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FPGA : Pipelinage du module de communication

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This commit is contained in:
Geoffrey Frogeye 2018-02-28 16:00:12 +01:00
parent 68c7223fe4
commit 6013d6c9a9
5 changed files with 133 additions and 134 deletions
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7
fpga/Makefile
View file

@ -174,11 +174,14 @@ build/%.o: %.vhd
build/%_tb: build/%_tb.o $(addprefix build/,$(subst .vhd,.o,$(VHDSOURCE)))
ghdl -e $(GHDL_FLAGS) --workdir="$(shell dirname "$@")" -o "$(shell echo "$@" | tr A-Z a-z)" "$(basename $(notdir $<))"
%_test: build/%_tb
(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))")
build/%_tb.vcd: build/%_tb
(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --vcd="../$@" )
(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --vcd="../$@")
build/%_tb.ghw: build/%_tb
(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --wave="../$@" )
(cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --wave="../$@")
%_wave: build/%_tb.ghw
gtkwave --save "$(notdir $(basename $<)).gtkw" "$<"

217
fpga/communication.vhd
View file

@ -9,11 +9,11 @@ entity communication is
reset : in std_logic;
left : in integer;
right : in integer;
zerocoder : out std_logic;
zerocoder : out std_logic := '0';
front : in integer;
back : in integer;
txData : out std_logic_vector(7 downto 0);
txStb : out std_logic;
txData : out std_logic_vector(7 downto 0) := x"00";
txStb : out std_logic := '0';
txAck : in std_logic;
rxData : in std_logic_vector(7 downto 0);
rxStb : in std_logic
@ -30,95 +30,73 @@ architecture Behavioral of communication is
constant F2AI_CAPT : std_logic_vector(7 downto 0) := x"43"; -- 'C'
constant F2AT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c'
type readMessages is (none, F2AT_CAPTs);
type sendMessages is (none, A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
constant SENDQUEUE_SIZE : integer := 16;
type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages;
signal frontTrigger : integer := 0;
signal backTrigger : integer := 0;
signal triggerSet : std_logic := '0';
signal txStbs : std_logic := '0';
type readMessages is (F2AT_CAPTs);
signal readMessage : readMessages;
signal readSize : integer := 0;
signal readOffset : integer := 0;
signal readData : std_logic_vector(63 downto 0) := (others => '0'); -- Max message size (will be trimmed down by the synthetizer)
type sendMessages is (A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
constant SENDQUEUE_SIZE : integer := 16;
type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages;
signal sendQueueMemory : sendQueueMemorya;
signal sendTail : integer := 0;
signal sendHead : integer := 0;
signal sendLooped : std_logic := '0';
signal sendAvailable: std_logic := '0';
signal sendBegun : std_logic := '0';
signal sendOffset : integer := 0;
signal sendSize : integer := 0;
signal sendData : std_logic_vector(63 downto 0) := (others => '0'); -- Max message size (will be trimmed down by the synthetizer)
begin
txStb <= txStbs;
readsendFA : process(clock, reset)
variable readMessage : readMessages := none;
variable readSize : integer := 0;
variable readOffset : integer := 0;
variable readData : std_logic_vector(63 downto 0); -- Max message size (will be trimmed down by the synthetizer)
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;
variable sendTail : integer := 0;
variable sendHead : integer := 0;
variable sendLooped : boolean := false;
procedure pushSend
(message : in sendMessages) is
begin
sendQueueMemory(sendHead) := message;
sendQueueMemory(sendHead) <= message;
if sendHead < SENDQUEUE_SIZE - 1 then
sendHead := sendHead + 1;
sendHead <= sendHead + 1;
else
sendHead := 0;
sendLooped := true;
sendHead <= 0;
sendLooped <= '1';
end if;
end pushSend;
procedure popSend
(message : out sendMessages) is
begin
if sendTail < sendHead or sendLooped then
message := sendQueueMemory(sendTail);
if sendTail < SENDQUEUE_SIZE - 1 then
sendTail := sendTail + 1;
else
sendTail := 0;
sendLooped := false;
end if;
else
message := none;
end if;
end popSend;
begin
if reset = '1' then
