i2c: fix issues with building

See #2713 for the main changes.

RELEASE_NOTES.rst

@@ -6,24 +6,31 @@ Release notes
 ARTIQ-9 (Unreleased)
 --------------------
 
+* Hardware support:
+   - CoaXPress grabber support on ZC706 with Hello-FPGA CXP 4R FMC card.
+   - Improved SDRAM memory controller and DMA cores puts Kasli DMA performance on par with
+     other platforms.
+   - DRTIO repeater support across GT/EEM. This enables Shuttler support on DRTIO satellites.
+   - Core device reflashing over the network through the new ``flash`` tool in ``artiq_coremgmt``.
+     It also supports configuring and reflashing DRTIO satellites over the DRTIO link.
+   - Fastino monitoring with Moninj.
+   - Zotino monitoring now displays the values in volts.
+   - Support for the ultra-low-cost EBAZ4205 Zynq-7000 control card, with core device driver
+     for the AD9834 DDS, tested with the ZonRi Technology Co., Ltd. AD9834-Module.
 * Dashboard:
    - Experiment windows can have different colors, selected by the user.
-   - Zotino monitoring now displays the values in volts.
+   - The Log pane now adapts to dark system color themes.
    - Schedule display columns can now be reordered and shown/hidden using the table
      header context menu.
    - State files are now automatically backed up upon successful loading.
-* afws_client now uses the "happy eyeballs" algorithm (RFC 6555) for a faster and more
+* ``afws_client`` now uses the "happy eyeballs" algorithm (RFC 6555) for a faster and more
   reliable connection to the server.
-* The Zadig driver installer was added to the MSYS2 offline installer.
-* Fastino monitoring with Moninj is now supported.
-* Qt6 support.
-* Python 3.12 support.
 * Compiler can now give automatic suggestions for ``kernel_invariants``. 
 * Idle kernels now restart when written with ``artiq_coremgmt`` and stop when erased/removed from config.
-* New support for the EBAZ4205 Zynq-SoC control card.
-* New core device driver for the AD9834 DDS, tested with the ZonRi Technology Co., Ltd. AD9834-Module.
-* Support for coredevice reflashing through the new ``flash`` tool in ``artiq_coremgmt``.
-* ``artiq_coremgmt`` now supports configuring satellites.
+* Updated Rust support for Zynq-7000 firmware.
+* Qt6 support.
+* Python 3.12 support.
+* The Zadig driver installer was added to the MSYS2 offline installer.
 * ``artiq.coredevice.fmcdio_vhdci_eem`` has been removed.
 
 ARTIQ-8

artiq/compiler/embedding.py

@@ -115,6 +115,7 @@ class EmbeddingMap:
             "0:ZeroDivisionError",
             "0:LinAlgError",
             "UnwrapNoneError",
+            "CXPError"
         ])
 
     def preallocate_runtime_exception_names(self, names):

artiq/compiler/transforms/llvm_ir_generator.py

@@ -1524,13 +1524,7 @@ class LLVMIRGenerator:
 
         for i, arg in enumerate(insn.arguments()):
             llarg = self.map(arg)
-            if isinstance(llarg.type, (ll.LiteralStructType, ll.IdentifiedStructType)):
-                llslot = self.llbuilder.alloca(llarg.type)
-                self.llbuilder.store(llarg, llslot)
-                llargs.append(llslot)
-                llarg_attrs[i] = "byval"
-            else:
-                llargs.append(llarg)
+            llargs.append(llarg)
 
         llretty = self.llty_of_type(insn.type, for_return=True)
         is_sret = self.needs_sret(llretty)

artiq/coredevice/cxp_grabber.py

@@ -0,0 +1,340 @@
+from numpy import array, int32, int64, ndarray
+
+from artiq.language.core import syscall, kernel
+from artiq.language.types import TInt32, TNone, TList
+from artiq.coredevice.rtio import rtio_output, rtio_input_timestamped_data
+from artiq.experiment import *
+
+
+class OutOfSyncException(Exception):
+    """Raised when an incorrect number of ROI engine outputs has been
+    retrieved from the RTIO input FIFO."""
+
+    pass
+
+
+class CXPGrabberTimeoutException(Exception):
+    """Raised when a timeout occurs while attempting to read CoaXPress Grabber RTIO input events."""
+
+    pass
+
+
+@syscall(flags={"nounwind"})
+def cxp_download_xml_file(buffer: TList(TInt32)) -> TInt32:
+    raise NotImplementedError("syscall not simulated")
+
+
+@syscall(flags={"nounwind"})
+def cxp_read32(addr: TInt32) -> TInt32:
+    raise NotImplementedError("syscall not simulated")
+
+
+@syscall(flags={"nounwind"})
+def cxp_write32(addr: TInt32, val: TInt32) -> TNone:
+    raise NotImplementedError("syscall not simulated")
+
+
+@syscall(flags={"nounwind"})
+def cxp_start_roi_viewer(x0: TInt32, y0: TInt32, x1: TInt32, y1: TInt32) -> TNone:
+    raise NotImplementedError("syscall not simulated")
+
+
+@syscall(flags={"nounwind"})
+def cxp_download_roi_viewer_frame(
+    buffer: TList(TInt64),
+) -> TTuple([TInt32, TInt32, TInt32]):
+    raise NotImplementedError("syscall not simulated")
+
+
+def write_file(data, file_path):
+    """
+    Write big-endian encoded data to PC
+
+    :param data: a list of 32-bit integers
+    :param file_path: a relative path on PC
+
+    **Examples:**
+
+        To download the XML file to PC: ::
+
+            # Prepare a big enough buffer
+            buffer = [0] * 25600
+
+            # Read the XML file and write it to PC
+            cxp_grabber.read_local_xml(buffer)
+            write_file(buffer, "camera_setting.xml")
+
+    """
+    array(data, dtype=">i").tofile(file_path)
+
+
+def write_pgm(frame, file_path, pixel_width):
+    """
+    Write the frame as PGM file to PC.
+
+    :param frame: a 2D array of 32-bit integers
+    :param file_path: a relative path on PC
+    :param pixel_width: bit depth that the PGM will use (8 or 16)
+
+    **Examples:**
+
+        To capture a 32x64 frame and write it as a 8-bit PGM file to PC: ::
+
+                # Prepare a 32x64 2D array
+                frame = numpy.array([[0] * 32] * 64)
+
+                # Setup the camera to use LinkTriger0 and start acquisition
+                # (Read the camera setting XML file for details)
+                cxp_grabber.write32(TRIG_SETTING_ADDR, 0)
+                ...
+
+                # Setup ROI viewer coordinate and start the viewer capture
+                cxp_grabber.start_roi_viewer(0, 0, 32, 64)
+
+                # Send LinkTrigger0
+                cxp_grabber.send_cxp_linktrigger(0)
+
+                # Read the frame from ROI viewer and write it as a 8-bit PGM image to PC
+                cxp_grabber.read_roi_viewer_frame(frame)
+                write_pgm(frame, "frame.pgm", 8)
+
+    """
+    if not isinstance(frame, ndarray):
+        raise ValueError("Frame must be a numpy array")
+
+    if pixel_width == 8:
+        frame = frame.astype("u1")
+    elif pixel_width == 16:
+        # PGM use big-endian
+        frame = frame.astype(">u2")
+    else:
+        raise ValueError("PGM file format only supports 8-bit or 16-bit per pixel")
+
+    # Save as PGM binary variant
+    # https://en.wikipedia.org/wiki/Netpbm#Description
+    with open(file_path, "wb") as file:
+        max_value = (2**pixel_width) - 1
+        width, height = len(frame[0]), len(frame)
+        file.write(f"P5\n{width} {height}\n{max_value}\n".encode("ASCII"))
+        file.write(frame.tobytes())
+
+
+class CXPGrabber:
+    """Driver for the CoaXPress Grabber camera interface."""
+
+    kernel_invariants = {
+        "core",
+        "channel",
+        "trigger_ch",
+        "roi_config_ch",
+        "roi_gating_ch",
+        "sentinel",
+    }
+
+    def __init__(self, dmgr, channel, core_device="core", count_width=31):
+        self.core = dmgr.get(core_device)
+
+        self.channel = channel
+        self.trigger_ch = channel
+        self.roi_config_ch = channel + 1
+        self.roi_gating_ch = channel + 2
+
+        # This value is inserted by the gateware to mark the start of a series of
+        # ROI engine outputs for one video frame.
+        self.sentinel = int32(int64(2**count_width))
+
+    @staticmethod
+    def get_rtio_channels(channel, **kwargs):
+        return [
+            (channel, "Trigger"),
+            (channel + 1, "ROI coordinates"),
+            (channel + 2, "ROI mask"),
+        ]
+
+    @kernel
+    def send_cxp_linktrigger(self, linktrigger, extra_linktrigger=False):
+        """
+        Send CoaXpress fixed-latency linktrigger to camera
+
+        :param linktrigger: Set linktrigger type:
+                            0-1 is available, when extra_linktrigger is False
+                            0-3 is available, when extra_linktrigger is True
+                            In CXP v1.x, linktrigger0 was called `rising edge` and linktrigger1 `falling edge`
+
+        :param extra_linktrigger: Boolean, set to True when ExtraLsTriggerEnable is set to 1 on camera
+
+        """
+        extra_linktrigger_mask = 1 if extra_linktrigger else 0
+        rtio_output(self.trigger_ch << 8, linktrigger << 1 | extra_linktrigger_mask)
+
+    @kernel
+    def setup_roi(self, n, x0, y0, x1, y1):
+        """
+        Defines the coordinates of a ROI.
+
+        The coordinates are set around the current position of the RTIO time
+        cursor.
+
+        The user must keep the ROI engine disabled for a duration of more
+        than one video frame after calling this function, as the output
+        generated for that video frame is undefined.
+
+        Advances the timeline by 4 coarse RTIO cycles.
+        """
+        c = int64(self.core.ref_multiplier)
+        rtio_output(self.roi_config_ch << 8 | (4 * n + 0), x0)
+        delay_mu(c)
+        rtio_output(self.roi_config_ch << 8 | (4 * n + 1), y0)
+        delay_mu(c)
+        rtio_output(self.roi_config_ch << 8 | (4 * n + 2), x1)
+        delay_mu(c)
+        rtio_output(self.roi_config_ch << 8 | (4 * n + 3), y1)
+        delay_mu(c)
+
+    @kernel
+    def gate_roi(self, mask):
+        """
+        Defines which ROI engines produce input events.
+
+        At the end of each video frame, the output from each ROI engine that
+        has been enabled by the mask is enqueued into the RTIO input FIFO.
+
+        This function sets the mask at the current position of the RTIO time
+        cursor.
+
+        Setting the mask using this function is atomic; in other words,
+        if the system is in the middle of processing a frame and the mask
+        is changed, the processing will complete using the value of the mask
+        that it started with.
+
+        :param mask: bitmask enabling or disabling each ROI engine.
+        """
+        rtio_output(self.roi_gating_ch << 8, mask)
+
+    @kernel
+    def gate_roi_pulse(self, mask, dt):
+        """
+        Sets a temporary mask for the specified duration (in seconds), then
+        disables all ROI engines.
+        """
+        self.gate_roi(mask)
+        delay(dt)
+        self.gate_roi(0)
+
+    @kernel
+    def input_mu(self, data, timeout_mu=-1):
+        """
+        Retrieves the accumulated values for one frame from the ROI engines.
+        Blocks until values are available or timeout is reached.
+
+        The input list must be a list of integers of the same length as there
+        are enabled ROI engines. This method replaces the elements of the
+        input list with the outputs of the enabled ROI engines, sorted by
+        number.
+
+        If the number of elements in the list does not match the number of
+        ROI engines that produced output, an exception will be raised during
+        this call or the next.
+
+        If the timeout is reached before data is available, the exception
+        :exc:`CXPGrabberTimeoutException` is raised.
+
+        :param timeout_mu: Timestamp at which a timeout will occur. Set to -1
+                           (default) to disable timeout.
+        """
+        timestamp, sentinel = rtio_input_timestamped_data(
+            timeout_mu, self.roi_gating_ch
+        )
+        if timestamp == -1:
+            raise CXPGrabberTimeoutException(
+                "Timeout before CoaXPress Grabber frame available"
+            )
+        if sentinel != self.sentinel:
+            raise OutOfSyncException
+
+        for i in range(len(data)):
+            timestamp, roi_output = rtio_input_timestamped_data(
+                timeout_mu, self.roi_gating_ch
+            )
+            if roi_output == self.sentinel:
+                raise OutOfSyncException
+            if timestamp == -1:
+                raise CXPGrabberTimeoutException(
+                    "Timeout retrieving ROIs (attempting to read more ROIs than enabled?)"
+                )
+            data[i] = roi_output
+
+    @kernel
+    def read32(self, address: TInt32) -> TInt32:
+        """
+        Read a 32-bit value from camera register
+
+        .. warning:: This is NOT a real-time operation.
+
+        :param address: 32-bit register address to read from
+        :returns: 32-bit value from register
+        """
+        return cxp_read32(address)
+
+    @kernel
+    def write32(self, address: TInt32, value: TInt32):
+        """
+        Write a 32-bit value to camera register
+
+        .. warning:: This is NOT a real-time operation.
+
+        :param address: 32-bit register address to write to
+        :param value: 32-bit value to be written
+        """
+        cxp_write32(address, value)
+
+    @kernel
+    def read_local_xml(self, buffer):
+        """
+        Read the XML setting file from the camera if available.
+        Data will be in 32-bit big-endian encoding.
+        The file format may be .zip or .xml depending on the camera model.
+
+        .. warning:: This is NOT a real-time operation.
+
+        :param buffer: list to be filled
+        :returns: number of 32-bit words read
+        """
+        return cxp_download_xml_file(buffer)
+
+    @kernel
+    def start_roi_viewer(self, x0, y0, x1, y1):
+        """
+        Defines the coordinates of ROI viewer and start the capture.
+
+        Unlike :exc:`setup_roi`, ROI viewer has a maximum  height limit of 1024 and total size limit of 4096 pixels.
+
+        .. warning:: This is NOT a real-time operation.
+        """
+        cxp_start_roi_viewer(x0, y0, x1, y1)
+
+    @kernel
+    def read_roi_viewer_frame(self, frame):
+        """
+        Read the ROI viewer frame.
+
+        The user must :exc:`start_roi_viewer` and trigger the camera before the frame is available.
+
+        .. warning:: This is NOT a real-time operation.
+
+        :param frame: a 2D array of 32-bit integers
+        :returns: the frame bit depth
+        """
+        buffer = [0] * 1024
+        width, height, pixel_width = cxp_download_roi_viewer_frame(buffer)
+        if height != len(frame) or width != len(frame[0]):
+            raise ValueError(
+                "The frame matrix size is not the same as ROI viewer frame size"
+            )
+
+        for y in range(height):
+            offset = (((width + 3) & (~3)) // 4) * y
+            for x in range(width):
+                # each buffer element holds 4 pixels
+                frame[y][x] = (buffer[offset + (x // 4)] >> (16 * (x % 4))) & 0xFFFF
+        return pixel_width

