rust/sat-rs
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Merge pull request 'Update embedded examples' (#194) from update-embedded-examples into main
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Reviewed-on: #194
This commit is contained in:
Robin Müller 2024-05-25 13:07:29 +02:00
commit a819feeaa2
50 changed files with 110385 additions and 95 deletions
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3
Cargo.toml
View File

@ -9,6 +9,7 @@ members = [
]
exclude = [
"satrs-example-stm32f3-disco",
"embedded-examples/stm32f3-disco-rtic",
"embedded-examples/stm32h7-rtic",
]

11
README.md
View File

@ -39,14 +39,19 @@ This project currently contains following crates:
on a host computer or on any system with a standard runtime like a Raspberry Pi.
* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
Components to build a mission information base from the on-board software directly.
* [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
* [`satrs-stm32f3-disco-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32f3-disco-rtic):
Example of a simple example using low-level sat-rs components on a bare-metal system
with constrained resources.
with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
framework on the STM32F3-Discovery device.
* [`satrs-stm32h-nucleo-rtic`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/embedded-examples/satrs-stm32h7-nucleo-rtic):
Example of a simple example using sat-rs components on a bare-metal system
with constrained resources. This example uses the [RTIC](https://github.com/rtic-rs/rtic)
framework on the STM32H743ZIT device.
Each project has its own `CHANGELOG.md`.
# Related projects
In addition to the crates in this repository, the sat-rs project also maintains other libraries.
* [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS

0
satrs-example-stm32f3-disco/.cargo/def_config.toml → embedded-examples/stm32f3-disco-rtic/.cargo/def_config.toml
View File

0
satrs-example-stm32f3-disco/.gitignore → embedded-examples/stm32f3-disco-rtic/.gitignore vendored
View File

157
satrs-example-stm32f3-disco/Cargo.lock → embedded-examples/stm32f3-disco-rtic/Cargo.lock generated
View File

