added rp2040 stuff

Cargo.toml

@@ -22,3 +22,5 @@ bincode = { version = "2.0.0-rc.3", default-features = false, features = [
     "derive",
 ] }
 simple_logger = "5.0.0"
+rp2040-hal = "0.10.2"
+rp2040-pac = "0.6.0"

apps/hs/Cargo.toml

@@ -7,9 +7,10 @@ edition = "2021"
 path = "src/hs.rs"
 
 [features]
-default = []
+default = ["rp2040"]
 std = ["dep:sysinfo"]
 nix = ["dep:watchdog-device"]
+rp2040 = ["dep:rp2040-hal", "dep:rp2040-pac"]
 
 [dependencies]
 rfe = { path = "../../rfe" }
@@ -21,3 +22,5 @@ sysinfo = { version = "0.32.0", default-features = false, optional = true, featu
     "disk",
     "system",
 ] }
+rp2040-hal = { workspace = true, optional = true }
+rp2040-pac = { workspace = true, optional = true }

apps/hs/src/infograbber.rs

@@ -75,6 +75,12 @@ mod infograbber_std {
 pub use infograbber_std::*;
 
 pub struct StubSystemInfoGrabber;
+impl StubSystemInfoGrabber {
+    pub fn new() -> Self {
+        Self {}
+    }
+}
+
 impl SystemInfoGrabber for StubSystemInfoGrabber {
     fn check_cpu_usage(&mut self) -> Vec<u8> {
         Vec::new()

apps/hs/src/watchdog.rs

@@ -82,3 +82,46 @@ impl<'a> Watchdog for WatchdogRef<'a> {
         }
     }
 }
+
+#[cfg(feature = "rp2040")]
+mod watchdog_rp2040 {
+    use rp2040_hal::Watchdog;
+
+    pub struct Rp2040Watchdog {
+        wd: Watchdog,
+        time: u32,
+    }
+
+    impl Rp2040Watchdog {
+        pub fn new(wd: Watchdog) -> Self {
+            Self {
+                wd,
+                time: 10 * 1000000,
+            }
+        }
+    }
+
+    impl super::Watchdog for Rp2040Watchdog {
+        fn enable(&mut self) {
+            self.wd
+                .start(rp2040_hal::fugit::Duration::<u32, 1, 1000000>::from_ticks(
+                    self.time,
+                ));
+        }
+
+        fn disable(&mut self) {
+            self.wd.disable();
+        }
+
+        fn set_timeout(&mut self, time: i32) {
+            self.time = time as u32 * 1000000;
+        }
+
+        fn feed(&mut self) {
+            self.wd.feed();
+        }
+    }
+}
+
+#[cfg(feature = "rp2040")]
+pub use watchdog_rp2040::*;

builds/rp_pico_example/Cargo.toml

@@ -5,8 +5,9 @@ edition = "2021"
 
 [dependencies]
 embassy-usb-logger = { git = "https://github.com/embassy-rs/embassy.git" }
-rfe = { path = "../../rfe", default-features = false }
+rfe = { path = "../../rfe", default-features = false, features = ["rp2040"] }
 to = { path = "../../apps/to", default-features = false }
+hs = { path = "../../apps/hs", default-features = false, features = ["rp2040"] }
 anyhow.workspace = true
 anyhow.default_features = false
 embedded-alloc = "0.6.0"

builds/rp_pico_example/src/main.rs

@@ -16,6 +16,7 @@ mod app {
     };
     use embedded_hal::digital::v2::OutputPin;
     use fugit::Duration;
+    use hs::{Hs, HsConfig, Rp2040Watchdog, StubSystemInfoGrabber};
     use log::info;
     use msg::{ExampleHk, Instance, MsgKind, MsgPacket, TargetMsg, TlmSetItem, ToTlmSet};
     use rfe::{connector::Connector, Rate, *};
@@ -30,7 +31,7 @@ mod app {
     use embedded_alloc::LlffHeap as Heap;
     use panic_halt as _;
     use rp_pico::XOSC_CRYSTAL_FREQ;
-    use time::SchTimeDriver;
+    use time::Rp2040TimeDriver;
     extern crate alloc;
     use alloc::vec;
     use alloc::vec::Vec;
@@ -96,6 +97,8 @@ mod app {
     struct Local {
         led: Pin<Gpio25, FunctionSio<SioOutput>, PullNone>,
         usb: Option<Driver<'static, USB>>,
+        wd: Option<Watchdog>,
+        time_driver: Option<Rp2040TimeDriver>,
     }
 
