -1,3 +0,0 @@
-pub mod logger;
-pub mod rotctlprotocol;
-pub mod rotor;

daemon/src/main.rs

@@ -1,3 +1,7 @@
+mod logger;
+mod rotctlprotocol;
+mod rotor;
+
 use anyhow::Result;
 use fern::colors::{Color, ColoredLevelConfig};
 use log::{debug, error, info, warn, Level};
@@ -22,11 +26,10 @@ use tower_http::{
     trace::TraceLayer,
 };
 
-use radomctld::{
+use logger::setup_logger;
-    logger::setup_logger,
+use rotor::control_rotor;
-    rotctlprotocol::{parse_command, Command},
+
-    rotor::control_rotor,
+use rotctlprotocol::{parse_command, Command};
-};
 
 async fn process_socket(
     socket: TcpStream,

firmware/.cargo/config.toml

@@ -1,6 +1,6 @@
 [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-rs run --chip STM32F401CCUx"
+runner = "probe-run --chip STM32F401CCU6"
 rustflags = [
   "-C", "linker=flip-link",
   "-C", "link-arg=-Tlink.x",

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", "usb_fs"] }
+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"] }
@@ -20,12 +20,6 @@ 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/bootloader.rs

@@ -1,59 +0,0 @@
-use core::ptr::addr_of_mut;
-
-use stm32f4xx_hal::pac;
-
-fn jump_to_bootloader() {
-    unsafe {
-        cortex_m::interrupt::disable();
-
-        let address: u32 = 0x1FFF0000;
-
-        let device = pac::Peripherals::steal();
-        device.SYSCFG.memrm.modify(|_, w| w.bits(0x01));
-
-        let mut p = cortex_m::Peripherals::steal();
-        p.SCB.invalidate_icache();
-        p.SCB.vtor.write(address as u32);
-
-        cortex_m::interrupt::enable();
-
-        cortex_m::asm::bootload(address as *const u32);
-    }
-}
-
-const BOOTLOADER_REQUESTED: u32 = 0xdecafbad;
-
-fn magic_mut_ptr() -> *mut u32 {
-    extern "C" {
-        #[link_name = "_dfu_magic"]
-        static mut magic: u32;
-    }
-
-    unsafe { addr_of_mut!(magic) }
-}
-
-fn get_bootloader_flag() -> u32 {
-    unsafe { magic_mut_ptr().read_volatile() }
-}
-
-fn set_bootloader_flag() {
-    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
-}
-
-fn clear_bootloader_flag() {
-    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
-}
-
-pub fn init() {
-    let requested = get_bootloader_flag() == BOOTLOADER_REQUESTED;
-    if requested {
-        clear_bootloader_flag();
-        jump_to_bootloader();
-    }
-}
-
-pub fn reboot_to_bootloader() -> ! {
-    defmt::info!("Rebooting into the bootloader");
-    set_bootloader_flag();
-    cortex_m::peripheral::SCB::sys_reset();
-}

firmware/src/main.rs

@@ -6,8 +6,6 @@ use defmt_brtt as _; // global logger
 use panic_probe as _;
 use stm32f4xx_hal as _;
 
-mod bootloader;
-
 // 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]
@@ -15,44 +13,35 @@ fn panic() -> ! {
     cortex_m::asm::udf()
 }
 
+
 #[rtic::app(
     device = stm32f4xx_hal::pac,
     dispatchers = [SPI3]
 )]
 mod app {
 
-    use as5048a::AS5048A;
+    
 
-    use core::fmt::Write;
+    use as5048a::AS5048A;
-    use heapless::{String, Vec};
+    
-    use num_traits::{Float, FloatConst};
-    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::*,
-        signature, spi,
+        spi,
     };
-    use usb_device::prelude::*;
+
-    use usb_device::{class_prelude::UsbBusAllocator, device};
+    use num_traits::{Float, FloatConst};
-    use usbd_serial::SerialPort;
 
     use xca9548a::{SlaveAddr, Xca9548a};
 
     use qmc5883l::{self, QMC5883L};
 
-    use radomctl_protocol::*;
-
     use rtic_monotonics::systick::prelude::*;
 
-    use crate::bootloader;
-
     systick_monotonic!(Mono, 1000);
 
-    const USB_BUFFER_SIZE: usize = 64;
-
     // Shared resources go here
     #[shared]
     struct Shared {
@@ -71,23 +60,17 @@ mod app {
         spi_cs3: gpiob::PB15<Output<PushPull>>,
         spi1: spi::Spi<SPI1>,
 
-        az_enable: gpioa::PA10<Output<PushPull>>,
+        az_enable: gpioa::PA12<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]
     fn init(cx: init::Context) -> (Shared, Local) {
-        bootloader::init();
-
         defmt::info!("init");
 
         let rcc = cx.device.RCC.constrain();
@@ -97,14 +80,19 @@ mod app {
         let clocks = rcc
             .cfgr
             .use_hse(25.MHz())
-            .sysclk(84.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 GPIO peripherials
         let gpioa = cx.device.GPIOA.split();
         let gpiob = cx.device.GPIOB.split();
@@ -112,47 +100,6 @@ 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 uid = signature::Uid::get();
-
-        static mut SERIAL: String<16> = String::new();
-        unsafe {
-            write!(SERIAL, "{}{:x}{:x}", uid.lot_num(), uid.x(), uid.y()).unwrap();
-        }
-
-        let usb_dev = unsafe {
-            UsbDeviceBuilder::new(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")
-                    .serial_number(SERIAL.as_ref())])
-                .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();
@@ -168,7 +115,7 @@ 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");
 
@@ -197,7 +144,7 @@ mod app {
 
         defmt::info!("SPI Setup done");
 
-        let az_enable = gpioa.pa10.into_push_pull_output();
+        let az_enable = gpioa.pa12.into_push_pull_output();
         let az_dir = gpioa.pa15.into_push_pull_output();
         let az_step = gpiob.pb3.into_push_pull_output();
 
@@ -207,8 +154,8 @@ mod app {
 
         defmt::info!("Motor Setup done");
 
-        //poll_i2c::spawn().ok();
+        poll_i2c::spawn().ok();
-        //poll_spi::spawn().ok();
+        poll_spi::spawn().ok();
 
         (
             Shared { az_angle: 0 },
@@ -228,10 +175,6 @@ mod app {
                 el_enable,
                 el_dir,
                 el_step,
-
-                usb_dev,
-                usb_serial,
-                usb_buffer: Vec::new(),
             },
         )
     }
@@ -363,66 +306,4 @@ 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 => {
-                            bootloader::reboot_to_bootloader();
-                        }
-                    },
-                    Err(err) => defmt::error!("Unable to parse host message"),
-                };
-
-                *buffer = Vec::<u8, USB_BUFFER_SIZE>::from_slice(rest).unwrap();
-            } else {
-                break;
-            }
-        }
-    }
 }

memory.x

@@ -1,23 +1,10 @@
 MEMORY
 {
+  /* NOTE K = KiBi = 1024 bytes */
   FLASH : ORIGIN = 0x08000000, LENGTH = 256K 
-  UNINIT: ORIGIN = 0x20000000, LENGTH = 0x10
+  RAM : ORIGIN = 0x20000000, LENGTH = 64K
-  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 */

protocol/src/lib.rs

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