mirror of
https://github.com/m-labs/artiq.git
synced 2024-12-24 19:04:02 +08:00
experimental-features: add SU Servo extension for variable number of Urukuls (PR #1782)
This commit is contained in:
parent
b4287ac9f4
commit
411afbdc23
771
experimental-features/suservo-var-urukul.diff
Normal file
771
experimental-features/suservo-var-urukul.diff
Normal file
@ -0,0 +1,771 @@
|
|||||||
|
diff --git a/artiq/coredevice/suservo.py b/artiq/coredevice/suservo.py
|
||||||
|
index 1d0a72dad..a89cdcca4 100644
|
||||||
|
--- a/artiq/coredevice/suservo.py
|
||||||
|
+++ b/artiq/coredevice/suservo.py
|
||||||
|
@@ -3,17 +3,14 @@
|
||||||
|
from artiq.coredevice.rtio import rtio_output, rtio_input_data
|
||||||
|
from artiq.coredevice import spi2 as spi
|
||||||
|
from artiq.coredevice import urukul, sampler
|
||||||
|
+from math import ceil, log2
|
||||||
|
|
||||||
|
|
||||||
|
-COEFF_WIDTH = 18
|
||||||
|
+COEFF_WIDTH = 18 # Must match gateware IIRWidths.coeff
|
||||||
|
Y_FULL_SCALE_MU = (1 << (COEFF_WIDTH - 1)) - 1
|
||||||
|
-COEFF_DEPTH = 10 + 1
|
||||||
|
-WE = 1 << COEFF_DEPTH + 1
|
||||||
|
-STATE_SEL = 1 << COEFF_DEPTH
|
||||||
|
-CONFIG_SEL = 1 << COEFF_DEPTH - 1
|
||||||
|
-CONFIG_ADDR = CONFIG_SEL | STATE_SEL
|
||||||
|
T_CYCLE = (2*(8 + 64) + 2)*8*ns # Must match gateware Servo.t_cycle.
|
||||||
|
-COEFF_SHIFT = 11
|
||||||
|
+COEFF_SHIFT = 11 # Must match gateware IIRWidths.shift
|
||||||
|
+PROFILE_WIDTH = 5 # Must match gateware IIRWidths.profile
|
||||||
|
|
||||||
|
|
||||||
|
@portable
|
||||||
|
@@ -35,8 +32,8 @@ class SUServo:
|
||||||
|
"""Sampler-Urukul Servo parent and configuration device.
|
||||||
|
|
||||||
|
Sampler-Urukul Servo is a integrated device controlling one
|
||||||
|
- 8-channel ADC (Sampler) and two 4-channel DDS (Urukuls) with a DSP engine
|
||||||
|
- connecting the ADC data and the DDS output amplitudes to enable
|
||||||
|
+ 8-channel ADC (Sampler) and any number of 4-channel DDS (Urukuls) with a
|
||||||
|
+ DSP engine connecting the ADC data and the DDS output amplitudes to enable
|
||||||
|
feedback. SU Servo can for example be used to implement intensity
|
||||||
|
stabilization of laser beams with an amplifier and AOM driven by Urukul
|
||||||
|
and a photodetector connected to Sampler.
|
||||||
|
@@ -49,7 +46,7 @@ class SUServo:
|
||||||
|
* See the SU Servo variant of the Kasli target for an example of how to
|
||||||
|
connect the gateware and the devices. Sampler and each Urukul need
|
||||||
|
two EEM connections.
|
||||||
|
- * Ensure that both Urukuls are AD9910 variants and have the on-board
|
||||||
|
+ * Ensure that all Urukuls are AD9910 variants and have the on-board
|
||||||
|
dip switches set to 1100 (first two on, last two off).
|
||||||
|
* Refer to the Sampler and Urukul documentation and the SU Servo
|
||||||
|
example device database for runtime configuration of the devices
|
||||||
|
@@ -65,7 +62,8 @@ class SUServo:
|
||||||
|
:param core_device: Core device name
|
||||||
|
"""
|
||||||
|
kernel_invariants = {"channel", "core", "pgia", "cplds", "ddses",
|
||||||
|
- "ref_period_mu"}
|
||||||
|
+ "ref_period_mu", "num_channels", "coeff_sel",
|
||||||
|
+ "state_sel", "config_addr", "write_enable"}
|
||||||
|
|
||||||
|
def __init__(self, dmgr, channel, pgia_device,
|
||||||
|
cpld_devices, dds_devices,
|
||||||
|
@@ -83,9 +81,19 @@ def __init__(self, dmgr, channel, pgia_device,
|
||||||
|
self.core.coarse_ref_period)
|
||||||
|
assert self.ref_period_mu == self.core.ref_multiplier
|
||||||
|
|
||||||
|
+ # The width of parts of the servo memory address depends on the number
|
||||||
|
+ # of channels.
|
||||||
|
+ self.num_channels = 4 * len(dds_devices)
|
||||||
|
+ channel_width = ceil(log2(self.num_channels))
|
||||||
|
+ coeff_depth = PROFILE_WIDTH + channel_width + 3
|
||||||
|
+ self.state_sel = 2 << (coeff_depth - 2)
|
||||||
|
+ self.config_addr = 3 << (coeff_depth - 2)
|
||||||
|
+ self.coeff_sel = 1 << coeff_depth
|
||||||
|
+ self.write_enable = 1 << (coeff_depth + 1)
|
||||||
|
+
|
||||||
|
@kernel
|
||||||
|
def init(self):
|
||||||
|
- """Initialize the servo, Sampler and both Urukuls.
|
||||||
|
+ """Initialize the servo, Sampler and all Urukuls.
|
||||||
|
|
||||||
|
Leaves the servo disabled (see :meth:`set_config`), resets and
|
||||||
|
configures all DDS.
|
||||||
|
@@ -122,7 +130,7 @@ def write(self, addr, value):
|
||||||
|
:param addr: Memory location address.
|
||||||
|
:param value: Data to be written.
