Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Robin Mueller
|
cba91eb21e |
@@ -9,7 +9,6 @@ members = [
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"satrs-example/minisim",
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"satrs-shared",
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"embedded-examples/embedded-client",
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"embedded-examples/models",
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]
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exclude = [
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@@ -10,7 +10,6 @@ toml = "0.9"
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serde = { version = "1", features = ["derive"] }
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satrs-stm32f3-disco-rtic = { path = "../stm32f3-disco-rtic" }
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spacepackets = { version = "0.17" }
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embedded-models = { path = "../models" }
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tmtc-utils = { git = "https://egit.irs.uni-stuttgart.de/rust/tmtc-utils.git", version = "0.1" }
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postcard = { version = "1", features = ["alloc"] }
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cobs = "0.5"
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@@ -1,64 +0,0 @@
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use std::{fs::File, io::Read, path::Path, time::Duration};
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use clap::Parser;
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use cobs::CobsDecoderOwned;
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use embedded_client::setup_logger;
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use embedded_models::{stm32f3, stm32h7};
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use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
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use tmtc_utils::transport::serial::PacketTransportSerialCobs;
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#[derive(Parser, Debug)]
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struct Cli {
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#[arg(short, long)]
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ping: bool,
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/// Set frequency in milliseconds.
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#[arg(short, long)]
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set_led_frequency: Option<u32>,
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}
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fn main() {
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setup_logger().expect("failed to initialize logger");
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println!("-- STM32H7 TMTC client --");
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let cli = Cli::parse();
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let config = embedded_client::Config::new_from_file();
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/*
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if cli.ping {
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let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
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log::info!(
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"Sending ping request with TC ID: {:#010x}",
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tc.ccsds_packet_id_and_psc().raw()
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);
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transport.send(&tc.to_vec()).unwrap();
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}
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if let Some(freq_ms) = cli.set_led_frequency {
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let request = stm32f3::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
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let tc = create_stm32f3_tc(&request);
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log::info!(
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"Sending change blink frequency request {:?} with TC ID: {:#010x}",
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request,
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tc.ccsds_packet_id_and_psc().raw()
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);
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transport.send(&tc.to_vec()).unwrap();
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}
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log::info!("Waiting for response...");
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loop {
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transport
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.receive(|packet: &[u8]| {
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let reader = CcsdsPacketReader::new_with_checksum(packet);
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log::info!("Received packet: {:?}", reader);
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})
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.unwrap();
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}
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*/
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}
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fn create_stm32h7_tc(request: &stm32h7::Request) -> CcsdsPacketCreatorOwned {
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let req_raw = postcard::to_allocvec(&request).unwrap();
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let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
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CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
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}
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@@ -1,42 +0,0 @@
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use std::{fs::File, io::Read as _, path::Path, time::SystemTime};
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#[derive(Debug, serde::Deserialize)]
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pub struct Config {
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pub interface: Interface,
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}
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#[derive(Debug, serde::Deserialize)]
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pub struct Interface {
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pub serial_port: String,
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}
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impl Config {
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pub fn new_from_file() -> Self {
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let mut config_file =
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File::open(Path::new("config.toml")).expect("opening config.toml file failed");
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let mut toml_str = String::new();
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config_file
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.read_to_string(&mut toml_str)
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.expect("reading config.toml file failed");
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let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
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println!("Connecting to serial port {}", config.interface.serial_port);
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config
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}
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}
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pub fn setup_logger() -> Result<(), fern::InitError> {
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fern::Dispatch::new()
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.format(|out, message, record| {
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out.finish(format_args!(
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"[{} {} {}] {}",
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humantime::format_rfc3339_seconds(SystemTime::now()),
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record.level(),
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record.target(),
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message
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))
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})
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.level(log::LevelFilter::Debug)
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.chain(std::io::stdout())
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.chain(fern::log_file("output.log")?)
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.apply()?;
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Ok(())
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}
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+49
-8
@@ -1,9 +1,13 @@
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use std::time::Duration;
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use std::{
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fs::File,
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io::Read,
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path::Path,
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time::{Duration, SystemTime},
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};
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use clap::Parser;
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use cobs::CobsDecoderOwned;
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use embedded_client::setup_logger;
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use embedded_models::stm32f3;
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use satrs_stm32f3_disco_rtic::Request;
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use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
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use tmtc_utils::transport::serial::PacketTransportSerialCobs;
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@@ -17,11 +21,47 @@ struct Cli {
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set_led_frequency: Option<u32>,
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}
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#[derive(Debug, serde::Deserialize)]
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struct Config {
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interface: Interface,
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}
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#[derive(Debug, serde::Deserialize)]
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struct Interface {
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serial_port: String,
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}
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fn setup_logger() -> Result<(), fern::InitError> {
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fern::Dispatch::new()
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.format(|out, message, record| {
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out.finish(format_args!(
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"[{} {} {}] {}",
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humantime::format_rfc3339_seconds(SystemTime::now()),
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record.level(),
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record.target(),
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message
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))
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})
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.level(log::LevelFilter::Debug)
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.chain(std::io::stdout())
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.chain(fern::log_file("output.log")?)
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.apply()?;
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Ok(())
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}
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fn main() {
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setup_logger().expect("failed to initialize logger");
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println!("-- STM32F3 TMTC client --");
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println!("sat-rs embedded examples TMTC client");
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let cli = Cli::parse();
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let config = embedded_client::Config::new_from_file();
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let mut config_file =
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File::open(Path::new("config.toml")).expect("opening config.toml file failed");
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let mut toml_str = String::new();
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config_file
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.read_to_string(&mut toml_str)
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.expect("reading config.toml file failed");
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let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
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println!("Connecting to serial port {}", config.interface.serial_port);
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let serial = serialport::new(config.interface.serial_port, 115200)
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.open()
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@@ -29,7 +69,8 @@ fn main() {
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let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
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if cli.ping {
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let tc = create_stm32f3_tc(&embedded_models::stm32f3::Request::Ping);
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let request = Request::Ping;
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let tc = create_stm32f3_tc(&request);
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log::info!(
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"Sending ping request with TC ID: {:#010x}",
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tc.ccsds_packet_id_and_psc().raw()
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@@ -38,7 +79,7 @@ fn main() {
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}
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if let Some(freq_ms) = cli.set_led_frequency {
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let request = stm32f3::Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
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let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
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let tc = create_stm32f3_tc(&request);
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log::info!(
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"Sending change blink frequency request {:?} with TC ID: {:#010x}",
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@@ -59,7 +100,7 @@ fn main() {
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}
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}
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fn create_stm32f3_tc(request: &stm32f3::Request) -> CcsdsPacketCreatorOwned {
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fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
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let req_raw = postcard::to_allocvec(&request).unwrap();
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let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
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CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
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@@ -1,11 +0,0 @@
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[package]
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name = "embedded-models"
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version = "0.1.0"
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edition = "2024"
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[dependencies]
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serde = { version = "1", default-features = false }
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defmt = { version = "1", optional = true }
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spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
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postcard = { version = "1", features = ["defmt"] }
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arbitrary-int = "2"
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@@ -1,84 +0,0 @@
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#![no_std]
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use spacepackets::{
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CcsdsPacketCreationError, CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc,
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SpacePacketHeader, ccsds_packet_len_for_user_data_len_with_checksum,
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};
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pub mod stm32f3 {
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use arbitrary_int::u11;
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use core::time::Duration;
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pub const PUS_APID: u11 = u11::new(0x02);
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#[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Request {
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Ping,
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ChangeBlinkFrequency(Duration),
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}
|
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|
||||
#[derive(Debug, serde::Serialize, serde::Deserialize)]
|
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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pub enum Response {
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Ok,
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||||
}
|
||||
}
|
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|
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/// This might look like a duplication, but we intentionally keep those separate so they can
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/// change independently.
