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diff --git a/artiq/coredevice/ad9910.py b/artiq/coredevice/ad9910.py
index 801b689c..bc19afe2 100644
--- a/artiq/coredevice/ad9910.py
+++ b/artiq/coredevice/ad9910.py
@@ -277,6 +277,10 @@ class AD9910:
:param addr: Register address
"""
+ return self.read32_impl(addr)
+
+ @kernel
+ def read32_impl(self, addr):
self.bus.set_config_mu(urukul.SPI_CONFIG, 8,
urukul.SPIT_DDS_WR, self.chip_select)
self.bus.write((addr | 0x80) << 24)
@@ -981,7 +985,8 @@ class AD9910:
@kernel
def tune_sync_delay(self,
- search_seed: TInt32 = 15) -> TTuple([TInt32, TInt32]):
+ search_seed: TInt32 = 15,
+ cpld_channel_idx: TInt32 = -1) -> TTuple([TInt32, TInt32]):
"""Find a stable SYNC_IN delay.
This method first locates a valid SYNC_IN delay at zero validation
@@ -997,6 +1002,9 @@ class AD9910:
Defaults to 15 (half range).
:return: Tuple of optimal delay and window size.
"""
+ if cpld_channel_idx == -1:
+ cpld_channel_idx = self.chip_select - 4
+ assert 0 <= cpld_channel_idx < 4, "Invalid channel index"
if not self.cpld.sync_div:
raise ValueError("parent cpld does not drive SYNC")
search_span = 31
@@ -1019,7 +1027,7 @@ class AD9910:
delay(100 * us)
err = urukul_sta_smp_err(self.cpld.sta_read())
delay(100 * us) # slack
- if not (err >> (self.chip_select - 4)) & 1:
+ if not (err >> cpld_channel_idx) & 1:
next_seed = in_delay
break
if next_seed >= 0: # valid delay found, scan next window
diff --git a/artiq/coredevice/suservo.py b/artiq/coredevice/suservo.py
index a89cdcca..f7b516a4 100644
--- a/artiq/coredevice/suservo.py
+++ b/artiq/coredevice/suservo.py
@@ -1,9 +1,11 @@
from artiq.language.core import kernel, delay, delay_mu, portable
from artiq.language.units import us, ns
+from artiq.language import *
from artiq.coredevice.rtio import rtio_output, rtio_input_data
from artiq.coredevice import spi2 as spi
-from artiq.coredevice import urukul, sampler
+from artiq.coredevice import urukul, sampler, ad9910
from math import ceil, log2
+from numpy import int32, int64
COEFF_WIDTH = 18 # Must match gateware IIRWidths.coeff
@@ -11,6 +13,7 @@ Y_FULL_SCALE_MU = (1 << (COEFF_WIDTH - 1)) - 1
T_CYCLE = (2*(8 + 64) + 2)*8*ns # Must match gateware Servo.t_cycle.
COEFF_SHIFT = 11 # Must match gateware IIRWidths.shift
PROFILE_WIDTH = 5 # Must match gateware IIRWidths.profile
+FINE_TS_WIDTH = 3 # Must match gateware IIRWidths.ioup_dly
@portable
@@ -39,7 +42,7 @@ class SUServo:
and a photodetector connected to Sampler.
Additionally SU Servo supports multiple preconfigured profiles per channel
- and features like automatic integrator hold.
+ and features like automatic integrator hold and coherent phase tracking.
Notes:
@@ -63,7 +66,8 @@ class SUServo:
"""
kernel_invariants = {"channel", "core", "pgia", "cplds", "ddses",
"ref_period_mu", "num_channels", "coeff_sel",
- "state_sel", "config_addr", "write_enable"}
+ "state_sel", "io_dly_addr", "config_addr",
+ "write_enable"}
def __init__(self, dmgr, channel, pgia_device,
cpld_devices, dds_devices,
@@ -86,6 +90,7 @@ class SUServo:
self.num_channels = 4 * len(dds_devices)
channel_width = ceil(log2(self.num_channels))
coeff_depth = PROFILE_WIDTH + channel_width + 3
+ self.io_dly_addr = 1 << (coeff_depth - 2)
self.state_sel = 2 << (coeff_depth - 2)
self.config_addr = 3 << (coeff_depth - 2)
self.coeff_sel = 1 << coeff_depth
@@ -119,8 +124,20 @@ class SUServo:
prev_cpld_cfg = cpld.cfg_reg
cpld.cfg_write(prev_cpld_cfg | (0xf << urukul.CFG_MASK_NU))
dds.init(blind=True)
+
+ if dds.sync_data.sync_delay_seed != -1:
+ for channel_idx in range(4):
+ mask_nu_this = 1 << (urukul.CFG_MASK_NU + channel_idx)
+ cpld.cfg_write(prev_cpld_cfg | mask_nu_this)
+ delay(8 * us)
+ dds.tune_sync_delay(dds.sync_data.sync_delay_seed,
+ cpld_channel_idx=channel_idx)
+ delay(50 * us)
cpld.cfg_write(prev_cpld_cfg)
+ self.set_io_update_delays(
+ [dds.sync_data.io_update_delay for dds in self.ddses])
+
@kernel
def write(self, addr, value):
"""Write to servo memory.
@@ -245,6 +262,18 @@ class SUServo:
gain = (self.gains >> (channel*2)) & 0b11
return adc_mu_to_volts(val, gain)
+ @kernel
+ def set_io_update_delays(self, dlys):
+ """Set IO_UPDATE pulse alignment delays.
+
+ :param dlys: List of delays for each Urukul
+ """
+ bits = 0
+ mask_fine_ts = (1 << FINE_TS_WIDTH) - 1
+ for i in range(len(dlys)):
+ bits |= (dlys[i] & mask_fine_ts) << (FINE_TS_WIDTH * i)
+ self.write(self.io_dly_addr, bits)
+
class Channel:
"""Sampler-Urukul Servo channel
@@ -265,7 +294,7 @@ class Channel:
self.dds = self.servo.ddses[self.servo_channel // 4]
@kernel
- def set(self, en_out, en_iir=0, profile=0):
+ def set(self, en_out, en_iir=0, profile=0, en_pt=0):
"""Operate channel.
This method does not advance the timeline. Output RF switch setting
@@ -279,9 +308,26 @@ class Channel:
:param en_out: RF switch enable
:param en_iir: IIR updates enable
:param profile: Active profile (0-31)
+ :param en_pt: Coherent phase tracking enable
+ * en_pt=1: "coherent phase mode"
+ * en_pt=0: "continuous phase mode"
+ (see :func:`artiq.coredevice.ad9910.AD9910.set_phase_mode` for a
+ definition of the phase modes)
"""
rtio_output(self.channel << 8,
- en_out | (en_iir << 1) | (profile << 2))
+ en_out | (en_iir << 1) | (en_pt << 2) | (profile << 3))
+
+ @kernel
+ def set_reference_time(self):
+ """Set reference time for "coherent phase mode" (see :meth:`set`).
+
+ This method does not advance the timeline.
+ With en_pt=1 (see :meth:`set`), the tracked DDS output phase of
+ this channel will refer to the current timeline position.
+
+ """
+ fine_ts = now_mu() & ((1 << FINE_TS_WIDTH) - 1)
+ rtio_output(self.channel << 8 | 1, self.dds.sysclk_per_mu * fine_ts)
@kernel
def set_dds_mu(self, profile, ftw, offs, pow_=0):
@@ -592,3 +638,217 @@ class Channel:
raise ValueError("Invalid SUServo y-value!")
self.set_y_mu(profile, y_mu)
return y_mu
+
+
+class CPLD(urukul.CPLD):
+ """
+ This module contains a subclass of the Urukul driver class in artiq.coredevice
+ adapted to use CPLD read-back via half-duplex SPI. Only the 8 LSBs can be read
+ back as the read-back buffer on the CPLD is 8 bits wide.
+ """
+
+ def __init__(self, dmgr, spi_device, io_update_device=None,
+ **kwargs):
+ # Separate IO_UPDATE TTL output device used by SUServo core,
+ # if active, else by artiq.coredevice.suservo.AD9910
+ # :meth:`measure_io_update_alignment`.
+ # The urukul.CPLD driver utilises the CPLD CFG register
+ # option instead for pulsing IO_UPDATE of masked DDSs.
+ self.io_update_ttl = dmgr.get(io_update_device)
+ urukul.CPLD.__init__(self, dmgr, spi_device, **kwargs)
+
+ @kernel
+ def enable_readback(self):
+ """
+ This method sets the RB_EN flag in the Urukul CPLD configuration
+ register. Once set, the CPLD expects an alternating sequence of
+ two SPI transactions:
+
+ * 1: Any transaction. If returning data, the 8 LSBs
+ of that will be stored in the CPLD.
+
+ * 2: One read transaction in half-duplex SPI mode shifting
+ out data from the CPLD over MOSI (use :meth:`readback`).
+
+ To end this protocol, call :meth:`disable_readback` during step 1.
+ """
+ self.cfg_write(self.cfg_reg | (1 << urukul.CFG_RB_EN))
+
+ @kernel
+ def disable_readback(self):
+ """
+ This method clears the RB_EN flag in the Urukul CPLD configuration
+ register. This marks the end of the readback protocol (see
+ :meth:`enable_readback`).
+ """
+ self.cfg_write(self.cfg_reg & ~(1 << urukul.CFG_RB_EN))
+
+ @kernel
+ def sta_read(self, full=False):
+ """
+ Read from status register
+
+ :param full: retrieve status register by concatenating data from
+ several readback transactions.