readMessage := none;
readOffset := 0;
readSize := 0;
sendMessage := none;
sendOffset := 0;
sendSize := 0;
sendTail := 0;
sendHead := 0;
sendLooped := false;
frontTrigger <= 0;
backTrigger <= 0;
triggerSet <= '0';
readSize <= 0;
readOffset <= 0;
readData <= (others => '0');
sendTail <= 0;
sendHead <= 0;
sendLooped <= '0';
sendAvailable<= '0';
sendBegun <= '0';
sendOffset <= 0;
sendSize <= 0;
sendData <= (others => '0');
txStb <= '0';
zerocoder <= '0';
txData <= x"00";
triggerSet <= '0';
else
if rising_edge(clock) then
zerocoder <= '0';
-- If read something
if rxStb = '1' then
if readSize = 0 then
readSize := 0;
if rxStb = '1' then -- Incomming character
if readSize = 0 then -- Beginning of message
readSize <= 0;
case rxData is
when A2FD_PING =>
pushSend(A2FD_PINGs);
@ -127,80 +105,85 @@ begin
when F2AI_CAPT =>
pushSend(F2AI_CAPTs);
when F2AT_CAPT =>
readMessage := F2AT_CAPTs;
readSize := 4;
readMessage <= F2AT_CAPTs;
readSize <= 4;
when others =>
pushSend(F2AD_ERR_UNKNOWN_CODEs);
end case;
else
readData((readOffset + 1) * 8 - 1 downto readOffset * 8) := rxData;
if readOffset = readSize - 1 then
case readMessage is
when F2AT_CAPTs =>
frontTrigger <= to_integer(unsigned(readData(15 downto 0)));
backTrigger <= to_integer(unsigned(readData(31 downto 16)));
triggerSet <= '1';
when others =>
pushSend(F2AD_ERR_UNKNOWN_CODEs);
end case;
readMessage := none;
readOffset := 0;
readSize := 0;
else
readOffset := readOffset + 1;
else -- Rest of message
if readOffset < readSize then
readData((readOffset + 1) * 8 - 1 downto readOffset * 8) <= rxData;
readOffset <= readOffset + 1;
end if;
end if;
end if;
if (triggerSet = '1' and ((front > frontTrigger) or (back > backTrigger))) then
elsif readSize > 0 and readOffset = readSize then -- Rest of message ended
case readMessage is
when F2AT_CAPTs =>
frontTrigger <= to_integer(unsigned(readData(15 downto 0)));
backTrigger <= to_integer(unsigned(readData(31 downto 16)));
triggerSet <= '1';
when others =>
pushSend(F2AD_ERR_UNKNOWN_CODEs);
end case;
readOffset <= 0;
readSize <= 0;
elsif (triggerSet = '1' and ((front > frontTrigger) or (back > backTrigger))) then
pushSend(F2AI_CAPTs);
triggerSet <= '0';
end if;
-- If what was sent is acknowledged or nothing is being sent atm
if txStbs = '0' or txAck = '1' then
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
if sendAvailable = '0' then -- If no message is being sent
if sendTail < sendHead or sendLooped = '1' then -- If there is a message in the queue
-- Update tail
if sendTail < SENDQUEUE_SIZE - 1 then
sendTail <= sendTail + 1;
else
sendTail <= 0;
sendLooped <= '0';
end if;
sendAvailable <= '1';
case sendQueueMemory(sendTail) is
when A2FD_PINGs =>
sendData(7 downto 0) := A2FD_PING;
sendSize := 1;
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_signed(front, 16));
sendData(39 downto 24) := std_logic_vector(to_unsigned(back, 16));
sendSize := 5;
sendData(7 downto 0) <= F2AI_CAPT;
sendData(23 downto 8) <= std_logic_vector(to_signed(front, 16));
sendData(39 downto 24) <= std_logic_vector(to_unsigned(back, 16));
sendSize <= 5;
when F2AI_CODERs =>
zerocoder <= '1';
sendData(7 downto 0) := F2AI_CODER;
sendData(23 downto 8) := std_logic_vector(to_signed(left, 16));
sendData(39 downto 24) := std_logic_vector(to_signed(right, 16));
sendSize := 5;
sendData(7 downto 0) <= F2AI_CODER;
sendData(23 downto 8) <= std_logic_vector(to_signed(left, 16));
sendData(39 downto 24) <= std_logic_vector(to_signed(right, 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;
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';
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;
else -- If a message is being sent
if sendBegun = '0' or txAck = '1' then
sendBegun <= '1';
if sendOffset < sendSize then -- There is still data to send
txData <= sendData((sendOffset + 1) * 8 - 1 downto sendOffset * 8);
txStb <= '1';
sendOffset <= sendOffset + 1;
else -- There is no more data to send
sendOffset <= 0;
txStb <= '0';
sendBegun <= '0';
sendAvailable <= '0';
end if;
else -- If really no data to be sent
txStbs <= '0';
end if;
end if;
end if;
end if;
end process;
end Behavioral;

