add satrx-example for stm32f3-disco here
This commit is contained in:
parent
9e314a8376
commit
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3
satrs-example-stm32f3-disco/.gitignore
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3
satrs-example-stm32f3-disco/.gitignore
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/target
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/itm.txt
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/.cargo/config*
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2
satrs-example-stm32f3-disco/.vscode/.gitignore
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satrs-example-stm32f3-disco/.vscode/.gitignore
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/settings.json
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/.cortex-debug.*
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satrs-example-stm32f3-disco/.vscode/extensions.json
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satrs-example-stm32f3-disco/.vscode/extensions.json
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{
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// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
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// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
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// List of extensions which should be recommended for users of this workspace.
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"recommendations": [
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"rust-lang.rust",
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"marus25.cortex-debug",
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],
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// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
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"unwantedRecommendations": []
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}
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66
satrs-example-stm32f3-disco/.vscode/launch.json
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satrs-example-stm32f3-disco/.vscode/launch.json
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{
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/*
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* Requires the Rust Language Server (RLS) and Cortex-Debug extensions
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* https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
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* https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
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*/
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"version": "0.2.0",
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"configurations": [
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{
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/* Launches debug session for currently open example */
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"type": "cortex-debug",
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"request": "launch",
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"name": "Debug",
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"servertype": "openocd",
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"cwd": "${workspaceRoot}",
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"preLaunchTask": "cargo build",
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"runToEntryPoint": "true",
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"executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
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"preLaunchCommands": ["break rust_begin_unwind"],
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"device": "STM32F303VCT6",
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"configFiles": [
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"${workspaceRoot}/.vscode/openocd-helpers.tcl",
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"interface/stlink.cfg",
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"target/stm32f3x.cfg"
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],
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"svdFile": "${env:HOME}/.svd/STM32F303.svd",
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"swoConfig": {
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"enabled": true,
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"cpuFrequency": 8000000,
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"swoFrequency": 2000000,
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"source": "probe",
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"decoders": [
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{ "type": "console", "label": "ITM", "port": 0 }
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]
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}
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},
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{
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/* Launches debug session for currently open example */
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"type": "cortex-debug",
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"request": "launch",
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"name": "Release",
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"servertype": "openocd",
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"cwd": "${workspaceRoot}",
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"preLaunchTask": "cargo build",
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"runToEntryPoint": "true",
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"executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
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"preLaunchCommands": ["break rust_begin_unwind"],
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"device": "STM32F303VCT6",
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"configFiles": [
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"${workspaceRoot}/.vscode/openocd-helpers.tcl",
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"interface/stlink.cfg",
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"target/stm32f3x.cfg"
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],
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"svdFile": "${env:HOME}/.svd/STM32F303.svd",
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"swoConfig": {
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"enabled": true,
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"cpuFrequency": 8000000,
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"swoFrequency": 2000000,
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"source": "probe",
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"decoders": [
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{ "type": "console", "label": "ITM", "port": 0 }
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]
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}
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}
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]
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}
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17
satrs-example-stm32f3-disco/.vscode/openocd-helpers.tcl
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satrs-example-stm32f3-disco/.vscode/openocd-helpers.tcl
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#
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# Cortex-Debug extension calls this function during initialization. You can copy this
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# file, modify it and specifyy it as one of the config files supplied in launch.json
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# preferably at the beginning.
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#
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# Note that this file simply defines a function for use later when it is time to configure
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# for SWO.
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#
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set USE_SWO 0
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proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
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# Alternative option: Pipe ITM output into itm.txt file
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# tpiu config internal itm.txt uart off $CDCPUFreqHz
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# Default option so SWO display of VS code works.
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tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
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itm port 0 on
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}
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3
satrs-example-stm32f3-disco/.vscode/settings_default.json
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satrs-example-stm32f3-disco/.vscode/settings_default.json
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{
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"cortex-debug.gdbPath.linux": "gdb-multiarch"
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}
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20
satrs-example-stm32f3-disco/.vscode/tasks.json
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satrs-example-stm32f3-disco/.vscode/tasks.json
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{
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// See https://go.microsoft.com/fwlink/?LinkId=733558
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// for the documentation about the tasks.json format
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"version": "2.0.0",
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"tasks": [
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{
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"label": "cargo build",
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"type": "shell",
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"command": "~/.cargo/bin/cargo", // note: full path to the cargo
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"args": [
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"build"
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],
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"group": {
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"kind": "build",
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"isDefault": true
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}
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},
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]
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}
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762
satrs-example-stm32f3-disco/Cargo.lock
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satrs-example-stm32f3-disco/Cargo.lock
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# This file is automatically @generated by Cargo.
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# It is not intended for manual editing.
