Merge branch 'master' into feature/tcp-randomizer

.github/labeler.yml

@@ -0,0 +1,4 @@
+# add changes-hitl label if any hitl scripts are changed
+# REVIEW those changes before approving HITL deployment!
+changes-hitl:
+  - any: [hitl/*]

.github/workflows/hitl_trigger.yml

@@ -1,4 +1,4 @@
-name: HITL
+name: HITL Trigger
 
 on:
   workflow_dispatch:
@@ -6,7 +6,7 @@ on:
     branches: [ master ]
 
 jobs:
-  hitl:
+  hitl-trigger:
     runs-on: ubuntu-latest
     environment: hitl
     steps:
@@ -16,3 +16,12 @@ jobs:
           event-type: stabilizer
           repository: quartiq/hitl
           client-payload: '{"github": ${{ toJson(github) }}}'
+
+      - name: Wait for startup
+        run: sleep 30
+
+      - uses: fountainhead/action-wait-for-check@v1.0.0
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}
+          checkName: HITL Run Status
+          ref: ${{ github.event.pull_request.head.sha }}

.github/workflows/labeler.yml

@@ -0,0 +1,12 @@
+name: "Pull Request Labeler"
+on:
+  pull_request_target:
+    branches: [master]
+
+jobs:
+  labeler:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/labeler@v3
+        with:
+          repo-token: "${{ secrets.GITHUB_TOKEN }}"

README.md

@@ -1,6 +1,6 @@
 [![QUARTIQ Matrix Chat](https://img.shields.io/matrix/quartiq:matrix.org)](https://matrix.to/#/#quartiq:matrix.org)
 [![Continuous Integration](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml/badge.svg)](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml)
-[![HITL (private)](https://github.com/quartiq/hitl/workflows/Stabilizer/badge.svg)](https://github.com/quartiq/hitl/actions?query=workflow%3AStabilizer)
+[![Stabilizer HITL [Nightly]](https://github.com/quartiq/hitl/actions/workflows/stabilizer-nightly.yml/badge.svg)](https://github.com/quartiq/hitl/actions/workflows/stabilizer-nightly.yml)
 
 # Stabilizer Firmware
 

ad9959/src/lib.rs

@@ -558,13 +558,15 @@ impl ProfileSerializer {
     /// * `channels` - A list of channels to apply the configuration to.
     /// * `ftw` - If provided, indicates a frequency tuning word for the channels.
     /// * `pow` - If provided, indicates a phase offset word for the channels.
-    /// * `acr` - If provided, indicates the amplitude control register for the channels.
+    /// * `acr` - If provided, indicates the amplitude control register for the channels. The ACR
+    ///   should be stored in the 3 LSB of the word. Note that if amplitude scaling is to be used,
+    ///   the "Amplitude multiplier enable" bit must be set.
     pub fn update_channels(
         &mut self,
         channels: &[Channel],
         ftw: Option<u32>,
         pow: Option<u16>,
-        acr: Option<u16>,
+        acr: Option<u32>,
     ) {
         let mut csr: u8 = *0u8.set_bits(1..3, self.mode as u8);
         for channel in channels.iter() {
@@ -582,7 +584,7 @@ impl ProfileSerializer {
         }
 
         if let Some(acr) = acr {
-            self.add_write(Register::ACR, &acr.to_be_bytes());
+            self.add_write(Register::ACR, &acr.to_be_bytes()[1..=3]);
         }
     }
 
@@ -606,14 +608,14 @@ impl ProfileSerializer {
         // Pad the buffer to 32-bit alignment by adding dummy writes to CSR and LSRR.
         let padding = 4 - (self.index % 4);
         match padding {
-            0 => {}
             1 => {
                 // For a pad size of 1, we have to pad with 5 bytes to align things.
                 self.add_write(Register::CSR, &[(self.mode as u8) << 1]);
-                self.add_write(Register::LSRR, &[0, 0, 0]);
+                self.add_write(Register::LSRR, &[0, 0]);
             }
             2 => self.add_write(Register::CSR, &[(self.mode as u8) << 1]),
-            3 => self.add_write(Register::LSRR, &[0, 0, 0]),
+            3 => self.add_write(Register::LSRR, &[0, 0]),
+            4 => {}
 
             _ => unreachable!(),
         }

hitl/run.sh

@@ -15,6 +15,8 @@ python3 -m venv --system-site-packages py
 . py/bin/activate
 python3 -m pip install -r requirements.txt
 
+cargo flash --elf target/thumbv7em-none-eabihf/release/dual-iir --chip STM32H743ZITx
+
 # Test pinging Stabilizer. This exercises that:
 # * DHCP is functional and an IP has been acquired
 # * Stabilizer's network is functioning as intended
@@ -22,4 +24,6 @@ python3 -m pip install -r requirements.txt
 ping -c 5 -w 20 stabilizer-hitl
 
