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experimental-features: add SU Servo extension for variable number of Urukuls (PR #1782)

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Sebastien Bourdeauducq 2022-09-05 11:53:09 +08:00
parent b4287ac9f4
commit 411afbdc23
1 changed files with 771 additions and 0 deletions
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@ -0,0 +1,771 @@
diff --git a/artiq/coredevice/suservo.py b/artiq/coredevice/suservo.py
index 1d0a72dad..a89cdcca4 100644
--- a/artiq/coredevice/suservo.py
+++ b/artiq/coredevice/suservo.py
@@ -3,17 +3,14 @@
from artiq.coredevice.rtio import rtio_output, rtio_input_data
from artiq.coredevice import spi2 as spi
from artiq.coredevice import urukul, sampler
+from math import ceil, log2
-COEFF_WIDTH = 18
+COEFF_WIDTH = 18 # Must match gateware IIRWidths.coeff
Y_FULL_SCALE_MU = (1 << (COEFF_WIDTH - 1)) - 1
-COEFF_DEPTH = 10 + 1
-WE = 1 << COEFF_DEPTH + 1
-STATE_SEL = 1 << COEFF_DEPTH
-CONFIG_SEL = 1 << COEFF_DEPTH - 1
-CONFIG_ADDR = CONFIG_SEL | STATE_SEL
T_CYCLE = (2*(8 + 64) + 2)*8*ns # Must match gateware Servo.t_cycle.
-COEFF_SHIFT = 11
+COEFF_SHIFT = 11 # Must match gateware IIRWidths.shift
+PROFILE_WIDTH = 5 # Must match gateware IIRWidths.profile
@portable
@@ -35,8 +32,8 @@ class SUServo:
"""Sampler-Urukul Servo parent and configuration device.
Sampler-Urukul Servo is a integrated device controlling one
- 8-channel ADC (Sampler) and two 4-channel DDS (Urukuls) with a DSP engine
- connecting the ADC data and the DDS output amplitudes to enable
+ 8-channel ADC (Sampler) and any number of 4-channel DDS (Urukuls) with a
+ DSP engine connecting the ADC data and the DDS output amplitudes to enable
feedback. SU Servo can for example be used to implement intensity
stabilization of laser beams with an amplifier and AOM driven by Urukul
and a photodetector connected to Sampler.
@@ -49,7 +46,7 @@ class SUServo:
* See the SU Servo variant of the Kasli target for an example of how to
connect the gateware and the devices. Sampler and each Urukul need
two EEM connections.
- * Ensure that both Urukuls are AD9910 variants and have the on-board
+ * Ensure that all Urukuls are AD9910 variants and have the on-board
dip switches set to 1100 (first two on, last two off).
* Refer to the Sampler and Urukul documentation and the SU Servo
example device database for runtime configuration of the devices
@@ -65,7 +62,8 @@ class SUServo:
:param core_device: Core device name
"""
kernel_invariants = {"channel", "core", "pgia", "cplds", "ddses",
- "ref_period_mu"}
+ "ref_period_mu", "num_channels", "coeff_sel",
+ "state_sel", "config_addr", "write_enable"}
def __init__(self, dmgr, channel, pgia_device,
cpld_devices, dds_devices,
@@ -83,9 +81,19 @@ def __init__(self, dmgr, channel, pgia_device,
self.core.coarse_ref_period)
assert self.ref_period_mu == self.core.ref_multiplier
+ # The width of parts of the servo memory address depends on the number
+ # of channels.
+ self.num_channels = 4 * len(dds_devices)
+ channel_width = ceil(log2(self.num_channels))
+ coeff_depth = PROFILE_WIDTH + channel_width + 3
+ self.state_sel = 2 << (coeff_depth - 2)
+ self.config_addr = 3 << (coeff_depth - 2)
+ self.coeff_sel = 1 << coeff_depth
+ self.write_enable = 1 << (coeff_depth + 1)
+
@kernel
def init(self):
- """Initialize the servo, Sampler and both Urukuls.
+ """Initialize the servo, Sampler and all Urukuls.
Leaves the servo disabled (see :meth:`set_config`), resets and
configures all DDS.
@@ -122,7 +130,7 @@ def write(self, addr, value):
:param addr: Memory location address.
:param value: Data to be written.
