in progress rust, flashes and LEDs work

Cargo.toml

@@ -1,5 +1,5 @@
 [workspace]
-members = ["msb-fw-rs", "cerberus", "wheel", "crates/*"]
+members = ["msb-fw-rs","crates/*"]
 resolver = "2"
 
 [workspace.dependencies]
@@ -19,7 +19,7 @@ embedded-hal = { version = "1.0.0", features = ["defmt-03"] }
 embedded-hal-bus = { version = "0.2", features = ["async", "defmt-03"] }
 embedded-io = { version = "0.6.0", features = ["defmt-03"] }
 embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
+panic-probe = { version = "0.3", features = ["print-defmt", "defmt-error"] }
 heapless = { version = "0.8", default-features = false }
 static_cell = "2.1.0"
 #chrono = { version = "^0.4", default-features = false}
@@ -43,4 +43,4 @@ lto = "fat"
 incremental = false
 codegen-units = 1
 # note: debug = true is okay - debuginfo isn't flashed to the device!
-debug = true
+debug = true

Embed.toml

@@ -1,2 +1,43 @@
 [default.general]
 chip = "STM32F405RGTx"
+
+[default.rtt]
+enabled = false
+
+[default.probe]
+# USB vendor ID
+# usb_vid = "0403"
+protocol = "Jtag"
+
+[default.flashing]
+# Whether or not the target should be flashed.
+enabled = true
+
+[default.reset]
+# Whether or not the target should be reset.
+# When flashing is enabled as well, the target will be reset after flashing regardless of this setting.
+enabled = true
+# Whether or not the target should be halted after reset.
+
+
+[default.gdb]
+# Whether or not a GDB server should be opened after flashing.
+enabled = false
+
+# GDB + RTT
+[gdb.gdb]
+enabled = true
+[gdb.rtt]
+enabled = true
+[gdb.flashing]
+halt_afterwards = true
+
+# JUST RTT
+[with_rtt.rtt]
+enabled = true
+
+# JUST RTT, NO FLASH
+[rtt.rtt]
+enabled = true
+[rtt.flashing]
+enabled = false

README.md

@@ -18,6 +18,18 @@ To format, run `cargo format`.
 
 To lint and check stuff, run `cargo clippy`.
 
+###  On car stuff
+
+To run a RTT terminal dedicated:
+`cargo embed --release --config rtt`
+
+To run a GDB terminal dedicated:
+`cargo embed --release --config gdb`
+
+To flash and leave code:
+`cargo embed --release --config `
+
+
 
 ### Coding tips and tricks
 
@@ -32,11 +44,11 @@ This is a mega-repo configured as a normal embassy-styled project with multiple
 
 Various files:
 
-Top level `Cargo.toml`, `Embed.toml`, `build.rs`, and `rust-toolchain.toml` define the various parts of the embassy project.  See comments inside for how these were structure, but most follow embassy specification.
+Top level `Cargo.toml`, `Embed.toml`, and `rust-toolchain.toml` define the various parts of the embassy project.  See comments inside for how these were structure, but most follow embassy specification.
 
 The `crates` folder defines drivers or other code shared between projects.
 
-Top level folders like `msb-fw-rs`, and any other project, define projects which inherit explicity defined `Cargo.toml` dependencies, `build.rs` and `Embed.toml` settings, and more.  They can also depend on a crate in the `crates` folder.
+Top level folders like `msb-fw-rs`, and any other project, define projects which inherit explicity defined `Cargo.toml` dependencies and `Embed.toml` settings, and more.  They can also depend on a crate in the `crates` folder.
 
 This structure has multiple benefits, including:
 - Static versioning of all embassy and other dependencies, eliminating version conflicts for in-tree code

derivation.nix

@@ -0,0 +1,67 @@
+{ lib
+, stdenv
+, rustPlatform
+, fetchFromGitHub
+, cmake
+, gitMinimal
+, pkg-config
+, libusb1
+, openssl
+}:
+
+rustPlatform.buildRustPackage rec {
+  pname = "probe-rs-tools";
+  version = "0.24.1";
+
+  src = fetchFromGitHub {
+    owner = "probe-rs";
+    repo = "probe-rs";
+    rev = "b58d8e0a6fd6922044b9be676da6ea42f6018c7a";
+    hash = "sha256-LKVxGWD8/NVe0VgpoH4JZ1r01FwJc6P1vS39jnW3KVU=";
+  };
+
+  cargoHash = "sha256-REnXGLpIxnHG62Pge37Fnf3ovWJwd2LWjr/RisS+Gog=";
+
+  buildAndTestSubdir = pname;
+
+  nativeBuildInputs = [
+    # required by libz-sys, no option for dynamic linking
+    # https://github.com/rust-lang/libz-sys/issues/158
+    cmake
+    # build.rs fails without git
+    # https://github.com/probe-rs/probe-rs/pull/2492
+    gitMinimal
+    pkg-config
+  ];
+
+  buildInputs = [ libusb1 openssl ];
+
+  checkFlags = [
+    # require a physical probe
+    "--skip=cmd::dap_server::server::debugger::test::attach_request"
+    "--skip=cmd::dap_server::server::debugger::test::attach_with_flashing"
+    "--skip=cmd::dap_server::server::debugger::test::launch_and_threads"
+    "--skip=cmd::dap_server::server::debugger::test::launch_with_config_error"
+    "--skip=cmd::dap_server::server::debugger::test::test_initalize_request"
+    "--skip=cmd::dap_server::server::debugger::test::test_launch_and_terminate"
+    "--skip=cmd::dap_server::server::debugger::test::test_launch_no_probes"
+    "--skip=cmd::dap_server::server::debugger::test::wrong_request_after_init"
+    # compiles an image for an embedded target which we do not have a toolchain for
+    "--skip=util::cargo::test::get_binary_artifact_with_cargo_config"
+    "--skip=util::cargo::test::get_binary_artifact_with_cargo_config_toml"
+    # requires other crates in the workspace
+    "--skip=util::cargo::test::get_binary_artifact"
+    "--skip=util::cargo::test::library_with_example_specified"
+    "--skip=util::cargo::test::multiple_binaries_in_crate_select_binary"
+    "--skip=util::cargo::test::workspace_binary_package"
+    "--skip=util::cargo::test::workspace_root"
+  ];
+
+  meta = with lib; {
+    description = "CLI tool for on-chip debugging and flashing of ARM chips";
+    homepage = "https://probe.rs/";
+    changelog = "https://github.com/probe-rs/probe-rs/blob/v${version}/CHANGELOG.md";
+    license = with licenses; [ asl20 /* or */ mit ];
+    maintainers = with maintainers; [ xgroleau newam ];
+  };
+}

