mirror of https://github.com/m-labs/artiq.git
suservo: port to NAC3
This commit is contained in:
parent
be07481eb5
commit
8fc0e5d3aa
|
|
@ -1,8 +1,19 @@
|
|||
from artiq.language.core import kernel, delay, delay_mu, portable
|
||||
from numpy import int32, int64
|
||||
|
||||
from artiq.language.core import *
|
||||
from artiq.language.units import us, ns
|
||||
from artiq.coredevice.core import Core
|
||||
from artiq.coredevice.rtio import rtio_output, rtio_input_data
|
||||
from artiq.coredevice import spi2 as spi
|
||||
from artiq.coredevice import urukul, sampler
|
||||
from artiq.coredevice.spi2 import SPI_END, SPIMaster
|
||||
from artiq.coredevice.urukul import CFG_MASK_NU, CPLD
|
||||
from artiq.coredevice.ad9910 import AD9910
|
||||
from artiq.coredevice.sampler import adc_mu_to_volt as sampler_adc_mu_to_volt, SPI_CONFIG as SAMPLER_SPI_CONFIG, SPI_CS_PGIA as SAMPLER_SPI_CS_PGIA
|
||||
|
||||
|
||||
# NAC3TODO work around https://git.m-labs.hk/M-Labs/nac3/issues/189
|
||||
@nac3
|
||||
class ValueError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
COEFF_WIDTH = 18
|
||||
|
|
@ -17,20 +28,21 @@ COEFF_SHIFT = 11
|
|||
|
||||
|
||||
@portable
|
||||
def y_mu_to_full_scale(y):
|
||||
def y_mu_to_full_scale(y: int32) -> float:
|
||||
"""Convert servo Y data from machine units to units of full scale."""
|
||||
return y / Y_FULL_SCALE_MU
|
||||
return float(y) / float(Y_FULL_SCALE_MU)
|
||||
|
||||
|
||||
@portable
|
||||
def adc_mu_to_volts(x, gain):
|
||||
def adc_mu_to_volts(x: int32, gain: int32) -> float:
|
||||
"""Convert servo ADC data from machine units to Volt."""
|
||||
val = (x >> 1) & 0xffff
|
||||
mask = 1 << 15
|
||||
val = -(val & mask) + (val & ~mask)
|
||||
return sampler.adc_mu_to_volt(val, gain)
|
||||
return sampler_adc_mu_to_volt(val, gain)
|
||||
|
||||
|
||||
@nac3
|
||||
class SUServo:
|
||||
"""Sampler-Urukul Servo parent and configuration device.
|
||||
|
||||
|
|
@ -64,8 +76,15 @@ class SUServo:
|
|||
between experiments.
|
||||
:param core_device: Core device name
|
||||
"""
|
||||
kernel_invariants = {"channel", "core", "pgia", "cplds", "ddses",
|
||||
"ref_period_mu"}
|
||||
|
||||
core: KernelInvariant[Core]
|
||||
pgia: KernelInvariant[SPIMaster]
|
||||
ddses: KernelInvariant[list[AD9910]]
|
||||
cplds: KernelInvariant[list[CPLD]]
|
||||
channel: KernelInvariant[int32]
|
||||
gains: Kernel[int32]
|
||||
ref_period_mu: KernelInvariant[int64]
|
||||
|
||||
|
||||
def __init__(self, dmgr, channel, pgia_device,
|
||||
cpld_devices, dds_devices,
|
||||
|
|
@ -97,11 +116,11 @@ class SUServo:
|
|||
or the channel controls.
|
||||
"""
|
||||
self.set_config(enable=0)
|
||||
delay(3*us) # pipeline flush
|
||||
self.core.delay(3.*us) # pipeline flush
|
||||
|
||||
self.pgia.set_config_mu(
|
||||
sampler.SPI_CONFIG | spi.SPI_END,
|
||||
16, 4, sampler.SPI_CS_PGIA)
|
||||
SAMPLER_SPI_CONFIG | SPI_END,
|
||||
16, 4, SAMPLER_SPI_CS_PGIA)
|
||||
|
||||
for i in range(len(self.cplds)):
|
||||
cpld = self.cplds[i]
|
||||
|
|
@ -109,12 +128,12 @@ class SUServo:
|
|||
|
||||
cpld.init(blind=True)
|
||||
prev_cpld_cfg = cpld.cfg_reg
|
||||
cpld.cfg_write(prev_cpld_cfg | (0xf << urukul.CFG_MASK_NU))
|
||||
cpld.cfg_write(prev_cpld_cfg | (0xf << CFG_MASK_NU))
|
||||
dds.init(blind=True)
|
||||
cpld.cfg_write(prev_cpld_cfg)
|
||||
|
||||
@kernel
|
||||
def write(self, addr, value):
|
||||
def write(self, addr: int32, value: int32):
|
||||
"""Write to servo memory.
