update pounder patch to work with stabilizer 198d5f0

mcu-contrib/default.nix

@@ -65,9 +65,6 @@ in
       src = <stabilizerSrc>;
       patchPhase = ''
         patch -p1 < ${./pounder-725.diff}
-        substituteInPlace src/net/mod.rs \
-          --replace "[10, 34, 16, 10];" \
-                    "[192, 168, 1, 10];"  # or other default MQTT broker address
       '';
       doCheck = false;
     } // value))) {

mcu-contrib/pounder-725.diff

@@ -1,5 +1,33 @@
+diff --git a/Cargo.lock b/Cargo.lock
+index 7c796acf..cee5ba60 100644
+--- a/Cargo.lock
++++ b/Cargo.lock
+@@ -983,9 +983,9 @@ dependencies = [
+ 
+ [[package]]
+ name = "serde"
+-version = "1.0.203"
++version = "1.0.202"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "7253ab4de971e72fb7be983802300c30b5a7f0c2e56fab8abfc6a214307c0094"
++checksum = "226b61a0d411b2ba5ff6d7f73a476ac4f8bb900373459cd00fab8512828ba395"
+ dependencies = [
+  "serde_derive",
+ ]
+@@ -1003,9 +1003,9 @@ dependencies = [
+ 
+ [[package]]
+ name = "serde_derive"
+-version = "1.0.203"
++version = "1.0.202"
+ source = "registry+https://github.com/rust-lang/crates.io-index"
+-checksum = "500cbc0ebeb6f46627f50f3f5811ccf6bf00643be300b4c3eabc0ef55dc5b5ba"
++checksum = "6048858004bcff69094cd972ed40a32500f153bd3be9f716b2eed2e8217c4838"
+ dependencies = [
+  "proc-macro2",
+  "quote",
 diff --git a/ad9959/src/lib.rs b/ad9959/src/lib.rs
-index b15f2a5bd..4e83bcb2f 100644
+index 025f7d4f..59578cce 100644
 --- a/ad9959/src/lib.rs
 +++ b/ad9959/src/lib.rs
 @@ -2,8 +2,24 @@
@@ -27,7 +55,7 @@ index b15f2a5bd..4e83bcb2f 100644
  /// A device driver for the AD9959 direct digital synthesis (DDS) chip.
  ///
  /// This chip provides four independently controllable digital-to-analog output sinusoids with
-@@ -216,23 +232,17 @@ impl<I: Interface> Ad9959<I> {
+@@ -218,23 +234,17 @@ impl<I: Interface> Ad9959<I> {
          reference_clock_frequency: f32,
          multiplier: u8,
      ) -> Result<f32, Error> {
@@ -55,7 +83,7 @@ index b15f2a5bd..4e83bcb2f 100644
          fr1[0].set_bit(7, vco_range);
  
          self.write(Register::FR1, &fr1)?;
-@@ -363,9 +373,7 @@ impl<I: Interface> Ad9959<I> {
+@@ -365,9 +375,7 @@ impl<I: Interface> Ad9959<I> {
          channel: Channel,
          phase_turns: f32,
      ) -> Result<f32, Error> {
@@ -66,7 +94,7 @@ index b15f2a5bd..4e83bcb2f 100644
          self.modify_channel(
              channel,
              Register::CPOW0,
-@@ -511,6 +519,108 @@ impl<I: Interface> Ad9959<I> {
+@@ -513,6 +521,108 @@ impl<I: Interface> Ad9959<I> {
      }
  }
  
@@ -175,7 +203,7 @@ index b15f2a5bd..4e83bcb2f 100644
  /// Represents a means of serializing a DDS profile for writing to a stream.
  pub struct ProfileSerializer {
      // heapless::Vec<u8, 32>, especially its extend_from_slice() is slow
-@@ -566,6 +676,39 @@ impl ProfileSerializer {
+@@ -568,6 +678,39 @@ impl ProfileSerializer {
          }
      }
  
