v0.9.0 - big buffer replacement, and much more

.github/workflows/build_pru_gcc.yml

@@ -85,6 +85,6 @@ jobs:
 
       - name: Build SBW Programmer 🧱
         run: |
-          make PROTO=SBW
+          make TYPE=SBW
           ${{ env.PRU_GCC }}/bin/pru-size gen_gcc/pru0-programmer-SBW-fw.elf
         working-directory: "software/firmware/pru0-programmer/"

.pre-commit-config.yaml

@@ -4,7 +4,7 @@
 # update deps pre-commit autoupdate
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
+    rev: v5.0.0
     hooks:
       - id: check-added-large-files
         args: ["--maxkb=500"]
@@ -36,13 +36,13 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.42.0
+    rev: v0.43.0
     hooks:
       - id: markdownlint
         args: ["--disable", "MD013"] # ignore line length
 
   - repo: https://github.com/abravalheri/validate-pyproject
-    rev: v0.20.2
+    rev: v0.23
     hooks:
       - id: validate-pyproject
         # files: "./software/python-package/pyproject.toml"
@@ -62,7 +62,7 @@ repos:
       - id: text-unicode-replacement-char
 
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: 'v0.6.8'
+    rev: 'v0.8.1'
     hooks:
       - id: ruff-format
       - id: ruff
@@ -91,7 +91,7 @@ repos:
         exclude: \.(sch|brd|lbr)$
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.0
+    rev: v19.1.4
     hooks:
       - id: clang-format
         types_or: [c++, c]

.ruff.toml

@@ -10,7 +10,6 @@ ignore = [
     "TID252", # relative imports from parent
     "PLR0904", "PLR0911", "PLR0912", "PLR0913", "PLR0915", # complexity
     "C901", # complexity
-    "ANN101", "ANN102", # self & cls not type-annotated
     "ANN401",  # Any as valid type
     "COM812", # trailing comma, same line
     "TD002", "TD003", "TD005", "FIX002",  # TODOs
@@ -32,13 +31,14 @@ exclude= [  # external projects
 
 [lint.per-file-ignores]
 "*/tests/**" = ["ARG", "S", "D", "SLF001", "T201"]
-"*/examples/**" = ["INP001", "ERA001"]  # no namespace + commented-out code
-"software/shepherd-calibration/**" = ["ERA001"]  # comments
+"*/examples/**" = ["INP001", "ERA001"]  # no namespace & commented-out code
+"docs/**" = ["INP001"]
 "software/debug_analyze_time_sync/**" = ["ERA001", "S301"]  # comments
-"software/shepherd-devicetest/**" = ["ERA001", "ARG001", "PLW0603", "F405", "F403", "ANN001"]
+"software/kernel-module/**" = ["INP001", "T201", "ERA001"]  # no namespace, print & commented-out code
 "software/python-package/shepherd_sheep/shepherd_debug.py" = ["FBT001", "FBT002"]
+"software/shepherd-calibration/**" = ["ERA001"]  # comments
 "software/shepherd-calibration/shepherd_cal/**" = ["FBT003"]  # rpc had trouble with named params
-"docs/**" = ["INP001"]
+"software/shepherd-devicetest/**" = ["ERA001", "ARG001", "PLW0603", "F405", "F403", "ANN001"]
 
 [lint.mccabe]
 # Unlike Flake8, default to a complexity level of 10.

Pipfile

@@ -13,6 +13,7 @@ shepherd-data = "*"
 sync-analysis = {editable = true, path = "./software/debug_analyze_time_sync"}
 # temporary
 dearpygui = "*"
+pre-commit = "*"
 
 [dev-packages]
 bump2version = "*"

deploy/dev_redeploy_roles.yml

@@ -17,7 +17,7 @@
       ansible.builtin.command: "date -s {{ local_time.stdout }}"
       changed_when: true
 
-- name: Role - PTP-Client only (not recommended! all should be server as well)
+- name: Role - PTP-Client only
   hosts: ptp_clients
   become: true
   strategy: free # noqa: run-once[play]

deploy/roles/sheep/tasks/build_pre.yml

@@ -12,7 +12,7 @@
   register: modprobe_ret
   until: modprobe_ret is not failed
   retries: 5
-  when: kmod_ret.rc == 0
+  # when: kmod_ret.rc == 0 # NOT WORKING as expected
   changed_when: true
   # fails at least on first install -> check for presence of shepherd
   # lsmod | grep shepherd

docs/dev/data_handling.md

@@ -6,7 +6,7 @@ Data is sampled/replayed through the ADC (`TI ADS8691`) and DAC (`TI DAC8562T`).
 