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pub mod stm32h7 {
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use arbitrary_int::u11;
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use core::time::Duration;
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|
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pub const PUS_APID: u11 = u11::new(0x03);
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|
||||
#[derive(Copy, Clone, Debug, serde::Serialize, serde::Deserialize)]
|
||||
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
||||
pub enum Request {
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Ping,
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ChangeBlinkFrequency(Duration),
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||||
}
|
||||
|
||||
#[derive(Debug, serde::Serialize, serde::Deserialize)]
|
||||
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
||||
pub enum Response {
|
||||
Ok,
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, serde::Serialize, serde::Deserialize)]
|
||||
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
|
||||
pub struct TmHeader {
|
||||
pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
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pub uptime_millis: u64,
|
||||
}
|
||||
|
||||
pub fn tm_size<Response: serde::Serialize>(tm_header: &TmHeader, response: &Response) -> usize {
|
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ccsds_packet_len_for_user_data_len_with_checksum(
|
||||
postcard::experimental::serialized_size(tm_header).unwrap()
|
||||
+ postcard::experimental::serialized_size(response).unwrap(),
|
||||
)
|
||||
.unwrap()
|
||||
}
|
||||
|
||||
pub fn create_tm_packet<Response: serde::Serialize>(
|
||||
buf: &mut [u8],
|
||||
sp_header: SpacePacketHeader,
|
||||
tm_header: TmHeader,
|
||||
response: Response,
|
||||
) -> Result<usize, CcsdsPacketCreationError> {
|
||||
let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
|
||||
+ postcard::experimental::serialized_size(&response).unwrap();
|
||||
let mut creator =
|
||||
CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
|
||||
|
||||
let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
|
||||
.unwrap()
|
||||
.len();
|
||||
postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
|
||||
Ok(creator.finish())
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {}
|
||||
+135
-104
@@ -13,9 +13,9 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "aligned"
|
||||
version = "0.4.2"
|
||||
version = "0.4.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "377e4c0ba83e4431b10df45c1d4666f178ea9c552cac93e60c3a88bf32785923"
|
||||
checksum = "ee4508988c62edf04abd8d92897fca0c2995d907ce1dfeaf369dac3716a40685"
|
||||
dependencies = [
|
||||
"as-slice",
|
||||
]
|
||||
@@ -90,7 +90,7 @@ dependencies = [
|
||||
"arbitrary-int 1.3.0",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -202,7 +202,7 @@ checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -255,7 +255,7 @@ dependencies = [
|
||||
"ident_case",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -266,7 +266,7 @@ checksum = "d38308df82d1080de0afee5d069fa14b0326a88c14f15c5ccda35b4a6c414c81"
|
||||
dependencies = [
|
||||
"darling_core",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -298,7 +298,7 @@ dependencies = [
|
||||
"proc-macro-error2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -322,25 +322,24 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "defmt-test"
|
||||
version = "0.4.0"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "24076cc7203c365e7febfcec15d6667a9ef780bd2c5fd3b2a197400df78f299b"
|
||||
checksum = "1d326e211b94939affafdf96f5c1baf8745b960037dcf763f813597d32b03d51"
|
||||
dependencies = [
|
||||
"cortex-m-rt",
|
||||
"cortex-m-semihosting",
|
||||
"defmt 1.0.1",
|
||||
"defmt-test-macros",
|
||||
"semihosting",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-test-macros"
|
||||
version = "0.3.2"
|
||||
version = "0.3.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fe5520fd36862f281c026abeaab153ebbc001717c29a9b8e5ba9704d8f3a879d"
|
||||
checksum = "2a7563a5468e1a1bd97f44cb75b658c2feec75af2b1389e70f4c0677b8402edd"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -351,7 +350,7 @@ checksum = "6178a82cf56c836a3ba61a7935cdb1c49bfaa6fa4327cd5bf554a503087de26b"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -365,14 +364,15 @@ dependencies = [
|
||||
|
||||
[[package]]
|
||||
name = "embassy-embedded-hal"
|
||||
version = "0.5.0"
|
||||
version = "0.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "554e3e840696f54b4c9afcf28a0f24da431c927f4151040020416e7393d6d0d8"
|
||||
checksum = "b0641612053b2f34fc250bb63f6630ae75de46e02ade7f457268447081d709ce"
|
||||
dependencies = [
|
||||
"defmt 1.0.1",
|
||||
"embassy-futures",
|
||||
"embassy-hal-internal",
|
||||
"embassy-hal-internal 0.4.0",
|
||||
"embassy-sync",
|
||||
"embassy-time",
|
||||
"embedded-hal 0.2.7",
|
||||
"embedded-hal 1.0.0",
|
||||
"embedded-hal-async",
|
||||
@@ -381,6 +381,12 @@ dependencies = [
|
||||
"nb 1.1.0",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embassy-executor-timer-queue"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2fc328bf943af66b80b98755db9106bf7e7471b0cf47dc8559cd9a6be504cc9c"
|
||||
|
||||
[[package]]
|
||||
name = "embassy-futures"
|
||||
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||||
"syn 1.0.109",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.22"
|
||||
@@ -1501,7 +1532,7 @@ checksum = "053e2e040ab57b9dc951b72c264860db7eb3b0200ba345b4e4c3b14f67855ddf"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1512,7 +1543,7 @@ checksum = "3f316c4a2570ba26bbec722032c4099d8c8bc095efccdc15688708623367e358"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1590,5 +1621,5 @@ checksum = "88d2b8d9c68ad2b9e4340d7832716a4d21a22a1154777ad56ea55c51a9cf3831"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn",
|
||||
"syn 2.0.108",
|
||||
]
|
||||
|
||||
@@ -7,7 +7,6 @@ default-run = "satrs-stm32f3-disco-rtic"
|
||||
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
|
||||
|
||||
[dependencies]
|
||||
embedded-models = { path = "../models", features = ["defmt"] }
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "1"
|
||||
@@ -15,7 +14,8 @@ 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 = ["defmt", "stm32f303vc", "unstable-pac"] }
|
||||
embassy-stm32 = { version = "0.6", features = ["defmt", "stm32f303vc", "memory-x", "unstable-pac", "time-driver-any"] }
|
||||
embassy-time = { version = "0.5", features = ["defmt", "generic-queue-16", "defmt-timestamp-uptime-ms"]}
|
||||
enumset = "1"
|
||||
heapless = "0.9"
|
||||
spacepackets = { version = "0.17", default-features = false, features = ["defmt", "serde"] }
|
||||
@@ -28,10 +28,9 @@ serde = { version = "1", default-features = false, features = ["derive"] }
|
||||
|
||||
rtic = { version = "2", features = ["thumbv7-backend"] }
|
||||
rtic-sync = { version = "1" }
|
||||
rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.4"
|
||||
defmt-test = "0.5"
|
||||
|
||||
# cargo test
|
||||
[profile.test]
|
||||
|
||||
@@ -1,33 +0,0 @@
|
||||
/* Linker script for the STM32F303VCT6 */
|
||||
MEMORY
|
||||
{
|
||||
/* NOTE 1 K = 1 KiBi = 1024 bytes */
|
||||
FLASH : ORIGIN = 0x08000000, LENGTH = 256K
|
||||
RAM : ORIGIN = 0x20000000, LENGTH = 40K
|
||||
}
|
||||
|
||||
/* This is where the call stack will be allocated. */
|
||||
/* The stack is of the full descending type. */
|
||||
/* You may want to use this variable to locate the call stack and static
|
||||
variables in different memory regions. Below is shown the default value */
|
||||
/* _stack_start = ORIGIN(RAM) + LENGTH(RAM); */
|
||||
|
||||
/* You can use this symbol to customize the location of the .text section */
|
||||
/* If omitted the .text section will be placed right after the .vector_table
|
||||
section */
|
||||
/* This is required only on microcontrollers that store some configuration right
|
||||
after the vector table */
|
||||
/* _stext = ORIGIN(FLASH) + 0x400; */
|
||||
|
||||
/* Example of putting non-initialized variables into custom RAM locations. */
|
||||
/* This assumes you have defined a region RAM2 above, and in the Rust
|
||||
sources added the attribute `#[link_section = ".ram2bss"]` to the data
|
||||
you want to place there. */
|
||||
/* Note that the section will not be zero-initialized by the runtime! */
|
||||
/* SECTIONS {
|
||||
.ram2bss (NOLOAD) : ALIGN(4) {
|
||||
*(.ram2bss);
|
||||
. = ALIGN(4);
|
||||
} > RAM2
|
||||
} INSERT AFTER .bss;
|
||||
*/
|
||||
@@ -6,12 +6,9 @@ use rtic::app;
|
||||
|
||||
#[app(device = embassy_stm32)]
|
||||
mod app {
|
||||
use rtic_monotonics::fugit::ExtU32;
|
||||
use rtic_monotonics::Monotonic as _;
|
||||
use embassy_time::Timer;
|
||||
use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
|
||||
|
||||
rtic_monotonics::systick_monotonic!(Mono, 1000);
|
||||
|
||||
#[shared]
|
||||
struct Shared {}
|
||||
|
||||
@@ -22,7 +19,7 @@ mod app {
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
fn init(_cx: init::Context) -> (Shared, Local) {
|
||||
let p = embassy_stm32::init(Default::default());
|
||||
|
||||
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
|
||||
@@ -39,8 +36,6 @@ mod app {
|
||||
};
|
||||
let leds = Leds::new(led_pin_set);
|
||||
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
Mono::start(cx.core.SYST, 8_000_000);
|
||||
blinky::spawn().expect("failed to spawn blinky task");
|
||||
(
|
||||
Shared {},
|
||||
@@ -55,7 +50,7 @@ mod app {
|
||||
async fn blinky(cx: blinky::Context) {
|
||||
loop {
|
||||
cx.local.leds.blink_next(cx.local.current_dir);
|
||||
Mono::delay(200.millis()).await;
|
||||
Timer::after_millis(200).await;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -2,9 +2,15 @@
|
||||
#![no_std]
|
||||
|
||||
use defmt_rtt as _;
|
||||
use panic_probe as _;
|
||||
|
||||
use arbitrary_int::u11;
|
||||
use core::time::Duration;
|
||||
use embassy_stm32::gpio::Output;
|
||||
use spacepackets::{
|
||||
ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
|
||||
CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
|
||||
};
|
||||
|
||||
pub const APID: u11 = u11::new(0x02);
|
||||
|
||||
@@ -37,6 +43,49 @@ impl Direction {
|
||||
}
|
||||
}
|
||||
|
||||
#[derive(Copy, Clone, Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
|
||||
pub enum Request {
|
||||
Ping,
|
||||
ChangeBlinkFrequency(Duration),
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
|
||||
pub struct TmHeader {
|
||||
pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
|
||||
pub uptime_millis: u32,
|
||||
}
|
||||
|
||||
#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
|
||||
pub enum Response {
|
||||
CommandDone,
|
||||
}
|
||||
|
||||
pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
|
||||
ccsds_packet_len_for_user_data_len_with_checksum(
|
||||
postcard::experimental::serialized_size(tm_header).unwrap()
|
||||
+ postcard::experimental::serialized_size(response).unwrap(),
|
||||
)
|
||||
.unwrap()
|
||||
}
|
||||
|
||||
pub fn create_tm_packet(
|
||||
buf: &mut [u8],
|
||||
sp_header: SpacePacketHeader,
|
||||
tm_header: TmHeader,
|
||||
response: Response,
|
||||
) -> Result<usize, CcsdsPacketCreationError> {
|
||||
let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
|
||||
+ postcard::experimental::serialized_size(&response).unwrap();
|
||||
let mut creator =
|
||||
CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
|
||||
|
||||
let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
|
||||
.unwrap()
|
||||
.len();
|
||||
postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
|
||||
Ok(creator.finish())
|
||||
}
|
||||
|
||||
pub struct Leds {
|
||||
pub north: Output<'static>,
|
||||
pub north_east: Output<'static>,
|
||||
|
||||
@@ -1,28 +1,20 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use arbitrary_int::u14;
|
||||
use arbitrary_int::{u11, u14};
|
||||
use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
|
||||