+ """
+ self.enable_readback()
+ self.sta_read_impl()
+ delay(16 * us) # slack
+ r = self.readback() << urukul.STA_RF_SW
+ delay(16 * us) # slack
+ if full:
+ self.enable_readback() # dummy write
+ r |= self.readback(urukul.CS_RB_PLL_LOCK) << urukul.STA_PLL_LOCK
+ delay(16 * us) # slack
+ self.enable_readback() # dummy write
+ r |= self.readback(urukul.CS_RB_PROTO_REV) << urukul.STA_PROTO_REV
+ delay(16 * us) # slack
+ self.disable_readback()
+ return r
+
+ @kernel
+ def proto_rev_read(self):
+ """Read 8 LSBs of proto_rev"""
+ self.enable_readback()
+ self.enable_readback() # dummy write
+ r = self.readback(urukul.CS_RB_PROTO_REV)
+ self.disable_readback()
+ return r
+
+ @kernel
+ def pll_lock_read(self):
+ """Read PLL lock status"""
+ self.enable_readback()
+ self.enable_readback() # dummy write
+ r = self.readback(urukul.CS_RB_PLL_LOCK)
+ self.disable_readback()
+ return r & 0xf
+
+ @kernel
+ def get_att_mu(self):
+ # Different behaviour to urukul.CPLD.get_att_mu: Here, the
+ # latch enable of the attenuators activates 31.5dB
+ # attenuation during the transactions.
+ att_reg = int32(0)
+ self.enable_readback()
+ for i in range(4):
+ self.core.break_realtime()
+ self.bus.set_config_mu(urukul.SPI_CONFIG | spi.SPI_END, 8,
+ urukul.SPIT_ATT_RD, urukul.CS_ATT)
+ self.bus.write(0) # shift in zeros, shift out next 8 bits
+ r = self.readback() & 0xff
+ att_reg |= r << (8 * i)
+
+ delay(16 * us) # slack
+ self.disable_readback()
+
+ self.att_reg = int32(att_reg)
+ delay(8 * us) # slack
+ self.set_all_att_mu(self.att_reg) # shift and latch current value again
+ return self.att_reg
+
+ @kernel
+ def readback(self, cs=urukul.CS_RB_LSBS):
+ """Read from the readback register in half-duplex SPI mode
+ See :meth:`enable_readback` for usage instructions.
+
+ :param cs: Select data to be returned from the readback register.
+ - urukul.CS_RB_LSBS does not modify the readback register upon readback
+ - urukul.CS_RB_PROTO_REV loads the 8 LSBs of proto_rev
+ - urukul.CS_PLL_LOCK loads the PLL lock status bits concatenated with the
+ IFC mode bits
+ :return: CPLD readback register.
+ """
+ self.bus.set_config_mu(
+ urukul.SPI_CONFIG | spi.SPI_END | spi.SPI_INPUT | spi.SPI_HALF_DUPLEX,
+ 8, urukul.SPIT_CFG_RD, cs)
+ self.bus.write(0)
+ return int32(self.bus.read())
+
+
+class AD9910(ad9910.AD9910):
+ """
+ This module contains a subclass of the AD9910 driver class in artiq.coredevice
+ using CPLD read-back via half-duplex SPI.
+ """
+
+ # Re-declare set of kernel invariants to avoid warning about non-existent
+ # `sw` attribute, as the AD9910 (instance) constructor writes to the
+ # class attributes.
+ kernel_invariants = {
+ "chip_select", "cpld", "core", "bus", "ftw_per_hz", "sysclk_per_mu"
+ }
+
+ @kernel
+ def read32(self, addr):
+ """ Read from a 32-bit register
+
+ This method returns only the 8 LSBs of the return value.
+ """
+ self.cpld.enable_readback()
+ self.read32_impl(addr)
+ delay(12 * us) # slack
+ r = self.cpld.readback()
+ delay(12 * us) # slack
+ self.cpld.disable_readback()
+ return r
+
+ @kernel
+ def read64(self, addr):
+ # 3-wire SPI transactions consisting of multiple transfers are not supported.
+ raise NotImplementedError
+
+ @kernel
+ def read_ram(self, data):
+ # 3-wire SPI transactions consisting of multiple transfers are not supported.
+ raise NotImplementedError
+
+ @kernel
+ def measure_io_update_alignment(self, delay_start, delay_stop):
+ """Use the digital ramp generator to locate the alignment between
+ IO_UPDATE and SYNC_CLK.
+
+ Refer to `artiq.coredevice.ad9910` :meth:`measure_io_update_alignment`.
+ In order that this method can operate the io_update_ttl also used by the SUServo
+ core, deactivate the servo before (see :meth:`set_config`).
+ """
+ # set up DRG
+ self.set_cfr1(drg_load_lrr=1, drg_autoclear=1)
+ # DRG -> FTW, DRG enable
+ self.set_cfr2(drg_enable=1)
+ # no limits
+ self.write64(ad9910._AD9910_REG_RAMP_LIMIT, -1, 0)
+ # DRCTL=0, dt=1 t_SYNC_CLK
+ self.write32(ad9910._AD9910_REG_RAMP_RATE, 0x00010000)
+ # dFTW = 1, (work around negative slope)
+ self.write64(ad9910._AD9910_REG_RAMP_STEP, -1, 0)
+ # un-mask DDS
+ cfg_masked = self.cpld.cfg_reg
+ self.cpld.cfg_write(cfg_masked & ~(0xf << urukul.CFG_MASK_NU))
+ delay(70 * us) # slack
+ # delay io_update after RTIO edge
+ t = now_mu() + 8 & ~7
+ at_mu(t + delay_start)
+ # assumes a maximum t_SYNC_CLK period
+ self.cpld.io_update_ttl.pulse(self.core.mu_to_seconds(16 - delay_start)) # realign
+ # re-mask DDS
+ self.cpld.cfg_write(cfg_masked)
+ delay(10 * us) # slack
+ # disable DRG autoclear and LRR on io_update
+ self.set_cfr1()
+ delay(10 * us) # slack
+ # stop DRG
+ self.write64(ad9910._AD9910_REG_RAMP_STEP, 0, 0)
+ delay(10 * us) # slack
+ # un-mask DDS
+ self.cpld.cfg_write(cfg_masked & ~(0xf << urukul.CFG_MASK_NU))
+ at_mu(t + 0x20000 + delay_stop)
+ self.cpld.io_update_ttl.pulse_mu(16 - delay_stop) # realign
+ # re-mask DDS
+ self.cpld.cfg_write(cfg_masked)
+ ftw = self.read32(ad9910._AD9910_REG_FTW) # read out effective FTW
+ delay(100 * us) # slack
+ # disable DRG
+ self.set_cfr2(drg_enable=0)
+ self.cpld.io_update.pulse_mu(16)
+ return ftw & 1
diff --git a/artiq/coredevice/urukul.py b/artiq/coredevice/urukul.py
index 2fd66bd6..61fd4762 100644
--- a/artiq/coredevice/urukul.py
+++ b/artiq/coredevice/urukul.py
@@ -24,6 +24,7 @@ SPIT_DDS_RD = 16
CFG_RF_SW = 0
CFG_LED = 4
CFG_PROFILE = 8
+CFG_RB_EN = 11
CFG_IO_UPDATE = 12
CFG_MASK_NU = 13
CFG_CLK_SEL0 = 17
@@ -51,18 +52,23 @@ CS_DDS_CH0 = 4
CS_DDS_CH1 = 5
CS_DDS_CH2 = 6
CS_DDS_CH3 = 7
+# chip selects for readback
+CS_RB_PROTO_REV = 1
+CS_RB_PLL_LOCK = 2
+CS_RB_LSBS = 3
# Default profile
DEFAULT_PROFILE = 7
@portable
-def urukul_cfg(rf_sw, led, profile, io_update, mask_nu,
+def urukul_cfg(rf_sw, led, profile, rb_en, io_update, mask_nu,
clk_sel, sync_sel, rst, io_rst, clk_div):
"""Build Urukul CPLD configuration register"""
return ((rf_sw << CFG_RF_SW) |
(led << CFG_LED) |
(profile << CFG_PROFILE) |
+ (rb_en << CFG_RB_EN) |
(io_update << CFG_IO_UPDATE) |
(mask_nu << CFG_MASK_NU) |
((clk_sel & 0x01) << CFG_CLK_SEL0) |
@@ -191,7 +197,7 @@ class CPLD:
assert sync_div is None
sync_div = 0
- self.cfg_reg = urukul_cfg(rf_sw=rf_sw, led=0, profile=DEFAULT_PROFILE,
+ self.cfg_reg = urukul_cfg(rf_sw=rf_sw, led=0, profile=DEFAULT_PROFILE, rb_en=0,
io_update=0, mask_nu=0, clk_sel=clk_sel,
sync_sel=sync_sel,
rst=0, io_rst=0, clk_div=clk_div)
@@ -226,6 +232,10 @@ class CPLD:
:return: The status register value.
