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continue updating embedded examples

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This commit is contained in:
Robin Mueller
2025-09-10 18:06:50 +02:00
parent 2e58a311c8
commit e2fbc08545
8 changed files with 1347 additions and 863 deletions
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embedded-examples/stm32f3-disco-rtic/Cargo.lock generated
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@@ -3,12 +3,21 @@
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checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0" checksum = "fd402d00b0fb94c5aee000029204a46884b1262e0c443f166d86d2c0747e1a1a"
dependencies = [ dependencies = [
"cortex-m", "cortex-m",
"defmt", "defmt",
@@ -652,13 +735,16 @@ dependencies = [
] ]
[[package]] [[package]]
name = "rtcc" name = "rand_core"
version = "0.3.2" version = "0.6.4"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "95973c3a0274adc4f3c5b70d2b5b85618d6de9559a6737d3293ecae9a2fc0839" checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
dependencies = [
"chrono", [[package]]
] name = "rand_core"
version = "0.9.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38"
[[package]] [[package]]
name = "rtic" name = "rtic"
@@ -735,42 +821,27 @@ version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a" checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
dependencies = [ dependencies = [
"semver 0.9.0", "semver",
]
[[package]]
name = "rustc_version"
version = "0.4.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
dependencies = [
"semver 1.0.25",
] ]
[[package]] [[package]]
name = "satrs" name = "satrs"
version = "0.2.1" version = "0.3.0-alpha.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "866fcae3b683ccc37b5ad77982483a0ee01d5dc408dea5aad2117ad404b60fe1"
dependencies = [ dependencies = [
"cobs 0.2.3", "cobs",
"crc",
"defmt", "defmt",
"delegate", "delegate",
"derive-new", "derive-new",
"num-traits",
"num_enum", "num_enum",
"paste", "paste",
"satrs-shared", "satrs-shared",
"smallvec",
"spacepackets", "spacepackets",
"thiserror",
] ]
[[package]] [[package]]
name = "satrs-shared" name = "satrs-shared"
version = "0.1.4" version = "0.2.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
dependencies = [ dependencies = [
"spacepackets", "spacepackets",
] ]
@@ -779,24 +850,31 @@ dependencies = [
name = "satrs-stm32f3-disco-rtic" name = "satrs-stm32f3-disco-rtic"
version = "0.1.0" version = "0.1.0"
dependencies = [ dependencies = [
"cobs 0.3.0", "cobs",
"cortex-m", "cortex-m",
"cortex-m-rt", "cortex-m-rt",
"cortex-m-semihosting", "cortex-m-semihosting",
"defmt", "defmt",
"defmt-brtt", "defmt-rtt",
"defmt-test", "defmt-test",
"embedded-hal 0.2.7", "embassy-stm32",
"embedded-hal 1.0.0",
"enumset", "enumset",
"heapless", "heapless 0.9.1",
"panic-probe", "panic-probe",
"rtic", "rtic",
"rtic-monotonics", "rtic-monotonics",
"satrs", "satrs",
"stm32f3-discovery", "spacepackets",
"stm32f3xx-hal", "static_cell",
] ]
[[package]]
name = "sdio-host"
version = "0.9.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b328e2cb950eeccd55b7f55c3a963691455dcd044cfb5354f0c5e68d2c2d6ee2"
[[package]] [[package]]
name = "semver" name = "semver"
version = "0.9.0" version = "0.9.0"
@@ -806,41 +884,25 @@ dependencies = [
"semver-parser", "semver-parser",
] ]
[[package]]
name = "semver"
version = "1.0.25"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f79dfe2d285b0488816f30e700a7438c5a73d816b5b7d3ac72fbc48b0d185e03"
[[package]] [[package]]
name = "semver-parser" name = "semver-parser"
version = "0.7.0" version = "0.7.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3" checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
[[package]]
name = "slice-group-by"
version = "0.3.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "826167069c09b99d56f31e9ae5c99049e932a98c9dc2dac47645b08dbbf76ba7"
[[package]]
name = "smallvec"
version = "1.13.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
[[package]] [[package]]
name = "spacepackets" name = "spacepackets"
version = "0.11.2" version = "0.15.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e85574d113a06312010c0ba51aadccd4ba2806231ebe9a49fc6473d0534d8696" checksum = "95ca19d2a251259686f6fffb094a8e32824098f387cd613ae81bfe4216524d02"
dependencies = [ dependencies = [
"crc", "crc",
"defmt", "defmt",
"delegate", "delegate",
"num-traits", "num-traits",
"num_enum", "num_enum",
"paste",
"thiserror",
"zerocopy", "zerocopy",
] ]
@@ -851,74 +913,39 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3" checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
[[package]] [[package]]
name = "stm32-usbd" name = "static_assertions"
version = "0.6.0" version = "1.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c6c94998f166d66b210a164648a0b7866428d8f1e0740bf8a4c5edd89d4750c1" checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
dependencies = [
"cortex-m",
"usb-device",
"vcell",
]
[[package]] [[package]]
name = "stm32f3" name = "static_cell"
version = "0.15.1" version = "2.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f" checksum = "0530892bb4fa575ee0da4b86f86c667132a94b74bb72160f58ee5a4afec74c23"
dependencies = [ dependencies = [
"bare-metal 1.0.0", "portable-atomic",
"cortex-m",
"cortex-m-rt",
"vcell",
] ]
[[package]] [[package]]
name = "stm32f3-discovery" name = "stm32-fmc"
version = "0.8.0-alpha.0" version = "0.3.2"
source = "git+https://github.com/robamu/stm32f3-discovery?branch=complete-dma-update-hal#5ccacae07ceff02d7d3649df67a6a0ba2a144752"
dependencies = [
"accelerometer",
"cortex-m",
"cortex-m-rt",
"lsm303dlhc",
"stm32f3xx-hal",
"switch-hal",
]
[[package]]
name = "stm32f3xx-hal"
version = "0.11.0-alpha.0"
source = "git+https://github.com/robamu/stm32f3xx-hal?branch=complete-dma-update#04fc76b7912649c84b57bd0ab803ea3ccf2aadae"
dependencies = [
"bxcan",
"cfg-if",
"cortex-m",
"cortex-m-rt",
"critical-section",
"embedded-dma",
"embedded-hal 0.2.7",
"embedded-time",
"enumset",
"nb 1.1.0",
"num-traits",
"paste",
"rtcc",
"slice-group-by",
"stm32-usbd",
"stm32f3",
"void",
]
[[package]]
name = "switch-hal"
version = "0.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf" checksum = "c7f0639399e2307c2446c54d91d4f1596343a1e1d5cab605b9cce11d0ab3858c"
dependencies = [ dependencies = [
"embedded-hal 0.2.7", "embedded-hal 0.2.7",
] ]
[[package]]
name = "stm32-metapac"
version = "18.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6fd8ec3a292a0d9fc4798416a61b21da5ae50341b2e7b8d12e662bf305366097"
dependencies = [
"cortex-m",
"cortex-m-rt",
]
[[package]] [[package]]
name = "syn" name = "syn"
version = "1.0.109" version = "1.0.109"
@@ -961,36 +988,18 @@ dependencies = [
"syn 2.0.96", "syn 2.0.96",
] ]
[[package]]
name = "typenum"
version = "1.17.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
[[package]] [[package]]
name = "unicode-ident" name = "unicode-ident"
version = "1.0.16" version = "1.0.16"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034" checksum = "a210d160f08b701c8721ba1c726c11662f877ea6b7094007e1ca9a1041945034"
[[package]]
name = "usb-device"
version = "0.2.9"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
[[package]] [[package]]
name = "vcell" name = "vcell"
version = "0.1.3" version = "0.1.3"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002" checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
[[package]]
name = "version_check"
version = "0.9.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
[[package]] [[package]]
name = "void" name = "void"
version = "1.0.2" version = "1.0.2"
@@ -1008,19 +1017,18 @@ dependencies = [
[[package]] [[package]]
name = "zerocopy" name = "zerocopy"
version = "0.7.35" version = "0.8.26"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0" checksum = "1039dd0d3c310cf05de012d8a39ff557cb0d23087fd44cad61df08fc31907a2f"
dependencies = [ dependencies = [
"byteorder",
"zerocopy-derive", "zerocopy-derive",
] ]
[[package]] [[package]]
name = "zerocopy-derive" name = "zerocopy-derive"
version = "0.7.35" version = "0.8.26"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e" checksum = "9ecf5b4cc5364572d7f4c329661bcc82724222973f2cab6f050a4e5c22f75181"
dependencies = [ dependencies = [
"proc-macro2", "proc-macro2",
"quote", "quote",