use embedded_models::{create_tm_packet, stm32f3, tm_size, TmHeader};
|
||||
use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, Request, Response};
|
||||
use spacepackets::{CcsdsPacketCreationError, CcsdsPacketIdAndPsc, SpHeader};
|
||||
|
||||
use defmt_rtt as _; // global logger
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
use rtic::app;
|
||||
|
||||
#[allow(unused_imports)]
|
||||
use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
|
||||
use crate::app::Mono;
|
||||
|
||||
const UART_BAUD: u32 = 115200;
|
||||
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
|
||||
const TX_HANDLER_FREQ_MS: u32 = 20;
|
||||
const MAX_TC_LEN: usize = 128;
|
||||
const MAX_TM_LEN: usize = 128;
|
||||
|
||||
pub const PUS_APID: u11 = u11::new(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_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
|
||||
@@ -45,7 +37,7 @@ pub enum TmSendError {
|
||||
|
||||
#[derive(Debug, defmt::Format)]
|
||||
pub struct RequestWithTcId {
|
||||
pub request: stm32f3::Request,
|
||||
pub request: Request,
|
||||
pub tc_id: CcsdsPacketIdAndPsc,
|
||||
}
|
||||
|
||||
@@ -55,19 +47,19 @@ mod app {
|
||||
|
||||
use super::*;
|
||||
use arbitrary_int::u14;
|
||||
use embedded_models::stm32f3::{Request, Response};
|
||||
use embassy_time::Timer;
|
||||
use rtic::Mutex;
|
||||
use rtic_sync::{
|
||||
channel::{Receiver, Sender},
|
||||
make_channel,
|
||||
};
|
||||
use satrs_stm32f3_disco_rtic::LedPinSet;
|
||||
use satrs_stm32f3_disco_rtic::{LedPinSet, Request, Response};
|
||||
use spacepackets::CcsdsPacketReader;
|
||||
|
||||
systick_monotonic!(Mono, 1000);
|
||||
|
||||
embassy_stm32::bind_interrupts!(struct Irqs {
|
||||
USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
|
||||
DMA1_CHANNEL6 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH6>;
|
||||
DMA1_CHANNEL7 => embassy_stm32::dma::InterruptHandler<embassy_stm32::peripherals::DMA1_CH7>;
|
||||
});
|
||||
|
||||
#[shared]
|
||||
@@ -85,15 +77,13 @@ mod app {
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(cx: init::Context) -> (Shared, Local) {
|
||||
fn init(_cx: init::Context) -> (Shared, Local) {
|
||||
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());
|
||||
|
||||
let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
Mono::start(cx.core.SYST, 8_000_000);
|
||||
|
||||
defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
|
||||
let led_pin_set = LedPinSet {
|
||||
@@ -111,7 +101,7 @@ mod app {
|
||||
let mut config = embassy_stm32::usart::Config::default();
|
||||
config.baudrate = UART_BAUD;
|
||||
let uart = embassy_stm32::usart::Uart::new(
|
||||
p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
|
||||
p.USART2, p.PA3, p.PA2, p.DMA1_CH7, p.DMA1_CH6, Irqs, config,
|
||||
)
|
||||
.unwrap();
|
||||
|
||||
@@ -141,10 +131,7 @@ mod app {
|
||||
loop {
|
||||
cx.local.leds.blink_next(cx.local.current_dir);
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Mono::delay(MillisDurationU32::from_ticks(
|
||||
current_blink_freq.as_millis() as u32,
|
||||
))
|
||||
.await;
|
||||
Timer::after_millis(current_blink_freq.as_millis() as u64).await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -168,7 +155,7 @@ mod app {
|
||||
.unwrap();
|
||||
continue;
|
||||
}
|
||||
Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
|
||||
Timer::after_millis(TX_HANDLER_FREQ_MS as u64).await;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -197,9 +184,8 @@ mod app {
|
||||
&decoder.dest()[0..packet_size],
|
||||
) {
|
||||
Ok(packet) => {
|
||||
let packet_id = packet.packet_id();
|
||||
let psc = packet.psc();
|
||||
let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
|
||||
let tc_packet_id =
|
||||
CcsdsPacketIdAndPsc::new_from_ccsds_packet(&packet);
|
||||
if let Ok(request) =
|
||||
postcard::from_bytes::<Request>(packet.packet_data())
|
||||
{
|
||||
@@ -262,7 +248,7 @@ mod app {
|
||||
tc_packet_id: CcsdsPacketIdAndPsc,
|
||||
) -> Result<(), TmSendError> {
|
||||
defmt::info!("Received PUS ping telecommand, sending ping reply");
|
||||
send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
|
||||
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(())
|
||||
}
|
||||
@@ -279,7 +265,7 @@ mod app {
|
||||
cx.shared
|
||||
.blink_freq
|
||||
.lock(|blink_freq| *blink_freq = duration);
|
||||
send_tm(tc_packet_id, Response::Ok, *cx.local.seq_count)?;
|
||||
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(())
|
||||
}
|
||||
@@ -287,13 +273,13 @@ mod app {
|
||||
|
||||
fn send_tm(
|
||||
tc_packet_id: CcsdsPacketIdAndPsc,
|
||||
response: stm32f3::Response,
|
||||
response: Response,
|
||||
current_seq_count: u14,
|
||||
) -> Result<(), TmSendError> {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(stm32f3::PUS_APID, current_seq_count, 0);
|
||||
let tm_header = TmHeader {
|
||||
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() as u64,
|
||||
uptime_millis: embassy_time::Instant::now().as_millis() as u32,
|
||||
};
|
||||
let mut tm_packet = TmPacket::new();
|
||||
let tm_size = tm_size(&tm_header, &response);
|
||||
|
||||
@@ -0,0 +1,29 @@
|
||||
[target.'cfg(all(target_arch = "arm", target_os = "none"))']
|
||||
runner = "probe-rs run --chip STM32H743ZITx"
|
||||
# runner = ["probe-rs", "run", "--chip", "$CHIP", "--log-format", "{L} {s}"]
|
||||
|
||||
rustflags = [
|
||||
"-C", "linker=flip-link",
|
||||
"-C", "link-arg=-Tlink.x",
|
||||
"-C", "link-arg=-Tdefmt.x",
|
||||
# This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
|
||||
# See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
|
||||
"-C", "link-arg=--nmagic",
|
||||
# Can be useful for debugging.
|
||||
# "-Clink-args=-Map=app.map"
|
||||
]
|
||||
|
||||
[build]
|
||||
# (`thumbv6m-*` is compatible with all ARM Cortex-M chips but using the right
|
||||
# target improves performance)
|
||||
# target = "thumbv6m-none-eabi" # Cortex-M0 and Cortex-M0+
|
||||
# target = "thumbv7m-none-eabi" # Cortex-M3
|
||||
# target = "thumbv7em-none-eabi" # Cortex-M4 and Cortex-M7 (no FPU)
|
||||
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
|
||||
|
||||
[alias]
|
||||
rb = "run --bin"
|
||||
rrb = "run --release --bin"
|
||||
|
||||
[env]
|
||||
DEFMT_LOG = "info"
|
||||
+592
-643
File diff suppressed because it is too large
Load Diff
@@ -14,28 +14,37 @@ name = "integration"
|
||||
harness = false
|
||||
|
||||
[dependencies]
|
||||
embedded-models = { path = "../models", features = ["defmt"] }
|
||||
|
||||
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
|
||||
arbitrary-int = "2"
|
||||
cortex-m-rt = "0.7"
|
||||
defmt = "1"
|
||||
defmt-rtt = "1"
|
||||
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
|
||||
panic-probe = { version = "1", features = ["print-defmt"] }
|
||||
embedded-alloc = "0.7"
|
||||
static_cell = "2"
|
||||
rtic = { version = "2", features = ["thumbv7-backend"] }
|
||||
spacepackets = { version = "0.17", default-features = false, features = ["defmt"] }
|
||||
postcard = "1"
|
||||
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"] }
|
||||
|
||||
embassy-stm32 = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.6", features = ["stm32h743zi", "memory-x", "defmt", "time-driver-any"]}
|
||||
[dependencies.smoltcp]
|
||||
version = "0.12"
|
||||
default-features = false
|
||||
features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
|
||||
|
||||
embassy-time = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.5", features = ["defmt-timestamp-uptime-ms", "generic-queue-16"] }
|
||||
embassy-net = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c", version = "0.9", features = ["medium-ethernet", "proto-ipv4", "tcp", "udp", "auto-icmp-echo-reply", "dhcpv4", "defmt"] }
|
||||
embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", rev = "dd8e4c14e53f088bae27c5d841ab7a4fa338a52c" }
|
||||
[dependencies.rtic]
|
||||
version = "2"
|
||||
features = ["thumbv7-backend"]
|
||||
|
||||
[dependencies.rtic-monotonics]
|
||||
version = "2"
|
||||
features = ["cortex-m-systick"]
|
||||
|
||||
[dependencies.satrs]
|
||||
path = "../../satrs"
|
||||
default-features = false
|
||||
features = ["defmt", "heapless"]
|
||||
|
||||
[dev-dependencies]
|
||||
defmt-test = "0.5"
|
||||
defmt-test = "0.4"
|
||||
|
||||
# cargo build/run
|
||||
[profile.dev]
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,14 +0,0 @@
|
||||
use std::path::PathBuf;
|
||||
use std::{env, fs};
|
||||
|
||||
fn main() {
|
||||
let manifest_dir = PathBuf::from(env::var_os("CARGO_MANIFEST_DIR").unwrap());
|
||||
let cargo_dir = manifest_dir.parent().unwrap().join(".cargo");
|
||||
let config = cargo_dir.join("config.toml");
|
||||
let config_template = cargo_dir.join("config.toml.template");
|
||||
|
||||
if !config.exists() && config_template.exists() {
|
||||
fs::create_dir_all(&cargo_dir).unwrap();
|
||||
fs::copy(&config_template, &config).unwrap();
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
/venv
|
||||
/.tmtc-history.txt
|
||||
/log
|
||||
/.idea/*
|
||||
!/.idea/runConfigurations
|
||||
|
||||
/seqcnt.txt
|
||||
/tmtc_conf.json
|
||||
@@ -0,0 +1,4 @@
|
||||
{
|
||||
"com_if": "udp",
|
||||
"tcpip_udp_port": 7301
|
||||
}
|
||||
+305
@@ -0,0 +1,305 @@
|
||||
#!/usr/bin/env python3
|
||||
"""Example client for the sat-rs example application"""
|
||||
import struct
|
||||
import logging
|
||||
import sys
|
||||
import time
|
||||
from typing import Any, Optional, cast
|
||||
from prompt_toolkit.history import FileHistory, History
|
||||
from spacepackets.ecss.tm import CdsShortTimestamp
|
||||
|
||||
import tmtccmd
|
||||
from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
|
||||
from spacepackets.ecss.pus_17_test import Service17Tm
|
||||
from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
|
||||
|
||||
from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
|
||||
from tmtccmd.core.base import BackendRequest
|
||||
from tmtccmd.core.ccsds_backend import QueueWrapper
|
||||
from tmtccmd.logging import add_colorlog_console_logger
|
||||
from tmtccmd.pus import VerificationWrapper
|
||||
from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
|
||||
from tmtccmd.com import ComInterface
|
||||
from tmtccmd.config import (
|
||||
CmdTreeNode,
|
||||
default_json_path,
|
||||
SetupParams,
|
||||
HookBase,
|
||||
params_to_procedure_conversion,
|
||||
)
|
||||
from tmtccmd.config.com import SerialCfgWrapper
|
||||
from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
|
||||
from tmtccmd.logging.pus import (
|
||||
RegularTmtcLogWrapper,
|
||||
RawTmtcTimedLogWrapper,
|
||||
TimedLogWhen,
|
||||
)
|
||||
from tmtccmd.tmtc import (
|
||||
TcQueueEntryType,
|
||||
ProcedureWrapper,
|
||||
TcProcedureType,
|
||||
FeedWrapper,
|
||||
SendCbParams,
|
||||
DefaultPusQueueHelper,
|
||||
)
|
||||
from tmtccmd.pus.s5_fsfw_event import Service5Tm
|
||||
from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
|
||||
from tmtccmd.util.obj_id import ObjectIdDictT
|
||||
|
||||
_LOGGER = logging.getLogger()
|
||||
|
||||
EXAMPLE_PUS_APID = 0x02
|
||||
|
||||
|
||||
class SatRsConfigHook(HookBase):
|
||||
def __init__(self, json_cfg_path: str):
|
||||
super().__init__(json_cfg_path)
|
||||
|
||||
def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
|
||||
from tmtccmd.config.com import (
|
||||
create_com_interface_default,
|
||||
create_com_interface_cfg_default,
|
||||
)
|
||||
|
||||
assert self.cfg_path is not None
|
||||
cfg = create_com_interface_cfg_default(
|
||||
com_if_key=com_if_key,
|
||||
json_cfg_path=self.cfg_path,
|
||||
space_packet_ids=None,
|
||||
)
|
||||
if cfg is None:
|
||||
raise ValueError(
|
||||
f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
|
||||
)
|
||||
if cfg.com_if_key == "serial_cobs":
|
||||
cfg = cast(SerialCfgWrapper, cfg)
|
||||
cfg.serial_cfg.serial_timeout = 0.5
|
||||
return create_com_interface_default(cfg)
|
||||
|
||||
def get_command_definitions(self) -> CmdTreeNode:
|
||||
"""This function should return the root node of the command definition tree."""
