mirror of
https://github.com/m-labs/artiq.git
synced 2024-12-24 19:04:02 +08:00
sawg: extract spline
This commit is contained in:
parent
39becd0b4e
commit
695eb705b3
@ -1,218 +1,4 @@
|
||||
from numpy import int32, int64
|
||||
from artiq.language.core import kernel, now_mu, portable, delay
|
||||
from artiq.coredevice.rtio import rtio_output, rtio_output_wide
|
||||
from artiq.language.types import TInt32, TInt64, TFloat
|
||||
|
||||
|
||||
class Spline:
|
||||
"""Spline interpolating RTIO channel.
|
||||
|
||||
One knot of a polynomial basis spline (B-spline) :math:`u(t)`
|
||||
is defined by the coefficients :math:`u_n` up to order :math:`n = k`.
|
||||
If the knot is evaluated starting at time :math:`t_0`, the output
|
||||
:math:`u(t)` for :math:`t > t_0, t_0` is:
|
||||
|
||||
.. math::
|
||||
u(t) = \sum_{n=0}^k \frac{u_n}{n!} (t - t_0)^n
|
||||
= u_0 + u_1 (t - t_0) + \frac{u_2}{2} (t - t_0)^2 + \dots
|
||||
"""
|
||||
|
||||
kernel_invariants = {"channel", "core", "scale", "width",
|
||||
"time_width", "time_scale"}
|
||||
|
||||
def __init__(self, width, time_width, channel, core_device, scale=1.):
|
||||
self.core = core_device
|
||||
self.channel = channel
|
||||
self.width = width
|
||||
self.scale = float((int64(1) << width) * scale)
|
||||
self.time_width = time_width
|
||||
self.time_scale = float((1 << time_width) *
|
||||
core_device.coarse_ref_period)
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def to_mu(self, value: TFloat) -> TInt32:
|
||||
"""Convert floating point `value` from physical units to 32 bit
|
||||
integer machine units."""
|
||||
return int32(round(value*self.scale))
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def from_mu(self, value: TInt32) -> TFloat:
|
||||
"""Convert 32 bit integer `value` from machine units to floating point
|
||||
physical units."""
|
||||
return value/self.scale
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def to_mu64(self, value: TFloat) -> TInt64:
|
||||
"""Convert floating point `value` from physical units to 64 bit
|
||||
integer machine units."""
|
||||
return int64(round(value*self.scale))
|
||||
|
||||
@kernel
|
||||
def set_mu(self, value: TInt32):
|
||||
"""Set spline value (machine units).
|
||||
|
||||
:param value: Spline value in integer machine units.
|
||||
"""
|
||||
rtio_output(now_mu(), self.channel, 0, value)
|
||||
|
||||
@kernel(flags={"fast-math"})
|
||||
def set(self, value: TFloat):
|
||||
"""Set spline value.
|
||||
|
||||
:param value: Spline value relative to full-scale.
|
||||
"""
|
||||
if self.width > 32:
|
||||
l = [int32(0)] * 2
|
||||
self.pack_coeff_mu([self.to_mu64(value)], l)
|
||||
rtio_output_wide(now_mu(), self.channel, 0, l)
|
||||
else:
|
||||
rtio_output(now_mu(), self.channel, 0, self.to_mu(value))
|
||||
|
||||
@kernel
|
||||
def set_coeff_mu(self, value): # TList(TInt32)
|
||||
"""Set spline raw values.
|
||||
|
||||
:param value: Spline packed raw values.
|
||||
"""
|
||||
rtio_output_wide(now_mu(), self.channel, 0, value)
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def pack_coeff_mu(self, coeff, packed): # TList(TInt64), TList(TInt32)
|
||||
"""Pack coefficients into RTIO data
|
||||
|
||||
:param coeff: TList(TInt64) list of machine units spline coefficients.
|
||||
Lowest (zeroth) order first. The coefficient list is zero-extended
|
||||
by the RTIO gateware.