artiq/coredevice/exceptions.py

@@ -129,11 +129,6 @@ class CoreException:
                 '\n\nEnd of Core Device Traceback\n'
 
 
-class InternalError(Exception):
-    """Raised when the runtime encounters an internal error condition."""
-    artiq_builtin = True
-
-
 class CacheError(Exception):
     """Raised when putting a value into a cache row would violate memory safety."""
     artiq_builtin = True
@@ -195,3 +190,7 @@ class SPIError(Exception):
 class UnwrapNoneError(Exception):
     """Raised when unwrapping a none Option."""
     artiq_builtin = True
+
+class CXPError(Exception):
+    """Raised when CXP transaction fails."""
+    artiq_builtin = True

artiq/firmware/ksupport/eh_artiq.rs

@@ -329,7 +329,7 @@ extern fn stop_fn(_version: c_int,
 }
 
 // Must be kept in sync with `artiq.compiler.embedding`
-static EXCEPTION_ID_LOOKUP: [(&str, u32); 22] = [
+static EXCEPTION_ID_LOOKUP: [(&str, u32); 23] = [
     ("RTIOUnderflow", 0),
     ("RTIOOverflow", 1),
     ("RTIODestinationUnreachable", 2),
@@ -352,6 +352,7 @@ static EXCEPTION_ID_LOOKUP: [(&str, u32); 22] = [
     ("ZeroDivisionError", 19),
     ("LinAlgError", 20),
     ("UnwrapNoneError", 21),
+    ("CXPError", 22)
 ];
 
 pub fn get_exception_id(name: &str) -> u32 {

artiq/firmware/ksupport/lib.rs

@@ -209,7 +209,7 @@ fn terminate(exceptions: &'static [Option<eh_artiq::Exception<'static>>],
     loop {}
 }
 
-extern fn cache_get<'a>(key: &CSlice<u8>) -> *const CSlice<'a, i32> {
+extern fn cache_get<'a>(key: CSlice<u8>) -> *const CSlice<'a, i32> {
     send(&CacheGetRequest {
         key:   str::from_utf8(key.as_ref()).unwrap()
     });
@@ -218,7 +218,7 @@ extern fn cache_get<'a>(key: &CSlice<u8>) -> *const CSlice<'a, i32> {
     })
 }
 
-extern "C-unwind" fn cache_put(key: &CSlice<u8>, list: &CSlice<i32>) {
+extern "C-unwind" fn cache_put(key: CSlice<u8>, list: &CSlice<i32>) {
     send(&CachePutRequest {
         key:   str::from_utf8(key.as_ref()).unwrap(),
         value: list.as_ref()
@@ -251,7 +251,7 @@ fn dma_record_flush() {
     }
 }
 
-extern "C-unwind" fn dma_record_start(name: &CSlice<u8>) {
+extern "C-unwind" fn dma_record_start(name: CSlice<u8>) {
     let name = str::from_utf8(name.as_ref()).unwrap();
 
     unsafe {
@@ -264,6 +264,7 @@ extern "C-unwind" fn dma_record_start(name: &CSlice<u8>) {
                        dma_record_output as *const () as u32).unwrap();
         library.rebind(b"rtio_output_wide",
                        dma_record_output_wide as *const () as u32).unwrap();
+        board_misoc::cache::flush_cpu_icache();
 
         DMA_RECORDER.active = true;
         send(&DmaRecordStart(name));
@@ -283,6 +284,7 @@ extern "C-unwind" fn dma_record_stop(duration: i64, enable_ddma: bool) {
                        rtio::output as *const () as u32).unwrap();
         library.rebind(b"rtio_output_wide",
                        rtio::output_wide as *const () as u32).unwrap();
+        board_misoc::cache::flush_cpu_icache();
 
         DMA_RECORDER.active = false;
         send(&DmaRecordStop {
@@ -359,7 +361,7 @@ extern fn dma_record_output_wide(target: i32, words: &CSlice<i32>) {
     }
 }
 
-extern fn dma_erase(name: &CSlice<u8>) {
+extern fn dma_erase(name: CSlice<u8>) {
     let name = str::from_utf8(name.as_ref()).unwrap();
 
     send(&DmaEraseRequest { name: name });
@@ -372,7 +374,7 @@ struct DmaTrace {
     uses_ddma: bool,
 }
 
-extern "C-unwind" fn dma_retrieve(name: &CSlice<u8>) -> DmaTrace {
+extern "C-unwind" fn dma_retrieve(name: CSlice<u8>) -> DmaTrace {
     let name = str::from_utf8(name.as_ref()).unwrap();
 
     send(&DmaRetrieveRequest { name: name });

artiq/firmware/libboard_artiq/si5324.rs

@@ -90,15 +90,24 @@ fn map_frequency_settings(settings: &FrequencySettings) -> Result<FrequencySetti
 
 fn write(reg: u8, val: u8) -> Result<()> {
     i2c::start(BUSNO).unwrap();
-    if !i2c::write(BUSNO, ADDRESS << 1).unwrap() {
-        return Err("Si5324 failed to ack write address")
-    }
-    if !i2c::write(BUSNO, reg).unwrap() {
-        return Err("Si5324 failed to ack register")
-    }
-    if !i2c::write(BUSNO, val).unwrap() {
-        return Err("Si5324 failed to ack value")
-    }
+    i2c::write(BUSNO, ADDRESS << 1).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack write address",
+            err => err.into()
+        }
+    )?;
+    i2c::write(BUSNO, reg).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack register",
+            err => err.into()
+        }
+    )?;
+    i2c::write(BUSNO, val).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack value",
+            err => err.into()
+        }
+    )?;
     i2c::stop(BUSNO).unwrap();
     Ok(())
 }
@@ -106,29 +115,47 @@ fn write(reg: u8, val: u8) -> Result<()> {
 #[cfg(si5324_soft_reset)]
 fn write_no_ack_value(reg: u8, val: u8) -> Result<()> {
     i2c::start(BUSNO).unwrap();
-    if !i2c::write(BUSNO, ADDRESS << 1).unwrap() {
-        return Err("Si5324 failed to ack write address")
-    }
-    if !i2c::write(BUSNO, reg).unwrap() {
-        return Err("Si5324 failed to ack register")
-    }
-    i2c::write(BUSNO, val).unwrap();
+    i2c::write(BUSNO, ADDRESS << 1).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack write address",
+            err => err.into()
+        }
+    )?;
+    i2c::write(BUSNO, reg).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack register",
+            err => err.into()
+        }
+    )?;
+    match i2c::write(BUSNO, val) {
+        Ok(()) | Err(i2c::Error::Nack) => Ok(()),
+        err => err
+    }?;
     i2c::stop(BUSNO).unwrap();
     Ok(())
 }
 
 fn read(reg: u8) -> Result<u8> {
     i2c::start(BUSNO).unwrap();
-    if !i2c::write(BUSNO, ADDRESS << 1).unwrap() {
-        return Err("Si5324 failed to ack write address")
-    }
-    if !i2c::write(BUSNO, reg).unwrap() {
-        return Err("Si5324 failed to ack register")
-    }
+    i2c::write(BUSNO, ADDRESS << 1).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack write address",
+            err => err.into()
+        }
+    )?;
+    i2c::write(BUSNO, reg).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack register",
+            err => err.into()
+        }
+    )?;
     i2c::restart(BUSNO).unwrap();
-    if !i2c::write(BUSNO, (ADDRESS << 1) | 1).unwrap() {
-        return Err("Si5324 failed to ack read address")
-    }
+    i2c::write(BUSNO, (ADDRESS << 1) | 1).map_err(|err|
+        match err {
+            i2c::Error::Nack => "Si5324 failed to ack read address",
+            err => err.into()
+        }
+    )?;
     let val = i2c::read(BUSNO, false).unwrap();
     i2c::stop(BUSNO).unwrap();
     Ok(val)

artiq/firmware/libboard_artiq/spi.rs

@@ -1,12 +1,27 @@
+pub enum Error {
+    NoSPI,
+    InvalidBus,
+    OtherError,
+}
+
+impl From<Error> for &str {
+    fn from(err: Error) -> &'static str {
+        match err {
+            Error::NoSPI => "SPI not supported",
+            Error::InvalidBus => "Invalid SPI bus",
+            Error::OtherError => "other error",
+        }
+    }
+}
+
 #[cfg(has_converter_spi)]
 mod imp {
     use board_misoc::csr;
+    use super::Error;
 
-    const INVALID_BUS: &'static str = "Invalid SPI bus"; 
-
-    pub fn set_config(busno: u8, flags: u8, length: u8, div: u8, cs: u8) -> Result<(), &'static str> {
+    pub fn set_config(busno: u8, flags: u8, length: u8, div: u8, cs: u8) -> Result<(), Error> {
         if busno != 0 {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         unsafe {
             while csr::converter_spi::writable_read() == 0 {}
@@ -33,9 +48,9 @@ mod imp {
         Ok(())
     }
 
-    pub fn write(busno: u8, data: u32) -> Result<(), &'static str> {
+    pub fn write(busno: u8, data: u32) -> Result<(), Error> {
         if busno != 0 {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         unsafe {
             while csr::converter_spi::writable_read() == 0 {}
@@ -44,9 +59,9 @@ mod imp {
         Ok(())
     }
 
-    pub fn read(busno: u8) -> Result<u32, &'static str> {
+    pub fn read(busno: u8) -> Result<u32, Error> {
         if busno != 0 {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         Ok(unsafe {
             while csr::converter_spi::writable_read() == 0 {}
@@ -57,9 +72,11 @@ mod imp {
 
 #[cfg(not(has_converter_spi))]
 mod imp {
-    pub fn set_config(_busno: u8, _flags: u8, _length: u8, _div: u8, _cs: u8) -> Result<(), ()> { Err(()) }
-    pub fn write(_busno: u8,_data: u32) -> Result<(), ()> { Err(()) }
-    pub fn read(_busno: u8,) -> Result<u32, ()> { Err(()) }
+    use super::Error;
+
+    pub fn set_config(_busno: u8, _flags: u8, _length: u8, _div: u8, _cs: u8) -> Result<(), Error> { Err(Error::NoSPI) }
+    pub fn write(_busno: u8,_data: u32) -> Result<(), Error> { Err(Error::NoSPI) }
+    pub fn read(_busno: u8,) -> Result<u32, Error> { Err(Error::NoSPI) }
 }
 
 pub use self::imp::*;

artiq/firmware/libboard_misoc/i2c.rs

@@ -1,8 +1,34 @@
+#[derive(Debug)]
+pub enum Error {
+    NoI2C,
+    InvalidBus,
+    Nack,
+    SCLLow,
+    SDALow,
+    ArbitrationLost,
+    IOExpanderError,
+    OtherError,
+}
+
+impl From<Error> for &str {
+    fn from(err: Error) -> &'static str {
+        match err {
+            Error::NoI2C => "I2C not supported",
+            Error::InvalidBus => "Invalid I2C bus",
+            Error::Nack => "I2C write was not ACKed",
+            Error::SCLLow => "SCL stuck low",
+            Error::SDALow => "SDA stuck low",
+            Error::ArbitrationLost => "SDA arbitration lost",
+            Error::IOExpanderError => "I2C IO Expander error",
+            Error::OtherError => "other error",
+        }
+    }
+}
+
 #[cfg(has_i2c)]
 mod imp {
     use super::super::{csr, clock};
-
-    const INVALID_BUS: &'static str = "Invalid I2C bus";
+    use super::Error;
 
     fn half_period() { clock::spin_us(100) }
     fn sda_bit(busno: u8) -> u8 { 1 << (2 * busno + 1) }
@@ -52,7 +78,7 @@ mod imp {
         }
     }
 
