Merge branch 'main' into request-reply-messaging-mode-tree

.gitignore

@@ -3,5 +3,7 @@ target/
 output.log
 /Cargo.lock
 
+output.log
+
 /.idea/*
 !/.idea/runConfigurations

satrs-example-stm32f3-disco/.cargo/def_config.toml

@@ -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)

satrs-example-stm32f3-disco/.gitignore

@@ -1,3 +1,4 @@
 /target
 /itm.txt
 /.cargo/config*
+/.vscode

satrs-example-stm32f3-disco/.vscode/settings_default.json

@@ -1,3 +0,0 @@
-{
-    "cortex-debug.gdbPath.linux": "gdb-multiarch"
-}

satrs-example-stm32f3-disco/Cargo.lock

@@ -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"
+name = "cobs"
-version = "0.7.6"
+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"
+name = "crc"
-version = "1.1.3"
+version = "3.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
+checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
 dependencies = [
- "bare-metal 1.0.0",
+ "crc-catalog",
- "cortex-m",
- "cortex-m-rtic-macros",
- "heapless",
- "rtic-core",
- "rtic-monotonic",
- "version_check",
 ]
 
 [[package]]
-name = "cortex-m-rtic-macros"
+name = "crc-catalog"
-version = "1.1.5"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
+checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
-dependencies = [
- "proc-macro-error",
- "proc-macro2",
- "quote",
- "rtic-syntax",
- "syn",
-]
 
 [[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"
+name = "futures-core"
-version = "2.2.0"
+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"
+checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a"
 dependencies = [
  "typenum",
  "version_check",
@@ -286,29 +332,26 @@ dependencies = [
 
 [[package]]
 name = "hash32"
-version = "0.2.1"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
 dependencies = [
  "byteorder",
 ]
 
 [[package]]
 name = "hashbrown"
-version = "0.12.3"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heapless"
-version = "0.7.16"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-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"
+checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
-dependencies = [
- "cfg-if",
-]
 
 [[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"
+name = "rtic-macros"
-version = "1.0.0"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
-
-[[package]]
-name = "rtic-syntax"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065"
 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 0.2.7",
- "embedded-hal",
  "enumset",
  "heapless",
  "itm_logger",
  "panic-itm",
+ "rtic",
+ "rtic-monotonics",
+ "satrs",
  "stm32f3-discovery",
  "stm32f3xx-hal",
- "systick-monotonic",
 ]
 
 [[package]]
-name = "scopeguard"
+name = "satrs-shared"
-version = "1.1.0"
+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"
+name = "smallvec"
-version = "0.9.4"
+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"
+version = "0.11.0-alpha.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/robamu/stm32f3xx-hal?branch=complete-dma-update#04fc76b7912649c84b57bd0ab803ea3ccf2aadae"
-checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03"
 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"
+name = "syn"
-version = "1.0.1"
+version = "2.0.53"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67fb822d5c615a0ae3a4795ee5b1d06381c7faf488d861c0a4fa8e6a88d5ff84"
+checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032"
 dependencies = [
- "cortex-m",
+ "proc-macro2",
- "fugit",
+ "quote",
- "rtic-monotonic",
+ "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",
+]

satrs-example-stm32f3-disco/Cargo.toml

@@ -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"
+embedded-hal = "0.2.7"
-cortex-m-rtic = "1.0"
+enumset = "1"
-enumset = "1.0"
+heapless = "0.8"
-heapless = "0.7"
+
-systick-monotonic = "1.0"
+[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]
+[dependencies.satrs]
-git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
+# git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
-version = "0.1.0-alpha.0"
+version = "0.2.0-rc.0"
 default-features = false
 
 # this lets you use `cargo fix`!

satrs-example-stm32f3-disco/README.md

@@ -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:
+It is recommended to use a virtual environment to do this. To set up one in the command line,
-  - How and where to connect serial interface on the MCU
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
-  - How to set up Python venv (or at least strongly recommend it) and install deps
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
-  - How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
+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
+```

satrs-example-stm32f3-disco/openocd.gdb

@@ -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

satrs-example-stm32f3-disco/pyclient/.gitignore

@@ -1,4 +1,5 @@
 /venv
+/.tmtc-history.txt
 /log
 /.idea/*
 !/.idea/runConfigurations

satrs-example-stm32f3-disco/pyclient/main.py

@@ -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.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com_if import ComInterface
+from tmtccmd.com import ComInterface
 from tmtccmd.config import (
+    CmdTreeNode,
     default_json_path,
     SetupParams,
-    TmTcCfgHookBase,
+    HookBase,
-    TmtcDefinitionWrapper,
-    CoreServiceList,
-    OpCodeEntry,
     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 = logging.getLogger()
-
-LOGGER = get_console_logger()
 
 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]:
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
-        from tmtccmd.config.com_if import (
+        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:
+    def get_command_definitions(self) -> CmdTreeNode:
-        from tmtccmd.config.globals import get_default_tmtc_defs
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
 
