From 23ef0c57dca3ae1ebc65977fe8ddde44faba391d Mon Sep 17 00:00:00 2001 From: Geoffrey Frogeye Date: Mon, 26 Feb 2018 21:12:51 +0100 Subject: [PATCH] FPGA : Envoi de valeurs des capteurs --- fpga/Makefile | 4 ++- fpga/communication.vhd | 64 +++++++++++++++++++++++--------------- fpga/communication_tb.gtkw | 13 +++----- fpga/communication_tb.vhd | 29 ++++++++++++++++- 4 files changed, 75 insertions(+), 35 deletions(-) diff --git a/fpga/Makefile b/fpga/Makefile index 0a536c0..27af91a 100644 --- a/fpga/Makefile +++ b/fpga/Makefile @@ -163,11 +163,13 @@ isimgui: build/isim_$(TB)$(EXE) # Testing (using ghdl and gtkwave) ########################################################################### +GHDL_FLAGS=--mb-comments + %_syntax: %.vhd ghdl -s --mb-comments "$<" build/%.o: %.vhd - ghdl -a --mb-comments --workdir="$(shell dirname "$@")" "$<" + ghdl -a $(GHDL_FLAGS) --workdir="$(shell dirname "$@")" "$<" build/%_tb: build/%_tb.o $(addprefix build/,$(subst .vhd,.o,$(VHDSOURCE))) ghdl -e --workdir="$(shell dirname "$@")" -o "$(shell echo "$@" | tr A-Z a-z)" "$(basename $(notdir $<))" diff --git a/fpga/communication.vhd b/fpga/communication.vhd index 931a524..53ba3ca 100644 --- a/fpga/communication.vhd +++ b/fpga/communication.vhd @@ -33,9 +33,9 @@ architecture Behavioral of communication is signal readState : readStates := readIdle; signal readOffset : integer := 0; - type sendMessages is (none, A2FD_PINGs, F2AD_ERR_UNKNOWN_CODEs); + type sendMessages is (none, A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs); - constant SENDQUEUE_SIZE : integer := 4; + constant SENDQUEUE_SIZE : integer := 16; type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages; signal frontTrigger : integer := 0; @@ -47,11 +47,12 @@ begin txStb <= txStbs; - readsendFA : process(clock, reset) variable sendMessage : sendMessages := none; variable sendOffset : integer := 0; + variable sendSize : integer := 0; + variable sendData : std_logic_vector(63 downto 0); -- Max message size (will be trimmed down by the synthetizer) -- Send queue variable sendQueueMemory : sendQueueMemorya; @@ -98,37 +99,50 @@ begin case rxData is when A2FD_PING => pushSend(A2FD_PINGs); + when F2AI_CODER => + pushSend(F2AI_CODERs); + when F2AI_CAPT => + pushSend(F2AI_CAPTs); when others => pushSend(F2AD_ERR_UNKNOWN_CODEs); end case; end if; end if; - -- If what was sent is acknowledged and there is still something to send + -- If what was sent is acknowledged or nothing is being sent atm if txStbs = '0' or txAck = '1' then - if sendMessage = none then -- Reads a message if none is currently being sent - sendOffset := 0; - popSend(sendMessage); - else - sendOffset := sendOffset + 1; + if sendSize = 0 then -- If no data to be sent + popSend(sendMessage); -- See if there a message in the message queue + case sendMessage is + when none => -- No message available, do nothing + when A2FD_PINGs => + sendData(7 downto 0) := A2FD_PING; + sendSize := 1; + when F2AI_CAPTs => + sendData(7 downto 0) := F2AI_CAPT; + sendData(23 downto 8) := std_logic_vector(to_unsigned(front, 16)); + sendData(39 downto 24) := std_logic_vector(to_unsigned(back, 16)); + sendSize := 5; + when others => -- Including F2AD_ERR_UNKNOWN_CODEs + sendData(7 downto 0) := F2AD_ERR; + sendData(15 downto 8) := ERR_UNKNOWN_CODE; + sendSize := 2; + end case; end if; - txStbs <= '1'; - case sendMessage is - when none => -- If no message available: don't send anything - txStbs <= '0'; - when A2FD_PINGs => - txData <= A2FD_PING; - sendMessage := none; - when F2AD_ERR_UNKNOWN_CODEs => - case sendOffset is - when 0 => - txData <= F2AD_ERR; - when others => - txData <= ERR_UNKNOWN_CODE; - sendMessage := none; - end case; - end case; + if sendSize > 0 then -- If data to be sent + txData <= sendData((sendOffset + 1) * 8 - 1 downto sendOffset * 8); + txStbs <= '1'; + + if sendOffset = sendSize - 1 then -- If it was the last character sent + sendSize := 0; -- Make next iteration check for send queue + sendOffset := 0; + else -- Still data to be sent after that + sendOffset := sendOffset + 1; + end if; + else -- If really no data to be sent + txStbs <= '0'; + end if; end if; end if; end if; diff --git a/fpga/communication_tb.gtkw b/fpga/communication_tb.gtkw index a9c81c2..c4a8ae6 100644 --- a/fpga/communication_tb.gtkw +++ b/fpga/communication_tb.gtkw @@ -1,15 +1,15 @@ [*] [*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI -[*] Mon Feb 26 17:06:42 2018 +[*] Mon Feb 26 19:15:08 2018 [*] [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw" -[dumpfile_mtime] "Mon Feb 26 17:03:51 2018" -[dumpfile_size] 3315 +[dumpfile_mtime] "Mon Feb 26 19:15:01 2018" +[dumpfile_size] 4519 [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw" [timestart] 0 -[size] 1680 1012 +[size] 1600 862 [pos] -1 -1 -*-28.533670 586000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 +*-29.277596 1395000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 [treeopen] top. [treeopen] top.communication_tb. [treeopen] top.communication_tb.dut. @@ -34,9 +34,6 @@ top.communication_tb.dut.rxstb top.communication_tb.dut.readstate [color] 6 top.communication_tb.dut.readoffset -@421 -[color] 2 -top.communication_tb.dut.a @22 [color] 1 #{top.communication_tb.txdata[7:0]} top.communication_tb.txdata[7] top.communication_tb.txdata[6] top.communication_tb.txdata[5] top.communication_tb.txdata[4] top.communication_tb.txdata[3] top.communication_tb.txdata[2] top.communication_tb.txdata[1] top.communication_tb.txdata[0] diff --git a/fpga/communication_tb.vhd b/fpga/communication_tb.vhd index 28598e6..1ffa495 100644 --- a/fpga/communication_tb.vhd +++ b/fpga/communication_tb.vhd @@ -4,6 +4,7 @@ library ieee; use ieee.std_logic_1164.all; +use IEEE.NUMERIC_STD.ALL; entity communication_tb is end communication_tb; @@ -40,6 +41,8 @@ architecture tb of communication_tb is signal TbClock : std_logic := '0'; signal TbSimEnded : std_logic := '0'; + type multipleChar is array (0 to 15) of std_logic_vector(7 downto 0); + begin dut : communication @@ -61,6 +64,7 @@ begin clock <= TbClock; stimuli : process + variable shouldReceive : multipleChar; begin left <= 0; right <= 0; @@ -156,8 +160,31 @@ begin wait for 100 ns; assert txStb = '0' report "Not stopping send" severity error; - wait for 100 ns; -- Margin + -- Test captor + front <= 1152; + back <= 11614; + report "TEST Receiving 'C'" severity note; + rxData <= x"43"; + rxStb <= '1'; + wait for TbPeriod; + rxStb <= '0'; + + shouldReceive(0 to 4) := (x"43", x"80", x"04", x"5E", x"2D"); + for I in 0 to 4 loop + wait for 100 ns; + assert txData = shouldReceive(I) report "Not sent correct data, got " & integer'image(to_integer(unsigned(txData))) & ", expected " & integer'image(to_integer(unsigned(shouldReceive(I))))severity error; + assert txStb = '1' report "Not sending" severity error; + + report "Acknowledging send" severity note; + wait for 100 ns; + txAck <= '1'; + wait for TbPeriod; + txAck <= '0'; + end loop; + + + wait for 100 ns; -- Margin TbSimEnded <= '1'; wait;