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Merged
evoggy merged 1 commit into from
May 26, 2026
Merged

Update to crazyflie-lib 0.8.0 #8

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16 changes: 8 additions & 8 deletions Cargo.lock
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10 changes: 5 additions & 5 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -57,9 +57,9 @@ num_enum = "0.7.4"
half = "2.6.0"
env_logger = "0.11.8"
anyhow = "1.0"
crazyflie-link = { version = "0.4.2", default-features = false }
crazyflie-lib = { version = "0.7.1", default-features = false }
crazyradio = { version = "0.6.0", features = ["async"] }
crazyflie-link = { version = "0.5.0", default-features = false }
crazyflie-lib = { version = "0.8.0", default-features = false }
crazyradio = { version = "0.7.0", features = ["async"] }
rusb = "0.9"
cfloader = "0.1.0"
clap = { version = "4.5.46", features = ["derive"] }
Expand Down Expand Up @@ -87,8 +87,8 @@ hex = "0.4.3"
chrono = "0.4.44"

[target.'cfg(unix)'.dependencies]
crazyflie-link = { version = "0.4.2", default-features = false, features = ["packet_capture"] }
crazyradio = { version = "0.6.0", features = ["async", "packet_capture"] }
crazyflie-link = { version = "0.5.0", default-features = false, features = ["packet_capture"] }
crazyradio = { version = "0.7.0", features = ["async", "packet_capture"] }

# Used by build.rs to generate shell-completion scripts from the same clap
# command tree as the binary (src/cli.rs is shared via include!).
Expand Down
34 changes: 1 addition & 33 deletions src/modules/bootloader.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -513,38 +513,6 @@ pub async fn flash(link_context: &crazyflie_link::LinkContext, uri: &str, toc_ca

let memories = cf.memory.get_memories(Some(MemoryType::DeckMemory));
if !memories.is_empty() {
// Write the new-fw-size to the deck's command region before the
// bulk write so the deck-side driver can erase the right region
// up front. The DeckMemorySection abstraction doesn't expose the
// command/info addresses, so do this via RawMemory: parse the
// info section to locate the protocol section index by name,
// then write 4 LE bytes at 0x1000 + idx*0x20.
let raw = match cf.memory.open_memory::<RawMemory>(memories[0].clone()).await {
Some(Ok(r)) => r,
Some(Err(e)) => return Err(anyhow!("Open DeckMemory as raw: {:?}", e)),
None => return Err(anyhow!("DeckMemory not found")),
};
let mut proto_idx: Option<usize> = None;
for i in 0..8usize {
let data = raw.read(1 + i * 0x20, 0x20).await?;
if data.len() < 0x20 { break; }
if (data[0] & 0x01) == 0 { continue; }
let name: String = data[14..32].iter()
.take_while(|&&b| b != 0)
.map(|&b| b as char)
.collect();
if name == firmware.target {
proto_idx = Some(i);
break;
}
}
if let Some(idx) = proto_idx {
let cmd_addr = 0x1000 + idx * 0x20;
let size_bytes = (firmware.data.len() as u32).to_le_bytes();
raw.write(cmd_addr, &size_bytes).await?;
}
cf.memory.close_memory(raw).await?;

let deck_memory = match cf.memory.open_memory::<DeckMemory>(memories[0].clone()).await {
Some(Ok(deck)) => deck,
Some(Err(e)) => {
Expand Down Expand Up @@ -584,7 +552,7 @@ pub async fn flash(link_context: &crazyflie_link::LinkContext, uri: &str, toc_ca
let progress_callback = move |bytes_written: usize, _total_bytes: usize| {
pb.set_position(bytes_written as u64);
};
section.write_with_progress(0, &firmware.data, progress_callback).await?;
section.flash_firmware_with_progress(&firmware.data, progress_callback).await?;
finish_progress(&progress_bar, "Deck firmware flashed successfully!");
}

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