forked from M-Labs/artiq
pdq2: merge from main pdq2 repo
This commit is contained in:
parent
fdca0a71ff
commit
fae7246f30
|
@ -1,324 +1,264 @@
|
|||
# Based on code by Robert Jordens <jordens@gmail.com>, 2012
|
||||
# Robert Jordens <jordens@gmail.com>, 2012-2015
|
||||
|
||||
import logging
|
||||
import struct
|
||||
import warnings
|
||||
|
||||
from scipy import interpolate
|
||||
import numpy as np
|
||||
from scipy import interpolate
|
||||
import serial
|
||||
|
||||
logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
logger = logging.getLogger("pdq2")
|
||||
class Segment:
|
||||
def __init__(self):
|
||||
self.data = b""
|
||||
|
||||
Ftdi = None
|
||||
def line(self, typ, dt, data, trigger=False, silence=False,
|
||||
aux=False, shift=0, end=False, clear=False, wait=False):
|
||||
assert len(data) % 2 == 0, data
|
||||
assert len(data)//2 <= 14
|
||||
#assert dt*(1 << shift) > 1 + len(data)//2
|
||||
head = (
|
||||
1 + len(data)//2 | (typ << 4) | (trigger << 6) | (silence << 7) |
|
||||
(aux << 8) | (shift << 9) | (end << 13) | (clear << 14) |
|
||||
(wait << 15)
|
||||
)
|
||||
self.data += struct.pack("<HH", head, dt) + data
|
||||
|
||||
@staticmethod
|
||||
def pack(widths, values):
|
||||
fmt = "<"
|
||||
ud = []
|
||||
for width, value in zip(widths, values):
|
||||
if width == 3:
|
||||
ud.append(value & 0xffff)
|
||||
fmt += "H"
|
||||
value >>= 16
|
||||
width -= 1
|
||||
ud.append(value)
|
||||
fmt += " hi"[width]
|
||||
try:
|
||||
return struct.pack(fmt, *ud)
|
||||
except struct.error as e:
|
||||
logger.error("%s as %s: %s", ud, fmt, e)
|
||||
raise e
|
||||
|
||||
def lines(self, typ, dt, widths, v, first={}, mid={}, last={}, shift=0):
|
||||
n = len(dt) - 1
|
||||
dt = dt.astype(np.uint16)
|
||||
v = v.astype(np.int64)
|
||||
for i, (dti, vi) in enumerate(zip(dt, v)):
|
||||
opts = mid
|
||||
if i == 0:
|
||||
opts = first
|
||||
elif i == n:
|
||||
opts = last
|
||||
data = self.pack(widths, vi)
|
||||
self.line(typ, dti, data, shift=shift, **opts)
|
||||
|
||||
@staticmethod
|
||||
def interpolate(t, v, order, t_eval, widths=None):
|
||||
"""Spline interpolating derivatives for t,v.
