From 49cb570290947536297dcbe5fccb37e85bf1b4bf Mon Sep 17 00:00:00 2001
From: Sebastien Bourdeauducq <sb@m-labs.hk>
Date: Thu, 28 Apr 2022 15:28:07 +0800
Subject: [PATCH] examples/kasli_suservo: port to NAC3

---
 .../kasli_suservo/repository/suservo.py       | 70 +++++++++++--------
 1 file changed, 42 insertions(+), 28 deletions(-)

diff --git a/artiq/examples/kasli_suservo/repository/suservo.py b/artiq/examples/kasli_suservo/repository/suservo.py
index 7bc887030..c79ab6046 100644
--- a/artiq/examples/kasli_suservo/repository/suservo.py
+++ b/artiq/examples/kasli_suservo/repository/suservo.py
@@ -1,7 +1,24 @@
+from numpy import int32
+
 from artiq.experiment import *
+from artiq.coredevice.core import Core
+from artiq.coredevice.ttl import TTLOut
+from artiq.coredevice.suservo import SUServo, Channel as SUServoChannel
 
+@nac3
+class SUServoDemo(EnvExperiment):
+    core: KernelInvariant[Core]
+    led0: KernelInvariant[TTLOut]
+    suservo0: KernelInvariant[SUServo]
+    suservo0_ch0: KernelInvariant[SUServoChannel]
+    suservo0_ch1: KernelInvariant[SUServoChannel]
+    suservo0_ch2: KernelInvariant[SUServoChannel]
+    suservo0_ch3: KernelInvariant[SUServoChannel]
+    suservo0_ch4: KernelInvariant[SUServoChannel]
+    suservo0_ch5: KernelInvariant[SUServoChannel]
+    suservo0_ch6: KernelInvariant[SUServoChannel]
+    suservo0_ch7: KernelInvariant[SUServoChannel]
 
-class SUServo(EnvExperiment):
     def build(self):
         self.setattr_device("core")
         self.setattr_device("led0")
@@ -9,40 +26,37 @@ class SUServo(EnvExperiment):
         for i in range(8):
             self.setattr_device("suservo0_ch{}".format(i))
 
-    def run(self):
-        self.init()
-
-    def p(self, d):
+    @rpc
+    def p(self, d: list[int32]):
         mask = 1 << 18 - 1
         for name, val in zip("ftw1 b1 pow cfg offset a1 ftw0 b0".split(), d):
             val = -(val & mask) + (val & ~mask)
             print("{}: {:#x} = {}".format(name, val, val))
 
-    @rpc(flags={"async"})
-    def p1(self, adc, asf, st):
+    @rpc  # NAC3TODO (flags={"async"})
+    def p1(self, adc: float, asf: float, st: int32):
         print("ADC: {:10s}, ASF: {:10s}, clipped: {}".format(
             "#"*int(adc), "#"*int(asf*10), (st >> 8) & 1), end="\r")
 
     @kernel
-    def init(self):
-        self.core.break_realtime()
+    def run(self):
         self.core.reset()
         self.led()
 
         self.suservo0.init()
-        delay(1*us)
+        self.core.delay(1.*us)
         # ADC PGIA gain
         for i in range(8):
             self.suservo0.set_pgia_mu(i, 0)
-            delay(10*us)
+            self.core.delay(10.*us)
         # DDS attenuator
-        self.suservo0.cpld0.set_att(0, 10.)
-        delay(1*us)
+        self.suservo0.cplds[0].set_att(0, 10.)
+        self.core.delay(1.*us)
         # Servo is done and disabled
         assert self.suservo0.get_status() & 0xff == 2
 
         # set up profile 0 on channel 0:
-        delay(120*us)
+        self.core.delay(120.*us)
         self.suservo0_ch0.set_y(
             profile=0,
             y=0.  # clear integrator
@@ -61,39 +75,39 @@ class SUServo(EnvExperiment):
         self.suservo0_ch0.set_dds(
             profile=0,
             offset=-.5,  # 5 V with above PGIA settings
-            frequency=71*MHz,
+            frequency=71.*MHz,
             phase=0.)
         # enable RF, IIR updates and profile 0
-        self.suservo0_ch0.set(en_out=1, en_iir=1, profile=0)
+        self.suservo0_ch0.set(en_out=True, en_iir=True, profile=0)
         # enable global servo iterations
-        self.suservo0.set_config(enable=1)
+        self.suservo0.set_config(enable=True)
 
         # check servo enabled
         assert self.suservo0.get_status() & 0x01 == 1
-        delay(10*us)
+        self.core.delay(10.*us)
 
         # read back profile data
-        data = [0] * 8
+        data = [0 for _ in range(8)]
         self.suservo0_ch0.get_profile_mu(0, data)
         self.p(data)
-        delay(10*ms)
+        self.core.delay(10.*ms)
 
         while True:
-            self.suservo0.set_config(0)
-            delay(10*us)
+            self.suservo0.set_config(False)
+            self.core.delay(10.*us)
             v = self.suservo0.get_adc(7)
-            delay(30*us)
+            self.core.delay(30.*us)
             w = self.suservo0_ch0.get_y(0)
-            delay(20*us)
+            self.core.delay(20.*us)
             x = self.suservo0.get_status()
-            delay(10*us)
-            self.suservo0.set_config(1)
+            self.core.delay(10.*us)
+            self.suservo0.set_config(True)
             self.p1(v, w, x)
-            delay(20*ms)
+            self.core.delay(20.*ms)
 
     @kernel
     def led(self):
         self.core.break_realtime()
         for i in range(3):
             self.led0.pulse(.1*s)
-            delay(.1*s)
+            self.core.delay(.1*s)