diff --git a/README.md b/README.md index 021b755c..dd3f7425 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,7 @@ the art open hardware with open firmware and software. There are a few revs: * ovc3: three ON Semi AR0144CS imagers, USB Type-C peripheral, Trenz TE0820 module with Xilinx Zynq UltraScale+, RAM, flash, etc. Up to four optional external camera boards, each of which add a pair of AR0144CS imagers. * ovc4: A Jetson Xavier NX carrier board with an NXP MCU, USB Type-C interface and six Picam compatible connectors. * ovc5 (current work): based on Zynq UltraScale+ modules from Enclustra, with up to six external MIPI camera boards. Both Zynq USB SuperSpeed (5 Gbps) transceivers connect to an onboard USB-SS+ (10 Gbps) hub controller IC, which multiplexes them upstream via a USB type-C connector. Also has three Qwiic/STEMMA connectors and some random FPGA GPIO for low-speed expansion. + * ovc-mini (current work): based on the Ka-Ro QSXM/QSXP modules, this project is attempting to push the limits of the modular camera system in terms of size. The module will have the same footprint as one of the MIPI camera modules (36x36mm) and be able to stream a single imager's output up to the limits of the IMX8M(M/P) chipset's capabilities. # Where do I find stuff diff --git a/ovc_mini/README.md b/ovc_mini/README.md new file mode 100644 index 00000000..6d3158c5 --- /dev/null +++ b/ovc_mini/README.md @@ -0,0 +1,31 @@ +# OVC Mini + +OVC Mini intends to bring the same open computing platform to a much smaller form factor. +This had been made possible through the extremely small form factor SoMs that are built +around NXP's IMX8M chips. The end goal is a minimalistic footprint camera with the same +screw-on lens, combined with swappable 2-lane or 4-lane mipi camera boards. + +## Hardware + +Ka-Ro's QSXP/QSXM SoMs are perfectly sized for the pre-existing OVC-lens holder footprint. +Using these modules, it will be possible to create a sandwich of the imager board with the +compute board for minimal wasted space. + +## Firmware + +This project is running Ka-Ro's custom version of Yocto Hardknott with some additional drivers +added in for camera support. + +## Benchmark + +There are two benchmarks of interest: +* Latency between the image being read from the sensor to arriving in the host computer +* Reliable transmission bandwidth + +Tools to test these are located in the benchmark directory. + +## Software + +The goal is to re-use much of OVC5's software stack by using udmabufs again for the output of the camera modules. I2C is already the same. This will allow for a simple change of the [yaml configuration file](https://github.com/osrf/ovc/blob/master/ovc5/software/config.yaml) to switch between OVC5 and OVC Mini. + +__TODO:__ bring out the gpio settings for line trigger and sample trigger into the configuration file. \ No newline at end of file diff --git a/ovc_mini/benchmark/.gitignore b/ovc_mini/benchmark/.gitignore new file mode 100644 index 00000000..643bd909 --- /dev/null +++ b/ovc_mini/benchmark/.gitignore @@ -0,0 +1,3 @@ +output/ +build/ +__pycache__/ diff --git a/ovc_mini/benchmark/README.md b/ovc_mini/benchmark/README.md new file mode 100644 index 00000000..ddc70520 --- /dev/null +++ b/ovc_mini/benchmark/README.md @@ -0,0 +1,30 @@ +# Network Bandwidth and Reliability Testing + +__NOTE__: Both client and server must have iperf3 installed before continuing. + +These scripts are meant to determine the maximum usable bandwidth over a +network connection for a variety of packet sizes. To begin, connect the +device to be tested to the same network as your host machine. Next, run the +following command: + +```shell +./test.py username ip_address +``` + +The test should now run for some time. A help menu is available for more +detailed control of the test (`./test.py -h`). + +After the test is concluded, a folder labeled `output` should be in the host's +current directory. Finally, run the processing script to generate some nice +graphs to help visualize the data! + +```shell +./process.py +``` + +The graphs generate one at a time for results of a given test. Close a graph +to see results of the next test. + +## Reference Material + +MCS Table: https://semfionetworks.com/blog/mcs-table-updated-with-80211ax-data-rates/ diff --git a/ovc_mini/benchmark/benchmark/Makefile b/ovc_mini/benchmark/benchmark/Makefile new file mode 100644 index 00000000..9f22bcf7 --- /dev/null +++ b/ovc_mini/benchmark/benchmark/Makefile @@ -0,0 +1,10 @@ +CC=g++ +ARM_CC=aarch64-linux-gnu-g++ + +local: + mkdir -p build + ${ARM_CC} src/test_server.cpp -lpthread -o build/test_server + +arm: + mkdir -p build + ${ARM_CC} src/test_server.cpp -lpthread -o build/test_server_arm diff --git a/ovc_mini/benchmark/benchmark/__init__.py b/ovc_mini/benchmark/benchmark/__init__.py new file mode 100644 index 00000000..218eefc1 --- /dev/null +++ b/ovc_mini/benchmark/benchmark/__init__.py @@ -0,0 +1,4 @@ +"""Benchmark init""" + +from benchmark.ssh_session import SSHSession +from benchmark.base import Benchmark, IperfBench, PayloadBench diff --git a/ovc_mini/benchmark/benchmark/base.py b/ovc_mini/benchmark/benchmark/base.py new file mode 100644 index 00000000..aca30fd3 --- /dev/null +++ b/ovc_mini/benchmark/benchmark/base.py @@ -0,0 +1,195 @@ +"""Defines the base test class""" + +import numpy as np +import dataclasses +import json +import os +import socket +import subprocess +import time +from typing import Any, Dict, List +from pathlib import Path + +from benchmark.ssh_session import SSHSession + +FILE_DIR = Path(os.path.dirname(os.path.abspath(__file__))) +# Number of times to retry an unreliable execution before erroring. +RETRY_COUNT = 5 + + +class Benchmark: + """Base class for benchmark collection.""" + @dataclasses.dataclass + class Results: + """Stores data related to general test results.""" + duration: float # seconds + interval: float # seconds + sample_count: int + + def __init__(self, session: SSHSession, address: str, port: int): + self._session = session + self._address = address + self._port = port + + +class IperfBench(Benchmark): + """Manages an iperf3 test on the remote server.""" + @dataclasses.dataclass + class Results(Benchmark.Results): + """Stores data related to iperf test results.""" + window_size: int # Bytes + parallel_streams: int # Number of threads sending data + average_bandwidth: float # Mbps + sigma: float # Mbps + ci_2: float # Mbps 95% confidence interval + ci_3: float # Mbps 99.7% confidence interval + + def __enter__(self): + self._session.run(f"iperf3 -s -p {self._port} > /dev/null 2>&1 &") + return self + + def __exit__(self, exit_type, value, traceback): + # Close all iperf3 sessions + self._session.run(f"killall iperf3") + + def run_test(self, duration: float, interval: float, parallel_streams: int, + window_size: int) -> Results: + # Read https://www.cisco.com/c/en/us/support/docs/wireless-mobility/wireless-lan-wlan/212892-802-11ac-wireless-throughput-testing-and.html + cmd = ( + f"iperf3" + f" -R" # Reverses iperf so the server sends to the client + f" -J" # Output in JSON format + f" -c {self._address}" + f" -p {self._port}" + f" -i {interval}" + f" -t {duration}" + f" -P {parallel_streams}" + f" -w {window_size}k") + out = None + retry = 0 + while out is None: + try: + out = subprocess.check_output(cmd, shell=True) + except subprocess.CalledProcessError as e: + if retry > RETRY_COUNT: + raise e + retry += 1 + time.sleep(1) + + return self.Results(interval=interval, + duration=duration, + window_size=window_size, + parallel_streams=parallel_streams, + **self.process_results(out)) + + @staticmethod + def process_results(iperf_output: str) -> Dict[str, Any]: + """Processes iperf output.""" + def to_Mbps(bps: float) -> float: + return round(bps * 1e-6, 2) + + data = json.loads(iperf_output) + bps = [] + for interval in data['intervals']: + bps.append(interval['sum']['bits_per_second']) + + samples = len(data['intervals']) + avg = np.average(bps) + sigma = np.std(bps) + ci_2 = max(0, avg - (2 * sigma)) + ci_3 = max(0, avg - (3 * sigma)) + + return { + 'sample_count': samples, + 'average_bandwidth': to_Mbps(avg), + 'sigma': to_Mbps(sigma), + 'ci_2': to_Mbps(ci_2), + 'ci_3': to_Mbps(ci_3), + } + + +class PayloadBench(Benchmark): + """ + Run simulated load test. + + This is defined as a fixed size packet queued at a fixed interval. + We are interested if the packets get backed up (meaning bandwidth is + not able to keep up with the packet queue). + """ + TEST_PROGRAM_NAME = 'test_server_arm' + + @dataclasses.dataclass + class Results(Benchmark.Results): + """ + Stores data related to iperf test results. + + Attributes: + start_time: time that the test started. Does not have to be system + time. + packet_received: time a packet was received from start of test. + The data should only be relative to the start time. + """ + packet_size: int # Megabytes + start_time: float + receive_times: List[float] + + def __enter__(self): + subprocess.check_output(f"cd {FILE_DIR} && make arm", shell=True) + self._session.scp(FILE_DIR / 'build' / self.TEST_PROGRAM_NAME, + Path('/tmp')) + return self + + def __exit__(self, exit_type, value, traceback): + self._session.run( + f"if [[ ! -z $(" + f"ps aux | grep {self.TEST_PROGRAM_NAME} | grep -v grep)" + f" ]]; then" + f" killall {self.TEST_PROGRAM_NAME};" + f" fi;") + self._session.run(f"rm /tmp/{self.TEST_PROGRAM_NAME}") + + def run_test(self, packet_size: float, duration: int, interval: float): + # Read https://stackoverflow.com/a/29172 to understand backgrounding + # in an ssh command. + cmd = (f"nohup /tmp/{self.TEST_PROGRAM_NAME}" + f" -s {packet_size}" + f" -p {self._port}" + f" -d {duration}" + f" -i {interval}" + f" > /dev/null 2>&1 &") + self._session.run(cmd) + + packet_bytes = packet_size * 1000000 + + time.sleep(1) + with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s: + connected = False + while not connected: + try: + s.connect((self._address, self._port)) + connected = True + except ConnectionRefusedError as e: + print(e) + time.sleep(1) + + data_count = 0 + start = time.time() + now = start + packet_count = 0 + receive_times = [] + while (now - start < duration): + if data_count >= packet_bytes: + receive_times.append(now) + packet_count += 1 + data_count -= packet_bytes + data_count += len(s.recv(4096)) + now = time.time() + + total_time = now - start + + return self.Results(packet_size=packet_size, + interval=interval, + duration=total_time, + sample_count=packet_count, + start_time=start, + receive_times=receive_times) diff --git a/ovc_mini/benchmark/benchmark/src/test_server.cpp b/ovc_mini/benchmark/benchmark/src/test_server.cpp new file mode 100644 index 00000000..50126d98 --- /dev/null +++ b/ovc_mini/benchmark/benchmark/src/test_server.cpp @@ -0,0 +1,236 @@ +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +const static int BUFFER_SIZE = 256; +// Number of bytes to send at a time. +const static int BATCH_SIZE = 1024; + +class ServerSocket +{ +private: + int opt = 1; + int server_fd = 0; + int client_sock; + sockaddr_in address; + int addrlen; + char buffer[BUFFER_SIZE] = {0}; + char msg_buf[BATCH_SIZE] = {0}; + +public: + ServerSocket(int port) + { + addrlen = sizeof(address); + // Set the msg buf contents to be all 'A'. + for (size_t i = 0; i < BATCH_SIZE; i++) + { + msg_buf[i] = 'A'; + } + + if ((server_fd = socket(AF_INET, SOCK_STREAM, 0)) == 0) + { + std::runtime_error("socket failed"); + } + + if (setsockopt(server_fd, + SOL_SOCKET, + SO_REUSEADDR | SO_REUSEPORT, + &opt, + sizeof(opt))) + { + std::runtime_error("setsockopt"); + } + address.sin_family = AF_INET; + address.sin_addr.s_addr = INADDR_ANY; + address.sin_port = htons(port); + + // Forcefully attaching socket to the port + if (bind(server_fd, (struct sockaddr *)&address, sizeof(address)) < 0) + { + std::runtime_error("bind failed"); + } + if (listen(server_fd, 3) < 0) + { + std::runtime_error("listen"); + } + if ((client_sock = accept( + server_fd, (struct sockaddr *)&address, (socklen_t *)&addrlen)) < + 0) + { + std::runtime_error("accept"); + } + } + + ~ServerSocket() { shutdown(server_fd, SHUT_WR); } + + // Send bytes for the given message size. + void send_msg(long long int msg_size) + { + while (msg_size > 0) + { + size_t send_size = BATCH_SIZE; + if (msg_size < BATCH_SIZE) + { + send_size = msg_size; + } + + send(client_sock, msg_buf, send_size, 0); + msg_size -= send_size; + } + } +}; + +typedef struct +{ + ServerSocket *server; + sem_t available_packets; + float packet_size = 5.0; // Megabytes + bool test_finished = false; + int port = 8090; +} config_t; + +void *sendThread(void *vargp) +{ + config_t *config = (config_t *)vargp; + + // + long long int msg_size = (long long int)(config->packet_size * 1000000); + while (!config->test_finished) + { + sem_wait(&config->available_packets); + config->server->send_msg(msg_size); + std::cout << "Send" << std::endl; + } + return 0; +} + +// Wonderful copy pasta: https://stackoverflow.com/a/868894 +class InputParser +{ +public: + InputParser(int &argc, char **argv) + { + for (int i = 1; i < argc; ++i) this->tokens.push_back(std::string(argv[i])); + } + /// @author iain + const std::string &getCmdOption(const std::string &option) const + { + std::vector::const_iterator itr; + itr = std::find(this->tokens.begin(), this->tokens.end(), option); + if (itr != this->tokens.end() && ++itr != this->tokens.end()) + { + return *itr; + } + static const std::string empty_string(""); + return empty_string; + } + /// @author iain + bool cmdOptionExists(const std::string &option) const + { + return std::find(this->tokens.begin(), this->tokens.end(), option) != + this->tokens.end(); + } + +private: + std::vector tokens; +}; + +int main(int argc, char **argv) +{ + pthread_t send_thread; + config_t config; + float interval = 0.1f; + long execution_time = 60; + + InputParser input(argc, argv); + + // Duration time collection. + const std::string s_str = input.getCmdOption("-s"); + if (!s_str.empty()) + { + config.packet_size = std::stof(s_str); + } + std::cout << "Packet size set to " << config.packet_size << std::endl; + + const std::string p_str = input.getCmdOption("-p"); + if (!p_str.empty()) + { + config.port = std::stoi(p_str); + } + std::cout << "Port set to " << config.port << std::endl; + + // Interval time collection. + const std::string i_str = input.getCmdOption("-i"); + if (!i_str.empty()) + { + interval = std::stof(i_str); + } + std::cout << "Interval set to " << interval << std::endl; + + // Duration time collection. + const std::string d_str = input.getCmdOption("-d"); + if (!d_str.empty()) + { + execution_time = std::stol(d_str); + } + std::cout << "Duration set to " << execution_time << std::endl; + + ServerSocket sock(config.port); + config.server = &sock; + + // Wait for the client to connect before spinning up threads. + sem_init(&config.available_packets, 0, 1); + + pthread_create(&send_thread, NULL, sendThread, (void *)&config); + + int backup = 0; + long int interval_int = (long int)(interval * 1000000); + std::chrono::microseconds chrono_interval(interval_int); + // Make the first post and immediately record the start time. + sem_post(&config.available_packets); + std::chrono::steady_clock::time_point start = + std::chrono::steady_clock::now(); + std::chrono::steady_clock::time_point wake = start + chrono_interval; + + // Only continue looping if the wake time is within the execution time. + while (wake - start < std::chrono::seconds(execution_time)) + { + // Sleep for the remaining of the time. + std::cout << "Wait" << std::endl; + std::this_thread::sleep_until(wake); + // Increment the semaphore's value as soon as we wake. + sem_post(&config.available_packets); + std::cout << "Post" << std::endl; + // Increment the wake time by the fixed interval. + wake += chrono_interval; + + // By now, the semaphore should be back at one. If not, we want to know. + // This should be greater than one. If negative one, the scheduler halted + // this process in between the sem_post and sem_getvalue and scheduled the + // entire send before returning to this thread. Highly unlikely. + int ret_val = sem_getvalue(&config.available_packets, &backup); + if (0 != ret_val) + { + std::runtime_error("Could not get semaphore's value"); + } + if (backup != 1) + { + std::cout << "Backup " << backup - 1 << std::endl; + } + } + + std::cout << "Finished" << std::endl; + config.test_finished = true; + pthread_join(send_thread, NULL); + sem_destroy(&config.available_packets); + return 0; +} diff --git a/ovc_mini/benchmark/benchmark/ssh_session.py b/ovc_mini/benchmark/benchmark/ssh_session.py new file mode 100644 index 00000000..16cb8e59 --- /dev/null +++ b/ovc_mini/benchmark/benchmark/ssh_session.py @@ -0,0 +1,61 @@ +"""Manages running commands on a remote machine""" + +import subprocess +from pathlib import Path + +class SSHSession(): + """ + Manages a remote shell session with another machine. + + Implements a way to run commands on another machine via SSH. This does not + circumvent security as it still requires the user to enter the system's + credentials at runtime. + """ + STARTUP_MSG = ("Establishing a connection with the remote machine to " + "collect system information and start test.") + + def __init__(self, address: str, hostname: str, port: int, + socket_path: Path): + self._connection = f"{hostname}@{address}" + self._base_ssh_command = ( + f"ssh {self._connection} -p {port} -S {socket_path}") + self._base_scp_command = (f"scp -o ControlPath={socket_path}") + + def __enter__(self): + # Begin master shell session when entering context. + print(self.STARTUP_MSG) + self.run(args=( + f" -M" # Set up master connection + f" -fNT" # Starts the socket in the background + )) + return self + + def __exit__(self, exit_type, value, traceback): + # Close master session + self.run(args=" -O exit") + + def scp(self, local_path: Path, remote_path: Path): + cmd = (self._base_scp_command + + f" {str(local_path)} {self._connection}:{str(remote_path)}") + return subprocess.check_output(cmd, shell=True) + + def run(self, cmd: str = "", args: str = "") -> str: + # If no arguments, do nothing and warn. + if cmd == "" and args == "": + print("SSHSession: run called with no arguments") + return "" + + final_cmd = self._base_ssh_command + if args != "": + final_cmd += args + + if cmd != "": + final_cmd += f" '{cmd}'" + + # rstrip removes the trailing newline on a command's output. + return subprocess.check_output(final_cmd, + shell=True).decode('utf-8').rstrip() + + def check_installed(self, program: str): + return "1" in self.run( + cmd=f"if [[ ! -z $(which {program}) ]]; then echo \"1\"; fi;") diff --git a/ovc_mini/benchmark/process.py b/ovc_mini/benchmark/process.py new file mode 100755 index 00000000..3f1560e3 --- /dev/null +++ b/ovc_mini/benchmark/process.py @@ -0,0 +1,140 @@ +#!/usr/bin/python3 + +import argparse +import dataclasses +import os +import pickle +from matplotlib import pyplot as plt +from pathlib import Path +from typing import Dict + +import numpy as np + +import benchmark +from test import MachineConfiguration, Results, WirelessConfiguration + +DATA_DIR = Path(os.path.dirname(os.path.abspath(__file__))) / 'output' + + +def window_performance(runs: Dict[str, Results]) -> None: + window_size_set = set() + num_results = len(runs.keys()) + for data in runs.values(): + for result in data.iperf_results: + window_size_set.add(result.window_size) + + window_sizes = list(window_size_set) + window_sizes.sort() + labels = window_sizes + + x = np.arange(len(labels)) # the label locations + # Only use half of the space between graph points + proportion = 0.35 + distribution = np.linspace(-1, 1, num_results) * proportion + width = 2 * proportion / num_results # the width of the bars + + def make_plot(ax, key: str): + idx = 0 + for file, data in runs.items(): + if [] == data.iperf_results: + continue + values = [0] * len(window_sizes) + for result in data.iperf_results: + ws = result.window_size + if ws in window_sizes: + values[window_sizes.index(ws)] = dataclasses.asdict( + result)[key] + label = (f"{file} - {data.machine.name} - {data.machine.dev} - " + f"{result.duration}s") + if data.machine.wireless: + label += f" - {data.machine.wifi_config.signal_strength}dB" + label += f" - {data.machine.wifi_config.tx_connection}" + rects = ax.bar(x + distribution[idx], values, width, label=label) + + idx += 1 + #ax.bar_label(rects, padding=3) + + ax.set_ylabel('Mbps') + ax.set_xlabel('Window Size (KBytes)') + ax.set_xticks(x) + ax.set_xticklabels(labels) + ax.legend() + + ax1 = plt.subplot(311) + ax1.set_title('Network performance by Window Size: Average Performance') + make_plot(ax1, 'average_bandwidth') + ax2 = plt.subplot(312) + ax2.set_title('95% Confidence Interval') + make_plot(ax2, 'ci_2') + ax3 = plt.subplot(313) + ax3.set_title('99.7% Confidence Interval') + make_plot(ax3, 'ci_3') + + +def payload_performance(runs: Dict[str, Results]) -> None: + intervals = {} + # Collect all unique interval data + for file, data in runs.items(): + for result in data.payload_results: + if result.interval not in intervals: + intervals[result.interval] = [] + label = (f"{file} - {data.machine.name} - {data.machine.dev} - " + f"{result.packet_size}MB - {round(result.duration)}s") + if data.machine.wireless: + label += f" - {data.machine.wifi_config.signal_strength}dB" + label += f" - {data.machine.wifi_config.tx_connection}" + intervals[result.interval].append((label, result)) + + n = 1 + num_intervals = len(intervals.keys()) + for interval, data in intervals.items(): + if n > 9: + raise ValueError('Too many intervals') + ax = plt.subplot((num_intervals * 100) + 10 + n) + if