added k209 driver
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Ayzen
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# Compact-M K209 / S2VNA Setup
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This project controls the Compact-M K209 through the S2VNA SCPI server.
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The production path is:
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```text
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K209 --USB-C--> S2VNA --HiSLIP/VISA--> radar_system
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```
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There is no direct USB driver for K209 in this project. Do not use mock
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transports, socket fallbacks, or `pyvisa-py` for the K209 path. The required
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transport dependency is an IVI/Vendor VISA implementation that provides both
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`visa.h` and `libvisa.so`.
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For maximum throughput the driver uses:
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- HiSLIP, not TCP Socket.
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- A persistent VISA session.
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- Binary `FORM:DATA REAL32`.
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- Little-endian `FORM:BORD SWAP`.
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- One-time sweep configuration outside the acquisition loop.
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- Cached frequency axis after configuration, so repeated acquisition reads only
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the complex traces.
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- Point delay forced to `0` and sweep averaging forced `OFF`.
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- The acquisition loop sends one synchronized SCPI message:
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`TRIG:SING;*OPC?;:SENS:DATA:CORR? S11;:SENS:DATA:CORR? S21`.
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This keeps the trigger state valid while avoiding separate round trips for
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`*OPC?`, `S11`, and `S21`.
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Do not remove the inline `*OPC?` from the hot path. On the tested K209/S2VNA
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setup, `TRIG:SING` followed immediately by data queries can return data but
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queues SCPI error `-211,"Trigger system is not in the trigger wait state"`.
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## Required Components
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Install these on the machine that runs the K209 smoke tests or acquisition
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process:
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1. S2VNA from Planar.
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- On Linux the S2VNA manual describes the AppImage package
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`S2VNA_X.X.X_x86_64.AppImage`.
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- The K209 is connected to this S2VNA instance over USB-C.
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2. IVI VISA runtime and development files.
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- Must provide `visa.h`.
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- Must provide `libvisa.so`.
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- Must support TCPIP HiSLIP resources.
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- Suitable implementations include NI-VISA or Keysight IO Libraries Suite.
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3. Project Python environment.
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- Use the repository virtual environment, not system Python.
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- Install `requirements.txt` into `.venv`.
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4. Native build dependencies.
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- C++20 compiler.
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- `make`.
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- `libusb-1.0` development files for the existing LibreVNA build.
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## Ubuntu x86_64
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Install base packages:
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```bash
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sudo apt update
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sudo apt install build-essential make pkg-config python3-venv python3-pip libusb-1.0-0-dev
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```
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Create or update the project virtual environment:
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```bash
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cd /home/europa/Documents/radar_system
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python3 -m venv .venv
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.venv/bin/python -m pip install --upgrade pip
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.venv/bin/python -m pip install -r requirements.txt
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```
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Install an IVI VISA implementation. For NI-VISA, install the NI Linux package
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repository from NI, then install the `ni-visa` package with the system package
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manager. For Keysight, install Keysight IO Libraries Suite for Linux with VISA
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support enabled.
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Do not use Ubuntu's `libvisa-dev` / `libvisa0` packages for the K209 production
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path. Those packages come from `librevisa` and are not the vendor IVI VISA stack
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used for high-speed HiSLIP operation.
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After installation, verify that the system exposes the required C and runtime
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files:
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```bash
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ldconfig -p | grep libvisa
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find /usr /opt -name visa.h -o -name libvisa.so 2>/dev/null
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.venv/bin/pyvisa-info
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```
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`pyvisa-info` must show the `ivi` backend with a found binary library.
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If `visa.h` or `libvisa.so` is installed outside the default compiler/linker
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paths, pass the paths explicitly:
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```bash
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make build/bin/k209_smoke_test \
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VISA_CXXFLAGS='-I/path/to/visa/include' \
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VISA_LDFLAGS='-pthread -lrt -L/path/to/visa/lib -lvisa'
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```
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## S2VNA HiSLIP Server
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Start S2VNA with the K209 connected over USB-C. Enable HiSLIP server on port
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`4880`. This can be done from the S2VNA UI:
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```text
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System -> Settings -> Remote control network settings -> HiSLIP server -> On
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System -> Settings -> Remote control network settings -> HiSLIP port -> 4880
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```
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The S2VNA command line can also enable the server:
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```bash
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./S2VNA_X.X.X_x86_64.AppImage /HislipServer:on /HislipPort:4880
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```
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For unattended runs, S2VNA also supports hiding the UI:
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```bash
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./S2VNA_X.X.X_x86_64.AppImage /HislipServer:on /HislipPort:4880 /visible:off
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```
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Verify that the server is listening:
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```bash
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ss -ltnp | grep 4880
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```
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The local VISA resource is:
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```text
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TCPIP0::127.0.0.1::hislip0,4880::INSTR
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```
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If S2VNA runs on another machine, replace `127.0.0.1` with that machine's IP
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address.
