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authorjaseg <git@jaseg.de>2021-08-15 14:32:23 +0200
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diff --git a/content/posts/hsm-basics/index.rst b/content/posts/hsm-basics/index.rst
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----
-title: "Hardware Security Module Basics"
-date: 2019-05-17T15:29:20+08:00
----
-
-Hardware Security Modules and Security Research and Cryptography
-================================================================
-
-On May 17 2019 I gave a short presentation on the fundamentals of hardware security modules at the weekly seminar of
-Prof. Mori's security research working group at Waseda University. The motivation for this was that outside of low-level
-hardware security people and people working in the financial industry HSMs are not thought about that often. In
-particular most network or systems security people would not consider them an option. Also it could turn out to be
-really interesting to think about what could be done with an HSM in conjunction with modern cryptography (instead of
-just plain old RSA-OAEP and AES-CBC).
-
-`Click here to download a PDF with the slides for this talk. <mori_semi_hsm_talk_web.pdf>`__
-
-Ideas for research in HSMs
-==========================
-
-Preparing for this talk brought me back to some research ideas I've been working on for a while now. Since I'm not sure
-I'll find the time to properly research this topic, I thought it would be great to write down some rought outlines first
-for future reference.
-
-The Problem with current HSM tech
----------------------------------
-
-Currently, HSMs are only used in certain specific niche applications such as certificate authority key management and
-financial transaction data handling. One key reason for this is that HSMs currently don't provide the affordances that
-would be needed for them to be adopted more widely by the cryptographic and security engineering community. As far as I
-can tell, the two core missing affordances are:
-
-1. To be more widely adopted, HSMs must become less expensive. Currently, they go for several tens of thousands of Euro,
- which puts them outside most budgets.
-2. To be more widely adopted, HSMs must provide the standardized programming interfaces familiar to cryptographic
- developers. Currently, every HSM vendor has their own custom cryptographic API and a developer will have to train on
- one specific vendor's tooling. Furthermore, any documentation of these internals is kept secret behind NDAs. This
- constitutes a high barrier to entry, decreasing adoption in particular with young developers accustomed to
- open-source ecosystems.
-
-Attacking cost of implementation
---------------------------------
-
-The first issue can be addressed by simply creating a viable low-cost alternative. There is no fundamental technical
-reason for the high cost of HSMs. This cost is instead due to manufacturers trying to recoup their expenses for R&D as
-well as certification from the small volumes HSMs are sold in.
-
-Compared to system integration and certification the pure R&D cost of HSM defense mechanisms themselves is not too high
-in an academic context it should be feasible to develop a sort of HSM blueprint that can then be cheaply produced by
-anyone in need. Since the application areas outlined here are far from the core business areas of the clients of
-established HSM vendors this would most likely not be a realistic threat to any established vendor's business and a
-co-existence of both should not pose any problems in the short term.
-
-Benefits of an academic HSM standard
-------------------------------------
-
-Tackling the high cost of current HSM hardware with an open-source HSM blueprint would yield
-several academic advantages beyond cost reduction.
-
-1. An open-source blueprint could serve as an academic reference design to evaluate and compare other HSM designs
- against. For instance this would not only allow quantifying the effectiveness of academic security measures but also
- allow an evaluation of commercial HSMs.
-2. An open-source blueprint could stimulate academic research in this academically very quiet albeit commercially
- important area. This research would ultimately benefit everyone employing HSMs by raising security standards in the
- field. Since HSMs are never solely relied upon for overal system security both defensive and offensive security
- research would yield these benefits.
-3. An open-source blueprint would encourage new people to get into the field and both apply HSMs to practical problems
- as well as improve HSMs themselves. Currently, this is highly discouraged due to the strictly proprietary nature of
- all available systems.
-4. Finally, developing an open-source HSM blueprint might yield new findings in adjacent academic areas due to the
- hightly multi-disciplinary nature of security research in general and HSM design in particular.
-
-Scope of an academic HSM standard
----------------------------------
-
-An academic HSM blueprint would need to be flexible so that researchers can adapt it to their particular problem. A
-modular architecture would lend itself to this flexibility. Fundamentally, there would be three components to this
-architecture. First, a **base** containing infrastructure such as the surveillance microcontroller, power supplies,
-power supply filtering and hardware DPA countermeasures, and possibly a standardized mechanical and electrical
-interface.
-
-Next to the base, a system integrator would put their *payload*. The nature of this payload is intentionally kept
-unspecified, and it might be anything from a cryptographic microcontroller to a small embedded system such as a
-raspberry pi single board computer. Keeping the *payload* open like this achieves two benefits: It gives the HSM
-blueprint's user *their* familiar tooling and the hardware *they* need, allowing fast adoption. Someone well-versed in
-e.g. Javascript could literally implement their cryptography in Javascript, run it on an off-the-shelf raspberry pi and
-just apply the HSM blueprint around it. In addition, keeping the *payload* open reduces the scope of what needs to be
-implemented. Building a general SDK on top of something like a bare ARM SoC such as a TI OMAP or a Freescale/NXP IMX
-would be a considerable additional burden, on top of the actual HSM design. Keeping the *payload* open allows research
-to concentrate on the actual point, the HSM design.
-
-The final and most important component would be a set of *security measures* that can be combined with the base to
-form the final HSM. Each of these *security measures* would entail a detailed specification of its design, manufacture
-and security properties. These *security measures* could be simple things like tamper switches or potting, but could
-also be complex things like security meshes.
-
-Given these three components -- *base*, *payload* and *security measures* as detailed specifications any engineer should
-be able to design and manufacture a HSM customized to their needs. Unifying these three components within the HSM
-blueprint would be a set of reference designs. Each reference design would implement a particular parametrization of the
-three architectural components with a physical hole cut out where the payload would go.. These reference designs would
-for one serve to guide any implementer on the customization and integration of their own derivation from the blueprint.
-In addition it would serve as an extremely simple, low-cost point of entry into the ecosystem. A curious researcher
-could simply replicate the reference design and put their existing payload inside. Practically this might mean e.g. a
-researcher having PCBs produced according to the design files for a reference design for a mesh-based HSM, producing
-their own mesh, physically glueing a raspberry pi SBC into the middle of it, and potting the resulting system. Given the
-ease of prototype PCB fabrication today this would realistically allow evaluation of HSM technologies on a budget that
-is orders of magnitude less than the cost of current HSMs.
-
-Research ideas for tamper detection mechanisms
-==============================================
-
-The core component of an HSM blueprint would be a suite of tamper detection mechanisms. Following are a few ideas on how
-to improve on the current state of the art of membrane tamper switches plus temperature sensors plus PCB and printed
-security meshes plus potting.
-
-Improvements on existing techniques
------------------------------------
-
-Light sensors
-~~~~~~~~~~~~~
-**Advanced analog sensing**
-**Self-test functionality**
-
-Security meshes
-~~~~~~~~~~~~~~~
-**Analog sensing**
-
-
-DIY or small lab mesh production
---------------------------------
-**3D metal patterning techniques** refers to any technique for producing thin, patterned metal structures on a
-three-dimensional plastic substrate. The basic process would consist of 3D-printing the polymer substrate, depositing a
-thin metal layer on top and then patterning this metal layer. A good starting point here would be the recent work of
-`Ben Kraznow`_ on this exact thing.
-
-**Copper filament methods** would be any method embedding copper wire from a spool in some resin or other matrix. This
-could mean either of a systematic approach of carefully winding or folding the copper wire into patterns or a
-non-systematic approach of simply stuffing a large tangle of copper wire into a small space. The main challenge with the
-former would be to find a non-tedious way of production. The main challenge with the latter would be to find process
-parameters that guarantee complete coverage of the HSM without holes or other areas of lower sensitivity to intrusions.
-Both approaches would require careful consideration of the overall design including the polymer resin supporting
-structure to ensure sensitivity against attacks since copper wire is mechanically much stronger than the micrometre-thin
-metal coatings used in patterning techniques.
-
-Envelope measurement
---------------------
-
-Finally, I think there is another set of currently under-utilized tamper-detection methods that would be very
-interesting to explore. I am not aware of an academic term for these, so I am just going to dub them *envelope
-measurement* here.
-
-The fundamental apporach of a mesh is to build a physical security envelope (the mesh) that physically detects when it
-is disturbed (open or short circuits). This approach works well but has the disadvantage that these meshes are rather
-complex to manufacture since effectively every part of them is acting as a sensing element. A conceptually more complex
-but in practice potentially simpler approach might be to split the functions of security envelope and sensing element.
-This would mean that in place of the mesh, some form of passive element such as metal foil forms the security envelope
-which is then checked for tampering using a very sensitive sensor inside. This remote-sensing approach might simplify
-the manufacture of the envelope itself and thus yield a design that is more easily customized. Following are a few ideas
-on how to approach this envelope measurement problem.
-
-**Ultrasonic** If the HSM is potted, a few ultrasonic transducers could be added inside the potting. With several
-transducers, any one could be used to transmit ultrasound while the others measure complex phase and energy of the
-signal they receive. The circuitry for this could be made fairly simple if using a static transmit frequency or a low
-chirp rate by using a homodyne receiver built around a comparator fed into some timers. This approach would likely
-detect any mechanical attack and would also rule out chemical attacks involving liquids (though starting from which
-amount of liquid depends on receiver sensitivity). The main disadvantages might be high power consumption and cost and
-size of the ultrasonic transducers. Traditional cheap transducers made for air as a transmission medium are fairly large
-and might not adequately couple into potting compound. If somehow one could convince a standard small piezo element to
-do the same job that would be great as far as cost and size are concerned. A concern in some fringe use cases might be
-suceptibility to ambient noise, though this could easily be reduced at the expense of space and heat dissipation
-capacity by adding sound dampening on the outside. A likely attack vector against this approach might be using a laser
-cutter to drill a hole through the potting compound, then inserting probes carefully chosen to not couple too much
-to the potting compound ultrasonically.
-
-**Light** In either an unpotted HSM or one potted with a transparent (at some wavelengths) potting compound one could
-embed LEDs and photodiodes in a similar setup to the ultrasonic setup described above. In contrast to the ultrasound,
-the LEDs would literally have to light up the HSM's interior and shadows might be an issue since the HSM is likely some
-flat rectangular shape. A possible solution to this would be to coat both the embedded payload and the lid with some
-highly reflective paint such as some glossy silver paint or simple white paint. The basic approach might be as simple as
-simply turning on several LEDs distributed throughout the HSM in turn and measuring amplitude at several photodetectors,
-or as complex as doing a LIDAR-like phase measurement sweeping through a range of frequencies to determine not only
-absorption but also phase/distance characteristics between emitter LED and detector photodiode. Using some high-gain TIA
-along with a homodyne detector (lock-in amplifier) and changing emitter intensity, very precise measurements of both
-absorption and phase might be possible, as might be measurements through almost opaque, diffuse potting compounds such
-as a grey epoxide resin. The main disadvantages of this method would likely be the need to thoroughly light-proof the
-entire HSM (likely by wrapping it in metal foil) and the potentially high cost of transmitter and receiver circuitry
-(nice TIAs aren't cheap). To be effective against attacks using e.g. very fine drills and probes the system would likely
-have to be very sensitive.
-
-**Radar** Finally, one could turn to standard radar techniques to fingerprint the inside of the HSM. The goal here would
-be fingerprinting instead of mapping since only changes need to be detected. In this approach one could use homodyne
-detection to improve sensitivity and reduce receiver complexity, and sweep frequencies similar to an FMCW radar (but
-probably without exploiting the self-demodulation effect). Besides high cost, this approach has two disadvantages.
-First, such a system would likely not go beyond 24GHz or maybe 40GHz due to component availability issues. Even at 40GHz
-the wavelength in the potting compound would be in the order of magnitude of several millimeters. Fine intrusions using
-some tool chosen to not interact too much with the EM field inside the HSM such as a heated ceramic needle or simply a
-laser cutter might not be detectable using this approach. In any case, this system would certainly not be able to detect
-small holes piercing the HSM enclosure. The HSM enclosure would have to be made into an RF shield, likely by using some
-metal foil in it.
-
-Overall in the author's opinion these three techniques are most promising in order *Light*, *Ultrasonic*, *Radar*. Light
-would prbably provide the best sensitivity at expense of some cost. Ultrasonic might be used in conjunction with light
-to cover some additional angles since it is potentially very low-cost. Radar seems hard to engineer into a solution that
-works reliably and also would likely be at least an order of magnitude more expensive than the other two technologies
-while not providing better sensitivity.
-
-.. _`Ben Kraznow`: https://www.youtube.com/watch?v=Z228xymQYho
-.. _affordances: https://en.wikipedia.org/wiki/Affordance
-
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diff --git a/content/posts/kicad-mesh-plugin/images/cells-50.svg b/content/posts/kicad-mesh-plugin/images/cells-50.svg
deleted file mode 100755
index 3b5a0a3..0000000
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diff --git a/content/posts/kicad-mesh-plugin/index.rst b/content/posts/kicad-mesh-plugin/index.rst
deleted file mode 100644
index 85b407c..0000000
--- a/content/posts/kicad-mesh-plugin/index.rst
+++ /dev/null
@@ -1,221 +0,0 @@
----
-title: "Kicad Mesh Plugin"
-date: 2020-08-18T13:15:39+02:00
----
-
-.. raw:: html
-
- <figure>
- <img src="images/anim.webp" style="max-width: 20em">
- </figure>
-
-Tamper Detection Meshes
-=======================
-
-Cryptography is at the foundation of our modern, networked world. From email to card payment infrastructure in brick and
-mortar stores, cryptographic keys secure almost every part of our digital lives againts cybercriminals or curious
-surveillance capitalists. Without cryptography, many of the things we routinely do in our lives such as paying for
-groceries with a credit card, messaging a friend on `Signal <https://signal.org>`_ or unlocking a car with its keyfob
-would not be possible. The security of all of these systems in its core lies on the secrecy of cryptographic keys.
-Systems differ in what kind of keys they use, how often these keys are replaced and the intricacies of the cryptographic
-operations these keys fit into but all have in common that their security relies on keeping the keys secret.
-
-In practice, this secrecy has been implemented in many different ways. Mass-market software such as browsers or
-messenger apps usually relies on some operating system facility to tell the computer "*please keep this piece of memory
-away from all other applications*". While on desktop operating systems usually this does not provide much of a barrier
-to other programs on the same computer, on modern mobile operating systems this approach is actually quite secure.
-However, given sufficient resources no security is perfect. All of these systems can be compromised if the host
-operating system is compromised sufficiently, and for organizations with considerable resources a market has sprung up
-that offers turn-key solutions for all wiretapping needs.
-
-In some applications, this level of security has not been considered sufficient. Particularly financial infrastructure
-is such a high-profile target that a lot of effort has been put into the security of cryptographic implementations. The
-best cryptographic algorithm is useless if it is run on a compromised system (from that system's point of view anyway).
-One of the core cryptographic components in financial applications are smartcards like they are used as payment cards in
-most countries nowadays. These smartcards contain a small, specialized cryptographic microcontroller that is designed to
-be hard to tamper with. Though one of the design goals of the system is to reduce the amount of sensitive information
-stored on the card, things such as copying of a card can only be hindered by making the chip hard to read out.
-
-.. raw:: html
-
- <figure>
- <img src="images/modern_art.svg" style="max-width: 20em">
- </figure>
-
-With smartcards being the means of choice on one side of the counter in electronic payments, on the other side of the
-counter a different technology prevails. Attacks on payment terminals are bound to have much more dire consequences than
-attacks on individual cards since one terminal might see hundreds of cards being read every day. For this reason, the
-level of attack countermeasures employed in these terminals is a considerable step up from bare smartcards. While a
-smartcard is made physically hard to tamper, it does not have a battery and it can only detect tampering once it is
-powered by a reader. This allows for well-equipped attackers to use tools such as Focused Ion Beam (FIB) workstations to
-circumvent the smartcard's defences while it is powered down, and then power up the card to carry out the actual attack.
