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gateware: add suservo

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m-labs/artiq#788
This commit is contained in:
Robert Jördens 2018-04-23 10:35:42 +00:00
parent 4fe09fddd5
commit 934c41b90a
7 changed files with 1132 additions and 0 deletions
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85
artiq/gateware/rtio/phy/servo.py Normal file
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from migen import *
from artiq.gateware.rtio import rtlink
class RTServoCtrl(Module):
"""Per channel RTIO control interface"""
def __init__(self, ctrl):
self.rtlink = rtlink.Interface(
rtlink.OInterface(len(ctrl)))
# # #
self.sync.rio += [
If(self.rtlink.o.stb,
Cat(ctrl.profile, ctrl.en_out, ctrl.en_iir).eq(
self.rtlink.o.data),
)
]
self.comb += [
ctrl.stb.eq(self.rtlink.o.stb)
]
class RTServoMem(Module):
"""All-channel all-profile coefficient and state RTIO control
interface."""
def __init__(self, w, servo):
m_coeff = servo.m_coeff.get_port(write_capable=True,
we_granularity=w.coeff)
assert len(m_coeff.we) == 2
m_state = servo.m_state.get_port(write_capable=True)
self.specials += m_state, m_coeff
assert w.coeff >= w.state
assert w.coeff >= w.word
self.rtlink = rtlink.Interface(
rtlink.OInterface(
w.coeff,
# coeff, profile, channel, 2 mems, rw
3 + w.profile + w.channel + 1 + 1,
enable_replace=False),
rtlink.IInterface(
w.coeff,
timestamped=False)
)
# # #
we = self.rtlink.o.address[-1]
state_sel = self.rtlink.o.address[-2]
high_coeff = self.rtlink.o.address[0]
self.comb += [
self.rtlink.o.busy.eq(active),
m_coeff.adr.eq(self.rtlink.o.address[1:]),
m_coeff.dat_w.eq(Cat(self.rtlink.o.data, self.rtlink.o.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_state.adr.eq(self.rtlink.o.address),
m_state.dat_w.eq(self.rtlink.o.data << w.state - w.coeff),
m_state.we.eq(self.rtlink.o.stb & we & state_sel),
]
read = Signal()
read_sel = Signal()
read_high = Signal()
self.sync.rio += [
If(read,
read.eq(0)
),
If(self.rtlink.o.stb & ~we,
read.eq(1),
read_sel.eq(state_sel),
read_high.eq(high_coeff),
)
]
self.comb += [
self.rtlink.i.stb.eq(read),
self.rtlink.i.data.eq(Mux(state_sel,
m_state.dat_r >> w.state - w.coeff,
Mux(read_high, m_coeff.dat_r[w.coeff:],
m_coeff.dat_r)))
]

139
artiq/gateware/suservo/adc_ser.py Normal file
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import logging
import string
from collections import namedtuple
from migen import *
from migen.genlib import io
from .tools import DiffMixin
logger = logging.getLogger(__name__)
# all times in cycles
ADCParams = namedtuple("ADCParams", [
"channels", # number of channels
"lanes", # number of SDO? data lanes
# lanes need to be named alphabetically and contiguous
# (e.g. [sdoa, sdob, sdoc, sdoc] or [sdoa, sdob])
"width", # bits to transfer per channel
"t_cnvh", # CNVH duration (minimum)
"t_conv", # CONV duration (minimum)
"t_rtt", # upper estimate for clock round trip time from
# sck at the FPGA to clkout at the FPGA.
# this avoids having synchronizers and another counter
# to signal end-of transfer (CLKOUT cycles)
# and it ensures fixed latency early in the pipeline
])
class ADC(Module, DiffMixin):
"""Multi-lane, multi-channel, triggered, source-synchronous, serial
ADC interface.
* Supports ADCs like the LTC2320-16.
* Hardcoded timings.
