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dfu-flashi
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77394816df | ||
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2d0a54eccc | ||
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bf672e3df1 | ||
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78db26addc |
245
Cargo.lock
generated
245
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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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "6d36fc52c7f6c869915e99412912f22093507da8d9e942ceaf66fe4b7c14422a"
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checksum = "6d36fc52c7f6c869915e99412912f22093507da8d9e942ceaf66fe4b7c14422a"
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dependencies = [
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dependencies = [
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"windows-sys 0.52.0",
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"windows-sys",
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]
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]
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[[package]]
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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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checksum = "5bf74e1b6e971609db8ca7a9ce79fd5768ab6ae46441c572e46cf596f59e57f8"
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||||||
dependencies = [
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dependencies = [
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||||||
"anstyle",
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"anstyle",
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"windows-sys 0.52.0",
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"windows-sys",
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]
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]
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[[package]]
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[[package]]
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@ -230,9 +230,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
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||||||
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||||||
[[package]]
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[[package]]
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||||||
name = "bytes"
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name = "bytes"
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||||||
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version = "1.6.1"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "325918d6fe32f23b19878fe4b34794ae41fc19ddbe53b10571a4874d44ffd39b"
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checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
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[[package]]
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[[package]]
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name = "cc"
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name = "cc"
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@ -319,7 +319,7 @@ dependencies = [
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"lazy_static",
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"lazy_static",
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"libc",
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"libc",
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"unicode-width",
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"unicode-width",
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"windows-sys 0.52.0",
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"windows-sys",
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]
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]
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[[package]]
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[[package]]
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@ -611,93 +611,43 @@ dependencies = [
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"nb 1.1.0",
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"nb 1.1.0",
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]
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]
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[[package]]
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name = "futures"
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version = "0.3.31"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
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dependencies = [
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"futures-channel",
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"futures-core",
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"futures-executor",
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"futures-io",
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"futures-sink",
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"futures-task",
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"futures-util",
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]
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[[package]]
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[[package]]
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name = "futures-channel"
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name = "futures-channel"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
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checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
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dependencies = [
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dependencies = [
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"futures-core",
