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Update frc-msgs to be more slim
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@JaciBrunning
JaciBrunning committed Dec 26, 2023
1 parent adf863f commit 2504f56
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23 changes: 16 additions & 7 deletions lasercan-bootloader/Cargo.lock
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4 changes: 2 additions & 2 deletions lasercan-bootloader/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[package]
name = "lasercan-bootloader"
version = "0.2.0"
version = "0.3.0"
edition = "2021"

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
Expand All @@ -12,7 +12,7 @@ cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.1"
panic-halt = "0.2.0"
stm32f1xx-hal = { version = "0.10.0", features = ["rt", "stm32f103", "medium"] }
grapple-frc-msgs = { git = "https://github.com/GrappleRobotics/frc-msgs", default-features = false }
grapple-frc-msgs = { version = "~2024.0.5", default-features = false }
bxcan = "0.7.0"
embedded-alloc = "0.5.1"
lasercan-common = { path = "../lasercan-common" }
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225 changes: 105 additions & 120 deletions lasercan-bootloader/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ mod app {
use bxcan::{ExtendedId, filter::Mask32, Interrupts, Rx0, Tx};
use core::ops::Deref;
use cortex_m::peripheral::SCB;
use grapple_frc_msgs::{can::{CANId, CANMessage, FragmentReassembler, UnparsedCANMessage}, DEVICE_TYPE_FIRMWARE_UPGRADE, grapple::{MANUFACTURER_GRAPPLE, GrappleBroadcastMessage, device_info::GrappleDeviceInfo, GrappleDeviceMessage, firmware::GrappleFirmwareMessage}, DEVICE_ID_BROADCAST, DEVICE_TYPE_BROADCAST, binmarshal::BinMarshal, ManufacturerMessage, Message};
use grapple_frc_msgs::{DEVICE_TYPE_FIRMWARE_UPGRADE, binmarshal::{BinMarshal, rw::BitView}, grapple::{MANUFACTURER_GRAPPLE, GrappleBroadcastMessage, device_info::GrappleDeviceInfo, GrappleDeviceMessage, firmware::GrappleFirmwareMessage, TaggedGrappleMessage, fragments::FragmentReassembler}, DEVICE_ID_BROADCAST, DEVICE_TYPE_BROADCAST, ManufacturerMessage, Message, MessageId};
use lasercan_common::bootutil::{is_firmware_update_in_progress, is_user_code_present, FLASH_USER, FLASH_META_FIRMWARE_RESET_LOC};
use stm32f1xx_hal::{prelude::*, watchdog::IndependentWatchdog, can::Can, pac::{CAN1, Interrupt}, gpio::{ErasedPin, Output}, flash::{self, FLASH_START}};
use tiny_rng::Rand;
Expand Down Expand Up @@ -122,12 +122,12 @@ mod app {
unsafe {
can_bus.modify_filters()
.enable_bank(0, bxcan::Fifo::Fifo0, Mask32::frames_with_ext_id(
ExtendedId::new_unchecked(CANId { device_type: DEVICE_TYPE_FIRMWARE_UPGRADE, manufacturer: MANUFACTURER_GRAPPLE, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
ExtendedId::new_unchecked(CANId { device_type: 0xFF, manufacturer: 0xFF, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
ExtendedId::new_unchecked(MessageId { device_type: DEVICE_TYPE_FIRMWARE_UPGRADE, manufacturer: MANUFACTURER_GRAPPLE, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
ExtendedId::new_unchecked(MessageId { device_type: 0xFF, manufacturer: 0xFF, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
))
.enable_bank(1, bxcan::Fifo::Fifo0, Mask32::frames_with_ext_id(
ExtendedId::new_unchecked(CANId { device_type: DEVICE_TYPE_BROADCAST, manufacturer: MANUFACTURER_GRAPPLE, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
ExtendedId::new_unchecked(CANId { device_type: 0xFF, manufacturer: 0xFF, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
ExtendedId::new_unchecked(MessageId { device_type: DEVICE_TYPE_BROADCAST, manufacturer: MANUFACTURER_GRAPPLE, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
ExtendedId::new_unchecked(MessageId { device_type: 0xFF, manufacturer: 0xFF, api_class: 0x00, api_index: 0x00, device_id: 0x00 }.into()),
));
}