|
||||||
|
"""
|
||||||
|
- addr |= WE
|
||||||
|
+ addr |= self.write_enable
|
||||||
|
value &= (1 << COEFF_WIDTH) - 1
|
||||||
|
value |= (addr >> 8) << COEFF_WIDTH
|
||||||
|
addr = addr & 0xff
|
||||||
|
@@ -158,7 +166,7 @@ def set_config(self, enable):
|
||||||
|
Disabling takes up to two servo cycles (~2.3 µs) to clear the
|
||||||
|
processing pipeline.
|
||||||
|
"""
|
||||||
|
- self.write(CONFIG_ADDR, enable)
|
||||||
|
+ self.write(self.config_addr, enable)
|
||||||
|
|
||||||
|
@kernel
|
||||||
|
def get_status(self):
|
||||||
|
@@ -179,7 +187,7 @@ def get_status(self):
|
||||||
|
:return: Status. Bit 0: enabled, bit 1: done,
|
||||||
|
bits 8-15: channel clip indicators.
|
||||||
|
"""
|
||||||
|
- return self.read(CONFIG_ADDR)
|
||||||
|
+ return self.read(self.config_addr)
|
||||||
|
|
||||||
|
@kernel
|
||||||
|
def get_adc_mu(self, adc):
|
||||||
|
@@ -197,7 +205,8 @@ def get_adc_mu(self, adc):
|
||||||
|
# State memory entries are 25 bits. Due to the pre-adder dynamic
|
||||||
|
# range, X0/X1/OFFSET are only 24 bits. Finally, the RTIO interface
|
||||||
|
# only returns the 18 MSBs (the width of the coefficient memory).
|
||||||
|
- return self.read(STATE_SEL | (adc << 1) | (1 << 8))
|
||||||
|
+ return self.read(self.state_sel |
|
||||||
|
+ (2 * adc + (1 << PROFILE_WIDTH) * self.num_channels))
|
||||||
|
|
||||||
|
@kernel
|
||||||
|
def set_pgia_mu(self, channel, gain):
|
||||||
|
@@ -285,10 +294,11 @@ def set_dds_mu(self, profile, ftw, offs, pow_=0):
|
||||||
|
:param offs: IIR offset (17 bit signed)
|
||||||
|
:param pow_: Phase offset word (16 bit)
|
||||||
|
"""
|
||||||
|
- base = (self.servo_channel << 8) | (profile << 3)
|
||||||
|
+ base = self.servo.coeff_sel | (self.servo_channel <<
|
||||||
|
+ (3 + PROFILE_WIDTH)) | (profile << 3)
|
||||||
|
self.servo.write(base + 0, ftw >> 16)
|
||||||
|
self.servo.write(base + 6, (ftw & 0xffff))
|
||||||
|
- self.set_dds_offset_mu(profile, offs)
|
||||||
|
+ self.servo.write(base + 4, offs)
|
||||||
|
self.servo.write(base + 2, pow_)
|
||||||
|
|
||||||
|
@kernel
|
||||||
|
@@ -319,7 +329,8 @@ def set_dds_offset_mu(self, profile, offs):
|
||||||
|
:param profile: Profile number (0-31)
|
||||||
|
:param offs: IIR offset (17 bit signed)
|
||||||
|
"""
|
||||||
|
- base = (self.servo_channel << 8) | (profile << 3)
|
||||||
|
+ base = self.servo.coeff_sel | (self.servo_channel <<
|
||||||
|
+ (3 + PROFILE_WIDTH)) | (profile << 3)
|
||||||
|
self.servo.write(base + 4, offs)
|
||||||
|
|
||||||
|
@kernel
|
||||||
|
@@ -344,6 +355,30 @@ def dds_offset_to_mu(self, offset):
|
||||||
|
"""
|
||||||
|
return int(round(offset * (1 << COEFF_WIDTH - 1)))
|
||||||
|
|
||||||
|
+ @kernel
|
||||||
|
+ def set_dds_phase_mu(self, profile, pow_):
|
||||||
|
+ """Set only POW in profile DDS coefficients.
|
||||||
|
+
|
||||||
|
+ See :meth:`set_dds_mu` for setting the complete DDS profile.
|
||||||
|
+
|
||||||
|
+ :param profile: Profile number (0-31)
|
||||||
|
+ :param pow_: Phase offset word (16 bit)
|
||||||
|
+ """
|
||||||
|
+ base = self.servo.coeff_sel | (self.servo_channel <<
|
||||||
|
+ (3 + PROFILE_WIDTH)) | (profile << 3)
|
||||||
|
+ self.servo.write(base + 2, pow_)
|
||||||
|
+
|
||||||
|
+ @kernel
|
||||||
|
+ def set_dds_phase(self, profile, phase):
|
||||||
|
+ """Set only phase in profile DDS coefficients.
|
||||||
|
+
|
||||||
|
+ See :meth:`set_dds` for setting the complete DDS profile.
|
||||||
|
+
|
||||||
|
+ :param profile: Profile number (0-31)
|
||||||
|
+ :param phase: DDS phase in turns
|
||||||
|
+ """
|
||||||
|
+ self.set_dds_phase_mu(profile, self.dds.turns_to_pow(phase))
|
||||||
|
+
|
||||||
|
@kernel
|
||||||
|
def set_iir_mu(self, profile, adc, a1, b0, b1, dly=0):
|
||||||
|
"""Set profile IIR coefficients in machine units.
|
||||||
|
@@ -378,7 +413,8 @@ def set_iir_mu(self, profile, adc, a1, b0, b1, dly=0):
|
||||||
|
:param dly: IIR update suppression time. In units of IIR cycles
|
||||||
|
(~1.2 µs, 0-255).
