Merge branch 'main' into request-reply-messaging-mode-tree
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This commit is contained in:
commit
ce5d333962
2
.gitignore
vendored
2
.gitignore
vendored
@ -3,5 +3,7 @@ target/
|
||||
output.log
|
||||
/Cargo.lock
|
||||
|
||||
output.log
|
||||
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
28
satrs-example-stm32f3-disco/.cargo/def_config.toml
Normal file
28
satrs-example-stm32f3-disco/.cargo/def_config.toml
Normal file
@ -0,0 +1,28 @@
|
||||
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||
# uncomment ONE of these three option to make `cargo run` start a GDB session
|
||||
# which option to pick depends on your system
|
||||
# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
|
||||
# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
|
||||
# runner = "gdb-multiarch -q -x openocd.gdb"
|
||||
# runner = "gdb -q -x openocd.gdb"
|
||||
# runner = "probe-run --chip STM32F303VCTx --connect-under-reset"
|
||||
|
||||
rustflags = [
|
||||
# LLD (shipped with the Rust toolchain) is used as the default linker
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
|
||||
# if you run into problems with LLD switch to the GNU linker by commenting out
|
||||
# this line
|
||||
# "-C", "linker=arm-none-eabi-ld",
|
||||
|
||||
# if you need to link to pre-compiled C libraries provided by a C toolchain
|
||||
# use GCC as the linker by commenting out both lines above and then
|
||||
# uncommenting the three lines below
|
||||
# "-C", "linker=arm-none-eabi-gcc",
|
||||
# "-C", "link-arg=-Wl,-Tlink.x",
|
||||
# "-C", "link-arg=-nostartfiles",
|
||||
]
|
||||
|
||||
[build]
|
||||
# comment out the following line if you intend to run unit tests on host machine
|
||||
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
|
||||
1
satrs-example-stm32f3-disco/.gitignore
vendored
1
satrs-example-stm32f3-disco/.gitignore
vendored
@ -1,3 +1,4 @@
|
||||
/target
|
||||
/itm.txt
|
||||
/.cargo/config*
|
||||
/.vscode
|
||||
|
||||
@ -1,3 +0,0 @@
|
||||
{
|
||||
"cortex-debug.gdbPath.linux": "gdb-multiarch"
|
||||
}
|
||||
476
satrs-example-stm32f3-disco/Cargo.lock
generated
476
satrs-example-stm32f3-disco/Cargo.lock
generated
@ -13,9 +13,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "atomic-polyfill"
|
||||
version = "0.1.11"
|
||||
version = "1.0.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
|
||||
checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
@ -55,20 +55,21 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
||||
|
||||
[[package]]
|
||||
name = "bxcan"
|
||||
version = "0.6.2"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
|
||||
checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"nb 1.0.0",
|
||||
"embedded-hal 0.2.7",
|
||||
"nb 1.1.0",
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
version = "1.4.3"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
|
||||
checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
|
||||
|
||||
[[package]]
|
||||
name = "cast"
|
||||
@ -87,31 +88,42 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
|
||||
|
||||
[[package]]
|
||||
name = "chrono"
|
||||
version = "0.4.23"
|
||||
version = "0.4.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
|
||||
checksum = "8eaf5903dcbc0a39312feb77df2ff4c76387d591b9fc7b04a238dcf8bb62639a"
|
||||
dependencies = [
|
||||
"num-integer",
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.6"
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
|
||||
checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
|
||||
|
||||
[[package]]
|
||||
name = "cobs"
|
||||
version = "0.2.3"
|
||||
source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.7.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.5",
|
||||
"bitfield",
|
||||
"embedded-hal",
|
||||
"critical-section",
|
||||
"embedded-hal 0.2.7",
|
||||
"volatile-register",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt"
|
||||
version = "0.7.2"
|
||||
version = "0.7.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
|
||||
checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
|
||||
dependencies = [
|
||||
"cortex-m-rt-macros",
|
||||
]
|
||||
@ -124,48 +136,35 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rtic"
|
||||
version = "1.1.3"
|
||||
name = "crc"
|
||||
version = "3.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
|
||||
checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"cortex-m-rtic-macros",
|
||||
"heapless",
|
||||
"rtic-core",
|
||||
"rtic-monotonic",
|
||||
"version_check",
|
||||
"crc-catalog",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rtic-macros"
|
||||
version = "1.1.5"
|
||||
name = "crc-catalog"
|
||||
version = "2.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
|
||||
dependencies = [
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"rtic-syntax",
|
||||
"syn",
|
||||
]
|
||||
checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
|
||||
|
||||
[[package]]
|
||||
name = "critical-section"
|
||||
version = "1.1.1"
|
||||
version = "1.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
|
||||
checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
|
||||
|
||||
[[package]]
|
||||
name = "darling"
|
||||
version = "0.14.2"
|
||||
version = "0.20.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b0dd3cd20dc6b5a876612a6e5accfe7f3dd883db6d07acfbf14c128f61550dfa"
|
||||
checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"darling_macro",
|
||||
@ -173,26 +172,37 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "darling_core"
|
||||
version = "0.14.2"
|
||||
version = "0.20.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a784d2ccaf7c98501746bf0be29b2022ba41fd62a2e622af997a03e9f972859f"
|
||||
checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
|
||||
dependencies = [
|
||||
"fnv",
|
||||
"ident_case",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "darling_macro"
|
||||
version = "0.14.2"
|
||||
version = "0.20.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7618812407e9402654622dd402b0a89dff9ba93badd6540781526117b92aab7e"
|
||||
checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "delegate"
|
||||
version = "0.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -214,6 +224,12 @@ dependencies = [
|
||||
"void",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
|
||||
|
||||
[[package]]
|
||||
name = "embedded-time"
|
||||
version = "0.12.1"
|
||||
@ -225,25 +241,31 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "enumset"
|
||||
version = "1.0.12"
|
||||
version = "1.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "19be8061a06ab6f3a6cf21106c873578bf01bd42ad15e0311a9c76161cb1c753"
|
||||
checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
|
||||
dependencies = [
|
||||
"enumset_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "enumset_derive"
|
||||
version = "0.6.1"
|
||||
version = "0.8.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "03e7b551eba279bf0fa88b83a46330168c1560a52a94f5126f892f0b364ab3e0"
|
||||
checksum = "e08b6c6ab82d70f08844964ba10c7babb716de2ecaeab9be5717918a5177d3af"
|
||||
dependencies = [
|
||||
"darling",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "equivalent"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
|
||||
|
||||
[[package]]
|
||||
name = "fnv"
|
||||
version = "1.0.7"
|
||||
@ -252,18 +274,42 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
|
||||
|
||||
[[package]]
|
||||
name = "fugit"
|
||||
version = "0.3.6"
|
||||
version = "0.3.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7ab17bb279def6720d058cb6c052249938e7f99260ab534879281a95367a87e5"
|
||||
checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
|
||||
dependencies = [
|
||||
"gcd",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "gcd"