-        defs = get_default_tmtc_defs()
+    def get_cmd_history(self) -> Optional[History]:
-        srv_5 = OpCodeEntry()
+        """Optionlly return a history class for the past command paths which will be used
-        srv_5.add("0", "Event Test")
+        when prompting a command path from the user in CLI mode."""
-        defs.add_service(
+        return FileHistory(".tmtc-history.txt")
-            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_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("Could not generate PUS TM object from raw data")
-            LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
-        service = tm_packet.service
+        service = pus_tm.service
-        dedicated_handler = False
+        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("No handling for HK packets implemented")
-            LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
+            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet)
+            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)
+            tm_packet = Service17Tm.unpack(packet, time_reader)
-            dedicated_handler = True
             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(
+                _LOGGER.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
-                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)
+            tm_packet = PusTelemetry.unpack(packet, time_reader)
-        self.raw_logger.log_tm(tm_packet)
+        self.raw_logger.log_tm(pus_tm)
-        if not dedicated_handler and tm_packet is not None:
-            self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
 
 
 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):
+    def queue_finished_cb(self, info: ProcedureWrapper):
-        if helper.proc_type == TcProcedureType.DEFAULT:
+        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
+            def_proc = info.to_def_procedure()
-            LOGGER.info(
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
-                f"Queue handling finished for service {def_proc.service} and "
-                f"op code {def_proc.op_code}"
-            )
 
-    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:
+        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
+            def_proc = info.to_def_procedure()
-            service = def_proc.service
+            cmd_path = def_proc.cmd_path
-            op_code = def_proc.op_code
+            if cmd_path == "/ping":
-            if (
-                service == CoreServiceList.SERVICE_17
-                or service == CoreServiceList.SERVICE_17_ALT
-            ):
                 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)

satrs-example-stm32f3-disco/pyclient/requirements.txt

@@ -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

satrs-example-stm32f3-disco/src/main.rs

@@ -4,35 +4,33 @@ extern crate panic_itm;
 
 use rtic::app;
 
-use heapless::{
+use heapless::{mpmc::Q8, Vec};
-    mpmc::Q16,
-    pool,
-    pool::singleton::{Box, Pool},
-};
 #[allow(unused_imports)]
 use itm_logger::{debug, info, logger_init, warn};
-use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
+use rtic_monotonics::systick::fugit::TimerInstantU32;
-use satrs_core::{
+use rtic_monotonics::systick::ExtU32;
-    pus::{EcssTmErrorWithSend, EcssTmSenderCore},
+use satrs::seq_count::SequenceCountProviderCore;
-    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 BLINK_FREQ_MS: u32 = 1000;
-const TX_HANDLER_FREQ_MS: u64 = 20;
+const TX_HANDLER_FREQ_MS: u32 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
+const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
-const MAX_TC_LEN: usize = 200;
+const MAX_TC_LEN: usize = 128;
-const MAX_TM_LEN: usize = 200;
+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;
+static TM_REQUESTS: Q8<TmPacket> = Q8::new();
-const TM_POOL_SLOTS: usize = 12;
+
+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 {
+impl EcssChannel for TmSender {
-    type Error = TmStoreError;
+    fn id(&self) -> satrs::ChannelId {
+        0
+    }
+}
 
