updated pwm code to account for pico 2 clock speed

150Mhz is a much better number to work with

common/src/lib.rs

@@ -4,6 +4,8 @@
 use nalgebra::Vector3;
 use serde::{Deserialize, Serialize};
 
+pub const BAUDRATE: u32 = 115200;
+
 #[derive(Serialize, Deserialize, Debug)]
 pub enum Command {
     /// Forward, clockwise
@@ -25,7 +27,7 @@ pub struct Response {
     pub uptime_micros: u64,
 }
 
-#[derive(Serialize, Deserialize, Debug)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
 pub enum SensorData {
     /// degrees per second
     Gyro(Vector3<f32>),

northbridge/.gitignore

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northbridge/Cargo.toml

@@ -0,0 +1,17 @@
+[package]
+name = "northbridge"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+anyhow = "1.0.95"
+framed = "0.4.3"
+n = "0.2.0"
+common = { path = "../common" }
+tokio = { version = "1.43.0", features = ["full"] }
+tokio-serial = "5.4.5"
+postcard = { version = "1.0.0", features = ["alloc", "use-std"] }
+nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] }
+tokio-util = { version = "0.7.13", features = ["codec"] }
+futures-core = "0.3.31"
+futures = "0.3.31"

northbridge/Cross.toml

@@ -0,0 +1,5 @@
+[target.armv7-unknown-linux-gnueabihf]
+pre-build = [
+    "dpkg --add-architecture $CROSS_DEB_ARCH",
+    "apt-get update && apt-get install --assume-yes libudev-dev:$CROSS_DEB_ARCH"
+]

northbridge/justfile

@@ -0,0 +1,3 @@
+deploy:
+    cross build --target=armv7-unknown-linux-gnueabihf 
+    scp target/armv7-unknown-linux-gnueabihf/debug/northbridge cruise@pelican.dyn.wpi.edu:

northbridge/src/main.rs

@@ -0,0 +1,47 @@
+#![feature(async_closure)]
+
+use anyhow::{Context, Result};
+use common::{Command, Response, BAUDRATE};
+use framed_codec::FramedCodec;
+use futures::{SinkExt, StreamExt};
+use tokio::sync::broadcast;
+use tokio_serial::SerialPortBuilderExt;
+use tokio_util::codec::Framed;
+
+mod framed_codec;
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    let mut serial = tokio_serial::new("/dev/ttyAMA0", BAUDRATE).open_native_async()?;
+
+    let (sensor_sender, sensor_data) = broadcast::channel(5);
+
+    serial.set_exclusive(false)?;
+
+    let (mut write, read) = Framed::new(serial, FramedCodec::new()).split();
+
+    let mut read = read.map(|data| -> Result<Response> {
+        Ok(postcard::from_bytes::<Response>(&data.ok().context("decode err")?)?)
+    });
+
+    println!("starting");
+    write.send(Command::Enable).await?;
+
+    while let Some(Ok(data)) = read.next().await {
+        if data.enabled {
+            write.send(Command::FeedWatchdog).await?;
+
+        } else {
+            println!("enabled southbridge");
+            write.send(Command::Enable).await?;
+        }
+
+        dbg!(&data);
+
+        if let Some(data) = data.sensor_data {
+            let _ = sensor_sender.send(data);
+        }
+    }
+
+    Ok(())
+}

southbridge/.cargo/config.toml

@@ -1,5 +1,6 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-runner = "elf2uf2-rs --deploy --serial --verbose"
+#runner = "elf2uf2-rs --deploy --serial --verbose"
+runner = "picotool load -u -v -x -t elf"
 
 [build]
-target = "thumbv6m-none-eabi"
+target = "thumbv8m.main-none-eabihf"

southbridge/Cargo.lock

@@ -404,6 +404,7 @@ dependencies = [
  "pio",
  "pio-proc",
  "rand_core",
+ "rp-binary-info",
  "rp-pac",
  "rp2040-boot2",
  "sha2-const-stable",
@@ -1212,6 +1213,12 @@ dependencies = [
  "bytemuck",
 ]
 