     struct UsbBinding;
@@ -107,7 +110,7 @@ mod app {
         // Configure the clocks, watchdog - The default is to generate a 125 MHz system clock
         Mono::start(ctx.device.TIMER, &mut ctx.device.RESETS); // default rp2040 clock-rate is 125MHz
         let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
-        let _clocks = clocks::init_clocks_and_plls(
+        let clocks = clocks::init_clocks_and_plls(
             XOSC_CRYSTAL_FREQ,
             ctx.device.XOSC,
             ctx.device.CLOCKS,
@@ -138,6 +141,12 @@ mod app {
             .into_pull_type::<PullNone>()
             .into_push_pull_output();
 
+        let time_driver = Rp2040TimeDriver::new(
+            unsafe { rp_pico::pac::TIMER::steal() },
+            &mut ctx.device.RESETS,
+            &clocks,
+        );
+
         // Spawn heartbeat task
         blink_instance::spawn().ok();
         usb_logger::spawn().ok();
@@ -148,6 +157,8 @@ mod app {
             Local {
                 led,
                 usb: Some(driver),
+                wd: Some(watchdog),
+                time_driver: Some(time_driver),
             },
         )
     }
@@ -165,7 +176,7 @@ mod app {
         }
     }
 
-    #[task(local = [led], priority = 1)]
+    #[task(local = [led, wd, time_driver], priority = 1)]
     async fn blink_instance(mut ctx: blink_instance::Context) {
         let mut blink_app = BlinkApp {
             led_pin: &mut ctx.local.led,
@@ -188,10 +199,25 @@ mod app {
             },
         );
         let mut to = To::new(&mut log_connector, tlmsets);
-        let time_driver = SchTimeDriver::new();
+        let mut wd = Rp2040Watchdog::new(ctx.local.wd.take().unwrap());
+        let mut grabber = StubSystemInfoGrabber::new();
+        let mut hs = Hs::new(
+            HsConfig {
+                cpu_checks: false,
+                fs_checks: false,
+                mem_checks: false,
+                temp_checks: false,
+                watchdog_enable: true,
+                watchdog_timeout: 10,
+            },
+            &mut grabber,
+            Some(&mut wd),
+        );
+        let time_driver = ctx.local.time_driver.take().unwrap();
         let mut instance = RfeInstance::new(Instance::Example, &time_driver);
         instance.add_app("blink_app", &mut blink_app).unwrap();
         instance.add_app("to", &mut to).unwrap();
+        instance.add_app("hs", &mut hs).unwrap();
 
         let mut next_time = Mono::now() + Duration::<u64, 1, 1000000>::from_ticks(10000);
 

rfe/Cargo.toml

@@ -6,6 +6,7 @@ edition = "2021"
 [features]
 default = []
 std = ["dep:mio"]
+rp2040 = ["dep:rp2040-hal", "dep:rp2040-pac"]
 to_csv = []
 
 [dependencies]
@@ -14,4 +15,6 @@ anyhow.workspace = true
 hashbrown.workspace = true
 log.workspace = true
 mio = { version = "1.0.2", features = ["net", "os-poll"], optional = true }
+rp2040-hal = { workspace = true, optional = true }
+rp2040-pac = { workspace = true, optional = true }
 macros.path = "macros"

rfe/src/time.rs

@@ -43,3 +43,28 @@ impl TimeDriver for SchTimeDriver {
         time_data.sch_counter + time_data.time_offset
     }
 }
+
+#[cfg(feature = "rp2040")]
+pub struct Rp2040TimeDriver {
+    timer: rp2040_hal::timer::Timer,
+}
+
+#[cfg(feature = "rp2040")]
+impl Rp2040TimeDriver {
+    pub fn new(
+        timer: rp2040_pac::TIMER,
+        resets: &mut rp2040_pac::RESETS,
+        clocks: &rp2040_hal::clocks::ClocksManager,
+    ) -> Self {
+        Self {
+            timer: rp2040_hal::timer::Timer::new(timer, resets, clocks),
+        }
+    }
+}
+
+#[cfg(feature = "rp2040")]
+impl TimeDriver for Rp2040TimeDriver {
+    fn get_system_time(&self, time_data: TimeData) -> Timestamp {
+        self.timer.get_counter().ticks() + time_data.time_offset
+    }
+}