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STM32 defmt + RTT support #144

Merged
muellerr merged 2 commits from stm32-defmt-support into main 2024-03-29 12:34:02 +01:00
Conversation 0 Commits 2 Files Changed 14 +38913 -238
14 changed files with 38913 additions and 238 deletions
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11
satrs-example-stm32f3-disco/.cargo/def_config.toml
View File

@ -5,11 +5,17 @@
# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
# runner = "gdb-multiarch -q -x openocd.gdb"
# runner = "gdb -q -x openocd.gdb"
# runner = "probe-run --chip STM32F303VCTx --connect-under-reset"
runner = "probe-rs run --chip STM32F303VCTx"
rustflags = [
"-C", "linker=flip-link",
# LLD (shipped with the Rust toolchain) is used as the default linker
"-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",
# if you run into problems with LLD switch to the GNU linker by commenting out
# this line
@ -26,3 +32,6 @@ rustflags = [
[build]
# comment out the following line if you intend to run unit tests on host machine
target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
[env]
DEFMT_LOG = "info"

123
satrs-example-stm32f3-disco/Cargo.lock generated
View File

@ -139,6 +139,15 @@ dependencies = [
"syn 1.0.109",
]
[[package]]
name = "cortex-m-semihosting"
version = "0.5.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
dependencies = [
"cortex-m",
]
[[package]]
name = "crc"
version = "3.0.1"
@ -194,6 +203,71 @@ dependencies = [
"syn 2.0.53",
]
[[package]]
name = "defmt"
version = "0.3.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
dependencies = [
"bitflags",
"defmt-macros",
]
[[package]]
name = "defmt-brtt"
version = "0.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
dependencies = [
"critical-section",
"defmt",
]
[[package]]
name = "defmt-macros"
version = "0.3.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
dependencies = [
"defmt-parser",
"proc-macro-error",
"proc-macro2",
"quote",
"syn 2.0.53",
]
[[package]]
name = "defmt-parser"
version = "0.3.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
dependencies = [
"thiserror",
]
[[package]]
name = "defmt-test"
version = "0.3.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "290966e8c38f94b11884877242de876280d0eab934900e9642d58868e77c5df1"
dependencies = [
"cortex-m-rt",
"cortex-m-semihosting",
"defmt",
"defmt-test-macros",
]
[[package]]
name = "defmt-test-macros"
version = "0.3.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.53",
]
[[package]]
name = "delegate"
version = "0.10.0"
@ -371,21 +445,6 @@ dependencies = [
"hashbrown",
]
[[package]]
name = "itm_logger"
version = "0.1.3-alpha.0"
source = "git+https://github.com/robamu/itm_logger.rs.git?branch=all_features#83ee7a6c57f525a70d0cc5bb7e65826d0ce938a0"
dependencies = [
"cortex-m",
"log",
]
[[package]]
name = "log"
version = "0.4.21"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
[[package]]
name = "lsm303dlhc"
version = "0.2.0"
@ -504,12 +563,13 @@ dependencies = [
]
[[package]]
name = "panic-itm"
version = "0.4.2"
name = "panic-probe"
version = "0.3.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "3d577d97d1b31268087b6dddf2470e6794ef5eee87d9dca7fcd0481695391a4c"
checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
dependencies = [
"cortex-m",
"defmt",
]
[[package]]
@ -690,11 +750,14 @@ dependencies = [
"cobs 0.2.3 (git+https://github.com/robamu/cobs.rs.git?branch=all_features)",
"cortex-m",
"cortex-m-rt",
"cortex-m-semihosting",
"defmt",
"defmt-brtt",
"defmt-test",
"embedded-hal 0.2.7",
"enumset",
"heapless",
"itm_logger",
"panic-itm",
"panic-probe",
"rtic",
"rtic-monotonics",
"satrs",
@ -855,6 +918,26 @@ dependencies = [
"unicode-ident",
]
[[package]]
name = "thiserror"
version = "1.0.58"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
dependencies = [
"thiserror-impl",
]
[[package]]
name = "thiserror-impl"
version = "1.0.58"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
dependencies = [
"proc-macro2",
"quote",
"syn 2.0.53",
]
[[package]]
name = "typenum"
version = "1.17.0"

51
satrs-example-stm32f3-disco/Cargo.toml
View File

@ -2,13 +2,18 @@
name = "satrs-example-stm32f3-disco"
version = "0.1.0"
edition = "2021"
default-run = "satrs-example-stm32f3-disco"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
cortex-m-rt = "0.7"
defmt = "0.3"
defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
panic-probe = { version = "0.3", features = ["print-defmt"] }
embedded-hal = "0.2.7"
cortex-m-semihosting = "0.5.0"
enumset = "1"
heapless = "0.8"
@ -25,14 +30,6 @@ git = "https://github.com/robamu/cobs.rs.git"
branch = "all_features"
default-features = false
[dependencies.panic-itm]
version = "0.4"
[dependencies.itm_logger]
git = "https://github.com/robamu/itm_logger.rs.git"
branch = "all_features"
version = "0.1.3-alpha.0"
[dependencies.stm32f3xx-hal]
git = "https://github.com/robamu/stm32f3xx-hal"
version = "0.11.0-alpha.0"
@ -49,17 +46,37 @@ branch = "complete-dma-update-hal"
# path = "../stm32f3-discovery"
[dependencies.satrs]
# git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
version = "0.2.0-rc.0"
