Triggering the dfu bootloader works

daemon/Cargo.toml

@@ -5,22 +5,26 @@ edition = "2021"
 
 [dependencies]
 anyhow = "1.0.83"
-axum = { version = "0.7.5", features = ["macros"] }
+axum = { version = "0.8.8", features = ["macros"] }
-fern = { version = "0.6.2", features = ["colored"] }
+fern = { version = "0.7.1", features = ["colored"] }
 humantime = "2.1.0"
 log = "0.4.21"
-nom = "7.1.3"
+nom = "8.0.0"
 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 = "0.6.8", features = ["fs", "trace"] }
-tower-http = { version = "0.5.2", features = ["fs", "trace"] }
+dfu-libusb = "0.5.5"
+rusb = "0.9"
+clap = { version = "4.5.19", features = ["derive"] }
+indicatif = "0.18.3"
+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"
 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"

daemon/src/bin/flash-dfu.rs

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

daemon/src/bin/trigger-dfu.rs

@@ -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();
+}

daemon/src/logger.rs

@@ -1,7 +1,5 @@
 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

@@ -1,8 +1,9 @@
+use anyhow::anyhow;
 use anyhow::Result;
-use fern::colors::{Color, ColoredLevelConfig};
+use axum::{extract::State, routing::get, Json, Router};
-use log::{debug, error, info, warn, Level};
+use clap::Parser;
+use log::{debug, error, info};
 use serde_json::{json, Value};
-use std::{borrow::Borrow, io};
 use tokio::{
     self,
     io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
@@ -10,28 +11,23 @@ use tokio::{
     sync::{mpsc, watch},
     task::JoinSet,
 };
-
+use tokio_serial;
-use axum::{
-    extract::State,
-    http::StatusCode,
-    routing::{get, post},
-    Json, Router,
-};
-use tower_http::{
-    services::{ServeDir, ServeFile},
-    trace::TraceLayer,
-};
 
 use radomctld::{
     logger::setup_logger,
     rotctlprotocol::{parse_command, Command},
     rotor::control_rotor,
 };
+use tower_http::{
+    services::{ServeDir, ServeFile},
+    trace::TraceLayer,
+};
+
 
 async fn process_socket(
     socket: TcpStream,
     cmd_tx: mpsc::Sender<Command>,
-    mut pos_rx: watch::Receiver<(f32, f32)>,
+    pos_rx: watch::Receiver<(f32, f32)>,
 ) {
     let mut stream = BufStream::new(socket);
 
@@ -86,16 +82,61 @@ struct AxumAppState {
     pos_rx: watch::Receiver<(f32, f32)>,
 }
 
+#[derive(Parser)]
+struct Cli {
+    /// The usb serial number of the radom-controller
+    #[arg(short, long)]
+    serialnumber: String,
+
+    /// Listen address for the webserver
+    #[arg(short, long, default_value = "0.0.0.0:8000")]
+    web_listen_address: String,
+
+    /// Listen address for rotctl
+    #[arg(short, long, default_value = "0.0.0.0:1337")]
+    rotctl_listen_address: String,
+}
+
 #[tokio::main]
 async fn main() -> Result<()> {
     setup_logger()?;
 
+    let args = Cli::parse();
+
+    let ports = tokio_serial::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) => {
+                        debug!("Found a serial port with: {}", serial);
+                        if serial == args.serialnumber {
+                            radom_port = Some(port.port_name.to_owned());
+                            info!("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."));
+        }
+    };
+
     let (cmd_tx, cmd_rx) = mpsc::channel::<Command>(16);
     let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
 
     let mut tasks = JoinSet::new();
 
-    tasks.spawn(async move { control_rotor(cmd_rx, pos_tx).await });
+    tasks.spawn(async move { control_rotor(cmd_rx, pos_tx, radom_port).await });
 
     let state = AxumAppState {
         pos_rx: pos_rx.clone(),
@@ -108,14 +149,14 @@ async fn main() -> Result<()> {
             .with_state(state)
             .layer(TraceLayer::new_for_http());
 
