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update-emb
| Author | SHA1 | Date | |
|---|---|---|---|
|
e2fbc08545
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584
embedded-examples/stm32f3-disco-rtic/Cargo.lock
generated
584
embedded-examples/stm32f3-disco-rtic/Cargo.lock
generated
@@ -3,12 +3,21 @@
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||||
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version = "0.1.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
|
||||
|
||||
[[package]]
|
||||
name = "void"
|
||||
version = "1.0.2"
|
||||
@@ -1008,19 +1017,18 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy"
|
||||
version = "0.7.35"
|
||||
version = "0.8.26"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
|
||||
checksum = "1039dd0d3c310cf05de012d8a39ff557cb0d23087fd44cad61df08fc31907a2f"
|
||||
dependencies = [
|
||||
"byteorder",
|
||||
"zerocopy-derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "zerocopy-derive"
|
||||
version = "0.7.35"
|
||||
version = "0.8.26"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
|
||||
checksum = "9ecf5b4cc5364572d7f4c329661bcc82724222973f2cab6f050a4e5c22f75181"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
|
||||
@@ -9,13 +9,16 @@ default-run = "satrs-stm32f3-disco-rtic"
|
||||
[dependencies]
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "0.3"
|
||||
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "0.3", features = ["print-defmt"] }
|
||||
embedded-hal = "0.2.7"
|
||||
defmt = "1"
|
||||
defmt-rtt = { version = "1" }
|
||||
panic-probe = { version = "1", features = ["print-defmt"] }
|
||||
embedded-hal = "1"
|
||||
cortex-m-semihosting = "0.5.0"
|
||||
embassy-stm32 = { version = "0.4", features = ["stm32f303vc", "unstable-pac"] }
|
||||
enumset = "1"
|
||||
heapless = "0.8"
|
||||
heapless = "0.9"
|
||||
spacepackets = { version = "0.15", default-features = false, features = ["defmt"] }
|
||||
static_cell = "2"
|
||||
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
@@ -26,32 +29,32 @@ version = "2"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.cobs]
|
||||
version = "0.3"
|
||||
version = "0.4"
|
||||
default-features = false
|
||||
|
||||
[dependencies.stm32f3xx-hal]
|
||||
git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
version = "0.11.0-alpha.0"
|
||||
features = ["stm32f303xc", "rt", "enumset"]
|
||||
branch = "complete-dma-update"
|
||||
# [dependencies.stm32f3xx-hal]
|
||||
# git = "https://github.com/robamu/stm32f3xx-hal"
|
||||
# version = "0.11.0-alpha.0"
|
||||
# features = ["stm32f303xc", "rt", "enumset"]
|
||||
# branch = "complete-dma-update"
|
||||
# Can be used in workspace to develop and update HAL
|
||||
# path = "../stm32f3xx-hal"
|
||||
|
||||
[dependencies.stm32f3-discovery]
|
||||
git = "https://github.com/robamu/stm32f3-discovery"
|
||||
version = "0.8.0-alpha.0"
|
||||
branch = "complete-dma-update-hal"
|
||||
# [dependencies.stm32f3-discovery]
|
||||
# git = "https://github.com/robamu/stm32f3-discovery"
|
||||
# version = "0.8.0-alpha.0"
|
||||
# branch = "complete-dma-update-hal"
|
||||
# Can be used in workspace to develop and update BSP
|
||||
# path = "../stm32f3-discovery"
|
||||
|
||||
[dependencies.satrs]
|
||||
# path = "satrs"
|
||||
version = "0.2"
|
||||
# version = "0.2"
|
||||
path = "../../satrs"
|
||||
default-features = false
|
||||
features = ["defmt"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
defmt-test = "0.4"
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
|
||||
@@ -1,76 +1,61 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs_stm32f3_disco_rtic as _;
|
||||
#![no_std]
|
||||
|
||||
use stm32f3_discovery::leds::Leds;
|
||||
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
|
||||
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
|
||||
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
|
||||
use panic_probe as _;
|
||||
use rtic::app;
|
||||
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("STM32F3 Discovery Blinky");
|
||||
let dp = pac::Peripherals::take().unwrap();
|
||||
let mut rcc = dp.RCC.constrain();
|
||||
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);
|
