dfu: Add eth cmd, fns to put stm32 into dfu mode

README.md

@@ -41,17 +41,19 @@ gdb target/thumbv7em-none-eabihf/release/kirdy
 ```
 
 ## Flashing
-There are several options for flashing kirdy. DFU requires only a USB-C connector, whereas OpenOCD needs a JTAG/SWD adapter.
+There are several options for flashing kirdy. DFU requires only a USB-C cable or RJ45 cable, whereas OpenOCD needs a JTAG/SWD adapter.
 
 ### dfu-util on Linux
 * Install the DFU USB tool (dfu-util).
 * Convert firmware from ELF to BIN: `arm-none-eabi-objcopy -O binary kirdy kirdy.bin` (you can skip this step if using the BIN from Hydra)
-* Connect to the USB Type C connector to kirdy above the RJ45.
+* Put STM32 into DFU Mode. You can either
-* Add jumper to kirdy v2.0 across 2-pin jumper adjacent to JTAG connector.
+    * Connect to the USB Type C cable to kirdy next to the RJ45 Jack. After that, add BOOT0 jumper to kirdy near programming headers and then cycle board power to put it in DFU mode. OR
-* Cycle board power to put it in DFU update mode
+    * Plug in RJ45 cable, which connect to a network that is accessible by your computer and send the corresponding dfu json command via TCP Socket to kirdy. Please see the python test script for the command.
 * Push firmware to flash: `dfu-util -a 0 -s 0x08000000:leave -D kirdy.bin`
-* Remove jumper
+* If you plugged in the BOOT0 jumper, you will need to
-* Cycle power to leave DFU update mode
+    1. Remove BOOT0 jumper
+    2. Cycle power to leave DFU update mode
+* If you plugged in the RJ45 cable, the MCU would start its application code automatically. No power cycle is needed.
 
 ### st.com DfuSe tool on Windows
 On a Windows machine install [st.com](https://st.com) DfuSe USB device firmware upgrade (DFU) software. [link](https://www.st.com/en/development-tools/stsw-stm32080.html).

eth_cmd_test.py

@@ -14,6 +14,10 @@ import signal
 HOST = "192.168.1.132"
 PORT = 1337
 
+dfu_cmd = {
+    "device_cmd": "Dfu",
+}
+
 ld_cmd = {
     "laser_diode_cmd": "SetI",
     "data_f64": 0.0,

src/device/dfu.rs

@@ -0,0 +1,46 @@
+use cortex_m_rt::pre_init;
+use stm32f4xx_hal::pac::{RCC, SYSCFG};
+use core::arch::asm;
+
+const DFU_TRIG_MSG: u32 = 0xDECAFBAD;
+
+extern "C" {
+    // This symbol comes from memory.x
+    static mut _dfu_msg: u32;
+}
+
+pub unsafe fn set_dfu_trigger() {
+    _dfu_msg = DFU_TRIG_MSG;
+}
+
+/// Called by reset handler in lib.rs immediately after reset.
+/// This function should not be called outside of reset handler as 
+/// bootloader expects MCU to be in reset state when called.