-
-The answer to this problem in electronic payment infrastructure is called *Hardware Security Module*, or HSM. An HSM is
-similar to a smartcard in its function (cryptographic processing using keys that are meant to never leave the protection
-of the HSM). The one major between the two is that an HSM has its own battery and is continuously powered from its
-manufacture to the day it is scrapped. If the HSM looses power at any point in time, it uses a small amount of energy
-stored internally to securely wipe all cryptographic secrets from its memory within a few milliseconds.
-
-Being powered at all times allows the HSM to actively detect and respond to attacks. The most common way this is done is
-by wrapping the juicy secret parts in a foil or a printed circuit board that is patterned with a long and convoluted
-maze of wires, called a *mesh*. The HSM is continuously monitoring these wires for changes (such as shorts, breaks or
-changes in resistance) and will sound the alarm when any are detected. Practically, this presents a considerable hurdle
-to any attacker: They have to find a way to disable or circumvent the mesh while it is being monitored by the HSM. In
-practice, often this is no insurmountable challenge but it again increases attack costs.
-
-DIY Meshes
-==========
-
-Throughout my studies in security research I have always had an interest in HSMs. I have taken apart my fair share of
-HSMs and at this point, to understand the technology more, I want to experiment with building my own HSM. In last year's
-`HSM basics <{{<ref "posts/hsm-basics/index.rst">}}>`_ post I have lined out some ideas for a next generation design that
-deviates from the bread-and-butter apporoach of using a mesh as the primary security feature. Before embarking on
-practical experiments with these ideas, I want to first take a stab at replicating the current state of the art as best
-I can. State of the art meshes often use exotic substrates such as 3D plastic parts with traces chemically deposited on
-their surface or special flexible substrates with conductive ink traces. These technologies will likely be too
-cumbersome for me to implement myself only for a few prototypes, and industrial manufacturers will most likely be too
-expensive. Thus, I will concentrate on regular PCB technology for now.
-
-The idea of a mesh on a PCB is pretty simple: You have one or several traces that you try to cover every corner of the
-mesh PCB's area with. To be most effective, the traces should be as thin and as close together as possible. To increase
-the chances of a manipulation being detected, multiple traces can also be used that can then be monitored for shorts
-between them.
-
-While one can feasibly lay out these traces by hand, this really is an ideal application of a simple auto-router. While
-general PCB autorouting is *hard*, auto-routing just a few traces to approximate a space-filling curve is not. Since I
-am just starting out, I went with the simplest algorithmic solution I could think of. I first approximate the area
-designated to the mesh with a square grid whose cells are a multiple of my trace/space size. The mesh will only be drawn
-into grid cells that are fully inside the set boundaries. All cells outside or going across the border are discarded in
-this step.
-
-I decided to implement this auto-router in a KiCAD plugin. Though KiCADs plugin API is not the best, it was just about
-usable for this task.
-
-.. raw:: html
-
- <figure>
- <img src="images/kicad-mesh-outline.png" alt="KiCAD showing an irregular board shape with rounded corners and
- indents. In the middle of the board there is a footprint for a 4-pin surface-mount pin header.">
- <figcaption>The process starts out with the mesh shape being defined inside KiCAD. The mesh's outline is drawn
- onto one of the graphical "Eco" layers. A footprint is placed to serve as a placeholder for the mesh's
- connections to the outside world. This footprint is later used as the starting point for the mesh generation
- algorithm.</figcaption>
- </figure>
-
-.. raw:: html
-
- <figure>
- <img src="images/grid-vis-plain.svg" alt="A vizualization of the grid fitting process. Over the mesh's irregular
- outline a grid is drawn. In this picture, all grid cells that are fully inside the grid are shown. Grid cells
- that overlap the mesh border are highlighted. Grid cells outside of the mesh border are not drawn.">
- <figcaption>A visualization of the grid fitting process. First, a grid large enough to contain the mesh border
- is generated. Then, every cell is checked for overlap with the mesh border area. If the cell is fully inside, it
- (yellow), it is considered in the mesh generation later. Cells outside (gray) or on the border (red) are
- discarded.</figcaption>
- </figure>
-
-After generating the grid, starting from the place I want to connect to the mesh, I walk the grid's cells one by one to
-generate a tree that covers the entire grid's area. To set the mesh's starting place I place a footprint on the board
-(dark gray in the picture above) whose designator I then tell my script. The tree generation algorithm looks like a
-depth-first search, except all checks are random. Depending on the level of randomness used at each step of the
-algorithm it yields more or less organized-looking results. Below are five example runs of the algorithm at differing
-levels of randomness with the cells colored according to their distance from the tree root. 0% randomness means that the
-algorithm is going to try cells in forward direction first on every step, and only then try out left and right. 100%
-means that on every step, the algorithm is choosing a new direction at random.
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <img src="images/cells-0.svg" alt="a completely organized looking grid with spiral patterns all over.">
- <figcaption>0%</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/cells-25.svg">
- <figcaption>25%</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/cells-50.svg">
- <figcaption>50%</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/cells-75.svg">
- <figcaption>75%</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/cells-100.svg" alt="a completely random looking grid with cells aggregating into ireggular
- areas that look like paint splotches.">
- <figcaption>100%</figcaption>
- </figure>
- </figure>
-
-After I have built this tree like you would do in a depth-first search, I draw my one or several mesh mesh traces into
-it. The core observation here is that there is only 16 possible ways a cell can be connected: It has four neighbors,
-each of which it can either be connected to or not, which results in 2^4 options. If you consider rotations and
-mirroring, this works out to rotations or mirrored versions of only six base tiles: The empty tile, a tile with all four
-sides connected, a straight through, a 90 degree bend, and a "T"-junction—see the illustration below.
-
-.. raw:: html
-
- <figure>
- <img src="images/maze_tiles_plain.svg" style="max-width: 20em">
- <figcaption>
- There are six possible tile types in our connectivity graph inside its square tiling. This graphic illustrates
- all sixteen rotations of these with how they would look in a two-conductor mesh.
- </figcaption>
- </figure>
-
-After tiling the grid according to the key above, we get the result below.
-
-.. raw:: html
-
- <figure>
- <img src="images/tiles-25-small.svg">
- <figcaption>
- An auto-routed mesh with traces colored according to tile types.
- </figcaption>
- </figure>
-
-.. raw:: html
-
- <figure>
- <img src="images/traces-25-small.svg">
- <figcaption>
- The same mesh, but with traces all black.
- </figcaption>
- </figure>
-
-Putting it all together got me the KiCAD plugin you can see in the screenshot below.
-
-.. raw:: html
-
- <figure>
- <img src="images/kicad-mesh-settings2.png">
- <figcaption>
- The plugin settings window open.
- </figcaption>
- </figure>
-
-.. raw:: html
-
- <figure>
- <img src="images/kicad-mesh-result-large.png">
- <figcaption>
- After runing the plugin, the generated mesh looks like this in pcbnew.
- </figcaption>
- </figure>
-
-I am fairly happy with the result, but getting there was a medium pain. Especially KiCAD's plugin API is still very
-unfinieshed. It is hard to use, most parts are completely undocumented and if you use anything but its most basic parts
-things tend to break. One particular pain point for me was that after generating the mesh, the traces have been added to
-the board, but are still invisible for some reason. You have to save the board first, then re-load the file for them to
-become visible. Also KiCAD crashes whenever the plugin tries to remove a trace, so currently my workflow involves always
-making a copy of the board file first and treating mesh generation as a non-reversible finishing step.
-
-`Check out the code on my cgit <https://git.jaseg.de/kimesh.git/tree/plugin/mesh_dialog.py>`_.
-
-.. ::
-
- .. raw:: html
-
- <figure>
- <img src="images/grid-vis-plain.svg" alt="">
- <figcaption></figcaption>
- </figure>
-
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----
-title: "LED Characterization"
-date: 2018-05-02T11:18:38+02:00
----
-
-Preface
--------
-
-Recently, I have been working on a `small driver`_ for ambient lighting using 12V LED strips like you can get
-inexpensively from China. I wanted to be able to just throw one of these somewhere, stick down some LED tape, hook it up
-to a small transformer and be able to control it through Wifi. When I was writing the firmware, I noticed that when
-fading between different colors, the colors look *all wrong*! This observation led me down a rabbit hole of color
-perception and LED peculiarities.
-
-The idea of the LED driver was that it can be used either with up to eight single-color LED tapes or, much more
-interesting, with up to two RGB or RGBW (red-green-blue-white) LED tapes. For ambient lighting high color resolution was
-really important so you could dim it down a lot without flickering. I ended up using the same driver stage I used in the
-`multichannel LED driver`_ project for its great color resolution and low hardware requirements.
-
-.. raw:: html
-
- <figure>
- <img src="images/rgb_cube.svg" alt="An illustration of the RGB color cube.">
- <figcaption>An illustration of the RGB color cube.
- <a href="https://commons.wikimedia.org/wiki/File:RGB_color_cube.svg">Picture</a> by
- <a href="https://commons.wikimedia.org/wiki/User:Maklaan">Maklaan from Wikimedia Commons</a>,
- <a href="https://creativecommons.org/licenses/by-sa/3.0/">CC-BY-SA 3.0</a>
- </figcaption>
- </figure>
-
-To make setting colors over Wifi more intuitive I implemented support for HSV colors. RGB is fine for communication
-between computers, but I think HSV is easier to work with when manually inputting colors from the command line. RGB is
-close to how most monitors, cameras and the human visual apparatus work on a very low level but doesn't match
-higher-level human color perception very well. When we describe a color we tend to think in terms of "hue" or
-"brightness", and computing a measure of those from RGB values is not easy.
-
-Colors and Color Spaces
------------------------
-
-`Color spaces`_ are a mathematical abstraction of the concept of color. When we say "RGB", most of the time we actually
-mean `sRGB`_, a standardized notion of how to map three numbers labelled "red", "green" and "blue" onto a perceived
-color. `HSV`_ is an early attempt to more closely align these numbers with our perception. After HSV, a number of other
-*perceptual* color spaces such as `XYZ (CIE 1931)`_ and `CIE Lab/LCh`_ were born, further improving this alignment. In
-this mathematical model, mapping a color from one color space into another color space is just a coordinate
-transformation.
-
-.. raw:: html
-
- <figure>
- <img src="images/hsv_cylinder.png" alt="An illustration of the HSV color space as a cylinder.">
- <figcaption>An illustration of the HSV color space as a cylinder.
- <a href="https://commons.wikimedia.org/wiki/File:HSV_color_solid_cylinder.png">Picture</a> by
- <a href="https://commons.wikimedia.org/wiki/User:SharkD">SharkD from Wikimedia Commons</a>,
- <a href="https://creativecommons.org/licenses/by-sa/3.0/">CC-BY-SA 3.0</a>
- </figcaption>
- </figure>
-
-CIE 1931 XYZ is much larger than any other color space, which is why it is a good basis to express other color spaces
-in. In XYZ there are many coordinates that are outside of what the human eye can perceive. Below is an illustration of
-the sRGB space within XYZ. The wireframe cube is (0,0,0) to (1,1,1) in XYZ. The colorful object in the middle is what
-of sRGB fits inside XYZ, and the lines extending out from it indicate the space that can be expressed in sRGB but not in
-XYZ. The fat white curve is a projection of the *monochromatic spectral locus*, that is the curve of points you get in
-XYZ for pure visible wavelengths.
-
-As you can see, sRGB is *much* smaller than XYZ or even the part within the monochromatic locus that we can perceive. In
-particular in the blues and greens we loose *a lot* of colors to sRGB.
-
-.. raw:: html
-
- <figure>
- <video controls loop>
- <source src="video/sRGB.mkv" type="video/h264">
- <source src="video/sRGB.webm" type="video/webm">
- Your browser does not support the HTML5 video tag.
- </video>
- <figcaption>Illustration of the measured sRGB color space within XYZ. The thick, white line is the spectral
- locus.
-
- <a href="video/sRGB.mkv">mkv/h264 download</a> /
- <a href="video/sRGB.webm">webm download</a>
- </figcaption>
- </figure>
-
-The wrong colors I got when fading between colors were caused by this coordinate transformation being askew. Thinking
-over the problem, there are several sources for imperfections:
-
-* The LED driver may not be entirely linear. For most modulations such as PWM the brightness will be linear starting
- from a certain value, but there is probably an offset caused by imperfect edges of the LED current. This offset can be
- compensated with software calibration. I built a calibration setup for driver linearity in the `multichannel LED
- driver`_ project. Below are pictures of ringing on the edges of an LED driver's waveform.
-
-* The red, green and blue channels of the LEDs used on the LED tape are not matched. This skews the RGB color space.
- In practice, the blue channel of my RGB tape to me *looks* much brighter than the red channel.
-
-* The precise colors of the red, green and blue channels of the LEDs are unknown. Though the red channel *looks* red, it
- may be of a slightly different hue compared to the reference red used in `sRGB`_ which would also skew the RGB color
- space.
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <img src="images/driver_ringing_strong.jpg" alt="Strong ringing on the LED voltage waveform edge at about
- 100% overshoot during about 70% of the cycle time.">
- <figcaption>The LED strip being at the end of a couple meters of wire caused extremely bad ringing at high
- driving frequencies.</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/driver_ringing_weak.jpg" alt="Weak ringing on the LED voltage waveform edge at about 30%
- overshoot during about 20% of the cycle time.">
- <figcaption>Adding a resistor in front of the MOSFET gate to slow the transition dampened the ringing
- somewhat, but ultimately it cannot be eliminated entirely.</figcaption>
- </figure>
- </figure>
-
-These last two errors are tricky to compensate. What I needed for that was basically a model of the *perceived* colors
-of the LED tape's color channels. A way of doing his is to record the spectra of all color channels and then evaluate
-their respective XYZ coordinates. If all three channels are measured in one go with the same setup the relative
-magnitudes of the channels in XYZ will be accurate.
-
-To map any color to the LEDs, the color's XYZ coordinates simply have to be mapped onto the linear coordinate system
-produced by these three points within XYZ. LEDs are mostly linear in their luminous flux vs. current characteristic so
-this model will be adequate. The spectral integrals mapping the channels' measured responses to XYZ need only be
-calculated once and their results can be used as scaling factors thereafter.
-
-Measuring the spectrum
-----------------------
-
-In order to compensate for the cheap LED tape's non-ideal performance I had to measure the LED's red, green and blue
-channels' spectra. The obvious thing would be to go out and buy a `spectrograph`_, or ask someone to borrow theirs. The
-former is kind of expensive, and I did not want to wait two weeks for the thing to arrive. The latter I could probably
-not do every time I got new LED tape. Thus the only choice was to build my own.
-
-Luckily, building your own spectrometer is really easy. The first thing you need is something that splits incident light
-into its constituent wavelengths. In professional devices this is called the *`monochromator`_*, since it allows extraction
-of small color bands from the spectrum. The second thing is some sort of optics that project the incident light onto a
-screen behind the monochromator. In professional devices lenses or curved mirrors are used. In a simple homebrew job a
-pinhole as you would use in a `camera obscura`_ does a remarkably nice job.
-
-For the monochromator component several things could be used. A prism would work, but I did not have any. The
-alternative is a `diffraction grating`_. Professional gratings are quite specialized pieces of equipment and thus
-rather expensive. Luckily, there is a common household item that works almost as well: A regular CD or DVD. The
-microscopic grooves that are used to record data in a CD or DVD work the same as the grooves in a professional
-diffraction grating.