|
||||
version = "2.2.0"
|
||||
name = "futures-core"
|
||||
version = "0.3.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a4b1b088ad0a967aa29540456b82fc8903f854775d33f71e9709c4efb3dfbfd2"
|
||||
checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
|
||||
|
||||
[[package]]
|
||||
name = "futures-task"
|
||||
version = "0.3.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
|
||||
|
||||
[[package]]
|
||||
name = "futures-util"
|
||||
version = "0.3.30"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
|
||||
dependencies = [
|
||||
"futures-core",
|
||||
"futures-task",
|
||||
"pin-project-lite",
|
||||
"pin-utils",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "gcd"
|
||||
version = "2.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
|
||||
|
||||
[[package]]
|
||||
name = "generic-array"
|
||||
@ -276,9 +322,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "generic-array"
|
||||
version = "0.14.6"
|
||||
version = "0.14.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bff49e947297f3312447abdca79f45f4738097cc82b06e72054d2223f601f1b9"
|
||||
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|
||||
dependencies = [
|
||||
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|
||||
"version_check",
|
||||
@ -286,29 +332,26 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
dependencies = [
|
||||
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|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
version = "0.12.3"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
|
||||
checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"hash32",
|
||||
"rustc_version 0.4.0",
|
||||
"spin",
|
||||
"stable_deref_trait",
|
||||
]
|
||||
|
||||
@ -320,40 +363,28 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
|
||||
|
||||
[[package]]
|
||||
name = "indexmap"
|
||||
version = "1.9.2"
|
||||
version = "2.2.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1885e79c1fc4b10f0e172c475f458b7f7b93061064d98c3293e98c5ba0c8b399"
|
||||
checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"equivalent",
|
||||
"hashbrown",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "itm_logger"
|
||||
version = "0.1.3-pre.0"
|
||||
version = "0.1.3-alpha.0"
|
||||
source = "git+https://github.com/robamu/itm_logger.rs.git?branch=all_features#83ee7a6c57f525a70d0cc5bb7e65826d0ce938a0"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"log",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "lock_api"
|
||||
version = "0.4.9"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"scopeguard",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "log"
|
||||
version = "0.4.17"
|
||||
version = "0.4.21"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
]
|
||||
checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
|
||||
|
||||
[[package]]
|
||||
name = "lsm303dlhc"
|
||||
@ -362,7 +393,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9e5d1a5c290951321d1b0d4a40edd828537de9889134a0e67c5146542ae57706"
|
||||
dependencies = [
|
||||
"cast",
|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
"generic-array 0.11.2",
|
||||
]
|
||||
|
||||
@ -372,7 +403,7 @@ version = "1.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bc4010833aea396656c2f91ee704d51a6f1329ec2ab56ffd00bfd56f7481ea94"
|
||||
dependencies = [
|
||||
"generic-array 0.14.6",
|
||||
"generic-array 0.14.7",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -381,14 +412,14 @@ version = "0.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
|
||||
dependencies = [
|
||||
"nb 1.0.0",
|
||||
"nb 1.1.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "nb"
|
||||
version = "1.0.0"
|
||||
version = "1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
|
||||
checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
|
||||
|
||||
[[package]]
|
||||
name = "num"
|
||||
@ -414,19 +445,18 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "num-integer"
|
||||
version = "0.1.45"
|
||||
version = "0.1.46"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
|
||||
checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"num-traits",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num-iter"
|
||||
version = "0.1.43"
|
||||
version = "0.1.44"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
|
||||
checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
"num-integer",
|
||||
@ -446,13 +476,33 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "num-traits"
|
||||
version = "0.2.15"
|
||||
version = "0.2.18"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
|
||||
checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num_enum"
|
||||
version = "0.7.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
|
||||
dependencies = [
|
||||
"num_enum_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num_enum_derive"
|
||||
version = "0.7.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "panic-itm"
|
||||
version = "0.4.2"
|
||||
@ -464,9 +514,21 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "paste"
|
||||
version = "1.0.11"
|
||||
version = "1.0.14"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d01a5bd0424d00070b0098dd17ebca6f961a959dead1dbcbbbc1d1cd8d3deeba"
|
||||
checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
|
||||
|
||||
[[package]]
|
||||
name = "pin-project-lite"
|
||||
version = "0.2.13"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
|
||||
|
||||
[[package]]
|
||||
name = "pin-utils"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-error"
|
||||
@ -477,7 +539,7 @@ dependencies = [
|
||||
"proc-macro-error-attr",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 1.0.109",
|
||||
"version_check",
|
||||
]
|
||||
|
||||
@ -494,31 +556,54 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro2"
|
||||
version = "1.0.49"
|
||||
version = "1.0.79"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "57a8eca9f9c4ffde41714334dee777596264c7825420f521abc92b5b5deb63a5"
|
||||
checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
|
||||
dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "quote"
|
||||
version = "1.0.23"
|
||||
version = "1.0.35"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "8856d8364d252a14d474036ea1358d63c9e6965c8e5c1885c18f73d70bff9c7b"
|
||||
checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtcc"
|
||||
version = "0.3.0"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3623619ce77c09a7d87cf7c61c5c887b9c7dee8805f66af6c4aa5824be4d9930"
|
||||
checksum = "f4fbd0d5bed2b76e27a7ef872568b34072c1af94c277cd52c17a89d54673b3fe"
|
||||
dependencies = [
|
||||
"chrono",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic"
|
||||
version = "2.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
"critical-section",
|
||||
"rtic-core",
|
||||
"rtic-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-common"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-core"
|
||||
version = "1.0.0"
|
||||
@ -526,21 +611,41 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonic"
|
||||
version = "1.0.0"
|
||||
name = "rtic-macros"
|
||||
version = "2.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
|
||||
|
||||
[[package]]
|
||||
name = "rtic-syntax"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065"
|
||||
checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"proc-macro-error",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-monotonics"
|
||||
version = "1.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
|
||||
dependencies = [
|
||||
"atomic-polyfill",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"embedded-hal 1.0.0",
|
||||
"fugit",
|
||||
"rtic-time",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rtic-time"
|
||||
version = "1.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
