first TC handling
This commit is contained in:
Robin Mueller
@@ -7,7 +7,7 @@ use std::{
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use clap::Parser;
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use cobs::CobsDecoderOwned;
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use embedded_models::Request;
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use embedded_models::stm32f3;
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use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
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use tmtc_utils::transport::serial::PacketTransportSerialCobs;
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@@ -69,8 +69,7 @@ fn main() {
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let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
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if cli.ping {
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let request = Request::Ping;
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let tc = create_stm32f3_tc(&request);
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let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
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log::info!(
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"Sending ping request with TC ID: {:#010x}",
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tc.ccsds_packet_id_and_psc().raw()
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@@ -79,7 +78,7 @@ fn main() {
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}
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if let Some(freq_ms) = cli.set_led_frequency {
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let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
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let request = stm32f3::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
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let tc = create_stm32f3_tc(&request);
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log::info!(
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"Sending change blink frequency request {:?} with TC ID: {:#010x}",
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@@ -100,7 +99,7 @@ fn main() {
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}
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}
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fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
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fn create_stm32f3_tc(request: &stm32f3::Request) -> CcsdsPacketCreatorOwned {
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let req_raw = postcard::to_allocvec(&request).unwrap();
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let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
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CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
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@@ -8,3 +8,4 @@ serde = { version = "1", default-features = false }
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defmt = { version = "1", optional = true }
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spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
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postcard = { version = "1", features = ["defmt"] }
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arbitrary-int = "2"
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@@ -1,33 +1,60 @@
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#![no_std]
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use core::time::Duration;
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use spacepackets::{
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CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc,
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SpacePacketHeader, ccsds_packet_len_for_user_data_len_with_checksum,
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};
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#[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Request {
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Ping,
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ChangeBlinkFrequency(Duration),
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pub mod stm32f3 {
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use arbitrary_int::u11;
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use core::time::Duration;
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pub const PUS_APID: u11 = u11::new(0x02);
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#[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Request {
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Ping,
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ChangeBlinkFrequency(Duration),
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}
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#[derive(Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Response {
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Ok,
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}
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}
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#[derive(Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Response {
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CommandDone,
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/// This might look like a duplication, but we intentionally keep those separate so they can
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/// change independently.
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pub mod stm32h7 {
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use arbitrary_int::u11;
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use core::time::Duration;
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pub const PUS_APID: u11 = u11::new(0x03);
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#[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Request {
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Ping,
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ChangeBlinkFrequency(Duration),
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}
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#[derive(Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Response {
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Ok,
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}
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}
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#[derive(Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub struct TmHeader {
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pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
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pub uptime_millis: u32,
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pub uptime_millis: u64,
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}
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pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
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pub fn tm_size<Response: serde::Serialize>(tm_header: &TmHeader, response: &Response) -> usize {
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ccsds_packet_len_for_user_data_len_with_checksum(
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postcard::experimental::serialized_size(tm_header).unwrap()
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+ postcard::experimental::serialized_size(response).unwrap(),
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@@ -35,7 +62,7 @@ pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
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.unwrap()
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}
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pub fn create_tm_packet(
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pub fn create_tm_packet<Response: serde::Serialize>(
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buf: &mut [u8],
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sp_header: SpacePacketHeader,
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tm_header: TmHeader,
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@@ -52,5 +79,6 @@ pub fn create_tm_packet(
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postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
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Ok(creator.finish())
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}
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#[cfg(test)]
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mod tests {}
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+1
@@ -596,6 +596,7 @@ dependencies = [
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name = "embedded-models"
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version = "0.1.0"
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dependencies = [
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"arbitrary-int 2.0.0",
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"defmt 1.0.1",
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"postcard",
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"serde",
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@@ -1,8 +1,8 @@
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#![no_std]
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#![no_main]
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use arbitrary_int::{u11, u14};
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use arbitrary_int::u14;
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use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
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use embedded_models::{create_tm_packet, tm_size, Response, TmHeader};
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use embedded_models::{create_tm_packet, stm32f3, tm_size, TmHeader};
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use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
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use defmt_rtt as _; // global logger
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@@ -23,8 +23,6 @@ const TX_HANDLER_FREQ_MS: u32 = 20;
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const MAX_TC_LEN: usize = 128;
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const MAX_TM_LEN: usize = 128;
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pub const PUS_APID: u11 = u11::new(0x02);
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// This is the predictable maximum overhead of the COBS encoding scheme.
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// It is simply the maximum packet lenght dividied by 254 rounded up.