39
embedded-examples/stm32f3-disco-rtic/Cargo.toml
View File

@@ -9,13 +9,16 @@ default-run = "satrs-stm32f3-disco-rtic"
[dependencies] [dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] } cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7" cortex-m-rt = "0.7"
defmt = "0.3" defmt = "1"
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] } defmt-rtt = { version = "1" }
panic-probe = { version = "0.3", features = ["print-defmt"] } panic-probe = { version = "1", features = ["print-defmt"] }
embedded-hal = "0.2.7" embedded-hal = "1"
cortex-m-semihosting = "0.5.0" cortex-m-semihosting = "0.5.0"
embassy-stm32 = { version = "0.4", features = ["stm32f303vc", "unstable-pac"] }
enumset = "1" enumset = "1"
heapless = "0.8" heapless = "0.9"
spacepackets = { version = "0.15", default-features = false, features = ["defmt"] }
static_cell = "2"
[dependencies.rtic] [dependencies.rtic]
version = "2" version = "2"
@@ -26,32 +29,32 @@ version = "2"
features = ["cortex-m-systick"] features = ["cortex-m-systick"]
[dependencies.cobs] [dependencies.cobs]
version = "0.3" version = "0.4"
default-features = false default-features = false
[dependencies.stm32f3xx-hal] # [dependencies.stm32f3xx-hal]
git = "https://github.com/robamu/stm32f3xx-hal" # git = "https://github.com/robamu/stm32f3xx-hal"
version = "0.11.0-alpha.0" # version = "0.11.0-alpha.0"
features = ["stm32f303xc", "rt", "enumset"] # features = ["stm32f303xc", "rt", "enumset"]
branch = "complete-dma-update" # branch = "complete-dma-update"
# Can be used in workspace to develop and update HAL # Can be used in workspace to develop and update HAL
# path = "../stm32f3xx-hal" # path = "../stm32f3xx-hal"
[dependencies.stm32f3-discovery] # [dependencies.stm32f3-discovery]
git = "https://github.com/robamu/stm32f3-discovery" # git = "https://github.com/robamu/stm32f3-discovery"
version = "0.8.0-alpha.0" # version = "0.8.0-alpha.0"
branch = "complete-dma-update-hal" # branch = "complete-dma-update-hal"
# Can be used in workspace to develop and update BSP # Can be used in workspace to develop and update BSP
# path = "../stm32f3-discovery" # path = "../stm32f3-discovery"
[dependencies.satrs] [dependencies.satrs]
# path = "satrs" # version = "0.2"
version = "0.2" path = "../../satrs"
default-features = false default-features = false
features = ["defmt"] features = ["defmt"]
[dev-dependencies] [dev-dependencies]
defmt-test = "0.3" defmt-test = "0.4"
# cargo test # cargo test
[profile.test] [profile.test]

