This commit is contained in:
37
embedded-examples/stm32f3-disco-rtic/.cargo/def_config.toml
Normal file
37
embedded-examples/stm32f3-disco-rtic/.cargo/def_config.toml
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@ -0,0 +1,37 @@
|
||||
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||
# uncomment ONE of these three option to make `cargo run` start a GDB session
|
||||
# which option to pick depends on your system
|
||||
# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
|
||||
# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
|
||||
# runner = "gdb-multiarch -q -x openocd.gdb"
|
||||
# runner = "gdb -q -x openocd.gdb"
|
||||
runner = "probe-rs run --chip STM32F303VCTx"
|
||||
|
||||
rustflags = [
|
||||
"-C", "linker=flip-link",
|
||||
# LLD (shipped with the Rust toolchain) is used as the default linker
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
"-C", "link-arg=-Tdefmt.x",
|
||||
|
||||
# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
|
||||
# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
|
||||
"-C", "link-arg=--nmagic",
|
||||
|
||||
# if you run into problems with LLD switch to the GNU linker by commenting out
|
||||
# this line
|
||||
# "-C", "linker=arm-none-eabi-ld",
|
||||
|
||||
# if you need to link to pre-compiled C libraries provided by a C toolchain
|
||||
# use GCC as the linker by commenting out both lines above and then
|
||||
# uncommenting the three lines below
|
||||
# "-C", "linker=arm-none-eabi-gcc",
|
||||
# "-C", "link-arg=-Wl,-Tlink.x",
|
||||
# "-C", "link-arg=-nostartfiles",
|
||||
]
|
||||
|
||||
[build]
|
||||
# comment out the following line if you intend to run unit tests on host machine
|
||||
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
|
||||
|
||||
[env]
|
||||
DEFMT_LOG = "info"
|
||||
4
embedded-examples/stm32f3-disco-rtic/.gitignore
vendored
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4
embedded-examples/stm32f3-disco-rtic/.gitignore
vendored
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@ -0,0 +1,4 @@
|
||||
/target
|
||||
/itm.txt
|
||||
/.cargo/config*
|
||||
/.vscode
|
||||
1018
embedded-examples/stm32f3-disco-rtic/Cargo.lock
generated
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1018
embedded-examples/stm32f3-disco-rtic/Cargo.lock
generated
Normal file
File diff suppressed because it is too large
Load Diff
84
embedded-examples/stm32f3-disco-rtic/Cargo.toml
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84
embedded-examples/stm32f3-disco-rtic/Cargo.toml
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@ -0,0 +1,84 @@
|
||||
[package]
|
||||
name = "satrs-stm32f3-disco-rtic"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
default-run = "satrs-stm32f3-disco-rtic"
|
||||
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "0.3"
|
||||
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||
embedded-hal = "0.2.7"
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
enumset = "1"
|
||||
heapless = "0.8"
|
||||
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
version = "0.11.0-alpha.0"
|
||||
features = ["stm32f303xc", "rt", "enumset"]
|
||||
branch = "complete-dma-update"
|
||||
# Can be used in workspace to develop and update HAL
|
||||
# path = "../stm32f3xx-hal"
|
||||
|
||||
[dependencies.stm32f3-discovery]
|
||||
git = "https://github.com/robamu/stm32f3-discovery"
|
||||
version = "0.8.0-alpha.0"
|
||||
branch = "complete-dma-update-hal"
|
||||
# Can be used in workspace to develop and update BSP
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs]
|
||||
# path = "satrs"
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
features = ["defmt"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = true # <-
|
||||
incremental = false
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = true # <-
|
||||
|
||||
# cargo build/run --release
|
||||
[profile.release]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
|
||||
# cargo test --release
|
||||
[profile.bench]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = "s" # <-
|
||||
overflow-checks = false # <-
|
||||
201
embedded-examples/stm32f3-disco-rtic/LICENSE-APACHE
Normal file
201
embedded-examples/stm32f3-disco-rtic/LICENSE-APACHE
Normal file
@ -0,0 +1,201 @@
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
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|
||||
"License" shall mean the terms and conditions for use, reproduction,
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1
embedded-examples/stm32f3-disco-rtic/NOTICE
Normal file
1
embedded-examples/stm32f3-disco-rtic/NOTICE
Normal file
@ -0,0 +1 @@
|
||||
This software contains code developed at the University of Stuttgart's Institute of Space Systems.
|
||||
114
embedded-examples/stm32f3-disco-rtic/README.md
Normal file
114
embedded-examples/stm32f3-disco-rtic/README.md
Normal file
@ -0,0 +1,114 @@
|
||||
sat-rs example for the STM32F3-Discovery board
|
||||
=======
|
||||
|
||||
This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
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/2/book/en/) as the concurrency framework and the
|
||||
[defmt](https://defmt.ferrous-systems.com/) framework for logging.
|
||||
|
||||
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.
|
||||
|
||||
## Pre-Requisites
|
||||
|
||||
Make sure the following tools are installed:
|
||||
|
||||
1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
|
||||
2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
|
||||
[probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
|
||||
for debugging.
|
||||
|
||||
## 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 from the command line
|
||||
|
||||
You can flash the application from the command line using `probe-rs`:
|
||||
|
||||
```sh
|
||||
probe-rs run --chip STM32F303VCTx
|
||||
```
|
||||
|
||||
## 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 [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
|
||||
and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
|
||||
Make sure to install this plugin first.
|
||||
|
||||
Sample configuration files are provided inside the `vscode` folder.
|
||||
Use `cp vscode .vscode -r` to use them for your project.
|
||||
|
||||
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.
|
||||
|
||||
## Commanding with Python
|
||||
|
||||
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||
using COBS encoded PUS packets.
|
||||
|
||||
It is recommended to use a virtual environment to do this. To set up one in the command line,
|
||||
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
|
||||
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
|
||||
on how to activate the environment and then use the following command to install the required
|
||||
dependency:
|
||||
|
||||
```sh
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
|
||||
converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
|
||||
|
||||
A default configuration file for the python application is provided and can be used by running
|
||||
|
||||
```sh
|
||||
cp def_tmtc_conf.json tmtc_conf.json
|
||||
```
|
||||
|
||||
After that, you can for example send a ping to the MCU using the following command
|
||||
|
||||
```sh
|
||||
./main.py -p /ping
|
||||
```
|
||||
|
||||
You can configure the blinky frequency using
|
||||
|
||||
```sh
|
||||
./main.py -p /change_blink_freq
|
||||
```
|
||||
|
||||
All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
|
||||
format as the packet framing format.
|
||||
38601
embedded-examples/stm32f3-disco-rtic/STM32F303.svd
Normal file
38601
embedded-examples/stm32f3-disco-rtic/STM32F303.svd
Normal file
File diff suppressed because it is too large
Load Diff
10
embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb
Normal file
10
embedded-examples/stm32f3-disco-rtic/legacy/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
|
||||
12
embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg
Normal file
12
embedded-examples/stm32f3-disco-rtic/legacy/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]
|
||||
42
embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
Normal file
42
embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
Normal file
@ -0,0 +1,42 @@
|
||||
target extended-remote :3333
|
||||
|
||||
# print demangled symbols
|
||||
set print asm-demangle on
|
||||
|
||||
# set backtrace limit to not have infinite backtrace loops
|
||||
set backtrace limit 32
|
||||
|
||||
# detect unhandled exceptions, hard faults and panics
|
||||
break DefaultHandler
|
||||
break HardFault
|
||||
break rust_begin_unwind
|
||||
# # run the next few lines so the panic message is printed immediately
|
||||
# # the number needs to be adjusted for your panic handler
|
||||
# commands $bpnum
|
||||
# next 4
|
||||
# end
|
||||
|
||||
# *try* to stop at the user entry point (it might be gone due to inlining)
|
||||
break main
|
||||
|
||||
# monitor arm semihosting enable
|
||||
|
||||
# # send captured ITM to the file itm.fifo
|
||||
# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
|
||||
# # 8000000 must match the core clock frequency
|
||||
# # 2000000 is the frequency of the SWO pin. This was added for newer
|
||||
# openocd versions like v0.12.0.
|
||||
# monitor tpiu config internal itm.txt uart off 8000000 2000000
|
||||
|
||||
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
|
||||
# # 8000000 must match the core clock frequency
|
||||
# # 2000000 is the frequency of the SWO pin
|
||||
# monitor tpiu config external uart off 8000000 2000000
|
||||
|
||||
# # enable ITM port 0
|
||||
# monitor itm port 0 on
|
||||
|
||||
load
|
||||
|
||||
# start the process but immediately halt the processor
|
||||
stepi
|
||||
33
embedded-examples/stm32f3-disco-rtic/memory.x
Normal file
33
embedded-examples/stm32f3-disco-rtic/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;
|
||||
*/
|
||||
8
embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore
vendored
Normal file
8
embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore
vendored
Normal file
@ -0,0 +1,8 @@
|
||||
/venv
|
||||
/.tmtc-history.txt
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
/seqcnt.txt
|
||||
/tmtc_conf.json
|
||||
@ -0,0 +1,4 @@
|
||||
{
|
||||
"com_if": "serial_cobs",
|
||||
"serial_baudrate": 115200
|
||||
}
|
||||
305
embedded-examples/stm32f3-disco-rtic/pyclient/main.py
Executable file
305
embedded-examples/stm32f3-disco-rtic/pyclient/main.py
Executable file
@ -0,0 +1,305 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import struct
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Any, Optional, cast
|
||||
from prompt_toolkit.history import FileHistory, History
|
||||
from spacepackets.ecss.tm import CdsShortTimestamp
|
||||
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.core.ccsds_backend import QueueWrapper
|
||||
from tmtccmd.logging import add_colorlog_console_logger
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
HookBase,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config.com import SerialCfgWrapper
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tmtc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
FeedWrapper,
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.pus.s5_fsfw_event import Service5Tm
|
||||
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path)
|
||||
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
space_packet_ids=None,
|
||||
)
|
||||
if cfg is None:
|
||||
raise ValueError(
|
||||
f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
|
||||
)
|
||||
if cfg.com_if_key == "serial_cobs":
|
||||
cfg = cast(SerialCfgWrapper, cfg)
|
||||
cfg.serial_cfg.serial_timeout = 0.5
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return create_cmd_definition_tree()
|
||||
|
||||
def get_cmd_history(self) -> Optional[History]:
|
||||
"""Optionlly return a history class for the past command paths which will be used
|
||||
when prompting a command path from the user in CLI mode."""