default-features = false
# this lets you use `cargo fix`!
# [[bin]]
# name = "stm32f3-blinky"
# test = false
# bench = false
[dev-dependencies]
defmt-test = "0.3"
# cargo test
[profile.test]
codegen-units = 1
debug = 2
debug-assertions = true # <-
incremental = false
opt-level = "s" # <-
overflow-checks = true # <-
# cargo build/run --release
[profile.release]
codegen-units = 1 # better optimizations
debug = true # symbols are nice and they don't increase the size on Flash
lto = true # better optimizations
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
lto = 'fat'
opt-level = "s" # <-
overflow-checks = false # <-
# cargo test --release
[profile.bench]
codegen-units = 1
debug = 2
debug-assertions = false # <-
incremental = false
lto = 'fat'
opt-level = "s" # <-
overflow-checks = false # <-

52
satrs-example-stm32f3-disco/README.md
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@ -2,26 +2,24 @@ sat-rs example for the STM32F3-Discovery board
=======
This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
framework.
can be used on an embedded target.
It also shows how a relatively simple OBSW could be built when no standard runtime is available.
It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
[defmt](https://defmt.ferrous-systems.com/) framework for logging.
The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
[Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
to embedded Rust.
If you would like to access the ITM log output, you need to connect the PB3 pin to the CN3 pin
of the SWD header like [shown here](https://docs.rust-embedded.org/discovery/f3discovery/06-hello-world/index.html).
## Pre-Requisites
Make sure the following tools are installed:
1. `openocd`: This is the debug server used to debug the STM32F3. You can install this from
[`xPacks`](https://xpack.github.io/dev-tools/openocd/install/). You can also use the one provided
by a STM32Cube installation.
2. A debugger like `arm-none-eabi-gdb` or `gdb-multiarch`.
1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
[probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
for debugging.
## Preparing Rust and the repository
@ -52,23 +50,19 @@ you can simply build the application with
cargo build
```
## Flashing and Debugging from the command line
## Flashing from the command line
Make sure you have `openocd` and `itmdump` installed first.
You can flash the application from the command line using `probe-rs`:
1. Configure a runner inside your `.cargo/config.toml` file by uncommenting an appropriate line
depending on the application you want to use for debugging
2. Start `openocd` inside the project folder. This will start `openocd` with the provided
`openocd.cfg` configuration file.
3. Use `cargo run` to flash and debug the application in your terminal
4. Use `itmdump -F -f itm.txt` to print the logs received from the STM32F3 device. Please note
that the PB3 and CN3 pin of the SWD header need to be connected for this to work.
```sh
probe-rs run --chip STM32F303VCTx
```
## Debugging with VS Code
The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
Make sure to install this plugin first.
Sample configuration files are provided inside the `vscode` folder.
@ -80,19 +74,11 @@ to automatically rebuild and flash your application.
The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
the folder in VS code or adding it to a workspace.
If you would like to use a custom GDB application, you can specify the gdb binary in the following
configuration variables in your `settings.json`:
- `"cortex-debug.gdbPath"`
- `"cortex-debug.gdbPath.linux"`
- `"cortex-debug.gdbPath.windows"`
- `"cortex-debug.gdbPath.osx"`
## Commanding with Python
When the SW is running on the Discovery board, you can command the MCU via a serial interface,
using COBS encoded PUS packets.