-        let listener = tokio::net::TcpListener::bind("0.0.0.0:8000").await?;
+        let listener = tokio::net::TcpListener::bind(args.web_listen_address).await?;
         axum::serve(listener, app).await?;
 
         Ok(())
     });
 
     tasks.spawn(async move {
-        let listener = TcpListener::bind("127.0.0.1:1337").await?;
+        let listener = TcpListener::bind(args.rotctl_listen_address).await?;
 
         loop {
             let (socket, _) = listener.accept().await?;

daemon/src/rotctlprotocol.rs

@@ -4,13 +4,14 @@ use nom::{
     character::complete::{
         alphanumeric1, i8, multispace0, multispace1, newline, none_of, not_line_ending, space1,
     },
-    combinator::{all_consuming, map, opt, recognize, rest},
+    combinator::{all_consuming, map, opt, recognize},
-    error::{context, convert_error, VerboseError},
+    error::context,
-    multi::{many0, many1},
+    multi::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

@@ -1,52 +1,91 @@
 use anyhow::Result;
-use log::{debug, error, info, warn};
+use bytes::{BufMut, BytesMut};
+use futures::{stream::StreamExt, SinkExt};
+use postcard::{from_bytes_cobs, to_stdvec_cobs};
+use radomctl_protocol::{HostMessage, PositionTarget, RadomMessage};
+use std::{io, time::Duration};
 use tokio::{
     self,
-    io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
+    io::AsyncBufReadExt,
-    net::{TcpListener, TcpStream},
+    sync::{mpsc, watch},
-    sync::{self, mpsc, watch},
     time,
 };
+use tokio_serial::SerialPortBuilderExt;
+use tokio_util::codec::{Decoder, Encoder};
 
-use crate::rotctlprotocol::{parse_command, Command};
+use crate::rotctlprotocol::Command;
+
+struct ProtocolCodec;
+
+impl Decoder for ProtocolCodec {
+    type Item = RadomMessage;
+    type Error = io::Error;
+
+    fn decode(&mut self, src: &mut BytesMut) -> Result<Option<Self::Item>, Self::Error> {
+        let frame_end = src.as_ref().iter().position(|b| *b == 0);
+        if let Some(n) = frame_end {
+            let mut frame = src.split_to(n + 1);
+            let host_msg = from_bytes_cobs::<RadomMessage>(&mut frame).unwrap();
+            return Ok(Some(host_msg));
+        }
+        Ok(None)
+    }
+}
+
+impl Encoder<HostMessage> for ProtocolCodec {
+    type Error = io::Error;
+
+    fn encode(&mut self, item: HostMessage, dst: &mut BytesMut) -> Result<(), Self::Error> {
+        let msg_bytes = to_stdvec_cobs(&item).unwrap();
+        dst.put(msg_bytes.as_slice());
+        dst.put_u8(0);
+        Ok(())
+    }
+}
 
 pub async fn control_rotor(
     mut rx_cmd: mpsc::Receiver<Command>,
     pos_tx: watch::Sender<(f32, f32)>,
+    radom_port: String,
 ) -> Result<()> {
-    let mut actual_az = 0.0;
+    let port = tokio_serial::new(radom_port, 115_200)
-    let mut actual_el = 0.0;
+        .timeout(Duration::from_millis(10))
+        .open_native_async()
+        .expect("Failed to open port");
 
-    let mut target_az = 0.0;
+    let (mut port_writer, mut port_reader) = ProtocolCodec.framed(port).split();
-    let mut target_el = 0.0;
 
