M-Labs/artiq
2
0
Fork 2
mirror of https://github.com/m-labs/artiq.git synced 2024-12-21 09:26:29 +08:00
Code Issues Projects Releases Wiki Activity
bd61687e8f
artiq/experimental-features/suservo_coherent_after_var.diff

1814 lines
72 KiB
Diff
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

diff --git a/artiq/coredevice/ad9910.py b/artiq/coredevice/ad9910.py
index 801b689c..bc19afe2 100644
--- a/artiq/coredevice/ad9910.py
+++ b/artiq/coredevice/ad9910.py
@@ -277,6 +277,10 @@ class AD9910:
:param addr: Register address
"""
+ return self.read32_impl(addr)
+
+ @kernel
+ def read32_impl(self, addr):
self.bus.set_config_mu(urukul.SPI_CONFIG, 8,
urukul.SPIT_DDS_WR, self.chip_select)
self.bus.write((addr | 0x80) << 24)
@@ -981,7 +985,8 @@ class AD9910:
@kernel
def tune_sync_delay(self,
- search_seed: TInt32 = 15) -> TTuple([TInt32, TInt32]):
+ search_seed: TInt32 = 15,
+ cpld_channel_idx: TInt32 = -1) -> TTuple([TInt32, TInt32]):
"""Find a stable SYNC_IN delay.
This method first locates a valid SYNC_IN delay at zero validation
@@ -997,6 +1002,9 @@ class AD9910:
Defaults to 15 (half range).
:return: Tuple of optimal delay and window size.
"""
+ if cpld_channel_idx == -1:
+ cpld_channel_idx = self.chip_select - 4
+ assert 0 <= cpld_channel_idx < 4, "Invalid channel index"
if not self.cpld.sync_div:
raise ValueError("parent cpld does not drive SYNC")
search_span = 31
@@ -1019,7 +1027,7 @@ class AD9910:
delay(100 * us)
err = urukul_sta_smp_err(self.cpld.sta_read())
delay(100 * us) # slack
- if not (err >> (self.chip_select - 4)) & 1:
+ if not (err >> cpld_channel_idx) & 1:
next_seed = in_delay
break
if next_seed >= 0: # valid delay found, scan next window
diff --git a/artiq/coredevice/suservo.py b/artiq/coredevice/suservo.py
index a89cdcca..f7b516a4 100644
--- a/artiq/coredevice/suservo.py
+++ b/artiq/coredevice/suservo.py
@@ -1,9 +1,11 @@
from artiq.language.core import kernel, delay, delay_mu, portable
from artiq.language.units import us, ns
+from artiq.language import *
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 import urukul, sampler, ad9910
from math import ceil, log2
+from numpy import int32, int64
COEFF_WIDTH = 18 # Must match gateware IIRWidths.coeff
@@ -11,6 +13,7 @@ Y_FULL_SCALE_MU = (1 << (COEFF_WIDTH - 1)) - 1
T_CYCLE = (2*(8 + 64) + 2)*8*ns # Must match gateware Servo.t_cycle.
COEFF_SHIFT = 11 # Must match gateware IIRWidths.shift
PROFILE_WIDTH = 5 # Must match gateware IIRWidths.profile
+FINE_TS_WIDTH = 3 # Must match gateware IIRWidths.ioup_dly
@portable
@@ -39,7 +42,7 @@ class SUServo:
and a photodetector connected to Sampler.
Additionally SU Servo supports multiple preconfigured profiles per channel
- and features like automatic integrator hold.
+ and features like automatic integrator hold and coherent phase tracking.
Notes:
@@ -63,7 +66,8 @@ class SUServo:
"""
kernel_invariants = {"channel", "core", "pgia", "cplds", "ddses",
"ref_period_mu", "num_channels", "coeff_sel",
- "corrected_fs", "state_sel", "config_addr", "write_enable"}
+ "state_sel", "io_dly_addr", "config_addr",
+ "corrected_fs", "write_enable"}
def __init__(self, dmgr, channel, pgia_device,
cpld_devices, dds_devices,
@@ -86,6 +90,7 @@ class SUServo:
self.num_channels = 4 * len(dds_devices)
channel_width = ceil(log2(self.num_channels))
coeff_depth = PROFILE_WIDTH + channel_width + 3
+ self.io_dly_addr = 1 << (coeff_depth - 2)
self.state_sel = 2 << (coeff_depth - 2)
self.config_addr = 3 << (coeff_depth - 2)
self.coeff_sel = 1 << coeff_depth
@@ -119,8 +124,20 @@ class SUServo:
prev_cpld_cfg = cpld.cfg_reg
cpld.cfg_write(prev_cpld_cfg | (0xf << urukul.CFG_MASK_NU))
dds.init(blind=True)
+
+ if dds.sync_data.sync_delay_seed != -1:
+ for channel_idx in range(4):
+ mask_nu_this = 1 << (urukul.CFG_MASK_NU + channel_idx)
+ cpld.cfg_write(prev_cpld_cfg | mask_nu_this)
+ delay(8 * us)
+ dds.tune_sync_delay(dds.sync_data.sync_delay_seed,
+ cpld_channel_idx=channel_idx)
+ delay(50 * us)
cpld.cfg_write(prev_cpld_cfg)
+ self.set_io_update_delays(
+ [dds.sync_data.io_update_delay for dds in self.ddses])
+
@kernel
def write(self, addr, value):
"""Write to servo memory.
@@ -245,6 +262,18 @@ class SUServo:
gain = (self.gains >> (channel*2)) & 0b11
return adc_mu_to_volts(val, gain, self.corrected_fs)
+ @kernel
+ def set_io_update_delays(self, dlys):
+ """Set IO_UPDATE pulse alignment delays.
+
+ :param dlys: List of delays for each Urukul
+ """
+ bits = 0
+ mask_fine_ts = (1 << FINE_TS_WIDTH) - 1
+ for i in range(len(dlys)):
+ bits |= (dlys[i] & mask_fine_ts) << (FINE_TS_WIDTH * i)
+ self.write(self.io_dly_addr, bits)
+
class Channel:
"""Sampler-Urukul Servo channel
@@ -265,7 +294,7 @@ class Channel:
return [(channel, None)]
@kernel
- def set(self, en_out, en_iir=0, profile=0):
+ def set(self, en_out, en_iir=0, profile=0, en_pt=0):
"""Operate channel.
This method does not advance the timeline. Output RF switch setting
@@ -279,9 +308,26 @@ class Channel:
:param en_out: RF switch enable
:param en_iir: IIR updates enable
:param profile: Active profile (0-31)
+ :param en_pt: Coherent phase tracking enable
+ * en_pt=1: "coherent phase mode"
+ * en_pt=0: "continuous phase mode"
+ (see :func:`artiq.coredevice.ad9910.AD9910.set_phase_mode` for a
+ definition of the phase modes)
"""
rtio_output(self.channel << 8,
- en_out | (en_iir << 1) | (profile << 2))
+ en_out | (en_iir << 1) | (en_pt << 2) | (profile << 3))
+
+ @kernel
+ def set_reference_time(self):
+ """Set reference time for "coherent phase mode" (see :meth:`set`).
+
+ This method does not advance the timeline.
+ With en_pt=1 (see :meth:`set`), the tracked DDS output phase of
+ this channel will refer to the current timeline position.
+
+ """
+ fine_ts = now_mu() & ((1 << FINE_TS_WIDTH) - 1)
+ rtio_output(self.channel << 8 | 1, self.dds.sysclk_per_mu * fine_ts)
@kernel
def set_dds_mu(self, profile, ftw, offs, pow_=0):
@@ -592,3 +638,217 @@ class Channel:
raise ValueError("Invalid SUServo y-value!")
self.set_y_mu(profile, y_mu)
return y_mu
+
+
+class CPLD(urukul.CPLD):
+ """
+ This module contains a subclass of the Urukul driver class in artiq.coredevice
+ adapted to use CPLD read-back via half-duplex SPI. Only the 8 LSBs can be read
+ back as the read-back buffer on the CPLD is 8 bits wide.
+ """
+
+ def __init__(self, dmgr, spi_device, io_update_device=None,
+ **kwargs):
+ # Separate IO_UPDATE TTL output device used by SUServo core,
+ # if active, else by artiq.coredevice.suservo.AD9910
+ # :meth:`measure_io_update_alignment`.
+ # The urukul.CPLD driver utilises the CPLD CFG register
+ # option instead for pulsing IO_UPDATE of masked DDSs.
+ self.io_update_ttl = dmgr.get(io_update_device)
+ urukul.CPLD.__init__(self, dmgr, spi_device, **kwargs)
+
+ @kernel
+ def enable_readback(self):
+ """
+ This method sets the RB_EN flag in the Urukul CPLD configuration
+ register. Once set, the CPLD expects an alternating sequence of
+ two SPI transactions:
+
+ * 1: Any transaction. If returning data, the 8 LSBs
+ of that will be stored in the CPLD.
+
+ * 2: One read transaction in half-duplex SPI mode shifting
+ out data from the CPLD over MOSI (use :meth:`readback`).
+
+ To end this protocol, call :meth:`disable_readback` during step 1.