 ## PRU to host
 
-Data is sampled and bidirectionally transferred between PRUs and user space in buffers, i.e. blocks of `SAMPLES_PER_BUFFER` samples. These buffers correspond to sections of a continuous area of memory in DDR RAM to which both PRUs and user space application have access. This memory is provisioned through `remoteproc`, a Linux framework for managing resources in an AMP (asymmetric multicore processing) system. The PRU firmware contains a so-called resource table that allows to specify required resources. We request a carve-out memory area, which is a continuous, non-cached area in physical memory. On booting the PRU, the `remoteproc` driver reads the request, allocates the memory and writes the starting address of the allocated memory area to the resource table, which is readable by the PRU during run-time. The PRU exposes this memory location through shared RAM, which is accessible through the sysfs interface provided by the kernel module. Knowing physical address and size, the user space application can map that memory after which it has direct read/write access. The total memory areas is divided into `FIFO_BUFFER_SIZE` distinct buffers.
+Data is sampled and bidirectionally transferred between PRUs and user space in buffers. These buffers correspond to sections of a continuous area of memory in DDR RAM to which both PRUs and user space application have access. This memory is provisioned through `remoteproc`, a Linux framework for managing resources in an AMP (asymmetric multicore processing) system. The PRU firmware contains a so-called resource table that allows to specify required resources. We request a carve-out memory area, which is a continuous, non-cached area in physical memory. On booting the PRU, the `remoteproc` driver reads the request, allocates the memory and writes the starting address of the allocated memory area to the resource table, which is readable by the PRU during run-time. The PRU exposes this memory location through shared RAM, which is accessible through the sysfs interface provided by the kernel module. Knowing physical address and size, the user space application can map that memory after which it has direct read/write access. The total memory area is divided into three distinct buffers for ivsamples, gpio-traces and pru-utilization-log.
 
 The shared RAM approach is the fastest option on the BeagleBone, but still has some caveats. Writing from PRU-side to DDR RAM can be done within one cycle. The operation does not finish in that time, but does not block the PRU. Reading on the other hand can take several hundred cycles. In rare cases `> 4 us`, which equals 800 cycles or almost half the real-time window. For that reason the reading operation is done by PRU1, as it has more resources to spare. A future design should consider, that reading takes almost same time for 1 byte or 100 bytes.
 

software/debug_analyze_time_sync/sync_analysis/cli.py

@@ -70,7 +70,9 @@ def cli(
     _stat: dict[str, list] = {
         "diff": [],
         "rising": [],
+        "falling": [],
         "low": [],
+        "high": [],
     }
 
     for trace in ltraces.traces:
@@ -79,16 +81,27 @@ def cli(
 
         for _ch in range(trace.channel_count):
             _data_r = trace.calc_durations_ns(_ch, edge_a_rising=True, edge_b_rising=True)
-            _expt = trace.calc_expected_value(_data_r, mode_log10=True)
-            _name = trace.name + f"_ch{_ch}_rising_{round(_expt / 1e6)}ms"
-            _data_r[:, 1] = _data_r[:, 1] - _expt
+            _expt_r = trace.calc_expected_value(_data_r, mode_log10=True)  # in nsec
+            _name = trace.name + f"_ch{_ch}_rising_{round(_expt_r / 1e3)}us"
+            _data_r[:, 1] = _data_r[:, 1] - _expt_r
             trace.plot_series_jitter(_data_r, _name, dir_path)
             _stat["rising"].append(trace.get_statistics(_data_r, _name))
 
+            _data_f = trace.calc_durations_ns(_ch, edge_a_rising=False, edge_b_rising=False)
+            _expt_f = trace.calc_expected_value(_data_f, mode_log10=True)
+            _name = trace.name + f"_ch{_ch}_falling_{round(_expt_f / 1e3)}us"
+            _data_f[:, 1] = _data_f[:, 1] - _expt_f
+            trace.plot_series_jitter(_data_f, _name, dir_path)
+            _stat["falling"].append(trace.get_statistics(_data_f, _name))
+
             _data_l = trace.calc_durations_ns(_ch, edge_a_rising=False, edge_b_rising=True)
             _name = trace.name + f"_ch{_ch}_low"
             _stat["low"].append(trace.get_statistics(_data_l, _name))
 
+            _data_h = trace.calc_durations_ns(_ch, edge_a_rising=True, edge_b_rising=False)
+            _name = trace.name + f"_ch{_ch}_high"
+            _stat["high"].append(trace.get_statistics(_data_h, _name))
+
         # sync between channels
         for _ch1 in range(trace.channel_count):
             _data1 = trace.get_edge_timestamps(_ch1, rising=True)