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updated STM32F3 RTICv2 example

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This commit is contained in:
Robin Mueller
2025-09-10 18:06:50 +02:00
parent 526254851a
commit 2bb8a89e8b
22 changed files with 2063 additions and 40155 deletions
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17
embedded-examples/embedded-client/Cargo.toml Normal file
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@@ -0,0 +1,17 @@
[package]
name = "embedded-client"
version = "0.1.0"
edition = "2024"
[dependencies]
clap = { version = "4", features = ["derive"] }
serialport = "4"
toml = "0.9"
serde = { version = "1", features = ["derive"] }
satrs-stm32f3-disco-rtic = { path = "../stm32f3-disco-rtic" }
spacepackets = { git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", version = "0.17" }
postcard = { version = "1", features = ["alloc"] }
cobs = "0.5"
fern = "0.7"
humantime = "2"
log = "0.4"

2
embedded-examples/embedded-client/config.toml Normal file
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@@ -0,0 +1,2 @@
[interface]
serial_port = "/dev/ttyUSB0"

126
embedded-examples/embedded-client/src/main.rs Normal file
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@@ -0,0 +1,126 @@
use std::{
fs::File,
io::Read,
path::Path,
time::{Duration, SystemTime},
};
use clap::Parser;
use cobs::CobsDecoderOwned;
use satrs_stm32f3_disco_rtic::Request;
use spacepackets::{CcsdsPacketCreator, CcsdsPacketReader, SpHeader};
#[derive(Parser, Debug)]
struct Cli {
#[arg(short, long)]
ping: bool,
/// Set frequency in milliseconds.
#[arg(short, long)]
set_led_frequency: Option<u32>,
}
#[derive(Debug, serde::Deserialize)]
struct Config {
interface: Interface,
}
#[derive(Debug, serde::Deserialize)]
struct Interface {
serial_port: String,
}
fn setup_logger() -> Result<(), fern::InitError> {
fern::Dispatch::new()
.format(|out, message, record| {
out.finish(format_args!(
"[{} {} {}] {}",
humantime::format_rfc3339_seconds(SystemTime::now()),
record.level(),
record.target(),
message
))
})
.level(log::LevelFilter::Debug)
.chain(std::io::stdout())
.chain(fern::log_file("output.log")?)
.apply()?;
Ok(())
}
fn main() {
setup_logger().expect("failed to initialize logger");
println!("sat-rs embedded examples TMTC client");
let cli = Cli::parse();
let mut config_file =
File::open(Path::new("config.toml")).expect("opening config.toml file failed");
let mut toml_str = String::new();
config_file
.read_to_string(&mut toml_str)
.expect("reading config.toml file failed");
let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
println!("Connecting to serial port {}", config.interface.serial_port);
let mut serial = serialport::new(config.interface.serial_port, 115200)
.open()
.expect("opening serial port failed");
if cli.ping {
let request = Request::Ping;
let tc_encoded_raw = create_stm32f3_tc(&request);
log::info!("Sending ping request");
serial.write_all(&tc_encoded_raw).unwrap();
}
if let Some(freq_ms) = cli.set_led_frequency {
let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
let tc_encoded_raw = create_stm32f3_tc(&request);
log::info!("Sending change blink frequency request: {:?}", request);
serial.write_all(&tc_encoded_raw).unwrap();
}
let mut cobs_decoder = CobsDecoderOwned::new(1024);
log::info!("Waiting for response...");
loop {
let mut reception_buffer = [0u8; 1024];
let received_bytes = serial.read(&mut reception_buffer);
match received_bytes {
Ok(0) => {
std::thread::sleep(std::time::Duration::from_millis(100));
}
Ok(n) => {
for byte in &reception_buffer[..n] {
match cobs_decoder.feed(*byte) {
Ok(Some(packet_len)) => {
let reader = CcsdsPacketReader::new_with_checksum(
&cobs_decoder.dest()[0..packet_len],
);
log::debug!("Received packet: {:?}", reader);
}
Ok(None) => (),
Err(e) => {
log::error!("COBS decoding error {e}, resetting decoder");
}
}
}
}
Err(e) => {
if e.kind() != std::io::ErrorKind::TimedOut
&& e.kind() != std::io::ErrorKind::WouldBlock
{
log::error!("Error reading from serial port: {:?}", e);
}
std::thread::sleep(std::time::Duration::from_millis(100));
}
}
}
}
fn create_stm32f3_tc(request: &Request) -> Vec<u8> {
let req_raw = postcard::to_allocvec(&request).unwrap();
let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
let ccsds_tc_packet = CcsdsPacketCreator::new_tc_with_checksum(sp_header, &req_raw).unwrap();
let tc_raw = ccsds_tc_packet.to_vec();
cobs::encode_vec_including_sentinels(&tc_raw)
}

2
embedded-examples/stm32f3-disco-rtic/.cargo/def_config.toml → embedded-examples/stm32f3-disco-rtic/.cargo/config.toml.template
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@@ -34,4 +34,4 @@ rustflags = [
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
[env]
DEFMT_LOG = "info"
DEFMT_LOG = "info"

2
embedded-examples/stm32f3-disco-rtic/.gitignore vendored
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@@ -1,4 +1,4 @@
/target
/itm.txt
/.cargo/config*
/.cargo/config.toml
/.vscode