+ """
+ self.cfg_write(self.cfg_reg | (1 << urukul.CFG_RB_EN))
+
+ @kernel
+ def disable_readback(self):
+ """
+ This method clears the RB_EN flag in the Urukul CPLD configuration
+ register. This marks the end of the readback protocol (see
+ :meth:`enable_readback`).
+ """
+ self.cfg_write(self.cfg_reg & ~(1 << urukul.CFG_RB_EN))
+
+ @kernel
+ def sta_read(self, full=False):
+ """
+ Read from status register
+
+ :param full: retrieve status register by concatenating data from
+ several readback transactions.
+ """
+ self.enable_readback()
+ self.sta_read_impl()
+ delay(16 * us) # slack
+ r = self.readback() << urukul.STA_RF_SW
+ delay(16 * us) # slack
+ if full:
+ self.enable_readback() # dummy write
+ r |= self.readback(urukul.CS_RB_PLL_LOCK) << urukul.STA_PLL_LOCK
+ delay(16 * us) # slack
+ self.enable_readback() # dummy write
+ r |= self.readback(urukul.CS_RB_PROTO_REV) << urukul.STA_PROTO_REV
+ delay(16 * us) # slack
+ self.disable_readback()
+ return r
+
+ @kernel
+ def proto_rev_read(self):
+ """Read 8 LSBs of proto_rev"""
+ self.enable_readback()
+ self.enable_readback() # dummy write
+ r = self.readback(urukul.CS_RB_PROTO_REV)
+ self.disable_readback()
+ return r
+
+ @kernel
+ def pll_lock_read(self):
+ """Read PLL lock status"""
+ self.enable_readback()
+ self.enable_readback() # dummy write
+ r = self.readback(urukul.CS_RB_PLL_LOCK)
+ self.disable_readback()
+ return r & 0xf
+
+ @kernel
+ def get_att_mu(self):
+ # Different behaviour to urukul.CPLD.get_att_mu: Here, the
+ # latch enable of the attenuators activates 31.5dB
+ # attenuation during the transactions.
+ att_reg = int32(0)
+ self.enable_readback()
+ for i in range(4):
+ self.core.break_realtime()
+ self.bus.set_config_mu(urukul.SPI_CONFIG | spi.SPI_END, 8,
+ urukul.SPIT_ATT_RD, urukul.CS_ATT)
+ self.bus.write(0) # shift in zeros, shift out next 8 bits
+ r = self.readback() & 0xff
+ att_reg |= r << (8 * i)
+
+ delay(16 * us) # slack
+ self.disable_readback()
+
+ self.att_reg = int32(att_reg)
+ delay(8 * us) # slack
+ self.set_all_att_mu(self.att_reg) # shift and latch current value again
+ return self.att_reg
+
+ @kernel
+ def readback(self, cs=urukul.CS_RB_LSBS):
+ """Read from the readback register in half-duplex SPI mode
+ See :meth:`enable_readback` for usage instructions.
+
+ :param cs: Select data to be returned from the readback register.
+ - urukul.CS_RB_LSBS does not modify the readback register upon readback
+ - urukul.CS_RB_PROTO_REV loads the 8 LSBs of proto_rev
+ - urukul.CS_PLL_LOCK loads the PLL lock status bits concatenated with the
+ IFC mode bits
+ :return: CPLD readback register.
+ """
+ self.bus.set_config_mu(
+ urukul.SPI_CONFIG | spi.SPI_END | spi.SPI_INPUT | spi.SPI_HALF_DUPLEX,
+ 8, urukul.SPIT_CFG_RD, cs)
+ self.bus.write(0)
+ return int32(self.bus.read())
+
+
+class AD9910(ad9910.AD9910):
+ """
+ This module contains a subclass of the AD9910 driver class in artiq.coredevice
+ using CPLD read-back via half-duplex SPI.
+ """
+
+ # Re-declare set of kernel invariants to avoid warning about non-existent
+ # `sw` attribute, as the AD9910 (instance) constructor writes to the
+ # class attributes.
+ kernel_invariants = {
+ "chip_select", "cpld", "core", "bus", "ftw_per_hz", "sysclk_per_mu"
+ }
+
+ @kernel
+ def read32(self, addr):
+ """ Read from a 32-bit register
+
+ This method returns only the 8 LSBs of the return value.
+ """
+ self.cpld.enable_readback()
+ self.read32_impl(addr)
+ delay(12 * us) # slack
+ r = self.cpld.readback()
+ delay(12 * us) # slack
+ self.cpld.disable_readback()
+ return r
+
+ @kernel
+ def read64(self, addr):
+ # 3-wire SPI transactions consisting of multiple transfers are not supported.
+ raise NotImplementedError
+
+ @kernel
+ def read_ram(self, data):
+ # 3-wire SPI transactions consisting of multiple transfers are not supported.
+ raise NotImplementedError
+
+ @kernel
+ def measure_io_update_alignment(self, delay_start, delay_stop):
+ """Use the digital ramp generator to locate the alignment between
+ IO_UPDATE and SYNC_CLK.
+
+ Refer to `artiq.coredevice.ad9910` :meth:`measure_io_update_alignment`.
+ In order that this method can operate the io_update_ttl also used by the SUServo
+ core, deactivate the servo before (see :meth:`set_config`).
+ """
+ # set up DRG
+ self.set_cfr1(drg_load_lrr=1, drg_autoclear=1)
+ # DRG -> FTW, DRG enable
+ self.set_cfr2(drg_enable=1)
+ # no limits
+ self.write64(ad9910._AD9910_REG_RAMP_LIMIT, -1, 0)
+ # DRCTL=0, dt=1 t_SYNC_CLK
+ self.write32(ad9910._AD9910_REG_RAMP_RATE, 0x00010000)
+ # dFTW = 1, (work around negative slope)
+ self.write64(ad9910._AD9910_REG_RAMP_STEP, -1, 0)
+ # un-mask DDS
+ cfg_masked = self.cpld.cfg_reg
+ self.cpld.cfg_write(cfg_masked & ~(0xf << urukul.CFG_MASK_NU))
+ delay(70 * us) # slack
+ # delay io_update after RTIO edge
+ t = now_mu() + 8 & ~7
+ at_mu(t + delay_start)
+ # assumes a maximum t_SYNC_CLK period
+ self.cpld.io_update_ttl.pulse(self.core.mu_to_seconds(16 - delay_start)) # realign
+ # re-mask DDS
+ self.cpld.cfg_write(cfg_masked)
+ delay(10 * us) # slack
+ # disable DRG autoclear and LRR on io_update
+ self.set_cfr1()
+ delay(10 * us) # slack
+ # stop DRG
+ self.write64(ad9910._AD9910_REG_RAMP_STEP, 0, 0)
+ delay(10 * us) # slack
+ # un-mask DDS
+ self.cpld.cfg_write(cfg_masked & ~(0xf << urukul.CFG_MASK_NU))
+ at_mu(t + 0x20000 + delay_stop)
+ self.cpld.io_update_ttl.pulse_mu(16 - delay_stop) # realign
+ # re-mask DDS
+ self.cpld.cfg_write(cfg_masked)
+ ftw = self.read32(ad9910._AD9910_REG_FTW) # read out effective FTW
+ delay(100 * us) # slack
+ # disable DRG
+ self.set_cfr2(drg_enable=0)
+ self.cpld.io_update.pulse_mu(16)
+ return ftw & 1
diff --git a/artiq/coredevice/urukul.py b/artiq/coredevice/urukul.py
index 2fd66bd6..61fd4762 100644
--- a/artiq/coredevice/urukul.py
+++ b/artiq/coredevice/urukul.py
@@ -24,6 +24,7 @@ SPIT_DDS_RD = 16
CFG_RF_SW = 0
CFG_LED = 4
CFG_PROFILE = 8
+CFG_RB_EN = 11
CFG_IO_UPDATE = 12
CFG_MASK_NU = 13
CFG_CLK_SEL0 = 17
@@ -51,18 +52,23 @@ CS_DDS_CH0 = 4
CS_DDS_CH1 = 5
CS_DDS_CH2 = 6
CS_DDS_CH3 = 7
+# chip selects for readback
+CS_RB_PROTO_REV = 1
+CS_RB_PLL_LOCK = 2
+CS_RB_LSBS = 3
# Default profile
DEFAULT_PROFILE = 7
@portable
-def urukul_cfg(rf_sw, led, profile, io_update, mask_nu,
+def urukul_cfg(rf_sw, led, profile, rb_en, io_update, mask_nu,
clk_sel, sync_sel, rst, io_rst, clk_div):
"""Build Urukul CPLD configuration register"""
return ((rf_sw << CFG_RF_SW) |
(led << CFG_LED) |
(profile << CFG_PROFILE) |
+ (rb_en << CFG_RB_EN) |
(io_update << CFG_IO_UPDATE) |
(mask_nu << CFG_MASK_NU) |
((clk_sel & 0x01) << CFG_CLK_SEL0) |
@@ -191,7 +197,7 @@ class CPLD:
assert sync_div is None
sync_div = 0
- self.cfg_reg = urukul_cfg(rf_sw=rf_sw, led=0, profile=DEFAULT_PROFILE,
+ self.cfg_reg = urukul_cfg(rf_sw=rf_sw, led=0, profile=DEFAULT_PROFILE, rb_en=0,
io_update=0, mask_nu=0, clk_sel=clk_sel,
sync_sel=sync_sel,
rst=0, io_rst=0, clk_div=clk_div)
@@ -226,6 +232,10 @@ class CPLD:
:return: The status register value.