|
||||
return create_cmd_definition_tree()
|
||||
|
||||
def get_cmd_history(self) -> Optional[History]:
|
||||
"""Optionlly return a history class for the past command paths which will be used
|
||||
when prompting a command path from the user in CLI mode."""
|
||||
return FileHistory(".tmtc-history.txt")
|
||||
|
||||
def get_object_ids(self) -> ObjectIdDictT:
|
||||
from tmtccmd.config.objects import get_core_object_ids
|
||||
|
||||
return get_core_object_ids()
|
||||
|
||||
|
||||
def create_cmd_definition_tree() -> CmdTreeNode:
|
||||
root_node = CmdTreeNode.root_node()
|
||||
root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
|
||||
root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
|
||||
return root_node
|
||||
|
||||
|
||||
class PusHandler(SpecificApidHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
file_logger: logging.Logger,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
raw_logger: RawTmtcTimedLogWrapper,
|
||||
):
|
||||
super().__init__(EXAMPLE_PUS_APID, None)
|
||||
self.file_logger = file_logger
|
||||
self.raw_logger = raw_logger
|
||||
self.verif_wrapper = verif_wrapper
|
||||
|
||||
def handle_tm(self, packet: bytes, _user_args: Any):
|
||||
try:
|
||||
pus_tm = PusTm.unpack(
|
||||
packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
|
||||
)
|
||||
except ValueError as e:
|
||||
_LOGGER.warning("Could not generate PUS TM object from raw data")
|
||||
_LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
|
||||
raise e
|
||||
service = pus_tm.service
|
||||
tm_packet = None
|
||||
if service == 1:
|
||||
tm_packet = Service1Tm.unpack(
|
||||
data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
|
||||
)
|
||||
res = self.verif_wrapper.add_tm(tm_packet)
|
||||
if res is None:
|
||||
_LOGGER.info(
|
||||
f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
|
||||
f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
|
||||
)
|
||||
_LOGGER.warning(
|
||||
f"No matching telecommand found for {tm_packet.tc_req_id}"
|
||||
)
|
||||
else:
|
||||
self.verif_wrapper.log_to_console(tm_packet, res)
|
||||
self.verif_wrapper.log_to_file(tm_packet, res)
|
||||
if service == 3:
|
||||
_LOGGER.info("No handling for HK packets implemented")
|
||||
_LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
|
||||
pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if pus_tm.subservice == 25:
|
||||
if len(pus_tm.source_data) < 8:
|
||||
raise ValueError("No addressable ID in HK packet")
|
||||
json_str = pus_tm.source_data[8:]
|
||||
_LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
|
||||
if service == 5:
|
||||
tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if service == 17:
|
||||
tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
if tm_packet.subservice == 2:
|
||||
_LOGGER.info("Received Ping Reply TM[17,2]")
|
||||
else:
|
||||
_LOGGER.info(
|
||||
f"Received Test Packet with unknown subservice {tm_packet.subservice}"
|
||||
)
|
||||
if tm_packet is None:
|
||||
_LOGGER.info(
|
||||
f"The service {service} is not implemented in Telemetry Factory"
|
||||
)
|
||||
tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
|
||||
self.raw_logger.log_tm(pus_tm)
|
||||
|
||||
|
||||
def make_addressable_id(target_id: int, unique_id: int) -> bytes:
|
||||
byte_string = bytearray(struct.pack("!I", target_id))
|
||||
byte_string.extend(struct.pack("!I", unique_id))
|
||||
return byte_string
|
||||
|
||||
|
||||
class TcHandler(TcHandlerBase):
|
||||
def __init__(
|
||||
self,
|
||||
seq_count_provider: FileSeqCountProvider,
|
||||
verif_wrapper: VerificationWrapper,
|
||||
):
|
||||
super(TcHandler, self).__init__()
|
||||
self.seq_count_provider = seq_count_provider
|
||||
self.verif_wrapper = verif_wrapper
|
||||
self.queue_helper = DefaultPusQueueHelper(
|
||||
queue_wrapper=QueueWrapper.empty(),
|
||||
tc_sched_timestamp_len=7,
|
||||
seq_cnt_provider=seq_count_provider,
|
||||
pus_verificator=verif_wrapper.pus_verificator,
|
||||
default_pus_apid=EXAMPLE_PUS_APID,
|
||||
)
|
||||
|
||||
def send_cb(self, send_params: SendCbParams):
|
||||
entry_helper = send_params.entry
|
||||
if entry_helper.is_tc:
|
||||
if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
|
||||
pus_tc_wrapper = entry_helper.to_pus_tc_entry()
|
||||
pus_tc_wrapper.pus_tc.seq_count = (
|
||||
self.seq_count_provider.get_and_increment()
|
||||
)
|
||||
self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
|
||||
raw_tc = pus_tc_wrapper.pus_tc.pack()
|
||||
_LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
|
||||
send_params.com_if.send(raw_tc)
|
||||
elif entry_helper.entry_type == TcQueueEntryType.LOG:
|
||||
log_entry = entry_helper.to_log_entry()
|
||||
_LOGGER.info(log_entry.log_str)
|
||||
|
||||
def queue_finished_cb(self, info: ProcedureWrapper):
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
_LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
|
||||
|
||||
def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
|
||||
q = self.queue_helper
|
||||
q.queue_wrapper = wrapper.queue_wrapper
|
||||
if info.proc_type == TcProcedureType.TREE_COMMANDING:
|
||||
def_proc = info.to_tree_commanding_procedure()
|
||||
cmd_path = def_proc.cmd_path
|
||||
if cmd_path == "/ping":
|
||||
q.add_log_cmd("Sending PUS ping telecommand")
|
||||
q.add_pus_tc(PusTelecommand(service=17, subservice=1))
|
||||
if cmd_path == "/change_blink_freq":
|
||||
self.create_change_blink_freq_command(q)
|
||||
|
||||
def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
|
||||
q.add_log_cmd("Changing blink frequency")
|
||||
while True:
|
||||
blink_freq = int(
|
||||
input(
|
||||
"Please specify new blink frequency in ms. Valid Range [2..10000]: "
|
||||
)
|
||||
)
|
||||
if blink_freq < 2 or blink_freq > 10000:
|
||||
print(
|
||||
"Invalid blink frequency. Please specify a value between 2 and 10000."
|
||||
)
|
||||
continue
|
||||
break
|
||||
app_data = struct.pack("!I", blink_freq)
|
||||
q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
|
||||
|
||||
|
||||
def main():
|
||||
add_colorlog_console_logger(_LOGGER)
|
||||
tmtccmd.init_printout(False)
|
||||
hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
|
||||
parser_wrapper = PreArgsParsingWrapper()
|
||||
parser_wrapper.create_default_parent_parser()
|
||||
parser_wrapper.create_default_parser()
|
||||
parser_wrapper.add_def_proc_args()
|
||||
params = SetupParams()
|
||||
post_args_wrapper = parser_wrapper.parse(hook_obj, params)
|
||||
proc_wrapper = ProcedureParamsWrapper()
|
||||
if post_args_wrapper.use_gui:
|
||||
post_args_wrapper.set_params_without_prompts(proc_wrapper)
|
||||
else:
|
||||
post_args_wrapper.set_params_with_prompts(proc_wrapper)
|
||||
params.apid = EXAMPLE_PUS_APID
|
||||
setup_args = SetupWrapper(
|
||||
hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
|
||||
)
|
||||
# Create console logger helper and file loggers
|
||||
tmtc_logger = RegularTmtcLogWrapper()
|
||||
file_logger = tmtc_logger.logger
|
||||
raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
|
||||
verificator = PusVerificator()
|
||||
verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
|
||||
# Create primary TM handler and add it to the CCSDS Packet Handler
|
||||
tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
|
||||
ccsds_handler = CcsdsTmHandler(generic_handler=None)
|
||||
ccsds_handler.add_apid_handler(tm_handler)
|
||||
|
||||
# Create TC handler
|
||||
seq_count_provider = PusFileSeqCountProvider()
|
||||
tc_handler = TcHandler(seq_count_provider, verification_wrapper)
|
||||
tmtccmd.setup(setup_args=setup_args)
|
||||
init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
|
||||
tmtc_backend = tmtccmd.create_default_tmtc_backend(
|
||||
setup_wrapper=setup_args,
|
||||
tm_handler=ccsds_handler,
|
||||
tc_handler=tc_handler,
|
||||
init_procedure=init_proc,
|
||||
)
|
||||
tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
|
||||
try:
|
||||
while True:
|
||||
state = tmtc_backend.periodic_op(None)
|
||||
if state.request == BackendRequest.TERMINATION_NO_ERROR:
|
||||
sys.exit(0)
|
||||
elif state.request == BackendRequest.DELAY_IDLE:
|
||||
_LOGGER.info("TMTC Client in IDLE mode")
|
||||
time.sleep(3.0)
|
||||
elif state.request == BackendRequest.DELAY_LISTENER:
|
||||
time.sleep(0.8)
|
||||
elif state.request == BackendRequest.DELAY_CUSTOM:
|
||||
if state.next_delay.total_seconds() <= 0.4:
|
||||
time.sleep(state.next_delay.total_seconds())
|
||||
else:
|
||||
time.sleep(0.4)
|
||||
elif state.request == BackendRequest.CALL_NEXT:
|
||||
pass
|
||||
except KeyboardInterrupt:
|
||||
sys.exit(0)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -0,0 +1,2 @@
|
||||
tmtccmd == 8.0.1
|
||||
# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd
|
||||
@@ -1,2 +0,0 @@
|
||||
[toolchain]
|
||||
targets = ["thumbv7em-none-eabihf"]
|
||||
@@ -5,53 +5,51 @@
|
||||
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
use rtic::app;
|
||||
use satrs_stm32h7_nucleo_rtic as _;
|
||||
|
||||
#[app(device = embassy_stm32, peripherals = false, dispatchers = [SPI1])]
|
||||
mod app {
|
||||
use embassy_stm32::gpio;
|
||||
use stm32h7xx_hal::{block, prelude::*, timer::Timer};
|
||||
|
||||
#[shared]
|
||||
struct Shared {}
|
||||
use cortex_m_rt::entry;
|
||||
|
||||
#[local]
|
||||
struct Local {}
|
||||
#[entry]
|
||||
fn main() -> ! {
|
||||
defmt::println!("starting stm32h7 blinky example");
|
||||
|
||||
// Get access to the device specific peripherals from the peripheral access crate
|
||||
let dp = stm32h7xx_hal::stm32::Peripherals::take().unwrap();
|
||||
|
||||
// Take ownership over the RCC devices and convert them into the corresponding HAL structs
|
||||
let rcc = dp.RCC.constrain();
|
||||
|
||||
let pwr = dp.PWR.constrain();
|
||||
let pwrcfg = pwr.freeze();
|
||||
|
||||
// Freeze the configuration of all the clocks in the system and
|
||||
// retrieve the Core Clock Distribution and Reset (CCDR) object
|
||||
let rcc = rcc.use_hse(8.MHz()).bypass_hse();
|
||||
let ccdr = rcc.freeze(pwrcfg, &dp.SYSCFG);
|
||||
|
||||
// Acquire the GPIOB peripheral
|
||||
let gpiob = dp.GPIOB.split(ccdr.peripheral.GPIOB);
|
||||
|
||||
#[init]
|
||||
fn init(_cx: init::Context) -> (Shared, Local) {
|
||||
let p = embassy_stm32::init(Default::default());
|
||||
defmt::info!("Hello World!");
|
||||
// Configure gpio B pin 0 as a push-pull output.
