updated STM32F3 RTICv2 example
This commit is contained in:
Robin Mueller
@@ -1,682 +1,349 @@
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#![no_std]
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#![no_main]
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use satrs::pus::verification::{
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FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
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};
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use satrs::spacepackets::ecss::tc::PusTcReader;
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use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
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use satrs::spacepackets::ecss::EcssEnumU16;
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use satrs::spacepackets::CcsdsPacket;
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use satrs::spacepackets::{ByteConversionError, SpHeader};
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// global logger + panicking-behavior + memory layout
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use satrs_stm32f3_disco_rtic as _;
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use arbitrary_int::{u11, u14};
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use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
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use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
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use spacepackets::{CcsdsPacketCreationError, SpHeader};
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use defmt_rtt as _; // global logger
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use panic_probe as _;
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use rtic::app;
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use heapless::{mpmc::Q8, Vec};
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#[allow(unused_imports)]
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use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
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use rtic_monotonics::systick::prelude::*;
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use satrs::seq_count::SequenceCountProviderCore;
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use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
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use stm32f3xx_hal::dma::dma1;
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use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
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use stm32f3xx_hal::pac::USART2;
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use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
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use crate::app::Mono;
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const UART_BAUD: u32 = 115200;
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const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
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const TX_HANDLER_FREQ_MS: u32 = 20;
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const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
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const MAX_TC_LEN: usize = 128;
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const MAX_TM_LEN: usize = 128;
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pub const PUS_APID: u16 = 0x02;
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type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
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type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
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type InstantFugit = TimerInstantU32<1000>;
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type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
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type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
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pub const PUS_APID: u11 = u11::new(0x02);
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// This is the predictable maximum overhead of the COBS encoding scheme.
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// It is simply the maximum packet lenght dividied by 254 rounded up.
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const COBS_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254;
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const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;
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const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
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const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
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const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
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// This is a static buffer which should ONLY (!) be used as the TX DMA
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// transfer buffer.
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static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
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// This is a static buffer which should ONLY (!) be used as the RX DMA
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// transfer buffer.
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static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
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const TC_DMA_BUF_LEN: usize = 512;
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type TmPacket = Vec<u8, MAX_TM_LEN>;
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type TcPacket = Vec<u8, MAX_TC_LEN>;
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type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
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static TM_REQUESTS: Q8<TmPacket> = Q8::new();
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static TM_QUEUE: heapless::mpmc::Queue<TmPacket, 16> = heapless::mpmc::Queue::new();
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use core::sync::atomic::{AtomicU16, Ordering};
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pub struct SeqCountProviderAtomicRef {
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atomic: AtomicU16,
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ordering: Ordering,
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}
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impl SeqCountProviderAtomicRef {
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pub const fn new(ordering: Ordering) -> Self {
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Self {
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atomic: AtomicU16::new(0),
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ordering,
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}
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}
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}
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impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
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fn get(&self) -> u16 {
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self.atomic.load(self.ordering)
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}
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fn increment(&self) {
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self.atomic.fetch_add(1, self.ordering);
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}
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fn get_and_increment(&self) -> u16 {
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self.atomic.fetch_add(1, self.ordering)
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}
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}
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static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
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SeqCountProviderAtomicRef::new(Ordering::Relaxed);
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pub struct TxIdle {
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tx: TxType,
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dma_channel: dma1::C7,
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}
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#[derive(Debug, defmt::Format)]
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#[derive(Debug, defmt::Format, thiserror::Error)]
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pub enum TmSendError {
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ByteConversion(ByteConversionError),
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#[error("packet creation error: {0}")]
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PacketCreation(#[from] CcsdsPacketCreationError),
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#[error("queue error")]
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Queue,
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}
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impl From<ByteConversionError> for TmSendError {
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fn from(value: ByteConversionError) -> Self {
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Self::ByteConversion(value)
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}
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}
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fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
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if tm_creator.len_written() > MAX_TM_LEN {
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return Err(ByteConversionError::ToSliceTooSmall {
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expected: tm_creator.len_written(),
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found: MAX_TM_LEN,
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}
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.into());
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}
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let mut tm_vec = TmPacket::new();
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tm_vec
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.resize(tm_creator.len_written(), 0)
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.expect("vec resize failed");
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tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
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defmt::info!(
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"Sending TM[{},{}] with size {}",
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tm_creator.service(),
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tm_creator.subservice(),
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tm_creator.len_written()
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);
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TM_REQUESTS
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.enqueue(tm_vec)
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.map_err(|_| TmSendError::Queue)?;
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Ok(())
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}
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fn handle_tm_send_error(error: TmSendError) {
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defmt::warn!("sending tm failed with error {}", error);
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}
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pub enum UartTxState {
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// Wrapped in an option because we need an owned type later.