|
||||
The returned spline coefficients are one shorter than t
|
||||
"""
|
||||
if order == 0:
|
||||
return np.rint(v[:, None])
|
||||
# FIXME: does not ensure that interpolates do not clip
|
||||
s = interpolate.splrep(t, v, k=order)
|
||||
# FIXME: needs k knots outside t_eval
|
||||
# dv = np.array(interpolate.spalde(t_eval, s))
|
||||
dv = np.array([interpolate.splev(t_eval, s, der=i, ext=0)
|
||||
for i in range(order + 1)]).T
|
||||
# correct for adder chain latency
|
||||
if order > 1:
|
||||
dv[:, 1] += dv[:, 2]/2
|
||||
if order > 2:
|
||||
dv[:, 1] += dv[:, 3]/6
|
||||
dv[:, 2] += dv[:, 3]
|
||||
if widths is not None:
|
||||
dv *= 1 << 16*widths
|
||||
return np.rint(dv)
|
||||
|
||||
def line_times(self, t, tr=None):
|
||||
if tr is None:
|
||||
tr = np.rint(t)
|
||||
if len(tr) == 1:
|
||||
return None, np.array([1])
|
||||
dt = np.diff(tr)
|
||||
assert np.all(dt >= 0)
|
||||
assert np.all(dt < (1 << 16))
|
||||
return tr[:-1], dt
|
||||
|
||||
def dac(self, t, v, first={}, mid={}, last={},
|
||||
shift=0, tr=None, order=3, stop=True):
|
||||
widths = np.array([1, 2, 3, 3])
|
||||
tr, dt = self.line_times(t, tr)
|
||||
dv = self.interpolate(t, v, order, tr, widths[:order + 1] - 1)
|
||||
self.lines(0, dt, widths, dv, first, mid, mid if stop else last, shift)
|
||||
if stop:
|
||||
self.line(0, 2, self.pack([1], [int(round(v[-1]))]), **last)
|
||||
|
||||
def dds(self, t, v, p=None, f=None, first={}, mid={}, last={},
|
||||
shift=0, tr=None, order=3, stop=True):
|
||||
widths = np.array([1, 2, 3, 3, 1, 2, 2])
|
||||
tr, dt = self.line_times(t, tr)
|
||||
dv = self.interpolate(t, v, order, tr, widths[:order + 1] - 1)
|
||||
if p is not None:
|
||||
assert order == 3
|
||||
dp = self.interpolate(t, p, 1, tr)[:, :1]
|
||||
dv = np.concatenate((dv, dp), axis=1)
|
||||
if f is not None:
|
||||
df = self.interpolate(t, f, 1, tr, widths[-2:] - 1)
|
||||
dv = np.concatenate((dv, df), axis=1)
|
||||
self.lines(1, dt, widths, dv, first, mid, mid if stop else last, shift)
|
||||
if stop:
|
||||
dv = [int(round(v[-1])), 0, 0, 0]
|
||||
if p is not None:
|
||||
dv.append(int(round(p[-1])))
|
||||
if f is not None:
|
||||
dv.append(int(round(f[-1])))
|
||||
self.line(1, 2, self.pack(widths, dv), **last)
|
||||
|
||||
|
||||
try:
|
||||
import pylibftdi
|
||||
class Channel:
|
||||
max_data = 4*(1 << 10) # 8kx16 8kx16 4kx16
|
||||
num_frames = 8
|
||||
max_val = 1 << 15 # int16 bit DAC
|
||||
max_time = 1 << 16 # uint16 bit timer
|
||||
cordic_gain = 1.
|
||||
for i in range(16):
|
||||
cordic_gain *= np.sqrt(1 + 2**(-2*i))
|
||||
max_out = 10.
|
||||
freq = 50e6 # samples/s
|
||||
|
||||
class PyFtdi:
|
||||
def __init__(self, serial=None):
|
||||
self.dev = pylibftdi.Device(device_id=serial)
|
||||
def __init__(self):
|
||||
self.segments = []
|
||||
|
||||
def write(self, data):
|
||||
written = self.dev.write(data)
|
||||
if written < 0:
|
||||
raise pylibftdi.FtdiError(written,
|
||||
self.dev.get_error_string())
|
||||
return written
|
||||
def clear(self):
|
||||
del self.segments[:]
|
||||
|
||||
def close(self):
|
||||
self.dev.close()
|
||||
del self.dev
|
||||
def new_segment(self):
|
||||
# assert len(self.segments) < self.num_frames
|
||||
segment = Segment()
|
||||
self.segments.append(segment)
|
||||
return segment
|
||||
|
||||
Ftdi = PyFtdi
|
||||
except ImportError:
|
||||
pass
|
||||
def segment(self, t, v, p=None, f=None,
|
||||
