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suservo: add servo/config/status register

This commit is contained in:
Robert Jördens 2018-04-25 15:58:46 +00:00
parent 105068ad90
commit c83305065a
1 changed files with 32 additions and 6 deletions
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38
artiq/gateware/rtio/phy/servo.py
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@ -34,7 +34,9 @@ class RTServoMem(Module):
# just expose the w.coeff (18) MSBs of state # just expose the w.coeff (18) MSBs of state
assert w.state >= w.coeff assert w.state >= w.coeff
# ensure that we can split the coefficient storage correctly
assert len(m_coeff.dat_w) == 2*w.coeff assert len(m_coeff.dat_w) == 2*w.coeff
# ensure that the DDS word data fits into the coefficient mem
assert w.coeff >= w.word assert w.coeff >= w.word
self.rtlink = rtlink.Interface( self.rtlink = rtlink.Interface(
@ -50,8 +52,27 @@ class RTServoMem(Module):
# # # # # #
config = Signal(1, reset=0)
status = Signal(2)
self.comb += [
Cat(servo.start).eq(config),
status.eq(Cat(servo.start, servo.done))
]
assert len(self.rtlink.o.address) == (
1 + # we
1 + # state_sel
1 + # high_coeff
len(m_coeff.adr))
# ensure that we can fit config/status into the state address space
assert len(self.rtlink.o.address) >= (
1 + # we
1 + # state_sel
1 + # config_sel
len(m_state.adr))
we = self.rtlink.o.address[-1] we = self.rtlink.o.address[-1]
state_sel = self.rtlink.o.address[-2] state_sel = self.rtlink.o.address[-2]
config_sel = self.rtlink.o.address[-3]
high_coeff = self.rtlink.o.address[0] high_coeff = self.rtlink.o.address[0]
self.comb += [ self.comb += [
self.rtlink.o.busy.eq(0), self.rtlink.o.busy.eq(0),
@ -63,7 +84,7 @@ class RTServoMem(Module):
we & ~state_sel), we & ~state_sel),
m_state.adr.eq(self.rtlink.o.address), m_state.adr.eq(self.rtlink.o.address),
m_state.dat_w[w.state - w.coeff:].eq(self.rtlink.o.data), m_state.dat_w[w.state - w.coeff:].eq(self.rtlink.o.data),
m_state.we.eq(self.rtlink.o.stb & we & state_sel), m_state.we.eq(self.rtlink.o.stb & we & state_sel & ~config_sel),
] ]
read = Signal() read = Signal()
read_sel = Signal() read_sel = Signal()
@ -78,14 +99,19 @@ class RTServoMem(Module):
read_high.eq(high_coeff), read_high.eq(high_coeff),
) )
] ]
self.sync.rio_phy += [
If(self.rtlink.o.stb & we & state_sel & config_sel,
config.eq(self.rtlink.o.data)
)
]
self.comb += [ self.comb += [
self.rtlink.i.stb.eq(read), self.rtlink.i.stb.eq(read),
self.rtlink.i.data.eq( self.rtlink.i.data.eq(
Mux( Mux(state_sel,
state_sel, Mux(config_sel,
m_state.dat_r[w.state - w.coeff:], status,
Mux( m_state.dat_r[w.state - w.coeff:]),
read_high, Mux(read_high,
m_coeff.dat_r[w.coeff:], m_coeff.dat_r[w.coeff:],
m_coeff.dat_r[:w.coeff]))) m_coeff.dat_r[:w.coeff])))
] ]