Merge branch 'main' into request-reply-messaging-mode-tree
All checks were successful
Rust/sat-rs/pipeline/pr-main This commit looks good
All checks were successful
Rust/sat-rs/pipeline/pr-main This commit looks good
This commit is contained in:
commit
9144a9f9a3
@ -5,11 +5,17 @@
|
||||
# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
|
||||
# runner = "gdb-multiarch -q -x openocd.gdb"
|
||||
# runner = "gdb -q -x openocd.gdb"
|
||||
# runner = "probe-run --chip STM32F303VCTx --connect-under-reset"
|
||||
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
|
||||
@ -26,3 +32,6 @@ rustflags = [
|
||||
[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"
|
||||
123
satrs-example-stm32f3-disco/Cargo.lock
generated
123
satrs-example-stm32f3-disco/Cargo.lock
generated
@ -139,6 +139,15 @@ dependencies = [
|
||||
"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 = "3.0.1"
|
||||
@ -194,6 +203,71 @@ dependencies = [
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt"
|
||||
version = "0.3.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
|
||||
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 = "0.3.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
|
||||
dependencies = [
|
||||
"defmt-parser",
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[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 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "delegate"
|
||||
version = "0.10.0"
|
||||
@ -371,21 +445,6 @@ dependencies = [
|
||||
"hashbrown",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "itm_logger"
|
||||
version = "0.1.3-alpha.0"
|
||||
source = "git+https://github.com/robamu/itm_logger.rs.git?branch=all_features#83ee7a6c57f525a70d0cc5bb7e65826d0ce938a0"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"log",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "log"
|
||||
version = "0.4.21"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
|
||||
|
||||
[[package]]
|
||||
name = "lsm303dlhc"
|
||||
version = "0.2.0"
|
||||
@ -504,12 +563,13 @@ dependencies = [
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "panic-itm"
|
||||
version = "0.4.2"
|
||||
name = "panic-probe"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3d577d97d1b31268087b6dddf2470e6794ef5eee87d9dca7fcd0481695391a4c"
|
||||
checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"defmt",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -690,11 +750,14 @@ dependencies = [
|
||||
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-semihosting",
|
||||
"defmt",
|
||||
"defmt-brtt",
|
||||
"defmt-test",
|
||||
"embedded-hal 0.2.7",
|
||||
"enumset",
|
||||
"heapless",
|
||||
"itm_logger",
|
||||
"panic-itm",
|
||||
"panic-probe",
|
||||
"rtic",
|
||||
"rtic-monotonics",
|
||||
"satrs",
|
||||
@ -855,6 +918,26 @@ dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror"
|
||||
version = "1.0.58"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
|
||||
dependencies = [
|
||||
"thiserror-impl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "thiserror-impl"
|
||||
version = "1.0.58"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.17.0"
|
||||
|
||||
@ -2,13 +2,18 @@
|
||||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
edition = "2021"
|
||||
default-run = "satrs-example-stm32f3-disco"
|
||||
|
||||
# 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"
|
||||
|
||||
@ -25,14 +30,6 @@ git = "https://github.com/robamu/cobs.rs.git"
|
||||
branch = "all_features"
|
||||
default-features = false
|
||||
|
||||
[dependencies.panic-itm]
|
||||
version = "0.4"
|
||||
|
||||
[dependencies.itm_logger]
|
||||
git = "https://github.com/robamu/itm_logger.rs.git"
|
||||
branch = "all_features"
|
||||
version = "0.1.3-alpha.0"
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
version = "0.11.0-alpha.0"
|
||||
@ -49,17 +46,37 @@ branch = "complete-dma-update-hal"
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs]
|
||||
# git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
|
||||
version = "0.2.0-rc.0"
|
||||
default-features = false
|
||||
|
||||
# this lets you use `cargo fix`!
|
||||
# [[bin]]
|
||||
# name = "stm32f3-blinky"
|
||||
# test = false
|
||||
# bench = false
|
||||
[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 # better optimizations
|
||||
debug = true # symbols are nice and they don't increase the size on Flash
|
||||
lto = true # better optimizations
|
||||
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 # <-
|
||||
|
||||
@ -2,26 +2,24 @@ sat-rs example for the STM32F3-Discovery board
|
||||
=======
|
||||
|
||||
This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
|
||||
can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
|
||||
standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
|
||||
framework.
|
||||
can be used on an embedded target.
|
||||
It also shows how a relatively simple OBSW could be built when no standard runtime is available.
|
||||
It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework 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.
|
||||
|
||||
If you would like to access the ITM log output, you need to connect the PB3 pin to the CN3 pin
|
||||
of the SWD header like [shown here](https://docs.rust-embedded.org/discovery/f3discovery/06-hello-world/index.html).