"""
+ return self.sta_read_impl()
+
+ @kernel
+ def sta_read_impl(self):
self.bus.set_config_mu(SPI_CONFIG | spi.SPI_END | spi.SPI_INPUT, 24,
SPIT_CFG_RD, CS_CFG)
self.bus.write(self.cfg_reg << 8)
diff --git a/artiq/examples/kasli_suservo/device_db.py b/artiq/examples/kasli_suservo/device_db.py
index c52b82a9..8e9d8752 100644
--- a/artiq/examples/kasli_suservo/device_db.py
+++ b/artiq/examples/kasli_suservo/device_db.py
@@ -142,53 +142,66 @@ device_db = {
"arguments": {"channel": 15},
},
+ "ttl_urukul0_io_update": {
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLOut",
+ "arguments": {"channel": 16}
+ },
+ "ttl_urukul1_io_update": {
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLOut",
+ "arguments": {"channel": 17}
+ },
+
"suservo0_ch0": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 16, "servo_device": "suservo0"}
+ "arguments": {"channel": 18, "servo_device": "suservo0"}
},
"suservo0_ch1": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 17, "servo_device": "suservo0"}
+ "arguments": {"channel": 19, "servo_device": "suservo0"}
},
"suservo0_ch2": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 18, "servo_device": "suservo0"}
+ "arguments": {"channel": 20, "servo_device": "suservo0"}
},
"suservo0_ch3": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 19, "servo_device": "suservo0"}
+ "arguments": {"channel": 21, "servo_device": "suservo0"}
},
"suservo0_ch4": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 20, "servo_device": "suservo0"}
+ "arguments": {"channel": 22, "servo_device": "suservo0"}
},
"suservo0_ch5": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 21, "servo_device": "suservo0"}
+ "arguments": {"channel": 23, "servo_device": "suservo0"}
},
"suservo0_ch6": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 22, "servo_device": "suservo0"}
+ "arguments": {"channel": 24, "servo_device": "suservo0"}
},
"suservo0_ch7": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 23, "servo_device": "suservo0"}
+ "arguments": {"channel": 25, "servo_device": "suservo0"}
},
"suservo0": {
@@ -196,7 +209,7 @@ device_db = {
"module": "artiq.coredevice.suservo",
"class": "SUServo",
"arguments": {
- "channel": 24,
+ "channel": 26,
"pgia_device": "spi_sampler0_pgia",
"cpld_devices": ["urukul0_cpld", "urukul1_cpld"],
"dds_devices": ["urukul0_dds", "urukul1_dds"],
@@ -207,33 +220,37 @@ device_db = {
"type": "local",
"module": "artiq.coredevice.spi2",
"class": "SPIMaster",
- "arguments": {"channel": 25}
+ "arguments": {"channel": 27}
},
"spi_urukul0": {
"type": "local",
"module": "artiq.coredevice.spi2",
"class": "SPIMaster",
- "arguments": {"channel": 26}
+ "arguments": {"channel": 28}
},
"urukul0_cpld": {
"type": "local",
- "module": "artiq.coredevice.urukul",
+ "module": "artiq.coredevice.suservo",
"class": "CPLD",
"arguments": {
"spi_device": "spi_urukul0",
+ "io_update_device": "ttl_urukul0_io_update",
+ "sync_device": "clkgen_dds_sync_in",
"refclk": 100e6,
"clk_sel": 0
}
},
"urukul0_dds": {
"type": "local",
- "module": "artiq.coredevice.ad9910",
+ "module": "artiq.coredevice.suservo",
"class": "AD9910",
"arguments": {
"pll_n": 40,
"chip_select": 3,
"cpld_device": "urukul0_cpld",
+ "io_update_delay": 0,
+ "sync_delay_seed": -1,
}
},
@@ -241,26 +258,40 @@ device_db = {
"type": "local",
"module": "artiq.coredevice.spi2",
"class": "SPIMaster",
- "arguments": {"channel": 27}
+ "arguments": {"channel": 29}
},
"urukul1_cpld": {
"type": "local",
- "module": "artiq.coredevice.urukul",
+ "module": "artiq.coredevice.suservo",
"class": "CPLD",
"arguments": {
"spi_device": "spi_urukul1",
+ "io_update_device": "ttl_urukul1_io_update",
+ "sync_device": "clkgen_dds_sync_in",
"refclk": 100e6,
"clk_sel": 0
}
},
"urukul1_dds": {
"type": "local",
- "module": "artiq.coredevice.ad9910",
+ "module": "artiq.coredevice.suservo",
"class": "AD9910",
"arguments": {
"pll_n": 40,
"chip_select": 3,
"cpld_device": "urukul1_cpld",
+ "io_update_delay": 0,
+ "sync_delay_seed": -1,
+ }
+ },
+
+ "clkgen_dds_sync_in": {
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLClockGen",
+ "arguments": {
+ "channel": 30,
+ "acc_width": 4
}
},
diff --git a/artiq/frontend/artiq_ddb_template.py b/artiq/frontend/artiq_ddb_template.py
index 5459756f..75eaadcb 100755
--- a/artiq/frontend/artiq_ddb_template.py
+++ b/artiq/frontend/artiq_ddb_template.py
@@ -424,6 +424,16 @@ class PeripheralManager:
sampler_name = self.get_name("sampler")
urukul_names = [self.get_name("urukul") for _ in range(2)]
channel = count(0)
+ for urukul_name in urukul_names:
+ self.gen("""
+ device_db["ttl_{urukul_name}_io_update"] = {{
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLOut",
+ "arguments": {{"channel": 0x{ttl_channel:06x}}}
+ }}""",
+ urukul_name=urukul_name,
+ ttl_channel=rtio_offset+next(channel))
for i in range(8):
self.gen("""
device_db["{suservo_name}_ch{suservo_chn}"] = {{
@@ -472,17 +482,19 @@ class PeripheralManager:
}}
device_db["{urukul_name}_cpld"] = {{
"type": "local",
- "module": "artiq.coredevice.urukul",
+ "module": "artiq.coredevice.suservo",
"class": "CPLD",
"arguments": {{
"spi_device": "spi_{urukul_name}",
+ "io_update_device": "ttl_{urukul_name}_io_update",
+ "sync_device": "clkgen_{suservo_name}_dds_sync_in",
"refclk": {refclk},
"clk_sel": {clk_sel}
}}
}}
device_db["{urukul_name}_dds"] = {{
"type": "local",
- "module": "artiq.coredevice.ad9910",
+ "module": "artiq.coredevice.suservo",
"class": "AD9910",
"arguments": {{
"pll_n": {pll_n},
@@ -490,12 +502,25 @@ class PeripheralManager:
"cpld_device": "{urukul_name}_cpld"{pll_vco}
}}
}}""",
+ suservo_name=suservo_name,
urukul_name=urukul_name,
urukul_channel=rtio_offset+next(channel),
refclk=peripheral.get("refclk", self.master_description["rtio_frequency"]),
clk_sel=peripheral["clk_sel"],
pll_vco=",\n \"pll_vco\": {}".format(pll_vco) if pll_vco is not None else "",
pll_n=peripheral["pll_n"])
+ self.gen("""
+ device_db["clkgen_{suservo_name}_dds_sync_in"] = {{
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLClockGen",
+ "arguments": {{
+ "channel": 0x{clkgen_channel:06x},
+ "acc_width": 4
+ }}
+ }}""",
+ suservo_name=suservo_name,
+ clkgen_channel=rtio_offset+next(channel))
return next(channel)
def process_zotino(self, rtio_offset, peripheral):
diff --git a/artiq/gateware/eem.py b/artiq/gateware/eem.py
index ce00f94f..93d01c07 100644
--- a/artiq/gateware/eem.py
+++ b/artiq/gateware/eem.py
@@ -6,6 +6,7 @@ from artiq.gateware import rtio
from artiq.gateware.rtio.phy import spi2, ad53xx_monitor, dds, grabber
from artiq.gateware.suservo import servo, pads as servo_pads
from artiq.gateware.rtio.phy import servo as rtservo, fastino, phaser
+from artiq.gateware.rtio.phy import ttl_simple
def _eem_signal(i):
@@ -545,7 +546,8 @@ class SUServo(_EEM):
@classmethod
def add_std(cls, target, eems_sampler, eems_urukul,
t_rtt=4, clk=1, shift=11, profile=5,
- iostandard=default_iostandard):
+ sync_gen_cls=ttl_simple.ClockGen,
+ iostandard=default_iostandard, sysclk_per_clk=8):
"""Add a 8-channel Sampler-Urukul Servo
:param t_rtt: upper estimate for clock round-trip propagation time from
@@ -561,6 +563,8 @@ class SUServo(_EEM):
(default: 11)
