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This commit is contained in:
Robin Müller 2024-05-22 01:10:34 +02:00
parent ddae74268a
commit f535a471b3
Signed by: muellerr
GPG Key ID: A649FB78196E3849
5 changed files with 212 additions and 69 deletions
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48
embedded-examples/stm32h7-rtic/Cargo.lock generated
View File

@ -251,6 +251,31 @@ name = "embedded-hal"
version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
dependencies = [
"defmt",
]
[[package]]
name = "embedded-hal-async"
version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884"
dependencies = [
"defmt",
"embedded-hal 1.0.0",
]
[[package]]
name = "embedded-hal-bus"
version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "57b4e6ede84339ebdb418cd986e6320a34b017cdf99b5cc3efceec6450b06886"
dependencies = [
"critical-section",
"defmt",
"embedded-hal 1.0.0",
"embedded-hal-async",
]
[[package]]
name = "embedded-storage"
@ -455,6 +480,12 @@ version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
[[package]]
name = "portable-atomic"
version = "1.6.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
[[package]]
name = "proc-macro-error"
version = "1.0.4"
@ -553,6 +584,22 @@ dependencies = [
"rtic-time",
]
[[package]]
name = "rtic-sync"
version = "1.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "49b1200137ccb2bf272a1801fa6e27264535facd356cb2c1d5bc8e12aa211bad"
dependencies = [
"critical-section",
"defmt",
"embedded-hal 1.0.0",
"embedded-hal-async",
"embedded-hal-bus",
"heapless 0.8.0",
"portable-atomic",
"rtic-common",
]
[[package]]
name = "rtic-time"
version = "1.3.0"
@ -623,6 +670,7 @@ dependencies = [
"panic-probe",
"rtic",
"rtic-monotonics",
"rtic-sync",
"satrs",
"smoltcp",
"stm32h7xx-hal",

1
embedded-examples/stm32h7-rtic/Cargo.toml
View File

@ -22,6 +22,7 @@ panic-probe = { version = "0.3", features = ["print-defmt"] }
cortex-m-semihosting = "0.5.0"
stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
embedded-alloc = "0.5"
rtic-sync = { version = "1", features = ["defmt-03"] }
[dependencies.smoltcp]
version = "0.11.0"

4
embedded-examples/stm32h7-rtic/pyclient/def_tmtc_conf.json
View File

@ -1,4 +1,4 @@
{
"com_if": "serial_cobs",
"serial_baudrate": 115200
"com_if": "udp",
"tcpip_udp_port": 7301
}