Expand All @@ -145,12 +145,12 @@ mod app {
// Perform arbitration
let mut queue = VecDeque::with_capacity(16);

enqueue(CANMessage::Message(Message::new(
enqueue(TaggedGrappleMessage::new(
0,
ManufacturerMessage::Grapple(GrappleDeviceMessage::Broadcast(
GrappleDeviceMessage::Broadcast(
GrappleBroadcastMessage::DeviceInfo(GrappleDeviceInfo::ArbitrationRequest)
))
)), &mut queue);
)
), &mut queue);

(
SharedResources {
Expand Down Expand Up @@ -209,104 +209,99 @@ mod app {
match ctx.local.can_rx.receive() {
Ok(frame) => match (frame.id(), frame.data()) {
(bxcan::Id::Extended(ext), data) => {
let d = data.map(|x| x.deref()).unwrap_or(&[]);
let unparsed = UnparsedCANMessage::new(ext.as_raw(), d);
if unparsed.id.device_id == DEVICE_ID_BROADCAST || unparsed.id.device_id == my_id {
let msg = CANMessage::from(unparsed);
let reassembled = ctx.local.reassemble.process(0 as i64, d.len() as u8, msg);
match reassembled {
Some((_, msg)) => match msg {
CANMessage::Message(msg) => {
match msg.msg {
ManufacturerMessage::Grapple(GrappleDeviceMessage::Broadcast(bmsg)) => match bmsg {
GrappleBroadcastMessage::DeviceInfo(di) => match di {
GrappleDeviceInfo::ArbitrationRequest if msg.device_id == my_id => {
// Reply to the arbitration request with a rejection, since this ID belongs to us.
let msg = Message::new(
my_id,
ManufacturerMessage::Grapple(GrappleDeviceMessage::Broadcast(
GrappleBroadcastMessage::DeviceInfo(GrappleDeviceInfo::ArbitrationReject)
))
);
ctx.shared.can_tx_queue.lock(|q| enqueue(CANMessage::Message(msg), q));
},
GrappleDeviceInfo::ArbitrationReject if msg.device_id == my_id => {
// Retry Arbitration.
let msg = ctx.shared.device_id.lock(|did| {
*did = ctx.local.rng.rand_u8() & 0b11111;
Message::new(
*did,
ManufacturerMessage::Grapple(GrappleDeviceMessage::Broadcast(
GrappleBroadcastMessage::DeviceInfo(GrappleDeviceInfo::ArbitrationRequest)
))
let id = MessageId::from(ext.as_raw());
// Only process messages bound for us
if id.device_id == DEVICE_ID_BROADCAST || id.device_id == my_id {
let d = data.map(|x| x.deref()).unwrap_or(&[]);
match ManufacturerMessage::read(&mut BitView::new(d), id.clone()) {
Some(ManufacturerMessage::Grapple(grpl_msg)) => {
match ctx.local.reassemble.defragment(0 as i64, &id, grpl_msg) {
Some(GrappleDeviceMessage::Broadcast(bmsg)) => match bmsg {
GrappleBroadcastMessage::DeviceInfo(di) => match di {
GrappleDeviceInfo::ArbitrationRequest if id.device_id == my_id => {
// Reply to the arbitration request with a rejection, since this ID belongs to us.
let msg = TaggedGrappleMessage::new(
my_id,
GrappleDeviceMessage::Broadcast(
GrappleBroadcastMessage::DeviceInfo(GrappleDeviceInfo::ArbitrationReject)
)
);
ctx.shared.can_tx_queue.lock(|q| enqueue(msg, q));
},
GrappleDeviceInfo::ArbitrationReject if id.device_id == my_id => {
// Retry Arbitration.
let msg = ctx.shared.device_id.lock(|did| {
*did = ctx.local.rng.rand_u8() & 0b11111;
TaggedGrappleMessage::new(
*did,
GrappleDeviceMessage::Broadcast(
GrappleBroadcastMessage::DeviceInfo(GrappleDeviceInfo::ArbitrationRequest)
)
});

