1. New command to change blinky frequency. 2. Bump used sat-rs version.
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60
satrs-example-stm32f3-disco/Cargo.lock
generated
60
satrs-example-stm32f3-disco/Cargo.lock
generated
@ -22,9 +22,9 @@ dependencies = [
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[[package]]
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name = "autocfg"
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version = "1.1.0"
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version = "1.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
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checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
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[[package]]
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name = "bare-metal"
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@ -88,19 +88,13 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
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[[package]]
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name = "chrono"
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version = "0.4.35"
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version = "0.4.37"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a"
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checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
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dependencies = [
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"num-traits",
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]
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[[package]]
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name = "cobs"
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version = "0.2.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
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[[package]]
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name = "cobs"
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version = "0.2.3"
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@ -189,7 +183,7 @@ dependencies = [
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"ident_case",
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -200,7 +194,7 @@ checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
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dependencies = [
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"darling_core",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -233,7 +227,7 @@ dependencies = [
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"proc-macro-error",
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -265,7 +259,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -331,7 +325,7 @@ dependencies = [
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"darling",
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -559,7 +553,7 @@ checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -580,9 +574,9 @@ checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
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[[package]]
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name = "pin-project-lite"
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version = "0.2.13"
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version = "0.2.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
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checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
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[[package]]
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name = "pin-utils"
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@ -634,9 +628,9 @@ dependencies = [
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[[package]]
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name = "rtcc"
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version = "0.3.1"
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version = "0.3.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f4fbd0d5bed2b76e27a7ef872568b34072c1af94c277cd52c17a89d54673b3fe"
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checksum = "95973c3a0274adc4f3c5b70d2b5b85618d6de9559a6737d3293ecae9a2fc0839"
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dependencies = [
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"chrono",
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]
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@ -680,7 +674,7 @@ dependencies = [
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"proc-macro-error",
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -729,10 +723,8 @@ dependencies = [
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[[package]]
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name = "satrs"
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version = "0.2.0-rc.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c8cb19cba46a45047ff0879ebfbf9d6ae1c5b2e0e38b2e08760b10a441d4dae6"
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dependencies = [
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"cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
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"cobs",
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"crc",
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"delegate",
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"num-traits",
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@ -747,7 +739,7 @@ dependencies = [
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name = "satrs-example-stm32f3-disco"
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version = "0.1.0"
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dependencies = [
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"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
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"cobs",
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"cortex-m",
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"cortex-m-rt",
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"cortex-m-semihosting",
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@ -767,9 +759,7 @@ dependencies = [
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[[package]]
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name = "satrs-shared"
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version = "0.1.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "75a402ba556a7f5eef707035b45e64a3259b09674311e98697f3dd0508a1bf51"
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version = "0.1.3"
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dependencies = [
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"spacepackets",
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]
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@ -809,12 +799,12 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
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[[package]]
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name = "spacepackets"
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version = "0.10.0"
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version = "0.11.0-rc.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "28246ae2451af240c3e3ff3c51363c7b6ad565ca6aa9bad23b8c725687c485e1"
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checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
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dependencies = [
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"chrono",
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"crc",
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"defmt",
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"delegate",
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"num-traits",
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"num_enum",
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@ -909,9 +899,9 @@ dependencies = [
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[[package]]
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name = "syn"
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version = "2.0.53"
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version = "2.0.58"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
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checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
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dependencies = [
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"proc-macro2",
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"quote",
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@ -935,7 +925,7 @@ checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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[[package]]
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@ -1001,5 +991,5 @@ checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.53",
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"syn 2.0.58",
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]
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@ -46,8 +46,9 @@ branch = "complete-dma-update-hal"
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# path = "../stm32f3-discovery"
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[dependencies.satrs]
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version = "0.2.0-rc.0"
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path = "../satrs"
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default-features = false
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features = ["defmt"]
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[dev-dependencies]
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defmt-test = "0.3"
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@ -103,3 +103,12 @@ After that, you can for example send a ping to the MCU using the following comma
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```sh
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./main.py -p /ping
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```
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You can configure the blinky frequency using
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```sh
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./main.py -p /change_blink_freq
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```
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All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
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format as the packet framing format.
