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.gitignore
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Cargo.lock
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|
||||
checksum = "17f6bace2f39082e9787c851afce469e7b2fe0f1cc64bbc68ca96653b63d8f17"
|
||||
dependencies = [
|
||||
"cc",
|
||||
"libc",
|
||||
"pkg-config",
|
||||
"vcpkg",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "litrs"
|
||||
version = "0.4.1"
|
||||
|
|
@ -659,6 +959,15 @@ 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"
|
||||
|
|
@ -729,6 +1038,17 @@ 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"
|
||||
|
|
@ -817,6 +1137,12 @@ dependencies = [
|
|||
"libm",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "number_prefix"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "830b246a0e5f20af87141b25c173cd1b609bd7779a4617d6ec582abaf90870f3"
|
||||
|
||||
[[package]]
|
||||
name = "object"
|
||||
version = "0.36.2"
|
||||
|
|
@ -909,18 +1235,44 @@ 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"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
|
||||
|
||||
[[package]]
|
||||
name = "pretty-hex"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c6fa0831dd7cc608c38a5e323422a0077678fa5744aa2be4ad91c4ece8eec8d5"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-error"
|
||||
version = "1.0.4"
|
||||
|
|
@ -982,29 +1334,50 @@ 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",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "radomctl-protocol"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"heapless 0.8.0",
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "radomctld"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"anyhow",
|
||||
"axum",
|
||||
"clap",
|
||||
"dfu-libusb",
|
||||
"fern",
|
||||
"humantime",
|
||||
"indicatif",
|
||||
"libusb1-sys",
|
||||
"log",
|
||||
"nom",
|
||||
"postcard",
|
||||
"radomctl-protocol",
|
||||
"rusb",
|
||||
"serde_json",
|
||||
"serialport",
|
||||
"tokio",
|
||||
"tokio-macros 0.2.6",
|
||||
"tower-http",
|
||||
|
|
@ -1096,6 +1469,16 @@ dependencies = [
|
|||
"rtic-common",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rusb"
|
||||
version = "0.9.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "45fff149b6033f25e825cbb7b2c625a11ee8e6dac09264d49beb125e39aa97bf"
|
||||
dependencies = [
|
||||
"libc",
|
||||
"libusb1-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustc-demangle"
|
||||
version = "0.1.24"
|
||||
|
|
@ -1108,7 +1491,16 @@ 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]]
|
||||
|
|
@ -1138,6 +1530,12 @@ 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"
|
||||
|
|
@ -1197,6 +1595,24 @@ 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"
|
||||
|
|
@ -1231,6 +1647,15 @@ 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"
|
||||
|
|
@ -1270,11 +1695,18 @@ dependencies = [
|
|||
"nb 1.1.0",
|
||||
"rand_core",
|
||||
"stm32f4",
|
||||
"synopsys-usb-otg",
|
||||
"time",
|
||||
"vcell",
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "strsim"
|
||||
version = "0.11.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.109"
|
||||
|
|
@ -1309,6 +1741,18 @@ 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"
|
||||
|
|
@ -1548,6 +1992,15 @@ 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"
|
||||
|
|
@ -1563,6 +2016,40 @@ version = "1.0.12"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-width"
|
||||
version = "0.1.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af"
|
||||
|
||||
[[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 = "utf8parse"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
