mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-21 23:56:04 +01:00
FPGA : Envoi de valeurs des capteurs
This commit is contained in:
parent
d0e5842ca4
commit
23ef0c57dc
|
|
@ -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 $<))"
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
||||
if sendSize > 0 then -- If data to be sent
|
||||
txData <= sendData((sendOffset + 1) * 8 - 1 downto sendOffset * 8);
|
||||
txStbs <= '1';
|
||||
case sendMessage is
|
||||
when none => -- If no message available: don't send anything
|
||||
|
||||
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';
|
||||
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;
|
||||
end if;
|
||||
end if;
|
||||
end if;
|
||||
end if;
|
||||
|
|
|
|||
|
|
@ -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]
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
Loading…
Reference in a new issue