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2 Commits
d2efc02b6a
...
0642640da7
Author | SHA1 | Date | |
---|---|---|---|
0642640da7 | |||
6dd1bf9301 |
16
Cargo.lock
generated
16
Cargo.lock
generated
@ -154,6 +154,21 @@ dependencies = [
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"cortex-m",
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"cortex-m",
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]
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]
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[[package]]
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name = "crc"
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version = "3.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
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dependencies = [
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"crc-catalog",
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]
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[[package]]
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name = "crc-catalog"
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version = "2.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
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[[package]]
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[[package]]
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name = "critical-section"
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name = "critical-section"
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version = "1.1.2"
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version = "1.1.2"
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@ -385,6 +400,7 @@ dependencies = [
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"cortex-m-log",
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"cortex-m-log",
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"cortex-m-rt",
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"cortex-m-rt",
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"cortex-m-semihosting 0.5.0",
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"cortex-m-semihosting 0.5.0",
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"crc",
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"fugit",
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"fugit",
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"ieee802_3_miim",
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"ieee802_3_miim",
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"log",
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"log",
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@ -36,6 +36,7 @@ miniconf = "0.9.0"
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serde = { version = "1.0.158", features = ["derive"], default-features = false }
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serde = { version = "1.0.158", features = ["derive"], default-features = false }
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sfkv = "0.1"
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sfkv = "0.1"
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bit_field = "0.10"
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bit_field = "0.10"
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crc = "3.0.1"
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byteorder = { version = "1", default-features = false }
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byteorder = { version = "1", default-features = false }
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[features]
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[features]
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semihosting = ["cortex-m-log/semihosting"]
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semihosting = ["cortex-m-log/semihosting"]
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14
README.md
14
README.md
@ -41,17 +41,19 @@ gdb target/thumbv7em-none-eabihf/release/kirdy
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```
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```
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## Flashing
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## Flashing
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There are several options for flashing kirdy. DFU requires only a USB-C connector, whereas OpenOCD needs a JTAG/SWD adapter.
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There are several options for flashing kirdy. DFU requires only a USB-C cable or RJ45 cable, whereas OpenOCD needs a JTAG/SWD adapter.
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### dfu-util on Linux
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### dfu-util on Linux
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* Install the DFU USB tool (dfu-util).
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* Install the DFU USB tool (dfu-util).
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* 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)
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* 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)
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* Connect to the USB Type C connector to kirdy above the RJ45.
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* Put STM32 into DFU Mode. You can either
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* Add jumper to kirdy v2.0 across 2-pin jumper adjacent to JTAG connector.
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* 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
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* Cycle board power to put it in DFU update mode
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* 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.
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* Push firmware to flash: `dfu-util -a 0 -s 0x08000000:leave -D kirdy.bin`
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* Push firmware to flash: `dfu-util -a 0 -s 0x08000000:leave -D kirdy.bin`
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* Remove jumper
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* If you plugged in the BOOT0 jumper, you will need to
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* Cycle power to leave DFU update mode
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1. Remove BOOT0 jumper
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2. Cycle power to leave DFU update mode
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* If you plugged in the RJ45 cable, the MCU would start its application code automatically. No power cycle is needed.
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### st.com DfuSe tool on Windows
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### st.com DfuSe tool on Windows
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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).
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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).