|
||||||
|
"""
|
||||||
|
- base = (self.servo_channel << 8) | (profile << 3)
|
||||||
|
+ base = self.servo.coeff_sel | (self.servo_channel <<
|
||||||
|
+ (3 + PROFILE_WIDTH)) | (profile << 3)
|
||||||
|
self.servo.write(base + 3, adc | (dly << 8))
|
||||||
|
self.servo.write(base + 1, b1)
|
||||||
|
self.servo.write(base + 5, a1)
|
||||||
|
@@ -470,7 +506,9 @@ def get_profile_mu(self, profile, data):
|
||||||
|
:param profile: Profile number (0-31)
|
||||||
|
:param data: List of 8 integers to write the profile data into
|
||||||
|
"""
|
||||||
|
- base = (self.servo_channel << 8) | (profile << 3)
|
||||||
|
+ assert len(data) == 8
|
||||||
|
+ base = self.servo.coeff_sel | (self.servo_channel <<
|
||||||
|
+ (3 + PROFILE_WIDTH)) | (profile << 3)
|
||||||
|
for i in range(len(data)):
|
||||||
|
data[i] = self.servo.read(base + i)
|
||||||
|
delay(4*us)
|
||||||
|
@@ -491,7 +529,8 @@ def get_y_mu(self, profile):
|
||||||
|
:param profile: Profile number (0-31)
|
||||||
|
:return: 17 bit unsigned Y0
|
||||||
|
"""
|
||||||
|
- return self.servo.read(STATE_SEL | (self.servo_channel << 5) | profile)
|
||||||
|
+ return self.servo.read(self.servo.state_sel | (
|
||||||
|
+ self.servo_channel << PROFILE_WIDTH) | profile)
|
||||||
|
|
||||||
|
@kernel
|
||||||
|
def get_y(self, profile):
|
||||||
|
@@ -529,7 +568,8 @@ def set_y_mu(self, profile, y):
|
||||||
|
"""
|
||||||
|
# State memory is 25 bits wide and signed.
|
||||||
|
# Reads interact with the 18 MSBs (coefficient memory width)
|
||||||
|
- self.servo.write(STATE_SEL | (self.servo_channel << 5) | profile, y)
|
||||||
|
+ self.servo.write(self.servo.state_sel | (
|
||||||
|
+ self.servo_channel << PROFILE_WIDTH) | profile, y)
|
||||||
|
|
||||||
|
@kernel
|
||||||
|
def set_y(self, profile, y):
|
||||||
|
diff --git a/artiq/gateware/eem.py b/artiq/gateware/eem.py
|
||||||
|
index 7f5fe3fdf..fbfdafe7d 100644
|
||||||
|
--- a/artiq/gateware/eem.py
|
||||||
|
+++ b/artiq/gateware/eem.py
|
||||||
|
@@ -473,11 +473,10 @@ def add_std(cls, target, eem, eem_aux=None, eem_aux2=None, ttl_out_cls=None,
|
||||||
|
class SUServo(_EEM):
|
||||||
|
@staticmethod
|
||||||
|
def io(*eems, iostandard):
|
||||||
|
- assert len(eems) in (4, 6)
|
||||||
|
- io = (Sampler.io(*eems[0:2], iostandard=iostandard)
|
||||||
|
- + Urukul.io_qspi(*eems[2:4], iostandard=iostandard))
|
||||||
|
- if len(eems) == 6: # two Urukuls
|
||||||
|
- io += Urukul.io_qspi(*eems[4:6], iostandard=iostandard)
|
||||||
|
+ assert len(eems) >= 4 and len(eems) % 2 == 0
|
||||||
|
+ io = Sampler.io(*eems[0:2], iostandard=iostandard)
|
||||||
|
+ for i in range(len(eems) // 2 - 1):
|
||||||
|
+ io += Urukul.io_qspi(*eems[(2 * i + 2):(2 * i + 4)], iostandard=iostandard)
|
||||||
|
return io
|
||||||
|
|
||||||
|
@classmethod
|
||||||
|
@@ -516,10 +515,9 @@ def add_std(cls, target, eems_sampler, eems_urukul,
|
||||||
|
# difference (4 cycles measured)
|
||||||
|
t_conv=57 - 4, t_rtt=t_rtt + 4)
|
||||||
|
iir_p = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14, word=16,
|
||||||
|
- accu=48, shift=shift, channel=3,
|
||||||
|
- profile=profile, dly=8)
|
||||||
|
+ accu=48, shift=shift, profile=profile, dly=8)
|
||||||
|
dds_p = servo.DDSParams(width=8 + 32 + 16 + 16,
|
||||||
|
- channels=adc_p.channels, clk=clk)
|
||||||
|
+ channels=4 * len(eem_urukul), clk=clk)
|
||||||
|
su = servo.Servo(sampler_pads, urukul_pads, adc_p, iir_p, dds_p)
|
||||||
|
su = ClockDomainsRenamer("rio_phy")(su)
|
||||||
|
# explicitly name the servo submodule to enable the migen namer to derive
|
||||||
|
@@ -540,27 +538,23 @@ def add_std(cls, target, eems_sampler, eems_urukul,
|
||||||
|
target.submodules += phy
|
||||||
|
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
|
||||||
|
|
||||||
|
- for i in range(2):
|
||||||
|
- if len(eem_urukul) > i:
|
||||||
|
- spi_p, spi_n = (
|
||||||
|
- target.platform.request("{}_spi_p".format(eem_urukul[i])),
|
||||||
|
- target.platform.request("{}_spi_n".format(eem_urukul[i])))
|
||||||
|
- else: # create a dummy bus
|
||||||
|
- spi_p = Record([("clk", 1), ("cs_n", 1)]) # mosi, cs_n
|
||||||
|
- spi_n = None
|
||||||
|
-
|
||||||
|
+ dds_sync = Signal(reset=0)
|
||||||
|
+ for j, eem_urukuli in enumerate(eem_urukul):
|
||||||
|
+ # connect quad-SPI
|
||||||
|
+ spi_p, spi_n = (
|
||||||
|
+ target.platform.request("{}_spi_p".format(eem_urukuli)),
|
||||||
|
+ target.platform.request("{}_spi_n".format(eem_urukuli)))
|
||||||
|
phy = spi2.SPIMaster(spi_p, spi_n)
|
||||||
|
target.submodules += phy
|
||||||
|
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
|
||||||
|
-
|
||||||
|
- for j, eem_urukuli in enumerate(eem_urukul):
|
||||||
|
+ # connect `reset_sync_in`
|
||||||
|
pads = target.platform.request("{}_dds_reset_sync_in".format(eem_urukuli))
|
||||||
|
- target.specials += DifferentialOutput(0, pads.p, pads.n)
|
||||||
|
-
|
||||||
|
+ target.specials += DifferentialOutput(dds_sync, pads.p, pads.n)
|
||||||
|
+ # connect RF switches
|
||||||
|
for i, signal in enumerate("sw0 sw1 sw2 sw3".split()):
|
||||||
|
pads = target.platform.request("{}_{}".format(eem_urukuli, signal))
|
||||||
|
target.specials += DifferentialOutput(
|
||||||
|
- su.iir.ctrl[j*4 + i].en_out, pads.p, pads.n)
|
||||||
|
+ su.iir.ctrl[j * 4 + i].en_out, pads.p, pads.n)
|
||||||
|
|
||||||
|
|
||||||
|
class Mirny(_EEM):
|
||||||
|
diff --git a/artiq/gateware/rtio/phy/servo.py b/artiq/gateware/rtio/phy/servo.py
|
||||||
|
index 9fa634521..379e7ba32 100644
|
||||||
|
--- a/artiq/gateware/rtio/phy/servo.py
|
||||||
|
+++ b/artiq/gateware/rtio/phy/servo.py
|
||||||
|
@@ -34,28 +34,38 @@ class RTServoMem(Module):
|
||||||
|
"""All-channel all-profile coefficient and state RTIO control
|
||||||
|
interface.