|
||||
dependencies = [
|
||||
"critical-section",
|
||||
"futures-util",
|
||||
"rtic-common",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -558,31 +663,53 @@ version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
|
||||
dependencies = [
|
||||
"semver 1.0.16",
|
||||
"semver 1.0.22",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "sat-rs-example-stm32f-disco"
|
||||
name = "satrs"
|
||||
version = "0.2.0-rc.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c8cb19cba46a45047ff0879ebfbf9d6ae1c5b2e0e38b2e08760b10a441d4dae6"
|
||||
dependencies = [
|
||||
"cobs 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"crc",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"paste",
|
||||
"satrs-shared",
|
||||
"smallvec",
|
||||
"spacepackets",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "satrs-example-stm32f3-disco"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"cortex-m-rtic",
|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
"enumset",
|
||||
"heapless",
|
||||
"itm_logger",
|
||||
"panic-itm",
|
||||
"rtic",
|
||||
"rtic-monotonics",
|
||||
"satrs",
|
||||
"stm32f3-discovery",
|
||||
"stm32f3xx-hal",
|
||||
"systick-monotonic",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.1.0"
|
||||
name = "satrs-shared"
|
||||
version = "0.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
|
||||
checksum = "75a402ba556a7f5eef707035b45e64a3259b09674311e98697f3dd0508a1bf51"
|
||||
dependencies = [
|
||||
"spacepackets",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
@ -595,9 +722,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.16"
|
||||
version = "1.0.22"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "58bc9567378fc7690d6b2addae4e60ac2eeea07becb2c64b9f218b53865cba2a"
|
||||
checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
@ -607,17 +734,28 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
|
||||
[[package]]
|
||||
name = "slice-group-by"
|
||||
version = "0.3.0"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "03b634d87b960ab1a38c4fe143b508576f075e7c978bfad18217645ebfdfa2ec"
|
||||
checksum = "826167069c09b99d56f31e9ae5c99049e932a98c9dc2dac47645b08dbbf76ba7"
|
||||
|
||||
[[package]]
|
||||
name = "spin"
|
||||
version = "0.9.4"
|
||||
name = "smallvec"
|
||||
version = "1.13.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
|
||||
checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
|
||||
|
||||
[[package]]
|
||||
name = "spacepackets"
|
||||
version = "0.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "28246ae2451af240c3e3ff3c51363c7b6ad565ca6aa9bad23b8c725687c485e1"
|
||||
dependencies = [
|
||||
"lock_api",
|
||||
"chrono",
|
||||
"crc",
|
||||
"delegate",
|
||||
"num-traits",
|
||||
"num_enum",
|
||||
"zerocopy",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@ -639,9 +777,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "stm32f3"
|
||||
version = "0.14.0"
|
||||
version = "0.15.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
|
||||
checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"cortex-m",
|
||||
@ -651,7 +789,8 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "stm32f3-discovery"
|
||||
version = "0.8.0-pre.0"
|
||||
version = "0.8.0-alpha.0"
|
||||
source = "git+https://github.com/robamu/stm32f3-discovery?branch=complete-dma-update-hal#5ccacae07ceff02d7d3649df67a6a0ba2a144752"
|
||||
dependencies = [
|
||||
"accelerometer",
|
||||
"cortex-m",
|
||||
@ -663,20 +802,20 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "stm32f3xx-hal"
|
||||
version = "0.9.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03"
|
||||
version = "0.11.0-alpha.0"
|
||||
source = "git+https://github.com/robamu/stm32f3xx-hal?branch=complete-dma-update#04fc76b7912649c84b57bd0ab803ea3ccf2aadae"
|
||||
dependencies = [
|
||||
"bare-metal 1.0.0",
|
||||
"bxcan",
|
||||
"cfg-if",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"critical-section",
|
||||
"embedded-dma",
|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
"embedded-time",
|
||||
"enumset",
|
||||
"nb 1.0.0",
|
||||
"nb 1.1.0",
|
||||
"num-traits",
|
||||
"paste",
|
||||
"rtcc",
|
||||
"slice-group-by",
|
||||
@ -691,14 +830,14 @@ version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf"
|
||||
dependencies = [
|
||||
"embedded-hal",
|
||||
"embedded-hal 0.2.7",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "1.0.107"
|
||||
version = "1.0.109"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5"
|
||||
checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
@ -706,27 +845,27 @@ dependencies = [
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "systick-monotonic"
|
||||
version = "1.0.1"
|
||||
name = "syn"
|
||||
version = "2.0.53"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "67fb822d5c615a0ae3a4795ee5b1d06381c7faf488d861c0a4fa8e6a88d5ff84"
|
||||
checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
|
||||
dependencies = [
|
||||
"cortex-m",
|
||||
"fugit",
|
||||
"rtic-monotonic",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.16.0"
|
||||
version = "1.17.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
|
||||
checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.6"
|
||||
version = "1.0.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
|
||||
checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
|
||||
|
||||
[[package]]
|
||||
name = "usb-device"
|
||||
@ -754,9 +893,30 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.1"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
|
||||
checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
|
||||
dependencies = [
|
||||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.32"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.53",
|
||||
]
|
||||
|
||||
@ -6,13 +6,19 @@ edition = "2021"
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
cortex-m = "0.7"
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
embedded-hal = "0.2.6"
|
||||
cortex-m-rtic = "1.0"
|
||||
enumset = "1.0"
|
||||
heapless = "0.7"
|
||||
systick-monotonic = "1.0"
|
||||
embedded-hal = "0.2.7"
|
||||
enumset = "1"
|
||||
heapless = "0.8"
|
||||
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "1"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.cobs]
|
||||
git = "https://github.com/robamu/cobs.rs.git"
|
||||
@ -29,22 +35,22 @@ version = "0.1.3-alpha.0"
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
version = "0.10.0-alpha.0"
|
||||
version = "0.11.0-alpha.0"
|
||||
features = ["stm32f303xc", "rt", "enumset"]
|
||||
branch = "all_features"
|
||||
branch = "complete-dma-update"
|
||||
# Can be used in workspace to develop and update HAL
|
||||
# path = "../stm32f3xx-hal"
|
||||
|
||||
[dependencies.stm32f3-discovery]
|
||||
git = "https://github.com/robamu/stm32f3-discovery"
|
||||
version = "0.8.0-alpha.0"
|
||||
branch = "all_features"
|
||||
branch = "complete-dma-update-hal"
|
||||
# Can be used in workspace to develop and update BSP
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs-core]
|
||||
git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
|
||||
version = "0.1.0-alpha.0"
|
||||
[dependencies.satrs]
|
||||
# git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
|
||||
version = "0.2.0-rc.0"
|
||||
default-features = false
|
||||
|
||||
# this lets you use `cargo fix`!
|
||||
|
||||
@ -11,6 +11,18 @@ used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardw
|
||||
[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
|
||||
to embedded Rust.
|
||||
|
||||
If you would like to access the ITM log output, you need to connect the PB3 pin to the CN3 pin
|
||||
of the SWD header like [shown here](https://docs.rust-embedded.org/discovery/f3discovery/06-hello-world/index.html).