:param profile: log2 of the number of profiles for each DDS channel
(default: 5)
+ :param sysclk_per_clk: DDS "sysclk" (4*refclk = 1GHz typ.) cycles per
+ FPGA "sys" clock (125MHz typ.) cycles (default: 8)
"""
cls.add_extension(
target, *(eems_sampler + sum(eems_urukul, [])),
@@ -572,6 +576,8 @@ class SUServo(_EEM):
urukul_pads = servo_pads.UrukulPads(
target.platform, *eem_urukul)
target.submodules += sampler_pads, urukul_pads
+ target.rtio_channels.extend(
+ rtio.Channel.from_phy(phy) for phy in urukul_pads.io_update_phys)
# timings in units of RTIO coarse period
adc_p = servo.ADCParams(width=16, channels=8, lanes=4, t_cnvh=4,
# account for SCK DDR to CONV latency
@@ -579,19 +585,20 @@ class SUServo(_EEM):
t_conv=57 - 4, t_rtt=t_rtt + 4)
iir_p = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14, word=16,
accu=48, shift=shift, profile=profile, dly=8)
- dds_p = servo.DDSParams(width=8 + 32 + 16 + 16,
- channels=4 * len(eem_urukul), clk=clk)
+ dds_p = servo.DDSParams(width=8 + 32 + 16 + 16, sysclk_per_clk=sysclk_per_clk,
+ channels=4*len(eem_urukul), clk=clk)
su = servo.Servo(sampler_pads, urukul_pads, adc_p, iir_p, dds_p)
su = ClockDomainsRenamer("rio_phy")(su)
# explicitly name the servo submodule to enable the migen namer to derive
# a name for the adc return clock domain
setattr(target.submodules, "suservo_eem{}".format(eems_sampler[0]), su)
- ctrls = [rtservo.RTServoCtrl(ctrl) for ctrl in su.iir.ctrl]
+ ctrls = [rtservo.RTServoCtrl(ctrl, ctrl_reftime)
+ for ctrl, ctrl_reftime in zip(su.iir.ctrl, su.iir.ctrl_reftime)]
target.submodules += ctrls
target.rtio_channels.extend(
rtio.Channel.from_phy(ctrl) for ctrl in ctrls)
- mem = rtservo.RTServoMem(iir_p, su)
+ mem = rtservo.RTServoMem(iir_p, su, urukul_pads.io_update_phys)
target.submodules += mem
target.rtio_channels.append(rtio.Channel.from_phy(mem, ififo_depth=4))
@@ -601,19 +608,20 @@ class SUServo(_EEM):
target.submodules += phy
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
- dds_sync = Signal(reset=0)
- for j, eem_urukuli in enumerate(eem_urukul):
- # connect quad-SPI
+ for eem_urukuli in eem_urukul:
spi_p, spi_n = (
target.platform.request("{}_spi_p".format(eem_urukuli)),
target.platform.request("{}_spi_n".format(eem_urukuli)))
phy = spi2.SPIMaster(spi_p, spi_n)
target.submodules += phy
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
- # connect `reset_sync_in`
- pads = target.platform.request("{}_dds_reset_sync_in".format(eem_urukuli))
- target.specials += DifferentialOutput(dds_sync, pads.p, pads.n)
- # connect RF switches
+
+ if sync_gen_cls is not None: # AD9910 variant and SYNC_IN from EEM
+ phy = sync_gen_cls(urukul_pads.dds_reset_sync_in, ftw_width=4)
+ target.submodules += phy
+ target.rtio_channels.append(rtio.Channel.from_phy(phy))
+
+ for j, eem_urukuli in enumerate(eem_urukul):
for i, signal in enumerate("sw0 sw1 sw2 sw3".split()):
pads = target.platform.request("{}_{}".format(eem_urukuli, signal))
target.specials += DifferentialOutput(
diff --git a/artiq/gateware/rtio/phy/servo.py b/artiq/gateware/rtio/phy/servo.py
index 379e7ba3..246208c8 100644
--- a/artiq/gateware/rtio/phy/servo.py
+++ b/artiq/gateware/rtio/phy/servo.py
@@ -1,25 +1,32 @@
from migen import *
-
from artiq.gateware.rtio import rtlink
class RTServoCtrl(Module):
"""Per channel RTIO control interface"""
- def __init__(self, ctrl):
+ def __init__(self, ctrl, ctrl_reftime):
self.rtlink = rtlink.Interface(
- rtlink.OInterface(len(ctrl.profile) + 2))
+ rtlink.OInterface(
+ data_width=max(len(ctrl.profile) + 3,
+ len(ctrl_reftime.sysclks_fine)),
+ address_width=1)
+ )
# # #
+ sel_ref = self.rtlink.o.address[0]
self.comb += [
- ctrl.stb.eq(self.rtlink.o.stb),
- self.rtlink.o.busy.eq(0)
+ ctrl.stb.eq(self.rtlink.o.stb & ~sel_ref),
+ self.rtlink.o.busy.eq(0),
+ ctrl_reftime.stb.eq(self.rtlink.o.stb & sel_ref),
]
+ ctrl_cases = {
+ 0: Cat(ctrl.en_out, ctrl.en_iir, ctrl.en_pt, ctrl.profile).eq(
+ self.rtlink.o.data),
+ 1: ctrl_reftime.sysclks_fine.eq(self.rtlink.o.data),
+ }
self.sync.rio_phy += [
- If(self.rtlink.o.stb,
- Cat(ctrl.en_out, ctrl.en_iir, ctrl.profile).eq(
- self.rtlink.o.data)
- )
+ If(self.rtlink.o.stb, Case(self.rtlink.o.address, ctrl_cases))
]
@@ -53,7 +60,7 @@ class RTServoMem(Module):
destination | sel | sel_coeff |
----------------|-------|--------------|
IIR coeff mem | - | 1 |
- Reserved | 1 | 0 |
+ DDS delay mem | 1 | 0 |
IIR state mem | 2 | 0 |
config (write) | 3 | 0 |
status (read) | 3 | 0 |
@@ -72,7 +79,7 @@ class RTServoMem(Module):
(instead of having to decide whether to sign- or zero-extend per address), as
all unsigned values are less wide than w.coeff.
"""
- def __init__(self, w, servo):
+ def __init__(self, w, servo, io_update_phys):
m_coeff = servo.iir.m_coeff.get_port(write_capable=True,
mode=READ_FIRST,
we_granularity=w.coeff, clock_domain="rio")
@@ -110,7 +117,7 @@ class RTServoMem(Module):
# # #
config = Signal(w.coeff, reset=0)
- status = Signal(8 + len(servo.iir.ctrl))
+ status = Signal(len(self.rtlink.i.data))
pad = Signal(6)
assert len(status) <= len(self.rtlink.i.data)
self.comb += [
@@ -124,7 +131,7 @@ class RTServoMem(Module):
1 + # sel_coeff
1 + # high_coeff
len(m_coeff.adr))
- # ensure that we can fit config/status into the state address space
+ # ensure that we can fit config/io_dly/status into the state address space
assert len(self.rtlink.o.address) + len(self.rtlink.o.data) - w.coeff >= (
1 + # we
1 + # sel_coeff
@@ -172,6 +179,11 @@ class RTServoMem(Module):
read_high.eq(high_coeff),
)
]
+
+ # I/O update alignment delays
+ ioup_dlys = Cat(*[phy.fine_ts for phy in io_update_phys])
+ assert w.coeff >= len(ioup_dlys)
+
self.sync.rio_phy += [
If(self.rtlink.o.stb & we & (sel == 3),
config.eq(self.rtlink.o.data)
@@ -179,11 +191,15 @@ class RTServoMem(Module):
If(read & (read_sel == 3),
[_.clip.eq(0) for _ in servo.iir.ctrl]
),
+ If(self.rtlink.o.stb & we & (sel == 1),
+ ioup_dlys.eq(self.rtlink.o.data)
+ ),
]
+
# read return value by destination
read_acts = Array([
Mux(read_high, m_coeff.dat_r[w.coeff:], m_coeff.dat_r[:w.coeff]),
- 0,
+ ioup_dlys,
m_state.dat_r[w.state - w.coeff:],
status
])
diff --git a/artiq/gateware/suservo/dds_ser.py b/artiq/gateware/suservo/dds_ser.py
index 38d1f6d9..cdccfcc9 100644
--- a/artiq/gateware/suservo/dds_ser.py
+++ b/artiq/gateware/suservo/dds_ser.py
@@ -1,4 +1,5 @@
import logging
+from collections import namedtuple
from migen import *
@@ -6,11 +7,11 @@ from artiq.coredevice.urukul import DEFAULT_PROFILE
from . import spi
-
logger = logging.getLogger(__name__)
-
-DDSParams = spi.SPIParams
+DDSParams = namedtuple("DDSParams", spi.SPIParams._fields + (
+ "sysclk_per_clk", # DDS_CLK per FPGA system clock
+))
class DDS(spi.SPISimple):
diff --git a/artiq/gateware/suservo/iir.py b/artiq/gateware/suservo/iir.py
index 6b975b75..3fad77a6 100644
--- a/artiq/gateware/suservo/iir.py
+++ b/artiq/gateware/suservo/iir.py
@@ -1,6 +1,7 @@
from collections import namedtuple
import logging
from migen import *
+from migen.genlib.coding import Encoder
logger = logging.getLogger(__name__)
@@ -98,14 +99,14 @@ class IIR(Module):
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.