n == 1: + plt.title("Payload performance test results") + n += 1 + plt.axhline( + y=interval, + color='r', + linestyle='-', + label=f"Target interval {interval} ({round(1/interval)}Hz)") + for label, result in data: + times = np.array(result.receive_times) + times = np.diff(times) # Make relative + plt.plot(times, label=label) + + ax.set_ylabel('dt since last packet (s)') + ax.set_xlabel('Packet Count') + ax.legend() + + +if __name__ == '__main__': + + parser = argparse.ArgumentParser( + description='Network benchmark data processor/visualizer.') + parser.add_argument('--wireless_only', + action='store_true', + help='Show only wireless results.') + args = parser.parse_args() + + runs = {} + for filename in DATA_DIR.glob('*.pkl'): + with open(filename, 'rb') as f: + runs[filename.stem] = pickle.load(f) + + filtered_runs = {} + for filename, data in runs.items(): + include = True + if args.wireless_only and not data.machine.wireless: + include = False + + # Passed all filters. + if include == True: + filtered_runs[filename] = data + + plt.figure(1) + window_performance(filtered_runs) + plt.figure(2) + payload_performance(filtered_runs) + plt.show() diff --git a/ovc_mini/benchmark/test.py b/ovc_mini/benchmark/test.py new file mode 100755 index 00000000..0cfa2a93 --- /dev/null +++ b/ovc_mini/benchmark/test.py @@ -0,0 +1,194 @@ +#!/usr/bin/python3 +import argparse +import dataclasses +import os +import pickle +import re +import subprocess +import time +from pathlib import Path +from typing import List + +import benchmark + +# To keep this available to as many systems as possible, this list has been kept +# extremely brief. +REMOTE_INSTALL_REQUIREMENTS = ['iperf3', 'ip', 'grep', 'sed', 'cat'] +FILE_DIR = Path(os.path.dirname(os.path.abspath(__file__))) + + +@dataclasses.dataclass +class WirelessConfiguration: + """Data specific to a wireless configuration.""" + freq: int + signal_strength: int # dBm + rx_connection: str + tx_connection: str + + +@dataclasses.dataclass +class MachineConfiguration: + """Data related to a machine's configuration.""" + name: str # Output of hostname + dev: str # Hardware device used for test (in /proc/net/dev) + wireless: bool # Wireless device or not? (in /proc/net/wireless) + wifi_config: WirelessConfiguration = None + + +@dataclasses.dataclass +class Results: + """Stores all of the test data results.""" + machine: MachineConfiguration + iperf_results: List[benchmark.IperfBench.Results] + payload_results: List[benchmark.PayloadBench.Results] + + +def check_install(session: benchmark.SSHSession): + missing_packages = [] + for app in REMOTE_INSTALL_REQUIREMENTS: + if not session.check_installed(app): + missing_packages.append(app) + + if missing_packages != []: + raise AttributeError( + f"{', '.join(missing_packages)} not installed on remote system") + + +def get_machine_configuration(session: benchmark.SSHSession, + address: str) -> MachineConfiguration: + """ + Gets the machine configuration for the remote machine. + + Arguments: + session: The SSHSession manager for the remote machine. + address: The IP address of the remoter machine. + """ + name = session.run("hostname") + # Thanks to: https://unix.stackexchange.com/a/165067 + dev = session.run( + f"ip route | grep -m 1 {address} | sed -e \"s/.*dev\ \(.*\)\ proto.*/\\1/;t;d\"" + ) + wireless = dev in session.run("cat /proc/net/wireless") + wireless_config = None + if wireless: + # `iw` should be installed if there's a wireless device + out = session.run(f"iw dev {dev} link") + freq = int(re.search(r'freq:\ ([0-9]*)', out).group(1)) + signal = int(re.search(r'signal:\ ([\-0-9]*)\ dBm', out).group(1)) + rx = re.search(r'rx\ bitrate:\ (.*)', out).group(1) + tx = re.search(r'tx\ bitrate:\ (.*)', out).group(1) + wireless_config = WirelessConfiguration(freq, signal, rx, tx) + + return MachineConfiguration(name=name, + dev=dev, + wireless=wireless, + wifi_config=wireless_config) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description= + 'Network performance tool to benchmark an ethernet based interface.') + parser.add_argument('hostname', + type=str, + help='Hostname of the remote machine.') + parser.add_argument('address', + type=str, + help='Address of the remote machine.') + parser.add_argument('--ssh_port', + type=int, + default=22, + help='Port remote machine is running ssh server on.') + parser.add_argument('--iperf_port', + type=int, + default=5201, + help='Iperf Bench: port test is run on.') + parser.add_argument('--payload_port', + type=int, + default=5202, + help='Payload Bench: port test is run on.') + parser.add_argument( + '--parallel_streams', + type=int, + default=2, + help='Iperf Bench: Number of parallel streams to run in iperf.') + parser.add_argument('--time_per_test', + type=int, + default=5, + help='All Benchmarks: seconds to execute per test.') + parser.add_argument('--interval', + type=int, + default=0.1, + help='Iperf Bench: interval between samples.') + parser.add_argument( + '--packets_per_second', + type=int, + default=15, + help='Payload Bench: packets to target sending per second.') + parser.add_argument('--packet_size', + type=float, + default=4.5, + help='Payload Bench: size in MB to send.') + parser.add_argument('--out_file', + type=Path, + default=f"{round(time.time())}.pkl", + help=('Name of file to write pickled results to.' + ' Defaults to saving as integer timestamp.')) + parser.add_argument('--socket_path', + type=Path, + default=Path("~/.ssh/test_socket"), + help='Directory to save ssh session.') + parser.add_argument('--no_iperf', + action='store_true', + help='Whether to run iperf benchmark.') + parser.add_argument('--no_payload', + action='store_true', + help='Whether to run payload benchmark.') + + args = parser.parse_args() + window_sizes = [8, 16, 32, 64, 128, 256] + + with benchmark.SSHSession(args.address, args.hostname, args.ssh_port, + args.socket_path) as session: + + check_install(session) + remote_config = get_machine_configuration(session, args.address) + + iperf_results = [] + if not args.no_iperf: + print("Running iperf3 benchmark with variable window size.") + with benchmark.IperfBench(session, args.address, + args.iperf_port) as test: + for window_size in window_sizes: + print(f"Running iperf3 with window size of {window_size}k") + iperf_results.append( + test.run_test(args.time_per_test, args.interval, + args.parallel_streams, window_size)) + print("Finished iperf3 benchmark.") + else: + print("Skipped iperf3 benchmark.") + + payload_results = [] + if not args.no_payload: + print("Running payload benchmark.") + with benchmark.PayloadBench(session, args.address, + args.payload_port) as test: + results = test.run_test( + args.packet_size, args.time_per_test, + round(1.0 / args.packets_per_second, 4)) + payload_results.append(results) + + print( + f"In {results.duration} seconds," + f" received {results.sample_count} packets" + f" ({results.sample_count/results.duration} packets per second)." + ) + else: + print("Skipped payload benchmark.") + + subprocess.check_output(f"mkdir -p {FILE_DIR / 'output'}", shell=True) + with open(FILE_DIR / 'output' / args.out_file, 'wb') as file: + pickle.dump( + Results(machine=remote_config, + iperf_results=iperf_results, + payload_results=payload_results), file) diff --git a/ovc_mini/firmware/.gitignore b/ovc_mini/firmware/.gitignore new file mode 100644 index 00000000..e462cd7b --- /dev/null +++ b/ovc_mini/firmware/.gitignore @@ -0,0 +1,3 @@ +utils/repo +utils/mfgtools +bsp/ diff --git a/ovc_mini/firmware/README.md b/ovc_mini/firmware/README.md new file mode 100644 index 00000000..b76829b9 --- /dev/null +++ b/ovc_mini/firmware/README.md @@ -0,0 +1,38 @@ +# OVC Mini Firmware + +The prototype module is built on [KaRo's QSXP/QSXM](https://karo-electronics.github.io/docs/hardware-documentation/qsguide/Concept.html) modules. +The tools here are meant to automate the setup process for building a kernel +for these modules. + +## Usage + +To begin, run: + +```shell +source setup.sh +``` + +This will automatically set up this directory to be ready to build an image. +Re-source at the beginning of each shell session to collect the necessary +environment variables. + +After sourcing `setup.sh`, `build` and `upload` should now be available in the +shell's path allowing them to be called from anywhere. + +Calling `build` will build the yocto image in the `bsp` directory. Similarly, +`upload` will upload the image that was just built to an availabe Ka-Ro +qsxp/qsxm. + +To upload, refer to the pins used for switching boot modes (note that the +documentation may have the modes backwards w/r/t the jumped pins): +https://karo-electronics.github.io/docs/hardware-documentation/pinouts/qsbase3.html#x2-bootmode + +## Custom BSP + +The BSP will be downloaded using `repo` on [`ovc-mini-bsp`](https://github.com/gbalke/ovc-mini-bsp). +This repository is a fork of Ka-Ro's BSP that adds in [`meta-ovc`](https://github.com/gbalke/meta-ovc). + +## TODO + +Have the selection of QSXP vs QSXM as an argument to `setup.sh` and adjust paths +via env variables in the build/upload scripts (currently hard-coded for qsxp). diff --git a/ovc_mini/firmware/setup.sh b/ovc_mini/firmware/setup.sh new file mode 100644 index 00000000..95cbb17d --- /dev/null +++ b/ovc_mini/firmware/setup.sh @@ -0,0 +1,55 @@ +#!/bin/bash + +# Thank you to https://stackoverflow.com/questions/59895/how-can-i-get-the-source-directory-of-a-bash-script-from-within-the-script-itsel +export OVC_MINI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )" +UTILS=$OVC_MINI_DIR/utils +BSP=$OVC_MINI_DIR/bsp + +# Adds the argument to the path if not already in path. +add_to_path () { + [[ ":$PATH:" != *":$1:"* ]] && PATH="$1:${PATH}" +} + +install_utils () { + cd $UTILS + + if [ ! -z "$UTILS/repo" ]; then + # Download the repo script. + curl https://storage.googleapis.com/git-repo-downloads/repo > $UTILS/repo + chmod a+rx $UTILS/repo + fi + + # Download and build nxp mfgtools (along with dependencies). + if [ ! -d "$UTILS/mfgtools" ]; then + git clone https://github.com/NXPmicro/mfgtools.git mfgtools + cd mfgtools + sudo apt-get install libusb-1.0-0-dev libzip-dev libbz2-dev pkg-config cmake libssl-dev g++ + mkdir build && cd "$_" + cmake .. && make + + echo "Installing udev rules for uuu." + sudo sh -c "sudo $UTILS/mfgtools/build/uuu/uuu -udev >> /etc/udev/rules.d/70-uuu.rules" + sudo udevadm control --reload + fi + + cd $OVC_MINI_DIR +} + +install_bsp () { + mkdir $BSP && cd "$_" + repo init -u https://github.com/gbalke/ovc-mini-bsp -b hardknott + repo sync + cd $OVC_MINI_DIR +} + +# Download/install utils. +install_utils + +# Install karo-bsp if not already downloaded. +if [ ! -d "$BSP" ]; then + install_bsp +fi + +# Add utils to the path. +add_to_path $OVC_MINI_DIR/utils +add_to_path $OVC_MINI_DIR/utils/mfgtools/build/uuu diff --git a/ovc_mini/firmware/utils/build b/ovc_mini/firmware/utils/build new file mode 100755 index 00000000..8f5961cf --- /dev/null +++ b/ovc_mini/firmware/utils/build @@ -0,0 +1,34 @@ +#!/bin/bash + +if [[ -z "${OVC_MINI_DIR}" ]]; then + echo "Source setup.sh before running this script." + exit +fi + +DISTRO="${DISTRO:-ovc-mini}" +MACHINE="${MACHINE:-qsxp-ml81-ovc}" +BUILD_PRJ="${BUILD_PRJ:-build-ovc}" +IMAGE="${IMAGE:-ovc-image}" + +BSP_DIR=$OVC_MINI_DIR/bsp + +setup_release () { + cd $BSP_DIR + source karo-setup-release.sh -b $BUILD_PRJ + echo "BBLAYERS += \"\${BSPDIR}/sources/meta-ovc\"" >> $BSP_DIR/$BUILD_PRJ/conf/bblayers.conf + cd $OVC_MINI_DIR +} + +rebuild () { + cd $BSP_DIR + source setup-environment $BUILD_PRJ + bitbake $IMAGE + bitbake build-sysroots + cd $OVC_MINI_DIR +} + +if [[ ! -d "${BSP_DIR}/${BUILD_PRJ}" ]]; then + setup_release +fi + +rebuild diff --git a/ovc_mini/firmware/utils/upload b/ovc_mini/firmware/utils/upload new file mode 100755 index 00000000..78519c4a --- /dev/null +++ b/ovc_mini/firmware/utils/upload @@ -0,0 +1,4 @@ +#!/bin/bash +BUILD_PRJ="${BUILD_PRJ:-build-ovc}" + +cd $OVC_MINI_DIR/bsp/$BUILD_PRJ/tmp/deploy/images/qsxp-ml81-ovc/ && uuu -v diff --git a/ovc_mini/hardware/.gitignore b/ovc_mini/hardware/.gitignore new file mode 100644 index 00000000..0a0d1210 --- /dev/null +++ b/ovc_mini/hardware/.gitignore @@ -0,0 +1 @@ +*-backups diff --git a/ovc_mini/hardware/README.md b/ovc_mini/hardware/README.md new file mode 100644 index 00000000..04723d64 --- /dev/null +++ b/ovc_mini/hardware/README.md @@ -0,0 +1,6 @@ +# OVC Mini Hardware + +## Mipi Converter + +This device converts the QSBase3's MIPI CSI input to the [RPi Cam 22-pin format](https://www.arducam.com/raspberry-pi-camera/connector-type-pinout/). +![image](https://user-images.githubusercontent.com/11024792/135321240-dd22edde-a031-4f3c-96b7-15ef355f5079.png) diff --git a/ovc_mini/hardware/mipi_converter/.gitignore b/ovc_mini/hardware/mipi_converter/.gitignore new file mode 100644 index 00000000..09b7ea64 --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/.gitignore @@ -0,0 +1,2 @@ +bom.ini +mipi_converter.xml diff --git a/ovc_mini/hardware/mipi_converter/fab/fab.zip b/ovc_mini/hardware/mipi_converter/fab/fab.zip new file mode 100644 index 00000000..4a8f40dc Binary files /dev/null and b/ovc_mini/hardware/mipi_converter/fab/fab.zip differ diff --git a/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Cu.gbr b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Cu.gbr new file mode 100644 index 00000000..a587339b --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Cu.gbr @@ -0,0 +1,2279 @@ +%TF.GenerationSoftware,KiCad,Pcbnew,5.99.0-unknown-a71d856e94~131~ubuntu20.04.1*% +%TF.CreationDate,2021-09-22T11:48:57-07:00*% +%TF.ProjectId,mipi_converter,6d697069-5f63-46f6-9e76-65727465722e,rev?