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"0.2.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] } +embassy-usb = { version = "0.3.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] } +embassy-net = { version = "0.4.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "tcp", "udp", "raw", "dhcpv4", "medium-ethernet", "dns"] } +embassy-net-wiznet = { version = "0.1.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] } +embassy-futures = { version = "0.1.0", git="https://github.com/embassy-rs/embassy"} +embassy-usb-logger = { version = "0.2.0", git="https://github.com/embassy-rs/embassy" } +cyw43 = { version = "0.2.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "firmware-logs", "bluetooth"] } +cyw43-pio = { version = "0.2.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] } + +defmt = "0.3" +defmt-rtt = "0.4" +fixed = "1.23.1" +fixed-macro = "1.2" + +# for web request example +reqwless = { version = "0.12.0", features = ["defmt",]} +serde = { version = "1.0.203", default-features = false, features = ["derive"] } +serde-json-core = "0.5.1" + +# for assign resources example +assign-resources = { git = "https://github.com/adamgreig/assign-resources", rev = "94ad10e2729afdf0fd5a77cd12e68409a982f58a" } + +#cortex-m = { version = "0.7.6", features = ["critical-section-single-core"] } +cortex-m = { version = "0.7.6", features = ["inline-asm"] } +cortex-m-rt = "0.7.0" +critical-section = "1.1" +panic-probe = { version = "0.3", features = ["print-defmt"] } +display-interface-spi = "0.4.1" +embedded-graphics = "0.7.1" +st7789 = "0.6.1" +display-interface = "0.4.1" +byte-slice-cast = { version = "1.2.0", default-features = false } +smart-leds = "0.3.0" +heapless = "0.8" +usbd-hid = "0.8.1" + +embedded-hal-1 = { package = "embedded-hal", version = "1.0" } +embedded-hal-async = "1.0" +embedded-hal-bus = { version = "0.1", features = ["async"] } +embedded-io-async = { version = "0.6.1", features = ["defmt-03"] } +embedded-storage = { version = "0.3" } +static_cell = "2.1" +portable-atomic = { version = "1.5", features = ["critical-section"] } +log = "0.4" +pio-proc = "0.2" +pio = "0.2.1" +rand = { version = "0.8.5", default-features = false } +embedded-sdmmc = "0.7.0" + +bt-hci = { version = "0.1.0", default-features = false, features = ["defmt"] } + +[profile.release] +debug = 2 +lto = true +opt-level = 'z' + +[profile.dev] +debug = 2 +lto = true +opt-level = "z" diff --git a/controller/build.rs b/controller/build.rs new file mode 100644 index 0000000..3f915f9 --- /dev/null +++ b/controller/build.rs @@ -0,0 +1,36 @@ +//! This build script copies the `memory.x` file from the crate root into +//! a directory where the linker can always find it at build time. +//! For many projects this is optional, as the linker always searches the +//! project root directory -- wherever `Cargo.toml` is. However, if you +//! are using a workspace or have a more complicated build setup, this +//! build script becomes required. Additionally, by requesting that +//! Cargo re-run the build script whenever `memory.x` is changed, +//! updating `memory.x` ensures a rebuild of the application with the +//! new memory settings. + +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + // By default, Cargo will re-run a build script whenever + // any file in the project changes. By specifying `memory.x` + // here, we ensure the build script is only re-run when + // `memory.x` is changed. + println!("cargo:rerun-if-changed=memory.x"); + + println!("cargo:rustc-link-arg-bins=--nmagic"); + println!("cargo:rustc-link-arg-bins=-Tlink.x"); + println!("cargo:rustc-link-arg-bins=-Tlink-rp.x"); + println!