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https://github.com/jonlamb-gh/oxcc
A port of Open Source Car Control written in Rust
https://github.com/jonlamb-gh/oxcc
autonomous-driving autonomous-vehicles bootloader can-bus no-std nucleo-f767zi rust rust-embedded stm32 stm32f767zi
Last synced: about 1 month ago
JSON representation
A port of Open Source Car Control written in Rust
- Host: GitHub
- URL: https://github.com/jonlamb-gh/oxcc
- Owner: jonlamb-gh
- License: apache-2.0
- Created: 2018-08-02T19:46:46.000Z (over 6 years ago)
- Default Branch: devel
- Last Pushed: 2018-11-13T23:51:25.000Z (about 6 years ago)
- Last Synced: 2024-10-26T23:10:30.774Z (about 2 months ago)
- Topics: autonomous-driving, autonomous-vehicles, bootloader, can-bus, no-std, nucleo-f767zi, rust, rust-embedded, stm32, stm32f767zi
- Language: Rust
- Homepage:
- Size: 228 KB
- Stars: 19
- Watchers: 6
- Forks: 5
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
- License: LICENSE-APACHE
Awesome Lists containing this project
- rust-embedded - OxCC
- awesome-embedded-rust - OxCC
README
# OxCC
## Overview
A port of [Open Source Car Control](https://github.com/jonlamb-gh/oscc) written in Rust.
`OxCC` runs on the [NUCLEO-F767ZI STM32F767ZI](https://www.st.com/en/evaluation-tools/nucleo-f767zi.html) board.
It is built around the traits and patterns provided by the [embedded-hal](https://github.com/rust-embedded/embedded-hal)
project and community:
see the [BSP crate](https://github.com/jonlamb-gh/oxcc-nucleo-f767zi),
the [HAL crate](https://github.com/jonlamb-gh/oxcc-stm32f767-hal),
and the [device crate](https://github.com/jonlamb-gh/oxcc-stm32f767).
### OSCC Divergence
Apart from the change in MCU/board, `OxCC` combines all of the OSCC modules (throttle, brake, steering, CAN gateway) into a single application.
#### Hardware
A new layout and schematic is currently in the works, check out the rough [pinout](https://jonlamb-gh.github.io/oxcc/nucleo-144-oxcc-pins.png) to get started.
* CAN
`OxCC` uses the stm's on-board bxCAN controller.
For a transceiver I've been using the [SN65HVD230](https://www.waveshare.com/sn65hvd230-can-board.htm) from Waveshare.
## Getting Started
### Dependencies
* [rust](https://github.com/rust-lang-nursery/rustup.rs) (nightly)
* [svd2rust](https://github.com/rust-embedded/svd2rust)
* [openocd](http://openocd.org/) (for debugging)
* [gdb-arm-none-eabi](https://gcc.gnu.org/) (for debugging)
* [binutils-arm-none-eabi](https://gcc.gnu.org/) (uses `objcopy` for device deployment)
* [stlink](https://github.com/texane/stlink) (for device deployment)
### Building
The default Cargo configuration will build for the `Kia Soul EV` vehicle
with the `panic-over-abort` strategy.
See the `[features]` section of the [Cargo.toml](Cargo.toml) to change configurations.
* Install system package dependencies:
```bash
sudo apt-get install openocd
sudo apt-get install gdb-arm-none-eabi
sudo apt-get install binutils-arm-none-eabi
```
* Install `stlink` from source: [guide](https://github.com/texane/stlink/blob/master/doc/compiling.md)
* Install Rust nightly and additional components:
```bash
curl https://sh.rustup.rs -sSf | sh
rustup install nightly
rustup component add rust-src
rustup component add rustfmt-preview --toolchain nightly
rustup target add thumbv7em-none-eabihf
```
* Install `svd2rust`:
```bash
cargo install svd2rust
```
* Build `OxCC` firmware:
```bash
cargo build
```
## Deploying
Deploy the firmware Using `st-flash` (provided by `stlink`):
```bash
# Convert ELF to ihex format
arm-none-eabi-objcopy \
-O ihex \
target/thumbv7em-none-eabihf/release/oxcc \
target/thumbv7em-none-eabihf/release/oxcc.hex
# Upload to flash
st-flash \
--format ihex \
write \
target/thumbv7em-none-eabihf/release/oxcc.hex
```
## Debugging
In one terminal, start `openocd`:
```bash
openocd -f board/stm32f7discovery.cfg
```
In the `OxCC` terminal, use the [runner](.cargo/config) to start a `gdb` session:
```bash
cargo run
```
# License
Licensed under either of
* Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
http://www.apache.org/licenses/LICENSE-2.0)
* MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
at your option.