+#[cfg(target_arch = "arm")]
+#[pre_init]
+unsafe fn __pre_init() {
+    if _dfu_msg == DFU_TRIG_MSG {
+        _dfu_msg = 0x00000000;
+
+        // Enable system config controller clock
+        let rcc = &*RCC::ptr();
+        rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
+
+        // Bypass BOOT pins and remap bootloader to 0x00000000
+        let syscfg = &*SYSCFG::ptr() ;
+        syscfg.memrm.write(|w| w.mem_mode().bits(0b01));  
+
+        // Impose instruction and memory barriers
+        cortex_m::asm::isb();
+        cortex_m::asm::dsb();
+        
+        asm!(
+            // Set stack pointer to bootloader location
+            "LDR R0, =0x1FFF0000",
+            "LDR SP,[R0, #0]",
+            // Jump to bootloader
+            "LDR R0,[R0, #4]",
+            "BX R0",
+        );
+    }
+}

src/device/mod.rs

@@ -6,3 +6,4 @@ pub mod sys_timer;
 pub mod usb;
 pub mod flash_store;
 pub mod hw_rev;
+pub mod dfu;

src/main.rs

@@ -18,6 +18,7 @@ use uom::si::power::milliwatt;
 use uom::si::f64::{ElectricPotential, ElectricCurrent, Power, ThermodynamicTemperature};
 use serde::{Serialize, Deserialize};
 
+use stm32f4xx_hal::pac::SCB;
 // If RTT is used, print panic info through RTT
 #[cfg(all(feature = "RTT", not(test)))]
 use {core::panic::PanicInfo, rtt_target::rprintln};
@@ -77,41 +78,58 @@ fn main() -> ! {
     let milli_amp_fmt = ElectricCurrent::format_args(milliampere, Abbreviation);
     let milli_watt_fmt = Power::format_args(milliwatt, Abbreviation);
 
+    let mut should_reset = false;
+
     loop {
         wd.feed();
 
-        let mut eth_is_pending = false;
+        if !should_reset {
+            let mut eth_is_pending = false;
         
-        if thermostat.poll_adc_and_update_pid() {
+            if thermostat.poll_adc_and_update_pid() {
-            info!("curr_dac_vfb: {:?}", volt_fmt.with(thermostat.get_dac_vfb()));
+                info!("curr_dac_vfb: {:?}", volt_fmt.with(thermostat.get_dac_vfb()));
-            info!("curr_vref: {:?}", volt_fmt.with(thermostat.get_vref()));
+                info!("curr_vref: {:?}", volt_fmt.with(thermostat.get_vref()));
-            info!("curr_tec_i: {:?}", amp_fmt.with(thermostat.get_tec_i()));
+                info!("curr_tec_i: {:?}", amp_fmt.with(thermostat.get_tec_i()));
-            info!("curr_tec_v: {:?}", volt_fmt.with(thermostat.get_tec_v()));
+                info!("curr_tec_v: {:?}", volt_fmt.with(thermostat.get_tec_v()));
 
-            info!("curr_ld_drive_cuurent: {:?}", milli_amp_fmt.with(laser.get_ld_drive_current()));
+                info!("curr_ld_drive_cuurent: {:?}", milli_amp_fmt.with(laser.get_ld_drive_current()));
                 
-            info!("pd_mon_v: {:?}", volt_fmt.with(laser.pd_mon_status().v));
+                info!("pd_mon_v: {:?}", volt_fmt.with(laser.pd_mon_status().v));
-            info!("power_excursion: {:?}", laser.pd_mon_status().pwr_excursion);
+                info!("power_excursion: {:?}", laser.pd_mon_status().pwr_excursion);
                 
-            info!("Termination Status: {:?}", laser.get_term_status());
+                info!("Termination Status: {:?}", laser.get_term_status());
-        }
+            }
             
-        if net::net::eth_is_socket_active() {
+            if net::net::eth_is_socket_active() {
-            cortex_m::interrupt::free(|cs| 
+                cortex_m::interrupt::free(|cs| 
-                {
+                    {
-                eth_is_pending = net::net::is_pending(cs);
+                    eth_is_pending = net::net::is_pending(cs);
+                    }
+                );
+
+                if eth_is_pending {
+                    unsafe{
+                        cortex_m::interrupt::free(|cs| {
+                            net::net::clear_pending(cs);
+                        });
+                        let bytes = net::net::eth_recv(&mut ETH_DATA_BUFFER);
+                        debug!("Number of bytes recv: {:?}", bytes);
+                        (laser, thermostat, should_reset) = net::cmd_handler::execute_cmd(&mut ETH_DATA_BUFFER, bytes, laser, thermostat);
+                    }
                 }
-            );
+            }
+        } else {
+            // Should reset, close all TCP sockets.
+            let mut any_socket_alive = false;
+            if net::net::eth_is_socket_active() {
+                net::net::eth_close_socket();
+                 any_socket_alive = true;
+            }
 
-            if eth_is_pending {
+            // Must let loop run for one more cycle to poll server for RST to be sent,
-                unsafe{
+            // this makes sure system does not reset right after socket.abort() is called.