"""
def __init__(self, pads, params):
self.params = p = params # ADCParams
self.data = [Signal((p.width, True), reset_less=True)
for i in range(p.channels)] # retrieved ADC data
self.start = Signal() # start conversion and reading
self.reading = Signal() # data is being read (outputs are invalid)
self.done = Signal() # data is valid and a new conversion can
# be started
###
# collect sdo lines
sdo = []
for i in string.ascii_lowercase[:p.lanes]:
sdo.append(self._diff(pads, "sdo" + i))
assert p.lanes == len(sdo)
# set up counters for the four states CNVH, CONV, READ, RTT
t_read = p.width*p.channels//p.lanes//2 # DDR
assert 2*p.lanes*t_read == p.width*p.channels
assert all(_ > 0 for _ in (p.t_cnvh, p.t_conv, p.t_rtt))
assert p.t_conv > 1
count = Signal(max=max(p.t_cnvh, p.t_conv, t_read, p.t_rtt) - 1,
reset_less=True)
count_load = Signal.like(count)
count_done = Signal()
self.comb += [
count_done.eq(count == 0),
]
self.sync += [
count.eq(count - 1),
If(count_done,
count.eq(count_load),
)
]
sck_en = Signal()
if hasattr(pads, "sck_en"):
self.sync += pads.sck_en.eq(sck_en) # ODDR delay
self.specials += io.DDROutput(0, sck_en,
self._diff(pads, "sck", output=True))
self.submodules.fsm = fsm = FSM("IDLE")
fsm.act("IDLE",
self.done.eq(1),
If(self.start,
count_load.eq(p.t_cnvh - 1),
NextState("CNVH")
)
)
fsm.act("CNVH",
count_load.eq(p.t_conv - 2), # account for sck ODDR delay
pads.cnv_b.eq(1),
If(count_done,
NextState("CONV")
)
)
fsm.act("CONV",
count_load.eq(t_read - 1),
If(count_done,
NextState("READ")
)
)
fsm.act("READ",
self.reading.eq(1),
count_load.eq(p.t_rtt), # account for sck ODDR delay
sck_en.eq(1),
If(count_done,
NextState("RTT")
)
)
fsm.act("RTT", # account for sck->clkout round trip time
self.reading.eq(1),
If(count_done,
NextState("IDLE")
)
)
try:
sck_en_ret = pads.sck_en_ret
except AttributeError:
sck_en_ret = 1
self.clock_domains.cd_ret = ClockDomain("ret", reset_less=True)
self.comb += [
# falling clkout makes two bits available
self.cd_ret.clk.eq(~self._diff(pads, "clkout")),
]
k = p.channels//p.lanes
assert 2*t_read == k*p.width
for i, sdo in enumerate(sdo):
sdo_sr = Signal(2*t_read - 2)
sdo_ddr = Signal(2)
self.specials += io.DDRInput(sdo, sdo_ddr[1], sdo_ddr[0],
self.cd_ret.clk)
self.sync.ret += [
If(self.reading & sck_en_ret,
sdo_sr.eq(Cat(sdo_ddr, sdo_sr))
)
]
self.comb += [
Cat(reversed([self.data[i*k + j] for j in range(k)])).eq(
Cat(sdo_ddr, sdo_sr))
]

48
artiq/gateware/suservo/dds_ser.py Normal file
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import logging
from migen import *
from . import spi
logger = logging.getLogger(__name__)
DDSParams = spi.SPIParams
class DDS(spi.SPISimple):
"""Multi-DDS SPI interface.
* Supports SPI DDS chips like the AD9910.
* Shifts data out to multiple DDS in parallel with a shared CLK and shared
CS_N line.
* Supports a single hardcoded command.
* Configuration and setup must be done over a different channel.
* Asserts IO_UPDATE for one clock cycle immediately after the SPI transfer.
"""
def __init__(self, pads, params):
super().__init__(pads, params)
self.profile = [Signal(32 + 16 + 16, reset_less=True)
for i in range(params.channels)]
cmd = Signal(8, reset=0x0e) # write to single tone profile 0
assert params.width == len(cmd) + len(self.profile[0])
self.sync += [
If(self.start,
[d.eq(Cat(p, cmd))
for d, p in zip(self.data, self.profile)]
)
]
io_update = self._diff(pads, "io_update", output=True)
# this assumes that the cycle time (1/125 MHz = 8 ns) is >1 SYNC_CLK
# cycle (1/250 MHz = 4ns)
done = Signal()
self.sync += [
done.eq(self.done)
]
self.comb += [
io_update.eq(self.done & ~done)
]

677
artiq/gateware/suservo/iir.py Normal file
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from collections import namedtuple
import logging
from migen import *
logger = logging.getLogger(__name__)