|
||||
|
||||
This method advances the timeline by one coarse RTIO cycle.
|
||||
|
|
@ -130,7 +149,7 @@ class SUServo:
|
|||
delay_mu(self.ref_period_mu)
|
||||
|
||||
@kernel
|
||||
def read(self, addr):
|
||||
def read(self, addr: int32) -> int32:
|
||||
"""Read from servo memory.
|
||||
|
||||
This method does not advance the timeline but consumes all slack.
|
||||
|
|
@ -143,7 +162,7 @@ class SUServo:
|
|||
return rtio_input_data(self.channel)
|
||||
|
||||
@kernel
|
||||
def set_config(self, enable):
|
||||
def set_config(self, enable: int32):
|
||||
"""Set SU Servo configuration.
|
||||
|
||||
This method advances the timeline by one servo memory access.
|
||||
|
|
@ -161,7 +180,7 @@ class SUServo:
|
|||
self.write(CONFIG_ADDR, enable)
|
||||
|
||||
@kernel
|
||||
def get_status(self):
|
||||
def get_status(self) -> int32:
|
||||
"""Get current SU Servo status.
|
||||
|
||||
This method does not advance the timeline but consumes all slack.
|
||||
|
|
@ -182,7 +201,7 @@ class SUServo:
|
|||
return self.read(CONFIG_ADDR)
|
||||
|
||||
@kernel
|
||||
def get_adc_mu(self, adc):
|
||||
def get_adc_mu(self, adc: int32) -> int32:
|
||||
"""Get the latest ADC reading (IIR filter input X0) in machine units.
|
||||
|
||||
This method does not advance the timeline but consumes all slack.
|
||||
|
|
@ -200,7 +219,7 @@ class SUServo:
|
|||
return self.read(STATE_SEL | (adc << 1) | (1 << 8))
|
||||
|
||||
@kernel
|
||||
def set_pgia_mu(self, channel, gain):
|
||||
def set_pgia_mu(self, channel: int32, gain: int32):
|
||||
"""Set instrumentation amplifier gain of a ADC channel.
|
||||
|
||||
The four gain settings (0, 1, 2, 3) corresponds to gains of
|
||||
|
|
@ -216,7 +235,7 @@ class SUServo:
|
|||
self.gains = gains
|
||||
|
||||
@kernel
|
||||
def get_adc(self, channel):
|
||||
def get_adc(self, channel: int32) -> float:
|
||||
"""Get the latest ADC reading (IIR filter input X0).
|
||||
|
||||
This method does not advance the timeline but consumes all slack.
|
||||
|
|
@ -237,13 +256,19 @@ class SUServo:
|
|||
return adc_mu_to_volts(val, gain)
|
||||
|
||||
|
||||
@nac3
|
||||
class Channel:
|
||||
"""Sampler-Urukul Servo channel
|
||||
|
||||
:param channel: RTIO channel number
|
||||
:param servo_device: Name of the parent SUServo device
|
||||
"""
|
||||
kernel_invariants = {"channel", "core", "servo", "servo_channel"}
|
||||
|
||||
core: KernelInvariant[Core]
|
||||
servo: KernelInvariant[SUServo]
|
||||
channel: KernelInvariant[int32]
|
||||
servo_channel: KernelInvariant[int32]
|
||||
dds: KernelInvariant[AD9910]
|
||||
|
||||
def __init__(self, dmgr, channel, servo_device):
|
||||
self.servo = dmgr.get(servo_device)
|
||||
|
|
@ -256,7 +281,7 @@ class Channel:
|
|||
self.dds = self.servo.ddses[self.servo_channel // 4]
|
||||
|
||||
@kernel
|
||||
def set(self, en_out, en_iir=0, profile=0):
|
||||
def set(self, en_out: bool, en_iir: bool = False, profile: int32 = 0):
|
||||
"""Operate channel.
