Added progress to flash tool

.gitignore

@@ -1,2 +1,3 @@
 /target
-/*/output.log
+/*/output.log
+*.bin

Cargo.lock

@@ -1,6 +1,6 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 
 [[package]]
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@@ -17,6 +17,55 @@ version = "1.0.2"
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 checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
 
+[[package]]
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+checksum = "64e15c1ab1f89faffbf04a634d5e1962e9074f2741eef6d97f3c4e322426d526"
+dependencies = [
+ "anstyle",
+ "anstyle-parse",
+ "anstyle-query",
+ "anstyle-wincon",
+ "colorchoice",
+ "is_terminal_polyfill",
+ "utf8parse",
+]
+
+[[package]]
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+version = "1.0.8"
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+checksum = "1bec1de6f59aedf83baf9ff929c98f2ad654b97c9510f4e70cf6f661d49fd5b1"
+
+[[package]]
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+checksum = "eb47de1e80c2b463c735db5b217a0ddc39d612e7ac9e2e96a5aed1f57616c1cb"
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+ "utf8parse",
+]
+
+[[package]]
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+ "windows-sys",
+]
+
+[[package]]
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+checksum = "5bf74e1b6e971609db8ca7a9ce79fd5768ab6ae46441c572e46cf596f59e57f8"
+dependencies = [
+ "anstyle",
+ "windows-sys",
+]
+
 [[package]]
 name = "anyhow"
 version = "1.0.86"
@@ -119,7 +168,7 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "00c055ee2d014ae5981ce1016374e8213682aa14d9bf40e48ab48b5f3ef20eaa"
 dependencies = [
- "heck",
+ "heck 0.4.1",
  "proc-macro2",
  "quote",
  "syn 2.0.72",
@@ -146,7 +195,7 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version",
+ "rustc_version 0.2.3",
 ]
 
 [[package]]
@@ -173,6 +222,12 @@ version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
 [[package]]
 name = "bytes"
 version = "1.6.1"
@@ -191,6 +246,58 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7be5744db7978a28d9df86a214130d106a89ce49644cbc4e3f0c22c3fba30615"
+dependencies = [
+ "clap_builder",
+ "clap_derive",
+]
+
+[[package]]
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+version = "4.5.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a5fbc17d3ef8278f55b282b2a2e75ae6f6c7d4bb70ed3d0382375104bfafdb4b"
+dependencies = [
+ "anstream",
+ "anstyle",
+ "clap_lex",
+ "strsim",
+]
+
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+dependencies = [
+ "heck 0.5.0",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.72",
+]
+
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+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1462739cb27611015575c0c11df5df7601141071f07518d56fcc1be504cbec97"
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
+[[package]]
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+
 [[package]]
 name = "colored"
 version = "1.9.4"
@@ -202,6 +309,25 @@ dependencies = [
  "winapi",
 ]
 
+[[package]]
+name = "console"
+version = "0.15.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0e1f83fc076bd6dd27517eacdf25fef6c4dfe5f1d7448bafaaf3a26f13b5e4eb"
+dependencies = [
+ "encode_unicode",
+ "lazy_static",
+ "libc",
+ "unicode-width",
+ "windows-sys",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
+
 [[package]]
 name = "cortex-m"
 version = "0.7.7"
@@ -302,6 +428,42 @@ dependencies = [
  "powerfmt",
 ]
 
+[[package]]
+name = "dfu-core"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c3fb34e94bedc8bbd76dfc9f6774896fadbbedac6108fa8a3c46a0125bde188"
+dependencies = [
+ "bytes",
+ "displaydoc",
+ "log",
+ "pretty-hex",
+ "thiserror",
+]
+
+[[package]]
+name = "dfu-libusb"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e20ae81db46fd54fede9e71d06c06a382926212831cfd2f758b888e00a321d1"
+dependencies = [
+ "dfu-core",
+ "libusb1-sys",
+ "rusb",
+ "thiserror",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.72",
+]
+
 [[package]]
 name = "document-features"
 version = "0.2.10"
@@ -355,12 +517,30 @@ dependencies = [
  "nb 1.1.0",
 ]
 