|
||||
|
||||
## Pre-Requisites
|
||||
|
||||
Make sure the following tools are installed:
|
||||
|
||||
1. `openocd`: This is the debug server used to debug the STM32F3. You can install this from
|
||||
[`xPacks`](https://xpack.github.io/dev-tools/openocd/install/). You can also use the one provided
|
||||
by a STM32Cube installation.
|
||||
2. A debugger like `arm-none-eabi-gdb` or `gdb-multiarch`.
|
||||
|
||||
## Preparing Rust and the repository
|
||||
|
||||
Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
|
||||
@ -42,13 +54,25 @@ cargo build
|
||||
|
||||
## Flashing and Debugging from the command line
|
||||
|
||||
TODO
|
||||
Make sure you have `openocd` and `itmdump` installed first.
|
||||
|
||||
1. Configure a runner inside your `.cargo/config.toml` file by uncommenting an appropriate line
|
||||
depending on the application you want to use for debugging
|
||||
2. Start `openocd` inside the project folder. This will start `openocd` with the provided
|
||||
`openocd.cfg` configuration file.
|
||||
3. Use `cargo run` to flash and debug the application in your terminal
|
||||
4. Use `itmdump -F -f itm.txt` to print the logs received from the STM32F3 device. Please note
|
||||
that the PB3 and CN3 pin of the SWD header need to be connected for this to work.
|
||||
|
||||
## Debugging with VS Code
|
||||
|
||||
The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
|
||||
the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
|
||||
and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
|
||||
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.
|
||||
@ -67,9 +91,23 @@ configuration variables in your `settings.json`:
|
||||
## Commanding with Python
|
||||
|
||||
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
|
||||
using COBS encoded CCSDS packets.
|
||||
using COBS encoded PUS packets.
|
||||
|
||||
TODO:
|
||||
- How and where to connect serial interface on the MCU
|
||||
- How to set up Python venv (or at least strongly recommend it) and install deps
|
||||
- How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
|
||||
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
|
||||
```
|
||||
|
||||
@ -24,7 +24,9 @@ break main
|
||||
# # send captured ITM to the file itm.fifo
|
||||
# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
|
||||
# # 8000000 must match the core clock frequency
|
||||
monitor tpiu config internal itm.txt uart off 8000000
|
||||
# # 2000000 is the frequency of the SWO pin. This was added for newer
|
||||
# openocd versions like v0.12.0.
|
||||
monitor tpiu config internal itm.txt uart off 8000000 2000000
|
||||
|
||||
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
|
||||
# # 8000000 must match the core clock frequency
|
||||
|
||||
@ -1,4 +1,5 @@
|
||||
/venv
|
||||
/.tmtc-history.txt
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
@ -1,4 +1,4 @@
|
||||
{
|
||||
"com_if": "serial_cobs",
|
||||
"serial_baudrate": 115200
|
||||
}
|
||||
}
|
||||
|
||||
185
satrs-example-stm32f3-disco/pyclient/main.py
Normal file → Executable file
185
satrs-example-stm32f3-disco/pyclient/main.py
Normal file → Executable file
@ -1,39 +1,40 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import enum
|
||||
import struct
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Optional, cast
|
||||
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, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
|
||||
from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd 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.tm import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com_if import ComInterface
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
TmTcCfgHookBase,
|
||||
TmtcDefinitionWrapper,
|
||||
CoreServiceList,
|
||||
OpCodeEntry,
|
||||
HookBase,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config.com_if import SerialCfgWrapper
|
||||
from tmtccmd.config.com import SerialCfgWrapper
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging import get_console_logger
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tc import (
|
||||
from tmtccmd.tmtc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
@ -41,27 +42,26 @@ from tmtccmd.tc import (
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.tm.pus_5_event import Service5Tm
|
||||
from tmtccmd.pus.s5_fsfw_event import Service5Tm
|
||||
from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
|
||||
|
||||
LOGGER = get_console_logger()
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(TmTcCfgHookBase):
|
||||
class SatRsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path=json_cfg_path)
|
||||
|
||||
def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com_if import (
|
||||
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,
|
||||
@ -76,35 +76,14 @@ class SatRsConfigHook(TmTcCfgHookBase):
|
||||
cfg.serial_cfg.serial_timeout = 0.5
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
|
||||
from tmtccmd.config.globals import get_default_tmtc_defs
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return create_cmd_definition_tree()
|
||||
|
||||
defs = get_default_tmtc_defs()
|
||||
srv_5 = OpCodeEntry()
|
||||
srv_5.add("0", "Event Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_5.value,
|
||||
info="PUS Service 5 Event",
|
||||
op_code_entry=srv_5,
|
||||
)
|
||||
srv_17 = OpCodeEntry()
|
||||
srv_17.add("0", "Ping Test")
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_17_ALT,
|
||||
info="PUS Service 17 Test",
|
||||
op_code_entry=srv_17,
|
||||
)
|
||||
srv_3 = OpCodeEntry()
|
||||
defs.add_service(
|
||||
name=CoreServiceList.SERVICE_3,
|
||||
info="PUS Service 3 Housekeeping",
|
||||
op_code_entry=srv_3,
|
||||
)
|
||||
return defs
|
||||
|
||||
def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
|
||||
LOGGER.info("Mode operation hook was called")
|
||||
pass
|
||||
def get_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
|
||||
@ -112,74 +91,75 @@ class SatRsConfigHook(TmTcCfgHookBase):
|
||||
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"))
|
||||
return root_node
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
printer: FsfwTmTcPrinter,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.printer = printer
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: any):
|
||||
def handle_tm(self, packet: bytes, _user_args: Any):
|
||||
time_reader = CdsShortTimestamp.empty()
|
||||
try:
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
|
||||
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}")
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = tm_packet.service