ctx.shared.can_tx_queue.lock(|q| enqueue(CANMessage::Message(msg), q));
},
GrappleDeviceInfo::EnumerateRequest => {
let new_msg = Message::new(
my_id,
ManufacturerMessage::Grapple(GrappleDeviceMessage::Broadcast(
GrappleBroadcastMessage::DeviceInfo(GrappleDeviceInfo::EnumerateResponse {
model_id: META_MODEL_ID.clone(),
serial: my_serial,
is_dfu: true,
is_dfu_in_progress: *ctx.local.offset != 0,
version: META_BOOTLOADER_VERSION.to_owned(),
name: "".to_owned()
})
)
));
ctx.shared.can_tx_queue.lock(|q| enqueue(CANMessage::Message(new_msg), q));
},
_ => ()
});

ctx.shared.can_tx_queue.lock(|q| enqueue(msg, q));
},
},
ManufacturerMessage::Grapple(GrappleDeviceMessage::FirmwareUpdate(fwupdate)) => match fwupdate {
GrappleFirmwareMessage::StartFieldUpgrade { .. } => (),
GrappleFirmwareMessage::UpdatePart(data) => {
ctx.shared.status_led.lock(|led| led.toggle());

let mut flash_writer = ctx.local.flash.writer(flash::SectorSize::Sz1K, flash::FlashSize::Sz64K);
let user_code_offset = FLASH_USER as usize - FLASH_START as usize;

// Erase the sector if required. Obviously, this requires our data step size to be a factor of 1024.
if (user_code_offset + *ctx.local.offset) as u32 % 1024 == 0 {
// Erase the flash region
flash_writer.erase((user_code_offset + *ctx.local.offset) as u32, 1024).unwrap();
}

// Write the flash data (must be aligned to 16 bits)
flash_writer.write((user_code_offset + *ctx.local.offset) as u32, &data[..]).unwrap();

*ctx.local.offset += data.len() as usize;

// Reply with an ACK
let new_msg = Message::new(
GrappleDeviceInfo::EnumerateRequest => {
let new_msg = TaggedGrappleMessage::new(
my_id,
ManufacturerMessage::Grapple(GrappleDeviceMessage::FirmwareUpdate(
GrappleFirmwareMessage::UpdatePartAck
))
GrappleDeviceMessage::Broadcast(
GrappleBroadcastMessage::DeviceInfo(GrappleDeviceInfo::EnumerateResponse {
model_id: META_MODEL_ID.clone(),
serial: my_serial,
is_dfu: true,
is_dfu_in_progress: *ctx.local.offset != 0,
version: META_BOOTLOADER_VERSION.to_owned(),
name: "".to_owned()
})
)
);
ctx.shared.can_tx_queue.lock(|q| enqueue(CANMessage::Message(new_msg), q));
// send_can_message(&mut can_bus, CANMessage::Message(new_msg));
ctx.shared.can_tx_queue.lock(|q| enqueue(new_msg, q));
},
GrappleFirmwareMessage::UpdateDone => {
let mut flash_writer = ctx.local.flash.writer(flash::SectorSize::Sz1K, flash::FlashSize::Sz64K);
ctx.shared.status_led.lock(|led| led.set_high());
_ => ()
},
},
Some(GrappleDeviceMessage::FirmwareUpdate(fwupdate)) => match fwupdate {
GrappleFirmwareMessage::StartFieldUpgrade { .. } => (),
GrappleFirmwareMessage::UpdatePart(data) => {
ctx.shared.status_led.lock(|led| led.toggle());

let mut flash_writer = ctx.local.flash.writer(flash::SectorSize::Sz1K, flash::FlashSize::Sz64K);
let user_code_offset = FLASH_USER as usize - FLASH_START as usize;

// Erase the sector if required. Obviously, this requires our data step size to be a factor of 1024.
if (user_code_offset + *ctx.local.offset) as u32 % 1024 == 0 {
// Erase the flash region
flash_writer.erase((user_code_offset + *ctx.local.offset) as u32, 1024).unwrap();
}

// Write the flash data (must be aligned to 16 bits)
flash_writer.write((user_code_offset + *ctx.local.offset) as u32, &data[..]).unwrap();