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"futures-core",
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"futures-sink",
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]
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]
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[[package]]
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[[package]]
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name = "futures-core"
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name = "futures-core"
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version = "0.3.31"
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version = "0.3.30"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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dependencies = [
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"futures-core",
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"futures-task",
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"futures-util",
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]
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[[package]]
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name = "futures-io"
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version = "0.3.31"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
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[[package]]
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||||||
name = "futures-macro"
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version = "0.3.31"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.72",
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]
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[[package]]
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[[package]]
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name = "futures-sink"
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name = "futures-sink"
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version = "0.3.31"
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version = "0.3.30"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
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checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
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[[package]]
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[[package]]
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name = "futures-task"
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name = "futures-task"
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version = "0.3.31"
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version = "0.3.30"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
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checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
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||||||
[[package]]
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[[package]]
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||||||
name = "futures-util"
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name = "futures-util"
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version = "0.3.31"
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version = "0.3.30"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
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checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
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||||||
dependencies = [
|
dependencies = [
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||||||
"futures-channel",
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||||||
"futures-core",
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"futures-core",
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||||||
"futures-io",
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||||||
"futures-macro",
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||||||
"futures-sink",
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||||||
"futures-task",
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"futures-task",
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||||||
"memchr",
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||||||
"pin-project-lite",
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"pin-project-lite",
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||||||
"pin-utils",
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"pin-utils",
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||||||
"slab",
|
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||||||
]
|
]
|
||||||
|
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||||||
[[package]]
|
[[package]]
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||||||
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@ -922,7 +872,7 @@ checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"hermit-abi",
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"hermit-abi",
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||||||
"libc",
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"libc",
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||||||
"windows-sys 0.52.0",
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"windows-sys",
|
||||||
]
|
]
|
||||||
|
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||||||
[[package]]
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[[package]]
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||||||
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@ -1030,15 +980,6 @@ version = "2.7.4"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
|
checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
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||||||
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||||||
[[package]]
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||||||
name = "memoffset"
