apply original dac script

fast-servo/pyfastservo/dac.py

@@ -1,24 +1,11 @@
-# This file is part of Fast Servo Software Package.
+import mmap
-#
+import os
-# Copyright (C) 2023 Jakub Matyas
+import logging
-# Warsaw University of Technology <jakubk.m@gmail.com>
-# SPDX-License-Identifier: GPL-3.0-or-later
-#
-# This program is free software: you can redistribute it and/or modify
-# it under the terms of the GNU General Public License as published by
-# the Free Software Foundation, either version 3 of the License, or
-# (at your option) any later version.
-# 
-# This program is distributed in the hope that it will be useful, 
-# but WITHOUT ANY WARRANTY; without even the implied warranty of 
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program. If not, see <https://www.gnu.org/licenses/>.
-
 import time
 
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
 import spidev
 from pyfastservo.common import (
     CH0_HIGH_WORD_ADDR,
@@ -28,13 +15,12 @@ from pyfastservo.common import (
     CTRL_ADDR,
     MAP_MASK,
     PAGESIZE,
-    write_to_memory,
-    read_from_memory
 )
 
 # /dev/spidev2.0  <=> spidev<BUS>.<DEVICE>
 MAIN_DAC_BUS = 2
 MAIN_DAC_DEVICE = 0
+
 DAC_VERSION = 0x0A
 
 
@@ -46,40 +32,190 @@ def spi_read(spi, address):
     return rx_buffer[1]
 
 def hard_reset(spi):
-    spi_write(spi, 0x00, 0x20)  # Software reset
+    spi_write(spi, 0x00, 0x10)  # Software reset
     spi_write(spi, 0x00, 0x00)  # Release software reset
     spi_read(spi, 0x00)         # Read reset address (necessary for reset to take effect)
 
 def check_version(spi):
     version = spi_read(spi, 0x1F)
-    print(f"DAC version: 0x{version:02X}")
+    if version == DAC_VERSION:
-    return version == DAC_VERSION
+        print(f"Verified DAC version: 0x{version:02X}")
+    else:
+        print(f"Unrecognized device version: 0x{version:02X}")
 
-def configure_dac(spi):
+def set_data_control_and_output_mode(spi, mode='differential'):
-    power_down_reg = spi_read(spi, 0x01)
+    try:
-    spi_write(spi, 0x01, power_down_reg & ~(1 << 0))  # Clear EXTREF bit for internal reference
+        current_reg = spi_read(spi, 0x02)
-    spi_write(spi, 0x0D, 0x00)      # Set RREF to 10 kΩ for 1.0V reference
+        logger.info(f"Current data control register value: 0x{current_reg:02X}")
-    spi_write(spi, 0x04, 0xA0)      # Enable on-chip IRSET (1.6 kΩ for 20mA output)
-    spi_write(spi, 0x07, 0xA0)      # Enable on-chip QRSET (1.6 kΩ for 20mA output)
-    spi_write(spi, 0x05, 0x00)      # Disable internal IRCML
-    spi_write(spi, 0x08, 0x00)      # Disable internal QRCML
-    spi_write(spi, 0x02, 0xB4)      # Enable 2's complement, LVDS interface, 4 LVDS lanes
 
-def dac_self_calibration(spi):
+        new_reg = 0xB4
-    spi_write(spi, 0x12, 0x00)      # Reset calibration status
-    spi_write(spi, 0x0E, 0x08)      # Enable calibration clock, default divide ratio
-    spi_write(spi, 0x0E, 0x38)      # CALSELI = 1, CALSELQ = 1, CALCLK = 1
-    spi_write(spi, 0x12, 0x10)      # Set CALEN bit
 
