ekfsm 0.11.0b1.post3__py3-none-any.whl → 0.12.0.post1__py3-none-any.whl

ekfsm/boards/oem/ekf/ccu.yaml

@@ -66,3 +66,5 @@ children:
                 sysstate:
                   - wd_trigger
                   - sw_shutdown
+                imu:
+                  - sample: imu_sample

ekfsm/boards/oem/ekf/sq3-quartet.yaml

@@ -0,0 +1,41 @@
+id: 69
+name: "EKF SQ3-QUARTET"
+slot_type: CPCI_S0_PER
+children:
+    - device_type: I2CMux
+      name: "MUX"
+      addr: 0x70
+      slot_coding_mask: 0x07
+      children:
+        - device_type: MuxChannel
+          name: "CH00"
+          channel_id: 0
+          children:
+            - device_type: EKFIdentificationIOExpander
+              name: "GPIO"
+              addr: 0x3D
+              provides:
+                inventory:
+                  - revision
+            - device_type: EKF_EEPROM
+              name: "EEPROM"
+              addr: 0x55
+              provides:
+                inventory:
+                  - vendor
+                  - serial
+                  - model
+                  - repaired_at
+                  - manufactured_at
+        - device_type: MuxChannel
+          name: "CH01"
+          channel_id: 1
+          children:
+        - device_type: MuxChannel
+          name: "CH02"
+          channel_id: 2
+          children:
+        - device_type: MuxChannel
+          name: "CH03"
+          channel_id: 3
+          children:

ekfsm/core/components.py

@@ -90,8 +90,11 @@ class HwModule(SystemComponent):
 
         nodes = findall(self, lambda node: isinstance(node, ProbeableDevice))
         for node in nodes:
-            if node.probe(*args, **kwargs):
-                return True
+            try:
+                if node.probe(*args, **kwargs):
+                    return True
+            except Exception as e:
+                self.logger.error(f"Error probing {node}: {e}")
 
         return False
 

ekfsm/devices/ekf_ccu_uc.py

@@ -4,6 +4,7 @@ from enum import Enum
 from typing import Tuple
 from ekfsm.core.components import SystemComponent
 from ..exceptions import AcquisitionError
+from .imu import ImuSample
 import struct
 
 
@@ -163,6 +164,68 @@ class EKFCcuUc(Device):
             self._i2c_addr, CcuCommands.PUSH_TEMPERATURE.value, list(data)
         )
 
+    def imu_sample(self) -> Tuple[ImuSample | None, bool]:
+        """
+        Read the next IMU sample from the CCU's IMU sample FIFO.
+
+        If no sample is available, this method returns None.
+        The second return value indicates if more samples are available in the FIFO.
+
+        The CCU periodically samples the accelerometer and gyroscope data from the IMU and
+        places it into a FIFO of 256 entries.
+        Application must periodically read the samples from the FIFO to avoid overflow.
+
+        FIFO overflow is indicated in the sample by the `lost` attribute.
+
+        Note that the x, y, and z axes of the accelerometer and gyroscope
+        are aligned to the mounting of the IMU on the CCU board. Please correct the axes if necessary
+        to match the orientation of the IMU in your application.
+
+        Returns
+        -------
+        Tuple[ImuSample | None, bool]
+            The IMU sample (or None) and a flag indicating if more samples are available in the FIFO.
+        """
+        more_samples = False
+        _data = self._smbus.read_block_data(
+            self._i2c_addr, CcuCommands.IMU_SAMPLES.value
+        )
+        data = bytes(_data)
+        if len(data) < 14:
+            return None, False  # No data available
+        diag, fsr, acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z = struct.unpack(
+            "<BBhhhhhh", data
+        )
+        imu_data = ImuSample(
+            [
+                self._scale_imu_accel(acc_x, fsr),
+                self._scale_imu_accel(acc_y, fsr),
+                self._scale_imu_accel(acc_z, fsr),
+            ],
+            [
+                self._scale_imu_gyro(gyro_x, fsr),
+                self._scale_imu_gyro(gyro_y, fsr),
+                self._scale_imu_gyro(gyro_z, fsr),
+            ],
+            True if diag & 1 else False,
+        )
+
+        more_samples = True if (diag & 2 != 0) else False
+
+        return imu_data, more_samples
+
+    @staticmethod
+    def _scale_imu_accel(val: int, fsr: int) -> float:
+        fsr = fsr & 0xF
+        scale = 16 / (1 << fsr)
+        return val * (scale / 32768) * 9.80665  # convert to m/s^2
+
+    @staticmethod
+    def _scale_imu_gyro(val: int, fsr: int) -> float:
+        fsr = fsr >> 4 & 0xF
+        scale = 2000 / (1 << fsr)
+        return val * (scale / 32768)
+
     def sw_shutdown(self) -> None:
         """
         Tell CCU that the system is going to shutdown.
@@ -316,6 +379,9 @@ class EKFCcuUc(Device):
             chunk = self._get_parameterset_chunk(begin)
             if len(chunk) < 32:
                 break
+            # if chunk ends with zero byte, remove it (workaround for I2C slave bug)
+            if chunk[-1] == 0:
+                chunk = chunk[:-1]
             json += chunk
             begin = False
         return json.decode("utf-8")