+[[package]]
+name = "embedded-io"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
+
+[[package]]
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+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
 [[package]]
 name = "embedded-storage"
 version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
 
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+
 [[package]]
 name = "enumflags2"
 version = "0.7.10"
@@ -482,18 +662,68 @@ version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
 
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
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+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
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 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
 
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+dependencies = [
+ "atomic-polyfill",
+ "hash32 0.2.1",
+ "rustc_version 0.4.1",
+ "serde",
+ "spin",
+ "stable_deref_trait",
+]
+
+[[package]]
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+dependencies = [
+ "defmt",
+ "hash32 0.3.1",
+ "serde",
+ "stable_deref_trait",
+]
+
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 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
 
+[[package]]
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+checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
+
 [[package]]
 name = "hermit-abi"
 version = "0.3.9"
@@ -602,6 +832,38 @@ dependencies = [
  "hashbrown",
 ]
 
+[[package]]
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+version = "0.17.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "763a5a8f45087d6bcea4222e7b72c291a054edf80e4ef6efd2a4979878c7bea3"
+dependencies = [
+ "console",
+ "instant",
+ "number_prefix",
+ "portable-atomic",
+ "unicode-width",
+]
+
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+dependencies = [
+ "cfg-if",
+]
+
+[[package]]
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+checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
+dependencies = [
+ "core-foundation-sys",
+ "mach2",
+]
+
 [[package]]
 name = "is-terminal"
 version = "0.4.12"
@@ -613,6 +875,12 @@ dependencies = [
  "windows-sys",
 ]
 
+[[package]]
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+version = "1.70.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7943c866cc5cd64cbc25b2e01621d07fa8eb2a1a23160ee81ce38704e97b8ecf"
+
 [[package]]
 name = "itoa"
 version = "1.0.11"
@@ -637,6 +905,38 @@ version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
+[[package]]
+name = "libudev"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
+dependencies = [
+ "libc",
+ "libudev-sys",
+]
+
+[[package]]
+name = "libudev-sys"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
+dependencies = [
+ "libc",
+ "pkg-config",
+]
+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+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]]
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+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]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "953ec861398dccce10c670dfeaf3ec4911ca479e9c02154b3a215178c5f566f2"
+
 [[package]]
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 version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "da544ee218f0d287a911e9c99a39a8c9bc8fcad3cb8db5959940044ecfc67265"
 
+[[package]]
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+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]]
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 version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
 
+[[package]]
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+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"

Cargo.toml

@@ -4,6 +4,7 @@ resolver = "2"
 members = [ 
     "daemon",
     "firmware",
+    "protocol",
 ]
 
 

daemon/Cargo.toml

@@ -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"

daemon/src/bin/flash-dfu.rs

@@ -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(())
+}

daemon/src/lib.rs

@@ -0,0 +1,3 @@
+pub mod logger;
+pub mod rotctlprotocol;
+pub mod rotor;

daemon/src/main.rs

@@ -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 radomctld::{
-use rotor::control_rotor;
+    logger::setup_logger,
-
+    rotctlprotocol::{parse_command, Command},
-use rotctlprotocol::{parse_command, Command};
+    rotor::control_rotor,
+};
 
 async fn process_socket(
     socket: TcpStream,

firmware/.cargo/config.toml

@@ -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",

firmware/Cargo.toml

@@ -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

firmware/flash-dfu.sh

@@ -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

firmware/src/bootloader.rs

@@ -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();
+}

firmware/src/main.rs

@@ -6,6 +6,8 @@ use defmt_brtt as _; // global logger
 use panic_probe as _;
 use stm32f4xx_hal as _;
 
+mod bootloader;
+
 // same panicking *behavior* as `panic-probe` but doesn't print a panic message
 // this prevents the panic message being printed *twice* when `defmt::panic` is invoked
 #[defmt::panic_handler]
@@ -13,35 +15,44 @@ fn panic() -> ! {
     cortex_m::asm::udf()
 }
 
-
 #[rtic::app(
     device = stm32f4xx_hal::pac,
     dispatchers = [SPI3]
 )]
 mod app {
 
