diff --git a/.gitignore b/.gitignore index 2e17483..fba2216 100644 --- a/.gitignore +++ b/.gitignore @@ -2,5 +2,7 @@ target/ /Cargo.lock +output.log + /.idea/* !/.idea/runConfigurations diff --git a/satrs-example-stm32f3-disco/.cargo/def_config b/satrs-example-stm32f3-disco/.cargo/def_config new file mode 100644 index 0000000..4150986 --- /dev/null +++ b/satrs-example-stm32f3-disco/.cargo/def_config @@ -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) diff --git a/satrs-example-stm32f3-disco/.cargo/def_config.toml b/satrs-example-stm32f3-disco/.cargo/def_config.toml new file mode 100644 index 0000000..4150986 --- /dev/null +++ b/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) diff --git a/satrs-example-stm32f3-disco/.gitignore b/satrs-example-stm32f3-disco/.gitignore index 767b60e..63b4a75 100644 --- a/satrs-example-stm32f3-disco/.gitignore +++ b/satrs-example-stm32f3-disco/.gitignore @@ -1,3 +1,4 @@ /target /itm.txt /.cargo/config* +/.vscode diff --git a/satrs-example-stm32f3-disco/.vscode/settings_default.json b/satrs-example-stm32f3-disco/.vscode/settings_default.json deleted file mode 100644 index e78c4ec..0000000 --- a/satrs-example-stm32f3-disco/.vscode/settings_default.json +++ /dev/null @@ -1,3 +0,0 @@ -{ - "cortex-debug.gdbPath.linux": "gdb-multiarch" -} diff --git a/satrs-example-stm32f3-disco/Cargo.lock b/satrs-example-stm32f3-disco/Cargo.lock index e8d9f02..838f17d 100644 --- a/satrs-example-stm32f3-disco/Cargo.lock +++ b/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", ] @@ -60,15 +60,15 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9" dependencies = [ "bitflags", - "nb 1.0.0", + "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" @@ -87,19 +87,29 @@ 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", @@ -109,9 +119,9 @@ dependencies = [ [[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", ] @@ -124,19 +134,19 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7" dependencies = [ "proc-macro2", "quote", - "syn", + "syn 1.0.109", ] [[package]] name = "cortex-m-rtic" -version = "1.1.3" +version = "1.1.4" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce" +checksum = "d696ae7390bdb9f7978f71ca7144256a2c4616240a6df9002da3c451f9fc8f02" dependencies = [ "bare-metal 1.0.0", "cortex-m", "cortex-m-rtic-macros", - "heapless", + "heapless 0.7.17", "rtic-core", "rtic-monotonic", "version_check", @@ -144,28 +154,43 @@ dependencies = [ [[package]] name = "cortex-m-rtic-macros" -version = "1.1.5" +version = "1.1.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607" +checksum = "eefb40b1ca901c759d29526e5c8a0a1b246c20caaa5b4cc5d0f0b94debecd4c7" dependencies = [ "proc-macro-error", "proc-macro2", "quote", "rtic-syntax", - "syn", + "syn 1.0.109", ] [[package]] -name = "critical-section" -version = "1.1.1" +name = "crc" +version = "3.0.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52" +checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe" +dependencies = [ + "crc-catalog", +] + +[[package]] +name = "crc-catalog" +version = "2.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5" + +[[package]] +name = "critical-section" +version = "1.1.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +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 +198,37 @@ 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]] @@ -225,23 +261,23 @@ 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]] @@ -252,18 +288,18 @@ 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" +version = "2.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a4b1b088ad0a967aa29540456b82fc8903f854775d33f71e9709c4efb3dfbfd2" +checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a" [[package]] name = "generic-array" @@ -276,9 +312,9 @@ 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", @@ -293,6 +329,15 @@ dependencies = [ "byteorder", ] +[[package]] +name = "hash32" +version = "0.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606" +dependencies = [ + "byteorder", +] + [[package]] name = "hashbrown" version = "0.12.3" @@ -301,17 +346,27 @@ checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888" [[package]] name = "heapless" -version = "0.7.16" +version = "0.7.17" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743" +checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f" dependencies = [ "atomic-polyfill", - "hash32", + "hash32 0.2.1", "rustc_version 0.4.0", "spin", "stable_deref_trait", ] +[[package]] +name = "heapless" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad" +dependencies = [ + "hash32 0.3.1", + "stable_deref_trait", +] + [[package]] name = "ident_case" version = "1.0.1" @@ -320,9 +375,9 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39" [[package]] name = "indexmap" -version = "1.9.2" +version = "1.9.