class Nifpga(Base, LaserControlInterface, FPGAInterface):
""" National Instruments FPGA that controls the lasers via an OTF.
Example config for copy-paste:
nifpga:
module.Class: 'fpga.ni_fpga.Nifpga'
resource: 'RIO0'
default_bitfile: 'C:\\Users\\sCMOS-1\\qudi-cbs\\hardware\\fpga\\FPGA\\FPGA Bitfiles\\FPGAv0_FPGATarget_FPGAlasercontrol_mLrb7Qjptmw.lvbitx'
wavelengths:
- '405 nm'
- '488 nm'
- '561 nm'
- '640 nm'
registers:
- '405'
- '488'
- '561'
- '640'
registers_qpd:
- 'x'
- 'y'
- 'i'
# registers represent something like the channels.
# The link between registers and the physical channel is made in the labview file from which the bitfile is generated.
"""
# config
resource = ConfigOption('resource', None, missing='error')
default_bitfile = ConfigOption('default_bitfile', None, missing='error')
_wavelengths = ConfigOption('wavelengths', None, missing='warn')
_registers_laser = ConfigOption('registers_laser', None, missing='warn')
_registers_qpd = ConfigOption('registers_qpd', None, missing='warn')
_registers_autofocus = ConfigOption('registers_autofocus',
None,
missing='warn')
_registers_general = ConfigOption('registers_general',
None,
missing='warn')
def __init__(self, config, **kwargs):
super().__init__(config=config, **kwargs)
def on_activate(self):
""" Required initialization steps when module is called."""
self.session = Session(bitfile=self.default_bitfile,
resource=self.resource)
# self.laser1_control = self.session.registers[self._registers[0]]
# self.laser2_control = self.session.registers[self._registers[1]]
# self.laser3_control = self.session.registers[self._registers[2]]
# self.laser4_control = self.session.registers[self._registers[3]]
# # maybe think of replacing the hardcoded version of assigning the registers to an identifier by something more dynamic
# self.session.reset()
# for i in range(len(self._registers)):
# self.apply_voltage(0, self._registers[i]) # set initial value to each channel
#
# self.QPD_X_read = self.session.registers[self._registers_qpd[0]]
# self.QPD_Y_read = self.session.registers[self._registers_qpd[1]]
# self.QPD_I_read = self.session.registers[self._registers_qpd[2]]
# self.Integration_time_us = self.session.registers[self._registers_qpd[3]]
# self.Duration_ms = self.session.registers[self._registers_qpd[4]]
# self.Task = self.session.registers[self._registers_qpd[5]]
#
# self.Task.write(False)
# self.session.run()
# Initialize registers dictionnary according to the type of experiment selected
if self._wavelengths is not None:
self.laser1_control = self.session.registers[
self._registers_laser[0]]
self.laser2_control = self.session.registers[
self._registers_laser[1]]
self.laser3_control = self.session.registers[
self._registers_laser[2]]
self.laser4_control = self.session.registers[
self._registers_laser[3]]
self.update = self.session.registers[self._registers_laser[4]]
self.session.reset()
for i in range(len(self._registers_laser) - 1):
self.apply_voltage(0, self._registers_laser[i]
) # set initial value to each channel
if self._registers_qpd is not None:
self.QPD_X_read = self.session.registers[self._registers_qpd[0]]
self.QPD_Y_read = self.session.registers[self._registers_qpd[1]]
self.QPD_I_read = self.session.registers[self._registers_qpd[2]]
self.Counter = self.session.registers[self._registers_qpd[3]]
self.Duration_ms = self.session.registers[self._registers_qpd[4]]
self.Stop = self.session.registers[self._registers_general[0]]
self.Integration_time_us = self.session.registers[
self._registers_general[1]]
self.Reset_counter = self.session.registers[
self._registers_general[2]]
self.setpoint = self.session.registers[
self._registers_autofocus[0]]
self.P = self.session.registers[self._registers_autofocus[1]]
self.I = self.session.registers[self._registers_autofocus[2]]
self.reset = self.session.registers[self._registers_autofocus[3]]
self.autofocus = self.session.registers[
self._registers_autofocus[4]]
self.ref_axis = self.session.registers[
self._registers_autofocus[5]]
self.output = self.session.registers[self._registers_autofocus[6]]
self.Stop.write(False)
self.Integration_time_us.write(10)
self.session.run()
def on_deactivate(self):