order=3, aux=False, shift=0, trigger=True, end=True,
|
||||
silence=False, stop=True, clear=True, wait=False):
|
||||
segment = self.new_segment()
|
||||
t = t*(self.freq/2**shift)
|
||||
v = np.clip(v/self.max_out, -1, 1)
|
||||
order = min(order, len(t) - 1)
|
||||
first = dict(trigger=trigger, clear=clear, aux=aux)
|
||||
mid = dict(aux=aux)
|
||||
last = dict(silence=silence, end=end, wait=wait, aux=aux)
|
||||
if p is None:
|
||||
v = v*self.max_val
|
||||
segment.dac(t, v, first, mid, last, shift=shift, order=order,
|
||||
stop=stop)
|
||||
else:
|
||||
v = v*(self.max_val/self.cordic_gain)
|
||||
p = p*(self.max_val/np.pi)
|
||||
if f is not None:
|
||||
f = f*(self.max_val/self.freq)
|
||||
segment.dds(t, v, p, f, first, mid, last, shift=shift,
|
||||
order=order, stop=stop)
|
||||
return segment
|
||||
|
||||
def place(self):
|
||||
addr = self.num_frames
|
||||
for segment in self.segments:
|
||||
segment.addr = addr
|
||||
addr += len(segment.data)//2
|
||||
assert addr <= self.max_data, addr
|
||||
return addr
|
||||
|
||||
try:
|
||||
import ftd2xx
|
||||
def table(self, entry=None):
|
||||
table = [0] * self.num_frames
|
||||
if entry is None:
|
||||
entry = self.segments
|
||||
for i, frame in enumerate(entry):
|
||||
if frame is not None:
|
||||
table[i] = frame.addr
|
||||
return struct.pack("<" + "H"*self.num_frames, *table)
|
||||
|
||||
class D2xxFtdi:
|
||||
def __init__(self, serial=None):
|
||||
if serial is not None:
|
||||
self.dev = ftd2xx.openEx(serial)
|
||||
else:
|
||||
self.dev = ftd2xx.open()
|
||||
self.dev.setTimeouts(read=5000, write=5000)
|
||||
|
||||
def write(self, data):
|
||||
written = self.dev.write(str(data))
|
||||
return written
|
||||
|
||||
def close(self):
|
||||
self.dev.close()
|
||||
del self.dev
|
||||
|
||||
Ftdi = D2xxFtdi
|
||||
except ImportError:
|
||||
pass
|
||||
|
||||
|
||||
if Ftdi is None:
|
||||
|
||||
class FileFtdi:
|
||||
def __init__(self, serial="unknown"):
|
||||
self.fil = open("pdq_%s_ftdi.bin" % serial, "wb")
|
||||
|
||||
def write(self, data):
|
||||
self.fil.write(data)
|
||||
return len(data)
|
||||
|
||||
def close(self):
|
||||
self.fil.close()
|
||||
del self.fil
|
||||
|
||||
logger.warning("no ftdi library found. writing to files")
|
||||
Ftdi = FileFtdi
|
||||
def serialize(self, entry=None):
|
||||
self.place()
|
||||
data = b"".join([segment.data for segment in self.segments])
|
||||
return self.table(entry) + data
|
||||
|
||||
|
||||
class Pdq2:
|
||||
"""
|
||||
PDQ DAC (a.k.a. QC_Waveform)
|
||||
"""
|
||||
num_dacs = 3
|
||||
num_boards = 3
|
||||
num_channels = num_dacs*num_boards
|
||||
|
||||
commands = {
|
||||
"RESET_EN": b"\x00",
|
||||
"RESET_DIS": b"\x01",
|
||||
"TRIGGER_EN": b"\x02",
|
||||
"TRIGGER_DIS": b"\x03",
|
||||
"ARM_EN": b"\x04",
|
||||
"ARM_DIS": b"\x05",
|
||||
"DCM_EN": b"\x06",
|
||||
"DCM_DIS": b"\x07",
|
||||
"START_EN": b"\x08",
|
||||
"START_DIS": b"\x09",
|
||||
}
|
||||
_escape = b"\xa5"
|
||||
_commands = "RESET TRIGGER ARM DCM START".split()
|
||||
|
||||
def __init__(self, serial=None):
|
||||
self.serial = serial
|
||||
self.dev = Ftdi(serial)
|
||||
def __init__(self, url=None, dev=None):
|
||||
if dev is None:
|
||||
dev = serial.serial_for_url(url)
|
||||
self.dev = dev
|
||||
self.channels = [Channel() for i in range(self.num_channels)]
|
||||
self.set_freq()
|
||||
|
||||
def init(self):
|
||||
self.max_val = 1 << 15 # signed 16 bit DAC
|
||||
self.max_out = 10.