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@ -94,6 +94,7 @@ class SatRsConfigHook(HookBase):
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def create_cmd_definition_tree() -> CmdTreeNode:
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root_node = CmdTreeNode.root_node()
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root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
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root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
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return root_node
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@ -215,6 +216,25 @@ class TcHandler(TcHandlerBase):
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if cmd_path == "/ping":
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q.add_log_cmd("Sending PUS ping telecommand")
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q.add_pus_tc(PusTelecommand(service=17, subservice=1))
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if cmd_path == "/change_blink_freq":
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self.create_change_blink_freq_command(q)
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def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
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q.add_log_cmd("Changing blink frequency")
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while True:
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blink_freq = int(
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input(
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"Please specify new blink frequency in ms. Valid Range [2..10000]: "
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)
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)
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if blink_freq < 2 or blink_freq > 10000:
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print(
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"Invalid blink frequency. Please specify a value between 2 and 10000."
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)
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continue
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break
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app_data = struct.pack("!I", blink_freq)
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q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
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def main():
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@ -1,5 +1,13 @@
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#![no_std]
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#![no_main]
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use satrs::pus::verification::{
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FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
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};
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use satrs::spacepackets::ecss::tc::PusTcReader;
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use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
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use satrs::spacepackets::ecss::EcssEnumU16;
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use satrs::spacepackets::CcsdsPacket;
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use satrs::spacepackets::{ByteConversionError, SpHeader};
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// global logger + panicking-behavior + memory layout
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use satrs_example_stm32f3_disco as _;
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@ -7,21 +15,17 @@ use rtic::app;
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use heapless::{mpmc::Q8, Vec};
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#[allow(unused_imports)]
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use rtic_monotonics::systick::fugit::TimerInstantU32;
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use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
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use rtic_monotonics::systick::ExtU32;
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use satrs::seq_count::SequenceCountProviderCore;
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use satrs::{
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pool::StoreError,
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pus::{EcssChannel, EcssTmSenderCore, EcssTmtcError, PusTmWrapper},
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spacepackets::{ecss::PusPacket, ecss::WritablePusPacket},
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};
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use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
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use stm32f3xx_hal::dma::dma1;
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use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
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use stm32f3xx_hal::pac::USART2;
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use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
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const UART_BAUD: u32 = 115200;
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const BLINK_FREQ_MS: u32 = 1000;
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const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
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const TX_HANDLER_FREQ_MS: u32 = 20;
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const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
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const MAX_TC_LEN: usize = 128;
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@ -54,7 +58,6 @@ type TcPacket = Vec<u8, MAX_TC_LEN>;
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static TM_REQUESTS: Q8<TmPacket> = Q8::new();
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use core::cell::RefCell;
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use core::sync::atomic::{AtomicU16, Ordering};
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pub struct SeqCountProviderAtomicRef {
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@ -93,56 +96,45 @@ pub struct TxIdle {
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dma_channel: dma1::C7,
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}
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pub struct TmSender {
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vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