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Idle(Option<TxIdle>),
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// Same as above
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Transmitting(Option<TxDmaTransferType>),
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}
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pub struct UartTxShared {
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last_completed: Option<InstantFugit>,
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state: UartTxState,
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}
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pub struct RequestWithToken {
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token: VerificationToken<TcStateAccepted>,
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request: Request,
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}
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#[derive(Debug, defmt::Format)]
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pub enum Request {
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Ping,
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ChangeBlinkFrequency(u32),
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pub struct RequestWithTcId {
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pub request: Request,
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pub tc_id: CcsdsPacketId,
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}
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#[derive(Debug, defmt::Format)]
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pub enum RequestError {
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InvalidApid = 1,
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InvalidService = 2,
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InvalidSubservice = 3,
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NotEnoughAppData = 4,
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}
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pub fn convert_pus_tc_to_request(
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tc: &PusTcReader,
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verif_reporter: &mut VerificationReportCreator,
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src_data_buf: &mut [u8],
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timestamp: &[u8],
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) -> Result<RequestWithToken, RequestError> {
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defmt::info!(
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"Found PUS TC [{},{}] with length {}",
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tc.service(),
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tc.subservice(),
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tc.len_packed()
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);
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let token = verif_reporter.add_tc(tc);
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if tc.apid() != PUS_APID {
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defmt::warn!("Received tc with unknown APID {}", tc.apid());
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let result = send_tm(
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verif_reporter
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.acceptance_failure(
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src_data_buf,
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token,
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SEQ_COUNT_PROVIDER.get_and_increment(),
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0,
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FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
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)
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.unwrap(),
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);
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if let Err(e) = result {
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handle_tm_send_error(e);
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}
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return Err(RequestError::InvalidApid);
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}
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let (tm_creator, accepted_token) = verif_reporter
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.acceptance_success(
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src_data_buf,
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token,
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SEQ_COUNT_PROVIDER.get_and_increment(),
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0,
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timestamp,
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)
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.unwrap();
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if let Err(e) = send_tm(tm_creator) {
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handle_tm_send_error(e);
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}
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if tc.service() == 17 && tc.subservice() == 1 {
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if tc.subservice() == 1 {
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return Ok(RequestWithToken {
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request: Request::Ping,
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token: accepted_token,
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});
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} else {
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return Err(RequestError::InvalidSubservice);
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}
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} else if tc.service() == 8 {
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if tc.subservice() == 1 {
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if tc.user_data().len() < 4 {
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return Err(RequestError::NotEnoughAppData);
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}
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let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
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return Ok(RequestWithToken {
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request: Request::ChangeBlinkFrequency(new_freq_ms),
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token: accepted_token,
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});
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} else {
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return Err(RequestError::InvalidSubservice);
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}
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} else {
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return Err(RequestError::InvalidService);
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}
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}
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#[app(device = stm32f3xx_hal::pac, peripherals = true)]
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#[app(device = embassy_stm32)]
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mod app {
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use super::*;
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use core::slice::Iter;
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use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
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use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
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#[allow(unused_imports)]
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use stm32f3_discovery::leds::Direction;
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use stm32f3_discovery::leds::Leds;
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use stm32f3xx_hal::prelude::*;
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use core::time::Duration;
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use stm32f3_discovery::switch_hal::OutputSwitch;
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use stm32f3xx_hal::Switch;
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#[allow(dead_code)]
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type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
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use super::*;
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use arbitrary_int::u14;
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use rtic::Mutex;
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use rtic_sync::{
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channel::{Receiver, Sender},
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make_channel,
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};
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use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
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use spacepackets::CcsdsPacketReader;
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systick_monotonic!(Mono, 1000);
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embassy_stm32::bind_interrupts!(struct Irqs {
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USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
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});
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#[shared]
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struct Shared {
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blink_freq: MillisDurationU32,
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tx_shared: UartTxShared,
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rx_transfer: Option<RxDmaTransferType>,
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blink_freq: Duration,
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}
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#[local]
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struct Local {
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verif_reporter: VerificationReportCreator,
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leds: Leds,
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last_dir: Direction,
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curr_dir: Iter<'static, Direction>,
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leds: satrs_stm32f3_disco_rtic::Leds,
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current_dir: satrs_stm32f3_disco_rtic::Direction,
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seq_count: u14,
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tx: embassy_stm32::usart::UartTx<'static, embassy_stm32::mode::Async>,
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rx: embassy_stm32::usart::RingBufferedUartRx<'static>,
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}
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#[init]
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fn init(cx: init::Context) -> (Shared, Local) {
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let mut rcc = cx.device.RCC.constrain();
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static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
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static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
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let p = embassy_stm32::init(Default::default());
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let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
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// Initialize the systick interrupt & obtain the token to prove that we did
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Mono::start(cx.core.SYST, 8_000_000);
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let mut flash = cx.device.FLASH.constrain();
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let clocks = rcc
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.cfgr
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.use_hse(8.MHz())
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.sysclk(8.MHz())
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.pclk1(8.MHz())
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.freeze(&mut flash.acr);
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defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
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let led_pin_set = LedPinSet {
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pin_n: p.PE8,
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pin_ne: p.PE9,
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pin_e: p.PE10,
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pin_se: p.PE11,
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pin_s: p.PE12,
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pin_sw: p.PE13,
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pin_w: p.PE14,
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pin_nw: p.PE15,
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};
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let leds = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);
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// Set up monotonic timer.
