rust/va416xx-rs
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start switching to defmt

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This commit is contained in:
Robin Müller
2025-04-22 14:58:07 +02:00
parent 1a5670b362
commit 3b5e7a9af3
35 changed files with 317 additions and 240 deletions
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10
flashloader/Cargo.toml
View File

@ -9,9 +9,9 @@ cortex-m-rt = "0.7"
embedded-hal = "1"
embedded-hal-nb = "1"
embedded-io = "0.6"
panic-rtt-target = { version = "0.2" }
rtt-target = { version = "0.6" }
rtt-log = "0.5"
defmt-rtt = "0.4"
defmt = "1"
panic-probe = { version = "1", features = ["defmt"] }
log = "0.4"
crc = "3"
rtic-sync = "1"
@ -19,10 +19,10 @@ static_cell = "2"
satrs = { version = "0.3.0-alpha.0", default-features = false }
ringbuf = { version = "0.4", default-features = false }
once_cell = { version = "1", default-features = false, features = ["critical-section"] }
spacepackets = { version = "0.13", default-features = false }
spacepackets = { version = "0.13", default-features = false, features = ["defmt"] }
cobs = { version = "0.3", default-features = false }
va416xx-hal = { version = "0.5", features = ["va41630"] }
va416xx-hal = { version = "0.5", features = ["va41630", "defmt"] }
rtic = { version = "2", features = ["thumbv7-backend"] }
rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }

61
flashloader/image-loader.py
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@ -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
from com_interface 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.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
@ -58,6 +57,7 @@ PING_PAYLOAD_SIZE = 0
class ActionId(enum.IntEnum):
CORRUPT_APP_A = 128
CORRUPT_APP_B = 129
SET_BOOT_SLOT = 130
_LOGGER = logging.getLogger(__name__)
@ -78,11 +78,29 @@ class Target(enum.Enum):
APP_B = 2
class AppSel(enum.IntEnum):
APP_A = 0
APP_B = 1
class ImageLoader:
def __init__(self, com_if: ComInterface, verificator: PusVerificator) -> None:
self.com_if = com_if
self.verificator = verificator
def handle_boot_sel_cmd(self, target: AppSel):
_LOGGER.info("Sending ping command")
action_tc = PusTc(
apid=0x00,
service=PusService.S8_FUNC_CMD,
subservice=ActionId.SET_BOOT_SLOT,
seq_count=SEQ_PROVIDER.get_and_increment(),
app_data=bytes([target]),
)
self.verificator.add_tc(action_tc)
self.com_if.send(bytes(action_tc.pack()))
self.await_for_command_copletion("boot image selection command")
def handle_ping_cmd(self):
_LOGGER.info("Sending ping command")
ping_tc = PusTc(
@ -94,19 +112,9 @@ class ImageLoader:
)
self.verificator.add_tc(ping_tc)
self.com_if.send(bytes(ping_tc.pack()))
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")
self.await_for_command_copletion("ping command")
def handle_corruption_cmd(self, target: Target):
if target == Target.BOOTLOADER:
_LOGGER.error("can not corrupt bootloader")
if target == Target.APP_A:
@ -126,6 +134,25 @@ class ImageLoader:
),
)
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_flash_cmd(self, target: Target, file_path: Path) -> int:
loadable_segments = []
_LOGGER.info("Parsing ELF file for loadable sections")
@ -269,12 +296,12 @@ 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)

4
flashloader/requirements.txt
View File

@ -1,5 +1,5 @@
spacepackets == 0.24
tmtccmd == 8.0.2
spacepackets == 0.28
com-interface == 0.1.0
toml == 0.10
pyelftools == 0.31
crcmod == 1.7

9
flashloader/src/lib.rs
View File

@ -1,9 +0,0 @@
#![no_std]
#[cfg(test)]
mod tests {
#[test]
fn simple() {
assert_eq!(1 + 1, 2);
}
}

