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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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44
embedded-examples/stm32h7-nucleo-rtic/src/main.rs
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@ -3,8 +3,8 @@
extern crate alloc;
use rtic::app;
use rtic_monotonics::systick::Systick;
use rtic_monotonics::Monotonic;
use rtic_monotonics::fugit::TimerInstantU32;
use rtic_monotonics::systick::prelude::*;
use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
use satrs::static_subpool;
// global logger + panicking-behavior + memory layout
@ -13,7 +13,7 @@ use smoltcp::socket::udp::UdpMetadata;
use smoltcp::socket::{dhcpv4, udp};
use core::mem::MaybeUninit;
use embedded_alloc::Heap;
use embedded_alloc::LlffHeap as Heap;
use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
use stm32h7xx_hal::ethernet;
@ -32,6 +32,8 @@ pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_
#[global_allocator]
static HEAP: Heap = Heap::empty();
systick_monotonic!(Mono, 1000);
// We place the memory pool buffers inside the larger AXISRAM.
pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
@ -72,7 +74,9 @@ impl Net {
let mut iface = Interface::new(
config,
&mut ethdev,
smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
smoltcp::time::Instant::from_millis(
(Mono::now() - TimerInstantU32::<1000>::from_ticks(0)).to_millis(),
),
);
// Create sockets
let dhcp_socket = dhcpv4::Socket::new();
@ -91,7 +95,7 @@ impl Net {
/// Polls on the ethernet interface. You should refer to the smoltcp
/// documentation for poll() to understand how to call poll efficiently
pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
let uptime = Systick::now() - Systick::ZERO;
let uptime = Mono::now() - TimerInstantU32::<1000>::from_ticks(0);
let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
self.iface.poll(timestamp, &mut self.ethdev, sockets)
@ -203,8 +207,7 @@ mod app {
use core::ptr::addr_of_mut;
use super::*;
use rtic_monotonics::systick::fugit::MillisDurationU32;
use rtic_monotonics::systick::Systick;
use rtic_monotonics::fugit::MillisDurationU32;
use satrs::spacepackets::ecss::tc::PusTcReader;
use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
use stm32h7xx_hal::gpio::{Output, Pin};
@ -256,12 +259,7 @@ mod app {
.freeze(pwrcfg, &cx.device.SYSCFG);
// 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,
ccdr.clocks.sys_ck().to_Hz(),
systick_mono_token,
);
Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());
// Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
// good for.
@ -377,24 +375,24 @@ mod app {
shared_pool
.grow(
unsafe { SUBPOOL_SMALL.assume_init_mut() },
unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
SUBPOOL_SMALL.get_mut().unwrap(),
SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
SUBPOOL_SMALL_NUM_BLOCKS,
true,
)
.expect("growing heapless memory pool failed");
shared_pool
.grow(
unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
SUBPOOL_MEDIUM.get_mut().unwrap(),
SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
SUBPOOL_MEDIUM_NUM_BLOCKS,
true,
)
.expect("growing heapless memory pool failed");
shared_pool
.grow(
unsafe { SUBPOOL_LARGE.assume_init_mut() },
unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
SUBPOOL_LARGE.get_mut().unwrap(),
SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
SUBPOOL_LARGE_NUM_BLOCKS,
true,
)
@ -403,7 +401,7 @@ mod app {
// Set up global allocator. Use AXISRAM for the heap.
#[link_section = ".axisram"]
static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
eth_link_check::spawn().expect("eth link check failed");
blinky::spawn().expect("spawning blink task failed");
@ -435,7 +433,7 @@ mod app {
leds.led1.toggle();
leds.led2.toggle();
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
Systick::delay(current_blink_freq).await;
Mono::delay(current_blink_freq).await;
}
}
@ -457,7 +455,7 @@ mod app {
cx.shared.eth_link_up.lock(|link_up| *link_up = false);
defmt::info!("Ethernet link down");
}
Systick::delay(100.millis()).await;
Mono::delay(100.millis()).await;
}
}
@ -483,7 +481,7 @@ mod app {
cx.local.udp.poll(sockets, pool);
})
});
Systick::delay(40.millis()).await;
Mono::delay(40.millis()).await;
}
}