-    pub fn init() -> Result<(), &'static str> {
+    pub fn init() -> Result<(), Error> {
         for busno in 0..csr::CONFIG_I2C_BUS_COUNT {
             let busno = busno as u8;
             scl_oe(busno, false);
@@ -74,26 +100,26 @@ mod imp {
             }
 
             if !sda_i(busno) {
-                return Err("SDA is stuck low and doesn't get unstuck");
+                return Err(Error::SDALow);
             }
             if !scl_i(busno) {
-                return Err("SCL is stuck low and doesn't get unstuck");
+                return Err(Error::SCLLow);
             }
             // postcondition: SCL and SDA high
         }
         Ok(())
     }
 
-    pub fn start(busno: u8) -> Result<(), &'static str> {
+    pub fn start(busno: u8) -> Result<(), Error> {
         if busno as u32 >= csr::CONFIG_I2C_BUS_COUNT {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         // precondition: SCL and SDA high
         if !scl_i(busno) {
-            return Err("SCL is stuck low and doesn't get unstuck");
+            return Err(Error::SCLLow);
         }
         if !sda_i(busno) {
-            return Err("SDA arbitration lost");
+            return Err(Error::ArbitrationLost);
         }
         sda_oe(busno, true);
         half_period();
@@ -102,9 +128,9 @@ mod imp {
         Ok(())
     }
 
-    pub fn restart(busno: u8) -> Result<(), &'static str> {
+    pub fn restart(busno: u8) -> Result<(), Error> {
         if busno as u32 >= csr::CONFIG_I2C_BUS_COUNT {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         // precondition SCL and SDA low
         sda_oe(busno, false);
@@ -116,9 +142,9 @@ mod imp {
         Ok(())
     }
 
-    pub fn stop(busno: u8) -> Result<(), &'static str> {
+    pub fn stop(busno: u8) -> Result<(), Error> {
         if busno as u32 >= csr::CONFIG_I2C_BUS_COUNT {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         // precondition: SCL and SDA low
         half_period();
@@ -127,15 +153,15 @@ mod imp {
         sda_oe(busno, false);
         half_period();
         if !sda_i(busno) {
-            return Err("SDA arbitration lost");
+            return Err(Error::ArbitrationLost);
         }
         // postcondition: SCL and SDA high
         Ok(())
     }
 
-    pub fn write(busno: u8, data: u8) -> Result<bool, &'static str> {
+    pub fn write(busno: u8, data: u8) -> Result<(), Error> {
         if busno as u32 >= csr::CONFIG_I2C_BUS_COUNT {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         // precondition: SCL and SDA low
         // MSB first
@@ -156,12 +182,16 @@ mod imp {
         sda_oe(busno, true);
         // postcondition: SCL and SDA low
 
-        Ok(ack)
+        if !ack {
+            return Err(Error::Nack)
+        }
+
+        Ok(())
     }
 
-    pub fn read(busno: u8, ack: bool) -> Result<u8, &'static str> {
+    pub fn read(busno: u8, ack: bool) -> Result<u8, Error> {
         if busno as u32 >= csr::CONFIG_I2C_BUS_COUNT {
-            return Err(INVALID_BUS)
+            return Err(Error::InvalidBus)
         }
         // precondition: SCL and SDA low
         sda_oe(busno, false);
@@ -188,32 +218,30 @@ mod imp {
         Ok(data)
     }
 
-    pub fn switch_select(busno: u8, address: u8, mask: u8) -> Result<(), &'static str> {
+    pub fn switch_select(busno: u8, address: u8, mask: u8) -> Result<(), Error> {
         // address in 7-bit form
         // mask in format of 1 << channel (or 0 for disabling output)
         // PCA9548 support only for now
         start(busno)?;
-        if !write(busno, address << 1)? {
-            return Err("PCA9548 failed to ack write address")
-        }
-        if !write(busno, mask)? {
-            return Err("PCA9548 failed to ack control word")
-        }
-        stop(busno)?;
-        Ok(())
+        let write_result = write(busno, address << 1)
+            .and_then( |_| write(busno, mask) );
+        let stop_result = stop(busno);
+
+        write_result.and(stop_result)
     }
 }
 
 #[cfg(not(has_i2c))]
 mod imp {
-    const NO_I2C: &'static str = "No I2C support on this platform";
-    pub fn init() -> Result<(), &'static str> { Err(NO_I2C) }
-    pub fn start(_busno: u8) -> Result<(), &'static str> { Err(NO_I2C) }
-    pub fn restart(_busno: u8) -> Result<(), &'static str> { Err(NO_I2C) }
-    pub fn stop(_busno: u8) -> Result<(), &'static str> { Err(NO_I2C) }
-    pub fn write(_busno: u8, _data: u8) -> Result<bool, &'static str> { Err(NO_I2C) }
-    pub fn read(_busno: u8, _ack: bool) -> Result<u8, &'static str> { Err(NO_I2C) }
-    pub fn switch_select(_busno: u8, _address: u8, _mask: u8) -> Result<(), &'static str> { Err(NO_I2C) }
+    use super::Error;
+
+    pub fn init() -> Result<(), Error> { Err(Error::NoI2C) }
+    pub fn start(_busno: u8) -> Result<(), Error> { Err(Error::NoI2C) }
+    pub fn restart(_busno: u8) -> Result<(), Error> { Err(Error::NoI2C) }
+    pub fn stop(_busno: u8) -> Result<(), Error> { Err(Error::NoI2C) }
+    pub fn write(_busno: u8, _data: u8) -> Result<bool, Error> { Err(Error::NoI2C) }
+    pub fn read(_busno: u8, _ack: bool) -> Result<u8, Error> { Err(Error::NoI2C) }
+    pub fn switch_select(_busno: u8, _address: u8, _mask: u8) -> Result<(), Error> { Err(Error::NoI2C) }
 }
 
 pub use self::imp::*;

artiq/firmware/libboard_misoc/i2c_eeprom.rs

@@ -29,36 +29,38 @@ impl EEPROM {
     }
 
     #[cfg(soc_platform = "kasli")]
-    fn select(&self) -> Result<(), &'static str> {
+    fn select(&self) -> Result<(), i2c::Error> {
         let mask: u16 = 1 << self.port;
         i2c::switch_select(self.busno, 0x70, mask as u8)?;
         i2c::switch_select(self.busno, 0x71, (mask >> 8) as u8)?;
         Ok(())
     }
 
-    pub fn read<'a>(&self, addr: u8, buf: &'a mut [u8]) -> Result<(), &'static str> {
+    pub fn read<'a>(&self, addr: u8, buf: &'a mut [u8]) -> Result<(), i2c::Error> {
         self.select()?;
 
         i2c::start(self.busno)?;
-        i2c::write(self.busno, self.address)?;
-        i2c::write(self.busno, addr)?;
+        let read_result = i2c::write(self.busno, self.address)
+            .and_then( |_| i2c::write(self.busno, addr))
+            .and_then( |_| i2c::restart(self.busno))
+            .and_then( |_| i2c::write(self.busno, self.address | 1))
+            .and_then( |_| {
+                let buf_len = buf.len();
+                for (i, byte) in buf.iter_mut().enumerate() {
+                    *byte = i2c::read(self.busno, i < buf_len - 1)?;
+                }
+                Ok(())
+            });
 
-        i2c::restart(self.busno)?;
-        i2c::write(self.busno, self.address | 1)?;
-        let buf_len = buf.len();
-        for (i, byte) in buf.iter_mut().enumerate() {
-            *byte = i2c::read(self.busno, i < buf_len - 1)?;
-        }
+        let stop_result = i2c::stop(self.busno);
 
-        i2c::stop(self.busno)?;
-
-        Ok(())
+        read_result.and(stop_result)
     }
 
     /// > The 24AA02XEXX is programmed at the factory with a
     /// > globally unique node address stored in the upper half
     /// > of the array and permanently write-protected.
-    pub fn read_eui48<'a>(&self) -> Result<[u8; 6], &'static str> {
+    pub fn read_eui48<'a>(&self) -> Result<[u8; 6], i2c::Error> {
         let mut buffer = [0u8; 6];
         self.read(0xFA, &mut buffer)?;
         Ok(buffer)

artiq/firmware/libboard_misoc/io_expander.rs

@@ -23,7 +23,7 @@ pub struct IoExpander {
 
 impl IoExpander {
     #[cfg(all(soc_platform = "kasli", hw_rev = "v2.0"))]
-    pub fn new(index: u8) -> Result<Self, &'static str> {
+    pub fn new(index: u8) -> Result<Self, i2c::Error> {
         const VIRTUAL_LED_MAPPING0: [(u8, u8, u8); 2] = [(0, 0, 6), (1, 1, 6)];
         const VIRTUAL_LED_MAPPING1: [(u8, u8, u8); 2] = [(2, 0, 6), (3, 1, 6)];
 
@@ -79,7 +79,11 @@ impl IoExpander {
                     gpiob: 0x13,
                 },
             },
-            _ => return Err("incorrect I/O expander index"),
+            _ => {
+                #[cfg(feature = "log")]
+                log::error!("incorrect I/O expander index");
+                return Err(i2c::Error::IOExpanderError)
+            }
         };
         if !io_expander.check_ack()? {
             #[cfg(feature = "log")]
@@ -95,14 +99,16 @@ impl IoExpander {
                 gpiob: 0x03,
             };
             if !io_expander.check_ack()? {
-                return Err("Neither MCP23017 nor PCA9539 io expander found.");
+                #[cfg(feature = "log")]
+                log::error!("Neither MCP23017 nor PCA9539 io expander found.");
+                return Err(i2c::Error::IOExpanderError);
             };
         }
         Ok(io_expander)
     }
 
     #[cfg(soc_platform = "efc")]
-    pub fn new() -> Result<Self, &'static str> {
+    pub fn new() -> Result<Self, i2c::Error> {
         const VIRTUAL_LED_MAPPING: [(u8, u8, u8); 2] = [(0, 0, 5), (1, 0, 6)];
 
         let io_expander = IoExpander {
@@ -121,13 +127,15 @@ impl IoExpander {
             },
         };
         if !io_expander.check_ack()? {
-            return Err("MCP23017 io expander not found.");
+            #[cfg(feature = "log")]
+            log::error!("MCP23017 io expander not found.");
+            return Err(i2c::Error::IOExpanderError);
         };
         Ok(io_expander)
     }
 
     #[cfg(soc_platform = "kasli")]
-    fn select(&self) -> Result<(), &'static str> {
+    fn select(&self) -> Result<(), i2c::Error> {
         let mask: u16 = 1 << self.port;
         i2c::switch_select(self.busno, 0x70, mask as u8)?;
         i2c::switch_select(self.busno, 0x71, (mask >> 8) as u8)?;
@@ -135,37 +143,42 @@ impl IoExpander {
     }
 
     #[cfg(soc_platform = "efc")]
-    fn select(&self) -> Result<(), &'static str> {
+    fn select(&self) -> Result<(), i2c::Error> {
         let mask: u16 = 1 << self.port;
         i2c::switch_select(self.busno, 0x70, mask as u8)?;
         Ok(())
     }
 
-    fn write(&self, addr: u8, value: u8) -> Result<(), &'static str> {
+    fn write(&self, addr: u8, value: u8) -> Result<(), i2c::Error> {
         i2c::start(self.busno)?;
-        i2c::write(self.busno, self.address)?;
-        i2c::write(self.busno, addr)?;
-        i2c::write(self.busno, value)?;
-        i2c::stop(self.busno)?;
-        Ok(())
+        let write_result = i2c::write(self.busno, self.address)
+            .and_then( |_| i2c::write(self.busno, addr))
+            .and_then( |_| i2c::write(self.busno, value));
+
+        let stop_result = i2c::stop(self.busno);
+        write_result.and(stop_result)
     }
 
-    fn check_ack(&self) -> Result<bool, &'static str> {
+    fn check_ack(&self) -> Result<bool, i2c::Error> {
         // Check for ack from io expander
         self.select()?;
         i2c::start(self.busno)?;
-        let ack = i2c::write(self.busno, self.address)?;
+        let ack = match i2c::write(self.busno, self.address) {
+            Ok(()) => true,
+            Err(i2c::Error::Nack) => false,
+            Err(err) => return Err(err)
+        };
         i2c::stop(self.busno)?;
         Ok(ack)
     }
 
-    fn update_iodir(&self) -> Result<(), &'static str> {
+    fn update_iodir(&self) -> Result<(), i2c::Error> {
         self.write(self.registers.iodira, self.iodir[0])?;
         self.write(self.registers.iodirb, self.iodir[1])?;
         Ok(())
     }
 