|
||||
|
||||
This method does not advance the timeline. Output RF switch setting
|
||||
|
|
@ -272,10 +297,10 @@ class Channel:
|
|||
:param profile: Active profile (0-31)
|
||||
"""
|
||||
rtio_output(self.channel << 8,
|
||||
en_out | (en_iir << 1) | (profile << 2))
|
||||
int32(en_out) | (int32(en_iir) << 1) | (profile << 2))
|
||||
|
||||
@kernel
|
||||
def set_dds_mu(self, profile, ftw, offs, pow_=0):
|
||||
def set_dds_mu(self, profile: int32, ftw: int32, offs: int32, pow_: int32 = 0):
|
||||
"""Set profile DDS coefficients in machine units.
|
||||
|
||||
.. seealso:: :meth:`set_amplitude`
|
||||
|
|
@ -292,7 +317,7 @@ class Channel:
|
|||
self.servo.write(base + 2, pow_)
|
||||
|
||||
@kernel
|
||||
def set_dds(self, profile, frequency, offset, phase=0.):
|
||||
def set_dds(self, profile: int32, frequency: float, offset: float, phase: float = 0.):
|
||||
"""Set profile DDS coefficients.
|
||||
|
||||
This method advances the timeline by four servo memory accesses.
|
||||
|
|
@ -311,7 +336,7 @@ class Channel:
|
|||
self.set_dds_mu(profile, ftw, offs, pow_)
|
||||
|
||||
@kernel
|
||||
def set_dds_offset_mu(self, profile, offs):
|
||||
def set_dds_offset_mu(self, profile: int32, offs: int32):
|
||||
"""Set only IIR offset in DDS coefficient profile.
|
||||
|
||||
See :meth:`set_dds_mu` for setting the complete DDS profile.
|
||||
|
|
@ -323,7 +348,7 @@ class Channel:
|
|||
self.servo.write(base + 4, offs)
|
||||
|
||||
@kernel
|
||||
def set_dds_offset(self, profile, offset):
|
||||
def set_dds_offset(self, profile: int32, offset: float):
|
||||
"""Set only IIR offset in DDS coefficient profile.
|
||||
|
||||
See :meth:`set_dds` for setting the complete DDS profile.
|
||||
|
|
@ -334,7 +359,7 @@ class Channel:
|
|||
self.set_dds_offset_mu(profile, self.dds_offset_to_mu(offset))
|
||||
|
||||
@portable
|
||||
def dds_offset_to_mu(self, offset):
|
||||
def dds_offset_to_mu(self, offset: float) -> int32:
|
||||
"""Convert IIR offset (negative setpoint) from units of full scale to
|
||||
machine units (see :meth:`set_dds_mu`, :meth:`set_dds_offset_mu`).
|
||||
|
||||
|
|
@ -342,10 +367,10 @@ class Channel:
|
|||
rounding and representation as two's complement, ``offset=1`` can not
|
||||
be represented while ``offset=-1`` can.
|
||||
"""
|
||||
return int(round(offset * (1 << COEFF_WIDTH - 1)))
|
||||
return round(offset * float(1 << COEFF_WIDTH - 1))
|
||||
|
||||
@kernel
|
||||
def set_iir_mu(self, profile, adc, a1, b0, b1, dly=0):
|
||||
def set_iir_mu(self, profile: int32, adc: int32, a1: int32, b0: int32, b1: int32, dly: int32 = 0):
|
||||
"""Set profile IIR coefficients in machine units.
|
||||
|
||||
The recurrence relation is (all data signed and MSB aligned):
|
||||
|
|
@ -385,7 +410,7 @@ class Channel:
|
|||
self.servo.write(base + 7, b0)
|
||||
|
||||
@kernel
|
||||
def set_iir(self, profile, adc, kp, ki=0., g=0., delay=0.):
|
||||
def set_iir(self, profile: int32, adc: int32, kp: float, ki: float = 0., g: float = 0., delay: float = 0.):
|
||||
"""Set profile IIR coefficients.
|
||||
|
||||
This method advances the timeline by four servo memory accesses.
|
||||
|
|
@ -427,23 +452,23 @@ class Channel:
|
|||
A_NORM = 1 << COEFF_SHIFT
|
||||
COEFF_MAX = 1 << COEFF_WIDTH - 1
|
||||
|
||||
kp *= B_NORM
|
||||
kp *= float(B_NORM)
|
||||
if ki == 0.:
|
||||
# pure P
|
||||
a1 = 0
|
||||
b1 = 0
|
||||
b0 = int(round(kp))
|
||||
b0 = round(kp)
|
||||
else:
|
||||
# I or PI
|
||||
ki *= B_NORM*T_CYCLE/2.