|
||||
return FileHistory(".tmtc-history.txt")
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
root_node = CmdTreeNode.root_node()
|
||||
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
|
||||
return root_node
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: Any):
|
||||
try:
|
||||
pus_tm = PusTm.unpack(
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
except ValueError as e:
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = pus_tm.service
|
||||
tm_packet = None
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
_LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
_LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
if service == 3:
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if tm_packet.subservice == 2:
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
_LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
_LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
byte_string = bytearray(struct.pack("!I", target_id))
|
||||
byte_string.extend(struct.pack("!I", unique_id))
|
||||
return byte_string
|
||||
|
||||
|
||||
class TcHandler(TcHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
seq_count_provider: FileSeqCountProvider,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
):
|
||||
super(TcHandler, self).__init__()
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=QueueWrapper.empty(),
|
||||
tc_sched_timestamp_len=7,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=verif_wrapper.pus_verificator,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
entry_helper = send_params.entry
|
||||
if entry_helper.is_tc:
|
||||
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
|
||||
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
|
||||
pus_tc_wrapper.pus_tc.seq_count = (
|
||||
self.seq_count_provider.get_and_increment()
|
||||
)
|
||||
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
cmd_path = def_proc.cmd_path
|
||||
if cmd_path == "/ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
if cmd_path == "/change_blink_freq":
|
||||
self.create_change_blink_freq_command(q)
|
||||
|
||||
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
|
||||
q.add_log_cmd("Changing blink frequency")
|
||||
while True:
|
||||
blink_freq = int(
|
||||
input(
|
||||
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
|
||||
)
|
||||
)
|
||||
if blink_freq < 2 or blink_freq > 10000:
|
||||
print(
|
||||
"Invalid blink frequency. Please specify a value between 2 and 10000."
|
||||
)
|
||||
continue
|
||||
break
|
||||
app_data = struct.pack("!I", blink_freq)
|
||||
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
|
||||
|
||||
|
||||
def main():
|
||||
add_colorlog_console_logger(_LOGGER)
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
params = SetupParams()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
file_logger = tmtc_logger.logger
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
# Create TC handler
|
||||
seq_count_provider = PusFileSeqCountProvider()
|
||||
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
|
||||
tmtccmd.setup(setup_args=setup_args)
|
||||
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
|
||||
tmtc_backend = tmtccmd.create_default_tmtc_backend(
|
||||
setup_wrapper=setup_args,
|
||||
tm_handler=ccsds_handler,
|
||||
tc_handler=tc_handler,
|
||||
init_procedure=init_proc,
|
||||
)
|
||||
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
|
||||
try:
|
||||
while True:
|
||||
state = tmtc_backend.periodic_op(None)
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
elif state.request == BackendRequest.DELAY_CUSTOM:
|
||||
if state.next_delay.total_seconds() <= 0.4:
|
||||
time.sleep(state.next_delay.total_seconds())
|
||||
else:
|
||||
time.sleep(0.4)
|
||||
elif state.request == BackendRequest.CALL_NEXT:
|
||||
pass
|
||||
except KeyboardInterrupt:
|
||||
sys.exit(0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@ -0,0 +1,2 @@
|
||||
tmtccmd == 8.0.1
|
||||
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||
76
embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
Normal file
76
embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
Normal file
@ -0,0 +1,76 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs_stm32f3_disco_rtic as _;
|
||||
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
|
||||
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
|
||||
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
|
||||
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("STM32F3 Discovery Blinky");
|
||||
let dp = pac::Peripherals::take().unwrap();
|
||||
let mut rcc = dp.RCC.constrain();
|
||||
let cp = cortex_m::Peripherals::take().unwrap();
|
||||
let mut flash = dp.FLASH.constrain();
|
||||
let clocks = rcc.cfgr.freeze(&mut flash.acr);
|
||||
let mut delay = Delay::new(cp.SYST, clocks);
|
||||
|
||||
let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
|
||||
let mut leds = Leds::new(
|
||||
gpioe.pe8,
|
||||
gpioe.pe9,
|
||||
gpioe.pe10,
|
||||
gpioe.pe11,
|
||||
gpioe.pe12,
|
||||
gpioe.pe13,
|
||||
gpioe.pe14,
|
||||
gpioe.pe15,
|
||||
&mut gpioe.moder,
|
||||
&mut gpioe.otyper,
|
||||
);
|
||||
let delay_ms = 200u16;
|
||||
loop {
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
//explicit on/off
|
||||
leds.ld4_nw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld4_nw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld5_ne.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld5_ne.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld6_w.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld6_w.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld7_e.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld7_e.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld8_sw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8_sw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld9_se.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9_se.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld10_s.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld10_s.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
}
|
||||
}
|
||||
51
embedded-examples/stm32f3-disco-rtic/src/lib.rs
Normal file
51
embedded-examples/stm32f3-disco-rtic/src/lib.rs
Normal file
@ -0,0 +1,51 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use cortex_m_semihosting::debug;
|
||||
|
||||
use defmt_brtt as _; // global logger
|
||||
|
||||
use stm32f3xx_hal as _; // memory layout
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||
#[defmt::panic_handler]
|
||||
fn panic() -> ! {
|
||||
cortex_m::asm::udf()
|
||||
}
|
||||
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with status code 0.
|
||||
pub fn exit() -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Hardfault handler.
|
||||
///
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with an error. This seems better than the default, which is to spin in a
|
||||
/// loop.
|
||||
#[cortex_m_rt::exception]
|
||||
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||
// once within a crate. the module can be in any file but there can only be at most
|
||||
// one `#[tests]` module in this library crate
|
||||
#[cfg(test)]
|
||||
#[defmt_test::tests]
|
||||
mod unit_tests {
|
||||
use defmt::assert;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
assert!(true)
|
||||
}
|
||||
}
|
||||
684
embedded-examples/stm32f3-disco-rtic/src/main.rs
Normal file
684
embedded-examples/stm32f3-disco-rtic/src/main.rs
Normal file
@ -0,0 +1,684 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
|
||||
};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use satrs::spacepackets::ecss::EcssEnumU16;
|
||||
use satrs::spacepackets::CcsdsPacket;
|
||||
use satrs::spacepackets::{ByteConversionError, SpHeader};
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use satrs_stm32f3_disco_rtic as _;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
#[allow(unused_imports)]
|
||||
use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::ExtU32;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
|
||||
use stm32f3xx_hal::dma::dma1;
|
||||
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
|
||||
use stm32f3xx_hal::pac::USART2;
|
||||
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u32 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
|
||||
const MAX_TC_LEN: usize = 128;
|
||||
const MAX_TM_LEN: usize = 128;
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
|
||||
type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
|
||||
type InstantFugit = TimerInstantU32<1000>;
|
||||
type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
|
||||
type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
|
||||
|
||||
// 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];
|
||||
|
||||
type TmPacket = Vec<u8, MAX_TM_LEN>;
|
||||
type TcPacket = Vec<u8, MAX_TC_LEN>;
|
||||
|
||||
static TM_REQUESTS: Q8<TmPacket> = Q8::new();
|
||||
|
||||
use core::sync::atomic::{AtomicU16, Ordering};
|
||||
|
||||
pub struct SeqCountProviderAtomicRef {
|
||||
atomic: AtomicU16,
|
||||
ordering: Ordering,
|
||||
}
|
||||
|
||||
impl SeqCountProviderAtomicRef {
|
||||
pub const fn new(ordering: Ordering) -> Self {
|
||||
Self {
|
||||
atomic: AtomicU16::new(0),
|
||||
ordering,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
|
||||
fn get(&self) -> u16 {
|
||||
self.atomic.load(self.ordering)
|
||||
}
|
||||
|
||||
fn increment(&self) {
|
||||
self.atomic.fetch_add(1, self.ordering);
|
||||
}
|
||||
|
||||
fn get_and_increment(&self) -> u16 {
|
||||
self.atomic.fetch_add(1, self.ordering)
|
||||
}
|
||||
}
|
||||
|
||||
static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
|
||||
SeqCountProviderAtomicRef::new(Ordering::Relaxed);
|
||||
|
||||
pub struct TxIdle {
|
||||
tx: TxType,
|
||||
dma_channel: dma1::C7,
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum TmSendError {
|
||||
ByteConversion(ByteConversionError),
|
||||
Queue,
|
||||
}
|
||||
|
||||
impl From<ByteConversionError> for TmSendError {
|
||||
fn from(value: ByteConversionError) -> Self {
|
||||
Self::ByteConversion(value)
|
||||
}
|
||||
}
|
||||
|
||||
fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
|
||||
if tm_creator.len_written() > MAX_TM_LEN {
|
||||
return Err(ByteConversionError::ToSliceTooSmall {
|
||||
expected: tm_creator.len_written(),
|
||||
found: MAX_TM_LEN,
|
||||
}
|
||||
.into());
|
||||
}
|
||||
let mut tm_vec = TmPacket::new();
|
||||
tm_vec
|
||||
.resize(tm_creator.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
|
||||
defmt::info!(
|
||||
"Sending TM[{},{}] with size {}",
|
||||
tm_creator.service(),
|
||||
tm_creator.subservice(),
|
||||
tm_creator.len_written()
|
||||
);
|
||||
TM_REQUESTS
|
||||
.enqueue(tm_vec)
|
||||
.map_err(|_| TmSendError::Queue)?;
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn handle_tm_send_error(error: TmSendError) {
|
||||
defmt::warn!("sending tm failed with error {}", error);
|
||||
}
|
||||
|
||||
pub enum UartTxState {
|
||||
// Wrapped in an option because we need an owned type later.