|
||||
let ld1 = gpio::Output::new(p.PB0, gpio::Level::High, gpio::Speed::Low);
|
||||
let ld2 = gpio::Output::new(p.PB7, gpio::Level::High, gpio::Speed::Low);
|
||||
let ld3 = gpio::Output::new(p.PB14, gpio::Level::High, gpio::Speed::Low);
|
||||
let mut ld1 = gpiob.pb0.into_push_pull_output();
|
||||
|
||||
// Schedule the blinking task
|
||||
blink::spawn(ld1, ld2, ld3).ok();
|
||||
// Configure gpio B pin 7 as a push-pull output.
|
||||
let mut ld2 = gpiob.pb7.into_push_pull_output();
|
||||
|
||||
(Shared {}, Local {})
|
||||
}
|
||||
// Configure gpio B pin 14 as a push-pull output.
|
||||
let mut ld3 = gpiob.pb14.into_push_pull_output();
|
||||
|
||||
#[task()]
|
||||
async fn blink(
|
||||
_cx: blink::Context,
|
||||
mut ld1: gpio::Output<'static>,
|
||||
mut ld2: gpio::Output<'static>,
|
||||
mut ld3: gpio::Output<'static>,
|
||||
) {
|
||||
// Configure the timer to trigger an update every second
|
||||
let mut timer = Timer::tim1(dp.TIM1, ccdr.peripheral.TIM1, &ccdr.clocks);
|
||||
timer.start(1.Hz());
|
||||
|
||||
// Wait for the timer to trigger an update and change the state of the LED
|
||||
loop {
|
||||
defmt::info!("high");
|
||||
ld1.set_high();
|
||||
ld2.set_high();
|
||||
ld3.set_high();
|
||||
embassy_time::Timer::after_millis(500).await;
|
||||
|
||||
defmt::info!("low");
|
||||
ld1.set_low();
|
||||
ld2.set_low();
|
||||
ld3.set_low();
|
||||
embassy_time::Timer::after_millis(500).await;
|
||||
}
|
||||
ld1.toggle();
|
||||
ld2.toggle();
|
||||
ld3.toggle();
|
||||
block!(timer.wait()).unwrap();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,13 +1,11 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use satrs_stm32h7_nucleo_rtic as _;
|
||||
use satrs_stm32h7_nucleo_rtic as _; // global logger + panicking-behavior + memory layout
|
||||
|
||||
#[cortex_m_rt::entry]
|
||||
fn main() -> ! {
|
||||
loop {
|
||||
defmt::println!("Hello, world!");
|
||||
cortex_m::asm::delay(100_000_000);
|
||||
}
|
||||
|
||||
satrs_stm32h7_nucleo_rtic::exit()
|
||||
}
|
||||
|
||||
@@ -1,8 +1,13 @@
|
||||
#![no_main]
|
||||
#![no_std]
|
||||
|
||||
use defmt_rtt as _;
|
||||
use embassy_stm32 as _;
|
||||
use cortex_m_semihosting::debug;
|
||||
|
||||
use defmt_brtt as _; // global logger
|
||||
|
||||
// TODO(5) adjust HAL import
|
||||
use stm32h7xx_hal as _; // memory layout
|
||||
|
||||
use panic_probe as _;
|
||||
|
||||
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
|
||||
@@ -12,6 +17,14 @@ 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(debug::EXIT_SUCCESS);
|
||||
}
|
||||
}
|
||||
|
||||
/// Hardfault handler.
|
||||
///
|
||||
/// Terminates the application and makes a semihosting-capable debug tool exit
|
||||
@@ -19,7 +32,9 @@ fn panic() -> ! {
|
||||
/// loop.
|
||||
#[cortex_m_rt::exception]
|
||||
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
|
||||
panic!("unexpected hard fault");
|
||||
loop {
|
||||
debug::exit(debug::EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
|
||||
|
||||
@@ -3,215 +3,422 @@
|
||||
extern crate alloc;
|
||||
|
||||
use rtic::app;
|
||||
use rtic_monotonics::systick::prelude::*;
|
||||
use satrs::pool::{PoolAddr, PoolProvider, StaticHeaplessMemoryPool};
|
||||
use satrs::static_subpool;
|
||||
// global logger + panicking-behavior + memory layout
|
||||
use embassy_stm32::bind_interrupts;
|
||||
use satrs_stm32h7_nucleo_rtic as _;
|
||||
use smoltcp::socket::udp::UdpMetadata;
|
||||
use smoltcp::socket::{dhcpv4, udp};
|
||||
|
||||
use core::mem::MaybeUninit;
|
||||
use embedded_alloc::LlffHeap as Heap;
|
||||
use smoltcp::iface::{Config, Interface, SocketHandle, SocketSet, SocketStorage};
|
||||
use smoltcp::wire::{HardwareAddress, IpAddress, IpCidr};
|
||||
use stm32h7xx_hal::ethernet;
|
||||
|
||||
const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
|
||||
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();
|
||||
|
||||
systick_monotonic!(Mono, 1000);
|
||||
|
||||
// We place the memory pool buffers inside the larger AXISRAM.
|
||||
pub const SUBPOOL_SMALL_NUM_BLOCKS: u16 = 32;
|
||||
pub const SUBPOOL_SMALL_BLOCK_SIZE: usize = 32;
|
||||
pub const SUBPOOL_MEDIUM_NUM_BLOCKS: u16 = 16;
|
||||
pub const SUBPOOL_MEDIUM_BLOCK_SIZE: usize = 128;
|
||||
pub const SUBPOOL_LARGE_NUM_BLOCKS: u16 = 8;
|
||||
pub const SUBPOOL_LARGE_BLOCK_SIZE: usize = 2048;
|
||||
|
||||
// This data will be held by Net through a mutable reference
|
||||
pub struct NetStorageStatic<'a> {
|
||||
socket_storage: [SocketStorage<'a>; 8],
|
||||
}
|
||||
// MaybeUninit allows us write code that is correct even if STORE is not
|
||||
// initialised by the runtime
|
||||
static mut STORE: MaybeUninit<NetStorageStatic> = MaybeUninit::uninit();
|
||||
|
||||
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; 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];
|
||||
|
||||
const TC_QUEUE_DEPTH: usize = 32;
|
||||
const TM_QUEUE_DEPTH: usize = 32;
|
||||
pub struct Net {
|
||||
iface: Interface,
|
||||
ethdev: ethernet::EthernetDMA<4, 4>,
|
||||
dhcp_handle: SocketHandle,
|
||||
}
|
||||
|
||||
#[app(device = embassy_stm32, peripherals = false)]
|
||||
mod app {
|
||||
|
||||
use super::*;
|
||||
use arbitrary_int::u14;
|
||||
use embassy_net::udp::UdpSocket;
|
||||
use embassy_net::StackResources;
|
||||
use embassy_stm32::eth;
|
||||
use embassy_stm32::gpio;
|
||||
use embassy_stm32::peripherals;
|
||||
use embassy_stm32::rng;
|
||||
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
|
||||
use embassy_time::Duration;
|
||||
use embassy_time::Timer;
|
||||
use embassy_time::WithTimeout as _;
|
||||
use embedded_models::create_tm_packet;
|
||||
use embedded_models::stm32h7;
|
||||
use embedded_models::tm_size;
|
||||
use embedded_models::TmHeader;
|
||||
use spacepackets::CcsdsPacketCreationError;
|
||||
use spacepackets::CcsdsPacketIdAndPsc;
|
||||
use spacepackets::CcsdsPacketReader;
|
||||
use spacepackets::SpHeader;
|
||||
use static_cell::StaticCell;
|
||||
|
||||
bind_interrupts!(struct Irqs {
|
||||
ETH => eth::InterruptHandler;
|
||||
RNG => rng::InterruptHandler<peripherals::RNG>;
|
||||
impl Net {
|
||||
pub fn new(
|
||||
sockets: &mut SocketSet<'static>,
|
||||
mut ethdev: ethernet::EthernetDMA<4, 4>,
|
||||
ethernet_addr: HardwareAddress,
|
||||
) -> Self {
|
||||
let config = Config::new(ethernet_addr);
|
||||
let mut iface = Interface::new(
|
||||
config,
|
||||
&mut ethdev,
|
||||
smoltcp::time::Instant::from_millis(Mono::now().duration_since_epoch().to_millis()),
|
||||
);
|
||||
// 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));
|
||||
});
|
||||
|
||||
type Device = eth::Ethernet<
|
||||
'static,
|
||||
peripherals::ETH,
|
||||
eth::GenericPhy<eth::Sma<'static, peripherals::ETH_SMA>>,
|
||||
>;
|
||||
let dhcp_handle = sockets.add(dhcp_socket);
|
||||
Net {
|
||||
iface,
|
||||
ethdev,
|
||||
dhcp_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<'a>(&mut self, sockets: &'a mut SocketSet) -> bool {
|
||||
let uptime = Mono::now().duration_since_epoch();
|
||||
let timestamp = smoltcp::time::Instant::from_millis(uptime.to_millis());
|
||||
|
||||
self.iface.poll(timestamp, &mut self.ethdev, sockets)
|
||||
}
|
||||
|
||||
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 => {
|
||||
defmt::info!("DHCP lost configuration");
|
||||
self.iface.update_ip_addrs(|addrs| addrs.clear());
|
||||
self.iface.routes_mut().remove_default_ipv4_route();
|
||||
}
|
||||
dhcpv4::Event::Configured(config) => {
|
||||
defmt::info!("DHCP configuration acquired");
|
||||
defmt::info!("IP address: {}", config.address);
|
||||
self.iface.update_ip_addrs(|addrs| {
|
||||
addrs.clear();
|
||||
addrs.push(IpCidr::Ipv4(config.address)).unwrap();
|
||||
});
|
||||
|
||||
if let Some(router) = config.router {
|
||||
defmt::debug!("Default gateway: {}", router);
|
||||
self.iface
|
||||
.routes_mut()
|
||||
.add_default_ipv4_route(router)
|
||||
.unwrap();
|
||||
} else {
|
||||
defmt::debug!("Default gateway: None");
|
||||
self.iface.routes_mut().remove_default_ipv4_route();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
opt_event
|
||||
}
|
||||
}
|
||||
|
||||
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: {}", e);
|
||||
}
|
||||
}
|
||||
loop {
|
||||
match socket.recv() {
|
||||
Ok((data, client)) => {
|
||||
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.