# all these are number of bits!
IIRWidths = namedtuple("IIRWidths", [
"state", # the signed x and y states of the IIR filter
# DSP A input, x state is one bit smaller
# due to AD pre-adder, y has full width (25)
"coeff", # signed IIR filter coefficients a1, b0, b1 (18)
"accu", # IIR accumulator width (48)
"adc", # signed ADC data (16)
"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)
])
def signed(v, w):
"""Convert an unsigned integer ``v`` to it's signed value assuming ``w``
bits"""
assert 0 <= v < (1 << w)
if v & (1 << w - 1):
v -= 1 << w
return v
class DSP(Module):
"""Thin abstraction of DSP functionality used here, commonly present,
and inferrable in FPGAs: multiplier with pre-adder and post-accumulator
and pipeline registers at every stage."""
def __init__(self, w, signed_output=False):
self.state = Signal((w.state, True))
# NOTE:
# If offset is non-zero, care must be taken to ensure that the
# offset-state difference does not overflow the width of the ad factor
# which is also w.state.
self.offset = Signal((w.state, True))
self.coeff = Signal((w.coeff, True))
self.output = Signal((w.state, True))
self.accu_clr = Signal()
self.offset_load = Signal()
self.clip = Signal()
a = Signal((w.state, True), reset_less=True)
d = Signal((w.state, True), reset_less=True)
ad = Signal((w.state, True), reset_less=True)
b = Signal((w.coeff, True), reset_less=True)
m = Signal((w.accu, True), reset_less=True)
p = Signal((w.accu, True), reset_less=True)
self.sync += [
a.eq(self.state),
If(self.offset_load,
d.eq(self.offset)
),
ad.eq(d - a),
b.eq(self.coeff),
m.eq(ad*b),
p.eq(p + m),
If(self.accu_clr,
# inject symmetric rouding constant
# p.eq(1 << (w.shift - 1))
# but that won't infer P reg, so we just clear
# and round down
p.eq(0),
)
]
# Bit layout (LSB-MSB): w.shift | w.state - 1 | n_sign - 1 | 1 (sign)
n_sign = w.accu - w.state - w.shift + 1
assert n_sign > 1
# clipping
if signed_output:
self.comb += [
self.clip.eq(p[-n_sign:] != Replicate(p[-1], n_sign)),
self.output.eq(Mux(self.clip,
Cat(Replicate(~p[-1], w.state - 1), p[-1]),
p[w.shift:]))
]
else:
self.comb += [
self.clip.eq(p[-n_sign:] != 0),
self.output.eq(Mux(self.clip,
Replicate(~p[-1], w.state - 1),
p[w.shift:]))
]
class IIR(Module):
"""Pipelined IIR processor.
This module implements a multi-channel IIR (infinite impulse response)
filter processor optimized for synthesis on FPGAs.
The module is parametrized by passing a ``IIRWidths()`` object which
will be abbreviated W here.
It reads 1 << W.channels input channels (typically from an ADC)
and on each iteration processes the data on using a first-order IIR filter.
At the end of the cycle each the output of the filter together with
additional data (typically frequency tunning word and phase offset word
for a DDS) are presented at the 1 << W.channels outputs of the module.
Profile memory
==============
Each channel can operate using any of its 1 << W.profile profiles.
The profile data consists of the input ADC channel index (SEL), a delay
(DLY) for delayed activation of the IIR updates, the three IIR
coefficients (A1, B0, B1), the input offset (OFFSET), and additional data
(FTW0, FTW1, and POW). Profile data is stored in a dual-port block RAM that
can be accessed externally.
Memory Layout
-------------
The profile data is stored sequentially for each channel.
Each channel has 1 << W.profile profiles available.
Each profile stores 8 values, each up to W.coeff bits wide, arranged as:
[FTW1, B1, POW, CFG, OFFSET, A1, FTW0, B0]
The lower 8 bits of CFG hold the ADC input channel index SEL.
The bits from bit 8 up hold the IIR activation delay DLY.
The back memory is 2*W.coeff bits wide and each value pair
(even and odd address)
are stored in a single location with the odd address value occupying the
high bits.
State memory
============
The filter state consists of the previous ADC input values X1,
the current ADC input values X0 and the previous output values
of the IIR filter (Y1). The filter
state is stored in a dual-port block RAM that can be accessed
externally.
