Fix rtt_target blocking panic handler.

.github/workflows/ci.yml

@@ -27,7 +27,7 @@ jobs:
 
       - run: cargo fmt --all -- --check
       - run: cargo check
-
+      - run: cargo check --all-features
       - run: cargo clippy --all-features -- -D warnings
 
   compile:

Cargo.toml

@@ -58,16 +58,18 @@ minimq = "0.9.0"
 w5500 = "0.5"
 smlang= "0.8"
 minireq = "0.5"
-rtt-target = "0.6"
+rtt-target = { version = "0.6", optional = true }
 enum-iterator = { version = "2.1", default-features = false }
 enc424j600 = "0.4"
 embedded-hal = "1"
 smoltcp-nal = { version = "0.5", features=["shared-stack"] }
 serial-settings = "0.1"
 stm32f4xx-hal = {version = "0.22.1", features = ["stm32f407", "usb_fs"] }
-
 postcard = "1"
 
+[features]
+rtt = ["dep:rtt-target"]
+
 [build-dependencies]
 built = { version = "0.7", features = ["git2"], default-features = false }
 

src/hardware/platform.rs

@@ -20,28 +20,26 @@ pub const BIAS_DAC_VCC: f32 = 3.2;
 
 #[panic_handler]
 fn panic(info: &core::panic::PanicInfo) -> ! {
-    use core::fmt::Write;
-    use rtt_target::{ChannelMode, UpChannel};
-
     cortex_m::interrupt::disable();
 
     // Shutdown all of the RF channels.
     shutdown_channels();
 
-    if let Some(mut channel) = unsafe { UpChannel::conjure(0) } {
-        channel.set_mode(ChannelMode::BlockIfFull);
-        writeln!(channel, "{}", info).ok();
-    }
-
     // Write panic info to RAM.
     panic_persist::report_panic_info(info);
 
-    // Reset the device in `release` configuration.
-    #[cfg(not(debug_assertions))]
-    cortex_m::peripheral::SCB::sys_reset();
+    #[cfg(feature = "rtt")]
+    if let Some(mut channel) = unsafe { rtt_target::UpChannel::conjure(0) } {
+        use core::fmt::Write;
+
+        channel.set_mode(rtt_target::ChannelMode::BlockIfFull);
+        writeln!(channel, "{}", info).ok();
+    }
 
     #[cfg(debug_assertions)]
-    loop {}
+    cortex_m::asm::bkpt();
+
+    cortex_m::peripheral::SCB::sys_reset();
 }
 
 /// Unconditionally disable and power-off all channels.

src/hardware/setup.rs

@@ -103,9 +103,12 @@ pub fn setup(
     device: stm32f4xx_hal::pac::Peripherals,
     clock: SystemTimer,
 ) -> BoosterDevices {
-    // Configure RTT logging.
-    device.DBGMCU.cr().modify(|_, w| w.dbg_sleep().set_bit());
-    rtt_target::rtt_init_print!();
+    #[cfg(feature = "rtt")]
+    {
+        // Configure RTT logging.
+        device.DBGMCU.cr().modify(|_, w| w.dbg_sleep().set_bit());
+        rtt_target::rtt_init_print!();
+    }
 
     // Install the logger
     log::set_logger(&crate::LOGGER)
@@ -139,6 +142,7 @@ pub fn setup(
 
     // Start the watchdog during the initialization process.
     let mut watchdog = hal::watchdog::IndependentWatchdog::new(device.IWDG);
+    watchdog.stop_on_debug(&device.DBGMCU, true);
     watchdog.start(30.secs());
 
     let mut delay = AsmDelay::new(clocks.sysclk().to_Hz());

src/logger.rs

@@ -4,7 +4,6 @@ use heapless::String;
 use super::SerialTerminal;
 use core::fmt::Write;
 use log::LevelFilter;
-use rtt_target::rprintln;
 
 /// A logging buffer for storing serialized logs pending transmission.
 ///
@@ -51,7 +50,8 @@ impl log::Log for BufferedLog {
             return;
         }
 
-        rprintln!("{} - {}", record.level(), record.args());
+        #[cfg(feature = "rtt")]
+        rtt_target::rprintln!("{} - {}", record.level(), record.args());
         let source_file = record.file().unwrap_or("Unknown");
         let source_line = record.line().unwrap_or(u32::MAX);