     loop {
         tokio::select! {
             Some(command) = rx_cmd.recv() => {
                 match command {
                     Command::SetPos(az, el) => {
-                        info!("Received set pos {} {}", az, el);
+                        //info!("Received set pos {} {}", az, el);
-                        target_az = az;
+                        port_writer.send(HostMessage::SetTarget(PositionTarget { az, el })).await?;
-                        target_el = el;
                     }
                     _ => {}
                 }
             },
+
             _ = time::sleep(time::Duration::from_millis(100)) => {
-                if target_az < actual_az {
+                    //info!("Requesting status");
-                    actual_az -= 1.0;
+                    port_writer.send(HostMessage::RequestStatus).await?;
-                } else if  target_az > actual_az  {
-                    actual_az += 1.0;
-                }
-
-                if target_el < actual_el {
-                    actual_el -= 1.0;
-                } else if  target_el > actual_el  {
-                    actual_el += 1.0;
-                }
-
-                pos_tx.send((actual_az, actual_el)).unwrap();
             },
+
+            msg = port_reader.next() => {
+                match msg {
+                    Some(Ok(msg)) => {
+                        match msg {
+                            RadomMessage::Status(status) => {
+                                //info!("Received status {:?}", status);
+                                pos_tx.send((status.position.az, status.position.el)).unwrap();
+                            }
+                            _ => {}
+                        }
+                    }
+                    _ => {}
+                }
+            }
             else => return Ok(())
         };
     }

firmware/.cargo/config.toml

@@ -18,4 +18,45 @@ rb = "run --bin"
 rrb = "run --release --bin"
 
 [env]
-DEFMT_LOG = "debug"
+DEFMT_LOG = "debug"
+
+
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+

firmware/Cargo.toml

@@ -5,25 +5,25 @@ version = "0.1.0"
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-defmt = { version = "0.3", features = ["encoding-rzcobs"] }
+defmt = { version = "1.0", features = ["encoding-rzcobs"] }
 defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
+panic-probe = { version = "1.0", features = ["print-defmt"] }
 rtic = { version = "2.0.1", features = [ "thumbv7-backend" ] }
-defmt-rtt = "0.4"
+defmt-rtt = "1.1"
-stm32f4xx-hal = { version = "0.21.0", features = ["stm32f401", "usb_fs"] }
+stm32f4xx-hal = { version = "0.23.0", 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 = "0.0.1"
+qmc5883l = {version = "0.0.1", git="https://github.com/patrickelectric/qmc5883l", rev="62b8a64b54e0f843ddf0c5942f8ed218b5f3e492"}
 rtic-monotonics = {version = "2.0.2", features = ["cortex-m-systick"]}
-xca9548a = "0.2.1"
+xca9548a = "1.0.0"
 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"]}
+heapless = {version = "0.9.2", features = ["defmt"]}
 radomctl-protocol = { path = "../protocol" }
 
 
@@ -38,50 +38,3 @@ defmt-debug = []
 defmt-info = []
 defmt-warn = []
 defmt-error = []
-
-# cargo build/run
-[profile.dev]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 'z'         # <-
-overflow-checks = true  # <-
-
-# cargo test
-[profile.test]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 3           # <-
-overflow-checks = true  # <-
-
-# cargo build/run --release
-[profile.release]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-# cargo test --release
-[profile.bench]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-
-# uncomment this to switch from the crates.io version of defmt to its git version
-# check app-template's README for instructions
-# [patch.crates-io]
-# defmt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# defmt-rtt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# defmt-test = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# panic-probe = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }

firmware/src/bootloader.rs

@@ -1,5 +1,5 @@
+use core::mem::MaybeUninit;
 use core::ptr::addr_of_mut;
-
 use stm32f4xx_hal::pac;
 
 fn jump_to_bootloader() {
@@ -9,7 +9,7 @@ fn jump_to_bootloader() {
         let address: u32 = 0x1FFF0000;
 
         let device = pac::Peripherals::steal();
-        device.SYSCFG.memrm.modify(|_, w| w.bits(0x01));
+        device.SYSCFG.memrmp().modify(|_, w| w.bits(0x01));
 
         let mut p = cortex_m::Peripherals::steal();
         p.SCB.invalidate_icache();
@@ -47,9 +47,10 @@ fn clear_bootloader_flag() {
 pub fn init() {
     let requested = get_bootloader_flag() == BOOTLOADER_REQUESTED;
     if requested {
-        clear_bootloader_flag();
         jump_to_bootloader();
     }
+
+    clear_bootloader_flag();
 }
 
 pub fn reboot_to_bootloader() -> ! {

firmware/src/main.rs

@@ -23,32 +23,29 @@ mod app {
 
     use as5048a::AS5048A;
 
