forked from M-Labs/artiq
suservo: update 'technology preview' example [wip]
Still with mostly undocumented and unstable API.
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@ -6,23 +6,50 @@ class SUServo(EnvExperiment):
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self.setattr_device("core")
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self.setattr_device("led0")
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self.setattr_device("suservo0")
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self.setattr_device("suservo0_ch0")
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for i in range(8):
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self.setattr_device("suservo0_ch{}".format(i))
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def run(self):
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# self.led()
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self.init()
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def p(self, d):
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for name, value in zip("ftw1 b1 pow cfg offset a1 ftw0 b0".split(), d):
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print(name, hex(value))
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@kernel
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def init(self):
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self.core.break_realtime()
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self.core.reset()
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self.suservo0.init()
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self.suservo0.set_config(1)
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delay(1*us)
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self.suservo0.cpld0.set_att_mu(0, 255)
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delay(1*us)
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print(self.suservo0.get_status())
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delay(3*ms)
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self.suservo0.set_config(0)
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delay(3*ms)
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self.suservo0_ch0.set_profile_mu(
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profile=0, ftw=0x12345667, adc=0, offset=0x10,
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a1=-0x2000, b0=0x1ffff, b1=0, delay=0, pow=0xaa55)
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self.suservo0_ch0.set(en_out=1, en_iir=1, profile=0)
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delay(10*ms)
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self.suservo0.set_config(1)
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delay(10*ms)
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data = [0] * 8
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self.suservo0_ch0.get_profile_mu(0, data)
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self.p(data)
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delay(10*ms)
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print(self.suservo0.get_adc_mu(0))
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delay(10*ms)
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print(self.suservo0.get_adc_mu(1))
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delay(10*ms)
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print(self.suservo0_ch0.get_asf_mu(0))
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delay(10*ms)
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print(self.suservo0_ch0.get_asf_mu(0))
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delay(10*ms)
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print(self.suservo0.get_status())
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@kernel
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