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#[derive(Debug, defmt::Format)]
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pub enum TmSendError {
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ByteConversion(ByteConversionError),
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Queue,
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}
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impl TmSender {
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pub fn new(tm_packet: TmPacket) -> Self {
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Self {
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vec: Some(RefCell::new(tm_packet)),
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}
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impl From<ByteConversionError> for TmSendError {
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fn from(value: ByteConversionError) -> Self {
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Self::ByteConversion(value)
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}
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}
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impl EcssChannel for TmSender {
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fn id(&self) -> satrs::ChannelId {
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0
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fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
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if tm_creator.len_written() > MAX_TM_LEN {
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return Err(ByteConversionError::ToSliceTooSmall {
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expected: tm_creator.len_written(),
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found: MAX_TM_LEN,
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}
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.into());
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}
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impl EcssTmSenderCore for TmSender {
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fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
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let vec = self.vec.as_ref();
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if vec.is_none() {
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panic!("send_tm should only be called once");
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}
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let vec_ref = vec.unwrap();
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let mut vec = vec_ref.borrow_mut();
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match tm {
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PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
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PusTmWrapper::Direct(tm) => {
|
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if tm.len_written() > MAX_TM_LEN {
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return Err(EcssTmtcError::Store(StoreError::DataTooLarge(
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tm.len_written(),
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)));
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}
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vec.resize(tm.len_written(), 0).expect("vec resize failed");
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tm.write_to_bytes(vec.as_mut_slice())?;
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let mut tm_vec = TmPacket::new();
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tm_vec
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.resize(tm_creator.len_written(), 0)
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.expect("vec resize failed");
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tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
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defmt::info!(
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"Sending TM[{},{}] with size {}",
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tm.service(),
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tm.subservice(),
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tm.len_written()
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tm_creator.service(),
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tm_creator.subservice(),
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tm_creator.len_written()
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);
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drop(vec);
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TM_REQUESTS
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.enqueue(vec_ref.take())
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.map_err(|_| EcssTmtcError::Store(StoreError::StoreFull(0)))?;
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}
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}
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.enqueue(tm_vec)
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.map_err(|_| TmSendError::Queue)?;
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Ok(())
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}
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fn handle_tm_send_error(error: TmSendError) {
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defmt::warn!("sending tm failed with error {}", error);
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}
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pub enum UartTxState {
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@ -157,18 +149,106 @@ pub struct UartTxShared {
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state: UartTxState,
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}
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pub struct RequestWithToken {
|
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token: VerificationToken<TcStateAccepted>,
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request: Request,
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}
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#[derive(Debug, defmt::Format)]
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pub enum Request {
|
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Ping,
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ChangeBlinkFrequency(u32),
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}
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#[derive(Debug, defmt::Format)]