||||
#[app(device = embassy_stm32)]
|
||||
mod app {
|
||||
use rtic_monotonics::fugit::ExtU32;
|
||||
use rtic_monotonics::Monotonic as _;
|
||||
use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
|
||||
|
||||
let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
|
||||
let mut leds = Leds::new(
|
||||
gpioe.pe8,
|
||||
gpioe.pe9,
|
||||
gpioe.pe10,
|
||||
gpioe.pe11,
|
||||
gpioe.pe12,
|
||||
gpioe.pe13,
|
||||
gpioe.pe14,
|
||||
gpioe.pe15,
|
||||
&mut gpioe.moder,
|
||||
&mut gpioe.otyper,
|
||||
);
|
||||
let delay_ms = 200u16;
|
||||
loop {
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld3_n.toggle().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
rtic_monotonics::systick_monotonic!(Mono, 1000);
|
||||
|
||||
//explicit on/off
|
||||
leds.ld4_nw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld4_nw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
#[shared]
|
||||
struct Shared {}
|
||||
|
||||
leds.ld5_ne.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld5_ne.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
#[local]
|
||||
struct Local {
|
||||
leds: Leds,
|
||||
current_dir: Direction,
|
||||
}
|
||||
|
||||
leds.ld6_w.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld6_w.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
let p = embassy_stm32::init(Default::default());
|
||||
|
||||
leds.ld7_e.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld7_e.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
|
||||
|
||||
leds.ld8_sw.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld8_sw.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
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);
|
||||
|
||||
leds.ld9_se.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld9_se.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
// 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,
|
||||
},
|
||||
)
|
||||
}
|
||||
|
||||
leds.ld10_s.on().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
leds.ld10_s.off().ok();
|
||||
delay.delay_ms(delay_ms);
|
||||
#[task(local = [leds, current_dir])]
|
||||
async fn blinky(cx: blinky::Context) {
|
||||
loop {
|
||||
cx.local.leds.blink_next(cx.local.current_dir);
|
||||
Mono::delay(200.millis()).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -3,12 +3,147 @@
|
||||
|
||||
use cortex_m_semihosting::debug;
|
||||
|
||||
use defmt_brtt as _; // global logger
|
||||
|
||||
use stm32f3xx_hal as _; // memory layout
|
||||
use defmt_rtt as _; // global logger
|
||||
|
||||
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
|
||||
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
|
||||
#[defmt::panic_handler]
|
||||
|
||||
@@ -1,8 +1,6 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use satrs::pus::verification::{
|
||||
FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
|
||||
};
|
||||
use satrs::pus::verification::{FailParams, VerificationReportCreator};
|
||||
use satrs::spacepackets::ecss::tc::PusTcReader;
|
||||
use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
|
||||
use satrs::spacepackets::ecss::EcssEnumU16;
|
||||
@@ -13,16 +11,12 @@ use satrs_stm32f3_disco_rtic as _;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
use heapless::{mpmc::Q8, Vec};
|
||||
use heapless::Vec;
|
||||
#[allow(unused_imports)]
|
||||
use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
use satrs::seq_count::SequenceCountProviderCore;
|
||||
use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
|
||||
use stm32f3xx_hal::dma::dma1;
|
||||
use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
|
||||
use stm32f3xx_hal::pac::USART2;
|
||||
use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
|
||||
use spacepackets::seq_count::SequenceCountProvider;
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
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 MAX_TC_LEN: usize = 128;
|
||||
const MAX_TM_LEN: usize = 128;
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
|
||||
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>;
|
||||
pub const PUS_APID: u16 = 0x02;
|
||||
|
||||
// This is the predictable maximum overhead of the COBS encoding scheme.