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version = 3
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[[package]]
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name = "accelerometer"
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version = "0.12.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1a4586d95cb0695e748760c9a751141eebb68265b1b20392a0f14db608679f7a"
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dependencies = [
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"micromath",
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]
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[[package]]
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name = "atomic-polyfill"
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version = "0.1.11"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
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dependencies = [
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"critical-section",
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]
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[[package]]
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name = "autocfg"
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version = "1.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
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[[package]]
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name = "bare-metal"
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version = "0.2.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
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dependencies = [
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"rustc_version 0.2.3",
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]
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[[package]]
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name = "bare-metal"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
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[[package]]
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name = "bitfield"
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version = "0.13.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
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[[package]]
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name = "bitflags"
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version = "1.3.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
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[[package]]
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name = "bxcan"
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version = "0.6.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
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dependencies = [
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"bitflags",
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"nb 1.0.0",
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"vcell",
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]
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[[package]]
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name = "byteorder"
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version = "1.4.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
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[[package]]
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name = "cast"
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version = "0.2.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4c24dab4283a142afa2fdca129b80ad2c6284e073930f964c3a1293c225ee39a"
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dependencies = [
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"rustc_version 0.4.0",
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]
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[[package]]
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name = "cfg-if"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
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[[package]]
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name = "chrono"
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version = "0.4.23"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
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dependencies = [
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"num-integer",
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"num-traits",
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]
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[[package]]
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name = "cortex-m"
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version = "0.7.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
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dependencies = [
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"bare-metal 0.2.5",
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"bitfield",
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"embedded-hal",
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"volatile-register",
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]
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[[package]]
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name = "cortex-m-rt"
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version = "0.7.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
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dependencies = [
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"cortex-m-rt-macros",
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]
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[[package]]
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name = "cortex-m-rt-macros"
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version = "0.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn",
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]
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[[package]]
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name = "cortex-m-rtic"
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version = "1.1.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
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dependencies = [
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"bare-metal 1.0.0",
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"cortex-m",
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"cortex-m-rtic-macros",
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"heapless",
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"rtic-core",
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"rtic-monotonic",
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"version_check",
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]
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[[package]]
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name = "cortex-m-rtic-macros"
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version = "1.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
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dependencies = [
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"proc-macro-error",
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"proc-macro2",
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"quote",
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"rtic-syntax",
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"syn",
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]
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[[package]]
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name = "critical-section"
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version = "1.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
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[[package]]
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name = "darling"
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version = "0.14.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b0dd3cd20dc6b5a876612a6e5accfe7f3dd883db6d07acfbf14c128f61550dfa"
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dependencies = [
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"darling_core",
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"darling_macro",
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]
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[[package]]
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name = "darling_core"
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version = "0.14.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "a784d2ccaf7c98501746bf0be29b2022ba41fd62a2e622af997a03e9f972859f"
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dependencies = [
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"fnv",
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"ident_case",
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"proc-macro2",
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"quote",
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"syn",
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]
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[[package]]
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name = "darling_macro"
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version = "0.14.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7618812407e9402654622dd402b0a89dff9ba93badd6540781526117b92aab7e"
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dependencies = [
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"darling_core",
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"quote",
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"syn",
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]
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[[package]]
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name = "embedded-dma"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446"
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dependencies = [
|
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||||||
|
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
|
||||||
|
dependencies = [
|
||||||
|
"semver 1.0.16",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "sat-rs-example-stm32f-disco"
|
||||||
|
version = "0.1.0"
|
||||||
|
dependencies = [
|
||||||
|
"cortex-m",
|
||||||
|
"cortex-m-rt",
|
||||||
|
"cortex-m-rtic",
|
||||||
|
"embedded-hal",
|
||||||
|
"enumset",
|
||||||
|
"heapless",
|
||||||
|
"itm_logger",
|
||||||
|
"panic-itm",
|
||||||
|
"stm32f3-discovery",
|
||||||
|
"stm32f3xx-hal",
|
||||||
|
"systick-monotonic",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "scopeguard"
|
||||||
|
version = "1.1.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "semver"
|
||||||
|
version = "0.9.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||||
|
dependencies = [
|
||||||
|
"semver-parser",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "semver"
|
||||||
|
version = "1.0.16"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "58bc9567378fc7690d6b2addae4e60ac2eeea07becb2c64b9f218b53865cba2a"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "semver-parser"
|
||||||
|
version = "0.7.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "slice-group-by"
|
||||||
|
version = "0.3.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "03b634d87b960ab1a38c4fe143b508576f075e7c978bfad18217645ebfdfa2ec"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "spin"
|
||||||
|
version = "0.9.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
|
||||||
|
dependencies = [
|
||||||
|
"lock_api",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stable_deref_trait"
|
||||||
|
version = "1.2.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stm32-usbd"
|
||||||
|
version = "0.6.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "c6c94998f166d66b210a164648a0b7866428d8f1e0740bf8a4c5edd89d4750c1"
|
||||||
|
dependencies = [
|
||||||
|
"cortex-m",
|
||||||
|
"usb-device",
|
||||||
|
"vcell",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stm32f3"
|
||||||
|
version = "0.14.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
|
||||||
|
dependencies = [
|
||||||
|
"bare-metal 1.0.0",
|
||||||
|
"cortex-m",
|
||||||
|
"cortex-m-rt",
|
||||||
|
"vcell",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stm32f3-discovery"
|
||||||
|
version = "0.8.0-pre.0"
|
||||||
|
dependencies = [
|
||||||
|
"accelerometer",
|
||||||
|
"cortex-m",
|
||||||
|
"cortex-m-rt",
|
||||||
|
"lsm303dlhc",
|
||||||
|
"stm32f3xx-hal",
|
||||||
|
"switch-hal",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "stm32f3xx-hal"
|
||||||
|
version = "0.9.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03"
|
||||||
|
dependencies = [
|
||||||
|
"bare-metal 1.0.0",
|
||||||
|
"bxcan",
|
||||||
|
"cfg-if",
|
||||||
|
"cortex-m",
|
||||||
|
"cortex-m-rt",
|
||||||
|
"embedded-dma",
|
||||||
|
"embedded-hal",
|
||||||
|
"embedded-time",
|
||||||
|
"enumset",
|
||||||
|
"nb 1.0.0",
|
||||||
|
"paste",
|
||||||
|
"rtcc",
|
||||||
|
"slice-group-by",
|
||||||
|
"stm32-usbd",
|
||||||
|
"stm32f3",
|
||||||
|
"void",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "switch-hal"
|
||||||
|
version = "0.4.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf"
|
||||||
|
dependencies = [
|
||||||
|
"embedded-hal",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "syn"
|
||||||
|
version = "1.0.107"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5"
|
||||||
|
dependencies = [
|
||||||
|
"proc-macro2",
|
||||||
|
"quote",
|
||||||
|
"unicode-ident",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "systick-monotonic"
|
||||||
|
version = "1.0.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "67fb822d5c615a0ae3a4795ee5b1d06381c7faf488d861c0a4fa8e6a88d5ff84"
|
||||||
|
dependencies = [
|
||||||
|
"cortex-m",
|
||||||
|
"fugit",
|
||||||
|
"rtic-monotonic",
|
||||||
|
]
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "typenum"
|
||||||
|
version = "1.16.0"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "unicode-ident"
|
||||||
|
version = "1.0.6"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "usb-device"
|
||||||
|
version = "0.2.9"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "vcell"
|
||||||
|
version = "0.1.3"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "version_check"
|
||||||
|
version = "0.9.4"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "void"
|
||||||
|
version = "1.0.2"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||||
|
|
||||||
|
[[package]]
|
||||||
|
name = "volatile-register"
|
||||||
|
version = "0.2.1"
|
||||||
|
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||||
|
checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
|
||||||
|
dependencies = [
|
||||||
|
"vcell",
|
||||||
|
]
|
||||||
59
satrs-example-stm32f3-disco/Cargo.toml
Normal file
59
satrs-example-stm32f3-disco/Cargo.toml
Normal file
@ -0,0 +1,59 @@
|
|||||||
|
[package]
|
||||||
|
name = "satrs-example-stm32f3-disco"
|
||||||
|
version = "0.1.0"
|
||||||
|
edition = "2021"
|
||||||
|
|
||||||
|
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||||
|
|
||||||
|
[dependencies]
|
||||||
|
cortex-m = "0.7"
|
||||||
|
cortex-m-rt = "0.7"
|
||||||
|
embedded-hal = "0.2.6"
|
||||||
|
cortex-m-rtic = "1.0"
|
||||||
|
enumset = "1.0"
|
||||||
|
heapless = "0.7"
|
||||||
|
systick-monotonic = "1.0"
|
||||||
|
|
||||||
|
[dependencies.cobs]
|
||||||
|
git = "https://github.com/robamu/cobs.rs.git"
|
||||||
|
branch = "all_features"
|
||||||
|
default-features = false
|
||||||
|
|
||||||
|
[dependencies.panic-itm]
|
||||||
|
version = "0.4"
|
||||||
|
|
||||||
|
[dependencies.itm_logger]
|
||||||
|
git = "https://github.com/robamu/itm_logger.rs.git"
|
||||||
|
branch = "all_features"
|
||||||
|
version = "0.1.3-alpha.0"
|
||||||
|
|
||||||
|
[dependencies.stm32f3xx-hal]
|
||||||
|
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||||
|
version = "0.10.0-alpha.0"
|
||||||
|
features = ["stm32f303xc", "rt", "enumset"]
|
||||||
|
branch = "all_features"
|
||||||
|
# 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 = "all_features"
|
||||||
|
# Can be used in workspace to develop and update BSP
|
||||||
|
# path = "../stm32f3-discovery"
|
||||||
|
|
||||||
|
[dependencies.satrs-core]
|
||||||
|
git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
|
||||||
|
version = "0.1.0-alpha.0"