"""
- addr |= WE
+ addr |= self.write_enable
value &= (1 << COEFF_WIDTH) - 1
value |= (addr >> 8) << COEFF_WIDTH
addr = addr & 0xff
@@ -158,7 +166,7 @@ def set_config(self, enable):
Disabling takes up to two servo cycles (~2.3 µs) to clear the
processing pipeline.
"""
- self.write(CONFIG_ADDR, enable)
+ self.write(self.config_addr, enable)
@kernel
def get_status(self):
@@ -179,7 +187,7 @@ def get_status(self):
:return: Status. Bit 0: enabled, bit 1: done,
bits 8-15: channel clip indicators.
"""
- return self.read(CONFIG_ADDR)
+ return self.read(self.config_addr)
@kernel
def get_adc_mu(self, adc):
@@ -197,7 +205,8 @@ def get_adc_mu(self, adc):
# State memory entries are 25 bits. Due to the pre-adder dynamic
# range, X0/X1/OFFSET are only 24 bits. Finally, the RTIO interface
# only returns the 18 MSBs (the width of the coefficient memory).
- return self.read(STATE_SEL | (adc << 1) | (1 << 8))
+ return self.read(self.state_sel |
+ (2 * adc + (1 << PROFILE_WIDTH) * self.num_channels))
@kernel
def set_pgia_mu(self, channel, gain):
@@ -285,10 +294,11 @@ def set_dds_mu(self, profile, ftw, offs, pow_=0):
:param offs: IIR offset (17 bit signed)
:param pow_: Phase offset word (16 bit)
"""
- base = (self.servo_channel << 8) | (profile << 3)
+ base = self.servo.coeff_sel | (self.servo_channel <<
+ (3 + PROFILE_WIDTH)) | (profile << 3)
self.servo.write(base + 0, ftw >> 16)
self.servo.write(base + 6, (ftw & 0xffff))
- self.set_dds_offset_mu(profile, offs)
+ self.servo.write(base + 4, offs)
self.servo.write(base + 2, pow_)
@kernel
@@ -319,7 +329,8 @@ def set_dds_offset_mu(self, profile, offs):
:param profile: Profile number (0-31)
:param offs: IIR offset (17 bit signed)
"""
- base = (self.servo_channel << 8) | (profile << 3)
+ base = self.servo.coeff_sel | (self.servo_channel <<
+ (3 + PROFILE_WIDTH)) | (profile << 3)
self.servo.write(base + 4, offs)
@kernel
@@ -344,6 +355,30 @@ def dds_offset_to_mu(self, offset):
"""
return int(round(offset * (1 << COEFF_WIDTH - 1)))
+ @kernel
+ def set_dds_phase_mu(self, profile, pow_):
+ """Set only POW in profile DDS coefficients.
+
+ See :meth:`set_dds_mu` for setting the complete DDS profile.
+
+ :param profile: Profile number (0-31)
+ :param pow_: Phase offset word (16 bit)
+ """
+ base = self.servo.coeff_sel | (self.servo_channel <<
+ (3 + PROFILE_WIDTH)) | (profile << 3)
+ self.servo.write(base + 2, pow_)
+
+ @kernel
+ def set_dds_phase(self, profile, phase):
+ """Set only phase in profile DDS coefficients.
+
+ See :meth:`set_dds` for setting the complete DDS profile.
+
+ :param profile: Profile number (0-31)
+ :param phase: DDS phase in turns
+ """
+ self.set_dds_phase_mu(profile, self.dds.turns_to_pow(phase))
+
@kernel
def set_iir_mu(self, profile, adc, a1, b0, b1, dly=0):
"""Set profile IIR coefficients in machine units.
@@ -378,7 +413,8 @@ def set_iir_mu(self, profile, adc, a1, b0, b1, dly=0):
:param dly: IIR update suppression time. In units of IIR cycles
(~1.2 µs, 0-255).