("cargo:rustc-link-arg-bins=-Tdefmt.x"); +} diff --git a/controller/memory.x b/controller/memory.x new file mode 100644 index 0000000..ef19dff --- /dev/null +++ b/controller/memory.x @@ -0,0 +1,17 @@ +MEMORY { + BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100 + FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100 + + /* Pick one of the two options for RAM layout */ + + /* OPTION A: Use all RAM banks as one big block */ + /* Reasonable, unless you are doing something */ + /* really particular with DMA or other concurrent */ + /* access that would benefit from striping */ + RAM : ORIGIN = 0x20000000, LENGTH = 264K + + /* OPTION B: Keep the unstriped sections separate */ + /* RAM: ORIGIN = 0x20000000, LENGTH = 256K */ + /* SCRATCH_A: ORIGIN = 0x20040000, LENGTH = 4K */ + /* SCRATCH_B: ORIGIN = 0x20041000, LENGTH = 4K */ +} diff --git a/controller/src/main.rs b/controller/src/main.rs new file mode 100644 index 0000000..c2780cc --- /dev/null +++ b/controller/src/main.rs @@ -0,0 +1,135 @@ +//! This example uses the RP Pico W board Wifi chip (cyw43). +//! Creates an Access point Wifi network and creates a TCP endpoint on port 1234. + +#![no_std] +#![no_main] +#![allow(async_fn_in_trait)] + +use core::str::from_utf8; + +use cyw43_pio::PioSpi; +use defmt::*; +use embassy_executor::Spawner; +use embassy_net::tcp::TcpSocket; +use embassy_net::{Config, StackResources}; +use embassy_rp::bind_interrupts; +use embassy_rp::clocks::RoscRng; +use embassy_rp::gpio::{Level, Output}; +use embassy_rp::peripherals::{DMA_CH0, PIO0}; +use embassy_rp::pio::{InterruptHandler, Pio}; +use embassy_time::Duration; +use embedded_io_async::Write; +use rand::RngCore; +use static_cell::StaticCell; +use {defmt_rtt as _, panic_probe as _}; + +bind_interrupts!(struct Irqs { + PIO0_IRQ_0 => InterruptHandler; +}); + +#[embassy_executor::task] +async fn cyw43_task(runner: cyw43::Runner<'static, Output<'static>, PioSpi<'static, PIO0, 0, DMA_CH0>>) -> ! { + runner.run().await +} + +#[embassy_executor::task] +async fn net_task(mut runner: embassy_net::Runner<'static, cyw43::NetDriver<'static>>) -> ! { + runner.run().await +} + +#[embassy_executor::main] +async fn main(spawner: Spawner) { + info!("Hello World!"); + + let p = embassy_rp::init(Default::default()); + let mut rng = RoscRng; + + let fw = include_bytes!("../../cyw43-firmware/43439A0.bin"); + let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin"); + + // To make flashing faster for development, you may want to flash the firmwares independently + // at hardcoded addresses, instead of baking them into the program with `include_bytes!`: + // probe-rs download 43439A0.bin --binary-format bin --chip RP2040 --base-address 0x10100000 + // probe-rs download 43439A0_clm.bin --binary-format bin --chip RP2040 --base-address 0x10140000 + //let fw = unsafe { core::slice::from_raw_parts(0x10100000 as *const u8, 230321) }; + //let clm = unsafe { core::slice::from_raw_parts(0x10140000 as *const u8, 4752) }; + + let pwr = Output::new(p.PIN_23, Level::Low); + let cs = Output::new(p.PIN_25, Level::High); + let mut pio = Pio::new(p.PIO0, Irqs); + let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0); + + static STATE: StaticCell = StaticCell::new(); + let state = STATE.init(cyw43::State::new()); + let (net_device, mut control, runner) = cyw43::new(state, pwr, spi, fw).await; + unwrap!(spawner.spawn(cyw43_task(runner))); + + control.init(clm).await; + control + .set_power_management(cyw43::PowerManagementMode::PowerSave) + .await; + + // Use a link-local address for communication without DHCP server + let config = Config::ipv4_static(embassy_net::StaticConfigV4 { + address: embassy_net::Ipv4Cidr::new(embassy_net::Ipv4Address::new(169, 254, 1, 1), 16), + dns_servers: heapless::Vec::new(), + gateway: None, + }); + + // Generate random seed + let seed = rng.next_u64(); + + // Init network stack + static RESOURCES: StaticCell> = StaticCell::new(); + let (stack, runner) = embassy_net::new(net_device, config, RESOURCES.init(StackResources::new()), seed); + + unwrap!(spawner.spawn(net_task(runner))); + + //control.start_ap_open("cyw43", 5).await; + control.start_ap_wpa2("cyw43", "password", 5).await; + + // And now we can use it! + + let mut rx_buffer = [0; 4096]; + let mut tx_buffer = [0; 4096]; + let mut buf = [0; 4096]; + + loop { + let mut socket = TcpSocket::new(stack, &mut rx_buffer, &mut tx_buffer); + socket.set_timeout(Some(Duration::from_secs(10))); + + control.gpio_set(0, false).await; + info!("Listening on TCP:1234..."); + if let Err(e) = socket.accept(1234).await { + warn!