-    fn send_tm(
+impl EcssTmSenderCore for TmSender {
-        &mut self,
+    fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-        tm: PusTm,
+        let vec = self.vec.as_ref();
-    ) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
+        if vec.is_none() {
-        let mem_block = self.mem_block.take();
-        if mem_block.is_none() {
             panic!("send_tm should only be called once");
         }
-        let mut mem_block = mem_block.unwrap();
+        let vec_ref = vec.unwrap();
-        if tm.len_packed() > MAX_TM_LEN {
+        let mut vec = vec_ref.borrow_mut();
-            return Err(EcssTmErrorWithSend::SendError(
+        match tm {
-                TmStoreError::StoreSlotsTooSmall,
+            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 rtic_monotonics::systick::Systick;
-    use satrs_core::pus::verification::VerificationReporterCore;
+    use rtic_monotonics::Monotonic;
-    use satrs_core::spacepackets::{
+    use satrs::pus::verification::FailParams;
-        ecss::EcssEnumU16,
+    use satrs::pus::verification::VerificationReporterCore;
-        tc::PusTc,
+    use satrs::spacepackets::{
-        time::cds::P_FIELD_BASE,
+        ecss::tc::PusTcReader, ecss::tm::PusTmCreator, ecss::tm::PusTmSecondaryHeader,
-        tm::{PusTm, PusTmSecondaryHeader},
+        ecss::EcssEnumU16, time::cds::P_FIELD_BASE, CcsdsPacket, SpHeader,
-        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)]
+    #[init]
-    type MonoTimer = Systick<1000>;
+    fn init(mut cx: init::Context) -> (Shared, Local) {
-
-    #[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) {
         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_shared: UartTxShared {
-                    tx: tx_serial,
+                    last_completed: None,
-                    dma_channel: dma1.ch7,
+                    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) {
+    async fn blink(cx: blink::Context) {
-        let toggle_leds = |dir: &Direction| {
+        let blink::LocalResources {
-            let leds = cx.local.leds;
+            leds,
-            let last_led = leds.for_direction(*cx.local.last_dir);
+            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;
         };
-
+        loop {
-        match cx.local.curr_dir.next() {
+            match curr_dir.next() {
-            Some(dir) => {
+                Some(dir) => {
-                toggle_leds(dir);
+                    toggle_leds(dir);
-            }
+                }
-            None => {
+                None => {
-                *cx.local.curr_dir = Direction::iter();
+                    *curr_dir = Direction::iter();
-                toggle_leds(cx.local.curr_dir.next().unwrap());
+                    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],
+        shared = [tx_shared],
-        local = []
     )]
-    fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
+    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        if let Some((buf, len)) = TX_REQUESTS.dequeue() {
+        loop {
-            cx.shared.tx_transfer.lock(|tx_state| match tx_state {
+            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
-                UartTxState::Idle(tx) => {
+                if let UartTxState::Idle(_) = tx_shared.state {
-                    //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
+                    return true;
-                    // 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();
                 }
+                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>,
+        received_packet: Vec<u8, MAX_TC_LEN>,
-        rx_len: usize,
     ) {
+        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,
+                    SEQ_COUNT_PROVIDER.get(),
-                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
+                    0,
+                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
                 )
                 .unwrap();
-            let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
+            let sender = TmSender::new(TmPacket::new(), tgt);
-            let mut sender = TmSender::new(mem_block, tgt);
+            if let Err(e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
-            if let Err(e) =
-                verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut 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 sender = TmSender::new(TmPacket::new(), tgt);
-        let mut sender = TmSender::new(mem_block, tgt);
+        let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
-        let accepted_token = match verif_reporter.send_acceptance_success(
-            sendable,
-            &SEQ_COUNT_PROVIDER,
-            &mut 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 mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
+                let sender = TmSender::new(TmPacket::new(), tgt);
-                let started_token = match verif_reporter.send_start_success(
+                let started_token = match verif_reporter.send_start_success(sendable, &sender) {
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut 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 ping_reply = PusTmCreator::new(&mut sp_header, sec_header, &[], true);
-                let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
+                let mut tm_packet = TmPacket::new();
-                let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
+                tm_packet
-                if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
+                    .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 sender = TmSender::new(TmPacket::new(), tgt);
-                let mut sender = TmSender::new(mem_block, tgt);
+                if let Err(e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
-                if let Err(e) = verif_reporter.send_step_or_completion_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut 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()
+                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
-                    .expect("allocating memory block for rx failed")
+                tc_packet.copy_from_slice(buf);
-                    .init([0u8; TC_BUF_LEN]);
+
-                // Copy data into memory pool.
+                // Start the next transfer as soon as possible.
-                mem_block.copy_from_slice(buf);
                 *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)
+                // Send the vector to a regular task.
-                    .expect("spawning rx handler task failed");
+                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 {
+        cx.shared
-            UartTxState::Idle(_) => (),
+            .tx_shared
-            UartTxState::Transmitting(transfer) => {
+            .lock(|tx_shared| match &mut tx_shared.state {
-                let transfer_ref = transfer.as_ref().unwrap();
+                UartTxState::Idle(_) => (),
-                if transfer_ref.is_complete() {
+                UartTxState::Transmitting(transfer) => {
-                    let transfer = transfer.take().unwrap();
+                    let transfer_ref = transfer.as_ref().unwrap();
-                    let (_, dma_channel, tx) = transfer.stop();
+                    if transfer_ref.is_complete() {
-                    *tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
+                        let transfer = transfer.take().unwrap();
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(
+                        let (_, dma_channel, mut tx) = transfer.stop();
-                        MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
+                        tx.clear_event(TxEvent::TransmissionComplete);
-                    ))
+                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                    .unwrap();
+                        // 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
+                // during the interrupt. There are multiple ways to do this, we use a stack
-                // to do this.
+                // allocated vector to do this.
-                let mut mem_block = poolmod::TC::alloc()
+                tc_packet
-                    .expect("allocating memory block for rx failed")
+                    .resize(rx_len as usize, 0)
-                    .init([0u8; TC_BUF_LEN]);
+                    .expect("vec resize failed");
-                // Copy data into memory pool.
+                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
-                mem_block[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.
+                info!("spawning rx task");
-                serial_rx_handler::spawn(mem_block, rx_len as usize)
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
-                    .expect("spawning rx handler task failed");
                 *rx_transfer = Some(rx.read_exact(buf, ch));
             }
         });

satrs-example-stm32f3-disco/vscode/openocd-helpers.tcl

@@ -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
 }