"""
- base = (self.servo_channel << 8) | (profile << 3)
+ base = self.servo.coeff_sel | (self.servo_channel <<
+ (3 + PROFILE_WIDTH)) | (profile << 3)
self.servo.write(base + 3, adc | (dly << 8))
self.servo.write(base + 1, b1)
self.servo.write(base + 5, a1)
@@ -470,7 +506,9 @@ def get_profile_mu(self, profile, data):
:param profile: Profile number (0-31)
:param data: List of 8 integers to write the profile data into
"""
- base = (self.servo_channel << 8) | (profile << 3)
+ assert len(data) == 8
+ base = self.servo.coeff_sel | (self.servo_channel <<
+ (3 + PROFILE_WIDTH)) | (profile << 3)
for i in range(len(data)):
data[i] = self.servo.read(base + i)
delay(4*us)
@@ -491,7 +529,8 @@ def get_y_mu(self, profile):
:param profile: Profile number (0-31)
:return: 17 bit unsigned Y0
"""
- return self.servo.read(STATE_SEL | (self.servo_channel << 5) | profile)
+ return self.servo.read(self.servo.state_sel | (
+ self.servo_channel << PROFILE_WIDTH) | profile)
@kernel
def get_y(self, profile):
@@ -529,7 +568,8 @@ def set_y_mu(self, profile, y):
"""
# State memory is 25 bits wide and signed.
# Reads interact with the 18 MSBs (coefficient memory width)
- self.servo.write(STATE_SEL | (self.servo_channel << 5) | profile, y)
+ self.servo.write(self.servo.state_sel | (
+ self.servo_channel << PROFILE_WIDTH) | profile, y)
@kernel
def set_y(self, profile, y):
diff --git a/artiq/gateware/eem.py b/artiq/gateware/eem.py
index 7f5fe3fdf..fbfdafe7d 100644
--- a/artiq/gateware/eem.py
+++ b/artiq/gateware/eem.py
@@ -473,11 +473,10 @@ def add_std(cls, target, eem, eem_aux=None, eem_aux2=None, ttl_out_cls=None,
class SUServo(_EEM):
@staticmethod
def io(*eems, iostandard):
- assert len(eems) in (4, 6)
- io = (Sampler.io(*eems[0:2], iostandard=iostandard)
- + Urukul.io_qspi(*eems[2:4], iostandard=iostandard))
- if len(eems) == 6: # two Urukuls
- io += Urukul.io_qspi(*eems[4:6], iostandard=iostandard)
+ assert len(eems) >= 4 and len(eems) % 2 == 0
+ io = Sampler.io(*eems[0:2], iostandard=iostandard)
+ for i in range(len(eems) // 2 - 1):
+ io += Urukul.io_qspi(*eems[(2 * i + 2):(2 * i + 4)], iostandard=iostandard)
return io
@classmethod
@@ -516,10 +515,9 @@ def add_std(cls, target, eems_sampler, eems_urukul,
# difference (4 cycles measured)
t_conv=57 - 4, t_rtt=t_rtt + 4)
iir_p = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14, word=16,
- accu=48, shift=shift, channel=3,
- profile=profile, dly=8)
+ accu=48, shift=shift, profile=profile, dly=8)
dds_p = servo.DDSParams(width=8 + 32 + 16 + 16,
- channels=adc_p.channels, clk=clk)
+ channels=4 * len(eem_urukul), clk=clk)
su = servo.Servo(sampler_pads, urukul_pads, adc_p, iir_p, dds_p)
su = ClockDomainsRenamer("rio_phy")(su)
# explicitly name the servo submodule to enable the migen namer to derive
@@ -540,27 +538,23 @@ def add_std(cls, target, eems_sampler, eems_urukul,
target.submodules += phy
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
- for i in range(2):
- if len(eem_urukul) > i:
- spi_p, spi_n = (
- target.platform.request("{}_spi_p".format(eem_urukul[i])),
- target.platform.request("{}_spi_n".format(eem_urukul[i])))
- else: # create a dummy bus
- spi_p = Record([("clk", 1), ("cs_n", 1)]) # mosi, cs_n
- spi_n = None
-
+ dds_sync = Signal(reset=0)
+ for j, eem_urukuli in enumerate(eem_urukul):
+ # connect quad-SPI
+ spi_p, spi_n = (
+ target.platform.request("{}_spi_p".format(eem_urukuli)),
+ target.platform.request("{}_spi_n".format(eem_urukuli)))
phy = spi2.SPIMaster(spi_p, spi_n)
target.submodules += phy
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
-
- for j, eem_urukuli in enumerate(eem_urukul):
+ # connect `reset_sync_in`
pads = target.platform.request("{}_dds_reset_sync_in".format(eem_urukuli))
- target.specials += DifferentialOutput(0, pads.p, pads.n)
-
+ target.specials += DifferentialOutput(dds_sync, pads.p, pads.n)
+ # connect RF switches
for i, signal in enumerate("sw0 sw1 sw2 sw3".split()):
pads = target.platform.request("{}_{}".format(eem_urukuli, signal))
target.specials += DifferentialOutput(
- su.iir.ctrl[j*4 + i].en_out, pads.p, pads.n)
+ su.iir.ctrl[j * 4 + i].en_out, pads.p, pads.n)
class Mirny(_EEM):
diff --git a/artiq/gateware/rtio/phy/servo.py b/artiq/gateware/rtio/phy/servo.py
index 9fa634521..379e7ba32 100644
--- a/artiq/gateware/rtio/phy/servo.py
+++ b/artiq/gateware/rtio/phy/servo.py
@@ -34,28 +34,38 @@ class RTServoMem(Module):
"""All-channel all-profile coefficient and state RTIO control
interface.