|
||||
dedicated_handler = False
|
||||
service = pus_tm.service
|
||||
tm_packet = None
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(time_reader, 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
LOGGER.info(
|
||||
_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(
|
||||
_LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
dedicated_handler = True
|
||||
if service == 3:
|
||||
LOGGER.info("No handling for HK packets implemented")
|
||||
LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet)
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
dedicated_handler = True
|
||||
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet)
|
||||
tm_packet = Service5Tm.unpack(packet, time_reader)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet)
|
||||
dedicated_handler = True
|
||||
tm_packet = Service17Tm.unpack(packet, time_reader)
|
||||
if tm_packet.subservice == 2:
|
||||
self.printer.file_logger.info("Received Ping Reply TM[17,2]")
|
||||
LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
self.printer.file_logger.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
LOGGER.info(
|
||||
_LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet)
|
||||
self.raw_logger.log_tm(tm_packet)
|
||||
if not dedicated_handler and tm_packet is not None:
|
||||
self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
|
||||
tm_packet = PusTelemetry.unpack(packet, time_reader)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
@ -198,8 +178,11 @@ class TcHandler(TcHandlerBase):
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=None,
|
||||
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):
|
||||
@ -212,61 +195,55 @@ class TcHandler(TcHandlerBase):
|
||||
)
|
||||
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}")
|
||||
_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)
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, helper: ProcedureWrapper):
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
LOGGER.info(
|
||||
f"Queue handling finished for service {def_proc.service} and "
|
||||
f"op code {def_proc.op_code}"
|
||||
)
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if helper.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = helper.to_def_procedure()
|
||||
service = def_proc.service
|
||||
op_code = def_proc.op_code
|
||||
if (
|
||||
service == CoreServiceList.SERVICE_17
|
||||
or service == CoreServiceList.SERVICE_17_ALT
|
||||
):
|
||||
if info.proc_type == TcProcedureType.DEFAULT:
|
||||
def_proc = info.to_def_procedure()
|
||||
cmd_path = def_proc.cmd_path
|
||||
if cmd_path == "/ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
|
||||
|
||||
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()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj)
|
||||
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(params, proc_wrapper)
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
|
||||
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()
|
||||
printer = FsfwTmTcPrinter(tmtc_logger.logger)
|
||||
file_logger = tmtc_logger.logger
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
@ -288,7 +265,7 @@ def main():
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
LOGGER.info("TMTC Client in IDLE mode")
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
|
||||
@ -1,2 +1,2 @@
|
||||
tmtccmd == 4.0.0a0
|
||||
tmtccmd == 8.0.0rc.0
|
||||
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||
|
||||
@ -4,35 +4,33 @@ extern crate panic_itm;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
use heapless::{
|
||||
mpmc::Q16,
|
||||
pool,
|
||||
pool::singleton::{Box, Pool},
|
||||
};
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
#[allow(unused_imports)]
|
||||
use itm_logger::{debug, info, logger_init, warn};
|
||||
use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
|
||||
use satrs_core::{
|
||||
pus::{EcssTmErrorWithSend, EcssTmSenderCore},
|
||||
seq_count::SequenceCountProviderCore,
|
||||
use rtic_monotonics::systick::fugit::TimerInstantU32;
|
||||
use rtic_monotonics::systick::ExtU32;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
use satrs::{
|
||||
pool::StoreError,
|
||||
pus::{EcssChannel, EcssTmSenderCore, EcssTmtcError, PusTmWrapper},
|
||||
spacepackets::{ecss::PusPacket, ecss::WritablePusPacket},
|
||||
};
|
||||
use stm32f3xx_hal::dma::dma1;
|
||||
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
|
||||
use stm32f3xx_hal::pac::USART2;
|
||||
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
|
||||
use systick_monotonic::{fugit::Duration, Systick};
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
const BLINK_FREQ_MS: u64 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u64 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
|
||||
const MAX_TC_LEN: usize = 200;
|
||||
const MAX_TM_LEN: usize = 200;
|
||||
const BLINK_FREQ_MS: u32 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u32 = 20;
|
||||
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
|
||||
const MAX_TC_LEN: usize = 128;
|
||||
const MAX_TM_LEN: usize = 128;
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
|
||||
type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
|
||||
type MsDuration = Duration<u64, 1, 1000>;
|
||||
type InstantFugit = TimerInstantU32<1000>;
|
||||
type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
|
||||
type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
|
||||
|
||||
@ -51,10 +49,12 @@ static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
|
||||
// transfer buffer.
|
||||
static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
|
||||
|
||||
static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
|
||||
type TmPacket = Vec<u8, MAX_TM_LEN>;
|
||||
type TcPacket = Vec<u8, MAX_TC_LEN>;
|
||||
|
||||
const TC_POOL_SLOTS: usize = 12;
|
||||
const TM_POOL_SLOTS: usize = 12;
|
||||
static TM_REQUESTS: Q8<TmPacket> = Q8::new();
|
||||
|
||||
use core::cell::RefCell;
|
||||
use core::sync::atomic::{AtomicU16, Ordering};
|
||||
|
||||
pub struct SeqCountProviderAtomicRef {
|
||||
@ -88,70 +88,56 @@ impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
|
||||
static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
|
||||
SeqCountProviderAtomicRef::new(Ordering::Relaxed);
|
||||
|
||||
// Otherwise, warnings because of heapless pool macro.
|
||||
#[allow(non_camel_case_types)]
|
||||
mod poolmod {
|
||||
use super::*;
|
||||
// Must hold full TC length including COBS overhead.
|
||||
pool!(TC: [u8; TC_BUF_LEN]);
|
||||
// Only encoded at the end, so no need to account for COBS overhead.