|
||||
ki *= float(B_NORM)*T_CYCLE/2.
|
||||
if g == 0.:
|
||||
c = 1.
|
||||
a1 = A_NORM
|
||||
else:
|
||||
c = 1./(1. + ki/(g*B_NORM))
|
||||
a1 = int(round((2.*c - 1.)*A_NORM))
|
||||
b0 = int(round(kp + ki*c))
|
||||
b1 = int(round(kp + (ki - 2.*kp)*c))
|
||||
c = 1./(1. + ki/(g*float(B_NORM)))
|
||||
a1 = round((2.*c - 1.)*float(A_NORM))
|
||||
b0 = round(kp + ki*c)
|
||||
b1 = round(kp + (ki - 2.*kp)*c)
|
||||
if b1 == -b0:
|
||||
raise ValueError("low integrator gain and/or gain limit")
|
||||
|
||||
|
|
@ -451,11 +476,11 @@ class Channel:
|
|||
b1 >= COEFF_MAX or b1 < -COEFF_MAX):
|
||||
raise ValueError("high gains")
|
||||
|
||||
dly = int(round(delay/T_CYCLE))
|
||||
dly = round(delay/T_CYCLE)
|
||||
self.set_iir_mu(profile, adc, a1, b0, b1, dly)
|
||||
|
||||
@kernel
|
||||
def get_profile_mu(self, profile, data):
|
||||
def get_profile_mu(self, profile: int32, data: list[int32]):
|
||||
"""Retrieve profile data.
|
||||
|
||||
Profile data is returned in the ``data`` argument in machine units
|
||||
|
|
@ -473,10 +498,10 @@ class Channel:
|
|||
base = (self.servo_channel << 8) | (profile << 3)
|
||||
for i in range(len(data)):
|
||||
data[i] = self.servo.read(base + i)
|
||||
delay(4*us)
|
||||
self.core.delay(4.*us)
|
||||
|
||||
@kernel
|
||||
def get_y_mu(self, profile):
|
||||
def get_y_mu(self, profile: int32) -> int32:
|
||||
"""Get a profile's IIR state (filter output, Y0) in machine units.
|
||||
|
||||
The IIR state is also know as the "integrator", or the DDS amplitude
|
||||
|
|
@ -494,7 +519,7 @@ class Channel:
|
|||
return self.servo.read(STATE_SEL | (self.servo_channel << 5) | profile)
|
||||
|
||||
@kernel
|
||||
def get_y(self, profile):
|
||||
def get_y(self, profile: int32) -> float:
|
||||
"""Get a profile's IIR state (filter output, Y0).
|
||||
|
||||
The IIR state is also know as the "integrator", or the DDS amplitude
|
||||
|
|
@ -512,7 +537,7 @@ class Channel:
|
|||
return y_mu_to_full_scale(self.get_y_mu(profile))
|
||||
|
||||
@kernel
|
||||
def set_y_mu(self, profile, y):
|
||||
def set_y_mu(self, profile: int32, y: int32):
|
||||
"""Set a profile's IIR state (filter output, Y0) in machine units.
|
||||
|
||||
The IIR state is also know as the "integrator", or the DDS amplitude
|
||||
|
|
@ -532,7 +557,7 @@ class Channel:
|
|||
self.servo.write(STATE_SEL | (self.servo_channel << 5) | profile, y)
|
||||
|
||||
@kernel
|
||||
def set_y(self, profile, y):
|
||||
def set_y(self, profile: int32, y: float) -> int32:
|
||||
"""Set a profile's IIR state (filter output, Y0).
|
||||
|
||||
The IIR state is also know as the "integrator", or the DDS amplitude
|
||||
|
|
@ -547,7 +572,7 @@ class Channel:
|
|||
:param profile: Profile number (0-31)
|
||||
:param y: IIR state in units of full scale
|
||||
"""
|
||||
y_mu = int(round(y * Y_FULL_SCALE_MU))
|
||||
y_mu = round(y * float(Y_FULL_SCALE_MU))
|
||||
if y_mu < 0 or y_mu > (1 << 17) - 1:
|
||||
raise ValueError("Invalid SUServo y-value!")
|
||||
self.set_y_mu(profile, y_mu)
|
||||
|
|
|
|||
Loading…
Reference in New Issue