+    use crate::bootloader;
     use core::fmt::Write;
     use heapless::{String, Vec};
     use num_traits::{Float, FloatConst};
     use postcard::{from_bytes_cobs, to_vec_cobs};
+    use qmc5883l::{self, QMC5883L};
+    use radomctl_protocol::*;
+    use radomctl_protocol::{HostMessage, *};
+    use rtic_monotonics::systick::prelude::*;
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
         i2c,
         otg_fs::{UsbBus, UsbBusType, USB},
         pac::{I2C1, SPI1},
         prelude::*,
+        rcc::Config,
         signature, spi,
     };
     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;
@@ -57,6 +54,11 @@ mod app {
     #[shared]
     struct Shared {
         az_angle: i32,
+        az_compass: i32,
+        az_target: i32,
+
+        el_angle: i32,
+        el_target: i32,
     }
 
     // Local resources go here
@@ -71,7 +73,7 @@ mod app {
         spi_cs3: gpiob::PB15<Output<PushPull>>,
         spi1: spi::Spi<SPI1>,
 
-        az_enable: gpioa::PA10<Output<PushPull>>,
+        az_enable: gpiob::PB8<Output<PushPull>>,
         az_dir: gpioa::PA15<Output<PushPull>>,
         az_step: gpiob::PB3<Output<PushPull>>,
 
@@ -89,26 +91,19 @@ mod app {
         bootloader::init();
 
         defmt::info!("init");
+        let mut rcc = cx
+            .device
+            .RCC
+            .freeze(Config::hse(25.MHz()).sysclk(84.MHz()).require_pll48clk());
 
-        let rcc = cx.device.RCC.constrain();
+        Mono::start(cx.core.SYST, rcc.clocks.sysclk().to_Hz());
-
-        // 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();
+        let gpioa = cx.device.GPIOA.split(&mut rcc);
-        let gpiob = cx.device.GPIOB.split();
+        let gpiob = cx.device.GPIOB.split(&mut rcc);
-        let gpioc = cx.device.GPIOC.split();
+        let gpioc = cx.device.GPIOC.split(&mut rcc);
 
         let board_led = gpioc.pc13.into_push_pull_output();
 
@@ -124,7 +119,7 @@ mod app {
                 cx.device.OTG_FS_PWRCLK,
             ),
             (gpioa.pa11, gpioa.pa12),
-            &clocks,
+            &rcc.clocks,
         );
 
         unsafe {
@@ -133,22 +128,11 @@ mod app {
 
         let usb_serial = usbd_serial::SerialPort::new(unsafe { USB_BUS.as_ref().unwrap() });
 
-        let serial = unsafe {
+        let uid = signature::Uid::get();
-            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();
+            write!(SERIAL, "{}{:x}{:x}", uid.lot_num(), uid.x(), uid.y()).unwrap();
         }
 
         let usb_dev = unsafe {
@@ -161,7 +145,6 @@ mod app {
                 .unwrap()
                 .build()
         };
-
         defmt::info!("USB Setup done");
 
         // Todo: Check if internal pullups work here
@@ -173,7 +156,7 @@ mod app {
             i2c::Mode::Standard {
                 frequency: 400.kHz(),
             },
-            &clocks,
+            &mut rcc,
         );
 
         defmt::info!("I2C Setup done");
@@ -197,32 +180,42 @@ mod app {
         let pico = gpioa.pa7.into_push_pull_output();
         let spi1 = spi::Spi::new(
             cx.device.SPI1,
-            (sck, poci, pico),
+            (Some(sck), Some(poci), Some(pico)),
             spi::Mode {
                 polarity: spi::Polarity::IdleLow,
-                phase: spi::Phase::CaptureOnFirstTransition,
+                phase: spi::Phase::CaptureOnSecondTransition,
             },
             8.MHz(),
-            &clocks,
+            &mut rcc,
         );
 
         defmt::info!("SPI Setup done");
 
-        let az_enable = gpioa.pa10.into_push_pull_output();
+        let mut az_enable = gpiob.pb8.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();
 
-        let el_enable = gpiob.pb4.into_push_pull_output();
+        let mut el_enable = gpiob.pb4.into_push_pull_output();
+        el_enable.set_high();
         let el_dir = gpioa.pa8.into_push_pull_output();
         let el_step = gpioa.pa9.into_push_pull_output();
 
         defmt::info!("Motor Setup done");
 
