Core device¶

The core device is a FPGA-based hardware component that contains a softcore or hardcore CPU tightly coupled with the so-called RTIO core, which runs in gateware and provides precision timing. The CPU executes Python code that is statically compiled by the ARTIQ compiler and communicates with peripherals (TTL, DDS, etc.) through the RTIO core, as described in ARTIQ Real-Time I/O concepts. This architecture provides high timing resolution, low latency, low jitter, high-level programming capabilities, and good integration with the rest of the Python experiment code.

While it is possible to use the other parts of ARTIQ (controllers, master, GUI, dataset management, etc.) without a core device, most use cases will require it.

Configuration storage¶

The core device reserves some storage space (either flash or directly on SD card, depending on target board) to store configuration data. The configuration data is organized as a list of key-value records, accessible either through artiq_mkfs and artiq_flash or, preferably in most cases, the config option of the artiq_coremgmt core management tool (see below). Information can be stored to keys of any name, but the specific keys currently used and referenced by ARTIQ are summarized below:

idle_kernel: Stores (compiled .tar or .elf binary of) idle kernel. See Configuring the core device.
startup_kernel: Stores (compiled .tar or .elf binary of) startup kernel. See Configuring the core device.
ip: Sets IP address of core device. For this and other networking options see also Setting up core device networking.
mac: Sets MAC address of core device. Unnecessary on Kasli or Kasli-SoC, which can obtain it from EEPROM.
ipv4_default_route: Sets IPv4 default route.
ip6: Sets IPv6 address of core device. Can be set irrespective of and used simultaneously as IPv4 address above.
ipv6_default_route: Sets IPv6 default route.
sed_spread_enable: If set to 1, will activate Event spreading in this core device. Needs to be set separately for satellite devices in a DRTIO setting.
log_level: Sets core device log level. Possible levels are TRACE, DEBUG, INFO, WARN, ERROR, and OFF. Note that enabling higher log levels will produce some core device slowdown.
uart_log_level: Sets UART log level, with same options. Printing a large number of messages to UART log will produce a significant slowdown.
rtio_clock: Sets the RTIO clock; see Clocking.
routing_table: Sets the routing table in DRTIO systems; see Configuring the routing table. If not set, a star topology is assumed.
device_map: If set, allows the core log to connect RTIO channels to device names and use device names as well as channel numbers in log output. A correctly formatted table can be automatically generated with artiq_rtiomap, see Utilities.
net_trace: If set to 1, will activate net trace (print all packets sent and received to UART and core log). This will considerably slow down all network response from the core. Not applicable for ARTIQ-Zynq (Kasli-SoC, ZC706).
panic_reset: If set to 1, core device will restart automatically. Not applicable for ARTIQ-Zynq.
no_flash_boot: If set to 1, will disable flash boot. Network boot is attempted if possible. Not applicable for ARTIQ-Zynq.
boot: Allows full firmware/gateware (boot.bin) to be written with artiq_coremgmt, on ARTIQ-Zynq systems only.

Common configuration commands¶

To write, then read, the value test_value in the key my_key:

$ artiq_coremgmt config write -s my_key test_value
$ artiq_coremgmt config read my_key
b'test_value'

You do not need to remove a record in order to change its value. Just overwrite it:

$ artiq_coremgmt config write -s my_key some_value
$ artiq_coremgmt config write -s my_key some_other_value
$ artiq_coremgmt config read my_key
b'some_other_value'

You can write several records at once:

$ artiq_coremgmt config write -s key1 value1 -f key2 filename -s key3 value3

You can also write entire files in a record using the -f option. This is useful for instance to write the startup and idle kernels into the flash storage:

$ artiq_coremgmt config write -f idle_kernel idle.elf
$ artiq_coremgmt config read idle_kernel | head -c9
b'\x7fELF

The same option is used to write boot.bin in ARTIQ-Zynq. Note that the boot key is write-only.

See also the full reference of artiq_coremgmt in Utilities.

