Merge pull request #85 from uorocketry/panic

Reset the board when a panic occurs.

Cargo.toml

@@ -54,6 +54,7 @@ debug = true
 [profile.release]
 # symbols are nice and they don't increase the size on Flash
 #debug = true
+debug = 1
 #lto = true There is an issue with this where it says the interrupts symbol is defined multiple times. Only happens for the STM32H7XX.
 opt-level = 1
 

boards/camera/Cargo.toml

@@ -9,7 +9,6 @@ edition = "2021"
 cortex-m = { workspace = true }
 cortex-m-rt = "^0.7.0"
 cortex-m-rtic = "1.1.3"
-panic-halt = "0.2.0"
 systick-monotonic = "1.0.1"
 defmt = "0.3.2"
 postcard = "1.0.2"

boards/camera/src/main.rs

@@ -21,9 +21,15 @@ use hal::gpio::Pins;
 use hal::gpio::{Pin, PushPullOutput, PB16, PB17};
 use hal::prelude::*;
 use mcan::messageram::SharedMemory;
-use panic_halt as _;
 use systick_monotonic::*;
 
+/// Custom panic handler.
+/// Reset the system if a panic occurs.
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    atsamd_hal::pac::SCB::sys_reset();
+}
+
 #[rtic::app(device = hal::pac, peripherals = true, dispatchers = [EVSYS_0, EVSYS_1, EVSYS_2])]
 mod app {
 

boards/communication/Cargo.toml

@@ -9,7 +9,6 @@ edition = "2021"
 cortex-m = { workspace = true }
 cortex-m-rt = "^0.7.0"
 cortex-m-rtic = "1.1.3"
-panic-halt = "0.2.0"
 systick-monotonic = "1.0.1"
 defmt = "0.3.2"
 postcard = "1.0.2"

boards/communication/src/communication.rs

@@ -13,16 +13,16 @@ use atsamd_hal::pac::MCLK;
 use atsamd_hal::pac::SERCOM5;
 use atsamd_hal::prelude::_embedded_hal_serial_Read;
 use atsamd_hal::sercom;
+use atsamd_hal::sercom::uart;
 use atsamd_hal::sercom::uart::Uart;
 use atsamd_hal::sercom::uart::{RxDuplex, TxDuplex};
-use atsamd_hal::sercom::uart;
 use atsamd_hal::typelevel::Increment;
 use common_arm::mcan;
 use common_arm::mcan::message::{rx, Raw};
 use common_arm::mcan::tx_buffers::DynTx;
 use common_arm::{herror, HydraError};
-use heapless::Vec;
 use heapless::HistoryBuffer;
+use heapless::Vec;
 use mavlink::embedded::Read;
 use mcan::bus::Can;
 use mcan::embedded_can as ecan;
@@ -296,14 +296,14 @@ impl RadioManager {
             self.buf.write(data);
             let (_header, msg) =
                 mavlink::read_versioned_msg(&mut self.radio.receiver, mavlink::MavlinkVersion::V2)?;
-            // Do we need the header? 
+            // Do we need the header?
             match msg {
                 mavlink::uorocketry::MavMessage::POSTCARD_MESSAGE(msg) => {
                     return Ok(postcard::from_bytes::<Message>(&msg.message)?);
                     // weird Ok syntax to coerce to hydra error type.
                 }
                 _ => {
-                    herror!(Error,ErrorContext::UnkownPostcardMessage);
+                    herror!(Error, ErrorContext::UnkownPostcardMessage);
                     return Err(mavlink::error::MessageReadError::Io.into());
                 }
             }

boards/communication/src/health.rs

@@ -2,9 +2,7 @@
 //! Would've liked to have this live in common-arm-atsame but the pins and adc are not standardised
 //! for all boards which poses the problem of giving an adc to a wrong pin in a generic way.
 
-use atsamd_hal::gpio::{
-    Alternate, Pin, B, PB00, PB01, PB02, PB03, PB05, PB06, PB07, PB08, PB09,
-};
+use atsamd_hal::gpio::{Alternate, Pin, B, PB00, PB01, PB02, PB03, PB05, PB06, PB07, PB08, PB09};
 use atsamd_hal::{adc::Adc, ehal::adc::OneShot, pac::ADC0, pac::ADC1};
 use common_arm::HealthMonitorChannels;
 

boards/communication/src/main.rs

@@ -15,25 +15,31 @@ use common_arm::*;
 use communication::Capacities;
 use communication::{RadioDevice, RadioManager};
 use data_manager::DataManager;
+use hal::adc::Adc;
 use hal::clock::v2::pclk::Pclk;
 use hal::clock::v2::Source;
-use health::HealthMonitorChannelsCommunication;
-use hal::adc::Adc;
 use hal::gpio::Pins;
 use hal::gpio::{
     Alternate, Output, Pin, PushPull, PushPullOutput, C, PA05, PB12, PB13, PB14, PB15,
 };
 use hal::prelude::*;
 use hal::sercom::{spi, spi::Config, spi::Duplex, spi::Pads, spi::Spi, IoSet1, Sercom4};
+use health::HealthMonitorChannelsCommunication;
 use mcan::messageram::SharedMemory;
 use messages::command::RadioRate;
 use messages::health::Health;
 use messages::state::State;
 use messages::*;
-use panic_halt as _;
 use systick_monotonic::*;
 use types::*;
 
+/// Custom panic handler.
+/// Reset the system if a panic occurs.
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    atsamd_hal::pac::SCB::sys_reset();
+}
+
 #[rtic::app(device = hal::pac, peripherals = true, dispatchers = [EVSYS_0, EVSYS_1, EVSYS_2])]
 mod app {
 

boards/communication/src/types.rs

@@ -1,6 +1,6 @@
+use atsamd_hal::gpio::*;
 use atsamd_hal::sercom::uart::EightBit;
 use atsamd_hal::sercom::{uart, IoSet1, Sercom5};
-use atsamd_hal::gpio::*;
 use messages::sender::Sender;
 use messages::sender::Sender::CommunicationBoard;
 
@@ -13,4 +13,4 @@ pub static COM_ID: Sender = CommunicationBoard;
 // Ground Station
 // -------
 pub type GroundStationPads = uart::PadsFromIds<Sercom5, IoSet1, PB17, PB16>;
-pub type GroundStationUartConfig = uart::Config<GroundStationPads, EightBit>;
+pub type GroundStationUartConfig = uart::Config<GroundStationPads, EightBit>;

boards/power/Cargo.toml

@@ -9,7 +9,6 @@ edition = "2021"
 cortex-m = { workspace = true }
 cortex-m-rt = "^0.7.0"
 cortex-m-rtic = "1.1.3"
-panic-halt = "0.2.0"
 systick-monotonic = "1.0.1"
 defmt = "0.3.2"
 postcard = "1.0.2"

boards/power/src/main.rs

@@ -16,9 +16,15 @@ use hal::clock::v2::Source;
 use hal::gpio::{Pin, Pins, PushPullOutput, PB16, PB17};
 use hal::prelude::*;
 use mcan::messageram::SharedMemory;
-use panic_halt as _;
 use systick_monotonic::*;
 
+/// Custom panic handler.
+/// Reset the system if a panic occurs.
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    atsamd_hal::pac::SCB::sys_reset();
+}
+
 #[rtic::app(device = hal::pac, peripherals = true, dispatchers = [EVSYS_0, EVSYS_1, EVSYS_2])]
 mod app {
     use super::*;

boards/recovery/Cargo.toml

@@ -9,7 +9,6 @@ edition = "2021"
 cortex-m = { workspace = true }
 cortex-m-rt = "^0.7.0"
 cortex-m-rtic = "1.1.3"
-panic-halt = "0.2.0"
 systick-monotonic = "1.0.1"
 defmt = "0.3.2"
 postcard = "1.0.2"

boards/recovery/src/main.rs

@@ -21,11 +21,17 @@ use hal::gpio::{Pin, Pins, PushPullOutput, PB16, PB17};
 use hal::prelude::*;
 use mcan::messageram::SharedMemory;
 use messages::*;
-use panic_halt as _;
 use state_machine::{StateMachine, StateMachineContext};
 use systick_monotonic::*;
 use types::COM_ID;
 
+/// Custom panic handler.
+/// Reset the system if a panic occurs.
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    atsamd_hal::pac::SCB::sys_reset();
+}
+
 #[rtic::app(device = hal::pac, peripherals = true, dispatchers = [EVSYS_0, EVSYS_1, EVSYS_2])]
 mod app {
     use super::*;
@@ -184,14 +190,12 @@ mod app {
     #[task(binds = CAN0, shared = [can0, data_manager, &em])]
     fn can0(mut cx: can0::Context) {
         cx.shared.can0.lock(|can| {
-            cx.shared
-                .data_manager
-                .lock(|data_manager| {
-                    cx.shared.em.run(|| {
-                        can.process_data(data_manager)?;
-                        Ok(())
-                    });
+            cx.shared.data_manager.lock(|data_manager| {
+                cx.shared.em.run(|| {
+                    can.process_data(data_manager)?;
+                    Ok(())
                 });
+            });
         });
     }
 

boards/sensor/Cargo.toml

@@ -9,7 +9,6 @@ edition = "2021"
 cortex-m = { workspace = true }
 cortex-m-rt = "^0.7.0"
 cortex-m-rtic = "1.1.3"
-panic-halt = "0.2.0"
 systick-monotonic = "1.0.1"
 defmt = "0.3.2"
 postcard = "1.0.2"

boards/sensor/src/main.rs

@@ -26,15 +26,19 @@ use hal::sercom::{spi, IoSet2, Sercom4};
 use mcan::messageram::SharedMemory;
 use messages::sensor::Sensor;
 use messages::*;
-use panic_halt as _;
 use sbg_manager::{sbg_dma, sbg_handle_data, sbg_sd_task, SBGManager};
 //use sbg_manager::{sbg_dma, sbg_handle_data, SBGManager};
-
 use sbg_rs::sbg::{CallbackData, SBG_BUFFER_SIZE};
-
 use systick_monotonic::*;
 use types::*;
 
+/// Custom panic handler.
+/// Reset the system if a panic occurs.
+#[panic_handler]
+fn panic(_info: &core::panic::PanicInfo) -> ! {
+    atsamd_hal::pac::SCB::sys_reset();
+}
+
 #[rtic::app(device = hal::pac, peripherals = true, dispatchers = [EVSYS_0, EVSYS_1, EVSYS_2])]
 mod app {
     use super::*;
@@ -182,14 +186,12 @@ mod app {
     #[task(priority = 3, binds = CAN0, shared = [can, data_manager, &em])]
     fn can0(mut cx: can0::Context) {
         cx.shared.can.lock(|can| {
-            cx.shared
-                .data_manager
-                .lock(|manager| {
-                    cx.shared.em.run(|| {
-                        can.process_data(manager)?;
-                        Ok(())
-                    });
+            cx.shared.data_manager.lock(|manager| {
+                cx.shared.em.run(|| {
+                    can.process_data(manager)?;
+                    Ok(())
                 });
+            });
         });
     }
 

boards/sensor_v2/Cargo.toml

@@ -6,7 +6,6 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-panic-halt = "0.2.0" 
 cortex-m = { workspace = true }
 cortex-m-rt = "^0.7.0"
 cortex-m-rtic = "1.1.3"

boards/sensor_v2/src/main.rs

@@ -10,7 +10,12 @@ use stm32h7xx_hal::gpio::Input;
 use stm32h7xx_hal::gpio::{Output, PushPull};
 use stm32h7xx_hal::prelude::*;
 
-use panic_halt as _;
+/// Custom panic handler.
+/// Reset the system if a panic occurs.
+#[panic_handler]
+fn panic(info: &core::panic::PanicInfo) -> ! {
+    stm32h7xx_hal::pac::SCB::sys_reset();
+}
 
 #[rtic::app(device = stm32h7xx_hal::stm32, dispatchers = [EXTI0, EXTI1])]
 mod app {

libraries/common-arm/src/health/health_manager.rs

@@ -64,12 +64,11 @@ fn get_status(data: Option<u16>, nominal: &RangeInclusive<u16>) -> HealthState {
         Some(x) => {
             if nominal.contains(&x) {
                 return HealthState::Nominal;
-            }
-            else {
-                warn!("Unsafe Voltage");
+            } else {
+                // warn!("Unsafe Voltage");
                 HealthState::Error
             }
-        },
+        }
         None => {
             warn!("No data");
             return HealthState::Warning;