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//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
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let mut config = embassy_stm32::usart::Config::default();
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config.baudrate = UART_BAUD;
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let uart = embassy_stm32::usart::Uart::new(
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p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
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)
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.unwrap();
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defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
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let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
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let leds = Leds::new(
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gpioe.pe8,
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gpioe.pe9,
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gpioe.pe10,
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gpioe.pe11,
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gpioe.pe12,
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gpioe.pe13,
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gpioe.pe14,
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gpioe.pe15,
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&mut gpioe.moder,
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&mut gpioe.otyper,
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);
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let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
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// USART2 pins
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let mut pins = (
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// TX pin: PA2
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gpioa
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.pa2
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.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
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// RX pin: PA3
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gpioa
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.pa3
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.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
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);
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pins.1.internal_pull_up(&mut gpioa.pupdr, true);
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let mut usart2 = Serial::new(
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cx.device.USART2,
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pins,
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UART_BAUD.Bd(),
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clocks,
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&mut rcc.apb1,
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);
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usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
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// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
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usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
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let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
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let (mut tx_serial, mut rx_serial) = usart2.split();
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// This interrupt is immediately triggered, clear it. It will only be reset
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// by the hardware when data is received on RX (RXNE event)
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rx_serial.clear_event(RxEvent::Idle);
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// For some reason, this is also immediately triggered..
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tx_serial.clear_event(TxEvent::TransmissionComplete);
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let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
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let (tx, rx) = uart.split();
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defmt::info!("Spawning tasks");
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blink::spawn().unwrap();
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blinky::spawn().unwrap();
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serial_tx_handler::spawn().unwrap();
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let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
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serial_rx_handler::spawn(req_sender).unwrap();
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req_handler::spawn(req_receiver).unwrap();
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(
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Shared {
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blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
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tx_shared: UartTxShared {
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last_completed: None,
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state: UartTxState::Idle(Some(TxIdle {
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tx: tx_serial,
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dma_channel: dma1.ch7,
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})),
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},
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rx_transfer: Some(rx_transfer),
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blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
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},
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Local {
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verif_reporter,
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leds,
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last_dir: Direction::North,
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curr_dir: Direction::iter(),
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tx,
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seq_count: u14::new(0),
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rx: rx.into_ring_buffered(DMA_BUF.take()),
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current_dir: satrs_stm32f3_disco_rtic::Direction::North,
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||||
},
|
||||
)
|
||||
}
|
||||
|
||||
#[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
|
||||
async fn blink(mut cx: blink::Context) {
|
||||
let blink::LocalResources {
|
||||
leds,
|
||||
curr_dir,
|
||||
last_dir,
|
||||
..