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pub enum RequestError {
|
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InvalidApid = 1,
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InvalidService = 2,
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InvalidSubservice = 3,
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NotEnoughAppData = 4,
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}
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pub fn convert_pus_tc_to_request(
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tc: &PusTcReader,
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verif_reporter: &mut VerificationReportCreator,
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src_data_buf: &mut [u8],
|
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timestamp: &[u8],
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) -> Result<RequestWithToken, RequestError> {
|
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defmt::info!(
|
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"Found PUS TC [{},{}] with length {}",
|
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tc.service(),
|
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tc.subservice(),
|
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tc.len_packed()
|
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);
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|
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let token = verif_reporter.add_tc(tc);
|
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if tc.apid() != PUS_APID {
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
return Err(RequestError::InvalidApid);
|
||||
}
|
||||
let (tm_creator, accepted_token) = verif_reporter
|
||||
.acceptance_success(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
if let Err(e) = send_tm(tm_creator) {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
|
||||
if tc.service() == 17 && tc.subservice() == 1 {
|
||||
if tc.subservice() == 1 {
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::Ping,
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else if tc.service() == 8 {
|
||||
if tc.subservice() == 1 {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(RequestError::NotEnoughAppData);
|
||||
}
|
||||
let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::ChangeBlinkFrequency(new_freq_ms),
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else {
|
||||
return Err(RequestError::InvalidService);
|
||||
}
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true)]
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pus::verification::FailParams;
|
||||
use satrs::pus::verification::VerificationReporterCore;
|
||||
use satrs::spacepackets::{
|
||||
ecss::tc::PusTcReader, ecss::tm::PusTmCreator, ecss::tm::PusTmSecondaryHeader,
|
||||
ecss::EcssEnumU16, time::cds::P_FIELD_BASE, CcsdsPacket, SpHeader,
|
||||
};
|
||||
use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
|
||||
use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
|
||||
#[allow(unused_imports)]
|
||||
use stm32f3_discovery::leds::Direction;
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
@ -181,15 +261,16 @@ mod app {
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
blink_freq: MillisDurationU32,
|
||||
tx_shared: UartTxShared,
|
||||
rx_transfer: Option<RxDmaTransferType>,
|
||||
}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
verif_reporter: VerificationReportCreator,
|
||||
leds: Leds,
|
||||
last_dir: Direction,
|
||||
verif_reporter: VerificationReporterCore,
|
||||
curr_dir: Iter<'static, Direction>,
|
||||
}
|
||||
|
||||
@ -215,8 +296,6 @@ mod app {
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
|
||||
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
|
||||
|
||||
let leds = Leds::new(
|
||||
gpioe.pe8,
|
||||
gpioe.pe9,
|
||||
@ -265,8 +344,12 @@ mod app {
|
||||
defmt::info!("Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
|
||||
let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
|
||||
|
||||
(
|
||||
Shared {
|
||||
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
|
||||
tx_shared: UartTxShared {
|
||||
last_completed: None,
|
||||
state: UartTxState::Idle(Some(TxIdle {
|
||||
@ -277,17 +360,16 @@ mod app {
|
||||
rx_transfer: Some(rx_transfer),
|
||||
},
|
||||
Local {
|
||||
//timer: mono_timer,
|
||||
verif_reporter,
|
||||
leds,
|
||||
last_dir: Direction::North,
|
||||
curr_dir: Direction::iter(),
|
||||
verif_reporter,
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds, curr_dir, last_dir])]
|
||||
async fn blink(cx: blink::Context) {
|
||||
#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
|
||||
async fn blink(mut cx: blink::Context) {
|
||||
let blink::LocalResources {
|
||||
leds,
|
||||
curr_dir,
|
||||
@ -311,7 +393,8 @@ mod app {
|
||||
toggle_leds(curr_dir.next().unwrap());
|
||||
}
|
||||
}
|
||||
Systick::delay(BLINK_FREQ_MS.millis()).await;
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Systick::delay(current_blink_freq).await;
|
||||
}
|
||||
}
|
||||
|
||||
@ -386,18 +469,18 @@ mod app {
|
||||
|
||||
#[task(
|
||||
local = [
|
||||
stamp_buf: [u8; 7] = [0; 7],
|
||||
verif_reporter,
|
||||
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
|
||||
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
|
||||
verif_reporter
|
||||
timestamp: [u8; 7] = [0; 7],
|
||||
],
|
||||
shared = [blink_freq]
|
||||
)]
|
||||
async fn serial_rx_handler(
|
||||
cx: serial_rx_handler::Context,
|
||||
mut cx: serial_rx_handler::Context,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
) {
|
||||
defmt::info!("running rx handler");
|
||||
cx.local.stamp_buf[0] = P_FIELD_BASE;
|
||||
cx.local.timestamp[0] = P_FIELD_BASE;
|
||||
defmt::info!("Received packet with {} bytes", received_packet.len());
|
||||
let decode_buf = cx.local.decode_buf;
|
||||
let packet = received_packet.as_slice();
|
||||
@ -417,18 +500,49 @@ mod app {
|
||||
Ok(len) => {
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
let verif_reporter = cx.local.verif_reporter;
|
||||
match pus_tc {
|
||||
Ok((tc, tc_len)) => handle_tc(
|
||||
tc,
|
||||
tc_len,
|
||||
verif_reporter,
|
||||
Ok((tc, _tc_len)) => {
|
||||
match convert_pus_tc_to_request(
|
||||
&tc,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.stamp_buf,
|
||||
),
|
||||
Err(_e) => {
|
||||
// TODO: Print error after API rework.
|
||||
defmt::warn!("Error unpacking PUS TC");
|
||||
cx.local.timestamp,
|
||||
) {
|
||||
Ok(request_with_token) => {
|
||||
let started_token = handle_start_verification(
|
||||
request_with_token.token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
|
||||