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1885e79c1fc4b10f0e172c475f458b7f7b93061064d98c3293e98c5ba0c8b399" +checksum = "bd070e393353796e801d209ad339e89596eb4c8d430d18ede6a1cced8fafbd99" dependencies = [ "autocfg", "hashbrown", @@ -330,7 +385,8 @@ dependencies = [ [[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", @@ -338,9 +394,9 @@ dependencies = [ [[package]] name = "lock_api" -version = "0.4.9" +version = "0.4.11" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df" +checksum = "3c168f8615b12bc01f9c17e2eb0cc07dcae1940121185446edc3744920e8ef45" dependencies = [ "autocfg", "scopeguard", @@ -348,12 +404,9 @@ dependencies = [ [[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" @@ -372,7 +425,7 @@ 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 +434,14 @@ 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 +467,18 @@ 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 +498,33 @@ 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 +536,9 @@ 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 = "proc-macro-error" @@ -477,7 +549,7 @@ dependencies = [ "proc-macro-error-attr", "proc-macro2", "quote", - "syn", + "syn 1.0.109", "version_check", ] @@ -494,27 +566,27 @@ 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", ] @@ -533,14 +605,14 @@ checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82" [[package]] name = "rtic-syntax" -version = "1.0.2" +version = "1.0.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065" +checksum = "5f5e215601dc467752c2bddc6284a622c6f3d2bab569d992adcd5ab7e4cb9478" dependencies = [ "indexmap", "proc-macro2", "quote", - "syn", + "syn 1.0.109", ] [[package]] @@ -558,31 +630,59 @@ 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", "enumset", - "heapless", + "heapless 0.8.0", "itm_logger", "panic-itm", + "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 = "scopeguard" +version = "1.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49" [[package]] name = "semver" @@ -595,9 +695,9 @@ 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" @@ -607,15 +707,35 @@ 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 = "smallvec" +version = "1.13.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67" + +[[package]] +name = "spacepackets" +version = "0.10.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "28246ae2451af240c3e3ff3c51363c7b6ad565ca6aa9bad23b8c725687c485e1" +dependencies = [ + "chrono", + "crc", + "delegate", + "num-traits", + "num_enum", + "zerocopy", +] [[package]] name = "spin" -version = "0.9.4" +version = "0.9.8" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09" +checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67" dependencies = [ "lock_api", ] @@ -651,7 +771,8 @@ 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=all_features#7b1d21b0463331ada405ceed876c93e82b987a9f" dependencies = [ "accelerometer", "cortex-m", @@ -663,9 +784,8 @@ dependencies = [ [[package]] name = "stm32f3xx-hal" -version = "0.9.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03" +version = "0.10.0-alpha.0" +source = "git+https://github.com/robamu/stm32f3xx-hal?branch=all_features#c9b3a4fcaaf48f8264475de2b34387597211478e" dependencies = [ "bare-metal 1.0.0", "bxcan", @@ -676,7 +796,7 @@ dependencies = [ "embedded-hal", "embedded-time", "enumset", - "nb 1.0.0", + "nb 1.1.0", "paste", "rtcc", "slice-group-by", @@ -696,9 +816,20 @@ dependencies = [ [[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", + "unicode-ident", +] + +[[package]] +name = "syn" +version = "2.0.53" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7383cd0e49fff4b6b90ca5670bfd3e9d6a733b3f90c686605aa7eec8c4996032" dependencies = [ "proc-macro2", "quote", @@ -718,15 +849,15 @@ dependencies = [ [[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 +885,30 @@ 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", +] diff --git a/satrs-example-stm32f3-disco/Cargo.toml b/satrs-example-stm32f3-disco/Cargo.toml index dec4cab..b74efac 100644 --- a/satrs-example-stm32f3-disco/Cargo.toml +++ b/satrs-example-stm32f3-disco/Cargo.toml @@ -11,7 +11,7 @@ cortex-m-rt = "0.7" embedded-hal = "0.2.6" cortex-m-rtic = "1.0" enumset = "1.0" -heapless = "0.7" +heapless = "0.8" systick-monotonic = "1.0" [dependencies.cobs] @@ -42,9 +42,9 @@ branch = "all_features" # 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`! diff --git a/satrs-example-stm32f3-disco/README.md b/satrs-example-stm32f3-disco/README.md index 9e98f05..290b472 100644 --- a/satrs-example-stm32f3-disco/README.md +++ b/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. diff --git a/satrs-example-stm32f3-disco/openocd.gdb b/satrs-example-stm32f3-disco/openocd.gdb index 0ba0c09..06e81b1 100644 --- a/satrs-example-stm32f3-disco/openocd.gdb +++ b/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 diff --git a/satrs-example-stm32f3-disco/pyclient/main.py b/satrs-example-stm32f3-disco/pyclient/main.py old mode 100644 new mode 100755 index a5fa9cd..8f5aee4 --- a/satrs-example-stm32f3-disco/pyclient/main.py +++ b/satrs-example-stm32f3-disco/pyclient/main.py @@ -1,39 +1,39 @@ #!/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.