*ctx.local.offset += data.len() as usize;

// Reply with an ACK
let new_msg = TaggedGrappleMessage::new(
my_id,
GrappleDeviceMessage::FirmwareUpdate(
GrappleFirmwareMessage::UpdatePartAck
)
);
ctx.shared.can_tx_queue.lock(|q| enqueue(new_msg, q));
},
GrappleFirmwareMessage::UpdateDone => {
let mut flash_writer = ctx.local.flash.writer(flash::SectorSize::Sz1K, flash::FlashSize::Sz64K);
ctx.shared.status_led.lock(|led| led.set_high());

// /* Mark the firmware as good to go */
flash_writer.write(FLASH_META_FIRMWARE_RESET_LOC as u32 - FLASH_START, &[0xDE, 0xAD, 0xBE, 0xEF]).unwrap();
// /* Mark the firmware as good to go */
flash_writer.write(FLASH_META_FIRMWARE_RESET_LOC as u32 - FLASH_START, &[0xDE, 0xAD, 0xBE, 0xEF]).unwrap();

cortex_m::peripheral::SCB::sys_reset();
},
_ => ()
cortex_m::peripheral::SCB::sys_reset();
},
_ => ()
}
},
_ => ()
},
_ => ()
}
},
_ => ()
}
Expand All @@ -332,30 +327,20 @@ mod app {
};
}

fn enqueue(mut msg: CANMessage, q: &mut VecDeque<bxcan::Frame>) {
fn enqueue(mut msg: TaggedGrappleMessage, q: &mut VecDeque<bxcan::Frame>) {
static FRAG_ID: core::sync::atomic::AtomicU8 = core::sync::atomic::AtomicU8::new(0);
msg.update(());

match msg {
CANMessage::Message(msg) => {
let frag_id = FRAG_ID.load(core::sync::atomic::Ordering::Relaxed);
let msgs = grapple_frc_msgs::can::FragmentReassembler::maybe_split(msg, frag_id).unwrap();

for msg in msgs {
let frame = unsafe {
bxcan::Frame::new_data(
ExtendedId::new_unchecked(Into::<u32>::into(msg.id.clone())),
bxcan::Data::new(&msg.payload[0..msg.len as usize]).unwrap()
)
};

q.push_back(frame);
}
rtic::pend(Interrupt::USB_HP_CAN_TX);

FRAG_ID.store(frag_id.wrapping_add(1), core::sync::atomic::Ordering::Relaxed);
},
_ => panic!("Can't send fragments or generics directly - use the FragmentReasssembler.")
}
let frag_id = FRAG_ID.load(core::sync::atomic::Ordering::Relaxed);
FragmentReassembler::maybe_fragment(msg.device_id, msg.msg, frag_id, &mut |id, buf| {
let frame = unsafe {
bxcan::Frame::new_data(
ExtendedId::new_unchecked(Into::<u32>::into(id.clone())),
bxcan::Data::new(buf).unwrap()
)
};
q.push_back(frame);
});
rtic::pend(Interrupt::USB_HP_CAN_TX);
FRAG_ID.store(frag_id.wrapping_add(1), core::sync::atomic::Ordering::Relaxed);
}
}
6 changes: 3 additions & 3 deletions lasercan-firmware/Cargo.lock
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4 changes: 2 additions & 2 deletions lasercan-firmware/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
[package]
name = "lasercan-firmware"
version = "2024.0.0"
version = "2024.0.1"
edition = "2021"

# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
Expand All @@ -12,7 +12,7 @@ cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7.1"
panic-halt = "0.2.0"
stm32f1xx-hal = { version = "0.10.0", features = ["rt", "stm32f103", "medium"] }
grapple-frc-msgs = { version = "~2024.0.0", default-features = false, features = ["lasercan_nop_patch"] }
grapple-frc-msgs = { version = "~2024.0.5", default-features = false, features = ["lasercan_nop_patch", "grapple_lasercan"] }
bxcan = "0.7.0"
embedded-alloc = "0.5.1"
lasercan-common = { path = "../lasercan-common" }
Expand Down
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