 # Test the MQTT interface.
-python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'
+python3 miniconf.py dt/sinara/stabilizer afe/0='"G2"'
+python3 miniconf.py dt/sinara/stabilizer afe/0='"G1"' iir_ch/0/0=\
+'{"y_min": -32767, "y_max": 32767, "y_offset": 0, "ba": [1.0, 0, 0, 0, 0]}'

miniconf.py

@@ -83,19 +83,19 @@ class Miniconf:
 def main():
     parser = argparse.ArgumentParser(
             description='Miniconf command line interface.',
-            epilog='''Example:
+            formatter_class=argparse.RawDescriptionHelpFormatter,
-            %(prog)s -v -b mqtt dt/sinara/stabilizer afe/0 '"G10"'
+            epilog='''Examples:
-            ''')
+%(prog)s dt/sinara/stabilizer afe/0='"G2"' iir_ch/0/0=\
+'{"y_min": -32767, "y_max": 32767, "y_offset": 0, "ba": [1.0, 0, 0, 0, 0]}'
+''')
     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,
+    parser.add_argument('settings', metavar="KEY=VALUE", nargs='+',
-                        help='The setting path to configure')
+                        help='JSON encoded values for settings path keys.')
-    parser.add_argument('value', type=str,
-                        help='The value of setting in JSON format')
 
     args = parser.parse_args()
 
@@ -107,8 +107,10 @@ def main():
 
     async def configure_settings():
         interface = await Miniconf.create(args.prefix, args.broker)
-        response = await interface.command(args.path, json.loads(args.value))
+        for kv in args.settings:
-        print(f"Response: {response}")
+            path, value = kv.split("=", 1)
+            response = await interface.command(path, json.loads(value))
+            print(response)
 
     loop.run_until_complete(configure_settings())
 

src/hardware/configuration.rs

@@ -495,13 +495,10 @@ pub fn setup(
             .set_speed(hal::gpio::Speed::VeryHigh);
     }
 
-    let mac_addr = match eeprom::read_eui48(&mut eeprom_i2c) {
+    let mac_addr = smoltcp::wire::EthernetAddress(eeprom::read_eui48(
-        Err(_) => {
+        &mut eeprom_i2c,
-            info!("Could not read EEPROM, using default MAC address");
+        &mut delay,
-            smoltcp::wire::EthernetAddress([0x10, 0xE2, 0xD5, 0x00, 0x03, 0x00])
+    ));
-        }
-        Ok(raw_mac) => smoltcp::wire::EthernetAddress(raw_mac),
-    };
 
     let network_devices = {
         // Configure the ethernet controller

src/hardware/eeprom.rs

@@ -1,12 +1,42 @@
-use embedded_hal::blocking::i2c::WriteRead;
+use embedded_hal::blocking::{delay::DelayMs, i2c::WriteRead};
 
+// The EEPROM is a variant without address bits, so the 3 LSB of this word are "dont-cares".
 const I2C_ADDR: u8 = 0x50;
 
-pub fn read_eui48<T>(i2c: &mut T) -> Result<[u8; 6], T::Error>
+// The MAC address is stored in the last 6 bytes of the 256 byte address space.
+const MAC_POINTER: u8 = 0xFA;
+
+pub fn read_eui48<T>(i2c: &mut T, delay: &mut impl DelayMs<u8>) -> [u8; 6]
 where
     T: WriteRead,
 {
+    let mut previous_read: Option<[u8; 6]> = None;
+    // On Stabilizer v1.1 and earlier hardware, there is a fault where the I2C bus is not connected
+    // to the CPU until the P12V0A rail enables, which can take many seconds, or may never come up
+    // at all. During these transient turn-on conditions, we may fail the I2C read operation. To
+    // accomodate this, we repeat the I2C read for a set number of attempts with a fixed delay
+    // between them. Then, we wait for the bus to stabilize by waiting until the MAC address
+    // read-out is identical for two consecutive reads.
+    for _ in 0..40 {
         let mut buffer = [0u8; 6];
-    i2c.write_read(I2C_ADDR, &[0xFA_u8], &mut buffer)?;
+        if i2c
-    Ok(buffer)
+            .write_read(I2C_ADDR, &[MAC_POINTER], &mut buffer)
+            .is_ok()
+        {
+            if let Some(old_read) = previous_read {
+                if old_read == buffer {
+                    return buffer;
+                }
+            }
+
+            previous_read.replace(buffer);
+        } else {
+            // Remove any pending previous read if we failed the last attempt.
+            previous_read.take();
+        }
+
+        delay.delay_ms(100);
+    }
+
+    panic!("Failed to read MAC address");
 }

src/hardware/pounder/dds_output.rs

@@ -144,14 +144,15 @@ impl<'a> ProfileBuilder<'a> {
     /// * `channels` - A list of channels to apply the configuration to.
     /// * `ftw` - If provided, indicates a frequency tuning word for the channels.
     /// * `pow` - If provided, indicates a phase offset word for the channels.
-    /// * `acr` - If provided, indicates the amplitude control register for the channels.
+    /// * `acr` - If provided, indicates the amplitude control register for the channels. The
+    ///   24-bits of the ACR should be stored in the last 3 LSB.
     #[allow(dead_code)]
     pub fn update_channels(
         mut self,
         channels: &[Channel],
         ftw: Option<u32>,
         pow: Option<u16>,
-        acr: Option<u16>,
+        acr: Option<u32>,
     ) -> Self {
         self.serializer.update_channels(channels, ftw, pow, acr);
         self