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Merge pull request #293 from quartiq/miniconf-cli

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miniconf cli
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Robert Jördens 2021-03-03 15:59:21 +01:00 committed by GitHub
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52
README.md
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@ -3,42 +3,44 @@
# Stabilizer Firmware
## Hardware
[![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)](https://github.com/sinara-hw/Stabilizer)
## Applications
The Stabilizer firmware offeres a library of hardware and software functionality
exposing input/output, timing, and digital signal processing features.
An application can compose and configure these hardware and software components
to implement different use cases. Several applications are provides by default
### Dual-IIR
![Flow diagram](stabilizer_pid.svg)
![Hardware](https://github.com/sinara-hw/Stabilizer/wiki/Stabilizer_v1.0_top_small.jpg)
## Features
* dual channel
* SPI ADC
* SPI DAC
* 500 kHz rate, timed sampling
* 2 µs latency, unmatched between channels
* up to 800 kHz rate, timed sampling
* down to 2 µs latency
* f32 IIR math
* generic biquad (second order) IIR filter
* anti-windup
* derivative kick avoidance
## Limitations/TODOs
### Lockin external
* Fixed AFE gains
* The IP and MAC address are [hardcoded](src/hardware/configuration.rs)
* Expose configurable limits
* 100Base-T only
* Digital IO, GPIO header, AFE header, EEM header are not handled
## Hardware
See https://github.com/sinara-hw/Stabilizer
### Lockin internal
## Minimal bootstrapping documentation
* Clone or download this
* Get [rustup](https://rustup.rs/)
* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
* `rustup target add thumbv7em-none-eabihf`
* `cargo build --release`
* Do not try the debug (default) mode. It is guaranteed to panic.
* When using debug (non `--release`) mode, increase the sample interval significantly.
The added error checking code and missing optimizations may lead to the code
missing deadlines and panicing.
### Using Cargo-embed
@ -55,30 +57,24 @@ See https://github.com/sinara-hw/Stabilizer
* `openocd -f stabilizer.cfg` and leave it running
* `cargo run --release`
[^swd]: Build a cable: connect a standard 8 conductor ribbon with the wires numbered
`1-8` to the pins on the St-Link v2 single row 2.54mm connector as `647513(82)`
(`(i)` marks an unused wire)
and to the [1.27mm dual row](https://www.digikey.de/short/p41h0n) on Stabilizer as `657483x2x1`
(`x` marks an unused pin, enumeration is standard for dual row, as in the
schematic).
It's just folding the ribbon between wires `5` and `6`. The signals on the ribbon
are then `NRST,TDI,TDO,TCK,TMS,3V3,GND,GND`.
### Using USB-DFU
* Install the DFU USB tool (`dfu-util`)
* Connect to the Micro USB connector below the RJ45
* Short JC2/BOOT
* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
* `dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin`
### Using ST-Link virtual mass storage
* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
* `cargo objcopy --release --bin dual-iir -- -O binary dual-iir.bin` or `arm-none-eabi-objcopy -O binary target/thumbv7em-none-eabihf/release/dual-iir dual-iir.bin`
* Connect the ST-Link debugger
* copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
## Protocol
Stabilizer can be configured via MQTT under the topic `stabilizer/settings/<setting>`. Refer to
Stabilizer can be configured via MQTT. Refer to
[`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.
A basic command line interface is available in [`miniconf.py`](miniconf.py).

