daemon/Cargo.toml

@@ -5,23 +5,22 @@ edition = "2021"
 
 [dependencies]
 anyhow = "1.0.83"
-axum = { version = "0.8.8", features = ["macros"] }
+axum = { version = "0.7.5", features = ["macros"] }
-fern = { version = "0.7.1", features = ["colored"] }
+fern = { version = "0.6.2", features = ["colored"] }
 humantime = "2.1.0"
 log = "0.4.21"
-nom = "8.0.0"
+nom = "7.1.3"
 serde_json = "1.0.118"
 serialport = "4.5.1"
 tokio = {version = "1.37.0", features = ["full"]}
-tower-http = { version = "0.6.8", features = ["fs", "trace"] }
+tower-http = { version = "0.5.2", features = ["fs", "trace"] }
 radomctl-protocol = { path = "../protocol" }
 postcard = {version = "1.0.10", features = ["use-std"]}
-dfu-libusb = "0.5.5"
+dfu-libusb = "0.3.0"
 rusb = "0.9"
 clap = { version = "4.5.19", features = ["derive"] }
-indicatif = "0.18.3"
+indicatif = "0.17.8"
 tokio-serial = {version = "5.4.4", features = ["codec", "rt"] }
 tokio-util = { version = "0.7.13", features = ["codec", "rt"] }
 bytes = "1.9.0"
 futures = "0.3.31"
-nom-language = "0.1.0"

daemon/src/bin/flash-dfu.rs

@@ -7,8 +7,9 @@ use std::{
 use anyhow::{anyhow, Context};
 use clap::Parser;
 use dfu_libusb::{Dfu, DfuLibusb};
-use postcard::to_stdvec_cobs;
+use postcard::{from_bytes_cobs, to_stdvec_cobs};
 use radomctl_protocol::*;
+use radomctld::logger::setup_logger;
 
 #[derive(Parser)]
 struct Cli {

daemon/src/logger.rs

@@ -1,5 +1,7 @@
 use anyhow::Result;
 use fern::colors::{Color, ColoredLevelConfig};
+use log::{debug, error, info, warn};
+use std::io;
 
 pub fn setup_logger() -> Result<()> {
     let colors = ColoredLevelConfig::new()

daemon/src/main.rs

@@ -1,9 +1,17 @@
-use anyhow::anyhow;
 use anyhow::Result;
-use axum::{extract::State, routing::get, Json, Router};
+use anyhow::{anyhow, Context};
+use axum::{
+    extract::State,
+    http::StatusCode,
+    routing::{get, post},
+    Json, Router,
+};
 use clap::Parser;
-use log::{debug, error, info};
+use fern::colors::{Color, ColoredLevelConfig};
+use log::{debug, error, info, warn, Level};
 use serde_json::{json, Value};
+use std::time::Duration;
+use std::{borrow::Borrow, io};
 use tokio::{
     self,
     io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
@@ -12,7 +20,10 @@ use tokio::{
     task::JoinSet,
 };
 use tokio_serial;
-use tower_http::{services::ServeFile, trace::TraceLayer};
+use tower_http::{
+    services::{ServeDir, ServeFile},
+    trace::TraceLayer,
+};
 
 use radomctld::{
     logger::setup_logger,
@@ -23,7 +34,7 @@ use radomctld::{
 async fn process_socket(
     socket: TcpStream,
     cmd_tx: mpsc::Sender<Command>,
-    pos_rx: watch::Receiver<(f32, f32)>,
+    mut pos_rx: watch::Receiver<(f32, f32)>,
 ) {
     let mut stream = BufStream::new(socket);
 

daemon/src/rotctlprotocol.rs

@@ -4,14 +4,13 @@ use nom::{
     character::complete::{
         alphanumeric1, i8, multispace0, multispace1, newline, none_of, not_line_ending, space1,
     },
-    combinator::{all_consuming, map, opt, recognize},
+    combinator::{all_consuming, map, opt, recognize, rest},
-    error::context,
+    error::{context, convert_error, VerboseError},
-    multi::many1,
+    multi::{many0, many1},
     number::complete::float,
     sequence::{preceded, separated_pair, terminated},
     Err as NomErr, IResult, Parser,
 };
-use nom_language::error::{convert_error, VerboseError};
 
 #[derive(PartialEq, Debug)]
 pub enum Command {

daemon/src/rotor.rs

@@ -1,19 +1,22 @@
 use anyhow::Result;
 use bytes::{BufMut, BytesMut};
 use futures::{stream::StreamExt, SinkExt};
+use log::{debug, error, info, warn};
 use postcard::{from_bytes_cobs, to_stdvec_cobs};
 use radomctl_protocol::{HostMessage, PositionTarget, RadomMessage};
-use std::{io, time::Duration};
+use std::{env, io, str, time::Duration};
+use tokio::time::sleep;
 use tokio::{
     self,
-    io::AsyncBufReadExt,
+    io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
-    sync::{mpsc, watch},
+    net::{TcpListener, TcpStream},
+    sync::{self, mpsc, watch},
     time,
 };
 use tokio_serial::SerialPortBuilderExt;
 use tokio_util::codec::{Decoder, Encoder};
 