123
embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs
View File

@@ -1,76 +1,61 @@
#![no_std]
#![no_main] #![no_main]
use satrs_stm32f3_disco_rtic as _; #![no_std]
use stm32f3_discovery::leds::Leds; use panic_probe as _;
use stm32f3_discovery::stm32f3xx_hal::delay::Delay; use rtic::app;
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
#[cortex_m_rt::entry] #[app(device = embassy_stm32)]
fn main() -> ! { mod app {
defmt::println!("STM32F3 Discovery Blinky"); use rtic_monotonics::fugit::ExtU32;
let dp = pac::Peripherals::take().unwrap(); use rtic_monotonics::Monotonic as _;
let mut rcc = dp.RCC.constrain(); use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
let cp = cortex_m::Peripherals::take().unwrap();
let mut flash = dp.FLASH.constrain();
let clocks = rcc.cfgr.freeze(&mut flash.acr);
let mut delay = Delay::new(cp.SYST, clocks);
let mut gpioe = dp.GPIOE.split(&mut rcc.ahb); rtic_monotonics::systick_monotonic!(Mono, 1000);
let mut leds = Leds::new(
gpioe.pe8, #[shared]
gpioe.pe9, struct Shared {}
gpioe.pe10,
gpioe.pe11, #[local]
gpioe.pe12, struct Local {
gpioe.pe13, leds: Leds,
gpioe.pe14, current_dir: Direction,
gpioe.pe15, }
&mut gpioe.moder,
&mut gpioe.otyper, #[init]
); fn init(cx: init::Context) -> (Shared, Local) {
let delay_ms = 200u16; let p = embassy_stm32::init(Default::default());
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
let led_pin_set = LedPinSet {
pin_n: p.PE8,
pin_ne: p.PE9,
pin_e: p.PE10,
pin_se: p.PE11,
pin_s: p.PE12,
pin_sw: p.PE13,
pin_w: p.PE14,
pin_nw: p.PE15,
};
let leds = Leds::new(led_pin_set);
// Initialize the systick interrupt & obtain the token to prove that we did
Mono::start(cx.core.SYST, 8_000_000);
blinky::spawn().expect("failed to spawn blinky task");
(
Shared {},
Local {
leds,
current_dir: Direction::North,
},
)
}
#[task(local = [leds, current_dir])]
async fn blinky(cx: blinky::Context) {
loop { loop {
leds.ld3_n.toggle().ok(); cx.local.leds.blink_next(cx.local.current_dir);
delay.delay_ms(delay_ms); Mono::delay(200.millis()).await;
leds.ld3_n.toggle().ok(); }
delay.delay_ms(delay_ms);
//explicit on/off
leds.ld4_nw.on().ok();
delay.delay_ms(delay_ms);
leds.ld4_nw.off().ok();
delay.delay_ms(delay_ms);
leds.ld5_ne.on().ok();
delay.delay_ms(delay_ms);
leds.ld5_ne.off().ok();
delay.delay_ms(delay_ms);
leds.ld6_w.on().ok();
delay.delay_ms(delay_ms);
leds.ld6_w.off().ok();
delay.delay_ms(delay_ms);
leds.ld7_e.on().ok();
delay.delay_ms(delay_ms);
leds.ld7_e.off().ok();
delay.delay_ms(delay_ms);
leds.ld8_sw.on().ok();
delay.delay_ms(delay_ms);
leds.ld8_sw.off().ok();
delay.delay_ms(delay_ms);
leds.ld9_se.on().ok();
delay.delay_ms(delay_ms);
leds.ld9_se.off().ok();
delay.delay_ms(delay_ms);
leds.ld10_s.on().ok();
delay.delay_ms(delay_ms);
leds.ld10_s.off().ok();
delay.delay_ms(delay_ms);
} }
} }

141
embedded-examples/stm32f3-disco-rtic/src/lib.rs
View File

@@ -3,12 +3,147 @@
use cortex_m_semihosting::debug; use cortex_m_semihosting::debug;
use defmt_brtt as _; // global logger use defmt_rtt as _; // global logger
use stm32f3xx_hal as _; // memory layout
use panic_probe as _; use panic_probe as _;
use embassy_stm32::gpio::Output;
#[derive(defmt::Format, PartialEq, Eq, Clone, Copy)]
pub enum Direction {
North,
NorthEast,
East,
SouthEast,
South,
SouthWest,
West,
NorthWest,
}
impl Direction {
pub fn switch_to_next(&mut self) -> (Self, Self) {
let curr = *self;
*self = match self {
Direction::North => Direction::NorthEast,
Direction::NorthEast => Direction::East,
Direction::East => Direction::SouthEast,
Direction::SouthEast => Direction::South,
Direction::South => Direction::SouthWest,
Direction::SouthWest => Direction::West,
Direction::West => Direction::NorthWest,
Direction::NorthWest => Direction::North,
};
(curr, *self)
}
}
pub struct Leds {
pub north: Output<'static>,
pub north_east: Output<'static>,
pub east: Output<'static>,
pub south_east: Output<'static>,
pub south: Output<'static>,
pub south_west: Output<'static>,
pub west: Output<'static>,
pub north_west: Output<'static>,
}
impl Leds {
pub fn blink_next(&mut self, current_dir: &mut Direction) {
let (prev, curr) = current_dir.switch_to_next();
self.set_dir_low(prev);
self.set_dir_high(curr);
}
pub fn set_dir(&mut self, dir: Direction, level: embassy_stm32::gpio::Level) {
match dir {
Direction::North => self.north.set_level(level),
Direction::NorthEast => self.north_east.set_level(level),
Direction::East => self.east.set_level(level),
Direction::SouthEast => self.south_east.set_level(level),
Direction::South => self.south.set_level(level),
Direction::SouthWest => self.south_west.set_level(level),
Direction::West => self.west.set_level(level),
Direction::NorthWest => self.north_west.set_level(level),
}
}
pub fn set_dir_low(&mut self, dir: Direction) {
self.set_dir(dir, embassy_stm32::gpio::Level::Low);
}
pub fn set_dir_high(&mut self, dir: Direction) {
self.set_dir(dir, embassy_stm32::gpio::Level::High);
}
}
pub struct LedPinSet {
pub pin_n: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE8>,
pub pin_ne: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE9>,
pub pin_e: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE10>,
pub pin_se: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE11>,
pub pin_s: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE12>,
pub pin_sw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE13>,
pub pin_w: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE14>,
pub pin_nw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE15>,
}
impl Leds {
pub fn new(pin_set: LedPinSet) -> Self {
let led_n = Output::new(
pin_set.pin_n,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_ne = Output::new(
pin_set.pin_ne,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_e = Output::new(
pin_set.pin_e,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_se = Output::new(
pin_set.pin_se,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_s = Output::new(
pin_set.pin_s,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_sw = Output::new(
pin_set.pin_sw,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_w = Output::new(
pin_set.pin_w,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
let led_nw = Output::new(
pin_set.pin_nw,
embassy_stm32::gpio::Level::Low,
embassy_stm32::gpio::Speed::Medium,
);
Self {
north: led_n,
north_east: led_ne,
east: led_e,
south_east: led_se,
south: led_s,
south_west: led_sw,
west: led_w,
north_west: led_nw,
}
}
}
// same panicking *behavior* as `panic-probe` but doesn't print a panic message // same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked // this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler] #[defmt::panic_handler]