117
miniconf.py Normal file
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@ -0,0 +1,117 @@
#!/usr/bin/python
"""
Author: Vertigo Designs, Ryan Summers
Robert Jördens
Description: Provides an API for controlling Miniconf devices over MQTT.
"""
import argparse
import asyncio
import json
import logging
from gmqtt import Client as MqttClient
logger = logging.getLogger(__name__)
class Miniconf:
"""An asynchronous API for controlling Miniconf devices using MQTT."""
@classmethod
async def create(cls, prefix, broker):
"""Create a connection to the broker and a Miniconf device using it."""
client = MqttClient(client_id='')
await client.connect(broker)
return cls(client, prefix)
def __init__(self, client, prefix):
"""Constructor.
Args:
client: A connected MQTT5 client.
prefix: The MQTT toptic prefix of the device to control.
"""
self.client = client
self.prefix = prefix
self.inflight = {}
self.client.on_message = self._handle_response
self.client.subscribe(f'{prefix}/response/#')
def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
"""Callback function for when messages are received over MQTT.
Args:
_client: The MQTT client.
topic: The topic that the message was received on.
payload: The payload of the message.
"""
if topic not in self.inflight:
# TODO use correlation_data to distinguish clients and requests
logger.warning('Unexpected response on topic: %s', topic)
return
self.inflight[topic].set_result(payload.decode('ascii'))
del self.inflight[topic]
async def command(self, path, value):
"""Write the provided data to the specified path.
Args:
path: The path to write the message to.
value: The value to write to the path.
Returns:
The received response to the command.
"""
setting_topic = f'{self.prefix}/settings/{path}'
response_topic = f'{self.prefix}/response/{path}'
if response_topic in self.inflight:
# TODO use correlation_data to distinguish clients and requests
raise NotImplementedError(
'Only one in-flight message per topic is supported')
value = json.dumps(value)
logger.info('Sending %s to "%s"', value, setting_topic)
fut = asyncio.get_running_loop().create_future()
self.inflight[response_topic] = fut
self.client.publish(setting_topic, payload=value, qos=0, retain=True,
response_topic=response_topic)
return await fut
def main():
parser = argparse.ArgumentParser(
description='Miniconf command line interface.',
epilog='''Example:
%(prog)s -v -b mqtt dt/sinara/stabilizer afe/0 '"G10"'
''')
parser.add_argument('-v', '--verbose', action='count', default=0,
help='Increase logging verbosity')
parser.add_argument('--broker', '-b', default='mqtt', type=str,
help='The MQTT broker address')
parser.add_argument('prefix', type=str,
help='The MQTT topic prefix of the target')
parser.add_argument('path', type=str,
help='The setting path to configure')
parser.add_argument('value', type=str,
help='The value of setting in JSON format')
args = parser.parse_args()
logging.basicConfig(
format='%(asctime)s [%(levelname)s] %(name)s: %(message)s',
level=logging.WARN - 10*args.verbose)
loop = asyncio.get_event_loop()
async def configure_settings():
interface = await Miniconf.create(args.prefix, args.broker)
response = await interface.command(args.path, json.loads(args.value))
print(f"Response: {response}")
loop.run_until_complete(configure_settings())
if __name__ == '__main__':
main()

22
src/bin/dual-iir.rs
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@ -6,10 +6,7 @@ use stm32h7xx_hal as hal;
use stabilizer::hardware;
use miniconf::{
embedded_nal::{IpAddr, Ipv4Addr},
minimq, Miniconf, MqttInterface,
};
use miniconf::{minimq, Miniconf, MqttInterface};
use serde::Deserialize;
use dsp::iir;
@ -62,13 +59,20 @@ const APP: () = {
let mqtt_interface = {
let mqtt_client = {
let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 1));
minimq::MqttClient::new(broker, "", stabilizer.net.stack)
.unwrap()
minimq::MqttClient::new(
hardware::design_parameters::MQTT_BROKER.into(),
"",
stabilizer.net.stack,
)
.unwrap()
};
MqttInterface::new(mqtt_client, "stabilizer", Settings::default())
.unwrap()
MqttInterface::new(
mqtt_client,
"dt/sinara/stabilizer",
Settings::default(),
)
.unwrap()
};
// Enable ADC/DAC events

24
src/bin/lockin-external.rs
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@ -4,10 +4,7 @@
use generic_array::typenum::U4;
use miniconf::{
embedded_nal::{IpAddr, Ipv4Addr},
minimq, Miniconf, MqttInterface,
};
use miniconf::{minimq, Miniconf, MqttInterface};
use serde::Deserialize;
use dsp::{Accu, Complex, ComplexExt, Lockin, RPLL};
@ -77,14 +74,19 @@ const APP: () = {
let (mut stabilizer, _pounder) = setup(c.core, c.device);
let mqtt_interface = {
let mqtt_client = {
let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 10));
minimq::MqttClient::new(broker, "", stabilizer.net.stack)
.unwrap()
};
let mqtt_client = minimq::MqttClient::new(
design_parameters::MQTT_BROKER.into(),
"",
stabilizer.net.stack,
)
.unwrap();
MqttInterface::new(mqtt_client, "lockin", Settings::default())
.unwrap()
MqttInterface::new(
mqtt_client,
"dt/sinara/lockin",
Settings::default(),
)
.unwrap()
};
let settings = Settings::default();

