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README.md
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README.md
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@ -3,42 +3,44 @@
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# Stabilizer Firmware
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## Hardware
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[](https://github.com/sinara-hw/Stabilizer)
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## Applications
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The Stabilizer firmware offeres a library of hardware and software functionality
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exposing input/output, timing, and digital signal processing features.
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An application can compose and configure these hardware and software components
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to implement different use cases. Several applications are provides by default
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### Dual-IIR
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## Features
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* dual channel
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* SPI ADC
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* SPI DAC
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* 500 kHz rate, timed sampling
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* 2 µs latency, unmatched between channels
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* up to 800 kHz rate, timed sampling
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* down to 2 µs latency
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* f32 IIR math
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* generic biquad (second order) IIR filter
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* anti-windup
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* derivative kick avoidance
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## Limitations/TODOs
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### Lockin external
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* Fixed AFE gains
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* The IP and MAC address are [hardcoded](src/hardware/configuration.rs)
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* Expose configurable limits
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* 100Base-T only
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* Digital IO, GPIO header, AFE header, EEM header are not handled
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## Hardware
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See https://github.com/sinara-hw/Stabilizer
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### Lockin internal
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## Minimal bootstrapping documentation
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* Clone or download this
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* Get [rustup](https://rustup.rs/)
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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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* `rustup target add thumbv7em-none-eabihf`
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* `cargo build --release`
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* Do not try the debug (default) mode. It is guaranteed to panic.
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* When using debug (non `--release`) mode, increase the sample interval significantly.
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The added error checking code and missing optimizations may lead to the code
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missing deadlines and panicing.
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### Using Cargo-embed
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@ -55,30 +57,24 @@ See https://github.com/sinara-hw/Stabilizer
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* `openocd -f stabilizer.cfg` and leave it running
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* `cargo run --release`
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[^swd]: Build a cable: connect a standard 8 conductor ribbon with the wires numbered
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`1-8` to the pins on the St-Link v2 single row 2.54mm connector as `647513(82)`
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(`(i)` marks an unused wire)
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and to the [1.27mm dual row](https://www.digikey.de/short/p41h0n) on Stabilizer as `657483x2x1`
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(`x` marks an unused pin, enumeration is standard for dual row, as in the
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schematic).
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It's just folding the ribbon between wires `5` and `6`. The signals on the ribbon
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are then `NRST,TDI,TDO,TCK,TMS,3V3,GND,GND`.
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### Using USB-DFU
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* Install the DFU USB tool (`dfu-util`)
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* Connect to the Micro USB connector below the RJ45
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* Short JC2/BOOT
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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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* `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`
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* `dfu-util -a 0 -s 0x08000000:leave -D dual-iir.bin`
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### Using ST-Link virtual mass storage
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* Get [cargo-binutils](https://github.com/rust-embedded/cargo-binutils/)
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* `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`
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* Connect the ST-Link debugger
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* copy `dual-iir.bin` to the `NODE_H743ZI` USB disk
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## Protocol
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Stabilizer can be configured via MQTT under the topic `stabilizer/settings/<setting>`. Refer to
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Stabilizer can be configured via MQTT. Refer to
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[`miniconf`](https://github.com/quartiq/miniconf) for more information about topics.
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A basic command line interface is available in [`miniconf.py`](miniconf.py).
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@ -0,0 +1,117 @@
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#!/usr/bin/python
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"""
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Author: Vertigo Designs, Ryan Summers
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Robert Jördens
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Description: Provides an API for controlling Miniconf devices over MQTT.
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"""
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import argparse
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import asyncio
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import json
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import logging
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from gmqtt import Client as MqttClient
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logger = logging.getLogger(__name__)
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class Miniconf:
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"""An asynchronous API for controlling Miniconf devices using MQTT."""
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@classmethod
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async def create(cls, prefix, broker):
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"""Create a connection to the broker and a Miniconf device using it."""
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client = MqttClient(client_id='')
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await client.connect(broker)
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return cls(client, prefix)
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def __init__(self, client, prefix):
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"""Constructor.
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Args:
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client: A connected MQTT5 client.
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prefix: The MQTT toptic prefix of the device to control.
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"""
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self.client = client
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self.prefix = prefix
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self.inflight = {}
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self.client.on_message = self._handle_response
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self.client.subscribe(f'{prefix}/response/#')
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def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
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"""Callback function for when messages are received over MQTT.
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Args:
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_client: The MQTT client.
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topic: The topic that the message was received on.