It is recommended to use a virtual environment to do this. To set up one in the command line,
you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
@ -111,3 +97,9 @@ A default configuration file for the python application is provided and can be u
```sh
cp def_tmtc_conf.json tmtc_conf.json
```
After that, you can for example send a ping to the MCU using the following command
```sh
./main.py -p /ping
```

38601
satrs-example-stm32f3-disco/STM32F303.svd Normal file
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File diff suppressed because it is too large Load Diff

18
satrs-example-stm32f3-disco/build.rs
View File

@ -1,18 +0,0 @@
use std::env;
use std::fs::File;
use std::io::Write;
use std::path::PathBuf;
fn main() {
// Put the linker script somewhere the linker can find it
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
File::create(out.join("memory.x"))
.unwrap()
.write_all(include_bytes!("memory.x"))
.unwrap();
println!("cargo:rustc-link-search={}", out.display());
// Only re-run the build script when memory.x is changed,
// instead of when any part of the source code changes.
println!("cargo:rerun-if-changed=memory.x");
}

0
satrs-example-stm32f3-disco/jlink.gdb → satrs-example-stm32f3-disco/legacy/jlink.gdb
View File

0
satrs-example-stm32f3-disco/openocd.cfg → satrs-example-stm32f3-disco/legacy/openocd.cfg
View File

4
satrs-example-stm32f3-disco/openocd.gdb → satrs-example-stm32f3-disco/legacy/openocd.gdb
View File

@ -26,7 +26,7 @@ break main
# # 8000000 must match the core clock frequency
# # 2000000 is the frequency of the SWO pin. This was added for newer
# openocd versions like v0.12.0.
monitor tpiu config internal itm.txt uart off 8000000 2000000
# monitor tpiu config internal itm.txt uart off 8000000 2000000
# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
# # 8000000 must match the core clock frequency
@ -34,7 +34,7 @@ monitor tpiu config internal itm.txt uart off 8000000 2000000
# monitor tpiu config external uart off 8000000 2000000
# # enable ITM port 0
monitor itm port 0 on
# monitor itm port 0 on
load

64
satrs-example-stm32f3-disco/src/blinky.rs → satrs-example-stm32f3-disco/src/bin/blinky.rs
View File

@ -1,17 +1,15 @@
#![no_std]
#![no_main]
use satrs_example_stm32f3_disco as _;
extern crate panic_itm;
use cortex_m_rt::entry;
use stm32f3_discovery::leds::Leds;
use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
use stm32f3_discovery::leds::Leds;
use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
#[entry]
fn main()-> ! {
#[cortex_m_rt::entry]
fn main() -> ! {
defmt::println!("STM32F3 Discovery Blinky");
let dp = pac::Peripherals::take().unwrap();
let mut rcc = dp.RCC.constrain();
let cp = cortex_m::Peripherals::take().unwrap();
@ -30,49 +28,49 @@ fn main()-> ! {
gpioe.pe14,
gpioe.pe15,
&mut gpioe.moder,
&mut gpioe.otyper
&mut gpioe.otyper,
);
let delay_ms = 200u16;
loop {
leds.ld3.toggle().ok();
leds.ld3_n.toggle().ok();
delay.delay_ms(delay_ms);
leds.ld3.toggle().ok();
leds.ld3_n.toggle().ok();
delay.delay_ms(delay_ms);
//explicit on/off
leds.ld4.on().ok();
leds.ld4_nw.on().ok();
delay.delay_ms(delay_ms);
leds.ld4.off().ok();
leds.ld4_nw.off().ok();
delay.delay_ms(delay_ms);
leds.ld5.on().ok();
leds.ld5_ne.on().ok();
delay.delay_ms(delay_ms);
leds.ld5.off().ok();
leds.ld5_ne.off().ok();
delay.delay_ms(delay_ms);
leds.ld6.on().ok();
leds.ld6_w.on().ok();
delay.delay_ms(delay_ms);
leds.ld6.off().ok();
delay.delay_ms(delay_ms);
leds.ld7.on().ok();
delay.delay_ms(delay_ms);
leds.ld7.off().ok();
delay.delay_ms(delay_ms);
leds.ld8.on().ok();
delay.delay_ms(delay_ms);
leds.ld8.off().ok();
delay.delay_ms(delay_ms);
leds.ld9.on().ok();