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||||||
version = "0.7.1"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "5de893c32cde5f383baa4c04c5d6dbdd735cfd4a794b0debdb2bb1b421da5ff4"
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||||||
dependencies = [
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||||||
"autocfg",
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||||||
]
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||||||
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||||||
[[package]]
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[[package]]
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||||||
name = "mime"
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name = "mime"
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||||||
version = "0.3.17"
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version = "0.3.17"
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||||||
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@ -1070,18 +1011,6 @@ dependencies = [
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||||||
"adler",
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"adler",
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||||||
]
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]
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||||||
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||||||
[[package]]
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||||||
name = "mio"
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||||||
version = "0.8.11"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "a4a650543ca06a924e8b371db273b2756685faae30f8487da1b56505a8f78b0c"
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||||||
dependencies = [
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||||||
"libc",
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||||||
"log",
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||||||
"wasi",
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||||||
"windows-sys 0.48.0",
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||||||
]
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||||||
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||||||
[[package]]
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[[package]]
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||||||
name = "mio"
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name = "mio"
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||||||
version = "1.0.1"
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version = "1.0.1"
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@ -1091,20 +1020,7 @@ dependencies = [
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||||||
"hermit-abi",
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"hermit-abi",
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||||||
"libc",
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"libc",
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||||||
"wasi",
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"wasi",
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||||||
"windows-sys 0.52.0",
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"windows-sys",
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||||||
]
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||||||
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||||||
[[package]]
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||||||
name = "mio-serial"
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||||||
version = "5.0.5"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "20a4c60ca5c9c0e114b3bd66ff4aa5f9b2b175442be51ca6c4365d687a97a2ac"
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||||||
dependencies = [
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||||||
"log",
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||||||
"mio 0.8.11",
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||||||
"nix",
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||||||
"serialport",
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||||||
"winapi",
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||||||
]
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]
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||||||
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||||||
[[package]]
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[[package]]
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||||||
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@ -1131,8 +1047,6 @@ dependencies = [
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||||||
"bitflags 1.3.2",
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"bitflags 1.3.2",
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||||||
"cfg-if",
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"cfg-if",
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||||||
"libc",
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"libc",
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||||||
"memoffset",
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||||||
"pin-utils",
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||||||
]
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]
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||||||
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||||||
[[package]]
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[[package]]
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||||||
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@ -1280,7 +1194,7 @@ dependencies = [
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||||||
"libc",
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"libc",
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||||||
"redox_syscall",
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"redox_syscall",