("accept error: {:?}", e); + continue; + } + + info!("Received connection from {:?}", socket.remote_endpoint()); + control.gpio_set(0, true).await; + + loop { + let n = match socket.read(&mut buf).await { + Ok(0) => { + warn!("read EOF"); + break; + } + Ok(n) => n, + Err(e) => { + warn!("read error: {:?}", e); + break; + } + }; + + info!("rxd {}", from_utf8(&buf[..n]).unwrap()); + + match socket.write_all(&buf[..n]).await { + Ok(()) => {} + Err(e) => { + warn!("write error: {:?}", e); + break; + } + }; + } + } +} diff --git a/cyw43-firmware/43439A0.bin b/cyw43-firmware/43439A0.bin new file mode 100644 index 0000000..a05482f Binary files /dev/null and b/cyw43-firmware/43439A0.bin differ diff --git a/cyw43-firmware/43439A0_btfw.bin b/cyw43-firmware/43439A0_btfw.bin new file mode 100644 index 0000000..290ce8e Binary files /dev/null and b/cyw43-firmware/43439A0_btfw.bin differ diff --git a/cyw43-firmware/43439A0_clm.bin b/cyw43-firmware/43439A0_clm.bin new file mode 100644 index 0000000..dc4ee02 Binary files /dev/null and b/cyw43-firmware/43439A0_clm.bin differ diff --git a/cyw43-firmware/LICENSE-permissive-binary-license-1.0.txt b/cyw43-firmware/LICENSE-permissive-binary-license-1.0.txt new file mode 100644 index 0000000..cbb51f9 --- /dev/null +++ b/cyw43-firmware/LICENSE-permissive-binary-license-1.0.txt @@ -0,0 +1,49 @@ +Permissive Binary License + +Version 1.0, July 2019 + +Redistribution. Redistribution and use in binary form, without +modification, are permitted provided that the following conditions are +met: + +1) Redistributions must reproduce the above copyright notice and the + following disclaimer in the documentation and/or other materials + provided with the distribution. + +2) Unless to the extent explicitly permitted by law, no reverse + engineering, decompilation, or disassembly of this software is + permitted. + +3) Redistribution as part of a software development kit must include the + accompanying file named �DEPENDENCIES� and any dependencies listed in + that file. + +4) Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +Limited patent license. The copyright holders (and contributors) grant a +worldwide, non-exclusive, no-charge, royalty-free patent license to +make, have made, use, offer to sell, sell, import, and otherwise +transfer this software, where such license applies only to those patent +claims licensable by the copyright holders (and contributors) that are +necessarily infringed by this software. This patent license shall not +apply to any combinations that include this software. No hardware is +licensed hereunder. + +If you institute patent litigation against any entity (including a +cross-claim or counterclaim in a lawsuit) alleging that the software +itself infringes your patent(s), then your rights granted under this +license shall terminate as of the date such litigation is filed. + +DISCLAIMER. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND +CONTRIBUTORS "AS IS." ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT +NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED +TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR +PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF +LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING +NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. \ No newline at end of file diff --git a/cyw43-firmware/README.md b/cyw43-firmware/README.md new file mode 100644 index 0000000..10a6b5d --- /dev/null +++ b/cyw43-firmware/README.md @@ -0,0 +1,14 @@ +# WiFi + Bluetooth firmware blobs + +Firmware obtained from https://github.com/georgerobotics/cyw43-driver/tree/main/firmware + +Licensed under the [Infineon Permissive Binary License](./LICENSE-permissive-binary-license-1.0.txt) + +## Changelog + +* 2023-08-21: synced with `a1dc885` - Update 43439 fw + clm to come from `wb43439A0_7_95_49_00_combined.h` + add Bluetooth firmware +* 2023-07-28: synced with `ad3bad0` - Update 43439 fw from 7.95.55 to 7.95.62 + +## Notes + +If you update these files, please update the lengths in the `tests/rp/src/bin/cyw43_perf.rs` test (which relies on these files running from RAM).