|
||||
|
||||
[[package]]
|
||||
name = "valuable"
|
||||
version = "0.1.0"
|
||||
|
|
@ -1575,6 +2062,12 @@ version = "0.1.3"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||
|
||||
[[package]]
|
||||
name = "vcpkg"
|
||||
version = "0.2.15"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.5"
|
||||
|
|
|
|||
|
|
@ -4,6 +4,7 @@ resolver = "2"
|
|||
members = [
|
||||
"daemon",
|
||||
"firmware",
|
||||
"protocol",
|
||||
]
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -11,8 +11,16 @@ 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"]}
|
||||
dfu-libusb = "0.3.0"
|
||||
libusb1-sys = "0.6"
|
||||
rusb = "0.9"
|
||||
clap = { version = "4.5.19", features = ["derive"] }
|
||||
indicatif = "0.17.8"
|
||||
|
|
|
|||
112
daemon/src/bin/flash-dfu.rs
Normal file
112
daemon/src/bin/flash-dfu.rs
Normal file
|
|
@ -0,0 +1,112 @@
|
|||
use std::{
|
||||
io::{self, Seek},
|
||||
thread,
|
||||
time::{self, Duration},
|
||||
};
|
||||
|
||||
use anyhow::{anyhow, Context};
|
||||
use clap::Parser;
|
||||
use dfu_libusb::{Dfu, DfuLibusb};
|
||||
use postcard::{from_bytes_cobs, to_stdvec_cobs};
|
||||
use radomctl_protocol::*;
|
||||
use radomctld::logger::setup_logger;
|
||||
|
||||
#[derive(Parser)]
|
||||
struct Cli {
|
||||
/// The usb serial number of the radom-controller
|
||||
#[arg(short, long)]
|
||||
serialnumber: String,
|
||||
|
||||
/// The firmware file to flash
|
||||
#[arg(short, long)]
|
||||
firmware: std::path::PathBuf,
|
||||
}
|
||||
|
||||
pub fn main() -> anyhow::Result<()> {
|
||||
let args = Cli::parse();
|
||||
|
||||
let ports = serialport::available_ports().unwrap_or(Vec::<serialport::SerialPortInfo>::new());
|
||||
|
||||
let mut radom_port: Option<String> = None;
|
||||
for port in ports {
|
||||
match port.port_type {
|
||||
serialport::SerialPortType::UsbPort(usb_port_info) => {
|
||||
match usb_port_info.serial_number {
|
||||
Some(serial) => {
|
||||
if serial == args.serialnumber {
|
||||
radom_port = Some(port.port_name.to_owned());
|
||||
println!("Found radom-controller as {}", port.port_name)
|
||||
}
|
||||
}
|
||||
None => continue,
|
||||
}
|
||||
}
|
||||
_ => continue,
|
||||
}
|
||||
}
|
||||
|
||||
let radom_port = match radom_port {
|
||||
Some(port) => port,
|
||||
_ => {
|
||||
return Err(anyhow!("No matching port found."));
|
||||
}
|
||||
};
|
||||
|
||||
println!("Setting radom-controller to dfu boot...");
|
||||
|
||||
let mut port = serialport::new(radom_port, 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();
|
||||
drop(port);
|
||||
|
||||
let context = rusb::Context::new()?;
|
||||
let mut file = std::fs::File::open(args.firmware).context("firmware file not found")?;
|
||||
|
||||
thread::sleep(time::Duration::from_millis(2000));
|
||||
|
||||
let file_size =
|
||||
u32::try_from(file.seek(io::SeekFrom::End(0))?).context("the firmware file is too big")?;
|
||||
file.seek(io::SeekFrom::Start(0))?;
|
||||
|
||||
let vid = 0x0483;
|
||||
let pid = 0xdf11;
|
||||
let intf = 0;
|
||||
let alt = 0;
|
||||
let mut device: Dfu<rusb::Context> =
|
||||
DfuLibusb::open(&context, vid, pid, intf, alt).context("could not open device")?;
|
||||
|
||||
println!("Flashing radom-controller ...");
|
||||
|
||||
let bar = indicatif::ProgressBar::new(file_size as u64);
|
||||
bar.set_style(
|
||||
indicatif::ProgressStyle::default_bar()
|
||||
.template(
|
||||
"{spinner:.green} [{elapsed_precise}] [{bar}] \
|
||||
{bytes}/{total_bytes} ({bytes_per_sec}) ({eta}) {msg:10}",
|
||||
)?