|
||||
}
|
||||
Err(e) => match e {
|
||||
udp::RecvError::Exhausted => {
|
||||
break;
|
||||
}
|
||||
udp::RecvError::Truncated => {
|
||||
defmt::warn!("UDP packet was truncacted");
|
||||
}
|
||||
},
|
||||
};
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[app(device = stm32h7xx_hal::stm32, peripherals = true)]
|
||||
mod app {
|
||||
use core::ptr::addr_of_mut;
|
||||
|
||||
use super::*;
|
||||
use rtic_monotonics::fugit::MillisDurationU32;
|
||||
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;
|
||||
|
||||
struct BlinkyLeds {
|
||||
led1: gpio::Output<'static>,
|
||||
led2: gpio::Output<'static>,
|
||||
led1: Pin<'B', 7, Output>,
|
||||
led2: Pin<'B', 14, Output>,
|
||||
}
|
||||
|
||||
#[local]
|
||||
struct Local {
|
||||
net_runner: embassy_net::Runner<'static, Device>,
|
||||
net_stack: embassy_net::Stack<'static>,
|
||||
leds: BlinkyLeds,
|
||||
link_led: gpio::Output<'static>,
|
||||
tc_rx: embassy_sync::channel::Receiver<
|
||||
'static,
|
||||
NoopRawMutex,
|
||||
alloc::vec::Vec<u8>,
|
||||
TC_QUEUE_DEPTH,
|
||||
>,
|
||||
tc_tx: embassy_sync::channel::Sender<
|
||||
'static,
|
||||
NoopRawMutex,
|
||||
alloc::vec::Vec<u8>,
|
||||
TC_QUEUE_DEPTH,
|
||||
>,
|
||||
tm_rx: embassy_sync::channel::Receiver<
|
||||
'static,
|
||||
NoopRawMutex,
|
||||
alloc::vec::Vec<u8>,
|
||||
TM_QUEUE_DEPTH,
|
||||
>,
|
||||
tm_tx: embassy_sync::channel::Sender<
|
||||
'static,
|
||||
NoopRawMutex,
|
||||
alloc::vec::Vec<u8>,
|
||||
TM_QUEUE_DEPTH,
|
||||
>,
|
||||
link_led: Pin<'B', 0, Output>,
|
||||
net: Net,
|
||||
udp: UdpNet,
|
||||
tc_source_rx: TcSourceRx,
|
||||
phy: ethernet::phy::LAN8742A<EthernetMAC>,
|
||||
}
|
||||
|
||||
#[shared]
|
||||
struct Shared {
|
||||
sequence_count: u14,
|
||||
blink_freq: embassy_time::Duration,
|
||||
blink_freq: MillisDurationU32,
|
||||
eth_link_up: bool,
|
||||
sockets: SocketSet<'static>,
|
||||
shared_pool: SharedPool,
|
||||
}
|
||||
|
||||
#[init]
|
||||
fn init(_cx: init::Context) -> (Shared, Local) {
|
||||
fn init(mut cx: init::Context) -> (Shared, Local) {
|
||||
defmt::println!("Starting sat-rs demo application for the STM32H743ZIT");
|
||||
|
||||
let mut config = embassy_stm32::Config::default();
|
||||
{
|
||||
use embassy_stm32::rcc::*;
|
||||
config.rcc.hsi = Some(HSIPrescaler::Div1);
|
||||
config.rcc.csi = true;
|
||||
config.rcc.hsi48 = Some(Default::default()); // needed for RNG
|
||||
config.rcc.pll1 = Some(Pll {
|
||||
source: PllSource::Hsi,
|
||||
prediv: PllPreDiv::Div4,
|
||||
mul: PllMul::Mul50,
|
||||
fracn: None,
|
||||
divp: Some(PllDiv::Div2),
|
||||
divq: None,
|
||||
divr: None,
|
||||
});
|
||||
config.rcc.sys = Sysclk::Pll1P; // 400 Mhz
|
||||
config.rcc.ahb_pre = AHBPrescaler::Div2; // 200 Mhz
|
||||
config.rcc.apb1_pre = APBPrescaler::Div2; // 100 Mhz
|
||||
config.rcc.apb2_pre = APBPrescaler::Div2; // 100 Mhz
|
||||
config.rcc.apb3_pre = APBPrescaler::Div2; // 100 Mhz
|
||||
config.rcc.apb4_pre = APBPrescaler::Div2; // 100 Mhz
|
||||
config.rcc.voltage_scale = VoltageScale::Scale1;
|
||||
}
|
||||
let periphs = embassy_stm32::init(config);
|
||||
let pwr = cx.device.PWR.constrain();
|
||||
let pwrcfg = pwr.freeze();
|
||||
|
||||
let link_led = gpio::Output::new(periphs.PB0, gpio::Level::Low, gpio::Speed::Medium);
|
||||
let mut led1 = gpio::Output::new(periphs.PB7, gpio::Level::Low, gpio::Speed::Medium);
|
||||
let mut led2 = gpio::Output::new(periphs.PB14, gpio::Level::Low, gpio::Speed::Medium);
|
||||
let rcc = cx.device.RCC.constrain();
|
||||
// Try to keep the clock configuration similar to one used in STM examples:
|
||||
// https://github.com/STMicroelectronics/STM32CubeH7/blob/master/Projects/NUCLEO-H743ZI/Examples/GPIO/GPIO_EXTI/Src/main.c
|
||||
let ccdr = rcc
|
||||
.sys_ck(400.MHz())
|
||||
.hclk(200.MHz())
|
||||
.use_hse(8.MHz())
|
||||
.bypass_hse()
|
||||
.pclk1(100.MHz())
|
||||
.pclk2(100.MHz())
|
||||
.pclk3(100.MHz())
|
||||
.pclk4(100.MHz())
|
||||
.freeze(pwrcfg, &cx.device.SYSCFG);
|
||||
|
||||
// Initialize the systick interrupt & obtain the token to prove that we did
|
||||
Mono::start(cx.core.SYST, ccdr.clocks.sys_ck().to_Hz());
|
||||
|
||||
// Those are used in the smoltcp of the stm32h7xx-hal , I am not fully sure what they are
|
||||
// good for.
|
||||
cx.core.SCB.enable_icache();
|
||||
cx.core.DWT.enable_cycle_counter();
|
||||
|
||||
let gpioa = cx.device.GPIOA.split(ccdr.peripheral.GPIOA);
|
||||
let gpiob = cx.device.GPIOB.split(ccdr.peripheral.GPIOB);
|
||||
let gpioc = cx.device.GPIOC.split(ccdr.peripheral.GPIOC);
|
||||
let gpiog = cx.device.GPIOG.split(ccdr.peripheral.GPIOG);
|
||||
|
||||
let link_led = gpiob.pb0.into_push_pull_output();
|
||||
let mut led1 = gpiob.pb7.into_push_pull_output();
|
||||
let mut led2 = gpiob.pb14.into_push_pull_output();
|
||||
|
||||
// Criss-cross pattern looks cooler.
