Jaguar Sentai Board - DynamicDevices/meta-dynamicdevices GitHub Wiki
Jaguar Sentai
AI audio STT and TTS development platform
Sound Support
TAS2563 audio playback
The TAS2563 audio codec is used for output. Currently we've back ported an older TI driver as a kernel module. In future we plan to migrate to a backport of the newer TAS2781 driver.
The driver downloads a pre-built audio firmware binary to the TAS2563 (/lib/firmware/tas2563_uCDSP.bin). There is also a calibration file which is not currently supported.
The firmware can be built with the TI graphical tool for Windows which can be found here.
Further resources can be found here.
The driver for this is a module which loads as snd_soc_tas2563 (use lsmod to view)
We blacklist automatic loading of audio drivers in /etc/modprobe.d/blacklist.conf as otherwise card IDs can change depending on load order. Instead a systemd service audio-driver runs on startup and executes /usr/bin/load-audio-drivers.sh to load in the relevant drivers
ALSA
When loaded aplay -l can be executed to show device details
root@imx8mm-jaguar-sentai-7130a09dab86563:/var/rootdirs/home/fio# aplay -l
**** List of PLAYBACK Hardware Devices ****
card 1: tas2563audio [tas2563-audio], device 0: 30030000.sai-tas2563 ASI1 tas2563 ASI1-0 [30030000.sai-tas2563 ASI1 tas2563 ASI1-0]
Subdevices: 1/1
Subdevice #0: subdevice #0
To play a sample wav file the following command can be used
aplay -Dhw:1,0 -r 48000 -c 2 sample.wav
NOTE: Currently when using the hardware device directly only 2 channnels of 48kHz audio are supported.
PulseAudio
We need to be running audio within docker containers. We seem to be able to use ALSA but some .NET code fails with ALSA. So we've added PulseAudio to the host OS mage and can use this instead of ALSA.
There are PulseAudio equivalents to ALSA record and playback utilities. For example
parecord file.wav
paplay file.wav
There is also a command line control utility, for example
pactl list sources
pactl list sinks
pactl list modules
NOTE: That the pulseaudio server runs as non-root fio user. It's not possible to interact with the server as the root user and this will fail.
The docker container needs to have access to the host os pulse audio socket and dbus. An example docker-compose.yml configuration to achieve this looks something like this
version: '2'
services:
Example:
build: .
image: hub.foundries.io/dynamic-devices/example:latest
devices:
- /dev/snd:/dev/snd
environment:
- PULSE_SERVER=unix:/tmp/pulseaudio.socket
- PULSE_COOKIE=/tmp/pulseaudio.cookie
volumes:
- "/tmp:/tmp"
- "/run/dbus/system_bus_socket:/run/dbus/system_bus_socket"
restart: always
privileged: true
TODO: We should support cookies for authentication but this is not yet implemented. Instead we allow unauthenticated to the host pulseaudio server
To provide the socket in a known place, /tmp/pulseaudio.socket we have a script that runs the following command on start-up
pactl load-module module-native-protocol-unix socket=/tmp/pulseaudio.socket auth-anonymous=true
Then you can enter a docker container configured as above and run the paplay commands or similar
SECURITY NOTE: That usually PulseAudio would run within a user session. This makes sense for desktop/laptop systems but is non-ideal for embedded systems. Instead we run PulseAudio in the systemwide configuration so we don't have to worry about user login. There are potentially some security and other issues with running in this configuration. These should be noted and can be found here.
Networking / Radio Support
WiFi
Run ifconfig to view the wlan0 device (there is no wired ethernet)
Run the following to add a WiFi connection
nmcli con add type wifi con-name $CONNECTIONAME ssid "$SSID" 802-11-wireless-security.key-mgmt WPA-PSK 802-11-wireless-security.psk "$PASSWORD" ifname wlan0
To see connection status use:
nmcli
Cellular
If a Quectel modem module is installed it is posssible to see the modem ID with:
mmcli -L
Then use this to get the modem status
mmcli -m $MODEM_ID
Bluetooth / BLE
TBD
802.15.4 / Thread / Matter
TBD
Power Management
STUSB4500
We use a STUSB4500 to manage USB-C power. This allows us automatically to switch a PSU between different voltages e.g. 5V, 9V, 20V.