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||||||
"smallvec",
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"smallvec",
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||||||
"windows-targets 0.52.6",
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"windows-targets",
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||||||
]
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]
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||||||
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||||||
[[package]]
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@ -1451,12 +1365,9 @@ version = "0.1.0"
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||||||
dependencies = [
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dependencies = [
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||||||
"anyhow",
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"anyhow",
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"axum",
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"axum",
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"bytes",
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"clap",
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"clap",
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||||||
"dfu-libusb",
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"dfu-libusb",
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||||||
"fern",
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"fern",
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"futures",
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"futures-util",
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||||||
"humantime",
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"humantime",
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||||||
"indicatif",
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"indicatif",
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||||||
"libusb1-sys",
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"libusb1-sys",
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||||||
"serialport",
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"serialport",
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||||||
"tokio",
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"tokio",
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||||||
"tokio-macros 0.2.6",
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"tokio-macros 0.2.6",
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||||||
"tokio-serial",
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||||||
"tokio-util",
|
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||||||
"tower-http",
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"tower-http",
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||||||
"tracing",
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"tracing",
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||||||
"tracing-subscriber",
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"tracing-subscriber",
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@ -1722,15 +1631,6 @@ dependencies = [
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||||||
"libc",
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"libc",
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||||||
]
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]
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||||||
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||||||
[[package]]
|
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||||||
name = "slab"
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||||||
version = "0.4.9"
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||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67"
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||||||
dependencies = [
|
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||||||
"autocfg",
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||||||
]
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||||||
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||||||
[[package]]
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[[package]]
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name = "smallvec"
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name = "smallvec"
|
||||||
version = "1.13.2"
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version = "1.13.2"
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||||||
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@ -1744,7 +1644,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
|
checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"libc",
|
"libc",
|
||||||
"windows-sys 0.52.0",
|
"windows-sys",
|
||||||
]
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]
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||||||
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||||||
[[package]]
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[[package]]
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||||||
"backtrace",
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"backtrace",
|
||||||
"bytes",
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"bytes",
|
||||||
"libc",
|
"libc",
|
||||||
"mio 1.0.1",
|
"mio",
|
||||||
"parking_lot",
|
"parking_lot",
|
||||||
"pin-project-lite",
|
"pin-project-lite",
|
||||||
"signal-hook-registry",
|
"signal-hook-registry",
|
||||||
"socket2",
|
"socket2",
|
||||||
"tokio-macros 2.4.0",
|
"tokio-macros 2.4.0",
|
||||||
"windows-sys 0.52.0",
|
"windows-sys",
|
||||||
]
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]
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||||||
|
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||||||
[[package]]
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[[package]]