-    
-
     use as5048a::AS5048A;
-    
+
+    use core::fmt::Write;
+    use heapless::{String, Vec};
+    use num_traits::{Float, FloatConst};
+    use postcard::{from_bytes_cobs, to_vec_cobs};
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
         i2c,
+        otg_fs::{UsbBus, UsbBusType, USB},
         pac::{I2C1, SPI1},
         prelude::*,
-        spi,
+        signature, spi,
     };
-
+    use usb_device::prelude::*;
-    use num_traits::{Float, FloatConst};
+    use usb_device::{class_prelude::UsbBusAllocator, device};
+    use usbd_serial::SerialPort;
 
     use xca9548a::{SlaveAddr, Xca9548a};
 
     use qmc5883l::{self, QMC5883L};
 
+    use radomctl_protocol::*;
+
     use rtic_monotonics::systick::prelude::*;
 
+    use crate::bootloader;
+
     systick_monotonic!(Mono, 1000);
 
+    const USB_BUFFER_SIZE: usize = 64;
+
     // Shared resources go here
     #[shared]
     struct Shared {
@@ -60,17 +71,23 @@ mod app {
         spi_cs3: gpiob::PB15<Output<PushPull>>,
         spi1: spi::Spi<SPI1>,
 
-        az_enable: gpioa::PA12<Output<PushPull>>,
+        az_enable: gpioa::PA10<Output<PushPull>>,
         az_dir: gpioa::PA15<Output<PushPull>>,
         az_step: gpiob::PB3<Output<PushPull>>,
 
         el_enable: gpiob::PB4<Output<PushPull>>,
         el_dir: gpioa::PA8<Output<PushPull>>,
         el_step: gpioa::PA9<Output<PushPull>>,
+
+        usb_dev: UsbDevice<'static, UsbBusType>,
+        usb_serial: SerialPort<'static, UsbBusType>,
+        usb_buffer: Vec<u8, USB_BUFFER_SIZE>,
     }
 
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
+        bootloader::init();
+
         defmt::info!("init");
 
         let rcc = cx.device.RCC.constrain();
@@ -80,19 +97,14 @@ mod app {
         let clocks = rcc
             .cfgr
             .use_hse(25.MHz())
-            .require_pll48clk()
             .sysclk(84.MHz())
-            .hclk(84.MHz())
+            .require_pll48clk()
-            .pclk1(42.MHz())
-            .pclk2(84.MHz())
             .freeze();
 
         Mono::start(cx.core.SYST, clocks.sysclk().to_Hz());
 
         defmt::info!("Clock Setup done");
 
-        defmt::info!("Clock Setup done");
-
         // Acquire the GPIO peripherials
         let gpioa = cx.device.GPIOA.split();
         let gpiob = cx.device.GPIOB.split();
@@ -100,6 +112,58 @@ 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();
@@ -115,7 +179,7 @@ mod app {
         defmt::info!("I2C Setup done");
 
         let mut i2cmux = Xca9548a::new(i2c, SlaveAddr::default());
-        i2cmux.select_channels(0b0000_0001).unwrap();
+        //i2cmux.select_channels(0b0000_0001).unwrap();
 
         defmt::info!("I2C MUX Setup done");
 
@@ -144,7 +208,7 @@ mod app {
 
         defmt::info!("SPI Setup done");
 
-        let az_enable = gpioa.pa12.into_push_pull_output();
+        let az_enable = gpioa.pa10.into_push_pull_output();
         let az_dir = gpioa.pa15.into_push_pull_output();
         let az_step = gpiob.pb3.into_push_pull_output();
 
@@ -154,8 +218,8 @@ mod app {
 
         defmt::info!("Motor Setup done");
 
-        poll_i2c::spawn().ok();
+        //poll_i2c::spawn().ok();
-        poll_spi::spawn().ok();
+        //poll_spi::spawn().ok();
 
         (
             Shared { az_angle: 0 },
@@ -175,6 +239,10 @@ mod app {
                 el_enable,
                 el_dir,
                 el_step,
+
+                usb_dev,
+                usb_serial,
+                usb_buffer: Vec::new(),
             },
         )
     }
@@ -306,4 +374,66 @@ 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;
+            }
+        }
+    }
 }

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 */

protocol/Cargo.toml

@@ -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"]}

protocol/src/lib.rs

@@ -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,
+}