|
||||
// 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_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;
|
||||
const COBS_TC_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TC_LEN);
|
||||
const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
|
||||
|
||||
const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_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
|
||||
// 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];
|
||||
const TC_DMA_BUF_LEN: usize = 512;
|
||||
|
||||
type TmPacket = Vec<u8, MAX_TM_LEN>;
|
||||
type TcPacket = Vec<u8, MAX_TC_LEN>;
|
||||
type TmPacket = heapless::Vec<u8, MAX_TM_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};
|
||||
|
||||
@@ -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 {
|
||||
self.atomic.load(self.ordering)
|
||||
}
|
||||
@@ -92,8 +80,8 @@ static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
|
||||
SeqCountProviderAtomicRef::new(Ordering::Relaxed);
|
||||
|
||||
pub struct TxIdle {
|
||||
tx: TxType,
|
||||
dma_channel: dma1::C7,
|
||||
//tx: TxType,
|
||||
//dma_channel: dma1::C7,
|
||||
}
|
||||
|
||||
#[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 {
|
||||
token: VerificationToken<TcStateAccepted>,
|
||||
request_id: satrs::pus::verification::RequestId,
|
||||
request: Request,
|
||||
}
|
||||
|
||||
@@ -168,147 +115,69 @@ pub enum RequestError {
|
||||
NotEnoughAppData = 4,
|
||||
}
|
||||
|
||||
pub fn convert_pus_tc_to_request(
|
||||
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)]
|
||||
#[app(device = embassy_stm32)]
|
||||
mod app {
|
||||
use super::*;
|
||||
use core::slice::Iter;
|
||||
use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
|
||||
use satrs::pus::verification::VerificationReportCreator;
|
||||
use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
|
||||
#[allow(unused_imports)]
|
||||
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>>)>;
|
||||
use satrs_stm32f3_disco_rtic::LedPinSet;
|
||||
|
||||
systick_monotonic!(Mono, 1000);
|
||||
|
||||
embassy_stm32::bind_interrupts!(struct Irqs {
|
||||
USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
|
||||
});
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
blink_freq: MillisDurationU32,
|
||||
tx_shared: UartTxShared,
|
||||
rx_transfer: Option<RxDmaTransferType>,
|
||||
}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
verif_reporter: VerificationReportCreator,
|
||||
leds: Leds,
|
||||
last_dir: Direction,
|
||||
curr_dir: Iter<'static, Direction>,
|
||||
leds: satrs_stm32f3_disco_rtic::Leds,
|
||||
current_dir: satrs_stm32f3_disco_rtic::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]
|
||||
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
|
||||
Mono::start(cx.core.SYST, 8_000_000);
|
||||
|
||||
let mut flash = cx.device.FLASH.constrain();
|
||||
let clocks = rcc
|
||||
.cfgr
|
||||
.use_hse(8.MHz())
|
||||
.sysclk(8.MHz())
|
||||
.pclk1(8.MHz())
|
||||
.freeze(&mut flash.acr);
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery with 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 = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);
|
||||
|
||||
// Set up monotonic timer.
|
||||
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
|
||||
let config = embassy_stm32::usart::Config::default();
|
||||
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 mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
|
||||
|
||||
let leds = Leds::new(
|
||||
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);
|
||||
let (tx, rx) = uart.split();
|
||||
let tm_queue = TM_REQUESTS.take();
|
||||
let (tm_prod, tm_cons) = tm_queue.split();
|
||||
//let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
|
||||
// USART2 pins
|
||||
/*
|
||||
let mut pins = (
|
||||
// TX pin: PA2
|
||||
gpioa
|
||||
@@ -319,29 +188,32 @@ mod app {
|
||||
.pa3
|
||||
.into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
|
||||
);
|
||||
pins.1.internal_pull_up(&mut gpioa.pupdr, true);
|
||||
let mut usart2 = Serial::new(
|
||||
cx.device.USART2,
|
||||
pins,
|
||||
UART_BAUD.Bd(),
|
||||
clocks,
|
||||
&mut rcc.apb1,
|
||||
);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
|
||||
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
|
||||
*/
|
||||
//pins.1.internal_pull_up(&mut gpioa.pupdr, true);
|
||||
/*
|
||||
let mut usart2 = Serial::new(
|
||||
cx.device.USART2,
|
||||
pins,
|
||||
UART_BAUD.Bd(),
|
||||
clocks,
|
||||
&mut rcc.apb1,
|
||||
);
|
||||
usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
|
||||
// This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
|
||||
usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
|
||||
*/
|
||||
|
||||
let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
|
||||
let (mut tx_serial, mut rx_serial) = usart2.split();
|
||||
//let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
|
||||
//let (mut tx_serial, mut rx_serial) = usart2.split();
|
||||
|
||||
// This interrupt is immediately triggered, clear it. It will only be reset
|
||||
// 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..
