FPGA : Envoi de valeurs des capteurs

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 $<))"

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
+                    if sendSize = 0 then -- If no data to be sent
-                        sendOffset := 0;
+                        popSend(sendMessage); -- See if there a message in the message queue
-                        popSend(sendMessage);
+                        case sendMessage is
-                    else
+                            when none => -- No message available, do nothing
-                        sendOffset := sendOffset + 1;
+                            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';
+                    if sendSize > 0 then -- If data to be sent
-                    case sendMessage is
+                        txData <= sendData((sendOffset + 1) * 8 - 1 downto sendOffset * 8);
-                        when none => -- If no message available: don't send anything
+                        txStbs <= '1';
-                            txStbs <= '0';
+
-                        when A2FD_PINGs =>
+                        if sendOffset = sendSize - 1 then -- If it was the last character sent
-                            txData <= A2FD_PING;
+                            sendSize := 0; -- Make next iteration check for send queue
-                            sendMessage := none;
+                            sendOffset := 0;
-                        when F2AD_ERR_UNKNOWN_CODEs =>
+                        else -- Still data to be sent after that
-                            case sendOffset is
+                            sendOffset := sendOffset + 1;
-                                when 0 =>
+                        end if;
-                                    txData <= F2AD_ERR;
+                    else -- If really no data to be sent
-                                when others =>
+                        txStbs <= '0';
-                                    txData <= ERR_UNKNOWN_CODE;
+                    end if;
-                                    sendMessage := none;
-                            end case;
-                    end case;
                 end if;
             end if;
         end if;

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_mtime] "Mon Feb 26 19:15:01 2018"
-[dumpfile_size] 3315
+[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]

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;