From 7aa24aea2feb1a4f94debffac51bf9d0d263fa9d Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 14:07:36 +0200 Subject: [PATCH 01/27] playbook - acquire image - fix file-ending --- deploy/dev_acquire_image.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/deploy/dev_acquire_image.yml b/deploy/dev_acquire_image.yml index c84b4b98..73f3616f 100644 --- a/deploy/dev_acquire_image.yml +++ b/deploy/dev_acquire_image.yml @@ -8,7 +8,7 @@ vars: cmd_ssh: "ssh {{ ansible_user }}@{{ inventory_hostname }}" - image_name: "shepherd--console-armhf-{{ ansible_date_time.date }}-4g.img.gz" + image_name: "shepherd--console-armhf-{{ ansible_date_time.date }}-4g.img.xz" tasks: From 7fbc11b8d09e5008b3e5c6d79587372a4aa69fec Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 14:23:39 +0200 Subject: [PATCH 02/27] update and doc for deps --- .pre-commit-config.yaml | 2 +- Pipfile.lock | 728 +++++++++--------- .../firmware/pru0-module-py/pyproject.toml | 2 +- software/python-package/pyproject.toml | 12 +- software/shepherd-calibration/pyproject.toml | 2 +- software/shepherd-herd/pyproject.toml | 2 +- software/time_sync_analyzer/pyproject.toml | 4 +- 7 files changed, 383 insertions(+), 369 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 997afe4e..3b84bbb9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -62,7 +62,7 @@ repos: - id: text-unicode-replacement-char - repo: https://github.com/astral-sh/ruff-pre-commit - rev: 'v0.6.0' + rev: 'v0.6.4' hooks: - id: ruff-format - id: ruff diff --git a/Pipfile.lock b/Pipfile.lock index 1f8c24e6..7f457a54 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -979,54 +979,61 @@ }, "numpy": { "hashes": [ - "sha256:08458fbf403bff5e2b45f08eda195d4b0c9b35682311da5a5a0a0925b11b9bd8", - "sha256:0fbb536eac80e27a2793ffd787895242b7f18ef792563d742c2d673bfcb75134", - "sha256:12f5d865d60fb9734e60a60f1d5afa6d962d8d4467c120a1c0cda6eb2964437d", - 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"version": "==0.4.0" }, "tqdm": { "hashes": [ @@ -4236,22 +4250,22 @@ "all" ], "hashes": [ - "sha256:070d7ca53f785acbccba8e7d28b08dcd88f79f1fbda035ade0aecec71ca5c914", - "sha256:49e73131481d804288ef62598d97a1ceef3058905aa536a1134f90891ba35482" + "sha256:819aa03699f438397e876aa12b0d63766864ecba1b579092cc9fe35d886e34b6", + "sha256:c9c1613ed6a166162705b3347b8d10b661ccc5d95692654d0fb628118f2c34e6" ], "markers": "python_version >= '3.7'", - "version": "==0.12.3" + "version": "==0.12.4" }, "typer-slim": { "extras": [ "standard" ], "hashes": [ - "sha256:142c73d91ac1df79a49cec5a1c2210c00b1b4040a91014b539792af5ba81c65c", - "sha256:633965eb413074aa6c47549d1820832f229709e9a59857a4f57ee82b655602af" + "sha256:4629238b526feb8ea71ad663d058ae8370b1520bb40f48b2f8e0c67a551b399f", + "sha256:790a9cd6589494ce063a178473ccdad878fa36bc03f428710f5864670e988144" ], "markers": "python_version >= '3.7'", - "version": "==0.12.3" + "version": "==0.12.4" }, "types-pytz": { "hashes": [ diff --git a/software/firmware/pru0-module-py/pyproject.toml b/software/firmware/pru0-module-py/pyproject.toml index a08dea59..79c21bac 100644 --- a/software/firmware/pru0-module-py/pyproject.toml +++ b/software/firmware/pru0-module-py/pyproject.toml @@ -29,7 +29,7 @@ classifiers = [ ] requires-python = ">= 3.10" dependencies = [ - "shepherd-core[elf,inventory]>=2024.8.2", + "shepherd-core[elf,inventory]>=2024.9.1", # limit due to newest features "tqdm", ] diff --git a/software/python-package/pyproject.toml b/software/python-package/pyproject.toml index dac19fd0..dc7d4e8c 100644 --- a/software/python-package/pyproject.toml +++ b/software/python-package/pyproject.toml @@ -29,8 +29,8 @@ classifiers = [ requires-python = ">= 3.10" dependencies = [ - "shepherd-core[elf,inventory]>=2024.8.2", - "click>=8.1.3", + "shepherd-core[elf,inventory]>=2024.9.1", # limit due to newest features + "click", "numpy", "python-periphery<2.0.0", # v2 has no persistence anymore "zerorpc", @@ -38,12 +38,12 @@ dependencies = [ "h5py", "psutil", "pyserial", - "pyYAML>=6.0.0", + "pyYAML>=6.0.0", # not compatible with prior versions "msgpack", "msgpack-numpy", "gevent", "chromalog", - "pydantic>2.0.0", + "pydantic>2.0.0", # not compatible with prior versions ] [project.optional-dependencies] @@ -55,8 +55,8 @@ dev = [ "ruff", ] test = [ - "pytest>7.4.0", - "pyfakefs>5.0.0", + "pytest>7.4.0", # not compatible with prior versions + "pyfakefs>5.0.0", # not compatible with prior versions "pytest-timeout", "pytest-click", "coverage", diff --git a/software/shepherd-calibration/pyproject.toml b/software/shepherd-calibration/pyproject.toml index 7ffec90c..6de0ce1f 100644 --- a/software/shepherd-calibration/pyproject.toml +++ b/software/shepherd-calibration/pyproject.toml @@ -33,7 +33,7 @@ dependencies = [ "msgpack", "msgpack_numpy", "numpy", - "pandas>=2.0.0", + "pandas>=2.0.0", # not compatible with prior versions "pyYAML", "scipy", "zerorpc", diff --git a/software/shepherd-herd/pyproject.toml b/software/shepherd-herd/pyproject.toml index 0810da20..a02f7789 100644 --- a/software/shepherd-herd/pyproject.toml +++ b/software/shepherd-herd/pyproject.toml @@ -30,7 +30,7 @@ classifiers = [ ] requires-python = ">= 3.10" dependencies = [ - "shepherd-core[elf,inventory]>=2024.8.2", + "shepherd-core[elf,inventory]>=2024.9.1", # limit due to newest features "click", "numpy", "fabric", diff --git a/software/time_sync_analyzer/pyproject.toml b/software/time_sync_analyzer/pyproject.toml index b9b8cb11..1d170440 100644 --- a/software/time_sync_analyzer/pyproject.toml +++ b/software/time_sync_analyzer/pyproject.toml @@ -28,7 +28,7 @@ classifiers = [ requires-python = ">= 3.10" dependencies = [ - "click>=8.1.3", + "click", "numpy", "pandas", "chromalog", @@ -43,7 +43,7 @@ dev = [ "ruff", ] test = [ - "pytest>7.4.0", + "pytest>7.4.0", # not compatible with prior versions "pytest-timeout", "pytest-click", "coverage", From 955ccc06cb82d81f1641cf1a75ce0fb3dbc056e5 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 14:34:15 +0200 Subject: [PATCH 03/27] hw - cape - errata-list --- hardware/cape_v2.5a/Readme.md | 6 ++++++ .../SM141K04LV_shadow.plot_1s000_to_1s100.png | Bin 0 -> 120906 bytes 2 files changed, 6 insertions(+) create mode 100644 hardware/cape_v2.5a/Readme.md create mode 100644 hardware/cape_v2.5a/SM141K04LV_shadow.plot_1s000_to_1s100.png diff --git a/hardware/cape_v2.5a/Readme.md b/hardware/cape_v2.5a/Readme.md new file mode 100644 index 00000000..1bc1b516 --- /dev/null +++ b/hardware/cape_v2.5a/Readme.md @@ -0,0 +1,6 @@ +# Changes and Errors for future Version + +- replace target header with 40pin edge-Connector +- keep pin-mapping of target v1.0 +- add more dir-changing (reuse 2x Dir of prog-adapter) +- harvester seems a bit too fast - current is overswinging - see SM141K04LV ivcurve diff --git a/hardware/cape_v2.5a/SM141K04LV_shadow.plot_1s000_to_1s100.png b/hardware/cape_v2.5a/SM141K04LV_shadow.plot_1s000_to_1s100.png new file mode 100644 index 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z&9*DK8TQEA@bGiBiw@LqxbTDPShLXOSX;RC?JQyPf6isEL<92wn=|~MXX5?85BUGv zU(V(gTa9r0*1m`7Y8{>>wPTPK+_$r{%j_4ZpMNeGo{+HA(TjW070SOeH#jYkROtKY$}HQgM*`L z$MPn(q@|@f`1y;~EMg5I&TLq#B7cIn4aYa`2hPo(cgRh_G6I+!6r>LtkWwS_^2*DFD>wViWfc|Gqquc{Z%+h&pICL0sIIEg3%J0e9!w|J zS!Qb-c#-$sK#7%=Z5+MF_InnkgseAjPDhW>IAuf(tgP(gU<`_^ zfD35w?qpo7?`;z~;9I4y{U;qTS6! z4pfY|d%2$Hfjts*$HvAk-82b7J|!}J5#lyG2ZxG-LoxVsgolJMptP_~`Nhxrl7Ibr z26=u~mvv-B#9R|=VkaCROc;fFN8CH_U!O@1?XD27803#?s&?)c{ znkH7SGBc;v&vf?maImnXDO8I<=m{2GdxKn#Li7zO-lsoI&YZ@*{+O!_CD=TZZVO*-it){My_#(-oP;Eb=dF>HPpSkoz%Mw9cN}m@~ z3$?&J1MZD(HI6?QEVQ1u2liqmb2D^cVgpIuTz1Lu8cGNE7u#of|C9nXq|FIp+G4Jo z&(sEBv>=;K(<|M@d}IDA+z)^nSXl8+P~AgK(b@F-;`r_%9>3HM9%xRH!vDYj616L#GIRQ?YvqtLa``AJ#k)DT4PN{| D%C2G^ literal 0 HcmV?d00001 From 1dbf0c3fac63ac8beaa3e451c1bb5760de08b67a Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 14:36:32 +0200 Subject: [PATCH 04/27] add datatype to pru-config-converter --- .../firmware/pru0-module-py/shepherd_pru/pru_source_model.py | 2 +- software/python-package/shepherd_sheep/shepherd_debug.py | 3 ++- software/python-package/shepherd_sheep/shepherd_emulator.py | 1 + software/python-package/tests/test_sysfs_interface.py | 5 ++++- 4 files changed, 8 insertions(+), 3 deletions(-) diff --git a/software/firmware/pru0-module-py/shepherd_pru/pru_source_model.py b/software/firmware/pru0-module-py/shepherd_pru/pru_source_model.py index 73406ed0..f1f61d2a 100644 --- a/software/firmware/pru0-module-py/shepherd_pru/pru_source_model.py +++ b/software/firmware/pru0-module-py/shepherd_pru/pru_source_model.py @@ -38,7 +38,7 @@ def __init__( self.cfg_src = VirtualSourceConfig() if vsrc is None else vsrc cnv_config = ConverterPRUConfig.from_vsrc( - self.cfg_src, log_intermediate_node=log_intermediate + data=self.cfg_src, dtype_in=dtype_in, log_intermediate_node=log_intermediate ) self.cnv: VirtualConverterModel = VirtualConverterModel(cnv_config, self._cal_pru) diff --git a/software/python-package/shepherd_sheep/shepherd_debug.py b/software/python-package/shepherd_sheep/shepherd_debug.py index 212c2f7c..0dc0c601 100644 --- a/software/python-package/shepherd_sheep/shepherd_debug.py +++ b/software/python-package/shepherd_sheep/shepherd_debug.py @@ -163,7 +163,8 @@ def vsource_init( ) -> None: super().send_calibration_settings(cal_emu) src_pru = ConverterPRUConfig.from_vsrc( - src_cfg, + data=src_cfg, + dtype_in=dtype_in, log_intermediate_node=log_intermediate, ) super().send_virtual_converter_settings(src_pru) diff --git a/software/python-package/shepherd_sheep/shepherd_emulator.py b/software/python-package/shepherd_sheep/shepherd_emulator.py index 0e9fdf46..706f6ffe 100644 --- a/software/python-package/shepherd_sheep/shepherd_emulator.py +++ b/software/python-package/shepherd_sheep/shepherd_emulator.py @@ -110,6 +110,7 @@ def __init__( log_cap = log_iv and cfg.power_tracing.intermediate_voltage self.cnv_pru = ConverterPRUConfig.from_vsrc( data=cfg.virtual_source, + dtype_in=self.reader.get_datatype(), log_intermediate_node=log_cap, ) window_size = self.reader.get_window_samples() diff --git a/software/python-package/tests/test_sysfs_interface.py b/software/python-package/tests/test_sysfs_interface.py index c11ec1c3..45fcab3d 100644 --- a/software/python-package/tests/test_sysfs_interface.py +++ b/software/python-package/tests/test_sysfs_interface.py @@ -4,6 +4,7 @@ import pytest from shepherd_core import CalibrationCape from shepherd_core import CalibrationEmulator +from shepherd_core.data_models import EnergyDType from shepherd_core.data_models import VirtualSourceConfig from shepherd_core.data_models.content.virtual_harvester import HarvesterPRUConfig from shepherd_core.data_models.content.virtual_source import ConverterPRUConfig @@ -18,7 +19,9 @@ def cnv_cfg() -> ConverterPRUConfig: name = "_test_config_virtsource.yaml" path = here.parent / name src_cfg = VirtualSourceConfig.from_file(path) - return ConverterPRUConfig.from_vsrc(src_cfg, log_intermediate_node=False) + return ConverterPRUConfig.from_vsrc( + data=src_cfg, dtype_in=EnergyDType.ivsample, log_intermediate_node=False + ) @pytest.fixture From 2e76bdc14362599e3f6688fa906280ecf7001e95 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 14:39:02 +0200 Subject: [PATCH 05/27] calibration pair - add known units --- software/python-package/shepherd_sheep/shepherd_emulator.py | 3 ++- .../shepherd-calibration/shepherd_cal/profile_calibration.py | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/software/python-package/shepherd_sheep/shepherd_emulator.py b/software/python-package/shepherd_sheep/shepherd_emulator.py index 706f6ffe..1b10f83d 100644 --- a/software/python-package/shepherd_sheep/shepherd_emulator.py +++ b/software/python-package/shepherd_sheep/shepherd_emulator.py @@ -79,12 +79,13 @@ def __init__( voltage=CalibrationPair( gain=1e6 * cal_inp.voltage.gain, offset=1e6 * cal_inp.voltage.offset, + unit="V", ), current=CalibrationPair( gain=1e9 * cal_inp.current.gain, offset=1e9 * cal_inp.current.offset, + unit="A", ), - # TODO: add units ) log.debug("Calibration-Setting of input file:") for key, value in self.cal_pru.model_dump( diff --git a/software/shepherd-calibration/shepherd_cal/profile_calibration.py b/software/shepherd-calibration/shepherd_cal/profile_calibration.py index 6613bc45..6add6c3c 100644 --- a/software/shepherd-calibration/shepherd_cal/profile_calibration.py +++ b/software/shepherd-calibration/shepherd_cal/profile_calibration.py @@ -69,7 +69,7 @@ def _determine_current_cal(result: pd.DataFrame) -> CalibrationPair | None: ) return None logger.info(" -> resulting C-Cal: gain = %.9f, offset = %f", gain, offset) - return CalibrationPair(gain=gain, offset=offset) + return CalibrationPair(gain=gain, offset=offset, unit="A") @staticmethod def _determine_voltage_cal(result: pd.DataFrame) -> CalibrationPair | None: @@ -98,4 +98,4 @@ def _determine_voltage_cal(result: pd.DataFrame) -> CalibrationPair | None: ) return None logger.info(" -> resulting V-Cal: gain = %.9f, offset = %f", gain, offset) - return CalibrationPair(gain=gain, offset=offset) + return CalibrationPair(gain=gain, offset=offset, unit="V") From e5f6fabf1f6f5cb132fc2087c8baa2e4156312b6 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 17:03:22 +0200 Subject: [PATCH 06/27] pru0 - split fw, implement feedback to hrv, extrapolate cv --- .../pru0-module-py/shepherd_pru/pru_source.c | 5 + software/firmware/pru0-programmer/Makefile | 2 +- software/firmware/pru0-shepherd-fw/Makefile | 10 +- .../pru0-shepherd-fw/include/fw_config.h | 11 ++ .../include/virtual_converter.h | 43 +++---- .../include/virtual_harvester.h | 9 +- software/firmware/pru0-shepherd-fw/main.c | 5 +- software/firmware/pru0-shepherd-fw/sampling.c | 34 +++--- .../pru0-shepherd-fw/virtual_converter.c | 82 ++++++++------ .../pru0-shepherd-fw/virtual_harvester.c | 105 ++++++++++++------ 10 files changed, 195 insertions(+), 111 deletions(-) create mode 100644 software/firmware/pru0-shepherd-fw/include/fw_config.h diff --git a/software/firmware/pru0-module-py/shepherd_pru/pru_source.c b/software/firmware/pru0-module-py/shepherd_pru/pru_source.c index cd20cb78..08b9ea01 100644 --- a/software/firmware/pru0-module-py/shepherd_pru/pru_source.c +++ b/software/firmware/pru0-module-py/shepherd_pru/pru_source.c @@ -4,6 +4,8 @@ #include "virtual_harvester.h" #include +#define EMU_SUPPORT + /* ripped out parts from sample_emulator() in sampling.c */ @@ -22,5 +24,8 @@ uint32_t vsrc_iterate_sampling(uint32_t input_voltage_uV, uint32_t input_current converter_update_states_and_output(&shared_mem); + /* feedback path - important for boost-less circuits */ + if (feedback_to_hrv) { voltage_set_uV = V_input_request_uV; } + return get_V_output_uV(); } diff --git a/software/firmware/pru0-programmer/Makefile b/software/firmware/pru0-programmer/Makefile index 94229e4b..7d0ef244 100644 --- a/software/firmware/pru0-programmer/Makefile +++ b/software/firmware/pru0-programmer/Makefile @@ -5,7 +5,7 @@ folder_path := $(dir $(mkfile_path)) PROTO ?= SWD PROJ_NAME = $(current_dir)-$(PROTO) FW_NAME = programmer-$(PROTO) -# choose variant with "make PROTO=SWD|SBW" +# choose variant with "make PROTO=SWD|SBW", with SWD being default BASE_PATH ?= ./.. diff --git a/software/firmware/pru0-shepherd-fw/Makefile b/software/firmware/pru0-shepherd-fw/Makefile index bc828c78..dd904273 100644 --- a/software/firmware/pru0-shepherd-fw/Makefile +++ b/software/firmware/pru0-shepherd-fw/Makefile @@ -2,8 +2,10 @@ PRU_NUM = 0 mkfile_path := $(abspath $(lastword $(MAKEFILE_LIST))) current_dir := $(notdir $(patsubst %/,%,$(dir $(mkfile_path)))) folder_path := $(dir $(mkfile_path)) -PROJ_NAME = $(current_dir) -FW_NAME = shepherd +TYPE ?= EMU +PROJ_NAME = $(current_dir)-$(TYPE) +FW_NAME = shepherd-$(TYPE) +# choose variant with "make TYPE=EMU|HRV", with EMU being default BASE_PATH ?= ./.. @@ -22,6 +24,10 @@ ASM_SOURCES = $(notdir $(wildcard ./*.asm)) # external asm-sources - add manually ASM_SOURCES += $(BASE_PATH)/lib/src/register_magic.asm # get_size_in_bits, log2safe, max_value, min_value +ifeq ($(TYPE), HRV) # switch to HRV with "make TYPE=HRV" +CFLAGS += -D HRV_SUPPORT +endif + # look for gcc, but use cgt as fallback / default ifdef PRU_GCC ASM_SOURCES += $(BASE_PATH)/lib/src/spi_transfer_pru_gcc.asm # small hack: constants are defined differently diff --git a/software/firmware/pru0-shepherd-fw/include/fw_config.h b/software/firmware/pru0-shepherd-fw/include/fw_config.h new file mode 100644 index 00000000..f8f68c71 --- /dev/null +++ b/software/firmware/pru0-shepherd-fw/include/fw_config.h @@ -0,0 +1,11 @@ +#ifndef PRU0_FW_CONFIG_H_ +#define PRU0_FW_CONFIG_H_ + +/* split of fw due to PRU-limitations + -> select a primary mode when none is chosen +*/ +#if !(defined(EMU_SUPPORT) || defined(HRV_SUPPORT)) + #define EMU_SUPPORT +#endif + +#endif // PRU0_FW_CONFIG_H_ diff --git a/software/firmware/pru0-shepherd-fw/include/virtual_converter.h b/software/firmware/pru0-shepherd-fw/include/virtual_converter.h index 84f90bbf..0e738f05 100644 --- a/software/firmware/pru0-shepherd-fw/include/virtual_converter.h +++ b/software/firmware/pru0-shepherd-fw/include/virtual_converter.h @@ -4,26 +4,29 @@ #include "commons.h" #include -void converter_initialize(const volatile struct ConverterConfig *config); - -void converter_calc_inp_power(uint32_t input_voltage_uV, uint32_t input_current_nA); -void converter_calc_out_power(uint32_t current_adc_raw); -void converter_update_cap_storage(void); -uint32_t converter_update_states_and_output(volatile struct SharedMem *shared_mem); - -void set_P_input_fW(uint32_t P_fW); -void set_P_output_fW(uint32_t P_fW); -void set_V_intermediate_uV(uint32_t C_uV); -uint64_t get_P_input_fW(void); -uint64_t get_P_output_fW(void); -uint32_t get_V_intermediate_uV(void); -uint32_t get_V_intermediate_raw(void); -uint32_t get_I_mid_out_nA(void); -uint32_t get_V_output_uV(void); -bool_ft get_state_log_intermediate(void); - -void set_batok_pin(volatile struct SharedMem *shared_mem, bool_ft value); - +void converter_initialize(const volatile struct ConverterConfig *config); + +void converter_calc_inp_power(uint32_t input_voltage_uV, uint32_t input_current_nA); +void converter_calc_out_power(uint32_t current_adc_raw); +void converter_update_cap_storage(void); +uint32_t converter_update_states_and_output(volatile struct SharedMem *shared_mem); + +void set_P_input_fW(uint32_t P_fW); +void set_P_output_fW(uint32_t P_fW); +void set_V_intermediate_uV(uint32_t C_uV); +uint64_t get_P_input_fW(void); +uint64_t get_P_output_fW(void); +uint32_t get_V_intermediate_uV(void); +uint32_t get_V_intermediate_raw(void); +uint32_t get_I_mid_out_nA(void); +uint32_t get_V_output_uV(void); +bool_ft get_state_log_intermediate(void); + +void set_batok_pin(volatile struct SharedMem *shared_mem, bool_ft value); + +/* feedback to harvester - global vars */ +extern bool_ft feedback_to_hrv; +extern uint32_t V_input_request_uV; /* Direct Connection * - Voltage-value in buffer is written to DAC diff --git a/software/firmware/pru0-shepherd-fw/include/virtual_harvester.h b/software/firmware/pru0-shepherd-fw/include/virtual_harvester.h index 21f9f5c6..e36b022a 100644 --- a/software/firmware/pru0-shepherd-fw/include/virtual_harvester.h +++ b/software/firmware/pru0-shepherd-fw/include/virtual_harvester.h @@ -4,10 +4,13 @@ #include "commons.h" #include "stdint.h" -void harvester_initialize(const volatile struct HarvesterConfig *); +void harvester_initialize(const volatile struct HarvesterConfig *); -void sample_adc_harvester(struct SampleBuffer *buffer, uint32_t sample_idx); +void sample_adc_harvester(struct SampleBuffer *buffer, uint32_t sample_idx); -void sample_ivcurve_harvester(uint32_t *p_voltage_uV, uint32_t *p_current_nA); +void sample_ivcurve_harvester(uint32_t *p_voltage_uV, uint32_t *p_current_nA); + +/* global vars to allow feedback from vsource */ +extern uint32_t voltage_set_uV; #endif //PRU_FIRMWARE_PRU0_SHEPHERD_FW_HARVESTER_H diff --git a/software/firmware/pru0-shepherd-fw/main.c b/software/firmware/pru0-shepherd-fw/main.c index c62fb4c2..f3dbdb30 100644 --- a/software/firmware/pru0-shepherd-fw/main.c +++ b/software/firmware/pru0-shepherd-fw/main.c @@ -17,6 +17,7 @@ #include "calibration.h" #include "sampling.h" #include "virtual_converter.h" +#include "fw_config.h" /* PRU0 Feature Selection */ //#define ENABLE_DEBUG_MATH_FN // reduces firmware by ~9 kByte @@ -227,7 +228,7 @@ static bool_ft handle_kernel_com(volatile struct SharedMem *const shared_mem, send_message(shared_mem, MSG_DBG_GPI, shared_mem->gpio_pin_state, 0); return 1U; -#ifdef ENABLE_DBG_VSOURCE +#if (defined(ENABLE_DBG_VSOURCE) && defined(EMU_SUPPORT)) case MSG_DBG_VSRC_HRV_P_INP: sample_ivcurve_harvester(&msg_in.value[0], &msg_in.value[1]); // fall through @@ -276,7 +277,7 @@ static bool_ft handle_kernel_com(volatile struct SharedMem *const shared_mem, res = converter_update_states_and_output(shared_mem); send_message(shared_mem, MSG_DBG_VSRC_DRAIN, get_V_intermediate_uV(), res); return 1u; -#endif +#endif // ENABLE_DBG_VSOURCE #ifdef ENABLE_DEBUG_MATH_FN case MSG_DBG_FN_TESTS: diff --git a/software/firmware/pru0-shepherd-fw/sampling.c b/software/firmware/pru0-shepherd-fw/sampling.c index b425386a..e3698713 100644 --- a/software/firmware/pru0-shepherd-fw/sampling.c +++ b/software/firmware/pru0-shepherd-fw/sampling.c @@ -5,17 +5,21 @@ #include "hw_config.h" #include "sampling.h" #include "spi_transfer_pru.h" + +#include "fw_config.h" #include "virtual_converter.h" #include "virtual_harvester.h" -static bool_ft dac_aux_link_to_main = false; -static bool_ft dac_aux_link_to_mid = false; - /* NOTE: * Changes in HW or ADC/DAC Config also change the calibration.data! * (ie. py-package/shepherd/calibration_default.py) */ +static bool_ft dac_aux_link_to_main = false; +static bool_ft dac_aux_link_to_mid = false; + +#ifdef EMU_SUPPORT + static inline void sample_emulator(volatile struct SharedMem *const shared_mem, struct SampleBuffer *const buffer) { @@ -62,6 +66,9 @@ static inline void sample_emulator(volatile struct SharedMem *const shared_mem, dac_write(SPI_CS_EMU_DAC_PIN, DAC_CH_A_ADDR | get_V_intermediate_raw()); } + /* feedback path - important for boost-less circuits */ + if (feedback_to_hrv) { voltage_set_uV = V_input_request_uV; } + /* write back converter-state into shared memory buffer */ if (get_state_log_intermediate()) { @@ -74,7 +81,7 @@ static inline void sample_emulator(volatile struct SharedMem *const shared_mem, buffer->values_voltage[current_sample_counter] = voltage_dac; } } - +#endif // EMU_SUPPORT static inline void sample_emu_ADCs(struct SampleBuffer *const buffer, const uint32_t sample_idx) { @@ -96,10 +103,14 @@ void sample(volatile struct SharedMem *const shared_mem, { switch (mode) // reordered to prioritize longer routines { +#ifdef EMU_SUPPORT case MODE_EMULATOR: // ~ ## ns, TODO: test timing for new revision return sample_emulator(shared_mem, current_buffer_far); +#endif // EMU_SUPPORT +#ifdef HRV_SUPPORT case MODE_HARVESTER: // ~ ## ns return sample_adc_harvester(current_buffer_far, shared_mem->analog_sample_counter); +#endif // HRV_SUPPORT case MODE_EMU_ADC_READ: return sample_emu_ADCs(current_buffer_far, shared_mem->analog_sample_counter); case MODE_HRV_ADC_READ: @@ -244,15 +255,8 @@ void sample_init(const volatile struct SharedMem *const shared_mem) } GPIO_TOGGLE(DEBUG_PIN1_MASK); - if (mode == MODE_EMULATOR) - { - calibration_initialize(&shared_mem->calibration_settings); - converter_initialize(&shared_mem->converter_settings); - harvester_initialize(&shared_mem->harvester_settings); - } - else if (mode == MODE_HARVESTER) - { - calibration_initialize(&shared_mem->calibration_settings); - harvester_initialize(&shared_mem->harvester_settings); - } + /* init harvester & converter */ + calibration_initialize(&shared_mem->calibration_settings); + harvester_initialize(&shared_mem->harvester_settings); + if (mode == MODE_EMULATOR) { converter_initialize(&shared_mem->converter_settings); } } diff --git a/software/firmware/pru0-shepherd-fw/virtual_converter.c b/software/firmware/pru0-shepherd-fw/virtual_converter.c index 9d68f78b..4812ae52 100644 --- a/software/firmware/pru0-shepherd-fw/virtual_converter.c +++ b/software/firmware/pru0-shepherd-fw/virtual_converter.c @@ -6,17 +6,20 @@ #include "stdint_fast.h" #include +#include "fw_config.h" + /* --------------------------------------------------------------------- * Virtual Converter, TODO: update description * ---------------------------------------------------------------------- */ +#ifdef EMU_SUPPORT /* private FNs */ static uint32_t get_input_efficiency_n8(uint32_t voltage_uV, uint32_t current_nA); static uint32_t get_output_inv_efficiency_n4(uint32_t current_nA); -#define DIV_SHIFT (17u) // 2^17 as uV is ~ 131 mV -#define DIV_LUT_SIZE (40u) + #define DIV_SHIFT (17u) // 2^17 as uV is ~ 131 mV + #define DIV_LUT_SIZE (40u) /* LUT for faster division * Generation: @@ -36,7 +39,7 @@ static uint64_t div_uV_n4(const uint64_t power_fW_n4, const uint32_t voltage_uV) if (lut_pos >= DIV_LUT_SIZE) lut_pos = DIV_LUT_SIZE - 1u; return mul64((power_fW_n4 >> 10u), LUT_div_uV_n27[lut_pos]) >> 17u; } - +#endif // EMU_SUPPORT /* data-structure that hold the state - variables for local / direct use */ struct ConverterState @@ -62,6 +65,10 @@ struct ConverterState bool_ft power_good; }; +/* feedback to harvester - global vars */ +bool_ft feedback_to_hrv = 0u; +uint32_t V_input_request_uV = 0u; + /* (local) global vars to access in update function */ static struct ConverterState state; static const volatile struct ConverterConfig *cfg; @@ -103,6 +110,10 @@ void converter_initialize(const volatile struct ConverterConfig *const config) state.V_enable_output_threshold_uV_n32 = state.dV_enable_output_uV_n32; } + /* feedback to harvester */ + feedback_to_hrv = (cfg->converter_mode & 0b10000) > 0u; + V_input_request_uV = cfg->V_intermediate_init_uV; + /* compensate for (hard to detect) current-surge of real capacitors when converter gets turned on * -> this can be const value, because the converter always turns on with "V_intermediate_enable_threshold_uV" * TODO: currently neglecting: delay after disabling converter, boost only has simpler formula, second enabling when VCap >= V_out @@ -137,6 +148,7 @@ void converter_initialize(const volatile struct ConverterConfig *const config) * voltage of storage cap -> V += dV * */ +#ifdef EMU_SUPPORT void converter_calc_inp_power(uint32_t input_voltage_uV, uint32_t input_current_nA) { @@ -160,28 +172,39 @@ void converter_calc_inp_power(uint32_t input_voltage_uV, uint32_t input_current_ if (input_voltage_uV < cfg->V_input_boost_threshold_uV) { input_voltage_uV = 0u; } // if (input_voltage_uV > (state.V_mid_uV_n32 >> 32u) + cfg->V_input_drop_uV) - // TODO: vdrop in case of non-boost? + // TODO: vdrop in case of v_input > v_storage (non-boost)? } - else if (state.enable_storage == false) + else if (state.enable_storage) { - // direct connection - state.V_mid_uV_n32 = ((uint64_t) input_voltage_uV) << 32u; - input_voltage_uV = 0u; + // no boost, but cap, for ie. diode+cap (+resistor) + const uint32_t V_mid_uV = (state.V_mid_uV_n32 >> 32u); + const uint32_t V_diff_uV = (input_voltage_uV > V_mid_uV) ? input_voltage_uV - V_mid_uV : 0u; + const uint32_t V_drop_uV = + (uint32_t) (((uint64_t) input_current_nA * (uint64_t) cfg->R_input_kOhm_n22) >> + 22u); + if (V_drop_uV > V_diff_uV) { input_voltage_uV = V_mid_uV; } + else { input_voltage_uV -= V_drop_uV; } + + if (feedback_to_hrv) + { + // IF input==ivcurve request new CV + V_input_request_uV = V_mid_uV + V_diff_uV + V_drop_uV; + } + else if (input_voltage_uV < V_mid_uV) + { + // without feedback there is no usable energy here + input_voltage_uV = 0u; + } } else { - // mode for input-diode, resistor & storage-cap - const uint32_t V_mid_uV = (state.V_mid_uV_n32 >> 32u); - if (input_voltage_uV > V_mid_uV) - { - const uint32_t V_diff_uV = input_voltage_uV - V_mid_uV; - const uint32_t V_drop_uV = - (uint32_t) (((uint64_t) input_current_nA * (uint64_t) cfg->R_input_kOhm_n22) >> - 22u); - if (V_drop_uV > V_diff_uV) { input_voltage_uV = V_mid_uV; } - else { input_voltage_uV -= V_drop_uV; } - } - else input_voltage_uV = 0u; + /* direct connection + modifying V_mid here is not clean, but simpler + -> V_mid is needed in calc_out, before cap is updated + */ + state.V_mid_uV_n32 = ((uint64_t) input_voltage_uV) << 32u; + input_voltage_uV = 0u; + // ⤷ input will not be evaluated } const uint32_t eta_inp_n8 = @@ -248,11 +271,6 @@ void converter_update_cap_storage(void) { state.V_mid_uV_n32 = ((uint64_t) cfg->V_intermediate_max_uV) << 32u; } - if ((state.enable_boost == false) && (state.P_inp_fW_n8 > 0u) && - (uint32_t) (state.V_mid_uV_n32 >> 32u) > state.V_input_uV) - { - state.V_mid_uV_n32 = ((uint64_t) state.V_input_uV) << 32u; - } if ((uint32_t) (state.V_mid_uV_n32 >> 32u) < 1u) { state.V_mid_uV_n32 = ((uint64_t) 1u) << 32u; @@ -375,15 +393,17 @@ uint32_t get_V_intermediate_raw(void) uint32_t get_V_output_uV(void) { return state.V_out_dac_uV; } -void set_batok_pin(volatile struct SharedMem *const shared_mem, const bool_ft value) -{ - shared_mem->vsource_batok_pin_value = value; - shared_mem->vsource_batok_trigger_for_pru1 = true; -} - uint32_t get_I_mid_out_nA(void) { return (uint32_t) div_uV_n4(state.P_out_fW_n4, state.V_mid_uV_n32 >> 28u); } bool_ft get_state_log_intermediate(void) { return state.enable_log_mid; } + +#endif // EMU_SUPPORT + +void set_batok_pin(volatile struct SharedMem *const shared_mem, const bool_ft value) +{ + shared_mem->vsource_batok_pin_value = value; + shared_mem->vsource_batok_trigger_for_pru1 = true; +} diff --git a/software/firmware/pru0-shepherd-fw/virtual_harvester.c b/software/firmware/pru0-shepherd-fw/virtual_harvester.c index 87e74572..f6aabf0a 100644 --- a/software/firmware/pru0-shepherd-fw/virtual_harvester.c +++ b/software/firmware/pru0-shepherd-fw/virtual_harvester.c @@ -5,53 +5,58 @@ #include "spi_transfer_pru.h" #include -/* prus .text-section overflows with latest changes, so remove dead-weight - TODO: divide fw into harv & emu -*/ -#define SAVE_STORAGE +#include "fw_config.h" // internal variables -static uint32_t voltage_set_uV = 0u; -static bool_ft is_rising = 0u; +uint32_t voltage_set_uV = 0u; // global +static bool_ft is_rising = 0u; + +static uint32_t voltage_hold = 0u; +static uint32_t current_hold = 0u; + +#ifdef EMU_SUPPORT +static uint32_t voltage_step_x4_uV = 0u; +static uint32_t age_max = 0u; -static uint32_t voltage_hold = 0u; -static uint32_t current_hold = 0u; -static uint32_t voltage_step_x4_uV = 0u; -static uint32_t age_max = 0u; +static uint32_t voc_now = 0u; +static uint32_t voc_nxt = 0u; +static uint32_t voc_min = 0u; -static uint32_t voc_now = 0u; -static uint32_t voc_nxt = 0u; -static uint32_t voc_min = 0u; +static bool_ft lin_extrapolation = 0u; +#endif // EMU_SUPPORT -static uint32_t settle_steps = 0; // adc_ivcurve -static uint32_t interval_step = 0u; +static uint32_t settle_steps = 0; // adc_ivcurve +static uint32_t interval_step = 0u; -static uint32_t volt_step_uV = 0u; -static uint32_t power_last_raw = 0u; // adc_mppt_po +static uint32_t volt_step_uV = 0u; +static uint32_t power_last_raw = 0u; // adc_mppt_po + + +static const volatile struct HarvesterConfig *cfg; +#ifdef HRV_SUPPORT /* ivcurve cutout - prevents power-spike during the non-linear reset-step of the ivcurve - slow analog filters show this behavior with cape 2.4 TODO: make value configurable by frontend */ -static const uint32_t STEP_IV_CUTOUT = 5u; - -static const volatile struct HarvesterConfig *cfg; +static const uint32_t STEP_IV_CUTOUT = 5u; // to be used with harvester-frontend static void harvest_adc_2_ivcurve(struct SampleBuffer *const buffer, const uint32_t sample_idx); -#ifndef SAVE_STORAGE static void harvest_adc_2_isc_voc(struct SampleBuffer *const buffer, const uint32_t sample_idx); -#endif static void harvest_adc_2_cv(struct SampleBuffer *const buffer, const uint32_t sample_idx); static void harvest_adc_2_mppt_voc(struct SampleBuffer *const buffer, const uint32_t sample_idx); static void harvest_adc_2_mppt_po(struct SampleBuffer *const buffer, const uint32_t sample_idx); +#endif // HRV_SUPPORT +#ifdef EMU_SUPPORT // to be used in virtual harvester (part of emulator) static void harvest_ivcurve_2_cv(uint32_t *const p_voltage_uV, uint32_t *const p_current_nA); static