forked from M-Labs/artiq
suservo: add servo/config/status register
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105068ad90
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@ -34,7 +34,9 @@ class RTServoMem(Module):
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# just expose the w.coeff (18) MSBs of state
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assert w.state >= w.coeff
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# ensure that we can split the coefficient storage correctly
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assert len(m_coeff.dat_w) == 2*w.coeff
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# ensure that the DDS word data fits into the coefficient mem
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assert w.coeff >= w.word
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self.rtlink = rtlink.Interface(
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@ -50,8 +52,27 @@ class RTServoMem(Module):
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# # #
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config = Signal(1, reset=0)
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status = Signal(2)
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self.comb += [
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Cat(servo.start).eq(config),
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status.eq(Cat(servo.start, servo.done))
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]
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assert len(self.rtlink.o.address) == (
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1 + # we
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1 + # state_sel
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1 + # high_coeff
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len(m_coeff.adr))
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# ensure that we can fit config/status into the state address space
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assert len(self.rtlink.o.address) >= (
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1 + # we
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1 + # state_sel
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1 + # config_sel
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len(m_state.adr))
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we = self.rtlink.o.address[-1]
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state_sel = self.rtlink.o.address[-2]
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config_sel = self.rtlink.o.address[-3]
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high_coeff = self.rtlink.o.address[0]
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self.comb += [
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self.rtlink.o.busy.eq(0),
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@ -63,7 +84,7 @@ class RTServoMem(Module):
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we & ~state_sel),
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m_state.adr.eq(self.rtlink.o.address),
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m_state.dat_w[w.state - w.coeff:].eq(self.rtlink.o.data),
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m_state.we.eq(self.rtlink.o.stb & we & state_sel),
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m_state.we.eq(self.rtlink.o.stb & we & state_sel & ~config_sel),
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]
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read = Signal()
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read_sel = Signal()
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@ -78,14 +99,19 @@ class RTServoMem(Module):
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read_high.eq(high_coeff),
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)
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]
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self.sync.rio_phy += [
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If(self.rtlink.o.stb & we & state_sel & config_sel,
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config.eq(self.rtlink.o.data)
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)
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]
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self.comb += [
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self.rtlink.i.stb.eq(read),
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self.rtlink.i.data.eq(
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Mux(
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state_sel,
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m_state.dat_r[w.state - w.coeff:],
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Mux(
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read_high,
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Mux(state_sel,
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Mux(config_sel,
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status,
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m_state.dat_r[w.state - w.coeff:]),
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Mux(read_high,
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m_coeff.dat_r[w.coeff:],
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m_coeff.dat_r[:w.coeff])))
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]
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