|
||||||
|
|
||||||
|
+ The real-time interface exposes the following functions:
|
||||||
|
+ 1. enable/disable servo iterations
|
||||||
|
+ 2. read the servo status (including state of clip register)
|
||||||
|
+ 3. access the IIR coefficient memory (set PI loop gains etc.)
|
||||||
|
+ 4. access the IIR state memory (set offset and read ADC data)
|
||||||
|
+
|
||||||
|
+ The bit assignments for the servo address space are (from MSB):
|
||||||
|
+ * write-enable (1 bit)
|
||||||
|
+ * sel_coeff (1 bit)
|
||||||
|
+ If selected, the coefficient memory location is
|
||||||
|
+ addressed by all the lower bits excluding the LSB (high_coeff).
|
||||||
|
+ - high_coeff (1 bit) selects between the upper and lower halves of that
|
||||||
|
+ memory location.
|
||||||
|
+ Else (if ~sel_coeff), the following bits are:
|
||||||
|
+ - sel (2 bits) selects between the following memory locations:
|
||||||
|
+
|
||||||
|
+ destination | sel | sel_coeff |
|
||||||
|
+ ----------------|-------|--------------|
|
||||||
|
+ IIR coeff mem | - | 1 |
|
||||||
|
+ Reserved | 1 | 0 |
|
||||||
|
+ IIR state mem | 2 | 0 |
|
||||||
|
+ config (write) | 3 | 0 |
|
||||||
|
+ status (read) | 3 | 0 |
|
||||||
|
+
|
||||||
|
+ - IIR state memory address
|
||||||
|
+
|
||||||
|
Servo internal addresses are internal_address_width wide, which is
|
||||||
|
typically longer than the 8-bit RIO address space. We pack the overflow
|
||||||
|
onto the RTIO data word after the data.
|
||||||
|
|
||||||
|
- Servo address space (from LSB):
|
||||||
|
- - IIR coefficient/state memory address, (w.profile + w.channel + 2) bits.
|
||||||
|
- If the state memory is selected, the lower bits are used directly as
|
||||||
|
- the memory address. If the coefficient memory is selected, the LSB
|
||||||
|
- (high_coeff) selects between the upper and lower halves of the memory
|
||||||
|
- location, which is two coefficients wide, with the remaining bits used
|
||||||
|
- as the memory address.
|
||||||
|
- - config_sel (1 bit)
|
||||||
|
- - state_sel (1 bit)
|
||||||
|
- - we (1 bit)
|
||||||
|
-
|
||||||
|
- destination | config_sel | state_sel
|
||||||
|
- ----------------|------------|----------
|
||||||
|
- IIR coeff mem | 0 | 0
|
||||||
|
- IIR coeff mem | 1 | 0
|
||||||
|
- IIR state mem | 0 | 1
|
||||||
|
- config (write) | 1 | 1
|
||||||
|
- status (read) | 1 | 1
|
||||||
|
+ The address layout reflects the fact that typically, the coefficient memory
|
||||||
|
+ address is 2 bits wider than the state memory address.
|
||||||
|
|
||||||
|
Values returned to the user on the Python side of the RTIO interface are
|
||||||
|
32 bit, so we sign-extend all values from w.coeff to that width. This works
|
||||||
|
@@ -71,6 +81,7 @@ def __init__(self, w, servo):
|
||||||
|
# mode=READ_FIRST,
|
||||||
|
clock_domain="rio")
|
||||||
|
self.specials += m_state, m_coeff
|
||||||
|
+ w_channel = bits_for(len(servo.iir.dds) - 1)
|
||||||
|
|
||||||
|
# just expose the w.coeff (18) MSBs of state
|
||||||
|
assert w.state >= w.coeff
|
||||||
|
@@ -83,7 +94,7 @@ def __init__(self, w, servo):
|
||||||
|
assert 8 + w.dly < w.coeff
|
||||||
|
|
||||||
|
# coeff, profile, channel, 2 mems, rw
|
||||||
|
- internal_address_width = 3 + w.profile + w.channel + 1 + 1
|
||||||
|
+ internal_address_width = 3 + w.profile + w_channel + 1 + 1
|
||||||
|
rtlink_address_width = min(8, internal_address_width)
|
||||||
|
overflow_address_width = internal_address_width - rtlink_address_width
|
||||||
|
self.rtlink = rtlink.Interface(
|
||||||
|
@@ -99,8 +110,9 @@ def __init__(self, w, servo):
|
||||||
|
# # #
|
||||||
|
|
||||||
|
config = Signal(w.coeff, reset=0)
|
||||||
|
- status = Signal(w.coeff)
|
||||||
|
+ status = Signal(8 + len(servo.iir.ctrl))
|
||||||
|
pad = Signal(6)
|
||||||
|
+ assert len(status) <= len(self.rtlink.i.data)
|
||||||
|
self.comb += [
|
||||||
|
Cat(servo.start).eq(config),
|
||||||
|
status.eq(Cat(servo.start, servo.done, pad,
|
||||||
|
@@ -109,15 +121,19 @@ def __init__(self, w, servo):
|
||||||
|
|
||||||
|
assert len(self.rtlink.o.address) + len(self.rtlink.o.data) - w.coeff == (
|
||||||
|
1 + # we
|
||||||
|
- 1 + # state_sel
|
||||||
|
+ 1 + # sel_coeff
|
||||||
|
1 + # high_coeff
|
||||||
|
len(m_coeff.adr))
|
||||||
|
# ensure that we can fit config/status into the state address space
|
||||||
|
assert len(self.rtlink.o.address) + len(self.rtlink.o.data) - w.coeff >= (
|
||||||
|
1 + # we
|
||||||
|
- 1 + # state_sel
|
||||||
|
- 1 + # config_sel
|
||||||
|
+ 1 + # sel_coeff
|
||||||
|
+ 2 + # sel
|
||||||
|
len(m_state.adr))
|
||||||
|
+ # ensure that IIR state mem addresses are at least 2 bits less wide than
|
||||||
|
+ # IIR coeff mem addresses to ensure we can fit SEL after the state mem
|
||||||
|
+ # address and before the SEL_COEFF bit.