Memory Layout
-------------
The state memory holds all Y1 values (IIR processor outputs) for all
profiles of all channels in the lower half (1 << W.profile + W.channel
addresses) and the pairs of old and new ADC input values X1, and X0,
in the upper half (1 << W.channel addresses). Each memory location is
W.state bits wide.
Real-time control
=================
Signals are exposed for each channel:
* The active profile, PROFILE
* Whether to perform IIR filter iterations, EN_IIR
* The RF switch state enabling output from the channel, EN_OUT
Delayed IIR processing
======================
The IIR filter iterations on a given channel are only performed all of the
following are true:
* PROFILE, EN_IIR, EN_OUT have not been updated in the within the
last DLY cycles
* EN_IIR is asserted
* EN_OUT is asserted
DSP design
==========
Typical design at the DSP level. This does not include the description of
the pipelining or the overall latency involved.
IIRWidths(state=25, coeff=18, adc=16,
asf=14, word=16, accu=48, shift=11,
channel=3, profile=5)
X0 = ADC * 2^(25 - 1 - 16)
X1 = X0 delayed by one cycle
A0 = 2^11
A0*Y0 = A1*Y1 - B0*(X0 - OFFSET) - B1*(X1 - OFFSET)
Y1 = Y0 delayed by one cycle
ASF = Y0 / 2^(25 - 14 - 1)
ADC: input value from the ADC
ASF: output amplitude scale factor to DDS
OFFSET: setpoint
A0: fixed factor
A1/B0/B1: coefficients
B0 --/- A0: 2^11
18 | |
ADC -/-[<<]-/-(-)-/---(x)-(+)-/-[>>]-/-[_/^]-/---[>>]-/- ASF
16 8 24 | 25 | | 48 11 37 25 | 10 15
OFFSET --/- [z^-1] ^ [z^-1]
24 | | |
-(x)-(+)-<-(x)-----<------
| |
B1 --/- A1 --/-
18 18
[<<]: left shift, multiply by 2^n
[>>]: right shift, divide by 2^n
(x): multiplication
(+), (-): addition, subtraction
[_/^]: clip
[z^-1]: register, delay by one processing cycle (~1.1 µs)
--/--: 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)
assert w.word <= w.coeff # same memory
assert w.state + w.coeff + 3 <= w.accu
# m_coeff of active profiles should only be accessed during
# ~processing
self.specials.m_coeff = Memory(
width=2*w.coeff, # Cat(pow/ftw/offset, cfg/a/b)
depth=4 << w.profile + w.channel)
# m_state[x] should only be read during ~(shifting |
# loading)
# m_state[y] of active profiles should only be read during
# ~processing
self.specials.m_state = Memory(
width=w.state, # y1,x0,x1
depth=(1 << w.profile + w.channel) + (2 << w.channel))
# ctrl should only be updated synchronously
self.ctrl = [Record([
("profile", w.profile),
("en_out", 1),
("en_iir", 1),
("stb", 1)])
for i in range(1 << w.channel)]
# only update during ~loading
self.adc = [Signal((w.adc, True), reset_less=True)
for i in range(1 << w.channel)]
# Cat(ftw0, ftw1, pow, asf)
# only read during ~processing
self.dds = [Signal(4*w.word, reset_less=True)
for i in range(1 << w.channel)]
# perform one IIR iteration, start with loading,
# then processing, then shifting, end with done
self.start = Signal()
# adc inputs being loaded into RAM (becoming x0)
self.loading = Signal()
# processing state data (extracting ftw0/ftw1/pow,
# computing asf/y0, and storing as y1)
self.processing = Signal()
# shifting input state values around (x0 becomes x1)
self.shifting = Signal()
# iteration done, the next iteration can be started
self.done = Signal()
###
# pivot arrays for muxing
profiles = Array([ch.profile for ch in self.ctrl])
