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Start updating the STM32F3 Discovery example
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This commit is contained in:
Robin Müller
2024-03-22 13:08:01 +01:00
parent 128df9a813
commit d27a41e4de
17 changed files with 539 additions and 349 deletions
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242
satrs-example-stm32f3-disco/src/main.rs
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@ -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<USART2, PA2<AF7<PushPull>>>;
@ -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<poolmod::TM>, usize)> = Q16::new();
type TmPacket = Vec<u8, MAX_TM_LEN>;
type TcPacket = Vec<u8, MAX_TC_LEN>;
const TC_POOL_SLOTS: usize = 12;
const TM_POOL_SLOTS: usize = 12;
static TM_REQUESTS: Q8<TmPacket> = Q8::new();
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<u16> for SeqCountProviderAtomicRef {
static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
SeqCountProviderAtomicRef::new(Ordering::Relaxed);
// Otherwise, warnings because of heapless pool macro.
#[allow(non_camel_case_types)]
mod poolmod {
use super::*;
// Must hold full TC length including COBS overhead.
pool!(TC: [u8; TC_BUF_LEN]);
// Only encoded at the end, so no need to account for COBS overhead.
pool!(TM: [u8; MAX_TM_LEN]);
}
pub struct TxIdle {
tx: TxType,
dma_channel: dma1::C7,
}
#[derive(Debug)]
pub enum TmStoreError {
StoreFull,
StoreSlotsTooSmall,
}
impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
fn from(value: TmStoreError) -> Self {
Self::SendError(value)
}
}
pub struct TmSender {
mem_block: Option<Box<poolmod::TM>>,
vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
ctx: &'static str,
}
impl TmSender {
pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
pub fn new(tm_packet: TmPacket, ctx: &'static str) -> Self {
Self {
mem_block: Some(mem_block),
vec: Some(RefCell::new(tm_packet)),
ctx,
}
}
}
impl EcssTmSenderCore for TmSender {
type Error = TmStoreError;
impl EcssChannel for TmSender {
fn id(&self) -> satrs::ChannelId {
0
}
}
fn send_tm(
&mut self,
tm: PusTm,
) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
let mem_block = self.mem_block.take();
if mem_block.is_none() {
impl EcssTmSenderCore for TmSender {
fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
let vec = self.vec.as_ref();
if vec.is_none() {
panic!("send_tm should only be called once");
}
let mut mem_block = mem_block.unwrap();
if tm.len_packed() > MAX_TM_LEN {
return Err(EcssTmErrorWithSend::SendError(
TmStoreError::StoreSlotsTooSmall,
));
let vec_ref = vec.unwrap();
let mut vec = vec_ref.borrow_mut();
match tm {
PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
PusTmWrapper::Direct(tm) => {
if tm.len_written() > MAX_TM_LEN {
return Err(EcssTmtcError::Store(StoreError::DataTooLarge(
tm.len_written(),
)));
}
vec.resize(tm.len_written(), 0).expect("vec resize failed");
tm.write_to_bytes(vec.as_mut_slice())?;
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_written());
drop(vec);
TM_REQUESTS
.enqueue(vec_ref.take())
.map_err(|_| EcssTmtcError::Store(StoreError::StoreFull(0)))?;
}
}
tm.write_to_bytes(mem_block.as_mut_slice())
.map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
TX_REQUESTS
.enqueue((mem_block, tm.len_packed()))
.map_err(|_| TmStoreError::StoreFull)?;
Ok(())
}
}
@ -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<poolmod::TC>,
rx_len: usize,
) {
fn serial_rx_handler(cx: serial_rx_handler::Context, received_packet: Vec<u8, MAX_TC_LEN>) {
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));
}
});