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pdq2: merge from main pdq2 repo
This commit is contained in:
parent
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@ -1,324 +1,264 @@
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# Based on code by Robert Jordens <jordens@gmail.com>, 2012
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# Robert Jordens <jordens@gmail.com>, 2012-2015
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import logging
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import struct
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import warnings
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from scipy import interpolate
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import numpy as np
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from scipy import interpolate
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import serial
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logger = logging.getLogger(__name__)
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logger = logging.getLogger("pdq2")
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class Segment:
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def __init__(self):
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self.data = b""
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Ftdi = None
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def line(self, typ, dt, data, trigger=False, silence=False,
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aux=False, shift=0, end=False, clear=False, wait=False):
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assert len(data) % 2 == 0, data
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assert len(data)//2 <= 14
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#assert dt*(1 << shift) > 1 + len(data)//2
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head = (
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1 + len(data)//2 | (typ << 4) | (trigger << 6) | (silence << 7) |
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(aux << 8) | (shift << 9) | (end << 13) | (clear << 14) |
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(wait << 15)
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)
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self.data += struct.pack("<HH", head, dt) + data
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@staticmethod
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def pack(widths, values):
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fmt = "<"
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ud = []
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for width, value in zip(widths, values):
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if width == 3:
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ud.append(value & 0xffff)
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fmt += "H"
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value >>= 16
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width -= 1
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ud.append(value)
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fmt += " hi"[width]
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try:
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return struct.pack(fmt, *ud)
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except struct.error as e:
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logger.error("%s as %s: %s", ud, fmt, e)
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raise e
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def lines(self, typ, dt, widths, v, first={}, mid={}, last={}, shift=0):
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n = len(dt) - 1
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dt = dt.astype(np.uint16)
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v = v.astype(np.int64)
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for i, (dti, vi) in enumerate(zip(dt, v)):
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opts = mid
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if i == 0:
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opts = first
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elif i == n:
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opts = last
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data = self.pack(widths, vi)
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self.line(typ, dti, data, shift=shift, **opts)
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@staticmethod
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def interpolate(t, v, order, t_eval, widths=None):
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"""Spline interpolating derivatives for t,v.
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The returned spline coefficients are one shorter than t
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"""
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if order == 0:
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return np.rint(v[:, None])
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# FIXME: does not ensure that interpolates do not clip
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s = interpolate.splrep(t, v, k=order)
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# FIXME: needs k knots outside t_eval
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# dv = np.array(interpolate.spalde(t_eval, s))
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dv = np.array([interpolate.splev(t_eval, s, der=i, ext=0)
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for i in range(order + 1)]).T
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# correct for adder chain latency
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if order > 1:
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dv[:, 1] += dv[:, 2]/2
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if order > 2:
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dv[:, 1] += dv[:, 3]/6
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dv[:, 2] += dv[:, 3]
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if widths is not None:
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dv *= 1 << 16*widths
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return np.rint(dv)
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def line_times(self, t, tr=None):
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if tr is None:
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tr = np.rint(t)
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if len(tr) == 1:
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return None, np.array([1])
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dt = np.diff(tr)
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assert np.all(dt >= 0)
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assert np.all(dt < (1 << 16))
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return tr[:-1], dt
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def dac(self, t, v, first={}, mid={}, last={},
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shift=0, tr=None, order=3, stop=True):
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widths = np.array([1, 2, 3, 3])
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tr, dt = self.line_times(t, tr)
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dv = self.interpolate(t, v, order, tr, widths[:order + 1] - 1)
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self.lines(0, dt, widths, dv, first, mid, mid if stop else last, shift)
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if stop:
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self.line(0, 2, self.pack([1], [int(round(v[-1]))]), **last)
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def dds(self, t, v, p=None, f=None, first={}, mid={}, last={},
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shift=0, tr=None, order=3, stop=True):
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widths = np.array([1, 2, 3, 3, 1, 2, 2])
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tr, dt = self.line_times(t, tr)
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dv = self.interpolate(t, v, order, tr, widths[:order + 1] - 1)
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if p is not None:
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assert order == 3
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dp = self.interpolate(t, p, 1, tr)[:, :1]
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dv = np.concatenate((dv, dp), axis=1)
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if f is not None:
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df = self.interpolate(t, f, 1, tr, widths[-2:] - 1)
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dv = np.concatenate((dv, df), axis=1)
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self.lines(1, dt, widths, dv, first, mid, mid if stop else last, shift)
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if stop:
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dv = [int(round(v[-1])), 0, 0, 0]
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if p is not None:
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dv.append(int(round(p[-1])))
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if f is not None:
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dv.append(int(round(f[-1])))
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self.line(1, 2, self.pack(widths, dv), **last)
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try:
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import pylibftdi
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class Channel:
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max_data = 4*(1 << 10) # 8kx16 8kx16 4kx16
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num_frames = 8
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max_val = 1 << 15 # int16 bit DAC
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max_time = 1 << 16 # uint16 bit timer
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cordic_gain = 1.