en_outs = Array([ch.en_out for ch in self.ctrl])
en_iirs = Array([ch.en_iir for ch in self.ctrl])
# state counter
state = Signal(w.channel + 2)
# pipeline group activity flags (SR)
stage = Signal(3)
self.submodules.fsm = fsm = FSM("IDLE")
state_clr = Signal()
stage_en = Signal()
fsm.act("IDLE",
self.done.eq(1),
state_clr.eq(1),
If(self.start,
NextState("LOAD")
)
)
fsm.act("LOAD",
self.loading.eq(1),
If(state == (1 << w.channel) - 1,
state_clr.eq(1),
stage_en.eq(1),
NextState("PROCESS")
)
)
fsm.act("PROCESS",
self.processing.eq(1),
# this is technically wasting three cycles
# (one for setting stage, and phase=2,3 with stage[2])
If(stage == 0,
state_clr.eq(1),
NextState("SHIFT")
)
)
fsm.act("SHIFT",
self.shifting.eq(1),
If(state == (2 << w.channel) - 1,
NextState("IDLE")
)
)
self.sync += [
state.eq(state + 1),
If(state_clr,
state.eq(0),
),
If(stage_en,
stage[0].eq(1)
)
]
# pipeline group channel pointer
# for each pipeline stage, this is the channel currently being
# processed
channel = [Signal(w.channel, reset_less=True) for i in range(3)]
# pipeline group profile pointer (SR)
# for each pipeline stage, this is the profile currently being
# processed
profile = [Signal(w.profile, reset_less=True) for i in range(2)]
# pipeline phase (lower two bits of state)
phase = Signal(2, reset_less=True)
self.comb += Cat(phase, channel[0]).eq(state)
self.sync += [
Case(phase, {
0: [
profile[0].eq(profiles[channel[0]]),
profile[1].eq(profile[0])
],
3: [
Cat(channel[1:]).eq(Cat(channel[:-1])),
stage[1:].eq(stage[:-1]),
If(channel[0] == (1 << w.channel) - 1,
stage[0].eq(0)
)
]
})
]
m_coeff = self.m_coeff.get_port()
m_state = self.m_state.get_port(write_capable=True)
self.specials += m_state, m_coeff
dsp = DSP(w)
self.submodules += dsp
offset_clr = Signal()
self.comb += [
m_coeff.adr.eq(Cat(phase, profile[0],
Mux(phase==0, channel[1], channel[0]))),
dsp.offset[-w.coeff - 1:].eq(Mux(offset_clr, 0,
Cat(m_coeff.dat_r[:w.coeff], m_coeff.dat_r[w.coeff - 1])
)),
dsp.coeff.eq(m_coeff.dat_r[w.coeff:]),
dsp.state.eq(m_state.dat_r),
Case(phase, {
0: dsp.accu_clr.eq(1),
2: [
offset_clr.eq(1),
dsp.offset_load.eq(1)
],
3: dsp.offset_load.eq(1)
})
]
# selected adc (combinatorial from dat_r)
sel_profile = Signal(w.channel)
# profile delay (combinatorial from dat_r)
dly_profile = Signal(8)
# latched adc selection
sel = Signal(w.channel, reset_less=True)
# iir enable SR
en = Signal(2, reset_less=True)
assert w.channel <= 8
assert w.profile <= len(dly_profile)
assert w.profile + 8 <= len(m_coeff.dat_r)
self.comb += [
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(state | (1 << w.profile + w.channel)),
m_state.dat_w.eq(m_state.dat_r),
m_state.we.eq(state[0])
),
If(self.loading,
m_state.adr.eq((state << 1) | (1 << w.profile + w.channel)),
m_state.dat_w[-w.adc - 1:-1].eq(Array(self.adc)[state]),
m_state.dat_w[-1].eq(m_state.dat_w[-2]),
m_state.we.eq(1)
),
If(self.processing,
m_state.adr.eq(Array([
# write back new y
Cat(profile[1], channel[2]),
# read old y
Cat(profile[0], channel[0]),
# x0 (recent)
0 | (sel_profile << 1) | (1 << w.profile + w.channel),
# x1 (old)
1 | (sel << 1) | (1 << w.profile + w.channel),
])[phase]),
m_state.dat_w.eq(dsp.output),
m_state.we.eq((phase == 0) & stage[2] & en[1]),
)