@@ -216,22 +244,22 @@ index b15f2a5bd..4e83bcb2f 100644
      fn add_write(&mut self, register: Register, value: &[u8]) {
          let data = &mut self.data[self.index..];
 diff --git a/src/bin/dual-iir.rs b/src/bin/dual-iir.rs
-index c7df3f603..dadd0523c 100644
+index a4a04be8..83dcdefb 100644
 --- a/src/bin/dual-iir.rs
 +++ b/src/bin/dual-iir.rs
-@@ -44,6 +44,8 @@ use stabilizer::{
+@@ -47,6 +47,8 @@ use stabilizer::{
-         afe::Gain,
          dac::{Dac0Output, Dac1Output, DacCode},
          hal,
+         signal_generator::{self, SignalGenerator},
 +        pounder::{ClockConfig, PounderConfig},
 +        setup::PounderDevices as Pounder,
-         signal_generator::{self, SignalGenerator},
          timers::SamplingTimer,
-         DigitalInput0, DigitalInput1, SystemTimer, Systick, AFE0, AFE1,
+         DigitalInput0, DigitalInput1, SerialTerminal, SystemTimer, Systick,
-@@ -145,6 +147,16 @@ pub struct Settings {
+         UsbDevice, AFE0, AFE1,
+@@ -179,6 +181,16 @@ pub struct DualIir {
      /// See [signal_generator::BasicConfig#miniconf]
-     #[miniconf(defer)]
+     #[tree(depth = 2)]
-     signal_generator: miniconf::Array<signal_generator::BasicConfig, 2>,
+     signal_generator: [signal_generator::BasicConfig; 2],
 +
 +    /// Specifies the config for pounder DDS clock configuration, DDS channels & attenuations
 +    ///
@@ -240,13 +268,13 @@ index c7df3f603..dadd0523c 100644
 +    ///
 +    /// # Value
 +    /// See [PounderConfig#miniconf]
-+    #[miniconf(defer)]
++    #[tree]
-+    pounder: miniconf::Option<PounderConfig>,
++    pounder: Option<PounderConfig>,
  }
  
- impl Default for Settings {
+ impl Default for DualIir {
-@@ -171,6 +183,8 @@ impl Default for Settings {
+@@ -206,6 +218,8 @@ impl Default for DualIir {
-                 .into(),
+             signal_generator: [signal_generator::BasicConfig::default(); 2],
  
              stream_target: StreamTarget::default(),
 +
@@ -254,116 +282,116 @@ index c7df3f603..dadd0523c 100644
          }
      }
  }
-@@ -189,6 +203,7 @@ mod app {
+@@ -222,6 +236,7 @@ mod app {
-         settings: Settings,
+         active_settings: DualIir,
          telemetry: TelemetryBuffer,
          signal_generator: [SignalGenerator; 2],
 +        pounder: Option<Pounder>,
      }
  
      #[local]
-@@ -199,6 +214,7 @@ mod app {
+@@ -233,6 +248,7 @@ mod app {
          adcs: (Adc0Input, Adc1Input),
          dacs: (Dac0Output, Dac1Output),
-         iir_state: [[iir::Vec5<f32>; IIR_CASCADE_LENGTH]; 2],
+         iir_state: [[[f32; 4]; IIR_CASCADE_LENGTH]; 2],
 +        dds_clock_state: Option<ClockConfig>,
          generator: FrameGenerator,
          cpu_temp_sensor: stabilizer::hardware::cpu_temp_sensor::CpuTempSensor,
      }
-@@ -208,7 +224,7 @@ mod app {
+@@ -242,7 +258,7 @@ mod app {
-         let clock = SystemTimer::new(|| monotonics::now().ticks() as u32);
+         let clock = SystemTimer::new(|| Systick::now().ticks());
  
          // Configure the microcontroller
--        let (stabilizer, _pounder) = hardware::setup::setup(
+-        let (stabilizer, _pounder) = hardware::setup::setup::<Settings, 4>(
-+        let (stabilizer, pounder) = hardware::setup::setup(
++        let (mut stabilizer, pounder) = hardware::setup::setup::<Settings, 4>(
              c.core,
              c.device,
              clock,
-@@ -216,6 +232,13 @@ mod app {
+@@ -261,6 +277,13 @@ mod app {
-             SAMPLE_TICKS,
+ 
-         );
+         let generator = network.configure_streaming(StreamFormat::AdcDacData);
  