+ The module is parametrized by passing a ``IIRWidths()`` object, and
+ two more objects which will be abbreviated W, W_O and W_I here.
- It reads 1 << W.channels input channels (typically from an ADC)
+ It reads W_I.channels input channels (typically from an ADC)
and on each iteration processes the data 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.
+ for a DDS) are presented at the W_O.channels outputs of the module.
Profile memory
==============
@@ -144,10 +145,10 @@ class IIR(Module):
-------------
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.
+ profiles of all channels in the lower half (1 << W.profile)*W_O.channels
+ addresses, and the pairs of old and new ADC input values X1, and X0,
+ in the upper half (W_I.channels addresses).
+ Each memory location is W.state bits wide.
Real-time control
=================
@@ -156,15 +157,16 @@ class IIR(Module):
* The active profile, PROFILE
* Whether to perform IIR filter iterations, EN_IIR
+ * Whether to track the DDS phase coherently, EN_PT
* 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:
+ The IIR filter iterations on a given channel are only performed if all of
+ the following are true:
- * PROFILE, EN_IIR, EN_OUT have not been updated in the within the
+ * PROFILE, EN_IIR, EN_OUT have not been updated within the
last DLY cycles
* EN_IIR is asserted
* EN_OUT is asserted
@@ -175,9 +177,8 @@ class IIR(Module):
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, dly=8)
+ IIRWidths(state=25, coeff=18, adc=16, asf=14,
+ word=16, accu=48, shift=11, profile=5, dly=8)
X0 = ADC * 2^(25 - 1 - 16)
X1 = X0 delayed by one cycle
@@ -212,13 +213,23 @@ class IIR(Module):
--/--: 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, w_i, w_o):
+ def __init__(self, w, w_i, w_o, t_cycle):
for v in (w, w_i, w_o):
for i, j in enumerate(v):
assert j > 0, (i, j, v)
assert w.word <= w.coeff # same memory
assert w.state + w.coeff + 3 <= w.accu
+ # Reference counter for coherent phase tracking (we assume this doesn't
+ # roll over – a good assumption, as the period is, for a typical clock
+ # frequency, 2^48 / 125 MHz = ~26 days).
+ self.t_running = Signal(48, reset_less=True)
+
+ # If true, internal DDS phase tracking state is reset, matching DDS
+ # chips with phase cleared (and zero FTW) before the start of the
+ # iteration. Automatically reset at the end of the iteration.
+ self.reset_dds_phase = Signal()
+
# m_coeff of active profiles should only be accessed externally during
# ~processing
self.specials.m_coeff = Memory(
@@ -235,9 +246,24 @@ class IIR(Module):
("profile", w.profile),
("en_out", 1),
("en_iir", 1),
+ ("en_pt", 1),
("clip", 1),
("stb", 1)])
for i in range(w_o.channels)]
+ # "Shadow copy" of phase accumulator in DDS accumulator for each output
+ # channel.
+ self.specials.m_accum_ftw = Memory(
+ width=2 * w.word,
+ depth=w_o.channels)
+ # ctrl_reftime should only be updated synchronously
+ self.ctrl_reftime = [Record([
+ ("sysclks_fine", bits_for(w_o.sysclk_per_clk - 1)),
+ ("stb", 1)])
+ for i in range(w_o.channels)]
+ # Reference time for each output channel.
+ self.specials.m_t_ref = Memory(
+ width=len(self.t_running),
+ depth=w_o.channels)
# only update during ~loading
self.adc = [Signal((w.adc, True), reset_less=True)
for i in range(w_i.channels)]
@@ -264,8 +290,15 @@ class IIR(Module):
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])
+ en_pts = Array([ch.en_pt for ch in self.ctrl])
clips = Array([ch.clip for ch in self.ctrl])
+ # Sample of the reference counter at the start of the current iteration,
+ # such that a common reference time is used for phase calculations
+ # across all channels, in DDS sysclk units.
+ sysclks_to_iter_start = Signal(
+ len(self.t_running) + bits_for(w_o.sysclk_per_clk - 1))
+
# Main state machine sequencing the steps of each servo iteration. The
# module IDLEs until self.start is asserted, and then runs through LOAD,
# PROCESS and SHIFT in order (see description of corresponding flags
@@ -292,6 +325,7 @@ class IIR(Module):
self.done.eq(1),
t_current_step_clr.eq(1),
If(self.start,
+ NextValue(sysclks_to_iter_start, self.t_running * w_o.sysclk_per_clk),
NextState("LOAD")
)
)
@@ -310,6 +344,7 @@ class IIR(Module):
If(stages_active == 0,
t_current_step_clr.eq(1),
NextState("SHIFT"),
+ NextValue(self.reset_dds_phase, 0)
)
)
fsm.act("SHIFT",
@@ -479,25 +514,81 @@ class IIR(Module):
}),
]
+ # Update coarse reference time from t_running upon ctrl_reftime strobe
+ ref_stb_encoder = Encoder(w_o.channels)
+ m_t_ref_stb = self.m_t_ref.get_port(write_capable=True)
+ self.specials += m_t_ref_stb
+ self.submodules += ref_stb_encoder
+ self.comb += [
+ ref_stb_encoder.i.eq(Cat([ch.stb for ch in self.ctrl_reftime])),
+ m_t_ref_stb.adr.eq(ref_stb_encoder.o),
+ m_t_ref_stb.we.eq(~ref_stb_encoder.n),
+ m_t_ref_stb.dat_w.eq(self.t_running),
+ ]
+
#
- # Update DDS profile with FTW/POW/ASF
- # Stage 0 loads the POW, stage 1 the FTW, and stage 2 writes
- # the ASF computed by the IIR filter.
+ # Update DDS profile with FTW/POW/ASF (including phase tracking, if
+ # enabled). Stage 0 loads the POW, stage 1 the FTW, and stage 2 writes
+ # the ASF computed by the IIR filter (and adds any phase correction).
#
# muxing
ddss = Array(self.dds)
+ sysclks_ref_fine = Array([ch.sysclks_fine for ch in self.ctrl_reftime])
+
+ # registered copy of FTW on channel[1]
+ current_ftw = Signal(2 * w.word, reset_less=True)
+ # target effective DDS phase (accumulator + POW) at the coming io_update
+ target_dds_phase = Signal.like(current_ftw)
+ # DDS-internal phase accumulated until the coming io_update
+ accum_dds_phase = Signal.like(current_ftw)
+ # correction to add to the bare POW to yield a phase-coherent DDS output
+ correcting_pow = Signal(w.word, reset_less=True)
+ # sum of all FTWs on channel[1], updated with current FTW during the
+ # calculation
+ accum_ftw = Signal.like(current_ftw)
+ # sum of previous FTWs on channel[1] (or 0 on phase coherence reference
+ # reset)
+ prev_accum_ftw = Signal.like(current_ftw)
+ # time since reference time at coming io_update in DDS sysclk units
+ sysclks_to_ref = Signal.like(sysclks_to_iter_start)
+ # t_ref in DDS sysclk units
+ sysclks_ref_to_iter_start = Signal.like(sysclks_to_iter_start)
+
+ m_t_ref = self.m_t_ref.get_port()
+ m_accum_ftw = self.m_accum_ftw.get_port(write_capable=True, mode=READ_FIRST)
+ self.specials += m_accum_ftw, m_t_ref
+ prev_accum_ftw = Signal.like(accum_ftw)
+ self.comb += [
+ prev_accum_ftw.eq(Mux(self.reset_dds_phase, 0, m_accum_ftw.dat_r)),
+ m_accum_ftw.adr.eq(channel[1]),
+ m_accum_ftw.we.eq((pipeline_phase == 3) & stages_active[1]),
+ m_accum_ftw.dat_w.eq(accum_ftw),
+ m_t_ref.adr.eq(channel[0]),
+ ]
+ sysclks_per_iter = t_cycle * w_o.sysclk_per_clk
self.sync += [
Case(pipeline_phase, {
0: [
If(stages_active[1],
ddss[channel[1]][:w.word].eq(m_coeff.dat_r), # ftw0
+ current_ftw[:w.word].eq(m_coeff.dat_r),
+ sysclks_ref_to_iter_start.eq(m_t_ref.dat_r * w_o.sysclk_per_clk),
+ ),
+ If(stages_active[2] & en_pts[channel[2]],
+ # add pow correction if phase tracking enabled
+ ddss[channel[2]][2*w.word:3*w.word].eq(
+ ddss[channel[2]][2*w.word:3*w.word] + correcting_pow),
),
],
1: [
If(stages_active[1],
ddss[channel[1]][w.word:2 * w.word].eq(m_coeff.dat_r), # ftw1
+ current_ftw[w.word:].eq(m_coeff.dat_r),
+ sysclks_to_ref.eq(sysclks_to_iter_start - (
+ sysclks_ref_to_iter_start + sysclks_ref_fine[channel[1]])),
+ accum_dds_phase.eq(prev_accum_ftw * sysclks_per_iter),
),
If(stages_active[2],
ddss[channel[2]][3*w.word:].eq( # asf
@@ -506,10 +597,21 @@ class IIR(Module):
],
2: [
If(stages_active[0],
- ddss[channel[0]][2*w.word:3*w.word].eq(m_coeff.dat_r), # pow
+ # Load bare POW from profile memory.