@ -22,9 +22,9 @@ dependencies = [
[[package]]
name = "autocfg"
version = "1.2.0"
version = "1.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
[[package]]
name = "bare-metal"
@ -88,13 +88,19 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
[[package]]
name = "chrono"
version = "0.4.37"
version = "0.4.38"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
checksum = "a21f936df1771bf62b77f047b726c4625ff2e8aa607c01ec06e5a05bd8463401"
dependencies = [
"num-traits",
]
[[package]]
name = "cobs"
version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
[[package]]
name = "cobs"
version = "0.2.3"
@ -115,9 +121,9 @@ dependencies = [
[[package]]
name = "cortex-m-rt"
version = "0.7.3"
version = "0.7.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
dependencies = [
"cortex-m-rt-macros",
]
@ -144,9 +150,9 @@ dependencies = [
[[package]]
name = "crc"
version = "3.0.1"
version = "3.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
checksum = "69e6e4d7b33a94f0991c26729976b10ebde1d34c3ee82408fb536164fa10d636"
dependencies = [
"crc-catalog",
]
@ -165,9 +171,9 @@ checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
[[package]]
name = "darling"
version = "0.20.8"
version = "0.20.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
checksum = "83b2eb4d90d12bdda5ed17de686c2acb4c57914f8f921b8da7e112b5a36f3fe1"
dependencies = [
"darling_core",
"darling_macro",
@ -175,33 +181,33 @@ dependencies = [
[[package]]
name = "darling_core"
version = "0.20.8"
version = "0.20.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
checksum = "622687fe0bac72a04e5599029151f5796111b90f1baaa9b544d807a5e31cd120"
dependencies = [
"fnv",
"ident_case",
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
name = "darling_macro"
version = "0.20.8"
version = "0.20.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
checksum = "733cabb43482b1a1b53eee8583c2b9e8684d592215ea83efd305dd31bc2f0178"
dependencies = [
"darling_core",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
name = "defmt"
version = "0.3.6"
version = "0.3.8"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
dependencies = [
"bitflags",
"defmt-macros",
@ -219,15 +225,15 @@ dependencies = [
[[package]]
name = "defmt-macros"
version = "0.3.7"
version = "0.3.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
dependencies = [
"defmt-parser",
"proc-macro-error",
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
@ -259,7 +265,7 @@ checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
@ -273,6 +279,17 @@ dependencies = [
"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 2.0.65",
]
[[package]]
name = "embedded-dma"
version = "0.2.0"
@ -325,7 +342,7 @@ dependencies = [
"darling",
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
@ -409,9 +426,9 @@ dependencies = [
[[package]]
name = "hashbrown"
version = "0.14.3"
version = "0.14.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
[[package]]
name = "heapless"
@ -507,9 +524,9 @@ dependencies = [
[[package]]
name = "num-iter"
version = "0.1.44"
version = "0.1.45"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
checksum = "1429034a0490724d0075ebb2bc9e875d6503c3cf69e235a8941aa757d83ef5bf"
dependencies = [
"autocfg",
"num-integer",
@ -529,9 +546,9 @@ dependencies = [
[[package]]
name = "num-traits"
version = "0.2.18"
version = "0.2.19"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
dependencies = [
"autocfg",
]
@ -553,14 +570,14 @@ checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
name = "panic-probe"
version = "0.3.1"
version = "0.3.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
dependencies = [
"cortex-m",
"defmt",
@ -568,9 +585,9 @@ dependencies = [
[[package]]
name = "paste"
version = "1.0.14"
version = "1.0.15"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
[[package]]
name = "pin-project-lite"
@ -610,18 +627,18 @@ dependencies = [
[[package]]
name = "proc-macro2"
version = "1.0.79"
version = "1.0.83"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
checksum = "0b33eb56c327dec362a9e55b3ad14f9d2f0904fb5a5b03b513ab5465399e9f43"
dependencies = [
"unicode-ident",
]
[[package]]
name = "quote"
version = "1.0.35"
version = "1.0.36"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
dependencies = [
"proc-macro2",
]
@ -674,7 +691,7 @@ dependencies = [
"proc-macro-error",
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
@ -717,16 +734,20 @@ version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
dependencies = [
"semver 1.0.22",
"semver 1.0.23",
]
[[package]]
name = "satrs"
version = "0.2.0-rc.0"
version = "0.2.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
dependencies = [
"cobs",
"cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
"crc",
"defmt",
"delegate",
"derive-new",
"num-traits",
"num_enum",
"paste",
@ -736,10 +757,19 @@ dependencies = [
]
[[package]]
name = "satrs-example-stm32f3-disco"
name = "satrs-shared"
version = "0.1.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
dependencies = [
"spacepackets",
]
[[package]]
name = "satrs-stm32f3-disco-rtic"
version = "0.1.0"
dependencies = [
"cobs",
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
"cortex-m",
"cortex-m-rt",
"cortex-m-semihosting",
@ -757,13 +787,6 @@ dependencies = [
"stm32f3xx-hal",
]
[[package]]
name = "satrs-shared"
version = "0.1.3"
dependencies = [
"spacepackets",
]
[[package]]
name = "semver"
version = "0.9.0"
@ -775,9 +798,9 @@ dependencies = [
[[package]]
name = "semver"
version = "1.0.22"
version = "1.0.23"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
[[package]]
name = "semver-parser"
@ -799,9 +822,9 @@ checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
[[package]]
name = "spacepackets"
version = "0.11.0-rc.2"
version = "0.11.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696"
dependencies = [
"crc",
"defmt",
@ -899,9 +922,9 @@ dependencies = [
[[package]]
name = "syn"
version = "2.0.58"
version = "2.0.65"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
checksum = "d2863d96a84c6439701d7a38f9de935ec562c8832cc55d1dde0f513b52fad106"
dependencies = [
"proc-macro2",
"quote",
@ -910,22 +933,22 @@ dependencies = [
[[package]]
name = "thiserror"
version = "1.0.58"
version = "1.0.61"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
checksum = "c546c80d6be4bc6a00c0f01730c08df82eaa7a7a61f11d656526506112cc1709"
dependencies = [
"thiserror-impl",
]
[[package]]
name = "thiserror-impl"
version = "1.0.58"
version = "1.0.61"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]
[[package]]
@ -975,9 +998,9 @@ dependencies = [
[[package]]
name = "zerocopy"
version = "0.7.32"
version = "0.7.34"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
checksum = "ae87e3fcd617500e5d106f0380cf7b77f3c6092aae37191433159dda23cfb087"
dependencies = [
"byteorder",
"zerocopy-derive",
@ -985,11 +1008,11 @@ dependencies = [
[[package]]
name = "zerocopy-derive"
version = "0.7.32"
version = "0.7.34"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
checksum = "15e934569e47891f7d9411f1a451d947a60e000ab3bd24fbb970f000387d1b3b"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.58",
"syn 2.0.65",
]