""" Required deactivation steps. """
for i in range(len(self._registers_laser) - 1):
self.apply_voltage(
0, self._registers_laser[i]
) # make sure to switch the lasers off before closing the session
self.Stop.write(True)
self.session.close()
def read_qpd(self):
""" read QPD signal and return a list containing the X,Y position of the spot, the SUM signal,
the number of counts (iterations) since the session was launched and the duration of each iteration
"""
X = self.QPD_X_read.read()
Y = self.QPD_Y_read.read()
I = self.QPD_I_read.read()
count = self.Counter.read()
d = self.Duration_ms.read()
return [X, Y, I, count, d]
def reset_qpd_counter(self):
self.Reset_counter.write(True)
def update_pid_gains(self, p_gain, i_gain):
self.P.write(p_gain)
self.I.write(i_gain)
def init_pid(self, p_gain, i_gain, setpoint, ref_axis):
self.reset_qpd_counter()
self.setpoint.write(setpoint)
self.P.write(p_gain)
self.I.write(i_gain)
if ref_axis == 'X':
self.ref_axis.write(True)
elif ref_axis == 'Y':
self.ref_axis.write(False)
self.reset.write(True)
self.autofocus.write(True)
sleep(0.1)
self.reset.write(False)
def read_pid(self):
pid_output = self.output.read()
return pid_output
def stop_pid(self):
self.autofocus.write(False)
def apply_voltage(self, voltage, channel):
""" Writes a voltage to the specified channel.
@param: any numeric type, (recommended int) voltage: percent of maximal volts to be applied
if value < 0 or value > 100, value will be rescaled to be in the allowed range
@param: str channel: register name corresponding to the physical channel (link made in labview bitfile), example '405'
@returns: None
"""
# maybe think of replacing the hardcoded version of comparing channels with registers by something more dynamic
value = max(0, voltage)
conv_value = self.convert_value(value)
if channel == self._registers_laser[0]: # '405'
self.laser1_control.write(conv_value)
elif channel == self._registers_laser[1]: # '488'
self.laser2_control.write(conv_value)
elif channel == self._registers_laser[2]: # '561'
self.laser3_control.write(conv_value)
elif channel == self._registers_laser[3]: # '640'
self.laser4_control.write(conv_value)
else:
pass
self.update.write(True)
def convert_value(self, value):
""" helper function: fpga needs int16 (-32768 to + 32767) data format: do rescaling of value to apply in percent of max value
apply min function to limit the allowed range """
return min(int(value / 100 * (2**15 - 1)),
32767) # set to maximum in case value > 100
def read_values(self):
""" for tests - returns the (converted) values applied to the registers """
return self.laser1_control.read(), self.laser2_control.read(
), self.laser3_control.read(), self.laser4_control.read()
def get_dict(self):
""" Retrieves the register name (and the corresponding voltage range???) for each analog output from the
configuration file and associates it to the laser wavelength which is controlled by this channel.
@returns: laser_dict
"""
laser_dict = {}
for i, item in enumerate(
self._wavelengths
): # use any of the lists retrieved as config option, just to have an index variable
label = 'laser{}'.format(
i + 1
) # create a label for the i's element in the list starting from 'laser1'
dic_entry = {
'label': label,
'wavelength': self._wavelengths[i],
'channel': self._registers_laser[i]
}
# 'ao_voltage_range': self._ao_voltage_ranges[i]
laser_dict[dic_entry['label']] = dic_entry
return laser_dict
### new 3 march 2021 test with tasks
## these methods must be callable from the lasercontrol logic
def close_default_session(self):
""" This method is called before another bitfile than the default one shall be loaded
(in this version it actually does the same as on_deactivate (we could also just call this method .. but this might evolve)
"""
for i in range(len(self._registers_laser)):
self.apply_voltage(
0, self._registers_laser[i]
) # make sure to switch the lasers off before closing the session
self.session.close()
def restart_default_session(self):
""" This method allows to restart the default session"""
self.on_activate()
#or is it sufficient to just call self.session = Session(bitfile=self.default_bitfile, resource=self.resource) and session run ?