-    while True:
+        if mode == 'differential':
-        status = spi_read(spi, 0x0F)
+            new_reg &= ~0x03
-        if status & 0xC0 == 0xC0:   # Both CALSTATI and CALSTATQ are 1
+        elif mode == 'single_ended':
+            new_reg = (new_reg & ~0x01) | 0x02
+        else:
+            logger.error(f"Invalid output mode: {mode}")
+            return
+
+        spi_write(spi, 0x02, new_reg)
+
+        verify_reg = spi_read(spi, 0x02)
+        if verify_reg == new_reg:
+            logger.info(f"Data control set and output mode successfully set to {mode}")
+            logger.info(f"New data control register value: 0x{verify_reg:02X}")
+        else:
+            logger.error(f"Failed to set data control and output mode. Expected: 0x{new_reg:02X}, Got: 0x{verify_reg:02X}")
+    except Exception as e:
+        logger.error(f"Error setting data control and output mode: {e}")
+
+
+def wait_for_clock_sync(spi):
+    max_attempts = 10
+    for attempt in range(max_attempts):
+        clkmode = spi_read(spi, 0x14)
+        if not clkmode & 0x10:
+            print(f"Clock synchronized after {attempt + 1} attempts")
             break
-        time.sleep(0.01)
+        if attempt == max_attempts - 1:
+            print("Warning: Clock synchronization not achieved")
+        time.sleep(0.001)
+
+
+def enable_dac_outputs(spi):
+    try:
+        # Read current power-down register value
+        power_down_reg = spi_read(spi, 0x01)
+        logger.info(f"Current power-down register value: 0x{power_down_reg:02X}")
+
+        if not (power_down_reg & ((1 << 4) | (1 << 3))):
+            logger.info("DAC outputs are already enabled")
+            return
+
+        new_power_down_reg = power_down_reg & ~((1 << 4) | (1 << 3))
+        spi_write(spi, 0x01, new_power_down_reg)
+
+        # Verify the write operation
+        verify_power_down_reg = spi_read(spi, 0x01)
+        if verify_power_down_reg == new_power_down_reg:
+            logger.info("DAC outputs successfully enabled")
+        else:
+            logger.error(f"Failed to enable DAC outputs. Expected: 0x{new_power_down_reg:02X}, Got: 0x{verify_power_down_reg:02X}")
+    except Exception as e:
+        logger.error(f"Error enabling DAC outputs: {e}")
+
+
+def set_dac_constant_output(value=0xFFFF):
+    try:
+        max_value = 0x3FFF  # 14-bit maximum (2^14 - 1)
+        value = min(value, max_value)
+        
+        # Split the value into high and low words
+        low_word_value = value & 0xFF
+        high_word_value = (value >> 8) & 0x3F
+        
+        # Write to Channel 0
+        write_to_memory(CH0_HIGH_WORD_ADDR, high_word_value)
+        write_to_memory(CH0_LOW_WORD_ADDR, low_word_value)
+        
+        # Write to Channel 1
+        write_to_memory(CH1_HIGH_WORD_ADDR, high_word_value)
+        write_to_memory(CH1_LOW_WORD_ADDR, low_word_value)
+        
+        logger.info(f"DAC outputs set to constant value: 0x{value:04X}")
+        logger.info("Please verify the output using an oscilloscope")
+        
+    except Exception as e:
+        logger.error(f"Error setting DAC constant output: {e}")
+
+
+def configure_dac_for_hardware(spi):
+    try:
+        # Enable internal reference
+        power_down_reg = spi_read(spi, 0x01)
+        power_down_reg &= ~(1 << 0)  # Clear EXTREF bit for internal reference
+        spi_write(spi, 0x01, power_down_reg)
+        logger.info("Internal reference enabled")
+
+        # Set RREF to default 10 kΩ for 1.0V reference
+        spi_write(spi, 0x0D, 0x00)
+        logger.info("RREF set to 10 kΩ for 1.0V reference")
+
+        # Enable on-chip IRSET and QRSET
+        irset_value = 0xA0                  # 10100000
+        spi_write(spi, 0x04, irset_value)   # IRSET
+        spi_write(spi, 0x07, irset_value)   # QRSET
+
+        # Disable internal termination resistors
+        ircml_value = 0x00
+        spi_write(spi, 0x05, ircml_value)  # IRCML
+        spi_write(spi, 0x08, ircml_value)  # QRCML
+
+        spi_write(spi, 0x02, 0xB4)
+
+        # Verify settings
+        irset_read = spi_read(spi, 0x04)
+        qrset_read = spi_read(spi, 0x07)
+        ircml_read = spi_read(spi, 0x05)
+        qrcml_read = spi_read(spi, 0x08)
+        data_control_read = spi_read(spi, 0x02)
+        
+        if (irset_read == irset_value and qrset_read == irset_value and
+            ircml_read == ircml_value and qrcml_read == ircml_value and
+            data_control_read == 0xB4):
+            logger.info("DAC configured for 20mA output with external termination")
+        else:
+            logger.error(f"DAC configuration failed. IRSET: 0x{irset_read:02X}, QRSET: 0x{qrset_read:02X}, "
+                         f"IRCML: 0x{ircml_read:02X}, QRCML: 0x{qrcml_read:02X}, "
+                         f"Data Control: 0x{data_control_read:02X}")
+
+    except Exception as e:
+        logger.error(f"Error configuring DAC: {e}")
+
+def read_from_memory(address, n_bytes):
+    assert n_bytes <= 4
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            # print(f"addr: 0x{addr:x}\tstart_addr: 0x{start_addr}\tstop_addr: 0x{stop_addr}")
+            contents = mem[start_addr:stop_addr]
+            read_value = list(contents)[:n_bytes]
+    finally:
+        os.close(f)
+
+    return read_value
+
+
+def write_to_memory(address, value):
+    value_bytes = value.to_bytes(4, "little")
+    addr = address
+
+    try:
+        f = os.open("/dev/mem", os.O_SYNC | os.O_RDWR)
+        with mmap.mmap(
+            f,
+            PAGESIZE,
+            mmap.MAP_SHARED,
+            mmap.PROT_READ | mmap.PROT_WRITE,
+            offset=addr & ~MAP_MASK,
+        ) as mem:
+            start_addr = addr & MAP_MASK
+            stop_addr = start_addr + 4
+            mem[start_addr:stop_addr] = value_bytes
+            contents = mem[start_addr:stop_addr]
+    finally:
+        os.close(f)
 