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payload: The payload of the message.
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"""
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if topic not in self.inflight:
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# TODO use correlation_data to distinguish clients and requests
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logger.warning('Unexpected response on topic: %s', topic)
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return
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self.inflight[topic].set_result(payload.decode('ascii'))
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del self.inflight[topic]
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async def command(self, path, value):
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"""Write the provided data to the specified path.
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Args:
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path: The path to write the message to.
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value: The value to write to the path.
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Returns:
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The received response to the command.
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"""
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setting_topic = f'{self.prefix}/settings/{path}'
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response_topic = f'{self.prefix}/response/{path}'
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if response_topic in self.inflight:
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# TODO use correlation_data to distinguish clients and requests
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raise NotImplementedError(
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'Only one in-flight message per topic is supported')
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value = json.dumps(value)
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logger.info('Sending %s to "%s"', value, setting_topic)
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fut = asyncio.get_running_loop().create_future()
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self.inflight[response_topic] = fut
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self.client.publish(setting_topic, payload=value, qos=0, retain=True,
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response_topic=response_topic)
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return await fut
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def main():
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parser = argparse.ArgumentParser(
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description='Miniconf command line interface.',
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epilog='''Example:
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%(prog)s -v -b mqtt dt/sinara/stabilizer afe/0 '"G10"'
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''')
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parser.add_argument('-v', '--verbose', action='count', default=0,
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help='Increase logging verbosity')
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parser.add_argument('--broker', '-b', default='mqtt', type=str,
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help='The MQTT broker address')
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parser.add_argument('prefix', type=str,
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help='The MQTT topic prefix of the target')
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parser.add_argument('path', type=str,
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help='The setting path to configure')
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parser.add_argument('value', type=str,
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help='The value of setting in JSON format')
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args = parser.parse_args()
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logging.basicConfig(
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format='%(asctime)s [%(levelname)s] %(name)s: %(message)s',
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level=logging.WARN - 10*args.verbose)
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loop = asyncio.get_event_loop()
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async def configure_settings():
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interface = await Miniconf.create(args.prefix, args.broker)
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response = await interface.command(args.path, json.loads(args.value))
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print(f"Response: {response}")
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loop.run_until_complete(configure_settings())
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if __name__ == '__main__':
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main()
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use stabilizer::hardware;
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use miniconf::{
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embedded_nal::{IpAddr, Ipv4Addr},
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minimq, Miniconf, MqttInterface,
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};
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use miniconf::{minimq, Miniconf, MqttInterface};
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use serde::Deserialize;
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use dsp::iir;
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@ -62,12 +59,19 @@ const APP: () = {
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let mqtt_interface = {
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let mqtt_client = {
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let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 1));
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minimq::MqttClient::new(broker, "", stabilizer.net.stack)
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minimq::MqttClient::new(
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hardware::design_parameters::MQTT_BROKER.into(),
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"",
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stabilizer.net.stack,
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)
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.unwrap()
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};
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MqttInterface::new(mqtt_client, "stabilizer", Settings::default())
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MqttInterface::new(
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mqtt_client,
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"dt/sinara/stabilizer",
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Settings::default(),
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)
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.unwrap()
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};
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use generic_array::typenum::U4;
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use miniconf::{
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embedded_nal::{IpAddr, Ipv4Addr},
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minimq, Miniconf, MqttInterface,
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};
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use miniconf::{minimq, Miniconf, MqttInterface};
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use serde::Deserialize;
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use dsp::{Accu, Complex, ComplexExt, Lockin, RPLL};
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let (mut stabilizer, _pounder) = setup(c.core, c.device);
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let mqtt_interface = {
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let mqtt_client = {
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let broker = IpAddr::V4(Ipv4Addr::new(10, 34, 16, 10));
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minimq::MqttClient::new(broker, "", stabilizer.net.stack)
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.unwrap()
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};
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let mqtt_client = minimq::MqttClient::new(
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design_parameters::MQTT_BROKER.into(),
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"",
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stabilizer.net.stack,
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)
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.unwrap();
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MqttInterface::new(mqtt_client, "lockin", Settings::default())
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MqttInterface::new(
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mqtt_client,
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"dt/sinara/lockin",
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Settings::default(),
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)
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.unwrap()
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};
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// The desired ADC sample processing buffer size.