|
||||||
|
default-features = false
|
||||||
|
|
||||||
|
# this lets you use `cargo fix`!
|
||||||
|
# [[bin]]
|
||||||
|
# name = "stm32f3-blinky"
|
||||||
|
# test = false
|
||||||
|
# bench = false
|
||||||
|
|
||||||
|
[profile.release]
|
||||||
|
codegen-units = 1 # better optimizations
|
||||||
|
debug = true # symbols are nice and they don't increase the size on Flash
|
||||||
|
lto = true # better optimizations
|
||||||
75
satrs-example-stm32f3-disco/README.md
Normal file
75
satrs-example-stm32f3-disco/README.md
Normal file
@ -0,0 +1,75 @@
|
|||||||
|
sat-rs example for the STM32F3-Discovery board
|
||||||
|
=======
|
||||||
|
|
||||||
|
This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
|
||||||
|
can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
|
||||||
|
standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
|
||||||
|
framework.
|
||||||
|
|
||||||
|
The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
|
||||||
|
used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
|
||||||
|
[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
|
||||||
|
to embedded Rust.
|
||||||
|
|
||||||
|
## Preparing Rust and the repository
|
||||||
|
|
||||||
|
Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
|
||||||
|
If you have not installed it yet, you can do so with
|
||||||
|
|
||||||
|
```sh
|
||||||
|
rustup target add thumbv7em-none-eabihf
|
||||||
|
```
|
||||||
|
|
||||||
|
A default `.cargo` config file is provided for this project, but needs to be copied to have
|
||||||
|
the correct name. This is so that the config file can be updated or edited for custom needs
|
||||||
|
without being tracked by git.
|
||||||
|
|
||||||
|
```sh
|
||||||
|
cp def_config.toml config.toml
|
||||||
|
```
|
||||||
|
|
||||||
|
The configuration file will also set the target so it does not always have to be specified with
|
||||||
|
the `--target` argument.
|
||||||
|
|
||||||
|
## Building
|
||||||
|
|
||||||
|
After that, assuming that you have a `.cargo/config.toml` setting the correct build target,
|
||||||
|
you can simply build the application with
|
||||||
|
|
||||||
|
```sh
|
||||||
|
cargo build
|
||||||
|
```
|
||||||
|
|
||||||
|
## Flashing and Debugging from the command line
|
||||||
|
|
||||||
|
TODO
|
||||||
|
|
||||||
|
## Debugging with VS Code
|
||||||
|
|
||||||
|
The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
|
||||||
|
the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
|
||||||
|
and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
|
||||||
|
|
||||||
|
Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
|
||||||
|
to automatically rebuild and flash your application.
|
||||||
|
|
||||||
|
The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
|
||||||
|
the folder in VS code or adding it to a workspace.
|
||||||
|
|
||||||
|
If you would like to use a custom GDB application, you can specify the gdb binary in the following
|
||||||
|
configuration variables in your `settings.json`:
|
||||||
|
|
||||||
|
- `"cortex-debug.gdbPath"`
|
||||||
|
- `"cortex-debug.gdbPath.linux"`
|
||||||
|
- `"cortex-debug.gdbPath.windows"`
|
||||||
|
- `"cortex-debug.gdbPath.osx"`
|
||||||
|
|
||||||
|
## Commanding with Python
|
||||||
|
|
||||||
|
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||||
|
using COBS encoded CCSDS packets.
|
||||||
|
|
||||||
|
TODO:
|
||||||
|
- How and where to connect serial interface on the MCU
|
||||||
|
- How to set up Python venv (or at least strongly recommend it) and install deps
|
||||||
|
- How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
|
||||||
18
satrs-example-stm32f3-disco/build.rs
Normal file
18
satrs-example-stm32f3-disco/build.rs
Normal file
@ -0,0 +1,18 @@
|
|||||||
|
use std::env;
|
||||||
|
use std::fs::File;
|
||||||
|
use std::io::Write;
|
||||||
|
use std::path::PathBuf;
|
||||||
|
|
||||||
|
fn main() {
|
||||||
|
// Put the linker script somewhere the linker can find it
|
||||||
|
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
|
||||||
|
File::create(out.join("memory.x"))
|
||||||
|
.unwrap()
|
||||||
|
.write_all(include_bytes!("memory.x"))
|
||||||
|
.unwrap();
|
||||||
|
println!("cargo:rustc-link-search={}", out.display());
|
||||||
|
|
||||||
|
// Only re-run the build script when memory.x is changed,
|
||||||
|
// instead of when any part of the source code changes.