-    spi_write(spi, 0x12, 0x00)      # Clear calibration bits
-    spi_write(spi, 0x0E, 0x30)      # Keep CALSELI and CALSELQ set, clear CALCLK
-    print("DAC self-calibration completed")
 
 def manual_override(enable=True):
     reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
@@ -87,6 +223,7 @@ def manual_override(enable=True):
     to_write = reg_contents | 0b1 if enable else reg_contents & 0b110
     write_to_memory(CTRL_ADDR, to_write)
 
+
 def power_down(channel, power_down=True):
     assert channel in (0, 1)
 
@@ -100,46 +237,42 @@ def power_down(channel, power_down=True):
     reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
     print(f"REG contents: 0b{reg_contents:03b}")
 
-def set_dac_output(value):
-    value = min(value, 0x3FFF)
-    low_word = value & 0xFF
-    high_word = (value >> 8) & 0x3F
-
-    write_to_memory(CH0_HIGH_WORD_ADDR, high_word)
-    write_to_memory(CH0_LOW_WORD_ADDR, low_word)
-    write_to_memory(CH1_HIGH_WORD_ADDR, high_word)
-    write_to_memory(CH1_LOW_WORD_ADDR, low_word)
-    print(f"DAC output set to: 0x{value:04X}")
-
 def configure_ad9117():
     spi = spidev.SpiDev()
-    spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
-    spi.max_speed_hz = 5000
-    spi.mode = 0b00  # CPOL = 0 CPHA = 0
-    spi.cshigh = False
 
     try:
+        spi.open(MAIN_DAC_BUS, MAIN_DAC_DEVICE)
+        spi.max_speed_hz = 5000
+        spi.mode = 0b00  # CPOL = 0 CPHA = 0
+        spi.cshigh = False
+
         hard_reset(spi)
-        if not check_version(spi):
+        check_version(spi)
-            print("Unrecognized DAC version")
-            return False
 
-        configure_dac(spi)
+        configure_dac_for_hardware(spi)
-        # dac_self_calibration(spi)
+        set_data_control_and_output_mode(spi, 'differential')
-
+        wait_for_clock_sync(spi)
-        # Enable DAC outputs
+        enable_dac_outputs(spi)
-        spi_write(spi, 0x01, spi_read(spi, 0x01) & ~((1 << 4) | (1 << 3)))
 
         power_down(0, False)
         power_down(1, False)
+
         manual_override(True)
 
-        print("AD9117 configuration completed successfully")
+        set_dac_constant_output(0xFFFF)
-        return True
 
+        # Verify control register
+        reg_contents = read_from_memory(CTRL_ADDR, 1)[0]
+        logger.info(f"Control register contents after setting: 0b{reg_contents:03b}")
+
+        # Verify channel settings
+        ch0_high = read_from_memory(CH0_HIGH_WORD_ADDR, 1)[0]
+        ch0_low = read_from_memory(CH0_LOW_WORD_ADDR, 1)[0]
+        ch1_high = read_from_memory(CH1_HIGH_WORD_ADDR, 1)[0]
+        ch1_low = read_from_memory(CH1_LOW_WORD_ADDR, 1)[0]
+        logger.info(f"Channel 0: 0x{ch0_high:02X}{ch0_low:02X}, Channel 1: 0x{ch1_high:02X}{ch1_low:02X}")
     except Exception as e:
-        print(f"Error configuring AD9117: {e}")
+        print(f"Error initializing DAC: {e}")
-        return False
 
     finally:
         spi.close()

fast-servo/pyfastservo/loopback.py

@@ -53,7 +53,7 @@ def perform_loopback_test(test_value):
             print(f"Expected: {test_value}, ADC: {adc_value}, DAC: {dac_value}")
 
 def main():
-    test_value = 0x0FFF  # Mid-range value (4095 in decimal)
+    test_value = 0x1FFF  # Mid-range value (4095 in decimal)
     perform_loopback_test(test_value)
 
 if __name__ == "__main__":