1212
embedded-examples/stm32f3-disco-rtic/Cargo.lock generated
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58
embedded-examples/stm32f3-disco-rtic/Cargo.toml
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@@ -9,49 +9,33 @@ default-run = "satrs-stm32f3-disco-rtic"
[dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7"
defmt = "0.3"
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
panic-probe = { version = "0.3", features = ["print-defmt"] }
embedded-hal = "0.2.7"
defmt = "1"
defmt-rtt = { version = "1" }
panic-probe = { version = "1", features = ["print-defmt"] }
embedded-hal = "1"
cortex-m-semihosting = "0.5.0"
embassy-stm32 = { version = "0.4", features = ["defmt", "stm32f303vc", "unstable-pac"] }
enumset = "1"
heapless = "0.8"
heapless = "0.9"
spacepackets = { version = "0.17", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false, features = ["defmt", "serde"] }
static_cell = "2"
cobs = { version = "0.5", default-features = false, features = ["defmt"] }
postcard = { version = "1" }
arbitrary-int = "2"
thiserror = { version = "2", default-features = false }
serde = { version = "1", default-features = false, features = ["derive"] }
[dependencies.rtic]
version = "2"
features = ["thumbv7-backend"]
rtic = { version = "2", features = ["thumbv7-backend"] }
rtic-sync = { version = "1" }
rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
[dependencies.rtic-monotonics]
version = "2"
features = ["cortex-m-systick"]
[dependencies.cobs]
version = "0.3"
default-features = false
[dependencies.stm32f3xx-hal]
git = "https://github.com/robamu/stm32f3xx-hal"
version = "0.11.0-alpha.0"
features = ["stm32f303xc", "rt", "enumset"]
branch = "complete-dma-update"
# Can be used in workspace to develop and update HAL
# path = "../stm32f3xx-hal"
[dependencies.stm32f3-discovery]
git = "https://github.com/robamu/stm32f3-discovery"
version = "0.8.0-alpha.0"
branch = "complete-dma-update-hal"
# Can be used in workspace to develop and update BSP
# path = "../stm32f3-discovery"
[dependencies.satrs]
# path = "satrs"
version = "0.2"
default-features = false
features = ["defmt"]
#[dependencies.satrs]
# path = "../../satrs"
#default-features = false
# features = ["defmt"]
[dev-dependencies]
defmt-test = "0.3"
defmt-test = "0.4"
# cargo test
[profile.test]

38601
embedded-examples/stm32f3-disco-rtic/STM32F303.svd
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10
embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb
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@@ -1,10 +0,0 @@
target extended-remote localhost:2331
monitor reset
# *try* to stop at the user entry point (it might be gone due to inlining)
break main
load
continue

12
embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg
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@@ -1,12 +0,0 @@
# Sample OpenOCD configuration for the STM32F3DISCOVERY development board
# Depending on the hardware revision you got you'll have to pick ONE of these
# interfaces. At any time only one interface should be commented out.
# Revision C (newer revision)
source [find interface/stlink.cfg]
# Revision A and B (older revisions)
# source [find interface/stlink-v2.cfg]
source [find target/stm32f3x.cfg]

42
embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
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@@ -1,42 +0,0 @@
target extended-remote :3333
# print demangled symbols
set print asm-demangle on
# set backtrace limit to not have infinite backtrace loops
set backtrace limit 32
# detect unhandled exceptions, hard faults and panics
break DefaultHandler
break HardFault
break rust_begin_unwind
# # run the next few lines so the panic message is printed immediately
# # the number needs to be adjusted for your panic handler
# commands $bpnum
# next 4
# end
# *try* to stop at the user entry point (it might be gone due to inlining)
break main
# monitor arm semihosting enable
# # send captured ITM to the file itm.fifo
# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
# # 8000000 must match the core clock frequency
# # 2000000 is the frequency of the SWO pin. This was added for newer
# openocd versions like v0.12.0.
# monitor tpiu config internal itm.txt uart off 8000000 2000000
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
# # 8000000 must match the core clock frequency
# # 2000000 is the frequency of the SWO pin
# monitor tpiu config external uart off 8000000 2000000
# # enable ITM port 0
# monitor itm port 0 on
load
# start the process but immediately halt the processor
stepi

8
embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore vendored
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@@ -1,8 +0,0 @@
/venv
/.tmtc-history.txt
/log
/.idea/*
!/.idea/runConfigurations
/seqcnt.txt
/tmtc_conf.json

4
embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json
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@@ -1,4 +0,0 @@
{
"com_if": "serial_cobs",
"serial_baudrate": 115200
}