match request_with_token.request {
|
||||
Request::Ping => {
|
||||
handle_ping_request(cx.local.timestamp);
|
||||
}
|
||||
Request::ChangeBlinkFrequency(new_freq_ms) => {
|
||||
defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
|
||||
cx.shared.blink_freq.lock(|blink_freq| {
|
||||
*blink_freq =
|
||||
MillisDurationU32::from_ticks(new_freq_ms);
|
||||
});
|
||||
}
|
||||
}
|
||||
handle_completion_verification(
|
||||
started_token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
}
|
||||
Err(e) => {
|
||||
// TODO: Error handling: Send verification failure based on request error.
|
||||
defmt::warn!("request error {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("Error unpacking PUS TC: {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -438,78 +552,12 @@ mod app {
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_tc(
|
||||
tc: PusTcReader,
|
||||
tc_len: usize,
|
||||
verif_reporter: &mut VerificationReporterCore,
|
||||
src_data_buf: &mut [u8; MAX_TM_LEN],
|
||||
stamp_buf: &[u8; 7],
|
||||
) {
|
||||
defmt::info!(
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
tc_len
|
||||
);
|
||||
|
||||
let token = verif_reporter.add_tc(&tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let sendable = verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap();
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
|
||||
defmt::warn!("Sending acceptance failure failed");
|
||||
};
|
||||
return;
|
||||
}
|
||||
let sendable = verif_reporter
|
||||
.acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
|
||||
.unwrap();
|
||||
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
|
||||
if tc.service() == 17 {
|
||||
if tc.subservice() == 1 {
|
||||
let sendable = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
// let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let started_token = match verif_reporter.send_start_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
fn handle_ping_request(timestamp: &[u8]) {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let mut sp_header =
|
||||
SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
|
||||
let ping_reply = PusTmCreator::new(&mut sp_header, sec_header, &[], true);
|
||||
let sp_header =
|
||||
SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
|
||||
let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
|
||||
let mut tm_packet = TmPacket::new();
|
||||
tm_packet
|
||||
.resize(ping_reply.len_written(), 0)
|
||||
@ -519,23 +567,49 @@ mod app {
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
SEQ_COUNT_PROVIDER.increment();
|
||||
let sendable = verif_reporter
|
||||
}
|
||||
|
||||
fn handle_start_verification(
|
||||
accepted_token: VerificationToken<TcStateAccepted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> VerificationToken<TcStateStarted> {
|
||||
let (tm_creator, started_token) = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
×tamp,
|
||||
)
|
||||
.unwrap();
|
||||
let result = send_tm(tm_creator);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
started_token
|
||||
}
|
||||
|
||||
fn handle_completion_verification(
|
||||
started_token: VerificationToken<TcStateStarted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) {
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap();
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
|
||||
defmt::warn!("Sending completion success failed");
|
||||
}
|
||||
} else {
|
||||
// TODO: Invalid subservice
|
||||
}
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -18,9 +18,7 @@ default-features = false
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
version = "0.11.0-rc.2"
|
||||
branch = "main"
|
||||
default-features = false
|
||||
|
||||
[features]
|
||||
|
||||
@ -71,9 +71,8 @@ features = ["all"]
|
||||
optional = true
|
||||
|
||||
[dependencies.spacepackets]
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
# git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
|
||||
version = "0.11.0-rc.2"
|
||||
branch = "main"
|
||||
default-features = false
|
||||
|
||||
[dependencies.cobs]
|
||||
@ -117,6 +116,7 @@ alloc = [
|
||||
serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
|
||||
crossbeam = ["crossbeam-channel"]
|
||||
heapless = ["dep:heapless"]
|
||||
defmt = ["spacepackets/defmt"]
|
||||
test_util = []
|
||||
doc-images = []
|
||||
|
||||
|
||||
@ -1,12 +1,10 @@
|
||||
use crate::pus::{source_buffer_large_enough, EcssTmtcError};
|
||||
use crate::pus::source_buffer_large_enough;
|
||||
use spacepackets::ecss::tm::PusTmCreator;
|
||||
use spacepackets::ecss::tm::PusTmSecondaryHeader;
|
||||
use spacepackets::ecss::{EcssEnumeration, PusError};
|
||||
use spacepackets::ecss::EcssEnumeration;
|
||||
use spacepackets::ByteConversionError;
|
||||
use spacepackets::{SpHeader, MAX_APID};
|
||||
|
||||
use crate::pus::EcssTmSenderCore;
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub use alloc_mod::*;
|
||||
|
||||
@ -134,10 +132,12 @@ impl EventReportCreator {
|
||||
#[cfg(feature = "alloc")]
|
||||
mod alloc_mod {
|
||||
use super::*;
|
||||
use crate::pus::{EcssTmSenderCore, EcssTmtcError};
|
||||
use crate::ComponentId;
|
||||
use alloc::vec;
|
||||
use alloc::vec::Vec;
|
||||
use core::cell::RefCell;
|
||||
use spacepackets::ecss::PusError;
|
||||
|
||||
pub trait EventTmHookProvider {
|
||||
fn modify_tm(&self, tm: &mut PusTmCreator);
|
||||
@ -268,8 +268,9 @@ mod tests {
|
||||
use crate::events::{EventU32, Severity};
|
||||
use crate::pus::test_util::TEST_COMPONENT_ID_0;
|
||||
use crate::pus::tests::CommonTmInfo;
|
||||
use crate::pus::{ChannelWithId, PusTmVariant};
|
||||
use crate::pus::{ChannelWithId, EcssTmSenderCore, EcssTmtcError, PusTmVariant};
|
||||
use crate::ComponentId;
|
||||
use spacepackets::ecss::PusError;
|
||||
use spacepackets::ByteConversionError;
|
||||
use std::cell::RefCell;
|
||||
use std::collections::VecDeque;
|
||||
|
||||
@ -92,7 +92,7 @@ use delegate::delegate;
|
||||
use serde::{Deserialize, Serialize};
|
||||
use spacepackets::ecss::tc::IsPusTelecommand;
|
||||
use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use spacepackets::ecss::{EcssEnumeration, PusError};
|
||||
use spacepackets::ecss::EcssEnumeration;
|
||||
use spacepackets::{ByteConversionError, CcsdsPacket, PacketId, PacketSequenceCtrl};
|
||||
use spacepackets::{SpHeader, MAX_APID};
|
||||
|
||||
@ -883,6 +883,8 @@ impl VerificationReportCreator {
|
||||
|
||||
#[cfg(feature = "alloc")]
|
||||
pub mod alloc_mod {
|
||||
use spacepackets::ecss::PusError;
|
||||
|
||||
use super::*;
|
||||
use crate::{pus::PusTmVariant, ComponentId};
|
||||
use core::cell::RefCell;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user