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9 commits
dfu-flashi
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bc557ccdeb | ||
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86a33b97a9 |
267
Cargo.lock
generated
267
Cargo.lock
generated
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@ -53,7 +53,7 @@ version = "1.1.1"
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|||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "6d36fc52c7f6c869915e99412912f22093507da8d9e942ceaf66fe4b7c14422a"
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||||
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|
||||
"windows-sys",
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||||
"windows-sys 0.52.0",
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||||
]
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[[package]]
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@ -63,7 +63,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5bf74e1b6e971609db8ca7a9ce79fd5768ab6ae46441c572e46cf596f59e57f8"
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||||
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|
||||
"anstyle",
|
||||
"windows-sys",
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"windows-sys 0.52.0",
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||||
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[[package]]
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@ -230,9 +230,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
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[[package]]
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||||
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||||
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||||
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
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||||
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||||
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||||
[[package]]
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name = "cc"
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@ -319,7 +319,7 @@ dependencies = [
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|||
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"libc",
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"windows-sys",
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[[package]]
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@ -612,42 +612,92 @@ dependencies = [
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]
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[[package]]
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
[[package]]
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
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||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
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||||
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@ -872,7 +922,7 @@ checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
|
|||
dependencies = [
|
||||
"hermit-abi",
|
||||
"libc",
|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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@ -980,6 +1030,15 @@ version = "2.7.4"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||
checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
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||||
|
||||
[[package]]
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||||
name = "memoffset"
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||||
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||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "mime"
|
||||
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|
||||
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@ -1011,6 +1070,18 @@ dependencies = [
|
|||
"adler",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "mio"
|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "mio"
|
||||
version = "1.0.1"
|
||||
|
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@ -1020,7 +1091,20 @@ dependencies = [
|
|||
"hermit-abi",
|
||||
"libc",
|
||||
"wasi",
|
||||
"windows-sys",
|
||||
"windows-sys 0.52.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "mio-serial"
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||||
version = "5.0.5"
|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
"nix",
|
||||
"serialport",
|
||||
"winapi",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
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@ -1047,6 +1131,8 @@ dependencies = [
|
|||
"bitflags 1.3.2",
|
||||
"cfg-if",
|
||||
"libc",
|
||||
"memoffset",
|
||||
"pin-utils",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
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@ -1194,7 +1280,7 @@ dependencies = [
|
|||
"libc",
|
||||
"redox_syscall",
|
||||
"smallvec",
|
||||
"windows-targets",
|
||||
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|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
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@ -1365,9 +1451,12 @@ version = "0.1.0"
|
|||
dependencies = [
|
||||
"anyhow",
|
||||
"axum",
|
||||
"bytes",
|
||||
"clap",
|
||||
"dfu-libusb",
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