|
||||
Idle(Option<TxIdle>),
|
||||
// Same as above
|
||||
Transmitting(Option<TxDmaTransferType>),
|
||||
}
|
||||
|
||||
pub struct UartTxShared {
|
||||
last_completed: Option<InstantFugit>,
|
||||
state: UartTxState,
|
||||
}
|
||||
|
||||
pub struct RequestWithToken {
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
request: Request,
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum Request {
|
||||
Ping,
|
||||
ChangeBlinkFrequency(u32),
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub enum RequestError {
|
||||
InvalidApid = 1,
|
||||
InvalidService = 2,
|
||||
InvalidSubservice = 3,
|
||||
NotEnoughAppData = 4,
|
||||
}
|
||||
|
||||
pub fn convert_pus_tc_to_request(
|
||||
tc: &PusTcReader,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> Result<RequestWithToken, RequestError> {
|
||||
defmt::info!(
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
tc.len_packed()
|
||||
);
|
||||
|
||||
let token = verif_reporter.add_tc(tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
return Err(RequestError::InvalidApid);
|
||||
}
|
||||
let (tm_creator, accepted_token) = verif_reporter
|
||||
.acceptance_success(
|
||||
src_data_buf,
|
||||
token,
|
||||
SEQ_COUNT_PROVIDER.get_and_increment(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
if let Err(e) = send_tm(tm_creator) {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
|
||||
if tc.service() == 17 && tc.subservice() == 1 {
|
||||
if tc.subservice() == 1 {
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::Ping,
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else if tc.service() == 8 {
|
||||
if tc.subservice() == 1 {
|
||||
if tc.user_data().len() < 4 {
|
||||
return Err(RequestError::NotEnoughAppData);
|
||||
}
|
||||
let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
|
||||
return Ok(RequestWithToken {
|
||||
request: Request::ChangeBlinkFrequency(new_freq_ms),
|
||||
token: accepted_token,
|
||||
});
|
||||
} else {
|
||||
return Err(RequestError::InvalidSubservice);
|
||||
}
|
||||
} else {
|
||||
return Err(RequestError::InvalidService);
|
||||
}
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true)]
|
||||
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)]
|
||||
use stm32f3_discovery::leds::Direction;
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3xx_hal::prelude::*;
|
||||
|
||||
use stm32f3_discovery::switch_hal::OutputSwitch;
|
||||
use stm32f3xx_hal::Switch;
|
||||
#[allow(dead_code)]
|
||||
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
blink_freq: MillisDurationU32,
|
||||
tx_shared: UartTxShared,
|
||||
rx_transfer: Option<RxDmaTransferType>,
|
||||
}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
verif_reporter: VerificationReportCreator,
|
||||
leds: Leds,
|
||||
last_dir: Direction,
|
||||
curr_dir: Iter<'static, Direction>,
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
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);
|
||||
|
||||
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);
|
||||
|
||||
// Set up monotonic timer.
|
||||
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
|
||||
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
|
||||
let leds = Leds::new(
|
||||
gpioe.pe8,
|
||||
gpioe.pe9,
|
||||
gpioe.pe10,
|
||||
gpioe.pe11,
|
||||
gpioe.pe12,
|
||||
gpioe.pe13,
|
||||
gpioe.pe14,
|
||||
gpioe.pe15,
|
||||
&mut gpioe.moder,
|
||||
&mut gpioe.otyper,
|
||||
);
|
||||
let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
|
||||
// USART2 pins
|
||||
let mut pins = (
|
||||
// TX pin: PA2
|
||||
gpioa
|
||||
.pa2
|
||||
.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
|
||||
// RX pin: PA3
|
||||
gpioa
|
||||
.pa3
|
||||
.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
|
||||
);
|
||||
pins.1.internal_pull_up(&mut gpioa.pupdr, true);
|
||||
let mut usart2 = Serial::new(
|
||||
cx.device.USART2,
|
||||
pins,
|
||||
UART_BAUD.Bd(),
|
||||
clocks,
|
||||
&mut rcc.apb1,
|
||||
);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
|
||||
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
|
||||
|
||||
let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
|
||||
let (mut tx_serial, mut rx_serial) = usart2.split();
|
||||
|
||||
// This interrupt is immediately triggered, clear it. It will only be reset
|
||||
// by the hardware when data is received on RX (RXNE event)
|
||||
rx_serial.clear_event(RxEvent::Idle);
|
||||
// For some reason, this is also immediately triggered..
|
||||
tx_serial.clear_event(TxEvent::TransmissionComplete);
|
||||
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
|
||||
defmt::info!("Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
|
||||
let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
|
||||
|
||||
(
|
||||
Shared {
|
||||
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
|
||||
tx_shared: UartTxShared {
|
||||
last_completed: None,
|
||||
state: UartTxState::Idle(Some(TxIdle {
|
||||
tx: tx_serial,
|
||||
dma_channel: dma1.ch7,
|
||||
})),
|
||||
},
|
||||
rx_transfer: Some(rx_transfer),
|
||||
},
|
||||
Local {
|
||||
verif_reporter,
|
||||
leds,
|
||||
last_dir: Direction::North,
|
||||
curr_dir: Direction::iter(),
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
|
||||
async fn blink(mut cx: blink::Context) {
|
||||
let blink::LocalResources {
|
||||
leds,
|
||||
curr_dir,
|
||||
last_dir,
|
||||
..
|
||||
} = cx.local;
|
||||
let mut toggle_leds = |dir: &Direction| {
|
||||
let last_led = leds.for_direction(*last_dir);
|
||||
last_led.off().ok();
|
||||
let led = leds.for_direction(*dir);
|
||||
led.on().ok();
|
||||
*last_dir = *dir;
|
||||
};
|
||||
loop {
|
||||
match curr_dir.next() {
|
||||
Some(dir) => {
|
||||
toggle_leds(dir);
|
||||
}
|
||||
None => {
|
||||
*curr_dir = Direction::iter();
|
||||
toggle_leds(curr_dir.next().unwrap());
|
||||
}
|
||||
}
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Systick::delay(current_blink_freq).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(
|
||||
shared = [tx_shared],
|
||||
)]
|
||||
async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||
loop {
|
||||
let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
|
||||
if let UartTxState::Idle(_) = tx_shared.state {
|
||||
return true;
|
||||
}
|
||||
false
|
||||
});
|
||||
if is_idle {
|
||||
let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
|
||||
if let Some(last_completed) = last_completed {
|
||||
let elapsed_ms = (Systick::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;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
if let Some(vec) = TM_REQUESTS.dequeue() {
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(tx) => {
|
||||
let encoded_len;
|
||||
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
|
||||
// Safety: We only copy the data into the TX DMA buffer in this task.
|
||||
// If the DMA is active, another branch will be taken.
|
||||
unsafe {
|
||||
// 0 sentinel value as start marker
|
||||
DMA_TX_BUF[0] = 0;
|
||||
encoded_len =
|
||||
cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
// 0 end marker
|
||||
DMA_TX_BUF[encoded_len + 1] = 0;
|
||||
}
|
||||
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
|
||||
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
|
||||
let tx_idle = tx.take().unwrap();
|
||||
// Transfer completion and re-scheduling of new TX transfers will be done
|
||||
// by the IRQ handler.
|
||||
// SAFETY: The DMA is the exclusive writer to the DMA buffer now.
|
||||
let transfer = tx_idle.tx.write_all(
|
||||
unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
|
||||
tx_idle.dma_channel,
|
||||
);
|
||||
tx_shared.state = UartTxState::Transmitting(Some(transfer));
|
||||
// The memory block is automatically returned to the pool when it is dropped.
|
||||
}
|
||||
UartTxState::Transmitting(_) => (),
|
||||
});
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
// Nothing to do, and we are idle.
|
||||
Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(
|
||||
local = [
|
||||
verif_reporter,
|
||||
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
|
||||
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
|
||||
timestamp: [u8; 7] = [0; 7],
|
||||
],
|
||||
shared = [blink_freq]
|
||||
)]
|
||||
async fn serial_rx_handler(
|
||||
mut cx: serial_rx_handler::Context,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
) {
|
||||
cx.local.timestamp[0] = P_FIELD_BASE;
|
||||
defmt::info!("Received packet with {} bytes", received_packet.len());
|
||||
let decode_buf = cx.local.decode_buf;
|
||||
let packet = received_packet.as_slice();
|
||||
let mut start_idx = None;
|
||||
for (idx, byte) in packet.iter().enumerate() {
|
||||
if *byte != 0 {
|
||||
start_idx = Some(idx);
|
||||
break;
|
||||
}
|
||||
}
|
||||
if start_idx.is_none() {
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
|
||||
return;
|
||||
}
|
||||
let start_idx = start_idx.unwrap();
|
||||
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
|
||||
Ok(len) => {
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
match pus_tc {
|
||||
Ok((tc, _tc_len)) => {
|
||||
match convert_pus_tc_to_request(
|
||||
&tc,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
) {
|
||||
Ok(request_with_token) => {
|
||||
let started_token = handle_start_verification(
|
||||
request_with_token.token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
|
||||
match request_with_token.request {
|
||||
Request::Ping => {
|
||||
handle_ping_request(cx.local.timestamp);
|
||||
}
|
||||
Request::ChangeBlinkFrequency(new_freq_ms) => {
|
||||
defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
|
||||
cx.shared.blink_freq.lock(|blink_freq| {
|
||||
*blink_freq =
|
||||
MillisDurationU32::from_ticks(new_freq_ms);
|
||||
});
|
||||
}
|
||||
}
|
||||
handle_completion_verification(
|
||||
started_token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
}
|
||||
Err(e) => {
|
||||
// TODO: Error handling: Send verification failure based on request error.
|
||||
defmt::warn!("request error {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("Error unpacking PUS TC: {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(_) => {
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_ping_request(timestamp: &[u8]) {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let sp_header =
|
||||
SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
|
||||
let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
|
||||
let mut tm_packet = TmPacket::new();
|
||||
tm_packet
|
||||
.resize(ping_reply.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
|
||||
if TM_REQUESTS.enqueue(tm_packet).is_err() {
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_start_verification(
|
||||
accepted_token: VerificationToken<TcStateAccepted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> VerificationToken<TcStateStarted> {
|
||||
let (tm_creator, started_token) = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
×tamp,
|
||||
)
|
||||
.unwrap();
|
||||
let result = send_tm(tm_creator);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
started_token
|
||||
}
|
||||
|
||||
fn handle_completion_verification(
|
||||
started_token: VerificationToken<TcStateStarted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) {
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds = DMA1_CH6, shared = [rx_transfer])]
|
||||
fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_ref = rx_transfer.as_ref().unwrap();
|
||||
if rx_ref.is_complete() {
|
||||
let uart_rx_owned = rx_transfer.take().unwrap();
|
||||
let (buf, c, rx) = uart_rx_owned.stop();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
|
||||
// to do this.
|
||||
tc_packet.resize(buf.len(), 0).expect("vec resize failed");
|
||||
tc_packet.copy_from_slice(buf);
|
||||
|
||||
// Start the next transfer as soon as possible.
|
||||
*rx_transfer = Some(rx.read_exact(buf, c));
|
||||
|
||||
// Send the vector to a regular task.