+ The real-time interface exposes the following functions:
+ 1. enable/disable servo iterations
+ 2. read the servo status (including state of clip register)
+ 3. access the IIR coefficient memory (set PI loop gains etc.)
+ 4. access the IIR state memory (set offset and read ADC data)
+
+ The bit assignments for the servo address space are (from MSB):
+ * write-enable (1 bit)
+ * sel_coeff (1 bit)
+ If selected, the coefficient memory location is
+ addressed by all the lower bits excluding the LSB (high_coeff).
+ - high_coeff (1 bit) selects between the upper and lower halves of that
+ memory location.
+ Else (if ~sel_coeff), the following bits are:
+ - sel (2 bits) selects between the following memory locations:
+
+ destination | sel | sel_coeff |
+ ----------------|-------|--------------|
+ IIR coeff mem | - | 1 |
+ Reserved | 1 | 0 |
+ IIR state mem | 2 | 0 |
+ config (write) | 3 | 0 |
+ status (read) | 3 | 0 |
+
+ - IIR state memory address
+
Servo internal addresses are internal_address_width wide, which is
typically longer than the 8-bit RIO address space. We pack the overflow
onto the RTIO data word after the data.
- Servo address space (from LSB):
- - IIR coefficient/state memory address, (w.profile + w.channel + 2) bits.
- If the state memory is selected, the lower bits are used directly as
- the memory address. If the coefficient memory is selected, the LSB
- (high_coeff) selects between the upper and lower halves of the memory
- location, which is two coefficients wide, with the remaining bits used
- as the memory address.
- - config_sel (1 bit)
- - state_sel (1 bit)
- - we (1 bit)
-
- destination | config_sel | state_sel
- ----------------|------------|----------
- IIR coeff mem | 0 | 0
- IIR coeff mem | 1 | 0
- IIR state mem | 0 | 1
- config (write) | 1 | 1
- status (read) | 1 | 1
+ The address layout reflects the fact that typically, the coefficient memory
+ address is 2 bits wider than the state memory address.
Values returned to the user on the Python side of the RTIO interface are
32 bit, so we sign-extend all values from w.coeff to that width. This works
@@ -71,6 +81,7 @@ def __init__(self, w, servo):
# mode=READ_FIRST,
clock_domain="rio")
self.specials += m_state, m_coeff
+ w_channel = bits_for(len(servo.iir.dds) - 1)
# just expose the w.coeff (18) MSBs of state
assert w.state >= w.coeff
@@ -83,7 +94,7 @@ def __init__(self, w, servo):
assert 8 + w.dly < w.coeff
# coeff, profile, channel, 2 mems, rw
- internal_address_width = 3 + w.profile + w.channel + 1 + 1
+ internal_address_width = 3 + w.profile + w_channel + 1 + 1
rtlink_address_width = min(8, internal_address_width)
overflow_address_width = internal_address_width - rtlink_address_width
self.rtlink = rtlink.Interface(
@@ -99,8 +110,9 @@ def __init__(self, w, servo):
# # #
config = Signal(w.coeff, reset=0)
- status = Signal(w.coeff)
+ status = Signal(8 + len(servo.iir.ctrl))
pad = Signal(6)
+ assert len(status) <= len(self.rtlink.i.data)
self.comb += [
Cat(servo.start).eq(config),
status.eq(Cat(servo.start, servo.done, pad,
@@ -109,15 +121,19 @@ def __init__(self, w, servo):
assert len(self.rtlink.o.address) + len(self.rtlink.o.data) - w.coeff == (
1 + # we
- 1 + # state_sel
+ 1 + # sel_coeff
1 + # high_coeff
len(m_coeff.adr))
# ensure that we can fit config/status into the state address space
assert len(self.rtlink.o.address) + len(self.rtlink.o.data) - w.coeff >= (
1 + # we
- 1 + # state_sel
- 1 + # config_sel
+ 1 + # sel_coeff
+ 2 + # sel
len(m_state.adr))
+ # ensure that IIR state mem addresses are at least 2 bits less wide than
+ # IIR coeff mem addresses to ensure we can fit SEL after the state mem
+ # address and before the SEL_COEFF bit.