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@ -14,6 +14,10 @@ import signal
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HOST = "192.168.1.132"
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HOST = "192.168.1.132"
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PORT = 1337
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PORT = 1337
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dfu_cmd = {
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"device_cmd": "Dfu",
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}
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ld_cmd = {
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ld_cmd = {
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"laser_diode_cmd": "SetI",
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"laser_diode_cmd": "SetI",
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"data_f64": 0.0,
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"data_f64": 0.0,
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@ -43,7 +43,7 @@ pub fn bootup(
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sys_timer::setup(core_perif.SYST, clocks);
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sys_timer::setup(core_perif.SYST, clocks);
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let (eth_pins, eth_mgmt_pins, usb, current_source_phy, ad7172_phy, max1968_phy, pd_mon_phy) = gpio::setup(
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let (mut hw_rev, eth_pins, eth_mgmt_pins, usb, current_source_phy, ad7172_phy, max1968_phy, pd_mon_phy) = gpio::setup(
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clocks,
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clocks,
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perif.TIM4,
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perif.TIM4,
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perif.GPIOA,
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perif.GPIOA,
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@ -84,13 +84,14 @@ pub fn bootup(
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let flash_store = flash_store::store(perif.FLASH);
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let flash_store = flash_store::store(perif.FLASH);
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debug!("Setting up ETH");
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debug!("Setting up ETH");
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let mac_addr = hw_rev.get_mac_address();
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let ethernet_parts_in = stm32_eth::PartsIn {
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let ethernet_parts_in = stm32_eth::PartsIn {
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dma: perif.ETHERNET_DMA,
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dma: perif.ETHERNET_DMA,
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mac: perif.ETHERNET_MAC,
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mac: perif.ETHERNET_MAC,
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mmc: perif.ETHERNET_MMC,
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mmc: perif.ETHERNET_MMC,
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ptp: perif.ETHERNET_PTP,
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ptp: perif.ETHERNET_PTP,
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};
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};
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ServerHandle::new(eth_pins, eth_mgmt_pins, ethernet_parts_in, clocks);
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ServerHandle::new(eth_pins, eth_mgmt_pins, ethernet_parts_in, clocks, mac_addr);
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debug!("Setting Watchdog");
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debug!("Setting Watchdog");
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let mut wd = IndependentWatchdog::new(perif.IWDG);
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let mut wd = IndependentWatchdog::new(perif.IWDG);
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46
src/device/dfu.rs
Normal file
46
src/device/dfu.rs
Normal file
@ -0,0 +1,46 @@
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use cortex_m_rt::pre_init;
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use stm32f4xx_hal::pac::{RCC, SYSCFG};
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use core::arch::asm;
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const DFU_TRIG_MSG: u32 = 0xDECAFBAD;
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extern "C" {
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// This symbol comes from memory.x
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static mut _dfu_msg: u32;
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}
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pub unsafe fn set_dfu_trigger() {
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_dfu_msg = DFU_TRIG_MSG;
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}
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/// Called by reset handler in lib.rs immediately after reset.
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/// This function should not be called outside of reset handler as
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/// bootloader expects MCU to be in reset state when called.
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#[cfg(target_arch = "arm")]
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#[pre_init]
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unsafe fn __pre_init() {
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if _dfu_msg == DFU_TRIG_MSG {
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_dfu_msg = 0x00000000;
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// Enable system config controller clock
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let rcc = &*RCC::ptr();
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rcc.apb2enr.modify(|_, w| w.syscfgen().set_bit());
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// Bypass BOOT pins and remap bootloader to 0x00000000
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let syscfg = &*SYSCFG::ptr() ;
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syscfg.memrm.write(|w| w.mem_mode().bits(0b01));
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// Impose instruction and memory barriers
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cortex_m::asm::isb();
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cortex_m::asm::dsb();
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asm!(
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// Set stack pointer to bootloader location
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"LDR R0, =0x1FFF0000",
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"LDR SP,[R0, #0]",
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// Jump to bootloader
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"LDR R0,[R0, #4]",
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"BX R0",
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);
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}
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}
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@ -37,6 +37,7 @@ pub fn setup(
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otg_fs_device: OTG_FS_DEVICE,
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otg_fs_device: OTG_FS_DEVICE,
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otg_fs_pwrclk: OTG_FS_PWRCLK,
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otg_fs_pwrclk: OTG_FS_PWRCLK,
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) -> (
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) -> (
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HWRev,
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EthernetPins,
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EthernetPins,
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EthernetMgmtPins,
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EthernetMgmtPins,
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USB,
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USB,
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@ -158,5 +159,5 @@ pub fn setup(
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gpioa.pa15.into_push_pull_output(),
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gpioa.pa15.into_push_pull_output(),
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).unwrap();
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).unwrap();
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(eth_pins, eth_mgmt_pins, usb, current_source_phy, ad7172_phy, max1968_phy, pd_mon_phy)
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(hw_rev, eth_pins, eth_mgmt_pins, usb, current_source_phy, ad7172_phy, max1968_phy, pd_mon_phy)
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}
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}
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@ -1,5 +1,8 @@
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use stm32f4xx_hal::gpio::{Input, Output, PushPull, PE10, PE11, PE8, PE9};
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use stm32f4xx_hal::gpio::{Input, PE10, PE11, PE8, PE9};
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use crate::device::sys_timer::sleep;
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use crate::device::sys_timer::sleep;
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use stm32f4xx_hal::signature;
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use crc::{Crc, CRC_24_BLE};
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pub struct HwRevPins{
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pub struct HwRevPins{
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pub h0: PE8<Input>,
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pub h0: PE8<Input>,
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pub h1: PE9<Input>,
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pub h1: PE9<Input>,
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@ -32,4 +35,28 @@ impl HWRev {
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sleep(5000);
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sleep(5000);
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}
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}
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}
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}
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/// On Rev0_3, it lacks pre-allocated Mac Addresses accessible on PCB.