+ ddss[channel[0]][2*w.word:3*w.word].eq(m_coeff.dat_r),
+ ),
+ If(stages_active[1],
+ target_dds_phase.eq(current_ftw * sysclks_to_ref),
+ accum_ftw.eq(prev_accum_ftw + current_ftw),
),
],
3: [
+ If(stages_active[1],
+ # Prepare most-significant word to add to POW from
+ # profile for phase tracking.
+ correcting_pow.eq(
+ (target_dds_phase - accum_dds_phase)[w.word:]),
+ ),
],
}),
]
@@ -518,6 +620,15 @@ class IIR(Module):
self.widths = w
self.widths_adc = w_i
self.widths_dds = w_o
+ self.t_cycle = t_cycle
+ self._state = t_current_step
+ self._stages = stages_active
+ self._dt_start = sysclks_to_iter_start
+ self._sysclks_to_ref = sysclks_to_ref
+ self._sysclks_ref_to_iter_start = sysclks_ref_to_iter_start
+ self._sysclks_ref_fine = sysclks_ref_fine
+ self._ph_acc = accum_dds_phase
+ self._ph_coh = target_dds_phase
self._dlys = dlys
def _coeff(self, channel, profile, coeff):
@@ -598,6 +709,14 @@ class IIR(Module):
raise ValueError("no such state", coeff)
return signed(val, w.state)
+ def get_accum_ftw(self, channel):
+ val = yield self.m_accum_ftw[channel]
+ return val
+
+ def get_t_ref(self, channel):
+ val = yield self.m_t_ref[channel]
+ return val
+
def fast_iter(self):
"""Perform a single processing iteration."""
assert (yield self.done)
@@ -633,18 +752,26 @@ class IIR(Module):
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)
+ assert v_adc << (w.state - w.adc - 1) == x0, (hex(v_adc), hex(x0))
data = []
# predict output
for i in range(w_o.channels):
+ t0 = yield self._dt_start
+ dds_ftw_accu = yield from self.get_accum_ftw(i)
+ sysclks_ref = (yield from self.get_t_ref(i)) * self.widths_dds.sysclk_per_clk\
+ + (yield self.ctrl_reftime[i].sysclks_fine)
+ logger.debug("dt_start=%d dt_ref=%d t_cycle=%d ftw_accu=%#x",
+ t0, sysclks_ref, self.t_cycle, dds_ftw_accu)
+
j = yield self.ctrl[i].profile
en_iir = yield self.ctrl[i].en_iir
en_out = yield self.ctrl[i].en_out
+ en_pt = yield self.ctrl[i].en_pt
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)
+ logger.debug("ctrl[%d] profile=%d en_iir=%d en_out=%d en_pt=%d dly=%d",
+ i, j, en_iir, en_out, en_pt, dly_i)
cfg = yield from self.get_coeff(i, j, "cfg")
k_j = cfg & ((1 << bits_for(w_i.channels - 1)) - 1)
@@ -664,9 +791,13 @@ class IIR(Module):
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)
+ _pow = yield from self.get_coeff(i, j, "pow")
+ ph_coh = ((ftw0 | (ftw1 << w.word)) * (t0 - sysclks_ref))
+ ph_accu = dds_ftw_accu * self.t_cycle * self.widths_dds.sysclk_per_clk
+ ph = ph_coh - ph_accu
+ pow = (_pow + (ph >> w.word)) & 0xffff if en_pt else _pow
+ logger.debug("dds[%d,%d] ftw0=%#x ftw1=%#x ph_coh=%#x _pow=%#x pow=%#x",
+ i, j, ftw0, ftw1, ph_coh, _pow, pow)
y1 = yield from self.get_state(i, j, "y1")
x1 = yield from self.get_state(k_j, coeff="x1")
@@ -688,6 +819,10 @@ class IIR(Module):
# wait for output
assert (yield self.processing)
while (yield self.processing):
+ logger.debug("sysclks_to_ref=%d sysclks_ref_to_iter_start=%d",
+ (yield self._sysclks_to_ref),
+ (yield self._sysclks_ref_to_iter_start))
+ # logger.debug("%d %d %d %d", *[x for x in (yield self._sysclks_ref_fine)])
yield
assert (yield self.shifting)
diff --git a/artiq/gateware/suservo/pads.py b/artiq/gateware/suservo/pads.py
index 778f05d0..bdae8ee3 100644
--- a/artiq/gateware/suservo/pads.py
+++ b/artiq/gateware/suservo/pads.py
@@ -1,5 +1,7 @@
from migen import *
from migen.genlib.io import DifferentialOutput, DifferentialInput, DDROutput
+from artiq.gateware.rtio.phy import ttl_serdes_7series, ttl_serdes_generic
+from artiq.gateware.rtio import rtlink
class SamplerPads(Module):
@@ -57,20 +59,79 @@ class SamplerPads(Module):
clk=dp.clkout, port=sdop)
+class OutIoUpdate_8X(Module):
+ def __init__(self, pad):
+ serdes = ttl_serdes_7series._OSERDESE2_8X()
+ self.submodules += serdes
+
+ self.passthrough = Signal()
+ self.data = Signal()
+ self.fine_ts = Signal(3)
+
+ self.rtlink = rtlink.Interface(
+ rtlink.OInterface(1, fine_ts_width=3))
+ self.probes = [serdes.o[-1]]
+ override_en = Signal()
+ override_o = Signal()
+ self.overrides = [override_en, override_o]
+
+ # # #
+
+ self.specials += Instance("IOBUFDS",
+ i_I=serdes.ser_out,
+ i_T=serdes.t_out,
+ io_IO=pad.p,
+ io_IOB=pad.n)
+
+ # Just strobe always in non-passthrough mode, as self.data is supposed
+ # to be always valid.
+ self.submodules += ttl_serdes_generic._SerdesDriver(
+ serdes.o,
+ Mux(self.passthrough, self.rtlink.o.stb, 1),
+ Mux(self.passthrough, self.rtlink.o.data, self.data),
+ Mux(self.passthrough, self.rtlink.o.fine_ts, self.fine_ts),
+ override_en, override_o)
+
+ self.comb += self.rtlink.o.busy.eq(~self.passthrough)
+
+
class UrukulPads(Module):
def __init__(self, platform, *eems):
spip, spin = [[
platform.request("{}_qspi_{}".format(eem, pol), 0)
for eem in eems] for pol in "pn"]
- ioup = [platform.request("{}_io_update".format(eem), 0)
- for eem in eems]
+
self.cs_n = Signal()
self.clk = Signal()
self.io_update = Signal()
+ self.passthrough = Signal()
+ self.dds_reset_sync_in = Signal(reset=0) # sync_in phy (one for all)
+
+ # # #
+
+ self.io_update_phys = []
+ for eem in eems:
+ phy = OutIoUpdate_8X(platform.request("{}_io_update".format(eem), 0))
+ self.io_update_phys.append(phy)
+ setattr(self.submodules, "{}_io_update_phy".format(eem), phy)
+ self.comb += [
+ phy.data.eq(self.io_update),
+ phy.passthrough.eq(self.passthrough),
+ ]
+
+ sync_in_pads = platform.request("{}_dds_reset_sync_in".format(eem))
+ sync_in_r = Signal()
+ self.sync.rio_phy += sync_in_r.eq(self.dds_reset_sync_in)
+ sync_in_o = Signal()
+ self.specials += Instance("ODDR",
+ p_DDR_CLK_EDGE="SAME_EDGE",
+ i_C=ClockSignal("rio_phy"), i_CE=1, i_S=0, i_R=0,
+ i_D1=sync_in_r, i_D2=sync_in_r, o_Q=sync_in_o)
+ self.specials += DifferentialOutput(sync_in_o, sync_in_pads.p, sync_in_pads.n)
+
self.specials += [(
DifferentialOutput(~self.cs_n, spip[i].cs, spin[i].cs),
- DifferentialOutput(self.clk, spip[i].clk, spin[i].clk),
- DifferentialOutput(self.io_update, ioup[i].p, ioup[i].n))
+ DifferentialOutput(self.clk, spip[i].clk, spin[i].clk))
for i in range(len(eems))]
for i in range(4 * len(eems)):
mosi = Signal()
diff --git a/artiq/gateware/suservo/servo.py b/artiq/gateware/suservo/servo.py
index 59529320..15d31027 100644
--- a/artiq/gateware/suservo/servo.py
+++ b/artiq/gateware/suservo/servo.py
@@ -42,7 +42,7 @@ class Servo(Module):
assert t_iir + 2*adc_p.channels < t_cycle, "need shifting time"
self.submodules.adc = ADC(adc_pads, adc_p)
- self.submodules.iir = IIR(iir_p, adc_p, dds_p)
+ self.submodules.iir = IIR(iir_p, adc_p, dds_p, t_cycle)
self.submodules.dds = DDS(dds_pads, dds_p)
# adc channels are reversed on Sampler
@@ -63,7 +63,6 @@ class Servo(Module):
assert t_restart > 1
cnt = Signal(max=t_restart)
cnt_done = Signal()
- active = Signal(3)
# Indicates whether different steps (0: ADC, 1: IIR, 2: DDS) are
# currently active (exposed for simulation only), with each bit being
@@ -71,6 +70,8 @@ class Servo(Module):
# timing details of the different steps, any number can be concurrently
# active (e.g. ADC read from iteration n, IIR computation from iteration
# n - 1, and DDS write from iteration n - 2).
+ active = Signal(3)
+ self._active = active # Exposed for debugging only.