|
||||||
|
+ assert w.profile + w_channel >= 4
|
||||||
|
|
||||||
|
internal_address = Signal(internal_address_width)
|
||||||
|
self.comb += internal_address.eq(Cat(self.rtlink.o.address,
|
||||||
|
@@ -127,52 +143,51 @@ def __init__(self, w, servo):
|
||||||
|
self.comb += coeff_data.eq(self.rtlink.o.data[:w.coeff])
|
||||||
|
|
||||||
|
we = internal_address[-1]
|
||||||
|
- state_sel = internal_address[-2]
|
||||||
|
- config_sel = internal_address[-3]
|
||||||
|
+ sel_coeff = internal_address[-2]
|
||||||
|
+ sel1 = internal_address[-3]
|
||||||
|
+ sel0 = internal_address[-4]
|
||||||
|
high_coeff = internal_address[0]
|
||||||
|
+ sel = Signal(2)
|
||||||
|
self.comb += [
|
||||||
|
self.rtlink.o.busy.eq(0),
|
||||||
|
+ sel.eq(Mux(sel_coeff, 0, Cat(sel0, sel1))),
|
||||||
|
m_coeff.adr.eq(internal_address[1:]),
|
||||||
|
m_coeff.dat_w.eq(Cat(coeff_data, coeff_data)),
|
||||||
|
- m_coeff.we[0].eq(self.rtlink.o.stb & ~high_coeff &
|
||||||
|
- we & ~state_sel),
|
||||||
|
- m_coeff.we[1].eq(self.rtlink.o.stb & high_coeff &
|
||||||
|
- we & ~state_sel),
|
||||||
|
+ m_coeff.we[0].eq(self.rtlink.o.stb & ~high_coeff & we & sel_coeff),
|
||||||
|
+ m_coeff.we[1].eq(self.rtlink.o.stb & high_coeff & we & sel_coeff),
|
||||||
|
m_state.adr.eq(internal_address),
|
||||||
|
m_state.dat_w[w.state - w.coeff:].eq(self.rtlink.o.data),
|
||||||
|
- m_state.we.eq(self.rtlink.o.stb & we & state_sel & ~config_sel),
|
||||||
|
+ m_state.we.eq(self.rtlink.o.stb & we & (sel == 2)),
|
||||||
|
]
|
||||||
|
read = Signal()
|
||||||
|
- read_state = Signal()
|
||||||
|
read_high = Signal()
|
||||||
|
- read_config = Signal()
|
||||||
|
+ read_sel = Signal(2)
|
||||||
|
self.sync.rio += [
|
||||||
|
If(read,
|
||||||
|
read.eq(0)
|
||||||
|
),
|
||||||
|
If(self.rtlink.o.stb,
|
||||||
|
read.eq(~we),
|
||||||
|
- read_state.eq(state_sel),
|
||||||
|
+ read_sel.eq(sel),
|
||||||
|
read_high.eq(high_coeff),
|
||||||
|
- read_config.eq(config_sel),
|
||||||
|
)
|
||||||
|
]
|
||||||
|
self.sync.rio_phy += [
|
||||||
|
- If(self.rtlink.o.stb & we & state_sel & config_sel,
|
||||||
|
+ If(self.rtlink.o.stb & we & (sel == 3),
|
||||||
|
config.eq(self.rtlink.o.data)
|
||||||
|
),
|
||||||
|
- If(read & read_config & read_state,
|
||||||
|
+ If(read & (read_sel == 3),
|
||||||
|
[_.clip.eq(0) for _ in servo.iir.ctrl]
|
||||||
|
- )
|
||||||
|
+ ),
|
||||||
|
]
|
||||||
|
+ # read return value by destination
|
||||||
|
+ read_acts = Array([
|
||||||
|
+ Mux(read_high, m_coeff.dat_r[w.coeff:], m_coeff.dat_r[:w.coeff]),
|
||||||
|
+ 0,
|
||||||
|
+ m_state.dat_r[w.state - w.coeff:],
|
||||||
|
+ status
|
||||||
|
+ ])
|
||||||
|
self.comb += [
|
||||||
|
self.rtlink.i.stb.eq(read),
|
||||||
|
- _eq_sign_extend(self.rtlink.i.data,
|
||||||
|
- Mux(read_state,
|
||||||
|
- Mux(read_config,
|
||||||
|
- status,
|
||||||
|
- m_state.dat_r[w.state - w.coeff:]),
|
||||||
|
- Mux(read_high,
|
||||||
|
- m_coeff.dat_r[w.coeff:],
|
||||||
|
- m_coeff.dat_r[:w.coeff])))
|
||||||
|
+ _eq_sign_extend(self.rtlink.i.data, read_acts[read_sel]),
|
||||||
|
]
|
||||||
|
diff --git a/artiq/gateware/suservo/iir.py b/artiq/gateware/suservo/iir.py
|
||||||
|
index 0ec9bfa09..6b975b753 100644
|
||||||
|
--- a/artiq/gateware/suservo/iir.py
|
||||||
|
+++ b/artiq/gateware/suservo/iir.py
|
||||||
|
@@ -16,7 +16,6 @@
|
||||||
|
"word", # "word" size to break up DDS profile data (16)
|
||||||
|
"asf", # unsigned amplitude scale factor for DDS (14)
|
||||||
|
"shift", # fixed point scaling coefficient for a1, b0, b1 (log2!) (11)
|
||||||
|
- "channel", # channels (log2!) (3)
|
||||||
|
"profile", # profiles per channel (log2!) (5)
|
||||||
|
"dly", # the activation delay
|
||||||
|
])
|
||||||
|
@@ -213,10 +212,10 @@ class IIR(Module):
|
||||||
|
--/--: signal with a given bit width always includes a sign bit
|
||||||
|
-->--: flow is to the right and down unless otherwise indicated
|
||||||
|
"""
|
||||||
|
- def __init__(self, w):
|
||||||
|
- self.widths = w
|
||||||
|
- for i, j in enumerate(w):
|
||||||
|
- assert j > 0, (i, j, w)
