avr commits

Makefile

@@ -228,8 +228,10 @@ FATNAME_flash_TANOS=TANOS
 FATNAME_flash_CHAOS=CHAOS
 FATNAME_flash_µM=IRENAuM
 FATNAME_flash_NMAHEPAM=NMAHEPAM
+FATNAME_flash_LEIA=LEIA
 FATNAME=$(FATNAME_$(FLASH))
 
+FATSIZE_flash_tarena=1M
 FATSIZE_flash_pirena=1M
 FATSIZE_flash_darena=1M
 FATSIZE_flash_erena=1M

ahepam/AHEPAM.awk

@@ -35,10 +35,20 @@ function isEE() {
     return 1
 }
 
+function doEPOCH(t) {
+    if (t < 0x00ffffff && TLAST > 0xff000000) {
+	EPOCH += 0x100000000
+	TLAST = t
+    } else if (t > TLAST) {
+	TLAST = t
+    }
+    return t+EPOCH
+}
+
 function isCC() {
     N = 0
     if (!/^EDB? /) return 0
-    if (NE && ($2 > T0+20 || $2+20 < T0)) {
+    if (NE && ($2 > T0+7 || $2+7 < T0)) {
 	N = NE
 	TE0 = T0
 	save = $0
@@ -65,14 +75,7 @@ function isCC() {
     i = NDCh * $3 + $4
     ELINES[i] = $0
     NE++
-    if (N) {
+    if (N) doEPOCH(TE0)
-	if (TE0 < 0x00ffffff && TLAST > 0xff000000) {
-	    EPOCH += 0x100000000
-	    TLAST = TE0
-	} else if (TE0 > TLAST) {
-	    TLAST = TE0
-	}
-    }
     return N
 }
 
@@ -126,6 +129,8 @@ function isSETH() {
     }
     ETRIG0 = 0
     ETRIG1 = 0
+    iTRIG0 = -1
+    iTRIG1 = 48
     for (i in cTRIG) {
 	if (EE[i] > ETRIG0) {
 	    ETRIG0 = EE[i]

avr

@@ -1 +1 @@
-Subproject commit 50f46b8494bbba65ccbec124f4fd4d9c0c4b72a3
+Subproject commit 7ebd848bd2e58dc30c966ebf915f7ce6ff8e77df

dorn.py

@@ -47,9 +47,24 @@ def HK7_SETH_fmt(s, i, n, d):
     return f"""{i}. {n}
     na = {repr(d[:4])}
     Text = {d[6]:.1f} °C,
-    Ibias = {d[4]:.1f} nA.
+    Ibias = {d[4]:.1f} nA,
     Ibias⁺ = {d[7]:.1f} nA, Vbias⁺ = {d[5]:.1f} V.
 """
+def HK3_LEIA_fmt(s, i, n, d):
+    return f"""{i}. {n}
+    Tadc = {d[0]:6.2f} °C,
+    Vadc = {d[1]:6.3f} V,
+    VbiasD = {d[7]:6.2f} V,
+    Vbias2 = {d[6]:6.1f} V,
+    Vpp = {d[3]:6.3f} V, Vnn = {d[2]:6.3f} V,
+    Vcc = {d[5]:6.3f} V, Vss = {d[4]:6.3f} V.
+"""
+def HK4_LEIA_fmt(s, i, n, d):
+    return f"""{i}. {n}
+    Ibias1 = {d[3]:.1f} nA, Ibias2 = {d[2]:.1f} nA, IbiasD = {d[0]:.1f} nA,
+    VbiasG = {d[1]:.1f} V, Vbias1 = {d[4]:.1f} V,
+    Tpa0 = {d[5]:6.2f} °C, Tpa1= {d[6]:6.2f} °C, Tpa2 = {d[7]:6.2f} °C.
+"""
 
 class DORN_CONFIG:
     # stis_ana_core 2×24 ch
@@ -159,7 +174,7 @@ class DORN_CONFIG:
     HK4_AHBGO = [[
         ("Tbgo₁",  (degC, {})),
         ("Tbgo₂",  (degC, {})),
-        ("Vbias",  -1/0.047),
+        ("Vbias1", -1/0.047),
         ("Tbgo₃",  (degC, {})),
         ("Ibias₁", 10470/470 * 51/1051 * 100),
         ("Ibias₂", 10470/470 * 51/1051 * 100),
@@ -171,9 +186,37 @@ class DORN_CONFIG:
         # ! change the class attribute .HK
         self.HK[4] = ("HK PA", self.HK4_AHBGO, HK4_AHBGO_fmt)
 
