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Cargo.toml
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[package]
name = "firmware"
version = "0.0.0"
license.workspace = true
authors.workspace = true
repository.workspace = true
categories.workspace = true
description = "Rust firmware for SlimeVR full-body-tracking"
keywords = ["slimevr", "full-body-tracking", "vr", "imu", "embassy"]
edition.workspace = true
rust-version.workspace = true
[features]
default = [
"mcu-esp32c3",
"imu-stubbed",
"log-rtt",
"net-wifi",
"fusion-stubbed",
]
# default = [
# "mcu-nrf52840",
# "imu-stubbed",
# "log-rtt",
# "net-stubbed",
# "fusion-stubbed",
# "nrf-boot-s140",
# ]
# default = ["mcu-esp32", "imu-stubbed", "log-uart", "net-stubbed", "fusion-stubbed"]
# Supported microcontrollers
mcu-esp32 = [
"_mcu-f-esp32",
"dep:esp32-hal",
"defmt_esp_println/esp32",
"esp-backtrace/esp32",
"xtensa-lx/esp32",
"esp-wifi/esp32",
]
mcu-esp32c3 = [
"_mcu-f-esp32",
"dep:esp32c3-hal",
"defmt_esp_println/esp32c3",
"esp-backtrace/esp32c3",
"dep:riscv",
"esp-wifi/esp32c3",
]
mcu-nrf52840 = [
"_mcu-f-nrf52",
"embassy-nrf/nrf52840",
"dep:embassy-usb",
"nrf-softdevice/nrf52840",
"dep:nrf52840-pac",
]
mcu-nrf52832 = [
"_mcu-f-nrf52",
"embassy-nrf/nrf52832",
"nrf-softdevice/nrf52832",
"dep:nrf52832-pac",
]
# Wi-fi dependencies
net-wifi = ["esp-wifi?/wifi"] # use wifi
net-ble = ["esp-wifi?/ble"]
net-stubbed = [] # Stubs out network
# Supported IMUs
imu-bmi160 = []
imu-mpu6050 = []
imu-stubbed = [] # Stubs out the IMU
# Supported defmt loggers
log-rtt = ["dep:defmt-rtt"]
log-usb-serial = ["defmt_esp_println?/jtag_serial"]
log-uart = ["defmt_esp_println?/uart"]
# Fusion algorithms for unfused imus
fusion-stubbed = [] # Stubs out fusion so it returns the same pose every time
fusion-dcm = []
# Enable to flash without needing `espflash`
direct-boot = ["esp32c3-hal?/direct-boot"]
# nrf-specific bootloader choice
nrf-boot-none = ["cortex-m?/critical-section-single-core"]
nrf-boot-mbr = ["cortex-m?/critical-section-single-core"]
nrf-boot-s132 = ["nrf-softdevice/s132"] # use softdevice 132
nrf-boot-s140 = ["nrf-softdevice/s140"] # use softdevice 140
# All features with underscores are internal only, should not be used by other crates,
# and are not covered under semver guarantees.
# nrf52 family
_mcu-f-nrf52 = [
"dep:cortex-m",
"dep:cortex-m-rt",
"dep:alloc-cortex-m",
"embassy-nrf/time-driver-rtc1",
"embassy-executor/integrated-timers",
"dep:defmt-bbq",
]
_mcu-f-esp32 = [
"dep:esp-alloc",
"dep:embedded-svc",
"dep:embassy-net",
"dep:smoltcp",
"dep:bleps",
"dep:bleps-macros",
]
[dependencies]
# mcu-esp32 stuff
esp32-hal = { version = "0.10", optional = true, features = [
"embassy",
"embassy-time-timg0",
"async",
] }
# mcu-esp32c3 stuff
esp32c3-hal = { version = "0.7", optional = true, features = [
"embassy",
"embassy-time-timg0",
"async",
#"direct-boot",
] }
riscv = { version = "0.10", optional = true }
# mcu-f-nrf52 stuff
embassy-nrf = { version = "*", optional = true, default-features = false, features = [
"nightly", # For usb
"time",
"time-driver-rtc1",
] }
alloc-cortex-m = { version = "0.4", optional = true }
cortex-m = { version = "0.7", optional = true }
cortex-m-rt = { version = "0.7", optional = true }
nrf52840-pac = { version = "0.12", optional = true }
nrf52832-pac = { version = "0.12", optional = true }
# Async stuff
embassy-futures = "0.1.0"
embassy-executor = { version = "*", features = [
"integrated-timers",
"nightly", # Needed for .spawn()
] }
embassy-time = { version = "*", features = [
# "unstable-traits",
] }
embassy-usb = { version = "*", optional = true }
embassy-sync = { version = "*" }
futures-util = { version = "0.3", default-features = false }
# esp-xtensa stuff
xtensa-lx = { version = "0.8", optional = true, default-features = false }
# esp-generic stuff
esp-backtrace = { version = "0.4", default-features = false, optional = true }