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## Python Smoke Test
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Use the project virtual environment:
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```bash
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cd /home/europa/Documents/radar_system
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.venv/bin/python -m python_app.scripts.k209_smoke_test \
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--resource 'TCPIP0::127.0.0.1::hislip0,4880::INSTR' \
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--visa-library '@ivi' \
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--start-hz 10000000 \
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--stop-hz 100000000 \
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--points 11 \
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--ifbw-hz 10000 \
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--power-dbm -20 \
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--no-preset
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```
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Expected result:
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```text
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K209 IDN: Planar, K209, ...
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K209 sweep OK: points=11, first_hz=10000000.000, last_hz=100000000.000, ...
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```
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Use `--no-preset` for the first smoke test to avoid resetting the current S2VNA
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session. Remove it when testing the full driver setup path.
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## C++ Smoke Test
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Build the C++ K209 smoke binary:
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```bash
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cd /home/europa/Documents/radar_system
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make build/bin/k209_smoke_test
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```
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Run it against the local S2VNA HiSLIP server:
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```bash
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build/bin/k209_smoke_test \
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--resource 'TCPIP0::127.0.0.1::hislip0,4880::INSTR' \
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--start-hz 10000000 \
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--stop-hz 100000000 \
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--points 11 \
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--ifbw-hz 10000 \
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--power-dbm -20 \
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--no-preset
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```
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If the build fails with `fatal error: visa.h: No such file or directory`, the
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IVI VISA development headers are not installed or are not visible to the
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compiler. If linking fails with `cannot find -lvisa`, the IVI VISA runtime or
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linker path is not installed correctly.
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## Python Sweep Benchmark
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Use this script to measure hot-loop sweep throughput for a selected sweep
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configuration. It keeps one VISA session open, configures the sweep once, caches
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the frequency axis once, then times repeated synchronized trigger/read cycles
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for binary `S11` and `S21` arrays.
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Edit the configuration constants at the top of
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`python_app/scripts/k209_sweep_benchmark.py`, then run:
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```bash
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cd /home/europa/Documents/radar_system
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.venv/bin/python -m python_app.scripts.k209_sweep_benchmark
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```
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The reported `points_per_s` is:
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```text
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timed_sweeps * points / total_timed_seconds
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```
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Set `INCLUDE_RESULT_CONVERSION = True` only when you want to include Python
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`SweepResult` construction overhead. Keep it `False` when measuring the
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device/transport hot path.
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## K209 Limits
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The connected K209 reports these limits through SCPI service/capability
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queries:
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```text
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frequency_hz: 9000 .. 9000000000
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ifbw_hz: 1 .. 300000
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power_dbm: -55 .. +5
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points: 2 .. 500001
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```
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The S2VNA manual specifies the IFBW range with 1/3-decade spacing.
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`SENS:BAND` accepts values in the 1, 1.5, 2, 3, 5, 7 sequence across decades
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and clamps out-of-range values to the nearest limit.
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The manual describes metrology/dynamic-range frequency subranges such as
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`9 kHz..300 kHz`, `300 kHz..2 MHz`, and `2 MHz..9 GHz`, but it does not expose a
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SCPI command for manually selecting an internal RF band. S2VNA handles internal
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range switching. Benchmark the exact frequency window used by the application
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when sweep speed matters.
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The S2VNA manual also describes a SCPI FIFO buffer mode for very high-rate
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external-trigger sequences. It is not the right default for this driver stage:
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the manual limits it to specific analyzer families, external/repeated trigger
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workflows, one open channel, disabled display updates, and at most 3000 points
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per sweep. The current K209 path therefore uses synchronized HiSLIP binary
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sweeps instead of FIFO.
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## Raspberry Pi OS
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Raspberry Pi 5 uses ARM64/AArch64 when running 64-bit Raspberry Pi OS. The S2VNA
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Linux package described in the S2VNA manual is `x86_64`, and common vendor VISA
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packages are also primarily published for x86_64 Linux.
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Do not assume local K209 acquisition on Raspberry Pi works until both of these
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are available for ARM64:
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1. S2VNA build that can run on Raspberry Pi OS ARM64 and control the K209 over
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USB-C.
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2. IVI VISA implementation for ARM64 that provides `visa.h`, `libvisa.so`, and
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TCPIP HiSLIP support.
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If those ARM64 dependencies are not available, run S2VNA and the acquisition
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process on an Ubuntu x86_64 machine. Raspberry Pi integration should then be
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handled at the system/pipeline level, not by replacing the K209 driver transport
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with a fallback.
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## Expected Hardware Test Result
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With S2VNA listening on `4880` and IVI/Vendor VISA installed correctly, the
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Python and C++ smoke tests should report:
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```text
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K209 IDN: Planar, K209, ...
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K209 sweep OK: points=11, first_hz=10000000.000, last_hz=100000000.000
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```
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