Clocking¶

The core device generates the RTIO clock using a PLL locked either to an internal crystal or to an external frequency reference. If choosing the latter, external reference must be provided (via front panel SMA input on Kasli boards). Valid configuration options include:

int_100 - internal crystal reference is used to synthesize a 100MHz RTIO clock,

int_125 - internal crystal reference is used to synthesize a 125MHz RTIO clock (default option),

int_150 - internal crystal reference is used to synthesize a 150MHz RTIO clock.

ext0_synth0_10to125 - external 10MHz reference clock used to synthesize a 125MHz RTIO clock,

ext0_synth0_80to125 - external 80MHz reference clock used to synthesize a 125MHz RTIO clock,

ext0_synth0_100to125 - external 100MHz reference clock used to synthesize a 125MHz RTIO clock,

ext0_synth0_125to125 - external 125MHz reference clock used to synthesize a 125MHz RTIO clock.

The selected option can be observed in the core device boot logs and accessed using artiq_coremgmt config with key rtio_clock.

As of ARTIQ 8, it is now possible for Kasli and Kasli-SoC configurations to enable WRPLL – a clock recovery method using DDMTD and Si549 oscillators – both to lock the main RTIO clock and (in DRTIO configurations) to lock satellites to master. This is set by the enable_wrpll option in the JSON description file. Because WRPLL requires slightly different gateware and firmware, it is necessary to re-flash devices to enable or disable it in extant systems. If you would like to obtain the firmware for a different WRPLL setting through AFWS, write to the helpdesk@ email.

If phase noise performance is the priority, it is recommended to use ext0_synth0_125to125 over other ext0 options, as this bypasses the (noisy) MMCM.

If not using WRPLL, PLL can also be bypassed entirely with the options

ext0_bypass (input clock used directly)

ext0_bypass_125 (explicit alias)

ext0_bypass_100 (explicit alias)

Bypassing the PLL ensures the skews between input clock, downstream clock outputs, and RTIO clock are deterministic across reboots of the system. This is useful when phase determinism is required in situations where the reference clock fans out to other devices before reaching the master.

Board details¶

FPGA board ports¶

All boards have a serial interface running at 115200bps 8-N-1 that can be used for debugging.

Kasli and Kasli-SoC¶

Kasli and Kasli-SoC are versatile core devices designed for ARTIQ as part of the open-source Sinara family of boards. All support interfacing to various EEM daughterboards (TTL, DDS, ADC, DAC…) through twelve onboard EEM ports. Kasli is based on a Xilinx Artix-7 FPGA, and Kasli-SoC, which runs on a separate Zynq port of the ARTIQ firmware, is based on a Zynq-7000 SoC, notably including an ARM CPU allowing for much heavier software computations at high speeds. They are architecturally very different but supply similar feature sets. Kasli itself exists in two versions, of which the improved Kasli v2.0 is now in more common use, but the original v1.0 remains supported by ARTIQ.

Kasli can be connected to the network using a 1000Base-X SFP module, installed into the SFP0 cage. Kasli-SoC features a built-in Ethernet port to use instead. If configured as a DRTIO satellite, both boards instead reserve SFP0 for the upstream DRTIO connection; remaining SFP cages are available for downstream connections. Equally, if used as a DRTIO master, all free SFP cages are available for downstream connections (i.e. all but SFP0 on Kasli, all four on Kasli-SoC).

The DRTIO line rate depends upon the RTIO clock frequency running, e.g., at 125MHz the line rate is 2.5Gbps, at 150MHz 3.0Gbps, etc. See below for information on RTIO clocks.

KC705 and ZC706¶

Two high-end evaluation kits are also supported as alternative ARTIQ core device target boards, respectively the Kintex7 KC705 and Zynq-SoC ZC706, both from Xilinx. ZC706, like Kasli-SoC, runs on the ARTIQ-Zynq port. Both are supported in several set variants, namely NIST CLOCK and QC2 (FMC), either available in master, satellite, or standalone variants. See also Building and developing ARTIQ for more on system variants.