-
-Household spectra
------------------
-
-From this starting point, a few seconds on my favorite search engine yielded an `article by two researchers from the
-National Science Museum in Tokyo`_ providing a nice blueprint for a simple cardboard-and-DVD construction for use in
-classrooms. I replicated their device using a DVD and it worked beautifully. Daylight and several types of small LEDs I
-had around did show the expected spectra. Small red, yellow, green, and blue LEDs showed narrow spectra, daylight one
-continuous broad one, and white LEDs a continuous broad one with a distinct bright spot in the blue part. The
-single-color LED spectra are quite narrow since they are determined by the LED's semiconductor's band gap, which is
-specific to the semiconductor used and is quite precise. White LEDs are in fact a blue LED chip covered with a so-called
-*phosphor*. This phosphor is not elementary phosphorus but an anorganic compound that absorbs the LED chip's blue light
-and re-emits a broader spectrum of more yellow-ish wavelengths instead. The final LED spectrum is a superposition of
-both spectra, with some of the original blue light leaking through the phosphor mixing with the broadband yellow
-spectrum of the phosphor.
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <img src="images/spectrograph_step1_parts.jpg">
- <figcaption>The ingredients. The cup of coffee and Madoka Magica DVD set are essential to the eventual
- function of the appartus.</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/spectrograph_step2.jpg">
- <figcaption>Step 1: Cut to size and mark down all holes as described in <a
- href="http://www.candac.ca/candacweb/sites/default/files/BuildaSpectroscope.pdf">the manual</a></figcaption>
- </figure>
- <figure class="side-by-side">
- <img src="images/spectrograph_step3.jpg">
- <figcaption>Step 2: Cut out all holes</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/spectrograph_step4_complete.jpg">
- <figcaption>The finished result with the back side showing. The viewing window is on the bottom of the other
- side.</figcaption>
- </figure>
- </figure>
-
-
-Now that I had a spectrograph, I needed a somewhat predictable way of measuring the spectrum it gave me.
-
-Measuring a spectrum
---------------------
-
-Pointing a camera at the spectrograph would be the obvious thing to do. This produces pretty images but has one critical
-flaw: I wanted to acquire quantitative measurements of brightness across the spectrum. Since I don't have a precise
-technical datasheet specifying the spectral response of any of my cameras I can't compare the absolute brightness of
-different colors on their pictures. Some other sensor was needed.
-
-.. raw:: html
-
- <figure>
- <img src="images/daylight_spectrum_dvd.jpg">
- <figcaption>The daylight spectrum as seen using a DVD as a grating.
- <a href="https://commons.wikimedia.org/wiki/File:SpectresSolaires-DVD.jpg">Picture</a> by
- <a href="https://commons.wikimedia.org/wiki/User:Xofc">Xofc from Wikimedia Commons</a>,
- <a href="https://creativecommons.org/licenses/by-sa/4.0/">CC-BY-SA 4.0</a>
- </figcaption>
- </figure>
-
-
-Measuring light intensity
-~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Looking around my lab, I found a bag of `SFH2701`_ visible-light photodiodes. Their
-datasheet includes their spectral response so I can compensate for that, allowing precise-ish absolute intensity
-measurements. Just like LEDs, photodiodes are extremely linear across several orders of magnitude. The datasheet of the
-classic `BPW34`_ photodiode shows that this photodiode's light current is exactly proportional to illuminance over at
-least three orders of magnitude. The `SFH2701`_ datasheet does not include a similar graph but its performance will be
-similar. The `SFH2701`_ photodiodes I had at hand were perfect for the job compared to the vintage `BPW34`_ since their
-active sensing area is really small (0.6mm by 0.6mm) compared to the BPW34 (a whopping 3mm by 3mm). If I were to use a
-`BPW34`_ I would have to insert some small apterture in front of it so it does not catch too broad a part of the
-spectrum at once. The `SFH2701`_ is small enough that if I just point it at the projected spectrum directly I will
-already get only a small part of the spectrum inside its 0.6mm active area.
-
-To convert the photodiode's tiny photocurrent into a measurable voltage I built another copy of the `transimpedance
-amplifier`_ circuit I already used in the `multichannel LED driver`_. A `transimpedance amplifier`_ is an
-amplifiert that produces a large voltage from a small current. The weird name comes from the fact that it works kind of
-like an amplified resistor (which can be generalized as an *impedance* electrically). Apply a current to a resistor and
-you get a voltage. A transimpedance amplifiert does the same with the difference that its input always stays at 0V,
-making it look like an ideal current sink to the connected current source.
-
-Transimpedance amplifiers are common in optoelectronics to convert small photocurrents to voltages. In this instance I
-built a very simple circuit with a dampened transimpedance amplifier stage followed by a simple RC filter for noise
-rejection and a regular non-inverting amplifier using another op-amp from the same chip to further boost the filtered
-transimpedance amplifier output. I put all the passives setting amplifier response (the gain-setting resistors and the
-filter resistor and capacitors) on a small removable adapter so I could easily change them if necessary. I put a small
-trimpot on the virtual ground both amplifers use as a reference so I could trim that if necessary.
-
-.. raw:: html
-
- <figure>
- <img src="images/preamp_schematic.jpg" alt="A drawing of the photodiode preamplifier's schematic">
- <figcaption>The photodiode preamplifier schematic. Schematic drawn with an unlicensed copy of
- DaveCAD.</figcaption>
- </figure>
-
-Following are pictures of the preamplifier board. The connectors on the top-left side are two copies of the analog
-signal for the ADC and a small panel meter. The SMA connector is used as the photodiode input since coax cables are
-generally low-leakage and have built-in shielding. The circuit is powered via the micro-USB connector and the analog
-ground bias voltage can be adjusted using the trimpot.
-
-For easy replacement, all passives setting gain and frequency response are on a small, pluggable carrier PCB made from a
-SMD-to-DIP adapter.
-
-Flying-wire construction is just fine for this low-frequency circuit. In a high-speed photodiode preamp, the
-transimpedance amplifier circuit would be highly sensitive to stray capacitance, but we're not aiming at high speed
-here.
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <img src="images/preamp_front.jpg">
- <figcaption>The front side of the preamplifier board.</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/preamp_back.jpg">
- <figcaption>The wiring of the photodiode preamp.</figcaption>
- </figure>
- </figure>
-
-Given a way to measure intensity what remains missing is a way to scan a single photodiode across the spectrum.
-
-Scanning the projection
-~~~~~~~~~~~~~~~~~~~~~~~
-
-A cheap linear stage can be found in any old CD or DVD drive. These drives use a small linear stage based on a
-stepper-driven screw to move the laser unit radially. Removing the laser unit and connecting a leftover stepper driver
-module I was left with a small linear stage with about 45 steps per cm without microstepping enabled. The driver I used
-was an `A4988`_ module that required at least 8V motor drive voltage. I used a small micro USB-input boost converter
-module to generate a stable 10V supply for the motor driver, with the USB's 5V rail used as a logic supply for the motor
-driver.
-
-The `SFH2701`_ can easily be mounted to the linear stage using a small SMD breakout board glued in place with thin wires
-connecting it to the transimpedance amplifier. The DVD drive linear stage is not very strong so it is important that
-this wire does not put too much strain on it.
-
-Above the photodiode, I mounted a small piece of paper on the linear stage to be used as a projection screen to align
-the linear stage in front of the spectrometer viewing window. A line on the screen paper points to the photodiode die in
-parallel to the linear stage allowing precise alignment.
-
-The whole unit with photodiode preamplifier, linear stage, photodiode and stepper motor driver finally looks like this:
-
-.. raw:: html
-
- <figure>
- <img src="images/electronics_whole.jpg" alt="The complete electronics setup of the spectrograph. In the back
- there is the DVD drive stepper stage. In front of it, mounted on a piece of wood are a small USB-to-12V
- switching-regulator module to power the stepper motor in the top left, below on the bottom left is the
- photodiode preamp and on the right is a breadboard with the stepper driver module and lots of jumper wires
- interconnecting everything. On the right of the breadboard, a buspirate is attached to interface everything to a
- computer. On the bottom edge of the piece of wood, two LED panel meters are mounted for readout of the preamp
- output and the stepper supply voltages.">
- <figcaption>The complete electronics setup. The buspirate on the right interfaces to a computer and controls the
- stepper driver and ADC'es the preamp output. The two panel meters show the preamp output and stepper voltage for
- setup.</figcaption>
- </figure>
-
-The projection of the spectrum can be adjusted by moving the light source relative to the entry slot and by moving
-around the grating DVD.
-
-The capture process
-~~~~~~~~~~~~~~~~~~~
-
-To capture a spectrum, first the light source has to be mounted near the spectrograph's entry slot. The LED tape I
-tested I just taped face-down directly into it. Next, the grating DVD has to be adjusted to make sure the spectrum
-covers a sensible part of the photodiode's path. Mostly, this boils down to adjusting the photodiode distance and height
-to match the vertical extent and wiggling the grating DVD to adjust the projection's horizontal position.
-
-After the optics are set-up, the photodiode preamplifier has to be adjusted. In my experiments, most LED tape at 5GΩ
-required a high-ish amplification. The goal in this step is to maximize the peak response of the preamp to be just
-shy of its VCC rail to make best use of its dynamic range. To adjust the pre-amp, I took several very coarsely-spaced
-measurements to give me an estimate of the peak while I did not yet know its precise location.
-
-Since stray daylight totally swamped out the weak projection of the LED's spectrum I shielded the entire setup with a
-small box made of black cardboard and two black t-shirts on top. This shielding proved adequate for all my measurements
-but I had to be careful not to accidentially move the DVD that was stuck into the spectrograph with the shielding
-t-shirts.
-
-For capturing a single spectrum I wrote a small python script that will automatically move the stepper in adjustable
-intervals and take two measurements at each point, one with the LED tape off that can be used for offset calibration and
-one with the LED tape on. All measurements are stored in a sqlite database that can then be accesssed from other
-scripts.
-
-I built a small script that shows the progress of the current run and an jupyter notebook for data analysis. The jupyter
-notebook is capable of live-updating a graph with the in-progress spectrum's data. This was quite useful as a sanity
-check for when I made some mistake easy to spot in the resulting data.
-
-After one color channel is captured, the LED tape has to be manually set to the next color and the next measurement can
-begin.
-
-.. raw:: html
-
- <figure>
- <img src="images/raw_plot_cheap_rgb.svg" alt="A plot with three wide peaks, two large peaks on both sides and
- one smaller one in the middle. The middle one overlaps the two on the sides. The large ones are about 2.5V in
- amplitude. Overall, the plot is about 300 stepper steps wide with each peak being around 130 steps wide.">
- <figcaption>A plot of the raw preamp output voltage versus stepper position. From left to right, the three peaks
- are blue, green and red. Step 0 corresponds to the bottommost stepper position and the shortest wavelength.
- </figcaption>
- </figure>
-
-
-Data analysis
-~~~~~~~~~~~~~
-
-Data analysis consists of three major steps: Offset- and stray light removal, wavelength and amplitude calibration and
-color space mapping.
-
-Offset removal
-**************
-The first task is to remove the offset caused by dark current as well as stray light of the LED's bright primary
-reflection on the DVD. The LED is very bright and only a small part of its light gets reflected by the grating towards
-the photodiode screen. The remaining part of the light is reflected onto the table in front of the DVD spectrograph.
-Though I covered all of this with black cardboard, some of that light ultimately gets reflected onto the photodiode.
-This causes a large offset, in particular in the blue part of the spectrum since in this part the photodiode is closest
-to the spectrograph's opening.
-
-The composite offset can be approximated with a second-order polynomial that is fitted to all the data outside of the
-main peak's area. Since at this point the wavelength of each data point is still unknown this is done with a rough first
-estimate of the three colors' peaks' locations and widths.
-
-Wavelength- and amplitude calibration
-*************************************
-The photodiode's response is strongly wavelength-dependent. In particular in the blue band, the photodiode's sensitivity
-gets very poor down to about 20% at the edge to ultraviolet. This effect is strong enough to move the apparent location
-of the blue peak towards red.
-
-.. raw:: html
-
- <figure>
- <img src="images/photodiode_sensitivity.svg" alt="A plot of photodiode sensitivity against wavelength relative
- to peak sensitivity at 820nm. The sensitivity rises from 20% at 380nm approximately linearly to 80% at 620nm,
- then the rise rolls off.">
- <figcaption>A plot of the photodiode's relative sensitivity in the visible spectrum. The sensitivity is
- normalized against its peak at 820nm.
- </figcaption>
- </figure>
-
-The problem is that in order to remove this non-linearity, we would already have to know the wavelength of the measured
-light. Since I don't, I settled for a two-step process. First, a coarse wavelength calibration is done relative to the
-red peak and the short-wavelength edge of the blue peak. The photodiode measurements are then sensitivity-corrected
-using this coarse measurement. Then all three channel peaks are measured in the resulting data and a fine wavelength
-estimate is produced by a least-squares fit of a linear function. This fine estimate is then used for a second
-sensitivity correction of all original measurements and the scale is changed from stepper motor step count to
-wavelength in nanometers.
-
-.. raw:: html
-
- <figure>
- <img src="images/processed_plot_cheap_rgb.svg" alt="A plot with three wide peaks, all three of different
- heights. The leftmost peak is highest at 6nA, the middle peak lowest at 1.6nA and the rightmost peak in between
- at 4nA. The middle one overlaps the two on the sides. Overall, the plot spans about 300nm on its x axis with
- each peak being around 100nm wide.">
- <figcaption>A plot of the processed measurements. From left to right, the three peaks are blue, green and red.
- </figcaption>
- </figure>
-
-.. FIXME re-do these measurements, avoiding clipping
-.. FIXME re-do calibration using CCFL
-.. FIXME calibration for brightness imbalance due to wedge-shaped projection of spectrum
-
-Color space mapping
-*******************
-Finally, to achieve the objective of measuring the LED tape's channels' precise color coordinates the measured spetra
-have to be matched against the color spaces' *color matching functions*. The color matching functions describe how
-strong the color space's idealized *standard observer* would react to light at a particular wavelength. Going from a
-measured spectrum to color coordinates XYZ works by integrating over the product of the measurement and each color
-coordinate's color matching function.
-
-The result are three color coordinates X, Y and Z for each channel R, G and B yielding nine coordinates in total. When
-written as a matrix conversion between XYZ color space and LED-RGB color space is as simple as multiplying that matrix
-(or its inverse) and a vector from one of the color spaces.
-
-In XYZ space, the set of colors that can be produced with this LED tape is described by the `parallelepiped`_ spanned by
-the three channel's XYZ vectors. In the following figures, you can see a three-dimensional model of the RGB LED's color
-space (colorful) as well as sRGB (white) for comparison plotted within CIE 1931 XYZ. There is no natural map to scale
-both so for this illustration the LED color space has been scaled to fit. These figures were made with blender and a few
-lines of python. The blender project file including all settings and the python script to generate the color space
-models can be found in the `project repo`_.
-
-.. raw:: html
-
- <figure>
- <video controls loop>
- <source src="video/led_within_srgb_scale=1.0.mkv" type="video/h264">
- <source src="video/led_within_srgb_scale=1.0.webm" type="video/webm">
- Your browser does not support the HTML5 video tag.
- </video>
- <figcaption>Illustration of the measured LED color space scaled to fit within XYZ with sRGB (light gray) for
- comparison. The thick, white line is the spectral locus.
