Dev

.bumpversion.cfg

@@ -1,5 +1,5 @@
 [bumpversion]
-current_version = 0.8.1
+current_version = 0.8.2
 commit = False
 tag = False
 

.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 🧱

.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

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**: pytest sheep, pytest herd, playbook dev_rebuild_sw.yml
 
 ## 0.8.1
 

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:
 

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:

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 ---------------------------------------------------
 

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
 ```
 

hardware/cape_v2.5a/Readme.md

@@ -0,0 +1,7 @@
+# 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
+- disable GPIO IO if voltage is cut (due to low_threshold)

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)
 

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()
 

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",
 ]
 

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",

software/firmware/pru0-module-py/shepherd_pru/pru_source.c

@@ -4,6 +4,8 @@
 #include "virtual_harvester.h"
 #include <stdint.h>
 
+#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();
 }

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)
 

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

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 ?= ./..
 

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;

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

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_

software/firmware/pru0-shepherd-fw/include/virtual_converter.h

@@ -4,26 +4,29 @@
 #include "commons.h"
 #include <stdint.h>
 
-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

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