+[[package]]
+name = "rp-binary-info"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "534e2a451671116f5b9391cb15fae43b9abdc56817bcaca9a95ed32c3e4c6b38"
+
 [[package]]
 name = "rp-pac"
 version = "7.0.0"

southbridge/Cargo.toml

@@ -13,11 +13,11 @@ embedded-storage = "0.3.1"
 
 cortex-m-rt = "0.7.3"
 
-embassy-executor = { version = "0.7", features = ["task-arena-size-1024", "arch-cortex-m", "executor-thread", "executor-interrupt"] }
+embassy-executor = { version = "0.7", features = ["arch-cortex-m", "executor-thread", "executor-interrupt"] }
 embassy-sync = { version = "0.6" }
 embassy-time = { version = "0.4" }
 cortex-m = { version = "0.7.6" }
-embassy-rp = { version = "0.3", features = ["unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
+embassy-rp = { version = "0.3", features = ["unstable-pac", "time-driver", "critical-section-impl", "rp235xa", "binary-info"] }
 embassy-usb-logger = "0.4.0"
 log = "0.4"
 

southbridge/build.rs

@@ -31,5 +31,4 @@ fn main() {
 
     println!("cargo:rustc-link-arg-bins=--nmagic");
     println!("cargo:rustc-link-arg-bins=-Tlink.x");
-println!("cargo:rustc-link-arg-bins=-Tlink-rp.x");
 }

southbridge/memory.x

@@ -1,7 +1,75 @@
-MEMORY
+MEMORY {
-{
+    /*
-BOOT2   : ORIGIN = 0x10000000, LENGTH = 0x100
+     * The RP2350 has either external or internal flash.
-FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
+     *
-  RAM : ORIGIN = 0x20000000, LENGTH = 264K
+     * 2 MiB is a safe default here, although a Pico 2 has 4 MiB.
+     */
+    FLASH : ORIGIN = 0x10000000, LENGTH = 2048K
+    /*
+     * RAM consists of 8 banks, SRAM0-SRAM7, with a striped mapping.
+     * This is usually good for performance, as it distributes load on
+     * those banks evenly.
+     */
+    RAM : ORIGIN = 0x20000000, LENGTH = 512K
+    /*
+     * RAM banks 8 and 9 use a direct mapping. They can be used to have
+     * memory areas dedicated for some specific job, improving predictability
+     * of access times.
+     * Example: Separate stacks for core0 and core1.
+     */
+    SRAM4 : ORIGIN = 0x20080000, LENGTH = 4K
+    SRAM5 : ORIGIN = 0x20081000, LENGTH = 4K
 }
 
+SECTIONS {
+    /* ### Boot ROM info
+     *
+     * Goes after .vector_table, to keep it in the first 4K of flash
+     * where the Boot ROM (and picotool) can find it
+     */
+    .start_block : ALIGN(4)
+    {
+        __start_block_addr = .;
+        KEEP(*(.start_block));
+        KEEP(*(.boot_info));
+    } > FLASH
+
+} INSERT AFTER .vector_table;
+
+/* move .text to start /after/ the boot info */
+_stext = ADDR(.start_block) + SIZEOF(.start_block);
+
+SECTIONS {
+    /* ### Picotool 'Binary Info' Entries
+     *
+     * Picotool looks through this block (as we have pointers to it in our
+     * header) to find interesting information.
+     */
+    .bi_entries : ALIGN(4)
+    {
+        /* We put this in the header */
+        __bi_entries_start = .;
+        /* Here are the entries */
+        KEEP(*(.bi_entries));
+        /* Keep this block a nice round size */
+        . = ALIGN(4);
+        /* We put this in the header */
+        __bi_entries_end = .;
+    } > FLASH
+} INSERT AFTER .text;
+
+SECTIONS {
+    /* ### Boot ROM extra info
+     *
+     * Goes after everything in our program, so it can contain a signature.
+     */
+    .end_block : ALIGN(4)
+    {
+        __end_block_addr = .;
+        KEEP(*(.end_block));
+    } > FLASH
+
+} INSERT AFTER .uninit;
+
+PROVIDE(start_to_end = __end_block_addr - __start_block_addr);
+PROVIDE(end_to_start = __start_block_addr - __end_block_addr);

southbridge/rust-toolchain.toml

@@ -1,10 +0,0 @@
-# Before upgrading check that everything is available on all tier1 targets here:
-# https://rust-lang.github.io/rustup-components-history
-[toolchain]
-channel = "stable"
-components = [ "rustfmt" ]
-targets = [
-    "thumbv6m-none-eabi",
-    "thumbv7em-none-eabihf",
-    "riscv32imac-unknown-none-elf",
-]

southbridge/src/main.rs

@@ -3,9 +3,9 @@
 
 use core::{panic::PanicInfo, sync::atomic::Ordering};
 