549
embedded-examples/stm32f3-disco-rtic/src/main.rs
View File

@@ -1,8 +1,6 @@
#![no_std] #![no_std]
#![no_main] #![no_main]
use satrs::pus::verification::{ use satrs::pus::verification::{FailParams, VerificationReportCreator};
FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
};
use satrs::spacepackets::ecss::tc::PusTcReader; use satrs::spacepackets::ecss::tc::PusTcReader;
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader}; use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
use satrs::spacepackets::ecss::EcssEnumU16; use satrs::spacepackets::ecss::EcssEnumU16;
@@ -13,16 +11,12 @@ use satrs_stm32f3_disco_rtic as _;
use rtic::app; use rtic::app;
use heapless::{mpmc::Q8, Vec}; use heapless::Vec;
#[allow(unused_imports)] #[allow(unused_imports)]
use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32}; use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
use rtic_monotonics::systick::prelude::*; use rtic_monotonics::systick::prelude::*;
use satrs::seq_count::SequenceCountProviderCore;
use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket}; use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
use stm32f3xx_hal::dma::dma1; use spacepackets::seq_count::SequenceCountProvider;
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
use stm32f3xx_hal::pac::USART2;
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
const UART_BAUD: u32 = 115200; const UART_BAUD: u32 = 115200;
const DEFAULT_BLINK_FREQ_MS: u32 = 1000; const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
@@ -30,33 +24,24 @@ const TX_HANDLER_FREQ_MS: u32 = 20;
const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5; const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
const MAX_TC_LEN: usize = 128; const MAX_TC_LEN: usize = 128;
const MAX_TM_LEN: usize = 128; const MAX_TM_LEN: usize = 128;
pub const PUS_APID: u16 = 0x02;
type TxType = Tx<USART2, PA2<AF7<PushPull>>>; pub const PUS_APID: u16 = 0x02;
type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
type InstantFugit = TimerInstantU32<1000>;
type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
// This is the predictable maximum overhead of the COBS encoding scheme. // This is the predictable maximum overhead of the COBS encoding scheme.
// It is simply the maximum packet lenght dividied by 254 rounded up. // It is simply the maximum packet lenght dividied by 254 rounded up.
const COBS_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254; const COBS_TC_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TC_LEN);
const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254; const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD; const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD; const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
// This is a static buffer which should ONLY (!) be used as the TX DMA const TC_DMA_BUF_LEN: usize = 512;
// transfer buffer.
static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
// This is a static buffer which should ONLY (!) be used as the RX DMA
// transfer buffer.
static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
type TmPacket = Vec<u8, MAX_TM_LEN>; type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
type TcPacket = Vec<u8, MAX_TC_LEN>; type TcPacket = heapless::Vec<u8, MAX_TC_LEN>;
static TM_REQUESTS: Q8<TmPacket> = Q8::new(); static TM_REQUESTS: static_cell::ConstStaticCell<heapless::spsc::Queue<TmPacket, 8>> =
static_cell::ConstStaticCell::new(heapless::spsc::Queue::new());
use core::sync::atomic::{AtomicU16, Ordering}; use core::sync::atomic::{AtomicU16, Ordering};
@@ -74,7 +59,10 @@ impl SeqCountProviderAtomicRef {
} }
} }
impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef { impl SequenceCountProvider for SeqCountProviderAtomicRef {
type Raw = u16;
const MAX_BIT_WIDTH: usize = 16;
fn get(&self) -> u16 { fn get(&self) -> u16 {
self.atomic.load(self.ordering) self.atomic.load(self.ordering)
} }
@@ -92,8 +80,8 @@ static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
SeqCountProviderAtomicRef::new(Ordering::Relaxed); SeqCountProviderAtomicRef::new(Ordering::Relaxed);
pub struct TxIdle { pub struct TxIdle {
tx: TxType, //tx: TxType,
dma_channel: dma1::C7, //dma_channel: dma1::C7,
} }
#[derive(Debug, defmt::Format)] #[derive(Debug, defmt::Format)]
@@ -108,49 +96,8 @@ impl From<ByteConversionError> for TmSendError {
} }
} }
fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
if tm_creator.len_written() > MAX_TM_LEN {
return Err(ByteConversionError::ToSliceTooSmall {
expected: tm_creator.len_written(),
found: MAX_TM_LEN,
}
.into());
}
let mut tm_vec = TmPacket::new();
tm_vec
.resize(tm_creator.len_written(), 0)
.expect("vec resize failed");
tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
defmt::info!(
"Sending TM[{},{}] with size {}",
tm_creator.service(),
tm_creator.subservice(),
tm_creator.len_written()
);
TM_REQUESTS
.enqueue(tm_vec)
.map_err(|_| TmSendError::Queue)?;
Ok(())
}
fn handle_tm_send_error(error: TmSendError) {
defmt::warn!("sending tm failed with error {}", error);
}
pub enum UartTxState {
// Wrapped in an option because we need an owned type later.
Idle(Option<TxIdle>),
// Same as above
Transmitting(Option<TxDmaTransferType>),
}
pub struct UartTxShared {
last_completed: Option<InstantFugit>,
state: UartTxState,
}
pub struct RequestWithToken { pub struct RequestWithToken {
token: VerificationToken<TcStateAccepted>, request_id: satrs::pus::verification::RequestId,
request: Request, request: Request,
} }
@@ -168,147 +115,69 @@ pub enum RequestError {
NotEnoughAppData = 4, NotEnoughAppData = 4,
} }
pub fn convert_pus_tc_to_request( #[app(device = embassy_stm32)]
tc: &PusTcReader,
verif_reporter: &mut VerificationReportCreator,
src_data_buf: &mut [u8],
timestamp: &[u8],
) -> Result<RequestWithToken, RequestError> {
defmt::info!(
"Found PUS TC [{},{}] with length {}",
tc.service(),
tc.subservice(),
tc.len_packed()
);
let token = verif_reporter.add_tc(tc);
if tc.apid() != PUS_APID {
defmt::warn!("Received tc with unknown APID {}", tc.apid());
let result = send_tm(
verif_reporter
.acceptance_failure(
src_data_buf,
token,
SEQ_COUNT_PROVIDER.get_and_increment(),
0,
FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
)
.unwrap(),
);
if let Err(e) = result {
handle_tm_send_error(e);
}
return Err(RequestError::InvalidApid);
}
let (tm_creator, accepted_token) = verif_reporter
.acceptance_success(
src_data_buf,
token,
SEQ_COUNT_PROVIDER.get_and_increment(),
0,
timestamp,
)
.unwrap();
if let Err(e) = send_tm(tm_creator) {
handle_tm_send_error(e);
}
if tc.service() == 17 && tc.subservice() == 1 {
if tc.subservice() == 1 {
return Ok(RequestWithToken {
request: Request::Ping,
token: accepted_token,
});
} else {
return Err(RequestError::InvalidSubservice);
}
} else if tc.service() == 8 {
if tc.subservice() == 1 {
if tc.user_data().len() < 4 {
return Err(RequestError::NotEnoughAppData);
}
let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
return Ok(RequestWithToken {
request: Request::ChangeBlinkFrequency(new_freq_ms),
token: accepted_token,
});
} else {
return Err(RequestError::InvalidSubservice);
}
} else {
return Err(RequestError::InvalidService);
}
}
#[app(device = stm32f3xx_hal::pac, peripherals = true)]
mod app { mod app {
use super::*; use super::*;
use core::slice::Iter; use satrs::pus::verification::VerificationReportCreator;
use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE}; use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
#[allow(unused_imports)] use satrs_stm32f3_disco_rtic::LedPinSet;
use stm32f3_discovery::leds::Direction;
use stm32f3_discovery::leds::Leds;
use stm32f3xx_hal::prelude::*;
use stm32f3_discovery::switch_hal::OutputSwitch;
use stm32f3xx_hal::Switch;
#[allow(dead_code)]
type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
systick_monotonic!(Mono, 1000); systick_monotonic!(Mono, 1000);
embassy_stm32::bind_interrupts!(struct Irqs {
USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
});
#[shared] #[shared]
struct Shared { struct Shared {