]
# internal channel delay counters
dlys = Array([Signal(len(dly_profile))
for i in range(1 << w.channel)])
self._dlys = dlys # expose for debugging only
for i in range(1 << w.channel):
self.sync += [
# (profile != profile_old) | ~en_out
If(self.ctrl[i].stb,
dlys[i].eq(0),
)
]
# latched channel delay
dly = Signal(len(dly_profile), reset_less=True)
# latched channel en_out
en_out = Signal(reset_less=True)
# latched channel en_iir
en_iir = Signal(reset_less=True)
# muxing
ddss = Array(self.dds)
self.sync += [
Case(phase, {
0: [
dly.eq(dlys[channel[0]]),
en_out.eq(en_outs[channel[0]]),
en_iir.eq(en_iirs[channel[0]]),
If(stage[1],
ddss[channel[1]][:w.word].eq(
m_coeff.dat_r),
)
],
1: [
If(stage[1],
ddss[channel[1]][w.word:2*w.word].eq(
m_coeff.dat_r),
),
If(stage[2],
ddss[channel[2]][3*w.word:].eq(
m_state.dat_r[w.state - w.asf - 1:w.state - 1])
)
],
2: [
en[0].eq(0),
en[1].eq(en[0]),
sel.eq(sel_profile),
If(stage[0],
ddss[channel[0]][2*w.word:3*w.word].eq(
m_coeff.dat_r),
If(en_out,
If(dly != dly_profile,
dlys[channel[0]].eq(dly + 1)
).Elif(en_iir,
en[0].eq(1)
)
)
)
],
3: [
],
}),
]
def _coeff(self, channel, profile, coeff):
"""Return ``high_word``, ``address`` and bit ``mask`` for the
storage of coefficient name ``coeff`` in profile ``profile``
of channel ``channel``.
``high_word`` determines whether the coefficient is stored in the high
or low part of the memory location.
"""
w = self.widths
addr = "ftw1 b1 pow cfg offset a1 ftw0 b0".split().index(coeff)
coeff_addr = ((channel << w.profile + 2) | (profile << 2) |
(addr >> 1))
mask = (1 << w.coeff) - 1
return addr & 1, coeff_addr, mask
def set_coeff(self, channel, profile, coeff, value):
"""Set the coefficient value.
Note that due to two coefficiddents sharing a single memory
location, only one coefficient update can be effected to a given memory
location per simulation clock cycle.
"""
w = self.widths
word, addr, mask = self._coeff(channel, profile, coeff)
val = yield self.m_coeff[addr]
if word:
val = (val & mask) | ((value & mask) << w.coeff)
else:
val = (value & mask) | (val & (mask << w.coeff))
yield self.m_coeff[addr].eq(val)
def get_coeff(self, channel, profile, coeff):
"""Get a coefficient value."""
w = self.widths
word, addr, mask = self._coeff(channel, profile, coeff)
val = yield self.m_coeff[addr]
if word:
return val >> w.coeff
else:
return val & mask
if val in "offset a1 b0 b1".split():
val = signed(val, w.coeff)
return val
def set_state(self, channel, val, profile=None, coeff="y1"):
"""Set a state value."""
w = self.widths
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)
elif coeff == "x1":
assert profile is None
yield self.m_state[1 | (channel << 1) |
(1 << w.profile + w.channel)].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
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)]
elif coeff == "x1":
val = yield self.m_state[1 | (channel << 1) |
(1 << w.profile + w.channel)]
else:
raise ValueError("no such state", coeff)
return signed(val, w.state)
def fast_iter(self):
"""Perform a single processing iteration."""
assert (yield self.done)
yield self.start.eq(1)
yield
yield self.start.eq(0)
yield
while not (yield self.done):
yield
def check_iter(self):
"""Perform a single processing iteration while verifying
the behavior."""