|
||||
pool!(TM: [u8; MAX_TM_LEN]);
|
||||
}
|
||||
|
||||
pub struct TxIdle {
|
||||
tx: TxType,
|
||||
dma_channel: dma1::C7,
|
||||
}
|
||||
|
||||
#[derive(Debug)]
|
||||
pub enum TmStoreError {
|
||||
StoreFull,
|
||||
StoreSlotsTooSmall,
|
||||
}
|
||||
|
||||
impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
|
||||
fn from(value: TmStoreError) -> Self {
|
||||
Self::SendError(value)
|
||||
}
|
||||
}
|
||||
|
||||
pub struct TmSender {
|
||||
mem_block: Option<Box<poolmod::TM>>,
|
||||
vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
|
||||
ctx: &'static str,
|
||||
}
|
||||
|
||||
impl TmSender {
|
||||
pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
|
||||
pub fn new(tm_packet: TmPacket, ctx: &'static str) -> Self {
|
||||
Self {
|
||||
mem_block: Some(mem_block),
|
||||
vec: Some(RefCell::new(tm_packet)),
|
||||
ctx,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl EcssTmSenderCore for TmSender {
|
||||
type Error = TmStoreError;
|
||||
impl EcssChannel for TmSender {
|
||||
fn id(&self) -> satrs::ChannelId {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
fn send_tm(
|
||||
&mut self,
|
||||
tm: PusTm,
|
||||
) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
|
||||
let mem_block = self.mem_block.take();
|
||||
if mem_block.is_none() {
|
||||
impl EcssTmSenderCore for TmSender {
|
||||
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
|
||||
let vec = self.vec.as_ref();
|
||||
if vec.is_none() {
|
||||
panic!("send_tm should only be called once");
|
||||
}
|
||||
let mut mem_block = mem_block.unwrap();
|
||||
if tm.len_packed() > MAX_TM_LEN {
|
||||
return Err(EcssTmErrorWithSend::SendError(
|
||||
TmStoreError::StoreSlotsTooSmall,
|
||||
));
|
||||
let vec_ref = vec.unwrap();
|
||||
let mut vec = vec_ref.borrow_mut();
|
||||
match tm {
|
||||
PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
|
||||
PusTmWrapper::Direct(tm) => {
|
||||
if tm.len_written() > MAX_TM_LEN {
|
||||
return Err(EcssTmtcError::Store(StoreError::DataTooLarge(
|
||||
tm.len_written(),
|
||||
)));
|
||||
}
|
||||
vec.resize(tm.len_written(), 0).expect("vec resize failed");
|
||||
tm.write_to_bytes(vec.as_mut_slice())?;
|
||||
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_written());
|
||||
drop(vec);
|
||||
TM_REQUESTS
|
||||
.enqueue(vec_ref.take())
|
||||
.map_err(|_| EcssTmtcError::Store(StoreError::StoreFull(0)))?;
|
||||
}
|
||||
}
|
||||
tm.write_to_bytes(mem_block.as_mut_slice())
|
||||
.map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
|
||||
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
|
||||
TX_REQUESTS
|
||||
.enqueue((mem_block, tm.len_packed()))
|
||||
.map_err(|_| TmStoreError::StoreFull)?;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
@ -163,33 +149,37 @@ pub enum UartTxState {
|
||||
Transmitting(Option<TxDmaTransferType>),
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
|
||||
pub struct UartTxShared {
|
||||
last_completed: Option<InstantFugit>,
|
||||
state: UartTxState,
|
||||
}
|
||||
|
||||
#[app(device = stm32f3xx_hal::pac, peripherals = true)]
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use cortex_m::iprintln;
|
||||
use satrs_core::pus::verification::FailParams;
|
||||
use satrs_core::pus::verification::VerificationReporterCore;
|
||||
use satrs_core::spacepackets::{
|
||||
ecss::EcssEnumU16,
|
||||
tc::PusTc,
|
||||
time::cds::P_FIELD_BASE,
|
||||
tm::{PusTm, PusTmSecondaryHeader},
|
||||
CcsdsPacket, SpHeader,
|
||||
use rtic_monotonics::systick::Systick;
|
||||
use rtic_monotonics::Monotonic;
|
||||
use satrs::pus::verification::FailParams;
|
||||
use satrs::pus::verification::VerificationReporterCore;
|
||||
use satrs::spacepackets::{
|
||||
ecss::tc::PusTcReader, ecss::tm::PusTmCreator, ecss::tm::PusTmSecondaryHeader,
|
||||
ecss::EcssEnumU16, time::cds::P_FIELD_BASE, CcsdsPacket, SpHeader,
|
||||
};
|
||||
#[allow(unused_imports)]
|
||||
use stm32f3_discovery::leds::Direction;
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3xx_hal::prelude::*;
|
||||
use stm32f3xx_hal::Toggle;
|
||||
|
||||
use stm32f3_discovery::switch_hal::OutputSwitch;
|
||||
use stm32f3xx_hal::Switch;
|
||||
#[allow(dead_code)]
|
||||
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
tx_transfer: UartTxState,
|
||||
tx_shared: UartTxShared,
|
||||
rx_transfer: Option<RxDmaTransferType>,
|
||||
}
|
||||
|
||||
@ -201,17 +191,14 @@ mod app {
|
||||
curr_dir: Iter<'static, Direction>,
|
||||
}
|
||||
|
||||
#[monotonic(binds = SysTick, default = true)]
|
||||
type MonoTimer = Systick<1000>;
|
||||
|
||||
#[init(local = [
|
||||
tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
|
||||
tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
|
||||
])]
|
||||
fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
|
||||
#[init]
|
||||
fn init(mut cx: init::Context) -> (Shared, Local) {
|
||||
let mut rcc = cx.device.RCC.constrain();
|
||||
|
||||
let mono = Systick::new(cx.core.SYST, 8_000_000);
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
let systick_mono_token = rtic_monotonics::create_systick_token!();
|
||||
Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
|
||||
|
||||
logger_init();
|
||||
let mut flash = cx.device.FLASH.constrain();
|
||||
let clocks = rcc
|
||||
@ -220,15 +207,16 @@ mod app {
|
||||
.sysclk(8.MHz())
|
||||
.pclk1(8.MHz())
|
||||
.freeze(&mut flash.acr);
|
||||
|
||||
// Set up monotonic timer.
|
||||
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
|
||||
|
||||
// setup ITM output
|
||||
iprintln!(
|
||||
&mut cx.core.ITM.stim[0],
|
||||
"Starting sat-rs demo application for the STM32F3-Discovery"
|
||||
);
|
||||
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
// Assign memory to the pools.
|
||||
poolmod::TC::grow(cx.local.tc_pool_mem);
|
||||
poolmod::TM::grow(cx.local.tm_pool_mem);
|
||||
|
||||
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
|
||||
|
||||
@ -264,106 +252,138 @@ mod app {
|
||||
clocks,
|
||||
&mut rcc.apb1,
|
||||
);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Toggle::On);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
|
||||
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
|
||||
|
||||
let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
|
||||
let (tx_serial, mut rx_serial) = usart2.split();
|
||||
let (mut tx_serial, mut rx_serial) = usart2.split();
|
||||
|
||||
// This interrupt is immediately triggered, clear it. It will only be reset
|
||||
// by the hardware when data is received on RX (RXNE event)
|
||||
rx_serial.clear_event(RxEvent::Idle);
|
||||
// For some reason, this is also immediately triggered..
|
||||
tx_serial.clear_event(TxEvent::TransmissionComplete);
|
||||
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
|
||||
info!(target: "init", "Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
(
|
||||
Shared {
|
||||
tx_transfer: UartTxState::Idle(Some(TxIdle {
|
||||
tx: tx_serial,
|
||||
dma_channel: dma1.ch7,
|
||||
})),
|
||||
tx_shared: UartTxShared {
|
||||
last_completed: None,
|
||||
state: UartTxState::Idle(Some(TxIdle {
|
||||
tx: tx_serial,
|
||||
dma_channel: dma1.ch7,
|
||||
})),
|
||||
},
|
||||
rx_transfer: Some(rx_transfer),
|
||||
},
|
||||
Local {
|
||||
//timer: mono_timer,
|
||||
leds,
|
||||
last_dir: Direction::North,
|
||||
curr_dir: Direction::iter(),
|
||||
verif_reporter,
|
||||
},
|
||||
init::Monotonics(mono),
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds, curr_dir, last_dir])]
|
||||
fn blink(cx: blink::Context) {
|
||||
let toggle_leds = |dir: &Direction| {
|
||||
let leds = cx.local.leds;
|
||||
let last_led = leds.for_direction(*cx.local.last_dir);
|
||||
async fn blink(cx: blink::Context) {
|
||||
let blink::LocalResources {
|
||||
leds,
|
||||
curr_dir,
|
||||
last_dir,
|
||||
..