|
||||
led1.set_high();
|
||||
led2.set_low();
|
||||
let leds = BlinkyLeds { led1, led2 };
|
||||
|
||||
static PACKETS: StaticCell<eth::PacketQueue<4, 4>> = StaticCell::new();
|
||||
// warning: Not all STM32H7 devices have the exact same pins here
|
||||
// for STM32H747XIH, replace p.PB13 for PG12
|
||||
let device = eth::Ethernet::new(
|
||||
PACKETS.init(eth::PacketQueue::<4, 4>::new()),
|
||||
periphs.ETH,
|
||||
Irqs,
|
||||
periphs.PA1, // ref_clk
|
||||
periphs.PA7, // CRS_DV: Carrier Sense
|
||||
periphs.PC4, // RX_D0: Received Bit 0
|
||||
periphs.PC5, // RX_D1: Received Bit 1
|
||||
periphs.PG13, // TX_D0: Transmit Bit 0
|
||||
periphs.PB13, // TX_D1: Transmit Bit 1
|
||||
periphs.PG11, // TX_EN: Transmit Enable
|
||||
MAC_ADDRESS,
|
||||
periphs.ETH_SMA,
|
||||
periphs.PA2, // mdio
|
||||
periphs.PC1, // mdc
|
||||
let rmii_ref_clk = gpioa.pa1.into_alternate::<11>();
|
||||
let rmii_mdio = gpioa.pa2.into_alternate::<11>();
|
||||
let rmii_mdc = gpioc.pc1.into_alternate::<11>();
|
||||
let rmii_crs_dv = gpioa.pa7.into_alternate::<11>();
|
||||
let rmii_rxd0 = gpioc.pc4.into_alternate::<11>();
|
||||
let rmii_rxd1 = gpioc.pc5.into_alternate::<11>();
|
||||
let rmii_tx_en = gpiog.pg11.into_alternate::<11>();
|
||||
let rmii_txd0 = gpiog.pg13.into_alternate::<11>();
|
||||
let rmii_txd1 = gpiob.pb13.into_alternate::<11>();
|
||||
|
||||
let mac_addr = smoltcp::wire::EthernetAddress::from_bytes(&MAC_ADDRESS);
|
||||
|
||||
/// Ethernet descriptor rings are a global singleton
|
||||
#[link_section = ".sram3.eth"]
|
||||
static mut DES_RING: MaybeUninit<ethernet::DesRing<4, 4>> = MaybeUninit::uninit();
|
||||
|
||||
let (eth_dma, eth_mac) = ethernet::new(
|
||||
cx.device.ETHERNET_MAC,
|
||||
cx.device.ETHERNET_MTL,
|
||||
cx.device.ETHERNET_DMA,
|
||||
(
|
||||
rmii_ref_clk,
|
||||
rmii_mdio,
|
||||
rmii_mdc,
|
||||
rmii_crs_dv,
|
||||
rmii_rxd0,
|
||||
rmii_rxd1,
|
||||
rmii_tx_en,
|
||||
rmii_txd0,
|
||||
rmii_txd1,
|
||||
),
|
||||
// SAFETY: We do not move the returned DMA struct across thread boundaries, so this
|
||||
// should be safe according to the docs.
|
||||
unsafe { DES_RING.assume_init_mut() },
|
||||
mac_addr,
|
||||
ccdr.peripheral.ETH1MAC,
|
||||
&ccdr.clocks,
|
||||
);
|
||||
// Initialise ethernet PHY...
|
||||
let mut lan8742a = ethernet::phy::LAN8742A::new(eth_mac.set_phy_addr(0));
|
||||
lan8742a.phy_reset();
|
||||
lan8742a.phy_init();
|
||||
|
||||
unsafe {
|
||||
ethernet::enable_interrupt();
|
||||
cx.core.NVIC.set_priority(Interrupt::ETH, 196); // Mid prio
|
||||
cortex_m::peripheral::NVIC::unmask(Interrupt::ETH);
|
||||
}
|
||||
|
||||
// unsafe: mutable reference to static storage, we only do this once
|
||||
let store = unsafe {
|
||||
let store_ptr = STORE.as_mut_ptr();
|
||||
|
||||
// Initialise the socket_storage field. Using `write` instead of
|
||||
// assignment via `=` to not call `drop` on the old, uninitialised
|
||||
// value
|
||||
addr_of_mut!((*store_ptr).socket_storage).write([SocketStorage::EMPTY; 8]);
|
||||
|
||||
// Now that all fields are initialised we can safely use
|
||||
// assume_init_mut to return a mutable reference to STORE
|
||||
STORE.assume_init_mut()
|
||||
};
|
||||
|
||||
let (tc_source_tx, tc_source_rx) =
|
||||
rtic_sync::make_channel!(PoolAddr, TC_SOURCE_CHANNEL_DEPTH);
|
||||
|
||||
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,
|
||||
SUBPOOL_SMALL_NUM_BLOCKS as usize,
|
||||
SUBPOOL_SMALL_BLOCK_SIZE,
|
||||
link_section = ".axisram"
|
||||
);
|
||||
static_subpool!(
|
||||
SUBPOOL_MEDIUM,
|
||||
SUBPOOL_MEDIUM_SIZES,
|
||||
SUBPOOL_MEDIUM_NUM_BLOCKS as usize,
|
||||
SUBPOOL_MEDIUM_BLOCK_SIZE,
|
||||
link_section = ".axisram"
|
||||
);
|
||||
static_subpool!(
|
||||
SUBPOOL_LARGE,
|
||||
SUBPOOL_LARGE_SIZES,
|
||||
SUBPOOL_LARGE_NUM_BLOCKS as usize,
|
||||
SUBPOOL_LARGE_BLOCK_SIZE,
|
||||
link_section = ".axisram"
|
||||
);
|
||||
|
||||
let config = embassy_net::Config::dhcpv4(embassy_net::DhcpConfig::default());
|
||||
|
||||
// Generate random seed.
|
||||
let mut rng = rng::Rng::new(periphs.RNG, Irqs);
|
||||
let mut seed = [0; 8];
|
||||
rng.fill_bytes(&mut seed);
|
||||
let seed = u64::from_le_bytes(seed);
|
||||
|
||||
// Init network stack
|
||||
static RESOURCES: StaticCell<StackResources<3>> = StaticCell::new();
|
||||
let (stack, runner) =
|
||||
embassy_net::new(device, config, RESOURCES.init(StackResources::new()), seed);
|
||||
shared_pool
|
||||
.grow(
|
||||
SUBPOOL_SMALL.get_mut().unwrap(),
|
||||
SUBPOOL_SMALL_SIZES.get_mut().unwrap(),
|
||||
SUBPOOL_SMALL_NUM_BLOCKS,
|
||||
true,
|
||||
)
|
||||
.expect("growing heapless memory pool failed");
|
||||
shared_pool
|
||||
.grow(
|
||||
SUBPOOL_MEDIUM.get_mut().unwrap(),
|
||||
SUBPOOL_MEDIUM_SIZES.get_mut().unwrap(),
|
||||
SUBPOOL_MEDIUM_NUM_BLOCKS,
|
||||
true,
|
||||
)
|
||||
.expect("growing heapless memory pool failed");
|
||||
shared_pool
|
||||
.grow(
|
||||
SUBPOOL_LARGE.get_mut().unwrap(),
|
||||
SUBPOOL_LARGE_SIZES.get_mut().unwrap(),
|
||||
SUBPOOL_LARGE_NUM_BLOCKS,
|
||||
true,
|
||||
)
|
||||
.expect("growing heapless memory pool failed");
|
||||
|
||||
// Set up global allocator. Use AXISRAM for the heap.
|
||||
#[link_section = ".axisram"]
|
||||
static mut HEAP_MEM: [MaybeUninit<u8>; HEAP_SIZE] = [MaybeUninit::uninit(); HEAP_SIZE];
|
||||
unsafe { HEAP.init(&raw mut HEAP_MEM as usize, HEAP_SIZE) }
|
||||
|
||||
static TC_CHANNEL: static_cell::ConstStaticCell<
|
||||
embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TC_QUEUE_DEPTH>,
|
||||
> = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
|
||||
let tc_channel = TC_CHANNEL.take();
|
||||
let tc_sender = tc_channel.sender();
|
||||
let tc_receiver = tc_channel.receiver();
|
||||
|
||||
static TM_CHANNEL: static_cell::ConstStaticCell<
|
||||
embassy_sync::channel::Channel<NoopRawMutex, alloc::vec::Vec<u8>, TM_QUEUE_DEPTH>,
|
||||
> = static_cell::ConstStaticCell::new(embassy_sync::channel::Channel::new());
|
||||
let tm_channel = TM_CHANNEL.take();
|
||||
let tm_sender = tm_channel.sender();
|
||||
let tm_receiver = tm_channel.receiver();
|
||||
|
||||
net_lib_task::spawn().expect("spawning net library task failed");
|
||||
net_app_task::spawn().expect("spawning net application task failed");
|
||||
eth_link_check::spawn().expect("eth link check failed");
|
||||
blinky::spawn().expect("spawning blink task failed");
|
||||
tc_handler::spawn().expect("spawning TC handler task failed");
|
||||
udp_task::spawn().expect("spawning UDP task failed");
|
||||
tc_source_task::spawn().expect("spawning TC source task failed");
|
||||
|
||||
(
|
||||
Shared {
|
||||
blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
|
||||
sequence_count: u14::new(0),
|
||||
blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
|
||||
eth_link_up: false,
|
||||
sockets,
|
||||
shared_pool,
|
||||
},
|
||||
Local {
|
||||
link_led,
|
||||
leds,
|
||||
net_runner: runner,
|
||||
net_stack: stack,
|
||||
tc_tx: tc_sender,
|
||||
tc_rx: tc_receiver,
|
||||
tm_tx: tm_sender,
|
||||
tm_rx: tm_receiver,
|
||||
net,
|
||||
udp,
|
||||
tc_source_rx,
|
||||
phy: lan8742a,
|
||||
},
|
||||
)
|
||||
}
|
||||
@@ -223,159 +430,94 @@ mod app {
|
||||
leds.led1.toggle();
|
||||
leds.led2.toggle();
|
||||
let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
|
||||
Timer::after_millis(current_blink_freq.as_millis()).await;
|
||||
Mono::delay(current_blink_freq).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[task(local=[net_runner])]
|
||||
async fn net_lib_task(cx: net_lib_task::Context) {
|
||||
cx.local.net_runner.run().await;
|
||||
}
|
||||
|
||||
#[task(local = [net_stack, link_led, tc_tx, tm_rx])]
|
||||
async fn net_app_task(cx: net_app_task::Context) {
|
||||
pub const MTU: usize = 1500;
|
||||
|
||||
// Ensure those are in the data section by making them static.