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const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
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@@ -47,7 +45,7 @@ pub enum TmSendError {
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#[derive(Debug, defmt::Format)]
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pub struct RequestWithTcId {
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pub request: embedded_models::Request,
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pub request: stm32f3::Request,
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pub tc_id: CcsdsPacketIdAndPsc,
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}
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@@ -57,7 +55,7 @@ mod app {
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use super::*;
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use arbitrary_int::u14;
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use embedded_models::{Request, Response};
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use embedded_models::stm32f3::{Request, Response};
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use rtic::Mutex;
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use rtic_sync::{
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channel::{Receiver, Sender},
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@@ -264,7 +262,7 @@ mod app {
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tc_packet_id: CcsdsPacketIdAndPsc,
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) -> Result<(), TmSendError> {
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defmt::info!("Received PUS ping telecommand, sending ping reply");
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send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
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send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
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*cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
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Ok(())
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}
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@@ -281,7 +279,7 @@ mod app {
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cx.shared
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.blink_freq
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.lock(|blink_freq| *blink_freq = duration);
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send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
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send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
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*cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
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Ok(())
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}
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@@ -289,13 +287,13 @@ mod app {
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fn send_tm(
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tc_packet_id: CcsdsPacketIdAndPsc,
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response: Response,
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response: stm32f3::Response,
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current_seq_count: u14,
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) -> Result<(), TmSendError> {
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let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
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let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
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let tm_header = TmHeader {
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tc_packet_id: Some(tc_packet_id),
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uptime_millis: Mono::now().duration_since_epoch().to_millis(),
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uptime_millis: Mono::now().duration_since_epoch().to_millis() as u64,
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};
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let mut tm_packet = TmPacket::new();
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let tm_size = tm_size(&tm_header, &response);
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+276
-8
@@ -20,6 +20,22 @@ dependencies = [
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"as-slice",
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||||
]
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||||
|
||||
[[package]]
|
||||
name = "arbitrary-int"
|
||||
version = "1.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "825297538d77367557b912770ca3083f778a196054b3ee63b22673c4a3cae0a5"
|
||||
|
||||
[[package]]
|
||||
name = "arbitrary-int"
|
||||
version = "2.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "993a810118f8f37e9c4411c86f1c4c940a09a7ab34b7bf2d88d06f50c553fab7"
|
||||
dependencies = [
|
||||
"defmt 1.1.0",
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "as-slice"