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/// This functions generate a random Mac Address with 96bit unique UUID inside STM32
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/// See Issue #36 on Kirdy Hw Repo
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pub fn get_mac_address(&mut self) -> [u8; 6] {
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if self.major == 0 && self.minor == 3 {
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let uid = signature::Uid::get();
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let mut uid_data: [u8; 12] = [0; 12];
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uid_data[0] = uid.x() as u8;
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uid_data[1] = (uid.x() >> 8) as u8;
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uid_data[2] = uid.y() as u8;
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uid_data[3] = (uid.y() >> 8) as u8;
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uid_data[4..11].clone_from_slice(uid.lot_num().as_bytes());
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|
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let crc: Crc<u32> = Crc::<u32>::new(&CRC_24_BLE);
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let mut digest = crc.digest();
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digest.update(&uid_data);
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let crc24 = digest.finalize();
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[ 0x02, 0xE0, 0xD5, (crc24 >> 16) as u8, (crc24 >> 8) as u8, (crc24 as u8)]
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} else {
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unimplemented!()
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|
}
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}
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}
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}
|
@ -6,3 +6,4 @@ pub mod sys_timer;
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pub mod usb;
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pub mod usb;
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pub mod flash_store;
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pub mod flash_store;
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pub mod hw_rev;
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pub mod hw_rev;
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pub mod dfu;
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|
20
src/main.rs
20
src/main.rs
@ -18,6 +18,7 @@ use uom::si::power::milliwatt;
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|||||||
use uom::si::f64::{ElectricPotential, ElectricCurrent, Power, ThermodynamicTemperature};
|
use uom::si::f64::{ElectricPotential, ElectricCurrent, Power, ThermodynamicTemperature};
|
||||||
use serde::{Serialize, Deserialize};
|
use serde::{Serialize, Deserialize};
|
||||||
|
|
||||||
|
use stm32f4xx_hal::pac::SCB;
|
||||||
// If RTT is used, print panic info through RTT
|
// If RTT is used, print panic info through RTT
|
||||||
#[cfg(all(feature = "RTT", not(test)))]
|
#[cfg(all(feature = "RTT", not(test)))]
|
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use {core::panic::PanicInfo, rtt_target::rprintln};
|
use {core::panic::PanicInfo, rtt_target::rprintln};
|
||||||
@ -77,9 +78,12 @@ fn main() -> ! {
|
|||||||
let milli_amp_fmt = ElectricCurrent::format_args(milliampere, Abbreviation);
|
let milli_amp_fmt = ElectricCurrent::format_args(milliampere, Abbreviation);
|
||||||
let milli_watt_fmt = Power::format_args(milliwatt, Abbreviation);
|
let milli_watt_fmt = Power::format_args(milliwatt, Abbreviation);
|
||||||
|
|
||||||
|
let mut should_reset = false;
|
||||||
|
|
||||||
loop {
|
loop {
|
||||||
wd.feed();
|
wd.feed();
|
||||||
|
|
||||||
|
if !should_reset {
|
||||||
let mut eth_is_pending = false;
|
let mut eth_is_pending = false;
|
||||||
|
|
||||||
if thermostat.poll_adc_and_update_pid() {
|
if thermostat.poll_adc_and_update_pid() {
|
||||||
@ -110,9 +114,23 @@ fn main() -> ! {
|
|||||||
});
|
});
|
||||||
let bytes = net::net::eth_recv(&mut ETH_DATA_BUFFER);
|
let bytes = net::net::eth_recv(&mut ETH_DATA_BUFFER);
|
||||||
debug!("Number of bytes recv: {:?}", bytes);
|
debug!("Number of bytes recv: {:?}", bytes);
|
||||||
(laser, thermostat) = net::cmd_handler::execute_cmd(&mut ETH_DATA_BUFFER, bytes, laser, thermostat);
|
(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;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Must let loop run for one more cycle to poll server for RST to be sent,
|
||||||
|
// this makes sure system does not reset right after socket.abort() is called.