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
|
||||
// If this happens, there is a high chance that the maximum packet length was
|
||||
// exceeded. Circular mode is not used here, so data might be missed.
|
||||
defmt::warn!(
|
||||
"rx transfer with maximum length {}, might miss data",
|
||||
TC_BUF_LEN
|
||||
);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
|
||||
fn serial_isr(mut cx: serial_isr::Context) {
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(_) => (),
|
||||
UartTxState::Transmitting(transfer) => {
|
||||
let transfer_ref = transfer.as_ref().unwrap();
|
||||
if transfer_ref.is_complete() {
|
||||
let transfer = transfer.take().unwrap();
|
||||
let (_, dma_channel, mut tx) = transfer.stop();
|
||||
tx.clear_event(TxEvent::TransmissionComplete);
|
||||
tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
// We cache the last completed time to ensure that there is a minimum delay between consecutive
|
||||
// transferred packets.
|
||||
tx_shared.last_completed = Some(Systick::now());
|
||||
}
|
||||
}
|
||||
});
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_transfer_ref = rx_transfer.as_ref().unwrap();
|
||||
// Received a partial packet.
|
||||
if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
|
||||
let rx_transfer_owned = rx_transfer.take().unwrap();
|
||||
let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack
|
||||
// allocated vector to do this.
|
||||
tc_packet
|
||||
.resize(rx_len as usize, 0)
|
||||
.expect("vec resize failed");
|
||||
tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
rx.clear_event(RxEvent::Idle);
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
|
||||
*rx_transfer = Some(rx.read_exact(buf, ch));
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
2
embedded-examples/stm32f3-disco-rtic/vscode/.gitignore
vendored
Normal file
2
embedded-examples/stm32f3-disco-rtic/vscode/.gitignore
vendored
Normal file
@ -0,0 +1,2 @@
|
||||
/settings.json
|
||||
/.cortex-debug.*
|
||||
12
embedded-examples/stm32f3-disco-rtic/vscode/extensions.json
Normal file
12
embedded-examples/stm32f3-disco-rtic/vscode/extensions.json
Normal file
@ -0,0 +1,12 @@
|
||||
{
|
||||
// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
|
||||
// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
|
||||
|
||||
// List of extensions which should be recommended for users of this workspace.
|
||||
"recommendations": [
|
||||
"rust-lang.rust",
|
||||
"probe-rs.probe-rs-debugger"
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
}
|
||||
22
embedded-examples/stm32f3-disco-rtic/vscode/launch.json
Normal file
22
embedded-examples/stm32f3-disco-rtic/vscode/launch.json
Normal file
@ -0,0 +1,22 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"preLaunchTask": "${defaultBuildTask}",
|
||||
"type": "probe-rs-debug",
|
||||
"request": "launch",
|
||||
"name": "probe-rs Debugging ",
|
||||
"flashingConfig": {
|
||||
"flashingEnabled": true
|
||||
},
|
||||
"chip": "STM32F303VCTx",
|
||||
"coreConfigs": [
|
||||
{
|
||||
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
|
||||
"rttEnabled": true,
|
||||
"svdFile": "STM32F303.svd"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@ -0,0 +1,18 @@
|
||||
#
|
||||
# Cortex-Debug extension calls this function during initialization. You can copy this
|
||||
# file, modify it and specifyy it as one of the config files supplied in launch.json
|
||||
# preferably at the beginning.
|
||||
#
|
||||
# Note that this file simply defines a function for use later when it is time to configure
|
||||
# for SWO.
|
||||
#
|
||||
set USE_SWO 0
|
||||
proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
|
||||
# Alternative option: Pipe ITM output into itm.txt file
|
||||
# tpiu config internal itm.txt uart off $CDCPUFreqHz
|
||||
|
||||
# Default option so SWO display of VS code works. Please note that this might not be required
|
||||
# anymore starting at openocd v0.12.0
|
||||
tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
|
||||
itm port 0 on
|
||||
}
|
||||
20
embedded-examples/stm32f3-disco-rtic/vscode/tasks.json
Normal file
20
embedded-examples/stm32f3-disco-rtic/vscode/tasks.json
Normal file
@ -0,0 +1,20 @@
|
||||
{
|
||||
// See https://go.microsoft.com/fwlink/?LinkId=733558
|
||||
// for the documentation about the tasks.json format
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "cargo build",
|
||||
"type": "shell",
|
||||
"command": "~/.cargo/bin/cargo", // note: full path to the cargo
|
||||
"args": [
|
||||
"build"
|
||||
],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
}
|
||||
},
|
||||
|
||||
]
|
||||
}
|
||||
29
embedded-examples/stm32h7-rtic/.cargo/def_config.toml
Normal file
29
embedded-examples/stm32h7-rtic/.cargo/def_config.toml
Normal file
@ -0,0 +1,29 @@
|
||||
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||
runner = "probe-rs run --chip STM32H743ZITx"
|
||||
# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
|
||||
|
||||
rustflags = [
|
||||
"-C", "linker=flip-link",
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
"-C", "link-arg=-Tdefmt.x",
|
||||
# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
|
||||
# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
|
||||
"-C", "link-arg=--nmagic",
|
||||
# Can be useful for debugging.
|
||||
# "-Clink-args=-Map=app.map"
|
||||
]
|
||||
|
||||
[build]
|
||||
# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
|
||||
# target improves performance)
|
||||
# target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
|
||||
# target = "thumbv7m-none-eabi" # Cortex-M3
|
||||
# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
|
||||
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
|
||||
|
||||
[alias]
|
||||
rb = "run --bin"
|
||||
rrb = "run --release --bin"
|
||||
|
||||
[env]
|
||||
DEFMT_LOG = "info"
|
||||
4
embedded-examples/stm32h7-rtic/.gitignore
vendored
Normal file
4
embedded-examples/stm32h7-rtic/.gitignore
vendored
Normal file
@ -0,0 +1,4 @@
|
||||
/target
|
||||
/.cargo/config*
|
||||
/.vscode
|
||||
/app.map
|
||||
881
embedded-examples/stm32h7-rtic/Cargo.lock
generated
Normal file
881
embedded-examples/stm32h7-rtic/Cargo.lock
generated
Normal file
@ -0,0 +1,881 @@
|
||||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
version = 3
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
|
||||
|
||||
[[package]]
|
||||
name = "bare-metal"
|
||||
version = "0.2.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
|
||||
dependencies = [
|
||||
"rustc_version 0.2.3",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "bare-metal"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
|
||||
|
||||
[[package]]
|
||||
name = "bitfield"
|
||||
version = "0.13.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
|
||||
|
||||
[[package]]
|
||||
name = "bitflags"
|
||||
version = "1.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
||||
|
||||
[[package]]
|
||||
name = "cast"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "37b2a672a2cb129a2e41c10b1224bb368f9f37a2b16b612598138befd7b37eb5"
|
||||
|
||||
[[package]]
|
||||
name = "cfg-if"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"critical-section",
|
||||
"embedded-hal 0.2.7",
|
||||
"volatile-register",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt"
|
||||
version = "0.7.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
|
||||
dependencies = [
|
||||
"cortex-m-rt-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt-macros"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-semihosting"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc"
|
||||
version = "3.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
|
||||
dependencies = [
|
||||
"crc-catalog",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc-catalog"
|
||||
version = "2.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
|
||||
|
||||
[[package]]
|
||||
name = "critical-section"
|
||||
version = "1.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
|
||||
|
||||
[[package]]
|
||||
name = "defmt"
|
||||
version = "0.3.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"defmt-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-brtt"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"defmt",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-macros"
|
||||
version = "0.3.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
|
||||
dependencies = [
|
||||
"defmt-parser",
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-parser"
|
||||
version = "0.3.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
|
||||
dependencies = [
|
||||
"thiserror",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-test"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "290966e8c38f94b11884877242de876280d0eab934900e9642d58868e77c5df1"
|
||||
dependencies = [
|
||||
"cortex-m-rt",
|
||||
"cortex-m-semihosting",
|
||||
"defmt",
|
||||
"defmt-test-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-test-macros"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "delegate"
|
||||
version = "0.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "derive-new"
|
||||
version = "0.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d150dea618e920167e5973d70ae6ece4385b7164e0d799fe7c122dd0a5d912ad"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-alloc"
|
||||
version = "0.5.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ddae17915accbac2cfbc64ea0ae6e3b330e6ea124ba108dada63646fd3c6f815"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"linked_list_allocator",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-dma"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "994f7e5b5cb23521c22304927195f236813053eb9c065dd2226a32ba64695446"
|
||||
dependencies = [
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal"
|
||||
version = "0.2.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
|
||||
dependencies = [
|
||||
"nb 0.1.3",
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
|
||||
dependencies = [
|
||||
"defmt",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal-async"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
|
||||
dependencies = [
|
||||
"defmt",
|
||||
"embedded-hal 1.0.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal-bus"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "57b4e6ede84339ebdb418cd986e6320a34b017cdf99b5cc3efceec6450b06886"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"defmt",
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-storage"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
|
||||
|
||||
[[package]]
|
||||
name = "equivalent"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
|
||||
|
||||
[[package]]
|
||||
name = "fugit"
|
||||
version = "0.3.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
|
||||
dependencies = [
|
||||
"gcd",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "futures-core"
|
||||
version = "0.3.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
|
||||
|
||||
[[package]]
|
||||
name = "futures-task"
|
||||
version = "0.3.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
|
||||
|
||||
[[package]]
|
||||
name = "futures-util"
|
||||
version = "0.3.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
|
||||
dependencies = [
|
||||
"futures-core",
|
||||
"futures-task",
|
||||
"pin-project-lite",
|
||||
"pin-utils",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "gcd"
|
||||
version = "2.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3bd869329be25440b24e2b3583a1c016151b4a54bc36d96d82af7fcd9d010b98"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cast",
|
||||
"cortex-m",
|
||||
"embedded-dma",
|
||||
"embedded-hal 0.2.7",
|
||||
"embedded-storage",
|
||||
"fugit",
|
||||
"nb 1.1.0",
|
||||
"paste",
|
||||
"smoltcp",
|
||||
"stm32h7",
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.109"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "2.0.64"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7ad3dee41f36859875573074334c200d1add8e4a87bb37113ebd31d926b7b11f"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror"
|
||||
version = "1.0.61"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
version = "1.0.61"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
|
||||
[[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 = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.34"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.34"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.64",
|
||||
]
|
||||
85
embedded-examples/stm32h7-rtic/Cargo.toml
Normal file
85
embedded-examples/stm32h7-rtic/Cargo.toml
Normal file
@ -0,0 +1,85 @@
|
||||
[package]
|
||||
authors = ["Robin Mueller <robin.mueller.m@gmail.com>"]
|
||||
name = "satrs-stm32h7-nucleo-rtic"
|
||||
edition = "2021"
|
||||
version = "0.1.0"
|
||||
default-run = "satrs-stm32h7-nucleo-rtic"
|
||||
|
||||
[lib]
|
||||
harness = false
|
||||
|
||||
# needed for each integration test
|
||||
[[test]]
|
||||
name = "integration"
|
||||
harness = false
|
||||
|
||||
[dependencies]
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "0.3"
|
||||
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
|
||||
embedded-alloc = "0.5"
|
||||
rtic-sync = { version = "1", features = ["defmt-03"] }
|
||||
|
||||
[dependencies.smoltcp]
|
||||
version = "0.11.0"
|
||||
default-features = false
|
||||
features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
|
||||
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../../satrs"
|
||||
version = "0.2"
|
||||
default-features = false
|
||||
features = ["defmt", "heapless"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
|
||||
# cargo build/run
|
||||
[profile.dev]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = true # <-
|
||||
incremental = false
|
||||
opt-level = 's' # <-
|
||||
overflow-checks = true # <-
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = true # <-
|
||||
incremental = false
|
||||
opt-level = 3 # <-
|
||||
overflow-checks = true # <-
|
||||
|
||||
# cargo build/run --release
|
||||
[profile.release]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = 3 # <-
|
||||
overflow-checks = false # <-
|
||||
|
||||
# cargo test --release
|
||||
[profile.bench]
|
||||
codegen-units = 1
|
||||
debug = 2
|
||||
debug-assertions = false # <-
|
||||
incremental = false
|
||||
lto = 'fat'