"""
+ return self.sta_read_impl()
+
+ @kernel
+ def sta_read_impl(self):
self.bus.set_config_mu(SPI_CONFIG | spi.SPI_END | spi.SPI_INPUT, 24,
SPIT_CFG_RD, CS_CFG)
self.bus.write(self.cfg_reg << 8)
diff --git a/artiq/examples/kasli_suservo/device_db.py b/artiq/examples/kasli_suservo/device_db.py
index c52b82a9..8e9d8752 100644
--- a/artiq/examples/kasli_suservo/device_db.py
+++ b/artiq/examples/kasli_suservo/device_db.py
@@ -142,53 +142,66 @@ device_db = {
"arguments": {"channel": 15},
},
+ "ttl_urukul0_io_update": {
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLOut",
+ "arguments": {"channel": 16}
+ },
+ "ttl_urukul1_io_update": {
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLOut",
+ "arguments": {"channel": 17}
+ },
+
"suservo0_ch0": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 16, "servo_device": "suservo0"}
+ "arguments": {"channel": 18, "servo_device": "suservo0"}
},
"suservo0_ch1": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 17, "servo_device": "suservo0"}
+ "arguments": {"channel": 19, "servo_device": "suservo0"}
},
"suservo0_ch2": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 18, "servo_device": "suservo0"}
+ "arguments": {"channel": 20, "servo_device": "suservo0"}
},
"suservo0_ch3": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 19, "servo_device": "suservo0"}
+ "arguments": {"channel": 21, "servo_device": "suservo0"}
},
"suservo0_ch4": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 20, "servo_device": "suservo0"}
+ "arguments": {"channel": 22, "servo_device": "suservo0"}
},
"suservo0_ch5": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 21, "servo_device": "suservo0"}
+ "arguments": {"channel": 23, "servo_device": "suservo0"}
},
"suservo0_ch6": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 22, "servo_device": "suservo0"}
+ "arguments": {"channel": 24, "servo_device": "suservo0"}
},
"suservo0_ch7": {
"type": "local",
"module": "artiq.coredevice.suservo",
"class": "Channel",
- "arguments": {"channel": 23, "servo_device": "suservo0"}
+ "arguments": {"channel": 25, "servo_device": "suservo0"}
},
"suservo0": {
@@ -196,7 +209,7 @@ device_db = {
"module": "artiq.coredevice.suservo",
"class": "SUServo",
"arguments": {
- "channel": 24,
+ "channel": 26,
"pgia_device": "spi_sampler0_pgia",
"cpld_devices": ["urukul0_cpld", "urukul1_cpld"],
"dds_devices": ["urukul0_dds", "urukul1_dds"],
@@ -207,33 +220,37 @@ device_db = {
"type": "local",
"module": "artiq.coredevice.spi2",
"class": "SPIMaster",
- "arguments": {"channel": 25}
+ "arguments": {"channel": 27}
},
"spi_urukul0": {
"type": "local",
"module": "artiq.coredevice.spi2",
"class": "SPIMaster",
- "arguments": {"channel": 26}
+ "arguments": {"channel": 28}
},
"urukul0_cpld": {
"type": "local",
- "module": "artiq.coredevice.urukul",
+ "module": "artiq.coredevice.suservo",
"class": "CPLD",
"arguments": {
"spi_device": "spi_urukul0",
+ "io_update_device": "ttl_urukul0_io_update",
+ "sync_device": "clkgen_dds_sync_in",
"refclk": 100e6,
"clk_sel": 0
}
},
"urukul0_dds": {
"type": "local",
- "module": "artiq.coredevice.ad9910",
+ "module": "artiq.coredevice.suservo",
"class": "AD9910",
"arguments": {
"pll_n": 40,
"chip_select": 3,
"cpld_device": "urukul0_cpld",
+ "io_update_delay": 0,
+ "sync_delay_seed": -1,
}
},
@@ -241,26 +258,40 @@ device_db = {
"type": "local",
"module": "artiq.coredevice.spi2",
"class": "SPIMaster",
- "arguments": {"channel": 27}
+ "arguments": {"channel": 29}
},
"urukul1_cpld": {
"type": "local",
- "module": "artiq.coredevice.urukul",
+ "module": "artiq.coredevice.suservo",
"class": "CPLD",
"arguments": {
"spi_device": "spi_urukul1",
+ "io_update_device": "ttl_urukul1_io_update",
+ "sync_device": "clkgen_dds_sync_in",
"refclk": 100e6,
"clk_sel": 0
}
},
"urukul1_dds": {
"type": "local",
- "module": "artiq.coredevice.ad9910",
+ "module": "artiq.coredevice.suservo",
"class": "AD9910",
"arguments": {
"pll_n": 40,
"chip_select": 3,
"cpld_device": "urukul1_cpld",
+ "io_update_delay": 0,
+ "sync_delay_seed": -1,
+ }
+ },
+
+ "clkgen_dds_sync_in": {
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLClockGen",
+ "arguments": {
+ "channel": 30,
+ "acc_width": 4
}
},
diff --git a/artiq/frontend/artiq_ddb_template.py b/artiq/frontend/artiq_ddb_template.py
index 5459756f..75eaadcb 100755
--- a/artiq/frontend/artiq_ddb_template.py
+++ b/artiq/frontend/artiq_ddb_template.py
@@ -424,6 +424,16 @@ class PeripheralManager:
sampler_name = self.get_name("sampler")
urukul_names = [self.get_name("urukul") for _ in range(2)]
channel = count(0)
+ for urukul_name in urukul_names:
+ self.gen("""
+ device_db["ttl_{urukul_name}_io_update"] = {{
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLOut",
+ "arguments": {{"channel": 0x{ttl_channel:06x}}}
+ }}""",
+ urukul_name=urukul_name,
+ ttl_channel=rtio_offset+next(channel))
for i in range(8):
self.gen("""
device_db["{suservo_name}_ch{suservo_chn}"] = {{
@@ -472,17 +482,19 @@ class PeripheralManager:
}}
device_db["{urukul_name}_cpld"] = {{
"type": "local",
- "module": "artiq.coredevice.urukul",
+ "module": "artiq.coredevice.suservo",
"class": "CPLD",
"arguments": {{
"spi_device": "spi_{urukul_name}",
+ "io_update_device": "ttl_{urukul_name}_io_update",
+ "sync_device": "clkgen_{suservo_name}_dds_sync_in",
"refclk": {refclk},
"clk_sel": {clk_sel}
}}
}}
device_db["{urukul_name}_dds"] = {{
"type": "local",
- "module": "artiq.coredevice.ad9910",
+ "module": "artiq.coredevice.suservo",
"class": "AD9910",
"arguments": {{
"pll_n": {pll_n},
@@ -490,12 +502,25 @@ class PeripheralManager:
"cpld_device": "{urukul_name}_cpld"{pll_vco}
}}
}}""",
+ suservo_name=suservo_name,
urukul_name=urukul_name,
urukul_channel=rtio_offset+next(channel),
refclk=peripheral.get("refclk", self.master_description["rtio_frequency"]),
clk_sel=peripheral["clk_sel"],
pll_vco=",\n \"pll_vco\": {}".format(pll_vco) if pll_vco is not None else "",
pll_n=peripheral["pll_n"])
+ self.gen("""
+ device_db["clkgen_{suservo_name}_dds_sync_in"] = {{
+ "type": "local",
+ "module": "artiq.coredevice.ttl",
+ "class": "TTLClockGen",
+ "arguments": {{
+ "channel": 0x{clkgen_channel:06x},
+ "acc_width": 4
+ }}
+ }}""",
+ suservo_name=suservo_name,
+ clkgen_channel=rtio_offset+next(channel))
return next(channel)
def process_zotino(self, rtio_offset, peripheral):
diff --git a/artiq/gateware/eem.py b/artiq/gateware/eem.py
index ce00f94f..93d01c07 100644
--- a/artiq/gateware/eem.py
+++ b/artiq/gateware/eem.py
@@ -6,6 +6,7 @@ from artiq.gateware import rtio
from artiq.gateware.rtio.phy import spi2, ad53xx_monitor, dds, grabber
from artiq.gateware.suservo import servo, pads as servo_pads
from artiq.gateware.rtio.phy import servo as rtservo, fastino, phaser
+from artiq.gateware.rtio.phy import ttl_simple
def _eem_signal(i):
@@ -545,7 +546,8 @@ class SUServo(_EEM):
@classmethod
def add_std(cls, target, eems_sampler, eems_urukul,
t_rtt=4, clk=1, shift=11, profile=5,
- iostandard=default_iostandard):
+ sync_gen_cls=ttl_simple.ClockGen,
+ iostandard=default_iostandard, sysclk_per_clk=8):
"""Add a 8-channel Sampler-Urukul Servo
:param t_rtt: upper estimate for clock round-trip propagation time from
@@ -561,6 +563,8 @@ class SUServo(_EEM):
(default: 11)
:param profile: log2 of the number of profiles for each DDS channel
(default: 5)
+ :param sysclk_per_clk: DDS "sysclk" (4*refclk = 1GHz typ.) cycles per
+ FPGA "sys" clock (125MHz typ.) cycles (default: 8)
"""
cls.add_extension(
target, *(eems_sampler + sum(eems_urukul, [])),
@@ -572,6 +576,8 @@ class SUServo(_EEM):
urukul_pads = servo_pads.UrukulPads(
target.platform, *eem_urukul)
target.submodules += sampler_pads, urukul_pads
+ target.rtio_channels.extend(
+ rtio.Channel.from_phy(phy) for phy in urukul_pads.io_update_phys)