-        //poll_i2c::spawn().ok();
+        poll_i2c::spawn().ok();
-        //poll_spi::spawn().ok();
+        poll_spi::spawn().ok();
+        move_az::spawn().ok();
+        move_el::spawn().ok();
 
         (
-            Shared { az_angle: 0 },
+            Shared {
+                az_angle: 0,
+                az_target: 0,
+                el_angle: 0,
+                el_target: 0,
+                az_compass: 0,
+            },
             Local {
                 i2cmux,
                 board_led,
@@ -247,8 +240,8 @@ mod app {
         )
     }
 
-    #[task(local = [i2cmux, board_led])]
+    #[task(local = [i2cmux, board_led], shared = [az_compass])]
-    async fn poll_i2c(cx: poll_i2c::Context) {
+    async fn poll_i2c(mut cx: poll_i2c::Context) {
         let i2cmux = cx.local.i2cmux;
         let board_led = cx.local.board_led;
 
@@ -280,6 +273,11 @@ mod app {
                             heading -= 2.0 * f32::PI();
                         }
                         let heading_degrees = heading * 180.0 / f32::PI();
+
+                        cx.shared.az_compass.lock(|az_compass| {
+                            *az_compass = heading_degrees as i32 * 10;
+                        });
+
                         defmt::info!("Heading1 {}", heading_degrees);
                         break;
                     }
@@ -321,16 +319,18 @@ mod app {
         }
     }
 
-    #[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle])]
+    #[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle, el_angle])]
     async fn poll_spi(mut cx: poll_spi::Context) {
         let spi1 = cx.local.spi1;
         let encoder_az = cx.local.encoder_az;
+        let encoder_el = cx.local.encoder_el;
 
         loop {
+            /*
             let (diag, gain) = encoder_az.diag_gain(spi1).unwrap();
             defmt::info!("diag: {:08b} gain: {}", diag, gain);
             defmt::info!("magnitude: {:?}", encoder_az.magnitude(spi1).unwrap());
-
+            */
             let raw_angle = encoder_az.angle(spi1).unwrap();
             let angle_deg = raw_angle as i32 * 3600 / 16384;
 
@@ -338,45 +338,113 @@ mod app {
                 *az_angle = angle_deg;
             });
 
-            defmt::info!("angle: {:?}", angle_deg);
+            defmt::info!("az angle: {:?}", angle_deg);
 
-            Mono::delay(50.millis()).await;
+            let raw_angle = encoder_el.angle(spi1).unwrap();
+            let angle_deg = raw_angle as i32 * 3600 / 16384;
+
+            cx.shared.el_angle.lock(|el_angle| {
+                *el_angle = angle_deg;
+            });
+
+            defmt::info!("el angle: {:?}", angle_deg);
+
+            Mono::delay(1.millis()).await;
         }
     }
 
-    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle])]
+    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_target])]
     async fn move_az(mut cx: move_az::Context) {
         let az_enable = cx.local.az_enable;
         let az_dir = cx.local.az_dir;
         let az_step = cx.local.az_step;
 
-        let az_target = 42i32;
-
         loop {
+            let az_target = cx.shared.az_target.lock(|az_target| *az_target);
             let az_angle = cx.shared.az_angle.lock(|az_angle| *az_angle);
             let diff = az_angle - az_target;
-            if diff.abs() > 2 {
-                az_enable.set_high();
 
-                if diff > 0 {
+            defmt::info!(
+                "angle diff/target/actual: {:?}/{:?}/{:?}",
+                diff,
+                az_target,
+                az_angle
+            );
+
+            let delay = if diff.abs() < 10 {
+                10.millis()
+            } else if diff < 100 {
+                5.millis()
+            } else {
+                1.millis()
+            };
+
+            if diff.abs() > 50 {
+                az_enable.set_low();
+                if diff < 0 {
                     az_dir.set_high();
                 } else {
                     az_dir.set_low();
                 }
 