-
- <a href="video/led_within_srgb_scale=1.0.mkv">mkv/h264 download</a> /
- <a href="video/led_within_srgb_scale=1.0.webm">webm download</a>
- </figcaption>
- </figure>
-
-As you can see, the result is pretty disappointing. The LED's color space parallepiped is very narrow, which is because
-the blue channel is much brighter than the other two channels. An easy fix for this is to scale-up the RGB space and
-drop any values outside XYZ. The scaling factor is a trade-off between color space coverage and brightness. You can
-produce the most colors when you clip all channels to brightness of the weakest channel (green in this case), but that
-will make the result very dim. Scaling brightness like that stretches the RGB parallelepiped along its major axis. Up to
-a point the number of possible colors (the gamut) increases at expense of maximum brightness. When the parallelepiped is
-stretched far enought for all three channel vectors to be outside the 1,1,1 XYZ-cube, maximum brightness continues to
-decrease but the gamut stays constant. I don't know a simple scientific way to solve this problem, so I just played
-around with a couple of factors and settled on 2.5 as a reasonable compromise. Below is an illustration.
-
-.. raw:: html
-
- <figure>
- <video controls loop>
- <source src="video/led_within_srgb_fancy_camera_path_scale=2.5.mkv" type="video/h264">
- <source src="video/led_within_srgb_fancy_camera_path_scale=2.5.webm" type="video/webm">
- Your browser does not support the HTML5 video tag.
- </video>
- <figcaption>Illustration of the measured LED color space at scale factor 2.5 within XYZ with sRGB (light gray)
- for comparison. The thick, white line is the spectral locus.
-
- <a href="video/led_within_srgb_fancy_camera_path_scale=2.5.mkv">mkv/h264 download</a> /
- <a href="video/led_within_srgb_fancy_camera_path_scale=2.5.webm">webm download</a>
- </figcaption>
- </figure>
-
-Firmware implementation
------------------------
-In the end, the above measurements yield two matrices: One for mapping XYZ to RGB, and one for mapping RGB to XYZ. Of
-the several versions of CIE XYZ I chose the CIE 1931 XYZ color space as a basis for the firmware because it is most
-popular. Mapping a color coordinate in one color space to the other is as simple as performing nine floating-point
-multiplications and six additions. Mapping Lab or Lch to RGB is done by first mapping Lab/Lch to XYZ, then XYZ to RGB.
-Lab to XYZ is somewhat complex since it requires a floating-point power for gamma correction, but any self-respecting
-libc will have one of those so this is still no problem. Lch also requires floating-point sine and cosine functions, but
-these should still be no problem on most hardware.
-
-My implementation of these conversions in the ESP8266 firmware of my `Wifi LED driver`_ can be found `on Github`_. You
-can view the Jupyter notebook most of the analysis above `here <http://nbviewer.jupyter.org/github/jaseg/led_drv/blob/master/doc/Spectrum%20Measurement.ipynb>`__.
-
-.. _`on Github`: https://github.com/jaseg/esp_led_drv/blob/master/user/led_controller.c
-.. _`project repo`: https://github.com/jaseg/led_drv
-.. _`Wifi LED driver`: {{<ref "posts/wifi-led-driver/index.rst">}}
-.. _`small driver`: {{<ref "posts/wifi-led-driver/index.rst">}}
-.. _`multichannel LED driver`: {{<ref "posts/multichannel-led-driver/index.rst">}}
-.. _`sRGB`: https://en.wikipedia.org/wiki/SRGB
-.. _`CC BY-SA 3.0`: https://creativecommons.org/licenses/by-sa/3.0
-.. _`Color spaces`: https://en.wikipedia.org/wiki/Color_space
-.. _`HSV`: https://en.wikipedia.org/wiki/HSL_and_HSV
-.. _`CIE Lab/LCh`: https://en.wikipedia.org/wiki/Lab_color_space
-.. _`XYZ (CIE 1931)`: https://en.wikipedia.org/wiki/CIE_1931_color_space
-.. _`camera obscura`: https://en.wikipedia.org/wiki/Pinhole_camera
-.. _`article by two researchers from the National Science Museum in Tokyo`: http://www.candac.ca/candacweb/sites/default/files/BuildaSpectroscope.pdf
-.. _`spectrograph`: https://en.wikipedia.org/wiki/Ultraviolet%E2%80%93visible_spectroscopy
-.. _`monochromator`: https://en.wikipedia.org/wiki/Monochromator
-.. _`diffraction grating`: https://en.wikipedia.org/wiki/Diffraction_grating
-.. _`SFH2701`: https://dammedia.osram.info/media/resource/hires/osram-dam-2495903/SFH%202701.pdf
-.. _`BPW34`: http://www.vishay.com/docs/81521/bpw34.pdf
-.. _`transimpedance amplifier`: https://en.wikipedia.org/wiki/Transimpedance_amplifier
-.. _`A4988`: https://www.pololu.com/file/0J450/A4988.pdf
-.. _`parallelepiped`: https://en.wikipedia.org/wiki/Parallelepiped
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diff --git a/content/posts/multichannel-led-driver/index.rst b/content/posts/multichannel-led-driver/index.rst
deleted file mode 100644
index 7de03d5..0000000
--- a/content/posts/multichannel-led-driver/index.rst
+++ /dev/null
@@ -1,456 +0,0 @@
----
-title: "32-Channel LED tape driver"
-date: 2018-05-02T11:31:14+02:00
----
-
-Theoretical basics
-==================
-
-Together, a friend and I outfitted the small staircase at Berlin's Chaos Computer Club with nice, shiny RGB-WW LED tape
-for ambient lighting. This tape is like regular RGB tape but with an additional warm white channel, which makes for much
-more natural pastels and whites. There are several variants of RGBW tape. Cheap ones have separate RGB and white LEDs,
-which is fine for indirect lighting but does not work for direct lighting. Since we wanted to mount our tape in channels
-at the front of the steps, we had to use the slightly more expensive variant with integrated RGBW LEDs. These are LEDs
-in the 5050 (5.0mm by 5.0mm) form factor common with RGB LEDs that have a small section divided off for the white
-channel. The red, green and blue LED chips sit together in the larger section covered with clear epoxy and the white
-channel is made up from the usual blue LED inside a yellow phosphor in the smaller section.
-
-Since we wanted to light up all of 15 steps, and for greatest visual effect we would have liked to be able to control
-each step individually we had to find a way to control 60 channels of LED tape with a reasonable amount of hardware.
-
-LED tape has integrated series resistors and runs off a fixed 12V or 24V constant-voltage supply. This means you don't
-need a complex constant-current driver as you'd need with high-power LEDs. You can just hook up a section of LED tape
-to a beefy MOSFET to control it. Traditionally, you would do *Pulse Width Modulation* (PWM) on the MOSFET's input to
-control the LED tape's brightness.
-
-Pulse Width Modulation
-----------------------
-
-`Pulse Width Modulation`_ is a technique of controlling the brightness of a load such as an LED with a digital signal.
-The basic idea is that if you turn the LED on and off much too fast for anyone to notice, you can control its power by
-changing how long you turn it on versus how long you leave it off.
-
-PWM divides each second into a large number of periods. At the beginning of each period, you turn the LED on. After
-that, you wait a certain time until you turn it off. Then, you wait for the next period to begin. The periods are always
-the same length but you can set when you turn off the LED. If you turn it off right away, it's off almost all the time
-and it looks like it's off to your eye. If you turn it off right at the end, it's on almost all the time and it looks
-super bright to your eye. Now, if you turn it off halfway into the cycle, it's on half the time and it will look to your
-eye as half as bright as before. This means that you can control the LED's brightness with only a digital signal and
-good timing.
-
-.. raw:: html
-
- <figure>
- <img src="images/pwm_schema.jpg" alt="A visualization of PWM at different duty cycles.">
- <figcaption>Waveforms of two PWM cycles at different duty cycles.</figcaption>
- </figure>
-
-PWM works great if you have a dedicated PWM output on your microcontroller. It's extremely simple in both hardware and
-software. Unfortunately for us, controlling 32 channels with PWM is not that easy. Cheap microcontrollers only have `a
-handful of hardware PWM outputs`_, so we'd either have to do everything in software, bit-banging our LED modulation, or
-we'd have to use a dedicated chip.
-
-Doing PWM in software is both error-prone and slow. Since the maximum dynamic range of a PWM signal is limited by the
-shortest duty cycle it can do, software PWM being slow means it has poor PWM resolution at maybe 8 bits at most. Poor
-color resolution is not a problem if all you're doing is to fade around the `HSV rainbow`_, but for ambient lighting
-where you *really* want to control the brightness down to a faint shimmer you need all the color resolution you can get.
-
-If you rule out software PWM, what remains are dedicated `hardware PWM controllers`_. Most of these have either of three
-issues:
-
-* They're expensive
-* They don't have generous PWM resolution either (12 bits if you're lucky)
-* They're meant to drive small LEDs such as a 7-segment display directly and you can't just hook up a MOSFET to their
- output
-
-This means we're stuck in a dilemma between two poor solutions if we'd want to do PWM. Luckily for us, PWM is not the
-only modulation in town.
-
-.. _`Pulse Width Modulation`: https://en.wikipedia.org/wiki/Pulse-width_modulation
-.. _`a handful of hardware PWM outputs`: https://www.nxp.com/parametricSearch#/&c=c731_c380_c173_c161_c163&page=1
-.. _`HSV rainbow`: https://en.wikipedia.org/wiki/HSL_and_HSV
-.. _`hardware PWM controllers`: http://www.ti.com/lit/ds/symlink/tlc5940.pdf
-
-Binary Code Modulation
-----------------------
-
-PWM is the bread-and-butter of the maker crowd. Everyone and their cat is doing it and it works really well most of the
-time. Unbeknownst to most of the maker crowd, there is however another popular modulation method that's mostly used in
-professional LED systems: Enter `*Binary Code Modulation* (BCM) <http://www.batsocks.co.uk/readme/art_bcm_1.htm>`_.
-
-BCM is to PWM sort of what barcodes are to handwriting. While PWM is easy to understand and simple to implement if all
-you have is a counter and an IO pin, BCM is more complicated. On the other hand, computers can do complicated and BCM
-really shines in multi-channel applications.
-
-Similar to PWM, BCM works by turning on and off the LED in short periods fast enough to make your eye perceive it as
-partially on all the time. In PWM the channel's brightness is linearly dependent on its duty cycle, i.e. the percentage
-it is turned on. In PWM the duty cycle D is the total period T divided by the on period T_on. The issue with doing PWM
-on many channels at once is that you have to turn off each channel at the exact time to match its duty cycle.
-Controlling many IO pins at once with precise timing is really hard to do in software.
-
-BCM avoids this by further dividing each period into smaller periods which we'll call *bit periods* and splitting each
-channel's duty cycle into chunks the size of these bit periods. The amazingly elegant thing in BCM now is that as you
-can guess from the name these bit periods are weighted in powers of two. Say the shortest bit period lasts 1
-microsecond. Then the second-shortest bit period is 2 microseconds and the third is 4, the fifth 8, the sixth 16 and so
-on.
-
-.. raw:: html
-
- <figure>
- <img src="images/bcm_schema.jpg" alt="A visualization of BCM at different duty cycles.">
- <figcaption>Waveforms of a single 4-bit BCM cycle at different duty cycles. This BCM can produce 16 different
- levels.</figcaption>
- </figure>
-
-Staggered like this, you turn on the LED for integer value of microseconds by turning it on in the bit periods
-corresponding to the binary bits of that value. If I want my LED to light for 19 microseconds every period, I turn it on
-in the 16 microsecond bit period, the 2 microsecond bit period and the 1 microsecond bit period and leave it off for the
-4 and 8 mircosecond bit periods.
-
-Now, how this is better instead of just more complicated than plain old PWM might not be clear yet. But consider this:
-Turning on and off a large number of channels, each at its own arbitrary time is hard because doing the timing in
-software is hard. We can't use hardware timers since we only have two or three of those, and we have 32 channels.
-However, we can use one hardware timer to trigger a really cheap external latch to turn on or off the 32 channels all at
-once. With this setup, we can only controll all channels at once, but we can do so with very precise timing.
-
-All we need to do is to set our timer to the durations of the BCM bit periods, and we can get the same result as we'd
-get with PWM with only one hardware timer and a bit of code that is not timing-critical anymore.
-
-Applications of Binary Code Modulation
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-BCM is a truly wondrous technique, and outside of hobbyist circles it is in fact very widely known. Though we're using
-it to control just 32 channels here, you can do much more channels without any problems. The most common application
-where BCM is invariably used is *any* kind of LED screen. Controlling the thousands and thousands of LEDs in an LED
-screen with PWM with a dedicated timer for each LED would not be feasible. With BCM, all you need to dedicate to a
-single LED is a flipflop (or part of one if you're multiplexing). In fact, there is a whole range of `ICs with no other
-purpose than to enable BCM on large LED matrices <http://www.vabolis.lt/stuff/MBI5026.pdf>`_. Basically, these are a
-high-speed shift register with latched outputs much like the venerable 74HC595_, only their outputs are constant-current
-sinks made so that you can directly connect an LED to them.
-
-.. _74HC595: http://www.ti.com/lit/ds/symlink/sn74hc595.pdf
-
-Running BCM on LED tape
-~~~~~~~~~~~~~~~~~~~~~~~
-
-In our case, we don't need any special driver chips to control our LED tape. We just connect the outputs of a 74HC595_
-shift register to one MOSFET_ each, and then we directly connect the LED tape to these MOSFETs. The MOSFETs allow us to
-drive a couple of amps into the LED tape from the weak outputs of the shift register.
-
-The BCM timing is done by hooking up two timer channels of our microcontroller to the shift registers *strobe* and
-*reset* inputs. We set the timer to PWM mode so we can generate pulses with precise timing. At the beginning of each
-bit period, a pulse will strobe the data for this bit period that we shifted in previously. At the end of the bit
-period, one pulse will reset the shift register and one will strobe the freshly-reset zeros into the outputs.
-
-.. raw:: html
-
- <figure>
- <img src="images/olsndot_output_schematic.jpg" alt="From left to right, we see the STM32, one of the shift
- registers, and the LEDs and MOSFETs. The LED tape is driven to ground by the MOSFETs, which are in turn directly
- driven from the shift register outputs. The shift register is wired up to the STM32 with its clock and data
- inputs on SCK and MOSI and its RESET and STROBE inputs on channel 2 and 3 of timer 1.">
- <figcaption>
- The schematic of a single output of this LED driver. Multiple shift register stages can be cascaded.
- </figcaption>
- </figure>
-
-
-Our implementation of this system runs on an STM32F030F4P6_, the smallest, cheapest ARM microcontroller you can get from
-ST. This microcontroller has only 16kB of flash and 1kB of RAM, but that's plenty for our use. We use its SPI controller
-to feed the modulation data to the shift registers really fast, and we use two timer channels to control the shift
-registers' reset and strobe.
-
-We can easily cascade shift registers without any ill side-effects, and even hundreds of channels should be no problem
-for this setup. The only reason we chose to stick to a 32-channel board is the mechanics of it. We thought it would be
-easier to have several small boards instead of having one huge board with loads of connectors and cables coming off it.
-
-The BOM cost per channel for our system is 3ct for a reasonable MOSFET, about 1ct for one eighth of a shift register
-plus less than a cent for one resistor between shift register and MOSFET. In the end, the connectors are more expensive
-than the driving circuitry.
-
-.. _MOSFET: https://en.wikipedia.org/wiki/MOSFET
-.. _STM32F030F4P6: http://www.st.com/resource/en/datasheet/stm32f030f4.pdf
-
-Hardware design
-===============
-
-From this starting point, we made a very prototype-y hardware design for a 32-channel 12V LED tape driver. The design is
-based on the STM32F030F4P6_ driving the shift registers as explained above. The system is controlled through an RS485_
-bus that is connected up to the microcontroller's UART using an MAX485_-compatible RS485 transceiver. The LED tape is
-connected using 9-pin SUB-D_ connectors since they are cheap and good enough for the small current of our short segments
-of LED tape. The MOSFETs we use are small SOT-23_ logic-level MOSFETs. In various prototypes we used both International
-Rectifier's IRLML6244_ as well as Alpha & Omega Semiconductor's AO3400_. Both are good up to about 30V/5A. Since we're
-only driving about 2m of LED tape per channel we're not going above about 0.5A and the MOSFETs don't even get warm.