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 +41,28 @@ 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 +# 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 +77,14 @@ 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 +92,75 @@ 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 +179,11 @@ 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): @@ -212,31 +196,24 @@ 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)) @@ -248,25 +225,25 @@ def main(): 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) diff --git a/satrs-example-stm32f3-disco/pyclient/requirements.txt b/satrs-example-stm32f3-disco/pyclient/requirements.txt index d9a7ac1..e934469 100644 --- a/satrs-example-stm32f3-disco/pyclient/requirements.txt +++ b/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 diff --git a/satrs-example-stm32f3-disco/src/main.rs b/satrs-example-stm32f3-disco/src/main.rs index 8762cbf..1c7a8c6 100644 --- a/satrs-example-stm32f3-disco/src/main.rs +++ b/satrs-example-stm32f3-disco/src/main.rs @@ -4,17 +4,14 @@ 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 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}; @@ -26,8 +23,8 @@ 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 MAX_TC_LEN: usize = 128; +const MAX_TM_LEN: usize = 128; pub const PUS_APID: u16 = 0x02; type TxType = Tx>>; @@ -51,10 +48,15 @@ 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, usize)> = Q16::new(); +type TmPacket = Vec; +type TcPacket = Vec; -const TC_POOL_SLOTS: usize = 12; -const TM_POOL_SLOTS: usize = 12; +static TM_REQUESTS: Q8 = Q8::new(); + +const TC_POOL_SLOTS: usize = 8; +const TM_POOL_SLOTS: usize = 8; + +use core::cell::RefCell; use core::sync::atomic::{AtomicU16, Ordering}; pub struct SeqCountProviderAtomicRef { @@ -88,70 +90,56 @@ impl SequenceCountProviderCore 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 for EcssTmErrorWithSend { - fn from(value: TmStoreError) -> Self { - Self::SendError(value) - } -} - pub struct TmSender { - mem_block: Option>, + vec: Option>>, ctx: &'static str, } impl TmSender { - pub fn new(mem_block: Box, 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> { - 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(()) } } @@ -168,14 +156,11 @@ 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 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; @@ -226,9 +211,6 @@ mod app { "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(); @@ -324,7 +306,7 @@ mod app { local = [] )] fn serial_tx_handler(mut cx: serial_tx_handler::Context) { - if let Some((buf, len)) = TX_REQUESTS.dequeue() { + if let Some(vec) = TM_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]); @@ -336,7 +318,7 @@ mod app { // 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..]); + let encoded_len = cobs::encode(&vec[0..vec.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); @@ -375,14 +357,10 @@ mod app { verif_reporter ], )] - fn serial_rx_handler( - cx: serial_rx_handler::Context, - received_packet: Box, - rx_len: usize, - ) { + fn serial_rx_handler(cx: serial_rx_handler::Context, received_packet: Vec) { 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 +381,7 @@ 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 +407,7 @@ 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 +429,25 @@ 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 mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]); + 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 mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]); + 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 +458,17 @@ 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 +482,28 @@ 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 mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]); + 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 { @@ -541,17 +520,17 @@ mod app { 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); + let mut tc_packet = TcPacket::new(); + 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!( @@ -586,17 +565,16 @@ 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. + let mut tc_packet = TcPacket::new(); + 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"); + serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed"); *rx_transfer = Some(rx.read_exact(buf, ch)); } }); diff --git a/satrs-example-stm32f3-disco/.vscode/.gitignore b/satrs-example-stm32f3-disco/vscode/.gitignore similarity index 100% rename from satrs-example-stm32f3-disco/.vscode/.gitignore rename to satrs-example-stm32f3-disco/vscode/.gitignore diff --git a/satrs-example-stm32f3-disco/.vscode/extensions.json b/satrs-example-stm32f3-disco/vscode/extensions.json similarity index 99% rename from satrs-example-stm32f3-disco/.vscode/extensions.json rename to satrs-example-stm32f3-disco/vscode/extensions.json index dd3369c..57b3fbb 100644 --- a/satrs-example-stm32f3-disco/.vscode/extensions.json +++ b/satrs-example-stm32f3-disco/vscode/extensions.json @@ -9,4 +9,4 @@ ], // List of extensions recommended by VS Code that should not be recommended for users of this workspace. "unwantedRecommendations": [] -} \ No newline at end of file +} diff --git a/satrs-example-stm32f3-disco/.vscode/launch.json b/satrs-example-stm32f3-disco/vscode/launch.json similarity index 100% rename from satrs-example-stm32f3-disco/.vscode/launch.json rename to satrs-example-stm32f3-disco/vscode/launch.json diff --git a/satrs-example-stm32f3-disco/.vscode/openocd-helpers.tcl b/satrs-example-stm32f3-disco/vscode/openocd-helpers.tcl similarity index 81% rename from satrs-example-stm32f3-disco/.vscode/openocd-helpers.tcl rename to satrs-example-stm32f3-disco/vscode/openocd-helpers.tcl index 4da6f7e..a1116b6 100644 --- a/satrs-example-stm32f3-disco/.vscode/openocd-helpers.tcl +++ b/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 } diff --git a/satrs-example-stm32f3-disco/.vscode/tasks.json b/satrs-example-stm32f3-disco/vscode/tasks.json similarity index 100% rename from satrs-example-stm32f3-disco/.vscode/tasks.json rename to satrs-example-stm32f3-disco/vscode/tasks.json