-    pub fn init(&mut self) -> Result<(), &'static str> {
+    pub fn init(&mut self) -> Result<(), i2c::Error> {
         self.select()?;
 
         for (_led, port, bit) in self.virtual_led_mapping.iter() {
@@ -180,7 +193,7 @@ impl IoExpander {
         Ok(())
     }
 
-    pub fn set_oe(&mut self, port: u8, outputs: u8) -> Result<(), &'static str> {
+    pub fn set_oe(&mut self, port: u8, outputs: u8) -> Result<(), i2c::Error> {
         self.iodir[port as usize] &= !outputs;
         self.update_iodir()?;
         Ok(())
@@ -194,7 +207,7 @@ impl IoExpander {
         }
     }
 
-    pub fn service(&mut self) -> Result<(), &'static str> {
+    pub fn service(&mut self) -> Result<(), i2c::Error> {
         for (led, port, bit) in self.virtual_led_mapping.iter() {
             let level = unsafe { (csr::virtual_leds::status_read() >> led) & 1 };
             self.set(*port, *bit, level != 0);

artiq/firmware/runtime/analyzer.rs

@@ -10,7 +10,7 @@ use core::cell::RefCell;
 
 const BUFFER_SIZE: usize = 512 * 1024;
 
-#[repr(align(64))]
+#[repr(align(2048))]
 struct Buffer {
     data: [u8; BUFFER_SIZE],
 }

artiq/firmware/runtime/kern_hwreq.rs

@@ -14,11 +14,12 @@ mod remote_i2c {
     use drtio_routing;
     use rtio_mgt::drtio;
     use sched::{Io, Mutex};
+    use super::local_i2c;
 
     pub fn start(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8
-    ) -> Result<(), &'static str> {
+    ) -> Result<(), local_i2c::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, 
             &drtioaux::Packet::I2cStartRequest {
                 destination: destination,
@@ -26,15 +27,15 @@ mod remote_i2c {
             });
         match reply {
             Ok(drtioaux::Packet::I2cBasicReply { succeeded }) => {
-                if succeeded { Ok(()) } else { Err("i2c basic reply error") }
+                if succeeded { Ok(()) } else { Err(local_i2c::Error::OtherError) }
             }
             Ok(packet) => {
                 error!("received unexpected aux packet: {:?}", packet);
-                Err("received unexpected aux packet")
+                Err(local_i2c::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err("aux packet error")
+                Err(local_i2c::Error::OtherError)
             }
         }
     }
@@ -42,7 +43,7 @@ mod remote_i2c {
     pub fn restart(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8
-    ) -> Result<(), &'static str> {
+    ) -> Result<(), local_i2c::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, 
             &drtioaux::Packet::I2cRestartRequest {
                 destination: destination,
@@ -50,15 +51,15 @@ mod remote_i2c {
             });
         match reply {
             Ok(drtioaux::Packet::I2cBasicReply { succeeded }) => {
-                if succeeded { Ok(()) } else { Err("i2c basic reply error") }
+                if succeeded { Ok(()) } else { Err(local_i2c::Error::OtherError) }
             }
             Ok(packet) => {
                 error!("received unexpected aux packet: {:?}", packet);
-                Err("received unexpected aux packet")
+                Err(local_i2c::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err("aux packet error")
+                Err(local_i2c::Error::OtherError)
             }
         }
     }
@@ -66,7 +67,7 @@ mod remote_i2c {
     pub fn stop(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8
-    ) -> Result<(), &'static str> {
+    ) -> Result<(), local_i2c::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno,
             &drtioaux::Packet::I2cStopRequest  {
                 destination: destination,
@@ -74,15 +75,15 @@ mod remote_i2c {
             });
         match reply {
             Ok(drtioaux::Packet::I2cBasicReply { succeeded }) => {
-                if succeeded { Ok(()) } else { Err("i2c basic reply error") }
+                if succeeded { Ok(()) } else { Err(local_i2c::Error::OtherError) }
             }
             Ok(packet) => {
                 error!("received unexpected aux packet: {:?}", packet);
-                Err("received unexpected aux packet")
+                Err(local_i2c::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err("aux packet error")
+                Err(local_i2c::Error::OtherError)
             }
         }
     }
@@ -90,7 +91,7 @@ mod remote_i2c {
     pub fn write(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8, data: u8
-    ) -> Result<bool, &'static str> {
+    ) -> Result<(), local_i2c::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, 
             &drtioaux::Packet::I2cWriteRequest {
                 destination: destination,
@@ -99,15 +100,21 @@ mod remote_i2c {
             });
         match reply {
             Ok(drtioaux::Packet::I2cWriteReply { succeeded, ack }) => {
-                if succeeded { Ok(ack) } else { Err("i2c write reply error") }
+                if succeeded && ack { 
+                    Ok(()) 
+                } else if !ack {
+                    Err(local_i2c::Error::Nack) 
+                } else { 
+                    Err(local_i2c::Error::OtherError)
+                }
             }
             Ok(_) => {
                 error!("received unexpected aux packet");
-                Err("received unexpected aux packet")
+                Err(local_i2c::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err("aux packet error")
+                Err(local_i2c::Error::OtherError)
             }
         }
     }
@@ -115,7 +122,7 @@ mod remote_i2c {
     pub fn read(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8, ack: bool
-    ) -> Result<u8, &'static str> {
+    ) -> Result<u8, local_i2c::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, 
             &drtioaux::Packet::I2cReadRequest {
                 destination: destination,
@@ -124,15 +131,15 @@ mod remote_i2c {
             });
         match reply {
             Ok(drtioaux::Packet::I2cReadReply { succeeded, data }) => {
-                if succeeded { Ok(data) } else { Err("i2c read reply error") }
+                if succeeded { Ok(data) } else { Err(local_i2c::Error::OtherError) }
             }
             Ok(_) => {
                 error!("received unexpected aux packet");
-                Err("received unexpected aux packet")
+                Err(local_i2c::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err("aux packet error")
+                Err(local_i2c::Error::OtherError)
             }
         }
     }
@@ -140,7 +147,7 @@ mod remote_i2c {
     pub fn switch_select(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8, address: u8, mask: u8
-    ) -> Result<(), &'static str> {
+    ) -> Result<(), local_i2c::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, 
             &drtioaux::Packet::I2cSwitchSelectRequest {
                 destination: destination,
@@ -150,15 +157,15 @@ mod remote_i2c {
             });
         match reply {
             Ok(drtioaux::Packet::I2cBasicReply { succeeded }) => {
-                if succeeded { Ok(()) } else { Err("i2c basic reply error") }
+                if succeeded { Ok(()) } else { Err(local_i2c::Error::OtherError) }
             }
             Ok(packet) => {
                 error!("received unexpected aux packet: {:?}", packet);
-                Err("received unexpected aux packet")
+                Err(local_i2c::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err("aux packet error")
+                Err(local_i2c::Error::OtherError)
             }
         }
     }
@@ -170,11 +177,12 @@ mod remote_spi {
     use drtio_routing;
     use rtio_mgt::drtio;
     use sched::{Io, Mutex};
+    use super::local_spi;
 
     pub fn set_config(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8, flags: u8, length: u8, div: u8, cs: u8
-    ) -> Result<(), ()> {
+    ) -> Result<(), local_spi::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, &drtioaux::Packet::SpiSetConfigRequest {
             destination: destination,
             busno: busno,
@@ -185,15 +193,15 @@ mod remote_spi {
         });
         match reply {
             Ok(drtioaux::Packet::SpiBasicReply { succeeded }) => {
-                if succeeded { Ok(()) } else { Err(()) }
+                if succeeded { Ok(()) } else { Err(local_spi::Error::OtherError) }
             }
             Ok(packet) => {
                 error!("received unexpected aux packet: {:?}", packet);
-                Err(())
+                Err(local_spi::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err(())
+                Err(local_spi::Error::OtherError)
             }
         }
     }
@@ -201,7 +209,7 @@ mod remote_spi {
     pub fn write(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable,
         linkno: u8, destination: u8, busno: u8, data: u32
-    ) -> Result<(), ()> {
+    ) -> Result<(), local_spi::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, &drtioaux::Packet::SpiWriteRequest {
             destination: destination,
             busno: busno,
@@ -209,22 +217,22 @@ mod remote_spi {
         });
         match reply {
             Ok(drtioaux::Packet::SpiBasicReply { succeeded }) => {
-                if succeeded { Ok(()) } else { Err(()) }
+                if succeeded { Ok(()) } else { Err(local_spi::Error::OtherError) }
             }
             Ok(packet) => {
                 error!("received unexpected aux packet: {:?}", packet);
-                Err(())
+                Err(local_spi::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err(())
+                Err(local_spi::Error::OtherError)
             }
         }
     }
 
     pub fn read(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subkernel_mutex: &Mutex,
         routing_table: &drtio_routing::RoutingTable, linkno: u8, destination: u8, busno: u8
-    ) -> Result<u32, ()> {
+    ) -> Result<u32, local_spi::Error> {
         let reply = drtio::aux_transact(io, aux_mutex, ddma_mutex, subkernel_mutex, routing_table, linkno, 
             &drtioaux::Packet::SpiReadRequest {
                 destination: destination,
@@ -232,15 +240,15 @@ mod remote_spi {
             });
         match reply {
             Ok(drtioaux::Packet::SpiReadReply { succeeded, data }) => {
-                if succeeded { Ok(data) } else { Err(()) }
+                if succeeded { Ok(data) } else { Err(local_spi::Error::OtherError) }
             }
             Ok(packet) => {
                 error!("received unexpected aux packet: {:?}", packet);
-                Err(())
+                Err(local_spi::Error::OtherError)
             }
             Err(e) => {
                 error!("aux packet error ({})", e);
-                Err(())
+                Err(local_spi::Error::OtherError)
             }
         }
     }
@@ -306,7 +314,8 @@ pub fn process_kern_hwreq(io: &Io, aux_mutex: &Mutex, ddma_mutex: &Mutex, subker
         }
         &kern::I2cWriteRequest { busno, data } => {
             match dispatch!(io, aux_mutex, ddma_mutex, subkernel_mutex, local_i2c, remote_i2c, routing_table, busno, write, data) {
-                Ok(ack) => kern_send(io, &kern::I2cWriteReply { succeeded: true, ack: ack }),
+                Ok(()) => kern_send(io, &kern::I2cWriteReply { succeeded: true, ack: true }),
+                Err(local_i2c::Error::Nack) => kern_send(io, &kern::I2cWriteReply { succeeded: true, ack: false }),
                 Err(_) => kern_send(io, &kern::I2cWriteReply { succeeded: false, ack: false })
             }
         }

artiq/firmware/satman/kernel.rs

@@ -1050,8 +1050,10 @@ fn process_kern_hwreq(request: &kern::Message, self_destination: u8) -> Result<b
         }
         &kern::I2cWriteRequest { busno, data } => {
             match i2c::write(busno as u8, data) {
-                Ok(ack) => kern_send(
-                    &kern::I2cWriteReply { succeeded: true, ack: ack }),
+                Ok(()) => kern_send(
+                    &kern::I2cWriteReply { succeeded: true, ack: true }),
+                Err(i2c::Error::Nack) => kern_send(
+                    &kern::I2cWriteReply { succeeded: true, ack: false }),
                 Err(_) => kern_send(
                     &kern::I2cWriteReply { succeeded: false, ack: false })
             }

artiq/firmware/satman/main.rs

@@ -321,8 +321,10 @@ fn process_aux_packet(dmamgr: &mut DmaManager, analyzer: &mut Analyzer, kernelmg
         drtioaux::Packet::I2cWriteRequest { destination: _destination, busno, data } => {
             forward!(router, _routing_table, _destination, *rank, *self_destination, _repeaters, &packet);
             match i2c::write(busno, data) {
-                Ok(ack) => drtioaux::send(0,
-                    &drtioaux::Packet::I2cWriteReply { succeeded: true, ack: ack }),
+                Ok(()) => drtioaux::send(0,
+                    &drtioaux::Packet::I2cWriteReply { succeeded: true, ack: true }),
+                Err(i2c::Error::Nack) => drtioaux::send(0,
+                    &drtioaux::Packet::I2cWriteReply { succeeded: true, ack: false }),
                 Err(_) => drtioaux::send(0,
                     &drtioaux::Packet::I2cWriteReply { succeeded: false, ack: false })
             }
@@ -647,7 +649,7 @@ fn process_aux_packet(dmamgr: &mut DmaManager, analyzer: &mut Analyzer, kernelmg
         drtioaux::Packet::CoreMgmtDropLinkAck { destination: _destination } => {
             forward!(router, _routing_table, _destination, *rank, *self_destination, _repeaters, &packet);
 
-            #[cfg(not(has_drtio_eem))]
+            #[cfg(not(soc_platform = "efc"))]
             unsafe {
                 csr::gt_drtio::txenable_write(0);
             }
@@ -949,7 +951,7 @@ fn startup() {
         io_expander.service().unwrap();
     }
 