305
embedded-examples/stm32f3-disco-rtic/pyclient/main.py
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@@ -1,305 +0,0 @@
#!/usr/bin/env python3
"""Example client for the sat-rs example application"""
import struct
import logging
import sys
import time
from typing import Any, Optional, cast
from prompt_toolkit.history import FileHistory, History
from spacepackets.ecss.tm import CdsShortTimestamp
import tmtccmd
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
from spacepackets.ecss.pus_17_test import Service17Tm
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
from tmtccmd.core.base import BackendRequest
from tmtccmd.core.ccsds_backend import QueueWrapper
from tmtccmd.logging import add_colorlog_console_logger
from tmtccmd.pus import VerificationWrapper
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
from tmtccmd.com import ComInterface
from tmtccmd.config import (
CmdTreeNode,
default_json_path,
SetupParams,
HookBase,
params_to_procedure_conversion,
)
from tmtccmd.config.com import SerialCfgWrapper
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
from tmtccmd.logging.pus import (
RegularTmtcLogWrapper,
RawTmtcTimedLogWrapper,
TimedLogWhen,
)
from tmtccmd.tmtc import (
TcQueueEntryType,
ProcedureWrapper,
TcProcedureType,
FeedWrapper,
SendCbParams,
DefaultPusQueueHelper,
)
from tmtccmd.pus.s5_fsfw_event import Service5Tm
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
from tmtccmd.util.obj_id import ObjectIdDictT
_LOGGER = logging.getLogger()
EXAMPLE_PUS_APID = 0x02
class SatRsConfigHook(HookBase):
def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import (
create_com_interface_default,
create_com_interface_cfg_default,
)
assert self.cfg_path is not None
cfg = create_com_interface_cfg_default(
com_if_key=com_if_key,
json_cfg_path=self.cfg_path,
space_packet_ids=None,
)
if cfg is None:
raise ValueError(
f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
)
if cfg.com_if_key == "serial_cobs":
cfg = cast(SerialCfgWrapper, cfg)
cfg.serial_cfg.serial_timeout = 0.5
return create_com_interface_default(cfg)
def get_command_definitions(self) -> CmdTreeNode:
"""This function should return the root node of the command definition tree."""
return create_cmd_definition_tree()
def get_cmd_history(self) -> Optional[History]:
"""Optionlly return a history class for the past command paths which will be used
when prompting a command path from the user in CLI mode."""
return FileHistory(".tmtc-history.txt")
def get_object_ids(self) -> ObjectIdDictT:
from tmtccmd.config.objects import get_core_object_ids
return get_core_object_ids()
def create_cmd_definition_tree() -> CmdTreeNode:
root_node = CmdTreeNode.root_node()
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
return root_node
class PusHandler(SpecificApidHandlerBase):
def __init__(
self,
file_logger: logging.Logger,
verif_wrapper: VerificationWrapper,
raw_logger: RawTmtcTimedLogWrapper,
):
super().__init__(EXAMPLE_PUS_APID, None)
self.file_logger = file_logger
self.raw_logger = raw_logger
self.verif_wrapper = verif_wrapper
def handle_tm(self, packet: bytes, _user_args: Any):
try:
pus_tm = PusTm.unpack(
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
)
except ValueError as e:
_LOGGER.warning("Could not generate PUS TM object from raw data")
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
raise e
service = pus_tm.service
tm_packet = None
if service == 1:
tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
)
res = self.verif_wrapper.add_tm(tm_packet)
if res is None:
_LOGGER.info(
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
)
_LOGGER.warning(
f"No matching telecommand found for {tm_packet.tc_req_id}"
)
else:
self.verif_wrapper.log_to_console(tm_packet, res)
self.verif_wrapper.log_to_file(tm_packet, res)
if service == 3:
_LOGGER.info("No handling for HK packets implemented")
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if pus_tm.subservice == 25:
if len(pus_tm.source_data) < 8:
raise ValueError("No addressable ID in HK packet")
json_str = pus_tm.source_data[8:]
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
if service == 5:
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if service == 17:
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if tm_packet.subservice == 2:
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
_LOGGER.info(
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
)
if tm_packet is None:
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
self.raw_logger.log_tm(pus_tm)
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
byte_string = bytearray(struct.pack("!I", target_id))
byte_string.extend(struct.pack("!I", unique_id))
return byte_string
class TcHandler(TcHandlerBase):
def __init__(
self,
seq_count_provider: FileSeqCountProvider,
verif_wrapper: VerificationWrapper,
):
super(TcHandler, self).__init__()
self.seq_count_provider = seq_count_provider
self.verif_wrapper = verif_wrapper
self.queue_helper = DefaultPusQueueHelper(
queue_wrapper=QueueWrapper.empty(),
tc_sched_timestamp_len=7,
seq_cnt_provider=seq_count_provider,
pus_verificator=verif_wrapper.pus_verificator,
default_pus_apid=EXAMPLE_PUS_APID,
)
def send_cb(self, send_params: SendCbParams):
entry_helper = send_params.entry
if entry_helper.is_tc:
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
pus_tc_wrapper.pus_tc.seq_count = (
self.seq_count_provider.get_and_increment()
)
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
raw_tc = pus_tc_wrapper.pus_tc.pack()
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
send_params.com_if.send(raw_tc)
elif entry_helper.entry_type == TcQueueEntryType.LOG:
log_entry = entry_helper.to_log_entry()
_LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
q = self.queue_helper
q.queue_wrapper = wrapper.queue_wrapper
if info.proc_type == TcProcedureType.TREE_COMMANDING:
def_proc = info.to_tree_commanding_procedure()
cmd_path = def_proc.cmd_path
if cmd_path == "/ping":
q.add_log_cmd("Sending PUS ping telecommand")
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
if cmd_path == "/change_blink_freq":
self.create_change_blink_freq_command(q)
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
q.add_log_cmd("Changing blink frequency")
while True:
blink_freq = int(
input(
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
)
)
if blink_freq < 2 or blink_freq > 10000:
print(
"Invalid blink frequency. Please specify a value between 2 and 10000."
)
continue
break
app_data = struct.pack("!I", blink_freq)
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
def main():
add_colorlog_console_logger(_LOGGER)
tmtccmd.init_printout(False)
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
parser_wrapper = PreArgsParsingWrapper()
parser_wrapper.create_default_parent_parser()
parser_wrapper.create_default_parser()
parser_wrapper.add_def_proc_args()
params = SetupParams()
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
proc_wrapper = ProcedureParamsWrapper()
if post_args_wrapper.use_gui:
post_args_wrapper.set_params_without_prompts(proc_wrapper)
else:
post_args_wrapper.set_params_with_prompts(proc_wrapper)
params.apid = EXAMPLE_PUS_APID
setup_args = SetupWrapper(
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
)
# Create console logger helper and file loggers
tmtc_logger = RegularTmtcLogWrapper()
file_logger = tmtc_logger.logger
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
verificator = PusVerificator()
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
# Create primary TM handler and add it to the CCSDS Packet Handler
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
ccsds_handler = CcsdsTmHandler(generic_handler=None)
ccsds_handler.add_apid_handler(tm_handler)
# Create TC handler
seq_count_provider = PusFileSeqCountProvider()
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
tmtccmd.setup(setup_args=setup_args)
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
tmtc_backend = tmtccmd.create_default_tmtc_backend(
setup_wrapper=setup_args,
tm_handler=ccsds_handler,
tc_handler=tc_handler,
init_procedure=init_proc,
)
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
try:
while True:
state = tmtc_backend.periodic_op(None)
if state.request == BackendRequest.TERMINATION_NO_ERROR:
sys.exit(0)
elif state.request == BackendRequest.DELAY_IDLE:
_LOGGER.info("TMTC Client in IDLE mode")
time.sleep(3.0)
elif state.request == BackendRequest.DELAY_LISTENER:
time.sleep(0.8)
elif state.request == BackendRequest.DELAY_CUSTOM:
if state.next_delay.total_seconds() <= 0.4:
time.sleep(state.next_delay.total_seconds())
else:
time.sleep(0.4)
elif state.request == BackendRequest.CALL_NEXT:
pass
except KeyboardInterrupt:
sys.exit(0)
if __name__ == "__main__":
main()

2
embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt
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@@ -1,2 +0,0 @@
tmtccmd == 8.0.1
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

