forked from M-Labs/artiq
suservo: port to NAC3
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@ -1,8 +1,19 @@
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from artiq.language.core import kernel, delay, delay_mu, portable
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from numpy import int32, int64
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from artiq.language.core import *
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from artiq.language.units import us, ns
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from artiq.coredevice.core import Core
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from artiq.coredevice.rtio import rtio_output, rtio_input_data
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from artiq.coredevice import spi2 as spi
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from artiq.coredevice import urukul, sampler
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from artiq.coredevice.spi2 import SPI_END, SPIMaster
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from artiq.coredevice.urukul import CFG_MASK_NU, CPLD
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from artiq.coredevice.ad9910 import AD9910
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from artiq.coredevice.sampler import adc_mu_to_volt as sampler_adc_mu_to_volt, SPI_CONFIG as SAMPLER_SPI_CONFIG, SPI_CS_PGIA as SAMPLER_SPI_CS_PGIA
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# NAC3TODO work around https://git.m-labs.hk/M-Labs/nac3/issues/189
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@nac3
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class ValueError(Exception):
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pass
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COEFF_WIDTH = 18
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@ -17,20 +28,21 @@ COEFF_SHIFT = 11
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@portable
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def y_mu_to_full_scale(y):
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def y_mu_to_full_scale(y: int32) -> float:
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"""Convert servo Y data from machine units to units of full scale."""
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return y / Y_FULL_SCALE_MU
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return float(y) / float(Y_FULL_SCALE_MU)
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@portable
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def adc_mu_to_volts(x, gain):
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def adc_mu_to_volts(x: int32, gain: int32) -> float:
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"""Convert servo ADC data from machine units to Volt."""
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val = (x >> 1) & 0xffff
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mask = 1 << 15
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val = -(val & mask) + (val & ~mask)
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return sampler.adc_mu_to_volt(val, gain)
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return sampler_adc_mu_to_volt(val, gain)
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@nac3
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class SUServo:
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"""Sampler-Urukul Servo parent and configuration device.
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@ -64,8 +76,15 @@ class SUServo:
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between experiments.
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:param core_device: Core device name
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"""
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kernel_invariants = {"channel", "core", "pgia", "cplds", "ddses",
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"ref_period_mu"}
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core: KernelInvariant[Core]
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pgia: KernelInvariant[SPIMaster]
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ddses: KernelInvariant[list[AD9910]]
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cplds: KernelInvariant[list[CPLD]]
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channel: KernelInvariant[int32]
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gains: Kernel[int32]
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ref_period_mu: KernelInvariant[int64]
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def __init__(self, dmgr, channel, pgia_device,
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cpld_devices, dds_devices,
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@ -97,11 +116,11 @@ class SUServo:
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or the channel controls.
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"""
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self.set_config(enable=0)
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delay(3*us) # pipeline flush
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self.core.delay(3.*us) # pipeline flush
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self.pgia.set_config_mu(
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sampler.SPI_CONFIG | spi.SPI_END,
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16, 4, sampler.SPI_CS_PGIA)
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SAMPLER_SPI_CONFIG | SPI_END,
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16, 4, SAMPLER_SPI_CS_PGIA)
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for i in range(len(self.cplds)):
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cpld = self.cplds[i]
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@ -109,12 +128,12 @@ class SUServo:
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cpld.init(blind=True)
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prev_cpld_cfg = cpld.cfg_reg
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cpld.cfg_write(prev_cpld_cfg | (0xf << urukul.CFG_MASK_NU))
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cpld.cfg_write(prev_cpld_cfg | (0xf << CFG_MASK_NU))
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dds.init(blind=True)
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cpld.cfg_write(prev_cpld_cfg)
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@kernel
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def write(self, addr, value):
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def write(self, addr: int32, value: int32):
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"""Write to servo memory.
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This method advances the timeline by one coarse RTIO cycle.
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@ -130,7 +149,7 @@ class SUServo:
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delay_mu(self.ref_period_mu)
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@kernel
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def read(self, addr):
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def read(self, addr: int32) -> int32:
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"""Read from servo memory.
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This method does not advance the timeline but consumes all slack.
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@ -143,7 +162,7 @@ class SUServo:
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return rtio_input_data(self.channel)
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@kernel
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def set_config(self, enable):
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def set_config(self, enable: int32):
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"""Set SU Servo configuration.
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This method advances the timeline by one servo memory access.
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@ -161,7 +180,7 @@ class SUServo:
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self.write(CONFIG_ADDR, enable)
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@kernel
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def get_status(self):
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def get_status(self) -> int32:
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"""Get current SU Servo status.