delay.delay_ms(delay_ms);
leds.ld9.off().ok();
leds.ld6_w.off().ok();
delay.delay_ms(delay_ms);
leds.ld10.on().ok();
leds.ld7_e.on().ok();
delay.delay_ms(delay_ms);
leds.ld10.off().ok();
leds.ld7_e.off().ok();
delay.delay_ms(delay_ms);
leds.ld8_sw.on().ok();
delay.delay_ms(delay_ms);
leds.ld8_sw.off().ok();
delay.delay_ms(delay_ms);
leds.ld9_se.on().ok();
delay.delay_ms(delay_ms);
leds.ld9_se.off().ok();
delay.delay_ms(delay_ms);
leds.ld10_s.on().ok();
delay.delay_ms(delay_ms);
leds.ld10_s.off().ok();
delay.delay_ms(delay_ms);
}
}

51
satrs-example-stm32f3-disco/src/lib.rs Normal file
View File

@ -0,0 +1,51 @@
#![no_main]
#![no_std]
use cortex_m_semihosting::debug;
use defmt_brtt as _; // global logger
use stm32f3xx_hal as _; // memory layout
use panic_probe as _;
// same panicking *behavior* as `panic-probe` but doesn't print a panic message
// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
#[defmt::panic_handler]
fn panic() -> ! {
cortex_m::asm::udf()
}
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with status code 0.
pub fn exit() -> ! {
loop {
debug::exit(debug::EXIT_SUCCESS);
}
}
/// Hardfault handler.
///
/// Terminates the application and makes a semihosting-capable debug tool exit
/// with an error. This seems better than the default, which is to spin in a
/// loop.
#[cortex_m_rt::exception]
unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
loop {
debug::exit(debug::EXIT_FAILURE);
}
}
// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
// once within a crate. the module can be in any file but there can only be at most
// one `#[tests]` module in this library crate
#[cfg(test)]
#[defmt_test::tests]
mod unit_tests {
use defmt::assert;
#[test]
fn it_works() {
assert!(true)
}
}

92
satrs-example-stm32f3-disco/src/main.rs
View File

@ -1,12 +1,12 @@
#![no_std]
#![no_main]
extern crate panic_itm;
// global logger + panicking-behavior + memory layout
use satrs_example_stm32f3_disco as _;
use rtic::app;
use heapless::{mpmc::Q8, Vec};
#[allow(unused_imports)]
use itm_logger::{debug, info, logger_init, warn};
use rtic_monotonics::systick::fugit::TimerInstantU32;
use rtic_monotonics::systick::ExtU32;
use satrs::seq_count::SequenceCountProviderCore;
@ -95,14 +95,12 @@ pub struct TxIdle {
pub struct TmSender {
vec: Option<RefCell<Vec<u8, MAX_TM_LEN>>>,
ctx: &'static str,
}
impl TmSender {
pub fn new(tm_packet: TmPacket, ctx: &'static str) -> Self {
pub fn new(tm_packet: TmPacket) -> Self {
Self {
vec: Some(RefCell::new(tm_packet)),
ctx,
}
}
}
@ -131,7 +129,12 @@ impl EcssTmSenderCore for TmSender {
}
vec.resize(tm.len_written(), 0).expect("vec resize failed");
tm.write_to_bytes(vec.as_mut_slice())?;
info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_written());
defmt::info!(
"Sending TM[{},{}] with size {}",
tm.service(),
tm.subservice(),
tm.len_written()
);
drop(vec);
TM_REQUESTS
.enqueue(vec_ref.take())
@ -158,7 +161,6 @@ pub struct UartTxShared {
mod app {
use super::*;
use core::slice::Iter;
use cortex_m::iprintln;
use rtic_monotonics::systick::Systick;
use rtic_monotonics::Monotonic;
use satrs::pus::verification::FailParams;
@ -192,14 +194,13 @@ mod app {
}
#[init]
fn init(mut cx: init::Context) -> (Shared, Local) {
fn init(cx: init::Context) -> (Shared, Local) {
let mut rcc = cx.device.RCC.constrain();
// Initialize the systick interrupt & obtain the token to prove that we did
let systick_mono_token = rtic_monotonics::create_systick_token!();
Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
logger_init();
let mut flash = cx.device.FLASH.constrain();
let clocks = rcc
.cfgr
@ -211,11 +212,7 @@ mod app {
// Set up monotonic timer.