111
embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
View File

@@ -1,76 +1,61 @@
#![no_std]
#![no_main]
use satrs_stm32f3_disco_rtic as _;
#![no_std]
use stm32f3_discovery::leds::Leds;
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
use panic_probe as _;
use rtic::app;
#[cortex_m_rt::entry]
fn main() -> ! {
defmt::println!("STM32F3 Discovery Blinky");
let dp = pac::Peripherals::take().unwrap();
let mut rcc = dp.RCC.constrain();
let cp = cortex_m::Peripherals::take().unwrap();
let mut flash = dp.FLASH.constrain();
let clocks = rcc.cfgr.freeze(&mut flash.acr);
let mut delay = Delay::new(cp.SYST, clocks);
#[app(device = embassy_stm32)]
mod app {
use rtic_monotonics::fugit::ExtU32;
use rtic_monotonics::Monotonic as _;
use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
let mut leds = Leds::new(
gpioe.pe8,
gpioe.pe9,
gpioe.pe10,
gpioe.pe11,
gpioe.pe12,
gpioe.pe13,
gpioe.pe14,
gpioe.pe15,
&mut gpioe.moder,
&mut gpioe.otyper,
);
let delay_ms = 200u16;
loop {
leds.ld3_n.toggle().ok();
delay.delay_ms(delay_ms);
leds.ld3_n.toggle().ok();
delay.delay_ms(delay_ms);
rtic_monotonics::systick_monotonic!(Mono, 1000);
//explicit on/off
leds.ld4_nw.on().ok();
delay.delay_ms(delay_ms);
leds.ld4_nw.off().ok();
delay.delay_ms(delay_ms);
#[shared]
struct Shared {}
leds.ld5_ne.on().ok();
delay.delay_ms(delay_ms);
leds.ld5_ne.off().ok();
delay.delay_ms(delay_ms);
#[local]
struct Local {
leds: Leds,
current_dir: Direction,
}
leds.ld6_w.on().ok();
delay.delay_ms(delay_ms);
leds.ld6_w.off().ok();
delay.delay_ms(delay_ms);
#[init]
fn init(cx: init::Context) -> (Shared, Local) {
let p = embassy_stm32::init(Default::default());
leds.ld7_e.on().ok();
delay.delay_ms(delay_ms);
leds.ld7_e.off().ok();
delay.delay_ms(delay_ms);
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
leds.ld8_sw.on().ok();
delay.delay_ms(delay_ms);
leds.ld8_sw.off().ok();
delay.delay_ms(delay_ms);
let led_pin_set = LedPinSet {
pin_n: p.PE8,
pin_ne: p.PE9,
pin_e: p.PE10,
pin_se: p.PE11,
pin_s: p.PE12,
pin_sw: p.PE13,
pin_w: p.PE14,
pin_nw: p.PE15,
};
let leds = Leds::new(led_pin_set);
leds.ld9_se.on().ok();
delay.delay_ms(delay_ms);
leds.ld9_se.off().ok();
delay.delay_ms(delay_ms);
// Initialize the systick interrupt & obtain the token to prove that we did
Mono::start(cx.core.SYST, 8_000_000);
blinky::spawn().expect("failed to spawn blinky task");
(
Shared {},
Local {
leds,
current_dir: Direction::North,
},
)
}
leds.ld10_s.on().ok();
delay.delay_ms(delay_ms);
leds.ld10_s.off().ok();
delay.delay_ms(delay_ms);
#[task(local = [leds, current_dir])]
async fn blinky(cx: blinky::Context) {
loop {
cx.local.leds.blink_next(cx.local.current_dir);
Mono::delay(200.millis()).await;
}
}
}