ekfsm/devices/gpio.py

@@ -214,6 +214,7 @@ class EKFIdentificationIOExpander(GPIOExpander, ProbeableDevice):
 
         assert isinstance(self.root, HwModule)
         id, _ = self.read_board_id_rev()
+        self.logger.debug(f"Probing EKFIdentificationIOExpander: {id}")
 
         return self.root.id == id
 

ekfsm/devices/imu.py

@@ -0,0 +1,14 @@
+class ImuSample:
+    """
+    Class to store IMU data sample
+
+    * accel: list[float] - Accelerometer data in m/s^2, [x, y, z]
+    * gyro: list[float] - Gyroscope data in degrees/s, [x, y, z]
+    * lost: bool - True if data was lost before that sample
+
+    """
+
+    def __init__(self, accel: list[float], gyro: list[float], lost: bool):
+        self.accel = accel
+        self.gyro = gyro
+        self.lost = lost

{ekfsm-0.11.0b1.post3.dist-info → ekfsm-0.12.0.post1.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: ekfsm
-Version: 0.11.0b1.post3
+Version: 0.12.0.post1
 Summary: The EKF System Management Library (ekfsm) is a sensor monitoring suite for Compact PCI Serial devices.
 Author-email: Klaus Popp <klaus.popp@ci4rail.com>, Jan Jansen <jan@ekf.de>, Felix Päßler <fp@ekf.de>
 Requires-Python: >=3.10