|
||||
opt-level = 3 # <-
|
||||
overflow-checks = false # <-
|
||||
201
embedded-examples/stm32h7-rtic/LICENSE-APACHE
Normal file
201
embedded-examples/stm32h7-rtic/LICENSE-APACHE
Normal file
@ -0,0 +1,201 @@
|
||||
Apache License
|
||||
Version 2.0, January 2004
|
||||
http://www.apache.org/licenses/
|
||||
|
||||
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
|
||||
|
||||
1. Definitions.
|
||||
|
||||
"License" shall mean the terms and conditions for use, reproduction,
|
||||
and distribution as defined by Sections 1 through 9 of this document.
|
||||
|
||||
"Licensor" shall mean the copyright owner or entity authorized by
|
||||
the copyright owner that is granting the License.
|
||||
|
||||
"Legal Entity" shall mean the union of the acting entity and all
|
||||
other entities that control, are controlled by, or are under common
|
||||
control with that entity. For the purposes of this definition,
|
||||
"control" means (i) the power, direct or indirect, to cause the
|
||||
direction or management of such entity, whether by contract or
|
||||
otherwise, or (ii) ownership of fifty percent (50%) or more of the
|
||||
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|
||||
|
||||
"You" (or "Your") shall mean an individual or Legal Entity
|
||||
exercising permissions granted by this License.
|
||||
|
||||
"Source" form shall mean the preferred form for making modifications,
|
||||
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|
||||
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|
||||
|
||||
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|
||||
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|
||||
not limited to compiled object code, generated documentation,
|
||||
and conversions to other media types.
|
||||
|
||||
"Work" shall mean the work of authorship, whether in Source or
|
||||
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|
||||
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|
||||
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|
||||
|
||||
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|
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|
||||
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|
||||
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|
||||
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"Contribution" shall mean any work of authorship, including
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|
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|
||||
or a Contribution incorporated within the Work constitutes direct
|
||||
or contributory patent infringement, then any patent licenses
|
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as of the date such litigation is filed.
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||||
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|
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|
||||
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|
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(a) You must give any other recipients of the Work or
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|
||||
(b) You must cause any modified files to carry prominent notices
|
||||
stating that You changed the files; and
|
||||
|
||||
(c) You must retain, in the Source form of any Derivative Works
|
||||
that You distribute, all copyright, patent, trademark, and
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|
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excluding those notices that do not pertain to any part of
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||||
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|
||||
(d) If the Work includes a "NOTICE" text file as part of its
|
||||
distribution, then any Derivative Works that You distribute must
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or as an addendum to the NOTICE text from the Work, provided
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|
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Notwithstanding the above, nothing herein shall supersede or modify
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END OF TERMS AND CONDITIONS
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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||||
118
embedded-examples/stm32h7-rtic/README.md
Normal file
118
embedded-examples/stm32h7-rtic/README.md
Normal file
@ -0,0 +1,118 @@
|
||||
sat-rs example for the STM32F3-Discovery board
|
||||
=======
|
||||
|
||||
This example application shows how the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
|
||||
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/2/book/en/) as the concurrency framework and the
|
||||
[defmt](https://defmt.ferrous-systems.com/) framework for logging.
|
||||
|
||||
The STM32H743ZIT device was picked because it is one of the more powerful Cortex-M based devices
|
||||
available for STM with which also has a little bit more RAM available and also allows commanding
|
||||
via TCP/IP.
|
||||
|
||||
## Pre-Requisites
|
||||
|
||||
Make sure the following tools are installed:
|
||||
|
||||
1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
|
||||
2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
|
||||
[probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
|
||||
for debugging.
|
||||
|
||||
## 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 from the command line
|
||||
|
||||
You can flash the application from the command line using `probe-rs`:
|
||||
|
||||
```sh
|
||||
probe-rs run --chip STM32H743ZITx
|
||||
```
|
||||
|
||||
## 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 [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
|
||||
and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
|
||||
Make sure to install this plugin first.
|
||||
|
||||
Sample configuration files are provided inside the `vscode` folder.
|
||||
Use `cp vscode .vscode -r` to use them for your project.
|
||||
|
||||
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.
|
||||
|
||||
## Commanding with Python
|
||||
|
||||
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||
using COBS encoded PUS packets.
|
||||
|
||||
It is recommended to use a virtual environment to do this. To set up one in the command line,
|
||||
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
|
||||
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
|
||||
on how to activate the environment and then use the following command to install the required
|
||||
dependency:
|
||||
|
||||
```sh
|
||||
pip install -r requirements.txt
|
||||
```
|
||||
|
||||
The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
|
||||
converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
|
||||
|
||||
A default configuration file for the python application is provided and can be used by running
|
||||
|
||||
```sh
|
||||
cp def_tmtc_conf.json tmtc_conf.json
|
||||
```
|
||||
|
||||
After that, you can for example send a ping to the MCU using the following command
|
||||
|
||||
```sh
|
||||
./main.py -p /ping
|
||||
```
|
||||
|
||||
You can configure the blinky frequency using
|
||||
|
||||
```sh
|
||||
./main.py -p /change_blink_freq
|
||||
```
|
||||
|
||||
All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
|
||||
format as the packet framing format.
|
||||
|
||||
## Resources
|
||||
|
||||
- [STM32H743ZI Ethernet link checker example](https://github.com/stm32-rs/stm32h7xx-hal/blob/master/examples/ethernet-nucleo-h743zi2.rs)
|
||||
- [smoltcp DHCP client](https://github.com/smoltcp-rs/smoltcp/blob/main/examples/dhcp_client.rs)
|
||||
107782
embedded-examples/stm32h7-rtic/STM32H743.svd
Normal file
107782
embedded-examples/stm32h7-rtic/STM32H743.svd
Normal file
File diff suppressed because it is too large
Load Diff
BIN
embedded-examples/stm32h7-rtic/docs/stm32h743bi.pdf
Normal file
BIN
embedded-examples/stm32h7-rtic/docs/stm32h743bi.pdf
Normal file
Binary file not shown.
Binary file not shown.
119
embedded-examples/stm32h7-rtic/memory.x
Normal file
119
embedded-examples/stm32h7-rtic/memory.x
Normal file
@ -0,0 +1,119 @@
|
||||
/* Taken from https://github.com/stm32-rs/stm32h7xx-hal/pull/299, adapted slightly to work with */
|
||||
/* flip-link */
|
||||
MEMORY
|
||||
{
|
||||
/* This file is intended for parts in the STM32H743/743v/753/753v families (RM0433), */
|
||||
/* with the exception of the STM32H742/742v parts which have a different RAM layout. */
|
||||
/* - FLASH and RAM are mandatory memory sections. */
|
||||
/* - The sum of all non-FLASH sections must add to 1060K total device RAM. */
|
||||
/* - The FLASH section size must match your device, see table below. */
|
||||
|
||||
/* FLASH */
|
||||
/* Flash is divided in two independent banks (except 750xB). */
|
||||
/* Select the appropriate FLASH size for your device. */
|
||||
/* - STM32H750xB 128K (only FLASH1) */
|
||||
/* - STM32H750xB 1M (512K + 512K) */
|
||||
/* - STM32H743xI/753xI 2M ( 1M + 1M) */
|
||||
FLASH1 : ORIGIN = 0x08000000, LENGTH = 1M
|
||||
FLASH2 : ORIGIN = 0x08100000, LENGTH = 1M
|
||||
|
||||
/* Data TCM */
|
||||
/* - Two contiguous 64KB RAMs. */
|
||||
/* - Used for interrupt handlers, stacks and general RAM. */
|
||||
/* - Zero wait-states. */
|
||||
/* - The DTCM is taken as the origin of the base ram. (See below.) */
|
||||
/* This is also where the interrupt table and such will live, */
|
||||
/* which is required for deterministic performance. */
|
||||
/* Need a region called RAM */
|
||||
/* DTCM : ORIGIN = 0x20000000, LENGTH = 128K */
|
||||
RAM : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
|
||||
/* Instruction TCM */
|
||||
/* - Used for latency-critical interrupt handlers etc. */
|
||||
/* - Zero wait-states. */
|
||||
ITCM : ORIGIN = 0x00000000, LENGTH = 64K
|
||||
|
||||
/* AXI SRAM */
|
||||
/* - AXISRAM is in D1 and accessible by all system masters except BDMA. */
|
||||
/* - Suitable for application data not stored in DTCM. */
|
||||
/* - Zero wait-states. */
|
||||
AXISRAM : ORIGIN = 0x24000000, LENGTH = 512K
|
||||
|
||||
/* AHB SRAM */
|
||||
/* - SRAM1-3 are in D2 and accessible by all system masters except BDMA. */
|
||||
/* Suitable for use as DMA buffers. */
|
||||
/* - SRAM4 is in D3 and additionally accessible by the BDMA. Used for BDMA */