+ assert w.profile + w_channel >= 4
internal_address = Signal(internal_address_width)
self.comb += internal_address.eq(Cat(self.rtlink.o.address,
@@ -127,52 +143,51 @@ def __init__(self, w, servo):
self.comb += coeff_data.eq(self.rtlink.o.data[:w.coeff])
we = internal_address[-1]
- state_sel = internal_address[-2]
- config_sel = internal_address[-3]
+ sel_coeff = internal_address[-2]
+ sel1 = internal_address[-3]
+ sel0 = internal_address[-4]
high_coeff = internal_address[0]
+ sel = Signal(2)
self.comb += [
self.rtlink.o.busy.eq(0),
+ sel.eq(Mux(sel_coeff, 0, Cat(sel0, sel1))),
m_coeff.adr.eq(internal_address[1:]),
m_coeff.dat_w.eq(Cat(coeff_data, coeff_data)),
- m_coeff.we[0].eq(self.rtlink.o.stb & ~high_coeff &
- we & ~state_sel),
- m_coeff.we[1].eq(self.rtlink.o.stb & high_coeff &
- we & ~state_sel),
+ m_coeff.we[0].eq(self.rtlink.o.stb & ~high_coeff & we & sel_coeff),
+ m_coeff.we[1].eq(self.rtlink.o.stb & high_coeff & we & sel_coeff),
m_state.adr.eq(internal_address),
m_state.dat_w[w.state - w.coeff:].eq(self.rtlink.o.data),
- m_state.we.eq(self.rtlink.o.stb & we & state_sel & ~config_sel),
+ m_state.we.eq(self.rtlink.o.stb & we & (sel == 2)),
]
read = Signal()
- read_state = Signal()
read_high = Signal()
- read_config = Signal()
+ read_sel = Signal(2)
self.sync.rio += [
If(read,
read.eq(0)
),
If(self.rtlink.o.stb,
read.eq(~we),
- read_state.eq(state_sel),
+ read_sel.eq(sel),
read_high.eq(high_coeff),
- read_config.eq(config_sel),
)
]
self.sync.rio_phy += [
- If(self.rtlink.o.stb & we & state_sel & config_sel,
+ If(self.rtlink.o.stb & we & (sel == 3),
config.eq(self.rtlink.o.data)
),
- If(read & read_config & read_state,
+ If(read & (read_sel == 3),
[_.clip.eq(0) for _ in servo.iir.ctrl]
- )
+ ),
]
+ # read return value by destination
+ read_acts = Array([
+ Mux(read_high, m_coeff.dat_r[w.coeff:], m_coeff.dat_r[:w.coeff]),
+ 0,
+ m_state.dat_r[w.state - w.coeff:],
+ status
+ ])
self.comb += [
self.rtlink.i.stb.eq(read),
- _eq_sign_extend(self.rtlink.i.data,
- Mux(read_state,
- Mux(read_config,
- status,
- m_state.dat_r[w.state - w.coeff:]),
- Mux(read_high,
- m_coeff.dat_r[w.coeff:],
- m_coeff.dat_r[:w.coeff])))
+ _eq_sign_extend(self.rtlink.i.data, read_acts[read_sel]),
]
diff --git a/artiq/gateware/suservo/iir.py b/artiq/gateware/suservo/iir.py
index 0ec9bfa09..6b975b753 100644
--- a/artiq/gateware/suservo/iir.py
+++ b/artiq/gateware/suservo/iir.py
@@ -16,7 +16,6 @@
"word", # "word" size to break up DDS profile data (16)
"asf", # unsigned amplitude scale factor for DDS (14)
"shift", # fixed point scaling coefficient for a1, b0, b1 (log2!) (11)
- "channel", # channels (log2!) (3)
"profile", # profiles per channel (log2!) (5)
"dly", # the activation delay
])
@@ -213,10 +212,10 @@ class IIR(Module):
--/--: signal with a given bit width always includes a sign bit
-->--: flow is to the right and down unless otherwise indicated
"""
- def __init__(self, w):
- self.widths = w
- for i, j in enumerate(w):
- assert j > 0, (i, j, w)
+ def __init__(self, w, w_i, w_o):