|
||||||
|
println!("cargo:rerun-if-changed=memory.x");
|
||||||
|
}
|
||||||
10
satrs-example-stm32f3-disco/jlink.gdb
Normal file
10
satrs-example-stm32f3-disco/jlink.gdb
Normal file
@ -0,0 +1,10 @@
|
|||||||
|
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
|
||||||
33
satrs-example-stm32f3-disco/memory.x
Normal file
33
satrs-example-stm32f3-disco/memory.x
Normal file
@ -0,0 +1,33 @@
|
|||||||
|
/* Linker script for the STM32F303VCT6 */
|
||||||
|
MEMORY
|
||||||
|
{
|
||||||
|
/* NOTE 1 K = 1 KiBi = 1024 bytes */
|
||||||
|
FLASH : ORIGIN = 0x08000000, LENGTH = 256K
|
||||||
|
RAM : ORIGIN = 0x20000000, LENGTH = 40K
|
||||||
|
}
|
||||||
|
|
||||||
|
/* This is where the call stack will be allocated. */
|
||||||
|
/* The stack is of the full descending type. */
|
||||||
|
/* You may want to use this variable to locate the call stack and static
|
||||||
|
variables in different memory regions. Below is shown the default value */
|
||||||
|
/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
|
||||||
|
|
||||||
|
/* You can use this symbol to customize the location of the .text section */
|
||||||
|
/* If omitted the .text section will be placed right after the .vector_table
|
||||||
|
section */
|
||||||
|
/* This is required only on microcontrollers that store some configuration right
|
||||||
|
after the vector table */
|
||||||
|
/* _stext = ORIGIN(FLASH) + 0x400; */
|
||||||
|
|
||||||
|
/* Example of putting non-initialized variables into custom RAM locations. */
|
||||||
|
/* This assumes you have defined a region RAM2 above, and in the Rust
|
||||||
|
sources added the attribute `#[link_section = ".ram2bss"]` to the data
|
||||||
|
you want to place there. */
|
||||||
|
/* Note that the section will not be zero-initialized by the runtime! */
|
||||||
|
/* SECTIONS {
|
||||||
|
.ram2bss (NOLOAD) : ALIGN(4) {
|
||||||
|
*(.ram2bss);
|
||||||
|
. = ALIGN(4);
|
||||||
|
} > RAM2
|
||||||
|
} INSERT AFTER .bss;
|
||||||
|
*/
|
||||||
12
satrs-example-stm32f3-disco/openocd.cfg
Normal file
12
satrs-example-stm32f3-disco/openocd.cfg
Normal file
@ -0,0 +1,12 @@
|
|||||||
|
# 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]
|
||||||
40
satrs-example-stm32f3-disco/openocd.gdb
Normal file
40
satrs-example-stm32f3-disco/openocd.gdb
Normal file
@ -0,0 +1,40 @@
|
|||||||
|
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
|
||||||
|
monitor tpiu config internal itm.txt uart off 8000000
|
||||||
|
|
||||||
|
# # 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
|
||||||
7
satrs-example-stm32f3-disco/pyclient/.gitignore
vendored
Normal file
7
satrs-example-stm32f3-disco/pyclient/.gitignore
vendored
Normal file
@ -0,0 +1,7 @@
|
|||||||
|
/venv
|
||||||
|
/log
|
||||||
|
/.idea/*
|
||||||
|
!/.idea/runConfigurations
|
||||||
|
|
||||||
|
/seqcnt.txt
|
||||||
|
/tmtc_conf.json
|
||||||
4
satrs-example-stm32f3-disco/pyclient/def_tmtc_conf.json
Normal file
4
satrs-example-stm32f3-disco/pyclient/def_tmtc_conf.json
Normal file
@ -0,0 +1,4 @@
|
|||||||
|
{
|
||||||
|
"com_if": "serial_cobs",
|
||||||
|
"serial_baudrate": 115200
|
||||||
|
}
|
||||||
307
satrs-example-stm32f3-disco/pyclient/main.py
Normal file
307
satrs-example-stm32f3-disco/pyclient/main.py
Normal file
@ -0,0 +1,307 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""Example client for the sat-rs example application"""
|
||||||
|
import enum
|
||||||
|
import struct
|
||||||
|
import sys
|
||||||
|
import time
|
||||||
|
from typing import Optional, cast
|
||||||
|
|
||||||
|
import tmtccmd
|
||||||
|
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
|
||||||
|
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||||
|
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||||
|
|
||||||
|
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||||||
|
from tmtccmd.core.base import BackendRequest
|
||||||
|
from tmtccmd.pus import VerificationWrapper
|
||||||
|
from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
|
||||||
|
from tmtccmd.com_if import ComInterface
|
||||||
|
from tmtccmd.config import (
|
||||||
|
default_json_path,
|
||||||
|
SetupParams,
|
||||||
|
TmTcCfgHookBase,
|
||||||
|
TmtcDefinitionWrapper,
|
||||||
|
CoreServiceList,
|
||||||
|
OpCodeEntry,
|
||||||
|
params_to_procedure_conversion,
|
||||||
|
)
|
||||||
|
from tmtccmd.config.com_if import SerialCfgWrapper
|
||||||
|
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||||
|
from tmtccmd.logging import get_console_logger
|
||||||
|
from tmtccmd.logging.pus import (
|
||||||
|
RegularTmtcLogWrapper,
|
||||||
|
RawTmtcTimedLogWrapper,
|
||||||
|
TimedLogWhen,
|
||||||
|
)
|
||||||
|
from tmtccmd.tc import (
|
||||||
|
TcQueueEntryType,
|
||||||
|
ProcedureWrapper,
|
||||||
|
TcProcedureType,
|
||||||
|
FeedWrapper,
|
||||||
|
SendCbParams,
|
||||||
|
DefaultPusQueueHelper,
|
||||||
|
)
|
||||||
|
from tmtccmd.tm.pus_5_event import Service5Tm
|
||||||
|
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||||||
|
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||||
|
|
||||||
|
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
||||||
|
|
||||||
|
LOGGER = get_console_logger()
|
||||||
|
|
||||||
|
EXAMPLE_PUS_APID = 0x02
|
||||||
|
|
||||||
|
|
||||||
|
class SatRsConfigHook(TmTcCfgHookBase):
|
||||||
|
def __init__(self, json_cfg_path: str):
|
||||||
|
super().__init__(json_cfg_path=json_cfg_path)
|
||||||
|
|
||||||
|
def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||||
|
from tmtccmd.config.com_if import (
|
||||||
|
create_com_interface_default,
|
||||||
|
create_com_interface_cfg_default,
|
||||||
|
)
|
||||||
|
|
||||||
|
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_tmtc_definitions(self) -> TmtcDefinitionWrapper:
|
||||||
|
from tmtccmd.config.globals import get_default_tmtc_defs
|
||||||
|
|
||||||
|
defs = get_default_tmtc_defs()
|
||||||
|
srv_5 = OpCodeEntry()
|
||||||
|
srv_5.add("0", "Event Test")
|
||||||
|
defs.add_service(
|
||||||
|
name=CoreServiceList.SERVICE_5.value,
|
||||||
|
info="PUS Service 5 Event",
|
||||||
|
op_code_entry=srv_5,
|
||||||
|
)
|
||||||
|
srv_17 = OpCodeEntry()
|
||||||
|
srv_17.add("0", "Ping Test")
|
||||||
|
defs.add_service(
|
||||||
|
name=CoreServiceList.SERVICE_17_ALT,
|
||||||
|
info="PUS Service 17 Test",
|
||||||
|
op_code_entry=srv_17,
|
||||||
|
)
|
||||||
|
srv_3 = OpCodeEntry()
|
||||||
|
defs.add_service(
|
||||||
|
name=CoreServiceList.SERVICE_3,
|
