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orb-mcu-util: add --can-fd option (#277)
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usage: orb-mcu-util --can-fd args
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@fouge
fouge authored Oct 25, 2024
1 parent 6dbec76 commit e8c998e
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Showing 4 changed files with 98 additions and 134 deletions.
9 changes: 4 additions & 5 deletions mcu-util/src/main.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,8 @@ static BUILD_INFO: BuildInfo = make_build_info!();
struct Args {
#[clap(subcommand)]
subcmd: SubCommand,
#[clap(short, long, default_value = "false")]
can_fd: bool,
}

#[derive(Parser, Debug)]
Expand Down Expand Up @@ -97,9 +99,6 @@ pub struct McuUpdate {
/// Path to binary file
#[clap(short, long)]
path: String,
/// Use CAN-FD to send the image
#[clap(short, long, default_value = "false")]
can_fd: bool,
}

/// Stress tests options
Expand Down Expand Up @@ -133,7 +132,7 @@ enum SecureElement {
}

async fn execute(args: Args) -> Result<()> {
let (mut orb, orb_tasks) = Orb::new().await?;
let (mut orb, orb_tasks) = Orb::new(args.can_fd).await?;

match args.subcmd {
SubCommand::Info => {
Expand Down Expand Up @@ -161,7 +160,7 @@ async fn execute(args: Args) -> Result<()> {
}
SubCommand::Image(Image::Update(opts)) => {
orb.borrow_mut_mcu(opts.mcu)
.update_firmware(&opts.path, opts.can_fd)
.update_firmware(&opts.path)
.await?
}
SubCommand::HardwareRevision { filename } => {
Expand Down
98 changes: 42 additions & 56 deletions mcu-util/src/orb/main_board.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ pub struct MainBoard {
canfd_iface: CanRawMessaging,
isotp_iface: CanIsoTpMessaging,
message_queue_rx: mpsc::UnboundedReceiver<McuPayload>,
canfd: bool,
}

pub struct MainBoardBuilder {
Expand All @@ -41,8 +42,8 @@ impl MainBoardBuilder {
}
}

pub async fn build(self) -> Result<(MainBoard, BoardTaskHandles)> {
let (mut canfd_iface, raw_can_task_handle) = CanRawMessaging::new(
pub async fn build(self, canfd: bool) -> Result<(MainBoard, BoardTaskHandles)> {
let (canfd_iface, raw_can_task_handle) = CanRawMessaging::new(
String::from("can0"),
Device::Main,
self.message_queue_tx.clone(),
Expand All @@ -57,34 +58,12 @@ impl MainBoardBuilder {
)
.wrap_err("Failed to create CanIsoTpMessaging for MainBoard")?;

// Send a heartbeat to the main mcu to ensure it is alive
// & "subscribe" to the main mcu messages: messages to the Jetson
// are going to be sent after the heartbeat
let ack_result = canfd_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::Heartbeat(
main_messaging::Heartbeat {
timeout_seconds: 0_u32,
},
),
))
.await
.map(|c| {
if let CommonAckError::Success = c {
Ok(())
} else {
Err(eyre!("ack error: {c}"))
}
});
if let Err(e) = ack_result {
error!("Failed to send heartbeat to main mcu: {:#?}", e);
}

Ok((
MainBoard {
canfd_iface,
isotp_iface,
message_queue_rx: self.message_queue_rx,
canfd,
},
BoardTaskHandles {
raw: raw_can_task_handle,
Expand All @@ -98,19 +77,38 @@ impl MainBoard {
pub fn builder() -> MainBoardBuilder {
MainBoardBuilder::new()
}

/// Send a message to the security board with preferred interface
pub async fn send(&mut self, payload: McuPayload) -> Result<CommonAckError> {
if matches!(payload, McuPayload::ToMain(_)) {
tracing::trace!(
"sending to main mcu over {}: {:?}",
if self.canfd { "can-fd" } else { "iso-tp" },
payload
);
if self.canfd {
self.canfd_iface.send(payload).await
} else {
self.isotp_iface.send(payload).await
}
} else {
Err(eyre!(
"Message not targeted to security board: {:?}",
payload
))
}
}
}