|
||||
:param packed: TList(TInt32) list for packed RTIO data. Must be
|
||||
pre-allocated. Length in bits is
|
||||
`n*width + (n - 1)*n//2*time_width`
|
||||
"""
|
||||
pos = 0
|
||||
for i in range(len(coeff)):
|
||||
wi = self.width + i*self.time_width
|
||||
ci = coeff[i]
|
||||
while wi != 0:
|
||||
j = pos//32
|
||||
used = pos - 32*j
|
||||
avail = 32 - used
|
||||
if avail > wi:
|
||||
avail = wi
|
||||
cij = int32(ci)
|
||||
if avail != 32:
|
||||
cij &= (1 << avail) - 1
|
||||
packed[j] |= cij << used
|
||||
ci >>= avail
|
||||
wi -= avail
|
||||
pos += avail
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def coeff_to_mu(self, coeff, coeff64): # TList(TFloat), TList(TInt64)
|
||||
"""Convert a floating point list of coefficients into a 64 bit
|
||||
integer (preallocated).
|
||||
|
||||
:param coeff: TList(TFloat) list of coefficients in physical units.
|
||||
:param coeff64: TList(TInt64) preallocated list of coefficients in
|
||||
machine units.
|
||||
"""
|
||||
for i in range(len(coeff)):
|
||||
vi = coeff[i] * self.scale
|
||||
for j in range(i):
|
||||
vi *= self.time_scale
|
||||
ci = int64(round(vi))
|
||||
coeff64[i] = ci
|
||||
# artiq.wavesynth.coefficients.discrete_compensate:
|
||||
if i == 2:
|
||||
coeff64[1] += ci >> self.time_width + 1
|
||||
elif i == 3:
|
||||
coeff64[2] += ci >> self.time_width
|
||||
coeff64[1] += ci // 6 >> 2*self.time_width
|
||||
|
||||
def coeff_as_packed_mu(self, coeff64):
|
||||
"""Pack 64 bit integer machine units coefficients into 32 bit integer
|
||||
RTIO data list.
|
||||
|
||||
This is a host-only method that can be used to generate packed
|
||||
spline knot data to be frozen into kernels at compile time.
|
||||
"""
|
||||
n = len(coeff64)
|
||||
width = n*self.width + (n - 1)*n//2*self.time_width
|
||||
packed = [int32(0)] * ((width + 31)//32)
|
||||
self.pack_coeff_mu(coeff64, packed)
|
||||
return packed
|
||||
|
||||
def coeff_as_packed(self, coeff):
|
||||
"""Convert floating point spline coefficients into 32 bit integer
|
||||
packed data.
|
||||
|
||||
This is a host-only method that can be used to generate packed
|
||||
spline knot data to be frozen into kernels at compile time.
|
||||
"""
|
||||
coeff64 = [int64(0)] * len(coeff)
|
||||
self.coeff_to_mu(coeff, coeff64)
|
||||
return self.coeff_as_packed_mu(coeff64)
|
||||
|
||||
@kernel(flags={"fast-math"})
|
||||
def set_coeff(self, coeff): # TList(TFloat)
|
||||
"""Set spline coefficients.
|
||||
|
||||
Missing coefficients (high order) are zero-extended byt the RTIO
|
||||
gateware.
|
||||
|
||||
If more coefficients are supplied than the gateware supports the extra
|
||||
coefficients are ignored.
|
||||
|
||||
:param value: List of floating point spline knot coefficients,
|
||||
lowest order (constant) coefficient first. Units are the
|
||||
unit of this spline's value times increasing powers of 1/s.
|
||||
"""
|
||||
n = len(coeff)
|
||||
coeff64 = [int64(0)] * n
|
||||
self.coeff_to_mu(coeff, coeff64)
|
||||
width = n*self.width + (n - 1)*n//2*self.time_width
|
||||
packed = [int32(0)] * ((width + 31)//32)
|
||||
self.pack_coeff_mu(coeff64, packed)
|
||||
self.set_coeff_mu(packed)
|
||||
|
||||
@kernel(flags={"fast-math"})
|
||||
def smooth(self, start: TFloat, stop: TFloat, duration: TFloat,
|
||||
order: TInt32):
|
||||
"""Initiate an interpolated value change.