215
embedded-examples/stm32f3-disco-rtic/src/lib.rs
View File

@@ -1,51 +1,196 @@
#![no_main]
#![no_std]
use cortex_m_semihosting::debug;
use core::time::Duration;
use arbitrary_int::u11;
use embassy_stm32::gpio::Output;
use spacepackets::{
ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
CcsdsPacketCreatorWithReservedData, PacketId, PacketSequenceControl, SpacePacketHeader,
};
use defmt_brtt as _; // global logger
pub const APID: u11 = u11::new(0x02);
use stm32f3xx_hal as _; // memory layout
use panic_probe as _;
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler]
fn panic() -> ! {
cortex_m::asm::udf()
#[derive(defmt::Format, serde::Serialize, serde::Deserialize, PartialEq, Eq, Clone, Copy)]
pub enum Direction {
North,
NorthEast,
East,
SouthEast,
South,
SouthWest,
West,
NorthWest,
}
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with status code 0.
pub fn exit() -> ! {
loop {
debug::exit(debug::EXIT_SUCCESS);
impl Direction {
pub fn switch_to_next(&mut self) -> (Self, Self) {
let curr = *self;
*self = match self {
Direction::North => Direction::NorthEast,
Direction::NorthEast => Direction::East,
Direction::East => Direction::SouthEast,
Direction::SouthEast => Direction::South,
Direction::South => Direction::SouthWest,
Direction::SouthWest => Direction::West,
Direction::West => Direction::NorthWest,
Direction::NorthWest => Direction::North,
};
(curr, *self)
}
}
/// Hardfault handler.
///
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with an error. This seems better than the default, which is to spin in a
/// loop.
#[cortex_m_rt::exception]
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
loop {
debug::exit(debug::EXIT_FAILURE);
#[derive(Copy, Clone, Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
pub enum Request {
Ping,
ChangeBlinkFrequency(Duration),
}
#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
pub struct CcsdsPacketId {
pub packet_id: PacketId,
pub psc: PacketSequenceControl,
}
#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
pub struct TmHeader {
pub tc_packet_id: Option<CcsdsPacketId>,
pub uptime_millis: u32,
}
#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
pub enum Response {
CommandDone,
}
pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
ccsds_packet_len_for_user_data_len_with_checksum(
postcard::experimental::serialized_size(tm_header).unwrap()
+ postcard::experimental::serialized_size(response).unwrap(),
)
.unwrap()
}
pub fn create_tm_packet(
buf: &mut [u8],
sp_header: SpacePacketHeader,
tm_header: TmHeader,
response: Response,
) -> Result<usize, CcsdsPacketCreationError> {
let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
+ postcard::experimental::serialized_size(&response).unwrap();
let mut creator =
CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
.unwrap()
.len();
postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
Ok(creator.finish())
}
pub struct Leds {
pub north: Output<'static>,
pub north_east: Output<'static>,
pub east: Output<'static>,
pub south_east: Output<'static>,
pub south: Output<'static>,
pub south_west: Output<'static>,
pub west: Output<'static>,
pub north_west: Output<'static>,
}
impl Leds {
pub fn blink_next(&mut self, current_dir: &mut Direction) {
let (prev, curr) = current_dir.switch_to_next();
self.set_dir_low(prev);
self.set_dir_high(curr);
}
pub fn set_dir(&mut self, dir: Direction, level: embassy_stm32::gpio::Level) {
match dir {
Direction::North => self.north.set_level(level),
Direction::NorthEast => self.north_east.set_level(level),
Direction::East => self.east.set_level(level),
Direction::SouthEast => self.south_east.set_level(level),
Direction::South => self.south.set_level(level),
Direction::SouthWest => self.south_west.set_level(level),
Direction::West => self.west.set_level(level),
Direction::NorthWest => self.north_west.set_level(level),
}
}
pub fn set_dir_low(&mut self, dir: Direction) {
self.set_dir(dir, embassy_stm32::gpio::Level::Low);
}
pub fn set_dir_high(&mut self, dir: Direction) {
self.set_dir(dir, embassy_stm32::gpio::Level::High);
}
}
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
// once within a crate. the module can be in any file but there can only be at most
// one `#[tests]` module in this library crate
#[cfg(test)]
#[defmt_test::tests]
mod unit_tests {
use defmt::assert;
pub struct LedPinSet {
pub pin_n: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE8>,
pub pin_ne: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE9>,
pub pin_e: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE10>,
pub pin_se: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE11>,
pub pin_s: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE12>,
pub pin_sw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE13>,
pub pin_w: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE14>,
pub pin_nw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE15>,
}
#[test]
fn it_works() {
assert!(true)
impl Leds {
pub fn new(pin_set: LedPinSet) -> Self {
let led_n = Output::new(
pin_set.pin_n,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_ne = Output::new(
pin_set.pin_ne,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_e = Output::new(
pin_set.pin_e,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_se = Output::new(
pin_set.pin_se,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_s = Output::new(
pin_set.pin_s,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_sw = Output::new(
pin_set.pin_sw,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_w = Output::new(
pin_set.pin_w,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_nw = Output::new(
pin_set.pin_nw,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
Self {
north: led_n,
north_east: led_ne,
east: led_e,
south_east: led_se,
south: led_s,
south_west: led_sw,
west: led_w,
north_west: led_nw,
}
}
}