blink_freq: MillisDurationU32, blink_freq: MillisDurationU32,
tx_shared: UartTxShared,
rx_transfer: Option<RxDmaTransferType>,
} }
#[local] #[local]
struct Local { struct Local {
verif_reporter: VerificationReportCreator, verif_reporter: VerificationReportCreator,
leds: Leds, leds: satrs_stm32f3_disco_rtic::Leds,
last_dir: Direction, current_dir: satrs_stm32f3_disco_rtic::Direction,
curr_dir: Iter<'static, Direction>, tm_prod: heapless::spsc::Producer<'static, TmPacket>,
tm_cons: heapless::spsc::Consumer<'static, TmPacket>,
tx: embassy_stm32::usart::UartTx<'static, embassy_stm32::mode::Async>,
rx: embassy_stm32::usart::RingBufferedUartRx<'static>,
} }
#[init] #[init]
fn init(cx: init::Context) -> (Shared, Local) { fn init(cx: init::Context) -> (Shared, Local) {
let mut rcc = cx.device.RCC.constrain(); static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> = static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
let p = embassy_stm32::init(Default::default());
// Initialize the systick interrupt & obtain the token to prove that we did // Initialize the systick interrupt & obtain the token to prove that we did
Mono::start(cx.core.SYST, 8_000_000); Mono::start(cx.core.SYST, 8_000_000);
let mut flash = cx.device.FLASH.constrain(); defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery with RTICv2");
let clocks = rcc let led_pin_set = LedPinSet {
.cfgr pin_n: p.PE8,
.use_hse(8.MHz()) pin_ne: p.PE9,
.sysclk(8.MHz()) pin_e: p.PE10,
.pclk1(8.MHz()) pin_se: p.PE11,
.freeze(&mut flash.acr); pin_s: p.PE12,
pin_sw: p.PE13,
pin_w: p.PE14,
pin_nw: p.PE15,
};
let leds = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);
// Set up monotonic timer. let config = embassy_stm32::usart::Config::default();
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB); let uart = embassy_stm32::usart::Uart::new(
p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
)
.unwrap();
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery"); let (tx, rx) = uart.split();
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb); let tm_queue = TM_REQUESTS.take();
let (tm_prod, tm_cons) = tm_queue.split();
let leds = Leds::new( //let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
gpioe.pe8,
gpioe.pe9,
gpioe.pe10,
gpioe.pe11,
gpioe.pe12,
gpioe.pe13,
gpioe.pe14,
gpioe.pe15,
&mut gpioe.moder,
&mut gpioe.otyper,
);
let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
// USART2 pins // USART2 pins
/*
let mut pins = ( let mut pins = (
// TX pin: PA2 // TX pin: PA2
gpioa gpioa
@@ -319,7 +188,9 @@ mod app {
.pa3 .pa3
.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl), .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
); );
pins.1.internal_pull_up(&mut gpioa.pupdr, true); */
//pins.1.internal_pull_up(&mut gpioa.pupdr, true);
/*
let mut usart2 = Serial::new( let mut usart2 = Serial::new(
cx.device.USART2, cx.device.USART2,
pins, pins,
@@ -330,18 +201,19 @@ mod app {
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On); usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately. // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On); usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
*/
let dma1 = cx.device.DMA1.split(&mut rcc.ahb); //let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
let (mut 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 // This interrupt is immediately triggered, clear it. It will only be reset
// by the hardware when data is received on RX (RXNE event) // by the hardware when data is received on RX (RXNE event)
rx_serial.clear_event(RxEvent::Idle); //rx_serial.clear_event(RxEvent::Idle);
// For some reason, this is also immediately triggered.. // For some reason, this is also immediately triggered..
tx_serial.clear_event(TxEvent::TransmissionComplete); //tx_serial.clear_event(TxEvent::TransmissionComplete);
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6); //let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
defmt::info!("Spawning tasks"); defmt::info!("Spawning tasks");
blink::spawn().unwrap(); blinky::spawn().unwrap();
serial_tx_handler::spawn().unwrap(); serial_tx_handler::spawn().unwrap();
let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap(); let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
@@ -349,118 +221,49 @@ mod app {
( (
Shared { Shared {
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS), blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
tx_shared: UartTxShared {
last_completed: None,
state: UartTxState::Idle(Some(TxIdle {
tx: tx_serial,
dma_channel: dma1.ch7,
})),
},
rx_transfer: Some(rx_transfer),
}, },
Local { Local {
verif_reporter, verif_reporter,
leds, leds,
last_dir: Direction::North, tm_prod,
curr_dir: Direction::iter(), tm_cons,
tx,
rx: rx.into_ring_buffered(DMA_BUF.take()),
current_dir: satrs_stm32f3_disco_rtic::Direction::North,
}, },
) )
} }
#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])] #[task(local = [leds, current_dir], shared=[blink_freq])]
async fn blink(mut cx: blink::Context) { async fn blinky(mut cx: blinky::Context) {
let blink::LocalResources {
leds,
curr_dir,
last_dir,
..
} = cx.local;
let mut toggle_leds = |dir: &Direction| {
let last_led = leds.for_direction(*last_dir);
last_led.off().ok();
let led = leds.for_direction(*dir);
led.on().ok();
*last_dir = *dir;
};
loop { loop {
match curr_dir.next() { cx.local.leds.blink_next(cx.local.current_dir);
Some(dir) => {
toggle_leds(dir);
}
None => {
*curr_dir = Direction::iter();
toggle_leds(curr_dir.next().unwrap());
}
}
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current); let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
Mono::delay(current_blink_freq).await; Mono::delay(current_blink_freq).await;
} }
} }
#[task( #[task(
shared = [tx_shared], local = [
tm_cons,
tx,
dma_buf: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN]
],
shared = [],
)] )]
async fn serial_tx_handler(mut cx: serial_tx_handler::Context) { async fn serial_tx_handler(cx: serial_tx_handler::Context) {
loop { loop {
let is_idle = cx.shared.tx_shared.lock(|tx_shared| { while let Some(vec) = cx.local.tm_cons.dequeue() {
if let UartTxState::Idle(_) = tx_shared.state { cx.local.dma_buf[0] = 0;
return true; let encoded_len = cobs::encode(&vec[0..vec.len()], &mut cx.local.dma_buf[1..]);
}
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 = (Mono::now() - last_completed).to_millis();
if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
}
}
} else {
// Check for completion after 1 ms
Mono::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. // Should never panic, we accounted for the overhead.
// Write into transfer buffer directly, no need for intermediate // Write into transfer buffer directly, no need for intermediate
// encoding buffer. // encoding buffer.
// 0 end marker // 0 end marker
DMA_TX_BUF[encoded_len + 1] = 0; cx.local.dma_buf[encoded_len + 1] = 0;
} cx.local.tx.write(&vec[0..encoded_len + 2]).await.unwrap();
//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
Mono::delay(1.millis()).await;
continue; continue;
} }
// Nothing to do, and we are idle.
Mono::delay(TX_HANDLER_FREQ_MS.millis()).await; Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
} }
} }
@@ -468,6 +271,9 @@ mod app {
#[task( #[task(
local = [ local = [
verif_reporter, verif_reporter,
tm_prod,
rx,
read_buf: [u8; 128] = [0; 128],
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN], decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN], src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
timestamp: [u8; 7] = [0; 7], timestamp: [u8; 7] = [0; 7],
@@ -478,6 +284,18 @@ mod app {
mut cx: serial_rx_handler::Context, mut cx: serial_rx_handler::Context,
received_packet: Vec<u8, MAX_TC_LEN>, received_packet: Vec<u8, MAX_TC_LEN>,
) { ) {
let decoder = cobs::CobsDecoder::new(cx.local.decode_buf);
loop {
let read_bytes = cx.local.rx.read(cx.local.read_buf).await;
match decoder.push(&cx.local.read_buf[0..read_bytes]) {
Ok(None) => (),
Ok(Some(report)) => {
}
Err(_) => {},
}
}
cx.local.timestamp[0] = P_FIELD_BASE; cx.local.timestamp[0] = P_FIELD_BASE;
