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suservo: port to NAC3

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Sebastien Bourdeauducq 2022-03-02 08:55:27 +08:00
parent be07481eb5
commit 8fc0e5d3aa
1 changed files with 71 additions and 46 deletions
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117
artiq/coredevice/suservo.py
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@ -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)