SetFpgaConfig

SetFpgaConfig is a command that changes the settings held by the FPGA.

API

Rust

let config = FpgaConfig {
    sync_phase_lock,
    sync_kp,
    sync_ki,
    sync_kf,
};
SetFpgaConfig::new(config);

Python

config = FpgaConfig(
    sync_phase_lock=sync_phase_lock,
    sync_kp=sync_kp,
    sync_ki=sync_ki,
    sync_kf=sync_kf,
)
SetFpgaConfig(config)

C#

var config = new FpgaConfig
{
    SyncPhaseLock = syncPhaseLock,
    SyncKp = syncKp,
    SyncKi = syncKi,
    SyncKf = syncKf,
};
new SetFpgaConfig(config);

FpgaConfig

Field	Type	Default	Description
sync_phase_lock	bool	true	Fine adjustment that phase-locks the FPGA clock to the sync pulse shared between devices. (enabled by default)
sync_kp	u16	64	Proportional gain of the fine adjustment.
sync_ki	u16	1024	Integral gain of the fine adjustment.
sync_kf	u16	4096	Integral gain of the frequency estimation before the fine adjustment engages.

Example

Rust

use autd3_rs::commands::{Clear, FpgaConfig, SetFpgaConfig, Synchronize};
use autd3_rs::geometry::{Autd3, Geometry};
use autd3_rs::Client;
use autd3_rs::udp::TransportOption;

let geometry = Geometry::new(vec![Autd3::default()]);
let option = TransportOption::default();
let mut client = Client::open(&geometry, &option).await?;
client.send(Clear).await?;
client.send(Synchronize).await?;

client.send(SetFpgaConfig::new(FpgaConfig {
    sync_phase_lock: false,
    ..Default::default()
})).await?;

client.send(SetFpgaConfig::default()).await?;

Python

import asyncio

from autd3 import Client, TransportOption
from autd3.commands import Clear, FpgaConfig, SetFpgaConfig, Synchronize
from autd3.geometry import Autd3, Geometry


async def main() -> None:
    geometry = Geometry([Autd3()])
    with await Client.open(geometry, TransportOption()) as client:
        await client.send(Clear())
        await client.send(Synchronize())

        await client.send(SetFpgaConfig(FpgaConfig(sync_phase_lock=False)))

        await client.send(SetFpgaConfig())


asyncio.run(main())

C#

using System.Threading.Tasks;
using AUTD3;

var geometry = new Geometry(new[] { new Autd3() });
using var client = await Client.OpenAsync(geometry, new TransportOption());
await client.SendAsync(new Clear());
await client.SendAsync(new Synchronize());

await client.SendAsync(new SetFpgaConfig(new FpgaConfig { SyncPhaseLock = false }));

await client.SendAsync(new SetFpgaConfig());