-
-.. _RS485: https://en.wikipedia.org/wiki/RS-485
-.. _MAX485: https://datasheets.maximintegrated.com/en/ds/MAX1487-MAX491.pdf
-.. _IRLML6244: https://www.infineon.com/dgdl/?fileId=5546d462533600a4015356686fed261f
-.. _AO3400: http://aosmd.com/pdfs/datasheet/AO3400.pdf
-.. _SUB-D: https://en.wikipedia.org/wiki/D-subminiature
-.. _SOT-23: http://www.nxp.com/documents/outline_drawing/SOT23.pdf
-
-Switching nonlinearities
-------------------------
-During testing of our initial prototype, we noticed that the brightness seemed to jump around when fading to very low
-values. It turned out that our extremely simple LED driving circuit consisting of only the shift register directly
-driving a MOSFET, which in turn directly drives the LED tape was maybe a little bit too simple. After some measurements
-it turned out that we were looking at about 6Vpp of ringing on the driver's output voltage. The picture below is the
-voltrage we saw on our oscilloscope on the LED tape.
-
-.. raw:: html
-
- <figure>
- <img src="images/driver_ringing_strong.jpg" alt="Strong ringing on the LED voltage waveform edge at about
- 100% overshoot during about 70% of the cycle time.">
- <figcaption>Bad ringing on the LED output voltage caused by wiring inductance. Note that the effect on the
- actual LED current is less bad than this looks since the LED's V/I curve is nonlinear.</figcaption>
- </figure>
-
-
-Dynamic switching behavior: Cause and Effect
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-A bit of LTSpice_ action later we found that the inductance of the few metres of cable leading to the LED tape is the
-likely culprit. The figure below is the schematic used for the simulations.
-
-.. raw:: html
-
- <figure>
- <img src="images/driver_output_ltspice_schematic.jpg" alt="The LTSpice schematic of one output of the driver,
- taking into account the shift register's output ESR and the wiring ESL.">
- <figcaption>The schematic of the simulation in LTSpice</figcaption>
- </figure>
-
-As tested, the driver does not include any per-output smoothing so the ~.5A transient on each BCM cycle hits the cable
-in full. Combined with the cable inductance, this works out to a considerable lag of the rising edge of the LED
-current, and bad ringing on its falling edge. Below is the voltage on the LED output from an LTSpice simulation of our
-driver.
-
-.. raw:: html
-
- <figure>
- <img src="images/overshoot_sim_r0.svg" alt="The result of the LTSpice simulation of our driver output. The LED
- current shows similar ringing to what we measured using the oscilloscope. Interestingly, the gate voltage shows
- strong ringing, too.">
- <figcaption>The result of our LTSpice simulation. This simulation assumes 1µH of wiring inductance and 50Ω of
- output impedance on the part of the shift register. The ringing at the gate visible in the gate voltage graph is
- due to feed-through of the ringing at the output through the MOSFET's parasitic Cgd.</figcaption>
- </figure>
-
-We were able to reduce the rining and limit the effect somewhat by putting a 220Ω series resistor in between the shift
-register output and the MOSFET gate. This resistor forms an RC circuit with the MOSFET's nanofarad or two of gate
-capacitance. The result of this is that the LED current passing the wire's ESL rises slightly more slowly and thus the
-series inductance gets excited slightly less, and the overshoot decreases. Below is a picture of the waveform with the
-damping resistor in place and a picture of our measurement for comparison. The resistor values don't agree perfectly
-since the estimated ESL and stray capacitance of the wiring is probably way off.
-
-.. raw:: html
-
- <figure>
- <img src="images/driver_ringing_weak.jpg" alt="Weak ringing on the LED voltage waveform edge at about 30%
- overshoot during about 20% of the cycle time.">
- <figcaption>Adding a resistor in front of the MOSFET gate to slow the transition damped the ringing somewhat,
- but ultimately it cannot be eliminated entirely. Note how you can actually see the miller plateau on the
- trailing edge of this signal.
- </figcaption>
- </figure>
-
-.. raw:: html
-
- <figure>
- <img src="images/overshoot_sim_r100.svg" alt="The result of the LTSpice simulation of our driver output with an
- extra 100 Ohms between shift register output and MOSFET gate. Similar to the oscilloscope measurement the
- ringing is much reduced in its amplitude.">
- <figcaption>The LTSpice simulation result with the same parameters as above but with an extra 100Ω between the
- shfit register's output and the MOSFET's gate.</figcaption>
- </figure>
-
-A side effect of this fix is that now the effective on-time of the LED tape is much longer than the duty cycle at the
-shift register's output at very small duty cycles (1µs or less). This is caused by the MOSFET's `miller
-plateau`_. For illustration, below is a graph of both the excitation waveform (the boxy line) and the resulting LED
-current (the other ones) both without damping (top) and with 220Ω damping (bottom). As you can see the effective duty
-cycle of the LED current is not at all equal to the 50% duty cycle of the excitation square wave.
-
-.. raw:: html
-
- <figure>
- <img src="images/asymmetric_iled.svg" alt="The result of an LTSpice simulation of the LED duty cycle without and
- with damping. Dampening widens the LED current waveform from 50% duty cycle with sharp edges to about 80% duty
- cycle with soft edges.">
- <figcaption>Simulated LED duty cycle with and without damping. The damping resistance used in this simulation
- was 220Ω.</figcaption>
- </figure>
-
-.. raw:: html
-
- <figure>
- <img src="images/asymmetric_vgate.svg" alt="The gate voltages in the spice simulation above. The undamped
- response shows sharp edges with the miller plateau being a barely noticeable step, but with strong ringing on
- the trailing edge. The damped response shows RC-like slow-edges, but has wide miller plateaus on both edges
- adding up to about 50% of the pulse width.">
- <figcaption>The MOSFET gate voltage from the simulation in the figure above. You can clearly see how the miller
- plateau (the horizontal part of the trace at about 1V) is getting much wider with added damped, and how the
- resulting gate charge/discharge curve is not at all that of a capacitor anymore.</figcaption>
- </figure>
-
-
-
-In conclusion, we have three major causes for our calculated LED brightness not matching reality:
-
-* Ringing of the equivalent series inductance of the wiring leading up to the LED tape
-* Miller plateau lag
-* The damping resistor and the MOSFET gate forming an RC filter that helps with wire ESL ringing but worsens the miller
- plateau issue and deforms the LED current edges.
-
-Added up, these three effects yield a picture that agrees well with our simulations and measurements. The overall effect
-is neglegible at long period durations (>10µs), but gets really bad at short period durations (<1µs). The effect is
-non-linear, so correcting for it is not as simple as adding an offset.
-
-.. _LTSpice: http://www.analog.com/en/design-center/design-tools-and-calculators/ltspice-simulator.html
-.. _`miller plateau`: https://www.vishay.com/docs/68214/turnonprocess.pdf
-
-Measuring LED tape brightness
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-In order to correct for the nonlinearities mentioned above, we decided to implement a lookup table mapping BCM period to
-actual timer setting. That is, each row of the table contains the actual period length we need to set the
-microcontroller's timer to in order to get our intended brightness steps.
-
-To calibrate our driver, we needed a setup for reproducible measurement of the relative brightness of our LED tape at
-different settings. Absolute brightness is not of interest to us as the eye can't perceive it. To perform the
-calibration, the LED driver is set to enable each single BCM period in turn, i.e. brightness values 1, 2, 4, 8, 16 etc.
-
-The setup we used to measure the LED tape's brightness consists of a bunch of LED tape stuck into a tin can for
-shielding against both stray light and electromagnetic interference and a photodiode looking at the LED tape. We used
-the venerable BPW34_ photodiode in our setup as I had a bunch leftover from another project and because they are quite
-sensitive owing to their physically large die area.
-
-.. raw:: html
-
- <figure>
- <img src="images/linearization_setup.jpg" alt="The led measurement setup consists of several PCBs and a
- breadboard linked with a bunch of wires and a big tin can to shield the LEDs and the photodiode. A large sub-D
- connector is put into the top of the tin can as a feed-through for the LED tape's control signals and the
- photodiode signal. In the background the control laptop is visible.">
- <figcaption>The LED brighness measurement setup. The big tin can contains a bunch of LED tape and the
- photodiode. The breadboard on the right is used for the photodiode preamplifier and for jumpering around the LED
- tape's channels. The red board next to it is the buspirate used as ADC. The board on the bottom left is a
- TTL-to-RS485 converter and the board in the middle is the unit under test.</figcaption>
- </figure>
-
-The photodiode's photocurrent is converted into a voltage using a very simple transimpedance amplifier based around a
-MCP6002_ opamp that was damped into oblivion with a couple nanofarads of capacitance in its feedback loop. The MCP6002_
-is a fine choice here since I had a bunch and because it is a CMOS opamp, meaning it has low bias current that would
-mess up our measurements. For many applications, opamp bias current is not a big issue but when using the opamp to
-directly measure very small currents at its input it quickly swamps out the signal for most BJT-input types.
-
-The transimpedance amplifier's output is read from the computer using the ADC input of a buspirate USB thinggamajob. In
-general I would not recommend the buspirate as a tool for this job since it's ADC is not particularly good and it's
-programming interface is positively atrocious, but it was what I had and it beat first wiring up one of the dedicated
-ADC chips I had in my parts bin.
-
-The computer runs a small python script cycling the LED tape through all its BCM period settings and taking a brightness
-measurement at each step. Later on, these measurements can be plotted to visualize the resulting slope's linearity, and
-we can even do a simulation of the resulting brightness for all possible control values by just adding the measured
-photocurrents for a certain BCM setpoint just as our retinas would do.
-
-.. raw:: html
-
- <figure>
- <img src="images/driver_linearity_raw.svg" alt="">
- <figcaption>
- A plot of the measured brightness of our LED tape for each BCM period. The brightness values are normalized
- to the value measured at the LSB setpoint (brightness=1/65535). Ideally, this plot would show a straight
- line with slope 1. Obviously, it doesn't. The bend in the curve is caused by the above-mentioned duty cycle
- offset adding an offset to all brightness values. Shown is both the raw data (light), which has essentially zero
- measurement error and a linear fit (dark).
-
- The plot is in log-log to approximate how the human eye would perceive brightness, i.e. highly sensitive at
- low values but not very sensitive at all at large values.
- </figcaption>
- </figure>
-
-While it would be possible to fully automate the optimization of BCM driver lookup tables, we needed only one and in the
-end I just sat down and manually tweaked the ideal values we initially calculated until I liked the result. You can see
-the resulting brightness curve below.
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <img src="images/uncorrected_brightness_sim.svg" alt="">
- <figcaption>
- Calculated brightness curve for the uncorrected BCM setup. As you can see, at low setpoints the result
- is about as smooth as sandpaper, which is well in line with our observations. At high setpoints the
- offset gets swamped out and the nonlinearity in the low bits is not visible anymore.
- </figcaption>
- </figure><figure class="side-by-side">
- <img src="images/corrected_brightness_sim.svg" alt="">
- <figcaption>
- Brightness curve for the corrected BCM setup extrapolated using actual measurements. Looks as buttery
- smooth in real life as it does in this plot.
- </figcaption>
- </figcaption>
- </figure>
- </figure>
-
-.. _BPW34: http://www.vishay.com/docs/81521/bpw34.pdf
-.. _MCP6002: http://ww1.microchip.com/downloads/en/DeviceDoc/21733j.pdf
-
-Controlling the driver
-----------------------
-
-Now that our driver was behaving linear enough that you couldn't see it actually wasn't we needed a nice way to control
-it from a computer of our choice. In the ultimate application (our staircase) we'll use a raspberry pi for this. Since
-we already settled on an RS485_ bus for its robustness and simplicity, we had to device a protocol to control the driver
-over this bus. Here, we settled on a simple, COBS_-based protocol for the reasons I wrote about in `How to talk to your
-microcontroller over serial <serial-protocols>`_.
-
-To address our driver nodes, we modified the Makefile to build a random 32-bit MAC into each firmware image. The
-protocol has only five message types:
-
-1. A 0-byte *ping* packet, to which each node would reply with its own address in the
- first 100ms after boot. This can be used to initially discover the addresses of all nodes connected to the bus. You'd
- spam the bus with *ping* packets, and then hit reset on each node in turn. The control computer would then receive
- each device's MAC address as you hit reset.
-2. A 4-byte *address* packet that says which device that the following packet is for. This way of us using the packet
- length instead of a packet type field is not particularly elegant, but our system is simple enough and it was easy to
- implement.
-3. A 64-byte *frame buffer* packet that contains 16 bits of left-aligned brightness data for every channel
-4. A one-byte *get status* packet that tells the device to respond with...
-5. ...a 27-byte status packet containing a brief description of the firmware (version number, channel count, bit depth
- etc.) as well as the device's current life stats (VCC, temperature, uptime, UART frame errors etc.).
-
-Wrapped up in a nice python interface we can now easily enumerate any drivers we connect to a bus, query their status
-and control their outputs.
-
-.. _COBS: https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing
-
-Conclusion
-----------
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <a href="images/olsndot_schematic.png">
- <img src="images/olsndot_schematic.png" alt="A picture of the LED driver schematic">
- </a>
- <figcaption>The LED driver <a href="images/olsndot_schematic.png">schematic</a></figcaption>
- </figure><figure class="side-by-side">
- <a href="images/olsndot_pcb.png">
- <img src="images/olsndot_pcb.png" alt="A picture of the LED driver PCB layout">
- </a>
- <figcaption>The LED driver <a href="images/olsndot_pcb.png">PCB layout</a></figcaption>
- </figure>
- </figure>
-
-Putting some thought into the control circuitry and software, you can easily control large numbers of channels of LEDs
-using extremely inexpensive driving hardware without any compromises on dynamic range. The design we settled on can
-drive 32 channels of LED tape with a dynamic range of 14bit at a BOM cost of below 10€. All it really takes is a couple
-of shift registers and a mildly bored STM32 microcontroller.
-
-Get a PDF file of the schematic and PCB layout `here <olsndot_v02_schematics_and_pcb.pdf>`__ or download the CAD files
-and the firmware sources `from github <https://github.com/jaseg/led_drv>`_. You can view the Jupyter notebook used to
-analyze the brightness measurement data `here <http://nbviewer.jupyter.org/github/jaseg/led_drv/blob/master/doc/Run_analysis.ipynb>`__.
-
diff --git a/content/posts/multichannel-led-driver/olsndot_v02_schematics_and_pcb.pdf b/content/posts/multichannel-led-driver/olsndot_v02_schematics_and_pcb.pdf
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----
-title: "Private Contact Discovery"
-date: 2019-06-22T10:30:00+08:00
----
-
-Private Contact Discovery
-=========================
-
-Private Contact Discovery (PCD) is the formal name for the problem modern smartphone messenger applications have on
-installation: Given a user's address book, find out which of their contacts also use the same messenger without the
-messenger's servers learning anything about the user's address book. The widespread non-private way to do this is to
-simply upload the user's address book to the app's operator's servers and do an SQL JOIN keyed on the phone number field
-against the database of registered users. People have tried sprinkling some hashes over these phone numbers in an
-attempt to improve privacy, but obviously running a brute-force preimage attack given a domain of maybe a few billion
-valid inputs is not cryptographically hard.
-
-Private Contact Discovery can be phrased in terms of Private Set Intersection (PSI), the cryptographic problem of having
-two parties holding one set each find the intersection of their sets without disclosing any other information. PSI has
-been an active field of research for a while and already yielded useful results for some use cases. Alas, none of those
-results were truly practical yet for usage in PCD in a typical messenger application. They would require too much CPU
-time or too much data to be transferred.
