Add grabber module

Signed-off-by: Egor Savkin <es@m-labs.hk>

src/gateware/kasli_soc.py

@@ -107,6 +107,7 @@ class GTPBootstrapClock(Module):
 class GenericStandalone(SoCCore):
     def __init__(self, description, acpki=False):
         self.acpki = acpki
+        clk_freq = description["rtio_frequency"]
 
         platform = kasli_soc.Platform()
         platform.toolchain.bitstream_commands.extend([
@@ -139,7 +140,7 @@ class GenericStandalone(SoCCore):
         ]
         fix_serdes_timing_path(platform)
         self.submodules.bootstrap = GTPBootstrapClock(self.platform, description["rtio_frequency"])
-        self.config["CLOCK_FREQUENCY"] = int(description["rtio_frequency"])
+        self.config["CLOCK_FREQUENCY"] = int(clk_freq)
 
         self.submodules.sys_crg = zynq_clocking.SYSCRG(self.platform, self.ps7, clk_synth_se_buf)
         platform.add_false_path_constraints(
@@ -230,7 +231,7 @@ class GenericMaster(SoCCore):
             pads=data_pads,
             clk_freq=clk_freq)
         self.csr_devices.append("gt_drtio")
-        self.config["CLOCK_FREQUENCY"] = int(description["rtio_frequency"])
+        self.config["CLOCK_FREQUENCY"] = int(clk_freq)
 
         txout_buf = Signal()
         gtx0 = self.gt_drtio.gtxs[0]

src/runtime/src/main.rs

@@ -11,13 +11,10 @@ extern crate alloc;
 #[cfg(feature = "target_kasli_soc")]
 use core::cell::RefCell;
 
-use embedded_hal::blocking::delay::DelayMs;
 use ksupport;
 use libasync::task;
 #[cfg(has_drtio_eem)]
 use libboard_artiq::drtio_eem;
-#[cfg(has_grabber)]
-use libboard_artiq::grabber;
 #[cfg(feature = "target_kasli_soc")]
 use libboard_artiq::io_expander;
 use libboard_artiq::{identifier_read, logger, pl};
@@ -61,10 +58,16 @@ async fn io_expanders_service(
 }
 
 #[cfg(has_grabber)]
-async fn grabber_thread(mut timer: GlobalTimer) {
-    loop {
-        grabber::tick();
-        timer.delay_ms(200);
+mod grabber {
+    use libboard_artiq::grabber;
+    use libboard_zynq::time::Milliseconds;
+    use libasync::{delay};
+    pub async fn grabber_thread(mut timer: GlobalTimer) {
+        let mut countdown = timer.countdown();
+        loop {
+            grabber::tick();
+            delay(&mut countdown, Milliseconds(200)).await;
+        }
     }
 }
 
@@ -126,7 +129,7 @@ pub fn main_core0() {
     drtio_eem::init(&mut timer, &cfg);
 
     #[cfg(has_grabber)]
-    task::spawn(grabber_thread(timer));
+    task::spawn(grabber::grabber_thread(timer));
 
     task::spawn(ksupport::report_async_rtio_errors());