|
||||
} = cx.local;
|
||||
let mut toggle_leds = |dir: &Direction| {
|
||||
let last_led = leds.for_direction(*last_dir);
|
||||
last_led.off().ok();
|
||||
let led = leds.for_direction(*dir);
|
||||
led.on().ok();
|
||||
*cx.local.last_dir = *dir;
|
||||
*last_dir = *dir;
|
||||
};
|
||||
|
||||
match cx.local.curr_dir.next() {
|
||||
Some(dir) => {
|
||||
toggle_leds(dir);
|
||||
}
|
||||
None => {
|
||||
*cx.local.curr_dir = Direction::iter();
|
||||
toggle_leds(cx.local.curr_dir.next().unwrap());
|
||||
loop {
|
||||
match curr_dir.next() {
|
||||
Some(dir) => {
|
||||
toggle_leds(dir);
|
||||
}
|
||||
None => {
|
||||
*curr_dir = Direction::iter();
|
||||
toggle_leds(curr_dir.next().unwrap());
|
||||
}
|
||||
}
|
||||
Systick::delay(BLINK_FREQ_MS.millis()).await;
|
||||
}
|
||||
blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
|
||||
}
|
||||
|
||||
#[task(
|
||||
shared = [tx_transfer],
|
||||
local = []
|
||||
shared = [tx_shared],
|
||||
)]
|
||||
fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||
if let Some((buf, len)) = TX_REQUESTS.dequeue() {
|
||||
cx.shared.tx_transfer.lock(|tx_state| match tx_state {
|
||||
UartTxState::Idle(tx) => {
|
||||
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
|
||||
// Safety: We only copy the data into the TX DMA buffer in this task.
|
||||
// If the DMA is active, another branch will be taken.
|
||||
let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
|
||||
// 0 sentinel value as start marker
|
||||
mut_tx_dma_buf[0] = 0;
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
|
||||
// 0 end marker
|
||||
mut_tx_dma_buf[encoded_len + 1] = 0;
|
||||
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
|
||||
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
|
||||
let tx_idle = tx.take().unwrap();
|
||||
// Transfer completion and re-scheduling of new TX transfers will be done
|
||||
// by the IRQ handler.
|
||||
let transfer = tx_idle
|
||||
.tx
|
||||
.write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
|
||||
*tx_state = UartTxState::Transmitting(Some(transfer));
|
||||
// The memory block is automatically returned to the pool when it is dropped.
|
||||
}
|
||||
UartTxState::Transmitting(_) => {
|
||||
// This is a SW configuration error. Only the ISR which
|
||||
// detects transfer completion should be able to spawn a new
|
||||
// task, and that ISR should set the state to IDLE.
|
||||
panic!("invalid internal tx state detected")
|
||||
}
|
||||
})
|
||||
} else {
|
||||
cx.shared.tx_transfer.lock(|tx_state| {
|
||||
if let UartTxState::Idle(_) = tx_state {
|
||||
serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
|
||||
.unwrap();
|
||||
async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
|
||||
loop {
|
||||
let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
|
||||
if let UartTxState::Idle(_) = tx_shared.state {
|
||||
return true;
|
||||
}
|
||||
false
|
||||
});
|
||||
if is_idle {
|
||||
let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
|
||||
if let Some(last_completed) = last_completed {
|
||||
let elapsed_ms = (Systick::now() - last_completed).to_millis();
|
||||
if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
|
||||
Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
|
||||
.await;
|
||||
}
|
||||
}
|
||||
} else {
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
if let Some(vec) = TM_REQUESTS.dequeue() {
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(tx) => {
|
||||
let encoded_len;
|
||||
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
|
||||
// Safety: We only copy the data into the TX DMA buffer in this task.
|
||||
// If the DMA is active, another branch will be taken.
|
||||
unsafe {
|
||||
// 0 sentinel value as start marker
|
||||
DMA_TX_BUF[0] = 0;
|
||||
encoded_len =
|
||||
cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
// 0 end marker
|
||||
DMA_TX_BUF[encoded_len + 1] = 0;
|
||||
}
|
||||
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
|
||||
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
|
||||
let tx_idle = tx.take().unwrap();
|
||||
// Transfer completion and re-scheduling of new TX transfers will be done
|
||||
// by the IRQ handler.
|
||||
// SAFETY: The DMA is the exclusive writer to the DMA buffer now.
|
||||
let transfer = tx_idle.tx.write_all(
|
||||
unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
|
||||
tx_idle.dma_channel,
|
||||
);
|
||||
tx_shared.state = UartTxState::Transmitting(Some(transfer));
|
||||
// The memory block is automatically returned to the pool when it is dropped.
|
||||
}
|
||||
UartTxState::Transmitting(_) => (),
|
||||
});
|
||||
// Check for completion after 1 ms
|
||||
Systick::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
// Nothing to do, and we are idle.