defmt::info!("Received packet with {} bytes", received_packet.len()); defmt::info!("Received packet with {} bytes", received_packet.len());
let decode_buf = cx.local.decode_buf; let decode_buf = cx.local.decode_buf;
@@ -494,21 +312,24 @@ mod app {
return; return;
} }
let start_idx = start_idx.unwrap(); let start_idx = start_idx.unwrap();
decoder.push(data)
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) { match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
Ok(len) => { Ok(decode_report) => {
defmt::info!("Decoded packet length: {}", len); defmt::info!("Decoded packet length: {}", decode_report.frame_size());
let pus_tc = PusTcReader::new(decode_buf); let pus_tc = PusTcReader::new(decode_buf);
match pus_tc { match pus_tc {
Ok((tc, _tc_len)) => { Ok(tc) => {
match convert_pus_tc_to_request( match convert_pus_tc_to_request(
&tc, &tc,
cx.local.verif_reporter, cx.local.verif_reporter,
cx.local.tm_prod,
cx.local.src_data_buf, cx.local.src_data_buf,
cx.local.timestamp, cx.local.timestamp,
) { ) {
Ok(request_with_token) => { Ok(request_with_token) => {
let started_token = handle_start_verification( handle_start_verification(
request_with_token.token, request_with_token.request_id,
cx.local.tm_prod,
cx.local.verif_reporter, cx.local.verif_reporter,
cx.local.src_data_buf, cx.local.src_data_buf,
cx.local.timestamp, cx.local.timestamp,
@@ -516,7 +337,7 @@ mod app {
match request_with_token.request { match request_with_token.request {
Request::Ping => { Request::Ping => {
handle_ping_request(cx.local.timestamp); handle_ping_request(cx.local.tm_prod, cx.local.timestamp);
} }
Request::ChangeBlinkFrequency(new_freq_ms) => { Request::ChangeBlinkFrequency(new_freq_ms) => {
defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms); defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
@@ -527,7 +348,8 @@ mod app {
} }
} }
handle_completion_verification( handle_completion_verification(
started_token, request_with_token.request_id,
cx.local.tm_prod,
cx.local.verif_reporter, cx.local.verif_reporter,
cx.local.src_data_buf, cx.local.src_data_buf,
cx.local.timestamp, cx.local.timestamp,
@@ -550,7 +372,10 @@ mod app {
} }
} }
fn handle_ping_request(timestamp: &[u8]) { fn handle_ping_request(
tm_prod: &mut heapless::spsc::Producer<'static, TmPacket>,
timestamp: &[u8],
) {
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]"); defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
let sp_header = let sp_header =
SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0); SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
@@ -561,36 +386,36 @@ mod app {
.resize(ping_reply.len_written(), 0) .resize(ping_reply.len_written(), 0)
.expect("vec resize failed"); .expect("vec resize failed");
ping_reply.write_to_bytes(&mut tm_packet).unwrap(); ping_reply.write_to_bytes(&mut tm_packet).unwrap();
if TM_REQUESTS.enqueue(tm_packet).is_err() { if tm_prod.enqueue(tm_packet).is_err() {
defmt::warn!("TC queue full"); defmt::warn!("TC queue full");
return;
} }
} }
fn handle_start_verification( fn handle_start_verification(
accepted_token: VerificationToken<TcStateAccepted>, request_id: satrs::pus::verification::RequestId,
tm_prod: &mut heapless::spsc::Producer<TmPacket>,
verif_reporter: &mut VerificationReportCreator, verif_reporter: &mut VerificationReportCreator,
src_data_buf: &mut [u8], src_data_buf: &mut [u8],
timestamp: &[u8], timestamp: &[u8],
) -> VerificationToken<TcStateStarted> { ) {
let (tm_creator, started_token) = verif_reporter let tm_creator = verif_reporter
.start_success( .start_success(
src_data_buf, src_data_buf,
accepted_token, &request_id,
SEQ_COUNT_PROVIDER.get(), SEQ_COUNT_PROVIDER.get(),
0, 0,
&timestamp, timestamp,
) )
.unwrap(); .unwrap();
let result = send_tm(tm_creator); let result = send_tm(tm_creator, tm_prod);
if let Err(e) = result { if let Err(e) = result {
handle_tm_send_error(e); handle_tm_send_error(e);
} }
started_token
} }
fn handle_completion_verification( fn handle_completion_verification(
started_token: VerificationToken<TcStateStarted>, request_id: satrs::pus::verification::RequestId,
tm_prod: &mut heapless::spsc::Producer<TmPacket>,
verif_reporter: &mut VerificationReportCreator, verif_reporter: &mut VerificationReportCreator,
src_data_buf: &mut [u8], src_data_buf: &mut [u8],
timestamp: &[u8], timestamp: &[u8],
@@ -599,20 +424,23 @@ mod app {
verif_reporter verif_reporter
.completion_success( .completion_success(
src_data_buf, src_data_buf,
started_token, &request_id,
SEQ_COUNT_PROVIDER.get(), SEQ_COUNT_PROVIDER.get(),
0, 0,
timestamp, timestamp,
) )
.unwrap(), .unwrap(),
tm_prod,
); );
if let Err(e) = result { if let Err(e) = result {
handle_tm_send_error(e); handle_tm_send_error(e);
} }
} }
#[task(binds = DMA1_CH6, shared = [rx_transfer])] /*
fn rx_dma_isr(mut cx: rx_dma_isr::Context) { #[task(binds = DMA1_CH6, shared = [])]
fn rx_dma_isr(cx: rx_dma_isr::Context) {
/*
let mut tc_packet = TcPacket::new(); let mut tc_packet = TcPacket::new();
cx.shared.rx_transfer.lock(|rx_transfer| { cx.shared.rx_transfer.lock(|rx_transfer| {
let rx_ref = rx_transfer.as_ref().unwrap(); let rx_ref = rx_transfer.as_ref().unwrap();
@@ -638,10 +466,14 @@ mod app {
); );
} }
}); });
*/
} }
*/
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])] /*
#[task(binds = USART2_EXTI26, shared = [])]
fn serial_isr(mut cx: serial_isr::Context) { fn serial_isr(mut cx: serial_isr::Context) {
/*
cx.shared cx.shared
.tx_shared .tx_shared
.lock(|tx_shared| match &mut tx_shared.state { .lock(|tx_shared| match &mut tx_shared.state {
@@ -678,5 +510,112 @@ mod app {
*rx_transfer = Some(rx.read_exact(buf, ch)); *rx_transfer = Some(rx.read_exact(buf, ch));
} }
}); });
*/
}
*/
}
fn send_tm(
tm_creator: PusTmCreator,
tm_prod: &mut heapless::spsc::Producer<TmPacket>,
) -> Result<(), TmSendError> {
if tm_creator.len_written() > MAX_TM_LEN {
return Err(ByteConversionError::ToSliceTooSmall {
expected: tm_creator.len_written(),
found: MAX_TM_LEN,
}
.into());
}
let mut tm_vec = TmPacket::new();
tm_vec
.resize(tm_creator.len_written(), 0)
.expect("vec resize failed");
tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
defmt::info!(
"Sending TM[{},{}] with size {}",
tm_creator.service(),
tm_creator.subservice(),
tm_creator.len_written()
);
tm_prod.enqueue(tm_vec).map_err(|_| TmSendError::Queue)?;
Ok(())
}
fn handle_tm_send_error(error: TmSendError) {
defmt::warn!("sending tm failed with error {}", error);
}
pub fn convert_pus_tc_to_request(
tc: &PusTcReader,
verif_reporter: &mut VerificationReportCreator,
tm_prod: &mut heapless::spsc::Producer<'static, TmPacket>,
src_data_buf: &mut [u8],
timestamp: &[u8],
) -> Result<RequestWithToken, RequestError> {
defmt::info!(
"Found PUS TC [{},{}] with length {}",
tc.service(),
tc.subservice(),
tc.len_packed()
);
let request_id = verif_reporter.read_request_id(tc);
if tc.apid() != PUS_APID {
defmt::warn!("Received tc with unknown APID {}", tc.apid());
let result = send_tm(
verif_reporter
.acceptance_failure(
src_data_buf,
&request_id,
SEQ_COUNT_PROVIDER.get_and_increment(),
0,
FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
)
.unwrap(),
tm_prod,
);
if let Err(e) = result {
handle_tm_send_error(e);
}
return Err(RequestError::InvalidApid);
}
let tm_creator = verif_reporter
.acceptance_success(
src_data_buf,
&request_id,
SEQ_COUNT_PROVIDER.get_and_increment(),
0,
timestamp,
)
.unwrap();
if let Err(e) = send_tm(tm_creator, tm_prod) {
handle_tm_send_error(e);
}
if tc.service() == 17 && tc.subservice() == 1 {
if tc.subservice() == 1 {
Ok(RequestWithToken {
request_id,
request: Request::Ping,
})
} else {
Err(RequestError::InvalidSubservice)
}
} else if tc.service() == 8 {
if tc.subservice() == 1 {
if tc.user_data().len() < 4 {
return Err(RequestError::NotEnoughAppData);
}
let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
Ok(RequestWithToken {
request_id,
request: Request::ChangeBlinkFrequency(new_freq_ms),
})
} else {
Err(RequestError::InvalidSubservice)
}
} else {
Err(RequestError::InvalidService)
} }
} }