||||||
|
info="PUS Service 3 Housekeeping",
|
||||||
|
op_code_entry=srv_3,
|
||||||
|
)
|
||||||
|
return defs
|
||||||
|
|
||||||
|
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||||||
|
LOGGER.info("Mode operation hook was called")
|
||||||
|
pass
|
||||||
|
|
||||||
|
def get_object_ids(self) -> ObjectIdDictT:
|
||||||
|
from tmtccmd.config.objects import get_core_object_ids
|
||||||
|
|
||||||
|
return get_core_object_ids()
|
||||||
|
|
||||||
|
|
||||||
|
class PusHandler(SpecificApidHandlerBase):
|
||||||
|
def __init__(
|
||||||
|
self,
|
||||||
|
verif_wrapper: VerificationWrapper,
|
||||||
|
printer: FsfwTmTcPrinter,
|
||||||
|
raw_logger: RawTmtcTimedLogWrapper,
|
||||||
|
):
|
||||||
|
super().__init__(EXAMPLE_PUS_APID, None)
|
||||||
|
self.printer = printer
|
||||||
|
self.raw_logger = raw_logger
|
||||||
|
self.verif_wrapper = verif_wrapper
|
||||||
|
|
||||||
|
def handle_tm(self, packet: bytes, _user_args: any):
|
||||||
|
try:
|
||||||
|
tm_packet = PusTelemetry.unpack(packet)
|
||||||
|
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 = tm_packet.service
|
||||||
|
dedicated_handler = False
|
||||||
|
if service == 1:
|
||||||
|
tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(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)
|
||||||
|
dedicated_handler = True
|
||||||
|
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)
|
||||||
|
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:]
|
||||||
|
dedicated_handler = True
|
||||||
|
if service == 5:
|
||||||
|
tm_packet = Service5Tm.unpack(packet)
|
||||||
|
if service == 17:
|
||||||
|
tm_packet = Service17Tm.unpack(packet)
|
||||||
|
dedicated_handler = True
|
||||||
|
if tm_packet.subservice == 2:
|
||||||
|
self.printer.file_logger.info("Received Ping Reply TM[17,2]")
|
||||||
|
LOGGER.info("Received Ping Reply TM[17,2]")
|
||||||
|
else:
|
||||||
|
self.printer.file_logger.info(
|
||||||
|
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||||
|
)
|
||||||
|
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)
|
||||||
|
self.raw_logger.log_tm(tm_packet)
|
||||||
|
if not dedicated_handler and tm_packet is not None:
|
||||||
|
self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
|
||||||
|
|
||||||
|
|
||||||
|
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=None,
|
||||||
|
seq_cnt_provider=seq_count_provider,
|
||||||
|
)
|
||||||
|
|
||||||
|
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, helper: ProcedureWrapper):
|
||||||
|
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||||
|
def_proc = helper.to_def_procedure()
|
||||||
|
LOGGER.info(
|
||||||
|
f"Queue handling finished for service {def_proc.service} and "
|
||||||
|
f"op code {def_proc.op_code}"
|
||||||
|
)
|
||||||
|
|
||||||
|
def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
|
||||||
|
q = self.queue_helper
|
||||||
|
q.queue_wrapper = wrapper.queue_wrapper
|
||||||
|
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||||
|
def_proc = helper.to_def_procedure()
|
||||||
|
service = def_proc.service
|
||||||
|
op_code = def_proc.op_code
|
||||||
|
if (
|
||||||
|
service == CoreServiceList.SERVICE_17
|
||||||
|
or service == CoreServiceList.SERVICE_17_ALT
|
||||||
|
):
|
||||||
|
q.add_log_cmd("Sending PUS ping telecommand")
|
||||||
|
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
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()
|
||||||
|
post_args_wrapper = parser_wrapper.parse(hook_obj)
|
||||||
|
params = SetupParams()
|
||||||
|
proc_wrapper = ProcedureParamsWrapper()
|
||||||
|
if post_args_wrapper.use_gui:
|
||||||
|
post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
|
||||||
|
else:
|
||||||
|
post_args_wrapper.set_params_with_prompts(params, 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()
|
||||||
|
printer = FsfwTmTcPrinter(tmtc_logger.logger)
|
||||||
|
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||||
|
verificator = PusVerificator()
|
||||||
|
verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
|
||||||
|
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||||
|
tm_handler = PusHandler(verification_wrapper, printer, 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
satrs-example-stm32f3-disco/pyclient/requirements.txt
Normal file
2
satrs-example-stm32f3-disco/pyclient/requirements.txt
Normal file
@ -0,0 +1,2 @@
|
|||||||
|
tmtccmd == 4.0.0a0
|
||||||
|
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||||
78
satrs-example-stm32f3-disco/src/blinky.rs
Normal file
78
satrs-example-stm32f3-disco/src/blinky.rs
Normal file
@ -0,0 +1,78 @@
|
|||||||
|
#![no_std]
|
||||||
|
#![no_main]
|
||||||
|
|
||||||
|
extern crate panic_itm;
|
||||||
|
|
||||||
|
use cortex_m_rt::entry;
|
||||||
|
|
||||||
|
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
|
||||||
|
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
|
||||||
|
use stm32f3_discovery::leds::Leds;
|
||||||
|
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
|
||||||
|
|
||||||
|
#[entry]
|
||||||
|
fn main()-> ! {
|
||||||
|
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);
|
||||||
|
|
||||||
|
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.toggle().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld3.toggle().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
|
||||||
|
//explicit on/off
|
||||||
|
leds.ld4.on().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld4.off().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
|
||||||
|
leds.ld5.on().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld5.off().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
|
||||||
|
leds.ld6.on().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld6.off().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
|
||||||
|
leds.ld7.on().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld7.off().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
|
||||||
|
leds.ld8.on().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld8.off().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
|
||||||
|
leds.ld9.on().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld9.off().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
|
||||||
|
leds.ld10.on().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
leds.ld10.off().ok();
|
||||||
|
delay.delay_ms(delay_ms);
|
||||||
|
}
|
||||||
|
}
|
||||||
604
satrs-example-stm32f3-disco/src/main.rs
Normal file