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for i in range(16):
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cordic_gain *= np.sqrt(1 + 2**(-2*i))
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max_out = 10.
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freq = 50e6 # samples/s
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class PyFtdi:
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def __init__(self, serial=None):
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self.dev = pylibftdi.Device(device_id=serial)
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def __init__(self):
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self.segments = []
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def write(self, data):
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written = self.dev.write(data)
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if written < 0:
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raise pylibftdi.FtdiError(written,
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self.dev.get_error_string())
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return written
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def clear(self):
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del self.segments[:]
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def close(self):
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self.dev.close()
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del self.dev
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def new_segment(self):
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# assert len(self.segments) < self.num_frames
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segment = Segment()
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self.segments.append(segment)
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return segment
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Ftdi = PyFtdi
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except ImportError:
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pass
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def segment(self, t, v, p=None, f=None,
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order=3, aux=False, shift=0, trigger=True, end=True,
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silence=False, stop=True, clear=True, wait=False):
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segment = self.new_segment()
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t = t*(self.freq/2**shift)
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v = np.clip(v/self.max_out, -1, 1)
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order = min(order, len(t) - 1)
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first = dict(trigger=trigger, clear=clear, aux=aux)
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mid = dict(aux=aux)
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last = dict(silence=silence, end=end, wait=wait, aux=aux)
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if p is None:
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v = v*self.max_val
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segment.dac(t, v, first, mid, last, shift=shift, order=order,
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stop=stop)
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else:
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v = v*(self.max_val/self.cordic_gain)
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p = p*(self.max_val/np.pi)
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if f is not None:
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f = f*(self.max_val/self.freq)
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segment.dds(t, v, p, f, first, mid, last, shift=shift,
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order=order, stop=stop)
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return segment
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def place(self):
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addr = self.num_frames
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for segment in self.segments:
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segment.addr = addr
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addr += len(segment.data)//2
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assert addr <= self.max_data, addr
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return addr
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try:
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import ftd2xx
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def table(self, entry=None):
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table = [0] * self.num_frames
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if entry is None:
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entry = self.segments
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for i, frame in enumerate(entry):
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if frame is not None:
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table[i] = frame.addr
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return struct.pack("<" + "H"*self.num_frames, *table)
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class D2xxFtdi:
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def __init__(self, serial=None):
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if serial is not None:
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self.dev = ftd2xx.openEx(serial)
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else:
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self.dev = ftd2xx.open()
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self.dev.setTimeouts(read=5000, write=5000)
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def write(self, data):
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written = self.dev.write(str(data))
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return written
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def close(self):
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self.dev.close()
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del self.dev
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Ftdi = D2xxFtdi
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except ImportError:
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pass
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if Ftdi is None:
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class FileFtdi:
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def __init__(self, serial="unknown"):
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self.fil = open("pdq_%s_ftdi.bin" % serial, "wb")
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def write(self, data):
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self.fil.write(data)
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return len(data)
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def close(self):
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self.fil.close()
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del self.fil
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logger.warning("no ftdi library found. writing to files")
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Ftdi = FileFtdi
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def serialize(self, entry=None):
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self.place()
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data = b"".join([segment.data for segment in self.segments])
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return self.table(entry) + data
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class Pdq2:
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"""
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PDQ DAC (a.k.a. QC_Waveform)
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"""
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num_dacs = 3
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num_boards = 3
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num_channels = num_dacs*num_boards
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commands = {
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"RESET_EN": b"\x00",
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"RESET_DIS": b"\x01",
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"TRIGGER_EN": b"\x02",
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"TRIGGER_DIS": b"\x03",
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"ARM_EN": b"\x04",
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"ARM_DIS": b"\x05",
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"DCM_EN": b"\x06",
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"DCM_DIS": b"\x07",
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"START_EN": b"\x08",
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"START_DIS": b"\x09",
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}
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_escape = b"\xa5"
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_commands = "RESET TRIGGER ARM DCM START".split()
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def __init__(self, serial=None):
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self.serial = serial
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self.dev = Ftdi(serial)
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def __init__(self, url=None, dev=None):
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if dev is None:
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dev = serial.serial_for_url(url)
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self.dev = dev
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self.channels = [Channel() for i in range(self.num_channels)]
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self.set_freq()
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def init(self):
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self.max_val = 1 << 15 # signed 16 bit DAC
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self.max_out = 10.