def start_task_session(self, bitfile):
""" loads a bitfile used for a specific task """
self.session = Session(bitfile=bitfile, resource=self.resource)
def end_task_session(self):
self.session.close()
# methods associated to a specific bitfile
def run_test_task_session(self, data):
"""
associated bitfile 'C:\\Users\\sCMOS-1\\qudi-cbs\\hardware\\fpga\\FPGA\\FPGA Bitfiles\\FPGAv0_FPGATarget_FPGAlasercontrol_pdDEc3yii+w.lvbitx'
@param: list data: values to be applied to the output (in % of max intensity) """
#using for a simple test the FPGA_laser_control_Qudi bitfile (control only for the 561 nm laser)
n_lines = self.session.registers['N']
laser_control = self.session.registers['561 Laser Power']
self.session.reset()
print(n_lines.read())
n_lines.write(5)
print(n_lines.read())
conv_values = [self.convert_value(item) for item in data]
print(conv_values)
laser_control.write(conv_values)
self.session.run()
def run_multicolor_imaging_task_session(self, z_planes, wavelength, values,
num_laserlines, exposure_time_ms):
"""
associated bitfile 'C:\\Users\\sCMOS-1\\qudi-cbs\\hardware\\fpga\\FPGA\\FPGA Bitfiles\\FPGAv0_FPGATarget_FPGAtriggercamer_u12WjFsC0U8.lvbitx'
@param: int z_planes: number of z planes
@param: int list wavelength: list containing the number of the laser line to be addressed: 0: BF, 1: 405, 2: 488, 3: 561, 4: 640
@param: int list values: intensity in per cent to be applied to the line given at the same index in the wavelength list
"""
num_lines = self.session.registers[
'N laser lines'] # number of laser lines
num_z_pos = self.session.registers[
'N Z positions'] # number of z positions
num_images_acquired = self.session.registers[
'Images acquired'] # indicator register how many images have been acquired
laser_lines = self.session.registers[
'Laser lines'] # list containing numbers of the laser lines which should be addressed
laser_power = self.session.registers[
'Laser power'] # list containing the intensity in % to apply (to the element at the same index in laser_lines list
stop = self.session.registers['stop']
exposure = self.session.registers[
'exposure_time_ms'] # integer indicating the exposure time of the camera in ms
self.QPD_X_read = self.session.registers[self._registers_qpd[0]]
self.QPD_Y_read = self.session.registers[self._registers_qpd[1]]
self.QPD_I_read = self.session.registers[self._registers_qpd[2]]
self.Counter = self.session.registers[self._registers_qpd[3]]
self.Duration_ms = self.session.registers[self._registers_qpd[4]]
self.Stop = self.session.registers[self._registers_general[0]]
self.Integration_time_us = self.session.registers[
self._registers_general[1]]
self.Reset_counter = self.session.registers[self._registers_general[2]]
self.setpoint = self.session.registers[self._registers_autofocus[0]]
self.P = self.session.registers[self._registers_autofocus[1]]
self.I = self.session.registers[self._registers_autofocus[2]]
self.reset = self.session.registers[self._registers_autofocus[3]]
self.autofocus = self.session.registers[self._registers_autofocus[4]]
self.ref_axis = self.session.registers[self._registers_autofocus[5]]
self.output = self.session.registers[self._registers_autofocus[6]]
self.Stop.write(False)
self.Integration_time_us.write(10)
self.session.reset()
conv_values = [self.convert_value(item) for item in values]
num_lines.write(num_laserlines)
print(num_laserlines)
num_z_pos.write(z_planes)
print(z_planes)
laser_lines.write(wavelength)
print(wavelength)
laser_power.write(conv_values)
print(conv_values)
stop.write(False)
print("exposure time = " + str(exposure_time_ms))
exposure_time_ms = int(exposure_time_ms * 1000 * 2)
exposure.write(exposure_time_ms)
self.session.run() # wait_until_done=True
num_imgs = num_images_acquired.read()
print(f'number images acquired: {num_imgs}')
import os
import sys
import numpy as np
from nifpga import Session
from Calibration.Encoder import *
from ProofSignals.Signals import *
with Session("Mybitfile.lvbitx", "rio://172.22.11.2/RIO0") as Session:
Session.reset()
Session.run()
qd = Session.registers['qd']
qr = Session.registers['qr']
ResetPID = Session.registers['Reset PID']
ResetEncoder = Session.registers['Reset Enc']
PythonMode = Session.registers['Python Mode']
# PID Gains for Python Mode
P = Session.registers['P']
I = Session.registers['I']
D = Session.registers['D']
# Gains
PythonMode.write(True)
P.write(np.uint16(15))
I.write(np.uint16(0))
D.write(np.uint16(8))
print("Simple Pendulum by means an FPGA")
class VeriStandFPGA(object):
"""
DMA FIFO info pulled from an .fpgaconfig file
config_file is the file name of the XML that defines this FIFO
Direction is a string stating read or write.