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@ -1941,32 +1841,15 @@ dependencies = [
|
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"syn 2.0.72",
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"syn 2.0.72",
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||||||
]
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]
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||||||
[[package]]
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||||||
name = "tokio-serial"
|
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||||||
version = "5.4.4"
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|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
checksum = "aa6e2e4cf0520a99c5f87d5abb24172b5bd220de57c3181baaaa5440540c64aa"
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|
||||||
dependencies = [
|
|
||||||
"bytes",
|
|
||||||
"cfg-if",
|
|
||||||
"futures",
|
|
||||||
"log",
|
|
||||||
"mio-serial",
|
|
||||||
"tokio",
|
|
||||||
"tokio-util",
|
|
||||||
]
|
|
||||||
|
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||||||
[[package]]
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[[package]]
|
||||||
name = "tokio-util"
|
name = "tokio-util"
|
||||||
version = "0.7.13"
|
version = "0.7.11"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "d7fcaa8d55a2bdd6b83ace262b016eca0d79ee02818c5c1bcdf0305114081078"
|
checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"bytes",
|
"bytes",
|
||||||
"futures-core",
|
"futures-core",
|
||||||
"futures-sink",
|
"futures-sink",
|
||||||
"futures-util",
|
|
||||||
"hashbrown",
|
|
||||||
"pin-project-lite",
|
"pin-project-lite",
|
||||||
"tokio",
|
"tokio",
|
||||||
]
|
]
|
||||||
|
|
@ -2234,37 +2117,13 @@ version = "0.4.0"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "windows-sys"
|
|
||||||
version = "0.48.0"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
|
|
||||||
dependencies = [
|
|
||||||
"windows-targets 0.48.5",
|
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows-sys"
|
name = "windows-sys"
|
||||||
version = "0.52.0"
|
version = "0.52.0"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
|
checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"windows-targets 0.52.6",
|
"windows-targets",
|
||||||
]
|
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "windows-targets"
|
|
||||||
version = "0.48.5"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
|
|
||||||
dependencies = [
|
|
||||||
"windows_aarch64_gnullvm 0.48.5",
|
|
||||||
"windows_aarch64_msvc 0.48.5",
|
|
||||||
"windows_i686_gnu 0.48.5",
|
|
||||||
"windows_i686_msvc 0.48.5",
|
|
||||||
"windows_x86_64_gnu 0.48.5",
|
|
||||||
"windows_x86_64_gnullvm 0.48.5",
|
|
||||||
"windows_x86_64_msvc 0.48.5",
|
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
|
|
@ -2273,46 +2132,28 @@ version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
|
checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
|
||||||
dependencies = [
|
dependencies = [
|
||||||
"windows_aarch64_gnullvm 0.52.6",
|
"windows_aarch64_gnullvm",
|
||||||
"windows_aarch64_msvc 0.52.6",
|
"windows_aarch64_msvc",
|
||||||
"windows_i686_gnu 0.52.6",
|
"windows_i686_gnu",
|
||||||
"windows_i686_gnullvm",
|
"windows_i686_gnullvm",
|
||||||
"windows_i686_msvc 0.52.6",
|
"windows_i686_msvc",
|
||||||
"windows_x86_64_gnu 0.52.6",
|
"windows_x86_64_gnu",
|
||||||
"windows_x86_64_gnullvm 0.52.6",
|
"windows_x86_64_gnullvm",
|
||||||
"windows_x86_64_msvc 0.52.6",
|
"windows_x86_64_msvc",
|
||||||
]
|
]
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "windows_aarch64_gnullvm"
|
|
||||||
version = "0.48.5"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows_aarch64_gnullvm"
|
name = "windows_aarch64_gnullvm"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
|
checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "windows_aarch64_msvc"
|
|
||||||
version = "0.48.5"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows_aarch64_msvc"
|
name = "windows_aarch64_msvc"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
|
checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "windows_i686_gnu"
|
|
||||||
version = "0.48.5"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows_i686_gnu"
|
name = "windows_i686_gnu"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
|
|
@ -2325,48 +2166,24 @@ version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
|
checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
|
||||||
|
|
||||||
[[package]]
|
|
||||||
name = "windows_i686_msvc"
|
|
||||||
version = "0.48.5"
|
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
|
||||||
checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
|
|
||||||
|
|
||||||
[[package]]
|
[[package]]
|
||||||
name = "windows_i686_msvc"
|
name = "windows_i686_msvc"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
|
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]]
|
[[package]]
|
||||||
name = "windows_x86_64_gnu"
|
name = "windows_x86_64_gnu"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
|
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]]
|
[[package]]
|
||||||
name = "windows_x86_64_gnullvm"
|
name = "windows_x86_64_gnullvm"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
|
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]]
|
[[package]]
|
||||||
name = "windows_x86_64_msvc"
|
name = "windows_x86_64_msvc"
|
||||||
version = "0.52.6"
|
version = "0.52.6"
|
||||||
|
|
|
||||||
|
|
@ -24,8 +24,3 @@ libusb1-sys = "0.6"
|
||||||
rusb = "0.9"
|
rusb = "0.9"
|
||||||
clap = { version = "4.5.19", features = ["derive"] }
|
clap = { version = "4.5.19", features = ["derive"] }
|
||||||
indicatif = "0.17.8"
|
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"
|
|
||||||
|
|
|
||||||
|
|
@ -1,16 +1,7 @@
|
||||||
use anyhow::Result;
|
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 fern::colors::{Color, ColoredLevelConfig};
|
||||||
use log::{debug, error, info, warn, Level};