# Asserted once per cycle when the DDS write has been completed.
self.done = Signal()
@@ -95,6 +96,17 @@ class Servo(Module):
cnt.eq(t_restart - 1)
)
]
+
+ # Count number of cycles since the servo was last started from idle.
+ self.sync += If(active == 0,
+ self.iir.t_running.eq(0),
+ self.iir.reset_dds_phase.eq(1)
+ ).Else(
+ self.iir.t_running.eq(self.iir.t_running + 1)
+ )
+
+ self.sync += dds_pads.passthrough.eq(active == 0)
+
self.comb += [
cnt_done.eq(cnt == 0),
self.adc.start.eq(self.start & cnt_done),
diff --git a/artiq/gateware/test/suservo/__init__.py b/artiq/gateware/test/suservo/__init__.py
index e69de29b..7a1df77a 100644
--- a/artiq/gateware/test/suservo/__init__.py
+++ b/artiq/gateware/test/suservo/__init__.py
@@ -0,0 +1,10 @@
+"""Gateware implementation of the Sampler-Urukul (AD9910) DDS amplitude servo.
+
+General conventions:
+
+ - ``t_...`` signals and constants refer to time spans measured in the gateware
+ module's default clock (typically a 125 MHz RTIO clock).
+ - ``start`` signals cause modules to proceed with the next servo iteration iff
+ they are currently idle (i.e. their value is irrelevant while the module is
+ busy, so they are not necessarily one-clock-period strobes).
+"""
diff --git a/artiq/gateware/test/suservo/test_dds.py b/artiq/gateware/test/suservo/test_dds.py
index a666f14c..d9a81675 100644
--- a/artiq/gateware/test/suservo/test_dds.py
+++ b/artiq/gateware/test/suservo/test_dds.py
@@ -5,6 +5,9 @@ from migen import *
from artiq.gateware.suservo.dds_ser import DDSParams, DDS
+class OutIoUpdateTB(Module):
+ def __init__(self):
+ self.fine_ts = Signal(3)
class TB(Module):
def __init__(self, p):
@@ -15,6 +18,12 @@ class TB(Module):
setattr(self, "mosi{}".format(i), m)
self.miso = Signal()
self.io_update = Signal()
+ self.passthrough = Signal()
+
+ self.io_update_phys = []
+ for i in range(p.channels//4):
+ phy = OutIoUpdateTB()
+ self.io_update_phys.append(phy)
clk0 = Signal()
self.sync += clk0.eq(self.clk)
@@ -23,16 +32,19 @@ class TB(Module):
self.ddss = []
for i in range(p.channels):
- dds = Record([("ftw", 32), ("pow", 16), ("asf", 16), ("cmd", 8)])
- sr = Signal(len(dds))
+ dds = Record([("ftw", 32), ("pow", 16), ("asf", 16),
+ ("cmd", 8), ("accu", 32), ("phase", 19)])
+ sr = Signal(32 + 16 + 16 + 8)
self.sync += [
+ dds.accu.eq(dds.accu + p.sysclk_per_clk * dds.ftw),
If(~self.cs_n & sample,
sr.eq(Cat(self.mosi[i], sr))
),
If(self.io_update,
- dds.raw_bits().eq(sr)
+ dds.raw_bits()[:len(sr)].eq(sr)
)
]
+ self.comb += dds.phase.eq((dds.pow << 3) + (dds.accu >> 13))
self.ddss.append(dds)
@passive
@@ -55,7 +67,7 @@ class TB(Module):
def main():
- p = DDSParams(channels=4, width=8 + 32 + 16 + 16, clk=1)
+ p = DDSParams(channels=4, width=8 + 32 + 16 + 16, clk=1, sysclk_per_clk=8)
tb = TB(p)
dds = DDS(tb, p)
tb.submodules += dds
diff --git a/artiq/gateware/test/suservo/test_iir.py b/artiq/gateware/test/suservo/test_iir.py
index 919e7a6b..ab8a9a4a 100644
--- a/artiq/gateware/test/suservo/test_iir.py
+++ b/artiq/gateware/test/suservo/test_iir.py
@@ -2,48 +2,67 @@ import logging
import unittest
from migen import *
-from artiq.gateware.suservo import iir
+from artiq.gateware.suservo import servo
+from collections import namedtuple
+logger = logging.getLogger(__name__)
+
+ADCParamsSim = namedtuple("ADCParams", ["channels"])
+DDSParamsSim = namedtuple("ADCParams", ["channels", "sysclk_per_clk"])
def main():
- w_kasli = iir.IIRWidths(state=25, coeff=18, adc=16,
- asf=14, word=16, accu=48, shift=11,
- channel=3, profile=5, dly=8)
- w = iir.IIRWidths(state=17, coeff=16, adc=16,
- asf=14, word=16, accu=48, shift=11,
- channel=2, profile=1, dly=8)
+ w_kasli = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14,
+ word=16, accu=48, shift=11, profile=5, dly=8)
+ p_adc = ADCParamsSim(channels=8)
+ p_dds = DDSParamsSim(channels=4, sysclk_per_clk=8)
+ w = servo.IIRWidths(state=17, coeff=16, adc=16, asf=14,
+ word=16, accu=48, shift=11, profile=2, dly=8)
+ t_iir = p_adc.channels + 4*p_dds.channels + 8 + 1
def run(dut):
+ yield dut.t_running.eq(0)
for i, ch in enumerate(dut.adc):
yield ch.eq(i)
for i, ch in enumerate(dut.ctrl):
yield ch.en_iir.eq(1)
yield ch.en_out.eq(1)
yield ch.profile.eq(i)
- for i in range(1 << w.channel):
+ yield ch.en_pt.eq(i)
+ for i, ch in enumerate(dut.ctrl_reftime):
+ yield ch.sysclks_fine.eq(i)
+ yield ch.stb.eq(1)
+ yield
+ yield dut.t_running.eq(dut.t_running + 1)
+ yield ch.stb.eq(0)
+ yield
+ yield dut.t_running.eq(dut.t_running + 1)
+ for i in range(p_adc.channels):
yield from dut.set_state(i, i << 8, coeff="x1")
yield from dut.set_state(i, i << 8, coeff="x0")
+ for i in range(p_dds.channels):
for j in range(1 << w.profile):
yield from dut.set_state(i,
(j << 1) | (i << 8), profile=j, coeff="y1")
for k, l in enumerate("pow offset ftw0 ftw1".split()):
yield from dut.set_coeff(i, profile=j, coeff=l,
- value=(i << 12) | (j << 8) | (k << 4))
+ value=(i << 10) | (j << 8) | (k << 4))
yield
- for i in range(1 << w.channel):
+ for i in range(p_dds.channels):
for j in range(1 << w.profile):
- for k, l in enumerate("cfg a1 b0 b1".split()):
+ for k, l in enumerate("a1 b0 b1".split()):
yield from dut.set_coeff(i, profile=j, coeff=l,
- value=(i << 12) | (j << 8) | (k << 4))
+ value=(i << 10) | (j << 8) | (k << 4))
yield from dut.set_coeff(i, profile=j, coeff="cfg",
- value=(i << 0) | (j << 8)) # sel, dly
+ value=(i % p_adc.channels) | (j << 8)) # sel, dly
yield
- for i in range(10):
+ for i in range(4):
+ logger.debug("check_iter {}".format(i))
yield from dut.check_iter()
+ yield dut.t_running.eq((yield dut.t_running) + t_iir)
yield
- dut = iir.IIR(w)
- run_simulation(dut, [run(dut)], vcd_name="iir.vcd")
+ dut = servo.IIR(w, p_adc, p_dds, t_iir)
+ run_simulation(dut, [run(dut)], vcd_name="servo.vcd")
class IIRTest(unittest.TestCase):
diff --git a/artiq/gateware/test/suservo/test_servo.py b/artiq/gateware/test/suservo/test_servo.py
index cc1a73a2..fe1708d0 100644
--- a/artiq/gateware/test/suservo/test_servo.py
+++ b/artiq/gateware/test/suservo/test_servo.py
@@ -1,5 +1,6 @@
import logging
import unittest
+import numpy as np
from migen import *
from migen.genlib import io
@@ -7,15 +8,17 @@ from migen.genlib import io
from artiq.gateware.test.suservo import test_adc, test_dds
from artiq.gateware.suservo import servo
+logger = logging.getLogger(__name__)
+
class ServoSim(servo.Servo):
def __init__(self):
adc_p = servo.ADCParams(width=16, channels=8, lanes=4,
t_cnvh=4, t_conv=57 - 4, t_rtt=4 + 4)
iir_p = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14, word=16,
- accu=48, shift=11, channel=3, profile=5, dly=8)
+ accu=48, shift=11, profile=5, dly=8)
dds_p = servo.DDSParams(width=8 + 32 + 16 + 16,
- channels=adc_p.channels, clk=1)
+ channels=4, clk=1, sysclk_per_clk=8)
self.submodules.adc_tb = test_adc.TB(adc_p)
self.submodules.dds_tb = test_dds.TB(dds_p)