#[async_trait]
impl Board for MainBoard {
async fn reboot(&mut self, delay: Option<u32>) -> Result<()> {
let delay = delay.unwrap_or(REBOOT_DELAY);
self.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::Reboot(
main_messaging::RebootWithDelay { delay },
),
))
.await?;
let reboot_msg =
McuPayload::ToMain(main_messaging::jetson_to_mcu::Payload::Reboot(
main_messaging::RebootWithDelay { delay },
));
self.send(reboot_msg).await?;
info!("🚦 Rebooting main microcontroller in {} seconds", delay);
Ok(())
}
Expand Down Expand Up @@ -161,7 +159,7 @@ impl Board for MainBoard {
Ok(())
}

async fn update_firmware(&mut self, path: &str, canfd: bool) -> Result<()> {
async fn update_firmware(&mut self, path: &str) -> Result<()> {
let buffer = dfu::load_binary_file(path)?;
debug!("Sending file {} ({} bytes)", path, buffer.len());
let mut block_iter =
Expand All @@ -170,24 +168,12 @@ impl Board for MainBoard {
);

while let Some(payload) = block_iter.next() {
if canfd {
while self
.canfd_iface
.send(McuPayload::ToMain(payload.clone()))
.await
.is_err()
{
tokio::time::sleep(Duration::from_millis(100)).await;
}
} else {
while self
.isotp_iface
.send(McuPayload::ToMain(payload.clone()))
.await
.is_err()
{
tokio::time::sleep(Duration::from_millis(100)).await;
}
while self
.send(McuPayload::ToMain(payload.clone()))
.await
.is_err()
{
tokio::time::sleep(Duration::from_millis(100)).await;
}
dfu::print_progress(block_iter.progress_percentage());
}
Expand All @@ -200,7 +186,8 @@ impl Board for MainBoard {
McuPayload::ToMain(main_messaging::jetson_to_mcu::Payload::FwImageCheck(
main_messaging::FirmwareImageCheck { crc32: crc },
));
if let Ok(ack) = self.isotp_iface.send(payload).await {

if let Ok(ack) = self.send(payload).await {
if !matches!(ack, CommonAckError::Success) {
return Err(eyre!(
"Unable to check image integrity: ack error: {}",
Expand Down Expand Up @@ -240,7 +227,7 @@ impl Board for MainBoard {
},
),
);
if let Ok(ack) = self.isotp_iface.send(payload).await {
if let Ok(ack) = self.send(payload).await {
if !matches!(ack, CommonAckError::Success) {
return Err(eyre!(
"Unable to activate image: ack error: {}",
Expand Down Expand Up @@ -349,8 +336,8 @@ impl MainBoardInfo {
/// on timeout, returns the info that was fetched so far
async fn build(mut self, main_board: &mut MainBoard) -> Result<Self, Self> {
let mut is_err = false;

if let Err(e) = main_board
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::ValueGet(
main_messaging::ValueGet {
Expand All @@ -366,7 +353,6 @@ impl MainBoardInfo {
}

if let Err(e) = main_board
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::ValueGet(
main_messaging::ValueGet {
Expand All @@ -382,7 +368,6 @@ impl MainBoardInfo {
}

if let Err(e) = main_board
.isotp_iface
.send(McuPayload::ToMain(
main_messaging::jetson_to_mcu::Payload::ValueGet(
main_messaging::ValueGet {
Expand Down Expand Up @@ -437,6 +422,7 @@ impl MainBoardInfo {
unreachable!("should always be a message from the main board")
};

tracing::trace!("rx message from main-mcu: {:?}", main_mcu_payload);
match main_mcu_payload {
main_messaging::mcu_to_jetson::Payload::Versions(v) => {
self.fw_versions = Some(v);
Expand Down
9 changes: 5 additions & 4 deletions mcu-util/src/orb/mod.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ pub trait Board {
/// This operation will also switch the board, and in case
/// of the security microcontroller, it will reboot the board
/// to perform the update.
async fn update_firmware(&mut self, path: &str, canfd: bool) -> Result<()>;
async fn update_firmware(&mut self, path: &str) -> Result<()>;

/// Switch the firmware images on the board, from secondary to primary
/// Images are checked for validity before the switch: if the images are
Expand All @@ -59,9 +59,10 @@ pub struct Orb {
}

impl Orb {
pub async fn new() -> Result<(Self, OrbTaskHandles)> {
let (main_board, main_task_handle) = MainBoard::builder().build().await?;
let (sec_board, sec_task_handle) = SecurityBoard::builder().build().await?;
pub async fn new(can_fd: bool) -> Result<(Self, OrbTaskHandles)> {
let (main_board, main_task_handle) = MainBoard::builder().build(can_fd).await?;
let (sec_board, sec_task_handle) =
SecurityBoard::builder().build(can_fd).await?;
let info = OrbInfo::default();

Ok((
Expand Down
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