|
use log::{debug, error, info, warn, Level};
|
||||||
use serde_json::{json, Value};
|
use serde_json::{json, Value};
|
||||||
use std::time::Duration;
|
|
||||||
use std::{borrow::Borrow, io};
|
use std::{borrow::Borrow, io};
|
||||||
use tokio::{
|
use tokio::{
|
||||||
self,
|
self,
|
||||||
|
|
@ -19,7 +10,13 @@ use tokio::{
|
||||||
sync::{mpsc, watch},
|
sync::{mpsc, watch},
|
||||||
task::JoinSet,
|
task::JoinSet,
|
||||||
};
|
};
|
||||||
use tokio_serial;
|
|
||||||
|
use axum::{
|
||||||
|
extract::State,
|
||||||
|
http::StatusCode,
|
||||||
|
routing::{get, post},
|
||||||
|
Json, Router,
|
||||||
|
};
|
||||||
use tower_http::{
|
use tower_http::{
|
||||||
services::{ServeDir, ServeFile},
|
services::{ServeDir, ServeFile},
|
||||||
trace::TraceLayer,
|
trace::TraceLayer,
|
||||||
|
|
@ -89,61 +86,16 @@ struct AxumAppState {
|
||||||
pos_rx: watch::Receiver<(f32, f32)>,
|
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]
|
#[tokio::main]
|
||||||
async fn main() -> Result<()> {
|
async fn main() -> Result<()> {
|
||||||
setup_logger()?;
|
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 (cmd_tx, cmd_rx) = mpsc::channel::<Command>(16);
|
||||||
let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
|
let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
|
||||||
|
|
||||||
let mut tasks = JoinSet::new();
|
let mut tasks = JoinSet::new();
|
||||||
|
|
||||||
tasks.spawn(async move { control_rotor(cmd_rx, pos_tx, radom_port).await });
|
tasks.spawn(async move { control_rotor(cmd_rx, pos_tx).await });
|
||||||
|
|
||||||
let state = AxumAppState {
|
let state = AxumAppState {
|
||||||
pos_rx: pos_rx.clone(),
|
pos_rx: pos_rx.clone(),
|
||||||
|
|
@ -156,14 +108,14 @@ async fn main() -> Result<()> {
|
||||||
.with_state(state)
|
.with_state(state)
|
||||||
.layer(TraceLayer::new_for_http());
|
.layer(TraceLayer::new_for_http());
|
||||||
|
|
||||||
let listener = tokio::net::TcpListener::bind(args.web_listen_address).await?;
|
let listener = tokio::net::TcpListener::bind("0.0.0.0:8000").await?;
|
||||||
axum::serve(listener, app).await?;
|
axum::serve(listener, app).await?;
|
||||||
|
|
||||||
Ok(())
|
Ok(())
|
||||||
});
|
});
|
||||||
|
|
||||||
tasks.spawn(async move {
|
tasks.spawn(async move {
|
||||||
let listener = TcpListener::bind(args.rotctl_listen_address).await?;
|
let listener = TcpListener::bind("127.0.0.1:1337").await?;
|
||||||
|
|
||||||
loop {
|
loop {
|
||||||
let (socket, _) = listener.accept().await?;
|
let (socket, _) = listener.accept().await?;
|
||||||
|
|
|
||||||
|
|
@ -1,11 +1,5 @@
|
||||||
use anyhow::Result;
|
use anyhow::Result;
|
||||||
use bytes::{BufMut, BytesMut};
|
|
||||||
use futures::{stream::StreamExt, SinkExt};
|
|
||||||
use log::{debug, error, info, warn};
|
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::{
|
use tokio::{
|
||||||
self,
|
self,
|
||||||
io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
|
io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
|
||||||
|
|
@ -13,82 +7,46 @@ use tokio::{
|
||||||
sync::{self, mpsc, watch},
|
sync::{self, mpsc, watch},
|
||||||
time,
|
time,
|
||||||
};
|
};
|
||||||
use tokio_serial::SerialPortBuilderExt;
|
|
||||||
use tokio_util::codec::{Decoder, Encoder};
|
|
||||||
|
|
||||||
use crate::rotctlprotocol::{parse_command, Command};
|
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(
|
pub async fn control_rotor(
|
||||||
mut rx_cmd: mpsc::Receiver<Command>,
|
mut rx_cmd: mpsc::Receiver<Command>,
|
||||||
pos_tx: watch::Sender<(f32, f32)>,
|
pos_tx: watch::Sender<(f32, f32)>,
|
||||||
radom_port: String,
|
|
||||||
) -> Result<()> {
|
) -> Result<()> {
|
||||||
let port = tokio_serial::new(radom_port, 115_200)
|
let mut actual_az = 0.0;
|
||||||
.timeout(Duration::from_millis(10))
|
let mut actual_el = 0.0;
|
||||||
.open_native_async()
|
|
||||||
.expect("Failed to open port");
|
|
||||||
|
|
||||||
let (mut port_writer, mut port_reader) = ProtocolCodec.framed(port).split();
|
let mut target_az = 0.0;
|
||||||
|
let mut target_el = 0.0;
|
||||||
|
|
||||||
loop {
|
loop {
|
||||||
tokio::select! {
|
tokio::select! {
|
||||||
Some(command) = rx_cmd.recv() => {
|
Some(command) = rx_cmd.recv() => {
|
||||||
match command {
|
match command {
|
||||||
Command::SetPos(az, el) => {
|
Command::SetPos(az, el) => {
|
||||||
//info!("Received set pos {} {}", az, el);
|
info!("Received set pos {} {}", az, el);
|
||||||
port_writer.send(HostMessage::SetTarget(PositionTarget { az, el })).await?;
|
target_az = az;
|
||||||
|
target_el = el;
|
||||||
}
|
}
|
||||||
_ => {}
|
_ => {}
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
|
||||||
_ = time::sleep(time::Duration::from_millis(100)) => {
|
_ = time::sleep(time::Duration::from_millis(100)) => {
|
||||||
//info!("Requesting status");
|
if target_az < actual_az {
|
||||||
port_writer.send(HostMessage::RequestStatus).await?;
|
actual_az -= 1.0;
|
||||||
},
|
} else if target_az > actual_az {
|
||||||
|
actual_az += 1.0;
|
||||||
|
}
|
||||||
|
|
||||||
msg = port_reader.next() => {
|
if target_el < actual_el {
|
||||||
match msg {
|
actual_el -= 1.0;
|
||||||
Some(Ok(msg)) => {
|
} else if target_el > actual_el {
|
||||||
match msg {
|
actual_el += 1.0;
|
||||||
RadomMessage::Status(status) => {
|
|
||||||
//info!("Received status {:?}", status);
|
|
||||||
pos_tx.send((status.position.az, status.position.el)).unwrap();
|
|
||||||
}
|
|
||||||
_ => {}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
_ => {}
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
pos_tx.send((actual_az, actual_el)).unwrap();
|
||||||
|
},
|
||||||
else => return Ok(())
|
else => return Ok(())
|
||||||
};
|
};
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -19,44 +19,3 @@ rrb = "run --release --bin"
|
||||||
|
|
||||||
[env]
|
[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 # <-
|