 +        let dds_clock_state = pounder.as_ref().map(|_| ClockConfig::default());
-+
-+        let mut settings = Settings::default();
 +        if pounder.is_some() {
-+            settings.pounder.replace(PounderConfig::default());
++            stabilizer.settings.dual_iir
++                .pounder
++                .replace(PounderConfig::default());
 +        }
 +
-         let mut network = NetworkUsers::new(
-             stabilizer.net.stack,
-             stabilizer.net.phy,
-@@ -226,13 +249,12 @@ mod app {
-                 .unwrap_or("10.34.16.1")
-                 .parse()
-                 .unwrap(),
-+            settings,
-         );
- 
-         let generator = network
-             .configure_streaming(StreamFormat::AdcDacData, BATCH_SIZE as _);
- 
--        let settings = Settings::default();
--
          let shared = Shared {
+             usb: stabilizer.usb,
              network,
-             settings,
+@@ -279,6 +302,7 @@ mod app {
-@@ -249,6 +271,7 @@ mod app {
-                         .unwrap(),
                  ),
              ],
-+            pounder,
+             settings: stabilizer.settings,
++            pounder
          };
  
          let mut local = Local {
-@@ -258,6 +281,7 @@ mod app {
+@@ -289,6 +313,7 @@ mod app {
              adcs: stabilizer.adcs,
              dacs: stabilizer.dacs,
-             iir_state: [[[0.; 5]; IIR_CASCADE_LENGTH]; 2],
+             iir_state: [[[0.; 4]; IIR_CASCADE_LENGTH]; 2],
 +            dds_clock_state,
              generator,
              cpu_temp_sensor: stabilizer.temperature_sensor,
          };
-@@ -407,7 +431,7 @@ mod app {
+@@ -458,7 +483,7 @@ mod app {
          }
      }
  
--    #[task(priority = 1, local=[afes], shared=[network, settings, signal_generator])]
+-    #[task(priority = 1, local=[afes], shared=[network, settings, active_settings, signal_generator])]
-+    #[task(priority = 1, local=[afes, dds_clock_state], shared=[network, settings, signal_generator, pounder])]
++    #[task(priority = 1, local=[afes, dds_clock_state], shared=[network, settings, active_settings, signal_generator, pounder])]
-     fn settings_update(mut c: settings_update::Context) {
+     async fn settings_update(mut c: settings_update::Context) {
-         let settings = c.shared.network.lock(|net| *net.miniconf.settings());
+         c.shared.settings.lock(|settings| {
-         c.shared.settings.lock(|current| *current = settings);
+             c.local.afes.0.set_gain(settings.dual_iir.afe[0]);
-@@ -431,15 +455,28 @@ mod app {
+@@ -482,6 +507,17 @@ mod app {
+                     ),
                  }
              }
- 
 +        // Update Pounder configurations
 +        c.shared.pounder.lock(|pounder| {
 +            if let Some(pounder) = pounder {
-+                let pounder_settings = settings.pounder.as_ref().unwrap();
++                let pounder_settings = settings.dual_iir.pounder.as_ref().unwrap();
-+                let mut clocking = c.local.dds_clock_state.unwrap();
++                // let mut clocking = c.local.dds_clock_state;
-+                pounder.update_dds(*pounder_settings, &mut clocking);
++                pounder.update_dds(
++                    *pounder_settings,
++                    c.local.dds_clock_state.as_mut().unwrap(),
++                );
 +            }
 +        });
-+
+ 
-         let target = settings.stream_target.into();
+             let target = settings.dual_iir.stream_target.into();
              c.shared.network.lock(|net| net.direct_stream(target));
+@@ -492,22 +528,31 @@ mod app {
+         });
      }
  
 -    #[task(priority = 1, shared=[network, settings, telemetry], local=[cpu_temp_sensor])]
 +    #[task(priority = 1, shared=[network, settings, telemetry, pounder], local=[cpu_temp_sensor])]
-     fn telemetry(mut c: telemetry::Context) {
+     async fn telemetry(mut c: telemetry::Context) {
+         loop {
              let telemetry: TelemetryBuffer =
                  c.shared.telemetry.lock(|telemetry| *telemetry);
  