+ for v in (w, w_i, w_o):
+ for i, j in enumerate(v):
+ assert j > 0, (i, j, v)
assert w.word <= w.coeff # same memory
assert w.state + w.coeff + 3 <= w.accu
@@ -224,13 +223,13 @@ def __init__(self, w):
# ~processing
self.specials.m_coeff = Memory(
width=2*w.coeff, # Cat(pow/ftw/offset, cfg/a/b)
- depth=4 << w.profile + w.channel)
+ depth=(4 << w.profile) * w_o.channels)
# m_state[x] should only be read externally during ~(shifting | loading)
# m_state[y] of active profiles should only be read externally during
# ~processing
self.specials.m_state = Memory(
width=w.state, # y1,x0,x1
- depth=(1 << w.profile + w.channel) + (2 << w.channel))
+ depth=(1 << w.profile) * w_o.channels + 2 * w_i.channels)
# ctrl should only be updated synchronously
self.ctrl = [Record([
("profile", w.profile),
@@ -238,14 +237,14 @@ def __init__(self, w):
("en_iir", 1),
("clip", 1),
("stb", 1)])
- for i in range(1 << w.channel)]
+ for i in range(w_o.channels)]
# only update during ~loading
self.adc = [Signal((w.adc, True), reset_less=True)
- for i in range(1 << w.channel)]
+ for i in range(w_i.channels)]
# Cat(ftw0, ftw1, pow, asf)
# only read externally during ~processing
- self.dds = [Signal(4*w.word, reset_less=True)
- for i in range(1 << w.channel)]
+ self.dds = [Signal(4 * w.word, reset_less=True)
+ for i in range(w_o.channels)]
# perform one IIR iteration, start with loading,
# then processing, then shifting, end with done
self.start = Signal()
@@ -281,7 +280,7 @@ def __init__(self, w):
# using the (MSBs of) t_current_step, and, after all channels have been
# covered, proceed once the pipeline has completely drained.
self.submodules.fsm = fsm = FSM("IDLE")
- t_current_step = Signal(w.channel + 2)
+ t_current_step = Signal(max=max(4 * (w_o.channels + 2), 2 * w_i.channels))
t_current_step_clr = Signal()
# pipeline group activity flags (SR)
@@ -298,7 +297,7 @@ def __init__(self, w):
)
fsm.act("LOAD",
self.loading.eq(1),
- If(t_current_step == (1 << w.channel) - 1,
+ If(t_current_step == w_i.channels - 1,
t_current_step_clr.eq(1),
NextValue(stages_active[0], 1),
NextState("PROCESS")
@@ -315,7 +314,7 @@ def __init__(self, w):
)
fsm.act("SHIFT",
self.shifting.eq(1),
- If(t_current_step == (2 << w.channel) - 1,
+ If(t_current_step == 2 * w_i.channels - 1,
NextState("IDLE")
)
)
@@ -333,13 +332,13 @@ def __init__(self, w):
# pipeline group channel pointer (SR)
# for each pipeline stage, this is the channel currently being
# processed
- channel = [Signal(w.channel, reset_less=True) for i in range(3)]
+ channel = [Signal(max=w_o.channels, reset_less=True) for i in range(3)]
self.comb += Cat(pipeline_phase, channel[0]).eq(t_current_step)
self.sync += [
If(pipeline_phase == 3,
Cat(channel[1:]).eq(Cat(channel[:-1])),
stages_active[1:].eq(stages_active[:-1]),
- If(channel[0] == (1 << w.channel) - 1,
+ If(channel[0] == w_o.channels - 1,
stages_active[0].eq(0)
)
)
@@ -393,13 +392,13 @@ def __init__(self, w):
# selected adc and profile delay (combinatorial from dat_r)
# both share the same coeff word (sel in the lower 8 bits)
- sel_profile = Signal(w.channel)
