From 1e15831d56ccadd26938f5b92dba8413aad4d42a Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Mon, 15 Jul 2024 16:01:37 +0200
Subject: [PATCH] Implement FIRMWARE_VERSION command
---
.gitlab-ci.yml | 9 ++++++
Cargo.lock | 9 +++++-
README.org | 7 ++++-
controller/Cargo.toml | 5 +++-
controller/build.rs | 41 ++++++++++++++++++++++++++++
controller/python/controller.py | 40 ++++++++++++++++++++++++++-
controller/python/controller_test.py | 23 ++++++++++++++++
controller/src/logic.rs | 8 ++++++
controller/src/main.rs | 7 ++++-
9 files changed, 144 insertions(+), 5 deletions(-)
create mode 100644 controller/build.rs
create mode 100644 controller/python/controller_test.py
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 6552d4a..39be961 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -59,6 +59,15 @@ test-rust:
- cd pid
- cargo test --target x86_64-unknown-linux-gnu
+test-python:
+ image: python
+ stage: test
+ script:
+ - cd controller/python
+ - python -munittest controller_test.py
+ cache:
+ paths:
+
deploy:
image: alpine
stage: deploy
diff --git a/Cargo.lock b/Cargo.lock
index d3cd2ff..409a64f 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -142,6 +142,7 @@ dependencies = [
"heapless",
"i2c2-target",
"panic-probe",
+ "semver 1.0.23",
]
[[package]]
@@ -615,7 +616,7 @@ version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
dependencies = [
- "semver",
+ "semver 0.9.0",
]
[[package]]
@@ -633,6 +634,12 @@ dependencies = [
"semver-parser",
]
+[[package]]
+name = "semver"
+version = "1.0.23"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+
[[package]]
name = "semver-parser"
version = "0.7.0"
diff --git a/README.org b/README.org
index 81a7ec9..9f5f9c0 100644
--- a/README.org
+++ b/README.org
@@ -46,7 +46,12 @@ the TB6612FNG motor driver.
* Command set
-Values are exchanged in little endian format.
+Multibyte values are exchanged in little endian format.
+
+** [IMPLEMENTED] 0x08 Firmware version (R)
+
+- Return three bytes containing the major, minor and patch version numbers
+ derived from =Cargo.toml=.
** [IMPLEMENTED] 0x0F Who am I? (R)
diff --git a/controller/Cargo.toml b/controller/Cargo.toml
index fa7a6d4..b6d96c3 100644
--- a/controller/Cargo.toml
+++ b/controller/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "dc-motor-driver-hat"
-version = "0.1.0"
+version = "0.1.0" # Update in python/controller.py as well
authors = ["Samuel Tardieu <sam@rfc1149.net>"]
edition = "2021"
@@ -19,3 +19,6 @@ panic-probe = { version = "0.3.2", features = ["print-defmt"] }
[lints.clippy]
pedantic = "deny"
+
+[build-dependencies]
+semver = "1.0.23"
diff --git a/controller/build.rs b/controller/build.rs
new file mode 100644
index 0000000..566a915
--- /dev/null
+++ b/controller/build.rs
@@ -0,0 +1,41 @@
+use semver::Version;
+use std::env;
+use std::fs::{self, File};
+use std::io::Write;
+use std::path::Path;
+use std::str::FromStr;
+
+#[derive(Debug)]
+enum Error {
+ InconsistentPythonLibraryFirmwareVersion,
+}
+
+fn check_python_library_consistency(version: &Version) -> Result<(), Error> {
+ let haystack = fs::read_to_string("python/controller.py").unwrap();
+ let needle = format!(
+ "REQUIRED_FIRMWARE_VERSION = ({}, {})",
+ version.major, version.minor
+ );
+ if !haystack.contains(&needle) {
+ eprintln!("Cannot find the following string in Python library:\n {needle}");
+ return Err(Error::InconsistentPythonLibraryFirmwareVersion);
+ }
+ Ok(())
+}
+
+fn main() -> Result<(), Error> {
+ let version_str = env!("CARGO_PKG_VERSION");
+ let version = Version::from_str(version_str).unwrap();
+ check_python_library_consistency(&version)?;
+ let mut out =
+ File::create(Path::new(&env::var("OUT_DIR").unwrap()).join("version.rs")).unwrap();
+ writeln!(
+ out,
+ "pub const PKG_VERSION: [u8; 3] = [{}, {}, {}];",
+ u8::try_from(version.major).unwrap(),
+ u8::try_from(version.minor).unwrap(),
+ u8::try_from(version.patch).unwrap()
+ )
+ .unwrap();
+ Ok(())
+}
diff --git a/controller/python/controller.py b/controller/python/controller.py
index 05fe857..83b9a35 100644
--- a/controller/python/controller.py
+++ b/controller/python/controller.py
@@ -1,13 +1,20 @@
-import smbus
import struct
from numbers import Real
from typing import Any, Optional
+# Major and minor version of required firmware
+_REQUIRED_FIRMWARE_VERSION = (0, 1)
+
+
+class FirmwareVersionMismatch(Exception):
+ pass
+
class Controller:
I2C_ADDR = 0x57
+ FIRMWARE_VERSION = 0x08
WHO_AM_I = 0x0F
MAX_MOTOR_PERCENTAGE = 0x11
MOTOR_SHUTDOWN_TIMEOUT = 0x28
@@ -16,9 +23,13 @@ class Controller:
STATUS = 0x36
def __init__(self, i2cbus=8):
+ import smbus
+
self.I2C_BUS = i2cbus
self.i2c = smbus.SMBus(self.I2C_BUS)
+ self.check_firmware_version()
+
def _read(self, command, n, unpack_spec) -> tuple:
return struct.unpack(
unpack_spec,
@@ -108,3 +119,30 @@ class Controller:
"""Get the duration in seconds after which the motors will shut down
if no valid command is received."""