|
||||
/* buffers, for storing application data in lower-power modes. */
|
||||
/* - Zero wait-states. */
|
||||
SRAM1 : ORIGIN = 0x30000000, LENGTH = 128K
|
||||
SRAM2 : ORIGIN = 0x30020000, LENGTH = 128K
|
||||
SRAM3 : ORIGIN = 0x30040000, LENGTH = 32K
|
||||
SRAM4 : ORIGIN = 0x38000000, LENGTH = 64K
|
||||
|
||||
/* Backup SRAM */
|
||||
BSRAM : ORIGIN = 0x38800000, LENGTH = 4K
|
||||
}
|
||||
|
||||
/*
|
||||
/* Assign the memory regions defined above for use. */
|
||||
/*
|
||||
|
||||
/* Provide the mandatory FLASH and RAM definitions for cortex-m-rt's linker script. */
|
||||
/* These do not work with flip-link */
|
||||
REGION_ALIAS(FLASH, FLASH1);
|
||||
/* REGION_ALIAS(RAM, DTCM); */
|
||||
|
||||
/* The location of the stack can be overridden using the `_stack_start` symbol. */
|
||||
/* - Set the stack location at the end of RAM, using all remaining space. */
|
||||
_stack_start = ORIGIN(RAM) + LENGTH(RAM);
|
||||
|
||||
/* The location of the .text section can be overridden using the */
|
||||
/* `_stext` symbol. By default it will place after .vector_table. */
|
||||
/* _stext = ORIGIN(FLASH) + 0x40c; */
|
||||
|
||||
/* Define sections for placing symbols into the extra memory regions above. */
|
||||
/* This makes them accessible from code. */
|
||||
/* - ITCM, DTCM and AXISRAM connect to a 64-bit wide bus -> align to 8 bytes. */
|
||||
/* - All other memories connect to a 32-bit wide bus -> align to 4 bytes. */
|
||||
SECTIONS {
|
||||
.flash2 (NOLOAD) : ALIGN(4) {
|
||||
*(.flash2 .flash2.*);
|
||||
. = ALIGN(4);
|
||||
} > FLASH2
|
||||
|
||||
.itcm (NOLOAD) : ALIGN(8) {
|
||||
*(.itcm .itcm.*);
|
||||
. = ALIGN(8);
|
||||
} > ITCM
|
||||
|
||||
.axisram (NOLOAD) : ALIGN(8) {
|
||||
*(.axisram .axisram.*);
|
||||
. = ALIGN(8);
|
||||
} > AXISRAM
|
||||
|
||||
.sram1 (NOLOAD) : ALIGN(8) {
|
||||
*(.sram1 .sram1.*);
|
||||
. = ALIGN(4);
|
||||
} > SRAM1
|
||||
|
||||
.sram2 (NOLOAD) : ALIGN(8) {
|
||||
*(.sram2 .sram2.*);
|
||||
. = ALIGN(4);
|
||||
} > SRAM2
|
||||
|
||||
.sram3 (NOLOAD) : ALIGN(4) {
|
||||
*(.sram3 .sram3.*);
|
||||
. = ALIGN(4);
|
||||
} > SRAM3
|
||||
|
||||
.sram4 (NOLOAD) : ALIGN(4) {
|
||||
*(.sram4 .sram4.*);
|
||||
. = ALIGN(4);
|
||||
} > SRAM4
|
||||
|
||||
.bsram (NOLOAD) : ALIGN(4) {
|
||||
*(.bsram .bsram.*);
|
||||
. = ALIGN(4);
|
||||
} > BSRAM
|
||||
|
||||
};
|
||||
8
embedded-examples/stm32h7-rtic/pyclient/.gitignore
vendored
Normal file
8
embedded-examples/stm32h7-rtic/pyclient/.gitignore
vendored
Normal file
@ -0,0 +1,8 @@
|
||||
/venv
|
||||
/.tmtc-history.txt
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
/seqcnt.txt
|
||||
/tmtc_conf.json
|
||||
@ -0,0 +1,4 @@
|
||||
{
|
||||
"com_if": "udp",
|
||||
"tcpip_udp_port": 7301
|
||||
}
|
||||
305
embedded-examples/stm32h7-rtic/pyclient/main.py
Executable file
305
embedded-examples/stm32h7-rtic/pyclient/main.py
Executable file
@ -0,0 +1,305 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import struct
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Any, Optional, cast
|
||||
from prompt_toolkit.history import FileHistory, History
|
||||
from spacepackets.ecss.tm import CdsShortTimestamp
|
||||
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.core.ccsds_backend import QueueWrapper
|
||||
from tmtccmd.logging import add_colorlog_console_logger
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
HookBase,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config.com import SerialCfgWrapper
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tmtc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
FeedWrapper,
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.pus.s5_fsfw_event import Service5Tm
|
||||
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path)
|
||||
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
space_packet_ids=None,
|
||||
)
|
||||
if cfg is None:
|
||||
raise ValueError(
|
||||
f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
|
||||
)
|
||||
if cfg.com_if_key == "serial_cobs":
|
||||
cfg = cast(SerialCfgWrapper, cfg)
|
||||
cfg.serial_cfg.serial_timeout = 0.5
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return create_cmd_definition_tree()
|
||||
|
||||
def get_cmd_history(self) -> Optional[History]:
|
||||
"""Optionlly return a history class for the past command paths which will be used
|
||||
when prompting a command path from the user in CLI mode."""
|
||||
return FileHistory(".tmtc-history.txt")
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
root_node = CmdTreeNode.root_node()
|
||||
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
|
||||
return root_node
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: Any):
|
||||
try:
|
||||
pus_tm = PusTm.unpack(
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
except ValueError as e:
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = pus_tm.service
|
||||
tm_packet = None
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
_LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
_LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
if service == 3:
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if tm_packet.subservice == 2:
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
_LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
_LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
byte_string = bytearray(struct.pack("!I", target_id))
|
||||
byte_string.extend(struct.pack("!I", unique_id))
|
||||
return byte_string
|
||||
|
||||
|
||||
class TcHandler(TcHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
seq_count_provider: FileSeqCountProvider,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
):
|
||||
super(TcHandler, self).__init__()
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=QueueWrapper.empty(),
|
||||
tc_sched_timestamp_len=7,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=verif_wrapper.pus_verificator,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
entry_helper = send_params.entry
|
||||
if entry_helper.is_tc:
|
||||
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
|
||||
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
|
||||
pus_tc_wrapper.pus_tc.seq_count = (
|
||||
self.seq_count_provider.get_and_increment()
|
||||
)
|
||||
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
cmd_path = def_proc.cmd_path
|
||||
if cmd_path == "/ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
if cmd_path == "/change_blink_freq":
|
||||
self.create_change_blink_freq_command(q)
|
||||
|
||||
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
|
||||
q.add_log_cmd("Changing blink frequency")
|
||||
while True:
|
||||
blink_freq = int(
|
||||
input(
|
||||
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
|
||||
)
|
||||
)
|
||||
if blink_freq < 2 or blink_freq > 10000:
|
||||
print(
|
||||
"Invalid blink frequency. Please specify a value between 2 and 10000."
|
||||
)
|
||||
continue
|
||||
break
|
||||
app_data = struct.pack("!I", blink_freq)
|
||||
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
|
||||
|
||||
|
||||
def main():
|
||||
add_colorlog_console_logger(_LOGGER)
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
params = SetupParams()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
file_logger = tmtc_logger.logger
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
# Create TC handler
|
||||
seq_count_provider = PusFileSeqCountProvider()
|
||||
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
|
||||
tmtccmd.setup(setup_args=setup_args)
|
||||
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
|
||||
tmtc_backend = tmtccmd.create_default_tmtc_backend(
|
||||
setup_wrapper=setup_args,
|
||||
tm_handler=ccsds_handler,
|
||||
tc_handler=tc_handler,
|
||||
init_procedure=init_proc,
|
||||
)
|
||||
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
|
||||
try:
|
||||
while True:
|
||||
state = tmtc_backend.periodic_op(None)
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
elif state.request == BackendRequest.DELAY_CUSTOM:
|
||||
if state.next_delay.total_seconds() <= 0.4:
|
||||
time.sleep(state.next_delay.total_seconds())
|
||||
else:
|
||||
time.sleep(0.4)
|
||||
elif state.request == BackendRequest.CALL_NEXT:
|
||||
pass
|
||||
except KeyboardInterrupt:
|
||||
sys.exit(0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
2
embedded-examples/stm32h7-rtic/pyclient/requirements.txt
Normal file
2
embedded-examples/stm32h7-rtic/pyclient/requirements.txt
Normal file
@ -0,0 +1,2 @@
|
||||
tmtccmd == 8.0.1
|
||||
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||
55
embedded-examples/stm32h7-rtic/src/bin/blinky.rs
Normal file
55
embedded-examples/stm32h7-rtic/src/bin/blinky.rs
Normal file
@ -0,0 +1,55 @@
|
||||
//! Blinks an LED
|
||||
//!
|
||||
//! This assumes that LD2 (blue) is connected to pb7 and LD3 (red) is connected
|
||||
//! to pb14. This assumption is true for the nucleo-h743zi board.
|
||||
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs_stm32h7_nucleo_rtic as _;
|
||||
|
||||
use stm32h7xx_hal::{block, prelude::*, timer::Timer};
|
||||
|
||||
use cortex_m_rt::entry;
|
||||
|
||||
#[entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("starting stm32h7 blinky example");
|
||||
|
||||
// Get access to the device specific peripherals from the peripheral access crate
|
||||
let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
|
||||
|
||||
// Take ownership over the RCC devices and convert them into the corresponding HAL structs
|
||||
let rcc = dp.RCC.constrain();
|
||||
|
||||
let pwr = dp.PWR.constrain();
|
||||
let pwrcfg = pwr.freeze();
|
||||
|
||||
// Freeze the configuration of all the clocks in the system and
|
||||
// retrieve the Core Clock Distribution and Reset (CCDR) object
|
||||
let rcc = rcc.use_hse(8.MHz()).bypass_hse();
|
||||
let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
|
||||
|
||||
// Acquire the GPIOB peripheral
|
||||
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
|
||||
|
||||
// Configure gpio B pin 0 as a push-pull output.
|
||||
let mut ld1 = gpiob.pb0.into_push_pull_output();
|
||||
|
||||
// Configure gpio B pin 7 as a push-pull output.
|
||||
let mut ld2 = gpiob.pb7.into_push_pull_output();
|
||||
|
||||
// Configure gpio B pin 14 as a push-pull output.