|
||||||
|
+ def __init__(self, w, w_i, w_o):
|
||||||
|
+ for v in (w, w_i, w_o):
|
||||||
|
+ for i, j in enumerate(v):
|
||||||
|
+ assert j > 0, (i, j, v)
|
||||||
|
assert w.word <= w.coeff # same memory
|
||||||
|
assert w.state + w.coeff + 3 <= w.accu
|
||||||
|
|
||||||
|
@@ -224,13 +223,13 @@ def __init__(self, w):
|
||||||
|
# ~processing
|
||||||
|
self.specials.m_coeff = Memory(
|
||||||
|
width=2*w.coeff, # Cat(pow/ftw/offset, cfg/a/b)
|
||||||
|
- depth=4 << w.profile + w.channel)
|
||||||
|
+ depth=(4 << w.profile) * w_o.channels)
|
||||||
|
# m_state[x] should only be read externally during ~(shifting | loading)
|
||||||
|
# m_state[y] of active profiles should only be read externally during
|
||||||
|
# ~processing
|
||||||
|
self.specials.m_state = Memory(
|
||||||
|
width=w.state, # y1,x0,x1
|
||||||
|
- depth=(1 << w.profile + w.channel) + (2 << w.channel))
|
||||||
|
+ depth=(1 << w.profile) * w_o.channels + 2 * w_i.channels)
|
||||||
|
# ctrl should only be updated synchronously
|
||||||
|
self.ctrl = [Record([
|
||||||
|
("profile", w.profile),
|
||||||
|
@@ -238,14 +237,14 @@ def __init__(self, w):
|
||||||
|
("en_iir", 1),
|
||||||
|
("clip", 1),
|
||||||
|
("stb", 1)])
|
||||||
|
- for i in range(1 << w.channel)]
|
||||||
|
+ for i in range(w_o.channels)]
|
||||||
|
# only update during ~loading
|
||||||
|
self.adc = [Signal((w.adc, True), reset_less=True)
|
||||||
|
- for i in range(1 << w.channel)]
|
||||||
|
+ for i in range(w_i.channels)]
|
||||||
|
# Cat(ftw0, ftw1, pow, asf)
|
||||||
|
# only read externally during ~processing
|
||||||
|
- self.dds = [Signal(4*w.word, reset_less=True)
|
||||||
|
- for i in range(1 << w.channel)]
|
||||||
|
+ self.dds = [Signal(4 * w.word, reset_less=True)
|
||||||
|
+ for i in range(w_o.channels)]
|
||||||
|
# perform one IIR iteration, start with loading,
|
||||||
|
# then processing, then shifting, end with done
|
||||||
|
self.start = Signal()
|
||||||
|
@@ -281,7 +280,7 @@ def __init__(self, w):
|
||||||
|
# using the (MSBs of) t_current_step, and, after all channels have been
|
||||||
|
# covered, proceed once the pipeline has completely drained.
|
||||||
|
self.submodules.fsm = fsm = FSM("IDLE")
|
||||||
|
- t_current_step = Signal(w.channel + 2)
|
||||||
|
+ t_current_step = Signal(max=max(4 * (w_o.channels + 2), 2 * w_i.channels))
|
||||||
|
t_current_step_clr = Signal()
|
||||||
|
|
||||||
|
# pipeline group activity flags (SR)
|
||||||
|
@@ -298,7 +297,7 @@ def __init__(self, w):
|
||||||
|
)
|
||||||
|
fsm.act("LOAD",
|
||||||
|
self.loading.eq(1),
|
||||||
|
- If(t_current_step == (1 << w.channel) - 1,
|
||||||
|
+ If(t_current_step == w_i.channels - 1,
|
||||||
|
t_current_step_clr.eq(1),
|
||||||
|
NextValue(stages_active[0], 1),
|
||||||
|
NextState("PROCESS")
|
||||||
|
@@ -315,7 +314,7 @@ def __init__(self, w):
|
||||||
|
)
|
||||||
|
fsm.act("SHIFT",
|
||||||
|
self.shifting.eq(1),
|
||||||
|
- If(t_current_step == (2 << w.channel) - 1,
|
||||||
|
+ If(t_current_step == 2 * w_i.channels - 1,
|
||||||
|
NextState("IDLE")
|
||||||
|
)
|
||||||
|
)
|
||||||
|
@@ -333,13 +332,13 @@ def __init__(self, w):
|
||||||
|
# pipeline group channel pointer (SR)
|
||||||
|
# for each pipeline stage, this is the channel currently being
|
||||||
|
# processed
|
||||||
|
- channel = [Signal(w.channel, reset_less=True) for i in range(3)]
|
||||||
|
+ channel = [Signal(max=w_o.channels, reset_less=True) for i in range(3)]
|
||||||
|
self.comb += Cat(pipeline_phase, channel[0]).eq(t_current_step)
|
||||||
|
self.sync += [
|
||||||
|
If(pipeline_phase == 3,
|
||||||
|
Cat(channel[1:]).eq(Cat(channel[:-1])),
|
||||||
|
stages_active[1:].eq(stages_active[:-1]),
|
||||||
|
- If(channel[0] == (1 << w.channel) - 1,
|
||||||
|
+ If(channel[0] == w_o.channels - 1,
|
||||||
|
stages_active[0].eq(0)
|
||||||
|
)
|
||||||
|
)
|
||||||
|
@@ -393,13 +392,13 @@ def __init__(self, w):
|
||||||
|
|
||||||
|
# selected adc and profile delay (combinatorial from dat_r)
|
||||||
|
# both share the same coeff word (sel in the lower 8 bits)
|