esp-alloc = { version = "0.2", optional = true }
defmt_esp_println = { path = "crates/defmt_esp_println", optional = true }
# Wi-Fi
esp-wifi = { git = "https://github.com/esp-rs/esp-wifi.git", rev = "76ba312", features = [
"embedded-svc",
"wifi",
"embassy-net",
], optional = true }
smoltcp = { version = "0.9", default-features = false, features = [
], optional = true }
embassy-net = { version = "*", optional = true, features = [
"nightly", "tcp", "udp", "dhcpv4", "medium-ethernet"
] }
# Generic BLE
bleps = { git = "https://github.com/bjoernQ/bleps", rev = "33fde67", optional = true }
bleps-macros = { git = "https://github.com/bjoernQ/bleps", rev = "33fde67", optional = true }
# nrf ble
nrf-softdevice = { version = "*", default-features = false, features = [
"defmt",
"ble-peripheral",
"ble-central",
"critical-section-impl",
], optional = true }
# Platform independent traits
embedded-hal = "0.2"
embedded-svc = { version = "0.23", default-features = false, optional = true, features = [
# "defmt"
# "nightly",
] }
# Logging
defmt = "0.3"
defmt-rtt = { version = "0.4", optional = true }
panic_defmt = { path = "crates/panic_defmt" }
defmt-bbq = { version = "0.1", optional = true }
# Peripheral drivers
mpu6050-dmp = "0.3"
bmi160 = "0.1"
# Sensor fusion
dcmimu = "0.2"
# Other crates
static_cell = "1"
nb = "1"
nalgebra = { version = "0.31", default-features = false, features = [
"macros",
"libm",
] }
fugit = "0.3"
firmware_protocol = { path = "../networking/firmware_protocol", features = [
"nalgebra031",
] }
paste = "1.0"
load-dotenv = "0.1"
[build-dependencies]
feature_utils = "0.0.0"
cfg_aliases = "0.1.1"
serde = { version = "1", features = ["derive"] }
toml = "0.5"
eyre = "0.6"
color-eyre = "0.6"
dotenvy = "0.15"
[patch.crates-io]
bmi160 = { git = "https://github.com/TheButlah/bmi160-rs", rev = "e99802b" }
# Fix xtensa not compiling because bitvec used to use a build.rs for detecting atomic
# width
# https://github.com/ferrilab/ferrilab/issues/1
bitvec = { git = "https://github.com/arctic-alpaca/ferrilab.git", rev = "e13261a" }
# Ensure we use the git version of all of the embassy stuff. Specify it here instead of
# in [dependencies] because this ensures that we don't duplicate any dependencies like
# `embassy-time`. This avoids bugs like this one:
# https://github.com/embassy-rs/embassy/issues/1115
embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
embassy-nrf = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
embassy-usb = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
nrf-softdevice = { git = "https://github.com/embassy-rs/nrf-softdevice", rev = "8a3dbb7" }
[profile.dev]
# lto doesnt work for esp-wifi
lto = false
# opt-level = "s"
# Necessary for esp-wifi to not be bugged
# https://github.com/esp-rs/esp-wifi/blob/9b644387a54a5ace93d4280f29075ad2a9e9a8ed/README.md#important
# https://github.com/esp-rs/esp-wifi/issues/88#issuecomment-1332363697
[profile.dev.package.esp-wifi]
opt-level = 3
# Recommended by the dependency itself
# https://github.com/esp-rs/xtensa-lx-rt/blob/455d2b77b8a5724d36db0ea66c88467a4515f376/README.md#i-get-linker-errors-when-i-build-for-debug
[profile.dev.package.xtensa-lx-rt]
opt-level = 'z'
[profile.release]
debug = true # Symbols get stripped when flashing anyway
lto = false # LTO doesn't work for esp-wifi
###################
# Workspace stuff #
###################
[workspace]
resolver = "2"
members = ["crates/panic_defmt", "crates/defmt_esp_println"]
[workspace.package]
license = "MIT OR Apache-2.0"
authors = ["Ryan Butler <[email protected]>"]
repository = "https://github.com/SlimeVR/SlimeVR-Rust"
categories = ["no-std", "embedded"]
edition = "2021"
rust-version = "1.65"
[workspace.dependencies]
esp-println = { version = "0.3", default-features = false, features = [
"critical-section", # Necessary because otherwise I'm very sus of the soundness
] }