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -38,3 +38,50 @@ defmt-debug = []
|
||||||
defmt-info = []
|
defmt-info = []
|
||||||
defmt-warn = []
|
defmt-warn = []
|
||||||
defmt-error = []
|
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::{mem::MaybeUninit, ptr::addr_of_mut};
|
use core::ptr::addr_of_mut;
|
||||||
|
|
||||||
use stm32f4xx_hal::pac;
|
use stm32f4xx_hal::pac;
|
||||||
|
|
||||||
|
|
@ -23,28 +23,33 @@ fn jump_to_bootloader() {
|
||||||
|
|
||||||
const BOOTLOADER_REQUESTED: u32 = 0xdecafbad;
|
const BOOTLOADER_REQUESTED: u32 = 0xdecafbad;
|
||||||
|
|
||||||
#[link_section = ".uninit.DFU_FLAG"]
|
fn magic_mut_ptr() -> *mut u32 {
|
||||||
static mut DFU_FLAG: MaybeUninit<u32> = MaybeUninit::uninit();
|
extern "C" {
|
||||||
|
#[link_name = "_dfu_magic"]
|
||||||
|
static mut magic: u32;
|
||||||
|
}
|
||||||
|
|
||||||
|
unsafe { addr_of_mut!(magic) }
|
||||||
|
}
|
||||||
|
|
||||||
fn get_bootloader_flag() -> u32 {
|
fn get_bootloader_flag() -> u32 {
|
||||||
unsafe { DFU_FLAG.assume_init() }
|
unsafe { magic_mut_ptr().read_volatile() }
|
||||||
}
|
}
|
||||||
|
|
||||||
fn set_bootloader_flag() {
|
fn set_bootloader_flag() {
|
||||||
unsafe { DFU_FLAG.write(BOOTLOADER_REQUESTED) };
|
unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
|
||||||
}
|
}
|
||||||
|
|
||||||
fn clear_bootloader_flag() {
|
fn clear_bootloader_flag() {
|
||||||
unsafe { DFU_FLAG.write(0) };
|
unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn init() {
|
pub fn init() {
|
||||||
let requested = get_bootloader_flag() == BOOTLOADER_REQUESTED;
|
let requested = get_bootloader_flag() == BOOTLOADER_REQUESTED;
|
||||||
if requested {
|
if requested {
|
||||||
|
clear_bootloader_flag();
|
||||||
jump_to_bootloader();
|
jump_to_bootloader();
|
||||||
}
|
}
|
||||||
|
|
||||||
clear_bootloader_flag();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
pub fn reboot_to_bootloader() -> ! {
|
pub fn reboot_to_bootloader() -> ! {
|
||||||
|
|
|
||||||
|
|
@ -43,12 +43,13 @@ mod app {
|
||||||
|
|
||||||
use qmc5883l::{self, QMC5883L};
|
use qmc5883l::{self, QMC5883L};
|
||||||
|
|
||||||
use radomctl_protocol::{HostMessage, *};
|
use radomctl_protocol::*;
|
||||||
|
|
||||||
use crate::bootloader;
|
|
||||||
use rtic_monotonics::systick::prelude::*;
|
use rtic_monotonics::systick::prelude::*;
|
||||||
|
|
||||||
systick_monotonic!(Mono, 4000);
|
use crate::bootloader;
|
||||||
|
|
||||||
|
systick_monotonic!(Mono, 1000);
|
||||||
|
|
||||||
const USB_BUFFER_SIZE: usize = 64;
|
const USB_BUFFER_SIZE: usize = 64;
|
||||||
|
|
||||||
|
|
@ -56,11 +57,6 @@ mod app {
|
||||||
#[shared]
|
#[shared]
|
||||||
struct Shared {
|
struct Shared {
|
||||||
az_angle: i32,
|
az_angle: i32,
|
||||||
az_compass: i32,
|
|
||||||
az_target: i32,
|
|
||||||
|
|
||||||
el_angle: i32,
|
|
||||||
el_target: i32,
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Local resources go here
|
// Local resources go here
|
||||||
|
|
@ -75,7 +71,7 @@ mod app {
|
||||||
spi_cs3: gpiob::PB15<Output<PushPull>>,
|
spi_cs3: gpiob::PB15<Output<PushPull>>,
|
||||||
spi1: spi::Spi<SPI1>,
|
spi1: spi::Spi<SPI1>,
|
||||||
|
|
||||||
az_enable: gpiob::PB8<Output<PushPull>>,
|
az_enable: gpioa::PA10<Output<PushPull>>,
|
||||||
az_dir: gpioa::PA15<Output<PushPull>>,
|
az_dir: gpioa::PA15<Output<PushPull>>,
|
||||||
az_step: gpiob::PB3<Output<PushPull>>,
|
az_step: gpiob::PB3<Output<PushPull>>,
|
||||||
|
|
||||||
|
|
@ -183,7 +179,7 @@ mod app {
|
||||||
defmt::info!("I2C Setup done");
|
defmt::info!("I2C Setup done");
|
||||||
|
|
||||||
let mut i2cmux = Xca9548a::new(i2c, SlaveAddr::default());
|
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");
|
defmt::info!("I2C MUX Setup done");
|
||||||
|
|
||||||
|
|
@ -204,7 +200,7 @@ mod app {
|
||||||
(sck, poci, pico),
|
(sck, poci, pico),
|
||||||
spi::Mode {
|
spi::Mode {
|
||||||
polarity: spi::Polarity::IdleLow,
|
polarity: spi::Polarity::IdleLow,
|
||||||
phase: spi::Phase::CaptureOnSecondTransition,
|
phase: spi::Phase::CaptureOnFirstTransition,
|
||||||
},
|
},
|
||||||
8.MHz(),
|
8.MHz(),
|
||||||
&clocks,
|
&clocks,
|
||||||
|
|
@ -212,31 +208,21 @@ mod app {
|
||||||
|
|
||||||
defmt::info!("SPI Setup done");
|
defmt::info!("SPI Setup done");
|
||||||
|
|
||||||
let mut az_enable = gpiob.pb8.into_push_pull_output();
|
let az_enable = gpioa.pa10.into_push_pull_output();
|
||||||
az_enable.set_high();
|
|
||||||
let az_dir = gpioa.pa15.into_push_pull_output();
|
let az_dir = gpioa.pa15.into_push_pull_output();
|
||||||
let az_step = gpiob.pb3.into_push_pull_output();
|
let az_step = gpiob.pb3.into_push_pull_output();
|
||||||
|
|
||||||
let mut el_enable = gpiob.pb4.into_push_pull_output();
|
let el_enable = gpiob.pb4.into_push_pull_output();
|
||||||
el_enable.set_high();
|
|
||||||
let el_dir = gpioa.pa8.into_push_pull_output();
|
let el_dir = gpioa.pa8.into_push_pull_output();
|
||||||
let el_step = gpioa.pa9.into_push_pull_output();
|
let el_step = gpioa.pa9.into_push_pull_output();
|
||||||
|
|
||||||
defmt::info!("Motor Setup done");
|
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 {
|
Shared { az_angle: 0 },
|
||||||
az_angle: 0,
|
|
||||||
az_target: 0,
|
|
||||||
el_angle: 0,
|
|
||||||
el_target: 0,
|
|
||||||
az_compass: 0,
|
|
||||||
},
|
|
||||||
Local {
|
Local {
|
||||||
i2cmux,
|
i2cmux,
|
||||||
board_led,
|
board_led,
|
||||||
|
|
@ -261,8 +247,8 @@ mod app {
|
||||||
)
|
)
|
||||||
}
|
}
|
||||||
|
|
||||||
#[task(local = [i2cmux, board_led], shared = [az_compass])]
|
#[task(local = [i2cmux, board_led])]
|
||||||
async fn poll_i2c(mut cx: poll_i2c::Context) {
|
async fn poll_i2c(cx: poll_i2c::Context) {
|
||||||
let i2cmux = cx.local.i2cmux;
|
let i2cmux = cx.local.i2cmux;
|
||||||
let board_led = cx.local.board_led;
|
let board_led = cx.local.board_led;
|
||||||
|
|
||||||
|
|
@ -294,11 +280,6 @@ mod app {
|
||||||
heading -= 2.0 * f32::PI();
|
heading -= 2.0 * f32::PI();