# timings in units of RTIO coarse period
adc_p = servo.ADCParams(width=16, channels=8, lanes=4, t_cnvh=4,
# account for SCK DDR to CONV latency
@@ -579,19 +585,20 @@ class SUServo(_EEM):
t_conv=57 - 4, t_rtt=t_rtt + 4)
iir_p = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14, word=16,
accu=48, shift=shift, profile=profile, dly=8)
- dds_p = servo.DDSParams(width=8 + 32 + 16 + 16,
- channels=4 * len(eem_urukul), clk=clk)
+ dds_p = servo.DDSParams(width=8 + 32 + 16 + 16, sysclk_per_clk=sysclk_per_clk,
+ channels=4*len(eem_urukul), clk=clk)
su = servo.Servo(sampler_pads, urukul_pads, adc_p, iir_p, dds_p)
su = ClockDomainsRenamer("rio_phy")(su)
# explicitly name the servo submodule to enable the migen namer to derive
# a name for the adc return clock domain
setattr(target.submodules, "suservo_eem{}".format(eems_sampler[0]), su)
- ctrls = [rtservo.RTServoCtrl(ctrl) for ctrl in su.iir.ctrl]
+ ctrls = [rtservo.RTServoCtrl(ctrl, ctrl_reftime)
+ for ctrl, ctrl_reftime in zip(su.iir.ctrl, su.iir.ctrl_reftime)]
target.submodules += ctrls
target.rtio_channels.extend(
rtio.Channel.from_phy(ctrl) for ctrl in ctrls)
- mem = rtservo.RTServoMem(iir_p, su)
+ mem = rtservo.RTServoMem(iir_p, su, urukul_pads.io_update_phys)
target.submodules += mem
target.rtio_channels.append(rtio.Channel.from_phy(mem, ififo_depth=4))
@@ -601,19 +608,20 @@ class SUServo(_EEM):
target.submodules += phy
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
- dds_sync = Signal(reset=0)
- for j, eem_urukuli in enumerate(eem_urukul):
- # connect quad-SPI
+ for eem_urukuli in eem_urukul:
spi_p, spi_n = (
target.platform.request("{}_spi_p".format(eem_urukuli)),
target.platform.request("{}_spi_n".format(eem_urukuli)))
phy = spi2.SPIMaster(spi_p, spi_n)
target.submodules += phy
target.rtio_channels.append(rtio.Channel.from_phy(phy, ififo_depth=4))
- # connect `reset_sync_in`
- pads = target.platform.request("{}_dds_reset_sync_in".format(eem_urukuli))
- target.specials += DifferentialOutput(dds_sync, pads.p, pads.n)
- # connect RF switches
+
+ if sync_gen_cls is not None: # AD9910 variant and SYNC_IN from EEM
+ phy = sync_gen_cls(urukul_pads.dds_reset_sync_in, ftw_width=4)
+ target.submodules += phy
+ target.rtio_channels.append(rtio.Channel.from_phy(phy))
+
+ for j, eem_urukuli in enumerate(eem_urukul):
for i, signal in enumerate("sw0 sw1 sw2 sw3".split()):
pads = target.platform.request("{}_{}".format(eem_urukuli, signal))
target.specials += DifferentialOutput(
diff --git a/artiq/gateware/rtio/phy/servo.py b/artiq/gateware/rtio/phy/servo.py
index 379e7ba3..246208c8 100644
--- a/artiq/gateware/rtio/phy/servo.py
+++ b/artiq/gateware/rtio/phy/servo.py
@@ -1,25 +1,32 @@
from migen import *
-
from artiq.gateware.rtio import rtlink
class RTServoCtrl(Module):
"""Per channel RTIO control interface"""
- def __init__(self, ctrl):
+ def __init__(self, ctrl, ctrl_reftime):
self.rtlink = rtlink.Interface(
- rtlink.OInterface(len(ctrl.profile) + 2))
+ rtlink.OInterface(
+ data_width=max(len(ctrl.profile) + 3,
+ len(ctrl_reftime.sysclks_fine)),
+ address_width=1)
+ )
# # #
+ sel_ref = self.rtlink.o.address[0]
self.comb += [
- ctrl.stb.eq(self.rtlink.o.stb),
- self.rtlink.o.busy.eq(0)
+ ctrl.stb.eq(self.rtlink.o.stb & ~sel_ref),
+ self.rtlink.o.busy.eq(0),
+ ctrl_reftime.stb.eq(self.rtlink.o.stb & sel_ref),
]
+ ctrl_cases = {
+ 0: Cat(ctrl.en_out, ctrl.en_iir, ctrl.en_pt, ctrl.profile).eq(
+ self.rtlink.o.data),
+ 1: ctrl_reftime.sysclks_fine.eq(self.rtlink.o.data),
+ }
self.sync.rio_phy += [
- If(self.rtlink.o.stb,
- Cat(ctrl.en_out, ctrl.en_iir, ctrl.profile).eq(
- self.rtlink.o.data)
- )
+ If(self.rtlink.o.stb, Case(self.rtlink.o.address, ctrl_cases))
]
@@ -53,7 +60,7 @@ class RTServoMem(Module):
destination | sel | sel_coeff |
----------------|-------|--------------|
IIR coeff mem | - | 1 |
- Reserved | 1 | 0 |
+ DDS delay mem | 1 | 0 |
IIR state mem | 2 | 0 |
config (write) | 3 | 0 |
status (read) | 3 | 0 |
@@ -72,7 +79,7 @@ class RTServoMem(Module):
(instead of having to decide whether to sign- or zero-extend per address), as
all unsigned values are less wide than w.coeff.
"""
- def __init__(self, w, servo):
+ def __init__(self, w, servo, io_update_phys):
m_coeff = servo.iir.m_coeff.get_port(write_capable=True,
mode=READ_FIRST,
we_granularity=w.coeff, clock_domain="rio")
@@ -110,7 +117,7 @@ class RTServoMem(Module):
# # #
config = Signal(w.coeff, reset=0)
- status = Signal(8 + len(servo.iir.ctrl))
+ status = Signal(len(self.rtlink.i.data))
pad = Signal(6)
assert len(status) <= len(self.rtlink.i.data)
self.comb += [
@@ -124,7 +131,7 @@ class RTServoMem(Module):
1 + # sel_coeff
1 + # high_coeff
len(m_coeff.adr))
- # ensure that we can fit config/status into the state address space
+ # ensure that we can fit config/io_dly/status into the state address space
assert len(self.rtlink.o.address) + len(self.rtlink.o.data) - w.coeff >= (
1 + # we
1 + # sel_coeff
@@ -172,6 +179,11 @@ class RTServoMem(Module):
read_high.eq(high_coeff),
)
]
+
+ # I/O update alignment delays
+ ioup_dlys = Cat(*[phy.fine_ts for phy in io_update_phys])
+ assert w.coeff >= len(ioup_dlys)
+
self.sync.rio_phy += [
If(self.rtlink.o.stb & we & (sel == 3),
config.eq(self.rtlink.o.data)
@@ -179,11 +191,15 @@ class RTServoMem(Module):
If(read & (read_sel == 3),
[_.clip.eq(0) for _ in servo.iir.ctrl]
),
+ If(self.rtlink.o.stb & we & (sel == 1),
+ ioup_dlys.eq(self.rtlink.o.data)
+ ),
]
+
# read return value by destination
read_acts = Array([
Mux(read_high, m_coeff.dat_r[w.coeff:], m_coeff.dat_r[:w.coeff]),
- 0,
+ ioup_dlys,
m_state.dat_r[w.state - w.coeff:],
status
])
diff --git a/artiq/gateware/suservo/dds_ser.py b/artiq/gateware/suservo/dds_ser.py
index 38d1f6d9..cdccfcc9 100644
--- a/artiq/gateware/suservo/dds_ser.py
+++ b/artiq/gateware/suservo/dds_ser.py
@@ -1,4 +1,5 @@
import logging
+from collections import namedtuple
from migen import *
@@ -6,11 +7,11 @@ from artiq.coredevice.urukul import DEFAULT_PROFILE
from . import spi
-
logger = logging.getLogger(__name__)
-
-DDSParams = spi.SPIParams
+DDSParams = namedtuple("DDSParams", spi.SPIParams._fields + (
+ "sysclk_per_clk", # DDS_CLK per FPGA system clock
+))
class DDS(spi.SPISimple):
diff --git a/artiq/gateware/suservo/iir.py b/artiq/gateware/suservo/iir.py
index 6b975b75..3fad77a6 100644
--- a/artiq/gateware/suservo/iir.py
+++ b/artiq/gateware/suservo/iir.py
@@ -1,6 +1,7 @@
from collections import namedtuple
import logging
from migen import *
+from migen.genlib.coding import Encoder
logger = logging.getLogger(__name__)
@@ -98,14 +99,14 @@ class IIR(Module):
This module implements a multi-channel IIR (infinite impulse response)
filter processor optimized for synthesis on FPGAs.
- The module is parametrized by passing a ``IIRWidths()`` object which
- will be abbreviated W here.
+ The module is parametrized by passing a ``IIRWidths()`` object, and
+ two more objects which will be abbreviated W, W_O and W_I here.
- It reads 1 << W.channels input channels (typically from an ADC)
+ It reads W_I.channels input channels (typically from an ADC)
and on each iteration processes the data using a first-order IIR filter.
At the end of the cycle each the output of the filter together with
additional data (typically frequency tunning word and phase offset word
- for a DDS) are presented at the 1 << W.channels outputs of the module.
+ for a DDS) are presented at the W_O.channels outputs of the module.
Profile memory
==============
@@ -144,10 +145,10 @@ class IIR(Module):
-------------
The state memory holds all Y1 values (IIR processor outputs) for all
- profiles of all channels in the lower half (1 << W.profile + W.channel
- addresses) and the pairs of old and new ADC input values X1, and X0,
- in the upper half (1 << W.channel addresses). Each memory location is
- W.state bits wide.