-    #[cfg(not(has_drtio_eem))]
+    #[cfg(not(soc_platform = "efc"))]
     unsafe {
         csr::gt_drtio::txenable_write(0xffffffffu32 as _);
     }

artiq/gateware/cxp_grabber/core.py

@@ -0,0 +1,352 @@
+from migen import *
+from migen.genlib.cdc import MultiReg, PulseSynchronizer
+from misoc.interconnect.csr import *
+from misoc.interconnect.stream import AsyncFIFO, Buffer, Endpoint, SyncFIFO
+from misoc.cores.coaxpress.common import char_width, word_layout_dchar, word_width
+from misoc.cores.coaxpress.core import HostTXCore, HostRXCore
+from misoc.cores.coaxpress.core.packet import StreamPacketArbiter
+from misoc.cores.coaxpress.core.crc import CXPCRC32Checker
+
+from artiq.gateware.cxp_grabber.frame import (
+    EndOfLineMarker,
+    FrameHeaderReader,
+    PixelParser,
+    pixelword_layout,
+)
+
+from operator import or_, add
+
+
+class CXPHostCore(Module, AutoCSR):
+    def __init__(self, tx_phy, rx_phy, clk_freq, command_buffer_depth=32, nrxslot=4):
+        # control buffer is only 32 words (128 bytes) wide for compatibility with CXP 1.x compliant devices
+        # Section 12.1.6 (CXP-001-2021)
+        self.buffer_depth, self.nslots = command_buffer_depth, nrxslot
+
+        self.submodules.tx = HostTXCore(tx_phy, command_buffer_depth, clk_freq, False)
+        self.submodules.rx = HostRXCore(rx_phy, command_buffer_depth, nrxslot, False)
+
+    def get_tx_port(self):
+        return self.tx.writer.mem.get_port(write_capable=True)
+
+    def get_rx_port(self):
+        return self.rx.command_reader.mem.get_port(write_capable=False)
+
+    def get_mem_size(self):
+        return word_width * self.buffer_depth * self.nslots // 8
+
+
+class StreamDecoder(Module, AutoCSR):
+    """
+    Convert the raw frame data into pixel data
+
+    Currently only support:
+    - Pixel format: mono8, mono10, mono12, mono14, mono16
+    - Tap geometry: 1X-1Y
+    - Scanning mode: area scanning
+
+    """
+    def __init__(self, res_width):
+        self.crc_error = CSR()
+        self.stream_type_error = CSR()
+
+        self.new_frame = CSR()
+        self.x_size = CSRStatus(3*char_width)
+        self.y_size = CSRStatus(3*char_width)
+        self.pixel_format_code = CSRStatus(2*char_width)
+
+        # # #
+         
+        cdr = ClockDomainsRenamer("cxp_gt_rx")
+        # 
+        #      32+8(dchar)                                                             32 
+        # sink ────/────> stream ────> buffer ────> crc checker ─────> frame header ───/───> end of line ─────> skid buffer ─────> pixel parser ─────> 4x pixel with
+        #                 arbiter                   reader             reader                marker                                                    xy coordinate
+        # 
+         
+        
+        # Drops the packet header & K29.7 and mark eop on the crc word
+        self.submodules.arbiter = arbiter = cdr(StreamPacketArbiter())
+        
+        # Buffer to improve timing
+        self.submodules.buffer = buffer = cdr(Buffer(word_layout_dchar))
+
+        # CRC 
+        self.submodules.crc_checker = crc_checker = cdr(CXPCRC32Checker())
+        self.submodules.crc_error_ps = crc_error_ps = PulseSynchronizer("cxp_gt_rx", "sys")
+        self.sync.cxp_gt_rx += crc_error_ps.i.eq(crc_checker.error)
+        self.sync += [
+            If(crc_error_ps.o,
+                self.crc_error.w.eq(1),
+            ).Elif(self.crc_error.re,
+                self.crc_error.w.eq(0),
+            ),
+        ]
+
+        # Frame header extraction
+        self.submodules.header_reader = header_reader = cdr(FrameHeaderReader())
+        # New frame and stream type error notification
+        self.submodules.new_frame_ps = new_frame_ps = PulseSynchronizer("cxp_gt_rx", "sys")
+        self.submodules.stream_type_err_ps = stream_type_err_ps = PulseSynchronizer("cxp_gt_rx", "sys")
+        self.sync.cxp_gt_rx += [
+            new_frame_ps.i.eq(header_reader.new_frame),
+            stream_type_err_ps.i.eq(header_reader.decode_err),
+        ]
+        self.sync += [
+            If(new_frame_ps.o,
+                self.new_frame.w.eq(1),
+            ).Elif(self.new_frame.re,
+                self.new_frame.w.eq(0),
+            ),
+            If(stream_type_err_ps.o,
+                self.stream_type_error.w.eq(1),
+            ).Elif(self.stream_type_error.re,
+                self.stream_type_error.w.eq(0),
+            )
+        ]
+
+        frame_header = header_reader.header
+        self.specials += [
+            MultiReg(frame_header.Xsize, self.x_size.status),
+            MultiReg(frame_header.Ysize, self.y_size.status),
+            MultiReg(frame_header.PixelF, self.pixel_format_code.status),
+        ]
+
+
+        # Mark end of line for pixel parser
+        self.submodules.eol_marker = eol_marker = cdr(EndOfLineMarker())
+        self.sync.cxp_gt_rx += eol_marker.words_per_img_line.eq(frame_header.DsizeL)
+
+        # Skid buffer to prevent pipeline stalling
+        # At each linebreak, `Pixel_Parser.sink.ack` will fall for 1-2 cycle.
+        # Without the skid buffer , the whole pipleline will stall during that 1-2 cycle.
+        # 
+        # Due to the backpressure, 2 words line marker (4x K28.3 + 4x 0x02) will arrive as the linebreak indicator and will be consumed by `frame_header_reader`
+        # Thus, the buffer won't experience any data buildup.
+        self.submodules.skid_buf = skid_buf = cdr(SyncFIFO(pixelword_layout, 2))
+
+        self.submodules.parser = parser = cdr(PixelParser(res_width))
+        self.sync.cxp_gt_rx += [
+            parser.x_size.eq(frame_header.Xsize),
+            parser.y_size.eq(frame_header.Ysize),
+            parser.pixel_format_code.eq(frame_header.PixelF),
+        ]
+
+        # Connecting the pipeline
+        self.sink = arbiter.sink
+        self.comb += arbiter.sources[0].connect(buffer.sink)
+        self.pipeline = [buffer, crc_checker, header_reader, eol_marker, skid_buf, parser]
+        for s, d in zip(self.pipeline, self.pipeline[1:]):
+            self.comb += s.source.connect(d.sink)
+        
+
+        # For downstream ROI engine
+        self.source_pixel4x = parser.source_pixel4x
+
+
+class ROI(Module):
+    """
+    ROI Engine that accept 4 pixels each cycle. For each frame, accumulates pixels values within a
+    rectangular region of interest, and reports the total.
+    """
+    def __init__(self, pixel_4x, count_width):
+        assert len(pixel_4x) == 4
+
+        self.cfg = Record([
+            ("x0", len(pixel_4x[0].x)),
+            ("y0", len(pixel_4x[0].y)),
+            ("x1", len(pixel_4x[0].x)),
+            ("y1", len(pixel_4x[0].y)),
+        ])
+
+        self.out = Record([
+            ("update", 1),
+            # registered output - can be used as CDC input
+            ("count", count_width),
+        ])
+
+        # # #
+
+        roi_4x = [
+            Record([
+                ("x_good", 1),
+                ("y_good", 1),
+                ("gray", len(pixel_4x[0].gray)),
+                ("stb", 1),
+                ("count", count_width),
+            ]) for _ in range(4)
+            
+        ]
+
+        for pix, roi in zip(pixel_4x, roi_4x):
+            self.sync += [
+                # stage 1 - generate "good" (in-ROI) signals
+                roi.x_good.eq(0),
+                If((self.cfg.x0 <= pix.x) & (pix.x < self.cfg.x1),
+                    roi.x_good.eq(1)
+                ),
+
+                # the 4 pixels are on the same y level, no need for extra calculation
+                If(pix.y == self.cfg.y0,
+                    roi.y_good.eq(1)
+                ),
+                If(pix.y == self.cfg.y1,
+                    roi.y_good.eq(0)
+                ),
+                If(pix.eof,
+                    roi.x_good.eq(0),
+                    roi.y_good.eq(0)
+                ),
+                roi.gray.eq(pix.gray),
+                roi.stb.eq(pix.stb),
+
+                # stage 2 - accumulate
+                If((roi.stb & roi.x_good & roi.y_good),
+                    roi.count.eq(roi.count + roi.gray)
+                )
+            ]
+
+        eof = Signal()
+        eof_buf = Signal()
+        count_buf = [Signal(count_width), Signal(count_width)]
+        
+        # stage 3 - update
+        self.sync += [
+            eof.eq(reduce(or_, [pix.eof for pix in pixel_4x])),
+            eof_buf.eq(eof),
+            count_buf[0].eq(roi_4x[0].count + roi_4x[1].count),
+            count_buf[1].eq(roi_4x[2].count + roi_4x[3].count),
+
+            self.out.update.eq(0),
+            If(eof_buf,
+                [roi.count.eq(0) for roi in roi_4x],
+                self.out.update.eq(1),
+                self.out.count.eq(reduce(add, count_buf))
+            ),
+        ]
+
+class ROICropper(Module):
+    def __init__(self, pixel_4x):
+        self.enable = Signal()
+        self.cfg = Record([
+            ("x0", len(pixel_4x[0].x)),
+            ("y0", len(pixel_4x[0].y)),
+            ("x1", len(pixel_4x[0].x)),
+            ("y1", len(pixel_4x[0].y)),
+        ])
+
+        max_pixel_width = len(pixel_4x[0].gray)
+        self.source = Endpoint([("data", 4 * max_pixel_width)])
+
+        # # #
+
+        roi_4x = [
+            Record([
+                ("x_good", 1),
+                ("y_good", 1),
+                ("gray", max_pixel_width),
+                ("stb", 1),
+                ("eof", 1),
+            ]) for _ in range(4)
+        ]
+
+
+        for i, (pix, roi) in enumerate(zip(pixel_4x, roi_4x)):
+            self.sync += [
+                roi.x_good.eq(0),
+                If((self.cfg.x0 <= pix.x) & (pix.x < self.cfg.x1),
+                    roi.x_good.eq(1)
+                ),
+
+                # the 4 pixels are on the same y level, no need for extra calculation
+                If(pix.y == self.cfg.y0,
+                    roi.y_good.eq(1)
+                ),
+                If(pix.y == self.cfg.y1,
+                    roi.y_good.eq(0)
+                ),
+                If(pix.eof,
+                    roi.x_good.eq(0),
+                    roi.y_good.eq(0)
+                ),
+                roi.gray.eq(pix.gray),
+                roi.stb.eq(pix.stb),
+                roi.eof.eq(pix.eof),
+
+                self.source.data[i * max_pixel_width: (i + 1) * max_pixel_width].eq(0),
+                If((self.enable & roi.stb & roi.x_good & roi.y_good),
+                    self.source.data[i * max_pixel_width: (i + 1) * max_pixel_width].eq(roi.gray)
+                ),
+            ]
+
+            # use the first roi for flow control as the first pixel is always available 
+            if i == 0:
+                self.sync += [
+                    self.source.stb.eq(0),
+                    self.source.eop.eq(0),
+                    If((self.enable & roi.stb & roi.x_good & roi.y_good),
+                        self.source.stb.eq(roi.stb),
+                        self.source.eop.eq(roi.eof),
+                    ),
+                ]
+
+
+class ROIViewer(Module, AutoCSR):
+    def __init__(self, pixel_4x, fifo_depth=1024):
+        self.arm = CSR()
+        self.ready = CSR()
+        self.x0 = CSRStorage(len(pixel_4x[0].x))
+        self.x1 = CSRStorage(len(pixel_4x[0].y))
+        self.y0 = CSRStorage(len(pixel_4x[0].x))
+        self.y1 = CSRStorage(len(pixel_4x[0].y))
+
+        max_pixel_width = len(pixel_4x[0].gray)
+        self.fifo_ack = CSR()
+        self.fifo_data = CSRStatus(4 * max_pixel_width)
+        self.fifo_stb = CSRStatus()
+
+        # # #
+
+        cdr = ClockDomainsRenamer("cxp_gt_rx")
+        self.submodules.cropper = cropper = cdr(ROICropper(pixel_4x))
+        self.submodules.arm_ps = arm_ps = PulseSynchronizer("sys", "cxp_gt_rx")
+        self.submodules.ready_ps = ready_ps = PulseSynchronizer("cxp_gt_rx", "sys")
+        self.sync += [
+            arm_ps.i.eq(self.arm.re),
+            If(ready_ps.o,
+                self.ready.w.eq(1),
+            ).Elif(self.ready.re,
+                self.ready.w.eq(0),
+            ),
+        ]
+        self.sync.cxp_gt_rx += [
+            If(arm_ps.o,
+                cropper.enable.eq(1),
+            ).Elif(pixel_4x[0].eof,
+                cropper.enable.eq(0),
+            ),
+            ready_ps.i.eq(pixel_4x[0].eof),
+        ]
+
+        self.specials += [
+            MultiReg(self.x0.storage, cropper.cfg.x0, "cxp_gt_rx"),
+            MultiReg(self.x1.storage, cropper.cfg.x1, "cxp_gt_rx"),
+            MultiReg(self.y0.storage, cropper.cfg.y0, "cxp_gt_rx"),
+            MultiReg(self.y1.storage, cropper.cfg.y1, "cxp_gt_rx"),
+        ]
+
+        self.submodules.buffer = buffer = cdr(Buffer([("data", 4 * max_pixel_width)]))
+
+        self.submodules.fifo = fifo = ClockDomainsRenamer(
+            {"write": "cxp_gt_rx", "read": "sys"}
+        )(AsyncFIFO([("data", 4 * max_pixel_width)], fifo_depth))
+
+        pipeline = [cropper, buffer, fifo]
+        for s, d in zip(pipeline, pipeline[1:]):
+            self.comb += s.source.connect(d.sink)
+
+        self.sync += [
+            fifo.source.ack.eq(self.fifo_ack.re),
+            self.fifo_data.status.eq(fifo.source.data),
+            self.fifo_stb.status.eq(fifo.source.stb),
+        ]