224
embedded-examples/stm32h7-rtic/src/main.rs
View File

@ -5,10 +5,11 @@ extern crate alloc;
use rtic::app;
use rtic_monotonics::systick::Systick;
use rtic_monotonics::Monotonic;
use satrs::pool::StaticHeaplessMemoryPool;
use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
use satrs::static_subpool;
// global logger + panicking-behavior + memory layout
use satrs_stm32h7_nucleo_rtic as _;
use smoltcp::socket::udp::UdpMetadata;
use smoltcp::socket::{dhcpv4, udp};
use core::mem::MaybeUninit;
@ -22,6 +23,12 @@ const PORT: u16 = 7301;
const HEAP_SIZE: usize = 131_072;
const TC_SOURCE_CHANNEL_DEPTH: usize = 16;
pub type SharedPool = StaticHeaplessMemoryPool<3>;
pub type TcSourceChannel = rtic_sync::channel::Channel<PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
pub type TcSourceTx = rtic_sync::channel::Sender<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
pub type TcSourceRx = rtic_sync::channel::Receiver<'static, PoolAddr, TC_SOURCE_CHANNEL_DEPTH>;
#[global_allocator]
static HEAP: Heap = Heap::empty();
@ -41,25 +48,23 @@ pub struct NetStorageStatic<'a> {
// initialised by the runtime
static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
static mut UDP_RX_META: [udp::PacketMetadata; 4] = [udp::PacketMetadata::EMPTY; 4];
static mut UDP_RX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
static mut UDP_RX: [u8; 2048] = [0; 2048];
static mut UDP_TX_META: [udp::PacketMetadata; 4] = [udp::PacketMetadata::EMPTY; 4];
static mut UDP_TX_META: [udp::PacketMetadata; 12] = [udp::PacketMetadata::EMPTY; 12];
static mut UDP_TX: [u8; 2048] = [0; 2048];
/// Locally administered MAC address
const MAC_ADDRESS: [u8; 6] = [0x02, 0x00, 0x11, 0x22, 0x33, 0x44];
pub struct Net<'a> {
pub struct Net {
iface: Interface,
ethdev: ethernet::EthernetDMA<4, 4>,
sockets: SocketSet<'a>,
dhcp_handle: SocketHandle,
udp_handle: SocketHandle,
}
impl<'a> Net<'a> {
impl Net {
pub fn new(
store: &'a mut NetStorageStatic<'a>,
sockets: &mut SocketSet<'static>,
mut ethdev: ethernet::EthernetDMA<4, 4>,
ethernet_addr: HardwareAddress,
) -> Self {
@ -69,51 +74,31 @@ impl<'a> Net<'a> {
&mut ethdev,
smoltcp::time::Instant::from_millis((Systick::now() - Systick::ZERO).to_millis()),
);
// SAFETY: The RX and TX buffers are passed here and not used anywhere else.
let udp_rx_buffer =
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
&mut UDP_RX[..]
});
let udp_tx_buffer =
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
&mut UDP_TX[..]
});
let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
// Create sockets
let dhcp_socket = dhcpv4::Socket::new();
iface.update_ip_addrs(|addrs| {
let _ = addrs.push(IpCidr::new(IpAddress::v4(192, 168, 1, 99), 0));
});
let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
let dhcp_handle = sockets.add(dhcp_socket);
let udp_handle = sockets.add(udp_socket);
Net::<'a> {
Net {
iface,
ethdev,
sockets,
dhcp_handle,
udp_handle,
}
}
/// Polls on the ethernet interface. You should refer to the smoltcp
/// documentation for poll() to understand how to call poll efficiently
pub fn poll(&mut self) -> bool {
pub fn poll<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
let uptime = Systick::now() - Systick::ZERO;
let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
self.iface
.poll(timestamp, &mut self.ethdev, &mut self.sockets)
self.iface.poll(timestamp, &mut self.ethdev, sockets)
}
pub fn poll_dhcp(&mut self) -> Option<dhcpv4::Event> {
let opt_event = self
.sockets
.get_mut::<dhcpv4::Socket>(self.dhcp_handle)
.poll();
pub fn poll_dhcp<'a>(&mut self, sockets: &'a mut SocketSet) -> Option<dhcpv4::Event<'a>> {
let opt_event = sockets.get_mut::<dhcpv4::Socket>(self.dhcp_handle).poll();
if let Some(event) = &opt_event {
match event {
dhcpv4::Event::Deconfigured => {
@ -144,25 +129,61 @@ impl<'a> Net<'a> {
}
opt_event
}
}
pub fn poll_udp(&mut self) {
let socket = self.sockets.get_mut::<udp::Socket>(self.udp_handle);