|
||||
version = "0.2.1"
|
||||
@@ -29,6 +45,15 @@ dependencies = [
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "autocfg"
|
||||
version = "1.5.0"
|
||||
@@ -41,7 +66,7 @@ version = "0.2.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
|
||||
dependencies = [
|
||||
"rustc_version",
|
||||
"rustc_version 0.2.3",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -62,6 +87,18 @@ version = "0.10.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1e4b40c7323adcfc0a41c4b88143ed58346ff65a288fc144329c5c45e05d70c6"
|
||||
|
||||
[[package]]
|
||||
name = "bitbybit"
|
||||
version = "1.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ec187a89ab07e209270175faf9e07ceb2755d984954e58a2296e325ddece2762"
|
||||
dependencies = [
|
||||
"arbitrary-int 1.3.0",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "bitfield"
|
||||
version = "0.13.2"
|
||||
@@ -101,6 +138,25 @@ version = "1.0.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
|
||||
|
||||
[[package]]
|
||||
name = "chrono"
|
||||
version = "0.4.44"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c673075a2e0e5f4a1dde27ce9dee1ea4558c7ffe648f576438a20ca1d2acc4b0"
|
||||
dependencies = [
|
||||
"num-traits",
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
|
||||
dependencies = [
|
||||
"thiserror",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "const-default"
|
||||
version = "1.0.0"
|
||||
@@ -140,6 +196,21 @@ dependencies = [
|
||||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc"
|
||||
version = "3.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5eb8a2a1cd12ab0d987a5d5e825195d372001a4094a0376319d5a0ad71c1ba0d"
|
||||
dependencies = [
|
||||
"crc-catalog",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "crc-catalog"
|
||||
version = "2.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "217698eaf96b4a3f0bc4f3662aaa55bdf913cd54d7204591faa790070c6d0853"
|
||||
|
||||
[[package]]
|
||||
name = "critical-section"
|
||||
version = "1.2.0"
|
||||
@@ -219,6 +290,17 @@ dependencies = [
|
||||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "delegate"
|
||||
version = "0.13.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "780eb241654bf097afb00fc5f054a09b687dad862e485fdcf8399bb056565370"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "document-features"
|
||||
version = "0.2.12"
|
||||
@@ -288,7 +370,7 @@ dependencies = [
|
||||
"embassy-time",
|
||||
"embedded-io-async",
|
||||
"embedded-nal-async",
|
||||
"heapless",
|
||||
"heapless 0.9.3",
|
||||
"managed",
|
||||
"smoltcp",
|
||||
]
|
||||
@@ -337,7 +419,7 @@ dependencies = [
|
||||
"embedded-storage",
|
||||
"embedded-storage-async",
|
||||
"futures-util",
|
||||
"heapless",
|
||||
"heapless 0.9.3",
|
||||
"nb 1.1.0",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@@ -366,7 +448,7 @@ dependencies = [
|
||||
"embedded-io-async",
|
||||
"futures-core",
|
||||
"futures-sink",
|
||||
"heapless",
|
||||
"heapless 0.9.3",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -400,7 +482,7 @@ version = "0.3.2"
|
||||
source = "git+https://github.com/embassy-rs/embassy.git?rev=dd8e4c14e53f088bae27c5d841ab7a4fa338a52c#dd8e4c14e53f088bae27c5d841ab7a4fa338a52c"
|
||||
dependencies = [
|
||||
"embassy-executor-timer-queue",
|
||||
"heapless",
|
||||
"heapless 0.9.3",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -500,6 +582,17 @@ dependencies = [
|
||||
"embedded-io",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-models"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"arbitrary-int 2.1.1",
|
||||
"defmt 1.1.0",
|
||||
"postcard",
|
||||
"serde",
|
||||
"spacepackets",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-nal"
|
||||
version = "0.9.0"
|
||||
@@ -584,6 +677,15 @@ version = "2.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "hash32"
|
||||
version = "0.3.1"
|
||||
@@ -599,6 +701,20 @@ version = "0.17.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "ed5909b6e89a2db4456e54cd5f673791d7eca6732202bbf2a9cc504fe2f9b84a"
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.7.17"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"hash32 0.2.1",
|
||||
"rustc_version 0.4.1",
|
||||
"serde",
|
||||
"spin",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "heapless"
|
||||
version = "0.9.3"
|
||||
@@ -606,7 +722,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "25ba4bd83f9415b58b4ed8dc5714c76e626a105be4646c02630ad730ad3b5aa4"
|
||||
dependencies = [
|
||||
"defmt 1.1.0",
|
||||
"hash32",
|
||||
"hash32 0.3.1",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
@@ -644,6 +760,15 @@ version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "11d3d7f243d5c5a8b9bb5d6dd2b1602c0cb0b9db1621bafc7ed66e35ff9fe092"
|
||||
|
||||
[[package]]
|
||||
name = "lock_api"
|
||||
version = "0.4.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
|
||||
dependencies = [
|
||||
"scopeguard",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "managed"
|
||||
version = "0.8.0"
|
||||
@@ -681,6 +806,27 @@ dependencies = [
|
||||
"libm",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num_enum"
|
||||
version = "0.7.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5d0bca838442ec211fa11de3a8b0e0e8f3a4522575b5c4c06ed722e005036f26"
|
||||
dependencies = [
|
||||
"num_enum_derive",
|
||||
"rustversion",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num_enum_derive"
|
||||
version = "0.7.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "680998035259dcfcafe653688bf2aa6d3e2dc05e98be6ab46afb089dc84f1df8"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "panic-probe"
|
||||
version = "1.0.0"
|
||||
@@ -691,6 +837,12 @@ dependencies = [
|
||||
"defmt 1.1.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "paste"
|
||||
version = "1.0.15"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
|
||||
|
||||
[[package]]
|
||||
name = "pin-project-lite"
|
||||
version = "0.2.17"
|
||||
@@ -703,6 +855,18 @@ version = "1.13.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c33a9471896f1c69cecef8d20cbe2f7accd12527ce60845ff44c153bb2a21b49"
|
||||
|
||||
[[package]]
|
||||
name = "postcard"
|
||||
version = "1.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24"
|
||||
dependencies = [
|
||||
"cobs",
|
||||
"defmt 1.1.0",
|
||||
"heapless 0.7.17",
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-error-attr2"
|
||||
version = "2.0.0"
|
||||
@@ -842,7 +1006,16 @@ version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||
dependencies = [
|
||||
"semver",
|
||||
"semver 0.9.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustc_version"
|
||||
version = "0.4.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
|
||||
dependencies = [
|
||||
"semver 1.0.28",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -855,6 +1028,7 @@ checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
|
||||
name = "satrs-stm32h7-nucleo-rtic"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"arbitrary-int 2.1.1",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"defmt 1.1.0",
|
||||
@@ -865,11 +1039,20 @@ dependencies = [
|
||||
"embassy-sync",
|
||||
"embassy-time",
|
||||
"embedded-alloc",
|
||||
"embedded-models",
|
||||
"panic-probe",
|
||||
"postcard",
|
||||
"rtic",
|
||||
"spacepackets",
|
||||
"static_cell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
|
||||
|
||||
[[package]]
|
||||
name = "sdio-host"
|
||||
version = "0.9.0"
|
||||
@@ -891,12 +1074,48 @@ dependencies = [
|
||||
"semver-parser",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.28"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8a7852d02fc848982e0c167ef163aaff9cd91dc640ba85e263cb1ce46fae51cd"
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
|
||||
[[package]]
|
||||
name = "serde"
|
||||
version = "1.0.228"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
|
||||
dependencies = [
|
||||
"serde_core",
|
||||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_core"
|
||||
version = "1.0.228"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
|
||||
dependencies = [
|
||||
"serde_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_derive"
|
||||
version = "1.0.228"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "smoltcp"
|
||||
version = "0.13.1"
|
||||
@@ -907,10 +1126,39 @@ dependencies = [
|
||||
"byteorder",
|
||||
"cfg-if",
|
||||
"defmt 0.3.100",
|
||||
"heapless",
|
||||
"heapless 0.9.3",
|
||||
"managed",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.17.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "94979a990b4333f43667cba9fe9e72b9c4e9ada82e09fbe8fb250844358590cc"
|
||||
dependencies = [
|
||||
"arbitrary-int 2.1.1",
|
||||
"bitbybit",
|
||||
"chrono",
|
||||
"crc",
|
||||
"defmt 1.1.0",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"paste",
|
||||
"serde",
|
||||
"thiserror",
|
||||
"zerocopy",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "spin"
|
||||
version = "0.9.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
|
||||
dependencies = [
|
||||
"lock_api",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stable_deref_trait"
|
||||
version = "1.2.1"
|
||||
@@ -1069,3 +1317,23 @@ checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.8.48"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "eed437bf9d6692032087e337407a86f04cd8d6a16a37199ed57949d415bd68e9"
|
||||
dependencies = [
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.8.48"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "70e3cd084b1788766f53af483dd21f93881ff30d7320490ec3ef7526d203bad4"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
@@ -14,41 +14,25 @@ name = "integration"
|
||||
harness = false
|
||||
|
||||
[dependencies]
|
||||
embedded-models = { path = "../models", features = ["defmt"] }
|
||||
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
arbitrary-int = "2"
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "1"
|
||||
defmt-rtt = "1"
|
||||
# defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "1", features = ["print-defmt"] }
|
||||
# cortex-m-semihosting = "0.5.0"
|
||||
# TODO: Replace with embassy-hal.
|
||||
# stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
|
||||
embedded-alloc = "0.7"
|
||||
static_cell = "2"
|
||||
rtic = { version = "2", features = ["thumbv7-backend"] }
|
||||
spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
|
||||
postcard = "1"
|
||||
|
||||
embassy-stm32 = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}
|
||||
|
||||
embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.5", features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
|
||||
embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
|
||||
embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c" }
|
||||
embedded-alloc = "0.7"
|
||||
static_cell = "2"
|
||||
# rtic-sync = { version = "1", features = ["defmt-03"] }
|
||||
rtic = { version = "2", features = ["thumbv7-backend"] }
|
||||
|
||||
# [dependencies.smoltcp]
|
||||
# version = "0.13"
|
||||
# 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 = "2"
|
||||
# features = ["cortex-m-systick"]
|
||||
|
||||
# [dependencies.satrs]
|
||||
# path = "../../satrs"
|
||||
# default-features = false
|
||||
# features = ["defmt", "heapless"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.5"
|
||||
|
||||
@@ -28,6 +28,7 @@ const TM_QUEUE_DEPTH: usize = 32;
|
||||
mod app {
|
||||
|
||||
use super::*;
|
||||
use arbitrary_int::u14;
|
||||
use embassy_net::udp::UdpSocket;
|
||||
use embassy_net::StackResources;
|
||||
use embassy_stm32::eth;
|
||||
@@ -38,6 +39,14 @@ mod app {
|
||||
use embassy_time::Duration;
|
||||
use embassy_time::Timer;
|
||||
use embassy_time::WithTimeout as _;
|
||||
use embedded_models::create_tm_packet;
|
||||
use embedded_models::stm32h7;
|
||||
use embedded_models::tm_size;
|
||||
use embedded_models::TmHeader;
|
||||
use spacepackets::CcsdsPacketCreationError;
|
||||
use spacepackets::CcsdsPacketIdAndPsc;
|
||||
use spacepackets::CcsdsPacketReader;
|
||||
use spacepackets::SpHeader;
|
||||
use static_cell::StaticCell;
|
||||
|
||||
bind_interrupts!(struct Irqs {
|
||||
@@ -90,6 +99,7 @@ mod app {
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
sequence_count: u14,
|
||||
blink_freq: embassy_time::Duration,
|
||||
}
|
||||
|
||||
@@ -191,6 +201,7 @@ mod app {
|
||||
(
|
||||
Shared {
|
||||
blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
|
||||
sequence_count: u14::new(0),
|
||||
},
|
||||
Local {
|
||||
link_led,
|
||||
@@ -290,7 +301,9 @@ mod app {
|
||||
if let Some(endpoint) = remote_endpoint {
|
||||
while let Ok(packet) = cx.local.tm_rx.try_receive() {
|
||||
match udp.send_to(&packet, endpoint).await {
|
||||
Ok(_) => defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint),
|
||||
Ok(_) => {
|
||||
defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint)
|
||||
}
|
||||
Err(e) => defmt::warn!("udp send error: {}", e),
|
||||
}
|
||||
}
|
||||
@@ -299,11 +312,70 @@ mod app {
|
||||
}
|
||||
}
|
||||
|
||||
#[task(local = [tc_rx])]
|
||||
async fn tc_handler(cx: tc_handler::Context) {
|
||||
#[task(local = [tc_rx, tm_tx], shared=[sequence_count, blink_freq])]
|
||||
async fn tc_handler(mut cx: tc_handler::Context) {
|
||||
loop {
|
||||
let tc = cx.local.tc_rx.receive().await;
|
||||
|
||||
match CcsdsPacketReader::new_with_checksum(&tc) {
|
||||
Ok(packet) => {
|
||||
let packet_id = packet.packet_id();
|
||||
let psc = packet.psc();
|
||||
let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
|
||||
if let Ok(request) =
|
||||
postcard::from_bytes::<stm32h7::Request>(packet.packet_data())
|
||||
{
|
||||
let response = match request {
|
||||
stm32h7::Request::Ping => {
|
||||
stm32h7::Response::Ok
|
||||
}
|
||||
stm32h7::Request::ChangeBlinkFrequency(duration) => {
|
||||
cx.shared.blink_freq.lock(|current| {
|
||||
*current = Duration::from_millis(duration.as_millis() as u64)
|
||||
});
|
||||
stm32h7::Response::Ok
|
||||
}
|
||||
};
|
||||
let sequence_count = cx.shared.sequence_count.lock(|v| {
|
||||
let current = *v;
|
||||
*v = v.wrapping_add(u14::new(1));
|
||||
current
|
||||
});
|
||||
|
||||
// Send Pong/OK response immediately.
|
||||
if let Err(e) =
|
||||
send_tm(tc_packet_id, response, sequence_count, cx.local.tm_tx).await
|
||||
{
|
||||
defmt::warn!("Failed to send TM response: {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => defmt::warn!("Failed to parse received TC packet: {}", e,),
|
||||
}
|
||||
defmt::info!("Received from UDP client: {}", tc.as_slice());
|
||||
}
|
||||
}
|
||||
|
||||
async fn send_tm(
|
||||
tc_packet_id: CcsdsPacketIdAndPsc,
|
||||
response: stm32h7::Response,
|
||||
current_seq_count: u14,
|
||||
sender: &embassy_sync::channel::Sender<
|
||||
'static,
|
||||
NoopRawMutex,
|
||||
alloc::vec::Vec<u8>,
|
||||
TM_QUEUE_DEPTH,
|
||||
>,
|
||||
) -> Result<(), CcsdsPacketCreationError> {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(stm32h7::PUS_APID, current_seq_count, 0);
|
||||
let tm_header = TmHeader {
|
||||
tc_packet_id: Some(tc_packet_id),
|
||||
uptime_millis: embassy_time::Instant::now().as_millis(),
|
||||
};
|
||||
let tm_size = tm_size(&tm_header, &response);
|
||||
let mut packet = alloc::vec![0; tm_size];
|
||||
create_tm_packet(&mut packet, sp_header, tm_header, response)?;
|
||||
sender.send(packet).await;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user