|
||||
Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
@ -375,14 +395,14 @@ mod app {
|
||||
verif_reporter
|
||||
],
|
||||
)]
|
||||
fn serial_rx_handler(
|
||||
async fn serial_rx_handler(
|
||||
cx: serial_rx_handler::Context,
|
||||
received_packet: Box<poolmod::TC>,
|
||||
rx_len: usize,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
) {
|
||||
info!("running rx handler");
|
||||
let tgt: &'static str = "serial_rx_handler";
|
||||
cx.local.stamp_buf[0] = P_FIELD_BASE;
|
||||
info!(target: tgt, "Received packet with {} bytes", rx_len);
|
||||
info!(target: tgt, "Received packet with {} bytes", received_packet.len());
|
||||
let decode_buf = cx.local.decode_buf;
|
||||
let packet = received_packet.as_slice();
|
||||
let mut start_idx = None;
|
||||
@ -403,7 +423,7 @@ mod app {
|
||||
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
|
||||
Ok(len) => {
|
||||
info!(target: tgt, "Decoded packet length: {}", len);
|
||||
let pus_tc = PusTc::from_bytes(decode_buf);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
let verif_reporter = cx.local.verif_reporter;
|
||||
match pus_tc {
|
||||
Ok((tc, tc_len)) => handle_tc(
|
||||
@ -429,7 +449,7 @@ mod app {
|
||||
}
|
||||
|
||||
fn handle_tc(
|
||||
tc: PusTc,
|
||||
tc: PusTcReader,
|
||||
tc_len: usize,
|
||||
verif_reporter: &mut VerificationReporterCore,
|
||||
src_data_buf: &mut [u8; MAX_TM_LEN],
|
||||
@ -451,30 +471,23 @@ mod app {
|
||||
.acceptance_failure(
|
||||
src_data_buf,
|
||||
token,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
|
||||
)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
if let Err(e) =
|
||||
verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
|
||||
{
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
if let Err(e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
|
||||
warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
|
||||
};
|
||||
return;
|
||||
}
|
||||
let sendable = verif_reporter
|
||||
.acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
|
||||
.unwrap();
|
||||
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
|
||||
@ -485,15 +498,17 @@ mod app {
|
||||
if tc.service() == 17 {
|
||||
if tc.subservice() == 1 {
|
||||
let sendable = verif_reporter
|
||||
.start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
let started_token = match verif_reporter.send_start_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
// let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
let started_token = match verif_reporter.send_start_success(sendable, &sender) {
|
||||
Ok(token) => token,
|
||||
Err(e) => {
|
||||
warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
|
||||
@ -507,24 +522,28 @@ mod app {
|
||||
let mut sp_header =
|
||||
SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
|
||||
let ping_reply = PusTm::new(&mut sp_header, sec_header, None, true);
|
||||
let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
|
||||
if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
|
||||
let ping_reply = PusTmCreator::new(&mut sp_header, sec_header, &[], true);
|
||||
let mut tm_packet = TmPacket::new();
|
||||
tm_packet
|
||||
.resize(ping_reply.len_written(), 0)
|
||||
.expect("vec resize failed");
|
||||
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
|
||||
if TM_REQUESTS.enqueue(tm_packet).is_err() {
|
||||
warn!(target: tgt, "TC queue full");
|
||||
return;
|
||||
}
|
||||
SEQ_COUNT_PROVIDER.increment();
|
||||
let sendable = verif_reporter
|
||||
.completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
stamp_buf,
|
||||
)
|
||||
.unwrap();
|
||||
let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
|
||||
let mut sender = TmSender::new(mem_block, tgt);
|
||||
if let Err(e) = verif_reporter.send_step_or_completion_success(
|
||||
sendable,
|
||||
&SEQ_COUNT_PROVIDER,
|
||||
&mut sender,
|
||||
) {
|
||||
let sender = TmSender::new(TmPacket::new(), tgt);
|
||||
if let Err(e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
|
||||
warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
|
||||
}
|
||||
} else {
|
||||
@ -535,23 +554,23 @@ mod app {
|
||||
|
||||
#[task(binds = DMA1_CH6, shared = [rx_transfer])]
|
||||
fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_ref = rx_transfer.as_ref().unwrap();
|
||||
if rx_ref.is_complete() {
|
||||
let uart_rx_owned = rx_transfer.take().unwrap();
|
||||
let (buf, c, rx) = uart_rx_owned.stop();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a memory pool here
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
|
||||
// to do this.
|
||||
let mut mem_block = poolmod::TC::alloc()
|
||||
.expect("allocating memory block for rx failed")
|
||||
.init([0u8; TC_BUF_LEN]);
|
||||
// Copy data into memory pool.
|
||||
mem_block.copy_from_slice(buf);
|
||||
tc_packet.resize(buf.len(), 0).expect("vec resize failed");
|
||||
tc_packet.copy_from_slice(buf);
|
||||
|
||||
// Start the next transfer as soon as possible.
|
||||
*rx_transfer = Some(rx.read_exact(buf, c));
|
||||
// Only send owning pointer to pool memory and the received packet length.
|
||||
serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
|
||||
.expect("spawning rx handler task failed");
|
||||
|
||||
// Send the vector to a regular task.
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
|
||||
// If this happens, there is a high chance that the maximum packet length was
|
||||
// exceeded. Circular mode is not used here, so data might be missed.
|
||||
warn!(
|
||||
@ -562,23 +581,26 @@ mod app {
|
||||
});
|
||||
}
|
||||
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
|
||||
fn serial_isr(mut cx: serial_isr::Context) {
|
||||
cx.shared.tx_transfer.lock(|tx_state| match tx_state {
|
||||
UartTxState::Idle(_) => (),
|
||||
UartTxState::Transmitting(transfer) => {
|
||||
let transfer_ref = transfer.as_ref().unwrap();
|
||||
if transfer_ref.is_complete() {
|
||||
let transfer = transfer.take().unwrap();
|
||||
let (_, dma_channel, tx) = transfer.stop();
|
||||
*tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
serial_tx_handler::spawn_after(MsDuration::from_ticks(
|
||||
MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
|
||||
))
|
||||
.unwrap();
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(_) => (),
|
||||
UartTxState::Transmitting(transfer) => {
|
||||
let transfer_ref = transfer.as_ref().unwrap();
|
||||
if transfer_ref.is_complete() {
|
||||
let transfer = transfer.take().unwrap();
|
||||
let (_, dma_channel, mut tx) = transfer.stop();
|
||||
tx.clear_event(TxEvent::TransmissionComplete);
|
||||
tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
// We cache the last completed time to ensure that there is a minimum delay between consecutive
|
||||
// transferred packets.
|
||||
tx_shared.last_completed = Some(Systick::now());
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
});
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_transfer_ref = rx_transfer.as_ref().unwrap();
|
||||
// Received a partial packet.
|
||||
@ -586,17 +608,15 @@ mod app {
|
||||
let rx_transfer_owned = rx_transfer.take().unwrap();
|
||||
let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a memory pool here
|
||||
// to do this.
|
||||
let mut mem_block = poolmod::TC::alloc()
|
||||
.expect("allocating memory block for rx failed")
|
||||
.init([0u8; TC_BUF_LEN]);
|
||||
// Copy data into memory pool.
|
||||
mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack
|
||||
// allocated vector to do this.
|
||||
tc_packet
|
||||
.resize(rx_len as usize, 0)
|
||||
.expect("vec resize failed");
|
||||
tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
rx.clear_event(RxEvent::Idle);
|
||||
// Only send owning pointer to pool memory and the received packet length.
|
||||
serial_rx_handler::spawn(mem_block, rx_len as usize)
|
||||
.expect("spawning rx handler task failed");
|
||||
info!("spawning rx task");
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
|
||||
*rx_transfer = Some(rx.read_exact(buf, ch));
|
||||
}
|
||||
});
|
||||
|
||||
@ -9,4 +9,4 @@
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
}
|
||||
}
|
||||
@ -11,7 +11,8 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
|
||||
# Alternative option: Pipe ITM output into itm.txt file
|
||||
# tpiu config internal itm.txt uart off $CDCPUFreqHz
|
||||
|
||||
# Default option so SWO display of VS code works.
|
||||
# Default option so SWO display of VS code works. Please note that this might not be required
|
||||
# anymore starting at openocd v0.12.0
|
||||
tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
|
||||
itm port 0 on
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user