pub struct UdpNet {
udp_handle: SocketHandle,
last_client: Option<UdpMetadata>,
tc_source_tx: TcSourceTx,
}
impl UdpNet {
pub fn new<'sockets>(sockets: &mut SocketSet<'sockets>, tc_source_tx: TcSourceTx) -> Self {
// SAFETY: The RX and TX buffers are passed here and not used anywhere else.
let udp_rx_buffer =
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_RX_META[..] }, unsafe {
&mut UDP_RX[..]
});
let udp_tx_buffer =
smoltcp::socket::udp::PacketBuffer::new(unsafe { &mut UDP_TX_META[..] }, unsafe {
&mut UDP_TX[..]
});
let udp_socket = smoltcp::socket::udp::Socket::new(udp_rx_buffer, udp_tx_buffer);
let udp_handle = sockets.add(udp_socket);
Self {
udp_handle,
last_client: None,
tc_source_tx,
}
}
pub fn poll<'sockets>(
&mut self,
sockets: &'sockets mut SocketSet,
shared_pool: &mut SharedPool,
) {
let socket = sockets.get_mut::<udp::Socket>(self.udp_handle);
if !socket.is_open() {
if let Err(e) = socket.bind(PORT) {
defmt::warn!("binding UDP socket failed");
defmt::warn!("binding UDP socket failed: {}", e);
}
}
loop {
match socket.recv() {
Ok((data, client)) => {
/*defmt::info!("UDP: rx {} bytes from {}", data.len(), endpoint);
if let Ok(recv_str) = str::from_utf8(data) {
defmt::info!("recv: {}", recv_str);
match shared_pool.add(data) {
Ok(store_addr) => {
if let Err(e) = self.tc_source_tx.try_send(store_addr) {
defmt::warn!("TC source channel is full: {}", e);
}
}
Err(e) => {
defmt::warn!("could not add UDP packet to shared pool: {}", e);
}
}
*/
self.last_client = Some(client);
// TODO: Implement packet wiretapping.
// TODO: Store last endpoint.
// TODO: Send packet to PUS/CCSDS distributor via message queue.
}
Err(e) => match e {
udp::RecvError::Exhausted => {
@ -184,29 +205,35 @@ mod app {
use super::*;
use rtic_monotonics::systick::fugit::MillisDurationU32;
use rtic_monotonics::systick::Systick;
use satrs::spacepackets::ecss::tc::PusTcReader;
use stm32h7xx_hal::ethernet::{EthernetMAC, PHY};
use stm32h7xx_hal::gpio::{Output, Pin};
use stm32h7xx_hal::prelude::*;
use stm32h7xx_hal::stm32::Interrupt;
#[shared]
struct Shared {
blink_freq: MillisDurationU32,
eth_link_up: bool,
}
struct BlinkyLeds {
led1: Pin<'B', 7, Output>,
led2: Pin<'B', 14, Output>,
}
#[local]
struct Local {
leds: BlinkyLeds,
link_led: Pin<'B', 0, Output>,
net: Net<'static>,
net: Net,
udp: UdpNet,
tc_source_rx: TcSourceRx,
phy: ethernet::phy::LAN8742A<EthernetMAC>,
}
#[shared]
struct Shared {
blink_freq: MillisDurationU32,
eth_link_up: bool,
sockets: SocketSet<'static>,
shared_pool: SharedPool,
}
#[init]
fn init(mut cx: init::Context) -> (Shared, Local) {
defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
@ -318,9 +345,14 @@ mod app {
STORE.assume_init_mut()
};
let net = Net::new(store, eth_dma, mac_addr.into());
let (tc_source_tx, tc_source_rx) =
rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
let mut heapless_pool: StaticHeaplessMemoryPool<3> = StaticHeaplessMemoryPool::new(true);
let mut sockets = SocketSet::new(&mut store.socket_storage[..]);
let net = Net::new(&mut sockets, eth_dma, mac_addr.into());
let udp = UdpNet::new(&mut sockets, tc_source_tx);
let mut shared_pool: SharedPool = StaticHeaplessMemoryPool::new(true);
static_subpool!(
SUBPOOL_SMALL,
SUBPOOL_SMALL_SIZES,
@ -343,28 +375,28 @@ mod app {
link_section = ".axisram"
);
heapless_pool
shared_pool
.grow(
unsafe { SUBPOOL_SMALL.assume_init_mut() },
unsafe { SUBPOOL_SMALL_SIZES.assume_init_mut() },
SUBPOOL_SMALL_NUM_BLOCKS,
false,
true,
)
.expect("growing heapless memory pool failed");
heapless_pool
shared_pool
.grow(
unsafe { SUBPOOL_MEDIUM.assume_init_mut() },
unsafe { SUBPOOL_MEDIUM_SIZES.assume_init_mut() },
SUBPOOL_MEDIUM_NUM_BLOCKS,
false,
true,
)
.expect("growing heapless memory pool failed");
heapless_pool
shared_pool
.grow(
unsafe { SUBPOOL_LARGE.assume_init_mut() },
unsafe { SUBPOOL_LARGE_SIZES.assume_init_mut() },