|
||||||
}
|
}
|
||||||
let heading_degrees = heading * 180.0 / 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);
|
defmt::info!("Heading1 {}", heading_degrees);
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
@ -340,18 +321,16 @@ mod app {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle, el_angle])]
|
#[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle])]
|
||||||
async fn poll_spi(mut cx: poll_spi::Context) {
|
async fn poll_spi(mut cx: poll_spi::Context) {
|
||||||
let spi1 = cx.local.spi1;
|
let spi1 = cx.local.spi1;
|
||||||
let encoder_az = cx.local.encoder_az;
|
let encoder_az = cx.local.encoder_az;
|
||||||
let encoder_el = cx.local.encoder_el;
|
|
||||||
|
|
||||||
loop {
|
loop {
|
||||||
/*
|
|
||||||
let (diag, gain) = encoder_az.diag_gain(spi1).unwrap();
|
let (diag, gain) = encoder_az.diag_gain(spi1).unwrap();
|
||||||
defmt::info!("diag: {:08b} gain: {}", diag, gain);
|
defmt::info!("diag: {:08b} gain: {}", diag, gain);
|
||||||
defmt::info!("magnitude: {:?}", encoder_az.magnitude(spi1).unwrap());
|
defmt::info!("magnitude: {:?}", encoder_az.magnitude(spi1).unwrap());
|
||||||
*/
|
|
||||||
let raw_angle = encoder_az.angle(spi1).unwrap();
|
let raw_angle = encoder_az.angle(spi1).unwrap();
|
||||||
let angle_deg = raw_angle as i32 * 3600 / 16384;
|
let angle_deg = raw_angle as i32 * 3600 / 16384;
|
||||||
|
|
||||||
|
|
@ -359,113 +338,45 @@ mod app {
|
||||||
*az_angle = angle_deg;
|
*az_angle = angle_deg;
|
||||||
});
|
});
|
||||||
|
|
||||||
defmt::info!("az angle: {:?}", angle_deg);
|
defmt::info!("angle: {:?}", angle_deg);
|
||||||
|
|
||||||
let raw_angle = encoder_el.angle(spi1).unwrap();
|
Mono::delay(50.millis()).await;
|
||||||
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, az_target])]
|
#[task(local = [az_enable, az_dir, az_step], shared = [az_angle])]
|
||||||
async fn move_az(mut cx: move_az::Context) {
|
async fn move_az(mut cx: move_az::Context) {
|
||||||
let az_enable = cx.local.az_enable;
|
let az_enable = cx.local.az_enable;
|
||||||
let az_dir = cx.local.az_dir;
|
let az_dir = cx.local.az_dir;
|
||||||
let az_step = cx.local.az_step;
|
let az_step = cx.local.az_step;
|
||||||
|
|
||||||
|
let az_target = 42i32;
|
||||||
|
|
||||||
loop {
|
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 az_angle = cx.shared.az_angle.lock(|az_angle| *az_angle);
|
||||||
let diff = az_angle - az_target;
|
let diff = az_angle - az_target;
|
||||||
|
if diff.abs() > 2 {
|
||||||
|
az_enable.set_high();
|
||||||
|
|
||||||
defmt::info!(
|
if diff > 0 {
|
||||||
"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();
|
az_dir.set_high();
|
||||||
} else {
|
} else {
|
||||||
az_dir.set_low();
|
az_dir.set_low();
|
||||||
}
|
}
|
||||||
|
|
||||||
az_step.set_low();
|
|
||||||
Mono::delay(delay / 2).await;
|
|
||||||
az_step.set_high();
|
az_step.set_high();
|
||||||
Mono::delay(delay / 2).await;
|
Mono::delay(250.micros()).await;
|
||||||
|
az_step.set_low();
|
||||||
|
Mono::delay(250.micros()).await;
|
||||||
} else {
|
} else {
|
||||||
az_enable.set_high();
|
az_enable.set_low();
|
||||||
Mono::delay(delay).await;
|
Mono::delay(500.micros()).await;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
#[task(local = [el_enable, el_dir, el_step], shared = [el_angle, el_target])]
|
#[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer])]
|
||||||
async fn move_el(mut cx: move_el::Context) {
|
fn usb_fs(cx: usb_fs::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 usb_dev = cx.local.usb_dev;
|
||||||
let serial = cx.local.usb_serial;
|
let serial = cx.local.usb_serial;
|
||||||
let buffer = cx.local.usb_buffer;
|
let buffer = cx.local.usb_buffer;
|
||||||
|
|
@ -498,8 +409,8 @@ mod app {
|
||||||
HostMessage::RequestStatus => {
|
HostMessage::RequestStatus => {
|
||||||
let status = StatusMessage {
|
let status = StatusMessage {
|
||||||
position: Position {
|
position: Position {
|
||||||
az: cx.shared.az_angle.lock(|az| (*az / 10) as f32),
|
az: 42.0,
|
||||||
el: cx.shared.el_angle.lock(|el| (*el / 10) as f32),
|
el: 23.0,
|
||||||
az_endcoder: 0.0,
|
az_endcoder: 0.0,
|
||||||
el_encoder: 0.0,
|
el_encoder: 0.0,
|
||||||
az_magnetic: 0.0,
|
az_magnetic: 0.0,
|
||||||
|
|
@ -512,10 +423,6 @@ mod app {
|
||||||
to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
|
to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
|
||||||
serial.write(bytes.as_slice()).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 => {
|
HostMessage::TriggerDFUBootloader => {
|
||||||
bootloader::reboot_to_bootloader();
|
bootloader::reboot_to_bootloader();
|
||||||
}
|
}
|
||||||
|
|
|
||||||
16
memory.x
16
memory.x
|
|
@ -1,9 +1,23 @@
|
||||||
MEMORY
|
MEMORY
|
||||||
{
|
{
|
||||||
FLASH : ORIGIN = 0x08000000, LENGTH = 256K
|
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. */
|
/* This is where the call stack will be allocated. */
|
||||||
/* The stack is of the full descending type. */
|
/* The stack is of the full descending type. */
|
||||||
/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
|
/* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
|
||||||
|
|
|
||||||
|
|
@ -11,7 +11,6 @@ pub enum RadomMessage {
|
||||||
#[derive(Serialize, Deserialize, Debug, PartialEq)]
|
#[derive(Serialize, Deserialize, Debug, PartialEq)]
|
||||||
pub enum HostMessage {
|
pub enum HostMessage {
|
||||||
RequestStatus,
|
RequestStatus,
|
||||||
SetTarget(PositionTarget),
|
|
||||||
TriggerDFUBootloader,
|
TriggerDFUBootloader,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -36,9 +35,3 @@ pub enum Alarm {
|
||||||
AZEncoderFault,
|
AZEncoderFault,
|
||||||
ELEncoderFault,
|
ELEncoderFault,
|
||||||
}
|
}
|
||||||
|
|
||||||
#[derive(Serialize, Deserialize, Debug, PartialEq)]
|
|
||||||
pub struct PositionTarget {
|
|
||||||
pub az: f32,
|
|
||||||
pub el: f32,
|
|
||||||
}
|
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue