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FPGA : Trigger

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This commit is contained in:
Geoffrey Frogeye 2018-02-27 21:45:41 +01:00
parent d477c9ec58
commit 63b89e64b2
3 changed files with 96 additions and 23 deletions
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48
fpga/communication.vhd
View file

@ -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);
signal readState : readStates := readIdle; -- TODO Make sure is correctly reset when reworking this
signal readOffset : integer := 0;
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;
@ -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

26
fpga/communication_tb.gtkw
View file

@ -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_size] 5411
[dumpfile_mtime] "Tue Feb 27 20:44:10 2018"
[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

45
fpga/communication_tb.vhd
View file

@ -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;