FPGA : Trigger

fpga/communication.vhd

@@ -30,10 +30,7 @@ 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 readStates is (readIdle);
+    type readMessages is (none, F2AT_CAPTs);
-    signal readState : readStates := readIdle; -- TODO Make sure is correctly reset when reworking this
-    signal readOffset : integer := 0;
-
     type sendMessages is (none, A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
 
     constant SENDQUEUE_SIZE : integer := 16;
@@ -41,6 +38,7 @@ architecture Behavioral of communication is
 
     signal frontTrigger : integer := 0;
     signal backTrigger : integer := 0;
+    signal triggerSet : std_logic := '0';
 
     signal txStbs : std_logic := '0';
 
@@ -50,6 +48,11 @@ begin
 
     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;
@@ -91,24 +94,31 @@ begin
 
     begin
         if reset = '1' then
-            readState <= readIdle;
+            readMessage := none;
+            readOffset := 0;
+            readSize := 0;
+
             sendMessage := none;
             sendOffset := 0;
             sendSize := 0;
+
             sendTail := 0;
             sendHead := 0;
             sendLooped := false;
+
             frontTrigger <= 0;
             backTrigger <= 0;
             zerocoder <= '0';
             txData <= x"00";
+            triggerSet <= '0';
         else
             if rising_edge(clock) then
                 zerocoder <= '0';
 
                 -- If read something
                 if rxStb = '1' then
-                    if readState = readIdle then
+                    if readSize = 0 then
+                        readSize := 0;
                         case rxData is
                             when A2FD_PING =>
                                 pushSend(A2FD_PINGs);
@@ -116,12 +126,38 @@ begin
                                 pushSend(F2AI_CODERs);
                             when F2AI_CAPT =>
                                 pushSend(F2AI_CAPTs);
+                            when F2AT_CAPT =>
+                                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;
+                        end if;
+
                     end if;
                 end if;
 
+                if (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

fpga/communication_tb.gtkw

@@ -1,20 +1,20 @@
 [*]
 [*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
-[*] Tue Feb 27 08:58:38 2018
+[*] Tue Feb 27 20:44:59 2018
 [*]
 [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw"
-[dumpfile_mtime] "Tue Feb 27 08:58:14 2018"
+[dumpfile_mtime] "Tue Feb 27 20:44:10 2018"
-[dumpfile_size] 5411
+[dumpfile_size] 6988
 [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw"
 [timestart] 0
 [size] 1600 862
 [pos] -1 -1
-*-29.549107 930000000 -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
+*-29.975166 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
 [treeopen] top.
 [treeopen] top.communication_tb.
 [treeopen] top.communication_tb.dut.
 [sst_width] 213
-[signals_width] 118
+[signals_width] 126
 [sst_expanded] 1
 [sst_vpaned_height] 200
 @28
@@ -29,11 +29,6 @@ top.communication_tb.reset
 @28
 [color] 5
 top.communication_tb.dut.rxstb
-@420
-[color] 6
-top.communication_tb.dut.readstate
-[color] 6
-top.communication_tb.dut.readoffset
 @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]
@@ -45,8 +40,17 @@ top.communication_tb.dut.readoffset
 top.communication_tb.dut.txstb
 [color] 1
 top.communication_tb.dut.txack
-@29
 [color] 2
 top.communication_tb.dut.zerocoder
+@420
+[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
 [pattern_trace] 0

fpga/communication_tb.vhd

@@ -67,7 +67,7 @@ begin
     clock <= TbClock;
 
     stimuli : process
-        variable shouldReceive : multipleChar;
+        variable tampon : multipleChar;
     begin
         left <= 0;
         right <= 0;
@@ -169,10 +169,10 @@ begin
         wait for TbPeriod;
         rxStb <= '0';
 
-        shouldReceive(0 to 4) := (x"43", x"80", x"04", x"5E", x"2D");
+        tampon(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 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;
@@ -199,10 +199,10 @@ begin
         wait for TbPeriod;
         assert zerocoder = '0' report "Not stopping reseting coder values" severity error;
 
-        shouldReceive(0 to 4) := (x"44", x"80", x"04", x"5E", x"2D");
+        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 = 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 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;
@@ -211,8 +211,41 @@ begin
             txAck <= '0';
         end loop;
 
+        wait for 100 ns;
+        assert txStb = '0' report "Not stopping send" severity error;
+
+
+        -- Test capt trigger
+        report "TEST Receiving 'c'" severity note;
+
+        tampon(0 to 4) := (x"63", x"80", x"04", x"5E", x"2D");
+        for I in 0 to 4 loop
+            rxData <= tampon(I);
+            rxStb <= '1';
+            wait for TbPeriod;
+            rxStb <= '0';
+            wait for TbPeriod;
+        end loop;
+
+        wait for 100 ns;
+
+        front <= 11614;
+        back <= 11614;
+
+        tampon(0 to 4) := (x"43", x"5E", x"2D", 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 txStb = '1' report "Not sending" severity error;
+
+            wait for 100 ns;
+            txAck <= '1';
+            wait for TbPeriod;
+            txAck <= '0';
+        end loop;
+
+        wait for 100 ns;
 
-        wait for 100 ns; -- Margin
 
         TbSimEnded <= '1';
         wait;