-
-At USENIX Security 2019, Researchers from technical universities Graz and Darmstadt published a paper titled *Private
-Contact Discovery at Scale*
-(`eprint <https://eprint.iacr.org/2019/517>`__ | `PDF <https://eprint.iacr.org/2019/517.pdf>`__).
-In this paper, they basically optimize the hell out of existing cryptographic solutions to private contact discovery,
-jumping from a still-impractical state of the art right to practicality. Their scheme allows a client with 1k contacts
-to run PCD against a server with 1B contacts in about 3s on a phone. The main disadvantage of their scheme is that it
-requires the client to in advance download a compressed database of all users, that clocks in at about 1GB for 1B users.
-
-I found this paper very interesting for its immediate practical applicability. As an excuse to dig into the topic some
-more, I gave a short presentation at my university lab's research seminar on this paper
-(slides: `PDF <mori_semi_psi_talk.pdf>`__ | `ODP <mori_semi_psi_talk.odp>`__).
-
-Even if you're not working on secure communication systems on a day-to-day basis this paper might interest you. If
-you're working with social account information of any kind I can highly recommend giving it a look. Not only might your
-users benefit from improved privacy, but your company might be able to avoid a bunch of data protection and
-accountability issues by simply not producing as much sensitive data in the first place.
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----
-title: "How to talk to your microcontroller over serial"
-date: 2018-05-19T08:09:46+02:00
----
-
-Scroll to the end for the `TL;DR <Conclusion_>`_.
-
-In this article I will give an overview on the protocols spoken on serial ports, highlighting common pitfalls. I will
-summarize some points on how to design a serial protocol that is simple to implement and works reliably even under error
-conditions.
-
-If you have done low-level microcontroller firmware you will regularly have had to stuff some data up a serial port to
-another microcontroller or to a computer. In the age of USB, a serial port is still the simplest and quickest way to get
-communication to a control computer up and running. Integrating a ten thousand-line USB stack into your firmware and
-writing the necessary low-level drivers on the host side might take days. Poking a few registers to set up your UART to
-talk to an external hardware USB to serial converter is a matter of minutes.
-
-This simplicity is treacherous, though. Oftentimes, you start writing your serial protocol as needs arise. Things might
-start harmless with something like ``SET_LED ON\n``, but unless you proceed it is easy to end up in a hot mess of command
-modes, protocol states that breaks under stress. The ways in which serial protocols break are manifold. The simplest one
-is that at some point a character is mangled, leading to both ends of the conversation ending up in misaligned protocol
-states. With a fragile protocol, you might end up in a state that is hard to recover from. In extreme cases, this leads
-to code such as `this gem`_ performing some sort of arcane ritual to get back to some known state, and all just because
-someone did not do their homework. Below we'll embark on a journey through the lands of protocol design, exploring the
-facets of this deceptively simple problem.
-
-.. _`this gem`: https://github.com/juhasch/pyBusPirateLite/blob/master/pyBusPirateLite/BBIO_base.py#L68
-
-Text-based serial protocols
-===========================
-
-The first serial protocol you've likely written is a human-readable, text-based one. Text-based protocols have the big
-advantage that you can just print them on a terminal and you can immediately see what's happening. In most cases you can
-even type out the protocol with your bare hands, meaning that you don't really need a debugging tool beyond a serial
-console.
-
-However, text-based protocols also have a number of disadvantages. Depending on your application, these might not matter
-and in many cases a text-based protocol is the most sensible solution. But then, in some cases they might and it's good
-to know when you hit one of them.
-
-Problems
---------
-
-Low information density
-~~~~~~~~~~~~~~~~~~~~~~~
-
-Generally, you won't be able to stuff much more than four or five bit of information down a serial port using a
-human-readable protocol. In many cases you will get much less. If you have 10 commands that are only issued a couple
-times a second nobody cares that you spend maybe ten bytes per command on nice, verbose strings such as ``SET LED``. But
-if you're trying to squeeze a half-kilobyte framebuffer down the line you might start to notice the difference between
-hex and base-64 encoding, and a binary protocol might really be more up to the job.
-
-Complex parsing code
-~~~~~~~~~~~~~~~~~~~~
-
-On the computer side of thing, with the whole phalanx of an operating system, the standard library of your programming
-language of choice and for all intents and purposes unlimted CPU and memory resources to spare you can easily parse
-anything spoken on a serial port in real time, even at a blazing fast full Megabaud. The microcontroller side however is
-an entirely different beast. On a small microcontroller, printf_ alone will eat about half your flash. On most small
-microcontrollers, you just won't get a regex library even though it would make parsing textual commands *so much
-simpler*. Lacking these resources, you might end up hand-knitting a lot of low-level C code to do something seemingly
-simple such as parsing ``set_channel (13, 1.1333)\n``. These issues have to be taken into account in the protocol design
-from the beginning. If you don't really need matching parentheses, don't use them.
-
-Fragile protocol state
-~~~~~~~~~~~~~~~~~~~~~~
-
-Say you have a ``SET_DISPLAY`` command. Now say your display can display four lines of text. The obvious approach to this
-is probably the SMTP_ or HTTP_ way of sending ``SET_DISPLAY\nThis is line 1\nThis is line 2\n\n``. This would certainly
-work, but it is very fragile. With this protocol, you're in trouble if at any point the terminating second newline
-character gets mangled (say, someone unplugs the cable, or the control computer reboots, or a cosmic ray hits something
-and ``0x10 '\n'`` turns into ``0x50 'P'``).
-
-.. _SMTP: https://en.wikipedia.org/wiki/Simple_Mail_Transfer_Protocol
-.. _HTTP: https://en.wikipedia.org/wiki/Hypertext_Transfer_Protocol
-
-Timeouts don't work
-~~~~~~~~~~~~~~~~~~~
-
-You might try to solve the problem of your protocol state machine tangling up with a timeout. "If I don't get a valid
-command for more than 200ms I go back to default state." But consider the above example. Say, your control computer
-sends a ``SET_DISPLAY`` command every 100ms. If in one of them the state machine tangles up, the parser hangs since the
-timeout is never hit, a new line of text arriving every 100ms.
-
-Framing is hard
-~~~~~~~~~~~~~~~
-
-You might also try to drop the second newline and using a convention such as ``SET_DISPLAY`` is followed by two lines of
-text, then commands resume.". This works as long as your display contents never look like commands. If you are only ever
-displaying the same three messages on a character LCD that might work, but if you're displaying binary framebuffer
-data you've lost.
-
-Solutions
----------
-
-Keep the state machine simple
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Always use a single line of text to represent a single command. Don't do protocol states or modes where you can toggle
-between different interpretations for a line. If you have to send human-readable text as part of a command (such as
-``SET_DISPLAY``) escape it so it doesn't contain any newlines.
-
-This way, you keep your protocol state machine simple. If at any time your serial trips and flips a bit or looses a byte
-your protocol will recover on the next newline character, returning to its base state.
-
-Encode numbers in hex when possible
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Printing a number in hexadecimal is a very tidy operation, even on the smalest 8-bit microcontrollers. In contrast,
-printing decimal requires both division and remainder in a loop which might get annoyingly code- and time-intensive on
-large numbers (say a 32-bit int) and small microcontrollers.
-
-If you have to send fractional values, consider their precision. Instead of sending a 12 bit ADC result as a 32-bit
-float formatted like ``0.176513671875`` sending ``0x2d3`` and dividing by 4096 on the host might be more sensible. If you
-really have to communicate big floats and you can't take the overhead of including both printf_ and scanf_ you can
-use hexadecimal floating point, which is basically ``hex((int)foo) + "." + hex((int)(65536*(foo - (int)foo)))`` for four
-digits. You can also just hex-encode the binary IEEE-754_ representation of the float, sending ``hex(*(int *)&float)``.
-Most programming languages will have a `simple, built-in means to parse this sort of thing
-<https://docs.python.org/3.5/library/struct.html>`__.
-
-.. _printf: http://git.musl-libc.org/cgit/musl/tree/src/stdio/vfprintf.c
-.. _scanf: http://git.musl-libc.org/cgit/musl/tree/src/stdio/vfscanf.c
-.. _IEEE-754: https://en.wikipedia.org/wiki/IEEE_754
-
-Escape multiline strings
-~~~~~~~~~~~~~~~~~~~~~~~~
-
-If you have to send arbitrary strings, escape special characters. This not only has the advantage of yielding a robust
-protocol: It also ensures you can actually see everything that's going on when debugging. The string ``"\r\n"`` is easy to
-distinguish from ``"\n"`` while your terminal emulator might not care.
-
-The simplest encoding to use is the C-style backslash encoding. Host-side, most languages will have a `built-in means of
-escaping a string like that <https://docs.python.org/3.5/library/codecs.html#text-encodings>`__.
-
-Encoding binary data
---------------------
-
-For binary data, hex and base-64 are the most common encodings. Since hex is simpler to implement I'd go with it unless
-I really need the 30% bandwidth improvement base-64 brings.
-
-Binary serial protocols
-=======================
-
-In contrast to anything human-readable, binary protocols are generally more bandwidth-efficient and are easier to format
-and parse. However, binary protocols come with their own version of the caveats we discussed for text-based protocols.
-
-The framing problem in binary protocols
----------------------------------------
-
-The most basic problems with binary protocols as with text-based ones is framing, i.e. splitting up the continuous
-serial data stream into discrete packets. The issue is that it is that you have to somehow mark boundaries between
-frames. The simplest way would be to use some special character to delimit frames, but then any 8-bit character you
-could choose could also occur within a frame.
-
-SLIP/PPP-like special character framing
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-Some protocols solve this problem much like we have solved it above for strings in line-based protocols, by escaping any
-occurence of the special delimiter character within frames. That is, if you want to use ``0x00`` as a delimiter, you would
-encode a packet containing ``0xde 0xad 0x00 0xbe 0xef`` as something like ``0xde 0xad 0x01 0x02 0xbe 0xef``, replacing the
-null byte with a magic sequence. This framing works, but is has one critical disadvantage: The length of the resulting
-escaped data is dependent on the raw data, and in the worst case twice as long. In a raw packet consisting entirely of
-null bytes, every byte must be escaped with two escape bytes. This means that in this case the packet length doubles,
-and in this particular case we're even less efficient than base-64.
-
-Highly variable packet length is also bad since it makes it very hard to make any timing guarantees for our protocol.
-
-9-bit framing
-~~~~~~~~~~~~~
-
-A framing mode sometimes used is to configure the UARTs to transmit 9-bit characters and to use the 9th bit to designate
-control characters. This works really well, and gives plenty of control characters to work with. The main problem with
-this is that a 9-bit serial interface is highly nonstandard and you need UARTs on both ends that actually support this
-mode. Another issue is that though more efficient than both delmitier-based and purely text-based protocols, it still
-incurs an extra about 10% of bandwidth overhead. This is not a lot if all you're sending is a little command every now
-and then, but if you're trying to push large amounts of data through your serial it's still bad.
-
-COBS
-~~~~
-
-Given the limitations of the two above-mentioned framing formats, we really want something better. The `Serial Line
-Internet Protocol (SLIP)`_ as well as the `Point to Point Protocol (PPP)`_, standardized in 1988 and 1994 respectively,
-both use escape sequences. This might come as a surprise, but humanity has actually still made significant technological
-progress on protocols for 8-bit serial interfaces until the turn of the millennium. In 1999, `Consistent Overhead Byte
-Stuffing (COBS)`_ (`wiki <https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing>`__) was published by a few
-researchers from Apple Computer and Stanford University. As a reaction on the bandwidth doubling problem present in
-PPP_, COBS *always* has an overhead of a single byte, no matter what or how long a packet's content is.
-
-COBS uses the null byte as a delimiter interleaves all the raw packet data and a `run-length encoding`_ of the non-zero
-portions of the raw packet. That is, it prepends the number of bytes until the first zero byte to the packet, plus one.
-Then it takes all the leading non-zero bytes of the packet, unmodified. Then, it again encodes the distance from the
-first zero to the second zero, plus one. And then it takes the second non-zero run of bytes unmodified. And so on. At
-the end, the packet is terminated with a zero byte.
-
-The result of this scheme is that the encoded packet does not contain any zero bytes, as every zero byte has been
-replaced with the number of bytes until the next zero byte, plus one, and that can't be zero. Both formatter and parser
-each have to keep a counter running to keep track of the distances between zero bytes. The first byte of the packet
-initializes that counter and is dropped by the parser. After that, every encoded byte received results in one raw byte
-parsed.
-
-While this might sound more complicated than the escaping explained above, the gains in predictability and efficiency
-are worth it. An implementation of encoder and decoder should each be about ten lines of C or two lines of Python. A
-minor asymmetry of the protocol is that while decoding can be done in-place, encoding either needs two passes or you
-need to scan forward for the next null byte.
-
-.. _`Point to Point Protocol (PPP)`: https://en.wikipedia.org/wiki/Point-to-Point_Protocol
-.. _PPP: https://en.wikipedia.org/wiki/Point-to-Point_Protocol
-.. _`Serial Line Internet Protocol (SLIP)`: https://en.wikipedia.org/wiki/Serial_Line_Internet_Protocol
-.. _`Consistent Overhead Byte Stuffing (COBS)`: http://www.stuartcheshire.org/papers/COBSforToN.pdf
-.. _`Point-to-Point Protocol (PPP)`: https://en.wikipedia.org/wiki/Point-to-Point_Protocol
-.. _`run-length encoding`: https://en.wikipedia.org/wiki/Run-length_encoding
-
-State machines and error recovery
----------------------------------
-
-In binary protocols even more than in textual ones it is tempting to build complex state machines triggering actions on
-a sequence of protocol packets. Please resist that temptation. As with textual protocols keeping the protocol state to
-the minimum possible allows for a self-synchronizing protocol. A serial protocol should be designed such that if due to
-a dropped packet or two both ends will naturally re-synchronize within another packet or two. A simple way of doing that
-is to always transmit one semantic command per packet and to design these commands in the most idempotent_ way possible.
-For example, when filling a framebuffer piece by piece, include the offset in each piece instead of keeping track of it
-on the receiving side.
-
-.. _idempotent: https://en.wikipedia.org/wiki/Idempotence#Computer_science_meaning
-
-Conclusion
-==========
-
-Here's your five-step guide to serial bliss:
-
-1. Unless you have super-special requirements, always use the slowest you can get away with from 9600Bd, 115200Bd or
- 1MBd. 8N1 framing if you're talking to anything but another microcontroller on the same board. These settings are
- the most common and cover any use case. You'll inevitably have to guess these at some point in the future.
-2. If you're doing something simple and speed is not a particular concern, use a human-readable text-based protocol. Use
- one command/reply per line, begin each line with some sort of command word and format numbers in hexadecimal. You get
- bonus points if the device replies to unknown commands with a human-readable status message and prints a brief
- protocol overview on boot.
-3. If you're doing something even slightly nontrivial or need moderate throughput (>1k commands per second or >20 byte of
- data per command) use a COBS-based protocol. If you don't have a better idea, go for an ``[target MAC][command
- ID][command arguments]`` packet format for multidrop busses. For single-drop you may decide to drop the MAC address.
-4. Always include some sort of "status" command that prints life stats such as VCC, temperature, serial framing errors
- and uptime. You'll need some sort of ping command anyway and that one might as well do something useful.
-5. If at all possible, keep your protocol context-free across packets/lines. That is, a certain command should always be
- self-contained, and no command should change the meaning of the next packet or line that is sent. This is really
- important to allow for self-synchronization. If you really need to break up something into multiple commands, say you
- want to set a large framebuffer in pieces, do it in a idempotent_ way: Instead of sending something like ``FRAMEBUFFER
- INCOMING:\n[byte 0-16]\n[byte 17-32]\n[...]\nEND OF FRAME`` rather send ``FRAMEBUFFER DATA FOR OFFSET 0: [byte
- 0-16]\nFRAMEBUFFER DATA FOR OFFSET 17: [byte 17-32]\n[...]\nSWAP BUFFERS\n``.