//let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
// setup ITM output
iprintln!(
&mut cx.core.ITM.stim[0],
"Starting sat-rs demo application for the STM32F3-Discovery"
);
defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
@ -265,7 +262,7 @@ mod app {
// For some reason, this is also immediately triggered..
tx_serial.clear_event(TxEvent::TransmissionComplete);
let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
info!(target: "init", "Spawning tasks");
defmt::info!("Spawning tasks");
blink::spawn().unwrap();
serial_tx_handler::spawn().unwrap();
(
@ -399,10 +396,9 @@ mod app {
cx: serial_rx_handler::Context,
received_packet: Vec<u8, MAX_TC_LEN>,
) {
info!("running rx handler");
let tgt: &'static str = "serial_rx_handler";
defmt::info!("running rx handler");
cx.local.stamp_buf[0] = P_FIELD_BASE;
info!(target: tgt, "Received packet with {} bytes", received_packet.len());
defmt::info!("Received packet with {} bytes", received_packet.len());
let decode_buf = cx.local.decode_buf;
let packet = received_packet.as_slice();
let mut start_idx = None;
@ -413,16 +409,13 @@ mod app {
}
}
if start_idx.is_none() {
warn!(
target: tgt,
"decoding error, can only process cobs encoded frames, data is all 0"
);
defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
return;
}
let start_idx = start_idx.unwrap();
match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
Ok(len) => {
info!(target: tgt, "Decoded packet length: {}", len);
defmt::info!("Decoded packet length: {}", len);
let pus_tc = PusTcReader::new(decode_buf);
let verif_reporter = cx.local.verif_reporter;
match pus_tc {
@ -432,18 +425,15 @@ mod app {
verif_reporter,
cx.local.src_data_buf,
cx.local.stamp_buf,
tgt,
),
Err(e) => {
warn!(target: tgt, "Error unpacking PUS TC: {}", e);
Err(_e) => {
// TODO: Print error after API rework.
defmt::warn!("Error unpacking PUS TC");
}
}
}
Err(_) => {
warn!(
target: tgt,
"decoding error, can only process cobs encoded frames"
)
defmt::warn!("decoding error, can only process cobs encoded frames")
}
}
}
@ -454,10 +444,8 @@ mod app {
verif_reporter: &mut VerificationReporterCore,
src_data_buf: &mut [u8; MAX_TM_LEN],
stamp_buf: &[u8; 7],
tgt: &'static str,
) {
info!(
target: tgt,
defmt::info!(
"Found PUS TC [{},{}] with length {}",
tc.service(),
tc.subservice(),
@ -466,7 +454,7 @@ mod app {
let token = verif_reporter.add_tc(&tc);
if tc.apid() != PUS_APID {
warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
defmt::warn!("Received tc with unknown APID {}", tc.apid());
let sendable = verif_reporter
.acceptance_failure(
src_data_buf,
@ -476,9 +464,9 @@ mod app {
FailParams::new(stamp_buf, &EcssEnumU16::new(0), &[]),
)
.unwrap();
let sender = TmSender::new(TmPacket::new(), tgt);
if let Err(e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
let sender = TmSender::new(TmPacket::new());
if let Err(_e) = verif_reporter.send_acceptance_failure(sendable, &sender) {
defmt::warn!("Sending acceptance failure failed");
};
return;
}
@ -486,11 +474,12 @@ mod app {
.acceptance_success(src_data_buf, token, SEQ_COUNT_PROVIDER.get(), 0, stamp_buf)
.unwrap();
let sender = TmSender::new(TmPacket::new(), tgt);
let sender = TmSender::new(TmPacket::new());
let accepted_token = match verif_reporter.send_acceptance_success(sendable, &sender) {
Ok(token) => token,
Err(e) => {
warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
Err(_e) => {
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
defmt::warn!("Sending acceptance success failed");
return;
}
};
@ -507,18 +496,16 @@ mod app {
)
.unwrap();
// let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
let sender = TmSender::new(TmPacket::new(), tgt);
let sender = TmSender::new(TmPacket::new());
let started_token = match verif_reporter.send_start_success(sendable, &sender) {
Ok(token) => token,
Err(e) => {
warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
Err(_e) => {
// TODO: Print error as soon as EcssTmtcError has Format attr.. or rework API.