-use crate::rotctlprotocol::Command;
+use crate::rotctlprotocol::{parse_command, Command};
 
 struct ProtocolCodec;
 

firmware/Cargo.toml

@@ -5,25 +5,25 @@ version = "0.1.0"
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-defmt = { version = "1.0", features = ["encoding-rzcobs"] }
+defmt = { version = "0.3", features = ["encoding-rzcobs"] }
 defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "1.0", features = ["print-defmt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
 rtic = { version = "2.0.1", features = [ "thumbv7-backend" ] }
-defmt-rtt = "1.1"
+defmt-rtt = "0.4"
-stm32f4xx-hal = { version = "0.23.0", features = ["stm32f401", "usb_fs"] }
+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"] }
 num = {version = "0.4", default-features = false}
 ufmt = "0.2.0"
-qmc5883l = {version = "0.0.1", git="https://github.com/patrickelectric/qmc5883l", rev="62b8a64b54e0f843ddf0c5942f8ed218b5f3e492"}
+qmc5883l = "0.0.1"
 rtic-monotonics = {version = "2.0.2", features = ["cortex-m-systick"]}
-xca9548a = "1.0.0"
+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 = "0.9.2", features = ["defmt"]}
+heapless = {version = "0.8.0", features = ["defmt-03"]}
 radomctl-protocol = { path = "../protocol" }
 
 

firmware/src/bootloader.rs

@@ -1,4 +1,4 @@
-use core::mem::MaybeUninit;
+use core::{mem::MaybeUninit, ptr::addr_of_mut};
 
 use stm32f4xx_hal::pac;
 
@@ -9,7 +9,7 @@ fn jump_to_bootloader() {
         let address: u32 = 0x1FFF0000;
 
         let device = pac::Peripherals::steal();
-        device.SYSCFG.memrmp().modify(|_, w| w.bits(0x01));
+        device.SYSCFG.memrm.modify(|_, w| w.bits(0x01));
 
         let mut p = cortex_m::Peripherals::steal();
         p.SCB.invalidate_icache();

firmware/src/main.rs

@@ -33,7 +33,6 @@ mod app {
         otg_fs::{UsbBus, UsbBusType, USB},
         pac::{I2C1, SPI1},
         prelude::*,
-        rcc::Config,
         signature, spi,
     };
     use usb_device::prelude::*;
@@ -94,19 +93,26 @@ mod app {
         bootloader::init();
 
         defmt::info!("init");
-        let mut rcc = cx
-            .device
-            .RCC
-            .freeze(Config::hse(25.MHz()).sysclk(84.MHz()).require_pll48clk());
 
-        Mono::start(cx.core.SYST, rcc.clocks.sysclk().to_Hz());
+        let rcc = cx.device.RCC.constrain();
+
+        // Freeze the configuration of all the clocks in the system and store the frozen frequencies in
+        // `clocks`
+        let clocks = rcc
+            .cfgr
+            .use_hse(25.MHz())
+            .sysclk(84.MHz())
+            .require_pll48clk()
+            .freeze();
+
+        Mono::start(cx.core.SYST, clocks.sysclk().to_Hz());
 
         defmt::info!("Clock Setup done");
 
         // Acquire the GPIO peripherials
-        let gpioa = cx.device.GPIOA.split(&mut rcc);
+        let gpioa = cx.device.GPIOA.split();
-        let gpiob = cx.device.GPIOB.split(&mut rcc);
+        let gpiob = cx.device.GPIOB.split();
-        let gpioc = cx.device.GPIOC.split(&mut rcc);
+        let gpioc = cx.device.GPIOC.split();
 
         let board_led = gpioc.pc13.into_push_pull_output();
 
@@ -122,7 +128,7 @@ mod app {
                 cx.device.OTG_FS_PWRCLK,
             ),
             (gpioa.pa11, gpioa.pa12),
-            &rcc.clocks,
+            &clocks,
         );
 
         unsafe {
@@ -171,7 +177,7 @@ mod app {
             i2c::Mode::Standard {
                 frequency: 400.kHz(),
             },
-            &mut rcc,
+            &clocks,
         );
 
         defmt::info!("I2C Setup done");
@@ -195,13 +201,13 @@ mod app {
         let pico = gpioa.pa7.into_push_pull_output();
         let spi1 = spi::Spi::new(
             cx.device.SPI1,
-            (Some(sck), Some(poci), Some(pico)),
+            (sck, poci, pico),
             spi::Mode {
                 polarity: spi::Polarity::IdleLow,
                 phase: spi::Phase::CaptureOnSecondTransition,
             },
             8.MHz(),
-            &mut rcc,
+            &clocks,
         );
 
         defmt::info!("SPI Setup done");

protocol/Cargo.toml

@@ -7,4 +7,4 @@ edition = "2021"
 
 [dependencies]
 serde = {version = "1.0.193", default-features = false, features = ["derive"]}
-heapless = {version = "0.9.2", features = ["serde"]}
+heapless = {version = "0.8.0", features = ["serde"]}