|
||||
.progress_chars("=>-"),
|
||||
);
|
||||
|
||||
device.with_progress({
|
||||
let bar = bar.clone();
|
||||
move |count| {
|
||||
bar.inc(count as u64);
|
||||
if bar.position() == file_size as u64 {
|
||||
bar.finish();
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
device
|
||||
.download(file, file_size)
|
||||
.context("could not write firmware to the device")?;
|
||||
|
||||
println!("Done!");
|
||||
|
||||
Ok(())
|
||||
}
|
||||
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
|
||||
|
|
|
|||
5
firmware/flash-dfu.sh
Executable file
5
firmware/flash-dfu.sh
Executable file
|
|
@ -0,0 +1,5 @@
|
|||
#!/bin/bash
|
||||
|
||||
cargo build --release && \
|
||||
arm-none-eabi-objcopy -O binary ../target/thumbv7em-none-eabihf/release/radomctl-firmware radomctl-firmware.bin && \
|
||||
dfu-util --alt 0 -s 0x08000000:leave -D radomctl-firmware.bin
|
||||
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]
|
||||
|
|
@ -21,24 +23,35 @@ 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 crate::bootloader;
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
|
||||
systick_monotonic!(Mono, 4000);
|
||||
|
||||
const USB_BUFFER_SIZE: usize = 64;
|
||||
|
||||
// Shared resources go here
|
||||
#[shared]
|
||||
struct Shared {
|
||||
|
|
@ -58,17 +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();
|
||||
|
|
@ -78,19 +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();
|
||||
|
|
@ -98,6 +112,58 @@ 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 serial = unsafe {
|
||||
let u_id0 = 0x1FFF_7A10 as *const u32;
|
||||
let u_id2 = 0x1FFF_7A18 as *const u32;
|
||||
|
||||
defmt::debug!("UID0: {:x}", u_id0.read());
|
||||
defmt::debug!("UID2: {:x}", u_id2.read());
|
||||
|
||||
// See https://community.st.com/t5/stm32-mcus-products/usb-bootloader-serial-number/td-p/432148
|
||||
(u_id0.read() as u64 + u_id2.read() as u64) << 16
|
||||
| (u_id2.read() as u64 & 0xFF00) >> 8
|
||||
| (u_id2.read() as u64 & 0x00FF) << 8
|
||||
};
|
||||
|
||||
static mut SERIAL: String<16> = String::new();
|
||||
unsafe {
|
||||
write!(SERIAL, "{:X}", serial).unwrap();
|
||||
}
|
||||
|
||||
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();
|
||||
|
|
@ -142,7 +208,7 @@ 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 +245,10 @@ mod app {
|
|||
el_enable,
|
||||
el_dir,
|
||||
el_step,
|
||||
|
||||
usb_dev,
|
||||
usb_serial,
|
||||
usb_buffer: Vec::new(),
|
||||
},
|
||||
)
|
||||
}
|
||||
|
|
@ -317,4 +387,66 @@ 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 */
|
||||
|
|
|
|||
10
protocol/Cargo.toml
Normal file
10
protocol/Cargo.toml
Normal file
|
|
@ -0,0 +1,10 @@
|
|||
[package]
|
||||
name = "radomctl-protocol"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
serde = {version = "1.0.193", default-features = false, features = ["derive"]}
|
||||
heapless = {version = "0.8.0", features = ["serde"]}
|
||||
37
protocol/src/lib.rs
Normal file
37
protocol/src/lib.rs
Normal file
|
|
@ -0,0 +1,37 @@
|
|||
#![no_std]
|
||||
use heapless::Vec;
|
||||
|
||||
use serde::{Deserialize, Serialize};
|
||||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq)]
|
||||
pub enum RadomMessage {
|
||||
Status(StatusMessage),
|
||||
}
|
||||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq)]
|
||||
pub enum HostMessage {
|
||||
RequestStatus,
|
||||
TriggerDFUBootloader,
|
||||
}
|
||||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
|
||||
pub struct StatusMessage {
|
||||
pub position: Position,
|
||||
pub alarms: Vec<Alarm, 64>,
|
||||
}
|
||||
|
||||
#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
|
||||
pub struct Position {
|
||||
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)]
|
||||
pub enum Alarm {
|
||||
AZEncoderFault,
|
||||
ELEncoderFault,
|
||||
}
|
||||
Loading…
Reference in a new issue