37
flashloader/src/main.rs
View File

@ -19,7 +19,6 @@
#![no_std]
use once_cell::sync::OnceCell;
use panic_rtt_target as _;
use va416xx_hal::{clock::Clocks, edac, pac, time::Hertz, wdt::Wdt};
const EXTCLK_FREQ: u32 = 40_000_000;
@ -95,10 +94,12 @@ mod app {
use super::*;
use cortex_m::asm;
use embedded_io::Write;
use panic_rtt_target as _;
// Import panic provider.
use panic_probe as _;
// Import logger.
use defmt_rtt as _;
use rtic::Mutex;
use rtic_monotonics::systick::prelude::*;
use rtt_target::rprintln;
use satrs::pus::verification::VerificationReportCreator;
use spacepackets::ecss::PusServiceId;
use spacepackets::ecss::{
@ -150,9 +151,7 @@ mod app {
#[init]
fn init(mut cx: init::Context) -> (Shared, Local) {
//rtt_init_default!();
rtt_log::init();
rprintln!("-- Vorago flashloader --");
defmt::println!("-- Vorago flashloader --");
// Initialize the systick interrupt & obtain the token to prove that we did
// Use the external clock connected to XTAL_N.
let clocks = cx
@ -272,7 +271,7 @@ mod app {
let decoded_size =
cobs::decode_in_place(&mut cx.local.rx_buf[1..result.bytes_read]);
if decoded_size.is_err() {
log::warn!("COBS decoding failed");
defmt::warn!("COBS decoding failed");
} else {
let decoded_size = decoded_size.unwrap();
if cx.local.tc_prod.sizes_prod.vacant_len() >= 1
@ -285,11 +284,13 @@ mod app {
.buf_prod
.push_slice(&cx.local.rx_buf[1..1 + decoded_size]);
} else {
log::warn!("COBS TC queue full");
defmt::warn!("COBS TC queue full");
}
}
} else {
log::warn!("COBS frame with invalid format, start and end bytes are not 0");
defmt::warn!(
"COBS frame with invalid format, start and end bytes are not 0"
);
}
// Initiate next transfer.
@ -299,11 +300,11 @@ mod app {
.expect("read operation failed");
}
if result.has_errors() {
log::warn!("UART error: {:?}", result.errors.unwrap());
defmt::warn!("UART error: {:?}", result.errors.unwrap());
}
}
Err(e) => {
log::warn!("UART error: {:?}", e);
defmt::warn!("UART error: {:?}", e);
}
}
}
@ -346,7 +347,7 @@ mod app {
fn handle_valid_pus_tc(cx: &mut pus_tc_handler::Context) {
let pus_tc = PusTcReader::new(cx.local.tc_buf);
if pus_tc.is_err() {
log::warn!("PUS TC error: {}", pus_tc.unwrap_err());
defmt::warn!("PUS TC error: {}", pus_tc.unwrap_err());
return;
}
let (pus_tc, _) = pus_tc.unwrap();
@ -396,11 +397,11 @@ mod app {
write_and_send(&tm);
};
if pus_tc.subservice() == ActionId::CorruptImageA as u8 {
rprintln!("corrupting App Image A");
defmt::info!("corrupting App Image A");
corrupt_image(APP_A_START_ADDR);
}
if pus_tc.subservice() == ActionId::CorruptImageB as u8 {
rprintln!("corrupting App Image B");
defmt::info!("corrupting App Image B");
corrupt_image(APP_B_START_ADDR);
}
}
@ -430,23 +431,21 @@ mod app {
if pus_tc.subservice() == 2 {
let app_data = pus_tc.app_data();
if app_data.len() < 10 {
log::warn!(
target: "TC Handler",
defmt::warn!(
"app data for raw memory write is too short: {}",
app_data.len()
);
}
let memory_id = app_data[0];
if memory_id != BOOT_NVM_MEMORY_ID {
log::warn!(target: "TC Handler", "memory ID {} not supported", memory_id);
defmt::warn!("memory ID {} not supported", memory_id);
// TODO: Error reporting
return;
}
let offset = u32::from_be_bytes(app_data[2..6].try_into().unwrap());
let data_len = u32::from_be_bytes(app_data[6..10].try_into().unwrap());
if 10 + data_len as usize > app_data.len() {
log::warn!(
target: "TC Handler",
defmt::warn!(
"invalid data length {} for raw mem write detected",
data_len
);