3
src/hardware/design_parameters.rs
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@ -49,3 +49,6 @@ pub const ADC_SAMPLE_TICKS: u16 = 1 << ADC_SAMPLE_TICKS_LOG2;
// The desired ADC sample processing buffer size.
pub const SAMPLE_BUFFER_SIZE_LOG2: u8 = 3;
pub const SAMPLE_BUFFER_SIZE: usize = 1 << SAMPLE_BUFFER_SIZE_LOG2;
// The MQTT broker IPv4 address
pub const MQTT_BROKER: [u8; 4] = [10, 34, 16, 10];

138
stabilizer.py
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@ -1,138 +0,0 @@
#!/usr/bin/python
"""
Author: Vertigo Designs, Ryan Summers
Description: Provides an API for controlling Stabilizer over Miniconf (MQTT).
"""
import argparse
import asyncio
import json
import logging
from gmqtt import Client as MqttClient
class MiniconfApi:
""" An asynchronous API for controlling Miniconf devices using the MQTT control interface. """
@classmethod
async def create(cls, identifier, broker):
""" Create a connection to MQTT for communication with the device. """
client = MqttClient(client_id='')
await client.connect(broker)
return cls(client, identifier)
def __init__(self, client, identifier):
""" Consructor.
Args:
client: A connected MQTT5 client.
identifier: The ID of the device to control.
"""
self.client = client
self.identifier = identifier
self.client.on_message = self._handle_response
self.inflight_settings = dict()
self.logger = logging.getLogger('stabilizer.miniconf')
self.client.subscribe(f'{identifier}/feedback/#')
def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
""" Callback function for when messages are received over MQTT.
Args:
_client: The MQTT client.
topic: The topic that the message was received on.
payload: The payload of the message.
"""
if topic not in self.inflight_settings:
self.logger.warning('Unknown response topic: %s', topic)
return
# Indicate a response was received for the provided topic.
self.inflight_settings[topic].set_result(payload.decode('ascii'))
async def command(self, path, value):
""" Write the provided data to the specified path.
Args:
setting: The path to write the message to.
value: The value to write to the path.
Returns:
The received response to the command.
"""
setting_topic = f'{self.identifier}/{path}'
response_topic = f'{self.identifier}/feedback/{path}'
assert response_topic not in self.inflight_settings, \
'Only one in-flight message per topic is supported'
self.logger.debug('Sending %s to "%s"', value, setting_topic)
self.inflight_settings[response_topic] = asyncio.get_running_loop().create_future()
self.client.publish(setting_topic, payload=value, qos=0, retain=False,
response_topic=response_topic)
response = await self.inflight_settings[response_topic]
del self.inflight_settings[response_topic]
return response
async def configure_settings(args):
""" Configure an RF channel. """
logger = logging.getLogger('stabilizer')
# Establish a communication interface with stabilizer.
interface = await MiniconfApi.create(args.stabilizer, args.broker)
request = None
# In the exceptional case that this is a terminal value, there is no key available and only a
# single value.
if len(args.values) == 1 and '=' not in args.values[0]:
if args.values[0][0].isalpha():
request = args.values[0]
else:
request = json.loads(args.values[0])
else:
# Convert all of the values into a key-value list.
request = dict()
for pair in args.values:
key, value = pair.split('=')
request[str(key)] = json.loads(value)
logger.debug('Parsed request: %s', request)
response = await interface.command(f'settings/{args.setting}', json.dumps(request))
logger.info(response)
def main():
""" Main program entry point. """
parser = argparse.ArgumentParser(description='Stabilizer settings modification utility')
parser.add_argument('--stabilizer', type=str, default='stabilizer',
help='The identifier of the stabilizer to configure')
parser.add_argument('--setting', required=True, type=str, help='The setting path to configure')
parser.add_argument('--broker', default='10.34.16.1', type=str, help='The MQTT broker address')
parser.add_argument('values', nargs='+', type=str,
help='The value of settings. key=value list or a single value is accepted.')
parser.add_argument('-v', '--verbose', action='store_true', help='Enable verbose logging')
args = parser.parse_args()
logger = logging.getLogger('stabilizer')
logger.setLevel(logging.INFO)
if args.verbose:
logger.setLevel(logging.DEBUG)
logging.basicConfig(format='%(asctime)s [%(levelname)s] %(message)s')
loop = asyncio.get_event_loop()
loop.run_until_complete(configure_settings(args))
if __name__ == '__main__':
main()