641
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock generated
View File

File diff suppressed because it is too large Load Diff

11
embedded-examples/stm32h7-nucleo-rtic/Cargo.toml
View File

@@ -16,16 +16,17 @@ harness = false
[dependencies] [dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] } cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7" cortex-m-rt = "0.7"
defmt = "0.3" defmt = "1"
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] } defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
panic-probe = { version = "0.3", features = ["print-defmt"] } panic-probe = { version = "1", features = ["print-defmt"] }
cortex-m-semihosting = "0.5.0" cortex-m-semihosting = "0.5.0"
# TODO: Replace with embassy-hal.
stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] } stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
embedded-alloc = "0.6" embedded-alloc = "0.6"
rtic-sync = { version = "1", features = ["defmt-03"] } rtic-sync = { version = "1", features = ["defmt-03"] }
[dependencies.smoltcp] [dependencies.smoltcp]
version = "0.11" version = "0.12"
default-features = false default-features = false
features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"] features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
@@ -39,12 +40,12 @@ features = ["cortex-m-systick"]
[dependencies.satrs] [dependencies.satrs]
path = "../../satrs" path = "../../satrs"
version = "0.2" # version = "0.2"
default-features = false default-features = false
features = ["defmt", "heapless"] features = ["defmt", "heapless"]
[dev-dependencies] [dev-dependencies]
defmt-test = "0.3" defmt-test = "0.4"
# cargo build/run # cargo build/run
[profile.dev] [profile.dev]