@@ -23,37 +26,156 @@ class ServoSim(servo.Servo):
servo.Servo.__init__(self, self.adc_tb, self.dds_tb,
adc_p, iir_p, dds_p)
+ self.dds_output = []
+
+ def log_flow(self, cycle):
+ su_start = yield self.start
+ adc_start = yield self.adc.start
+ iir_start = yield self.iir.start
+ dds_start = yield self.dds.start
+ su_done = yield self.done
+ adc_done = yield self.adc.done
+ iir_done = yield self.iir.done
+ dds_done = yield self.dds.done
+ active = yield self._active
+ io_update = yield self.dds_tb.io_update
+ passthrough = yield self.dds_tb.passthrough
+ iir_loading = yield self.iir.loading
+ iir_processing = yield self.iir.processing
+ iir_shifting = yield self.iir.shifting
+ dt = yield self.iir.t_running
+ dt_iir = yield self.iir._dt_start
+ state = yield self.iir._state
+ stage0 = yield self.iir._stages[0]
+ stage1 = yield self.iir._stages[1]
+ stage2 = yield self.iir._stages[2]
+ logger.debug(
+ "cycle=%d "
+ #"start=[su=%d adc=%d iir=%d dds=%d] "
+ #"done=[su=%d adc=%d iir=%d dds=%d] "
+ "active=%s load_proc_shft=%d%d%d stages_active=%d%d%d "
+ "io_update=%d passthrough=%d "
+ "dt=%d dt_iir=%d state=%d",
+ cycle,
+ #su_start, adc_start, iir_start, dds_start,
+ #su_done, adc_done, iir_done, dds_done,
+ '{:03b}'.format(active), iir_loading, iir_processing, iir_shifting, stage0, stage1, stage2,
+ io_update, passthrough,
+ dt, dt_iir//8, state
+ )
+
+ def log_state(self, channel, profile, calls=[0]):
+ calls[0] += 1
+ # if not (yield self._active[1]):
+ # return
+ yield from self.log_flow(calls[0] - 2)
+ return
+ cfg = yield from self.iir.get_coeff(channel, profile, "cfg")
+ sel = cfg & 0x7
+ x0 = yield from self.iir.get_state(sel, coeff="x0")
+ x1 = yield from self.iir.get_state(sel, coeff="x1")
+ y1 = yield from self.iir.get_state(channel, profile, coeff="y1")
+ _pow = yield from self.iir.get_coeff(channel, profile, "pow")
+ pow_iir = yield self.iir.dds[channel][2*self.iir.widths.word:3*self.iir.widths.word]
+ pow_dds = yield self.dds_tb.ddss[channel].pow
+ asf_dds = yield self.dds_tb.ddss[channel].asf
+ ftw_dds = yield self.dds_tb.ddss[channel].ftw
+ accu_dds = yield self.dds_tb.ddss[channel].accu
+ phase_dds = (yield self.dds_tb.ddss[channel].phase)
+ dds_output = np.cos(2*np.pi*phase_dds/2**19)
+ ph_coh = yield self.iir._ph_coh
+ ph_acc = yield self.iir._ph_acc
+ offset = yield from self.iir.get_coeff(channel, profile, "offset")
+ ftw0 = yield from self.iir.get_coeff(channel, profile, "ftw0")
+ ftw1 = yield from self.iir.get_coeff(channel, profile, "ftw1")
+ m_phase = yield from self.iir.get_accum_ftw(channel)
+ iir_adc = yield self.iir.adc[sel]
+ logger.debug("\t"
+ "ch=%d pr=%d "
+ # "x0=%d x1=%d adc=%d y1=%d sel=%d "
+ "ftw=%#x pow_coeff=%#x ftw_accu=%#x "
+ "ph_coh=%#x ph_acc=%#x "
+ "pow_iir=%#x pow_dds=%#x ftw_dds=%#x asf_dds=%#x accu_dds=%#x phase_dds=%#x dds_output=%04.3f",
+ channel, profile,
+ # x0, x1, iir_adc, y1, sel,
+ ftw0 | (ftw1 << 16), _pow, m_phase,
+ ph_coh, ph_acc,
+ pow_iir, pow_dds, ftw_dds, asf_dds, accu_dds, phase_dds >> 3, dds_output
+ )
+ self.dds_output.append(dds_output)
+ # yield from self.log_registers(profile)
+
+ def log_registers(self, profile):
+ adc_channels = self.iir.widths_adc.channels
+ dds_channels = self.iir.widths_dds.channels
+ x0s = [0]*adc_channels
+ x1s = [0]*adc_channels
+ y1s = [0]*dds_channels
+ for ch in range(adc_channels):
+ x0s[ch] = yield from self.iir.get_state(ch, coeff="x0")
+ x1s[ch] = yield from self.iir.get_state(ch, coeff="x1")
+ for ch in range(dds_channels):
+ y1s[ch] = yield from self.iir.get_state(ch, profile, coeff="y1")
+
+ logger.debug(("x0s = " + '{:05X} ' * adc_channels).format(*x0s))
+ logger.debug(("x1s = " + '{:05X} ' * adc_channels).format(*x1s))
+ logger.debug(("y1s = " + '{:05X} ' * dds_channels).format(*y1s))
+
def test(self):
assert (yield self.done)
- adc = 1
+ adc = 7
x0 = 0x0141
yield self.adc_tb.data[-adc-1].eq(x0)
- channel = 3
- yield self.iir.adc[channel].eq(adc)
+ channel = 0
yield self.iir.ctrl[channel].en_iir.eq(1)
yield self.iir.ctrl[channel].en_out.eq(1)
- profile = 5
+ yield self.iir.ctrl[channel].en_pt.eq(1)
+ profile = 31
yield self.iir.ctrl[channel].profile.eq(profile)
x1 = 0x0743
yield from self.iir.set_state(adc, x1, coeff="x1")
y1 = 0x1145
yield from self.iir.set_state(channel, y1,
profile=profile, coeff="y1")
- coeff = dict(pow=0x1333, offset=0x1531, ftw0=0x1727, ftw1=0x1929,
- a1=0x0135, b0=0x0337, b1=0x0539, cfg=adc | (0 << 3))
+ coeff = dict(pow=0, offset=0x1531, ftw0=0xeb85, ftw1=0x51,
+ a1=0x0135, b0=0x0337, b1=0x0539, cfg=adc)
for ks in "pow offset ftw0 ftw1", "a1 b0 b1 cfg":
for k in ks.split():
yield from self.iir.set_coeff(channel, value=coeff[k],
profile=profile, coeff=k)
yield
+ num_it = 1
+ num_proc_its = [0]*num_it # number of iterations while iir.processing
+ yield from self.log_state(channel, profile)
yield self.start.eq(1)
yield
- yield self.start.eq(0)
- while not (yield self.dds_tb.io_update):
- yield
- yield # io_update
+ for i in range(num_it):
+ if i == 1: # change ftw
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw0', value=coeff['ftw1'])
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw1', value=coeff['ftw0'])
+ if i == 2: # change ftw back
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw0', value=coeff['ftw0'])
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw1', value=coeff['ftw1'])
+ logger.debug("iteration {}".format(i))
+ yield from self.log_state(channel, profile)
+ if i == num_it-1:
+ yield self.start.eq(0)
+ while not (yield self.dds_tb.io_update):
+ yield
+ if (yield self.iir.processing):
+ num_proc_its[i] += 1
+ if (yield self.iir._stages) != 0:
+ yield from self.log_state(channel, profile)
+ yield # io_update
+ yield from self.log_state(channel, profile)
+ yield
+ yield from self.log_state(channel, profile)
w = self.iir.widths
@@ -63,6 +185,8 @@ class ServoSim(servo.Servo):
offset = coeff["offset"] << (w.state - w.coeff - 1)
a1, b0, b1 = coeff["a1"], coeff["b0"], coeff["b1"]
+
+ # works only for 1 iteration
out = (
0*(1 << w.shift - 1) + # rounding
a1*(y1 + 0) + b0*(x0 + offset) + b1*(x1 + offset)
@@ -76,8 +200,15 @@ class ServoSim(servo.Servo):
ftw = (coeff["ftw1"] << 16) | coeff["ftw0"]
assert _ == ftw, (hex(_), hex(ftw))
+ t0 = yield self.iir._dt_start
+ # todo: include phase accumulator
+ ph = (ftw * t0) >> 16
+ if (yield self.iir.ctrl[channel].en_pt):
+ pow = (coeff["pow"] + ph) & 0xffff
+ else:
+ pow = coeff["pow"]
_ = yield self.dds_tb.ddss[channel].pow
- assert _ == coeff["pow"], (hex(_), hex(coeff["pow"]))
+ assert _ == pow, (hex(_), hex(pow))
_ = yield self.dds_tb.ddss[channel].asf
asf = y1 >> (w.state - w.asf - 1)
@@ -101,4 +232,5 @@ class ServoTest(unittest.TestCase):
if __name__ == "__main__":
+ logging.basicConfig(level=logging.DEBUG)
main()
Reference in New Issue View Git Blame Copy Permalink