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self.freq = 50e6 # samples/s
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self.max_time = 1 << 16 # unsigned 16 bit timer
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self.num_dacs = 3
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self.num_frames = 8
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self.num_channels = 9
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self.max_data = 4*(1 << 10) # 8kx16 8kx16 4kx16
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self.escape_char = b"\xa5"
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self.cordic_gain = 1.
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for i in range(16):
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self.cordic_gain *= np.sqrt(1 + 2**(-2*i))
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def set_freq(self, f=50e6):
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for c in self.channels:
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c.freq = f
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def close(self):
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self.dev.close()
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del self.dev
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def set_freq(self, f):
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self.freq = f
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def write(self, data):
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logger.debug("> %r", data)
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written = self.dev.write(data)
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if isinstance(written, int):
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assert written == len(data)
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def get_freq(self):
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return self.freq
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def cmd(self, cmd, enable):
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cmd = self._commands.index(cmd) << 1
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if not enable:
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cmd |= 1
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self.write(struct.pack("cb", self._escape, cmd))
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def get_num_channels(self):
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return self.num_channels
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def get_num_frames(self):
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return self.num_frames
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def get_max_out(self):
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return self.max_out
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def _cmd(self, cmd):
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return self.escape_char + self.commands[cmd]
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def _escape(self, data):
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return data.replace(self.escape_char,
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self.escape_char + self.escape_char)
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def _write(self, *segments):
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"""
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writes data segments to device
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"""
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for segment in segments:
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written = self.dev.write(segment)
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if written != len(segment):
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raise IOError("wrote %i of %i" % (written, len(segment)))
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def flush_escape(self):
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self._write(b"\x00")
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def write_cmd(self, cmd):
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return self._write(self._cmd(cmd))
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def _write_data(self, *segments):
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return self._write(*(self._escape(seg) for seg in segments))
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def _line_times(self, t, shift=0):
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scale = self.freq/2**shift
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t = t*scale
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tr = np.rint(t)
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dt = np.diff(tr)
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return t, tr, dt
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def _interpolate(self, t, v, order, shift=0, tr=None):
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"""
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calculate spline interpolation derivatives for data
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according to interpolation order
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also differentiates times (implicitly shifts to 0) and removes
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the last value (irrelevant since the frame ends here)
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"""
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if order == 0:
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return [v[:-1]]
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spline = interpolate.splrep(t, v, k=order)
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if tr is None:
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tr = t
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dv = [interpolate.splev(tr[:-1], spline, der=i)
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for i in range(order + 1)]
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# correct for adder chain latency
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correction_map = [
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(1, -1/2., 2),
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(1, -1/6., 3),
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(2, -1., 3),
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]
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for i, c, j in correction_map:
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if j >= len(dv):
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break
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dv[i] -= c*dv[j]
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return dv
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def _pack_frame(self, *parts_dtypes):
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frame = []
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for part, dtype in parts_dtypes:
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if dtype == "i6":
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part = part.astype("<i8")
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frame.append(part.astype("<i4"))
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frame.append((part >> 32).astype("<i2"))
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else:
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frame.append(part.astype("<" + dtype))
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frame = np.rec.fromarrays(frame) # interleave
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logger.debug("frame %s dtype %s shape %s length %s",