34
satrs/src/pus/verification.rs
View File

@@ -511,9 +511,7 @@ impl VerificationReportCreator {
self.dest_id = dest_id; self.dest_id = dest_id;
} }
/// Initialize verification handling by passing a TC reference. This returns a token required pub fn read_request_id(&self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
/// to call the acceptance functions
pub fn read_request_id_from_tc(pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
RequestId::new(pus_tc) RequestId::new(pus_tc)
} }
@@ -903,7 +901,7 @@ pub mod alloc_mod {
> { > {
owner_id: ComponentId, owner_id: ComponentId,
source_data_buf: RefCell<alloc::vec::Vec<u8>>, source_data_buf: RefCell<alloc::vec::Vec<u8>>,
pub reporter_creator: VerificationReportCreator, pub report_creator: VerificationReportCreator,
pub tm_hook: VerificationHookInstance, pub tm_hook: VerificationHookInstance,
} }
@@ -919,7 +917,7 @@ pub mod alloc_mod {
+ cfg.fail_code_field_width + cfg.fail_code_field_width
+ cfg.max_fail_data_len + cfg.max_fail_data_len
]), ]),
reporter_creator: reporter, report_creator: reporter,
tm_hook: DummyVerificationHook::default(), tm_hook: DummyVerificationHook::default(),
} }
} }
@@ -943,7 +941,7 @@ pub mod alloc_mod {
+ cfg.fail_code_field_width + cfg.fail_code_field_width
+ cfg.max_fail_data_len + cfg.max_fail_data_len
]), ]),
reporter_creator: reporter, report_creator: reporter,
tm_hook, tm_hook,
} }
} }
@@ -952,9 +950,7 @@ pub mod alloc_mod {
&self, &self,
pus_tc: &(impl CcsdsPacket + IsPusTelecommand), pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
) -> VerificationToken<TcStateNone> { ) -> VerificationToken<TcStateNone> {
VerificationToken::<TcStateNone>::new( VerificationToken::<TcStateNone>::new(self.report_creator.read_request_id(pus_tc))
VerificationReportCreator::read_request_id_from_tc(pus_tc),
)
} }
pub fn start_verification_with_req_id( pub fn start_verification_with_req_id(
@@ -965,7 +961,7 @@ pub mod alloc_mod {
} }
delegate!( delegate!(
to self.reporter_creator { to self.report_creator {
pub fn set_apid(&mut self, apid: u16) -> bool; pub fn set_apid(&mut self, apid: u16) -> bool;
pub fn apid(&self) -> u16; pub fn apid(&self) -> u16;
pub fn dest_id(&self) -> u16; pub fn dest_id(&self) -> u16;
@@ -982,7 +978,7 @@ pub mod alloc_mod {
for VerificationReporter<VerificationHookInstance> for VerificationReporter<VerificationHookInstance>
{ {
delegate!( delegate!(
to self.reporter_creator { to self.report_creator {
fn set_apid(&mut self, apid: Apid); fn set_apid(&mut self, apid: Apid);
fn apid(&self) -> Apid; fn apid(&self) -> Apid;
} }
@@ -1008,7 +1004,7 @@ pub mod alloc_mod {
) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> { ) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> {
let mut source_data_buf = self.source_data_buf.borrow_mut(); let mut source_data_buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.acceptance_success( .acceptance_success(
source_data_buf.as_mut_slice(), source_data_buf.as_mut_slice(),
&token.request_id(), &token.request_id(),
@@ -1031,7 +1027,7 @@ pub mod alloc_mod {
) -> Result<(), EcssTmtcError> { ) -> Result<(), EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut(); let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.acceptance_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params) .acceptance_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
.map_err(PusError::ByteConversion)?; .map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator); self.tm_hook.modify_tm(&mut tm_creator);
@@ -1050,7 +1046,7 @@ pub mod alloc_mod {
) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> { ) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut(); let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.start_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp) .start_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
.map_err(PusError::ByteConversion)?; .map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator); self.tm_hook.modify_tm(&mut tm_creator);
@@ -1070,7 +1066,7 @@ pub mod alloc_mod {
) -> Result<(), EcssTmtcError> { ) -> Result<(), EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut(); let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.start_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params) .start_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
.map_err(PusError::ByteConversion)?; .map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator); self.tm_hook.modify_tm(&mut tm_creator);
@@ -1090,7 +1086,7 @@ pub mod alloc_mod {
) -> Result<(), EcssTmtcError> { ) -> Result<(), EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut(); let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.step_success( .step_success(
buf.as_mut_slice(), buf.as_mut_slice(),
&token.request_id(), &token.request_id(),
@@ -1117,7 +1113,7 @@ pub mod alloc_mod {
) -> Result<(), EcssTmtcError> { ) -> Result<(), EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut(); let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.step_failure(buf.as_mut_slice(), token, 0, 0, params) .step_failure(buf.as_mut_slice(), token, 0, 0, params)
.map_err(PusError::ByteConversion)?; .map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator); self.tm_hook.modify_tm(&mut tm_creator);
@@ -1138,7 +1134,7 @@ pub mod alloc_mod {
) -> Result<(), EcssTmtcError> { ) -> Result<(), EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut(); let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.completion_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp) .completion_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
.map_err(PusError::ByteConversion)?; .map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator); self.tm_hook.modify_tm(&mut tm_creator);
@@ -1158,7 +1154,7 @@ pub mod alloc_mod {
) -> Result<(), EcssTmtcError> { ) -> Result<(), EcssTmtcError> {
let mut buf = self.source_data_buf.borrow_mut(); let mut buf = self.source_data_buf.borrow_mut();
let mut tm_creator = self let mut tm_creator = self
.reporter_creator .report_creator
.completion_failure(buf.as_mut_slice(), &token.request_id(), 0, 00, params) .completion_failure(buf.as_mut_slice(), &token.request_id(), 0, 00, params)
.map_err(PusError::ByteConversion)?; .map_err(PusError::ByteConversion)?;
self.tm_hook.modify_tm(&mut tm_creator); self.tm_hook.modify_tm(&mut tm_creator);