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pub const SAMPLE_BUFFER_SIZE_LOG2: u8 = 3;
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pub const SAMPLE_BUFFER_SIZE: usize = 1 << SAMPLE_BUFFER_SIZE_LOG2;
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// The MQTT broker IPv4 address
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pub const MQTT_BROKER: [u8; 4] = [10, 34, 16, 10];
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138
stabilizer.py
138
stabilizer.py
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@ -1,138 +0,0 @@
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#!/usr/bin/python
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"""
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Author: Vertigo Designs, Ryan Summers
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Description: Provides an API for controlling Stabilizer over Miniconf (MQTT).
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"""
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import argparse
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import asyncio
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import json
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import logging
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from gmqtt import Client as MqttClient
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class MiniconfApi:
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""" An asynchronous API for controlling Miniconf devices using the MQTT control interface. """
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@classmethod
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async def create(cls, identifier, broker):
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""" Create a connection to MQTT for communication with the device. """
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client = MqttClient(client_id='')
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await client.connect(broker)
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return cls(client, identifier)
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def __init__(self, client, identifier):
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""" Consructor.
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Args:
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client: A connected MQTT5 client.
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identifier: The ID of the device to control.
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"""
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self.client = client
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self.identifier = identifier
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self.client.on_message = self._handle_response
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self.inflight_settings = dict()
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self.logger = logging.getLogger('stabilizer.miniconf')
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self.client.subscribe(f'{identifier}/feedback/#')
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def _handle_response(self, _client, topic, payload, *_args, **_kwargs):
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""" Callback function for when messages are received over MQTT.
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Args:
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_client: The MQTT client.
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topic: The topic that the message was received on.
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payload: The payload of the message.
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"""
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if topic not in self.inflight_settings:
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self.logger.warning('Unknown response topic: %s', topic)
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return
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# Indicate a response was received for the provided topic.
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self.inflight_settings[topic].set_result(payload.decode('ascii'))
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async def command(self, path, value):
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""" Write the provided data to the specified path.
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Args:
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setting: The path to write the message to.
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value: The value to write to the path.
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Returns:
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The received response to the command.
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"""
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setting_topic = f'{self.identifier}/{path}'
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response_topic = f'{self.identifier}/feedback/{path}'
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assert response_topic not in self.inflight_settings, \
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'Only one in-flight message per topic is supported'
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self.logger.debug('Sending %s to "%s"', value, setting_topic)
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self.inflight_settings[response_topic] = asyncio.get_running_loop().create_future()
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self.client.publish(setting_topic, payload=value, qos=0, retain=False,
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response_topic=response_topic)
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response = await self.inflight_settings[response_topic]
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del self.inflight_settings[response_topic]
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return response
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async def configure_settings(args):
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""" Configure an RF channel. """
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logger = logging.getLogger('stabilizer')
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# Establish a communication interface with stabilizer.
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interface = await MiniconfApi.create(args.stabilizer, args.broker)
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request = None
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# In the exceptional case that this is a terminal value, there is no key available and only a
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# single value.
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if len(args.values) == 1 and '=' not in args.values[0]:
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if args.values[0][0].isalpha():
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request = args.values[0]
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else:
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request = json.loads(args.values[0])
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else:
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# Convert all of the values into a key-value list.
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request = dict()
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for pair in args.values:
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key, value = pair.split('=')
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request[str(key)] = json.loads(value)
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logger.debug('Parsed request: %s', request)
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response = await interface.command(f'settings/{args.setting}', json.dumps(request))
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logger.info(response)
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def main():
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""" Main program entry point. """
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parser = argparse.ArgumentParser(description='Stabilizer settings modification utility')
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parser.add_argument('--stabilizer', type=str, default='stabilizer',
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help='The identifier of the stabilizer to configure')
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parser.add_argument('--setting', required=True, type=str, help='The setting path to configure')
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parser.add_argument('--broker', default='10.34.16.1', type=str, help='The MQTT broker address')
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parser.add_argument('values', nargs='+', type=str,
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help='The value of settings. key=value list or a single value is accepted.')
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parser.add_argument('-v', '--verbose', action='store_true', help='Enable verbose logging')
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args = parser.parse_args()
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logger = logging.getLogger('stabilizer')
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logger.setLevel(logging.INFO)
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if args.verbose:
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logger.setLevel(logging.DEBUG)
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logging.basicConfig(format='%(asctime)s [%(levelname)s] %(message)s')
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loop = asyncio.get_event_loop()
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loop.run_until_complete(configure_settings(args))
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|
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if __name__ == '__main__':
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main()
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Reference in New Issue