||||||
|
- sel_profile = Signal(w.channel)
|
||||||
|
+ sel_profile = Signal(max=w_i.channels)
|
||||||
|
dly_profile = Signal(w.dly)
|
||||||
|
- assert w.channel <= 8
|
||||||
|
+ assert w_o.channels < (1 << 8)
|
||||||
|
assert 8 + w.dly <= w.coeff
|
||||||
|
|
||||||
|
# latched adc selection
|
||||||
|
- sel = Signal(w.channel, reset_less=True)
|
||||||
|
+ sel = Signal(max=w_i.channels, reset_less=True)
|
||||||
|
# iir enable SR
|
||||||
|
en = Signal(2, reset_less=True)
|
||||||
|
|
||||||
|
@@ -407,12 +406,12 @@ def __init__(self, w):
|
||||||
|
sel_profile.eq(m_coeff.dat_r[w.coeff:]),
|
||||||
|
dly_profile.eq(m_coeff.dat_r[w.coeff + 8:]),
|
||||||
|
If(self.shifting,
|
||||||
|
- m_state.adr.eq(t_current_step | (1 << w.profile + w.channel)),
|
||||||
|
+ m_state.adr.eq(t_current_step + (1 << w.profile) * w_o.channels),
|
||||||
|
m_state.dat_w.eq(m_state.dat_r),
|
||||||
|
m_state.we.eq(t_current_step[0])
|
||||||
|
),
|
||||||
|
If(self.loading,
|
||||||
|
- m_state.adr.eq((t_current_step << 1) | (1 << w.profile + w.channel)),
|
||||||
|
+ m_state.adr.eq((t_current_step << 1) + (1 << w.profile) * w_o.channels),
|
||||||
|
m_state.dat_w[-w.adc - 1:-1].eq(Array(self.adc)[t_current_step]),
|
||||||
|
m_state.dat_w[-1].eq(m_state.dat_w[-2]),
|
||||||
|
m_state.we.eq(1)
|
||||||
|
@@ -424,9 +423,9 @@ def __init__(self, w):
|
||||||
|
# read old y
|
||||||
|
Cat(profile[0], channel[0]),
|
||||||
|
# read x0 (recent)
|
||||||
|
- 0 | (sel_profile << 1) | (1 << w.profile + w.channel),
|
||||||
|
+ 0 | (sel_profile << 1) + (1 << w.profile) * w_o.channels,
|
||||||
|
# read x1 (old)
|
||||||
|
- 1 | (sel << 1) | (1 << w.profile + w.channel),
|
||||||
|
+ 1 | (sel << 1) + (1 << w.profile) * w_o.channels,
|
||||||
|
])[pipeline_phase]),
|
||||||
|
m_state.dat_w.eq(dsp.output),
|
||||||
|
m_state.we.eq((pipeline_phase == 0) & stages_active[2] & en[1]),
|
||||||
|
@@ -438,11 +437,9 @@ def __init__(self, w):
|
||||||
|
#
|
||||||
|
|
||||||
|
# internal channel delay counters
|
||||||
|
- dlys = Array([Signal(w.dly)
|
||||||
|
- for i in range(1 << w.channel)])
|
||||||
|
- self._dlys = dlys # expose for debugging only
|
||||||
|
+ dlys = Array([Signal(w.dly) for i in range(w_o.channels)])
|
||||||
|
|
||||||
|
- for i in range(1 << w.channel):
|
||||||
|
+ for i in range(w_o.channels):
|
||||||
|
self.sync += [
|
||||||
|
# (profile != profile_old) | ~en_out
|
||||||
|
If(self.ctrl[i].stb,
|
||||||
|
@@ -517,6 +514,12 @@ def __init__(self, w):
|
||||||
|
}),
|
||||||
|
]
|
||||||
|
|
||||||
|
+ # expose for simulation and debugging only
|
||||||
|
+ self.widths = w
|
||||||
|
+ self.widths_adc = w_i
|
||||||
|
+ self.widths_dds = w_o
|
||||||
|
+ self._dlys = dlys
|
||||||
|
+
|
||||||
|
def _coeff(self, channel, profile, coeff):
|
||||||
|
"""Return ``high_word``, ``address`` and bit ``mask`` for the
|
||||||
|
storage of coefficient name ``coeff`` in profile ``profile``
|
||||||
|
@@ -564,31 +567,33 @@ def get_coeff(self, channel, profile, coeff):
|
||||||
|
def set_state(self, channel, val, profile=None, coeff="y1"):
|
||||||
|
"""Set a state value."""
|
||||||
|
w = self.widths
|
||||||
|
+ w_o = self.widths_dds
|
||||||
|
if coeff == "y1":
|
||||||
|
assert profile is not None
|
||||||
|
yield self.m_state[profile | (channel << w.profile)].eq(val)
|
||||||
|
elif coeff == "x0":
|
||||||
|
assert profile is None
|
||||||
|
- yield self.m_state[(channel << 1) |
|
||||||
|
- (1 << w.profile + w.channel)].eq(val)
|
||||||
|
+ yield self.m_state[(channel << 1) +
|
||||||
|
+ (1 << w.profile) * w_o.channels].eq(val)
|
||||||
|
elif coeff == "x1":
|
||||||
|
assert profile is None
|
||||||
|
- yield self.m_state[1 | (channel << 1) |
|
||||||
|
- (1 << w.profile + w.channel)].eq(val)
|
||||||
|
+ yield self.m_state[1 | (channel << 1) +
|
||||||
|
+ (1 << w.profile) * w_o.channels].eq(val)
|
||||||
|
else:
|
||||||
|
raise ValueError("no such state", coeff)
|
||||||
|
|
||||||
|
def get_state(self, channel, profile=None, coeff="y1"):
|
||||||
|
"""Get a state value."""