-use common::{Command, Response, SensorData};
+use common::{Command, Response, SensorData, BAUDRATE};
 use embassy_executor::Spawner;
-use embassy_rp::{bind_interrupts, peripherals::{UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx, Config}, usb::Driver};
+use embassy_rp::{bind_interrupts, block::ImageDef, gpio::{Level, Output}, peripherals::{UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx, Config}, usb::Driver};
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel};
 use embassy_time::{with_deadline, with_timeout, Duration, Instant, Timer};
 use embedded_io::Write;
@@ -25,6 +25,10 @@ bind_interrupts!(struct Irqs {
 pub static COMMANDS: Channel<CriticalSectionRawMutex, Command, 5> = Channel::new();
 pub static SENSOR_DATA: Channel<CriticalSectionRawMutex, SensorData, 5> = Channel::new();
 
+#[link_section = ".start_block"]
+#[used]
+pub static IMAGE_DEF: ImageDef = ImageDef::secure_exe();
+
 #[embassy_executor::task]
 async fn logger_task(driver: Driver<'static, USB>) {
     embassy_usb_logger::run!(1024, log::LevelFilter::Trace, driver);
@@ -40,14 +44,18 @@ fn panic( info: &PanicInfo) -> ! {
 async fn main(spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
 
+    let mut led = Output::new(p.PIN_25, Level::Low);
+
+    led.set_high();
+
     let driver = Driver::new(p.USB, Irqs);
     spawner.spawn(logger_task(driver)).unwrap();
 
     let mut drive_conf: pwm::Config = Default::default();
-    drive_conf.divider = 40.into();
+    drive_conf.divider = 15.into();
-    drive_conf.top = 62500; // 20ms
+    drive_conf.top = 50000; // 5ms
-    drive_conf.compare_b = 4687; // 1.5ms
+    drive_conf.compare_b = 15000; // 1.5ms
-    drive_conf.compare_a = 4687; // 1.5ms
+    drive_conf.compare_a = 15000; // 1.5ms
     let stopped = drive_conf.clone();
     let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE0, p.PIN_16, p.PIN_17, drive_conf.clone());
 
@@ -59,7 +67,9 @@ async fn main(spawner: Spawner) {
     static RX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0u8;1024]);
     let rx_buf = RX_BUF.take();
 
-    let uart = BufferedUart::new(p.UART1, Irqs, p.PIN_20, p.PIN_21, tx_buf, rx_buf, Config::default());
+    let mut uart_config = Config::default();
+    uart_config.baudrate = BAUDRATE;
+    let uart = BufferedUart::new(p.UART1, Irqs, p.PIN_20, p.PIN_21, tx_buf, rx_buf, uart_config);
 
     let (tx,rx) = uart.split();
 
@@ -72,6 +82,10 @@ async fn main(spawner: Spawner) {
     let mut enable_watchdog = Instant::now();
     let enable_watchdog_time = Duration::from_millis(50);
 
+    Timer::after_secs(1).await;
+    info!("ready");
+    Timer::after_secs(1).await;
+
 
     loop {
         if !enabled.load(Ordering::Acquire) {
@@ -87,6 +101,7 @@ async fn main(spawner: Spawner) {
             };
             command
         } else {
+            info!("waiting for command");
             COMMANDS.receive().await
         };
 
@@ -182,7 +197,7 @@ async fn telemetry(mut tx: BufferedUartTx<'static, UART1>, enabled: &'static Ato
 
 /// -1 to 1
 fn calc_speed(speed: f32) -> u16 {
-    const COUNTS_PER_MS: f32 = 3125.;
+    const COUNTS_PER_MS: f32 = 10000.;
     let speed = speed.clamp(-1., 1.);
 
     let ms = (speed/2.0)+1.5;