|
||||
|
||||
For zeroth order (step) interpolation, the step is at
|
||||
`start + duration/2`.
|
||||
|
||||
First order interpolation corresponds to a linear value ramp from
|
||||
`start` to `stop` over `duration`.
|
||||
|
||||
The third order interpolation is constrained to have zero first
|
||||
order derivative at both `start` and `stop`.
|
||||
|
||||
For first order and third order interpolation (linear and cubic)
|
||||
the interpolator needs to be stopped (or fed a new spline knot)
|
||||
explicitly at the stop time.
|
||||
|
||||
This method advances the timeline by `duration`.
|
||||
|
||||
:param start: Initial value of the change. In physical units.
|
||||
:param stop: Final value of the change. In physical units.
|
||||
:param duration: Duration of the interpolation. In physical units.
|
||||
:param order: Order of the interpolation. Only 0, 1,
|
||||
and 3 are valid: step, linear, cubic.
|
||||
"""
|
||||
if order == 0:
|
||||
delay(duration/2.)
|
||||
self.set_coeff([stop])
|
||||
delay(duration/2.)
|
||||
elif order == 1:
|
||||
self.set_coeff([start, (stop - start)/duration])
|
||||
delay(duration)
|
||||
elif order == 3:
|
||||
v2 = 6.*(stop - start)/(duration*duration)
|
||||
self.set_coeff([start, 0., v2, -2.*v2/duration])
|
||||
delay(duration)
|
||||
else:
|
||||
raise ValueError("Invalid interpolation order. "
|
||||
"Supported orders are: 0, 1, 3.")
|
||||
from artiq.coredevice.spline import Spline
|
||||
|
||||
|
||||
class SAWG:
|
||||
|
||||
215
artiq/coredevice/spline.py
Normal file
215
artiq/coredevice/spline.py
Normal file
@ -0,0 +1,215 @@
|
||||
from numpy import int32, int64
|
||||
from artiq.language.core import kernel, now_mu, portable, delay
|
||||
from artiq.coredevice.rtio import rtio_output, rtio_output_wide
|
||||
from artiq.language.types import TInt32, TInt64, TFloat
|
||||
|
||||
|
||||
class Spline:
|
||||
"""Spline interpolating RTIO channel.
|
||||
|
||||
One knot of a polynomial basis spline (B-spline) :math:`u(t)`
|
||||
is defined by the coefficients :math:`u_n` up to order :math:`n = k`.
|
||||
If the knot is evaluated starting at time :math:`t_0`, the output
|
||||
:math:`u(t)` for :math:`t > t_0, t_0` is:
|
||||
|
||||
.. math::
|
||||
u(t) = \sum_{n=0}^k \frac{u_n}{n!} (t - t_0)^n
|
||||
= u_0 + u_1 (t - t_0) + \frac{u_2}{2} (t - t_0)^2 + \dots
|
||||
"""
|
||||
|
||||
kernel_invariants = {"channel", "core", "scale", "width",
|
||||
"time_width", "time_scale"}
|
||||
|
||||
def __init__(self, width, time_width, channel, core_device, scale=1.):
|
||||
self.core = core_device
|
||||
self.channel = channel
|
||||
self.width = width
|
||||
self.scale = float((int64(1) << width) * scale)
|
||||
self.time_width = time_width
|
||||
self.time_scale = float((1 << time_width) *
|
||||
core_device.coarse_ref_period)
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def to_mu(self, value: TFloat) -> TInt32:
|
||||
"""Convert floating point `value` from physical units to 32 bit
|
||||
integer machine units."""