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@ -1380,6 +1469,8 @@ dependencies = [
|
|||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
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@ -1631,6 +1722,15 @@ dependencies = [
|
|||
"libc",
|
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|
||||
|
||||
[[package]]
|
||||
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|
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|
||||
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||||
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|
||||
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|
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@ -1644,7 +1744,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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|
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|
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|
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||||
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|
||||
|
||||
[[package]]
|
||||
|
|
@ -1810,13 +1910,13 @@ dependencies = [
|
|||
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|
||||
"bytes",
|
||||
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
||||
[[package]]
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|
|
@ -1842,14 +1942,31 @@ dependencies = [
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|
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
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|
||||
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||||
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|
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|
|
@ -2117,13 +2234,37 @@ version = "0.4.0"
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|
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|
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|
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|
||||
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|
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|
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|
||||
|
||||
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||||
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|
||||
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|
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
|
||||
[[package]]
|
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|
|
@ -2132,28 +2273,46 @@ version = "0.52.6"
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|
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|
||||
checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
|
||||
|
||||
[[package]]
|
||||
name = "windows_aarch64_msvc"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_gnu"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_gnu"
|
||||
version = "0.52.6"
|
||||
|
|
@ -2166,24 +2325,48 @@ version = "0.52.6"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_msvc"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
|
||||
|
||||
[[package]]
|
||||
name = "windows_i686_msvc"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnu"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnu"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnullvm"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_gnullvm"
|
||||
version = "0.52.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_msvc"
|
||||
version = "0.48.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
|
||||
|
||||
[[package]]
|
||||
name = "windows_x86_64_msvc"
|
||||
version = "0.52.6"
|
||||
|
|
|
|||
|
|
@ -24,3 +24,8 @@ libusb1-sys = "0.6"
|
|||
rusb = "0.9"
|
||||
clap = { version = "4.5.19", features = ["derive"] }
|
||||
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-util = "0.3.31"
|
||||
futures = "0.3.31"
|
||||
|
|
|
|||
|
|
@ -1,7 +1,16 @@
|
|||
use anyhow::Result;
|
||||
use anyhow::{anyhow, Context};
|
||||
use axum::{
|
||||
extract::State,
|
||||
http::StatusCode,
|
||||
routing::{get, post},
|
||||
Json, Router,
|
||||
};
|
||||
use clap::Parser;
|
||||
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,
|
||||
|
|
@ -10,13 +19,7 @@ use tokio::{
|
|||
sync::{mpsc, watch},
|
||||
task::JoinSet,
|
||||
};
|
||||
|
||||
use axum::{
|
||||
extract::State,
|
||||
http::StatusCode,
|
||||
routing::{get, post},
|
||||
Json, Router,
|
||||
};
|
||||
use tokio_serial;
|
||||
use tower_http::{
|
||||
services::{ServeDir, ServeFile},
|
||||
trace::TraceLayer,
|
||||
|
|
@ -86,16 +89,61 @@ 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 +156,14 @@ 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?;
|
||||
|
|
|
|||
|
|
@ -1,5 +1,11 @@
|
|||
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::{env, io, str, time::Duration};
|
||||
use tokio::time::sleep;
|
||||
use tokio::{
|
||||
self,
|
||||
io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
|
||||
|
|
@ -7,46 +13,82 @@ use tokio::{
|
|||
sync::{self, mpsc, watch},
|
||||
time,
|
||||
};
|
||||
use tokio_serial::SerialPortBuilderExt;
|
||||
use tokio_util::codec::{Decoder, Encoder};
|
||||
|
||||
use crate::rotctlprotocol::{parse_command, 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 mut actual_el = 0.0;
|