-                    cortex_m::interrupt::free(|cs| {
+            if !any_socket_alive {
-                        net::net::clear_pending(cs);
+                SCB::sys_reset();
-                    });
-                    let bytes = net::net::eth_recv(&mut ETH_DATA_BUFFER);
-                    debug!("Number of bytes recv: {:?}", bytes);
-                    (laser, thermostat) = net::cmd_handler::execute_cmd(&mut ETH_DATA_BUFFER, bytes, laser, thermostat);
-                }
             }  
         }
     }

src/net/cmd_handler.rs

@@ -1,4 +1,4 @@
-use core::fmt::Debug;
+use core::{default, fmt::Debug};
 use miniconf::{JsonCoreSlash, Tree};
 use serde::{Deserialize, Serialize};
 use uom::si::{
@@ -10,8 +10,16 @@ use uom::si::{
 use crate::{laser_diode::laser_diode::LdDrive, net::net, thermostat::thermostat::StatusReport};
 use crate::thermostat::thermostat::Thermostat;
 use crate::thermostat::pid_state::PidSettings::*;
+use crate::device::dfu;
 use log::info;
 
+#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
+enum DeviceCmd {
+    #[default]
+    Reserved,
+    Dfu
+}
+
 #[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
 enum LdCmdEnum {
     #[default]
@@ -70,6 +78,7 @@ enum ThermostatCmdEnum {
 pub struct CmdJsonObj{
     laser_diode_cmd: Option<LdCmdEnum>,
     thermostat_cmd: Option<ThermostatCmdEnum>,
+    device_cmd: Option<DeviceCmd>,
     data_f32: Option<f32>,
     data_f64: Option<f64>,
 }
@@ -83,7 +92,9 @@ pub struct StatusReportStruct {
     json: StatusReport
 }
 
-pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mut tec: Thermostat)->(LdDrive, Thermostat){
+pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mut tec: Thermostat)->(LdDrive, Thermostat, bool){
+    let mut should_reset = false;
+    
     let mut cmd = Cmd {
         json: CmdJsonObj::default()
     };
@@ -91,6 +102,20 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mu
         Ok(_) => {
             info!("############ Laser Diode Command Received {:?}", cmd.json.laser_diode_cmd);
             info!("############ Thermostat Command Received {:?}", cmd.json.thermostat_cmd);
+            info!("############ Device Command Received {:?}", cmd.json.device_cmd);
+
+            match cmd.json.device_cmd {
+                Some(DeviceCmd::Dfu) => {
+                    unsafe {
+                        dfu::set_dfu_trigger();
+                    }
+                    should_reset = true;
+                }
+                None => { /* Do Nothing */}
+                _ => {
+                    info!("Unimplemented Command") 
+                }
+            } 
 
             match cmd.json.laser_diode_cmd {
                 Some(LdCmdEnum::PowerUp) => {
@@ -331,5 +356,5 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mu
             info!("Invalid Command: {:?}", err);
         }
     }
-    (laser, tec)
+    (laser, tec, should_reset)
 }

src/net/net.rs

@@ -207,6 +207,11 @@ impl ServerHandle {
         }
         return true;
     }
+
+    pub fn close_socket(&mut self) {
+        let socket = self.socket_set.get_mut::<Socket>(self.socket_handle);
+        socket.abort();
+    }
 }
 
 use ieee802_3_miim::{
@@ -349,6 +354,17 @@ pub fn eth_is_socket_active() -> bool {
     }
 }
 
+pub fn eth_close_socket() {
+    unsafe {
+        if let Some(ref mut server_handle ) = SERVER_HANDLE {
+            server_handle.close_socket()
+        }
+        else {
+            panic!("eth_close_socket is called before init");
+        }
+    }
+}
+
 /// Potentially wake up from `wfi()`, set the interrupt pending flag,
 /// clear interrupt flags.
 #[interrupt]