Common KC705 problems¶

The SW13 switches on the board need to be set to 00001.
When connected, the CLOCK adapter breaks the JTAG chain due to TDI not being connected to TDO on the FMC mezzanine.
On some boards, the JTAG USB connector is not correctly soldered.

VADJ¶

With the NIST CLOCK and QC2 adapters, for safe operation of the DDS buses (to prevent damage to the IO banks of the FPGA), the FMC VADJ rail of the KC705 should be changed to 3.3V. Plug the Texas Instruments USB-TO-GPIO PMBus adapter into the PMBus connector in the corner of the KC705 and use the Fusion Digital Power Designer software to configure (requires Windows). Write to chip number U55 (address 52), channel 4, which is the VADJ rail, to make it 3.3V instead of 2.5V. Power cycle the KC705 board to check that the startup voltage on the VADJ rail is now 3.3V.

Variant details¶

NIST CLOCK¶

With the KC705 CLOCK hardware, the TTL lines are mapped as follows:

RTIO channel	TTL line	Capability
3,7,11,15	TTL3,7,11,15	Input+Output
0-2,4-6,8-10,12-14	TTL0-2,4-6,8-10,12-14	Output
16	PMT0	Input
17	PMT1	Input
18	SMA_GPIO_N	Input+Output
19	LED	Output
20	AMS101_LDAC_B	Output
21	LA32_P	Clock

The board has RTIO SPI buses mapped as follows:

RTIO channel	CS_N	MOSI	MISO	CLK
22	AMS101_CS_N	AMS101_MOSI		AMS101_CLK
23	SPI0_CS_N	SPI0_MOSI	SPI0_MISO	SPI0_CLK
24	SPI1_CS_N	SPI1_MOSI	SPI1_MISO	SPI1_CLK
25	SPI2_CS_N	SPI2_MOSI	SPI2_MISO	SPI2_CLK
26	MMC_SPI_CS_N	MMC_SPI_MOSI	MMC_SPI_MISO	MMC_SPI_CLK

The DDS bus is on channel 27.

The ZC706 variant is identical except for the following differences:

The SMA GPIO on channel 18 is replaced by an Input+Output capable PMOD1_0 line.

Since there is no SDIO on the programmable logic side, channel 26 is instead occupied by an additional SPI:

RTIO channel	CS_N	MOSI	MISO	CLK
26	PMOD_SPI_CS_N	PMOD_SPI_MOSI	PMOD_SPI_MISO	PMOD_SPI_CLK

NIST QC2¶

With the KC705 QC2 hardware, the TTL lines are mapped as follows:

RTIO channel	TTL line	Capability
0-39	TTL0-39	Input+Output
40	SMA_GPIO_N	Input+Output
41	LED	Output
42	AMS101_LDAC_B	Output
43, 44	CLK0, CLK1	Clock

The board has RTIO SPI buses mapped as follows:

RTIO channel	CS_N	MOSI	MISO	CLK
45	AMS101_CS_N	AMS101_MOSI		AMS101_CLK
46	SPI0_CS_N	SPI0_MOSI	SPI0_MISO	SPI0_CLK
47	SPI1_CS_N	SPI1_MOSI	SPI1_MISO	SPI1_CLK
48	SPI2_CS_N	SPI2_MOSI	SPI2_MISO	SPI2_CLK
49	SPI3_CS_N	SPI3_MOSI	SPI3_MISO	SPI3_CLK

There are two DDS buses on channels 50 (LPC, DDS0-DDS11) and 51 (HPC, DDS12-DDS23).

The QC2 hardware uses TCA6424A I2C I/O expanders to define the directions of its TTL buffers. There is one such expander per FMC card, and they are selected using the PCA9548 on the KC705.

To avoid I/O contention, the startup kernel should first program the TCA6424A expanders and then call output() on all TTLInOut channels that should be configured as outputs. See artiq.coredevice.i2c for more details.

The ZC706 is identical except for the following differences:

The SMA GPIO is once again replaced with PMOD1_0.

The first four TTLs also have edge counters, on channels 52, 53, 54, and 55.