|
||||||
|
w = self.widths
|
||||||
|
+ w_o = self.widths_dds
|
||||||
|
if coeff == "y1":
|
||||||
|
val = yield self.m_state[profile | (channel << w.profile)]
|
||||||
|
elif coeff == "x0":
|
||||||
|
- val = yield self.m_state[(channel << 1) |
|
||||||
|
- (1 << w.profile + w.channel)]
|
||||||
|
+ val = yield self.m_state[(channel << 1) +
|
||||||
|
+ (1 << w.profile) * w_o.channels]
|
||||||
|
elif coeff == "x1":
|
||||||
|
- val = yield self.m_state[1 | (channel << 1) |
|
||||||
|
- (1 << w.profile + w.channel)]
|
||||||
|
+ val = yield self.m_state[1 | (channel << 1) +
|
||||||
|
+ (1 << w.profile) * w_o.channels]
|
||||||
|
else:
|
||||||
|
raise ValueError("no such state", coeff)
|
||||||
|
return signed(val, w.state)
|
||||||
|
@@ -607,6 +612,8 @@ def check_iter(self):
|
||||||
|
"""Perform a single processing iteration while verifying
|
||||||
|
the behavior."""
|
||||||
|
w = self.widths
|
||||||
|
+ w_i = self.widths_adc
|
||||||
|
+ w_o = self.widths_dds
|
||||||
|
|
||||||
|
while not (yield self.done):
|
||||||
|
yield
|
||||||
|
@@ -622,7 +629,7 @@ def check_iter(self):
|
||||||
|
|
||||||
|
x0s = []
|
||||||
|
# check adc loading
|
||||||
|
- for i in range(1 << w.channel):
|
||||||
|
+ for i in range(w_i.channels):
|
||||||
|
v_adc = signed((yield self.adc[i]), w.adc)
|
||||||
|
x0 = yield from self.get_state(i, coeff="x0")
|
||||||
|
x0s.append(x0)
|
||||||
|
@@ -631,7 +638,7 @@ def check_iter(self):
|
||||||
|
|
||||||
|
data = []
|
||||||
|
# predict output
|
||||||
|
- for i in range(1 << w.channel):
|
||||||
|
+ for i in range(w_o.channels):
|
||||||
|
j = yield self.ctrl[i].profile
|
||||||
|
en_iir = yield self.ctrl[i].en_iir
|
||||||
|
en_out = yield self.ctrl[i].en_out
|
||||||
|
@@ -640,7 +647,7 @@ def check_iter(self):
|
||||||
|
i, j, en_iir, en_out, dly_i)
|
||||||
|
|
||||||
|
cfg = yield from self.get_coeff(i, j, "cfg")
|
||||||
|
- k_j = cfg & ((1 << w.channel) - 1)
|
||||||
|
+ k_j = cfg & ((1 << bits_for(w_i.channels - 1)) - 1)
|
||||||
|
dly_j = (cfg >> 8) & 0xff
|
||||||
|
logger.debug("cfg[%d,%d] sel=%d dly=%d", i, j, k_j, dly_j)
|
||||||
|
|
||||||
|
@@ -694,7 +701,7 @@ def check_iter(self):
|
||||||
|
logger.debug("adc[%d] x0=%x x1=%x", i, x0, x1)
|
||||||
|
|
||||||
|
# check new state
|
||||||
|
- for i in range(1 << w.channel):
|
||||||
|
+ for i in range(w_o.channels):
|
||||||
|
j = yield self.ctrl[i].profile
|
||||||
|
logger.debug("ch[%d] profile=%d", i, j)
|
||||||
|
y1 = yield from self.get_state(i, j, "y1")
|
||||||
|
@@ -702,7 +709,7 @@ def check_iter(self):
|
||||||
|
assert y1 == y0, (hex(y1), hex(y0))
|
||||||
|
|
||||||
|
# check dds output
|
||||||
|
- for i in range(1 << w.channel):
|
||||||
|
+ for i in range(w_o.channels):
|
||||||
|
ftw0, ftw1, pow, y0, x1, x0 = data[i]
|
||||||
|
asf = y0 >> (w.state - w.asf - 1)
|
||||||
|
dds = (ftw0 | (ftw1 << w.word) |
|
||||||
|
diff --git a/artiq/gateware/suservo/pads.py b/artiq/gateware/suservo/pads.py
|
||||||
|
index 0ab7d352f..778f05d01 100644
|
||||||
|
--- a/artiq/gateware/suservo/pads.py
|
||||||
|
+++ b/artiq/gateware/suservo/pads.py
|
||||||
|
@@ -72,12 +72,11 @@ def __init__(self, platform, *eems):
|
||||||
|
DifferentialOutput(self.clk, spip[i].clk, spin[i].clk),
|
||||||
|
DifferentialOutput(self.io_update, ioup[i].p, ioup[i].n))
|
||||||
|
for i in range(len(eems))]
|
||||||
|
- for i in range(8):
|
||||||
|
+ for i in range(4 * len(eems)):
|
||||||
|
mosi = Signal()
|
||||||
|
setattr(self, "mosi{}".format(i), mosi)
|
||||||
|
- for i in range(4*len(eems)):
|
||||||
|
self.specials += [
|
||||||
|
- DifferentialOutput(getattr(self, "mosi{}".format(i)),
|
||||||
|
+ DifferentialOutput(mosi,
|
||||||
|
getattr(spip[i // 4], "mosi{}".format(i % 4)),
|
||||||
|
getattr(spin[i // 4], "mosi{}".format(i % 4)))
|
||||||
|
]
|
||||||
|
diff --git a/artiq/gateware/suservo/servo.py b/artiq/gateware/suservo/servo.py
|
||||||
|
index 1aec95f02..59529320c 100644
|
||||||
|
--- a/artiq/gateware/suservo/servo.py
|
||||||
|
+++ b/artiq/gateware/suservo/servo.py
|
||||||
|
@@ -42,7 +42,7 @@ def __init__(self, adc_pads, dds_pads, adc_p, iir_p, dds_p):
|
||||||
|
assert t_iir + 2*adc_p.channels < t_cycle, "need shifting time"
|
||||||
|
|
||||||
|
self.submodules.adc = ADC(adc_pads, adc_p)
|
||||||
|
- self.submodules.iir = IIR(iir_p)
|
||||||
|
+ self.submodules.iir = IIR(iir_p, adc_p, dds_p)
|
||||||
|
self.submodules.dds = DDS(dds_pads, dds_p)
|
||||||
|
|
||||||
|
# adc channels are reversed on Sampler
|
Loading…
Reference in New Issue
Block a user