forked from M-Labs/artiq
114 lines
3.7 KiB
Python
114 lines
3.7 KiB
Python
from numpy import int32
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from artiq.experiment import *
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from artiq.coredevice.core import Core
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from artiq.coredevice.ttl import TTLOut
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from artiq.coredevice.suservo import SUServo, Channel as SUServoChannel
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@nac3
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class SUServoDemo(EnvExperiment):
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core: KernelInvariant[Core]
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led0: KernelInvariant[TTLOut]
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suservo0: KernelInvariant[SUServo]
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suservo0_ch0: KernelInvariant[SUServoChannel]
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suservo0_ch1: KernelInvariant[SUServoChannel]
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suservo0_ch2: KernelInvariant[SUServoChannel]
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suservo0_ch3: KernelInvariant[SUServoChannel]
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suservo0_ch4: KernelInvariant[SUServoChannel]
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suservo0_ch5: KernelInvariant[SUServoChannel]
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suservo0_ch6: KernelInvariant[SUServoChannel]
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suservo0_ch7: KernelInvariant[SUServoChannel]
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def build(self):
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self.setattr_device("core")
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self.setattr_device("led0")
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self.setattr_device("suservo0")
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for i in range(8):
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self.setattr_device("suservo0_ch{}".format(i))
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@rpc
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def p(self, d: list[int32]):
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mask = 1 << 18 - 1
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for name, val in zip("ftw1 b1 pow cfg offset a1 ftw0 b0".split(), d):
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val = -(val & mask) + (val & ~mask)
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print("{}: {:#x} = {}".format(name, val, val))
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@rpc # NAC3TODO (flags={"async"})
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def p1(self, adc: float, asf: float, st: int32):
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print("ADC: {:10s}, ASF: {:10s}, clipped: {}".format(
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"#"*int(adc), "#"*int(asf*10), (st >> 8) & 1), end="\r")
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@kernel
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def run(self):
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self.core.reset()
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self.led()
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self.suservo0.init()
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self.core.delay(1.*us)
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# ADC PGIA gain
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for i in range(8):
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self.suservo0.set_pgia_mu(i, 0)
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self.core.delay(10.*us)
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# DDS attenuator
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self.suservo0.cplds[0].set_att(0, 10.)
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self.core.delay(1.*us)
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# Servo is done and disabled
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assert self.suservo0.get_status() & 0xff == 2
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# set up profile 0 on channel 0:
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self.core.delay(120.*us)
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self.suservo0_ch0.set_y(
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profile=0,
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y=0. # clear integrator
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)
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self.suservo0_ch0.set_iir(
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profile=0,
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adc=7, # take data from Sampler channel 7
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kp=-.1, # -0.1 P gain
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ki=-300./s, # low integrator gain
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g=0., # no integrator gain limit
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delay=0. # no IIR update delay after enabling
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)
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# setpoint 0.5 (5 V with above PGIA gain setting)
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# 71 MHz
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# 0 phase
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self.suservo0_ch0.set_dds(
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profile=0,
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offset=-.5, # 5 V with above PGIA settings
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frequency=71.*MHz,
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phase=0.)
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# enable RF, IIR updates and profile 0
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self.suservo0_ch0.set(en_out=True, en_iir=True, profile=0)
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# enable global servo iterations
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self.suservo0.set_config(enable=True)
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# check servo enabled
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assert self.suservo0.get_status() & 0x01 == 1
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self.core.delay(10.*us)
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# read back profile data
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data = [0 for _ in range(8)]
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self.suservo0_ch0.get_profile_mu(0, data)
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self.p(data)
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self.core.delay(10.*ms)
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while True:
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self.suservo0.set_config(False)
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self.core.delay(10.*us)
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v = self.suservo0.get_adc(7)
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self.core.delay(30.*us)
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w = self.suservo0_ch0.get_y(0)
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self.core.delay(20.*us)
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x = self.suservo0.get_status()
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self.core.delay(10.*us)
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self.suservo0.set_config(True)
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self.p1(v, w, x)
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self.core.delay(20.*ms)
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@kernel
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def led(self):
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self.core.break_realtime()
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for i in range(3):
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self.led0.pulse(.1*s)
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self.core.delay(.1*s)
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