|
||||
self.freq = 50e6 # samples/s
|
||||
self.max_time = 1 << 16 # unsigned 16 bit timer
|
||||
self.num_dacs = 3
|
||||
self.num_frames = 8
|
||||
self.num_channels = 9
|
||||
self.max_data = 4*(1 << 10) # 8kx16 8kx16 4kx16
|
||||
self.escape_char = b"\xa5"
|
||||
self.cordic_gain = 1.
|
||||
for i in range(16):
|
||||
self.cordic_gain *= np.sqrt(1 + 2**(-2*i))
|
||||
def set_freq(self, f=50e6):
|
||||
for c in self.channels:
|
||||
c.freq = f
|
||||
|
||||
def close(self):
|
||||
self.dev.close()
|
||||
del self.dev
|
||||
|
||||
def set_freq(self, f):
|
||||
self.freq = f
|
||||
def write(self, data):
|
||||
logger.debug("> %r", data)
|
||||
written = self.dev.write(data)
|
||||
if isinstance(written, int):
|
||||
assert written == len(data)
|
||||
|
||||
def get_freq(self):
|
||||
return self.freq
|
||||
def cmd(self, cmd, enable):
|
||||
cmd = self._commands.index(cmd) << 1
|
||||
if not enable:
|
||||
cmd |= 1
|
||||
self.write(struct.pack("cb", self._escape, cmd))
|
||||
|
||||
def get_num_channels(self):
|
||||
return self.num_channels
|
||||
|
||||
def get_num_frames(self):
|
||||
return self.num_frames
|
||||
|
||||
def get_max_out(self):
|
||||
return self.max_out
|
||||
|
||||
def _cmd(self, cmd):
|
||||
return self.escape_char + self.commands[cmd]
|
||||
|
||||
def _escape(self, data):
|
||||
return data.replace(self.escape_char,
|
||||
self.escape_char + self.escape_char)
|
||||
|
||||
def _write(self, *segments):
|
||||
"""
|
||||
writes data segments to device
|
||||
"""
|
||||
for segment in segments:
|
||||
written = self.dev.write(segment)
|
||||
if written != len(segment):
|
||||
raise IOError("wrote %i of %i" % (written, len(segment)))
|
||||
|
||||
def flush_escape(self):
|
||||
self._write(b"\x00")
|
||||
|
||||
def write_cmd(self, cmd):
|
||||
return self._write(self._cmd(cmd))
|
||||
|
||||
def _write_data(self, *segments):
|
||||
return self._write(*(self._escape(seg) for seg in segments))
|
||||
|
||||
def _line_times(self, t, shift=0):
|
||||
scale = self.freq/2**shift
|
||||
t = t*scale
|
||||
tr = np.rint(t)
|
||||
dt = np.diff(tr)
|
||||
return t, tr, dt
|
||||
|
||||
def _interpolate(self, t, v, order, shift=0, tr=None):
|
||||
"""
|
||||
calculate spline interpolation derivatives for data
|
||||
according to interpolation order
|
||||
also differentiates times (implicitly shifts to 0) and removes
|
||||
the last value (irrelevant since the frame ends here)
|
||||
"""
|
||||
if order == 0:
|
||||
return [v[:-1]]
|
||||
spline = interpolate.splrep(t, v, k=order)
|
||||
if tr is None:
|
||||
tr = t
|
||||
dv = [interpolate.splev(tr[:-1], spline, der=i)
|
||||
for i in range(order + 1)]
|
||||
# correct for adder chain latency
|
||||
correction_map = [
|
||||
(1, -1/2., 2),
|
||||
(1, -1/6., 3),
|
||||
(2, -1., 3),
|
||||
]
|
||||
for i, c, j in correction_map:
|
||||
if j >= len(dv):
|