+ profiles of all channels in the lower half (1 << W.profile)*W_O.channels
+ addresses, and the pairs of old and new ADC input values X1, and X0,
+ in the upper half (W_I.channels addresses).
+ Each memory location is W.state bits wide.
Real-time control
=================
@@ -156,15 +157,16 @@ class IIR(Module):
* The active profile, PROFILE
* Whether to perform IIR filter iterations, EN_IIR
+ * Whether to track the DDS phase coherently, EN_PT
* The RF switch state enabling output from the channel, EN_OUT
Delayed IIR processing
======================
- The IIR filter iterations on a given channel are only performed all of the
- following are true:
+ The IIR filter iterations on a given channel are only performed if all of
+ the following are true:
- * PROFILE, EN_IIR, EN_OUT have not been updated in the within the
+ * PROFILE, EN_IIR, EN_OUT have not been updated within the
last DLY cycles
* EN_IIR is asserted
* EN_OUT is asserted
@@ -175,9 +177,8 @@ class IIR(Module):
Typical design at the DSP level. This does not include the description of
the pipelining or the overall latency involved.
- IIRWidths(state=25, coeff=18, adc=16,
- asf=14, word=16, accu=48, shift=11,
- channel=3, profile=5, dly=8)
+ IIRWidths(state=25, coeff=18, adc=16, asf=14,
+ word=16, accu=48, shift=11, profile=5, dly=8)
X0 = ADC * 2^(25 - 1 - 16)
X1 = X0 delayed by one cycle
@@ -212,13 +213,23 @@ class IIR(Module):
--/--: signal with a given bit width always includes a sign bit
-->--: flow is to the right and down unless otherwise indicated
"""
- def __init__(self, w, w_i, w_o):
+ def __init__(self, w, w_i, w_o, t_cycle):
for v in (w, w_i, w_o):
for i, j in enumerate(v):
assert j > 0, (i, j, v)
assert w.word <= w.coeff # same memory
assert w.state + w.coeff + 3 <= w.accu
+ # Reference counter for coherent phase tracking (we assume this doesn't
+ # roll over – a good assumption, as the period is, for a typical clock
+ # frequency, 2^48 / 125 MHz = ~26 days).
+ self.t_running = Signal(48, reset_less=True)
+
+ # If true, internal DDS phase tracking state is reset, matching DDS
+ # chips with phase cleared (and zero FTW) before the start of the
+ # iteration. Automatically reset at the end of the iteration.
+ self.reset_dds_phase = Signal()
+
# m_coeff of active profiles should only be accessed externally during
# ~processing
self.specials.m_coeff = Memory(
@@ -235,9 +246,24 @@ class IIR(Module):
("profile", w.profile),
("en_out", 1),
("en_iir", 1),
+ ("en_pt", 1),
("clip", 1),
("stb", 1)])
for i in range(w_o.channels)]
+ # "Shadow copy" of phase accumulator in DDS accumulator for each output
+ # channel.
+ self.specials.m_accum_ftw = Memory(
+ width=2 * w.word,
+ depth=w_o.channels)
+ # ctrl_reftime should only be updated synchronously
+ self.ctrl_reftime = [Record([
+ ("sysclks_fine", bits_for(w_o.sysclk_per_clk - 1)),
+ ("stb", 1)])
+ for i in range(w_o.channels)]
+ # Reference time for each output channel.
+ self.specials.m_t_ref = Memory(
+ width=len(self.t_running),
+ depth=w_o.channels)
# only update during ~loading
self.adc = [Signal((w.adc, True), reset_less=True)
for i in range(w_i.channels)]
@@ -264,8 +290,15 @@ class IIR(Module):
profiles = Array([ch.profile for ch in self.ctrl])
en_outs = Array([ch.en_out for ch in self.ctrl])
en_iirs = Array([ch.en_iir for ch in self.ctrl])
+ en_pts = Array([ch.en_pt for ch in self.ctrl])
clips = Array([ch.clip for ch in self.ctrl])
+ # Sample of the reference counter at the start of the current iteration,
+ # such that a common reference time is used for phase calculations
+ # across all channels, in DDS sysclk units.
+ sysclks_to_iter_start = Signal(
+ len(self.t_running) + bits_for(w_o.sysclk_per_clk - 1))
+
# Main state machine sequencing the steps of each servo iteration. The
# module IDLEs until self.start is asserted, and then runs through LOAD,
# PROCESS and SHIFT in order (see description of corresponding flags
@@ -292,6 +325,7 @@ class IIR(Module):
self.done.eq(1),
t_current_step_clr.eq(1),
If(self.start,
+ NextValue(sysclks_to_iter_start, self.t_running * w_o.sysclk_per_clk),
NextState("LOAD")
)
)
@@ -310,6 +344,7 @@ class IIR(Module):
If(stages_active == 0,
t_current_step_clr.eq(1),
NextState("SHIFT"),
+ NextValue(self.reset_dds_phase, 0)
)
)
fsm.act("SHIFT",
@@ -479,25 +514,81 @@ class IIR(Module):
}),
]
+ # Update coarse reference time from t_running upon ctrl_reftime strobe
+ ref_stb_encoder = Encoder(w_o.channels)
+ m_t_ref_stb = self.m_t_ref.get_port(write_capable=True)
+ self.specials += m_t_ref_stb
+ self.submodules += ref_stb_encoder
+ self.comb += [
+ ref_stb_encoder.i.eq(Cat([ch.stb for ch in self.ctrl_reftime])),
+ m_t_ref_stb.adr.eq(ref_stb_encoder.o),
+ m_t_ref_stb.we.eq(~ref_stb_encoder.n),
+ m_t_ref_stb.dat_w.eq(self.t_running),
+ ]
+
#
- # Update DDS profile with FTW/POW/ASF
- # Stage 0 loads the POW, stage 1 the FTW, and stage 2 writes
- # the ASF computed by the IIR filter.
+ # Update DDS profile with FTW/POW/ASF (including phase tracking, if
+ # enabled). Stage 0 loads the POW, stage 1 the FTW, and stage 2 writes
+ # the ASF computed by the IIR filter (and adds any phase correction).
#
# muxing
ddss = Array(self.dds)
+ sysclks_ref_fine = Array([ch.sysclks_fine for ch in self.ctrl_reftime])
+
+ # registered copy of FTW on channel[1]
+ current_ftw = Signal(2 * w.word, reset_less=True)
+ # target effective DDS phase (accumulator + POW) at the coming io_update
+ target_dds_phase = Signal.like(current_ftw)
+ # DDS-internal phase accumulated until the coming io_update
+ accum_dds_phase = Signal.like(current_ftw)
+ # correction to add to the bare POW to yield a phase-coherent DDS output
+ correcting_pow = Signal(w.word, reset_less=True)
+ # sum of all FTWs on channel[1], updated with current FTW during the
+ # calculation
+ accum_ftw = Signal.like(current_ftw)
+ # sum of previous FTWs on channel[1] (or 0 on phase coherence reference
+ # reset)
+ prev_accum_ftw = Signal.like(current_ftw)
+ # time since reference time at coming io_update in DDS sysclk units
+ sysclks_to_ref = Signal.like(sysclks_to_iter_start)
+ # t_ref in DDS sysclk units
+ sysclks_ref_to_iter_start = Signal.like(sysclks_to_iter_start)
+
+ m_t_ref = self.m_t_ref.get_port()
+ m_accum_ftw = self.m_accum_ftw.get_port(write_capable=True, mode=READ_FIRST)
+ self.specials += m_accum_ftw, m_t_ref
+ prev_accum_ftw = Signal.like(accum_ftw)
+ self.comb += [
+ prev_accum_ftw.eq(Mux(self.reset_dds_phase, 0, m_accum_ftw.dat_r)),
+ m_accum_ftw.adr.eq(channel[1]),
+ m_accum_ftw.we.eq((pipeline_phase == 3) & stages_active[1]),
+ m_accum_ftw.dat_w.eq(accum_ftw),
+ m_t_ref.adr.eq(channel[0]),
+ ]
+ sysclks_per_iter = t_cycle * w_o.sysclk_per_clk
self.sync += [
Case(pipeline_phase, {
0: [
If(stages_active[1],
ddss[channel[1]][:w.word].eq(m_coeff.dat_r), # ftw0
+ current_ftw[:w.word].eq(m_coeff.dat_r),
+ sysclks_ref_to_iter_start.eq(m_t_ref.dat_r * w_o.sysclk_per_clk),
+ ),
+ If(stages_active[2] & en_pts[channel[2]],
+ # add pow correction if phase tracking enabled
+ ddss[channel[2]][2*w.word:3*w.word].eq(
+ ddss[channel[2]][2*w.word:3*w.word] + correcting_pow),
),
],
1: [
If(stages_active[1],
ddss[channel[1]][w.word:2 * w.word].eq(m_coeff.dat_r), # ftw1
+ current_ftw[w.word:].eq(m_coeff.dat_r),
+ sysclks_to_ref.eq(sysclks_to_iter_start - (
+ sysclks_ref_to_iter_start + sysclks_ref_fine[channel[1]])),
+ accum_dds_phase.eq(prev_accum_ftw * sysclks_per_iter),
),
If(stages_active[2],
ddss[channel[2]][3*w.word:].eq( # asf
@@ -506,10 +597,21 @@ class IIR(Module):
],
2: [
If(stages_active[0],
- ddss[channel[0]][2*w.word:3*w.word].eq(m_coeff.dat_r), # pow
+ # Load bare POW from profile memory.