|
||||
static RX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
|
||||
static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
|
||||
static TX_UDP_META: static_cell::ConstStaticCell<[embassy_net::udp::PacketMetadata; 8]> =
|
||||
static_cell::ConstStaticCell::new([embassy_net::udp::PacketMetadata::EMPTY; 8]);
|
||||
static TX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
|
||||
static_cell::ConstStaticCell::new([0; MTU]);
|
||||
static RX_UDP_BUFS: static_cell::ConstStaticCell<[u8; MTU]> =
|
||||
static_cell::ConstStaticCell::new([0; MTU]);
|
||||
|
||||
let rx_udp_meta = RX_UDP_META.take();
|
||||
let rx_udp_bufs = RX_UDP_BUFS.take();
|
||||
let tx_udp_meta = TX_UDP_META.take();
|
||||
let tx_udp_bufs = TX_UDP_BUFS.take();
|
||||
|
||||
let mut rx_buffer = [0; MTU];
|
||||
|
||||
/// 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;
|
||||
let link_led = cx.local.link_led;
|
||||
loop {
|
||||
cx.local.net_stack.wait_link_up().await;
|
||||
cx.local.link_led.set_high();
|
||||
defmt::info!("Network link is up");
|
||||
|
||||
// Ensure DHCP configuration is up before trying connect
|
||||
cx.local.net_stack.wait_config_up().await;
|
||||
|
||||
let config = cx.local.net_stack.config_v4();
|
||||
defmt::info!("Network task initialized, config: {}", config);
|
||||
|
||||
let mut udp = UdpSocket::new(
|
||||
cx.local.net_stack.clone(),
|
||||
rx_udp_meta,
|
||||
rx_udp_bufs,
|
||||
tx_udp_meta,
|
||||
tx_udp_bufs,
|
||||
);
|
||||
defmt::info!("UDP socket bound to port {}", PORT);
|
||||
udp.bind(PORT).expect("failed to bind UDP socket");
|
||||
let mut remote_endpoint = None;
|
||||
loop {
|
||||
if !cx.local.net_stack.is_link_up() {
|
||||
defmt::warn!("Network link is down");
|
||||
cx.local.link_led.set_low();
|
||||
break;
|
||||
let link_was_up = cx.shared.eth_link_up.lock(|link_up| *link_up);
|
||||
if phy.poll_link() {
|
||||
if !link_was_up {
|
||||
link_led.set_high();
|
||||
cx.shared.eth_link_up.lock(|link_up| *link_up = true);
|
||||
defmt::info!("Ethernet link up");
|
||||
}
|
||||
match udp
|
||||
.recv_from(&mut rx_buffer)
|
||||
.with_timeout(Duration::from_millis(200))
|
||||
.await
|
||||
{
|
||||
Ok(result) => match result {
|
||||
Ok((data, meta)) => {
|
||||
remote_endpoint = Some(meta.endpoint);
|
||||
defmt::debug!("UDP RX {}, Meta: {}", data, meta);
|
||||
cx.local.tc_tx.send(rx_buffer[0..data].to_vec()).await;
|
||||
} else if link_was_up {
|
||||
link_led.set_low();
|
||||
cx.shared.eth_link_up.lock(|link_up| *link_up = false);
|
||||
defmt::info!("Ethernet link down");
|
||||
}
|
||||
Mono::delay(100.millis()).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[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();
|
||||
}
|
||||
// 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);
|
||||
})
|
||||
});
|
||||
Mono::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::warn!("udp receive error: {}", e);
|
||||
Timer::after_millis(100).await;
|
||||
}
|
||||
},
|
||||
Err(_e) => (),
|
||||
}
|
||||
if let Some(endpoint) = remote_endpoint {
|
||||
while let Ok(packet) = cx.local.tm_rx.try_receive() {
|
||||
match udp.send_to(&packet, endpoint).await {
|
||||
Ok(_) => {
|
||||
defmt::debug!("UDP TX: {} bytes to: {}", packet.len(), endpoint)
|
||||
}
|
||||
Err(e) => defmt::warn!("udp send error: {}", 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);
|
||||
}
|
||||
}
|
||||
|
||||
#[task(local = [tc_rx, tm_tx], shared=[sequence_count, blink_freq])]
|
||||
async fn tc_handler(mut cx: tc_handler::Context) {
|
||||
loop {
|
||||
let tc = cx.local.tc_rx.receive().await;
|
||||
|
||||
match CcsdsPacketReader::new_with_checksum(&tc) {
|
||||
Ok(packet) => {
|
||||
let packet_id = packet.packet_id();
|
||||
let psc = packet.psc();
|
||||
let tc_packet_id = CcsdsPacketIdAndPsc { packet_id, psc };
|
||||
if let Ok(request) =
|
||||
postcard::from_bytes::<stm32h7::Request>(packet.packet_data())
|
||||
{
|
||||
let response = match request {
|
||||
stm32h7::Request::Ping => {
|
||||
stm32h7::Response::Ok
|
||||
}
|
||||
stm32h7::Request::ChangeBlinkFrequency(duration) => {
|
||||
cx.shared.blink_freq.lock(|current| {
|
||||
*current = Duration::from_millis(duration.as_millis() as u64)
|
||||
});
|
||||
stm32h7::Response::Ok
|
||||
}
|
||||
Err(e) => {
|
||||
defmt::warn!("TC source reception error: {}", e);
|
||||
}
|
||||
};
|
||||
let sequence_count = cx.shared.sequence_count.lock(|v| {
|
||||
let current = *v;
|
||||
*v = v.wrapping_add(u14::new(1));
|
||||
current
|
||||
});
|
||||
|
||||
// Send Pong/OK response immediately.
|
||||
if let Err(e) =
|
||||
send_tm(tc_packet_id, response, sequence_count, cx.local.tm_tx).await
|
||||
{
|
||||
defmt::warn!("Failed to send TM response: {}", e);
|
||||
}
|
||||
}
|
||||
}
|
||||
Err(e) => defmt::warn!("Failed to parse received TC packet: {}", e,),
|
||||
}
|
||||
defmt::info!("Received from UDP client: {}", tc.as_slice());
|
||||
}
|
||||
}
|
||||
|
||||
async fn send_tm(
|
||||
tc_packet_id: CcsdsPacketIdAndPsc,
|
||||
response: stm32h7::Response,
|
||||
current_seq_count: u14,
|
||||
sender: &embassy_sync::channel::Sender<
|
||||
'static,
|
||||
NoopRawMutex,
|
||||
alloc::vec::Vec<u8>,
|
||||
TM_QUEUE_DEPTH,
|
||||
>,
|
||||
) -> Result<(), CcsdsPacketCreationError> {
|
||||
let sp_header = SpHeader::new_for_unseg_tc(stm32h7::PUS_APID, current_seq_count, 0);
|
||||
let tm_header = TmHeader {
|
||||
tc_packet_id: Some(tc_packet_id),
|
||||
uptime_millis: embassy_time::Instant::now().as_millis(),
|
||||
};
|
||||
let tm_size = tm_size(&tm_header, &response);
|
||||
let mut packet = alloc::vec![0; tm_size];
|
||||
create_tm_packet(&mut packet, sp_header, tm_header, response)?;
|
||||
sender.send(packet).await;
|
||||
Ok(())
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
|
||||
use satrs_stm32h7_nucleo_rtic as _; // memory layout + panic handler
|
||||
use stm32h7_testapp as _; // memory layout + panic handler
|
||||
|
||||
// See https://crates.io/crates/defmt-test/0.3.0 for more documentation (e.g. about the 'state'
|
||||
// feature)
|
||||
|
||||
@@ -0,0 +1,2 @@
|
||||
/settings.json
|
||||
/.cortex-debug.*
|
||||
@@ -0,0 +1,12 @@
|
||||
{
|
||||
// See https://go.microsoft.com/fwlink/?LinkId=827846 to learn about workspace recommendations.
|
||||
// Extension identifier format: ${publisher}.${name}. Example: vscode.csharp
|
||||
|
||||
// List of extensions which should be recommended for users of this workspace.
|
||||
"recommendations": [
|
||||
"rust-lang.rust",
|
||||
"probe-rs.probe-rs-debugger"
|
||||
],
|
||||
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
|
||||
"unwantedRecommendations": []
|
||||
}
|
||||
@@ -0,0 +1,22 @@
|
||||
{
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"preLaunchTask": "${defaultBuildTask}",
|
||||
"type": "probe-rs-debug",
|
||||
"request": "launch",
|
||||
"name": "probe-rs Debugging ",
|
||||
"flashingConfig": {
|
||||
"flashingEnabled": true
|
||||
},
|
||||
"chip": "STM32H743ZITx",
|
||||
"coreConfigs": [
|
||||
{
|
||||
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-stm32h7-nucleo-rtic",
|
||||
"rttEnabled": true,
|
||||
"svdFile": "STM32H743.svd"
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
{
|
||||
// See https://go.microsoft.com/fwlink/?LinkId=733558
|
||||
// for the documentation about the tasks.json format
|
||||
"version": "2.0.0",
|
||||
"tasks": [
|
||||
{
|
||||
"label": "cargo build",
|
||||
"type": "shell",
|
||||
"command": "~/.cargo/bin/cargo", // note: full path to the cargo
|
||||
"args": [
|
||||
"build"
|
||||
],
|
||||
"group": {
|
||||
"kind": "build",
|
||||
"isDefault": true
|
||||
}
|
||||
},
|
||||
|
||||
]
|
||||
}
|
||||
@@ -11,17 +11,9 @@ test:
|
||||
cargo nextest run --all-features
|
||||
cargo test --doc --all-features
|
||||
|
||||
embedded: embedded-stm32h7 embedded-stm32f3
|
||||
embedded:
|
||||
cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
|
||||
|
||||
[working-directory:"embedded-examples/stm32h7-nucleo-rtic"]
|
||||
embedded-stm32h7:
|
||||
cargo build --target=thumbv7em-none-eabihf --release
|
||||
|
||||
[working-directory:"embedded-examples/stm32f3-disco-rtic"]
|
||||
embedded-stm32f3:
|
||||
cargo build --target=thumbv7em-none-eabihf --release
|
||||
|
||||
check-fmt:
|
||||
cargo fmt --all -- --check
|
||||
|
||||
|
||||
@@ -169,7 +169,7 @@ impl MgmHandlerLis3Mdl {
|
||||
spi_com: SpiCommunication,
|
||||
shared_mgm_set: Arc<Mutex<MgmData>>,
|
||||
mode_leaf_helper: ModeLeafHelper,
|
||||
mode_timeout: Duration,
|
||||
mode_timeout: Duration
|
||||
) -> Self {
|
||||
Self {
|
||||
id,
|
||||
@@ -533,7 +533,6 @@ mod tests {
|
||||
SpiCommunication::Test(TestSpiInterface::default()),
|
||||
shared_mgm_set,
|
||||
mode_leaf_helper,
|
||||
Duration::from_millis(200),
|
||||
);
|
||||
Self {
|
||||
assembly_mode_request_tx,
|
||||
|
||||
@@ -188,7 +188,7 @@ fn main() {
|
||||
request_rx: mgm_0_mode_request_rx,
|
||||
report_tx: mgm_0_mode_report_tx,
|
||||
},
|
||||
Duration::from_millis(1000),
|
||||
Duration::from_millis(1000)
|
||||
);
|
||||
let mut mgm_1_handler = mgm::MgmHandlerLis3Mdl::new(
|
||||
mgm::MgmId::_1,
|
||||
@@ -203,7 +203,7 @@ fn main() {
|
||||
request_rx: mgm_1_mode_request_rx,
|
||||
report_tx: mgm_1_mode_report_tx,
|
||||
},
|
||||
Duration::from_millis(1000),
|
||||
Duration::from_millis(1000)
|
||||
);
|
||||
let mut mgm_assembly = mgm_assembly::Assembly::new(
|
||||
mgm_assembly::ParentQueueHelper {
|
||||
|
||||
Reference in New Issue
Block a user