26
fpga/communication_tb.gtkw
View file

@ -1,20 +1,20 @@
[*]
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
[*] Tue Feb 27 20:44:59 2018
[*] Wed Feb 28 14:53:10 2018
[*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw"
[dumpfile_mtime] "Tue Feb 27 20:44:10 2018"
[dumpfile_size] 6988
[dumpfile_mtime] "Wed Feb 28 14:51:41 2018"
[dumpfile_size] 7845
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw"
[timestart] 0
[size] 1600 862
[pos] -1 -1
*-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
*-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
[treeopen] top.
[treeopen] top.communication_tb.
[treeopen] top.communication_tb.dut.
[sst_width] 213
[signals_width] 126
[signals_width] 198
[sst_expanded] 1
[sst_vpaned_height] 200
@28
@ -29,6 +29,17 @@ top.communication_tb.reset
@28
[color] 5
top.communication_tb.dut.rxstb
@420
[color] 3
top.communication_tb.dut.sendhead
[color] 3
top.communication_tb.dut.sendtail
[color] 3
top.communication_tb.dut.sendsize
[color] 3
top.communication_tb.dut.sendavailable
[color] 3
top.communication_tb.dut.sendbegun
@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]
@ -44,12 +55,15 @@ top.communication_tb.dut.txack
top.communication_tb.dut.zerocoder
@420
[color] 2
top.communication_tb.dut.left
[color] 2
top.communication_tb.dut.right
[color] 2
top.communication_tb.dut.fronttrigger
[color] 2
top.communication_tb.dut.backtrigger
[color] 2
top.communication_tb.dut.front
@421
[color] 2
top.communication_tb.dut.back
[pattern_trace] 1

11
fpga/communication_tb.vhd
View file

@ -69,10 +69,10 @@ begin
stimuli : process
variable tampon : multipleChar;
begin
left <= 0;
right <= 0;
front <= 0;
back <= 0;
left <= 1152;
right <= 11614;
txAck <= '0';
rxData <= (others => '0');
rxStb <= '0';
@ -185,24 +185,23 @@ begin
assert txStb = '0' report "Not stopping send" severity error;
-- Test encoder
left <= 1152;
right <= 11614;
report "TEST Receiving 'D'" severity note;
rxData <= x"44";
rxStb <= '1';
wait for TbPeriod;
rxStb <= '0';
wait for TbPeriod;
assert zerocoder = '1' report "Not reseting coder values" severity error;
left <= 0;
right <= 0;
rxStb <= '0';
wait for TbPeriod;
assert zerocoder = '0' report "Not stopping reseting coder values" severity error;
tampon(0 to 4) := (x"44", x"80", x"04", x"5E", x"2D");
for I in 0 to 4 loop
wait for 100 ns;
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;
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;
assert txStb = '1' report "Not sending" severity error;
wait for 100 ns;

6
fpga/fir_tb.gtkw
View file

@ -1,10 +1,10 @@
[*]
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
[*] Wed Feb 28 09:53:14 2018
[*] Wed Feb 28 11:47:06 2018
[*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/fir_tb.ghw"
[dumpfile_mtime] "Wed Feb 28 09:53:10 2018"
[dumpfile_size] 595494
[dumpfile_mtime] "Wed Feb 28 11:46:54 2018"
[dumpfile_size] 458919
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/fir_tb.gtkw"
[timestart] 0
[size] 1600 862