|
||||
tx_serial.clear_event(TxEvent::TransmissionComplete);
|
||||
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
|
||||
//tx_serial.clear_event(TxEvent::TransmissionComplete);
|
||||
//let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
|
||||
defmt::info!("Spawning tasks");
|
||||
blink::spawn().unwrap();
|
||||
blinky::spawn().unwrap();
|
||||
serial_tx_handler::spawn().unwrap();
|
||||
|
||||
let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
|
||||
@@ -349,118 +221,49 @@ mod app {
|
||||
(
|
||||
Shared {
|
||||
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 {
|
||||
verif_reporter,
|
||||
leds,
|
||||
last_dir: Direction::North,
|
||||
curr_dir: Direction::iter(),
|
||||
tm_prod,
|
||||
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])]
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
#[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 {
|
||||
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) = cx.local.tm_cons.dequeue() {
|
||||
cx.local.dma_buf[0] = 0;
|
||||
let encoded_len = cobs::encode(&vec[0..vec.len()], &mut cx.local.dma_buf[1..]);
|
||||
// Should never panic, we accounted for the overhead.
|
||||
// Write into transfer buffer directly, no need for intermediate
|
||||
// encoding buffer.
|
||||
// 0 end marker
|
||||
cx.local.dma_buf[encoded_len + 1] = 0;
|
||||
cx.local.tx.write(&vec[0..encoded_len + 2]).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;
|
||||
}
|
||||
}
|
||||
@@ -468,6 +271,9 @@ mod app {
|
||||
#[task(
|
||||
local = [
|
||||
verif_reporter,
|
||||
tm_prod,
|
||||
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],
|
||||
@@ -478,6 +284,18 @@ mod app {
|
||||
mut cx: serial_rx_handler::Context,
|
||||
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;
|
||||
defmt::info!("Received packet with {} bytes", received_packet.len());
|
||||
let decode_buf = cx.local.decode_buf;
|
||||
@@ -494,21 +312,24 @@ mod app {
|
||||
return;
|
||||
}
|
||||
let start_idx = start_idx.unwrap();
|
||||
decoder.push(data)
|
||||
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
|
||||
Ok(len) => {
|
||||
defmt::info!("Decoded packet length: {}", len);
|
||||
Ok(decode_report) => {
|
||||
defmt::info!("Decoded packet length: {}", decode_report.frame_size());
|
||||
let pus_tc = PusTcReader::new(decode_buf);
|
||||
match pus_tc {
|
||||
Ok((tc, _tc_len)) => {
|
||||
Ok(tc) => {
|
||||
match convert_pus_tc_to_request(
|
||||
&tc,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.tm_prod,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
) {
|
||||
Ok(request_with_token) => {
|
||||
let started_token = handle_start_verification(
|
||||
request_with_token.token,
|
||||
handle_start_verification(
|
||||
request_with_token.request_id,
|
||||
cx.local.tm_prod,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
cx.local.timestamp,
|
||||
@@ -516,7 +337,7 @@ mod app {
|
||||
|
||||
match request_with_token.request {
|
||||
Request::Ping => {
|
||||
handle_ping_request(cx.local.timestamp);
|
||||
handle_ping_request(cx.local.tm_prod, cx.local.timestamp);
|
||||
}
|
||||
Request::ChangeBlinkFrequency(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(
|
||||
started_token,
|
||||
request_with_token.request_id,
|
||||
cx.local.tm_prod,
|
||||
cx.local.verif_reporter,
|
||||
cx.local.src_data_buf,
|
||||
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]");
|
||||
let sp_header =
|
||||
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)
|
||||
.expect("vec resize failed");
|
||||
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");
|
||||