604
satrs-example-stm32f3-disco/src/main.rs
Normal file
@ -0,0 +1,604 @@
|
|||||||
|
#![no_std]
|
||||||
|
#![no_main]
|
||||||
|
extern crate panic_itm;
|
||||||
|
|
||||||
|
use rtic::app;
|
||||||
|
|
||||||
|
use heapless::{
|
||||||
|
mpmc::Q16,
|
||||||
|
pool,
|
||||||
|
pool::singleton::{Box, Pool},
|
||||||
|
};
|
||||||
|
#[allow(unused_imports)]
|
||||||
|
use itm_logger::{debug, info, logger_init, warn};
|
||||||
|
use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
|
||||||
|
use satrs_core::{
|
||||||
|
pus::{EcssTmErrorWithSend, EcssTmSenderCore},
|
||||||
|
seq_count::SequenceCountProviderCore,
|
||||||
|
};
|
||||||
|
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 systick_monotonic::{fugit::Duration, Systick};
|
||||||
|
|
||||||
|
const UART_BAUD: u32 = 115200;
|
||||||
|
const BLINK_FREQ_MS: u64 = 1000;
|
||||||
|
const TX_HANDLER_FREQ_MS: u64 = 20;
|
||||||
|
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
|
||||||
|
const MAX_TC_LEN: usize = 200;
|
||||||
|
const MAX_TM_LEN: usize = 200;
|
||||||
|
pub const PUS_APID: u16 = 0x02;
|
||||||
|
|
||||||
|
type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
|
||||||
|
type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
|
||||||
|
type MsDuration = Duration<u64, 1, 1000>;
|
||||||
|
type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
|
||||||
|
type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
|
||||||
|
|
||||||
|
// 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 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];
|
||||||
|
|
||||||
|
static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
|
||||||
|
|
||||||
|
const TC_POOL_SLOTS: usize = 12;
|
||||||
|
const TM_POOL_SLOTS: usize = 12;
|
||||||
|
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);
|
||||||
|
|
||||||
|
// Otherwise, warnings because of heapless pool macro.
|
||||||
|
#[allow(non_camel_case_types)]
|
||||||
|
mod poolmod {
|
||||||
|
use super::*;
|
||||||
|
// Must hold full TC length including COBS overhead.
|
||||||
|
pool!(TC: [u8; TC_BUF_LEN]);
|
||||||
|
// Only encoded at the end, so no need to account for COBS overhead.
|
||||||
|
pool!(TM: [u8; MAX_TM_LEN]);
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct TxIdle {
|
||||||
|
tx: TxType,
|
||||||
|
dma_channel: dma1::C7,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[derive(Debug)]
|
||||||
|
pub enum TmStoreError {
|
||||||
|
StoreFull,
|
||||||
|
StoreSlotsTooSmall,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
|
||||||
|
fn from(value: TmStoreError) -> Self {
|
||||||
|
Self::SendError(value)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub struct TmSender {
|
||||||
|
mem_block: Option<Box<poolmod::TM>>,
|
||||||
|
ctx: &'static str,
|
||||||
|
}
|
||||||
|
|
||||||
|
impl TmSender {
|
||||||
|
pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
|
||||||
|
Self {
|
||||||
|
mem_block: Some(mem_block),
|
||||||
|
ctx,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl EcssTmSenderCore for TmSender {
|
||||||
|
type Error = TmStoreError;
|
||||||
|
|
||||||
|
fn send_tm(
|
||||||
|
&mut self,
|
||||||
|
tm: PusTm,
|
||||||
|
) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
|
||||||
|
let mem_block = self.mem_block.take();
|
||||||
|
if mem_block.is_none() {
|
||||||
|
panic!("send_tm should only be called once");
|
||||||
|
}
|
||||||
|
let mut mem_block = mem_block.unwrap();
|
||||||
|
if tm.len_packed() > MAX_TM_LEN {
|
||||||
|
return Err(EcssTmErrorWithSend::SendError(
|
||||||
|
TmStoreError::StoreSlotsTooSmall,
|
||||||
|
));
|
||||||
|
}
|
||||||
|
tm.write_to_bytes(mem_block.as_mut_slice())
|
||||||
|
.map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
|
||||||
|
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
|
||||||
|
TX_REQUESTS
|
||||||
|
.enqueue((mem_block, tm.len_packed()))
|
||||||
|
.map_err(|_| TmStoreError::StoreFull)?;
|
||||||
|
Ok(())
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pub enum UartTxState {
|
||||||
|
// Wrapped in an option because we need an owned type later.
|
||||||
|
Idle(Option<TxIdle>),
|
||||||
|
// Same as above
|
||||||
|
Transmitting(Option<TxDmaTransferType>),
|
||||||
|
}
|
||||||
|
|
||||||
|
#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
|
||||||
|
mod app {
|
||||||
|
use super::*;
|
||||||
|
use core::slice::Iter;
|
||||||
|
use cortex_m::iprintln;
|
||||||
|
use satrs_core::pus::verification::FailParams;
|
||||||
|
use satrs_core::pus::verification::VerificationReporterCore;
|
||||||
|
use satrs_core::spacepackets::{
|
||||||
|
ecss::EcssEnumU16,
|
||||||
|
tc::PusTc,
|
||||||
|
time::cds::P_FIELD_BASE,
|
||||||
|
tm::{PusTm, PusTmSecondaryHeader},
|
||||||
|
CcsdsPacket, SpHeader,
|
||||||
|
};
|
||||||
|
#[allow(unused_imports)]
|
||||||
|
use stm32f3_discovery::leds::Direction;
|
||||||
|
use stm32f3_discovery::leds::Leds;
|
||||||
|
use stm32f3xx_hal::prelude::*;
|
||||||
|
use stm32f3xx_hal::Toggle;
|
||||||
|
|
||||||
|
use stm32f3_discovery::switch_hal::OutputSwitch;
|
||||||
|
#[allow(dead_code)]
|
||||||
|
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
|
||||||
|
|
||||||
|
#[shared]
|
||||||
|
struct Shared {
|
||||||
|
tx_transfer: UartTxState,
|
||||||
|
rx_transfer: Option<RxDmaTransferType>,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[local]
|
||||||
|
struct Local {
|
||||||
|
leds: Leds,
|
||||||
|
last_dir: Direction,
|
||||||
|
verif_reporter: VerificationReporterCore,
|
||||||
|
curr_dir: Iter<'static, Direction>,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[monotonic(binds = SysTick, default = true)]
|
||||||
|
type MonoTimer = Systick<1000>;
|
||||||
|
|
||||||
|
#[init(local = [
|
||||||
|
tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
|
||||||
|
tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
|
||||||
|
])]
|
||||||
|
fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
|
||||||
|
let mut rcc = cx.device.RCC.constrain();
|
||||||
|
|
||||||
|
let mono = Systick::new(cx.core.SYST, 8_000_000);
|
||||||
|
logger_init();
|
||||||
|
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);
|
||||||
|
// setup ITM output
|
||||||
|
iprintln!(
|
||||||
|
&mut cx.core.ITM.stim[0],
|
||||||
|
"Starting sat-rs demo application for the STM32F3-Discovery"
|
||||||
|
);
|
||||||
|
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||||
|
// Assign memory to the pools.