|
||||
return int32(round(value*self.scale))
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def from_mu(self, value: TInt32) -> TFloat:
|
||||
"""Convert 32 bit integer `value` from machine units to floating point
|
||||
physical units."""
|
||||
return value/self.scale
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def to_mu64(self, value: TFloat) -> TInt64:
|
||||
"""Convert floating point `value` from physical units to 64 bit
|
||||
integer machine units."""
|
||||
return int64(round(value*self.scale))
|
||||
|
||||
@kernel
|
||||
def set_mu(self, value: TInt32):
|
||||
"""Set spline value (machine units).
|
||||
|
||||
:param value: Spline value in integer machine units.
|
||||
"""
|
||||
rtio_output(now_mu(), self.channel, 0, value)
|
||||
|
||||
@kernel(flags={"fast-math"})
|
||||
def set(self, value: TFloat):
|
||||
"""Set spline value.
|
||||
|
||||
:param value: Spline value relative to full-scale.
|
||||
"""
|
||||
if self.width > 32:
|
||||
l = [int32(0)] * 2
|
||||
self.pack_coeff_mu([self.to_mu64(value)], l)
|
||||
rtio_output_wide(now_mu(), self.channel, 0, l)
|
||||
else:
|
||||
rtio_output(now_mu(), self.channel, 0, self.to_mu(value))
|
||||
|
||||
@kernel
|
||||
def set_coeff_mu(self, value): # TList(TInt32)
|
||||
"""Set spline raw values.
|
||||
|
||||
:param value: Spline packed raw values.
|
||||
"""
|
||||
rtio_output_wide(now_mu(), self.channel, 0, value)
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def pack_coeff_mu(self, coeff, packed): # TList(TInt64), TList(TInt32)
|
||||
"""Pack coefficients into RTIO data
|
||||
|
||||
:param coeff: TList(TInt64) list of machine units spline coefficients.
|
||||
Lowest (zeroth) order first. The coefficient list is zero-extended
|
||||
by the RTIO gateware.
|
||||
:param packed: TList(TInt32) list for packed RTIO data. Must be
|
||||
pre-allocated. Length in bits is
|
||||
`n*width + (n - 1)*n//2*time_width`
|
||||
"""
|
||||
pos = 0
|
||||
for i in range(len(coeff)):
|
||||
wi = self.width + i*self.time_width
|
||||
ci = coeff[i]
|
||||
while wi != 0:
|
||||
j = pos//32
|
||||
used = pos - 32*j
|
||||
avail = 32 - used
|
||||
if avail > wi:
|
||||
avail = wi
|
||||
cij = int32(ci)
|
||||
if avail != 32:
|
||||
cij &= (1 << avail) - 1
|
||||
packed[j] |= cij << used
|
||||
ci >>= avail
|
||||
wi -= avail
|
||||
pos += avail
|
||||
|
||||
@portable(flags={"fast-math"})
|
||||
def coeff_to_mu(self, coeff, coeff64): # TList(TFloat), TList(TInt64)
|
||||
"""Convert a floating point list of coefficients into a 64 bit
|
||||
integer (preallocated).
|
||||
|
||||
:param coeff: TList(TFloat) list of coefficients in physical units.
|
||||
:param coeff64: TList(TInt64) preallocated list of coefficients in
|
||||
machine units.
|
||||
"""
|
||||
for i in range(len(coeff)):
|
||||
vi = coeff[i] * self.scale
|
||||
for j in range(i):
|
||||
vi *= self.time_scale
|
||||
ci = int64(round(vi))
|
||||
coeff64[i] = ci
|
||||
# artiq.wavesynth.coefficients.discrete_compensate:
|
||||
if i == 2:
|
||||
coeff64[1] += ci >> self.time_width + 1
|
||||
elif i == 3:
|
||||
coeff64[2] += ci >> self.time_width
|
||||
coeff64[1] += ci // 6 >> 2*self.time_width
|
||||
|
||||
def coeff_as_packed_mu(self, coeff64):
|
||||
"""Pack 64 bit integer machine units coefficients into 32 bit integer
|
||||
RTIO data list.