{ekfsm-0.11.0b1.post3.dist-info → ekfsm-0.12.0.post1.dist-info}/RECORD

@@ -6,34 +6,36 @@ ekfsm/log.py,sha256=_GC8Y7a4fFV4_DNicbwQ-5rRzNQU6WSotXd2etXSrZk,866
 ekfsm/py.typed,sha256=1gNRtmxvYcVqDDEyAzBLnD8dAOweUfYxW2ZPdJzN1fg,102
 ekfsm/simctrl.py,sha256=dD7pO7EBTiWwSP8ZrGf9-H69g4yDQE3hGtQn5Y3MR1w,7002
 ekfsm/system.py,sha256=_4jkaoikSY5SbHtrzuwiAInE9EnorDh1IampC5v-gHw,10732
-ekfsm/boards/oem/ekf/ccu.yaml,sha256=WgENJDHBYFgUoiYxl4DNv5f6Mz_5oMA-cyD0y1aHvkg,2034
+ekfsm/boards/oem/ekf/ccu.yaml,sha256=qgr7YZO0kEddD9K6tv6222NyozkRNuF7NFw6hyX0XgE,2094
 ekfsm/boards/oem/ekf/sc5-festival.yaml,sha256=_0kS5GegfyOt5CTJc9kY6HJbr9yZo4i18sVo6F4KE9c,772
 ekfsm/boards/oem/ekf/sc9-toccata.yaml,sha256=btLgQMSsW0tRipnUYUkVQSIsjzxfKq0NXaQ1fMMyBRI,771
 ekfsm/boards/oem/ekf/spv-mystic.yaml,sha256=zcLiNE7wVdXIT4vkwEYSqQ8ff-KEjCHfHnQzzPXJQ4E,1804
 ekfsm/boards/oem/ekf/sq1-track.yaml,sha256=YU83BQjGu-4ejirwnGxd38sJme859kdRovkZyiOJciU,1050
+ekfsm/boards/oem/ekf/sq3-quartet.yaml,sha256=pBB7Tv0IWLkFUYBs3tFvZriA-uqPuPIgzjaN0aHT4e4,1052
 ekfsm/boards/oem/ekf/srf-fan.yaml,sha256=Mcu1Q8B1Ih10hoc_hbkGlppBmbOFcufsVUR42iW4Rwc,1368
 ekfsm/boards/oem/ekf/sur-uart.yaml,sha256=VaNP2BSlNTi1lDco16Ma9smPEAMaVKvx-ZNDcm3QptM,1890
 ekfsm/boards/oem/hitron/hdrc-300.yaml,sha256=juRO3ahLNNqCH099-QJGQRWRh5qg-brAob0maJ0R5tY,427
 ekfsm/core/__init__.py,sha256=nv3Rs-E953M9PBFV9ryejRY-KM6xG1NMlQTWwzCEQwo,212
-ekfsm/core/components.py,sha256=yCHU88DF4ECjzHiJ9ofg_ic7oX6dm3ACIbV7Ve6At_o,3558
+ekfsm/core/components.py,sha256=_b48cXuOhAtczp_Ykekt1r5nNlrddSOXS6lMfWCFyp8,3682
 ekfsm/core/probe.py,sha256=DgJvkvMjVk09n0Rzn13ybRvidrmFn_D2PD56XS-KgxU,262
 ekfsm/core/slots.py,sha256=WOKYO-8TfpWexu3DsSjrYTvjtN4pAMiy22zMjjUI-qQ,6569
 ekfsm/core/sysfs.py,sha256=iW_XWtEjW7pZqpJc_RyMzhVjbetw0ydTH11lhfxrPbc,2541
 ekfsm/core/utils.py,sha256=RYX-rd0pBBXvwjyInDFD8BKZppIBvln9sT4o4kRRcMk,2504
 ekfsm/devices/__init__.py,sha256=h3pE3yPnquTIykpi7yxoTJOJ8YfVh_PqGiFMJGpXdCs,888
 ekfsm/devices/eeprom.py,sha256=ubeext9PC6FDQ1qoaYZp3ZNRlEhPYBzTe1oXJdm4qtU,31029
-ekfsm/devices/ekf_ccu_uc.py,sha256=H5nt51cu8oTPos-SYmoDvVioG4QoFs11XX7LiUySLwQ,12796
+ekfsm/devices/ekf_ccu_uc.py,sha256=V3xwL156Y9akgRohl8HCR2FuvklPW65hapkLa_nSlko,15268
 ekfsm/devices/ekf_sur_led.py,sha256=KPr75RVQQKEUWj5gP0ciSJam9jWniG1ew3k_62onwrE,1887
 ekfsm/devices/generic.py,sha256=LuNpf0sn-TwZ1nkJc3Shu4-07mAhQIc6-CJwu7cNZwc,9273
-ekfsm/devices/gpio.py,sha256=6ofOlOm7toAHb7J2FSYqs0Wu8lhShCHDAWA0rhsZJLI,9510
+ekfsm/devices/gpio.py,sha256=EXUcfxG8p8-B4ym4CFNwqT563Rp-roDNMs2Xlm4KzhU,9582
 ekfsm/devices/hwmon.py,sha256=EXBFTE6QfhpA-Xb7CnhlR_fVGIjw5tWt3JzrtkXKGic,1987
 ekfsm/devices/iio.py,sha256=gMOJGdg2PvFbAvlBpLfDTIc_-9i1Z3OLpuabTke6N3I,1480
 ekfsm/devices/iio_thermal_humidity.py,sha256=YjXHI2AXSDpAuAGHYc_Kk7wMO9LGimHSXnARw4rxYJ0,1212
+ekfsm/devices/imu.py,sha256=bnSaTjGSLV90FyUbkK9oTon0dmF7N_JQ4uGmBPFA5Co,414
 ekfsm/devices/mux.py,sha256=mFd0Tr5XQp6MIMNV1xpsQETrELWkvx1ZTSAemiUasoU,1042
 ekfsm/devices/pmbus.py,sha256=Zf3JfMX1VTmmU2hoZkqOR9UTZcNRvnbqhhOlZ4sdoX4,2033
 ekfsm/devices/smbios.py,sha256=KC1D2dSRaertYLeMFF6C9hQUI_RcTzVdtQ1qh8Hbces,985
 ekfsm/devices/utils.py,sha256=4-0Kmvy4ou8R71afNj6RqdBTjLW4SMWPHqVrzB2RUZw,397
-ekfsm-0.11.0b1.post3.dist-info/METADATA,sha256=9gZmLcYKM0u-vjRTMXY9Fi6NzMssPZUpoD6CJZbyyOQ,3370
-ekfsm-0.11.0b1.post3.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
-ekfsm-0.11.0b1.post3.dist-info/entry_points.txt,sha256=WhUR4FzuxPoGrbTOKLsNJO7NAnk2qd4T30fqzN1yLw8,45
-ekfsm-0.11.0b1.post3.dist-info/RECORD,,
+ekfsm-0.12.0.post1.dist-info/METADATA,sha256=qslFxdmq98DMVXMIClGyL2DaZmbH95mE1hrkpikj0as,3368
+ekfsm-0.12.0.post1.dist-info/WHEEL,sha256=qtCwoSJWgHk21S1Kb4ihdzI2rlJ1ZKaIurTj_ngOhyQ,87
+ekfsm-0.12.0.post1.dist-info/entry_points.txt,sha256=WhUR4FzuxPoGrbTOKLsNJO7NAnk2qd4T30fqzN1yLw8,45
+ekfsm-0.12.0.post1.dist-info/RECORD,,