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This method does not advance the timeline but consumes all slack.
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@ -182,7 +201,7 @@ class SUServo:
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return self.read(CONFIG_ADDR)
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@kernel
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def get_adc_mu(self, adc):
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def get_adc_mu(self, adc: int32) -> int32:
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"""Get the latest ADC reading (IIR filter input X0) in machine units.
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This method does not advance the timeline but consumes all slack.
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@ -200,7 +219,7 @@ class SUServo:
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return self.read(STATE_SEL | (adc << 1) | (1 << 8))
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@kernel
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def set_pgia_mu(self, channel, gain):
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def set_pgia_mu(self, channel: int32, gain: int32):
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"""Set instrumentation amplifier gain of a ADC channel.
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The four gain settings (0, 1, 2, 3) corresponds to gains of
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@ -216,7 +235,7 @@ class SUServo:
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self.gains = gains
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@kernel
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def get_adc(self, channel):
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def get_adc(self, channel: int32) -> float:
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"""Get the latest ADC reading (IIR filter input X0).
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This method does not advance the timeline but consumes all slack.
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@ -237,13 +256,19 @@ class SUServo:
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return adc_mu_to_volts(val, gain)
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@nac3
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class Channel:
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"""Sampler-Urukul Servo channel
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:param channel: RTIO channel number
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:param servo_device: Name of the parent SUServo device
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"""
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kernel_invariants = {"channel", "core", "servo", "servo_channel"}
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core: KernelInvariant[Core]
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servo: KernelInvariant[SUServo]
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channel: KernelInvariant[int32]
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servo_channel: KernelInvariant[int32]
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dds: KernelInvariant[AD9910]
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def __init__(self, dmgr, channel, servo_device):
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self.servo = dmgr.get(servo_device)
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@ -256,7 +281,7 @@ class Channel:
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self.dds = self.servo.ddses[self.servo_channel // 4]
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@kernel
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def set(self, en_out, en_iir=0, profile=0):
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def set(self, en_out: bool, en_iir: bool = False, profile: int32 = 0):
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"""Operate channel.
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This method does not advance the timeline. Output RF switch setting
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@ -272,10 +297,10 @@ class Channel:
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:param profile: Active profile (0-31)
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"""
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rtio_output(self.channel << 8,
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en_out | (en_iir << 1) | (profile << 2))
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int32(en_out) | (int32(en_iir) << 1) | (profile << 2))
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@kernel
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def set_dds_mu(self, profile, ftw, offs, pow_=0):
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def set_dds_mu(self, profile: int32, ftw: int32, offs: int32, pow_: int32 = 0):
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"""Set profile DDS coefficients in machine units.
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.. seealso:: :meth:`set_amplitude`
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@ -292,7 +317,7 @@ class Channel:
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self.servo.write(base + 2, pow_)
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@kernel
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def set_dds(self, profile, frequency, offset, phase=0.):
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def set_dds(self, profile: int32, frequency: float, offset: float, phase: float = 0.):
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"""Set profile DDS coefficients.
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This method advances the timeline by four servo memory accesses.
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@ -311,7 +336,7 @@ class Channel:
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self.set_dds_mu(profile, ftw, offs, pow_)
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@kernel
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def set_dds_offset_mu(self, profile, offs):
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def set_dds_offset_mu(self, profile: int32, offs: int32):
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"""Set only IIR offset in DDS coefficient profile.
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See :meth:`set_dds_mu` for setting the complete DDS profile.
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@ -323,7 +348,7 @@ class Channel:
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self.servo.write(base + 4, offs)
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@kernel
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def set_dds_offset(self, profile, offset):
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def set_dds_offset(self, profile: int32, offset: float):
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"""Set only IIR offset in DDS coefficient profile.
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See :meth:`set_dds` for setting the complete DDS profile.
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@ -334,7 +359,7 @@ class Channel:
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self.set_dds_offset_mu(profile, self.dds_offset_to_mu(offset))
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@portable
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def dds_offset_to_mu(self, offset):
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def dds_offset_to_mu(self, offset: float) -> int32:
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"""Convert IIR offset (negative setpoint) from units of full scale to
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machine units (see :meth:`set_dds_mu`, :meth:`set_dds_offset_mu`).
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@ -342,10 +367,10 @@ class Channel:
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rounding and representation as two's complement, ``offset=1`` can not
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be represented while ``offset=-1`` can.