The datasheet is here
And the register map is here
We have a tool that allows us to program the NVM in this part to control which settings should be used, the "PDOS". For details on this tool see the repository here.
To write a binary file of 40 bytes of NVM settings
stusb4500 write --file $input_filename
We also have own own current NVM setting binary in the /firmware tree so to program this use
stusb4500 write --file /lib/firmware/stusb4500.dat
To display the current settings:
stusb4500 read
To store the current settings:
stusb4500 read --file $output_file
This tool can also be used to show the current voltage, current consumption and related information. Example usage:
stusb4500 status
Sensors
Button
The button interrupt is not currently implemented but to test via polling use
echo 102 > /sys/class/gpio/export
cat /sys/class/gpio/gpio102/value
State is 1 when not depressed and goes to 0 when depressed.
BGT 60TR13C Radar
We've integrated the Infineon spi-lib driver which talks to the part here
You can run this for test and it will generate a log file with copious numbers of data-points
seamless_dev_spi spi.mode=landscape rec.file=test.dat
TODO: There is still work to be done to integrate this raw data into the analysis library and/or test with the Infineon graphical tool.
SHT40-AD1F-R2 Temperature & Humidity
This is implemented as an I2C device using the SHT4X IIO driver. The lm-sensors framework is installed to the image. To see sensor details use sensors.
root@imx8mm-jaguar-sentai-7130a09dab86563:~# sensors
sht4x-i2c-2-44
Adapter: 30a40000.i2c
temp1: +32.0 C
humidity1: 33.0 %RH
LIS2DH12 Accelerometer
root@imx8mm-jaguar-sentai-7130a09dab86563:~# cat /sys/bus/iio/devices/iio\:device0/name
lis2dh12_accel
root@imx8mm-jaguar-sentai-7130a09dab86563:~# echo 400 > /sys/bus/iio/devices/iio\:device0/sampling_frequency
root@imx8mm-jaguar-sentai-7130a09dab86563:~# cat /sys/bus/iio/devices/iio\:device0/in_accel_x_raw
336
root@imx8mm-jaguar-sentai-7130a09dab86563:~# cat /sys/bus/iio/devices/iio\:device0/in_accel_x_raw
-8
STTS22H Temperature
The STT22H driver is implemented within the IIO subsystem. To check the temperature you can use:
root@imx8mm-jaguar-sentai-7130a09dab86563:~# cat /sys/bus/iio/devices/iio\:device1/name
stts22h
root@imx8mm-jaguar-sentai-7130a09dab86563:~# cat /sys/bus/iio/devices/iio\:device1/in_temp_ambient_raw
3073
root@imx8mm-jaguar-sentai-7130a09dab86563:~# cat /sys/bus/iio/devices/iio\:device1/in_temp_ambient_scale
10.000000000
Testing
LED Testing
- Pulse RGBW LED intensity "heartbeat"
test-leds-hb.sh - Rotate R, G, B, W in ring
test-leds-rc.sh
CE Mark Testing
This requires a specific image lmp-factory-image-ce to be programmed onto the test board.
Systemd services
Individual tests are implemented as systemd services which automatically start and can also be stopped and/or disabled.
| Test | Description |
|---|---|
| ce-audio-test.service | Plays a tune on loop via PulseAudio |
| ce-led-test.service | Sets LEDs to 50% green |
| ce-mic-test.service | Records via PulseAudio to /dev/null |
| ce-wifi-bt-test.service | TBD |
| ce-radar-test.service | Runs seamless_dev_spi outputting data to /dev/null |
To view status of a service
systemctl status ce-foo-test
To stop a service when running
sudo systemctl stop ce-foo-test
To disable a service from running automatically
sudo systemctl disable ce-foo-test
To look at output from a service (and "follow" output)
sudo journalctl -u ce-foo-test -f
Manual scripts
There are also some scripts which can be run manually as needed
To turn off the modem use
sudo ce-modem-pwrdown.sh
Note that this will turn off the modem and it will disconnect from the USB bus but it then powers up and re-enumerates. This issue is addressed in the latest revision of boards.
To turn off the WiFi/BT
ifconfig wlan0 down
gpioset gpiochip2 7=0
Running iperf3
On the Sentai board run
iperf3 -s
On the monitoring device run
iperf3 -c $BOARD_IP_ADDRESS -V -b 10M -t 50