w = self.widths
while not (yield self.done):
yield
yield self.start.eq(1)
yield
yield self.start.eq(0)
yield
assert not (yield self.done)
assert (yield self.loading)
while (yield self.loading):
yield
x0s = []
# check adc loading
for i in range(1 << w.channel):
v_adc = signed((yield self.adc[i]), w.adc)
x0 = yield from self.get_state(i, coeff="x0")
x0s.append(x0)
assert v_adc << (w.state - w.adc - 1) == x0, (hex(v_adc), hex(x0))
logger.debug("adc[%d] adc=%x x0=%x", i, v_adc, x0)
data = []
# predict output
for i in range(1 << w.channel):
j = yield self.ctrl[i].profile
en_iir = yield self.ctrl[i].en_iir
en_out = yield self.ctrl[i].en_out
dly_i = yield self._dlys[i]
logger.debug("ctrl[%d] profile=%d en_iir=%d en_out=%d dly=%d",
i, j, en_iir, en_out, dly_i)
cfg = yield from self.get_coeff(i, j, "cfg")
k_j = cfg & ((1 << w.channel) - 1)
dly_j = (cfg >> 8) & 0xff
logger.debug("cfg[%d,%d] sel=%d dly=%d", i, j, k_j, dly_j)
en = en_iir & en_out & (dly_i >= dly_j)
logger.debug("en[%d,%d] %d", i, j, en)
offset = yield from self.get_coeff(i, j, "offset")
offset <<= w.state - w.coeff - 1
a1 = yield from self.get_coeff(i, j, "a1")
b0 = yield from self.get_coeff(i, j, "b0")
b1 = yield from self.get_coeff(i, j, "b1")
logger.debug("coeff[%d,%d] offset=%#x a1=%#x b0=%#x b1=%#x",
i, j, offset, a1, b0, b1)
ftw0 = yield from self.get_coeff(i, j, "ftw0")
ftw1 = yield from self.get_coeff(i, j, "ftw1")
pow = yield from self.get_coeff(i, j, "pow")
logger.debug("dds[%d,%d] ftw0=%#x ftw1=%#x pow=%#x",
i, j, ftw0, ftw1, pow)
y1 = yield from self.get_state(i, j, "y1")
x1 = yield from self.get_state(k_j, coeff="x1")
x0 = yield from self.get_state(k_j, coeff="x0")
logger.debug("state y1[%d,%d]=%#x x0[%d]=%#x x1[%d]=%#x",
i, j, y1, k_j, x0, k_j, x1)
p = (0*(1 << w.shift - 1) + a1*(0 - y1) +
b0*(offset - x0) + b1*(offset - x1))
out = p >> w.shift
y0 = min(max(0, out), (1 << w.state - 1) - 1)
logger.debug("dsp[%d,%d] p=%#x out=%#x y0=%#x",
i, j, p, out, y0)
if not en:
y0 = y1
data.append((ftw0, ftw1, pow, y0, x1, x0))
# wait for output
assert (yield self.processing)
while (yield self.processing):
yield
assert (yield self.shifting)
while (yield self.shifting):
yield
# check x shifting
for i, x0 in enumerate(x0s):
x1 = yield from self.get_state(i, coeff="x1")
assert x1 == x0, (hex(x1), hex(x0))
logger.debug("adc[%d] x0=%x x1=%x", i, x0, x1)
# check new state
for i in range(1 << w.channel):
j = yield self.ctrl[i].profile
logger.debug("ch[%d] profile=%d", i, j)
y1 = yield from self.get_state(i, j, "y1")
ftw0, ftw1, pow, y0, x1, x0 = data[i]
assert y1 == y0, (hex(y1), hex(y0))
# check dds output
for i in range(1 << w.channel):
ftw0, ftw1, pow, y0, x1, x0 = data[i]
asf = y0 >> (w.state - w.asf - 1)
dds = (ftw0 | (ftw1 << w.word) |
(pow << 2*w.word) | (asf << 3*w.word))
dds_state = yield self.dds[i]
logger.debug("ch[%d] dds_state=%#x dds=%#x", i, dds_state, dds)
assert dds_state == dds, [hex(_) for _ in
(dds_state, asf, pow, ftw1, ftw0)]
assert (yield self.done)
return data

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from migen import *
from .adc_ser import ADC, ADCParams
from .iir import IIR, IIRWidths
from .dds_ser import DDS, DDSParams
class Servo(Module):
def __init__(self, adc_pads, dds_pads, adc_p, iir_p, dds_p):
self.submodules.adc = ADC(adc_pads, adc_p)
self.submodules.iir = IIR(iir_p)
self.submodules.dds = DDS(dds_pads, dds_p)
for i, j, k, l in zip(self.adc.data, self.iir.adc,
self.iir.dds, self.dds.profile):
self.comb += j.eq(i), l.eq(k)
t_adc = (adc_p.t_cnvh + adc_p.t_conv + adc_p.t_rtt +