defmt::warn!("Sending acceptance success failed");
return;
}
};
info!(
target: tgt,
"Received PUS ping telecommand, sending ping reply TM[17,2]"
);
defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
let mut sp_header =
SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
@ -529,7 +516,7 @@ mod app {
.expect("vec resize failed");
ping_reply.write_to_bytes(&mut tm_packet).unwrap();
if TM_REQUESTS.enqueue(tm_packet).is_err() {
warn!(target: tgt, "TC queue full");
defmt::warn!("TC queue full");
return;
}
SEQ_COUNT_PROVIDER.increment();
@ -542,9 +529,9 @@ mod app {
stamp_buf,
)
.unwrap();
let sender = TmSender::new(TmPacket::new(), tgt);
if let Err(e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
let sender = TmSender::new(TmPacket::new());
if let Err(_e) = verif_reporter.send_step_or_completion_success(sendable, &sender) {
defmt::warn!("Sending completion success failed");
}
} else {
// TODO: Invalid subservice
@ -573,7 +560,7 @@ mod app {
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
// If this happens, there is a high chance that the maximum packet length was
// exceeded. Circular mode is not used here, so data might be missed.
warn!(
defmt::warn!(
"rx transfer with maximum length {}, might miss data",
TC_BUF_LEN
);
@ -615,7 +602,6 @@ mod app {
.expect("vec resize failed");
tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
rx.clear_event(RxEvent::Idle);
info!("spawning rx task");
serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
*rx_transfer = Some(rx.read_exact(buf, ch));
}

2
satrs-example-stm32f3-disco/vscode/extensions.json
View File

@ -5,7 +5,7 @@
// List of extensions which should be recommended for users of this workspace.
"recommendations": [
"rust-lang.rust",
"marus25.cortex-debug",
"probe-rs.probe-rs-debugger"
],
// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
"unwantedRecommendations": []

82
satrs-example-stm32f3-disco/vscode/launch.json
View File

@ -1,66 +1,22 @@
{
/*
* Requires the Rust Language Server (RLS) and Cortex-Debug extensions
* https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
* https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
*/
"version": "0.2.0",
"configurations": [
"version": "0.2.0",
"configurations": [
{
"preLaunchTask": "${defaultBuildTask}",
"type": "probe-rs-debug",
"request": "launch",
"name": "probe-rs Debugging ",
"flashingConfig": {
"flashingEnabled": true
},
"chip": "STM32F303VCTx",
"coreConfigs": [
{
/* Launches debug session for currently open example */
"type": "cortex-debug",
"request": "launch",
"name": "Debug",
"servertype": "openocd",
"cwd": "${workspaceRoot}",
"preLaunchTask": "cargo build",
"runToEntryPoint": "true",
"executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
"preLaunchCommands": ["break rust_begin_unwind"],
"device": "STM32F303VCT6",
"configFiles": [
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
"interface/stlink.cfg",
"target/stm32f3x.cfg"
],
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
"swoConfig": {
"enabled": true,
"cpuFrequency": 8000000,
"swoFrequency": 2000000,
"source": "probe",
"decoders": [
{ "type": "console", "label": "ITM", "port": 0 }
]
}
},
{
/* Launches debug session for currently open example */
"type": "cortex-debug",
"request": "launch",
"name": "Release",
"servertype": "openocd",
"cwd": "${workspaceRoot}",
"preLaunchTask": "cargo build",
"runToEntryPoint": "true",
"executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
"preLaunchCommands": ["break rust_begin_unwind"],
"device": "STM32F303VCT6",
"configFiles": [
"${workspaceRoot}/.vscode/openocd-helpers.tcl",
"interface/stlink.cfg",
"target/stm32f3x.cfg"
],
"svdFile": "${env:HOME}/.svd/STM32F303.svd",
"swoConfig": {
"enabled": true,
"cpuFrequency": 8000000,
"swoFrequency": 2000000,
"source": "probe",
"decoders": [
{ "type": "console", "label": "ITM", "port": 0 }
]
}
"programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
"rttEnabled": true,
"svdFile": "STM32F303.svd"
}
]
}
]
}
]
}