+ ddss[channel[0]][2*w.word:3*w.word].eq(m_coeff.dat_r),
+ ),
+ If(stages_active[1],
+ target_dds_phase.eq(current_ftw * sysclks_to_ref),
+ accum_ftw.eq(prev_accum_ftw + current_ftw),
),
],
3: [
+ If(stages_active[1],
+ # Prepare most-significant word to add to POW from
+ # profile for phase tracking.
+ correcting_pow.eq(
+ (target_dds_phase - accum_dds_phase)[w.word:]),
+ ),
],
}),
]
@@ -518,6 +620,15 @@ class IIR(Module):
self.widths = w
self.widths_adc = w_i
self.widths_dds = w_o
+ self.t_cycle = t_cycle
+ self._state = t_current_step
+ self._stages = stages_active
+ self._dt_start = sysclks_to_iter_start
+ self._sysclks_to_ref = sysclks_to_ref
+ self._sysclks_ref_to_iter_start = sysclks_ref_to_iter_start
+ self._sysclks_ref_fine = sysclks_ref_fine
+ self._ph_acc = accum_dds_phase
+ self._ph_coh = target_dds_phase
self._dlys = dlys
def _coeff(self, channel, profile, coeff):
@@ -598,6 +709,14 @@ class IIR(Module):
raise ValueError("no such state", coeff)
return signed(val, w.state)
+ def get_accum_ftw(self, channel):
+ val = yield self.m_accum_ftw[channel]
+ return val
+
+ def get_t_ref(self, channel):
+ val = yield self.m_t_ref[channel]
+ return val
+
def fast_iter(self):
"""Perform a single processing iteration."""
assert (yield self.done)
@@ -633,18 +752,26 @@ class IIR(Module):
v_adc = signed((yield self.adc[i]), w.adc)
x0 = yield from self.get_state(i, coeff="x0")
x0s.append(x0)
- assert v_adc << (w.state - w.adc - 1) == x0, (hex(v_adc), hex(x0))
logger.debug("adc[%d] adc=%x x0=%x", i, v_adc, x0)
+ assert v_adc << (w.state - w.adc - 1) == x0, (hex(v_adc), hex(x0))
data = []
# predict output
for i in range(w_o.channels):
+ t0 = yield self._dt_start
+ dds_ftw_accu = yield from self.get_accum_ftw(i)
+ sysclks_ref = (yield from self.get_t_ref(i)) * self.widths_dds.sysclk_per_clk\
+ + (yield self.ctrl_reftime[i].sysclks_fine)
+ logger.debug("dt_start=%d dt_ref=%d t_cycle=%d ftw_accu=%#x",
+ t0, sysclks_ref, self.t_cycle, dds_ftw_accu)
+
j = yield self.ctrl[i].profile
en_iir = yield self.ctrl[i].en_iir
en_out = yield self.ctrl[i].en_out
+ en_pt = yield self.ctrl[i].en_pt
dly_i = yield self._dlys[i]
- logger.debug("ctrl[%d] profile=%d en_iir=%d en_out=%d dly=%d",
- i, j, en_iir, en_out, dly_i)
+ logger.debug("ctrl[%d] profile=%d en_iir=%d en_out=%d en_pt=%d dly=%d",
+ i, j, en_iir, en_out, en_pt, dly_i)
cfg = yield from self.get_coeff(i, j, "cfg")
k_j = cfg & ((1 << bits_for(w_i.channels - 1)) - 1)
@@ -664,9 +791,13 @@ class IIR(Module):
ftw0 = yield from self.get_coeff(i, j, "ftw0")
ftw1 = yield from self.get_coeff(i, j, "ftw1")
- pow = yield from self.get_coeff(i, j, "pow")
- logger.debug("dds[%d,%d] ftw0=%#x ftw1=%#x pow=%#x",
- i, j, ftw0, ftw1, pow)
+ _pow = yield from self.get_coeff(i, j, "pow")
+ ph_coh = ((ftw0 | (ftw1 << w.word)) * (t0 - sysclks_ref))
+ ph_accu = dds_ftw_accu * self.t_cycle * self.widths_dds.sysclk_per_clk
+ ph = ph_coh - ph_accu
+ pow = (_pow + (ph >> w.word)) & 0xffff if en_pt else _pow
+ logger.debug("dds[%d,%d] ftw0=%#x ftw1=%#x ph_coh=%#x _pow=%#x pow=%#x",
+ i, j, ftw0, ftw1, ph_coh, _pow, pow)
y1 = yield from self.get_state(i, j, "y1")
x1 = yield from self.get_state(k_j, coeff="x1")
@@ -688,6 +819,10 @@ class IIR(Module):
# wait for output
assert (yield self.processing)
while (yield self.processing):
+ logger.debug("sysclks_to_ref=%d sysclks_ref_to_iter_start=%d",
+ (yield self._sysclks_to_ref),
+ (yield self._sysclks_ref_to_iter_start))
+ # logger.debug("%d %d %d %d", *[x for x in (yield self._sysclks_ref_fine)])
yield
assert (yield self.shifting)
diff --git a/artiq/gateware/suservo/pads.py b/artiq/gateware/suservo/pads.py
index 778f05d0..bdae8ee3 100644
--- a/artiq/gateware/suservo/pads.py
+++ b/artiq/gateware/suservo/pads.py
@@ -1,5 +1,7 @@
from migen import *
from migen.genlib.io import DifferentialOutput, DifferentialInput, DDROutput
+from artiq.gateware.rtio.phy import ttl_serdes_7series, ttl_serdes_generic
+from artiq.gateware.rtio import rtlink
class SamplerPads(Module):
@@ -57,20 +59,79 @@ class SamplerPads(Module):
clk=dp.clkout, port=sdop)
+class OutIoUpdate_8X(Module):
+ def __init__(self, pad):
+ serdes = ttl_serdes_7series._OSERDESE2_8X()
+ self.submodules += serdes
+
+ self.passthrough = Signal()
+ self.data = Signal()
+ self.fine_ts = Signal(3)
+
+ self.rtlink = rtlink.Interface(
+ rtlink.OInterface(1, fine_ts_width=3))
+ self.probes = [serdes.o[-1]]
+ override_en = Signal()
+ override_o = Signal()
+ self.overrides = [override_en, override_o]
+
+ # # #
+
+ self.specials += Instance("IOBUFDS",
+ i_I=serdes.ser_out,
+ i_T=serdes.t_out,
+ io_IO=pad.p,
+ io_IOB=pad.n)
+
+ # Just strobe always in non-passthrough mode, as self.data is supposed
+ # to be always valid.
+ self.submodules += ttl_serdes_generic._SerdesDriver(
+ serdes.o,
+ Mux(self.passthrough, self.rtlink.o.stb, 1),
+ Mux(self.passthrough, self.rtlink.o.data, self.data),
+ Mux(self.passthrough, self.rtlink.o.fine_ts, self.fine_ts),
+ override_en, override_o)
+
+ self.comb += self.rtlink.o.busy.eq(~self.passthrough)
+
+
class UrukulPads(Module):
def __init__(self, platform, *eems):
spip, spin = [[
platform.request("{}_qspi_{}".format(eem, pol), 0)
for eem in eems] for pol in "pn"]
- ioup = [platform.request("{}_io_update".format(eem), 0)
- for eem in eems]
+
self.cs_n = Signal()
self.clk = Signal()
self.io_update = Signal()
+ self.passthrough = Signal()
+ self.dds_reset_sync_in = Signal(reset=0) # sync_in phy (one for all)
+
+ # # #
+
+ self.io_update_phys = []
+ for eem in eems:
+ phy = OutIoUpdate_8X(platform.request("{}_io_update".format(eem), 0))
+ self.io_update_phys.append(phy)
+ setattr(self.submodules, "{}_io_update_phy".format(eem), phy)
+ self.comb += [
+ phy.data.eq(self.io_update),
+ phy.passthrough.eq(self.passthrough),
+ ]
+
+ sync_in_pads = platform.request("{}_dds_reset_sync_in".format(eem))
+ sync_in_r = Signal()
+ self.sync.rio_phy += sync_in_r.eq(self.dds_reset_sync_in)
+ sync_in_o = Signal()
+ self.specials += Instance("ODDR",
+ p_DDR_CLK_EDGE="SAME_EDGE",
+ i_C=ClockSignal("rio_phy"), i_CE=1, i_S=0, i_R=0,
+ i_D1=sync_in_r, i_D2=sync_in_r, o_Q=sync_in_o)
+ self.specials += DifferentialOutput(sync_in_o, sync_in_pads.p, sync_in_pads.n)
+
self.specials += [(
DifferentialOutput(~self.cs_n, spip[i].cs, spin[i].cs),
- DifferentialOutput(self.clk, spip[i].clk, spin[i].clk),
- DifferentialOutput(self.io_update, ioup[i].p, ioup[i].n))
+ DifferentialOutput(self.clk, spip[i].clk, spin[i].clk))
for i in range(len(eems))]
for i in range(4 * len(eems)):
mosi = Signal()
diff --git a/artiq/gateware/suservo/servo.py b/artiq/gateware/suservo/servo.py
index 59529320..15d31027 100644
--- a/artiq/gateware/suservo/servo.py
+++ b/artiq/gateware/suservo/servo.py
@@ -42,7 +42,7 @@ class Servo(Module):
assert t_iir + 2*adc_p.channels < t_cycle, "need shifting time"
self.submodules.adc = ADC(adc_pads, adc_p)
- self.submodules.iir = IIR(iir_p, adc_p, dds_p)
+ self.submodules.iir = IIR(iir_p, adc_p, dds_p, t_cycle)
self.submodules.dds = DDS(dds_pads, dds_p)
# adc channels are reversed on Sampler
@@ -63,7 +63,6 @@ class Servo(Module):
assert t_restart > 1
cnt = Signal(max=t_restart)
cnt_done = Signal()
- active = Signal(3)
# Indicates whether different steps (0: ADC, 1: IIR, 2: DDS) are
# currently active (exposed for simulation only), with each bit being
@@ -71,6 +70,8 @@ class Servo(Module):
# timing details of the different steps, any number can be concurrently
# active (e.g. ADC read from iteration n, IIR computation from iteration
# n - 1, and DDS write from iteration n - 2).
+ active = Signal(3)
+ self._active = active # Exposed for debugging only.
