mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-21 15:46:06 +01:00
FPGA : Pipelinage du module de communication
This commit is contained in:
parent
68c7223fe4
commit
6013d6c9a9
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@ -174,11 +174,14 @@ build/%.o: %.vhd
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build/%_tb: build/%_tb.o $(addprefix build/,$(subst .vhd,.o,$(VHDSOURCE)))
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ghdl -e $(GHDL_FLAGS) --workdir="$(shell dirname "$@")" -o "$(shell echo "$@" | tr A-Z a-z)" "$(basename $(notdir $<))"
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%_test: build/%_tb
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(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))")
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build/%_tb.vcd: build/%_tb
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(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --vcd="../$@" )
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(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --vcd="../$@")
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build/%_tb.ghw: build/%_tb
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(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --wave="../$@" )
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(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --wave="../$@")
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%_wave: build/%_tb.ghw
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gtkwave --save "$(notdir $(basename $<)).gtkw" "$<"
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@ -9,11 +9,11 @@ entity communication is
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reset : in std_logic;
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left : in integer;
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right : in integer;
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zerocoder : out std_logic;
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zerocoder : out std_logic := '0';
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front : in integer;
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back : in integer;
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txData : out std_logic_vector(7 downto 0);
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txStb : out std_logic;
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txData : out std_logic_vector(7 downto 0) := x"00";
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txStb : out std_logic := '0';
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txAck : in std_logic;
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rxData : in std_logic_vector(7 downto 0);
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rxStb : in std_logic
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@ -30,95 +30,73 @@ architecture Behavioral of communication is
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constant F2AI_CAPT : std_logic_vector(7 downto 0) := x"43"; -- 'C'
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constant F2AT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c'
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type readMessages is (none, F2AT_CAPTs);
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type sendMessages is (none, A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
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constant SENDQUEUE_SIZE : integer := 16;
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type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages;
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signal frontTrigger : integer := 0;
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signal backTrigger : integer := 0;
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signal triggerSet : std_logic := '0';
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signal txStbs : std_logic := '0';
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type readMessages is (F2AT_CAPTs);
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signal readMessage : readMessages;
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signal readSize : integer := 0;
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signal readOffset : integer := 0;
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signal readData : std_logic_vector(63 downto 0) := (others => '0'); -- Max message size (will be trimmed down by the synthetizer)
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type sendMessages is (A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
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constant SENDQUEUE_SIZE : integer := 16;
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type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages;
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signal sendQueueMemory : sendQueueMemorya;
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signal sendTail : integer := 0;
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signal sendHead : integer := 0;
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signal sendLooped : std_logic := '0';
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signal sendAvailable: std_logic := '0';
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signal sendBegun : std_logic := '0';
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signal sendOffset : integer := 0;
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signal sendSize : integer := 0;
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signal sendData : std_logic_vector(63 downto 0) := (others => '0'); -- Max message size (will be trimmed down by the synthetizer)
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begin
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txStb <= txStbs;
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readsendFA : process(clock, reset)
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variable readMessage : readMessages := none;
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variable readSize : integer := 0;
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variable readOffset : integer := 0;
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variable readData : std_logic_vector(63 downto 0); -- Max message size (will be trimmed down by the synthetizer)
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variable sendMessage : sendMessages := none;
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variable sendOffset : integer := 0;
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variable sendSize : integer := 0;
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variable sendData : std_logic_vector(63 downto 0); -- Max message size (will be trimmed down by the synthetizer)
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-- Send queue
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variable sendQueueMemory : sendQueueMemorya;
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variable sendTail : integer := 0;
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variable sendHead : integer := 0;
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variable sendLooped : boolean := false;
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procedure pushSend
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(message : in sendMessages) is
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begin
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sendQueueMemory(sendHead) := message;
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sendQueueMemory(sendHead) <= message;
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if sendHead < SENDQUEUE_SIZE - 1 then
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sendHead := sendHead + 1;
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sendHead <= sendHead + 1;
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else
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sendHead := 0;
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sendLooped := true;
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sendHead <= 0;
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sendLooped <= '1';
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end if;
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end pushSend;
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procedure popSend
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(message : out sendMessages) is
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begin
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if sendTail < sendHead or sendLooped then
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message := sendQueueMemory(sendTail);
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if sendTail < SENDQUEUE_SIZE - 1 then
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sendTail := sendTail + 1;
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else
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sendTail := 0;
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sendLooped := false;
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end if;
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else
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message := none;
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end if;
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end popSend;
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begin
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if reset = '1' then
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readMessage := none;
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readOffset := 0;
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readSize := 0;
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sendMessage := none;
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sendOffset := 0;
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sendSize := 0;
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sendTail := 0;
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sendHead := 0;
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sendLooped := false;
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frontTrigger <= 0;
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backTrigger <= 0;
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triggerSet <= '0';
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readSize <= 0;
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readOffset <= 0;
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readData <= (others => '0');
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sendTail <= 0;
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sendHead <= 0;