+ sel_profile = Signal(max=w_i.channels)
dly_profile = Signal(w.dly)
- assert w.channel <= 8
+ assert w_o.channels < (1 << 8)
assert 8 + w.dly <= w.coeff
# latched adc selection
- sel = Signal(w.channel, reset_less=True)
+ sel = Signal(max=w_i.channels, reset_less=True)
# iir enable SR
en = Signal(2, reset_less=True)
@@ -407,12 +406,12 @@ def __init__(self, w):
sel_profile.eq(m_coeff.dat_r[w.coeff:]),
dly_profile.eq(m_coeff.dat_r[w.coeff + 8:]),
If(self.shifting,
- m_state.adr.eq(t_current_step | (1 << w.profile + w.channel)),
+ m_state.adr.eq(t_current_step + (1 << w.profile) * w_o.channels),
m_state.dat_w.eq(m_state.dat_r),
m_state.we.eq(t_current_step[0])
),
If(self.loading,
- m_state.adr.eq((t_current_step << 1) | (1 << w.profile + w.channel)),
+ m_state.adr.eq((t_current_step << 1) + (1 << w.profile) * w_o.channels),
m_state.dat_w[-w.adc - 1:-1].eq(Array(self.adc)[t_current_step]),
m_state.dat_w[-1].eq(m_state.dat_w[-2]),
m_state.we.eq(1)
@@ -424,9 +423,9 @@ def __init__(self, w):
# read old y
Cat(profile[0], channel[0]),
# read x0 (recent)
- 0 | (sel_profile << 1) | (1 << w.profile + w.channel),
+ 0 | (sel_profile << 1) + (1 << w.profile) * w_o.channels,
# read x1 (old)
- 1 | (sel << 1) | (1 << w.profile + w.channel),
+ 1 | (sel << 1) + (1 << w.profile) * w_o.channels,
])[pipeline_phase]),
m_state.dat_w.eq(dsp.output),
m_state.we.eq((pipeline_phase == 0) & stages_active[2] & en[1]),
@@ -438,11 +437,9 @@ def __init__(self, w):
#
# internal channel delay counters
- dlys = Array([Signal(w.dly)
- for i in range(1 << w.channel)])
- self._dlys = dlys # expose for debugging only
+ dlys = Array([Signal(w.dly) for i in range(w_o.channels)])
- for i in range(1 << w.channel):
+ for i in range(w_o.channels):
self.sync += [
# (profile != profile_old) | ~en_out
If(self.ctrl[i].stb,
@@ -517,6 +514,12 @@ def __init__(self, w):
}),
]
+ # expose for simulation and debugging only
+ self.widths = w
+ self.widths_adc = w_i
+ self.widths_dds = w_o
+ self._dlys = dlys
+
def _coeff(self, channel, profile, coeff):
"""Return ``high_word``, ``address`` and bit ``mask`` for the
storage of coefficient name ``coeff`` in profile ``profile``
@@ -564,31 +567,33 @@ def get_coeff(self, channel, profile, coeff):
def set_state(self, channel, val, profile=None, coeff="y1"):
"""Set a state value."""
w = self.widths
+ w_o = self.widths_dds
if coeff == "y1":
assert profile is not None
yield self.m_state[profile | (channel << w.profile)].eq(val)
elif coeff == "x0":
assert profile is None
- yield self.m_state[(channel << 1) |
- (1 << w.profile + w.channel)].eq(val)
+ yield self.m_state[(channel << 1) +
+ (1 << w.profile) * w_o.channels].eq(val)
elif coeff == "x1":
assert profile is None
- yield self.m_state[1 | (channel << 1) |
- (1 << w.profile + w.channel)].eq(val)
+ yield self.m_state[1 | (channel << 1) +
+ (1 << w.profile) * w_o.channels].eq(val)
else:
raise ValueError("no such state", coeff)
def get_state(self, channel, profile=None, coeff="y1"):
"""Get a state value."""