void harvest_ivcurve_2_mppt_voc(uint32_t *const p_voltage_uV, uint32_t *const p_current_nA); static void harvest_ivcurve_2_mppt_po(uint32_t *const p_voltage_uV, uint32_t *const p_current_nA); static void harvest_ivcurve_2_mppt_opt(uint32_t *const p_voltage_uV, uint32_t *const p_current_nA); +#endif // EMU_SUPPORT #ifdef __PYTHON__ void __delay_cycles(uint32_t num) @@ -85,21 +90,28 @@ void harvester_initialize(const volatile struct HarvesterConfig *const config) interval_step = cfg->interval_n - (2 * cfg->window_size); else interval_step = 1u << 30u; // ⤷ intake two ivcurves before overflow / reset if possible - is_rising = (cfg->hrv_mode >> 1u) & 1u; + is_rising = (cfg->hrv_mode >> 1u) & 1u; // MPPT-PO - volt_step_uV = cfg->voltage_step_uV; - power_last_raw = 0u; + volt_step_uV = cfg->voltage_step_uV; + power_last_raw = 0u; // for IV-Curve-Version, mostly resets states - voltage_hold = 0u; - current_hold = 0u; + voltage_hold = 0u; + current_hold = 0u; + +#ifdef EMU_SUPPORT voltage_step_x4_uV = 4u * cfg->voltage_step_uV; age_max = 2u * cfg->window_size; voc_now = cfg->voltage_max_uV; voc_nxt = cfg->voltage_max_uV; voc_min = cfg->voltage_min_uV > 1000u ? cfg->voltage_min_uV : 1000u; + + /* extrapolation */ + lin_extrapolation = (cfg->hrv_mode >> 2u) & 1u; +#endif // EMU_SUPPORT + // TODO: all static vars in sub-fns should be globals (they are anyway), saves space due to overlaps // TODO: check that ConfigParams are used in SubFns if applicable // TODO: divide lib into IVC and ADC Parts @@ -107,15 +119,14 @@ void harvester_initialize(const volatile struct HarvesterConfig *const config) // TODO: embed cfg->current_limit_nA as a limiter if resources allow for it } +#ifdef HRV_SUPPORT void sample_adc_harvester(struct SampleBuffer *const buffer, const uint32_t sample_idx) { if (cfg->algorithm >= HRV_MPPT_PO) harvest_adc_2_mppt_po(buffer, sample_idx); else if (cfg->algorithm >= HRV_MPPT_VOC) harvest_adc_2_mppt_voc(buffer, sample_idx); else if (cfg->algorithm >= HRV_CV) harvest_adc_2_cv(buffer, sample_idx); else if (cfg->algorithm >= HRV_IVCURVE) harvest_adc_2_ivcurve(buffer, sample_idx); -#ifndef SAVE_STORAGE else if (cfg->algorithm >= HRV_ISC_VOC) harvest_adc_2_isc_voc(buffer, sample_idx); -#endif // todo: else send error to system } @@ -200,7 +211,6 @@ static void harvest_adc_2_ivcurve(struct SampleBuffer *const buffer, const uint3 buffer->values_voltage[sample_idx] = voltage_adc; } -#ifndef SAVE_STORAGE static void harvest_adc_2_isc_voc(struct SampleBuffer *const buffer, const uint32_t sample_idx) { /* Record VOC & ISC @@ -234,7 +244,6 @@ static void harvest_adc_2_isc_voc(struct SampleBuffer *const buffer, const uint3 buffer->values_current[sample_idx] = current_hold; buffer->values_voltage[sample_idx] = voltage_hold; } -#endif static void harvest_adc_2_mppt_voc(struct SampleBuffer *const buffer, const uint32_t sample_idx) { @@ -357,14 +366,14 @@ static void harvest_adc_2_mppt_po(struct SampleBuffer *const buffer, const uint3 buffer->values_current[sample_idx] = current_adc; buffer->values_voltage[sample_idx] = voltage_adc; } - +#endif // HRV_SUPPORT /* // TODO: do we need a constant-current-version? const uint32_t current_nA = cal_conv_adc_raw_to_nA(current_adc); // TODO: could be simplified by providing raw-value in cfg if (current_nA > cfg->current_limit_nA) */ - +#ifdef EMU_SUPPORT void sample_ivcurve_harvester(uint32_t *const p_voltage_uV, uint32_t *const p_current_nA) { // check for IVCurve-Input Indicator and use selected algo @@ -384,6 +393,7 @@ static void harvest_ivcurve_2_cv(uint32_t *const p_voltage_uV, uint32_t *const p * - no min/max usage here, the main FNs do that, or python if cv() is used directly * */ static uint32_t voltage_last = 0u, current_last = 0u; + static uint32_t voltage_delta = 0u, current_delta = 0u; static bool_ft compare_last = 0u; /* find matching voltage with threshold-crossing-detection -> direction of curve is irrelevant */ @@ -405,13 +415,33 @@ static void harvest_ivcurve_2_cv(uint32_t *const p_voltage_uV, uint32_t *const p * TODO: could also be interpolated if sampling-routine has time to spare */ if ((distance_now < distance_last) && (distance_now < voltage_step_x4_uV)) { - voltage_hold = *p_voltage_uV; - current_hold = *p_current_nA; + voltage_hold = *p_voltage_uV; + current_hold = *p_current_nA; + voltage_delta = *p_voltage_uV - voltage_last; + current_delta = *p_current_nA - current_last; } else if ((distance_last < distance_now) && (distance_last < voltage_step_x4_uV)) { - voltage_hold = voltage_last; - current_hold = current_last; + voltage_hold = voltage_last; + current_hold = current_last; + voltage_delta = *p_voltage_uV - voltage_last; + current_delta = *p_current_nA - current_last; + } + } + else if (lin_extrapolation) + { + /* apply the proper delta if needed */ + if ((voltage_hold < voltage_set_uV) == (voltage_delta > 0u)) + { + voltage_hold += voltage_delta; + current_hold += current_delta; + } + else + { + if (voltage_hold > voltage_delta) voltage_hold -= voltage_delta; + else voltage_hold = 0; + if (current_hold > current_delta) current_hold -= current_delta; + else current_hold = 0; } } voltage_last = *p_voltage_uV; @@ -576,3 +606,4 @@ static void harvest_ivcurve_2_mppt_opt(uint32_t *const p_voltage_uV, uint32_t *c *p_voltage_uV = voltage_now; *p_current_nA = current_now; } +#endif // EMU_SUPPORT From a8179959f21b277050d4253429b335b1d954a824 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 18:10:59 +0200 Subject: [PATCH 07/27] py - implement changing pru0 fw to emu/hrv --- software/python-package/shepherd_sheep/shepherd_emulator.py | 1 + software/python-package/shepherd_sheep/shepherd_harvester.py | 1 + software/python-package/shepherd_sheep/sysfs_interface.py | 4 +++- 3 files changed, 5 insertions(+), 1 deletion(-) diff --git a/software/python-package/shepherd_sheep/shepherd_emulator.py b/software/python-package/shepherd_sheep/shepherd_emulator.py index 1b10f83d..fbbd31f4 100644 --- a/software/python-package/shepherd_sheep/shepherd_emulator.py +++ b/software/python-package/shepherd_sheep/shepherd_emulator.py @@ -44,6 +44,7 @@ def __init__( mode: str = "emulator", ) -> None: log.debug("ShepherdEmulator-Init in %s-mode", mode) + sysfs_interface.load_pru_firmware("shepherd-EMU") super().__init__( mode=mode, trace_iv=cfg.power_tracing, diff --git a/software/python-package/shepherd_sheep/shepherd_harvester.py b/software/python-package/shepherd_sheep/shepherd_harvester.py index b3926e87..9c7e429f 100644 --- a/software/python-package/shepherd_sheep/shepherd_harvester.py +++ b/software/python-package/shepherd_sheep/shepherd_harvester.py @@ -37,6 +37,7 @@ def __init__( mode: str = "harvester", ) -> None: log.debug("ShepherdHarvester-Init in %s-mode", mode) + sysfs_interface.load_pru_firmware("shepherd-HRV") super().__init__( mode=mode, trace_iv=cfg.power_tracing, diff --git a/software/python-package/shepherd_sheep/sysfs_interface.py b/software/python-package/shepherd_sheep/sysfs_interface.py index 31b6c3da..b4c8e342 100644 --- a/software/python-package/shepherd_sheep/sysfs_interface.py +++ b/software/python-package/shepherd_sheep/sysfs_interface.py @@ -589,7 +589,8 @@ def check_programmer() -> str: pru_firmwares = [ - "am335x-pru0-shepherd-fw", + "am335x-pru0-shepherd-EMU-fw", + "am335x-pru0-shepherd-HRV-fw", "am335x-pru0-programmer-SWD-fw", "am335x-pru0-programmer-SBW-fw", "am335x-pru1-shepherd-fw", @@ -609,6 +610,7 @@ def load_pru_firmware(value: str = "pru0-shepherd") -> None: for firmware in pru_firmwares: if value.lower() in firmware.lower(): request = firmware + break log.debug("Will set pru-firmware to '%s'", request) sys_str = f"/sys/shepherd/pru{1 if ('pru1' in request) else 0}_firmware" _count = 0 From a7d6a0b473ca2c6db6d3889f0f35e1ae89cef6bb Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 18:11:38 +0200 Subject: [PATCH 08/27] kMod - add new pru0-firmwares --- software/kernel-module/src/commons.h | 7 ++++--- software/kernel-module/src/pru_firmware.c | 2 +- software/kernel-module/src/sysfs_interface.c | 10 +++++++++- 3 files changed, 14 insertions(+), 5 deletions(-) diff --git a/software/kernel-module/src/commons.h b/software/kernel-module/src/commons.h index 468cb935..651d591d 100644 --- a/software/kernel-module/src/commons.h +++ b/software/kernel-module/src/commons.h @@ -5,10 +5,11 @@ // base: /lib/firmware/am335x-pru* // sudo sh -c 'echo am335x-pru0-programmer-SWD-fw > /sys/class/remoteproc/remoteproc1/firmware' // sudo sh -c 'echo prog-swd > /sys/shepherd/pru_firmware' -#define PRU_FW_DEFAULT ("am335x-pru%u-shepherd-fw") -#define PRU0_FW_DEFAULT ("am335x-pru0-shepherd-fw") -#define PRU0_FW_PRG_SWD ("am335x-pru0-programmer-SWD-fw") +#define PRU0_FW_EMU ("am335x-pru0-shepherd-EMU-fw") /* 27 chars */ +#define PRU0_FW_HRV ("am335x-pru0-shepherd-HRV-fw") +#define PRU0_FW_PRG_SWD ("am335x-pru0-programmer-SWD-fw") /* 29 chars */ #define PRU0_FW_PRG_SBW ("am335x-pru0-programmer-SBW-fw") +#define PRU0_FW_DEFAULT PRU0_FW_EMU #define PRU1_FW_DEFAULT ("am335x-pru1-shepherd-fw") diff --git a/software/kernel-module/src/pru_firmware.c b/software/kernel-module/src/pru_firmware.c index 5eb233b4..ced87ed6 100644 --- a/software/kernel-module/src/pru_firmware.c +++ b/software/kernel-module/src/pru_firmware.c @@ -73,7 +73,7 @@ int swap_pru_firmware(const char *pru0_file_name, const char *pru1_file_name) /* Initialize synchronization mechanism between PRU1 and our clock */ //if ((fwncmp(0, PRU0_FW_DEFAULT) == 0) && (fwncmp(1, PRU1_FW_DEFAULT) == 0)) - if (fwncmp(0, PRU0_FW_DEFAULT) == 0) { sync_start(); } + if ((fwncmp(0, PRU0_FW_EMU) == 0) || (fwncmp(0, PRU0_FW_HRV) == 0)) { sync_start(); } else printk(KERN_INFO "shprd.k: pru-sync-system NOT (re)started (only for shepherd-fw)"); } init_done = 1; diff --git a/software/kernel-module/src/sysfs_interface.c b/software/kernel-module/src/sysfs_interface.c index 4a8a25b6..b974111c 100644 --- a/software/kernel-module/src/sysfs_interface.c +++ b/software/kernel-module/src/sysfs_interface.c @@ -808,7 +808,15 @@ static ssize_t sysfs_pru0_firmware_store(struct kobject *kobj, struct kobj_attri /* NOTE: this does not work as expected as buffer contains xtra chars at the end * ignore for now and hardcode */ - if ((strncmp(buffer, "swd", 3) == 0) || (strncmp(buffer, PRU0_FW_PRG_SWD, 29) == 0)) + if ((strncmp(buffer, "emu", 3) == 0) || (strncmp(buffer, PRU0_FW_EMU, 27) == 0)) + { + swap_pru_firmware(PRU0_FW_EMU, ""); + } + else if ((strncmp(buffer, "hrv", 3) == 0) || (strncmp(buffer, PRU0_FW_HRV, 27) == 0)) + { + swap_pru_firmware(PRU0_FW_HRV, ""); + } + else if ((strncmp(buffer, "swd", 3) == 0) || (strncmp(buffer, PRU0_FW_PRG_SWD, 29) == 0)) { swap_pru_firmware(PRU0_FW_PRG_SWD, ""); } From 749a2a36eed1c633b13aaa1a86a996163553113c Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 