815
embedded-examples/stm32f3-disco-rtic/src/main.rs
View File

@@ -1,682 +1,349 @@
#![no_std]
#![no_main]
use satrs::pus::verification::{
FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
};
use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use satrs::spacepackets::ecss::EcssEnumU16;
use satrs::spacepackets::CcsdsPacket;
use satrs::spacepackets::{ByteConversionError, SpHeader};
// global logger + panicking-behavior + memory layout
use satrs_stm32f3_disco_rtic as _;
use arbitrary_int::{u11, u14};
use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
use spacepackets::{CcsdsPacketCreationError, SpHeader};
use defmt_rtt as _; // global logger
use panic_probe as _;
use rtic::app;
use heapless::{mpmc::Q8, Vec};
#[allow(unused_imports)]
use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
use rtic_monotonics::systick::prelude::*;
use satrs::seq_count::SequenceCountProviderCore;
use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
use stm32f3xx_hal::dma::dma1;
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
use stm32f3xx_hal::pac::USART2;
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
use crate::app::Mono;
const UART_BAUD: u32 = 115200;
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
const TX_HANDLER_FREQ_MS: u32 = 20;
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
const MAX_TC_LEN: usize = 128;
const MAX_TM_LEN: usize = 128;
pub const PUS_APID: u16 = 0x02;
type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
type InstantFugit = TimerInstantU32<1000>;
type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
pub const PUS_APID: u11 = u11::new(0x02);
// This is the predictable maximum overhead of the COBS encoding scheme.
// It is simply the maximum packet lenght dividied by 254 rounded up.
const COBS_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254;
const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;
const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
// This is a static buffer which should ONLY (!) be used as the TX DMA
// transfer buffer.
static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
// This is a static buffer which should ONLY (!) be used as the RX DMA
// transfer buffer.
static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
const TC_DMA_BUF_LEN: usize = 512;
type TmPacket = Vec<u8, MAX_TM_LEN>;
type TcPacket = Vec<u8, MAX_TC_LEN>;
type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
static TM_REQUESTS: Q8<TmPacket> = Q8::new();
static TM_QUEUE: heapless::mpmc::Queue<TmPacket, 16> = heapless::mpmc::Queue::new();
use core::sync::atomic::{AtomicU16, Ordering};
pub struct SeqCountProviderAtomicRef {
atomic: AtomicU16,
ordering: Ordering,
}
impl SeqCountProviderAtomicRef {
pub const fn new(ordering: Ordering) -> Self {
Self {
atomic: AtomicU16::new(0),
ordering,
}
}
}
impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
fn get(&self) -> u16 {
self.atomic.load(self.ordering)
}
fn increment(&self) {
self.atomic.fetch_add(1, self.ordering);
}
fn get_and_increment(&self) -> u16 {
self.atomic.fetch_add(1, self.ordering)
}
}
static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
SeqCountProviderAtomicRef::new(Ordering::Relaxed);
pub struct TxIdle {
tx: TxType,
dma_channel: dma1::C7,
}
#[derive(Debug, defmt::Format)]
#[derive(Debug, defmt::Format, thiserror::Error)]
pub enum TmSendError {
ByteConversion(ByteConversionError),
#[error("packet creation error: {0}")]
PacketCreation(#[from] CcsdsPacketCreationError),
#[error("queue error")]
Queue,
}
impl From<ByteConversionError> for TmSendError {
fn from(value: ByteConversionError) -> Self {
Self::ByteConversion(value)
}
}
fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
if tm_creator.len_written() > MAX_TM_LEN {
return Err(ByteConversionError::ToSliceTooSmall {
expected: tm_creator.len_written(),
found: MAX_TM_LEN,
}
.into());
}
let mut tm_vec = TmPacket::new();
tm_vec
.resize(tm_creator.len_written(), 0)
.expect("vec resize failed");
tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
defmt::info!(
"Sending TM[{},{}] with size {}",
tm_creator.service(),
tm_creator.subservice(),
tm_creator.len_written()
);
TM_REQUESTS
.enqueue(tm_vec)
.map_err(|_| TmSendError::Queue)?;
Ok(())
}
fn handle_tm_send_error(error: TmSendError) {
defmt::warn!("sending tm failed with error {}", error);
}
pub enum UartTxState {
// Wrapped in an option because we need an owned type later.
Idle(Option<TxIdle>),
// Same as above
Transmitting(Option<TxDmaTransferType>),
}
pub struct UartTxShared {
last_completed: Option<InstantFugit>,
state: UartTxState,
}
pub struct RequestWithToken {
token: VerificationToken<TcStateAccepted>,
request: Request,
}
#[derive(Debug, defmt::Format)]
pub enum Request {
Ping,
ChangeBlinkFrequency(u32),
pub struct RequestWithTcId {
pub request: Request,
pub tc_id: CcsdsPacketId,
}
#[derive(Debug, defmt::Format)]
pub enum RequestError {
InvalidApid = 1,
InvalidService = 2,
InvalidSubservice = 3,
NotEnoughAppData = 4,
}
pub fn convert_pus_tc_to_request(
tc: &PusTcReader,
verif_reporter: &mut VerificationReportCreator,
src_data_buf: &mut [u8],
timestamp: &[u8],
) -> Result<RequestWithToken, RequestError> {
defmt::info!(
"Found PUS TC [{},{}] with length {}",
tc.service(),
tc.subservice(),
tc.len_packed()
);
let token = verif_reporter.add_tc(tc);
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)]
#[app(device = embassy_stm32)]
mod app {
use super::*;
use core::slice::Iter;
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;
use stm32f3xx_hal::prelude::*;
use core::time::Duration;
use stm32f3_discovery::switch_hal::OutputSwitch;
use stm32f3xx_hal::Switch;
#[allow(dead_code)]
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
use super::*;
use arbitrary_int::u14;
use rtic::Mutex;
use rtic_sync::{
channel::{Receiver, Sender},
make_channel,
};
use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
use spacepackets::CcsdsPacketReader;
systick_monotonic!(Mono, 1000);
embassy_stm32::bind_interrupts!(struct Irqs {
USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
});
#[shared]
struct Shared {
blink_freq: MillisDurationU32,
tx_shared: UartTxShared,
rx_transfer: Option<RxDmaTransferType>,
blink_freq: Duration,
}
#[local]
struct Local {
verif_reporter: VerificationReportCreator,
leds: Leds,
last_dir: Direction,
curr_dir: Iter<'static, Direction>,
leds: satrs_stm32f3_disco_rtic::Leds,
current_dir: satrs_stm32f3_disco_rtic::Direction,
seq_count: u14,
tx: embassy_stm32::usart::UartTx<'static, embassy_stm32::mode::Async>,
rx: embassy_stm32::usart::RingBufferedUartRx<'static>,
}
#[init]
fn init(cx: init::Context) -> (Shared, Local) {
let mut rcc = cx.device.RCC.constrain();
static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
let p = embassy_stm32::init(Default::default());
let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
// Initialize the systick interrupt & obtain the token to prove that we did
Mono::start(cx.core.SYST, 8_000_000);
let mut flash = cx.device.FLASH.constrain();
let clocks = rcc
.cfgr
.use_hse(8.MHz())
.sysclk(8.MHz())
.pclk1(8.MHz())
.freeze(&mut flash.acr);
defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
let led_pin_set = LedPinSet {
pin_n: p.PE8,
pin_ne: p.PE9,
pin_e: p.PE10,
pin_se: p.PE11,
pin_s: p.PE12,
pin_sw: p.PE13,
pin_w: p.PE14,
pin_nw: p.PE15,
};