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"""
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return int(round(offset * (1 << COEFF_WIDTH - 1)))
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return round(offset * float(1 << COEFF_WIDTH - 1))
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@kernel
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def set_iir_mu(self, profile, adc, a1, b0, b1, dly=0):
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def set_iir_mu(self, profile: int32, adc: int32, a1: int32, b0: int32, b1: int32, dly: int32 = 0):
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"""Set profile IIR coefficients in machine units.
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The recurrence relation is (all data signed and MSB aligned):
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@ -385,7 +410,7 @@ class Channel:
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self.servo.write(base + 7, b0)
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@kernel
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def set_iir(self, profile, adc, kp, ki=0., g=0., delay=0.):
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def set_iir(self, profile: int32, adc: int32, kp: float, ki: float = 0., g: float = 0., delay: float = 0.):
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"""Set profile IIR coefficients.
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This method advances the timeline by four servo memory accesses.
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@ -427,23 +452,23 @@ class Channel:
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A_NORM = 1 << COEFF_SHIFT
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COEFF_MAX = 1 << COEFF_WIDTH - 1
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kp *= B_NORM
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kp *= float(B_NORM)
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if ki == 0.:
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# pure P
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a1 = 0
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b1 = 0
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b0 = int(round(kp))
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b0 = round(kp)
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else:
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# I or PI
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ki *= B_NORM*T_CYCLE/2.
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ki *= float(B_NORM)*T_CYCLE/2.
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if g == 0.:
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c = 1.
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a1 = A_NORM
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else:
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c = 1./(1. + ki/(g*B_NORM))
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a1 = int(round((2.*c - 1.)*A_NORM))
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b0 = int(round(kp + ki*c))
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b1 = int(round(kp + (ki - 2.*kp)*c))
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c = 1./(1. + ki/(g*float(B_NORM)))
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a1 = round((2.*c - 1.)*float(A_NORM))
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b0 = round(kp + ki*c)
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b1 = round(kp + (ki - 2.*kp)*c)
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if b1 == -b0:
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raise ValueError("low integrator gain and/or gain limit")
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@ -451,11 +476,11 @@ class Channel:
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b1 >= COEFF_MAX or b1 < -COEFF_MAX):
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raise ValueError("high gains")
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dly = int(round(delay/T_CYCLE))
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dly = round(delay/T_CYCLE)
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self.set_iir_mu(profile, adc, a1, b0, b1, dly)
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@kernel
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def get_profile_mu(self, profile, data):
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def get_profile_mu(self, profile: int32, data: list[int32]):
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"""Retrieve profile data.
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Profile data is returned in the ``data`` argument in machine units
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@ -473,10 +498,10 @@ class Channel:
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base = (self.servo_channel << 8) | (profile << 3)
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for i in range(len(data)):
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data[i] = self.servo.read(base + i)
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delay(4*us)
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self.core.delay(4.*us)
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@kernel
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def get_y_mu(self, profile):
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def get_y_mu(self, profile: int32) -> int32:
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"""Get a profile's IIR state (filter output, Y0) in machine units.
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The IIR state is also know as the "integrator", or the DDS amplitude
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@ -494,7 +519,7 @@ class Channel:
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return self.servo.read(STATE_SEL | (self.servo_channel << 5) | profile)
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@kernel
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def get_y(self, profile):
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def get_y(self, profile: int32) -> float:
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"""Get a profile's IIR state (filter output, Y0).
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The IIR state is also know as the "integrator", or the DDS amplitude
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@ -512,7 +537,7 @@ class Channel:
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return y_mu_to_full_scale(self.get_y_mu(profile))
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@kernel
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def set_y_mu(self, profile, y):
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def set_y_mu(self, profile: int32, y: int32):
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"""Set a profile's IIR state (filter output, Y0) in machine units.
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The IIR state is also know as the "integrator", or the DDS amplitude
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@ -532,7 +557,7 @@ class Channel:
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self.servo.write(STATE_SEL | (self.servo_channel << 5) | profile, y)
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@kernel
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def set_y(self, profile, y):
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def set_y(self, profile: int32, y: float) -> int32:
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"""Set a profile's IIR state (filter output, Y0).
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The IIR state is also know as the "integrator", or the DDS amplitude
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@ -547,7 +572,7 @@ class Channel:
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:param profile: Profile number (0-31)
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:param y: IIR state in units of full scale
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"""
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y_mu = int(round(y * Y_FULL_SCALE_MU))
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y_mu = round(y * float(Y_FULL_SCALE_MU))
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if y_mu < 0 or y_mu > (1 << 17) - 1:
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raise ValueError("Invalid SUServo y-value!")
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self.set_y_mu(profile, y_mu)
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