+-            let (gains, telemetry_period) =
++            let (gains, telemetry_period, pounder_config) =
+                 c.shared.settings.lock(|settings| {
+-                    (settings.dual_iir.afe, settings.dual_iir.telemetry_period)
++                    (
++                        settings.dual_iir.afe,
++                        settings.dual_iir.telemetry_period,
++                        settings.dual_iir.pounder
++                    )
+                 });
+ 
 +            let pounder_telemetry = c.shared.pounder.lock(|pounder| {
-+            pounder.as_mut().map(|pounder| pounder.get_telemetry())
++                pounder.as_mut().map(|pdr| pdr.get_telemetry(pounder_config.unwrap()))
 +            });
 +
-         let (gains, telemetry_period) = c
+             c.shared.network.lock(|net| {
-             .shared
+                 net.telemetry.publish(&telemetry.finalize(
-             .settings
-@@ -450,6 +487,7 @@ mod app {
                      gains[0],
                      gains[1],
                      c.local.cpu_temp_sensor.get_temperature().unwrap(),
@@ -371,49 +399,11 @@ index c7df3f603..dadd0523c 100644
                  ))
              });
  
-diff --git a/src/bin/lockin.rs b/src/bin/lockin.rs
-index 6896df7ff..1e92a0f75 100644
---- a/src/bin/lockin.rs
-+++ b/src/bin/lockin.rs
-@@ -254,6 +254,8 @@ mod app {
-             SAMPLE_TICKS,
-         );
- 
-+        let settings = Settings::default();
-+
-         let mut network = NetworkUsers::new(
-             stabilizer.net.stack,
-             stabilizer.net.phy,
-@@ -264,6 +266,7 @@ mod app {
-                 .unwrap_or("10.34.16.1")
-                 .parse()
-                 .unwrap(),
-+            settings,
-         );
- 
-         let generator = network
-@@ -272,7 +275,7 @@ mod app {
-         let shared = Shared {
-             network,
-             telemetry: TelemetryBuffer::default(),
--            settings: Settings::default(),
-+            settings,
-         };
- 
-         let signal_config = signal_generator::Config {
-@@ -499,6 +502,7 @@ mod app {
-                 gains[0],
-                 gains[1],
-                 c.local.cpu_temp_sensor.get_temperature().unwrap(),
-+                None,
-             ))
-         });
- 
 diff --git a/src/hardware/pounder/attenuators.rs b/src/hardware/pounder/attenuators.rs
-index ef22814d4..a5d220dfb 100644
+index cfd08b7f..2570f506 100644
 --- a/src/hardware/pounder/attenuators.rs
 +++ b/src/hardware/pounder/attenuators.rs
-@@ -54,10 +54,9 @@ pub trait AttenuatorInterface {
+@@ -52,10 +52,9 @@ pub trait AttenuatorInterface {
      fn get_attenuation(&mut self, channel: Channel) -> Result<f32, Error> {
          let mut channels = [0_u8; 4];
  
@@ -427,7 +417,7 @@ index ef22814d4..a5d220dfb 100644
          self.transfer_attenuators(&mut channels)?;
  
          // The attenuation code is stored in the upper 6 bits of the register, where each LSB
-@@ -68,6 +67,9 @@ pub trait AttenuatorInterface {
+@@ -66,6 +65,9 @@ pub trait AttenuatorInterface {
          // care) would contain erroneous data.
          let attenuation_code = (!channels[channel as usize]) >> 2;
  
@@ -438,7 +428,7 @@ index ef22814d4..a5d220dfb 100644
          Ok(attenuation_code as f32 / 2.0)
      }
 diff --git a/src/hardware/pounder/dds_output.rs b/src/hardware/pounder/dds_output.rs
-index 9af23a9aa..559855fcc 100644
+index 3ae1ce90..cd978b01 100644
 --- a/src/hardware/pounder/dds_output.rs
 +++ b/src/hardware/pounder/dds_output.rs
 @@ -55,7 +55,7 @@
@@ -498,7 +488,7 @@ index 9af23a9aa..559855fcc 100644
      #[allow(dead_code)]
      #[inline]
 diff --git a/src/hardware/pounder/mod.rs b/src/hardware/pounder/mod.rs
-index d6dd654fc..1e436f785 100644
+index 5bc7e9ff..5b8d5d30 100644
 --- a/src/hardware/pounder/mod.rs
 +++ b/src/hardware/pounder/mod.rs
 @@ -1,10 +1,17 @@
@@ -513,21 +503,21 @@ index d6dd654fc..1e436f785 100644
 +};
  use embedded_hal::blocking::spi::Transfer;
  use enum_iterator::Sequence;
-+use miniconf::Miniconf;
++use miniconf::Tree;
 +use rf_power::PowerMeasurementInterface;
  use serde::{Deserialize, Serialize};
 +use stm32h7xx_hal::time::MegaHertz;
  
  pub mod attenuators;
  pub mod dds_output;
-@@ -91,40 +98,98 @@ impl From<Channel> for GpioPin {
+@@ -120,40 +127,99 @@ impl From<Channel> for GpioPin {
      }
  }
  