build.rs → msb-fw-rs/build.rs

@@ -2,4 +2,5 @@ fn main() {
     println!("cargo:rustc-link-arg-bins=--nmagic");
     println!("cargo:rustc-link-arg-bins=-Tlink.x");
     println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
+    println!("cargo:rerun-if-changed=memory.x");
 }

msb-fw-rs/src/can_handler.rs

@@ -6,15 +6,16 @@ use crate::DeviceLocation;
 
 const CAN_BITRATE: u32 = 500_000;
 
-
 #[embassy_executor::task]
 pub async fn can_handler(
     mut can: Can<'static>,
     recv: Receiver<'static, ThreadModeRawMutex, Frame, 25>,
     loc: DeviceLocation,
 ) {
     can.set_bitrate(CAN_BITRATE);
+    trace!("Attempting to enable CAN..");
     can.enable().await;
+    trace!("CAN enabled");
 
     loop {
         let frame = recv.receive().await;

msb-fw-rs/src/controllers.rs

@@ -3,33 +3,56 @@ use embassy_time::{Duration, Timer};
 
 use crate::DeviceLocation;
 
-const LED_REFRESH_TIME: Duration = Duration::from_secs(2);
+const LED_REFRESH_TIME: Duration = Duration::from_millis(250);
 
 #[embassy_executor::task]
 pub async fn control_leds(
     mut led1: Output<'static>,
     mut led2: Output<'static>,
     device_loc: DeviceLocation,
 ) {
+    let mut i = 0u8;
     loop {
-        Timer::after(LED_REFRESH_TIME).await;
-        match device_loc {
-            DeviceLocation::FrontLeft => {
-                led1.set_high();
-                led2.set_high();
-            }
-            DeviceLocation::BackLeft => {
-                led1.set_low();
-                led2.set_high();
+        if i % 8 == 0 {
+            match device_loc {
+                DeviceLocation::FrontLeft => {
+                    led1.set_low();
+                    led2.set_low();
+                }
+                DeviceLocation::FrontRight => {
+                    led1.set_low();
+                    led2.set_high();
+                }
+                DeviceLocation::BackLeft => {
+                    led1.set_high();
+                    led2.set_low();
+                }
+                DeviceLocation::BackRight => {
+                    led1.set_high();
+                    led2.set_high();
+                }
             }
-            DeviceLocation::BackRight => {
-                led1.set_low();
-                led2.set_low();
-            }
-            DeviceLocation::FrontRight => {
-                led1.set_high();
-                led2.set_low();
+        } else {
+            match device_loc {
+                DeviceLocation::FrontLeft => {
+                    led1.set_high();
+                    led2.set_high();
+                }
+                DeviceLocation::FrontRight => {
+                    led1.set_high();
+                    led2.set_low();
+                }
+                DeviceLocation::BackLeft => {
+                    led1.set_low();
+                    led2.set_high();
+                }
+                DeviceLocation::BackRight => {
+                    led1.set_low();
+                    led2.set_low();
+                }
             }
         }
+        i = i.wrapping_add(1);
+        Timer::after(LED_REFRESH_TIME).await;
     }
 }

msb-fw-rs/src/lib.rs

@@ -2,6 +2,7 @@
 #![feature(impl_trait_in_assoc_type)]
 #![feature(const_option)]
 
+
 // declare all files in this project except main
 pub mod can_handler;
 pub mod controllers;
@@ -15,7 +16,7 @@ pub type SharedI2c3 = embassy_sync::mutex::Mutex<
     embassy_sync::blocking_mutex::raw::NoopRawMutex,
     embassy_stm32::i2c::I2c<'static, embassy_stm32::mode::Async>,
 >;
-#[derive(Clone)]
+#[derive(Clone, defmt::Format)]
 pub enum DeviceLocation {
     FrontLeft,
     BackLeft,