7
satrs-example-stm32f3-disco/Cargo.toml → embedded-examples/stm32f3-disco-rtic/Cargo.toml
View File

@ -1,8 +1,8 @@
[package]
name = "satrs-example-stm32f3-disco"
name = "satrs-stm32f3-disco-rtic"
version = "0.1.0"
edition = "2021"
default-run = "satrs-example-stm32f3-disco"
default-run = "satrs-stm32f3-disco-rtic"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@ -46,7 +46,8 @@ branch = "complete-dma-update-hal"
# path = "../stm32f3-discovery"
[dependencies.satrs]
path = "../satrs"
# path = "satrs"
version = "0.2"
default-features = false
features = ["defmt"]

0
satrs-example-stm32f3-disco/LICENSE-APACHE → embedded-examples/stm32f3-disco-rtic/LICENSE-APACHE
View File

0
satrs-example-stm32f3-disco/NOTICE → embedded-examples/stm32f3-disco-rtic/NOTICE
View File

4
satrs-example-stm32f3-disco/README.md → embedded-examples/stm32f3-disco-rtic/README.md
View File

@ -1,10 +1,10 @@
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)
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/1/book/en/) as the concurrency framework and the
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

0
satrs-example-stm32f3-disco/STM32F303.svd → embedded-examples/stm32f3-disco-rtic/STM32F303.svd
View File

0
satrs-example-stm32f3-disco/legacy/jlink.gdb → embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb
View File

0
satrs-example-stm32f3-disco/legacy/openocd.cfg → embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg
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0
satrs-example-stm32f3-disco/legacy/openocd.gdb → embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb
View File

0
satrs-example-stm32f3-disco/memory.x → embedded-examples/stm32f3-disco-rtic/memory.x
View File

0
satrs-example-stm32f3-disco/pyclient/.gitignore → embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore vendored
View File

0
satrs-example-stm32f3-disco/pyclient/def_tmtc_conf.json → embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json
View File

29
satrs-example-stm32f3-disco/pyclient/main.py → embedded-examples/stm32f3-disco-rtic/pyclient/main.py
View File

@ -9,7 +9,7 @@ from prompt_toolkit.history import FileHistory, History
from spacepackets.ecss.tm import CdsShortTimestamp
import tmtccmd
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
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
@ -43,7 +43,7 @@ from tmtccmd.tmtc import (
DefaultPusQueueHelper,
)
from tmtccmd.pus.s5_fsfw_event import Service5Tm
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
from tmtccmd.util.obj_id import ObjectIdDictT
_LOGGER = logging.getLogger()
@ -53,7 +53,7 @@ EXAMPLE_PUS_APID = 0x02
class SatRsConfigHook(HookBase):
def __init__(self, json_cfg_path: str):
super().__init__(json_cfg_path=json_cfg_path)
super().__init__(json_cfg_path)
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
from tmtccmd.config.com import (
@ -111,9 +111,10 @@ class PusHandler(SpecificApidHandlerBase):
self.verif_wrapper = verif_wrapper
def handle_tm(self, packet: bytes, _user_args: Any):
time_reader = CdsShortTimestamp.empty()
try:
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
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}")
@ -122,7 +123,7 @@ class PusHandler(SpecificApidHandlerBase):
tm_packet = None
if service == 1:
tm_packet = Service1Tm.unpack(
data=packet, params=UnpackParams(time_reader, 1, 2)
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
)
res = self.verif_wrapper.add_tm(tm_packet)
if res is None:
@ -139,16 +140,16 @@ class PusHandler(SpecificApidHandlerBase):
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.empty())
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, time_reader)
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if service == 17:
tm_packet = Service17Tm.unpack(packet, time_reader)
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
if tm_packet.subservice == 2:
_LOGGER.info("Received Ping Reply TM[17,2]")
else:
@ -159,7 +160,7 @@ class PusHandler(SpecificApidHandlerBase):
_LOGGER.info(
f"The service {service} is not implemented in Telemetry Factory"
)
tm_packet = PusTelemetry.unpack(packet, time_reader)
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
self.raw_logger.log_tm(pus_tm)
@ -203,15 +204,15 @@ class TcHandler(TcHandlerBase):
_LOGGER.info(log_entry.log_str)
def queue_finished_cb(self, info: ProcedureWrapper):
if info.proc_type == TcProcedureType.DEFAULT:
def_proc = info.to_def_procedure()
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.DEFAULT:
def_proc = info.to_def_procedure()
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")