artiq/gateware/cxp_grabber/frame.py

@@ -0,0 +1,476 @@
+from migen import *
+from misoc.interconnect.stream import Endpoint
+from misoc.cores.coaxpress.common import (
+    char_width,
+    KCode,
+    switch_endianness,
+    word_layout_dchar,
+    word_width,
+)
+
+from math import lcm
+from types import SimpleNamespace
+
+max_pixel_width = 16
+# the pixel data don't include any K code nor duplicate char
+pixelword_layout = [("data", word_width)]
+       
+class FrameHeaderReader(Module):
+    def __init__(self):
+        self.decode_err = Signal()
+
+        self.new_frame = Signal()
+
+        # # #
+
+        # Table 47 (CXP-001-2021)
+        n_header_chars = 23
+        img_header_layout = [
+            ("StreamID", char_width),
+            ("SourceTag", 2 * char_width),
+            ("Xsize", 3 * char_width),
+            ("Xoffs", 3 * char_width),  # horizontal offset in pixels
+            ("Ysize", 3 * char_width),
+            ("Yoffs", 3 * char_width),  # vertical offset in pixels
+            ("DsizeL", 3 * char_width), # number of data words per image line
+            ("PixelF", 2 * char_width),
+            ("TapG", 2 * char_width),   # tap geometry
+            ("Flags", char_width),
+        ]
+        assert layout_len(img_header_layout) == n_header_chars * char_width
+
+        self.sink = Endpoint(word_layout_dchar)
+        self.source = Endpoint(pixelword_layout)
+
+        # # #
+
+
+        self.submodules.fsm = fsm = FSM(reset_state="IDLE")
+
+        fsm.act("IDLE",
+            self.sink.ack.eq(1),
+            If((self.sink.stb & (self.sink.dchar == KCode["stream_marker"]) & (self.sink.dchar_k == 1)),
+                NextState("DECODE"),
+            )
+        )
+
+        fsm.act("COPY",
+            # until for new line or new frame
+            If((self.sink.stb & (self.sink.dchar == KCode["stream_marker"]) & (self.sink.dchar_k == 1)),
+                self.sink.ack.eq(1),
+                NextState("DECODE"),
+            ).Else(
+                self.sink.connect(self.source, omit={"k", "dchar", "dchar_k"}),
+            )
+        )
+
+        type = {
+            "new_frame": 0x01,
+            "line_break": 0x02,
+        }
+
+        cnt = Signal(max=n_header_chars)
+        fsm.act("DECODE",
+            self.sink.ack.eq(1),
+            If(self.sink.stb,
+                Case(self.sink.dchar, {
+                    type["new_frame"]: [
+                        NextValue(cnt, cnt.reset),
+                        NextState("GET_FRAME_DATA"),
+                    ],
+                    type["line_break"]: [
+                        NextState("COPY"),
+                    ],
+                    "default": [
+                         self.decode_err.eq(1),
+                         # discard all data until valid frame header
+                         NextState("IDLE"),
+                    ],
+                }),
+            )
+        )
+
+        packet_buffer = Signal(layout_len(img_header_layout))
+        case = dict(
+            (i, NextValue(packet_buffer[8*i:8*(i+1)], self.sink.dchar))
+            for i in range(n_header_chars)
+        )
+        fsm.act("GET_FRAME_DATA",
+            self.sink.ack.eq(1),
+            If(self.sink.stb,
+                Case(cnt, case),
+                If(cnt == n_header_chars - 1,
+                    self.new_frame.eq(1),
+                    NextState("COPY"),
+                    NextValue(cnt, cnt.reset),
+                ).Else(
+                    NextValue(cnt, cnt + 1),
+                ),
+            ),
+        )
+
+        # dissect packet 
+        self.header = SimpleNamespace()
+        idx = 0
+        for name, size in img_header_layout:
+            # CXP also use MSB when sending duplicate chars in sequence
+            setattr(self.header, name, switch_endianness(packet_buffer[idx:idx+size]))
+            idx += size
+
+class EndOfLineMarker(Module):
+    def __init__(self):
+        # Assume words_per_img_line arrive at least one cycle before pixel data
+        self.words_per_img_line = Signal(3*char_width)
+
+        self.sink = Endpoint(pixelword_layout)
+        self.source = Endpoint(pixelword_layout) 
+        
+        # # #
+
+        cnt = Signal.like(self.words_per_img_line, reset=1)
+        self.sync += [
+            If(self.source.ack,
+                self.sink.connect(self.source, omit={"ack", "eop"}),
+                If(self.sink.stb,
+                    If(cnt == 1,
+                        cnt.eq(self.words_per_img_line)
+                    ).Else(
+                        cnt.eq(cnt - 1),
+                    )
+                ),
+            ),
+        ]
+        self.comb += [
+            self.sink.ack.eq(self.source.ack),
+            # repurpose eop as end of line
+            self.source.eop.eq(cnt == 1),
+        ]
+
+
+class PixelUnpacker(Module):
+    """
+    Unpack 32 bits words into 4x pixel
+
+    Assume:
+    - x_size arrive at least one cycle before any pixel data
+    - the last pixel word is marked with eop 
+
+    Only support:
+    - Pixel format: mono8, mono10, mono12, mono14, mono16
+    """
+    def __init__(self, size):
+        assert size <= max_pixel_width
+        assert size in [8, 10, 12, 14, 16]
+
+        self.x_size = Signal(3*char_width)
+
+        self.sink = Endpoint(pixelword_layout)
+        self.source = Endpoint(
+            [
+                ("data", max_pixel_width * 4),
+                ("valid", 4),
+            ]
+        )
+
+        # # #
+
+        sink_dw, source_dw = layout_len(pixelword_layout), size*4
+        ring_buf_size = lcm(sink_dw, source_dw)
+        # ensure the shift register is at least twice the size of sink/source dw
+        if (ring_buf_size//sink_dw) < 2:
+            ring_buf_size = ring_buf_size * 2
+        if (ring_buf_size//source_dw) < 2:
+            ring_buf_size = ring_buf_size * 2
+
+        # Control interface
+
+        reset_reg = Signal()
+        we = Signal()
+        re = Signal()
+        level = Signal(max=ring_buf_size)
+        w_cnt = Signal(max=ring_buf_size//sink_dw)
+        r_cnt = Signal(max=ring_buf_size//source_dw)
+
+        self.sync += [
+            If(reset_reg,
+                level.eq(level.reset),
+            ).Else(
+                If(we & ~re, level.eq(level + sink_dw)),
+                If(~we & re, level.eq(level - source_dw)),
+                If(we & re, level.eq(level + sink_dw - source_dw)),
+            ),
+
+            If(reset_reg,
+                w_cnt.eq(w_cnt.reset),
+                r_cnt.eq(r_cnt.reset),
+            ).Else(
+                If(we, 
+                    If(w_cnt == ((ring_buf_size//sink_dw) - 1),
+                        w_cnt.eq(w_cnt.reset),
+                    ).Else(
+                        w_cnt.eq(w_cnt + 1),
+                    )
+                ),
+                If(re, 
+                    If(r_cnt == ((ring_buf_size//source_dw) - 1),
+                        r_cnt.eq(r_cnt.reset),
+                    ).Else(
+                        r_cnt.eq(r_cnt + 1),
+                    )
+                ),
+            )
+        ]
+         
+        extra_eol_handling = size in [10, 12, 14]
+        if extra_eol_handling:
+            # the source need to be stb twice
+            # (one for level >= source_dw and the other for the remaining pixels)
+            # when last word of each line packet satisfied the following condition:
+            # 
+            # if there exist an integers j such that
+            # sink_dw * i > size * j > source_dw * k  
+            # where i,k are postive integers and source_dw * k - sink_dw * (i-1) > 0
+            # 
+            stb_aligned = Signal()
+            match size: 
+                case 10:
+                    # For example size == 10
+                    # 32 * 2 > 10 * (5) > 40 * 1
+                    # 32 * 2 > 10 * (6) > 40 * 1
+                    # 32 * 3 > 10 * (9) > 40 * 2
+                    # ...
+                    # 
+                    # the packing pattern for size == 10 repeat every 16 pixels
+                    # the remaining special case can be taken care off using modulo operation
+                    stb_cases = {
+                        5: stb_aligned.eq(1),
+                        6: stb_aligned.eq(1),
+                        9: stb_aligned.eq(1),
+                    }
+                    self.sync += Case(self.x_size[:4], stb_cases) # mod 16
+                case 12:
+                    stb_cases = {
+                        5: stb_aligned.eq(1),
+                    }
+                    self.sync += Case(self.x_size[:3], stb_cases) # mod 8
+                case 14:
+                    stb_cases = {
+                        9: stb_aligned.eq(1),
+                        13: stb_aligned.eq(1),
+                    }
+                    self.sync += Case(self.x_size[:4], stb_cases) # mod 16
+
+
+
+        self.submodules.fsm = fsm = FSM(reset_state="SHIFTING")
+        fsm.act(
+            "SHIFTING",
+            self.sink.ack.eq(1),
+            self.source.stb.eq(level >= source_dw),
+            we.eq(self.sink.stb),
+            re.eq((self.source.stb & self.source.ack)),
+            If(self.sink.stb & self.sink.eop,
+                (If(stb_aligned,
+                    NextState("MOVE_ALIGNED_PIX"),
+                ).Else(
+                    NextState("MOVE_REMAINING_PIX"),
+                ) if extra_eol_handling else
+                    NextState("MOVE_REMAINING_PIX"),
+                )
+            ),
+        )
+
+        if extra_eol_handling:
+            fsm.act(
+                "MOVE_ALIGNED_PIX",
+                self.source.stb.eq(1),
+                re.eq((self.source.stb & self.source.ack)),
+                NextState("MOVE_REMAINING_PIX"),
+            )
+
+        stb_remaining_pix = Signal()
+        fsm.act(
+            "MOVE_REMAINING_PIX",
+            reset_reg.eq(1),
+            self.source.stb.eq(1),
+            stb_remaining_pix.eq(1),
+            NextState("SHIFTING"),
+        )
+
+        # Data path
+         
+        ring_buf = Signal(ring_buf_size, reset_less=True)
+
+        sink_cases = {}
+        for i in range(ring_buf_size//sink_dw):
+            byte = [self.sink.data[i * 8 : (i + 1) * 8] for i in range(sink_dw // 8)]
+            sink_cases[i] = [
+                ring_buf[sink_dw*i:sink_dw*(i+1)].eq(Cat([b[::-1] for b in byte])),
+            ]
+        self.sync += If(self.sink.stb, Case(w_cnt, sink_cases))
+
+        source_cases = {}
+        for i in range(ring_buf_size//source_dw):
+            source_cases[i] = []
+            for j in range(4):
+                source_cases[i].append(
+                    self.source.data[max_pixel_width * j : max_pixel_width * (j + 1)].eq(
+                        ring_buf[(source_dw * i) + (size * j) : (source_dw * i) + (size * (j + 1))][::-1]
+                    )
+                )
+
+        # calcule which last pixels are valid
+        valid = Signal(4)
+        bit_cases = {
+            0: valid.eq(0b1111),
+            1: valid.eq(0b0001),
+            2: valid.eq(0b0011),
+            3: valid.eq(0b0111),
+        }
+        self.sync += Case(self.x_size[:2], bit_cases)
+
+        self.comb += [
+            Case(r_cnt, source_cases),
+            If(stb_remaining_pix,
+                self.source.valid.eq(valid),
+                self.source.eop.eq(1),
+            ).Else(
+                self.source.valid.eq(0b1111),
+            ),
+        ]
+
+
+class PixelCoordinateTracker(Module):
+    """
+    Track and append 4x pixel with xy coordinates
+
+    Assume:
+    - y_size arrive at least one cycle before any pixel data
+    - camera is in area scan mode
+    - 1X-1Y Tap geometry
+    """
+    def __init__(self, res_width):
+        # largest x/y pixel size supported by frame header are 24 bits
+        assert res_width <= 3*char_width
+
+        # line scanning frame will have y_size = 0 and won't trigger the end of frame bit
+        self.y_size = Signal(3*char_width)
+        self.sink = Endpoint(
+            [
+                ("data", max_pixel_width * 4),
+                ("valid", 4),
+            ]
+        )
+
+        # # #
+        
+        self.pixel4x = []
+        for _ in range(4):
+            self.pixel4x.append(Record([
+                ("x", res_width),
+                ("y", res_width),
+                ("gray", max_pixel_width),
+                ("stb", 1),
+                ("eof", 1), # end of frame
+            ]))
+
+        x_4x = [Signal(len(self.pixel4x[0].x), reset=i) for i in range(4)]
+        y_r = Signal(len(self.pixel4x[0].y))
+
+        y_max = Signal.like(self.y_size)
+        self.sync += [
+            self.sink.ack.eq(1),
+            y_max.eq(self.y_size - 1),
+        ]
+        for i, (x_r, pix) in enumerate(zip(x_4x, self.pixel4x)):
+            self.sync += [
+                pix.stb.eq(0),
+                pix.eof.eq(0),
+                If(self.sink.stb,
+                    If(self.sink.eop,
+                        # new line
+                        x_r.eq(x_r.reset),
+
+                        If(y_r == y_max,
+                            pix.eof.eq(1),
+                            y_r.eq(y_r.reset),
+                        ).Else(
+                            y_r.eq(y_r + 1),
+                        )
+                    ).Else(
+                        x_r.eq(x_r + 4),
+                    ),
+                    pix.stb.eq(self.sink.valid[i]),
+                    pix.x.eq(x_r),
+                    pix.y.eq(y_r),
+                    pix.gray.eq(self.sink.data[max_pixel_width*i:max_pixel_width*(i+1)]),
+                ),
+                If(pix.eof,
+                    pix.y.eq(self.y_size),
+                ),
+            ]
+
+
+class PixelParser(Module):
+    """
+    Prase 32 bit pixel word into 4x pixel with xy coordinate
+
+    Only support:
+    - Pixel format: mono8, mono10, mono12, mono14, mono16
+    - Tap geometry: 1X-1Y
+    - Scanning mode: area scanning
+
+    """
+    def __init__(self, res_width):
+        self.x_size = Signal(3 * char_width)
+        self.y_size = Signal(3 * char_width)
+        self.pixel_format_code = Signal(2 * char_width)
+
+        self.sink = Endpoint(pixelword_layout)
+
+        # # #
+         
+        # 
+        #          32                  4x pixel
+        # sink  ───/───┬──> 8  bits ──┬───/───> pixel coordinate ─────> 4x pixel with
+        #              ├──> 10 bits ──┤         tracker                 xy coordinate
+        #              ├──> 12 bits ──┤
+        #              ├──> 14 bits ──┤
+        #              └──> 16 bits ──┘
+        #                pixel unpacker
+        # 
+
+
+        # From Table 34 (CXP-001-2021)
+        pixel_formats = {
+            "mono8": 0x0101,
+            "mono10": 0x0102,
+            "mono12": 0x0103,
+            "mono14": 0x0104,
+            "mono16": 0x0105,
+        }
+
+        unpackers = {}
+        for s in [8, 10, 12, 14, 16]:
+            unpacker = PixelUnpacker(s)
+            unpackers["mono"+str(s)] = unpacker
+            self.submodules += unpacker
+            self.sync += unpacker.x_size.eq(self.x_size),
+
+
+        self.submodules.tracker = tracker = PixelCoordinateTracker(res_width)
+        self.sync += tracker.y_size.eq(self.y_size)
+
+        # discard unknown pixel format
+        mux_cases = {"default": [self.sink.ack.eq(1)]}
+        for fmt, code in pixel_formats.items():
+            mux_cases[code] = [
+                self.sink.connect(unpackers[fmt].sink),
+                unpackers[fmt].source.connect(tracker.sink),
+            ]
+
+        self.comb += Case(self.pixel_format_code, mux_cases)
+
+        self.source_pixel4x = tracker.pixel4x
+
+