let leds = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);
// Set up monotonic timer.
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
let mut config = embassy_stm32::usart::Config::default();
config.baudrate = UART_BAUD;
let uart = embassy_stm32::usart::Uart::new(
p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
)
.unwrap();
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
let leds = Leds::new(
gpioe.pe8,
gpioe.pe9,
gpioe.pe10,
gpioe.pe11,
gpioe.pe12,
gpioe.pe13,
gpioe.pe14,
gpioe.pe15,
&mut gpioe.moder,
&mut gpioe.otyper,
);
let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
// USART2 pins
let mut pins = (
// TX pin: PA2
gpioa
.pa2
.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
// RX pin: PA3
gpioa
.pa3
.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
);
pins.1.internal_pull_up(&mut gpioa.pupdr, true);
let mut usart2 = Serial::new(
cx.device.USART2,
pins,
UART_BAUD.Bd(),
clocks,
&mut rcc.apb1,
);
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
let (mut tx_serial, mut rx_serial) = usart2.split();
// This interrupt is immediately triggered, clear it. It will only be reset
// by the hardware when data is received on RX (RXNE event)
rx_serial.clear_event(RxEvent::Idle);
// For some reason, this is also immediately triggered..
tx_serial.clear_event(TxEvent::TransmissionComplete);
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
let (tx, rx) = uart.split();
defmt::info!("Spawning tasks");
blink::spawn().unwrap();
blinky::spawn().unwrap();
serial_tx_handler::spawn().unwrap();
let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
serial_rx_handler::spawn(req_sender).unwrap();
req_handler::spawn(req_receiver).unwrap();
(
Shared {
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
tx_shared: UartTxShared {
last_completed: None,
state: UartTxState::Idle(Some(TxIdle {
tx: tx_serial,
dma_channel: dma1.ch7,
})),
},
rx_transfer: Some(rx_transfer),
blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
},
Local {
verif_reporter,
leds,
last_dir: Direction::North,
curr_dir: Direction::iter(),
tx,
seq_count: u14::new(0),
rx: rx.into_ring_buffered(DMA_BUF.take()),
current_dir: satrs_stm32f3_disco_rtic::Direction::North,
},
)
}
#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
async fn blink(mut cx: blink::Context) {
let blink::LocalResources {
leds,
curr_dir,
last_dir,
..
} = cx.local;
let mut toggle_leds = |dir: &Direction| {
let last_led = leds.for_direction(*last_dir);
last_led.off().ok();
let led = leds.for_direction(*dir);
led.on().ok();
*last_dir = *dir;
};
#[task(local = [leds, current_dir], shared=[blink_freq])]
async fn blinky(mut cx: blinky::Context) {
loop {
match curr_dir.next() {
Some(dir) => {
toggle_leds(dir);
}
None => {
*curr_dir = Direction::iter();
toggle_leds(curr_dir.next().unwrap());
}
}
cx.local.leds.blink_next(cx.local.current_dir);
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
Mono::delay(current_blink_freq).await;
Mono::delay(MillisDurationU32::from_ticks(
current_blink_freq.as_millis() as u32,
))
.await;
}
}
#[task(
shared = [tx_shared],
local = [
tx,
encoded_buf: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN]
],
shared = [],
)]
async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
async fn serial_tx_handler(cx: serial_tx_handler::Context) {
loop {
let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
if let UartTxState::Idle(_) = tx_shared.state {
return true;
}
false
});
if is_idle {
let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
if let Some(last_completed) = last_completed {
let elapsed_ms = (Mono::now() - last_completed).to_millis();
if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
}
}
} else {
// Check for completion after 1 ms
Mono::delay(1.millis()).await;
while let Some(vec) = TM_QUEUE.dequeue() {
let encoded_len =
cobs::encode_including_sentinels(&vec[0..vec.len()], cx.local.encoded_buf);
defmt::debug!("sending {} bytes over UART", encoded_len);
cx.local
.tx
.write(&cx.local.encoded_buf[0..encoded_len])
.await
.unwrap();
continue;
}
if let Some(vec) = TM_REQUESTS.dequeue() {
cx.shared
.tx_shared
.lock(|tx_shared| match &mut tx_shared.state {
UartTxState::Idle(tx) => {
let encoded_len;
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
// Safety: We only copy the data into the TX DMA buffer in this task.
// If the DMA is active, another branch will be taken.
unsafe {
// 0 sentinel value as start marker
DMA_TX_BUF[0] = 0;
encoded_len =
cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
// Should never panic, we accounted for the overhead.
// Write into transfer buffer directly, no need for intermediate
// encoding buffer.
// 0 end marker
DMA_TX_BUF[encoded_len + 1] = 0;
}
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
let tx_idle = tx.take().unwrap();
// Transfer completion and re-scheduling of new TX transfers will be done
// by the IRQ handler.
// SAFETY: The DMA is the exclusive writer to the DMA buffer now.
let transfer = tx_idle.tx.write_all(
unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
tx_idle.dma_channel,
);
tx_shared.state = UartTxState::Transmitting(Some(transfer));
// The memory block is automatically returned to the pool when it is dropped.
}
UartTxState::Transmitting(_) => (),
});
// Check for completion after 1 ms
Mono::delay(1.millis()).await;
continue;
}
// Nothing to do, and we are idle.
Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
}
}
#[task(
local = [
verif_reporter,
rx,
read_buf: [u8; 128] = [0; 128],
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
timestamp: [u8; 7] = [0; 7],
],
shared = [blink_freq]
)]
async fn serial_rx_handler(
mut cx: serial_rx_handler::Context,
received_packet: Vec<u8, MAX_TC_LEN>,
cx: serial_rx_handler::Context,
mut sender: Sender<'static, RequestWithTcId, 16>,
) {
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();
let mut start_idx = None;
for (idx, byte) in packet.iter().enumerate() {
if *byte != 0 {
start_idx = Some(idx);
break;
}
}
if start_idx.is_none() {
defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
return;
}
let start_idx = start_idx.unwrap();
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
Ok(len) => {
defmt::info!("Decoded packet length: {}", len);
let pus_tc = PusTcReader::new(decode_buf);
match pus_tc {
Ok((tc, _tc_len)) => {
match convert_pus_tc_to_request(
&tc,
cx.local.verif_reporter,
cx.local.src_data_buf,
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);
let mut decoder = cobs::CobsDecoder::new(cx.local.decode_buf);
loop {
match cx.local.rx.read(cx.local.read_buf).await {
Ok(bytes) => {
defmt::debug!("received {} bytes over UART", bytes);
for byte in cx.local.read_buf[0..bytes].iter() {
match decoder.feed(*byte) {
Ok(None) => (),
Ok(Some(packet_size)) => {
match CcsdsPacketReader::new_with_checksum(
&decoder.dest()[0..packet_size],
) {
Ok(packet) => {
let packet_id = packet.packet_id();
let psc = packet.psc();
let tc_packet_id = CcsdsPacketId { packet_id, psc };
if let Ok(request) =
postcard::from_bytes::<Request>(packet.packet_data())
{
sender
.send(RequestWithTcId {
request,
tc_id: tc_packet_id,
})
.await
.unwrap();
}
}
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);
});
Err(e) => {
defmt::error!("error unpacking ccsds packet: {}", e);
}
}
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);