2
satrs-example-stm32f3-disco/pyclient/requirements.txt → embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt
View File

@ -1,2 +1,2 @@
tmtccmd == 8.0.0rc.0
tmtccmd == 8.0.1
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

2
satrs-example-stm32f3-disco/src/bin/blinky.rs → embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
View File

@ -1,6 +1,6 @@
#![no_std]
#![no_main]
use satrs_example_stm32f3_disco as _;
use satrs_stm32f3_disco_rtic as _;
use stm32f3_discovery::leds::Leds;
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;

0
satrs-example-stm32f3-disco/src/lib.rs → embedded-examples/stm32f3-disco-rtic/src/lib.rs
View File

2
satrs-example-stm32f3-disco/src/main.rs → embedded-examples/stm32f3-disco-rtic/src/main.rs
View File

@ -9,7 +9,7 @@ use satrs::spacepackets::ecss::EcssEnumU16;
use satrs::spacepackets::CcsdsPacket;
use satrs::spacepackets::{ByteConversionError, SpHeader};
// global logger + panicking-behavior + memory layout
use satrs_example_stm32f3_disco as _;
use satrs_stm32f3_disco_rtic as _;
use rtic::app;

0
satrs-example-stm32f3-disco/vscode/.gitignore → embedded-examples/stm32f3-disco-rtic/vscode/.gitignore vendored
View File

0
satrs-example-stm32f3-disco/vscode/extensions.json → embedded-examples/stm32f3-disco-rtic/vscode/extensions.json
View File

4
satrs-example-stm32f3-disco/vscode/launch.json → embedded-examples/stm32f3-disco-rtic/vscode/launch.json
View File

@ -12,11 +12,11 @@
"chip": "STM32F303VCTx",
"coreConfigs": [
{
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32f3-disco-rtic",
"rttEnabled": true,
"svdFile": "STM32F303.svd"
}
]
}
]
}
}

0
satrs-example-stm32f3-disco/vscode/openocd-helpers.tcl → embedded-examples/stm32f3-disco-rtic/vscode/openocd-helpers.tcl
View File

0
satrs-example-stm32f3-disco/vscode/tasks.json → embedded-examples/stm32f3-disco-rtic/vscode/tasks.json
View File

29
embedded-examples/stm32h7-nucleo-rtic/.cargo/def_config.toml Normal file
View 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-nucleo-rtic/.gitignore vendored Normal file
View File

@ -0,0 +1,4 @@
/target
/.cargo/config*
/.vscode
/app.map

881
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock generated Normal file
View File

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85
embedded-examples/stm32h7-nucleo-rtic/Cargo.toml Normal file
View 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-nucleo-rtic/LICENSE-APACHE Normal file
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@ -0,0 +1,201 @@
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the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
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boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
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Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
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Unless required by applicable law or agreed to in writing, software
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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)

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/* 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
};

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/venv
/.tmtc-history.txt
/log
/.idea/*
!/.idea/runConfigurations
/seqcnt.txt
/tmtc_conf.json

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{
"com_if": "udp",
"tcpip_udp_port": 7301
}

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#!/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()

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tmtccmd == 8.0.1
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

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//! 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();
}
}

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#![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()
}

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#![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)
}
}

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#![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);
}
};
}
}
}

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embedded-examples/stm32h7-nucleo-rtic/tests/integration.rs Normal file
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#![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-nucleo-rtic/vscode/.gitignore vendored Normal file
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@ -0,0 +1,2 @@
/settings.json
/.cortex-debug.*

12
embedded-examples/stm32h7-nucleo-rtic/vscode/extensions.json Normal file
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@ -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-nucleo-rtic/vscode/launch.json Normal file
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@ -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-nucleo-rtic/vscode/tasks.json Normal file
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@ -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
}
},
]
}

3
satrs/src/pus/scheduler.rs
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@ -396,6 +396,9 @@ pub mod alloc_mod {
#[derive(Debug)]
pub struct PusScheduler {
// TODO: Use MonotonicTime from tai-time crate instead of UnixTime and cache leap seconds.
// TODO: Introduce optional limit of commands stored in the TC map. If a limit is set,
// there will be a check for each insertion whether the map is full, making the memory
// usage of the scheduler more deterministic.
tc_map: BTreeMap<UnixTime, Vec<TcInfo>>,
pub(crate) current_time: UnixTime,
time_margin: Duration,