|
||||
} = cx.local;
|
||||
let mut toggle_leds = |dir: &Direction| {
|
||||
let last_led = leds.for_direction(*last_dir);
|
||||
last_led.off().ok();
|
||||
let led = leds.for_direction(*dir);
|
||||
led.on().ok();
|
||||
*last_dir = *dir;
|
||||
};
|
||||
#[task(local = [leds, current_dir], shared=[blink_freq])]
|
||||
async fn blinky(mut cx: blinky::Context) {
|
||||
loop {
|
||||
match curr_dir.next() {
|
||||
Some(dir) => {
|
||||
toggle_leds(dir);
|
||||
}
|
||||
None => {
|
||||
*curr_dir = Direction::iter();
|
||||
toggle_leds(curr_dir.next().unwrap());
|
||||
}
|
||||
}
|
||||
cx.local.leds.blink_next(cx.local.current_dir);
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Mono::delay(current_blink_freq).await;
|
||||
Mono::delay(MillisDurationU32::from_ticks(
|
||||
current_blink_freq.as_millis() as u32,
|
||||
))
|
||||
.await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(
|
||||
shared = [tx_shared],
|
||||
local = [
|
||||
tx,
|
||||
encoded_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 {
|
||||
let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
|
||||
if let UartTxState::Idle(_) = tx_shared.state {
|
||||
return true;
|
||||
}
|
||||
false
|
||||
});
|
||||
if is_idle {
|
||||
let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
|
||||
if let Some(last_completed) = last_completed {
|
||||
let elapsed_ms = (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;
|
||||
while let Some(vec) = TM_QUEUE.dequeue() {
|
||||
let encoded_len =
|
||||
cobs::encode_including_sentinels(&vec[0..vec.len()], cx.local.encoded_buf);
|
||||
defmt::debug!("sending {} bytes over UART", encoded_len);
|
||||
cx.local
|
||||
.tx
|
||||
.write(&cx.local.encoded_buf[0..encoded_len])
|
||||
.await
|
||||
.unwrap();
|
||||
continue;
|
||||
}
|
||||
if let Some(vec) = TM_REQUESTS.dequeue() {
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(tx) => {
|
||||
let encoded_len;
|
||||
//debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
|
||||
// Safety: We only copy the data into the TX DMA buffer in this task.
|
||||
// If the DMA is active, another branch will be taken.
|
||||
unsafe {
|
||||
// 0 sentinel value as start marker
|
||||
DMA_TX_BUF[0] = 0;
|
||||
encoded_len =
|
||||
cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
// 0 end marker
|
||||
DMA_TX_BUF[encoded_len + 1] = 0;
|
||||
}
|
||||
//debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
|
||||
//debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
|
||||
let tx_idle = tx.take().unwrap();
|
||||
// Transfer completion and re-scheduling of new TX transfers will be done
|
||||
// by the IRQ handler.
|
||||
// SAFETY: The DMA is the exclusive writer to the DMA buffer now.
|
||||
let transfer = tx_idle.tx.write_all(
|
||||
unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
|
||||
tx_idle.dma_channel,
|
||||
);
|
||||
tx_shared.state = UartTxState::Transmitting(Some(transfer));
|
||||
// The memory block is automatically returned to the pool when it is dropped.
|
||||
}
|
||||
UartTxState::Transmitting(_) => (),
|
||||
});
|
||||
// Check for completion after 1 ms
|
||||
Mono::delay(1.millis()).await;
|
||||
continue;
|
||||
}
|
||||
// Nothing to do, and we are idle.
|
||||
Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(
|
||||
local = [
|
||||
verif_reporter,
|
||||
rx,
|
||||
read_buf: [u8; 128] = [0; 128],
|
||||
decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
|
||||
src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
|
||||
timestamp: [u8; 7] = [0; 7],
|
||||
],
|
||||
shared = [blink_freq]
|
||||
)]
|
||||
async fn serial_rx_handler(
|
||||
mut cx: serial_rx_handler::Context,
|
||||
received_packet: Vec<u8, MAX_TC_LEN>,
|
||||
cx: serial_rx_handler::Context,
|
||||
mut sender: Sender<'static, RequestWithTcId, 16>,
|
||||
) {
|
||||
cx.local.timestamp[0] = P_FIELD_BASE;
|
||||
defmt::info!("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;
|
||||
for (idx, byte) in packet.iter().enumerate() {
|
||||
if *byte != 0 {
|
||||
start_idx = Some(idx);
|
||||
break;
|
||||
}
|
||||
}
|
||||
if start_idx.is_none() {
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
|
||||
return;
|
||||
}
|
||||
let start_idx = start_idx.unwrap();
|
||||
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
|
||||
Ok(len) => {
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
match pus_tc {
|
||||
Ok((tc, _tc_len)) => {
|
||||
match convert_pus_tc_to_request(
|
||||
&tc,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
) {
|
||||
Ok(request_with_token) => {
|
||||
let started_token = handle_start_verification(
|
||||