|
||||
|
||||
## Pre-Requisites
|
||||
|
||||
Make sure the following tools are installed:
|
||||
|
||||
1. `openocd`: This is the debug server used to debug the STM32F3. You can install this from
|
||||
[`xPacks`](https://xpack.github.io/dev-tools/openocd/install/). You can also use the one provided
|
||||
by a STM32Cube installation.
|
||||
2. A debugger like `arm-none-eabi-gdb` or `gdb-multiarch`.
|
||||
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
|
||||
|
||||
@ -52,23 +50,19 @@ you can simply build the application with
|
||||
cargo build
|
||||
```
|
||||
|
||||
## Flashing and Debugging from the command line
|
||||
## Flashing from the command line
|
||||
|
||||
Make sure you have `openocd` and `itmdump` installed first.
|
||||
You can flash the application from the command line using `probe-rs`:
|
||||
|
||||
1. Configure a runner inside your `.cargo/config.toml` file by uncommenting an appropriate line
|
||||
depending on the application you want to use for debugging
|
||||
2. Start `openocd` inside the project folder. This will start `openocd` with the provided
|
||||
`openocd.cfg` configuration file.
|
||||
3. Use `cargo run` to flash and debug the application in your terminal
|
||||
4. Use `itmdump -F -f itm.txt` to print the logs received from the STM32F3 device. Please note
|
||||
that the PB3 and CN3 pin of the SWD header need to be connected for this to work.
|
||||
```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 `openocd`
|
||||
and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-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.
|
||||
@ -80,19 +74,11 @@ to automatically rebuild and flash your application.
|
||||
The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
|
||||
the folder in VS code or adding it to a workspace.
|
||||
|
||||
If you would like to use a custom GDB application, you can specify the gdb binary in the following
|
||||
configuration variables in your `settings.json`:
|
||||
|
||||
- `"cortex-debug.gdbPath"`
|
||||
- `"cortex-debug.gdbPath.linux"`
|
||||
- `"cortex-debug.gdbPath.windows"`
|
||||
- `"cortex-debug.gdbPath.osx"`
|
||||
|
||||
## Commanding with Python
|
||||
|
||||
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||
using COBS encoded 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)
|
||||
@ -111,3 +97,9 @@ A default configuration file for the python application is provided and can be u
|
||||
```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
|
||||
```
|
||||
|
||||
38601
satrs-example-stm32f3-disco/STM32F303.svd
Normal file
38601
satrs-example-stm32f3-disco/STM32F303.svd
Normal file
File diff suppressed because it is too large
Load Diff
@ -1,18 +0,0 @@
|
||||
use std::env;
|
||||
use std::fs::File;
|
||||
use std::io::Write;
|
||||
use std::path::PathBuf;
|
||||
|
||||
fn main() {
|
||||
// Put the linker script somewhere the linker can find it
|
||||
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
|
||||
File::create(out.join("memory.x"))
|
||||
.unwrap()
|
||||
.write_all(include_bytes!("memory.x"))
|
||||
.unwrap();
|
||||
println!("cargo:rustc-link-search={}", out.display());
|
||||
|
||||
// Only re-run the build script when memory.x is changed,
|
||||
// instead of when any part of the source code changes.
|
||||
println!("cargo:rerun-if-changed=memory.x");
|
||||
}
|
||||
@ -26,7 +26,7 @@ break main
|
||||
# # 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
|
||||
# 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
|
||||
@ -34,7 +34,7 @@ monitor tpiu config internal itm.txt uart off 8000000 2000000
|
||||
# monitor tpiu config external uart off 8000000 2000000
|
||||
|
||||
# # enable ITM port 0
|
||||
monitor itm port 0 on
|
||||
# monitor itm port 0 on
|
||||
|
||||
load
|
||||
|
||||
@ -1,17 +1,15 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
extern crate panic_itm;
|
||||
|
||||
use cortex_m_rt::entry;
|
||||
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
|
||||
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
|
||||
|
||||
#[entry]
|
||||
fn main()-> ! {
|
||||
#[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();
|
||||
@ -30,49 +28,49 @@ fn main()-> ! {
|
||||
gpioe.pe14,
|
||||
gpioe.pe15,
|
||||
&mut gpioe.moder,
|
||||
&mut gpioe.otyper
|
||||
&mut gpioe.otyper,
|
||||
);
|
||||
let delay_ms = 200u16;
|
||||
loop {
|
||||
leds.ld3.toggle().ok();
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld3.toggle().ok();
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
//explicit on/off
|
||||
leds.ld4.on().ok();
|
||||
leds.ld4_nw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld4.off().ok();
|
||||
leds.ld4_nw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld5.on().ok();