"""
def __init__(self, filepath):
"""
Create a fpga_config object. The filepath is the path to the bitfile you wish to interact with.
This creates the fpga configuration with a number of read and write packets.
:param filepath:
"""
self.filepath = filepath
self.tree = ET.parse(self.filepath)
self.root = self.tree.getroot()
self.read_packets = None
self.write_packets = None
self.session = None
self.write_fifo_object = None
self.read_fifo_object = None
for child in self.root:
if child.tag == 'DMA_Read':
self.read_packets = int(child[0].text)
self.read_fifo_tag = child
elif child.tag == 'DMA_Write':
self.write_packets = int(child[0].text)
self.write_fifo_tag = child
elif child.tag == 'Bitfile':
self.bitfile = child.text
self.folder = ntpath.split(self.filepath)
self.full_bitpath = self.folder[0] + '\\{}'.format(self.bitfile)
if self.read_packets is None:
raise ConfigError(message='No DMA_Read tag present')
elif self.write_packets is None:
raise ConfigError(message='No DMA_Write tag present')
self.read_packet_list = []
self.write_packet_list = []
self.channel_value_table = {}
for pack_index in range(self.read_packets):
self.read_packet_list.append(
self._create_packet('read', pack_index + 1))
for chan_index in range(self.read_packet_list[pack_index].
definition['channel_count']):
self.channel_value_table[self.read_packet_list[
pack_index].definition['name{}'.format(chan_index)]] = 0
for pack_index in range(self.write_packets):
self.write_packet_list.append(
self._create_packet('write', pack_index + 1))
for chan_index in range(self.write_packet_list[pack_index].
definition['channel_count']):
self.channel_value_table[self.write_packet_list[
pack_index].definition['name{}'.format(chan_index)]] = 0
def init_fpga(self, device, loop_rate):
self.session = Session(self.full_bitpath,
device,
reset_if_last_session_on_exit=True)
self.session.download()
self.session.run()
print(self.session.fpga_vi_state)
self.write_fifo_object = self.session.fifos['DMA_WRITE']
self.read_fifo_object = self.session.fifos['DMA_READ']
self.loop_timer = self.session.registers['Loop Rate (usec)']
self.fpga_start_control = self.session.registers['Start']
self.fpga_rtsi = self.session.registers['Write to RTSI']
self.fpga_ex_timing = self.session.registers['Use External Timing']
self.fpga_irq = self.session.registers['Generate IRQ']
self.loop_timer.write(loop_rate)
self.fpga_rtsi.write(False)
self.fpga_ex_timing.write(False)
self.fpga_irq.write(False)
def start_fpga_main_loop(self):
self.fpga_start_control.write(True)
def stop_fpga(self):
self.session.reset()
self.session.close()
def set_channel(self, channel_name, value):
self.channel_value_table[channel_name] = value
def get_channel(self, channel_name):
return self.channel_value_table[channel_name]
def vs_read_fifo(self, timeout):
if self.read_fifo_object is None:
raise ConfigError('Session not initialized. Please first call the'
' VeriStandFPGA.init fpga method before reading')
else:
read_tup = self.read_fifo_object.read(
number_of_elements=self.read_packets, timeout_ms=timeout)
data = read_tup.data
for i, u64 in enumerate(data):
this_packet = self.read_packet_list[i]
read_vals = this_packet._unpack(u64)
for key in read_vals:
self.channel_value_table[key] = read_vals[key]
def vs_write_fifo(self, timeout):
if self.write_fifo_object is None:
raise ConfigError(
'Session not initialized. '
'Please first call the VeriStandFPGA.init_fpga method before writing'
)
else:
write_list = []
for current_packet in self.write_packet_list:
packet_vals = []
for channel in current_packet:
packet_vals.append(
self.channel_value_table[channel['name']])
write_list.append(current_packet._pack(packet_vals))
self.write_fifo_object.write(data=write_list, timeout_ms=timeout)
def _create_packet(self, direction, index):
"""
:param direction:
:param index:
:return:
"""
if index == 1 and direction.lower() == 'read':
this_packet = FirstReadPacket()
else:
this_packet = Packet(self, direction, index)
return this_packet
def __del__(self):
try:
self.stop_fpga()
except:
print('Configuration closed')
print('FPGA hardware session closed.')
print('{} configuration closed'.format(self.bitfile))