|
||||
|
||||
This is a host-only method that can be used to generate packed
|
||||
spline knot data to be frozen into kernels at compile time.
|
||||
"""
|
||||
n = len(coeff64)
|
||||
width = n*self.width + (n - 1)*n//2*self.time_width
|
||||
packed = [int32(0)] * ((width + 31)//32)
|
||||
self.pack_coeff_mu(coeff64, packed)
|
||||
return packed
|
||||
|
||||
def coeff_as_packed(self, coeff):
|
||||
"""Convert floating point spline coefficients into 32 bit integer
|
||||
packed data.
|
||||
|
||||
This is a host-only method that can be used to generate packed
|
||||
spline knot data to be frozen into kernels at compile time.
|
||||
"""
|
||||
coeff64 = [int64(0)] * len(coeff)
|
||||
self.coeff_to_mu(coeff, coeff64)
|
||||
return self.coeff_as_packed_mu(coeff64)
|
||||
|
||||
@kernel(flags={"fast-math"})
|
||||
def set_coeff(self, coeff): # TList(TFloat)
|
||||
"""Set spline coefficients.
|
||||
|
||||
Missing coefficients (high order) are zero-extended byt the RTIO
|
||||
gateware.
|
||||
|
||||
If more coefficients are supplied than the gateware supports the extra
|
||||
coefficients are ignored.
|
||||
|
||||
:param value: List of floating point spline knot coefficients,
|
||||
lowest order (constant) coefficient first. Units are the
|
||||
unit of this spline's value times increasing powers of 1/s.
|
||||
"""
|
||||
n = len(coeff)
|
||||
coeff64 = [int64(0)] * n
|
||||
self.coeff_to_mu(coeff, coeff64)
|
||||
width = n*self.width + (n - 1)*n//2*self.time_width
|
||||
packed = [int32(0)] * ((width + 31)//32)
|
||||
self.pack_coeff_mu(coeff64, packed)
|
||||
self.set_coeff_mu(packed)
|
||||
|
||||
@kernel(flags={"fast-math"})
|
||||
def smooth(self, start: TFloat, stop: TFloat, duration: TFloat,
|
||||
order: TInt32):
|
||||
"""Initiate an interpolated value change.
|
||||
|
||||
For zeroth order (step) interpolation, the step is at
|
||||
`start + duration/2`.
|
||||
|
||||
First order interpolation corresponds to a linear value ramp from
|
||||
`start` to `stop` over `duration`.
|
||||
|
||||
The third order interpolation is constrained to have zero first
|
||||
order derivative at both `start` and `stop`.
|
||||
|
||||
For first order and third order interpolation (linear and cubic)
|
||||
the interpolator needs to be stopped (or fed a new spline knot)
|
||||
explicitly at the stop time.
|
||||
|
||||
This method advances the timeline by `duration`.
|
||||
|
||||
:param start: Initial value of the change. In physical units.
|
||||
:param stop: Final value of the change. In physical units.
|
||||
:param duration: Duration of the interpolation. In physical units.
|
||||
:param order: Order of the interpolation. Only 0, 1,
|
||||
and 3 are valid: step, linear, cubic.
|
||||
"""
|
||||
if order == 0:
|
||||
delay(duration/2.)
|
||||
self.set_coeff([stop])
|
||||
delay(duration/2.)
|
||||
elif order == 1:
|
||||
self.set_coeff([start, (stop - start)/duration])
|
||||
delay(duration)
|
||||
elif order == 3:
|
||||
v2 = 6.*(stop - start)/(duration*duration)
|
||||
self.set_coeff([start, 0., v2, -2.*v2/duration])
|
||||
delay(duration)
|
||||
else:
|
||||
raise ValueError("Invalid interpolation order. "
|
||||
"Supported orders are: 0, 1, 3.")
|
||||
Loading…
Reference in New Issue
Block a user