Cal skew: use static must

use CSR instead of CSRStatus
add FSM to support CSR

src/libboard_artiq/src/si549.rs

@@ -407,6 +407,7 @@ pub mod wrpll {
         pub fn get_period_error() -> i32 {
             // n * BEATING_PERIOD - REF_TAG(n) mod BEATING_PERIOD
             let mut period_error = unsafe { REF_TAG.overflowing_neg().0.rem_euclid(BEATING_PERIOD as u32) as i32 };
+
             // mapping tags from [0, 2π] -> [-π, π]
             if period_error > BEATING_HALFPERIOD {
                 period_error -= BEATING_PERIOD
@@ -515,20 +516,23 @@ pub mod wrpll {
     fn helper_pll() -> Result<(), &'static str> {
         let period_err = tag_collector::get_period_error();
 
-        let h_adpll = unsafe {
+        let h_adpll;
+        unsafe {
             H_INTEGRATOR += period_err * KI;
-            (BASE_ADPLL + period_err * KP + H_INTEGRATOR).clamp(-ADPLL_MAX, ADPLL_MAX)
-        };
+            h_adpll = (BASE_ADPLL + period_err * KP + H_INTEGRATOR).clamp(-ADPLL_MAX, ADPLL_MAX);
+        }
         set_adpll(i2c::DCXO::Helper, h_adpll)?;
         Ok(())
     }
 
     fn main_pll() -> Result<(), &'static str> {
         let phase_err = tag_collector::get_phase_error();
-        let m_adpll = unsafe {
+
+        let m_adpll;
+        unsafe {
             M_INTEGRATOR += phase_err * KI;
-            (BASE_ADPLL + phase_err * KP + M_INTEGRATOR).clamp(-ADPLL_MAX, ADPLL_MAX)
-        };
+            m_adpll = (BASE_ADPLL + phase_err * KP + M_INTEGRATOR).clamp(-ADPLL_MAX, ADPLL_MAX);
+        }
         set_adpll(i2c::DCXO::Main, m_adpll)?;
         Ok(())
     }