boards

Avionics Boards Software

This is where we store our embedded software for each board we develop.

Setting Up Your Environment

OS Packages

• Ubuntu: sudo apt update && sudo apt install -y build-essential cmake protobuf-compiler libusb-1.0-0
• macOS (Homebrew): brew install cmake protobuf
• Windows: use WSL2 (Ubuntu) or install the above equivalents; USB access works best via WSL2.

Rust Toolchain

• Install Rustup: curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
• Toolchain config is pinned in rust-toolchain.toml
• Verify: rustc --version, rustup target list --installed

Workspace Utilities

• Install cargo-make (used by CI/tasks): cargo install cargo-make
• Install rustfmt used for linting: rustup component add rustfmt
• Install cargo-sort used for cleaning up Cargo.toml files. cargo install cargo-sort

Flashing and Logging

• Install probe-rs tools: cargo install probe-rs-tools
• On linux you need to setup udev rules (no sudo needed for USB): -curl -L https://probe.rs/files/udev/60-probe-rs.rules | sudo tee /etc/udev/rules.d/60-probe-rs.rules. This link might not be maintained always. Might need to google how to setup the usb device rules with probe-rs.
  • sudo udevadm control --reload-rules && sudo udevadm trigger
• With a JLINK probe connected to your USB, verify that is visible: probe-rs list

Running code

Cargo runner is already configured to use probe-rs with the correct chip. You can simply run cargo run --bin {board} and it will build and flash to the chip.

Tests

• To run tests on the embedded device cargo make test-embedded
• To run tests that can be run on your host machine cargo make test-host

Helpful VSCode Extensions

• probe-rs.probe-rs-debugger
• rust-lang.rust-analyzer

Useful Tools

Cargo Size

Shows you the memory size breakdown of a compiled Rust binary: rustup component add llvm-tools-preview

To run against your build cargo size --bin {board}

Cargo Bloat

To see if use of a generic causing monomorphization bloat. We can use cargo bloat. cargo install cargo-bloat cargo-binutils rustfilt cargo bloat --release -n 200 --demangle

Common Issues

1. Rust-analyzer is complaining about my target triple being my host PC's target instead of embedded when looking at embedded code.

embassy_executor::main: proc macro server error: Cannot create expander for ./target/debug/deps/libembassy_executor_macros-dfe0a64b5f1613f4.dylib:
mismatched ABI expected: `rustc 1.89.0 (29483883e 2025-08-04)`, got `rustc 1.91.0-nightly (7aef4bec4 2025-09-01)

This is common because rust-analyzer picks up what target to use based on the vscode's working directory's .cargo/Config.toml build target. If you install the "Rust Target" extension you can dynamically jump around targets. Or alternatively open the folder for the board as your vscode's working directory instead of the entire monorepo and rust-analyzer will pick up the .cargo/Config.toml of the board's folder. We're using the thumbv7em-none-eabihf target triple.