copper-rs

The benchmarks/ directory contains external benchmark and comparison workloads designed for side-by-side and interoperability testing. These are managed separately from the default Copper workspace test matrix.

Available benchmarks include:

• cu_async_cl_io_bench: Benchmarks CopperList logging and async CL I/O.
• cu_dorabench: A Copper-side benchmark matching dora-rs/dora-benchmark.
• cu_zenoh_bridge_bench: Benchmarks transport latency for the Zenoh bridge.
• dora_caterpillar: The DORA version of the caterpillar benchmark.
• horus_caterpillar: The Horus version of the caterpillar benchmark.
• ros_caterpillar: A ROS 2 comparison workspace.
• ros_zenoh_caterpillar: A ROS 2 + Zenoh comparison workspace.

The cu-bmi088 crate is a Copper source component for the Bosch Sensortec BMI088 6-axis IMU (accelerometer + gyroscope). It is designed for embedded systems, being no_std by default and utilizing embedded-hal 0.2 traits for portability.

Key sensor capabilities:

• 16-bit triaxial accelerometer (±3g to ±24g range)
• 16-bit triaxial gyroscope (up to ±2000°/s)
• On-chip temperature sensor
• SPI interface (up to 10 MHz)

The cu-bdshot component is a Copper bridge designed for bidirectional DSHOT (BDShot) Electronic Speed Controllers (ESCs). It provides up to four transmit channels for sending commands and four receive channels for collecting telemetry.

It supports two primary hardware implementations:

• RpBdshotBridge: Uses the PIO/DMA stack on the RP2350 reference board.
• Stm32BdshotBridge: Uses a bit-bang driver for STM32H7 hardware.

Custom hardware can be supported by implementing the BdshotBoard or BdshotBoardProvider traits.

The SN754410 is a quadruple half-H driver used to drive inductive loads like motors and solenoids.

Key Specifications:

• Current: Up to 1A.
• Voltage: 4.5V to 36V.
• Capabilities: Can drive two motors in both directions using two PWM generators from a Raspberry Pi.

Compatibility:

• OS: Linux on Raspberry Pi.
• Hardware: Texas Instrument SN754410.

The cu-flight-controller is a bare-metal quadcopter flight controller implemented using Copper components. It is designed to run on the MicoAir H743 board (STM32H743) alongside a separate host Copper runtime for onboard compute.

Key characteristics include:

• Deterministic Real-time Control: Runs control loops on embedded hardware with zero dynamic allocation during runtime.
• Hybrid Deployment: Uses a multi-Copper root (flight_controller.ron) with independent MCU and compute subsystems.
• Simulation Parity: The simulator runs the same task graphs as the hardware, replacing external hardware and transport at the graph boundaries without changing the application topology.
• Feature Selection: Cargo features are used to select coherent graph fragments (e.g., sim and end2end for autonomy, firmware for MCU-only).

The cu-gnss-ublox crate is a Copper source task designed for u-blox GNSS receivers. It provides utilities for parsing the UBX protocol and integrates with the Copper framework to provide GNSS data.

To function correctly, it must be bound to a serial resource using Copper resource bindings. The crate relies on cu-gnss-payloads to provide normalized output payloads, ensuring consistent data formats regardless of the underlying hardware.

The cu-gnss-payloads crate provides standardized GNSS (Global Navigation Satellite System) data models for the Copper ecosystem. It defines reusable structures for sharing GNSS data between different sources and downstream processing tasks.

Key data models included are:

• Fix status
• Signals
• Satellites
• Epoch data
• Related GNSS events

The cu-ryuw122 source is an initiator-side Copper range source for the REYAX RYUW122 UWB modem. It is designed for modems running in the REYAX vendor ANCHOR role (typically mounted on a moving robot) to poll fixed anchors (running the TAG role) for distance measurements over UART.

Key Characteristics:

• Non-blocking: It processes one outstanding initiator request at a time. It sends AT+ANCHOR_SEND, waits for the matching +ANCHOR_RCV response, and emits an observation. If an anchor is silent, it advances after a timeout.
• Scope: It does not perform 2D/3D positioning or multilateration. It only emits single-anchor range observations.
• Use Cases: Providing robot-side distance feeds to fixed anchors or serving as a generic UWB range source for downstream estimation tasks.