+    HK3_LEIA = [[
+        ("Tadc",  (degC, {})),
+        ("Vadc",  2.0),
+        ("Vnn",   2.5, ("Vpp", -1.5)),
+        ("Vpp",   2.0),
+        ("Vss",   2.5, ("Vcc", -1.5)),
+        ("Vcc",   2.0),
+        ("Vbias2", -1/0.022 * 66.6/75.2),
+        ("VbiasD", -14.),
+    ]]
+
+    HK4_LEIA = [[
+        ("IbiasD", 100., -1.4),
+        ("VbiasG", 46.3, ("Vref", -45.3)),
+        ("Ibias2", 10470/470 * 51/1051 * 100, -65.0),
+        ("Ibias1", 10470/470 * 51/1051 * 100, -52.0),
+        ("Vbias1", -1/0.047 * 44.7/48.5),
+        ("Tpa0", (degC, {})),
+        ("Tpa1", (degC, {})),
+        ("Tpa2", (degC, {})),
+    ]]
+
+    def leia(self):
+        self.VREF = (3.342,)
+        self.slices=(0,)
+        self.HK[3] = ("HK_AD", self.HK3_LEIA, HK3_LEIA_fmt)
+        self.HK[4] = ("HK_PA", self.HK4_LEIA, HK4_LEIA_fmt)
+
 CONFIG = DORN_CONFIG()
 
-def hk(sl, what="print", data=None):
+def hk(sl=0, what="print", data=None):
     if not data:
         ecmd("alt/stream/off")
         _ifc.menable()
@@ -207,6 +250,7 @@ def hk(sl, what="print", data=None):
         return sl, data
     Vref = CONFIG.Vref(sl)/4096
     ddata = []
+    VV = {"Vref": CONFIG.Vref(sl)}
     for a in range(8):
         V = {}
         ddata.append(V)
@@ -228,11 +272,12 @@ def hk(sl, what="print", data=None):
                 else:
                     data[a][c] *= Vref*H[1]
             V[H[0]] = data[a][c]
+        VV.update(V)
         for c in range(8):
             H = HK[c]
             if len(H) > 2:
                 if isinstance(H[2], tuple):
-                    data[a][c] += V[H[2][0]] * H[2][1]
+                    data[a][c] += VV[H[2][0]] * H[2][1]
                 else:
                     data[a][c] += H[2]
                 V[H[0]] = data[a][c]

flash_LEIA/CRON.RC

@@ -0,0 +1,8 @@
+@clock/short
+@v S=sec%12
+@s/if hk_mes>1: v hk_count=1
+@s/if !S: nm/cou/re/cl/fl; s/exit
+@s/if S&1: s/exit
+@s/if S&2: pres/inj; s/exit
+@s/if S&4: v hk_count=1; s/exit
+@s/if S&8: dorn/fifo/strobe/inj 0x10; s/exit

flash_LEIA/DORN.RC

@@ -0,0 +1,12 @@
+@v/cache iter
+@s/for 24: s/exe 'DORNCC.RC' 0, i, 0x10000
+@dorn/l3 [0,4,0]  -4404
+@dorn/l3 [0,4,1]  10830
+@dorn/l3 [0,4,2] -23912
+@dorn/l3 [0,4,3]  0x7fff  (overflow: 45271)
+@dorn/fifo/enable/inj 0xdb1
+@dorn/enable/samples/inj 0
+@v $T = 0
+@dorn/enable/t1/inj $T
+@dorn/enable/t2/inj $T / 0x10000 + $T * 0x100
+@dorn/enable/t3/inj $T / 0x100

flash_LEIA/DORNCC.RC

@@ -0,0 +1,30 @@
+@v $C = 24*$1 + $2
+@s/if !Z[$C]: v Z[$C]=8
+@dorn/thr [$1,$2] Z[$C]
+@s/if !$3: v $3 = 0x10000
+@v $A[0] =  -1203
+@v $A[1] =  -1203
+@v $A[2] =  -1203
+@v $A[3] =  -1186
+@v $A[4] =    -39
+@v $A[5] =   1709
+@v $A[6] =   2000
+@v $A[7] =   1125
+@v $X = 0
+@s/for 7: v $Y=$A[7-i]*$3/0x10000; v $X=$X-$Y; dorn/a [$1,$2,7-i] $Y
+@dorn/a [$1,$2,0] $X
+@v $A[0] =      0
+@v $A[1] =      0
+@v $A[2] =      0
+@v $A[3] =      0
+@v $A[4] =   2000
+@v $A[5] =    970
+@v $A[6] =  -1082
+@v $A[7] =  -1888
+@v $X = 0
+@s/for 7: v $Y=$A[i]*$3/0x10000; v $X=$X-$Y; dorn/b [$1,$2,i] $Y
+@dorn/b [$1,$2,7] $X
+@dorn/l3 [$1,$2,0] -3686
+@dorn/l3 [$1,$2,1] 16027
+@dorn/l3 [$1,$2,2] 12898
+@dorn/l3 [$1,$2,3] 24618