 -#[derive(Serialize, Deserialize, Copy, Clone, Debug)]
 -pub struct DdsChannelState {
 -    pub phase_offset: f32,
-+#[derive(Serialize, Deserialize, Copy, Clone, Debug, Miniconf)]
++#[derive(Serialize, Deserialize, Copy, Clone, Debug, Tree)]
 +pub struct DdsChannelConfig {
      pub frequency: f32,
 +    pub phase_offset: f32,
@@ -589,9 +579,9 @@ index d6dd654fc..1e436f785 100644
  
 -#[derive(Serialize, Deserialize, Copy, Clone, Debug)]
 -pub struct OutputChannelState {
-+#[derive(Serialize, Deserialize, Copy, Clone, Debug, Miniconf)]
++#[derive(Serialize, Deserialize, Copy, Clone, Debug, Tree)]
 +pub struct ChannelConfig {
-+    #[miniconf(defer)]
++    #[tree]
 +    pub dds: DdsChannelConfig,
      pub attenuation: f32,
 -    pub channel: DdsChannelState,
@@ -608,7 +598,7 @@ index d6dd654fc..1e436f785 100644
 +    }
 +}
 +
-+#[derive(Serialize, Deserialize, Copy, Clone, Debug, PartialEq, Miniconf)]
++#[derive(Serialize, Deserialize, Copy, Clone, Debug, PartialEq, Tree)]
 +pub struct ClockConfig {
      pub multiplier: u8,
      pub reference_clock: f32,
@@ -625,19 +615,20 @@ index d6dd654fc..1e436f785 100644
 +    }
 +}
 +
-+#[derive(Copy, Clone, Debug, Default, Miniconf)]
++#[derive(Copy, Clone, Debug, Default, Deserialize, Serialize, Tree)]
 +pub struct PounderConfig {
++    #[tree]
 +    pub clock: ClockConfig,
-+    #[miniconf(defer)]
++    #[tree(depth = 2)]
-+    pub in_channel: miniconf::Array<ChannelConfig, 2>,
++    pub in_channel: [ChannelConfig; 2],
-+    #[miniconf(defer)]
++    #[tree(depth = 2)]
-+    pub out_channel: miniconf::Array<ChannelConfig, 2>,
++    pub out_channel: [ChannelConfig; 2],
 +}
 +
  impl From<Channel> for ad9959::Channel {
      /// Translate pounder channels to DDS output channels.
      fn from(other: Channel) -> Self {
-@@ -489,3 +554,77 @@ impl rf_power::PowerMeasurementInterface for PounderDevices {
+@@ -585,3 +651,78 @@ impl rf_power::PowerMeasurementInterface for PounderDevices {
          Ok(adc_scale * 2.048)
      }
  }
@@ -705,68 +696,52 @@ index d6dd654fc..1e436f785 100644
 +        }
 +    }
 +
-+    pub fn get_telemetry(&mut self) -> PounderTelemetry {
++    pub fn get_telemetry(&mut self, config: PounderConfig) -> PounderTelemetry {
 +        PounderTelemetry {
 +            temperature: self.pounder.lm75.read_temperature().unwrap(),
 +            input_power: [
 +                self.pounder.measure_power(Channel::In0).unwrap(),
 +                self.pounder.measure_power(Channel::In1).unwrap(),
 +            ],
++            config,
 +        }
 +    }
 +}
 diff --git a/src/net/mod.rs b/src/net/mod.rs
-index f6372381b..9a88008f7 100644
+index a10b7cdb..efa2b8c8 100644
 --- a/src/net/mod.rs
 +++ b/src/net/mod.rs
-@@ -43,7 +43,7 @@ pub enum NetworkState {
+@@ -33,14 +33,14 @@ pub type NetworkReference =
+ 
+ pub struct MqttStorage {
+     telemetry: [u8; 2048],
+-    settings: [u8; 1024],
++    settings: [u8; 1536],
  }
  
