Feature/dual iir config script

.github/workflows/ci.yml

@@ -35,6 +35,18 @@ jobs:
           command: check
           args: --verbose
 
+      - uses: actions/setup-python@v1
+        with:
+          python-version: 3.8
+      - name: Install Python Dependencies
+        run: |
+            python -m pip install --upgrade pip
+            pip install -r scripts/requirements.txt
+            pip install pylint
+      - name: Run Pylint
+        run: |
+          pylint scripts/
+
   compile:
     runs-on: ubuntu-latest
     continue-on-error: ${{ matrix.toolchain == 'nightly' }}

.github/workflows/release-docs.yml

@@ -28,6 +28,12 @@ jobs:
           command: install
           args: mdbook-linkcheck
 
+      - name: Install ToC
+        uses: actions-rs/cargo@v1
+        with:
+          command: install
+          args: mdbook-toc
+
       - uses: peaceiris/actions-mdbook@v1
         with:
           mdbook-version: '0.4.12'

Cargo.toml

@@ -78,6 +78,10 @@ branch = "feature/assume-init"
 git = "https://github.com/quartiq/smoltcp-nal.git"
 rev = "0634188"
 
+[patch.crates-io.miniconf]
+git = "https://github.com/quartiq/miniconf.git"
+rev = "8da5961"
+
 [features]
 nightly = ["cortex-m/inline-asm", "dsp/nightly"]
 pounder_v1_1 = [ ]

book/README.md

@@ -5,6 +5,7 @@ This folder hosts the source used for generating Stabilizer's user manual.
 The user manual is generated using `mdbook`, which can be installed via cargo:
 ```
 cargo install mdbook
+cargo install mdbook-toc
 cargo install mdbook-linkcheck
 ```
 

book/book.toml

@@ -9,6 +9,11 @@ title = "Stabilizer"
 create-missing = false
 build-dir = "stabilizer-manual"
 
+[preprocessor.toc]
+marker = "<-- TOC -->"
+command = "mdbook-toc"
+renderer = ["html"]
+
 [output.html]
 site-url = "/stabilizer"
 git-repository-url = "https://github.com/quartiq/stabilizer"

book/src/usage.md

@@ -1,3 +1,10 @@
+
+
+### Table of Contents
+
+<-- TOC -->
+
+
 # Miniconf Run-time Settings
 Stabilizer supports run-time settings configuration using MQTT.
 
@@ -58,6 +65,23 @@ Refer to the documentation for [Miniconf](firmware/miniconf/enum.Error.html) for
 description of the possible error codes that Miniconf may return if the settings update was
 unsuccessful.
 
+# IIR Configuration
+For the `dual-iir` application, a Python utility has been written to easily configure the IIR
+filters for a variety of filtering and control applications.
+
+The script is located in `scripts/dual_iir_configuration.py`.
+
+To use the script, install dependencies:
+```bash
+python -m pip install -r scripts/requirements.txt
+```
+
+Then, use the built-in help to learn how the utility can automatically configure your IIR filters
+for you:
+```bash
+python scripts/dual_iir_configuration.py --help
+```
+
 # Telemetry
 
 Stabilizer applications publish telemetry utilizes MQTT for managing run-time settings configurations as well as live telemetry

hitl/loopback.py

@@ -11,25 +11,12 @@
 
 from gmqtt import Client as MqttClient
 from miniconf import Miniconf
+import stabilizer
 
 # The minimum allowable loopback voltage error (difference between output set point and input
 # measured value).
 MINIMUM_VOLTAGE_ERROR = 0.010
 
-def _voltage_to_machine_units(voltage):
-    """ Convert a voltage to IIR machine units.
-
-    Args:
-        voltage: The voltage to convert
-
-    Returns:
-        The IIR machine-units associated with the voltage.
-    """
-    dac_range = 4.096 * 2.5
-    assert abs(voltage) <= dac_range, 'Voltage out-of-range'
-    return voltage / dac_range * 0x7FFF
-
-
 def static_iir_output(output_voltage):
     """ Generate IIR configuration for a static output voltage.
 
@@ -39,7 +26,7 @@ def static_iir_output(output_voltage):
     Returns
         The IIR configuration to send over Miniconf.
     """
-    machine_units = _voltage_to_machine_units(output_voltage)
+    machine_units = stabilizer.voltage_to_machine_units(output_voltage)
     return {
         'y_min': machine_units,
         'y_max': machine_units,

py/setup.py

@@ -1,6 +1,7 @@
-from setuptools import setup
+from setuptools import setup, find_packages
 
 setup(name='stabilizer',
+      packages=find_packages(),
       version='0.1',
       description='Stabilizer Utilities',
       author='QUARTIQ GmbH',

py/stabilizer/__init__.py

@@ -0,0 +1,21 @@
+#!/usr/bin/python3
+"""
+Author: QUARTIQ GmbH
+
+Description: General utilities for interfacing with Stabilizer using Python.
+"""
+
+# The maximum output scale of the Stabilizer DACs.
+DAC_MAX_SCALE = 4.096 * 2.5
+
+def voltage_to_machine_units(voltage):
+    """ Convert a voltage to IIR machine units.
+
+    Args:
+        voltage: The voltage to convert
+
+    Returns:
+        The IIR machine-units associated with the voltage.
+    """
+    assert abs(voltage) <= DAC_MAX_SCALE, 'Voltage out-of-range'
+    return int(voltage / DAC_MAX_SCALE * 0x7FFF)