Rework radar system
This commit is contained in:
Ayzen
@@ -2,11 +2,11 @@
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Standalone acquisition binary for the **L-Card E-502** ADC. It captures the
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dual-channel main + reference IQ stream and publishes it as 8-byte framed packets
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over a PTY, which the Python `kamil_adc` producer
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(`python_app/hardware_full/kamil_adc`) reads and processes.
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over a PTY. `KamilAdcService` in `python_app/hardware_full/kamil_adc` reads and
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processes that stream for `python_app.scripts.kamil_adc_raw_producer`.
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This is the data *source* for `radar.model == "kamil_adc"`; it is the Kamil ADC
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counterpart to the C++ `sweep_orchestrator` used by LibreVNA devices.
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This is the data *source* for `radar.model == "kamil_adc"`, paired with the Python
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`kamil_adc_raw_producer`. LibreVNA acquisition uses Python drivers.
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## Layout
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@@ -16,15 +16,13 @@ counterpart to the C++ `sweep_orchestrator` used by LibreVNA devices.
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| `include/` | Headers for the writers plus `switch_sequencer.h`. |
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| `vendor/lcard/` | L-Card X502/E502 SDK headers (`x502api.h`, `e502api.h`, `lcard_pstdint.h`), vendored verbatim so the collector builds with no external include path. |
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The sources started as a verbatim import of the original standalone tool, but are
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**no longer identical to it**: the collector now drives the RF switches itself
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(switch-aware mode, `SwitchSequencer`), stepping to the next combination inside
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the hardware idle gap between sweeps and flagging a sweep *dirty* when a readout
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backlog means the toggle could not have landed in that gap. It therefore reuses
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the orchestrator's switch drivers and the shared `run_config` loader, which is why
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its build has its own include set and its own `build/kamil/` object tree.
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The wire format towards the Python producer is unchanged.
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In switch-aware mode, `SwitchSequencer` drives the RF switches, stepping to the
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next combination inside the hardware idle gap between sweeps and flagging a
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sweep *dirty* when a readout backlog means the toggle could not have landed in
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that gap. The Python reader
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drops dirty sweeps; the collector repeats that combination without another
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switch transition. The collector uses the common H7992 driver and `run_config`
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loader, with its own include set and `build/kamil/` object tree.
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## Build
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@@ -33,16 +31,25 @@ make kamil_adc_collector # -> build/bin/kamil_adc_collector
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```
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It is **not** part of `make all`; `start.sh` builds it automatically when the
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active config selects `radar.model == "kamil_adc"`. The build is self-contained:
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it needs only the vendored headers and links `-ldl -lutil -lpthread`.
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active config selects `radar.model == "kamil_adc"`, unless `--skip-build` is set.
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The Linux build uses the repository's common sources and vendored headers and
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links with `-pthread -ldl -lutil`; no installed L-Card SDK is needed to build it.
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## Runtime
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The collector loads the proprietary `libx502api.so` / `libe502api.so` at run time
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via `dlopen`, so those libraries must be on `LD_LIBRARY_PATH`. The Kamil ADC
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service prepends `~/.local/lib` (their default install location) unless the config
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pins `LD_LIBRARY_PATH` in `radar.kamil_adc.env`.
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via `dlopen`, so those libraries must be discoverable by the dynamic loader.
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The Kamil ADC service prepends `~/.local/lib` (their default install location)
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unless the config pins `LD_LIBRARY_PATH` in `radar.kamil_adc.env`.
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The command-line arguments (capture profile, clocking, the `do8_freq_ref`
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reference overlay, etc.) are supplied by `radar.kamil_adc.args` in the run config;
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the service appends the generated `tty:<path>` argument.
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the service appends `tty:<path>` from `radar.kamil_adc.tty_path`.
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When both RF switches use `driver_mode: "native"`, the producer also passes
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`config:<path>` to the collector. After each sweep boundary, the collector emits
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an 8-byte combo tag `[0x00C0, input_pos, output_pos, dirty]` (four little-endian
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16-bit words). The producer accepts only clean sweeps for the requested combo.
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Otherwise, the producer selects and settles the switches itself; the collector
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runs without `config:<path>` and emits no combo tags. Calibration captures also
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use this Python-controlled path.
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@@ -6,7 +6,7 @@
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#include <vector>
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#include "shared_types.hpp"
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#include "switch_driver.hpp"
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#include "h7992_minimal_driver.hpp"
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namespace radar::kamil {
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@@ -47,8 +47,8 @@ class SwitchSequencer {
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SwitchSequencer(
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Settings settings,
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std::unique_ptr<drivers::SwitchDriver> input_switch,
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std::unique_ptr<drivers::SwitchDriver> output_switch
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std::unique_ptr<drivers::H7992MinimalDriver> input_switch,
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std::unique_ptr<drivers::H7992MinimalDriver> output_switch
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)
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: settings_(std::move(settings)),
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input_switch_(std::move(input_switch)),
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@@ -130,15 +130,14 @@ class SwitchSequencer {
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private:
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void apply(const radar::ipc::ComboKey& combo) {
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// Output first, then input — same order the sweep orchestrator uses, so
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// both acquisition paths drive an identical hardware sequence.
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// Set the transmitter before the receiver.
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output_switch_->switch_to(combo.output_pos);
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input_switch_->switch_to(combo.input_pos);
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}
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Settings settings_;
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std::unique_ptr<drivers::SwitchDriver> input_switch_;
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std::unique_ptr<drivers::SwitchDriver> output_switch_;
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std::unique_ptr<drivers::H7992MinimalDriver> input_switch_;
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std::unique_ptr<drivers::H7992MinimalDriver> output_switch_;
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std::size_t index_ = 0;
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radar::ipc::ComboKey applied_{};
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bool upcoming_dirty_ = false;
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@@ -20,7 +20,6 @@
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#include "switch_sequencer.h"
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#include "run_config.hpp"
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#include "h7992_minimal_driver.hpp"
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#include "hmc349a_minimal_driver.hpp"
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#include <algorithm>
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#include <array>
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@@ -1830,21 +1829,8 @@ void print_device_info(const t_x502_info& info) {
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}
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// Build one switch driver (native GPIO or mock) from a parsed switch config,
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// reusing the exact driver implementations the sweep orchestrator uses so both
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// acquisition paths drive identical hardware.
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std::unique_ptr<radar::drivers::SwitchDriver> make_switch_driver(const radar::config::SwitchConfig& sc) {
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if (sc.driver_kind == radar::config::SwitchDriverKind::HMC349A) {
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return std::make_unique<radar::drivers::HMC349AMinimalDriver>(
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radar::drivers::HMC349AMinimalDriverSettings{
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.name = sc.name,
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.mode = sc.driver_mode,
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.positions = sc.positions,
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.default_position = sc.default_position,
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.gpio_chip = sc.gpio_chip,
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.pin_a = sc.pin_a,
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.invert_logic = sc.invert_logic,
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});
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}
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// using the shared H7992 GPIO implementation.
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std::unique_ptr<radar::drivers::H7992MinimalDriver> make_switch_driver(const radar::config::SwitchConfig& sc) {
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return std::make_unique<radar::drivers::H7992MinimalDriver>(
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radar::drivers::H7992MinimalDriverSettings{
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.name = sc.name,
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