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

To see current IW612 firmware version use

cat /proc/mwlan/adapter0/wlan0/info | grep version

driver_version = SDIW612---18.99.2.p66.10-MM6X18423.p6-GPL-(FP92) 
firmware_major_version=18.99.2

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

Zigbee

TBD

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