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2 commits
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2d0a54eccc
| Author | SHA1 | Date | |
|---|---|---|---|
|
2d0a54eccc | ||
|
|
bf672e3df1 |
220
Cargo.lock
generated
220
Cargo.lock
generated
|
|
@ -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]]
|
||||
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@ -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"
|
||||
|
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@ -208,6 +214,12 @@ 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"
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||||
|
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@ -361,6 +373,18 @@ 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"
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||||
|
||||
[[package]]
|
||||
name = "embedded-storage"
|
||||
version = "0.3.1"
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||||
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@ -488,6 +512,15 @@ version = "0.29.0"
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|||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.3.1"
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||||
|
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@ -503,13 +536,28 @@ version = "0.14.5"
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|||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
|
||||
|
||||
[[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",
|
||||
]
|
||||
|
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@ -628,6 +676,16 @@ 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"
|
||||
|
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@ -663,6 +721,26 @@ 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"
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||||
|
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@ -685,6 +763,15 @@ 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"
|
||||
|
|
@ -755,6 +842,17 @@ 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"
|
||||
|
|
@ -935,12 +1033,32 @@ 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"
|
||||
|
|
@ -1008,15 +1126,20 @@ 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 +1147,7 @@ dependencies = [
|
|||
name = "radomctl-protocol"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"heapless",
|
||||
"heapless 0.8.0",
|
||||
"serde",
|
||||
]
|
||||
|
||||
|
|
@ -1038,7 +1161,10 @@ dependencies = [
|
|||
"humantime",
|
||||
"log",
|
||||
"nom",
|
||||
"postcard",
|
||||
"radomctl-protocol",
|
||||
"serde_json",
|
||||
"serialport",
|
||||
"tokio",
|
||||
"tokio-macros 0.2.6",
|
||||
"tower-http",
|
||||
|
|
@ -1142,7 +1268,16 @@ 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 +1307,12 @@ 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"
|
||||
|
|
@ -1231,6 +1372,24 @@ 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"
|
||||
|
|
@ -1265,6 +1424,15 @@ 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 +1472,7 @@ dependencies = [
|
|||
"nb 1.1.0",
|
||||
"rand_core",
|
||||
"stm32f4",
|
||||
"synopsys-usb-otg",
|
||||
"time",
|
||||
"vcell",
|
||||
"void",
|
||||
|
|
@ -1343,6 +1512,18 @@ 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"
|
||||
|
|
@ -1582,6 +1763,15 @@ 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"
|
||||
|
|
@ -1597,6 +1787,28 @@ 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 0.6.1",
|
||||
"nb 1.1.0",
|
||||
"usb-device",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "valuable"
|
||||
version = "0.1.0"
|
||||
|
|
|
|||
|
|
@ -11,8 +11,11 @@ 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"]}
|
||||
|
|
|
|||
16
daemon/src/bin/trigger-dfu.rs
Normal file
16
daemon/src/bin/trigger-dfu.rs
Normal file
|
|
@ -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();
|
||||
}