request_with_token.token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
|
||||
match request_with_token.request {
|
||||
Request::Ping => {
|
||||
handle_ping_request(cx.local.timestamp);
|
||||
let mut decoder = cobs::CobsDecoder::new(cx.local.decode_buf);
|
||||
loop {
|
||||
match cx.local.rx.read(cx.local.read_buf).await {
|
||||
Ok(bytes) => {
|
||||
defmt::debug!("received {} bytes over UART", bytes);
|
||||
for byte in cx.local.read_buf[0..bytes].iter() {
|
||||
match decoder.feed(*byte) {
|
||||
Ok(None) => (),
|
||||
Ok(Some(packet_size)) => {
|
||||
match CcsdsPacketReader::new_with_checksum(
|
||||
&decoder.dest()[0..packet_size],
|
||||
) {
|
||||
Ok(packet) => {
|
||||
let packet_id = packet.packet_id();
|
||||
let psc = packet.psc();
|
||||
let tc_packet_id = CcsdsPacketId { packet_id, psc };
|
||||
if let Ok(request) =
|
||||
postcard::from_bytes::<Request>(packet.packet_data())
|
||||
{
|
||||
sender
|
||||
.send(RequestWithTcId {
|
||||
request,
|
||||
tc_id: tc_packet_id,
|
||||
})
|
||||
.await
|
||||
.unwrap();
|
||||
}
|
||||
}
|
||||
Request::ChangeBlinkFrequency(new_freq_ms) => {
|
||||
defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
|
||||
cx.shared.blink_freq.lock(|blink_freq| {
|
||||
*blink_freq =
|
||||
MillisDurationU32::from_ticks(new_freq_ms);
|
||||
});
|
||||
Err(e) => {
|
||||
defmt::error!("error unpacking ccsds packet: {}", e);
|
||||
}
|
||||
}
|
||||
handle_completion_verification(
|
||||
started_token,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
);
|
||||
}
|
||||
Err(e) => {
|
||||
// TODO: Error handling: Send verification failure based on request error.
|
||||
defmt::warn!("request error {}", e);
|
||||
defmt::error!("cobs decoding error: {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("Error unpacking PUS TC: {}", e);
|
||||
}
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::error!("uart read error: {}", e);
|
||||
}
|
||||
}
|
||||
Err(_) => {
|
||||
defmt::warn!("decoding error, can only process cobs encoded frames")
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_ping_request(timestamp: &[u8]) {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
|
||||
let sp_header =
|
||||
SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
|
||||
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
|
||||
let ping_reply = PusTmCreator::new(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() {
|
||||
defmt::warn!("TC queue full");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
fn handle_start_verification(
|
||||
accepted_token: VerificationToken<TcStateAccepted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> VerificationToken<TcStateStarted> {
|
||||
let (tm_creator, started_token) = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
×tamp,
|
||||
)
|
||||
.unwrap();
|
||||
let result = send_tm(tm_creator);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
started_token
|
||||
}
|
||||
|
||||
fn handle_completion_verification(
|
||||
started_token: VerificationToken<TcStateStarted>,
|
||||
verif_reporter: &mut VerificationReportCreator,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
#[task(shared = [blink_freq], local = [seq_count])]
|
||||
async fn req_handler(
|
||||
mut cx: req_handler::Context,
|
||||
mut receiver: Receiver<'static, RequestWithTcId, 16>,
|
||||
) {
|
||||
let result = send_tm(
|
||||
verif_reporter
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap(),
|
||||
);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
loop {
|
||||
match receiver.recv().await {
|
||||
Ok(request_with_tc_id) => {
|
||||
let tm_send_result = match request_with_tc_id.request {
|
||||
Request::Ping => handle_ping_request(&mut cx, request_with_tc_id.tc_id),
|
||||
Request::ChangeBlinkFrequency(duration) => {
|
||||
handle_change_blink_frequency_request(
|
||||
&mut cx,
|
||||
request_with_tc_id.tc_id,
|
||||
duration,
|
||||
)
|
||||
}
|
||||
};
|
||||
if let Err(e) = tm_send_result {
|
||||
defmt::error!("error sending TM response: {}", e);
|
||||
}
|
||||
}
|
||||
Err(_e) => defmt::error!("request receive error"),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[task(binds = DMA1_CH6, shared = [rx_transfer])]
|
||||
fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_ref = rx_transfer.as_ref().unwrap();
|
||||
if rx_ref.is_complete() {
|
||||
let uart_rx_owned = rx_transfer.take().unwrap();
|
||||
let (buf, c, rx) = uart_rx_owned.stop();
|
||||
// The received data is transferred to another task now to avoid any processing overhead
|
||||
// during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
|
||||
// to do this.