# Asserted once per cycle when the DDS write has been completed.
self.done = Signal()
@@ -95,6 +96,17 @@ class Servo(Module):
cnt.eq(t_restart - 1)
)
]
+
+ # Count number of cycles since the servo was last started from idle.
+ self.sync += If(active == 0,
+ self.iir.t_running.eq(0),
+ self.iir.reset_dds_phase.eq(1)
+ ).Else(
+ self.iir.t_running.eq(self.iir.t_running + 1)
+ )
+
+ self.sync += dds_pads.passthrough.eq(active == 0)
+
self.comb += [
cnt_done.eq(cnt == 0),
self.adc.start.eq(self.start & cnt_done),
diff --git a/artiq/gateware/test/suservo/__init__.py b/artiq/gateware/test/suservo/__init__.py
index e69de29b..7a1df77a 100644
--- a/artiq/gateware/test/suservo/__init__.py
+++ b/artiq/gateware/test/suservo/__init__.py
@@ -0,0 +1,10 @@
+"""Gateware implementation of the Sampler-Urukul (AD9910) DDS amplitude servo.
+
+General conventions:
+
+ - ``t_...`` signals and constants refer to time spans measured in the gateware
+ module's default clock (typically a 125 MHz RTIO clock).
+ - ``start`` signals cause modules to proceed with the next servo iteration iff
+ they are currently idle (i.e. their value is irrelevant while the module is
+ busy, so they are not necessarily one-clock-period strobes).
+"""
diff --git a/artiq/gateware/test/suservo/test_dds.py b/artiq/gateware/test/suservo/test_dds.py
index a666f14c..d9a81675 100644
--- a/artiq/gateware/test/suservo/test_dds.py
+++ b/artiq/gateware/test/suservo/test_dds.py
@@ -5,6 +5,9 @@ from migen import *
from artiq.gateware.suservo.dds_ser import DDSParams, DDS
+class OutIoUpdateTB(Module):
+ def __init__(self):
+ self.fine_ts = Signal(3)
class TB(Module):
def __init__(self, p):
@@ -15,6 +18,12 @@ class TB(Module):
setattr(self, "mosi{}".format(i), m)
self.miso = Signal()
self.io_update = Signal()
+ self.passthrough = Signal()
+
+ self.io_update_phys = []
+ for i in range(p.channels//4):
+ phy = OutIoUpdateTB()
+ self.io_update_phys.append(phy)
clk0 = Signal()
self.sync += clk0.eq(self.clk)
@@ -23,16 +32,19 @@ class TB(Module):
self.ddss = []
for i in range(p.channels):
- dds = Record([("ftw", 32), ("pow", 16), ("asf", 16), ("cmd", 8)])
- sr = Signal(len(dds))
+ dds = Record([("ftw", 32), ("pow", 16), ("asf", 16),
+ ("cmd", 8), ("accu", 32), ("phase", 19)])
+ sr = Signal(32 + 16 + 16 + 8)
self.sync += [
+ dds.accu.eq(dds.accu + p.sysclk_per_clk * dds.ftw),
If(~self.cs_n & sample,
sr.eq(Cat(self.mosi[i], sr))
),
If(self.io_update,
- dds.raw_bits().eq(sr)
+ dds.raw_bits()[:len(sr)].eq(sr)
)
]
+ self.comb += dds.phase.eq((dds.pow << 3) + (dds.accu >> 13))
self.ddss.append(dds)
@passive
@@ -55,7 +67,7 @@ class TB(Module):
def main():
- p = DDSParams(channels=4, width=8 + 32 + 16 + 16, clk=1)
+ p = DDSParams(channels=4, width=8 + 32 + 16 + 16, clk=1, sysclk_per_clk=8)
tb = TB(p)
dds = DDS(tb, p)
tb.submodules += dds
diff --git a/artiq/gateware/test/suservo/test_iir.py b/artiq/gateware/test/suservo/test_iir.py
index 919e7a6b..ab8a9a4a 100644
--- a/artiq/gateware/test/suservo/test_iir.py
+++ b/artiq/gateware/test/suservo/test_iir.py
@@ -2,48 +2,67 @@ import logging
import unittest
from migen import *
-from artiq.gateware.suservo import iir
+from artiq.gateware.suservo import servo
+from collections import namedtuple
+logger = logging.getLogger(__name__)
+
+ADCParamsSim = namedtuple("ADCParams", ["channels"])
+DDSParamsSim = namedtuple("ADCParams", ["channels", "sysclk_per_clk"])
def main():
- w_kasli = iir.IIRWidths(state=25, coeff=18, adc=16,
- asf=14, word=16, accu=48, shift=11,
- channel=3, profile=5, dly=8)
- w = iir.IIRWidths(state=17, coeff=16, adc=16,
- asf=14, word=16, accu=48, shift=11,
- channel=2, profile=1, dly=8)
+ w_kasli = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14,
+ word=16, accu=48, shift=11, profile=5, dly=8)
+ p_adc = ADCParamsSim(channels=8)
+ p_dds = DDSParamsSim(channels=4, sysclk_per_clk=8)
+ w = servo.IIRWidths(state=17, coeff=16, adc=16, asf=14,
+ word=16, accu=48, shift=11, profile=2, dly=8)
+ t_iir = p_adc.channels + 4*p_dds.channels + 8 + 1
def run(dut):
+ yield dut.t_running.eq(0)
for i, ch in enumerate(dut.adc):
yield ch.eq(i)
for i, ch in enumerate(dut.ctrl):
yield ch.en_iir.eq(1)
yield ch.en_out.eq(1)
yield ch.profile.eq(i)
- for i in range(1 << w.channel):
+ yield ch.en_pt.eq(i)
+ for i, ch in enumerate(dut.ctrl_reftime):
+ yield ch.sysclks_fine.eq(i)
+ yield ch.stb.eq(1)
+ yield
+ yield dut.t_running.eq(dut.t_running + 1)
+ yield ch.stb.eq(0)
+ yield
+ yield dut.t_running.eq(dut.t_running + 1)
+ for i in range(p_adc.channels):
yield from dut.set_state(i, i << 8, coeff="x1")
yield from dut.set_state(i, i << 8, coeff="x0")
+ for i in range(p_dds.channels):
for j in range(1 << w.profile):
yield from dut.set_state(i,
(j << 1) | (i << 8), profile=j, coeff="y1")
for k, l in enumerate("pow offset ftw0 ftw1".split()):
yield from dut.set_coeff(i, profile=j, coeff=l,
- value=(i << 12) | (j << 8) | (k << 4))
+ value=(i << 10) | (j << 8) | (k << 4))
yield
- for i in range(1 << w.channel):
+ for i in range(p_dds.channels):
for j in range(1 << w.profile):
- for k, l in enumerate("cfg a1 b0 b1".split()):
+ for k, l in enumerate("a1 b0 b1".split()):
yield from dut.set_coeff(i, profile=j, coeff=l,
- value=(i << 12) | (j << 8) | (k << 4))
+ value=(i << 10) | (j << 8) | (k << 4))
yield from dut.set_coeff(i, profile=j, coeff="cfg",
- value=(i << 0) | (j << 8)) # sel, dly
+ value=(i % p_adc.channels) | (j << 8)) # sel, dly
yield
- for i in range(10):
+ for i in range(4):
+ logger.debug("check_iter {}".format(i))
yield from dut.check_iter()
+ yield dut.t_running.eq((yield dut.t_running) + t_iir)
yield
- dut = iir.IIR(w)
- run_simulation(dut, [run(dut)], vcd_name="iir.vcd")
+ dut = servo.IIR(w, p_adc, p_dds, t_iir)
+ run_simulation(dut, [run(dut)], vcd_name="servo.vcd")
class IIRTest(unittest.TestCase):
diff --git a/artiq/gateware/test/suservo/test_servo.py b/artiq/gateware/test/suservo/test_servo.py
index cc1a73a2..fe1708d0 100644
--- a/artiq/gateware/test/suservo/test_servo.py
+++ b/artiq/gateware/test/suservo/test_servo.py
@@ -1,5 +1,6 @@
import logging
import unittest
+import numpy as np
from migen import *
from migen.genlib import io
@@ -7,15 +8,17 @@ from migen.genlib import io
from artiq.gateware.test.suservo import test_adc, test_dds
from artiq.gateware.suservo import servo
+logger = logging.getLogger(__name__)
+
class ServoSim(servo.Servo):
def __init__(self):
adc_p = servo.ADCParams(width=16, channels=8, lanes=4,
t_cnvh=4, t_conv=57 - 4, t_rtt=4 + 4)
iir_p = servo.IIRWidths(state=25, coeff=18, adc=16, asf=14, word=16,
- accu=48, shift=11, channel=3, profile=5, dly=8)
+ accu=48, shift=11, profile=5, dly=8)
dds_p = servo.DDSParams(width=8 + 32 + 16 + 16,
- channels=adc_p.channels, clk=1)
+ channels=4, clk=1, sysclk_per_clk=8)
self.submodules.adc_tb = test_adc.TB(adc_p)
self.submodules.dds_tb = test_dds.TB(dds_p)
