Xylo-Imu RealTime Mode With Sensor Input

Realtime mode with sensor input is typically used for production.

Here is an example that displays infinite running with sensor input, which bases on packages :

- samna                 0.33.1

import samna
import time

def initialize_board() :
    dk = samna.device.open_device("XyloImuTestBoard:0")
    buf = samna.graph.sink_from(dk.get_model_source_node())
    source = samna.graph.source_to(dk.get_model_sink_node())
    return dk, buf, source

dk, buf, source = initialize_board()
graph = samna.graph.EventFilterGraph()
_, etf, state_buf = graph.sequential([dk.get_model_source_node(), "XyloImuOutputEventTypeFilter", samna.graph.JitSink()])
etf.set_desired_type('xyloImu::event::Readout')
graph.start()

def apply_configuration():
    dk.enable_manual_input_acceleration(False)   # Use sensor input instead of manual input

    xylo_config = samna.xyloImu.configuration.XyloConfiguration()
    xylo_config.operation_mode = samna.xyloImu.OperationMode.RealTime

    input_count = 3
    hidden_count = 5
    output_count = 2
    xylo_config.input.weights = [[1] * hidden_count] * input_count
    xylo_config.hidden.weights = [[1] * hidden_count] * hidden_count
    hidden_neurons = [samna.xyloImu.configuration.HiddenNeuron()] * hidden_count
    xylo_config.hidden.neurons = hidden_neurons
    output_neurons = [samna.xyloImu.configuration.OutputNeuron()] * output_count
    xylo_config.readout.neurons = output_neurons
    xylo_config.readout.weights = [[1] * output_count] * hidden_count

    # Preparation to run in realtime mode with input interface opened.
    xylo_config.debug.always_update_omp_stat = True
    xylo_config.imu_if_input_enable = True
    xylo_config.debug.imu_if_clk_enable = True
    xylo_config.time_resolution_wrap = 0x61a80
    xylo_config.debug.imu_if_clock_freq_div = 0x169

    # Open and config input interface of Xylo-IMU, you could customize the parameters.
    xylo_config.input_interface.enable = True
    xylo_config.input_interface.estimator_k_setting = 6
    xylo_config.input_interface.select_iaf_output = True
    xylo_config.input_interface.update_matrix_threshold = 255
    xylo_config.input_interface.delay_threshold = 1
    xylo_config.input_interface.bpf_bb_values = [6] * 15
    xylo_config.input_interface.bpf_bwf_values = [8] * 15
    xylo_config.input_interface.bpf_baf_values = [9] * 15
    xylo_config.input_interface.bpf_a1_values = [-64700, -64458, -64330, -64138, -63884, -63566, -63169, -62743, -62238, -61672, -61045, -60357, -59611, -58805, -57941]
    xylo_config.input_interface.bpf_a2_values = [31935] + [31754] * 14
    xylo_config.input_interface.scale_values = [8]*15
    xylo_config.input_interface.iaf_threshold_values = [0x000007d0] * 15

    dk.get_model().apply_configuration(xylo_config)
    return xylo_config, input_count, hidden_count, output_count
xylo_config, input_count, hidden_count, output_count = apply_configuration()

def keep_receiving(duration: int):
    begin = time.time()
    recv_count = 0
    while time.time() - begin < duration:
        evts = state_buf.get_events()
        if evts:
            recv_count += len(evts)
            # Only three attributes of `Readout` event are available in realtime mode: `timestep`, `output_spike`, `output_v_mem`.
            print("Get readout events: ", evts)

source.write([samna.xyloImu.event.TriggerProcessing()])     # Command chip to trigger infinitely.

# Keep receiving for 3 seconds.
keep_receiving(3)

print("Running infinitely...")
# You could stop running manually to debug status by command `source.write([samna.xyloImu.event.TriggerProcessing(target_timestep=0)])`.

graph.stop()