||||
break
|
||||
dv[i] -= c*dv[j]
|
||||
return dv
|
||||
|
||||
def _pack_frame(self, *parts_dtypes):
|
||||
frame = []
|
||||
for part, dtype in parts_dtypes:
|
||||
if dtype == "i6":
|
||||
part = part.astype("<i8")
|
||||
frame.append(part.astype("<i4"))
|
||||
frame.append((part >> 32).astype("<i2"))
|
||||
else:
|
||||
frame.append(part.astype("<" + dtype))
|
||||
frame = np.rec.fromarrays(frame) # interleave
|
||||
logger.debug("frame %s dtype %s shape %s length %s",
|
||||
frame, frame.dtype, frame.shape, len(bytes(frame.data)))
|
||||
return bytes(frame.data)
|
||||
|
||||
def _frame(self, t, v, p=None, f=None,
|
||||
order=3, aux=None, shift=0, trigger=True, end=True,
|
||||
silence=False, stop=True, clear=True, wait=False):
|
||||
"""
|
||||
serialize frame data
|
||||
voltages in volts, times in seconds
|
||||
"""
|
||||
words = [1, 2, 3, 3, 1, 2, 2]
|
||||
n = order + 1
|
||||
if f is not None:
|
||||
n += 2
|
||||
if p is None:
|
||||
p = np.zeros_like(f)
|
||||
if p is not None:
|
||||
n += 1
|
||||
length = 1 + sum(words[:n])
|
||||
parts = []
|
||||
|
||||
head = np.zeros(len(t) - 1, "<u2")
|
||||
head[:] |= length # 4
|
||||
if p is not None:
|
||||
head[:] |= 1 << 4 # typ # 2
|
||||
head[0] |= trigger << 6 # 1
|
||||
head[-1] |= (not stop and silence) << 7 # 1
|
||||
if aux is not None:
|
||||
head[:] |= aux[:len(head)] << 8 # 1
|
||||
head[:] |= shift << 9 # 4
|
||||
head[-1] |= (not stop and end) << 13 # 1
|
||||
head[0] |= clear << 14 # 1
|
||||
head[-1] |= (not stop and wait) << 15 # 1
|
||||
parts.append((head, "u2"))
|
||||
|
||||
t, tr, dt = self._line_times(t, shift)
|
||||
assert np.all(dt*2**shift > 1 + length), (dt, length)
|
||||
assert np.all(dt < self.max_time), dt
|
||||
|
||||
parts.append((dt, "u2"))
|
||||
|
||||
v = np.clip(v/self.max_out, -1, 1)
|
||||
if p is not None:
|
||||
v /= self.cordic_gain
|
||||
for dv, w in zip(self._interpolate(t, v, order, shift, tr), words):
|
||||
parts.append((np.rint(dv*(2**(16*w - 1))), "i%i" % (2*w)))
|
||||
|
||||
if p is not None:
|
||||
p = p/(2*np.pi)
|
||||
for dv, w in zip(self._interpolate(t, p, 0, shift, tr), [1]):
|
||||
parts.append((np.rint(dv*(2**(16*w))), "u%i" % (2*w)))
|
||||
|
||||
if f is not None:
|
||||
f = f/self.freq
|
||||
for dv, w in zip(self._interpolate(t, f, 1, shift, tr), [2, 2]):
|
||||
parts.append((np.rint(dv*(2**(16*w))), "i%i" % (2*w)))
|
||||
|
||||
frame = self._pack_frame(*parts)
|
||||
|
||||
if stop:
|
||||
if p is not None:
|
||||
frame += struct.pack("<HH hiihih H ii", (15 << 0) | (1 << 4) |
|
||||
(silence << 7) |
|
||||
(end << 13) |
|
||||
(wait << 15),
|
||||
1, int(v[-1]*2**15), 0, 0, 0, 0, 0,
|
||||
int(p[-1]*2**16), int(f[-1]*2**31), 0)
|
||||
else:
|
||||
frame += struct.pack("<HH h", (2 << 0) | (silence << 7) |
|
||||
(end << 13) | (wait << 15),
|
||||
1, int(v[-1]*2**15))
|
||||
return frame
|