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frame, frame.dtype, frame.shape, len(bytes(frame.data)))
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return bytes(frame.data)
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def _frame(self, t, v, p=None, f=None,
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order=3, aux=None, shift=0, trigger=True, end=True,
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silence=False, stop=True, clear=True, wait=False):
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"""
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serialize frame data
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voltages in volts, times in seconds
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"""
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words = [1, 2, 3, 3, 1, 2, 2]
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n = order + 1
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if f is not None:
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n += 2
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if p is None:
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p = np.zeros_like(f)
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if p is not None:
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n += 1
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length = 1 + sum(words[:n])
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parts = []
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head = np.zeros(len(t) - 1, "<u2")
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head[:] |= length # 4
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if p is not None:
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head[:] |= 1 << 4 # typ # 2
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head[0] |= trigger << 6 # 1
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head[-1] |= (not stop and silence) << 7 # 1
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if aux is not None:
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head[:] |= aux[:len(head)] << 8 # 1
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head[:] |= shift << 9 # 4
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head[-1] |= (not stop and end) << 13 # 1
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head[0] |= clear << 14 # 1
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head[-1] |= (not stop and wait) << 15 # 1
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parts.append((head, "u2"))
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t, tr, dt = self._line_times(t, shift)
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assert np.all(dt*2**shift > 1 + length), (dt, length)
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assert np.all(dt < self.max_time), dt
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parts.append((dt, "u2"))
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v = np.clip(v/self.max_out, -1, 1)
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if p is not None:
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v /= self.cordic_gain
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for dv, w in zip(self._interpolate(t, v, order, shift, tr), words):
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parts.append((np.rint(dv*(2**(16*w - 1))), "i%i" % (2*w)))
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if p is not None:
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p = p/(2*np.pi)
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for dv, w in zip(self._interpolate(t, p, 0, shift, tr), [1]):
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parts.append((np.rint(dv*(2**(16*w))), "u%i" % (2*w)))
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if f is not None:
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f = f/self.freq
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for dv, w in zip(self._interpolate(t, f, 1, shift, tr), [2, 2]):
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parts.append((np.rint(dv*(2**(16*w))), "i%i" % (2*w)))
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frame = self._pack_frame(*parts)
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if stop:
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if p is not None:
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frame += struct.pack("<HH hiihih H ii", (15 << 0) | (1 << 4) |
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(silence << 7) |
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(end << 13) |
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(wait << 15),
|
||||
1, int(v[-1]*2**15), 0, 0, 0, 0, 0,
|
||||
int(p[-1]*2**16), int(f[-1]*2**31), 0)
|
||||
else:
|
||||
frame += struct.pack("<HH h", (2 << 0) | (silence << 7) |
|
||||
(end << 13) | (wait << 15),
|
||||
1, int(v[-1]*2**15))
|
||||
return frame
|
||||
|
||||
def _line(self, dt, v=(), a=(), p=(), f=(), typ=0,
|
||||
silence=False, end=False, trigger=False, aux=False,
|
||||
clear=False):
|
||||
raise NotImplementedError
|
||||
fmt = "<HH"
|
||||
parts = [0, int(round(dt*self.freq))]
|
||||
for vi, wi in zip(v, [1, 2, 3, 3]):
|
||||
vi = int(round(vi*(2**(16*wi - 1))))
|
||||
if wi == 3:
|
||||
fmt += "Ih"
|
||||
parts += [vi & 0xffffffff, vi >> 32]
|
||||
else:
|
||||
fmt += "bih"[wi]
|
||||
parts += [vi]
|
||||
if p is not None:
|
||||
typ = 1
|
||||
|
||||
def _map_frames(self, frames, map=None):
|
||||
table = []
|
||||
adr = self.num_frames
|
||||
for frame in frames:
|
||||
table.append(adr)
|
||||
adr += len(frame)//2
|
||||
assert adr <= self.max_data, adr
|
||||
t = []
|
||||
for i in range(self.num_frames):
|
||||
if map is not None and len(map) > i:
|
||||
i = map[i]
|
||||
if i is not None and len(table) > i:
|
||||
i = table[i]
|
||||
else:
|
||||
i = 0
|
||||
t.append(i)
|
||||
t = struct.pack("<" + "H"*self.num_frames, *t)
|
||||
return t + b"".join(frames)
|
||||
|
||||
def _add_mem_header(self, board, dac, data, adr=0):
|
||||
assert dac in range(self.num_dacs)
|
||||
head = struct.pack("<HHH", (board << 4) | dac,
|
||||
adr, adr + len(data)//2 - 1)
|
||||
return head + data
|
||||
|
||||
def multi_frame(self, times_voltages, channel, map=None, **kwargs):
|
||||
frames = [self._frame(t, v, **kwargs) for t, v in times_voltages]
|
||||
data = self._map_frames(frames, map)
|
||||
def write_mem(self, channel, data, start_addr=0):
|
||||
board, dac = divmod(channel, self.num_dacs)
|
||||
data = self._add_mem_header(board, dac, data)
|
||||
self._write_data(data)
|
||||
data = struct.pack("<HHH", (board << 4) | dac, start_addr,
|
||||
start_addr + len(data)//2 - 1) + data
|
||||
data = data.replace(self._escape, self._escape + self._escape)
|
||||
self.write(data)
|
||||
|
||||
def write_channel(self, channel, entry=None):
|
||||
self.write_mem(self.channels.index(channel),
|
||||
channel.serialize(entry))
|
||||
|
||||
def write_all(self):
|
||||
for channel in self.channels:
|
||||
self.write_mem(self.channels.index(channel),
|
||||
channel.serialize())
|
||||
|
||||
def write_table(self, channel, segments=None):
|
||||
# no segment placement
|
||||
# no segment writing
|
||||
self.write_mem(channel, self.channels[channel].table(segments))
|
||||
|
||||
def write_segment(self, channel, segment):
|
||||
# no collision check
|
||||
s = self.channels[channel].segments[segment]
|
||||
self.write_mem(channel, s.data, s.adr)
|
||||
|
||||
def multi_segment(self, times_voltages, channel, map=None, **kwargs):
|
||||
warnings.warn("deprecated", DeprecationWarning)
|
||||
c = self.channels[channel]
|
||||
del c.segments[:]
|
||||
for t, v in times_voltages:
|
||||
c.segment(t, v, **kwargs)
|
||||
return c.serialize(map)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user