flash_LEIA/INIT.RC

@@ -0,0 +1,10 @@
+@sleep 1
+@var/set verb=3
+@var/set script_cron_prio = 3
+@var/set dac=0
+@s/if product==0xee0a: altera/file "NMLEIAV1.RBF"
+@s/if errno>=500: s/exit
+@s/if product==0xee0c: altera/file "NMLEIAV2.RBF"
+@s/if errno>=500: s/exit
+@e/eval "s/exe 'SN%d.RC'", serial
+@s/exe "DORN.RC"

flash_LEIA/README.TXT

@@ -0,0 +1,7 @@
+FAT12 2MByte Filesystem for NMAHEPAM
+
+INIT.RC	     script loaded at startup
+NMAHEPAM.RBF Altera FPGA bitfile, Cyclone 10CL025
+CRON.RC      cron script, to to HK every Minute
+SN14.RC	     unit config
+I2C.RC	     SETH magnetometer and accelerometer config

flash_LEIA/SN2.RC

@@ -0,0 +1,2 @@
+@v bate_hash = 0x3921
+pres/read/verify

leia_stepper.py

@@ -1,6 +1,33 @@
 
 import sys, armlib, struct, math, time
 
+class bitnames(dict):
+
+    def str(self, b):
+        r = []
+        for k, m in self.items():
+            m = self.bits(m)
+            if (b & m) == m:
+                r.append(k)
+                b &= ~m
+                if not b:
+                    break
+        if len(r)==1:
+            r = r[0]
+        return r
+
+    def bits(self, r, mask=False):
+        if isinstance(r, int):
+            return r
+        if isinstance(r, str):
+            return self.bits(self[r])
+        if isinstance(r, dict):
+            return sum([self.bits(rr) for rr in r if mask or r[rr]])
+        return sum(map(self.bits, r))
+
+    def mask_val(self, **aa):
+        return self.bits(aa, mask=True), self.bits(aa)
+
 class leia_stepper:
 
     class Stepper_Error(armlib.irena_ifc.IrenaError):
@@ -184,13 +211,15 @@ class leia_stepper:
                 b = struct.pack(self.STATF, *bb)
         return b
 
-    def read_conf(self, unpack=True):
+    def read_conf(self, stat=False, unpack=True):
         b = []
         while True:
             r = self.cmd('x', len(b), Error=True, sleep=0.001)
             if r & 0xff0000:
                 break
             b.append(r & 0xff)
+            if not stat and len(b) >= self.CONFF.size:
+                break
         b = bytes(b)
         if unpack and b[:2]==self.CONFM and b[2] in self.CONFV:
             return self.confdict(b)
@@ -241,6 +270,14 @@ class leia_stepper:
             n = i+1
         return b[:n]
 
+    def write_eeprom(self, a=0, b=None):
+        if b is not None:
+            self.write_conf(b)
+        self.cmd('zW', 4*a, verbose=True)
+        while self.cmd('x', 83, verbose=True, Error=True) & 0xff00ff:
+            time.sleep(0.1)
+        return self.cmd('?', verbose=True)
+
     ADC_V = {
         "data": 0,
         "mux": 1,
@@ -266,7 +303,7 @@ class leia_stepper:
             if what == self.ADC_V["period"]:
                 val = int(val/self.T0TICK + 0.5) # ms
             else:
-                raise ValueError("fload not supported for this whatsit")
+                raise ValueError("float not supported for this whatsit")
         if enable is not None:
             if what and enable and val is not None:
                 raise ValueError("cannot enable and read a whatsit")
@@ -281,13 +318,7 @@ class leia_stepper:
             raise self.Stepper_Error(f"{c}, {val}, {what} → {r}")
         return r & 0xff
 