adc_p.channels*adc_p.width//2//adc_p.lanes) + 1
t_iir = ((1 + 4 + 1) << iir_p.channel) + 1
t_dds = (dds_p.width*2 + 1)*dds_p.clk + 1
t_cycle = max(t_adc, t_iir, t_dds)
assert t_iir + (2 << iir_p.channel) < t_cycle, "need shifting time"
self.start = Signal()
t_restart = t_cycle - t_iir - t_adc
assert t_restart > 0
cnt = Signal(max=t_restart)
cnt_done = Signal()
token = Signal(2)
self.done = Signal()
iir_done = Signal()
self.comb += [
cnt_done.eq(cnt == 0),
iir_done.eq(self.iir.shifting | self.iir.done),
self.adc.start.eq(self.start & cnt_done),
self.iir.start.eq(token[0] & self.adc.done),
self.dds.start.eq(token[1] & iir_done),
self.done.eq(self.dds.done),
]
self.sync += [
If(iir_done & ~cnt_done & ~token[0],
cnt.eq(cnt - 1),
),
If(self.adc.start,
cnt.eq(t_restart - 1),
),
If(self.adc.done,
token[0].eq(0)
),
If(self.adc.start,
token[0].eq(1)
),
If(iir_done,
token[1].eq(0)
),
If(self.iir.start,
token[1].eq(1)
)
]

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import logging
from collections import namedtuple
from migen import *
from migen.genlib.fsm import FSM, NextState
from migen.genlib import io
from .tools import DiffMixin
logger = logging.getLogger(__name__)
# all times in cycles
SPIParams = namedtuple("SPIParams", [
"channels", # number of MOSI? data lanes
"width", # transfer width
"clk", # CLK half cycle width (in cycles)
])
class SPISimple(Module, DiffMixin):
"""Simple reduced SPI interface.
* Multiple MOSI lines
* Supports differential CLK/CS_N/MOSI
* Fixed CLK timing
* SPI MODE 0 (CPHA=0, CPOL=0)
"""
def __init__(self, pads, params):
self.params = p = params
self.data = [Signal(p.width, reset_less=True)
for i in range(p.channels)] # data to be output, MSB first
self.start = Signal() # start transfer
self.done = Signal() # transfer complete, next transfer can be
# started
###
assert p.clk >= 1
cs_n = self._diff(pads, "cs_n", output=True)
clk = self._diff(pads, "clk", output=True)
cnt = Signal(max=max(2, p.clk), reset_less=True)
cnt_done = Signal()
cnt_next = Signal()
self.comb += cnt_done.eq(cnt == 0)
self.sync += [
If(cnt_done,
If(cnt_next,
cnt.eq(p.clk - 1)
)
).Else(
cnt.eq(cnt - 1)
)
]
for i, d in enumerate(self.data):
self.comb += [
self._diff(pads, "mosi{}".format(i), output=True).eq(d[-1])
]
bits = Signal(max=p.width + 1, reset_less=True)
self.submodules.fsm = fsm = CEInserter()(FSM("IDLE"))
self.comb += [
fsm.ce.eq(cnt_done)
]
fsm.act("IDLE",
self.done.eq(1),
cs_n.eq(1),
If(self.start,
cnt_next.eq(1),
NextState("SETUP")
)
)
fsm.act("SETUP",
cnt_next.eq(1),
If(bits == 0,
NextState("IDLE")
).Else(
NextState("HOLD")
)
)
fsm.act("HOLD",
cnt_next.eq(1),
clk.eq(1),
NextState("SETUP")
)
self.sync += [
If(fsm.ce,
If(fsm.before_leaving("HOLD"),
bits.eq(bits - 1),
[d[1:].eq(d) for d in self.data]
),
If(fsm.ongoing("IDLE"),
bits.eq(p.width)
)
)
]

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artiq/gateware/suservo/tools.py Normal file
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from migen import *
from migen.genlib import io
class DiffMixin:
def _diff(self, pads, name, output=False):
"""Retrieve the single-ended ``Signal()`` ``name`` from
``pads`` and in its absence retrieve the differential signal with the
pin pairs ``name_p`` and ``name_n``. Do so as an output if ``output``,
otherwise make a differential input."""
if hasattr(pads, name):
return getattr(pads, name)
sig = Signal()
p, n = (getattr(pads, name + "_" + s) for s in "pn")
if output:
self.specials += io.DifferentialOutput(sig, p, n)
else:
self.specials += io.DifferentialInput(p, n, sig)
return sig