|
||||
let mut ld3 = gpiob.pb14.into_push_pull_output();
|
||||
|
||||
// Configure the timer to trigger an update every second
|
||||
let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
|
||||
timer.start(1.Hz());
|
||||
|
||||
// Wait for the timer to trigger an update and change the state of the LED
|
||||
loop {
|
||||
ld1.toggle();
|
||||
ld2.toggle();
|
||||
ld3.toggle();
|
||||
block!(timer.wait()).unwrap();
|
||||
}
|
||||
}
|
||||
11
embedded-examples/stm32h7-rtic/src/bin/hello.rs
Normal file
11
embedded-examples/stm32h7-rtic/src/bin/hello.rs
Normal file
@ -0,0 +1,11 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
|
||||
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("Hello, world!");
|
||||
|
||||
satrs_stm32h7_nucleo_rtic::exit()
|
||||
}
|
||||
52
embedded-examples/stm32h7-rtic/src/lib.rs
Normal file
52
embedded-examples/stm32h7-rtic/src/lib.rs
Normal file
@ -0,0 +1,52 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use cortex_m_semihosting::debug;
|
||||
|
||||
use defmt_brtt as _; // global logger
|
||||
|
||||
// TODO(5) adjust HAL import
|
||||
use stm32h7xx_hal as _; // memory layout
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||
#[defmt::panic_handler]
|
||||
fn panic() -> ! {
|
||||
cortex_m::asm::udf()
|
||||
}
|
||||
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with status code 0.
|
||||
pub fn exit() -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Hardfault handler.
|
||||
///
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with an error. This seems better than the default, which is to spin in a
|
||||
/// loop.
|
||||
#[cortex_m_rt::exception]
|
||||
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
loop {
|
||||
debug::exit(debug::EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||
// once within a crate. the module can be in any file but there can only be at most
|
||||
// one `#[tests]` module in this library crate
|
||||
#[cfg(test)]
|
||||
#[defmt_test::tests]
|
||||
mod unit_tests {
|
||||
use defmt::assert;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
assert!(true)
|
||||
}
|
||||
}
|
||||
528
embedded-examples/stm32h7-rtic/src/main.rs
Normal file
528
embedded-examples/stm32h7-rtic/src/main.rs
Normal file
@ -0,0 +1,528 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
extern crate alloc;
|
||||
|
||||
use rtic::app;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
|
||||
use satrs::static_subpool;
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use satrs_stm32h7_nucleo_rtic as _;
|
||||
use smoltcp::socket::udp::UdpMetadata;
|
||||
use smoltcp::socket::{dhcpv4, udp};
|
||||
|
||||
use core::mem::MaybeUninit;
|
||||
use embedded_alloc::Heap;
|
||||
use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
|
||||
use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
|
||||
use stm32h7xx_hal::ethernet;
|
||||
|
||||
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
|
||||
const PORT: u16 = 7301;
|
||||
|
||||
const HEAP_SIZE: usize = 131_072;
|
||||
|
||||
const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
|
||||
pub type SharedPool = StaticHeaplessMemoryPool<3>;
|
||||
pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
|
||||
pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
|
||||
pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
|
||||
|
||||
#[global_allocator]
|
||||
static HEAP: Heap = Heap::empty();
|
||||
|
||||
// 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;
|
||||
pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
|
||||
pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
|
||||
pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
|
||||
pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
|
||||
|
||||
// This data will be held by Net through a mutable reference
|
||||
pub struct NetStorageStatic<'a> {
|
||||
socket_storage: [SocketStorage<'a>; 8],
|
||||
}
|
||||
// MaybeUninit allows us write code that is correct even if STORE is not
|
||||
// initialised by the runtime
|
||||
static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
|
||||
|
||||
static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
|
||||
static mut UDP_RX: [u8; 2048] = [0; 2048];
|
||||
static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
|
||||
static mut UDP_TX: [u8; 2048] = [0; 2048];
|
||||
|
||||
/// Locally administered MAC address
|
||||
const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
|
||||
|
||||
pub struct Net {
|
||||
iface: Interface,
|
||||
ethdev: ethernet::EthernetDMA<4, 4>,
|
||||
dhcp_handle: SocketHandle,
|
||||
}
|
||||
|
||||
impl Net {
|
||||
pub fn new(
|
||||
sockets: &mut SocketSet<'static>,
|
||||
mut ethdev: ethernet::EthernetDMA<4, 4>,
|
||||
ethernet_addr: HardwareAddress,
|
||||
) -> Self {
|
||||
let config = Config::new(ethernet_addr);
|
||||
let mut iface = Interface::new(
|
||||
config,
|
||||
&mut ethdev,
|
||||
smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
|
||||
);
|
||||
// Create sockets
|
||||
let dhcp_socket = dhcpv4::Socket::new();
|
||||
iface.update_ip_addrs(|addrs| {
|
||||
let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
|
||||
});
|
||||
|
||||
let dhcp_handle = sockets.add(dhcp_socket);
|
||||
Net {
|
||||
iface,
|
||||
ethdev,
|
||||
dhcp_handle,
|
||||
}
|
||||
}
|
||||
|
||||
/// 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 timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
|
||||
|
||||
self.iface.poll(timestamp, &mut self.ethdev, sockets)
|
||||
}
|
||||
|
||||
pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
|
||||
let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
|
||||
if let Some(event) = &opt_event {
|
||||
match event {
|
||||
dhcpv4::Event::Deconfigured => {
|
||||
defmt::info!("DHCP lost configuration");
|
||||
self.iface.update_ip_addrs(|addrs| addrs.clear());
|
||||
self.iface.routes_mut().remove_default_ipv4_route();
|
||||
}
|
||||
dhcpv4::Event::Configured(config) => {
|
||||
defmt::info!("DHCP configuration acquired");
|
||||
defmt::info!("IP address: {}", config.address);
|
||||
self.iface.update_ip_addrs(|addrs| {
|
||||
addrs.clear();
|
||||
addrs.push(IpCidr::Ipv4(config.address)).unwrap();
|
||||
});
|
||||
|
||||
if let Some(router) = config.router {
|
||||
defmt::debug!("Default gateway: {}", router);
|
||||
self.iface
|
||||
.routes_mut()
|
||||
.add_default_ipv4_route(router)
|
||||
.unwrap();
|
||||
} else {
|
||||
defmt::debug!("Default gateway: None");
|
||||
self.iface.routes_mut().remove_default_ipv4_route();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
opt_event
|
||||
}
|
||||
}
|
||||
|
||||
pub struct UdpNet {
|
||||
udp_handle: SocketHandle,
|
||||
last_client: Option<UdpMetadata>,
|
||||
tc_source_tx: TcSourceTx,
|
||||
}
|
||||
|
||||
impl UdpNet {
|
||||
pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
|
||||
// SAFETY: The RX and TX buffers are passed here and not used anywhere else.
|
||||
let udp_rx_buffer =
|
||||
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
|
||||
&mut UDP_RX[..]
|
||||
});
|
||||
let udp_tx_buffer =
|
||||
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
|
||||
&mut UDP_TX[..]
|
||||
});
|
||||
let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
|
||||
|
||||
let udp_handle = sockets.add(udp_socket);
|
||||
Self {
|
||||
udp_handle,
|
||||
last_client: None,
|
||||
tc_source_tx,
|
||||
}
|
||||
}
|
||||
|
||||
pub fn poll<'sockets>(
|
||||
&mut self,
|
||||
sockets: &'sockets mut SocketSet,
|
||||
shared_pool: &mut SharedPool,
|
||||
) {
|
||||
let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
|
||||
if !socket.is_open() {
|
||||
if let Err(e) = socket.bind(PORT) {
|
||||
defmt::warn!("binding UDP socket failed: {}", e);
|
||||
}
|
||||
}
|
||||
loop {
|
||||
match socket.recv() {
|
||||
Ok((data, client)) => {
|
||||
match shared_pool.add(data) {
|
||||
Ok(store_addr) => {
|
||||
if let Err(e) = self.tc_source_tx.try_send(store_addr) {
|
||||
defmt::warn!("TC source channel is full: {}", e);
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("could not add UDP packet to shared pool: {}", e);
|
||||
}
|
||||
}
|
||||
self.last_client = Some(client);
|
||||
// TODO: Implement packet wiretapping.
|
||||
}
|
||||
Err(e) => match e {
|
||||
udp::RecvError::Exhausted => {
|
||||
break;
|
||||
}
|
||||
udp::RecvError::Truncated => {
|
||||
defmt::warn!("UDP packet was truncacted");
|
||||
}
|
||||
},
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
|
||||
mod app {
|
||||
use core::ptr::addr_of_mut;
|
||||
|
||||
use super::*;
|
||||
use rtic_monotonics::systick::fugit::MillisDurationU32;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
|
||||
use stm32h7xx_hal::gpio::{Output, Pin};
|
||||
use stm32h7xx_hal::prelude::*;
|
||||
use stm32h7xx_hal::stm32::Interrupt;
|
||||
|
||||
struct BlinkyLeds {
|
||||
led1: Pin<'B', 7, Output>,
|
||||
led2: Pin<'B', 14, Output>,
|
||||
}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
leds: BlinkyLeds,
|
||||
link_led: Pin<'B', 0, Output>,
|
||||
net: Net,
|
||||
udp: UdpNet,
|
||||
tc_source_rx: TcSourceRx,
|
||||
phy: ethernet::phy::LAN8742A<EthernetMAC>,
|
||||
}
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
blink_freq: MillisDurationU32,
|
||||
eth_link_up: bool,
|
||||
sockets: SocketSet<'static>,
|
||||
shared_pool: SharedPool,
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(mut cx: init::Context) -> (Shared, Local) {
|
||||
defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
|
||||
|
||||
let pwr = cx.device.PWR.constrain();
|
||||
let pwrcfg = pwr.freeze();
|
||||
|
||||
let rcc = cx.device.RCC.constrain();
|
||||
// Try to keep the clock configuration similar to one used in STM examples:
|
||||
// https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
|
||||
let ccdr = rcc
|
||||
.sys_ck(400.MHz())
|
||||
.hclk(200.MHz())
|
||||
.use_hse(8.MHz())
|
||||
.bypass_hse()
|
||||
.pclk1(100.MHz())
|
||||
.pclk2(100.MHz())
|
||||
.pclk3(100.MHz())
|
||||
.pclk4(100.MHz())
|
||||
.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,
|
||||
);
|
||||
|
||||
// Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
|
||||
// good for.
|
||||
cx.core.SCB.enable_icache();
|
||||
cx.core.DWT.enable_cycle_counter();
|
||||
|
||||
let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
|
||||
let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
|
||||
let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
|
||||
let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
|
||||
|
||||
let link_led = gpiob.pb0.into_push_pull_output();
|
||||
let mut led1 = gpiob.pb7.into_push_pull_output();
|
||||
let mut led2 = gpiob.pb14.into_push_pull_output();
|
||||
|
||||
// Criss-cross pattern looks cooler.
