rust/va108xx-rs
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Rework library structure

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Changed:

- Move most library components to new [`vorago-shared-periphs`](https://egit.irs.uni-stuttgart.de/rust/vorago-shared-periphs)
  which is mostly re-exported in this crate.
- All HAL API constructors now have a more consistent argument order: PAC structures and resource
  management structures first, then clock configuration, then any other configuration.
- Overhaul and simplification of several HAL APIs. The system configuration and IRQ router
  peripheral instance generally does not need to be passed to HAL API anymore.
- All HAL drivers are now type erased. The constructors will still expect and consume the PAC
  singleton component for resource management purposes, but are not cached anymore.
- Refactoring of GPIO library to be more inline with embassy GPIO API.

Added:

- I2C clock timeout feature support.
This commit is contained in:
Robin Müller
2025-04-12 17:01:53 +02:00
parent 5b2ded51f9
commit 60f4a52953
67 changed files with 774 additions and 9246 deletions
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11
flashloader/Cargo.toml
View File

@ -4,20 +4,16 @@ version = "0.1.0"
edition = "2021"
[dependencies]
cortex-m = "0.7"
cortex-m = { version = "0.7", features = ["critical-section-single-core"]}
cortex-m-rt = "0.7"
embedded-hal = "1"
embedded-hal-nb = "1"
embedded-io = "0.6"
defmt = "1"
defmt-rtt = { version = "0.4" }
panic-probe = { version = "0.3", features = ["print-defmt"] }
num_enum = { version = "0.7", default-features = false }
crc = "3"
cobs = { version = "0.3", default-features = false }
satrs = { version = "0.2", default-features = false }
ringbuf = { version = "0.4.7", default-features = false, features = ["portable-atomic"] }
once_cell = { version = "1", default-features = false, features = ["critical-section"] }
spacepackets = { version = "0.11", default-features = false, features = ["defmt"] }
# Even though we do not use this directly, we need to activate this feature explicitely
# so that RTIC compiles because thumv6 does not have CAS operations natively.
@ -25,11 +21,14 @@ portable-atomic = {version = "1", features = ["unsafe-assume-single-core"]}
rtic = { version = "2", features = ["thumbv6-backend"] }
rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
rtic-sync = {version = "1", features = ["defmt-03"]}
[dependencies.va108xx-hal]
version = "0.11"
path = "../va108xx-hal"
features = ["defmt"]
[dependencies.vorago-reb1]
version = "0.8"
[package.metadata.cargo-machete]
ignored = ["portable-atomic", "cortex-m-rt"]

49
flashloader/image-loader.py
View File

@ -2,16 +2,15 @@
from typing import List, Tuple
from spacepackets.ecss.defs import PusService
from spacepackets.ecss.tm import PusTm
from tmtccmd.com import ComInterface
import toml
import struct
import logging
import argparse
import time
import enum
from tmtccmd.com.serial_base import SerialCfg
from tmtccmd.com.serial_cobs import SerialCobsComIF
from tmtccmd.com.ser_utils import prompt_com_port
from com_interface import ComInterface
from com_interface.serial_base import SerialCfg
from com_interface.serial_cobs import SerialCobsComIF
from crcmod.predefined import PredefinedCrc
from spacepackets.ecss.tc import PusTc
from spacepackets.ecss.pus_verificator import PusVerificator, StatusField
@ -101,15 +100,7 @@ class ImageLoader:
)
self.verificator.add_tc(action_tc)
self.com_if.send(bytes(action_tc.pack()))
data_available = self.com_if.data_available(0.4)
if not data_available:
_LOGGER.warning("no reply received for boot image selection command")
for reply in self.com_if.receive():
result = self.verificator.add_tm(
Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
)
if result is not None and result.completed:
_LOGGER.info("received boot image selection command confirmation")
self.await_for_command_copletion("boot image selection command")
def handle_ping_cmd(self):
_LOGGER.info("Sending ping command")
@ -122,16 +113,26 @@ class ImageLoader:
)
self.verificator.add_tc(ping_tc)
self.com_if.send(bytes(ping_tc.pack()))
self.await_for_command_copletion("ping command")
data_available = self.com_if.data_available(0.4)
if not data_available:
_LOGGER.warning("no ping reply received")
for reply in self.com_if.receive():
result = self.verificator.add_tm(
Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
)
if result is not None and result.completed:
_LOGGER.info("received ping completion reply")
def await_for_command_copletion(self, context: str):
done = False
now = time.time()
while time.time() - now < 2.0:
if not self.com_if.data_available():
time.sleep(0.2)
continue
for reply in self.com_if.receive():
result = self.verificator.add_tm(
Service1Tm.from_tm(PusTm.unpack(reply, 0), UnpackParams(0))
)
if result is not None and result.completed:
_LOGGER.info(f"received {context} reply")
done = True
if done:
break
if not done:
_LOGGER.warning(f"no {context} reply received")
def handle_corruption_cmd(self, target: Target):
if target == Target.BOOTLOADER:
@ -300,12 +301,12 @@ def main() -> int:
if "serial_port" in parsed_toml:
serial_port = parsed_toml["serial_port"]
if serial_port is None:
serial_port = prompt_com_port()
serial_port = input("Please specify the serial port manually: ")
serial_cfg = SerialCfg(
com_if_id="ser_cobs",
serial_port=serial_port,
baud_rate=BAUD_RATE,
serial_timeout=0.1,
polling_frequency=0.1,
)
verificator = PusVerificator()
com_if = SerialCobsComIF(serial_cfg)