defmt::error!("cobs decoding error: {}", e);
}
}
}
Err(e) => {
defmt::warn!("Error unpacking PUS TC: {}", e);
}
}
Err(e) => {
defmt::error!("uart read error: {}", e);
}
}
Err(_) => {
defmt::warn!("decoding error, can only process cobs encoded frames")
}
}
}
fn handle_ping_request(timestamp: &[u8]) {
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
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)
.expect("vec resize failed");
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
if TM_REQUESTS.enqueue(tm_packet).is_err() {
defmt::warn!("TC queue full");
return;
}
}
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,
&timestamp,
)
.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],
#[task(shared = [blink_freq], local = [seq_count])]
async fn req_handler(
mut cx: req_handler::Context,
mut receiver: Receiver<'static, RequestWithTcId, 16>,
) {
let result = send_tm(
verif_reporter
.completion_success(
src_data_buf,
started_token,
SEQ_COUNT_PROVIDER.get(),
0,
timestamp,
)
.unwrap(),
);
if let Err(e) = result {
handle_tm_send_error(e);
loop {
match receiver.recv().await {
Ok(request_with_tc_id) => {
let tm_send_result = match request_with_tc_id.request {
Request::Ping => handle_ping_request(&mut cx, request_with_tc_id.tc_id),
Request::ChangeBlinkFrequency(duration) => {
handle_change_blink_frequency_request(
&mut cx,
request_with_tc_id.tc_id,
duration,
)
}
};
if let Err(e) = tm_send_result {
defmt::error!("error sending TM response: {}", e);
}
}
Err(_e) => defmt::error!("request receive error"),
}
}
}
#[task(binds = DMA1_CH6, shared = [rx_transfer])]
fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
let mut tc_packet = TcPacket::new();
cx.shared.rx_transfer.lock(|rx_transfer| {
let rx_ref = rx_transfer.as_ref().unwrap();
if rx_ref.is_complete() {
let uart_rx_owned = rx_transfer.take().unwrap();
let (buf, c, rx) = uart_rx_owned.stop();
// The received data is transferred to another task now to avoid any processing overhead
// during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
// to do this.
tc_packet.resize(buf.len(), 0).expect("vec resize failed");
tc_packet.copy_from_slice(buf);
// Start the next transfer as soon as possible.
*rx_transfer = Some(rx.read_exact(buf, c));
// Send the vector to a regular task.
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
// If this happens, there is a high chance that the maximum packet length was
// exceeded. Circular mode is not used here, so data might be missed.
defmt::warn!(
"rx transfer with maximum length {}, might miss data",
TC_BUF_LEN
);
}
});
fn handle_ping_request(
cx: &mut req_handler::Context,
tc_packet_id: CcsdsPacketId,
) -> Result<(), TmSendError> {
defmt::info!("Received PUS ping telecommand, sending ping reply");
send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
*cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
Ok(())
}
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
fn serial_isr(mut cx: serial_isr::Context) {
fn handle_change_blink_frequency_request(
cx: &mut req_handler::Context,
tc_packet_id: CcsdsPacketId,
duration: Duration,
) -> Result<(), TmSendError> {
defmt::info!(
"Received ChangeBlinkFrequency request, new frequency: {} ms",
duration.as_millis()
);
cx.shared
.tx_shared
.lock(|tx_shared| match &mut tx_shared.state {
UartTxState::Idle(_) => (),
UartTxState::Transmitting(transfer) => {
let transfer_ref = transfer.as_ref().unwrap();
if transfer_ref.is_complete() {
let transfer = transfer.take().unwrap();
let (_, dma_channel, mut tx) = transfer.stop();
tx.clear_event(TxEvent::TransmissionComplete);
tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
// We cache the last completed time to ensure that there is a minimum delay between consecutive
// transferred packets.
tx_shared.last_completed = Some(Mono::now());
}
}
});
let mut tc_packet = TcPacket::new();
cx.shared.rx_transfer.lock(|rx_transfer| {
let rx_transfer_ref = rx_transfer.as_ref().unwrap();
// Received a partial packet.
if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
let rx_transfer_owned = rx_transfer.take().unwrap();
let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
// The received data is transferred to another task now to avoid any processing overhead
// during the interrupt. There are multiple ways to do this, we use a stack
// allocated vector to do this.
tc_packet
.resize(rx_len as usize, 0)
.expect("vec resize failed");
tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
rx.clear_event(RxEvent::Idle);
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
*rx_transfer = Some(rx.read_exact(buf, ch));
}
});
.blink_freq
.lock(|blink_freq| *blink_freq = duration);
send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
*cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
Ok(())
}
}
fn send_tm(
tc_packet_id: CcsdsPacketId,
response: Response,
current_seq_count: u14,
) -> Result<(), TmSendError> {
let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
tc_packet_id: Some(tc_packet_id),
uptime_millis: Mono::now().duration_since_epoch().to_millis(),
};
let mut tm_packet = TmPacket::new();
let tm_size = tm_size(&tm_header, &response);
tm_packet.resize(tm_size, 0).expect("vec resize failed");
create_tm_packet(&mut tm_packet, sp_header, tm_header, response)?;
if TM_QUEUE.enqueue(tm_packet).is_err() {
defmt::warn!("TC queue full");
return Err(TmSendError::Queue);
}
Ok(())
}
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler]
fn panic() -> ! {
cortex_m::asm::udf()
}
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with status code 0.
pub fn exit() -> ! {
loop {
debug::exit(EXIT_SUCCESS);
}
}
/// Hardfault handler.
///
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with an error. This seems better than the default, which is to spin in a
/// loop.
#[cortex_m_rt::exception]
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
loop {
debug::exit(EXIT_FAILURE);
}
}
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
// once within a crate. the module can be in any file but there can only be at most
// one `#[tests]` module in this library crate
#[cfg(test)]
#[defmt_test::tests]
mod unit_tests {
use defmt::assert;
#[test]
fn it_works() {
assert!(true)
}
}

641
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock generated
View File

File diff suppressed because it is too large Load Diff

11
embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
View File

@@ -16,16 +16,17 @@ harness = false
[dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7"
defmt = "0.3"
defmt = "1"
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
panic-probe = { version = "0.3", features = ["print-defmt"] }
panic-probe = { version = "1", features = ["print-defmt"] }
cortex-m-semihosting = "0.5.0"
# TODO: Replace with embassy-hal.
stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
embedded-alloc = "0.6"
rtic-sync = { version = "1", features = ["defmt-03"] }
[dependencies.smoltcp]
version = "0.11"
version = "0.12"
default-features = false
features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
@@ -39,12 +40,12 @@ features = ["cortex-m-systick"]
[dependencies.satrs]
path = "../../satrs"
version = "0.2"
# version = "0.2"
default-features = false
features = ["defmt", "heapless"]
[dev-dependencies]
defmt-test = "0.3"
defmt-test = "0.4"
# cargo build/run
[profile.dev]