|
||||
led1.set_high();
|
||||
led2.set_low();
|
||||
let leds = BlinkyLeds { led1, led2 };
|
||||
|
||||
let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
|
||||
let rmii_mdio = gpioa.pa2.into_alternate::<11>();
|
||||
let rmii_mdc = gpioc.pc1.into_alternate::<11>();
|
||||
let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
|
||||
let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
|
||||
let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
|
||||
let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
|
||||
let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
|
||||
let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
|
||||
|
||||
let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
|
||||
|
||||
/// Ethernet descriptor rings are a global singleton
|
||||
#[link_section = ".sram3.eth"]
|
||||
static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
|
||||
|
||||
let (eth_dma, eth_mac) = ethernet::new(
|
||||
cx.device.ETHERNET_MAC,
|
||||
cx.device.ETHERNET_MTL,
|
||||
cx.device.ETHERNET_DMA,
|
||||
(
|
||||
rmii_ref_clk,
|
||||
rmii_mdio,
|
||||
rmii_mdc,
|
||||
rmii_crs_dv,
|
||||
rmii_rxd0,
|
||||
rmii_rxd1,
|
||||
rmii_tx_en,
|
||||
rmii_txd0,
|
||||
rmii_txd1,
|
||||
),
|
||||
// SAFETY: We do not move the returned DMA struct across thread boundaries, so this
|
||||
// should be safe according to the docs.
|
||||
unsafe { DES_RING.assume_init_mut() },
|
||||
mac_addr,
|
||||
ccdr.peripheral.ETH1MAC,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
// Initialise ethernet PHY...
|
||||
let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
|
||||
lan8742a.phy_reset();
|
||||
lan8742a.phy_init();
|
||||
|
||||
unsafe {
|
||||
ethernet::enable_interrupt();
|
||||
cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
|
||||
cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
|
||||
}
|
||||
|
||||
// unsafe: mutable reference to static storage, we only do this once
|
||||
let store = unsafe {
|
||||
let store_ptr = STORE.as_mut_ptr();
|
||||
|
||||
// Initialise the socket_storage field. Using `write` instead of
|
||||
// assignment via `=` to not call `drop` on the old, uninitialised
|
||||
// value
|
||||
addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
|
||||
|
||||
// Now that all fields are initialised we can safely use
|
||||
// assume_init_mut to return a mutable reference to STORE
|
||||
STORE.assume_init_mut()
|
||||
};
|
||||
|
||||
let (tc_source_tx, tc_source_rx) =
|
||||
rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
|
||||
|
||||
let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
|
||||
let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
|
||||
let udp = UdpNet::new(&mut sockets, tc_source_tx);
|
||||
|
||||
let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
|
||||
static_subpool!(
|
||||
SUBPOOL_SMALL,
|
||||
SUBPOOL_SMALL_SIZES,
|
||||
SUBPOOL_SMALL_NUM_BLOCKS as usize,
|
||||
SUBPOOL_SMALL_BLOCK_SIZE,
|
||||
link_section = ".axisram"
|
||||
);
|
||||
static_subpool!(
|
||||
SUBPOOL_MEDIUM,
|
||||
SUBPOOL_MEDIUM_SIZES,
|
||||
SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
|
||||
SUBPOOL_MEDIUM_BLOCK_SIZE,
|
||||
link_section = ".axisram"
|
||||
);
|
||||
static_subpool!(
|
||||
SUBPOOL_LARGE,
|
||||
SUBPOOL_LARGE_SIZES,
|
||||
SUBPOOL_LARGE_NUM_BLOCKS as usize,
|
||||
SUBPOOL_LARGE_BLOCK_SIZE,
|
||||
link_section = ".axisram"
|
||||
);
|
||||
|
||||
shared_pool
|
||||
.grow(
|
||||
unsafe { SUBPOOL_SMALL.assume_init_mut() },
|
||||
unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
|
||||
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_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_NUM_BLOCKS,
|
||||
true,
|
||||
)
|
||||
.expect("growing heapless memory pool failed");
|
||||
|
||||
// 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) }
|
||||
|
||||
eth_link_check::spawn().expect("eth link check failed");
|
||||
blinky::spawn().expect("spawning blink task failed");
|
||||
udp_task::spawn().expect("spawning UDP task failed");
|
||||
tc_source_task::spawn().expect("spawning TC source task failed");
|
||||
|
||||
(
|
||||
Shared {
|
||||
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
|
||||
eth_link_up: false,
|
||||
sockets,
|
||||
shared_pool,
|
||||
},
|
||||
Local {
|
||||
link_led,
|
||||
leds,
|
||||
net,
|
||||
udp,
|
||||
tc_source_rx,
|
||||
phy: lan8742a,
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds], shared=[blink_freq])]
|
||||
async fn blinky(mut cx: blinky::Context) {
|
||||
let leds = cx.local.leds;
|
||||
loop {
|
||||
leds.led1.toggle();
|
||||
leds.led2.toggle();
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Systick::delay(current_blink_freq).await;
|
||||
}
|
||||
}
|
||||
|
||||
/// This task checks for the network link.
|
||||
#[task(local=[link_led, phy], shared=[eth_link_up])]
|
||||
async fn eth_link_check(mut cx: eth_link_check::Context) {
|
||||
let phy = cx.local.phy;
|
||||
let link_led = cx.local.link_led;
|
||||
loop {
|
||||
let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
|
||||
if phy.poll_link() {
|
||||
if !link_was_up {
|
||||
link_led.set_high();
|
||||
cx.shared.eth_link_up.lock(|link_up| *link_up = true);
|
||||
defmt::info!("Ethernet link up");
|
||||
}
|
||||
} else if link_was_up {
|
||||
link_led.set_low();
|
||||
cx.shared.eth_link_up.lock(|link_up| *link_up = false);
|
||||
defmt::info!("Ethernet link down");
|
||||
}
|
||||
Systick::delay(100.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds=ETH, local=[net], shared=[sockets])]
|
||||
fn eth_isr(mut cx: eth_isr::Context) {
|
||||
// SAFETY: We do not write the register mentioned inside the docs anywhere else.
|
||||
unsafe {
|
||||
ethernet::interrupt_handler();
|
||||
}
|
||||
// Check and process ETH frames and DHCP. UDP is checked in a different task.
|
||||
cx.shared.sockets.lock(|sockets| {
|
||||
cx.local.net.poll(sockets);
|
||||
cx.local.net.poll_dhcp(sockets);
|
||||
});
|
||||
}
|
||||
|
||||
/// This task routes UDP packets.
|
||||
#[task(local=[udp], shared=[sockets, shared_pool])]
|
||||
async fn udp_task(mut cx: udp_task::Context) {
|
||||
loop {
|
||||
cx.shared.sockets.lock(|sockets| {
|
||||
cx.shared.shared_pool.lock(|pool| {
|
||||
cx.local.udp.poll(sockets, pool);
|
||||
})
|
||||
});
|
||||
Systick::delay(40.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
/// This task handles all the incoming telecommands.
|
||||
#[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
|
||||
async fn tc_source_task(mut cx: tc_source_task::Context) {
|
||||
loop {
|
||||
let recv_result = cx.local.tc_source_rx.recv().await;
|
||||
match recv_result {
|
||||
Ok(pool_addr) => {
|
||||
cx.shared.shared_pool.lock(|pool| {
|
||||
match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
|
||||
Ok(packet_len) => {
|
||||
defmt::info!("received {} bytes in the TC source task", packet_len);
|
||||
match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
|
||||
Ok((packet, _tc_len)) => {
|
||||
// TODO: Handle packet here or dispatch to dedicated PUS
|
||||
// handler? Dispatching could simplify some things and make
|
||||
// the software more scalable..
|
||||
defmt::info!("received PUS packet: {}", packet);
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::info!("invalid TC format, not a PUS packet: {}", e);
|
||||
}
|
||||
}
|
||||
if let Err(e) = pool.delete(pool_addr) {
|
||||
defmt::warn!("deleting TC data failed: {}", e);
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("TC packet read failed: {}", e);
|
||||
}
|
||||
}
|
||||
});
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("TC source reception error: {}", e);
|
||||
}
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
16
embedded-examples/stm32h7-rtic/tests/integration.rs
Normal file
16
embedded-examples/stm32h7-rtic/tests/integration.rs
Normal file
@ -0,0 +1,16 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
|
||||
use stm32h7_testapp as _; // memory layout + panic handler
|
||||
|
||||
// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
|
||||
// feature)
|
||||
#[defmt_test::tests]
|
||||
mod tests {
|
||||
use defmt::assert;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
assert!(true)
|
||||
}
|
||||
}
|
||||
2
embedded-examples/stm32h7-rtic/vscode/.gitignore
vendored
Normal file
2
embedded-examples/stm32h7-rtic/vscode/.gitignore
vendored
Normal file
@ -0,0 +1,2 @@
|
||||
/settings.json
|
||||
/.cortex-debug.*
|
||||
12
embedded-examples/stm32h7-rtic/vscode/extensions.json
Normal file
12
embedded-examples/stm32h7-rtic/vscode/extensions.json
Normal file
@ -0,0 +1,12 @@
|
||||
{
|
||||
// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
|
||||
// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
|
||||
|
||||
// List of extensions which should be recommended for users of this workspace.
|
||||
"recommendations": [
|
||||
"rust-lang.rust",
|
||||
"probe-rs.probe-rs-debugger"
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
}
|
||||
22
embedded-examples/stm32h7-rtic/vscode/launch.json
Normal file
22
embedded-examples/stm32h7-rtic/vscode/launch.json
Normal file
@ -0,0 +1,22 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"preLaunchTask": "${defaultBuildTask}",
|
||||
"type": "probe-rs-debug",
|
||||
"request": "launch",
|
||||
"name": "probe-rs Debugging ",
|
||||
"flashingConfig": {
|
||||
"flashingEnabled": true
|
||||
},
|
||||
"chip": "STM32H743ZITx",
|
||||
"coreConfigs": [
|
||||
{
|
||||
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
|
||||
"rttEnabled": true,
|
||||
"svdFile": "STM32H743.svd"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
20
embedded-examples/stm32h7-rtic/vscode/tasks.json
Normal file
20
embedded-examples/stm32h7-rtic/vscode/tasks.json
Normal file
@ -0,0 +1,20 @@
|
||||
{
|
||||
// See https://go.microsoft.com/fwlink/?LinkId=733558
|
||||
// for the documentation about the tasks.json format
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "cargo build",
|
||||
"type": "shell",
|
||||
"command": "~/.cargo/bin/cargo", // note: full path to the cargo
|
||||
"args": [
|
||||
"build"
|
||||
],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
}
|
||||
},
|
||||
|
||||
]
|
||||
}
|
||||
Reference in New Issue
Block a user