return self._read(self.MOTOR_SHUTDOWN_TIMEOUT, 1, "B")[0] / 10
+
+ def get_firmware_version(self) -> tuple[int, int, int]:
+ """Get the firmware version (major, minor, patch)."""
+ return self._read(self.FIRMWARE_VERSION, 3, "BBB")
+
+ def check_firmware_version(self):
+ """Check that the firmware uses a version compatible with this
+ library."""
+ version = self.get_firmware_version()
+ Controller._check_firmware_version_consistency(
+ _REQUIRED_FIRMWARE_VERSION, version
+ )
+
+ def _check_firmware_version_consistency(
+ required: tuple[int, int], version: tuple[int, int, int]
+ ):
+ (MAJOR, MINOR) = required
+ (major, minor, patch) = version
+ error = None
+ if major != MAJOR or minor < MINOR:
+ version = f"{major}.{minor}.{patch}"
+ VERSION = f"{MAJOR}.{MINOR}.*"
+ error = (
+ f"Hardware runs firmware version {version} which "
+ f"is not compatible with this library version ({VERSION})"
+ )
+ raise FirmwareVersionMismatch(error)
diff --git a/controller/python/controller_test.py b/controller/python/controller_test.py
new file mode 100644
index 0000000..479e7ce
--- /dev/null
+++ b/controller/python/controller_test.py
@@ -0,0 +1,23 @@
+from controller import Controller, FirmwareVersionMismatch
+import unittest
+
+
+class TestController(unittest.TestCase):
+
+ def test_firmware_major_mismatch(self):
+ with self.assertRaises(FirmwareVersionMismatch):
+ Controller._check_firmware_version_consistency((2, 5), (3, 7, 4))
+
+ def test_firmware_minor_mismatch(self):
+ with self.assertRaises(FirmwareVersionMismatch):
+ Controller._check_firmware_version_consistency((2, 5), (2, 4, 3))
+
+ def test_firmware_perfect_match(self):
+ self.assertIsNone(
+ Controller._check_firmware_version_consistency((2, 4), (2, 4, 3))
+ )
+
+ def test_firmware_subsequent_match(self):
+ self.assertIsNone(
+ Controller._check_firmware_version_consistency((2, 4), (2, 5, 3))
+ )
diff --git a/controller/src/logic.rs b/controller/src/logic.rs
index 21b3719..beeec99 100644
--- a/controller/src/logic.rs
+++ b/controller/src/logic.rs
@@ -131,6 +131,7 @@ fn i2c_callback(command: &[u8], response: &mut Deque<u8, MESSAGE_SIZE>) {
}
}
+const FIRMWARE_VERSION: u8 = 0x08;
const WHO_AM_I: u8 = 0x0f;
const MAX_MOTOR_PERCENTAGE: u8 = 0x11;
const MOTOR_SHUTDOWN_TIMEOUT: u8 = 0x28;
@@ -138,6 +139,8 @@ const MOTOR_SPEED: u8 = 0x30;
const ENCODER_TICKS: u8 = 0x32;
const STATUS: u8 = 0x36;
+include!(concat!(env!("OUT_DIR"), "/version.rs"));
+
fn process_command(
state: &mut State,
command: &[u8],
@@ -145,6 +148,11 @@ fn process_command(
) -> bool {
defmt::trace!("Processing command {:?}", command);
match command {
+ [FIRMWARE_VERSION] => {
+ for b in PKG_VERSION {
+ response.push_back(b).unwrap();
+ }
+ }
[WHO_AM_I, ..] => {
response.push_back(0x57).unwrap();
}
diff --git a/controller/src/main.rs b/controller/src/main.rs
index d97be89..d231548 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -38,7 +38,12 @@ async fn main(spawner: Spawner) {
config.rcc.apb1_pre = APBPrescaler::DIV2;
let p = embassy_stm32::init(config);
- defmt::info!("Program starting");
+ defmt::info!(
+ "Firmware {}.{}.{} starting",
+ logic::PKG_VERSION[0],
+ logic::PKG_VERSION[1],
+ logic::PKG_VERSION[2]
+ );
spawner.spawn(blink(p.PB15)).unwrap();
--
GitLab