2
flashloader/loader.toml
View File

@ -1 +1 @@
serial_port = "/dev/ttyUSB0"
serial_port = "/dev/ttyUSB1"

4
flashloader/requirements.txt
View File

@ -1,5 +1,5 @@
spacepackets == 0.24
tmtccmd == 8.0.2
spacepackets == 0.28
com-interface == 0.1
toml == 0.10
pyelftools == 0.31
crcmod == 1.7

1
flashloader/slot-a-blinky/Cargo.toml
View File

@ -9,7 +9,6 @@ edition = "2021"
cortex-m-rt = "0.7"
panic-rtt-target = { version = "0.1.3" }
rtt-target = { version = "0.5" }
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
embedded-hal = "1"
va108xx-hal = { version = "0.10.0" }

1
flashloader/slot-b-blinky/Cargo.toml
View File

@ -9,7 +9,6 @@ edition = "2021"
cortex-m-rt = "0.7"
panic-rtt-target = { version = "0.1.3" }
rtt-target = { version = "0.5" }
cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
embedded-hal = "1"
va108xx-hal = { version = "0.10.0" }

25
flashloader/src/main.rs
View File

@ -68,7 +68,7 @@ mod app {
use spacepackets::ecss::{
tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
};
use va108xx_hal::gpio::PinsA;
use va108xx_hal::pins::PinsA;
use va108xx_hal::uart::IrqContextTimeoutOrMaxSize;
use va108xx_hal::{pac, uart, InterruptConfig};
use vorago_reb1::m95m01::M95M01;
@ -83,8 +83,8 @@ mod app {
#[local]
struct Local {
uart_rx: uart::RxWithInterrupt<pac::Uarta>,
uart_tx: uart::Tx<pac::Uarta>,
uart_rx: uart::RxWithInterrupt,
uart_tx: uart::Tx,
rx_context: IrqContextTimeoutOrMaxSize,
verif_reporter: VerificationReportCreator,
nvm: M95M01,
@ -108,18 +108,19 @@ mod app {
let mut dp = cx.device;
let nvm = M95M01::new(&mut dp.sysconfig, SYSCLK_FREQ, dp.spic);
let gpioa = PinsA::new(&mut dp.sysconfig, dp.porta);
let tx = gpioa.pa9.into_funsel_2();
let rx = gpioa.pa8.into_funsel_2();
let gpioa = PinsA::new(dp.porta);
let tx = gpioa.pa9;
let rx = gpioa.pa8;
let irq_uart = uart::Uart::new_with_interrupt(
&mut dp.sysconfig,
SYSCLK_FREQ,
dp.uarta,
(tx, rx),
UART_BAUDRATE.Hz(),
tx,
rx,
SYSCLK_FREQ,
UART_BAUDRATE.Hz().into(),
InterruptConfig::new(pac::Interrupt::OC0, true, true),
);
)
.unwrap();
let (tx, rx) = irq_uart.split();
// Unwrap is okay, we explicitely set the interrupt ID.
let mut rx = rx.into_rx_with_irq();
@ -451,7 +452,7 @@ mod app {
cx.local.encoded_buf[send_size + 1] = 0;
cx.local
.uart_tx
.write(&cx.local.encoded_buf[0..send_size + 2])
.write_all(&cx.local.encoded_buf[0..send_size + 2])
.unwrap();
occupied_len -= 1;
Mono::delay(2.millis()).await;