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update embedded examples

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This commit is contained in:
Robin Müller
2025-01-31 18:20:06 +01:00
parent ed266a11f6
commit 73286e36c2
8 changed files with 322 additions and 339 deletions
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26
embedded-examples/stm32f3-disco-rtic/src/main.rs
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@ -15,8 +15,8 @@ use rtic::app;
use heapless::{mpmc::Q8, Vec};
#[allow(unused_imports)]
use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
use rtic_monotonics::systick::ExtU32;
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;
@ -245,8 +245,6 @@ pub fn convert_pus_tc_to_request(
mod app {
use super::*;
use core::slice::Iter;
use rtic_monotonics::systick::Systick;
use rtic_monotonics::Monotonic;
use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
#[allow(unused_imports)]
@ -259,6 +257,8 @@ mod app {
#[allow(dead_code)]
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
systick_monotonic!(Mono, 1000);
#[shared]
struct Shared {
blink_freq: MillisDurationU32,
@ -279,8 +279,7 @@ mod app {
let mut rcc = cx.device.RCC.constrain();
// Initialize the systick interrupt & obtain the token to prove that we did
let systick_mono_token = rtic_monotonics::create_systick_token!();
Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
Mono::start(cx.core.SYST, 8_000_000);
let mut flash = cx.device.FLASH.constrain();
let clocks = rcc
@ -394,7 +393,7 @@ mod app {
}
}
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
Systick::delay(current_blink_freq).await;
Mono::delay(current_blink_freq).await;
}
}
@ -412,15 +411,14 @@ mod app {
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 = (Systick::now() - last_completed).to_millis();
let elapsed_ms = (Mono::now() - last_completed).to_millis();
if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
.await;
Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
}
}
} else {
// Check for completion after 1 ms
Systick::delay(1.millis()).await;
Mono::delay(1.millis()).await;
continue;
}
if let Some(vec) = TM_REQUESTS.dequeue() {
@ -459,11 +457,11 @@ mod app {
UartTxState::Transmitting(_) => (),
});
// Check for completion after 1 ms
Systick::delay(1.millis()).await;
Mono::delay(1.millis()).await;
continue;
}
// Nothing to do, and we are idle.
Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
}
}
@ -657,7 +655,7 @@ mod app {
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(Systick::now());
tx_shared.last_completed = Some(Mono::now());
}
}
});