jonlamb-gh / oxcc

A port of Open Source Car Control written in Rust

OxCC

Overview

A port of Open Source Car Control written in Rust.

OxCC runs on the NUCLEO-F767ZI STM32F767ZI board.

It is built around the traits and patterns provided by the embedded-hal project and community: see the BSP crate, the HAL crate, and the device crate.

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 to get started.

• CAN

  OxCC uses the stm's on-board bxCAN controller. For a transceiver I've been using the SN65HVD230 from Waveshare.

Getting Started

Dependencies

• rust (nightly)
• svd2rust
• openocd (for debugging)
• gdb-arm-none-eabi (for debugging)
• binutils-arm-none-eabi (uses objcopy for device deployment)
• 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 to change configurations.

• Install system package dependencies:

  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
• Install Rust nightly and additional components:

  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:

  cargo install svd2rust

• Build OxCC firmware:

  cargo build

Deploying

Deploy the firmware Using st-flash (provided by stlink):

# 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:

openocd -f board/stm32f7discovery.cfg

In the OxCC terminal, use the runner to start a gdb session:

cargo run

License

Licensed under either of

• Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.