*% +%TF.SameCoordinates,Original*% +%TF.FileFunction,Copper,L2,Bot*% +%TF.FilePolarity,Positive*% +%FSLAX46Y46*% +G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* +G04 Created by KiCad (PCBNEW 5.99.0-unknown-a71d856e94~131~ubuntu20.04.1) date 2021-09-22 11:48:57* +%MOMM*% +%LPD*% +G01* +G04 APERTURE LIST* +%TA.AperFunction,SMDPad,CuDef*% +%ADD10R,2.000000X0.600000*% +%TD*% +%TA.AperFunction,SMDPad,CuDef*% +%ADD11R,4.200000X0.600000*% +%TD*% +%TA.AperFunction,ViaPad*% +%ADD12C,0.457200*% +%TD*% +%TA.AperFunction,ViaPad*% +%ADD13C,0.711200*% +%TD*% 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5.99.0-unknown-a71d856e94~131~ubuntu20.04.1) date 2021-09-22 11:48:57* +%MOMM*% +%LPD*% +G01* +G04 APERTURE LIST* +%ADD10R,2.000000X0.600000*% +%ADD11R,4.200000X0.600000*% +G04 APERTURE END LIST* +D10* +%TO.C,U3*% +X77875000Y-76950000D03* +X77875000Y-75950000D03* +X77875000Y-74950000D03* +X77875000Y-73950000D03* +X77875000Y-72950000D03* +X77875000Y-71950000D03* +X77875000Y-70950000D03* +X77875000Y-69950000D03* +X77875000Y-68950000D03* +X77875000Y-67950000D03* +X77875000Y-66950000D03* +X77875000Y-65950000D03* +X77875000Y-64950000D03* +X77875000Y-63950000D03* +X77875000Y-62950000D03* +X77875000Y-61950000D03* +X77875000Y-60950000D03* +X77875000Y-59950000D03* +X77875000Y-58950000D03* +X77875000Y-57950000D03* +X77875000Y-56950000D03* +X77875000Y-55950000D03* +D11* +X75775000Y-54950000D03* +X75775000Y-77950000D03* +%TD*% +M02* diff --git a/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Paste.gbr b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Paste.gbr new file mode 100644 index 00000000..4a38f826 --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Paste.gbr @@ -0,0 +1,45 @@ +%TF.GenerationSoftware,KiCad,Pcbnew,5.99.0-unknown-a71d856e94~131~ubuntu20.04.1*% +%TF.CreationDate,2021-09-22T11:48:57-07:00*% +%TF.ProjectId,mipi_converter,6d697069-5f63-46f6-9e76-65727465722e,rev?*% +%TF.SameCoordinates,Original*% +%TF.FileFunction,Paste,Bot*% +%TF.FilePolarity,Positive*% +%FSLAX46Y46*% +G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* +G04 Created by KiCad (PCBNEW 5.99.0-unknown-a71d856e94~131~ubuntu20.04.1) date 2021-09-22 11:48:57* +%MOMM*% +%LPD*% +G01* +G04 APERTURE LIST* +%ADD10R,2.000000X0.600000*% +%ADD11R,4.200000X0.600000*% +G04 APERTURE END LIST* +D10* +%TO.C,U3*% +X77875000Y-76950000D03* +X77875000Y-75950000D03* +X77875000Y-74950000D03* +X77875000Y-73950000D03* +X77875000Y-72950000D03* +X77875000Y-71950000D03* +X77875000Y-70950000D03* +X77875000Y-69950000D03* +X77875000Y-68950000D03* +X77875000Y-67950000D03* +X77875000Y-66950000D03* +X77875000Y-65950000D03* +X77875000Y-64950000D03* +X77875000Y-63950000D03* +X77875000Y-62950000D03* +X77875000Y-61950000D03* +X77875000Y-60950000D03* +X77875000Y-59950000D03* +X77875000Y-58950000D03* +X77875000Y-57950000D03* +X77875000Y-56950000D03* +X77875000Y-55950000D03* +D11* +X75775000Y-54950000D03* +X75775000Y-77950000D03* +%TD*% +M02* diff --git a/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Silkscreen.gbr b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Silkscreen.gbr new file mode 100644 index 00000000..700620bd --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-B_Silkscreen.gbr @@ -0,0 +1,60 @@ +%TF.GenerationSoftware,KiCad,Pcbnew,5.99.0-unknown-a71d856e94~131~ubuntu20.04.1*% +%TF.CreationDate,2021-09-22T11:48:57-07:00*% +%TF.ProjectId,mipi_converter,6d697069-5f63-46f6-9e76-65727465722e,rev?*% +%TF.SameCoordinates,Original*% +%TF.FileFunction,Legend,Bot*% +%TF.FilePolarity,Positive*% +%FSLAX46Y46*% +G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* +G04 Created by KiCad (PCBNEW 5.99.0-unknown-a71d856e94~131~ubuntu20.04.1) date 2021-09-22 11:48:57* +%MOMM*% +%LPD*% +G01* +G04 APERTURE LIST* +%ADD10C,0.150000*% +%ADD11C,0.120000*% +%ADD12C,0.500000*% +G04 APERTURE END LIST* +D10* +%TO.C,U3*% +X80912619Y-54241904D02* +X80103095Y-54241904D01* +X80007857Y-54194285D01* +X79960238Y-54146666D01* +X79912619Y-54051428D01* +X79912619Y-53860952D01* +X79960238Y-53765714D01* +X80007857Y-53718095D01* +X80103095Y-53670476D01* +X80912619Y-53670476D01* +X80912619Y-53289523D02* +X80912619Y-52670476D01* +X80531666Y-53003809D01* +X80531666Y-52860952D01* +X80484047Y-52765714D01* +X80436428Y-52718095D01* +X80341190Y-52670476D01* +X80103095Y-52670476D01* +X80007857Y-52718095D01* +X79960238Y-52765714D01* +X79912619Y-52860952D01* +X79912619Y-53146666D01* +X79960238Y-53241904D01* +X80007857Y-53289523D01* +D11* +X71375000Y-80450000D02* +X71375000Y-52450000D01* +X79375000Y-52450000D02* +X71375000Y-52450000D01* 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+%TA.AperFunction,Profile*% +%ADD10C,0.100000*% +%TD*% +G04 APERTURE END LIST* +D10* +X71230000Y-52130000D02* +X84460000Y-52130000D01* +X84460000Y-52130000D02* +X84460000Y-80990000D01* +X84460000Y-80990000D02* +X71230000Y-80990000D01* +X71230000Y-80990000D02* +X71230000Y-52130000D01* +M02* diff --git a/ovc_mini/hardware/mipi_converter/fab/mipi_converter-F_Cu.gbr b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-F_Cu.gbr new file mode 100644 index 00000000..bab6e5a0 --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-F_Cu.gbr @@ -0,0 +1,3686 @@ +%TF.GenerationSoftware,KiCad,Pcbnew,5.99.0-unknown-a71d856e94~131~ubuntu20.04.1*% +%TF.CreationDate,2021-09-22T11:48:57-07:00*% +%TF.ProjectId,mipi_converter,6d697069-5f63-46f6-9e76-65727465722e,rev?*% +%TF.SameCoordinates,Original*% +%TF.FileFunction,Copper,L1,Top*% +%TF.FilePolarity,Positive*% +%FSLAX46Y46*% +G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* +G04 Created by KiCad (PCBNEW 5.99.0-unknown-a71d856e94~131~ubuntu20.04.1) date 2021-09-22 11:48:57* +%MOMM*% +%LPD*% +G01* +G04 APERTURE LIST* +G04 Aperture macros list* +%AMRoundRect* +0 Rectangle with rounded corners* +0 $1 Rounding radius* +0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners* +0 Add a 4 corners polygon primitive as box body* +4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0* +0 Add four circle primitives for the rounded corners* +1,1,$1+$1,$2,$3* +1,1,$1+$1,$4,$5* +1,1,$1+$1,$6,$7* +1,1,$1+$1,$8,$9* +0 Add four rect primitives between the rounded corners* +20,1,$1+$1,$2,$3,$4,$5,0* +20,1,$1+$1,$4,$5,$6,$7,0* +20,1,$1+$1,$6,$7,$8,$9,0* +20,1,$1+$1,$8,$9,$2,$3,0*% +G04 Aperture macros list end* +%TA.AperFunction,SMDPad,CuDef*% +%ADD10R,0.600000X1.050000*% +%TD*% +%TA.AperFunction,SMDPad,CuDef*% +%ADD11RoundRect,0.225000X0.250000X-0.225000X0.250000X0.225000X-0.250000X0.225000X-0.250000X-0.225000X0*% +%TD*% +%TA.AperFunction,SMDPad,CuDef*% +%ADD12RoundRect,0.225000X0.225000X0.250000X-0.225000X0.250000X-0.225000X-0.250000X0.225000X-0.250000X0*% +%TD*% +%TA.AperFunction,SMDPad,CuDef*% +%ADD13R,2.200000X1.900000*% +%TD*% +%TA.AperFunction,SMDPad,CuDef*% +%ADD14R,1.300000X0.300000*% +%TD*% +%TA.AperFunction,ViaPad*% +%ADD15C,0.457200*% +%TD*% +%TA.AperFunction,ViaPad*% +%ADD16C,0.711200*% +%TD*% +%TA.AperFunction,Conductor*% +%ADD17C,0.304800*% +%TD*% +%TA.AperFunction,Conductor*% +%ADD18C,0.127000*% +%TD*% +%TA.AperFunction,Conductor*% +%ADD19C,0.177800*% +%TD*% +%TA.AperFunction,Conductor*% +%ADD20C,0.203200*% +%TD*% +G04 APERTURE END LIST* +D10* +%TO.P,U2,5,VOUT*% +%TO.N,+3V3*% +X76310000Y-77710000D03* +%TO.P,U2,4,NC*% +%TO.N,N/C*% +X74410000Y-77710000D03* +%TO.P,U2,3,STDBY*% +%TO.N,+5V*% +X74410000Y-75010000D03* +%TO.P,U2,2,GND*% +%TO.N,GND*% +X75360000Y-75010000D03* +%TO.P,U2,1,VIN*% +%TO.N,+5V*% +X76310000Y-75010000D03* +%TD*% +D11* +%TO.P,C3,1*% +%TO.N,+3V3*% +X78090000Y-77805000D03* +%TO.P,C3,2*% +%TO.N,GND*% 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index 00000000..1cefcc0c --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-F_Mask.gbr @@ -0,0 +1,90 @@ +%TF.GenerationSoftware,KiCad,Pcbnew,5.99.0-unknown-a71d856e94~131~ubuntu20.04.1*% +%TF.CreationDate,2021-09-22T11:48:57-07:00*% +%TF.ProjectId,mipi_converter,6d697069-5f63-46f6-9e76-65727465722e,rev?