cart_firmware_added

2026-08-26 15:40:10 +03:00
parent 6ada811c2f
commit cc6d189d52
12 changed files with 604 additions and 4 deletions
@@ -0,0 +1,91 @@
+#!/usr/bin/env python3
+"""Rigorous comparison of two SBUS captures (old remote vs our firmware).
+
+Usage: .venv/bin/python tools/compare.py captures/a.npz captures/b.npz
+"""
+import sys
+
+import numpy as np
+
+
+def extract(path):
+    d = np.load(path)
+    v = d["volts"]
+    srate = float(d["srate"])
+    idle = np.median(v)
+    p10, p90 = np.percentile(v, [10, 90])
+    active = p10 if abs(p10 - idle) > abs(p90 - idle) else p90
+    thr = (idle + active) / 2
+    phys_hi = v > thr  # physical high (pulse)
+    # plateau levels: median of samples well inside each state
+    lvl_hi = np.median(v[phys_hi])
+    lvl_lo = np.median(v[~phys_hi])
+    # runs
+    sig = phys_hi.astype(np.int8)
+    edges = np.flatnonzero(np.diff(sig)) + 1
+    starts = np.concatenate(([0], edges))
+    ends = np.concatenate((edges, [len(sig)]))
+    levels = sig[starts]
+    dur_us = (ends - starts) * 1e6 / srate
+    # burst envelope: first to last physical-high sample
+    hi_idx = np.flatnonzero(phys_hi)
+    envelope_us = (hi_idx[-1] - hi_idx[0] + 1) * 1e6 / srate
+    # inner runs (drop leading/trailing idle)
+    runs = [(int(l), float(du)) for l, du in zip(levels[1:-1], dur_us[1:-1])]
+    # UART logic: logic1 == idle state; idle here is physical low
+    stream = []
+    for l, du in runs:
+        n = max(1, round(du / 10.0))
+        stream.extend([1 - l] * n)  # physical high -> logic 0
+    stream.extend([1] * 24)
+    frames = []
+    i = 0
+    while i + 12 <= len(stream):
+        if stream[i] == 1:
+            i += 1
+            continue
+        byte = sum(b << k for k, b in enumerate(stream[i + 1 : i + 9]))
+        frames.append(byte)
+        i += 12
+    # bit clock estimate: envelope should be 299 bits (last stop bits merge w/ idle)
+    n_units = round(envelope_us / 10.0)
+    bit_us = envelope_us / n_units
+    return {
+        "lvl_hi": lvl_hi,
+        "lvl_lo": lvl_lo,
+        "runs": runs,
+        "frames": frames,
+        "envelope_us": envelope_us,
+        "bit_us": bit_us,
+        "vmin": float(v.min()),
+        "vmax": float(v.max()),
+    }
+
+
+a_path, b_path = sys.argv[1], sys.argv[2]
+A, B = extract(a_path), extract(b_path)
+
+print(f"{'':24s} {'A: ' + a_path:>28s} {'B: ' + b_path:>28s}")
+print(f"{'bytes decoded':24s} {len(A['frames']):>28d} {len(B['frames']):>28d}")
+ha = " ".join(f"{x:02X}" for x in A["frames"])
+hb = " ".join(f"{x:02X}" for x in B["frames"])
+print(f"frames identical: {A['frames'] == B['frames']}")
+print(" A:", ha)
+print(" B:", hb)
+print(f"{'run count':24s} {len(A['runs']):>28d} {len(B['runs']):>28d}")
+qa = [round(du / 10) for _, du in A["runs"]]
+qb = [round(du / 10) for _, du in B["runs"]]
+la = [l for l, _ in A["runs"]]
+lb = [l for l, _ in B["runs"]]
+print(f"quantized run pattern identical: {qa == qb and la == lb}")
+print(f"{'envelope, us':24s} {A['envelope_us']:>28.2f} {B['envelope_us']:>28.2f}")
+print(f"{'bit time, us':24s} {A['bit_us']:>28.4f} {B['bit_us']:>28.4f}")
+print(f"{'-> baud':24s} {1e6/A['bit_us']:>28.1f} {1e6/B['bit_us']:>28.1f}")
+print(f"{'high plateau, V':24s} {A['lvl_hi']:>28.3f} {B['lvl_hi']:>28.3f}")
+print(f"{'low plateau, V':24s} {A['lvl_lo']:>28.3f} {B['lvl_lo']:>28.3f}")
+print(f"{'abs min/max, V':24s} {A['vmin']:>14.2f}/{A['vmax']:>12.2f} {B['vmin']:>14.2f}/{B['vmax']:>12.2f}")
+
+# worst run deviation from ideal 10us grid
+da = max(abs(du - 10 * round(du / 10)) for _, du in A["runs"])
+db = max(abs(du - 10 * round(du / 10)) for _, du in B["runs"])
+print(f"{'worst grid dev, us':24s} {da:>28.2f} {db:>28.2f}")