@@ -23,37 +26,156 @@ class ServoSim(servo.Servo):
servo.Servo.__init__(self, self.adc_tb, self.dds_tb,
adc_p, iir_p, dds_p)
+ self.dds_output = []
+
+ def log_flow(self, cycle):
+ su_start = yield self.start
+ adc_start = yield self.adc.start
+ iir_start = yield self.iir.start
+ dds_start = yield self.dds.start
+ su_done = yield self.done
+ adc_done = yield self.adc.done
+ iir_done = yield self.iir.done
+ dds_done = yield self.dds.done
+ active = yield self._active
+ io_update = yield self.dds_tb.io_update
+ passthrough = yield self.dds_tb.passthrough
+ iir_loading = yield self.iir.loading
+ iir_processing = yield self.iir.processing
+ iir_shifting = yield self.iir.shifting
+ dt = yield self.iir.t_running
+ dt_iir = yield self.iir._dt_start
+ state = yield self.iir._state
+ stage0 = yield self.iir._stages[0]
+ stage1 = yield self.iir._stages[1]
+ stage2 = yield self.iir._stages[2]
+ logger.debug(
+ "cycle=%d "
+ #"start=[su=%d adc=%d iir=%d dds=%d] "
+ #"done=[su=%d adc=%d iir=%d dds=%d] "
+ "active=%s load_proc_shft=%d%d%d stages_active=%d%d%d "
+ "io_update=%d passthrough=%d "
+ "dt=%d dt_iir=%d state=%d",
+ cycle,
+ #su_start, adc_start, iir_start, dds_start,
+ #su_done, adc_done, iir_done, dds_done,
+ '{:03b}'.format(active), iir_loading, iir_processing, iir_shifting, stage0, stage1, stage2,
+ io_update, passthrough,
+ dt, dt_iir//8, state
+ )
+
+ def log_state(self, channel, profile, calls=[0]):
+ calls[0] += 1
+ # if not (yield self._active[1]):
+ # return
+ yield from self.log_flow(calls[0] - 2)
+ return
+ cfg = yield from self.iir.get_coeff(channel, profile, "cfg")
+ sel = cfg & 0x7
+ x0 = yield from self.iir.get_state(sel, coeff="x0")
+ x1 = yield from self.iir.get_state(sel, coeff="x1")
+ y1 = yield from self.iir.get_state(channel, profile, coeff="y1")
+ _pow = yield from self.iir.get_coeff(channel, profile, "pow")
+ pow_iir = yield self.iir.dds[channel][2*self.iir.widths.word:3*self.iir.widths.word]
+ pow_dds = yield self.dds_tb.ddss[channel].pow
+ asf_dds = yield self.dds_tb.ddss[channel].asf
+ ftw_dds = yield self.dds_tb.ddss[channel].ftw
+ accu_dds = yield self.dds_tb.ddss[channel].accu
+ phase_dds = (yield self.dds_tb.ddss[channel].phase)
+ dds_output = np.cos(2*np.pi*phase_dds/2**19)
+ ph_coh = yield self.iir._ph_coh
+ ph_acc = yield self.iir._ph_acc
+ offset = yield from self.iir.get_coeff(channel, profile, "offset")
+ ftw0 = yield from self.iir.get_coeff(channel, profile, "ftw0")
+ ftw1 = yield from self.iir.get_coeff(channel, profile, "ftw1")
+ m_phase = yield from self.iir.get_accum_ftw(channel)
+ iir_adc = yield self.iir.adc[sel]
+ logger.debug("\t"
+ "ch=%d pr=%d "
+ # "x0=%d x1=%d adc=%d y1=%d sel=%d "
+ "ftw=%#x pow_coeff=%#x ftw_accu=%#x "
+ "ph_coh=%#x ph_acc=%#x "
+ "pow_iir=%#x pow_dds=%#x ftw_dds=%#x asf_dds=%#x accu_dds=%#x phase_dds=%#x dds_output=%04.3f",
+ channel, profile,
+ # x0, x1, iir_adc, y1, sel,
+ ftw0 | (ftw1 << 16), _pow, m_phase,
+ ph_coh, ph_acc,
+ pow_iir, pow_dds, ftw_dds, asf_dds, accu_dds, phase_dds >> 3, dds_output
+ )
+ self.dds_output.append(dds_output)
+ # yield from self.log_registers(profile)
+
+ def log_registers(self, profile):
+ adc_channels = self.iir.widths_adc.channels
+ dds_channels = self.iir.widths_dds.channels
+ x0s = [0]*adc_channels
+ x1s = [0]*adc_channels
+ y1s = [0]*dds_channels
+ for ch in range(adc_channels):
+ x0s[ch] = yield from self.iir.get_state(ch, coeff="x0")
+ x1s[ch] = yield from self.iir.get_state(ch, coeff="x1")
+ for ch in range(dds_channels):
+ y1s[ch] = yield from self.iir.get_state(ch, profile, coeff="y1")
+
+ logger.debug(("x0s = " + '{:05X} ' * adc_channels).format(*x0s))
+ logger.debug(("x1s = " + '{:05X} ' * adc_channels).format(*x1s))
+ logger.debug(("y1s = " + '{:05X} ' * dds_channels).format(*y1s))
+
def test(self):
assert (yield self.done)
- adc = 1
+ adc = 7
x0 = 0x0141
yield self.adc_tb.data[-adc-1].eq(x0)
- channel = 3
- yield self.iir.adc[channel].eq(adc)
+ channel = 0
yield self.iir.ctrl[channel].en_iir.eq(1)
yield self.iir.ctrl[channel].en_out.eq(1)
- profile = 5
+ yield self.iir.ctrl[channel].en_pt.eq(1)
+ profile = 31
yield self.iir.ctrl[channel].profile.eq(profile)
x1 = 0x0743
yield from self.iir.set_state(adc, x1, coeff="x1")
y1 = 0x1145
yield from self.iir.set_state(channel, y1,
profile=profile, coeff="y1")
- coeff = dict(pow=0x1333, offset=0x1531, ftw0=0x1727, ftw1=0x1929,
- a1=0x0135, b0=0x0337, b1=0x0539, cfg=adc | (0 << 3))
+ coeff = dict(pow=0, offset=0x1531, ftw0=0xeb85, ftw1=0x51,
+ a1=0x0135, b0=0x0337, b1=0x0539, cfg=adc)
for ks in "pow offset ftw0 ftw1", "a1 b0 b1 cfg":
for k in ks.split():
yield from self.iir.set_coeff(channel, value=coeff[k],
profile=profile, coeff=k)
yield
+ num_it = 1
+ num_proc_its = [0]*num_it # number of iterations while iir.processing
+ yield from self.log_state(channel, profile)
yield self.start.eq(1)
yield
- yield self.start.eq(0)
- while not (yield self.dds_tb.io_update):
- yield
- yield # io_update
+ for i in range(num_it):
+ if i == 1: # change ftw
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw0', value=coeff['ftw1'])
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw1', value=coeff['ftw0'])
+ if i == 2: # change ftw back
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw0', value=coeff['ftw0'])
+ yield from self.iir.set_coeff(channel,
+ profile=profile, coeff='ftw1', value=coeff['ftw1'])
+ logger.debug("iteration {}".format(i))
+ yield from self.log_state(channel, profile)
+ if i == num_it-1:
+ yield self.start.eq(0)
+ while not (yield self.dds_tb.io_update):
+ yield
+ if (yield self.iir.processing):
+ num_proc_its[i] += 1
+ if (yield self.iir._stages) != 0:
+ yield from self.log_state(channel, profile)
+ yield # io_update
+ yield from self.log_state(channel, profile)
+ yield
+ yield from self.log_state(channel, profile)
w = self.iir.widths
@@ -63,6 +185,8 @@ class ServoSim(servo.Servo):
offset = coeff["offset"] << (w.state - w.coeff - 1)
a1, b0, b1 = coeff["a1"], coeff["b0"], coeff["b1"]
+
+ # works only for 1 iteration
out = (
0*(1 << w.shift - 1) + # rounding
a1*(y1 + 0) + b0*(x0 + offset) + b1*(x1 + offset)
@@ -76,8 +200,15 @@ class ServoSim(servo.Servo):
ftw = (coeff["ftw1"] << 16) | coeff["ftw0"]
assert _ == ftw, (hex(_), hex(ftw))
+ t0 = yield self.iir._dt_start
+ # todo: include phase accumulator
+ ph = (ftw * t0) >> 16
+ if (yield self.iir.ctrl[channel].en_pt):
+ pow = (coeff["pow"] + ph) & 0xffff
+ else:
+ pow = coeff["pow"]
_ = yield self.dds_tb.ddss[channel].pow
- assert _ == coeff["pow"], (hex(_), hex(coeff["pow"]))
+ assert _ == pow, (hex(_), hex(pow))
_ = yield self.dds_tb.ddss[channel].asf
asf = y1 >> (w.state - w.asf - 1)
@@ -101,4 +232,5 @@ class ServoTest(unittest.TestCase):
if __name__ == "__main__":
+ logging.basicConfig(level=logging.DEBUG)
main()
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