||||
let port = tokio_serial::new(radom_port, 115_200)
|
||||
.timeout(Duration::from_millis(10))
|
||||
.open_native_async()
|
||||
.expect("Failed to open port");
|
||||
|
||||
let mut target_az = 0.0;
|
||||
let mut target_el = 0.0;
|
||||
let (mut port_writer, mut port_reader) = ProtocolCodec.framed(port).split();
|
||||
|
||||
loop {
|
||||
tokio::select! {
|
||||
Some(command) = rx_cmd.recv() => {
|
||||
match command {
|
||||
Command::SetPos(az, el) => {
|
||||
info!("Received set pos {} {}", az, el);
|
||||
target_az = az;
|
||||
target_el = el;
|
||||
//info!("Received set pos {} {}", az, el);
|
||||
port_writer.send(HostMessage::SetTarget(PositionTarget { az, el })).await?;
|
||||
}
|
||||
_ => {}
|
||||
}
|
||||
},
|
||||
|
||||
_ = time::sleep(time::Duration::from_millis(100)) => {
|
||||
if target_az < actual_az {
|
||||
actual_az -= 1.0;
|
||||
} 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();
|
||||
//info!("Requesting status");
|
||||
port_writer.send(HostMessage::RequestStatus).await?;
|
||||
},
|
||||
|
||||
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(())
|
||||
};
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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 # <-
|
||||
|
||||
|
|
|
|||
|
|
@ -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)" }
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
use core::ptr::addr_of_mut;
|
||||
use core::{mem::MaybeUninit, ptr::addr_of_mut};
|
||||
|
||||
use stm32f4xx_hal::pac;
|
||||
|
||||
|
|
@ -23,33 +23,28 @@ fn jump_to_bootloader() {
|
|||
|
||||
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) }
|
||||
}
|
||||
#[link_section = ".uninit.DFU_FLAG"]
|
||||
static mut DFU_FLAG: MaybeUninit<u32> = MaybeUninit::uninit();
|
||||
|
||||
fn get_bootloader_flag() -> u32 {
|
||||
unsafe { magic_mut_ptr().read_volatile() }
|
||||
unsafe { DFU_FLAG.assume_init() }
|
||||
}
|
||||
|
||||
fn set_bootloader_flag() {
|
||||
unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
|
||||
unsafe { DFU_FLAG.write(BOOTLOADER_REQUESTED) };
|
||||
}
|
||||
|
||||
fn clear_bootloader_flag() {
|
||||
unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
|
||||
unsafe { DFU_FLAG.write(0) };
|
||||
}
|
||||
|
||||
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() -> ! {
|
||||
|
|
|
|||
|
|
@ -43,13 +43,12 @@ mod app {
|
|||
|
||||
use qmc5883l::{self, QMC5883L};
|
||||
|
||||
use radomctl_protocol::*;
|
||||
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
use radomctl_protocol::{HostMessage, *};
|
||||
|
||||
use crate::bootloader;
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
|
||||
systick_monotonic!(Mono, 1000);
|
||||
systick_monotonic!(Mono, 4000);
|
||||
|
||||
const USB_BUFFER_SIZE: usize = 64;
|
||||
|
||||
|
|
@ -57,6 +56,11 @@ 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 +75,7 @@ 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>>,
|
||||
|
||||
|
|
@ -179,7 +183,7 @@ 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");
|
||||
|
||||
|
|
@ -200,7 +204,7 @@ mod app {
|
|||
(sck, poci, pico),
|
||||
spi::Mode {
|
||||
polarity: spi::Polarity::IdleLow,
|
||||
phase: spi::Phase::CaptureOnFirstTransition,
|
||||
phase: spi::Phase::CaptureOnSecondTransition,
|
||||
},
|
||||
8.MHz(),
|
||||
&clocks,
|
||||
|
|
@ -208,21 +212,31 @@ mod app {
|
|||
|
||||
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_spi::spawn().ok();
|
||||
poll_i2c::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 +261,8 @@ mod app {
|
|||
)
|
||||
}
|
||||
|
||||
#[task(local = [i2cmux, board_led])]
|
||||
async fn poll_i2c(cx: poll_i2c::Context) {
|
||||
#[task(local = [i2cmux, board_led], shared = [az_compass])]
|
||||
async fn poll_i2c(mut cx: poll_i2c::Context) {
|
||||
let i2cmux = cx.local.i2cmux;
|
||||
let board_led = cx.local.board_led;
|
||||
|
||||
|
|
@ -280,6 +294,11 @@ 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 +340,18 @@ 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 +359,113 @@ 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();
|
||||
Mono::delay(500.micros()).await;
|
||||
az_enable.set_high();
|
||||
Mono::delay(delay).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
|
||||
fn usb_fs(cx: usb_fs::Context) {
|
||||
#[task(local = [el_enable, el_dir, el_step], shared = [el_angle, el_target])]
|
||||
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 +498,8 @@ mod app {
|
|||
HostMessage::RequestStatus => {
|
||||
let status = StatusMessage {
|
||||
position: Position {
|
||||
az: 42.0,
|
||||
el: 23.0,
|
||||
az: cx.shared.az_angle.lock(|az| (*az / 10) as f32),
|
||||
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 +512,10 @@ 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();
|
||||
}
|
||||
|
|
|
|||
16
memory.x
16
memory.x
|
|
@ -1,23 +1,9 @@
|
|||
MEMORY
|
||||
{
|
||||
FLASH : ORIGIN = 0x08000000, LENGTH = 256K
|
||||
UNINIT: ORIGIN = 0x20000000, LENGTH = 0x10
|
||||
RAM : ORIGIN = 0x20000010, LENGTH = 64K - LENGTH(UNINIT)
|
||||
RAM : ORIGIN = 0x20000000, LENGTH = 64K
|
||||
}
|
||||
|
||||
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 */
|
||||
|
|
|
|||
|
|
@ -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,
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue