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Reset the board when a panic occurs. #85

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merged 2 commits into from
Jan 30, 2024
Merged

Reset the board when a panic occurs. #85

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4e064ce
Reset the board when a panic occurs.
NoahSprenger Jan 30, 2024
b512567
Add custom panic handler and fmt
NoahSprenger Jan 30, 2024
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6 changes: 0 additions & 6 deletions Cargo.lock
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1 change: 1 addition & 0 deletions Cargo.toml
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Expand Up @@ -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

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1 change: 0 additions & 1 deletion boards/camera/Cargo.toml
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Expand Up @@ -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"
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8 changes: 7 additions & 1 deletion boards/camera/src/main.rs
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Expand Up @@ -21,9 +21,15 @@
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 {

Expand Down Expand Up @@ -118,7 +124,7 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
   --> boards/camera/src/main.rs:127:9
    |
127 |         loop {}
    |         ^^^^^^^
    |
    = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
    = note: `#[warn(clippy::empty_loop)]` on by default
}

/// Handles the CAN0 interrupt.
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1 change: 0 additions & 1 deletion boards/communication/Cargo.toml
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Expand Up @@ -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"
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8 changes: 4 additions & 4 deletions boards/communication/src/communication.rs
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Expand Up @@ -13,16 +13,16 @@
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;
Expand Down Expand Up @@ -59,26 +59,26 @@
}

pub struct CanDevice0 {
pub can: Can<
'static,
Can0,
Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
Capacities,
>,

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very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/communication/src/communication.rs:62:14
   |
62 |       pub can: Can<
   |  ______________^
63 | |         'static,
64 | |         Can0,
65 | |         Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
66 | |         Capacities,
67 | |     >,
   | |_____^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
   = note: `#[warn(clippy::type_complexity)]` on by default
line_interrupts: OwnedInterruptSet<Can0, EnabledLine0>,
}

impl CanDevice0 {
pub fn new<S>(
can_rx: Pin<PA23, AlternateI>,
can_tx: Pin<PA22, AlternateI>,
pclk_can: Pclk<Can0, Gclk0Id>,
ahb_clock: AhbClk<Can0>,
peripheral: CAN0,
gclk0: S,
can_memory: &'static mut SharedMemory<Capacities>,
loopback: bool,
) -> (Self, S::Inc)

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this function has too many arguments (8/7) 

warning: this function has too many arguments (8/7)
  --> boards/communication/src/communication.rs:72:5
   |
72 | /     pub fn new<S>(
73 | |         can_rx: Pin<PA23, AlternateI>,
74 | |         can_tx: Pin<PA22, AlternateI>,
75 | |         pclk_can: Pclk<Can0, Gclk0Id>,
...  |
80 | |         loopback: bool,
81 | |     ) -> (Self, S::Inc)
   | |_______________________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#too_many_arguments
   = note: `#[warn(clippy::too_many_arguments)]` on by default
where
S: Source<Id = Gclk0Id> + Increment,
{
Expand Down Expand Up @@ -296,19 +296,19 @@
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)?);

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:302:21
    |
302 |                     return Ok(postcard::from_bytes::<Message>(&msg.message)?);
    |                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
    = note: `#[warn(clippy::needless_return)]` on by default
help: remove `return`
    |
302 -                     return Ok(postcard::from_bytes::<Message>(&msg.message)?);
302 +                     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());

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   --> boards/communication/src/communication.rs:307:21
    |
307 |                     return Err(mavlink::error::MessageReadError::Io.into());
    |                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
    |
307 -                     return Err(mavlink::error::MessageReadError::Io.into());
307 +                     Err(mavlink::error::MessageReadError::Io.into())
    |
}
}
} else {
return Err(mavlink::error::MessageReadError::Io.into());

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:311:13
    |
311 |             return Err(mavlink::error::MessageReadError::Io.into());
    |             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
    |
311 -             return Err(mavlink::error::MessageReadError::Io.into());
311 +             Err(mavlink::error::MessageReadError::Io.into())
    |
}
}
}
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4 changes: 1 addition & 3 deletions boards/communication/src/health.rs
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Expand Up @@ -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;

Expand Down Expand Up @@ -57,19 +55,19 @@
}

impl HealthMonitorChannelsCommunication {
pub fn new(
reader: Adc<ADC0>,
reader1: Adc<ADC1>,
pin_3v3: Pin<PB01, Alternate<B>>,
pin_5v: Pin<PB02, Alternate<B>>,
pin_pyro: Pin<PB03, Alternate<B>>,
pin_vcc: Pin<PB00, Alternate<B>>,
pin_ext_3v3: Pin<PB06, Alternate<B>>,
pin_ext_5v: Pin<PB07, Alternate<B>>,
pin_int_5v: Pin<PB08, Alternate<B>>,
pin_int_3v3: Pin<PB09, Alternate<B>>,
pin_failover: Pin<PB05, Alternate<B>>,
) -> Self {

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this function has too many arguments (11/7) 

warning: this function has too many arguments (11/7)
  --> boards/communication/src/health.rs:58:5
   |
58 | /     pub fn new(
59 | |         reader: Adc<ADC0>,
60 | |         reader1: Adc<ADC1>,
61 | |         pin_3v3: Pin<PB01, Alternate<B>>,
...  |
69 | |         pin_failover: Pin<PB05, Alternate<B>>,
70 | |     ) -> Self {
   | |_____________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#too_many_arguments
HealthMonitorChannelsCommunication {
reader,
reader1,
Expand Down
12 changes: 9 additions & 3 deletions boards/communication/src/main.rs
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Expand Up @@ -15,25 +15,31 @@
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 {

Expand All @@ -51,21 +57,21 @@
#[local]
struct Local {
led: Pin<PA05, PushPullOutput>,
sd_manager: SdManager<
Spi<
Config<
Pads<
hal::pac::SERCOM4,
IoSet1,
Pin<PB15, Alternate<C>>,
Pin<PB12, Alternate<C>>,
Pin<PB13, Alternate<C>>,
>,
>,
Duplex,
>,
Pin<PB14, Output<PushPull>>,
>,

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very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/communication/src/main.rs:60:21
   |
60 |           sd_manager: SdManager<
   |  _____________________^
61 | |             Spi<
62 | |                 Config<
63 | |                     Pads<
...  |
73 | |             Pin<PB14, Output<PushPull>>,
74 | |         >,
   | |_________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
}

#[monotonic(binds = SysTick, default = true)]
Expand Down Expand Up @@ -191,7 +197,7 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
   --> boards/communication/src/main.rs:200:9
    |
200 |         loop {}
    |         ^^^^^^^
    |
    = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
    = note: `#[warn(clippy::empty_loop)]` on by default
}

/// Handles the CAN0 interrupt.
Expand Down Expand Up @@ -241,10 +247,10 @@
let mut buf: [u8; 255] = [0; 255];
let msg_ser = postcard::to_slice_cobs(&m, &mut buf)?;
if let Some(mut file) = manager.file.take() {
manager.write(&mut file, &msg_ser)?;

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this expression creates a reference which is immediately dereferenced by the compiler 

warning: this expression creates a reference which is immediately dereferenced by the compiler
   --> boards/communication/src/main.rs:250:42
    |
250 |                 manager.write(&mut file, &msg_ser)?;
    |                                          ^^^^^^^^ help: change this to: `msg_ser`
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_borrow
    = note: `#[warn(clippy::needless_borrow)]` on by default
manager.file = Some(file);
} else if let Ok(mut file) = manager.open_file("log.txt") {
manager.write(&mut file, &msg_ser)?;

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this expression creates a reference which is immediately dereferenced by the compiler 

warning: this expression creates a reference which is immediately dereferenced by the compiler
   --> boards/communication/src/main.rs:253:42
    |
253 |                 manager.write(&mut file, &msg_ser)?;
    |                                          ^^^^^^^^ help: change this to: `msg_ser`
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_borrow
manager.file = Some(file);
}
Ok(())
Expand Down
4 changes: 2 additions & 2 deletions boards/communication/src/types.rs
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@@ -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;

Expand All @@ -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>;
1 change: 0 additions & 1 deletion boards/power/Cargo.toml
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Expand Up @@ -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"
Expand Down
8 changes: 7 additions & 1 deletion boards/power/src/main.rs
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Expand Up @@ -16,9 +16,15 @@
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::*;
Expand All @@ -26,7 +32,7 @@
#[shared]
struct Shared {
em: ErrorManager,
data_manager: DataManager,

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fields `data_manager` and `can0` are never read 

warning: fields `data_manager` and `can0` are never read
  --> boards/power/src/main.rs:35:9
   |
35 |         data_manager: DataManager,
   |         ^^^^^^^^^^^^
36 |         can0: CanDevice0,
   |         ^^^^
...
52 |     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
   |                                    ------ fields in this struct
can0: CanDevice0,
}

Expand Down Expand Up @@ -104,7 +110,7 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
   --> boards/power/src/main.rs:113:9
    |
113 |         loop {}
    |         ^^^^^^^
    |
    = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
    = note: `#[warn(clippy::empty_loop)]` on by default
}

// #[task(local = [adc_test, adc_pin], shared = [&em])]
Expand Down
1 change: 0 additions & 1 deletion boards/recovery/Cargo.toml
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Expand Up @@ -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"
Expand Down
20 changes: 12 additions & 8 deletions boards/recovery/src/main.rs
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Expand Up @@ -21,11 +21,17 @@
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::*;
Expand Down Expand Up @@ -127,7 +133,7 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
   --> boards/recovery/src/main.rs:136:9
    |
136 |         loop {}
    |         ^^^^^^^
    |
    = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
    = note: `#[warn(clippy::empty_loop)]` on by default
}

#[task(priority = 3, local = [fired: bool = false], shared=[gpio, &em])]
Expand Down Expand Up @@ -184,14 +190,12 @@
#[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(())
});
});
});
}

Expand Down
1 change: 0 additions & 1 deletion boards/sensor/Cargo.toml
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Expand Up @@ -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"
Expand Down
22 changes: 12 additions & 10 deletions boards/sensor/src/main.rs
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Expand Up @@ -26,15 +26,19 @@
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::*;
Expand Down Expand Up @@ -160,7 +164,7 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
   --> boards/sensor/src/main.rs:167:9
    |
167 |         loop {}
    |         ^^^^^^^
    |
    = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
    = note: `#[warn(clippy::empty_loop)]` on by default
}

#[task(local = [sbg_power_pin], shared = [sd_manager, &em])]
Expand All @@ -182,14 +186,12 @@
#[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(())
});
});
});
}

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1 change: 0 additions & 1 deletion boards/sensor_v2/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand Down
7 changes: 6 additions & 1 deletion boards/sensor_v2/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,12 @@
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) -> ! {

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unused variable: `info` 

warning: unused variable: `info`
  --> boards/sensor_v2/src/main.rs:16:10
   |
16 | fn panic(info: &core::panic::PanicInfo) -> ! {
   |          ^^^^ help: if this is intentional, prefix it with an underscore: `_info`
   |
   = note: `#[warn(unused_variables)]` on by default
stm32h7xx_hal::pac::SCB::sys_reset();
}

#[rtic::app(device = stm32h7xx_hal::stm32, dispatchers = [EXTI0, EXTI1])]
mod app {
Expand All @@ -18,7 +23,7 @@

#[shared]
struct SharedResources {
data_manager: DataManager,

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field `data_manager` is never read 

warning: field `data_manager` is never read
  --> boards/sensor_v2/src/main.rs:26:9
   |
26 |         data_manager: DataManager,
   |         ^^^^^^^^^^^^
...
35 |     fn init(mut ctx: init::Context) -> (SharedResources, LocalResources, init::Monotonics) {
   |                                         --------------- field in this struct
}
#[local]
struct LocalResources {
Expand All @@ -27,7 +32,7 @@
}

#[init]
fn init(mut ctx: init::Context) -> (SharedResources, LocalResources, init::Monotonics) {

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variable does not need to be mutable 

warning: variable does not need to be mutable
  --> boards/sensor_v2/src/main.rs:35:13
   |
35 |     fn init(mut ctx: init::Context) -> (SharedResources, LocalResources, init::Monotonics) {
   |             ----^^^
   |             |
   |             help: remove this `mut`
   |
   = note: `#[warn(unused_mut)]` on by default
let pwr = ctx.device.PWR.constrain();
// We could use smps, but the board is not designed for it
// let pwrcfg = example_power!(pwr).freeze();
Expand All @@ -41,7 +46,7 @@
let gpioc = ctx.device.GPIOC.split(ccdr.peripheral.GPIOC);

// Button
let mut button = gpioc.pc13.into_floating_input();

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variable does not need to be mutable 

warning: variable does not need to be mutable
  --> boards/sensor_v2/src/main.rs:49:13
   |
49 |         let mut button = gpioc.pc13.into_floating_input();
   |             ----^^^^^^
   |             |
   |             help: remove this `mut`
(
SharedResources {
data_manager: DataManager::new(),
Expand All @@ -55,12 +60,12 @@
}

#[idle]
fn idle(mut ctx: idle::Context) -> ! {

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variable does not need to be mutable 

warning: variable does not need to be mutable
  --> boards/sensor_v2/src/main.rs:63:13
   |
63 |     fn idle(mut ctx: idle::Context) -> ! {
   |             ----^^^
   |             |
   |             help: remove this `mut`

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unused variable: `ctx` 

warning: unused variable: `ctx`
  --> boards/sensor_v2/src/main.rs:63:17
   |
63 |     fn idle(mut ctx: idle::Context) -> ! {
   |                 ^^^ help: if this is intentional, prefix it with an underscore: `_ctx`
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
  --> boards/sensor_v2/src/main.rs:64:9
   |
64 |         loop {}
   |         ^^^^^^^
   |
   = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
   = note: `#[warn(clippy::empty_loop)]` on by default
}

#[task(local = [button, led])]
fn sleep_system(mut cx: sleep_system::Context) {

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variable does not need to be mutable 

warning: variable does not need to be mutable
  --> boards/sensor_v2/src/main.rs:68:21
   |
68 |     fn sleep_system(mut cx: sleep_system::Context) {
   |                     ----^^
   |                     |
   |                     help: remove this `mut`

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unused variable: `cx` 

warning: unused variable: `cx`
  --> boards/sensor_v2/src/main.rs:68:25
   |
68 |     fn sleep_system(mut cx: sleep_system::Context) {
   |                         ^^ help: if this is intentional, prefix it with an underscore: `_cx`
// Turn off the SBG and CAN
}
}
7 changes: 3 additions & 4 deletions libraries/common-arm/src/health/health_manager.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -63,16 +63,15 @@
match data {
Some(x) => {
if nominal.contains(&x) {
return HealthState::Nominal;

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unneeded `return` statement 

warning: unneeded `return` statement
  --> libraries/common-arm/src/health/health_manager.rs:66:17
   |
66 |                 return HealthState::Nominal;
   |                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
   = note: `#[warn(clippy::needless_return)]` on by default
help: remove `return`
   |
66 -                 return HealthState::Nominal;
66 +                 HealthState::Nominal
   |
}
else {
warn!("Unsafe Voltage");
} else {
// warn!("Unsafe Voltage");
HealthState::Error
}
},
}
None => {
warn!("No data");
return HealthState::Warning;

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unneeded `return` statement 

warning: unneeded `return` statement
  --> libraries/common-arm/src/health/health_manager.rs:74:13
   |
74 |             return HealthState::Warning;
   |             ^^^^^^^^^^^^^^^^^^^^^^^^^^^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
   |
74 -             return HealthState::Warning;
74 +             HealthState::Warning
   |
}
}
}
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