return;
|
||||
}
|
||||
}
|
||||
|
||||
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,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
) -> VerificationToken<TcStateStarted> {
|
||||
let (tm_creator, started_token) = verif_reporter
|
||||
) {
|
||||
let tm_creator = verif_reporter
|
||||
.start_success(
|
||||
src_data_buf,
|
||||
accepted_token,
|
||||
&request_id,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
×tamp,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap();
|
||||
let result = send_tm(tm_creator);
|
||||
let result = send_tm(tm_creator, tm_prod);
|
||||
if let Err(e) = result {
|
||||
handle_tm_send_error(e);
|
||||
}
|
||||
started_token
|
||||
}
|
||||
|
||||
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,
|
||||
src_data_buf: &mut [u8],
|
||||
timestamp: &[u8],
|
||||
@@ -599,20 +424,23 @@ mod app {
|
||||
verif_reporter
|
||||
.completion_success(
|
||||
src_data_buf,
|
||||
started_token,
|
||||
&request_id,
|
||||
SEQ_COUNT_PROVIDER.get(),
|
||||
0,
|
||||
timestamp,
|
||||
)
|
||||
.unwrap(),
|
||||
tm_prod,
|
||||
);
|
||||
if let Err(e) = result {
|
||||
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();
|
||||
cx.shared.rx_transfer.lock(|rx_transfer| {
|
||||
let rx_ref = rx_transfer.as_ref().unwrap();
|
||||
@@ -638,45 +466,156 @@ mod app {
|
||||
);
|
||||
}
|
||||
});
|
||||
*/
|
||||
}
|
||||
*/
|
||||
|
||||
/*
|
||||
#[task(binds = USART2_EXTI26, shared = [])]
|
||||
fn serial_isr(mut cx: serial_isr::Context) {
|
||||
/*
|
||||
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));
|
||||
}
|
||||
});
|
||||
*/
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
#[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
|
||||
fn serial_isr(mut cx: serial_isr::Context) {
|
||||
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));
|
||||
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
641
embedded-examples/stm32h7-nucleo-rtic/Cargo.lock
generated
File diff suppressed because it is too large
Load Diff
@@ -16,16 +16,17 @@ harness = false
|
||||
[dependencies]
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "0.3"
|
||||
defmt = "1"
|
||||
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"
|
||||
# TODO: Replace with embassy-hal.
|
||||
stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
|
||||
embedded-alloc = "0.6"
|
||||
rtic-sync = { version = "1", features = ["defmt-03"] }
|
||||
|
||||
[dependencies.smoltcp]
|
||||
version = "0.11"
|
||||
version = "0.12"
|
||||
default-features = false
|
||||
features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
|
||||
|
||||
@@ -39,12 +40,12 @@ features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../../satrs"
|
||||
version = "0.2"
|
||||
# version = "0.2"
|
||||
default-features = false
|
||||
features = ["defmt", "heapless"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.3"
|
||||
defmt-test = "0.4"
|
||||
|
||||
# cargo build/run
|
||||
[profile.dev]
|
||||
|
||||
@@ -511,9 +511,7 @@ impl VerificationReportCreator {
|
||||
self.dest_id = dest_id;
|
||||
}
|
||||
|
||||
/// Initialize verification handling by passing a TC reference. This returns a token required
|
||||
/// to call the acceptance functions
|
||||
pub fn read_request_id_from_tc(pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
|
||||
pub fn read_request_id(&self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
|
||||
RequestId::new(pus_tc)
|
||||
}
|
||||
|
||||
@@ -903,7 +901,7 @@ pub mod alloc_mod {
|
||||
> {
|
||||
owner_id: ComponentId,
|
||||
source_data_buf: RefCell<alloc::vec::Vec<u8>>,
|
||||