w = self.widths
+ w_o = self.widths_dds
if coeff == "y1":
val = yield self.m_state[profile | (channel << w.profile)]
elif coeff == "x0":
- val = yield self.m_state[(channel << 1) |
- (1 << w.profile + w.channel)]
+ val = yield self.m_state[(channel << 1) +
+ (1 << w.profile) * w_o.channels]
elif coeff == "x1":
- val = yield self.m_state[1 | (channel << 1) |
- (1 << w.profile + w.channel)]
+ val = yield self.m_state[1 | (channel << 1) +
+ (1 << w.profile) * w_o.channels]
else:
raise ValueError("no such state", coeff)
return signed(val, w.state)
@@ -607,6 +612,8 @@ def check_iter(self):
"""Perform a single processing iteration while verifying
the behavior."""
w = self.widths
+ w_i = self.widths_adc
+ w_o = self.widths_dds
while not (yield self.done):
yield
@@ -622,7 +629,7 @@ def check_iter(self):
x0s = []
# check adc loading
- for i in range(1 << w.channel):
+ for i in range(w_i.channels):
v_adc = signed((yield self.adc[i]), w.adc)
x0 = yield from self.get_state(i, coeff="x0")
x0s.append(x0)
@@ -631,7 +638,7 @@ def check_iter(self):
data = []
# predict output
- for i in range(1 << w.channel):
+ for i in range(w_o.channels):
j = yield self.ctrl[i].profile
en_iir = yield self.ctrl[i].en_iir
en_out = yield self.ctrl[i].en_out
@@ -640,7 +647,7 @@ def check_iter(self):
i, j, en_iir, en_out, dly_i)
cfg = yield from self.get_coeff(i, j, "cfg")
- k_j = cfg & ((1 << w.channel) - 1)
+ k_j = cfg & ((1 << bits_for(w_i.channels - 1)) - 1)
dly_j = (cfg >> 8) & 0xff
logger.debug("cfg[%d,%d] sel=%d dly=%d", i, j, k_j, dly_j)
@@ -694,7 +701,7 @@ def check_iter(self):
logger.debug("adc[%d] x0=%x x1=%x", i, x0, x1)
# check new state
- for i in range(1 << w.channel):
+ for i in range(w_o.channels):
j = yield self.ctrl[i].profile
logger.debug("ch[%d] profile=%d", i, j)
y1 = yield from self.get_state(i, j, "y1")
@@ -702,7 +709,7 @@ def check_iter(self):
assert y1 == y0, (hex(y1), hex(y0))
# check dds output
- for i in range(1 << w.channel):
+ for i in range(w_o.channels):
ftw0, ftw1, pow, y0, x1, x0 = data[i]
asf = y0 >> (w.state - w.asf - 1)
dds = (ftw0 | (ftw1 << w.word) |
diff --git a/artiq/gateware/suservo/pads.py b/artiq/gateware/suservo/pads.py
index 0ab7d352f..778f05d01 100644
--- a/artiq/gateware/suservo/pads.py
+++ b/artiq/gateware/suservo/pads.py
@@ -72,12 +72,11 @@ def __init__(self, platform, *eems):
DifferentialOutput(self.clk, spip[i].clk, spin[i].clk),
DifferentialOutput(self.io_update, ioup[i].p, ioup[i].n))
for i in range(len(eems))]
- for i in range(8):
+ for i in range(4 * len(eems)):
mosi = Signal()
setattr(self, "mosi{}".format(i), mosi)
- for i in range(4*len(eems)):
self.specials += [
- DifferentialOutput(getattr(self, "mosi{}".format(i)),
+ DifferentialOutput(mosi,
getattr(spip[i // 4], "mosi{}".format(i % 4)),
getattr(spin[i // 4], "mosi{}".format(i % 4)))
]
diff --git a/artiq/gateware/suservo/servo.py b/artiq/gateware/suservo/servo.py
index 1aec95f02..59529320c 100644
--- a/artiq/gateware/suservo/servo.py
+++ b/artiq/gateware/suservo/servo.py
@@ -42,7 +42,7 @@ def __init__(self, adc_pads, dds_pads, adc_p, iir_p, dds_p):
assert t_iir + 2*adc_p.channels < t_cycle, "need shifting time"
self.submodules.adc = ADC(adc_pads, adc_p)
- self.submodules.iir = IIR(iir_p)
+ self.submodules.iir = IIR(iir_p, adc_p, dds_p)
self.submodules.dds = DDS(dds_pads, dds_p)
# adc channels are reversed on Sampler