- /// A structure of Stabilizer's default network users.
+ impl Default for MqttStorage {
--pub struct NetworkUsers<S: Default + Miniconf + Clone, T: Serialize> {
+     fn default() -> Self {
-+pub struct NetworkUsers<S: Miniconf + Clone, T: Serialize> {
+         Self {
-     pub miniconf: miniconf::MqttClient<S, NetworkReference, SystemTimer, 512>,
+             telemetry: [0u8; 2048],
-     pub processor: NetworkProcessor,
+-            settings: [0u8; 1024],
-     stream: DataStream,
++            settings: [0u8; 1536],
-@@ -53,7 +53,7 @@ pub struct NetworkUsers<S: Default + Miniconf + Clone, T: Serialize> {
+         }
- 
+     }
- impl<S, T> NetworkUsers<S, T>
+ }
- where
--    S: Default + Miniconf + Clone,
-+    S: Miniconf + Clone,
-     T: Serialize,
- {
-     /// Construct Stabilizer's default network users.
-@@ -65,6 +65,7 @@ where
-     /// * `app` - The name of the application.
-     /// * `mac` - The MAC address of the network.
-     /// * `broker` - The IP address of the MQTT broker to use.
-+    /// * `settings` - The initial settings value
-     ///
-     /// # Returns
-     /// A new struct of network users.
-@@ -75,6 +76,7 @@ where
-         app: &str,
-         mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
-         broker: IpAddr,
-+        settings: S,
-     ) -> Self {
-         let stack_manager =
-             cortex_m::singleton!(: NetworkManager = NetworkManager::new(stack))
-@@ -91,7 +93,7 @@ where
-             &prefix,
-             broker,
-             clock,
--            S::default(),
-+            settings,
-         )
-         .unwrap();
- 
 diff --git a/src/net/telemetry.rs b/src/net/telemetry.rs
-index c6e071f17..e35347037 100644
+index 4aa82601..3dc3086c 100644
 --- a/src/net/telemetry.rs
 +++ b/src/net/telemetry.rs
-@@ -58,6 +58,23 @@ pub struct Telemetry {
+@@ -16,7 +16,7 @@ use minimq::{DeferredPublication, Publication};
+ use serde::Serialize;
+ 
+ use super::NetworkReference;
+-use crate::hardware::{adc::AdcCode, afe::Gain, dac::DacCode, SystemTimer};
++use crate::hardware::{adc::AdcCode, afe::Gain, dac::DacCode, SystemTimer, pounder::PounderConfig};
+ 
+ /// Default metadata message if formatting errors occur.
+ const DEFAULT_METADATA: &str = "{\"message\":\"Truncated: See USB terminal\"}";
+@@ -68,6 +68,26 @@ pub struct Telemetry {
  
      /// The CPU temperature in degrees Celsius.
      pub cpu_temp: f32,
@@ -787,10 +762,13 @@ index c6e071f17..e35347037 100644
 +
 +    /// The detected RF power into IN channels
 +    pub input_power: [f32; 2],
++
++    /// The configuration of the clock and DDS channels
++    pub config: PounderConfig,
  }
  
  impl Default for TelemetryBuffer {
-@@ -77,10 +94,17 @@ impl TelemetryBuffer {
+@@ -87,10 +107,17 @@ impl TelemetryBuffer {
      /// * `afe0` - The current AFE configuration for channel 0.
      /// * `afe1` - The current AFE configuration for channel 1.
      /// * `cpu_temp` - The current CPU temperature.
@@ -809,7 +787,7 @@ index c6e071f17..e35347037 100644
          let in0_volts = Into::<f32>::into(self.adcs[0]) / afe0.as_multiplier();
          let in1_volts = Into::<f32>::into(self.adcs[1]) / afe1.as_multiplier();
  
-@@ -89,6 +113,7 @@ impl TelemetryBuffer {
+@@ -99,6 +126,7 @@ impl TelemetryBuffer {
              adcs: [in0_volts, in1_volts],
              dacs: [self.dacs[0].into(), self.dacs[1].into()],
              digital_inputs: self.digital_inputs,