pub reporter_creator: VerificationReportCreator,
|
||||
pub report_creator: VerificationReportCreator,
|
||||
pub tm_hook: VerificationHookInstance,
|
||||
}
|
||||
|
||||
@@ -919,7 +917,7 @@ pub mod alloc_mod {
|
||||
+ cfg.fail_code_field_width
|
||||
+ cfg.max_fail_data_len
|
||||
]),
|
||||
reporter_creator: reporter,
|
||||
report_creator: reporter,
|
||||
tm_hook: DummyVerificationHook::default(),
|
||||
}
|
||||
}
|
||||
@@ -943,7 +941,7 @@ pub mod alloc_mod {
|
||||
+ cfg.fail_code_field_width
|
||||
+ cfg.max_fail_data_len
|
||||
]),
|
||||
reporter_creator: reporter,
|
||||
report_creator: reporter,
|
||||
tm_hook,
|
||||
}
|
||||
}
|
||||
@@ -952,9 +950,7 @@ pub mod alloc_mod {
|
||||
&self,
|
||||
pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
|
||||
) -> VerificationToken<TcStateNone> {
|
||||
VerificationToken::<TcStateNone>::new(
|
||||
VerificationReportCreator::read_request_id_from_tc(pus_tc),
|
||||
)
|
||||
VerificationToken::<TcStateNone>::new(self.report_creator.read_request_id(pus_tc))
|
||||
}
|
||||
|
||||
pub fn start_verification_with_req_id(
|
||||
@@ -965,7 +961,7 @@ pub mod alloc_mod {
|
||||
}
|
||||
|
||||
delegate!(
|
||||
to self.reporter_creator {
|
||||
to self.report_creator {
|
||||
pub fn set_apid(&mut self, apid: u16) -> bool;
|
||||
pub fn apid(&self) -> u16;
|
||||
pub fn dest_id(&self) -> u16;
|
||||
@@ -982,7 +978,7 @@ pub mod alloc_mod {
|
||||
for VerificationReporter<VerificationHookInstance>
|
||||
{
|
||||
delegate!(
|
||||
to self.reporter_creator {
|
||||
to self.report_creator {
|
||||
fn set_apid(&mut self, apid: Apid);
|
||||
fn apid(&self) -> Apid;
|
||||
}
|
||||
@@ -1008,7 +1004,7 @@ pub mod alloc_mod {
|
||||
) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> {
|
||||
let mut source_data_buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.acceptance_success(
|
||||
source_data_buf.as_mut_slice(),
|
||||
&token.request_id(),
|
||||
@@ -1031,7 +1027,7 @@ pub mod alloc_mod {
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.acceptance_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
@@ -1050,7 +1046,7 @@ pub mod alloc_mod {
|
||||
) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> {
|
||||
let mut buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.start_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
@@ -1070,7 +1066,7 @@ pub mod alloc_mod {
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.start_failure(buf.as_mut_slice(), &token.request_id(), 0, 0, params)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
@@ -1090,7 +1086,7 @@ pub mod alloc_mod {
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.step_success(
|
||||
buf.as_mut_slice(),
|
||||
&token.request_id(),
|
||||
@@ -1117,7 +1113,7 @@ pub mod alloc_mod {
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.step_failure(buf.as_mut_slice(), token, 0, 0, params)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
@@ -1138,7 +1134,7 @@ pub mod alloc_mod {
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.completion_success(buf.as_mut_slice(), &token.request_id(), 0, 0, time_stamp)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
@@ -1158,7 +1154,7 @@ pub mod alloc_mod {
|
||||
) -> Result<(), EcssTmtcError> {
|
||||
let mut buf = self.source_data_buf.borrow_mut();
|
||||
let mut tm_creator = self
|
||||
.reporter_creator
|
||||
.report_creator
|
||||
.completion_failure(buf.as_mut_slice(), &token.request_id(), 0, 00, params)
|
||||
.map_err(PusError::ByteConversion)?;
|
||||
self.tm_hook.modify_tm(&mut tm_creator);
|
||||
|
||||
Reference in New Issue
Block a user