-                az_step.set_high();
-                Mono::delay(250.micros()).await;
                 az_step.set_low();
-                Mono::delay(250.micros()).await;
+                Mono::delay(delay / 2).await;
+                az_step.set_high();
+                Mono::delay(delay / 2).await;
             } else {
-                az_enable.set_low();
+                az_enable.set_high();
-                Mono::delay(500.micros()).await;
+                Mono::delay(delay).await;
             }
         }
     }
 
-    #[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
+    #[task(local = [el_enable, el_dir, el_step], shared = [el_angle, el_target])]
-    fn usb_fs(cx: usb_fs::Context) {
+    async fn move_el(mut cx: move_el::Context) {
+        let el_enable = cx.local.el_enable;
+        let el_dir = cx.local.el_dir;
+        let el_step = cx.local.el_step;
+
+        loop {
+            let el_target = cx.shared.el_target.lock(|el_target| *el_target);
+            let el_angle = cx.shared.el_angle.lock(|el_angle| *el_angle);
+            let diff = el_angle - el_target;
+
+            defmt::info!(
+                "angle diff/target/actual: {:?}/{:?}/{:?}",
+                diff,
+                el_target,
+                el_angle
+            );
+
+            let delay = if diff.abs() < 10 {
+                10.millis()
+            } else if diff < 100 {
+                5.millis()
+            } else {
+                1.millis()
+            };
+
+            if diff.abs() > 50 {
+                el_enable.set_low();
+                if diff < 0 {
+                    el_dir.set_high();
+                } else {
+                    el_dir.set_low();
+                }
+
+                el_step.set_low();
+                Mono::delay(delay / 2).await;
+                el_step.set_high();
+                Mono::delay(delay / 2).await;
+            } else {
+                el_enable.set_high();
+                Mono::delay(delay).await;
+            }
+        }
+    }
+
+    #[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer], shared=[az_target, el_target, az_angle, el_angle])]
+    fn usb_fs(mut cx: usb_fs::Context) {
         let usb_dev = cx.local.usb_dev;
         let serial = cx.local.usb_serial;
         let buffer = cx.local.usb_buffer;
@@ -409,8 +477,8 @@ mod app {
                         HostMessage::RequestStatus => {
                             let status = StatusMessage {
                                 position: Position {
-                                    az: 42.0,
+                                    az: cx.shared.az_angle.lock(|az| (*az / 10) as f32),
-                                    el: 23.0,
+                                    el: cx.shared.el_angle.lock(|el| (*el / 10) as f32),
                                     az_endcoder: 0.0,
                                     el_encoder: 0.0,
                                     az_magnetic: 0.0,
@@ -423,6 +491,10 @@ mod app {
                                 to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
                             serial.write(bytes.as_slice()).unwrap();
                         }
+                        HostMessage::SetTarget(pos) => {
+                            cx.shared.az_target.lock(|az| *az = (pos.az * 10.0) as i32);
+                            cx.shared.el_target.lock(|el| *el = (pos.el * 10.0) as i32);
+                        }
                         HostMessage::TriggerDFUBootloader => {
                             bootloader::reboot_to_bootloader();
                         }

memory.x

@@ -1,7 +1,7 @@
 MEMORY
 {
   FLASH : ORIGIN = 0x08000000, LENGTH = 256K 
-  UNINIT: ORIGIN = 0x20000000, LENGTH = 0x10
+  UNINIT : ORIGIN = 0x20000000, LENGTH = 0x10
   RAM : ORIGIN = 0x20000010, LENGTH = 64K - LENGTH(UNINIT)
 }
 

protocol/Cargo.toml

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

protocol/src/lib.rs

@@ -11,6 +11,7 @@ pub enum RadomMessage {
 #[derive(Serialize, Deserialize, Debug, PartialEq)]
 pub enum HostMessage {
     RequestStatus,
+    SetTarget(PositionTarget),
     TriggerDFUBootloader,
 }
 
@@ -35,3 +36,9 @@ pub enum Alarm {
     AZEncoderFault,
     ELEncoderFault,
 }
+
+#[derive(Serialize, Deserialize, Debug, PartialEq)]
+pub struct PositionTarget {
+    pub az: f32,
+    pub el: f32,
+}