18:13:26 +0200 Subject: [PATCH 09/27] ansible - add new firmwares --- deploy/roles/sheep/tasks/build_shp.yml | 31 ++++++++++++++++++++++++-- 1 file changed, 29 insertions(+), 2 deletions(-) diff --git a/deploy/roles/sheep/tasks/build_shp.yml b/deploy/roles/sheep/tasks/build_shp.yml index 9396e250..726285a5 100644 --- a/deploy/roles/sheep/tasks/build_shp.yml +++ b/deploy/roles/sheep/tasks/build_shp.yml @@ -23,9 +23,9 @@ chdir: "{{ sheep_install_path }}/software/firmware/{{ item }}" target: all loop: - - pru0-shepherd-fw + - pru0-shepherd-fw # default: EMU - pru1-shepherd-fw - - pru0-programmer + - pru0-programmer # default: SWD environment: PRU_CGT: '{{ sheep_ti_pru_cgt_path }}' PRU_CGT_SUPPORT: '{{ sheep_ti_pru_support_path }}' @@ -44,6 +44,33 @@ - pru0-programmer become: true +# build harvester +- name: Clean PRU Firmware Source - PRU0 + community.general.make: + chdir: "{{ sheep_install_path }}/software/firmware/pru0-shepherd-fw" + target: clean + become: true +- name: Build PRU firmware - PRU0 - Harvester + community.general.make: + chdir: "{{ sheep_install_path }}/software/firmware/pru0-shepherd-fw" + target: all + params: + TYPE: HRV + environment: + PRU_CGT: '{{ sheep_ti_pru_cgt_path }}' + PRU_CGT_SUPPORT: '{{ sheep_ti_pru_support_path }}' + # PRU_GCC: '{{ sheep_gcc_tools_path }}/{{ sheep_gcc_pru_cc_release }}' # TODO: probably just []/pru-elf now + # PRU_GCC_SUPPORT: '{{ sheep_gcc_pru_support_path }}' + become: false + # NOTE: clean & build & install could be just install, but then a manual rebuild needs sudo +- name: Install PRU firmware - PRU0 - HARVESTER + community.general.make: + chdir: "{{ sheep_install_path }}/software/firmware/pru0-shepherd-fw" + target: install + params: + TYPE: HRV + become: true + # build second programmer - name: Clean PRU Firmware Source - Programmer 2 - SBW community.general.make: From 07a23ce2eeb353161e56b771504335836de547b1 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 18:48:34 +0200 Subject: [PATCH 10/27] py - fix bugs --- software/python-package/shepherd_sheep/__init__.py | 2 +- software/python-package/shepherd_sheep/cli.py | 2 +- .../python-package/shepherd_sheep/shepherd_emulator.py | 1 - .../python-package/shepherd_sheep/shepherd_harvester.py | 1 - software/python-package/shepherd_sheep/shepherd_io.py | 8 +++++--- software/python-package/shepherd_sheep/sysfs_interface.py | 2 +- 6 files changed, 8 insertions(+), 8 deletions(-) diff --git a/software/python-package/shepherd_sheep/__init__.py b/software/python-package/shepherd_sheep/__init__.py index 6c38b574..02810fa3 100644 --- a/software/python-package/shepherd_sheep/__init__.py +++ b/software/python-package/shepherd_sheep/__init__.py @@ -241,7 +241,7 @@ def run_programmer(cfg: ProgrammingTask) -> bool: pass stack.close() - sysfs_interface.load_pru_firmware("pru0-shepherd") + sysfs_interface.load_pru_firmware("pru0-shepherd-EMU") sysfs_interface.load_pru_firmware("pru1-shepherd") return failed # TODO: all run_() should emit error and abort_on_error should decide diff --git a/software/python-package/shepherd_sheep/cli.py b/software/python-package/shepherd_sheep/cli.py index d1e30fbb..0710a292 100644 --- a/software/python-package/shepherd_sheep/cli.py +++ b/software/python-package/shepherd_sheep/cli.py @@ -332,7 +332,7 @@ def fix() -> None: ) @click.argument( "firmware", - type=click.Choice(["default", "swd", "sbw", "sync"]), + type=click.Choice(["default", "emu", "hrv", "swd", "sbw", "sync"]), default="default", ) def pru(firmware: str) -> None: diff --git a/software/python-package/shepherd_sheep/shepherd_emulator.py b/software/python-package/shepherd_sheep/shepherd_emulator.py index fbbd31f4..1b10f83d 100644 --- a/software/python-package/shepherd_sheep/shepherd_emulator.py +++ b/software/python-package/shepherd_sheep/shepherd_emulator.py @@ -44,7 +44,6 @@ def __init__( mode: str = "emulator", ) -> None: log.debug("ShepherdEmulator-Init in %s-mode", mode) - sysfs_interface.load_pru_firmware("shepherd-EMU") super().__init__( mode=mode, trace_iv=cfg.power_tracing, diff --git a/software/python-package/shepherd_sheep/shepherd_harvester.py b/software/python-package/shepherd_sheep/shepherd_harvester.py index 9c7e429f..b3926e87 100644 --- a/software/python-package/shepherd_sheep/shepherd_harvester.py +++ b/software/python-package/shepherd_sheep/shepherd_harvester.py @@ -37,7 +37,6 @@ def __init__( mode: str = "harvester", ) -> None: log.debug("ShepherdHarvester-Init in %s-mode", mode) - sysfs_interface.load_pru_firmware("shepherd-HRV") super().__init__( mode=mode, trace_iv=cfg.power_tracing, diff --git a/software/python-package/shepherd_sheep/shepherd_io.py b/software/python-package/shepherd_sheep/shepherd_io.py index 339a1d12..18f0003a 100644 --- a/software/python-package/shepherd_sheep/shepherd_io.py +++ b/software/python-package/shepherd_sheep/shepherd_io.py @@ -88,9 +88,11 @@ def __init__( """ check_sys_access() - if not sfs.pru_firmware_is_default(): - sfs.load_pru_firmware("pru0-shepherd") - sfs.load_pru_firmware("pru1-shepherd") + if mode == "harvester": + sfs.load_pru_firmware("pru0-shepherd-HRV") + else: + sfs.load_pru_firmware("pru0-shepherd-EMU") + sfs.load_pru_firmware("pru1-shepherd") self.mode = mode if mode in {"harvester", "emulator"}: diff --git a/software/python-package/shepherd_sheep/sysfs_interface.py b/software/python-package/shepherd_sheep/sysfs_interface.py index b4c8e342..7a9f8cda 100644 --- a/software/python-package/shepherd_sheep/sysfs_interface.py +++ b/software/python-package/shepherd_sheep/sysfs_interface.py @@ -597,7 +597,7 @@ def check_programmer() -> str: ] -def load_pru_firmware(value: str = "pru0-shepherd") -> None: +def load_pru_firmware(value: str) -> None: """Swap out firmware for PRU. NOTE: current kernel 4.19 (or kernel module code) locks up rproc-sysfs From 0029337ccaa0c4715c924eb64f178a44f1471936 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 18:48:54 +0200 Subject: [PATCH 11/27] fix workflow unittests --- .github/workflows/build_pru_gcc.yml | 16 +++++++++++++--- 1 file changed, 13 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build_pru_gcc.yml b/.github/workflows/build_pru_gcc.yml index a1a92fc1..503fcb23 100644 --- a/.github/workflows/build_pru_gcc.yml +++ b/.github/workflows/build_pru_gcc.yml @@ -51,10 +51,20 @@ jobs: run: "sudo cp software/firmware/lib/am335xl.pru0 ${{ env.PRU_GCC }}/pru-elf/lib/device-specs/am335xl.pru0" working-directory: "${{ github.workspace }}" - - name: Build PRU0 🧱 + - name: Build PRU0 - SHP EMU 🧱 run: | - make - ${{ env.PRU_GCC }}/bin/pru-size gen_gcc/pru0-shepherd-fw.elf + make TYPE=EMU + ${{ env.PRU_GCC }}/bin/pru-size gen_gcc/pru0-shepherd-EMU-fw.elf + working-directory: "software/firmware/pru0-shepherd-fw/" + + - name: Clean Programmer 🧹 + run: make clean + working-directory: "software/firmware/pru0-programmer/" + + - name: Build PRU0 - SHP HRV 🧱 + run: | + make TYPE=HRV + ${{ env.PRU_GCC }}/bin/pru-size gen_gcc/pru0-shepherd-HRV-fw.elf working-directory: "software/firmware/pru0-shepherd-fw/" - name: Build PRU1 🧱 From e321704b6c3bc81bbd865894be75ce20dec69ddc Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 18:49:04 +0200 Subject: [PATCH 12/27] doc --- hardware/cape_v2.5a/Readme.md | 1 + software/firmware/pru0-shepherd-fw/main.c | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/hardware/cape_v2.5a/Readme.md b/hardware/cape_v2.5a/Readme.md index 1bc1b516..c4042ea7 100644 --- a/hardware/cape_v2.5a/Readme.md +++ b/hardware/cape_v2.5a/Readme.md @@ -4,3 +4,4 @@ - keep pin-mapping of target v1.0 - add more dir-changing (reuse 2x Dir of prog-adapter) - harvester seems a bit too fast - current is overswinging - see SM141K04LV ivcurve +- disable GPIO IO if voltage is cut (due to low_threshold) diff --git a/software/firmware/pru0-shepherd-fw/main.c b/software/firmware/pru0-shepherd-fw/main.c index f3dbdb30..d502ddd3 100644 --- a/software/firmware/pru0-shepherd-fw/main.c +++ b/software/firmware/pru0-shepherd-fw/main.c @@ -15,9 +15,9 @@ #include "shepherd_config.h" #include "calibration.h" +#include "fw_config.h" #include "sampling.h" #include "virtual_converter.h" -#include "fw_config.h" /* PRU0 Feature Selection */ //#define ENABLE_DEBUG_MATH_FN // reduces firmware by ~9 kByte From 1e5722f6f15aaf416c64484c6fa4860e273f039f Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 18:50:22 +0200 Subject: [PATCH 13/27] bump ver --- .bumpversion.cfg | 2 +- docs/conf.py | 2 +- docs/dev/contributing.md | 2 +- software/firmware/pru0-module-py/shepherd_pru/__init__.py | 2 +- software/kernel-module/src/module_base.c | 2 +- software/pps-gmtimer/src/pps-gmtimer.c | 2 +- software/python-package/shepherd_launcher/__init__.py | 2 +- software/python-package/shepherd_sheep/__init__.py | 2 +- software/python-package/shepherd_watchdog/__init__.py | 2 +- software/shepherd-calibration/shepherd_cal/__init__.py | 2 +- software/shepherd-herd/shepherd_herd/__init__.py | 2 +- software/time_sync_analyzer/sync_analysis/__init__.py | 2 +- 12 files changed, 12 insertions(+), 12 deletions(-) diff --git a/.bumpversion.cfg b/.bumpversion.cfg index c4ff5f0e..f2847a76 100644 --- a/.bumpversion.cfg +++ b/.bumpversion.cfg @@ -1,5 +1,5 @@ [bumpversion] -current_version = 0.8.1 +current_version = 0.8.2 commit = False tag = False diff --git a/docs/conf.py b/docs/conf.py index c190b606..a652118c 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -18,7 +18,7 @@ project = "SHEPHERD" project_copyright = "2019-2024, Networked Embedded Systems Lab, TU Dresden & TU Darmstadt" author = "Kai Geissdoerfer, Ingmar Splitt" -release = "0.8.1" +release = "0.8.2" # -- General configuration --------------------------------------------------- diff --git a/docs/dev/contributing.md b/docs/dev/contributing.md index f8e63853..a65c4377 100644 --- a/docs/dev/contributing.md +++ b/docs/dev/contributing.md @@ -123,7 +123,7 @@ Use `bump2version` to update the version number across the repository: ```shell pipenv shell pre-commit run --all-files -bump2version --allow-dirty --new-version 0.8.1 patch +bump2version --allow-dirty --new-version 0.8.2 patch # version-format: major.minor.patch ``` diff --git a/software/firmware/pru0-module-py/shepherd_pru/__init__.py b/software/firmware/pru0-module-py/shepherd_pru/__init__.py index ce8fad02..eb8ca6da 100644 --- a/software/firmware/pru0-module-py/shepherd_pru/__init__.py +++ b/software/firmware/pru0-module-py/shepherd_pru/__init__.py @@ -6,7 +6,7 @@ from .pru_source_model import PruSourceModel from .pru_source_simulation import simulate_source -__version__ = "0.8.1" +__version__ = "0.8.2" __all__ = [ "PruConverterModel", diff --git a/software/kernel-module/src/module_base.c b/software/kernel-module/src/module_base.c index c59564cf..2c3dcc38 100644 --- a/software/kernel-module/src/module_base.c +++ b/software/kernel-module/src/module_base.c @@ -165,5 +165,5 @@ module_platform_driver(shepherd_driver); MODULE_LICENSE("GPL"); MODULE_AUTHOR("Kai Geissdoerfer"); MODULE_DESCRIPTION("Shepherd kernel module for time synchronization and data exchange to PRUs"); -MODULE_VERSION("0.8.1"); +MODULE_VERSION("0.8.2"); // MODULE_ALIAS("rpmsg:rpmsg-shprd"); // TODO: is this still needed? diff --git a/software/pps-gmtimer/src/pps-gmtimer.c b/software/pps-gmtimer/src/pps-gmtimer.c index 036e25e4..c9744040 100644 --- a/software/pps-gmtimer/src/pps-gmtimer.c +++ b/software/pps-gmtimer/src/pps-gmtimer.c @@ -42,7 +42,7 @@ MODULE_LICENSE("GPL"); MODULE_AUTHOR("Dan Drown"); MODULE_DESCRIPTION("PPS Client Driver using OMAP Timer hardware"); -MODULE_VERSION("0.8.1"); +MODULE_VERSION("0.8.2"); struct pps_gmtimer_platform_data { diff --git a/software/python-package/shepherd_launcher/__init__.py b/software/python-package/shepherd_launcher/__init__.py index ca9819f0..c6cdacfd 100644 --- a/software/python-package/shepherd_launcher/__init__.py +++ b/software/python-package/shepherd_launcher/__init__.py @@ -15,7 +15,7 @@ from typing_extensions import Self -__version__ = "0.8.1" +__version__ = "0.8.2" # Top-Level Package-logger log = logging.getLogger("ShpLauncher") diff --git a/software/python-package/shepherd_sheep/__init__.py b/software/python-package/shepherd_sheep/__init__.py index 02810fa3..bf53bfde 100644 --- a/software/python-package/shepherd_sheep/__init__.py +++ b/software/python-package/shepherd_sheep/__init__.py @@ -40,7 +40,7 @@ from .sysfs_interface import flatten_list from .target_io import TargetIO -__version__ = "0.8.1" +__version__ = "0.8.2" __all__ = [ "Writer", diff --git a/software/python-package/shepherd_watchdog/__init__.py b/software/python-package/shepherd_watchdog/__init__.py index 5f2800a4..1a192bda 100644 --- a/software/python-package/shepherd_watchdog/__init__.py +++ b/software/python-package/shepherd_watchdog/__init__.py @@ -10,7 +10,7 @@ from typing_extensions import Self -__version__ = "0.8.1" +__version__ = "0.8.2" # Top-Level Package-logger log = logging.getLogger("ShpWatchdog") diff --git a/software/shepherd-calibration/shepherd_cal/__init__.py b/software/shepherd-calibration/shepherd_cal/__init__.py index a8f35fdf..3b40c078 100644 --- a/software/shepherd-calibration/shepherd_cal/__init__.py +++ b/software/shepherd-calibration/shepherd_cal/__init__.py @@ -6,7 +6,7 @@ from .profile_analyzer import analyze_directory from .profiler import Profiler -__version__ = "0.8.1" +__version__ = "0.8.2" __all__ = [ "Calibrator", diff --git a/software/shepherd-herd/shepherd_herd/__init__.py b/software/shepherd-herd/shepherd_herd/__init__.py index 4ff55d47..11151e16 100644 --- a/software/shepherd-herd/shepherd_herd/__init__.py +++ b/software/shepherd-herd/shepherd_herd/__init__.py @@ -12,7 +12,7 @@ from .logger import get_verbosity from .logger import logger -__version__ = "0.8.1" +__version__ = "0.8.2" __all__ = [ "Herd", diff --git a/software/time_sync_analyzer/sync_analysis/__init__.py b/software/time_sync_analyzer/sync_analysis/__init__.py index 9c21f337..daf1d905 100644 --- a/software/time_sync_analyzer/sync_analysis/__init__.py +++ b/software/time_sync_analyzer/sync_analysis/__init__.py @@ -3,7 +3,7 @@ from .logic_trace import LogicTrace from .logic_traces import LogicTraces -__version__ = "0.8.1" +__version__ = "0.8.2" __all__ = [ "LogicTrace", From fabfd4c060b92c5964687bdea4c94991cd5a3804 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 21:22:53 +0200 Subject: [PATCH 14/27] divide emulation tests --- .../{02_emulate.py => 02_emulate_pru.py} | 30 ++--------- .../test_manual/02_emulate_py.py | 54 +++++++++++++++++++ 2 files changed, 57 insertions(+), 27 deletions(-) rename software/shepherd-herd/test_manual/{02_emulate.py => 02_emulate_pru.py} (73%) create mode 100644 software/shepherd-herd/test_manual/02_emulate_py.py diff --git a/software/shepherd-herd/test_manual/02_emulate.py b/software/shepherd-herd/test_manual/02_emulate_pru.py similarity index 73% rename from software/shepherd-herd/test_manual/02_emulate.py rename to software/shepherd-herd/test_manual/02_emulate_pru.py index 70ccb56a..989911f5 100644 --- a/software/shepherd-herd/test_manual/02_emulate.py +++ b/software/shepherd-herd/test_manual/02_emulate_pru.py @@ -6,14 +6,13 @@ from shepherd_core.data_models import VirtualSourceConfig from shepherd_core.data_models.task import EmulationTask from shepherd_core.vsource import ResistiveTarget -from shepherd_core.vsource import simulate_source from shepherd_data import Reader from shepherd_herd import Herd hrv_list = [ "ivcurve", - "mppt_voc", - "mppt_po", + # "mppt_voc", + # "mppt_po", ] src_list = [ @@ -26,7 +25,7 @@ host_selected = "sheep0" path_here = Path(__file__).parent results: dict = {} -target = ResistiveTarget(resistance_Ohm=1000) +target = ResistiveTarget(R_Ohm=1000) # ##################################################################### # Transfer Files to Observer ######################################## @@ -72,29 +71,6 @@ with Reader(path_local_src) as _fh: results[path_local_src.stem] = _fh.energy() - -# ##################################################################### -# Emulate - simulated ######################################## -# ##################################################################### - -for hrv_name, src_name in product(hrv_list, src_list): - path_input = paths_local_hrv[hrv_name] - path_output = path_input.with_name( - path_input.stem + "_" + src_name + "_sim" + path_input.suffix - ) - if not path_output.exists(): - simulate_source( - config=VirtualSourceConfig( - inherit_from=src_name, - C_output_uF=0, - ), - target=target, - path_input=path_input, - path_output=path_output, - ) - with Reader(path_output, verbose=False) as _fh: - results[path_output.stem] = _fh.energy() - logger.info("Finished with:") for _key, _value in results.items(): logger.info("\t%s = %.6f mWs", _key, 1e3 * _value) diff --git a/software/shepherd-herd/test_manual/02_emulate_py.py b/software/shepherd-herd/test_manual/02_emulate_py.py new file mode 100644 index 00000000..4ff8b98d --- /dev/null +++ b/software/shepherd-herd/test_manual/02_emulate_py.py @@ -0,0 +1,54 @@ +from itertools import product +from pathlib import Path + +from shepherd_core import logger +from shepherd_core.data_models import VirtualSourceConfig +from shepherd_core.vsource import ResistiveTarget +from shepherd_core.vsource import simulate_source +from shepherd_data import Reader + +hrv_list = [ + "ivcurve", + "mppt_voc", + "mppt_po", +] + +src_list = [ + "direct", + "dio_cap", + "BQ25504", + "BQ25570", +] + +host_selected = "sheep0" +path_here = Path(__file__).parent +results: dict = {} +target = ResistiveTarget(R_Ohm=1000) + +# ##################################################################### +# Emulate - simulated ######################################## +# ##################################################################### + +for hrv_name, src_name in product(hrv_list, src_list): + + + path_input = path_here / host_selected / f"hrv_{hrv_name}.h5" + path_output = path_input.with_name( + path_input.stem + "_" + src_name + "_sim" + path_input.suffix + ) + if not path_output.exists(): + simulate_source( + config=VirtualSourceConfig( + inherit_from=src_name, + C_output_uF=0, + ), + target=target, + path_input=path_input, + path_output=path_output, + ) + with Reader(path_output, verbose=False) as _fh: + results[path_output.stem] = _fh.energy() + +logger.info("Finished with:") +for _key, _value in results.items(): + logger.info("\t%s = %.6f mWs", _key, 1e3 * _value) From 5e223372b69e411f8816cd7c142509daf456ff0c Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 21:23:17 +0200 Subject: [PATCH 15/27] vhrv - fix extrapolation --- .../pru0-shepherd-fw/virtual_harvester.c | 24 ++++++++++--------- 1 file changed, 13 insertions(+), 11 deletions(-) diff --git a/software/firmware/pru0-shepherd-fw/virtual_harvester.c b/software/firmware/pru0-shepherd-fw/virtual_harvester.c index f6aabf0a..80955477 100644 --- a/software/firmware/pru0-shepherd-fw/virtual_harvester.c +++ b/software/firmware/pru0-shepherd-fw/virtual_harvester.c @@ -61,7 +61,7 @@ static void harvest_ivcurve_2_mppt_opt(uint32_t *const p_voltage_uV, uint32_t *c #ifdef __PYTHON__ void __delay_cycles(uint32_t num) { - while (num > 0u) num--; + if (num > 0u) num--; // just touch - needs no faking } /* next is a mock-impl to calm the compiler (does not get used)*/ static uint32_t hw_value = 0u; @@ -393,7 +393,7 @@ static void harvest_ivcurve_2_cv(uint32_t *const p_voltage_uV, uint32_t *const p * - no min/max usage here, the main FNs do that, or python if cv() is used directly * */ static uint32_t voltage_last = 0u, current_last = 0u; - static uint32_t voltage_delta = 0u, current_delta = 0u; + static int32_t voltage_delta = 0u, current_delta = 0u; static bool_ft compare_last = 0u; /* find matching voltage with threshold-crossing-detection -> direction of curve is irrelevant */ @@ -417,31 +417,33 @@ static void harvest_ivcurve_2_cv(uint32_t *const p_voltage_uV, uint32_t *const p { voltage_hold = *p_voltage_uV; current_hold = *p_current_nA; - voltage_delta = *p_voltage_uV - voltage_last; - current_delta = *p_current_nA - current_last; + voltage_delta = (int32_t) *p_voltage_uV - voltage_last; + current_delta = (int32_t) *p_current_nA - current_last; } else if ((distance_last < distance_now) && (distance_last < voltage_step_x4_uV)) { voltage_hold = voltage_last; current_hold = current_last; - voltage_delta = *p_voltage_uV - voltage_last; - current_delta = *p_current_nA - current_last; + voltage_delta = (int32_t) *p_voltage_uV - voltage_last; + current_delta = (int32_t) *p_current_nA - current_last; } } else if (lin_extrapolation) { /* apply the proper delta if needed */ - if ((voltage_hold < voltage_set_uV) == (voltage_delta > 0u)) + if ((voltage_hold < voltage_set_uV) == (voltage_delta > 0)) { voltage_hold += voltage_delta; current_hold += current_delta; } else { - if (voltage_hold > voltage_delta) voltage_hold -= voltage_delta; - else voltage_hold = 0; - if (current_hold > current_delta) current_hold -= current_delta; - else current_hold = 0; + const uint32_t uvd = voltage_delta >= 0 ? (uint32_t) voltage_delta : 0u; + const uint32_t ucd = current_delta >= 0 ? (uint32_t) current_delta : 0u; + if (voltage_hold > uvd) voltage_hold -= voltage_delta; + else voltage_hold = 0u; + if (current_hold > ucd) current_hold -= current_delta; + else current_hold = 0u; } } voltage_last = *p_voltage_uV; From 5d9a7417fe30d6396d8b961e729df2aed7b4638a Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 21:25:46 +0200 Subject: [PATCH 16/27] fix py-module of pru-code --- software/firmware/pru0-module-py/Makefile | 4 ++-- .../pru0-module-py/examples/emulate.py | 22 +++++++++---------- .../shepherd_pru/pru_source_simulation.py | 6 ++++- 3 files changed, 18 insertions(+), 14 deletions(-) diff --git a/software/firmware/pru0-module-py/Makefile b/software/firmware/pru0-module-py/Makefile index 5ad0ed3c..0ab17f26 100644 --- a/software/firmware/pru0-module-py/Makefile +++ b/software/firmware/pru0-module-py/Makefile @@ -31,11 +31,11 @@ SOURCES = $(BASE_PATH)/pru0-shepherd-fw/virtual_harvester.c SOURCES += $(BASE_PATH)/pru0-shepherd-fw/virtual_converter.c SOURCES += $(BASE_PATH)/pru0-shepherd-fw/calibration.c SOURCES += $(BASE_PATH)/pru0-shepherd-fw/math64_safe.c -SOURCES += $(BASE_PATH)/pru0-module-py/shp_pru/pru_source.c +SOURCES += $(BASE_PATH)/pru0-module-py/shepherd_pru/pru_source.c OBJECTS=$(SOURCES:.c=.o) -TARGET=./shp_pru/_shared_pru.so +TARGET=./shepherd_pru/_shared_pru.so all: $(TARGET) diff --git a/software/firmware/pru0-module-py/examples/emulate.py b/software/firmware/pru0-module-py/examples/emulate.py index 8736ac54..4e780300 100644 --- a/software/firmware/pru0-module-py/examples/emulate.py +++ b/software/firmware/pru0-module-py/examples/emulate.py @@ -20,7 +20,7 @@ "BQ25570", ] -target = ResistiveTarget(resistance_Ohm=1000) +target = ResistiveTarget(R_Ohm=1000) paths_local_hrv = {hrv_name: Path(__file__).parent / f"hrv_{hrv_name}.h5" for hrv_name in hrv_list} results: dict = {} @@ -34,16 +34,16 @@ path_output = path_input.with_name( path_input.stem + "_" + src_name + "_cim" + path_input.suffix ) - # if not path_output.exists(): - simulate_source( - config=VirtualSourceConfig( - inherit_from=src_name, - C_output_uF=0, - ), - target=target, - path_input=path_input, - path_output=path_output, - ) + if not path_output.exists(): + simulate_source( + config=VirtualSourceConfig( + inherit_from=src_name, + C_output_uF=0, + ), + target=target, + path_input=path_input, + path_output=path_output, + ) with Reader(path_output, verbose=False) as _fh: results[path_output.stem] = _fh.energy() diff --git a/software/firmware/pru0-module-py/shepherd_pru/pru_source_simulation.py b/software/firmware/pru0-module-py/shepherd_pru/pru_source_simulation.py index 8eb6d9e1..ce6ad236 100644 --- a/software/firmware/pru0-module-py/shepherd_pru/pru_source_simulation.py +++ b/software/firmware/pru0-module-py/shepherd_pru/pru_source_simulation.py @@ -46,7 +46,11 @@ def simulate_source( cal_out = file_out.get_calibration_data() src = VirtualSourceModel( - config, cal_emu, log_intermediate=False, window_size=file_inp.get_window_samples() + config, + cal_emu, + dtype_in=file_inp.get_datatype(), + log_intermediate=False, + window_size=file_inp.get_window_samples(), ) i_out_nA = 0 e_out_Ws = 0.0 From d3cdd279536379fed9b92f34c3ad46ab52e838d7 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 22:21:09 +0200 Subject: [PATCH 17/27] pru-vsrc - fix bug --- .../firmware/pru0-shepherd-fw/virtual_converter.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/software/firmware/pru0-shepherd-fw/virtual_converter.c b/software/firmware/pru0-shepherd-fw/virtual_converter.c index 4812ae52..b8a3e0fa 100644 --- a/software/firmware/pru0-shepherd-fw/virtual_converter.c +++ b/software/firmware/pru0-shepherd-fw/virtual_converter.c @@ -79,7 +79,7 @@ void converter_initialize(const volatile struct ConverterConfig *const config) cfg = config; /* Power-flow in and out of system */ - state.V_input_uV = 0u; + state.V_input_uV = 0u; // TODO: is it used? state.P_inp_fW_n8 = 0ull; state.P_out_fW_n4 = 0ull; state.interval_startup_disabled_drain_n = cfg->interval_startup_delay_drain_n; @@ -178,17 +178,17 @@ void converter_calc_inp_power(uint32_t input_voltage_uV, uint32_t input_current_ { // no boost, but cap, for ie. diode+cap (+resistor) const uint32_t V_mid_uV = (state.V_mid_uV_n32 >> 32u); - const uint32_t V_diff_uV = (input_voltage_uV > V_mid_uV) ? input_voltage_uV - V_mid_uV : 0u; - const uint32_t V_drop_uV = + const uint32_t V_diff_uV = (input_voltage_uV >= V_mid_uV) ? input_voltage_uV - V_mid_uV : 0u; + const uint32_t V_res_drop_uV = (uint32_t) (((uint64_t) input_current_nA * (uint64_t) cfg->R_input_kOhm_n22) >> 22u); - if (V_drop_uV > V_diff_uV) { input_voltage_uV = V_mid_uV; } - else { input_voltage_uV -= V_drop_uV; } + if (V_res_drop_uV > V_diff_uV) { input_voltage_uV = V_mid_uV; } + else { input_voltage_uV -= V_res_drop_uV; } if (feedback_to_hrv) { // IF input==ivcurve request new CV - V_input_request_uV = V_mid_uV + V_diff_uV + V_drop_uV; + V_input_request_uV = V_mid_uV + V_res_drop_uV + cfg->V_input_drop_uV; } else if (input_voltage_uV < V_mid_uV) { From bea3e19b3dd0a2fcbbc65a3b80787b16d45d83f0 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 22:35:17 +0200 Subject: [PATCH 18/27] format code --- software/firmware/pru0-shepherd-fw/virtual_converter.c | 7 ++++--- software/shepherd-herd/test_manual/02_emulate_py.py | 2 -- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/software/firmware/pru0-shepherd-fw/virtual_converter.c b/software/firmware/pru0-shepherd-fw/virtual_converter.c index b8a3e0fa..34c454f3 100644 --- a/software/firmware/pru0-shepherd-fw/virtual_converter.c +++ b/software/firmware/pru0-shepherd-fw/virtual_converter.c @@ -79,7 +79,7 @@ void converter_initialize(const volatile struct ConverterConfig *const config) cfg = config; /* Power-flow in and out of system */ - state.V_input_uV = 0u; // TODO: is it used? + state.V_input_uV = 0u; // TODO: is it used? state.P_inp_fW_n8 = 0ull; state.P_out_fW_n4 = 0ull; state.interval_startup_disabled_drain_n = cfg->interval_startup_delay_drain_n; @@ -177,8 +177,9 @@ void converter_calc_inp_power(uint32_t input_voltage_uV, uint32_t input_current_ else if (state.enable_storage) { // no boost, but cap, for ie. diode+cap (+resistor) - const uint32_t V_mid_uV = (state.V_mid_uV_n32 >> 32u); - const uint32_t V_diff_uV = (input_voltage_uV >= V_mid_uV) ? input_voltage_uV - V_mid_uV : 0u; + const uint32_t V_mid_uV = (state.V_mid_uV_n32 >> 32u); + const uint32_t V_diff_uV = + (input_voltage_uV >= V_mid_uV) ? input_voltage_uV - V_mid_uV : 0u; const uint32_t V_res_drop_uV = (uint32_t) (((uint64_t) input_current_nA * (uint64_t) cfg->R_input_kOhm_n22) >> 22u); diff --git a/software/shepherd-herd/test_manual/02_emulate_py.py b/software/shepherd-herd/test_manual/02_emulate_py.py index 4ff8b98d..789b3459 100644 --- a/software/shepherd-herd/test_manual/02_emulate_py.py +++ b/software/shepherd-herd/test_manual/02_emulate_py.py @@ -30,8 +30,6 @@ # ##################################################################### for hrv_name, src_name in product(hrv_list, src_list): - - path_input = path_here / host_selected / f"hrv_{hrv_name}.h5" path_output = path_input.with_name( path_input.stem + "_" + src_name + "_sim" + path_input.suffix From 8fc5e9427299d34bebf3707ddef530858a041ece Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 22:35:23 +0200 Subject: [PATCH 19/27] add results --- software/shepherd-herd/test_manual/README.md | 25 ++++++++++---------- 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/software/shepherd-herd/test_manual/README.md b/software/shepherd-herd/test_manual/README.md index 6d2db1f4..03c7818c 100644 --- a/software/shepherd-herd/test_manual/README.md +++ b/software/shepherd-herd/test_manual/README.md @@ -59,17 +59,18 @@ Analyze of the processed energy and error in comparison to the Py-implementation | Emulation | Py/mWs | C-Py/mWs | error/% | PRU/mWs | error/% | |---------------------|------------|------------|---------|------------|---------| -| ivcurve to direct | 238,514834 | 238,551795 | 0,015 | 237,957013 | 0,234 | -| ivcurve to dio_cap | 51,181966 | 51,181283 | -0,001 | 51,180749 | 0,002 | -| ivcurve to BQ25504 | 50,293696 | 50,292813 | -0,002 | 50,291193 | 0,005 | -| ivcurve to BQ25570 | 47,10007 | 46,994343 | -0,225 | 47,06352 | 0,078 | -| mppt_voc to direct | 267,581982 | 267,582445 | 0,000 | 266,889329 | 0,259 | -| mppt_voc to dio_cap | 50,01102 | 50,011117 | 0,000 | 50,009699 | 0,003 | -| mppt_voc to BQ25504 | 50,289405 | 50,288394 | -0,002 | 50,286746 | 0,005 | -| mppt_voc to BQ25570 | 47,097267 | 47,044898 | -0,111 | 47,044391 | 0,112 | -| mppt_po to direct | 237,338342 | 237,338993 | 0,000 | 236,746732 | 0,249 | -| mppt_po to dio_cap | 50,193663 | 50,193853 | 0,000 | 50,187478 | 0,012 | -| mppt_po to BQ25504 | 50,762194 | 50,761248 | -0,002 | 50,754587 | 0,015 | -| mppt_po to BQ25570 | 47,464787 | 47,591982 | 0,267 | 47,554642 | -0,189 | +| ivcurve to direct | 221,627177 | 221,827565 | 0,090 | 223,549906 | 0,860 | +| ivcurve to dio_cap | 42,709102 | 42,697189 | 0,028 | 42,644341 | 0,152 | +| ivcurve to BQ25504 | 50,296103 | 50,295218 | 0,002 | 50,293645 | 0,005 | +| ivcurve to BQ25570 | 47,102389 | 46,996695 | 0,225 | 47,065830 | 0,078 | +| mppt_voc to direct | 267,581691 | 267,582445 | 0,000 | 266,922316 | 0,247 | +| mppt_voc to dio_cap | 50,104021 | 50,105496 | 0,003 | 50,052582 | 0,103 | +| mppt_voc to BQ25504 | 50,289357 | 50,288394 | 0,002 | 50,286719 | 0,005 | +| mppt_voc to BQ25570 | 47,097222 | 47,044898 | 0,111 | 47,044359 | 0,112 | +| mppt_po to direct | 237,338342 | 237,338993 | 0,000 | 236,716713 | 0,263 | +| mppt_po to dio_cap | 50,269561 | 50,264993 | 0,009 | 50,221581 | 0,096 | +| mppt_po to BQ25504 | 50,762148 | 50,761205 | 0,002 | 50,759567 | 0,005 | +| mppt_po to BQ25570 | 47,464743 | 47,591982 | 0,267 | 47,559356 | 0,199 | + The main source of the low constant error is from the input efficiency only having a resolution of 8 bit. From d95e213b1d304063bfbcede0b3e8411ad3640638 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Mon, 9 Sep 2024 22:42:53 +0200 Subject: [PATCH 20/27] Update CHANGELOG.md --- CHANGELOG.md | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index d298fad8..8ae8d4f9 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,10 +2,17 @@ ## 0.8.2 -- PRU gets now partially zeroed buffer-segments +- PRU now gets partially zeroed buffer-segments - PRU had a race-condition with a loose mutex resulting in keeping old gpio-samples -- python now warns on full gpio-buffer (as it can only hold ~16k entries in 100 ms) -- python now warns if first or last timestamp of gpio-buffer is out of scope of outer buffer-period +- python warns on full gpio-buffer (as it can only hold ~16k entries in 100 ms) +- python warns if first or last timestamp of gpio-buffer is out of scope of outer buffer-period +- hw cape - add errata-list +- vsrc - add datatype to determine state-variables +- CalibrationPair - add units +- split pru0-shepherd-fw into hrv & emu -> kModule, shepherd-sheep, playbooks, workflows adapted +- pru-vsource - add feedback to harvester +- pru-harvester - add feedback & extrapolation for cv-harvester +- **tested**: playbook dev_rebuild_sw.yml ## 0.8.1 From 8a4d7ac85ee43fc480953e156ee46939c9d6e1a5 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Tue, 10 Sep 2024 09:42:25 +0200 Subject: [PATCH 21/27] update deps --- Pipfile.lock | 2848 ++++++++++++++++++++++++++------------------------ 1 file changed, 1472 insertions(+), 1376 deletions(-) diff --git a/Pipfile.lock b/Pipfile.lock index 7f457a54..e1cbaa53 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -33,11 +33,11 @@ }, "ansible-core": { "hashes": [ - "sha256:71e5c93729cc5bf09ecdf0cac675685fd345d1571312409029bf842420850f23", - "sha256:917557065339fe36e7078e9bea47eefab6d6877f3bd435fa5f0d766d04c58485" + 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"sha256:ecd32f30f40bfd8511b17666895831a51b532e93fc106bfa97f366589d3e4e0e", + "sha256:f418c88f09c3ba159b95a9d1cfcdbe58f208443abb1f3109f4b9b12fd60b187c" ], "markers": "python_version >= '3.8'", - "version": "==7.0.1" + "version": "==7.0.3" }, "zstandard": { "hashes": [ From 2e09373233eefbba55be736dd17c68125c5f5866 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Tue, 10 Sep 2024 09:42:56 +0200 Subject: [PATCH 22/27] improve messages --- software/python-package/shepherd_sheep/sysfs_interface.