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sendLooped <= '0';
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sendAvailable<= '0';
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sendBegun <= '0';
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sendOffset <= 0;
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sendSize <= 0;
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sendData <= (others => '0');
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txStb <= '0';
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zerocoder <= '0';
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txData <= x"00";
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triggerSet <= '0';
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else
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if rising_edge(clock) then
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zerocoder <= '0';
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-- If read something
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if rxStb = '1' then
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if readSize = 0 then
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readSize := 0;
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if rxStb = '1' then -- Incomming character
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if readSize = 0 then -- Beginning of message
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readSize <= 0;
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case rxData is
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when A2FD_PING =>
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pushSend(A2FD_PINGs);
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@ -127,80 +105,85 @@ begin
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when F2AI_CAPT =>
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pushSend(F2AI_CAPTs);
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when F2AT_CAPT =>
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readMessage := F2AT_CAPTs;
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readSize := 4;
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readMessage <= F2AT_CAPTs;
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readSize <= 4;
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when others =>
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pushSend(F2AD_ERR_UNKNOWN_CODEs);
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end case;
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else
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readData((readOffset + 1) * 8 - 1 downto readOffset * 8) := rxData;
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if readOffset = readSize - 1 then
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case readMessage is
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when F2AT_CAPTs =>
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frontTrigger <= to_integer(unsigned(readData(15 downto 0)));
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backTrigger <= to_integer(unsigned(readData(31 downto 16)));
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triggerSet <= '1';
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when others =>
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pushSend(F2AD_ERR_UNKNOWN_CODEs);
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end case;
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readMessage := none;
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readOffset := 0;
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readSize := 0;
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else
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readOffset := readOffset + 1;
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else -- Rest of message
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if readOffset < readSize then
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readData((readOffset + 1) * 8 - 1 downto readOffset * 8) <= rxData;
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readOffset <= readOffset + 1;
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end if;
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end if;
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end if;
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if (triggerSet = '1' and ((front > frontTrigger) or (back > backTrigger))) then
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elsif readSize > 0 and readOffset = readSize then -- Rest of message ended
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case readMessage is
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when F2AT_CAPTs =>
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frontTrigger <= to_integer(unsigned(readData(15 downto 0)));
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backTrigger <= to_integer(unsigned(readData(31 downto 16)));
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triggerSet <= '1';
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when others =>
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pushSend(F2AD_ERR_UNKNOWN_CODEs);
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end case;
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readOffset <= 0;
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readSize <= 0;
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elsif (triggerSet = '1' and ((front > frontTrigger) or (back > backTrigger))) then
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pushSend(F2AI_CAPTs);
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triggerSet <= '0';
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end if;
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-- If what was sent is acknowledged or nothing is being sent atm
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if txStbs = '0' or txAck = '1' then
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if sendSize = 0 then -- If no data to be sent
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popSend(sendMessage); -- See if there a message in the message queue
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case sendMessage is
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when none => -- No message available, do nothing
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if sendAvailable = '0' then -- If no message is being sent
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if sendTail < sendHead or sendLooped = '1' then -- If there is a message in the queue
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-- Update tail
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if sendTail < SENDQUEUE_SIZE - 1 then
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sendTail <= sendTail + 1;
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else
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sendTail <= 0;
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sendLooped <= '0';
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end if;
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sendAvailable <= '1';
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case sendQueueMemory(sendTail) is
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when A2FD_PINGs =>
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sendData(7 downto 0) := A2FD_PING;
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sendSize := 1;
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sendData(7 downto 0) <= A2FD_PING;
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sendSize <= 1;
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when F2AI_CAPTs =>
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sendData(7 downto 0) := F2AI_CAPT;
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sendData(23 downto 8) := std_logic_vector(to_signed(front, 16));
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sendData(39 downto 24) := std_logic_vector(to_unsigned(back, 16));
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sendSize := 5;
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sendData(7 downto 0) <= F2AI_CAPT;
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sendData(23 downto 8) <= std_logic_vector(to_signed(front, 16));
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sendData(39 downto 24) <= std_logic_vector(to_unsigned(back, 16));
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sendSize <= 5;
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when F2AI_CODERs =>
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zerocoder <= '1';
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sendData(7 downto 0) := F2AI_CODER;
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sendData(23 downto 8) := std_logic_vector(to_signed(left, 16));
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sendData(39 downto 24) := std_logic_vector(to_signed(right, 16));
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sendSize := 5;
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sendData(7 downto 0) <= F2AI_CODER;
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sendData(23 downto 8) <= std_logic_vector(to_signed(left, 16));
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sendData(39 downto 24) <= std_logic_vector(to_signed(right, 16));
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sendSize <= 5;
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when others => -- Including F2AD_ERR_UNKNOWN_CODEs
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sendData(7 downto 0) := F2AD_ERR;
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sendData(15 downto 8) := ERR_UNKNOWN_CODE;
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sendSize := 2;
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sendData(7 downto 0) <= F2AD_ERR;
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sendData(15 downto 8) <= ERR_UNKNOWN_CODE;
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sendSize <= 2;
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end case;
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end if;
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if sendSize > 0 then -- If data to be sent
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txData <= sendData((sendOffset + 1) * 8 - 1 downto sendOffset * 8);
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txStbs <= '1';
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if sendOffset = sendSize - 1 then -- If it was the last character sent
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sendSize := 0; -- Make next iteration check for send queue
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sendOffset := 0;
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else -- Still data to be sent after that