|
||||
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));
|
||||
|
||||
// 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.
|
||||
defmt::warn!(
|
||||
"rx transfer with maximum length {}, might miss data",
|
||||
TC_BUF_LEN
|
||||
);
|
||||
}
|
||||
});
|
||||
fn handle_ping_request(
|
||||
cx: &mut req_handler::Context,
|
||||
tc_packet_id: CcsdsPacketId,
|
||||
) -> Result<(), TmSendError> {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply");
|
||||
send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
|
||||
*cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
|
||||
Ok(())
|
||||
}
|
||||
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
|
||||
fn serial_isr(mut cx: serial_isr::Context) {
|
||||
fn handle_change_blink_frequency_request(
|
||||
cx: &mut req_handler::Context,
|
||||
tc_packet_id: CcsdsPacketId,
|
||||
duration: Duration,
|
||||
) -> Result<(), TmSendError> {
|
||||
defmt::info!(
|
||||
"Received ChangeBlinkFrequency request, new frequency: {} ms",
|
||||
duration.as_millis()
|
||||
);
|
||||
cx.shared
|
||||
.tx_shared
|
||||
.lock(|tx_shared| match &mut tx_shared.state {
|
||||
UartTxState::Idle(_) => (),
|
||||
UartTxState::Transmitting(transfer) => {
|
||||
let transfer_ref = transfer.as_ref().unwrap();
|
||||
if transfer_ref.is_complete() {
|
||||
let transfer = transfer.take().unwrap();
|
||||
let (_, dma_channel, mut tx) = transfer.stop();
|
||||
tx.clear_event(TxEvent::TransmissionComplete);
|
||||
tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
|
||||
// We cache the last completed time to ensure that there is a minimum delay between consecutive
|
||||
// transferred packets.
|
||||
tx_shared.last_completed = Some(Mono::now());
|
||||
}
|
||||
}
|
||||
});
|
||||
let mut tc_packet = TcPacket::new();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_transfer_ref = rx_transfer.as_ref().unwrap();
|
||||
// Received a partial packet.
|
||||
if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
|
||||
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 stack
|
||||
// allocated vector to do this.
|
||||
tc_packet
|
||||
.resize(rx_len as usize, 0)
|
||||
.expect("vec resize failed");
|
||||
tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
|
||||
rx.clear_event(RxEvent::Idle);
|
||||
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
|
||||
*rx_transfer = Some(rx.read_exact(buf, ch));
|
||||
}
|
||||
});
|
||||
.blink_freq
|
||||
.lock(|blink_freq| *blink_freq = duration);
|
||||
send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
|
||||
*cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
fn send_tm(
|
||||
tc_packet_id: CcsdsPacketId,
|
||||
response: Response,
|
||||
current_seq_count: u14,
|
||||
) -> Result<(), TmSendError> {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
|
||||
let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
|
||||
tc_packet_id: Some(tc_packet_id),
|
||||
uptime_millis: Mono::now().duration_since_epoch().to_millis(),
|
||||
};
|
||||
let mut tm_packet = TmPacket::new();
|
||||
let tm_size = tm_size(&tm_header, &response);
|
||||
tm_packet.resize(tm_size, 0).expect("vec resize failed");
|
||||
create_tm_packet(&mut tm_packet, sp_header, tm_header, response)?;
|
||||
if TM_QUEUE.enqueue(tm_packet).is_err() {
|
||||
defmt::warn!("TC queue full");
|
||||
return Err(TmSendError::Queue);
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
// 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
|
||||
#[defmt::panic_handler]
|
||||
fn panic() -> ! {
|
||||
cortex_m::asm::udf()
|
||||
}
|
||||
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with status code 0.
|
||||
pub fn exit() -> ! {
|
||||
loop {
|
||||
debug::exit(EXIT_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Hardfault handler.
|
||||
///
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
/// with an error. This seems better than the default, which is to spin in a
|
||||
/// loop.
|
||||
#[cortex_m_rt::exception]
|
||||
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
loop {
|
||||
debug::exit(EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||
// once within a crate. the module can be in any file but there can only be at most
|
||||
// one `#[tests]` module in this library crate
|
||||
#[cfg(test)]
|
||||
#[defmt_test::tests]
|
||||
mod unit_tests {
|
||||
use defmt::assert;
|
||||
|
||||
#[test]
|
||||
fn it_works() {
|
||||
assert!(true)
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user