|
||||||
|
if !any_socket_alive {
|
||||||
|
SCB::sys_reset();
|
||||||
|
}
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -1,4 +1,4 @@
|
|||||||
use core::fmt::Debug;
|
use core::{default, fmt::Debug};
|
||||||
use miniconf::{JsonCoreSlash, Tree};
|
use miniconf::{JsonCoreSlash, Tree};
|
||||||
use serde::{Deserialize, Serialize};
|
use serde::{Deserialize, Serialize};
|
||||||
use uom::si::{
|
use uom::si::{
|
||||||
@ -10,8 +10,16 @@ use uom::si::{
|
|||||||
use crate::{laser_diode::laser_diode::LdDrive, net::net, thermostat::thermostat::StatusReport};
|
use crate::{laser_diode::laser_diode::LdDrive, net::net, thermostat::thermostat::StatusReport};
|
||||||
use crate::thermostat::thermostat::Thermostat;
|
use crate::thermostat::thermostat::Thermostat;
|
||||||
use crate::thermostat::pid_state::PidSettings::*;
|
use crate::thermostat::pid_state::PidSettings::*;
|
||||||
|
use crate::device::dfu;
|
||||||
use log::info;
|
use log::info;
|
||||||
|
|
||||||
|
#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
|
||||||
|
enum DeviceCmd {
|
||||||
|
#[default]
|
||||||
|
Reserved,
|
||||||
|
Dfu
|
||||||
|
}
|
||||||
|
|
||||||
#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
|
#[derive(Deserialize, Serialize, Copy, Clone, Default, Debug)]
|
||||||
enum LdCmdEnum {
|
enum LdCmdEnum {
|
||||||
#[default]
|
#[default]
|
||||||
@ -70,6 +78,7 @@ enum ThermostatCmdEnum {
|
|||||||
pub struct CmdJsonObj{
|
pub struct CmdJsonObj{
|
||||||
laser_diode_cmd: Option<LdCmdEnum>,
|
laser_diode_cmd: Option<LdCmdEnum>,
|
||||||
thermostat_cmd: Option<ThermostatCmdEnum>,
|
thermostat_cmd: Option<ThermostatCmdEnum>,
|
||||||
|
device_cmd: Option<DeviceCmd>,
|
||||||
data_f32: Option<f32>,
|
data_f32: Option<f32>,
|
||||||
data_f64: Option<f64>,
|
data_f64: Option<f64>,
|
||||||
}
|
}
|
||||||
@ -83,7 +92,9 @@ pub struct StatusReportStruct {
|
|||||||
json: StatusReport
|
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 {
|
let mut cmd = Cmd {
|
||||||
json: CmdJsonObj::default()
|
json: CmdJsonObj::default()
|
||||||
};
|
};
|
||||||
@ -91,6 +102,20 @@ pub fn execute_cmd(buffer: &mut [u8], buffer_size: usize, mut laser: LdDrive, mu
|
|||||||
Ok(_) => {
|
Ok(_) => {
|
||||||
info!("############ Laser Diode Command Received {:?}", cmd.json.laser_diode_cmd);
|
info!("############ Laser Diode Command Received {:?}", cmd.json.laser_diode_cmd);
|
||||||
info!("############ Thermostat Command Received {:?}", cmd.json.thermostat_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 {
|
match cmd.json.laser_diode_cmd {
|
||||||
Some(LdCmdEnum::PowerUp) => {
|
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);
|