|
||||
leds.ld5_ne.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld5.off().ok();
|
||||
leds.ld5_ne.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld6.on().ok();
|
||||
leds.ld6_w.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld6.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld7.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld7.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld8.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld9.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9.off().ok();
|
||||
leds.ld6_w.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
|
||||
leds.ld10.on().ok();
|
||||
leds.ld7_e.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld10.off().ok();
|
||||
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
satrs-example-stm32f3-disco/src/lib.rs
Normal file
51
satrs-example-stm32f3-disco/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)
|
||||
}
|
||||
}
|
||||
@ -1,12 +1,12 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
extern crate panic_itm;
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use satrs_example_stm32f3_disco as _;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
#[allow(unused_imports)]
|
||||
use itm_logger::{debug, info, logger_init, warn};
|
||||
use rtic_monotonics::systick::fugit::TimerInstantU32;
|
||||
use rtic_monotonics::systick::ExtU32;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
@ -95,14 +95,12 @@ pub struct TxIdle {
|
||||
|
||||
pub struct TmSender {
|
||||
vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
|
||||
ctx: &'static str,
|
||||
}
|
||||
|
||||
impl TmSender {
|
||||
pub fn new(tm_packet: TmPacket, ctx: &'static str) -> Self {
|
||||
pub fn new(tm_packet: TmPacket) -> Self {
|
||||
Self {
|
||||
vec: Some(RefCell::new(tm_packet)),
|
||||
ctx,
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -131,7 +129,12 @@ impl EcssTmSenderCore for TmSender {
|
||||
}
|
||||
vec.resize(tm.len_written(), 0).expect("vec resize failed");
|
||||
tm.write_to_bytes(vec.as_mut_slice())?;
|
||||
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_written());
|
||||
defmt::info!(
|
||||
"Sending TM[{},{}] with size {}",
|
||||
tm.service(),
|
||||
tm.subservice(),
|
||||
tm.len_written()
|
||||
);
|
||||
drop(vec);
|
||||
TM_REQUESTS
|
||||
.enqueue(vec_ref.take())
|
||||
@ -158,7 +161,6 @@ pub struct UartTxShared {
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use cortex_m::iprintln;
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pus::verification::FailParams;
|
||||
@ -192,14 +194,13 @@ mod app {
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(mut cx: init::Context) -> (Shared, Local) {
|
||||
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);
|
||||
|
||||
logger_init();
|
||||
let mut flash = cx.device.FLASH.constrain();
|
||||
let clocks = rcc
|
||||
.cfgr
|
||||
@ -211,11 +212,7 @@ mod app {
|
||||
// Set up monotonic timer.
|
||||
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
|
||||
|
||||
// setup ITM output
|
||||
iprintln!(
|
||||
&mut cx.core.ITM.stim[0],
|
||||
"Starting sat-rs demo application for the STM32F3-Discovery"
|
||||
);
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
|
||||
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
|
||||
@ -265,7 +262,7 @@ mod app {
|
||||
// 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);
|
||||
info!(target: "init", "Spawning tasks");
|
||||
defmt::info!("Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
(
|
||||
@ -399,10 +396,9 @@ mod app {
|
||||
cx: serial_rx_handler::Context,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
) {
|
||||
info!("running rx handler");
|
||||
let tgt: &'static str = "serial_rx_handler";
|
||||
defmt::info!("running rx handler");
|
||||
cx.local.stamp_buf[0] = P_FIELD_BASE;
|
||||
info!(target: tgt, "Received packet with {} bytes", received_packet.len());
|
||||
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;
|
||||
@ -413,16 +409,13 @@ mod app {
|
||||
}
|
||||
}
|
||||
if start_idx.is_none() {
|
||||
warn!(
|
||||
target: tgt,
|
||||
"decoding error, can only process cobs encoded frames, data is all 0"
|
||||
);
|
||||
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) => {
|
||||
info!(target: tgt, "Decoded packet length: {}", len);
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
let verif_reporter = cx.local.verif_reporter;
|
||||
match pus_tc {
|
||||
@ -432,18 +425,15 @@ mod app {
|
||||
verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.stamp_buf,
|
||||
tgt,
|
||||
),
|
||||
Err(e) => {
|
||||
warn!(target: tgt, "Error unpacking PUS TC: {}", e);
|
||||
Err(_e) => {
|
||||
// TODO: Print error after API rework.