-    def dac(self, volt=0.0, dac=None, ramp=True, ms=None):
+    def dac(self, volt=None, dac=None, ramp=True, ms=None):
-        if dac is None:
-            dac = int(volt/2.5*0x10000)
-        if dac < 0 or dac >= 0x10000:
-            raise ValueError(f"DAC voltage out of range {volt}, {dac}")
-        if not ramp:
-            self.cmd('P', 0)
         if ms is not None:
             t = self.adc(what="period")*self.T0TICK
             p = int(t * 64/ ms + 0.5)
@@ -298,20 +329,28 @@ class leia_stepper:
             self.cmd('P', p)
             if self._verbose >= 1:
                 print(f"DAC ramp speed {t*64/p:.1f} ms/step", file=sys.stderr)
+        if dac is None:
+            if volt is None:
+                return self.cmd('d')
+            dac = int(volt/2.5*0x10000)
+        if dac < 0 or dac >= 0x10000:
+            raise ValueError(f"DAC voltage out of range {volt}, {dac}")
+        if not ramp:
+            self.cmd('P', 0)
         old = self.cmd('D', dac)
         if self._verbose >= 1:
             print(f"DAC set to 0x{dac:04x}, old value: 0x{old:04x}",
                   file=sys.stderr)
 
     def Temp(self, a, Vref, **aa):
-        a *= self.Vcc/Vref
+        a *= Vref/self.Vcc
         return armlib.NTC(a, β=3940)
 
     def AVR_Temp(self, a, Vref, **aa):
         return a/64 * 2.5/Vref - 273
 
     ADC_MUX = {
-        3:  ("Iprim", 1.0, "uncal"),
+        3:  ("Iprim", 1.0, "A"),
         8:  ("NTC1", Temp, "°C"),
         9:  ("NTC2", Temp, "°C"),
         10: ("NTC3", Temp, "°C"),
@@ -323,6 +362,7 @@ class leia_stepper:
 