*% +%TF.SameCoordinates,Original*% +%TF.FileFunction,Soldermask,Top*% +%TF.FilePolarity,Negative*% +%FSLAX46Y46*% +G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)* +G04 Created by KiCad (PCBNEW 5.99.0-unknown-a71d856e94~131~ubuntu20.04.1) date 2021-09-22 11:48:57* +%MOMM*% +%LPD*% +G01* +G04 APERTURE LIST* +G04 Aperture macros list* +%AMRoundRect* +0 Rectangle with rounded corners* +0 $1 Rounding radius* +0 $2 $3 $4 $5 $6 $7 $8 $9 X,Y pos of 4 corners* +0 Add a 4 corners polygon primitive as box body* +4,1,4,$2,$3,$4,$5,$6,$7,$8,$9,$2,$3,0* +0 Add four circle primitives for the rounded corners* +1,1,$1+$1,$2,$3* +1,1,$1+$1,$4,$5* +1,1,$1+$1,$6,$7* 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TF.CreationDate,2021-09-22T11:48:48-07:00 +; #@! TF.GenerationSoftware,Kicad,Pcbnew,5.99.0-unknown-a71d856e94~131~ubuntu20.04.1 +; #@! TF.FileFunction,NonPlated,1,2,NPTH +FMAT,2 +INCH +% +G90 +G05 +T0 +M30 diff --git a/ovc_mini/hardware/mipi_converter/fab/mipi_converter-PTH.drl b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-PTH.drl new file mode 100644 index 00000000..b050f10d --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-PTH.drl @@ -0,0 +1,36 @@ +M48 +; DRILL file {KiCad 5.99.0-unknown-a71d856e94~131~ubuntu20.04.1} date Wed Sep 22 11:48:48 2021 +; FORMAT={-:-/ absolute / inch / decimal} +; #@! TF.CreationDate,2021-09-22T11:48:48-07:00 +; #@! TF.GenerationSoftware,Kicad,Pcbnew,5.99.0-unknown-a71d856e94~131~ubuntu20.04.1 +; #@! TF.FileFunction,Plated,1,2,PTH +FMAT,2 +INCH +; #@! TA.AperFunction,Plated,PTH,ViaDrill +T1C0.0080 +; #@! TA.AperFunction,Plated,PTH,ViaDrill +T2C0.0150 +% +G90 +G05 +T1 +X2.8756Y-2.9488 +X2.9669Y-3.0012 +X3.1311Y-2.9461 +X3.1451Y-2.4286 +X3.1531Y-2.5254 +X3.1531Y-2.5494 +X3.1539Y-2.8965 +X3.162Y-2.4116 +X3.1917Y-2.8398 +X3.2118Y-2.8583 +X3.2617Y-2.436 +X3.2636Y-2.1795 +X3.2727Y-2.3431 +X3.2857Y-2.436 +X3.2876Y-2.1795 +X3.2967Y-2.3431 +T2 +X3.1445Y-3.026 +T0 +M30 diff --git a/ovc_mini/hardware/mipi_converter/fab/mipi_converter-job.gbrjob b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-job.gbrjob new file mode 100644 index 00000000..8ec589e9 --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter-job.gbrjob @@ -0,0 +1,129 @@ +{ + "Header": { + "GenerationSoftware": { + "Vendor": "KiCad", + "Application": "Pcbnew", + "Version": "5.99.0-unknown-a71d856e94~131~ubuntu20.04.1" + }, + "CreationDate": "2021-09-22T11:48:58-07:00" + }, + "GeneralSpecs": { + "ProjectId": { + "Name": "mipi_converter", + "GUID": "6d697069-5f63-46f6-9e76-65727465722e", + "Revision": "rev?" + }, + "Size": { + "X": 13.33, + "Y": 28.96 + }, + "LayerNumber": 2, + "BoardThickness": 1.6, + "Finish": "None" + }, + "DesignRules": [ + { + "Layers": "Outer", + "PadToPad": 0.1016, + "PadToTrack": 0.1016, + "TrackToTrack": 0.1016, + "MinLineWidth": 0.127, + "TrackToRegion": 0.254, + "RegionToRegion": 0.254 + } + ], + "FilesAttributes": [ + { + "Path": "mipi_converter-F_Cu.gbr", + "FileFunction": "Copper,L1,Top", + "FilePolarity": "Positive" + }, + { + "Path": "mipi_converter-B_Cu.gbr", + "FileFunction": "Copper,L2,Bot", + "FilePolarity": "Positive" + }, + { + "Path": "mipi_converter-F_Paste.gbr", + "FileFunction": "SolderPaste,Top", + "FilePolarity": "Positive" + }, + { + "Path": "mipi_converter-B_Paste.gbr", + "FileFunction": "SolderPaste,Bot", + "FilePolarity": "Positive" + }, + { + "Path": "mipi_converter-F_Silkscreen.gbr", + "FileFunction": "Legend,Top", + "FilePolarity": "Positive" + }, + { + "Path": "mipi_converter-B_Silkscreen.gbr", + "FileFunction": "Legend,Bot", + "FilePolarity": "Positive" + }, + { + "Path": "mipi_converter-F_Mask.gbr", + "FileFunction": "SolderMask,Top", + "FilePolarity": "Negative" + }, + { + "Path": "mipi_converter-B_Mask.gbr", + "FileFunction": "SolderMask,Bot", + "FilePolarity": "Negative" + }, + { + "Path": "mipi_converter-Edge_Cuts.gbr", + "FileFunction": "Profile", + "FilePolarity": "Positive" + } + ], + "MaterialStackup": [ + { + "Type": "Legend", + "Name": "Top Silk Screen" + }, + { + "Type": "SolderPaste", + "Name": "Top Solder Paste" + }, + { + "Type": "SolderMask", + "Color": "Green", + "Thickness": 0.01, + "Name": "Top Solder Mask" + }, + { + "Type": "Copper", + "Thickness": 0.035, + "Name": "F.Cu" + }, + { + "Type": "Dielectric", + "Thickness": 1.51, + "Material": "FR4", + "Name": "F.Cu/B.Cu", + "Notes": "Type: dielectric layer 1 (from F.Cu to B.Cu)" + }, + { + "Type": "Copper", + "Thickness": 0.035, + "Name": "B.Cu" + }, + { + "Type": "SolderMask", + "Color": "Green", + "Thickness": 0.01, + "Name": "Bottom Solder Mask" + }, + { + "Type": "SolderPaste", + "Name": "Bottom Solder Paste" + }, + { + "Type": "Legend", + "Name": "Bottom Silk Screen" + } + ] +} diff --git a/ovc_mini/hardware/mipi_converter/fab/mipi_converter_bom_.csv b/ovc_mini/hardware/mipi_converter/fab/mipi_converter_bom_.csv new file mode 100644 index 00000000..e0411f47 --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fab/mipi_converter_bom_.csv @@ -0,0 +1,22 @@ +Component,Description,Part,References,Value,Footprint,Quantity Per PCB,Datasheet,D1N,D1PN,MFN,MPN +1,Unpolarized capacitor,C,C1 C3,4.7u,C_0603_1608Metric,2,Unpolarized capacitor,Digikey,1276-1044-1-ND,Samsung Electro-Mechanics,CL10A475KP8NNNC +2,"Generic connector, single row, 01x28, script generated (kicad-library-utils/schlib/autogen/connector/)",Conn_01x28_Male,J1,Conn_01x28_Male,,1,"Generic connector, single row, 01x28, script generated (kicad-library-utils/schlib/autogen/connector/)",,,, +3,,BU33SD5WG-TR,U2,BU33SD5WG-TR,SOT-753,1,https://fscdn.rohm.com/en/products/databook/datasheet/ic/power/linear_regulator/buxxsd5wg-e.pdf,Digikey,BU33SD5WG-TRCT-ND,Rohm Semiconductor,BU33SD5WG-TR +4,,MIPI_Custom_28Pin,U1,MIPI_Custom_28Pin,HIROSE_TF31-28S-0.5SH,1,,Digikey,26-TF31-28S-0.5SH(800)CT-ND,Hirose Electric Co Ltd,TF31-28S-0.5SH(800) +5,,PICAM_Expandable_Reversed,U3,PICAM_Expandable_Reversed,AMPHENOL_SFW15R+SFW21R,1,,Digikey,609-1158-1-ND,Amphenol,SFW22S-2STE1LF + + + + + +Component Groups:,5 +Component Count:,6 +Fitted Components:,6 +Number of PCBs:,1 +Total components:,6 +Schematic Version:, +Schematic Date:, +PCB Variant:,default +BoM Date:,Thu 23 Sep 2021 10:34:11 AM PDT +Schematic Source:,mipi_converter.kicad_sch +KiCad Version:,Eeschema 5.99.0-unknown-a71d856e94~131~ubuntu20.04.1 diff --git a/ovc_mini/hardware/mipi_converter/fp-lib-table b/ovc_mini/hardware/mipi_converter/fp-lib-table new file mode 100644 index 00000000..3d325503 --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/fp-lib-table @@ -0,0 +1,4 @@ +(fp_lib_table + (lib (name "connectors")(type "KiCad")(uri "${KIWORKSPACE}/osrf_hw/kicad_modules/Connectors_OSRF.pretty")(options "")(descr "")) + (lib (name "digikey-footprints")(type "KiCad")(uri "${KIWORKSPACE}/digikey-kicad-library/digikey-footprints.pretty")(options "")(descr "")) +) diff --git a/ovc_mini/hardware/mipi_converter/mipi_converter.kicad_pcb b/ovc_mini/hardware/mipi_converter/mipi_converter.kicad_pcb new file mode 100644 index 00000000..1c9b8c4c --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/mipi_converter.kicad_pcb @@ -0,0 +1,5339 @@ +(kicad_pcb (version 20210824) (generator pcbnew) + + (general + (thickness 1.6) + ) + + (paper "A4") + (layers + (0 "F.Cu" signal) + (31 "B.Cu" signal) + (32 "B.Adhes" user "B.Adhesive") + (33 "F.Adhes" user "F.Adhesive") + (34 "B.Paste" user) + (35 "F.Paste" user) + (36 "B.SilkS" user "B.Silkscreen") + (37 "F.SilkS" user "F.Silkscreen") + (38 "B.Mask" user) + (39 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b/ovc_mini/hardware/mipi_converter/sym-lib-table new file mode 100644 index 00000000..a527b801 --- /dev/null +++ b/ovc_mini/hardware/mipi_converter/sym-lib-table @@ -0,0 +1,6 @@ +(sym_lib_table + (lib (name "connectors")(type "KiCad")(uri "${KIWORKSPACE}/osrf_hw/kicad_libraries/connectors.kicad_sym")(options "")(descr "")) + (lib (name "DCDC_Converters")(type "KiCad")(uri "${KIWORKSPACE}/osrf_hw/kicad_libraries/DCDC_Converters.kicad_sym")(options "")(descr "")) + (lib (name "osrf_conn")(type "KiCad")(uri "${KIWORKSPACE}/osrf_hw/kicad_libraries/osrf_conn.kicad_sym")(options "")(descr "")) + (lib (name "voltage_translators")(type "Legacy")(uri "${KIWORKSPACE}/osrf_hw/kicad_libraries/voltage_translators.lib")(options "")(descr "")) +) diff --git a/ovc_mini/software/.gitignore b/ovc_mini/software/.gitignore new file mode 100644 index 00000000..91dc9e30 --- /dev/null +++ b/ovc_mini/software/.gitignore @@ -0,0 +1,3 @@ +build/ + +ar0234* diff --git a/ovc_mini/software/Makefile b/ovc_mini/software/Makefile new file mode 100644 index 00000000..825c3500 --- /dev/null +++ b/ovc_mini/software/Makefile @@ -0,0 +1,13 @@ +CC=aarch64-linux-gnu-g++ + +SRCS= \ + src/main.cpp \ + src/ar0234.cpp \ + src/i2c_driver.cpp + +SYSROOT=../firmware/bsp/build-ovc/tmp/sysroots/qsxp-ml81-ovc + +main: + mkdir -p build + ${CC} ${SRCS} --sysroot=${SYSROOT} \ + -I include/ -o build/test --std=c++17 -li2c diff --git a/ovc_mini/software/include/camera.hpp b/ovc_mini/software/include/camera.hpp new file mode 100644 index 00000000..239a23f3 --- /dev/null +++ b/ovc_mini/software/include/camera.hpp @@ -0,0 +1,55 @@ +#ifndef CAMERA_INC +#define CAMERA_INC +#include +#include + +#include "i2c_driver.h" + +typedef struct camera_dynamic_configs_t +{ + bool frame_rate : 1; + bool exposure : 1; +} camera_dynamic_configs_t; + +typedef struct camera_params_t +{ + int res_x = -1; + int res_y = -1; + int fps = -1; + int bit_depth = -1; + char data_type[8]; + camera_dynamic_configs_t dynamic_configs = {0}; +} camera_params_t; + +// TODO move to separate shared header if we want to serialize manually +class I2CCamera +{ +protected: + I2CDriver i2c; + camera_params_t camera_params; + bool main_camera; + +public: + I2CCamera(I2CDriver& i2c_dev, bool main_cam) + : i2c(std::move(i2c_dev)), main_camera(main_cam) + { + } + + // TODO add an initialise function with custom sensor mode + virtual bool initialise(std::string config_name = "__default__") = 0; + + virtual void enableStreaming() = 0; + + virtual void reset() = 0; + + camera_params_t getCameraParams() const { return camera_params; } + + // Triggering main / secondary device settings + virtual void setMain(){}; + virtual void setSecondary(){}; + + // Camera dynamic parameter functions. + virtual void updateExposure(float ms){}; +}; + +#endif diff --git a/ovc_mini/software/include/i2c_driver.h b/ovc_mini/software/include/i2c_driver.h new file mode 100644 index 00000000..785565fd --- /dev/null +++ b/ovc_mini/software/include/i2c_driver.h @@ -0,0 +1,44 @@ +#ifndef I2C_DRIVER_H +#define I2C_DRIVER_H +#include + +typedef struct regop_t +{ + // Assume all writes + int16_t addr; + union + { + float f32; + int32_t i32; + uint32_t u32; + uint16_t u16; + uint8_t u8; + }; +} regop_t; + +inline regop_t writeRegOp(int16_t addr, int32_t data) +{ + regop_t regop; + regop.addr = addr; + // Assume 32 bits, will zero pad if the data is smaller + regop.i32 = data; + return regop; +} + +class I2CDriver +{ + int i2c_fd; + int reg_size = -1; + + bool initialized() const; + +public: + int32_t readRegister(uint16_t reg_addr); + int burstRead(uint16_t reg_addr, size_t len, uint16_t* data); + int writeRegister(const regop_t& regop); + + I2CDriver(int i2c_dev); + + void assignDevice(int i2c_addr, int register_size); +}; +#endif diff --git a/ovc_mini/software/src/i2c_driver.cpp b/ovc_mini/software/src/i2c_driver.cpp new file mode 100644 index 00000000..5c40e035 --- /dev/null +++ b/ovc_mini/software/src/i2c_driver.cpp @@ -0,0 +1,59 @@ +#include +#include + +#include +#include +#include +extern "C" +{ +#include +#include +#include +} + +#include + +#include "i2c_driver.h" + +I2CDriver::I2CDriver(int i2c_dev) +{ + std::string i2c_filename("/dev/i2c-" + std::to_string(i2c_dev)); + i2c_fd = open(i2c_filename.c_str(), O_RDWR); + if (i2c_fd == -1) + std::cout << "Couldn't open I2C file " << i2c_filename << std::endl; + + std::cout << "I2C Initialization done" << std::endl; +} + +void I2CDriver::assignDevice(int i2c_addr, int register_size) +{ + reg_size = register_size; + // Set the slave address for the device + if (ioctl(i2c_fd, I2C_SLAVE, i2c_addr) < 0) + std::cout << "Couldn't set slave address" << std::endl; +} + +bool I2CDriver::initialized() const { return reg_size > 0; } + +int32_t I2CDriver::readRegister(uint16_t reg_addr) +{ + assert(initialized()); + i2c_smbus_write_byte_data(i2c_fd, reg_addr >> 8, reg_addr & 0xFF); + int32_t ret_val = 0; + // Data is returned MSB first + for (int i = reg_size - 1; i >= 0; --i) + ret_val |= i2c_smbus_read_byte(i2c_fd) << (i * 8); + return ret_val; +} + +int I2CDriver::writeRegister(const regop_t& regop) +{ + assert(initialized()); + // We need to add one byte for address + std::vector payload(reg_size + 1); + payload[0] = regop.addr & 0xFF; + for (int i = 1; i <= reg_size; ++i) + payload[i] = regop.i32 >> (8 * (reg_size - i)); + return i2c_smbus_write_i2c_block_data( + i2c_fd, regop.addr >> 8, payload.size(), &payload[0]); +} diff --git a/ovc_mini/software/src/main.cpp b/ovc_mini/software/src/main.cpp new file mode 100644 index 00000000..b4b90424 --- /dev/null +++ b/ovc_mini/software/src/main.cpp @@ -0,0 +1,59 @@ +//#include + +#include + +#include "cameras/ar0234.hpp" + +// GPIO guided by: +// https://embeddedbits.org/new-linux-kernel-gpio-user-space-interface/ +// void enable_cam(int chip_num, int gpio_num) +//{ +// struct gpiod_chip *chip; +// struct gpiod_line *line; +// int req, value; +// +// chip = gpiod_chip_open("/dev/gpiochip0"); +// if (!chip) return -1; +// +// line = gpiod_chip_get_line(chip, 3); +// if (!line) +// { +// gpiod_chip_close(chip); +// return -1; +// } +// +// req = gpiod_line_request_input(line, "gpio_state"); +// if (req) +// { +// gpiod_chip_close(chip); +// return -1; +// } +// +// value = gpiod_line_get_value(line); +// +// printf("GPIO value is: %d\n", value); +// +// gpiod_chip_close(chip); +//} + +int main() +{ + I2CDriver driver(2); + AR0234 camera(driver, true); + + // Cam1 enable is pin 17 which is gpiochip4[25] according to the datasheet. + // This is an input pin. On converter board, connect to pin 24 which is + // IO_CAMOut0. This connects to P15 on the QSXP/M. To note, there is a level + // shifter from 3v3 (module voltage) to 1v8 (camera IO voltage). For + // prototyping, it is easier to just connect cam enable to the 3v3 line on + // the converter board and cut the trace heading back to the QSBase3. + + bool cam_available = camera.probe(driver); + + std::cout << "Camera is " << (cam_available ? "available" : "not available") + << std::endl; + if (cam_available) { + camera.initialise(std::string("1920x1200_60fps")); + camera.enableStreaming(); + } +}