|
||||
defmt::warn!("Error unpacking PUS TC");
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(_) => {
|
||||
warn!(
|
||||
target: tgt,
|
||||
"decoding error, can only process cobs encoded frames"
|
||||
)
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames")
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -454,10 +444,8 @@ mod app {
|
||||
verif_reporter: &mut VerificationReporterCore,
|
||||
src_data_buf: &mut [u8; MAX_TM_LEN],
|
||||
stamp_buf: &[u8; 7],
|
||||
tgt: &'static str,
|
||||
) {
|
||||
info!(
|
||||
target: tgt,
|
||||
defmt::info!(
|
||||
"Found PUS TC [{},{}] with length {}",
|
||||
tc.service(),
|
||||
tc.subservice(),
|
||||
@ -466,7 +454,7 @@ mod app {
|
||||
|
||||
let token = verif_reporter.add_tc(&tc);
|
||||
if tc.apid() != PUS_APID {
|
||||
warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
|
||||
defmt::warn!("Received tc with unknown APID {}", tc.apid());
|
||||
let sendable = verif_reporter
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
@ -476,9 +464,9 @@ mod app {
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap();
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
if let Err(e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
|
||||
warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
|
||||
defmt::warn!("Sending acceptance failure failed");
|
||||
};
|
||||
return;
|
||||
}
|
||||
@ -486,11 +474,12 @@ mod app {
|
||||
.acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
|
||||
.unwrap();
|
||||
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
@ -507,18 +496,16 @@ mod app {
|
||||
)
|
||||
.unwrap();
|
||||
// let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
let started_token = match verif_reporter.send_start_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
|
||||
Err(_e) => {
|
||||
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
|
||||
defmt::warn!("Sending acceptance success failed");
|
||||
return;
|
||||
}
|
||||
};
|
||||
info!(
|
||||
target: tgt,
|
||||
"Received PUS ping telecommand, sending ping reply TM[17,2]"
|
||||
);
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let mut sp_header =
|
||||
SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
|
||||
@ -529,7 +516,7 @@ mod app {
|
||||
.expect("vec resize failed");
|
||||
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
|
||||
if TM_REQUESTS.enqueue(tm_packet).is_err() {
|
||||
warn!(target: tgt, "TC queue full");
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
SEQ_COUNT_PROVIDER.increment();
|
||||
@ -542,9 +529,9 @@ mod app {
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
if let Err(e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
|
||||
warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
|
||||
let sender = TmSender::new(TmPacket::new());
|
||||
if let Err(_e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
|
||||
defmt::warn!("Sending completion success failed");
|
||||
}
|
||||
} else {
|
||||
// TODO: Invalid subservice
|
||||
@ -573,7 +560,7 @@ mod app {
|
||||
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.
|
||||
warn!(
|
||||
defmt::warn!(
|
||||
"rx transfer with maximum length {}, might miss data",
|
||||
TC_BUF_LEN
|
||||
);
|
||||
@ -615,7 +602,6 @@ mod app {
|
||||
.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);
|
||||
info!("spawning rx task");
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
|
||||
*rx_transfer = Some(rx.read_exact(buf, ch));
|
||||
}
|
||||
|
||||
@ -5,7 +5,7 @@
|
||||
// List of extensions which should be recommended for users of this workspace.
|
||||
"recommendations": [
|
||||
"rust-lang.rust",
|
||||
"marus25.cortex-debug",
|
||||
"probe-rs.probe-rs-debugger"
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
|
||||
@ -1,66 +1,22 @@
|
||||
{
|
||||
/*
|
||||
* Requires the Rust Language Server (RLS) and Cortex-Debug extensions
|
||||
* https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
|
||||
* https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
|
||||
*/
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"preLaunchTask": "${defaultBuildTask}",
|
||||
"type": "probe-rs-debug",
|
||||
"request": "launch",
|
||||
"name": "probe-rs Debugging ",
|
||||
"flashingConfig": {
|
||||
"flashingEnabled": true
|
||||
},
|
||||
"chip": "STM32F303VCTx",
|
||||
"coreConfigs": [
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Debug",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
},
|
||||
{
|
||||
/* Launches debug session for currently open example */
|
||||
"type": "cortex-debug",
|
||||
"request": "launch",
|
||||
"name": "Release",
|
||||
"servertype": "openocd",
|
||||
"cwd": "${workspaceRoot}",
|
||||
"preLaunchTask": "cargo build",
|
||||
"runToEntryPoint": "true",
|
||||
"executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
|
||||
"preLaunchCommands": ["break rust_begin_unwind"],
|
||||
"device": "STM32F303VCT6",
|
||||
"configFiles": [
|
||||
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
|
||||
"interface/stlink.cfg",
|
||||
"target/stm32f3x.cfg"
|
||||
],
|
||||
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
|
||||
"swoConfig": {
|
||||
"enabled": true,
|
||||
"cpuFrequency": 8000000,
|
||||
"swoFrequency": 2000000,
|
||||
"source": "probe",
|
||||
"decoders": [
|
||||
{ "type": "console", "label": "ITM", "port": 0 }
|
||||
]
|
||||
}
|
||||
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
|
||||
"rttEnabled": true,
|
||||
"svdFile": "STM32F303.svd"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user