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/software/python-package/shepherd_sheep/sysfs_interface.py b/software/python-package/shepherd_sheep/sysfs_interface.py index 7a9f8cda..e9e6be5e 100644 --- a/software/python-package/shepherd_sheep/sysfs_interface.py +++ b/software/python-package/shepherd_sheep/sysfs_interface.py @@ -611,8 +611,9 @@ def load_pru_firmware(value: str) -> None: if value.lower() in firmware.lower(): request = firmware break - log.debug("Will set pru-firmware to '%s'", request) - sys_str = f"/sys/shepherd/pru{1 if ('pru1' in request) else 0}_firmware" + pru_num = 1 if ('pru1' in request) else 0 + log.debug("\t- set pru%d-firmware to '%s'", pru_num, request) + sys_str = f"/sys/shepherd/pru{pru_num}_firmware" _count = 0 while _count < 6: _count += 1 From e2bc5714d1c3ac43b99454781da99c455fe5a3de Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Tue, 10 Sep 2024 09:43:02 +0200 Subject: [PATCH 23/27] Update test_emulation.py --- software/python-package/tests/test_emulation.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/software/python-package/tests/test_emulation.py b/software/python-package/tests/test_emulation.py index bb8455af..fa9e8cab 100644 --- a/software/python-package/tests/test_emulation.py +++ b/software/python-package/tests/test_emulation.py @@ -109,7 +109,7 @@ def test_emulation( @pytest.mark.usefixtures("_shepherd_up") def test_emulate_fn(tmp_path: Path, data_h5: Path) -> None: output = tmp_path / "rec.h5" - start_time = round(time.time() + 10) + start_time = round(time.time() + 14) emu_cfg = EmulationTask( input_path=data_h5, output_path=output, From deb8a2015114b1c59b043acf18e5eb6db669d3a9 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Wed, 11 Sep 2024 16:47:26 +0200 Subject: [PATCH 24/27] fix unittests --- .../shepherd_sheep/sysfs_interface.py | 2 +- .../tests/test_virtual_source.py | 36 ++++++++++++------- 2 files changed, 25 insertions(+), 13 deletions(-) diff --git a/software/python-package/shepherd_sheep/sysfs_interface.py b/software/python-package/shepherd_sheep/sysfs_interface.py index e9e6be5e..713d747a 100644 --- a/software/python-package/shepherd_sheep/sysfs_interface.py +++ b/software/python-package/shepherd_sheep/sysfs_interface.py @@ -611,7 +611,7 @@ def load_pru_firmware(value: str) -> None: if value.lower() in firmware.lower(): request = firmware break - pru_num = 1 if ('pru1' in request) else 0 + pru_num = 1 if ("pru1" in request) else 0 log.debug("\t- set pru%d-firmware to '%s'", pru_num, request) sys_str = f"/sys/shepherd/pru{pru_num}_firmware" _count = 0 diff --git a/software/python-package/tests/test_virtual_source.py b/software/python-package/tests/test_virtual_source.py index 5eb02161..23f17055 100644 --- a/software/python-package/tests/test_virtual_source.py +++ b/software/python-package/tests/test_virtual_source.py @@ -248,16 +248,20 @@ def test_vsource_diodecap( voltages_mV = [1000, 1100, 1500, 2000, 2500, 3000, 3500, 4000, 4500] # input with lower voltage should not change (open) output + print("DiodeCap Input different Voltages BELOW capacitor voltage -> no change in output") V_pru_mV = pru_vsource.iterate_sampling(0, 0, 0) * 10**-3 V_pyt_mV = pyt_vsource.iterate_sampling(0, 0, 0) * 10**-3 A_inp_nA = 10**3 - for V_inp_mV in voltages_mV[0:4]: # NOTE: make sure this selection is below cap-init-voltage + for V_inp_mV in voltages_mV: + if V_inp_mV > pyt_vsource.cfg_src.V_intermediate_init_mV: + # selection must be below cap-init-voltage + continue V_pru2_mV = pru_vsource.iterate_sampling(V_inp_mV * 10**3, A_inp_nA, 0) * 10**-3 V_pyt2_mV = pyt_vsource.iterate_sampling(V_inp_mV * 10**3, A_inp_nA, 0) * 10**-3 assert V_pru_mV == V_pru2_mV assert V_pyt_mV == V_pyt2_mV print( - "DiodeCap LowInput - " + " -> " f"Inp = {V_inp_mV} mV, " f"OutPru = {V_pru2_mV:.3f} mV, " f"OutPy = {V_pyt2_mV:.3f} mV", @@ -266,8 +270,9 @@ def test_vsource_diodecap( assert pru_vsource.W_inp_fWs >= pru_vsource.W_out_fWs # drain Cap for next tests - V_target_mV = 500 - A_out_nA = 10**7 + # NOTE: must be above V_intermediate_disable_threshold_mV + V_target_mV = max(2200, pyt_vsource.cfg_src.V_intermediate_disable_threshold_mV + 100) + A_out_nA = 10**6 # 1mA steps_needed = [0, 0] while pru_vsource.iterate_sampling(0, 0, A_out_nA) > V_target_mV * 10**3: steps_needed[0] += 1 @@ -282,12 +287,13 @@ def test_vsource_diodecap( pyt_vsource.W_out_fWs = 0 # zero current -> no change in output + print("DiodeCap Input different Voltages but ZERO current -> no change in output") A_inp_nA = 0 for V_inp_mV in voltages_mV: V_pru_mV = pru_vsource.iterate_sampling(V_inp_mV * 10**3, A_inp_nA, 0) * 10**-3 V_pyt_mV = pyt_vsource.iterate_sampling(V_inp_mV * 10**3, A_inp_nA, 0) * 10**-3 print( - f"DiodeCap inp=0nA - Inp = {V_inp_mV} mV, " + f" -> inp=0nA - Inp = {V_inp_mV} mV, " f"OutPru = {V_pru_mV:.3f} mV, " f"OutPy = {V_pyt_mV:.3f} mV", ) @@ -295,14 +301,19 @@ def test_vsource_diodecap( assert difference_percent(V_pyt_mV, V_target_mV, 50) < 3 # feed 200 mA -> fast charging cap - A_inp_nA = 2 * 10**8 + A_inp_nA = 200 * 10**6 + print(f"DiodeCap input different voltage with {A_inp_nA * 1e-6} mA -> fast charge") + V_diode_mV = pyt_vsource.cfg_src.V_input_drop_mV for V_inp_mV in voltages_mV: + V_postDiode_mV = max(V_inp_mV - V_diode_mV, 0) # diode drop voltage + if V_postDiode_mV < V_pru_mV and V_postDiode_mV < V_pyt_mV: + # input must be above cap-voltage + continue for _ in range(100): V_pru_mV = pru_vsource.iterate_sampling(V_inp_mV * 10**3, A_inp_nA, 0) * 10**-3 V_pyt_mV = pyt_vsource.iterate_sampling(V_inp_mV * 10**3, A_inp_nA, 0) * 10**-3 - V_postDiode_mV = max(V_inp_mV - 300, 0) # diode drop voltage print( - "DiodeCap inp=200mA - " + " -> inp=200mA - " f"Inp = {V_inp_mV} mV, " f"PostDiode = {V_postDiode_mV} mV, " f"OutPru = {V_pru_mV:.3f} mV, " @@ -312,21 +323,22 @@ def test_vsource_diodecap( assert difference_percent(V_pyt_mV, V_postDiode_mV, 50) < 3 # feed 5 mA, drain double of that -> output should settle at (V_in - V_drop)/2 - V_inp_uV = 3 * 10**6 A_inp_nA = 5 * 10**6 A_out_nA = 2 * A_inp_nA - V_settle_mV = (V_inp_uV * 10**-3 - 300) / 2 + V_settle_mV = max(2200, pyt_vsource.cfg_src.V_intermediate_disable_threshold_mV + 100) + V_inp_uV = (V_settle_mV * 2 + V_diode_mV) * 1e3 + assert V_inp_uV <= pyt_vsource.cfg_src.V_input_max_mV * 1e3 # how many steps? charging took 9 steps at 200mA, so roughly 9 * 200 / (10 - 5) print( f"DiodeCap Drain #### Inp = 5mA @ {V_inp_uV / 10**3} mV , Out = 10mA " f"-> V_out should settle @ {V_settle_mV} mV ", ) for _ in range(25): - for _ in range(50): + for _ in range(200): V_pru_mV = pru_vsource.iterate_sampling(V_inp_uV, A_inp_nA, A_out_nA) * 10**-3 V_pyt_mV = pyt_vsource.iterate_sampling(V_inp_uV, A_inp_nA, A_out_nA) * 10**-3 print( - f"DiodeCap Drain - OutPru = {V_pru_mV:.3f} mV, OutPy = {V_pyt_mV:.3f} mV", + f" -> OutPru = {V_pru_mV:.3f} mV, OutPy = {V_pyt_mV:.3f} mV", ) assert difference_percent(V_pru_mV, V_settle_mV, 50) < 3 assert difference_percent(V_pyt_mV, V_settle_mV, 50) < 3 From 2eacf12b9067841012d6d774fe908332a90da7b8 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Wed, 11 Sep 2024 16:58:35 +0200 Subject: [PATCH 25/27] pru0 - fix for msg-system --- software/firmware/pru0-shepherd-fw/main.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/software/firmware/pru0-shepherd-fw/main.c b/software/firmware/pru0-shepherd-fw/main.c index d502ddd3..2bb96993 100644 --- a/software/firmware/pru0-shepherd-fw/main.c +++ b/software/firmware/pru0-shepherd-fw/main.c @@ -39,8 +39,8 @@ static void send_status(volatile struct SharedMem *const shared_mem, enum MsgTyp const uint32_t value) { // do not care for sent-status -> the newest error wins IF different from previous - if (!((shared_mem->pru1_msg_error.type == type) && - (shared_mem->pru1_msg_error.value[0] == value))) + if (!((shared_mem->pru0_msg_error.type == type) && + (shared_mem->pru0_msg_error.value[0] == value))) { shared_mem->pru0_msg_error.unread = 0u; shared_mem->pru0_msg_error.type = type; From 0f7271c938ef19ae34b8fe1551d7e863d3371315 Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Wed, 11 Sep 2024 17:01:00 +0200 Subject: [PATCH 26/27] pru - same fix for programmer --- software/firmware/pru0-programmer/messenger.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/software/firmware/pru0-programmer/messenger.c b/software/firmware/pru0-programmer/messenger.c index d4a81f70..047b3cf5 100644 --- a/software/firmware/pru0-programmer/messenger.c +++ b/software/firmware/pru0-programmer/messenger.c @@ -5,8 +5,8 @@ void send_status(volatile struct SharedMem *const shared_mem, enum MsgType type, const uint32_t value) { // do not care for sent-status, the newest error wins IF different from previous - if (!((shared_mem->pru1_msg_error.type == type) && - (shared_mem->pru1_msg_error.value[0] == value))) + if (!((shared_mem->pru0_msg_error.type == type) && + (shared_mem->pru0_msg_error.value[0] == value))) { shared_mem->pru0_msg_error.unread = 0u; shared_mem->pru0_msg_error.type = type; From 1c4e1dec93beda290083152bbe254ffcdac6905a Mon Sep 17 00:00:00 2001 From: Ingmar Splitt Date: Wed, 11 Sep 2024 17:09:49 +0200 Subject: [PATCH 27/27] Update CHANGELOG.md --- CHANGELOG.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 8ae8d4f9..b7e120de 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -12,7 +12,7 @@ - split pru0-shepherd-fw into hrv & emu -> kModule, shepherd-sheep, playbooks, workflows adapted - pru-vsource - add feedback to harvester - pru-harvester - add feedback & extrapolation for cv-harvester -- **tested**: playbook dev_rebuild_sw.yml +- **tested**: pytest sheep, pytest herd, playbook dev_rebuild_sw.yml ## 0.8.1