Merge branch 'master' into nav

.devcontainer/Dockerfile

@@ -1,5 +1,17 @@
+# Base image for toolchain download
+FROM mcr.microsoft.com/devcontainers/rust:latest as toolchain
+
+RUN mkdir -p /toolchain && \
+    curl -L "https://developer.arm.com/-/media/Files/downloads/gnu/13.2.rel1/binrel/arm-gnu-toolchain-13.2.rel1-x86_64-arm-none-eabi.tar.xz" \
+    | tar --strip-components=1 -xJ -C /toolchain
+
+# Final image
 FROM mcr.microsoft.com/devcontainers/rust:latest
 
+# Copy the toolchain from the previous stage
+COPY --from=toolchain /toolchain /toolchain
+
+ENV PATH="${PATH}:/toolchain/bin"
 ARG DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get upgrade -y && apt-get install -y cmake pkg-config libusb-1.0-0-dev libftdi1-dev libudev-dev libssl-dev
 

.github/workflows/build.yml

@@ -67,11 +67,6 @@ jobs:
         with:
           command: make
           args: test-host
-      - uses: actions-rs/cargo@v1
-        name: "Generate Typescript bindings"
-        with:
-          command: make
-          args: generate-ts-bindings
       - uses: actions/upload-artifact@v3
         name: "Upload Binding Artifacts"
         with:

.github/workflows/clippy.yml

@@ -19,6 +19,8 @@ jobs:
           components: clippy
           toolchain: stable
           target: thumbv7em-none-eabihf
+      - name: cargofmt
+        run: cargo fmt --check
       - uses: actions/cache@v3
         with:
           path: |
@@ -31,3 +33,4 @@ jobs:
       - uses: actions-rs/clippy-check@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
+

.gitignore

@@ -1,4 +1,5 @@
 /target
 /.vscode/.cortex-debug.registers.state.json
 /.vscode/.cortex-debug.peripherals.state.json
-/.vscode/settings.json
+/.vscode/settings.json
+/toolchain

Makefile.toml

@@ -4,13 +4,6 @@ CARGO_MAKE_EXTEND_WORKSPACE_MAKEFILE = true
 [config]
 default_to_workspace = false
 
-# -----------------------
-# Typescript Bindings
-# -----------------------
-[tasks.generate-ts-bindings]
-command = "cargo"
-args = ["test", "-p", "messages", "--no-default-features", "--features", "ts", "--target", "${CARGO_MAKE_RUST_TARGET_TRIPLE}"]
-
 # -----------------------
 # Host Testing
 # -----------------------

README.md

@@ -1,5 +1,6 @@
 # HYDRA   [![Build Status]][actions] [![docs-badge]][docs]
-*HYper Dynamic Rocketry Avionics*
+
+***HY**per **D**ynamic **R**ocketry **A**vionics*
 
 [Build Status]: https://github.com/uorocketry/hydra/actions/workflows/build.yml/badge.svg
 [actions]: https://github.com/uorocketry/hydra/actions?query=branch%3Amaster
@@ -12,46 +13,60 @@
 
 ## Getting Started
 
-1. Install Rust: https://www.rust-lang.org/tools/install
-2. Build: `cargo build`
-3. Install probe-run: `cargo install --git https://github.com/uorocketry/probe-run`
-    - `probe-run` currently requires a patch to flash our chip, so please use the above version while the patch is upstreamed
-4. Install cargo-make: `cargo install cargo-make`
-4. Flash: `cargo run --bin main`
-5. Run tests: `cargo make test-host` or `cargo make test-device`
+> If you are in a DevContainer skip to step 5.
+
+- Install Rust: https://www.rust-lang.org/tools/install
+- Install necessary build tools:
+  - cargo-make: `cargo install cargo-make`
+  - probe-rs: `cargo install probe-rs --features cli`
+- Install the [ARM GNU Toolchain](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads) (last tested with 13.2) and have it available in your PATH
+  - Arch Linux: `sudo pacman -S arm-none-eabi-gcc`
+  - Alpine/Debian/Ubuntu: <https://pkgs.org/download/gcc-arm-none-eabi>
+  - MacOS: `brew install arm-none-eabi-gcc`
+- Build: `cargo build`
+  - In case it fails, try `cargo build --release`
+- Run tests:
+  - In the host machine: `cargo make test-host`
+  - In the device: `cargo make test-device`
+- Flash on hardware: `cargo run --bin main`
 
 For more detailed instructions on flashing, debugging, and more, please see [the wiki](https://avwiki.uorocketry.ca/en/Avionics/HYDRA/Software).
 
 ## Windows Users
 
 ### Setting up with Docker
-1. Install Docker: https://docs.docker.com/desktop/install/windows-install/
-2. Install VS Code: https://code.visualstudio.com/download
-3. From VS Code, install the "Dev Containers" extension
-4. press `ctrl` + `shift` + `p`, and search for `Dev Containers: Open Folder in Container`
+
+- Install [Docker](https://docs.docker.com/desktop/install/windows-install/)
+- Install [VS Code](https://code.visualstudio.com/download)
+- From VS Code, install the "Dev Containers" extension
+- press `ctrl` + `shift` + `p`, and search for `Dev Containers: Open Folder in Container`
 
 ### Setting up with WSL
-1. Enable WSL: https://learn.microsoft.com/en-us/windows/wsl/install
-2. Install a linux distro from the Microsoft Store
-4. Install ARM GNU Toolchain: https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads
-  - NOTE: You may find this in your distro's package managerm, but make sure it is up to date.
+
+- Enable WSL: https://learn.microsoft.com/en-us/windows/wsl/install
+- Install a linux distro from the Microsoft Store
+- Install the [ARM GNU Toolchain](https://developer.arm.com/downloads/-/arm-gnu-toolchain-downloads)
+  - NOTE: You may find this in your distro's package manager, but ensure it is version 13.2.
   - Ubuntu has an outdated version in its repositories. If using Ubuntu, download it manually from the link above
-3. Follow the rest of the instructions in [Getting Started](#-getting-started)
+- Follow the rest of the instructions in [Getting Started](#-getting-started)
 
 ### Flashing
+
 After plugging in J-Link, it will likely show up as unknown.
+
 1. Install Zadig: https://zadig.akeo.ie/
 2. From Zadig, select J-Link as the device and WinUSB as the driver
 3. click Install Driver
 
 If using WSL or Docker with a WSL backend (you probably are), you need to tell Windows to share J-Link with WSL.
-1. From WSL, install linux-tools-generic
-  1. on Ubuntu: `sudo apt install linux-tools-generic`
-2. Install usbipd-win: https://github.com/dorssel/usbipd-win/releases
-3. Open command prompt/powershell with admin privileges and run `usbipd list`
-4. Make note of the entry called J-Link and run `usbipd bind --busid <busid>`
-5. Next, run `usbipd attach --wsl --busid <busid>`
-6. You can now follow the flashing instructions in [Getting Started](#-getting-started)
+
+- From WSL, install linux-tools-generic
+  - on Ubuntu: `sudo apt install linux-tools-generic`
+- Install usbipd-win: https://github.com/dorssel/usbipd-win/releases
+- Open command prompt/powershell with admin privileges and run `usbipd list`
+- Make note of the entry called J-Link and run `usbipd bind --busid <busid>`
+- Next, run `usbipd attach --wsl --busid <busid>`
+- You can now follow the flashing instructions in [Getting Started](#getting-started)
 
 ## Documentation
 
@@ -60,6 +75,7 @@ Run `cargo doc --open` to build and open the documentation. Most documentation f
 Documentation is also automatically built and deployed to https://hydra-docs.uorocketry.ca/common_arm
 
 ## Project Structure
+
 The project is structured in a way to allow reuse of the code across various boards and other projects.
 
 - `boards`: Folder containing each individual board's binary crates. Any code in those crates should only contain logic specific to the board.
@@ -72,4 +88,4 @@ The project is structured in a way to allow reuse of the code across various boa
 
 This project is licensed under GPLv3-only.
 
-We please ask for any derivatives of this work to be kept open-source, even if such derivative is only for internal use.
+We please ask for any derivatives of this work to be kept open-source, even if such derivative is only for internal use.

boards/beacon/src/communication.rs

@@ -0,0 +1 @@
+//! Interface the SPI-based CAN device here.

boards/camera/src/communication.rs

@@ -103,8 +103,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor filter"));

boards/camera/src/types.rs

@@ -1,5 +1,5 @@
-use messages::sender::{Sender, Sender::CameraBoard};
+use messages::node::{Node, Node::CameraBoard};
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static _COM_ID: Sender = CameraBoard;
+pub static _COM_ID: Node = CameraBoard;

boards/recovery/src/communication.rs

@@ -112,8 +112,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo0,
-                filter: ecan::StandardId::new(messages::sender::Sender::SensorBoard.into())
-                    .unwrap(),
+                filter: ecan::StandardId::new(messages::node::Node::SensorBoard.into()).unwrap(),
                 mask: ecan::StandardId::ZERO,
             })
             .unwrap_or_else(|_| panic!("Sensor Board filter"));
@@ -122,7 +121,7 @@ impl CanDevice0 {
         can.filters_standard()
             .push(Filter::Classic {
                 action: Action::StoreFifo1,
-                filter: ecan::StandardId::new(messages::sender::Sender::CommunicationBoard.into())
+                filter: ecan::StandardId::new(messages::node::Node::CommunicationBoard.into())
                     .unwrap(),
                 mask: ecan::StandardId::ZERO,
             })

boards/recovery/src/data_manager.rs

@@ -23,6 +23,8 @@ pub struct DataManager {
     pub gps_vel: Option<GpsVel>,
     pub historical_barometer_altitude: HistoryBuffer<(f32, u32), DATA_POINTS>, // (alt, timestamp)
     pub current_state: Option<RocketStates>,
+    // each tick represents a minute that passed
+    pub recovery_counter: u8,
 }
 
 impl DataManager {
@@ -37,6 +39,7 @@ impl DataManager {
             gps_vel: None,
             historical_barometer_altitude,
             current_state: None,
+            recovery_counter: 0,
         }
     }
     /// Returns true if the rocket is descending
@@ -123,8 +126,8 @@ impl DataManager {
             None => false,
         }
     }
-    pub fn is_landed(&self) -> bool {
-        if self.historical_barometer_altitude.len() < 8 {
+    pub fn is_landed(&mut self) -> bool {
+        if self.historical_barometer_altitude.len() < RECOVERY_DATA_POINTS.into() {
             return false;
         }
         let mut buf = self.historical_barometer_altitude.oldest_ordered();
@@ -140,13 +143,13 @@ impl DataManager {
                     avg_sum += (i.0 - prev.0) / time_diff;
                     prev = i;
                 }
-                match avg_sum / 7.0 {
+                match avg_sum / (RECOVERY_DATA_POINTS as f32 - 1.0) {
                     // inclusive range
                     x if (-0.5..=0.5).contains(&x) => {
                         return true;
                     }
                     _ => {
-                        // continue
+                        self.recovery_counter = 0;
                     }
                 }
             }

boards/recovery/src/main.rs

@@ -234,6 +234,7 @@ mod app {
                 can0,
                 can_command_manager,
                 gpio,
+                recovery_timer,
             },
             Local {
                 led_green,
@@ -382,7 +383,7 @@ mod app {
 
     /// Runs the state machine.
     /// This takes control of the shared resources.
-    #[task(priority = 3, local = [state_machine], shared = [can0, gpio, data_manager, &em])]
+    #[task(priority = 3, local = [state_machine], shared = [can0, gpio, data_manager, &em, recovery_timer])]
     fn run_sm(mut cx: run_sm::Context) {
         cx.local.state_machine.run(&mut StateMachineContext {
             shared_resources: &mut cx.shared,

boards/recovery/src/state_machine/mod.rs

@@ -5,6 +5,7 @@ use crate::communication::CanDevice0;
 use crate::data_manager::DataManager;
 use crate::gpio_manager::GPIOManager;
 use crate::state_machine::states::*;
+use atsamd_hal::timer::TimerCounter2;
 pub use black_magic::*;
 use core::fmt::Debug;
 use defmt::Format;
@@ -17,6 +18,7 @@ pub trait StateMachineSharedResources {
     fn lock_can(&mut self, f: &dyn Fn(&mut CanDevice0));
     fn lock_data_manager(&mut self, f: &dyn Fn(&mut DataManager));
     fn lock_gpio(&mut self, f: &dyn Fn(&mut GPIOManager));
+    fn lock_recovery_timer(&mut self, f: &dyn Fn(&mut TimerCounter2));
 }
 
 impl<'a> StateMachineSharedResources for crate::app::__rtic_internal_run_smSharedResources<'a> {
@@ -29,6 +31,9 @@ impl<'a> StateMachineSharedResources for crate::app::__rtic_internal_run_smShare
     fn lock_gpio(&mut self, fun: &dyn Fn(&mut GPIOManager)) {
         self.gpio.lock(fun)
     }
+    fn lock_recovery_timer(&mut self, fun: &dyn Fn(&mut TimerCounter2)) {
+        self.recovery_timer.lock(fun)
+    }
 }
 
 pub struct StateMachineContext<'a, 'b> {
@@ -103,9 +108,9 @@ impl From<state::StateData> for RocketStates {
     }
 }
 // Linter: an implementation of From is preferred since it gives you Into<_> for free where the reverse isn't true
-impl Into<state::StateData> for RocketStates {
-    fn into(self) -> state::StateData {
-        match self {
+impl From<RocketStates> for state::StateData {
+    fn from(val: RocketStates) -> Self {
+        match val {
             RocketStates::Initializing(_) => state::StateData::Initializing,
             RocketStates::WaitForTakeoff(_) => state::StateData::WaitForTakeoff,
             RocketStates::Ascent(_) => state::StateData::Ascent,

boards/recovery/src/state_machine/states/terminal_descent.rs

@@ -4,6 +4,8 @@ use crate::state_machine::{
     RocketStates, State, StateMachineContext, TransitionInto, WaitForRecovery,
 };
 use crate::{no_transition, transition};
+use atsamd_hal::prelude::_embedded_hal_timer_CountDown;
+use atsamd_hal::timer_traits::InterruptDrivenTimer;
 use common_arm::spawn;
 use defmt::{write, Format, Formatter};
 use rtic::mutex::Mutex;
@@ -17,6 +19,14 @@ impl State for TerminalDescent {
             spawn!(fire_main)?;
             Ok(())
         });
+        context.shared_resources.recovery_timer.lock(|timer| {
+            timer.enable_interrupt();
+            let duration_mins = atsamd_hal::fugit::MinutesDurationU32::minutes(1);
+            // timer requires specific duration format
+            let timer_duration: atsamd_hal::fugit::Duration<u32, 1, 1000000000> =
+                duration_mins.convert();
+            timer.start(timer_duration);
+        });
     }
     fn step(&mut self, context: &mut StateMachineContext) -> Option<RocketStates> {
         context.shared_resources.data_manager.lock(|data| {

boards/recovery/src/state_machine/states/wait_for_recovery.rs

@@ -7,7 +7,7 @@ use crate::RTC;
 use common_arm::spawn;
 use defmt::{write, Format, Formatter};
 use messages::command::{Command, PowerDown, RadioRate, RadioRateChange};
-use messages::sender::Sender::SensorBoard;
+use messages::node::Node::SensorBoard;
 use messages::Message;
 
 #[derive(Debug, Clone)]

boards/recovery/src/types.rs

@@ -1,7 +1,7 @@
-use messages::sender::Sender;
-use messages::sender::Sender::RecoveryBoard;
+use messages::node::Node;
+use messages::node::Node::RecoveryBoard;
 
 // -------
-// Sender ID
+// Node ID
 // -------
-pub static COM_ID: Sender = RecoveryBoard;
+pub static COM_ID: Node = RecoveryBoard;

libraries/messages/Cargo.toml

@@ -3,8 +3,6 @@ name = "messages"
 version = "0.1.0"
 edition = "2021"
 
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
 [dependencies]
 derive_more = "0.99.17"
 serde = { workspace = true }