artiq/gateware/rtio/analyzer.py

@@ -160,10 +160,12 @@ class DMAWriter(Module, AutoCSR):
         self.comb += [
             membus.cyc.eq(self.sink.stb),
             membus.stb.eq(self.sink.stb),
+            membus.cti.eq(Mux(self.sink.last, 0b111, 0b010)),
             self.sink.ack.eq(membus.ack),
             membus.we.eq(1),
             membus.dat_w.eq(dma.convert_signal(self.sink.data, cpu_dw//8))
         ]
+
         if messages_per_dw > 1:
             for i in range(dw//8):
                 self.comb += membus.sel[i].eq(
@@ -201,8 +203,9 @@ class Analyzer(Module, AutoCSR):
 
         self.submodules.message_encoder = MessageEncoder(
             tsc, cri, self.enable.storage)
+        hi_wm = 64 if fifo_depth > 64 else None
         self.submodules.fifo = stream.SyncFIFO(
-            [("data", message_len)], fifo_depth, True)
+            [("data", message_len)], fifo_depth, True, hi_wm=hi_wm)
         self.submodules.converter = stream.Converter(
             message_len, len(membus.dat_w), reverse=True,
             report_valid_token_count=True)

artiq/gateware/rtio/dma.py

@@ -35,23 +35,39 @@ class WishboneReader(Module):
         # # #
 
         bus_stb = Signal()
-        data_reg_loaded = Signal()
+
+        transfer_cyc = Signal(max=64, reset=64-1)
+        transfer_cyc_ce = Signal()
+        transfer_cyc_rst = Signal()
+        self.sync += [
+            If(transfer_cyc_rst,
+                transfer_cyc.eq(transfer_cyc.reset),
+            ).Elif(transfer_cyc_ce,
+                transfer_cyc.eq(transfer_cyc - 1),
+            )
+        ]
+
+        last = Signal()
 
         self.comb += [
-            bus_stb.eq(self.sink.stb & (~data_reg_loaded | self.source.ack)),
+            # source ack (from FIFO) signals FIFO space availability
+            bus_stb.eq(self.sink.stb & self.source.ack),
+            last.eq(transfer_cyc == 0),
+
+            transfer_cyc_rst.eq(self.source.stb & self.source.ack & (self.sink.eop | last)),
+            transfer_cyc_ce.eq(self.source.stb & self.source.ack),
+
             bus.cyc.eq(bus_stb),
             bus.stb.eq(bus_stb),
+            bus.cti.eq(Mux((self.sink.eop | last), 0b111, 0b010)),
             bus.adr.eq(self.sink.address),
+
             self.sink.ack.eq(bus.ack),
-            self.source.stb.eq(data_reg_loaded),
-        ]
-        self.sync += [
-            If(self.source.ack, data_reg_loaded.eq(0)),
-            If(bus.ack,
-                data_reg_loaded.eq(1),
-                self.source.data.eq(convert_signal(bus.dat_r, cpu_dw//8)),
-                self.source.eop.eq(self.sink.eop)
-            )
+            self.source.stb.eq(bus.ack),
+
+            self.source.data.eq(convert_signal(bus.dat_r, cpu_dw//8)),
+            self.source.last.eq(self.sink.eop | last),
+            self.source.eop.eq(self.sink.eop),
         ]
 
 
@@ -341,13 +357,16 @@ class DMA(Module):
 
         flow_enable = Signal()
         self.submodules.dma = DMAReader(membus, flow_enable, cpu_dw)
+        self.submodules.fifo = stream.SyncFIFO(
+            [("data", len(membus.dat_w))], 128, True, lo_wm=64)
         self.submodules.slicer = RecordSlicer(len(membus.dat_w))
         self.submodules.time_offset = TimeOffset()
         self.submodules.cri_master = CRIMaster()
         self.cri = self.cri_master.cri
 
         self.comb += [
-            self.dma.source.connect(self.slicer.sink),
+            self.dma.source.connect(self.fifo.sink),
+            self.fifo.source.connect(self.slicer.sink),
             self.slicer.source.connect(self.time_offset.sink),
             self.time_offset.source.connect(self.cri_master.sink)
         ]

artiq/gateware/rtio/phy/cxp_grabber.py

@@ -0,0 +1,82 @@
+from migen import *
+from migen.genlib.cdc import MultiReg 
+from misoc.interconnect.csr import *
+from misoc.cores.coaxpress.phy.high_speed_gtx import HostRXPHYs
+from misoc.cores.coaxpress.phy.low_speed_serdes import HostTXPHYs
+
+from artiq.gateware.rtio import rtlink
+from artiq.gateware.rtio.phy.grabber import Serializer, Synchronizer
+from artiq.gateware.cxp_grabber.core import CXPHostCore, ROI, ROIViewer, StreamDecoder
+
+
+class CXPGrabber(Module, AutoCSR):
+    def __init__(
+        self,
+        refclk,
+        tx_pads,
+        rx_pads,
+        sys_clk_freq,
+        roi_engine_count=8,
+        res_width=16,
+        count_width=31,
+    ):
+        assert count_width <= 31
+
+        # Trigger rtio
+        nbit_extra_linktrig = 1
+        nbit_linktrig = 2
+        self.trigger = rtlink.Interface(rtlink.OInterface(nbit_extra_linktrig + nbit_linktrig))
+
+        
+        # ROI rtio
+         
+        # 4 configs (x0, y0, x1, y1) per roi_engine
+        self.config = rtlink.Interface(rtlink.OInterface(res_width, bits_for(4*roi_engine_count-1)))
+
+        # select which roi engine can output rtio_input signal
+        self.gate_data = rtlink.Interface(
+            rtlink.OInterface(roi_engine_count),
+            # the extra MSB bits is for sentinel
+            rtlink.IInterface(count_width + 1, timestamped=False),
+        )
+
+        # # #
+
+        self.submodules.phy_tx = tx = HostTXPHYs(tx_pads, sys_clk_freq)
+        self.submodules.phy_rx = rx = HostRXPHYs(refclk, rx_pads, sys_clk_freq)
+        self.submodules.core = core = CXPHostCore(tx.phys[0], rx.phys[0], sys_clk_freq)
+        self.sync.rio += [
+            If(self.trigger.o.stb,
+                core.tx.trig_extra_linktrig.eq(self.trigger.o.data[:nbit_extra_linktrig]),
+                core.tx.trig_linktrig_mode.eq(self.trigger.o.data[nbit_extra_linktrig:]),
+            ),
+            core.tx.trig_stb.eq(self.trigger.o.stb),
+        ]
+
+        self.submodules.stream_decoder = stream_decoder = StreamDecoder(res_width)
+        self.comb += core.rx.source.connect(stream_decoder.sink)
+
+        # ROI Viewer
+        self.submodules.roi_viewer = ROIViewer(stream_decoder.source_pixel4x)
+
+        # ROI engines configuration and count gating
+        cdr = ClockDomainsRenamer("cxp_gt_rx")
+        roi_engines = [
+            cdr(ROI(stream_decoder.source_pixel4x, count_width))
+            for _ in range(roi_engine_count)
+        ]
+        self.submodules += roi_engines
+
+        for n, roi in enumerate(roi_engines):
+            cfg = roi.cfg
+            for offset, target in enumerate([cfg.x0, cfg.y0, cfg.x1, cfg.y1]):
+                roi_boundary = Signal.like(target)
+                self.sync.rio += If(self.config.o.stb & (self.config.o.address == 4*n+offset),
+                                roi_boundary.eq(self.config.o.data))
+                self.specials += MultiReg(roi_boundary, target, "cxp_gt_rx")
+
+        self.submodules.synchronizer = synchronizer = ClockDomainsRenamer({"cl" : "cxp_gt_rx"})(Synchronizer(roi_engines))
+        self.submodules.serializer = serializer = Serializer(synchronizer.update, synchronizer.counts, self.gate_data.i)
+        
+        self.sync.rio += If(self.gate_data.o.stb, serializer.gate.eq(self.gate_data.o.data))
+

artiq/gateware/test/cxp_grabber/packet_generator.py

@@ -0,0 +1,58 @@
+from migen import *
+from misoc.cores.coaxpress.common import char_width, KCode, word_width
+
+from math import ceil
+from collections import namedtuple
+
+_WORDLAYOUT = namedtuple("WordLayout", ["data", "k", "stb", "eop"])
+
+
+def _switch_bit_order(s, width):
+    bits = "{:0{width}b}".format(s, width=width)
+    return int(bits[::-1], 2)
+
+
+def MonoPixelPacketGenerator(
+    x_size,
+    y_size,
+    pixel_width,
+    with_eol_marked=False,
+    stb_line_marker=False,
+):
+    words_per_image_line = ceil(x_size * pixel_width / word_width)
+    packet = []
+    for _ in range(y_size):
+        packed = 0
+        for x in range(x_size):
+            # full white pixel
+            gray = (2**pixel_width) - 1
+            packed += _switch_bit_order(gray, pixel_width) << x * pixel_width
+
+        # Line marker
+        packet += [
+            _WORDLAYOUT(
+                data=Replicate(KCode["stream_marker"], 4),
+                k=Replicate(1, 4),
+                stb=1 if stb_line_marker else 0,
+                eop=0,
+            ),
+            _WORDLAYOUT(
+                data=Replicate(C(0x02, char_width), 4),
+                k=Replicate(0, 4),
+                stb=1 if stb_line_marker else 0,
+                eop=0,
+            ),
+        ]
+
+        for i in range(words_per_image_line):
+            serialized = (packed & (0xFFFF_FFFF << i * word_width)) >> i * word_width
+            word = []
+            for j in range(4):
+                word += [C(_switch_bit_order((serialized >> 8 * j) & 0xFF, 8), 8)]
+
+            eop = 1 if ((i == words_per_image_line - 1) and with_eol_marked) else 0
+            packet.append(
+                _WORDLAYOUT(data=Cat(word), k=Replicate(0, 4), stb=1, eop=eop),
+            )
+
+    return packet

