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suservo: coeff mem write port READ_FIRST

This commit is contained in:
Robert Jördens 2018-04-27 15:34:48 +00:00
parent 73fa572275
commit 5f00326c65
4 changed files with 14 additions and 3 deletions
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10
artiq/coredevice/suservo.py
View File

@ -95,10 +95,12 @@ class SUServo:
def set_config(self, enable): def set_config(self, enable):
"""Set SU Servo configuration. """Set SU Servo configuration.
Disabling takes up to 2 Servo cycles (~2.2 µs) to clear
the processing pipeline.
This method advances the timeline by one Servo memory access. This method advances the timeline by one Servo memory access.
:param enable: Enable Servo operation. Disabling takes up to 2 Servo :param enable: Enable Servo operation.
cycles (~2.2 µs).
""" """
self.write(CONFIG_ADDR, enable) self.write(CONFIG_ADDR, enable)
@ -261,6 +263,10 @@ class Channel:
The IIR state is also know as the "integrator", or the DDS amplitude The IIR state is also know as the "integrator", or the DDS amplitude
scale factor. It is 18 bits wide and unsigned. scale factor. It is 18 bits wide and unsigned.
This method must not be used when the Servo
could be writing to the same location. Either deactivate the profile,
or deactivate IIR updates, or disable Servo iterations.
This method advances the timeline by one Servo memory access. This method advances the timeline by one Servo memory access.
:param profile: Profile number (0-31) :param profile: Profile number (0-31)

3
artiq/examples/kasli_suservo/repository/suservo.py
View File

@ -30,11 +30,13 @@ class SUServo(EnvExperiment):
self.suservo0.cpld0.set_att_mu(0, 64) self.suservo0.cpld0.set_att_mu(0, 64)
delay(1*us) delay(1*us)
assert self.suservo0.get_status() == 2 assert self.suservo0.get_status() == 2
delay(10*us)
# set up profile 0 on channel 0 # set up profile 0 on channel 0
self.suservo0_ch0.set_y_mu(0, 0) self.suservo0_ch0.set_y_mu(0, 0)
self.suservo0_ch0.set_iir_mu( self.suservo0_ch0.set_iir_mu(
profile=0, adc=0, a1=-0x800, b0=0x1000, b1=0, delay=0) profile=0, adc=0, a1=-0x800, b0=0x1000, b1=0, delay=0)
delay(10*us)
self.suservo0_ch0.set_dds_mu( self.suservo0_ch0.set_dds_mu(
profile=0, ftw=0x12345667, offset=0x1, pow=0xaa55) profile=0, ftw=0x12345667, offset=0x1, pow=0xaa55)
# enable channel # enable channel
@ -50,6 +52,7 @@ class SUServo(EnvExperiment):
# check servo status # check servo status
assert self.suservo0.get_status() == 1 assert self.suservo0.get_status() == 1
delay(10*us)
# reach back ADC data # reach back ADC data
print(self.suservo0.get_adc_mu(0)) print(self.suservo0.get_adc_mu(0))

2
artiq/gateware/rtio/phy/servo.py
View File

@ -28,9 +28,11 @@ class RTServoMem(Module):
interface.""" interface."""
def __init__(self, w, servo): def __init__(self, w, servo):
m_coeff = servo.iir.m_coeff.get_port(write_capable=True, m_coeff = servo.iir.m_coeff.get_port(write_capable=True,
mode=READ_FIRST,
we_granularity=w.coeff, clock_domain="rio") we_granularity=w.coeff, clock_domain="rio")
assert len(m_coeff.we) == 2 assert len(m_coeff.we) == 2
m_state = servo.iir.m_state.get_port(write_capable=True, m_state = servo.iir.m_state.get_port(write_capable=True,
# mode=READ_FIRST,
clock_domain="rio") clock_domain="rio")
self.specials += m_state, m_coeff self.specials += m_state, m_coeff

2
artiq/gateware/suservo/iir.py
View File

@ -344,7 +344,7 @@ class IIR(Module):
] ]
m_coeff = self.m_coeff.get_port() m_coeff = self.m_coeff.get_port()
m_state = self.m_state.get_port(write_capable=True) m_state = self.m_state.get_port(write_capable=True) # mode=READ_FIRST
self.specials += m_state, m_coeff self.specials += m_state, m_coeff
dsp = DSP(w) dsp = DSP(w)