info!("Invalid Command: {:?}", err);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
(laser, tec)
|
(laser, tec, should_reset)
|
||||||
}
|
}
|
||||||
|
@ -35,7 +35,6 @@ const ADDRESS: (IpAddress, u16) = (
|
|||||||
)),
|
)),
|
||||||
1337,
|
1337,
|
||||||
);
|
);
|
||||||
const MAC: [u8; 6] = [0x02, 0x5f, 0x25, 0x37, 0x93, 0x0e];
|
|
||||||
|
|
||||||
/// Interrupt pending flag: set by the `ETH` interrupt handler, should
|
/// Interrupt pending flag: set by the `ETH` interrupt handler, should
|
||||||
/// be cleared before polling the interface.
|
/// be cleared before polling the interface.
|
||||||
@ -88,6 +87,7 @@ impl ServerHandle {
|
|||||||
eth_mgmt_pins: EthernetMgmtPins,
|
eth_mgmt_pins: EthernetMgmtPins,
|
||||||
ethernet_parts_in: PartsIn,
|
ethernet_parts_in: PartsIn,
|
||||||
clocks: Clocks,
|
clocks: Clocks,
|
||||||
|
mac_addr: [u8; 6]
|
||||||
) {
|
) {
|
||||||
let rx_ring = unsafe { RX_RING.get_or_insert(Default::default()) };
|
let rx_ring = unsafe { RX_RING.get_or_insert(Default::default()) };
|
||||||
let tx_ring = unsafe { TX_RING.get_or_insert(Default::default()) };
|
let tx_ring = unsafe { TX_RING.get_or_insert(Default::default()) };
|
||||||
@ -119,9 +119,10 @@ impl ServerHandle {
|
|||||||
let tx_buffer = SocketBuffer::new(&mut tcp_socket_storage.tx_storage[..]);
|
let tx_buffer = SocketBuffer::new(&mut tcp_socket_storage.tx_storage[..]);
|
||||||
let socket = Socket::new(rx_buffer, tx_buffer);
|
let socket = Socket::new(rx_buffer, tx_buffer);
|
||||||
|
|
||||||
let config = iface::Config::new(EthernetAddress::from_bytes(&MAC).into());
|
let config = iface::Config::new(EthernetAddress::from_bytes(&mac_addr).into());
|
||||||
let mut iface = Interface::new(config, &mut &mut dma, smoltcp::time::Instant::ZERO);
|
let mut iface = Interface::new(config, &mut &mut dma, smoltcp::time::Instant::ZERO);
|
||||||
iface.set_hardware_addr(EthernetAddress(MAC).into());
|
iface.set_hardware_addr(EthernetAddress(mac_addr).into());
|
||||||
|
debug!("MAC ADDRESS: {:02X?}", EthernetAddress(mac_addr));
|
||||||
|
|
||||||
iface.update_ip_addrs(|addr| {
|
iface.update_ip_addrs(|addr| {
|
||||||
addr.push(IP_INIT).unwrap();
|
addr.push(IP_INIT).unwrap();
|
||||||
@ -206,6 +207,11 @@ impl ServerHandle {
|
|||||||
}
|
}
|
||||||
return true;
|
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::{
|
use ieee802_3_miim::{
|
||||||
@ -348,6 +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,
|
/// Potentially wake up from `wfi()`, set the interrupt pending flag,
|
||||||
/// clear interrupt flags.
|
/// clear interrupt flags.
|
||||||
#[interrupt]
|
#[interrupt]
|
||||||
|
Loading…
Reference in New Issue
Block a user