artiq/gateware/test/cxp_grabber/test_pixel_parser.py

@@ -0,0 +1,100 @@
+from migen import *
+from artiq.gateware.cxp_grabber.frame import PixelParser
+from artiq.gateware.cxp_grabber.core import ROI
+from artiq.gateware.test.cxp_grabber.packet_generator import MonoPixelPacketGenerator
+
+import unittest
+
+
+class DUT(Module):
+    def __init__(self, res_width, count_width):
+        self.parser = PixelParser(res_width)
+        self.roi = ROI(self.parser.source_pixel4x, count_width)
+        self.submodules += self.parser, self.roi
+
+
+class Testbench:
+    def __init__(self, res_width, count_width):
+        self.dut = DUT(res_width, count_width)
+        self.fragment = self.dut.get_fragment()
+
+    def write_frame_info(self, x_size, y_size, pixel_code):
+        yield self.dut.parser.x_size.eq(x_size)
+        yield self.dut.parser.y_size.eq(y_size)
+        yield self.dut.parser.pixel_format_code.eq(pixel_code)
+        yield
+
+    def write_frame(self, packet):
+        for i, word in enumerate(packet):
+            yield self.dut.parser.sink.data.eq(word.data)
+            yield self.dut.parser.sink.stb.eq(word.stb)
+            yield self.dut.parser.sink.eop.eq(word.eop)
+            yield
+
+        yield self.dut.parser.sink.stb.eq(0)  # prevent accidental stb
+
+    def write_roi_cofig(self, x0, y0, x1, y1):
+        yield self.dut.roi.cfg.x0.eq(x0)
+        yield self.dut.roi.cfg.y0.eq(y0)
+        yield self.dut.roi.cfg.x1.eq(x1)
+        yield self.dut.roi.cfg.y1.eq(y1)
+        yield
+
+    def fetch_roi_output(self):
+        return (yield self.dut.roi.out.count)
+
+    def delay(self, cycle):
+        for _ in range(cycle):
+            yield
+
+    def run(self, gen):
+        run_simulation(self.fragment, gen)
+
+
+class TestPixelParser(unittest.TestCase):
+    def test_run(self):
+        tb = Testbench(16, 31)
+
+        def gen(x_size, y_size, pixel_width, x0, y0, x1, y1):
+            pixel_code = {
+                8: 0x0101,
+                10: 0x0102,
+                12: 0x0103,
+                14: 0x0104,
+                16: 0x0105,
+            }
+            expected_count = (x1 - x0) * (y1 - y0) * ((2**pixel_width) - 1)
+
+            yield from tb.write_roi_cofig(x0, y0, x1, y1)
+
+            packet = MonoPixelPacketGenerator(
+                x_size, y_size, pixel_width, with_eol_marked=True
+            )
+            yield from tb.write_frame_info(x_size, y_size, pixel_code[pixel_width])
+            yield from tb.write_frame(packet)
+
+            # there is a 6 cycle delay between stbing the last pixel word and roi update is ready
+            for _ in range(6):
+                yield
+
+            # verify the pixel parser using the roi result
+            self.assertEqual((yield from tb.fetch_roi_output()), expected_count)
+
+        for pixel_width, pattern_cnt in [[8, 4], [10, 16], [12, 8], [14, 16], [16, 2]]:
+            # start from pattern_cnt to ensure ROI got some pixels to work with
+            for res_size in range(pattern_cnt * 1, pattern_cnt * 2):
+                tb.run(
+                    gen(
+                        res_size,
+                        res_size,
+                        pixel_width,
+                        0,
+                        0,
+                        res_size - 1,
+                        res_size - 1,
+                    )
+                )
+
+
+if __name__ == "__main__":
+    unittest.main()

artiq/gui/log.py

@@ -43,7 +43,7 @@ class _LogFilterProxyModel(QtCore.QSortFilterProxyModel):
 
 
 class _Model(QtCore.QAbstractItemModel):
-    def __init__(self):
+    def __init__(self, palette):
         QtCore.QAbstractTableModel.__init__(self)
 
         self.headers = ["Source", "Message"]
@@ -58,11 +58,16 @@ class _Model(QtCore.QAbstractItemModel):
 
         self.fixed_font = QtGui.QFontDatabase.systemFont(QtGui.QFontDatabase.SystemFont.FixedFont)
 
-        self.white = QtGui.QBrush(QtGui.QColor(255, 255, 255))
-        self.black = QtGui.QBrush(QtGui.QColor(0, 0, 0))
-        self.debug_fg = QtGui.QBrush(QtGui.QColor(55, 55, 55))
-        self.warning_bg = QtGui.QBrush(QtGui.QColor(255, 255, 180))
-        self.error_bg = QtGui.QBrush(QtGui.QColor(255, 150, 150))
+        self.default_bg = palette.base()
+        self.default_fg = palette.text()
+        self.debug_fg = palette.placeholderText()
+        is_dark_mode = self.default_bg.color().lightness() < self.default_fg.color().lightness()
+        if is_dark_mode:
+            self.warning_bg = QtGui.QBrush(QtGui.QColor(90, 74, 0))
+            self.error_bg = QtGui.QBrush(QtGui.QColor(98, 24, 24))
+        else:
+            self.warning_bg = QtGui.QBrush(QtGui.QColor(255, 255, 180))
+            self.error_bg = QtGui.QBrush(QtGui.QColor(255, 150, 150))
 
     def headerData(self, col, orientation, role):
         if (orientation == QtCore.Qt.Orientation.Horizontal
@@ -163,13 +168,13 @@ class _Model(QtCore.QAbstractItemModel):
             elif level >= logging.WARNING:
                 return self.warning_bg
             else:
-                return self.white
+                return self.default_bg
         elif role == QtCore.Qt.ItemDataRole.ForegroundRole:
             level = self.entries[msgnum][0]
             if level <= logging.DEBUG:
                 return self.debug_fg
             else:
-                return self.black
+                return self.default_fg
         elif role == QtCore.Qt.ItemDataRole.DisplayRole:
             v = self.entries[msgnum]
             column = index.column()
@@ -265,7 +270,7 @@ class LogDock(QDockWidgetCloseDetect):
         cw = QtGui.QFontMetrics(self.font()).averageCharWidth()
         self.log.header().resizeSection(0, 26*cw)
 
-        self.model = _Model()
+        self.model = _Model(self.palette())
         self.proxy_model = _LogFilterProxyModel()
         self.proxy_model.setSourceModel(self.model)
         self.log.setModel(self.proxy_model)

artiq/master/worker_impl.py

@@ -15,6 +15,7 @@ import traceback
 from collections import OrderedDict
 import importlib.util
 import linecache
+import threading
 
 import h5py
 
@@ -36,23 +37,42 @@ from artiq import __version__ as artiq_version
 
 
 ipc = None
+ipc_lock = threading.Lock()
 
 
 def get_object():
-    line = ipc.readline().decode()
-    return pyon.decode(line)
+    ipc_lock.acquire()
+    try:
+        line = ipc.readline()
+    finally:
+        ipc_lock.release()
+    return pyon.decode(line.decode())
 
 
 def put_object(obj):
-    ds = pyon.encode(obj)
-    ipc.write((ds + "\n").encode())
+    ds = (pyon.encode(obj) + "\n").encode()
+    ipc_lock.acquire()
+    try:
+        ipc.write(ds)
+    finally:
+        ipc_lock.release()
+
+
+def put_and_get_object(obj):
+    ds = (pyon.encode(obj) + "\n").encode()
+    ipc_lock.acquire()
+    try:
+        ipc.write(ds)
+        line = ipc.readline()
+    finally:
+        ipc_lock.release()
+    return pyon.decode(line.decode())
 
 
 def make_parent_action(action):
     def parent_action(*args, **kwargs):
         request = {"action": action, "args": args, "kwargs": kwargs}
-        put_object(request)
-        reply = get_object()
+        reply = put_and_get_object(request)
         if "action" in reply:
             if reply["action"] == "terminate":
                 sys.exit()

artiq/test/coredevice/test_rtio.py

@@ -502,11 +502,13 @@ class CoredeviceTest(ExperimentCase):
     def execute_and_test_in_log(self, experiment, string):
         core_addr = self.device_mgr.get_desc("core")["arguments"]["host"]
         mgmt = CommMgmt(core_addr)
-        mgmt.clear_log()
-        self.execute(experiment)
-        log = mgmt.get_log()
-        self.assertIn(string, log)
-        mgmt.close()
+        try:
+            mgmt.clear_log()
+            self.execute(experiment)
+            log = mgmt.get_log()
+            self.assertIn(string, log)
+        finally:
+            mgmt.close()
 
     def test_sequence_error(self):
         self.execute_and_test_in_log(SequenceError, "RTIO sequence error")
@@ -720,13 +722,6 @@ class DMATest(ExperimentCase):
         self.assertLess(dt/count, 11*us)
 
     def test_dma_playback_time(self):
-        # Skip on Kasli until #946 is resolved.
-        try:
-            # hack to detect Kasli.
-            self.device_mgr.get_desc("ad9914dds0")
-        except KeyError:
-            raise unittest.SkipTest("skipped on Kasli for now")
-
         exp = self.create(_DMA)
         is_zynq = exp.core.target_cls == CortexA9Target
         count = 20000

artiq/test/lit/embedding/syscall_arg_attrs.py

@@ -4,21 +4,21 @@
 from artiq.language.core import *
 from artiq.language.types import *
 
-# Make sure `byval` and `sret` are specified both at the call site and the
+# Make sure `sret` is specified both at the call site and the
 # declaration. This isn't caught by the LLVM IR validator, but mismatches
 # lead to miscompilations (at least in LLVM 11).
 
 
 @kernel
 def entrypoint():
-    # CHECK: call void @accept_str\({ i8\*, i32 }\* nonnull byval
+    # CHECK: call void @accept_str\({ i8\*, i32 }
     accept_str("foo")
 
     # CHECK: call void @return_str\({ i8\*, i32 }\* nonnull sret
     return_str()
 
 
-# CHECK: declare void @accept_str\({ i8\*, i32 }\* byval\({ i8\*, i32 }\)\)
+# CHECK: declare void @accept_str\({ i8\*, i32 }\)
 @syscall
 def accept_str(name: TStr) -> TNone:
     pass

artiq/tools.py

@@ -102,7 +102,7 @@ def short_format(v, metadata={}):
         return v_str
     elif np.issubdtype(t, np.bool_):
        return str(v)
-    elif np.issubdtype(t, np.unicode_):
+    elif np.issubdtype(t, np.str_):
         return "\"" + elide(v, 50) + "\""
     elif t is np.ndarray:
         v_t = np.divide(v, scale)

doc/manual/conf.py

@@ -176,7 +176,6 @@ html_theme_options = {}
 
 # Add any paths that contain custom themes here, relative to this directory.
 #html_theme_path = []
-html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 
 # The name for this set of Sphinx documents.  If None, it defaults to
 # "<project> v<release> documentation".

doc/manual/core_drivers_reference.rst

@@ -170,3 +170,10 @@ Miscellaneous
 
 .. automodule:: artiq.coredevice.grabber
     :members:
+
+
+:mod:`artiq.coredevice.cxp_grabber` module
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. automodule:: artiq.coredevice.cxp_grabber
+    :members:

flake.lock

@@ -44,11 +44,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1739446958,
-        "narHash": "sha256-+/bYK3DbPxMIvSL4zArkMX0LQvS7rzBKXnDXLfKyRVc=",
+        "lastModified": 1741851582,
+        "narHash": "sha256-cPfs8qMccim2RBgtKGF+x9IBCduRvd/N5F4nYpU0TVE=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "2ff53fe64443980e139eaa286017f53f88336dd0",
+        "rev": "6607cf789e541e7873d40d3a8f7815ea92204f32",
         "type": "github"
       },
       "original": {
@@ -129,11 +129,11 @@
     "src-misoc": {
       "flake": false,
       "locked": {
-        "lastModified": 1739436988,
-        "narHash": "sha256-zEihEV6kqRtrZWyu7uCNyHOXE/rluVloPuT4ECYVJ+g=",
+        "lastModified": 1741001607,
+        "narHash": "sha256-05BGqWV4Zc9ArwaW0uuBYWjg4oTeP4vznPQQjEpQPEM=",
         "ref": "refs/heads/master",
-        "rev": "e3f4fd040b90b05d580bf578ca49244f0b7d861a",
-        "revCount": 2483,
+        "rev": "fa73f42f3c163833f17fc99399bb41005970c503",
+        "revCount": 2495,
         "submodules": true,
         "type": "git",
         "url": "https://github.com/m-labs/misoc.git"