|
||||||
|
poolmod::TC::grow(cx.local.tc_pool_mem);
|
||||||
|
poolmod::TM::grow(cx.local.tm_pool_mem);
|
||||||
|
|
||||||
|
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
|
||||||
|
|
||||||
|
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, Toggle::On);
|
||||||
|
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
|
||||||
|
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
|
||||||
|
|
||||||
|
let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
|
||||||
|
let (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);
|
||||||
|
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
|
||||||
|
info!(target: "init", "Spawning tasks");
|
||||||
|
blink::spawn().unwrap();
|
||||||
|
serial_tx_handler::spawn().unwrap();
|
||||||
|
(
|
||||||
|
Shared {
|
||||||
|
tx_transfer: UartTxState::Idle(Some(TxIdle {
|
||||||
|
tx: tx_serial,
|
||||||
|
dma_channel: dma1.ch7,
|
||||||
|
})),
|
||||||
|
rx_transfer: Some(rx_transfer),
|
||||||
|
},
|
||||||
|
Local {
|
||||||
|
leds,
|
||||||
|
last_dir: Direction::North,
|
||||||
|
curr_dir: Direction::iter(),
|
||||||
|
verif_reporter,
|
||||||
|
},
|
||||||
|
init::Monotonics(mono),
|
||||||
|
)
|
||||||
|
}
|
||||||
|
|
||||||
|
#[task(local = [leds, curr_dir, last_dir])]
|
||||||
|
fn blink(cx: blink::Context) {
|
||||||
|
let toggle_leds = |dir: &Direction| {
|
||||||
|
let leds = cx.local.leds;
|
||||||
|
let last_led = leds.for_direction(*cx.local.last_dir);
|
||||||
|
last_led.off().ok();
|
||||||
|
let led = leds.for_direction(*dir);
|
||||||
|
led.on().ok();
|
||||||
|
*cx.local.last_dir = *dir;
|
||||||
|
};
|
||||||
|
|
||||||
|
match cx.local.curr_dir.next() {
|
||||||
|
Some(dir) => {
|
||||||
|
toggle_leds(dir);
|
||||||
|
}
|
||||||
|
None => {
|
||||||
|
*cx.local.curr_dir = Direction::iter();
|
||||||
|
toggle_leds(cx.local.curr_dir.next().unwrap());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
|
||||||
|
}
|
||||||
|
|
||||||
|
#[task(
|
||||||
|
shared = [tx_transfer],
|
||||||
|
local = []
|
||||||
|
)]
|
||||||
|
fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||||
|
if let Some((buf, len)) = TX_REQUESTS.dequeue() {
|
||||||
|
cx.shared.tx_transfer.lock(|tx_state| match tx_state {
|
||||||
|
UartTxState::Idle(tx) => {
|
||||||
|
//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.
|
||||||
|
let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
|
||||||
|
// 0 sentinel value as start marker
|
||||||
|
mut_tx_dma_buf[0] = 0;
|
||||||
|
// Should never panic, we accounted for the overhead.
|
||||||
|
// Write into transfer buffer directly, no need for intermediate
|
||||||
|
// encoding buffer.
|
||||||
|
let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
|
||||||
|
// 0 end marker
|
||||||
|
mut_tx_dma_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.
|
||||||
|
let transfer = tx_idle
|
||||||
|
.tx
|
||||||
|
.write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
|
||||||
|
*tx_state = UartTxState::Transmitting(Some(transfer));
|
||||||
|
// The memory block is automatically returned to the pool when it is dropped.
|
||||||
|
}
|
||||||
|
UartTxState::Transmitting(_) => {
|
||||||
|
// This is a SW configuration error. Only the ISR which
|
||||||
|
// detects transfer completion should be able to spawn a new
|
||||||
|
// task, and that ISR should set the state to IDLE.