|
||||
3
daemon/src/lib.rs
Normal file
3
daemon/src/lib.rs
Normal file
|
|
@ -0,0 +1,3 @@
|
|||
pub mod logger;
|
||||
pub mod rotctlprotocol;
|
||||
pub mod rotor;
|
||||
|
|
@ -1,7 +1,3 @@
|
|||
mod logger;
|
||||
mod rotctlprotocol;
|
||||
mod rotor;
|
||||
|
||||
use anyhow::Result;
|
||||
use fern::colors::{Color, ColoredLevelConfig};
|
||||
use log::{debug, error, info, warn, Level};
|
||||
|
|
@ -26,10 +22,11 @@ use tower_http::{
|
|||
trace::TraceLayer,
|
||||
};
|
||||
|
||||
use logger::setup_logger;
|
||||
use rotor::control_rotor;
|
||||
|
||||
use rotctlprotocol::{parse_command, Command};
|
||||
use radomctld::{
|
||||
logger::setup_logger,
|
||||
rotctlprotocol::{parse_command, Command},
|
||||
rotor::control_rotor,
|
||||
};
|
||||
|
||||
async fn process_socket(
|
||||
socket: TcpStream,
|
||||
|
|
|
|||
|
|
@ -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-run --chip STM32F401CCU6"
|
||||
runner = "probe-rs run --chip STM32F401CCUx"
|
||||
rustflags = [
|
||||
"-C", "linker=flip-link",
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
59
firmware/src/bootloader.rs
Normal file
59
firmware/src/bootloader.rs
Normal file
|
|
@ -0,0 +1,59 @@
|
|||
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();
|
||||
}
|
||||
|
|
@ -6,6 +6,8 @@ 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]
|
||||
|
|
@ -13,35 +15,44 @@ fn panic() -> ! {
|
|||
cortex_m::asm::udf()
|
||||
}
|
||||
|
||||
|
||||
#[rtic::app(
|
||||
device = stm32f4xx_hal::pac,
|
||||
dispatchers = [SPI3]
|
||||
)]
|
||||
mod app {
|
||||
|
||||
|
||||
|
||||
use as5048a::AS5048A;
|
||||
|
||||
|
||||
use core::fmt::Write;
|
||||
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::*,
|
||||
spi,
|
||||
signature, spi,
|
||||
};
|
||||
|
||||
use num_traits::{Float, FloatConst};
|
||||
use usb_device::prelude::*;
|
||||
use usb_device::{class_prelude::UsbBusAllocator, device};
|
||||
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 {
|
||||
|
|
@ -60,17 +71,23 @@ 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]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
bootloader::init();
|
||||
|
||||
defmt::info!("init");
|
||||
|
||||
let rcc = cx.device.RCC.constrain();
|
||||
|
|
@ -80,19 +97,14 @@ mod app {
|
|||
let clocks = rcc
|
||||
.cfgr
|
||||
.use_hse(25.MHz())
|
||||
.require_pll48clk()
|
||||
.sysclk(84.MHz())
|
||||
.hclk(84.MHz())
|
||||
.pclk1(42.MHz())
|
||||
.pclk2(84.MHz())
|
||||
.require_pll48clk()
|
||||
.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();
|
||||
|
|
@ -100,6 +112,47 @@ 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();
|
||||
|
|
@ -115,7 +168,7 @@ 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");
|
||||
|
||||
|
|
@ -144,7 +197,7 @@ mod app {
|
|||
|
||||
defmt::info!("SPI Setup done");
|
||||
|
||||
let az_enable = gpioa.pa12.into_push_pull_output();
|
||||
let az_enable = gpioa.pa10.into_push_pull_output();
|
||||
let az_dir = gpioa.pa15.into_push_pull_output();
|
||||
let az_step = gpiob.pb3.into_push_pull_output();
|
||||
|
||||
|
|
@ -154,8 +207,8 @@ mod app {
|
|||
|
||||
defmt::info!("Motor Setup done");
|
||||
|
||||
poll_i2c::spawn().ok();
|
||||
poll_spi::spawn().ok();
|
||||
//poll_i2c::spawn().ok();
|
||||
//poll_spi::spawn().ok();
|
||||
|
||||
(
|
||||
Shared { az_angle: 0 },
|
||||
|
|
@ -175,6 +228,10 @@ mod app {
|
|||
el_enable,
|
||||
el_dir,
|
||||
el_step,
|
||||
|
||||
usb_dev,
|
||||
usb_serial,
|
||||
usb_buffer: Vec::new(),
|
||||
},
|
||||
)
|
||||
}
|
||||
|
|
@ -306,4 +363,66 @@ 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
17
memory.x
17
memory.x
|
|
@ -1,10 +1,23 @@
|
|||
MEMORY
|
||||
{
|
||||
/* NOTE K = KiBi = 1024 bytes */
|
||||
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 */
|
||||
|
|
|
|||
|
|
@ -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