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sendOffset := sendOffset + 1;
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else -- If a message is being sent
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if sendBegun = '0' or txAck = '1' then
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sendBegun <= '1';
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if sendOffset < sendSize then -- There is still data to send
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txData <= sendData((sendOffset + 1) * 8 - 1 downto sendOffset * 8);
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txStb <= '1';
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sendOffset <= sendOffset + 1;
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else -- There is no more data to send
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sendOffset <= 0;
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txStb <= '0';
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sendBegun <= '0';
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sendAvailable <= '0';
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end if;
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else -- If really no data to be sent
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txStbs <= '0';
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end if;
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end if;
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end if;
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end if;
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end process;
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end Behavioral;
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@ -1,20 +1,20 @@
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[*]
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[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
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[*] Tue Feb 27 20:44:59 2018
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[*] Wed Feb 28 14:53:10 2018
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[*]
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[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw"
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[dumpfile_mtime] "Tue Feb 27 20:44:10 2018"
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[dumpfile_size] 6988
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[dumpfile_mtime] "Wed Feb 28 14:51:41 2018"
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[dumpfile_size] 7845
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[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw"
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[timestart] 0
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[size] 1600 862
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[pos] -1 -1
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*-29.975166 2184000000 -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
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*-30.009827 1783000000 -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
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[treeopen] top.
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[treeopen] top.communication_tb.
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[treeopen] top.communication_tb.dut.
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[sst_width] 213
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[signals_width] 126
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[signals_width] 198
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[sst_expanded] 1
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[sst_vpaned_height] 200
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@28
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@ -29,6 +29,17 @@ top.communication_tb.reset
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@28
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[color] 5
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top.communication_tb.dut.rxstb
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@420
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[color] 3
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top.communication_tb.dut.sendhead
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[color] 3
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top.communication_tb.dut.sendtail
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[color] 3
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top.communication_tb.dut.sendsize
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[color] 3
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top.communication_tb.dut.sendavailable
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[color] 3
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top.communication_tb.dut.sendbegun
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@22
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[color] 1
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#{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]
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@ -44,12 +55,15 @@ top.communication_tb.dut.txack
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top.communication_tb.dut.zerocoder
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@420
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[color] 2
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top.communication_tb.dut.left
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[color] 2
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top.communication_tb.dut.right
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[color] 2
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top.communication_tb.dut.fronttrigger
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[color] 2
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top.communication_tb.dut.backtrigger
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[color] 2
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top.communication_tb.dut.front
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@421
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[color] 2
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top.communication_tb.dut.back
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[pattern_trace] 1
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@ -69,10 +69,10 @@ begin
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stimuli : process
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variable tampon : multipleChar;
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begin
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left <= 0;
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right <= 0;
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front <= 0;
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back <= 0;
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left <= 1152;
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right <= 11614;
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txAck <= '0';
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rxData <= (others => '0');
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rxStb <= '0';
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@ -185,24 +185,23 @@ begin
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assert txStb = '0' report "Not stopping send" severity error;
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-- Test encoder
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left <= 1152;
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right <= 11614;
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report "TEST Receiving 'D'" severity note;
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rxData <= x"44";
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rxStb <= '1';
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wait for TbPeriod;
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rxStb <= '0';
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wait for TbPeriod;
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assert zerocoder = '1' report "Not reseting coder values" severity error;
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left <= 0;
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right <= 0;
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rxStb <= '0';
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wait for TbPeriod;
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assert zerocoder = '0' report "Not stopping reseting coder values" severity error;
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tampon(0 to 4) := (x"44", x"80", x"04", x"5E", x"2D");
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for I in 0 to 4 loop
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wait for 100 ns;
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assert txData = tampon(I) report "Not sent correct data, got " & integer'image(to_integer(unsigned(txData))) & ", expected " & integer'image(to_integer(unsigned(tampon(I))))severity error;
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assert txData = tampon(I) report "Not sent correct data, got " & integer'image(to_integer(unsigned(txData))) & ", expected " & integer'image(to_integer(unsigned(tampon(I)))) severity error;
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assert txStb = '1' report "Not sending" severity error;
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wait for 100 ns;
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@ -1,10 +1,10 @@
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[*]
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[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
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[*] Wed Feb 28 09:53:14 2018
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[*] Wed Feb 28 11:47:06 2018
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[*]
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[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/fir_tb.ghw"
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[dumpfile_mtime] "Wed Feb 28 09:53:10 2018"
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[dumpfile_size] 595494
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[dumpfile_mtime] "Wed Feb 28 11:46:54 2018"
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[dumpfile_size] 458919
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[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/fir_tb.gtkw"
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[timestart] 0
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[size] 1600 862
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