||||
|
||||
def _line(self, dt, v=(), a=(), p=(), f=(), typ=0,
|
||||
silence=False, end=False, trigger=False, aux=False,
|
||||
clear=False):
|
||||
raise NotImplementedError
|
||||
fmt = "<HH"
|
||||
parts = [0, int(round(dt*self.freq))]
|
||||
for vi, wi in zip(v, [1, 2, 3, 3]):
|
||||
vi = int(round(vi*(2**(16*wi - 1))))
|
||||
if wi == 3:
|
||||
fmt += "Ih"
|
||||
parts += [vi & 0xffffffff, vi >> 32]
|
||||
else:
|
||||
fmt += "bih"[wi]
|
||||
parts += [vi]
|
||||
if p is not None:
|
||||
typ = 1
|
||||
|
||||
def _map_frames(self, frames, map=None):
|
||||
table = []
|
||||
adr = self.num_frames
|
||||
for frame in frames:
|
||||
table.append(adr)
|
||||
adr += len(frame)//2
|
||||
assert adr <= self.max_data, adr
|
||||
t = []
|
||||
for i in range(self.num_frames):
|
||||
if map is not None and len(map) > i:
|
||||
i = map[i]
|
||||
if i is not None and len(table) > i:
|
||||
i = table[i]
|
||||
else:
|
||||
i = 0
|
||||
t.append(i)
|
||||
t = struct.pack("<" + "H"*self.num_frames, *t)
|
||||
return t + b"".join(frames)
|
||||
|
||||
def _add_mem_header(self, board, dac, data, adr=0):
|
||||
assert dac in range(self.num_dacs)
|
||||
head = struct.pack("<HHH", (board << 4) | dac,
|
||||
adr, adr + len(data)//2 - 1)
|
||||
return head + data
|
||||
|
||||
def multi_frame(self, times_voltages, channel, map=None, **kwargs):
|
||||
frames = [self._frame(t, v, **kwargs) for t, v in times_voltages]
|
||||
data = self._map_frames(frames, map)
|
||||
def write_mem(self, channel, data, start_addr=0):
|
||||
board, dac = divmod(channel, self.num_dacs)
|
||||
data = self._add_mem_header(board, dac, data)
|
||||
self._write_data(data)
|
||||
data = struct.pack("<HHH", (board << 4) | dac, start_addr,
|
||||
start_addr + len(data)//2 - 1) + data
|
||||
data = data.replace(self._escape, self._escape + self._escape)
|
||||
self.write(data)
|
||||
|
||||
def write_channel(self, channel, entry=None):
|
||||
self.write_mem(self.channels.index(channel),
|
||||
channel.serialize(entry))
|
||||
|
||||
def write_all(self):
|
||||
for channel in self.channels:
|
||||
self.write_mem(self.channels.index(channel),
|
||||
channel.serialize())
|
||||
|
||||
def write_table(self, channel, segments=None):
|
||||
# no segment placement
|
||||
# no segment writing
|
||||
self.write_mem(channel, self.channels[channel].table(segments))
|
||||
|
||||
def write_segment(self, channel, segment):
|
||||
# no collision check
|
||||
s = self.channels[channel].segments[segment]
|
||||
self.write_mem(channel, s.data, s.adr)
|
||||
|
||||
def multi_segment(self, times_voltages, channel, map=None, **kwargs):
|
||||
warnings.warn("deprecated", DeprecationWarning)
|
||||
c = self.channels[channel]
|
||||
del c.segments[:]
|
||||
for t, v in times_voltages:
|
||||
c.segment(t, v, **kwargs)
|
||||
return c.serialize(map)
|
||||
|
|
Loading…
Reference in New Issue