tons of fixes

flashloader/image-loader.py

@@ -45,7 +45,7 @@ APP_B_MAX_SIZE = APP_A_END_ADDR - APP_A_START_ADDR - 8
 
 APP_IMG_SZ = (APP_B_END_ADDR - APP_A_START_ADDR) // 2
 
-CHUNK_SIZE = 512
+CHUNK_SIZE = 400
 
 MEMORY_SERVICE = 6
 ACTION_SERVICE = 8

flashloader/src/main.rs

@@ -13,7 +13,7 @@ use va108xx_hal::prelude::*;
 
 const SYSCLK_FREQ: Hertz = Hertz::from_raw(50_000_000);
 
-const MAX_TC_SIZE: usize = 1024;
+const MAX_TC_SIZE: usize = 524;
 const MAX_TC_FRAME_SIZE: usize = cobs::max_encoding_length(MAX_TC_SIZE);
 
 const MAX_TM_SIZE: usize = 128;
@@ -29,10 +29,10 @@ pub enum ActionId {
 }
 
 // Larger buffer for TC to be able to hold the possibly large memory write packets.
-const BUF_RB_SIZE_TC: usize = 2048;
+const BUF_RB_SIZE_TC: usize = 1024;
 const SIZES_RB_SIZE_TC: usize = 16;
 
-const BUF_RB_SIZE_TM: usize = 512;
+const BUF_RB_SIZE_TM: usize = 256;
 const SIZES_RB_SIZE_TM: usize = 16;
 
 // Ring buffers to handling variable sized telemetry
@@ -71,7 +71,7 @@ mod app {
     use rtic::Mutex;
     use rtic_monotonics::systick::prelude::*;
     use rtt_target::rprintln;
-    use satrs::pus::verification::VerificationReportCreator;
+    use satrs::pus::verification::{FailParams, VerificationReportCreator};
     use spacepackets::ecss::PusServiceId;
     use spacepackets::ecss::{
         tc::PusTcReader, tm::PusTmCreator, EcssEnumU8, PusPacket, WritablePusPacket,
@@ -160,7 +160,6 @@ mod app {
                 uart_rx: rx,
                 uart_tx: tx,
                 rx_context,
-                // rom_spi: Some(cx.device.spi3),
                 tm_cons: DataConsumer {
                     buf_cons: buf_cons_tm,
                     sizes_cons: sizes_cons_tm,
@@ -258,6 +257,7 @@ mod app {
         priority = 2,
         local=[
             tc_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
+            readback_buf: [u8; MAX_TC_SIZE] = [0; MAX_TC_SIZE],
             src_data_buf: [u8; 16] = [0; 16],
             verif_buf: [u8; 32] = [0; 32],
             tc_cons,
@@ -407,11 +407,29 @@ mod app {
                     .nvm
                     .write(offset as usize, data)
                     .expect("writing to NVM failed");
-                let tm = cx
+                let tm = if !cx
                     .local
-                    .verif_reporter
-                    .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
-                    .expect("completion success failed");
+                    .nvm
+                    .verify(offset as usize, data)
+                    .expect("NVM verification failed")
+                {
+                    log::warn!("verification of data written to NVM failed");
+                    cx.local
+                        .verif_reporter
+                        .completion_failure(
+                            cx.local.src_data_buf,
+                            started_token,
+                            0,
+                            0,
+                            FailParams::new(&[], &EcssEnumU8::new(0), &[]),
+                        )
+                        .expect("completion success failed")
+                } else {
+                    cx.local
+                        .verif_reporter
+                        .completion_success(cx.local.src_data_buf, started_token, 0, 0, &[])
+                        .expect("completion success failed")
+                };
                 write_and_send(&tm);
                 log::info!(
                     target: "TC Handler",

vorago-reb1/examples/nvm.rs

@@ -40,12 +40,14 @@ fn main() -> ! {
     // Memory can be read in one go.
     nvm.read(0, &mut read_buf).unwrap();
     assert_eq!(&read_buf, &write_buf);
+    assert!(nvm.verify(0, &write_buf).unwrap());
     read_buf.fill(0);
 
     // Write along page boundary
     nvm.write(PAGE_SIZE - 2, &write_buf[0..8]).unwrap();
     nvm.read(PAGE_SIZE - 2, &mut read_buf[0..8]).unwrap();
     assert_eq!(&read_buf[0..8], &write_buf[0..8]);
+    assert!(nvm.verify(PAGE_SIZE - 2, &write_buf[0..8]).unwrap());
 
     nvm.write(0, &orig_content).unwrap();
     loop {

vorago-reb1/src/m95m01.rs

@@ -43,7 +43,7 @@ use regs::*;
 use va108xx_hal::{
     pac,
     prelude::*,
-    spi::{RomMiso, RomMosi, RomSck, Spi, SpiConfig, BMSTART_BMSTOP_MASK},
+    spi::{RomMiso, RomMosi, RomSck, Spi, SpiClkConfig, SpiConfig, BMSTART_BMSTOP_MASK},
 };
 
 pub type RomSpi = Spi<pac::Spic, (RomSck, RomMiso, RomMosi), u8>;
@@ -65,7 +65,7 @@ impl M95M01 {
             sys_clk,
             spi,
             (RomSck, RomMiso, RomMosi),
-            SpiConfig::default(),
+            SpiConfig::default().clk_cfg(SpiClkConfig::new(2, 4)),
         );
         let mut spi_dev = Self { spi };
         spi_dev.clear_block_protection().unwrap();
@@ -132,7 +132,7 @@ impl M95M01 {
             // Pump the FIFO.
             self.spi.write_fifo_unchecked(0);
             // Ignore the first 4 bytes.
-            self.spi.read_fifo_unchecked();
+            nb::block!(self.spi.read_fifo())?;
         }
         Ok(())
     }
@@ -176,7 +176,7 @@ impl M95M01 {
             .unwrap();
         for val in data.iter().take(data.len() - 1) {
             nb::block!(self.spi.write_fifo(*val as u32)).unwrap();
-            self.spi.read_fifo_unchecked();
+            nb::block!(self.spi.read_fifo()).unwrap();
         }
         nb::block!(self
             .spi