-
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----
-title: "Theia Attack Resistance and Digital Identity"
-date: 2020-09-09T15:00:00+02:00
----
-
-.. raw:: html
-
- <figure class="header">
- <img src="images/succulents.jpg">
- <figcaption>Photo by <a href="https://unsplash.com/@timbennettcreative">Tim Bennett</a> on <a href="https://unsplash.com/">Unsplash</a></figcaption>
- </figure>
-
-
-Theia in Cyberspace
-===================
-
-In informatics, the term *distributed system* is used to describe the aggregate behavior of a complex network made up of
-individual computers. For decades, computer scientists to some success have been trying to figure out how exactly the
-individual computers that make up such a distributed system need to be programmed for the resulting amalgamation to
-behave in a predictable, maybe even a desirable way. Though seemingly simple on its surface, this problem has a
-surprising depth to it that has yielded research questions for a whole field for several decades now. One particular
-as-of-yet unsolved problem is resistance against *theia attacks* (or "sybil" attacks in older terminology).
-
- Named after the 1973 book by Flora Rheta Schreiber on dissociative identity disorder, a sybil attack is an
- attack where one computer in a distributed system pretends to be multiple computers to gain an advantage. From your
- author's standpoint, naming a type of computer security attack after a medical condition was an unfortunate choice.
- For this reason this post uses the term *Theia attack* to refer to the same concept. Theia is a greek godess of light
- and glitter and the name alludes to the attacker performing something alike an optical illusion, causing the attacked
- to perceive multiple distinct images that in the end are all only reflections of the same attacker.
-
-The core insight of computer science research on theia attacks is that there cannot be any technological way of
-preventing such an attack, and any practical countermeasure must be grounded in some authority or ground truth that is
-external to the systems—bridging from technology to its social or political context.
-
-Looking around, we can see a parallel between this question ("which computer is a real computer?") and a social issue
-that recently has been growing in importance: Just like computers can pretend to be other computers, they can also
-pretend to be humans. As can humans. Be it within the context of election manipulation or down-to-earth astroturfing_
-the recurring issue is that in today's online communities, it is hard for an individual to tell who of their online
-acquaintances are who they seem to be. Different platforms attempt different solutions to this problem, and all fail in
-some way or another. Facebook employs good old snitching, turning people against each other and asking them "Do you know
-this person?". Twitter is more laid-back and avoids this Stasi_ methodology in favor of requiring a working mobile phone
-number from its subjects, essentially short-circuiting identity verification to the phone company's check of their
-subscriber's national passport.
-
-.. the preceding is a simplified representation of these platform's practices. In particular facebook uses several
- methods depending on the case. I think this abbreviated discussion should be ok for the sake of the argument. I am
- not 100% certain on the accuracy on the accuracy of the statement though. Does fb still do the snitching thing? Is
- twitter usually content with a phone number?
-
-Trusting Crypto-Anarchist Authorities
-=====================================
-
-Beyond these centralistic solutions to the problem, crypto-anarchists and anarcho-capitalists have been brewing on some
-interesting novel approaches to online identity based on *blockchain* distributed ledger technology. Distributed
-ledgers are a distributed systems design pattern that yields a system that works like an append-only logbook.
-Participants can create new entries in this logbook, but no one—neither the original author, nor other participants—can
-retroactively change a logbook entry once it has been written. In the blockchain model, past entries are essentially
-written into stone. This near-perfect immutability is what opens them for a number of use cases from cryptographic
-pseudo-currencies [#cryptocurrency]_.
-
-An overview over a variety of these unconventional blockchain identity verification approaches can be found in `this
-unpublished 2020 survey by Siddarth, Ivliev, Siri and Berman <https://arxiv.org/ftp/arxiv/papers/2008/2008.05300.pdf>`_.
-They walk their readers through a number of different projects that try to solve the question "Is this human who they
-pretend to be?" using joint socio-technological approaches. In the following few sections, you may find a short outline
-of a small selection of them. The conlusion of this post will be a commentary on these approaches, and on the underlying
-problem of identity in a digital world.
-
-.. BrightID
-
-In one scheme, identity is determined by "notary" computers that aggregate large amounts of information on a user's
-social contacts. These computers then run an algorithm derived from the SybilGuard_, SybilLimit_ and SybilInfer_ lineage
-of random-walk based algorithms. These algorithms assume that authentic social graphs are small world graphs: Everyone
-knows everyone else through a friend's friend's friend. They also assume that there is an upper bound on how many
-connections with authentic users an attacker can forge: Anyone who is not embedded into the graph well enough is cut
-out. Like this, they put an upper limit on the number of theia identites an attacker can assume given a certian number
-of connections to real people.
-
-Disregarding the catastrophic privacy issues of storing large amounts of data on social relationships on someone else's
-computer, this second assumption is where this model unfortunately breaks down. Applying common sense, it is completely
-realistic for an attacker to forge a large number of social connections: This is precisely what most of social media
-marketing is about! A more malicious angle on this would be to consider how in meatspace [#meatspacefn]_ multi-level
-marketing schemes are successful in coaxing people to abuse their social graphs to disastrous consequences to the
-well-being of themselves and others. Similar schemes would certainly be possible in cyberspace as well. An additional
-point to consider is that the upper limit SybilGuard_ and others place on the number of fake identities one can have is
-simply not that strict at all. An attacker could still get away with a reasonable number of false identities before
-getting caught by any such algorithm.
-
-.. Duniter
-
-In another scheme, identity is awarded to anyone who can convince several people already in the network to vouch for
-them, and who is at most a few degrees removed from one of several pre-determined celebrities. Apart from again being
-vulnerable to conmen and other scammers, this system has the glaring flaw of roundly refusing to recognize any person
-who is not willing or able to engage with multiple of its members. Along with the system's informal requirement for
-members to only vouch for people they have physically met this leads to a nonstarter in a cyberspace that grown
-specifically *because* it transcends national borders and physical distance—two most serious obstacles to in-person
-communication.
-
-.. Idena Network
-
-The last scheme I will outline in this post is based around a set of `Turing tests`_; that is, quizzes that are designed
-to tell apart man and machine. In this system, all participants have to simultaneously undergo a Turing test once in a
-fortnight. The idea is that this limits the number of theia identities an attacker can assume since they can only solve
-that many Turing tests at the same time. The system uses a particular type of picture classification-based Turing test
-and does not seem to be designed with the blind or mentally disabled in mind with accessibility concerns nowhere to be
-found in the so-called "manifesto" published by its creators. But even ignoring that, the system obviously fails at an
-even more basic level: The idea that everyone takes a Turing test at the same time only works in a world without time
-zones. Or jobs for that matter. Also, it assumes that an attacker cannot simply hire a small army of people someplace
-else to fool the system.
-
-.. _SybilLimit: https://www.comp.nus.edu.sg/~yuhf/yuh-sybillimit.pdf
-.. _SybilGuard: http://www.math.cmu.edu/~adf/research/SybilGuard.pdf
-.. _SybilInfer: https://www.princeton.edu/~pmittal/publications/sybilinfer-ndss09.pdf
-.. _`Turing Tests`: https://en.wikipedia.org/wiki/Turing_test
-
-Identity between Cyberspace and Meatspace
-=========================================
-
-A common thread in these solutions, from the Facebook'esque Stasi_ methods to the crypto-anarchist challenge-response
-utopias, is that they all approach digital identity as a question of Objective Truth™ that can unanimously be decided at
-a system level—or that can be externalized to the next larger system such as the state. Alas, the important question
-remains unasked:
-
- What *is* identity?
-
-The answer to this question certainly depends on the system being examined. For example, an important reason the
-capitalist corporations mentioned above require knowledge about their users' identity is to generate plausible
-statistics for the advertisers that form their customer base, similar to how a farmer will keep statics on yield and
-quality for the buyers of his crop. With this background, a full decoupling of platform accounts from a notion of legal
-identity seems at odds with the platform's business model—and we will have to adjust our expectations for reform
-accordingly.
-
-A common thread among all systems mentioned above is that they all have a social component to them. For this common use
-case of social systems, I want to make a suggestion on how we can approach digital identity in a more practical, less
-discriminatory [#discriminatory]_ manner than any of the methods we discussed above. I think both using people's social
-connections and proxying the decisions of external authorities such as the state are bad systems to decide who is a
-person and who is not. I will now illustrate this point a bit. Let us think about how many digital identities a human
-beign might have. First, consider the case of n=0, someone who simply wants no business with the system at all. For
-simplicity, let us assume that we have solved this issue of consent, i.e. every person who is identified by the system
-consents to this practice. For n=1, the approaches outlined above all provide some approximate solution. States may not
-grant every human sufficient ID (e.g. children, the mentally disabled or prisoners might be left out), and the social
-systems might fail to catch people who simply do not have any friends, but otherwise their approximations hold. Maybe.
-But what about n=2, n=3, ...? None of these systems adequately consider cases where a human being might legitimately
-wish to hold multiple digital identities, non-maliciously.
-
-Consider a hypothetical lesbian, conservative politician. An active social media presence is a core component of a
-modern politician's carreer. At the same time, "conservative homophobe" is still well within the realm of tautology and
-it would be legitimate for this politician to wish to not disclose a large fraction of their private life to the world
-at large. They might have a separate online identity for matters related to it. For this politician, the social
-relationship-based systems referenced above would either incorporate outing as a design feature, or they would force
-the politician to choose either of their two identities: To choose between private life and carreer. When deferring to
-the state as the decider over personhood, at least the platform's operator would know about the outrageously sensitive
-link between the politician's online identities. Clearly, no such solution can be considered socially just.
-
-Let us try not to be caught up on saving the world at this point. The issue of conservative homophobia is out of the
-scope of our consideration, and it is not one that anyone can solve in the near future. Magical realism aside, least of
-all can some technological thing beckon this change. There is a case for legitimate uses of multiple, separate digital
-identities, and we do not have a technical or political answer to it. All hope is not lost yet, though. We can easily
-undo this gordian knot by acknowledging an unspoken assumption that underlies any social relationships between real
-people, past the procrustean bed of computer systems or organizational structures these relationships are cast into.
-
- As a function of social interaction, digital identities conform to roles_ in sociological terminology, and are not
- at all the same as personhood_. Roles are subjective and arise from a relationship between people, and a single
- person might legitimately perform different roles depending on context.
-
-When computer scientists or programmers are creating new systems, there always is an (often implicit) modelling stage.
-Formally, during this stage a domain expert and a modeller with a computer science background come together, each
-contributing their knowledge to form a model that is both appropriate for real-world use and practical from an
-engineering point of view. In practice, these two roles are often necessarily fulfilled by the same person, who is often
-also the programmer of the thing. This leads to many computer systems using poor models. A typical example of this issue
-are systems requiring a person's name that use three input fields labelled "First Name", "Middle Initial" and "Last
-Name". These systems are often created by US-American programmers, who are used to this naming schema from their lived
-experience. Unfortunately, this schema breaks down for those few billion people who use their last name first, who have
-more than one middle name, or who have multiple given names and do not normally use the first one of those.
-
-Once a system creator's implicit assumptions have been encoded into the system like this, it is often very hard to get
-out of that situation. A pattern to use during careful modelling is to keep the model flexible to account for unforeseen
-corner cases. For example, when modelling a system requiring a person's name, one would have to ask what the name is
-used for. It may be the most sensible decision to simply ask the user for their name twice: Once in first name/last name
-format for e.g. tax purposes, and once with a free-form text field for e.g. displaying on their account page.
-
-While for names, many systems already use some form of flexible model by e.g. having a *handle* or *nickname* separate
-from the *display name*, "social" systems still often are stuck with an identity model based around a concept of a
-single, rigid identity. In practice, people perform different roles_ in different circumstances. When asking for a
-person's identity, one would get wildly different answers from different people. A person's identity as perceived by
-others is coupled to their relationship more than to some underlying, biological or administrative truth. Thinking back
-to the straw man politician above, this is evident in subtle ways in almost all our everyday relationships: Some people
-may know me by my legal name, some by my online nickname. To some I may be a computer scientist, to some a flatmate.
-None of my friends and acquaintances have ever wanted to see my passport, or asked to take my DNA to ascertain that I am
-a distinct human being from the other humans they know. Likewise, identifying me by my social connections is impractical
-as it would require an exceedingly weird amount of what can only be described as snooping. Yet, this concept of a
-single, consistent, global, true identity is exactly what up to now all technological solutions to the identity problem
-are trying to achieve.
-
-Building Bridges
-================
-
-I think I can offer you one main take-aways from the discussion above.
-
- During modelling social systems, focus on relationships—not identity.
-
-Rephrased into more actionable points, as someone designing a social digital system, do the following:
-
-0. Early in the design stages, take the time to consider fundamental modelling issues like this one. If you don't, you
- will likely get stuck with a sub-optimal model that will be hard to get rid of.
-1. Where possible, be flexible. Allow people to chose their own identifier. Don't require them to use their real names,
- they may not wish to disclose those or they may not be in a format that is useful to you (they may be too long, too
- short, too ubiquituous, in foreign characters etc.). A free-form text field with a reasonable length limit is a good
- approach here.
-2. Do not use credit cards or phone numbers to identify people. There are many people who do not have either, and
- scammers can simply buy this data in bulk on the darknet.
-3. Allow people to create multiple identites [#accountswitchopsec]_, and acknowledge the role of social relationships in
- your interaction features. People have very legitimate reasons to separate areas of their lifes, and it is not for
- you or your computer to decide who is who to whom. If your thing requires a global search function, re-consider the
- data protection aspects of your system. If you want to encourage social functions in the face of bots and trolls,
- make it easy for people to share their identities out-of-band, such as through a QR code or a copy-and-pasteable
- short link. If you require someone's legal name or address for billing purposes, unify these identities behind the
- scenes if at all and allow them to act as if fully independent in public.
-
-While change of perspective comes with its share of user experience challenges, but also with a promise for a more
-human, more dignified online experience. Perhaps we can find a way to adapt cyberspace to humans, instead of continuing
-trying it the other way around.
-
-.. _astroturfing: https://en.wikipedia.org/wiki/Astroturfing
-.. _Stasi: https://en.wikipedia.org/wiki/Stasi
-
-.. [#cryptocurrency] Pseudo-currencies in that, while they provide some aspects of a regular currency such as ownership
- and transactions, they lack most others. Traditional currencies are backed by states, regulated by central banks
- tasked with maintaining their stability and ultimately provide accountability through law enforcement, courts
- and political elections.
-
-.. [#discriminatory] Discriminatory as in discriminating against minorities, but also as in deciding what is and what is
- not.
-
-.. [#accountswitchopsec] This does mean that you should not actively prevent people from creating multiple accounts. It
- does not necessarily entail building a proper user interface around this practice. If you do the latter, e.g. by
- offering a "switch identity" button or an identiy drop-down menu on a post submission form, you can easily
- encourage slip-ups that might disclose the connection between two identities, and you make it possible for
- someone hacking a single login to learn about this connection as well.
-
-.. [#meatspacefn] Meatspace_ is where people physically are, as opposed to cyberspace
-
-.. _Meatspace: https://dictionary.cambridge.org/dictionary/english/meatspace
-.. _roles: https://en.wikipedia.org/wiki/Role
-.. _personhood: https://en.wikipedia.org/wiki/Personhood
diff --git a/content/posts/sybil-resistance-identity/index.rst b/content/posts/sybil-resistance-identity/index.rst
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----
-title: "Identity between Cyberspace and Meatspace"
-date: 2020-09-09T15:00:00+02:00
-draft: true
----
-
-.. raw:: html
-
- <figure class="header">
- <img src="images/succulents.jpg">
- <figcaption>Photo by <a href="https://unsplash.com/@timbennettcreative">Tim Bennett</a> on <a href="https://unsplash.com/">Unsplash</a></figcaption>
- </figure>
-
-Identity in Cyberspace
-======================
-
-.. Identity is a frequent problem
-.. Easy solutions abound
-.. Precise modelling is uncommon
-.. True identity is sensitive, hard to handle
-..