|
||||||
|
panic!("invalid internal tx state detected")
|
||||||
|
}
|
||||||
|
})
|
||||||
|
} else {
|
||||||
|
cx.shared.tx_transfer.lock(|tx_state| {
|
||||||
|
if let UartTxState::Idle(_) = tx_state {
|
||||||
|
serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
|
||||||
|
.unwrap();
|
||||||
|
}
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[task(
|
||||||
|
local = [
|
||||||
|
stamp_buf: [u8; 7] = [0; 7],
|
||||||
|
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
|
||||||
|
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
|
||||||
|
verif_reporter
|
||||||
|
],
|
||||||
|
)]
|
||||||
|
fn serial_rx_handler(
|
||||||
|
cx: serial_rx_handler::Context,
|
||||||
|
received_packet: Box<poolmod::TC>,
|
||||||
|
rx_len: usize,
|
||||||
|
) {
|
||||||
|
let tgt: &'static str = "serial_rx_handler";
|
||||||
|
cx.local.stamp_buf[0] = P_FIELD_BASE;
|
||||||
|
info!(target: tgt, "Received packet with {} bytes", rx_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() {
|
||||||
|
warn!(
|
||||||
|
target: tgt,
|
||||||
|
"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) => {
|
||||||
|
info!(target: tgt, "Decoded packet length: {}", len);
|
||||||
|
let pus_tc = PusTc::from_bytes(decode_buf);
|
||||||
|
let verif_reporter = cx.local.verif_reporter;
|
||||||
|
match pus_tc {
|
||||||
|
Ok((tc, tc_len)) => handle_tc(
|
||||||
|
tc,
|
||||||
|
tc_len,
|
||||||
|
verif_reporter,
|
||||||
|
cx.local.src_data_buf,
|
||||||
|
cx.local.stamp_buf,
|
||||||
|
tgt,
|
||||||
|
),
|
||||||
|
Err(e) => {
|
||||||
|
warn!(target: tgt, "Error unpacking PUS TC: {}", e);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
Err(_) => {
|
||||||
|
warn!(
|
||||||
|
target: tgt,
|
||||||
|
"decoding error, can only process cobs encoded frames"
|
||||||
|
)
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
fn handle_tc(
|
||||||
|
tc: PusTc,
|
||||||
|
tc_len: usize,
|
||||||
|
verif_reporter: &mut VerificationReporterCore,
|
||||||
|
src_data_buf: &mut [u8; MAX_TM_LEN],
|
||||||
|
stamp_buf: &[u8; 7],
|
||||||
|
tgt: &'static str,
|
||||||
|
) {
|
||||||
|
info!(
|
||||||
|
target: tgt,
|
||||||
|
"Found PUS TC [{},{}] with length {}",
|
||||||
|
tc.service(),
|
||||||
|
tc.subservice(),
|
||||||
|
tc_len
|
||||||
|
);
|
||||||
|
|
||||||
|
let token = verif_reporter.add_tc(&tc);
|
||||||
|
if tc.apid() != PUS_APID {
|
||||||
|
warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
|
||||||
|
let sendable = verif_reporter
|
||||||
|
.acceptance_failure(
|
||||||
|
src_data_buf,
|
||||||
|
token,
|
||||||
|
&SEQ_COUNT_PROVIDER,
|
||||||
|
FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
|
||||||
|
)
|
||||||
|
.unwrap();
|
||||||
|
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||||
|
let mut sender = TmSender::new(mem_block, tgt);
|
||||||
|
if let Err(e) =
|
||||||
|
verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
|
||||||
|
{
|
||||||
|
warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
|
||||||
|
};
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
let sendable = verif_reporter
|
||||||
|
.acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||||
|
.unwrap();
|
||||||
|
|
||||||
|
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||||
|
let mut sender = TmSender::new(mem_block, tgt);
|
||||||
|
let accepted_token = match verif_reporter.send_acceptance_success(
|
||||||
|
sendable,
|
||||||
|
&SEQ_COUNT_PROVIDER,
|
||||||
|
&mut sender,
|
||||||
|
) {
|
||||||
|
Ok(token) => token,
|
||||||
|
Err(e) => {
|
||||||
|
warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
|
||||||
|
if tc.service() == 17 {
|
||||||
|
if tc.subservice() == 1 {
|
||||||
|
let sendable = verif_reporter
|
||||||
|
.start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||||
|
.unwrap();
|
||||||
|
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||||
|
let mut sender = TmSender::new(mem_block, tgt);
|
||||||
|
let started_token = match verif_reporter.send_start_success(
|
||||||
|
sendable,
|
||||||
|
&SEQ_COUNT_PROVIDER,
|
||||||
|
&mut sender,
|
||||||
|
) {
|
||||||
|
Ok(token) => token,
|
||||||
|
Err(e) => {
|
||||||
|
warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
info!(
|
||||||
|
target: tgt,
|
||||||
|
"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 = PusTm::new(&mut sp_header, sec_header, None, true);
|
||||||
|
let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||||
|
let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
|
||||||
|
if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
|
||||||
|
warn!(target: tgt, "TC queue full");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
SEQ_COUNT_PROVIDER.increment();
|
||||||
|
let sendable = verif_reporter
|
||||||
|
.completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||||
|
.unwrap();
|
||||||
|
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||||
|
let mut sender = TmSender::new(mem_block, tgt);
|
||||||
|
if let Err(e) = verif_reporter.send_step_or_completion_success(
|
||||||
|
sendable,
|
||||||
|
&SEQ_COUNT_PROVIDER,
|
||||||
|
&mut sender,
|
||||||
|
) {
|
||||||
|
warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
// TODO: Invalid subservice
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#[task(binds = DMA1_CH6, shared = [rx_transfer])]
|
||||||
|
fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
|
||||||
|
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 memory pool here
|
||||||
|
// to do this.
|
||||||
|
let mut mem_block = poolmod::TC::alloc()
|
||||||
|
.expect("allocating memory block for rx failed")
|
||||||
|
.init([0u8; TC_BUF_LEN]);
|
||||||
|
// Copy data into memory pool.
|
||||||
|
mem_block.copy_from_slice(buf);
|
||||||
|
*rx_transfer = Some(rx.read_exact(buf, c));
|
||||||
|
// Only send owning pointer to pool memory and the received packet length.
|
||||||
|
serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
|
||||||
|
.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.
|
||||||
|
warn!(
|
||||||
|
"rx transfer with maximum length {}, might miss data",
|
||||||
|
TC_BUF_LEN
|
||||||
|
);
|
||||||
|
}
|
||||||
|
});
|
||||||
|
}
|
||||||
|
|
||||||
|
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
|
||||||
|
fn serial_isr(mut cx: serial_isr::Context) {
|
||||||
|
cx.shared.tx_transfer.lock(|tx_state| match tx_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, tx) = transfer.stop();
|
||||||
|
*tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||||
|
serial_tx_handler::spawn_after(MsDuration::from_ticks(
|
||||||
|
MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
|
||||||
|
))
|
||||||
|
.unwrap();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
});
|
||||||
|
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 memory pool here
|
||||||
|
// to do this.
|
||||||
|
let mut mem_block = poolmod::TC::alloc()
|
||||||
|
.expect("allocating memory block for rx failed")
|
||||||
|
.init([0u8; TC_BUF_LEN]);
|
||||||
|
// Copy data into memory pool.
|
||||||
|
mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||||
|
rx.clear_event(RxEvent::Idle);
|
||||||
|
// Only send owning pointer to pool memory and the received packet length.
|
||||||
|
serial_rx_handler::spawn(mem_block, rx_len as usize)
|
||||||
|
.expect("spawning rx handler task failed");
|
||||||
|
*rx_transfer = Some(rx.read_exact(buf, ch));
|
||||||
|
}
|
||||||
|
});
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue
Block a user