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new models library

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This commit is contained in:
Robin Mueller
2026-05-13 09:49:03 +02:00
parent b6612ed861
commit 2cab8d7fed
8 changed files with 68 additions and 51 deletions
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embedded-examples/models/Cargo.toml
+3 -1
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@@ -4,5 +4,7 @@ version = "0.1.0"
edition = "2024"
[dependencies]
serde = "1"
serde = { version = "1", default-features = false }
defmt = { version = "1", optional = true }
spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
postcard = { version = "1", features = ["defmt"] }
embedded-examples/models/src/lib.rs
+37
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@@ -2,6 +2,11 @@
use core::time::Duration;
use spacepackets::{
CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc,
SpacePacketHeader, ccsds_packet_len_for_user_data_len_with_checksum,
};
#[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum Request {
@@ -15,5 +20,37 @@ pub enum Response {
CommandDone,
}
#[derive(Debug, serde::Serialize, serde::Deserialize)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub struct TmHeader {
pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
pub uptime_millis: u32,
}
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())
}
#[cfg(test)]
mod tests {}
embedded-examples/stm32f3-disco-rtic/Cargo.lock
Generated
+4
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@@ -596,7 +596,10 @@ dependencies = [
name = "embedded-models"
version = "0.1.0"
dependencies = [
"defmt 1.0.1",
"postcard",
"serde",
"spacepackets",
]
[[package]]
@@ -949,6 +952,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24"
dependencies = [
"cobs 0.3.0",
"defmt 1.0.1",
"heapless 0.7.17",
"serde",
]
embedded-examples/stm32f3-disco-rtic/Cargo.toml
+1 -1
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@@ -7,7 +7,7 @@ default-run = "satrs-stm32f3-disco-rtic"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
embedded-models = { path = "../models" }
embedded-models = { path = "../models", features = ["defmt"] }
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7"
defmt = "1"
embedded-examples/stm32f3-disco-rtic/src/lib.rs
+2 -37
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@@ -1,13 +1,10 @@
#![no_main]
#![no_std]
use defmt_rtt as _;
use arbitrary_int::u11;
use embassy_stm32::gpio::Output;
use embedded_models::Response;
use spacepackets::{
ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
};
pub const APID: u11 = u11::new(0x02);
@@ -40,38 +37,6 @@ impl Direction {
}
}
#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
pub struct TmHeader {
pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
pub uptime_millis: u32,
}
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>,
embedded-examples/stm32f3-disco-rtic/src/main.rs
+11 -10
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@@ -2,8 +2,8 @@
#![no_main]
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 embedded_models::{create_tm_packet, tm_size, Response, TmHeader};
use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
use defmt_rtt as _; // global logger
@@ -47,8 +47,8 @@ pub enum TmSendError {
#[derive(Debug, defmt::Format)]
pub struct RequestWithTcId {
pub request: Request,
pub tc_id: CcsdsPacketId,
pub request: embedded_models::Request,
pub tc_id: CcsdsPacketIdAndPsc,
}
#[app(device = embassy_stm32)]
@@ -57,12 +57,13 @@ mod app {
use super::*;
use arbitrary_int::u14;
use embedded_models::{Request, Response};
use rtic::Mutex;
use rtic_sync::{
channel::{Receiver, Sender},
make_channel,
};
use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
use satrs_stm32f3_disco_rtic::LedPinSet;
use spacepackets::CcsdsPacketReader;
systick_monotonic!(Mono, 1000);
@@ -200,7 +201,7 @@ mod app {
Ok(packet) => {
let packet_id = packet.packet_id();
let psc = packet.psc();
let tc_packet_id = CcsdsPacketId { packet_id, psc };
let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
if let Ok(request) =
postcard::from_bytes::<Request>(packet.packet_data())
{
@@ -260,7 +261,7 @@ mod app {
fn handle_ping_request(
cx: &mut req_handler::Context,
tc_packet_id: CcsdsPacketId,
tc_packet_id: CcsdsPacketIdAndPsc,
) -> Result<(), TmSendError> {
defmt::info!("Received PUS ping telecommand, sending ping reply");
send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
@@ -270,7 +271,7 @@ mod app {
fn handle_change_blink_frequency_request(
cx: &mut req_handler::Context,
tc_packet_id: CcsdsPacketId,
tc_packet_id: CcsdsPacketIdAndPsc,
duration: Duration,
) -> Result<(), TmSendError> {
defmt::info!(
@@ -287,12 +288,12 @@ mod app {
}
fn send_tm(
tc_packet_id: CcsdsPacketId,
tc_packet_id: CcsdsPacketIdAndPsc,
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 {
let tm_header = TmHeader {
tc_packet_id: Some(tc_packet_id),
uptime_millis: Mono::now().duration_since_epoch().to_millis(),
};
embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs
+1 -1
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@@ -1,7 +1,7 @@
#![no_std]
#![no_main]
use stm32h7_testapp as _; // memory layout + panic handler
use satrs_stm32h7_nucleo_rtic as _; // memory layout + panic handler
// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
// feature)
justfile
+9 -1
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@@ -11,9 +11,17 @@ test:
cargo nextest run --all-features
cargo test --doc --all-features
embedded:
embedded: embedded-stm32h7 embedded-stm32f3
cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
[working-directory:"embedded-examples/stm32h7-nucleo-rtic"]
embedded-stm32h7:
cargo build --target=thumbv7em-none-eabihf --release
[working-directory:"embedded-examples/stm32f3-disco-rtic"]
embedded-stm32f3:
cargo build --target=thumbv7em-none-eabihf --release
check-fmt:
cargo fmt --all -- --check