     Vcc = 3.3
     T0TICK = 0.0925925925925926
+    T1TICK = T0TICK/4
     
     def read_adcs(self, chs=tuple(range(16)), update_vcc=True):
         r = []
@@ -372,3 +412,217 @@ class leia_stepper:
             pass
         print(" done.\n", self.ifc.cmd("spi/reset/ssel"), file=sys.stderr)
         print("commit: ", self.id(), file=sys.stderr)
+
+    E_reset = {
+        None:          0,
+        "assert": 0x2000,
+        "home":   0x8000,
+        }
+
+    E_what = {
+        None: 0,
+        "reset":  0x10000,
+        "enable": 0x10100,
+        "led":    0x10200,
+        "sleep":  0x10300,
+        }
+
+    E_port = bitnames({
+        "ALL":    0x78,
+        "RESET":  0x08,
+        "ENABLE": 0x10,
+        "LEDON":  0x20,
+        "SLEEP":  0x40,
+        "NONE":   0x00,
+    })
+
+    E_mode = {
+        None:  0,
+        True:      0x51c00,
+        False:     0x51d00,
+        "emit":    0x01000,
+        "reset":   0x03000,
+        "init":    0x04000,
+        "home":    0x08000,
+        "assert":  0x21800,
+        "deassert":0x21400,
+        "enable":  0x51c00,
+        "disable": 0x51d00,
+        "ledoff":  0x51e00,
+        "sleep":   0x51f00,
+        "!enable":  "disable",
+        "!disable": "enable",
+        "!ledoff":  "disable",
+        "!sleep":   "disable",
+    }
+
+    def enable(self, mode=None, what=None, bits=None, **aa):
+        """spi/stepper 'r' …"""
+        a = 0
+        # eqiv:
+        #   what="reset", bits=("RESET")
+        #   what="reset", RESET=1
+        #   reset=("RESET")
+        # or any other whatsit
+        # (In case the port config jumpers were changed)
+        #
+        # sleep=True: assert SLEEP (clear bit)
+        # led=False: deassert LEDON (set bit)
+        # emit=False: do not change the port bits
+        # init=True: initialize the stepper
+        # reset = "assert": assert RESET (clear port bit)
+        # reset = "home": start stepper with a reset pulse
+        if len(aa)==1:
+            k = list(aa.keys())[0]
+            if mode is None and aa[k] is False:
+                mode = self.E_mode["!"+k]
+                aa = None
+            elif mode is None and aa[k] is True:
+                mode = k
+                aa = None
+            elif what is None:
+                what = k
+                aa = aa[k]
+                if aa is True or aa is False:
+                    aa = None
+        if aa:
+            if bits is None:
+                bits = aa
+            else:
+                raise ValueError("too many bits")
+
+        if what is None and mode is None:
+            mode = True
+
+        a |= self.E_what[what]
+        c = 'r'
+        if bits is not None:
+            bits = self.E_port.bits(bits)
+            if a & 0x10000:
+                c = 'R'
+                a |= bits & self.E_port.bits("ALL")
+            else:
+                raise ValueError("no what")
+            bits = self.E_port.str(a & 0xff)
+        if self.E_mode[mode] & a & 0x50f00:
+            raise ValueError("too many hows")
+        a |= self.E_mode[mode]
+        r = self.cmd(c, a & 0xffff)
+        old =  self.E_port.str(r & 0xff)
+        port = self.E_port.str(r>>8 & self.E_port.bits("ALL"))
+        return mode, what, bits, old, port
+
+    MS = {
+        1:  0x02,
+        2:  0x0a,
+        4:  0x06,
+        8:  0x0e,
+        16: 0x04,
+        32: 0x0c,
+        -1: 0x00,
+        -2: 0x08,
+        }
+
+    def ms(self, n=1, ms=None, torque=False):
+        """calculate microstepping bits
+        n: microsteps per step (1|2|4|8|16|32|-1|-2)
+        n: -1|-2: full torque
+        torque=True: n=1|2: full torque
+        """
+        if ms is not None:
+            ms = (ms&1)<<3 | (ms&2)<<1 | (ms&4)>>1
+        else:
+            ms = self.MS[-n if torque else n]
+        return ms
+
+    def microstep(self, *a, emit=True, **aa):
+        """set microstepping bits
+        *a, **aa: see: .ms()
+        """
+        c = 'i'
+        if emit:
+            c = 'I'
+        ms = self.ms(*a, **aa)
+        ms |= (~ms & 0x0e)<<8
+        return self.cmd(c, ms)
+
+    def dir(self, d=None):
+        """set/read direction
+        d = 0|1 (False|True)
+        higher bits are ignored
+        """
+        if d is None:
+            return self.cmd('i')
+        return self.cmd('i', d&1 | (~d&1)<<8)
+
+    MIN_SPEED = 21
+
+    def speed(self, period=None):
+        """set/read stepper cadence
+        period (int) in T1TICS = 23.148 µs
+        period (float) in ms
+        """
+        if period is None:
+            return self.cmd('q')
+        if isinstance(period, float):
+            period = int(period/self.T1TICK) - 1
+            if period < self.MIN_SPEED:
+                period = self.MIN_SPEED
+            return self.cmd('Q', period)
+
+    LIMITS = bitnames(
+        ALL    = ("LEDS", "FAULTS"),
+        FAULTS = ("FAULT1", "FAULT2"),
+        FAULT1 =   0x80,
+        FAULT2 =   0x20,
+        LEDS   = ("LED1", "LED2"),
+        LED1   =   0x01,
+        LED2   =   0x02,
+        NONE   =   0x00,
+        LOCK   = (0x100, "ALL")
+    )
+
+    def limit(self, mask=None, val="ALL", **aa):
+        if isinstance(mask, dict):
+            aa = mask
+        if aa:
+            mask, val = self.LIMITS.mask_val(**aa)
+        else:
+            if mask is None:
+                b = self.cmd('m')
+                return self.LIMITS.str(b&0xff), self.LIMITS.str(b>>8)
+            mask = self.LIMITS.bits(mask)
+            val = self.LIMITS.bits(val)
+        if mask >= 0x100:
+            mask = 0
+            val &= 0xff
+        else:
+            val &= mask
+        return self.cmd('M', mask & 0xff, val)
+
+    def step(self, stepper=None, n=0, dir=None,
+             reset=False, ms=None, dac=None, limit=None, speed=None):
+        if limit is not None:
+            self.limit(limit)
+        if dac is not None:
+            self.dac(dac)
+        if speed is not None:
+            self.speed(speed)
+        if ms:
+            self.microstep(n=ms)
+        if reset:
+            self.cmd('r', 0x8000)
+        if stepper is None:
+            if dir is not None:
+                self.dir(dir)
+            return self.cmd('S', n)
+        if not n:
+            return self.cmd('0')
+        nn = n & ~(n-1)
+        if n//nn < 0x100:
+            while not n & 1 and dir < 0xf0:
+                n >>= 1
+                dir += 16
+            return self.cmd("012"[stepper], dir, n)
+        self.cmd("012"[stepper], dir)
+        return self.cmd('S', n)

nmahepam.py

@@ -88,6 +88,7 @@ if __name__=="__main__":
             dorn.CONFIG.ahbgo()
             armlib.set_prompt("AHBGO")
         if o=="--leia":
+            dorn.CONFIG.leia()
             armlib.set_prompt("LEIA")
             import leia_stepper
             st = leia_stepper.leia_stepper(ifc)