-.. Often, conversational features emphasized -> true identity is unnecessary
-.. Social role theory
-.. Call to action
-
-Most computer systems that interface with humans have a concept of user identity. The data structures used for its
-storage vary, but usually one *account* corresponds to one human *user*. In many applications, the system operator tries
-to ensure that one user cannot create multiple accounts. In online social networks, astrotufing_ and trolling are easier
-to fight when limits are imposed on account creation. In online stores, fraud prevention means the store operator needs
-their customers legal identity and the operator must be able to ban offending customers. In mobile messaging systems,
-users have to be able to find each other by some identifier such as name or phone number, and this identifier has to be
-unique and hard to forge.
-
-Today, in systems that allow anyone to create an account have largely converged to require either an email address or a
-mobile phone number. Email addresses are used by systems that are less vulnerable to abuse and that are used on laptop
-or desktop computers. Mobile phone numbers are abundantly used in smartphone apps, as well as in systems more prone to
-abuse such as online social networks or ecommerce. Both are easily verified using a confirmation email or SMS.
-
-When designing or programming an online system, it is uncommon that the precise real-world semantics of accounts are
-modelled. Most computer systems use ad-hoc data models. During their creation, their programmers implicit assumptions
-about the world are encoded into these data models. Most of the time this works fine, but it does lead to significant
-blind spots that can make systems break down for a fraction of their users.
-
-Lives in Meatspace
-==================
-
-A consequence of the proliferation of phone numbers being used to identify people is that most people will not be able
-to create multiple accounts. *"That's the point!"* you might say, but while we want to prevent scammers, spammers and
-boored schoolchildren from messing with our systems, everybody else may have legitimate reasons to have more than one
-account.
-
-We can apply sociology's model of roles_ to understand this issue. In sociology, a role is the comprehensive pattern of
-rules and expectations that govern an individual's behavior corresponding to their social position. A key fact is that
-most people occupy mutliple roles. A parent may also be a company employee or a wife and perform accordingly given the
-circumstances. Systems that tie digital identity to legal personhood through the contracts behind phone numbers impede
-their users' attempts at role separation. Effects of this are e.g. that nowadays employers routinely screen applicants'
-social media accounts for unacceptable content.
-
-While this role conflict merely amounts to a minor inconvenience to most there are many to who it poses an existential
-problem. Consider an LGBT+ person living in a repressive country or a politically conservative person living in a
-very liberal city. Both have legitimate reasons to strictly separate parts of their private lives from others. For both,
-much is at stake. Yet, both will have to practically circumvent most online systems registration barriers to implement
-this separation.
-
-Trusting the User
-=================
-
-While there is no single solution to these issues, there are several possible mitigations. The first and most important
-one is to systematically think about the system's data model when creating it. Which assumptions about the real world
-are inherent in it? Are these assumptions likely to cause issues? Ad-hoc models are easily created, but hard to get rid
-of when they start causing problems.
-
-A general guideline on identity should be that hindering trolls by requiring things like phone numbers or credit card
-numbers is very likely to also be an obstacle to many entirely legitimate uses. Captchas_ or invitation links can help
-to keep out the trolls. Another approach is to limit the damage a troll can cause with things like effective moderation
-systems, reputation systems or by limiting the reach of newly created accounts.
-
-Outside of e-commerce, actually tying a digital account to a real-world identity is very rarely necessary. The value of
-a messenger app is not in the names in its contacts list, but the conversations behind these names. When two people meet
-each other on the street, their interaction is shaped by a myriad of social factors—but *not* by them showing each other
-their photo ID.
-
-Humans with their messy identities do not fit today's cyberspace well. Let's adapt cyberspace to humans, instead of
-trying it the other way around.
-
-.. _astroturfing: https://en.wikipedia.org/wiki/Astroturfing
-.. _roles: https://en.wikipedia.org/wiki/Role
-.. _Captchas: https://link.springer.com/content/pdf/10.1007/3-540-39200-9_18.pdf
-
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----
-title: "Thor's Hammer"
-date: 2018-05-03T11:59:37+02:00
----
-
-In case you were having an inferiority complex because your friends' IBM Model M keyboards are so much louder than the
-shitty rubber dome freebie you got with your pc... Here's the solution: Thor's Hammer, a simple typing cadence enhancer
-for `PS/2`_ keyboards.
-
-.. raw:: html
-
- <figure>
- <video controls loop>
- <source src="video/thors_hammer.mov" type="video/h264">
- <source src="video/thors_hammer.webm" type="video/webm">
- Your browser does not support the HTML5 video tag.
- </video>
- <figcaption>A demonstration of the completed project.
-
- <a href="video/thors_hammer.mov">h264 download</a> /
- <a href="video/thors_hammer.webm">webm download</a>
- </figcaption>
- </figure>
-
-The connects to the keyboard's PS/2 clock line and briefly actuates a large solenoid on each key press. An interesting
-fact about PS/2 is that the clock line is only active as long as either the host computer or the input device actually
-want to send data. In case of a keyboard that's the case when a key is pressed or when the host changes the keyboard's
-LED state, otherwise the clock line is silent. We ignore the LED activity for now as it's generally coupled to key
-presses. By just triggering an NE555 configured as astable flipflop we can stretch each train of clock pulses to a
-pulse a few tens of milliseconds long that is enough to actuate the solenoid.
-
-.. raw:: html
-
- <figure>
- <img src="images/thors_hammer_schematic.jpg" alt="The schematic of the PS2 driver">
- <figcaption>The schematic of the driver stretching the PS/2 clock pulses to drive the solenoid.</figcaption>
- </figure>
-
-
-Since PS/2 sends each key press and key release separately this circuit will pulse twice per keystroke. It would be
-possible to ignore one of them but I figure the added noise just adds to the experience.
-
-Built on a breadboard, the circuit looks like this.
-
-.. raw:: html
-
- <figure>
- <img src="images/thors_hammer_breadboard.jpg" alt="The circuit built on a breadboard">
- <figcaption>The completed circuit built up on a breadboard and attached to a keyboard.</figcaption>
- </figure>
-
-
-Since my solenoid did not have a tensioning spring I used a rubber band and some vinyl tape to make an adjustable
-tensioner. The small orange USB hub serves as an end-stop because I had nothing else of the right shape. The sound and
-resonance of the thing can be adjusted to taste by moving the end stop, adjusting the tensioning rubber and tuning the
-excitation duration using the potentiometer. My particular solenoid was a bit slow so I added some pieces of circuit
-board as shims between the plunger and the case to limit the plunger's travel inside the solenoid core.
-
-.. _`PS/2`: https://en.wikipedia.org/wiki/PS/2_port
-
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----
-title: "Wifi Led Driver"
-date: 2018-05-02T11:31:03+02:00
----
-
-Project motivation
-==================
-
-.. FIXME finished project picture with LED tape
-.. raw:: html
-
- <figure>
- <img src="images/lyza_board_in_case.small.jpg">
- <figcaption>The completed driver board installed in the 3D-printed case. This device can now be connected to
- 12V and two segments of LED tape that can then be controlled trough Wifi. The ESP8266 module goes on the pin
- header on the left and was removed for this picture.
- </figcaption>
- </figure>
-
-After the `multichannel LED driver`_ was completed, I was just getting used to controlling LEDs at 14-bit resolution.
-I liked the board we designed in this project, but at 32 channels it was a bit large for most use cases. Sometimes I
-just want to pop a piece of LED tape or two somewhere, but I don't need a full 32 channels of control. I ended up
-thinking that a smaller version of the 32-channel driver that didn't require a separate control computer would be
-handy. So I sat down and designed a variant of the design with only 8 channels instead of 32 and an on-board ESP8266_
-module instead of the RS485_ transceiver for WiFi connectivity.
-
-The Electronics
-===============
-
-The schematic was mostly copy-pasted from the 32-channel design. The PCB was designed from scratch. This time, I went
-for a 5x7cm form factor to allow for enough room for all connectors and to give the ESP8266_'s WiFi antenna enough
-space. The board has two 5-pin Phoenix-style_ for two RGB-White (RGBW) tapes and one 2-pin Phoenix-style_ connector for
-12V power input. The control circuitry and the serial protocol are unchanged, but the STM32_ now talks to an ESP-01_
-module running custom firmware.
-
-The LEDs are driven using a 74HC595_ shift register controlling a bunch of AO3400_ MOSFETs_, with resistors in front of
-the MOSFETs_' gates to slow down the transitions a bit to reduce brighntess nonlinearities and EMI_ resulting from
-ringing of the LED tape's wiring inductance.
-
-The board has two spots for either `self-resettable fuses (polyfuses) <polyfuse_>`__ or regular melting-wire fuses_ in
-a small SMD_ package, one for each RGBW output. For low currents the self-resettable fuses should be okay but at higher
-currents their `trip times get long enough that they become unlikely to trip in time to save anything
-<littlefuse-16r-datasheet_>`__, so plain old non-resettable fuses would be the way to go there.
-
-.. FIXME finished board photos
-.. FIXME board with test tape picture
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <img src="images/schematic.png">
- <figcaption>
- The schematic of the driver board, with the ESP8266 on the top left, the STM32 microcontroller for LED
- modulation below, the shift register in the middle and the LED drivers and outputs on the right.
- <a href="resource/lyza_schematic_and_pcb.pdf">Download PDF</a>
- </figcaption>
- </figure><figure class="side-by-side">
- <img src="images/layout.png">
- <figcaption>
- The board layout with the top side being visible. The top side contains the footprint for the ESP8266, the
- microcontroller, fuses, filter cap, connectors and the shift register. The LEDs are connected on the left,
- with one connector per LED tape segment. The power input connector is on the bottom right. The LED driver
- MOSFETs are in small SOT-23 packages on the back of the board. Since this board is not intended for
- super-high currents, the MOSFETs are adequately cooled just through the board's copper planes.
- <a href="resource/lyza_schematic_and_pcb.pdf">Download PDF</a>
- </figcaption>
- </figure>
- </figure>
-
-.. raw:: html
-
- <figure>
- <img src="images/lyza_boards.small.jpg">
- <figcaption>The completed PCBs of this project (front) and the `multichannel LED driver`_ project the driver
- circuitry was derived from (back).
- </figcaption>
- </figure>
-
-
-The Firmware
-============
-
-The STM32_ firmware only had to be slightly modified to accomodate the reduced channel count since the protocol remains
-unchanged. The ESP firmware is based on esphttpd_ by Spritetm_. The modifications to the webserver firmware are pretty
-basic. First, the UART console has been disabled since I use the UART to talk to the STM32. The few bootloader messages
-popping out the UART on boot are not an issue, since they're unlikely to contain the fixed 32-bit address prefix the
-serial protocol requires for the STM32_ to do anything.
-
-Second, I added LED control by adding drivers for the serial protocol and a bunch of colorspace conversion functions.
-When I first tested the prototype software, I noticed that color reproduction was extremely poor. When I just sent a
-HSV_ rainbow fade from a python command line, the result looked totally wrong. The fade did not seem to go at a constant
-speed and some colors, in particular yellow, orange and greens, were not visible at all. The problem turned out to be a
-stark mismatch of the red, green and blue channels of the LED tape and less-than-optimal color reproduction of the pure
-colors. I decided to properly measure the LED tape's color reproduction so I could compensate for it in software. This
-turned out to be an extremely interesting project, the details of which you can read in my `LED characterization`_
-article.
-
-Third, I updated the built-in websites with some ad-hoc documentation on how to use the thing and a basic interface for
-LED control.
-
-.. FIXME screenshot of firmware website
-
-Making an enclosure
-===================
-
-To be actually useful, the driver needed a robust enclosure. Bare PCBs are nice for prototyping, but for actually
-putting the thing anywhere it needs a case to protect it against random destruction.
-
-The board has four mounting holes with comfortable spacing in its corners to allow easy mounting inside a 3D-printed
-case. The case itself is described in an OpenSCAD_ script. To make it look a little nicer, a little 3D relief is laid
-into the lid. The 3D relief is generated with a bit of blender magic. The source STL_ model is loaded into blender, then
-blender's amazingly flexible rendering system is used to export a depth map of a projection of the model as a PNG_ file.
-This depth map is then imported as a triangle mesh into OpenSCAD_.
-
-For the relief to look good, I chose a rather high resolution for the depth map. This unfortunately leads to extreme
-memory use and processing time on the part of OpenSCAD_, but since I have access to a sufficiently fast machine that is
-not a problem. Just be careful if you try opening the OpenSCAD_ file on your machine, OpenSCAD_ will probably crash
-unless you're on a beefy machine or interrupt it when it starts auto-rendering the file.
-
-The board is mounted into the enclosure using knurled insert nuts that are pressed into a 3D-printed hole using a bit of
-violence.
-
-.. FIXME openscad screenshot
-.. FIXME enclosure parts
-.. FIXME finished enclosure with board inside
-
-.. raw:: html
-
- <figure>
- <figure class="side-by-side">
- <img src="images/lyza_case_raw.small.jpg">
- <figcaption>The 3D-printed case with threaded inserts before painting.</figcaption>
- </figure><figure class="side-by-side">
- <img src="images/lyza_case_complete.small.jpg">
- <figcaption>The 3D-printed case with the board installed after painting. This was my first attempt at
- painting a 3D-printed case so it looks pretty bad.</figcaption>
- </figure>
- </figure>
-
-.. _`multichannel LED driver`: {{<ref "posts/multichannel-led-driver/index.rst">}}
-.. _`LED characterization`: {{<ref "posts/led-characterization/index.rst">}}
-.. _ESP8266: https://en.wikipedia.org/wiki/ESP8266
-.. _RS485: https://en.wikipedia.org/wiki/RS-485
-.. _Phoenix-style: https://www.phoenixcontact.com/online/portal/de?uri=pxc-oc-itemdetail:pid=1757019&library=dede&tab=1
-.. _STM32: http://www.st.com/resource/en/datasheet/stm32f030f4.pdf
-.. _ESP-01: http://www.watterott.com/de/ESP8266-WiFi-Serial-Transceiver-Modul
-.. _74HC595: http://www.ti.com/lit/ds/symlink/sn74hc595.pdf
-.. _AO3400: http://aosmd.com/pdfs/datasheet/AO3400.pdf
-.. _MOSFETs: https://en.wikipedia.org/wiki/MOSFET
-.. _EMI: https://en.wikipedia.org/wiki/Electromagnetic_interference
-.. _polyfuse: https://en.wikipedia.org/wiki/Resettable_fuse
-.. _SMD: https://en.wikipedia.org/wiki/Surface-mount_technology
-.. _fuses: https://en.wikipedia.org/wiki/Fuse_(electrical)
-.. _littlefuse-16r-datasheet: http://m.littelfuse.com/~/media/electronics/datasheets/resettable_ptcs/littelfuse_ptc_16r_datasheet.pdf.pdf
-.. _OpenSCAD: http://www.openscad.org/
-.. _STL: https://en.wikipedia.org/wiki/STL_(file_format)
-.. _PNG: https://en.wikipedia.org/wiki/Portable_Network_Graphics
-.. _esphttpd: https://github.com/Spritetm/esphttpd
-.. _Spritetm: http://spritesmods.com/
-.. _`HSV`: https://en.wikipedia.org/wiki/HSL_and_HSV
-
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