SUBPOOL_LARGE_NUM_BLOCKS,
false,
true,
)
.expect("growing heapless memory pool failed");
@ -374,23 +406,30 @@ mod app {
unsafe { HEAP.init(HEAP_MEM.as_ptr() as usize, HEAP_SIZE) }
eth_link_check::spawn().expect("eth link check failed");
blink::spawn().expect("spawning blink task failed");
blinky::spawn().expect("spawning blink task failed");
udp_task::spawn().expect("spawning UDP task failed");
tc_source_task::spawn().expect("spawning TC source task failed");
(
Shared {
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
eth_link_up: false,
sockets,
shared_pool,
},
Local {
link_led,
leds,
net,
udp,
tc_source_rx,
phy: lan8742a,
},
)
}
#[task(local = [leds], shared=[blink_freq])]
async fn blink(mut cx: blink::Context) {
async fn blinky(mut cx: blinky::Context) {
let leds = cx.local.leds;
loop {
leds.led1.toggle();
@ -400,6 +439,7 @@ mod app {
}
}
/// This task checks for the network link.
#[task(local=[link_led, phy], shared=[eth_link_up])]
async fn eth_link_check(mut cx: eth_link_check::Context) {
let phy = cx.local.phy;
@ -421,16 +461,68 @@ mod app {
}
}
#[task(binds=ETH, local=[net])]
fn eth_isr(cx: eth_isr::Context) {
#[task(binds=ETH, local=[net], shared=[sockets])]
fn eth_isr(mut cx: eth_isr::Context) {
// SAFETY: We do not write the register mentioned inside the docs anywhere else.
unsafe {
ethernet::interrupt_handler();
}
// TODO: I am not fully sure whether we should do everything here. Mabye we should
// offload this to a regular task?
cx.local.net.poll();
cx.local.net.poll_dhcp();
cx.local.net.poll_udp();
// Check and process ETH frames and DHCP. UDP is checked in a different task.
cx.shared.sockets.lock(|sockets| {
cx.local.net.poll(sockets);
cx.local.net.poll_dhcp(sockets);
});
}
/// This task routes UDP packets.
#[task(local=[udp], shared=[sockets, shared_pool])]
async fn udp_task(mut cx: udp_task::Context) {
loop {
cx.shared.sockets.lock(|sockets| {
cx.shared.shared_pool.lock(|pool| {
cx.local.udp.poll(sockets, pool);
})
});
Systick::delay(40.millis()).await;
}
}
/// This task handles all the incoming telecommands.
#[task(local=[read_buf: [u8; 1024] = [0; 1024], tc_source_rx], shared=[shared_pool])]
async fn tc_source_task(mut cx: tc_source_task::Context) {
loop {
let recv_result = cx.local.tc_source_rx.recv().await;
match recv_result {
Ok(pool_addr) => {
cx.shared.shared_pool.lock(|pool| {
match pool.read(&pool_addr, cx.local.read_buf.as_mut()) {
Ok(packet_len) => {
defmt::info!("received {} bytes in the TC source task", packet_len);
match PusTcReader::new(&cx.local.read_buf[0..packet_len]) {
Ok((packet, _tc_len)) => {
// TODO: Handle packet here or dispatch to dedicated PUS
// handler? Dispatching could simplify some things and make
// the software more scalable..
defmt::info!("received PUS packet: {}", packet);
}
Err(e) => {
defmt::info!("invalid TC format, not a PUS packet: {}", e);
}
}
if let Err(e) = pool.delete(pool_addr) {
defmt::warn!("deleting TC data failed: {}", e);
}
}
Err(e) => {
defmt::warn!("TC packet read failed: {}", e);
}
}
});
}
Err(e) => {
defmt::warn!("TC source reception error: {}", e);
}
};
}
}
}

4
satrs/src/pool.rs
View File

@ -133,6 +133,7 @@ impl Display for StaticPoolAddr {
#[derive(Debug, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum StoreIdError {
InvalidSubpool(u16),
InvalidPacketIdx(u16),
@ -156,6 +157,7 @@ impl Error for StoreIdError {}
#[derive(Debug, Clone, PartialEq, Eq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
pub enum PoolError {
/// Requested data block is too large
DataTooLarge(usize),
@ -396,7 +398,7 @@ pub mod heapless_mod {
core::mem::MaybeUninit::new([0; $num_blocks * $block_size]);
#[$meta_data]
static mut $sizes_list_name: core::mem::MaybeUninit<[usize; $num_blocks]> =
core::mem::MaybeUninit::new([satrs::pool::STORE_FREE; $num_blocks]);
core::mem::MaybeUninit::new([$crate::pool::STORE_FREE; $num_blocks]);
};
}