mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-11-21 15:46:06 +01:00
FPGA : Communication sur plusieurs octets
This commit is contained in:
parent
9a2bf3d9cd
commit
81a7fd8bd7
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@ -1,5 +1,6 @@
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library IEEE;
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use IEEE.STD_LOGIC_1164.ALL;
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use IEEE.NUMERIC_STD.ALL;
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entity Principal is
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@ -17,8 +18,8 @@ end Principal;
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architecture Behavioral of Principal is
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-- Blink led
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signal pulse : std_logic := '0';
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signal count : integer := 0;
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signal theled: std_logic_vector(3 downto 0) := "0000";
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-- General
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signal reset : std_logic := '0';
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@ -30,8 +31,6 @@ architecture Behavioral of Principal is
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-- Sensors
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signal front : integer;
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signal back : integer;
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signal frontTrigger : integer := 0;
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signal backTrigger : integer := 0;
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-- AF
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component uart is
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@ -61,16 +60,22 @@ architecture Behavioral of Principal is
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signal rxData : std_logic_vector(7 downto 0);
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signal rxStb : std_logic := '0';
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constant A2FD_PING : std_logic_vector := x"50"; -- 'P'
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type readStates is (readIdle);
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signal readState : readStates := readIdle;
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type sendMessages is (none, A2FD_PINGs);
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signal resetSendMessageRead : std_logic := '0';
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signal resetSendMessageSend : std_logic := '0';
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signal sendMessage : sendMessages := none;
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signal sendOffset : integer := 0;
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-- Handling
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component communication is
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Port (
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clock : in std_logic;
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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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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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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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);
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end component;
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-- Debug
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component sevenseg is
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@ -100,63 +105,41 @@ begin
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rx => IO(20)
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);
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readsendFA : process(reset, rxStb, txAck)
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begin
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if reset = '1' then
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readState <= readIdle;
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sendMessage <= none;
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txStb <= '0';
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sendOffset <= 0;
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else
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-- If read something
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if rxStb = '1' then
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if readState = readIdle then
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case rxData is
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when A2FD_PING => -- 'P'
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sendMessage <= A2FD_PINGs; -- TODO Not so brutal
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when others =>
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end case;
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end if;
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end if;
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com: communication port map(
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clock => CLK,
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reset => reset,
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left => left,
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right => right,
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front => front,
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back => back,
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txData => txData,
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txStb => txStb,
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txAck => txAck,
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rxData => rxData,
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rxStb => rxStb
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);
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-- Reset sending if UART module has begun sending (and has a copy of the byte)
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if txAck = '1' then
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txStb <= '0';
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end if;
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-- If what was sent is acknowledged and there is still something to send
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if txStb = '0' then
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case sendMessage is
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when none =>
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when A2FD_PINGs =>
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txData <= A2FD_PING;
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txStb <= '1';
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sendMessage <= none;
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end case;
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end if;
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end if;
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end process;
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-- Debug
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blinkled : process(CLK, reset)
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begin
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if reset = '1' then
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count <= 0;
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pulse <= '0';
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theled <= "0000";
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elsif CLK'event and CLK = '1' then
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if count = 9999999 then
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count <= 0;
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pulse <= not pulse;
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theled(3) <= not theled(3);
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theled(2 downto 0) <= "000";
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else
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count <= count + 1;
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theled(2 downto 0) <= theled(2 downto 0) or (txStb & rxStb & txAck);
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end if;
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end if;
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end process;
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LED(3) <= pulse;
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LED(2) <= txStb;
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LED(1) <= rxStb;
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LED(0) <= txAck;
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LED <= theled;
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debugSeg: sevenseg port map(
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data => sevensegdata,
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62
fpga/Principal_tb.gtkw
Normal file
62
fpga/Principal_tb.gtkw
Normal file
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@ -0,0 +1,62 @@
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[*]
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[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
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[*] Sun Feb 25 14:12:54 2018
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[*]
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[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.vcd"
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[dumpfile_mtime] "Sun Feb 25 14:10:51 2018"
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[dumpfile_size] 38271255
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[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/Principal_tb.gtkw"
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[timestart] 0
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[size] 1680 1012
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[pos] -1 -1
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*-40.000000 3481820000000 -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] dut.
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[sst_width] 213
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[signals_width] 198
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[sst_expanded] 1
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[sst_vpaned_height] 296
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@28
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[color] 4
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clk
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dut.reset
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[color] 2
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dut.fa.rx_baud_tick
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[color] 2
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dut.fa.rx
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@8028
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[color] 2
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dut.fa.uart_rx_count[2:0]
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@22
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[color] 2
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dut.fa.uart_rx_data_vec[7:0]
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dut.rxdata[7:0]
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@820
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dut.rxdata[7:0]
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@28
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dut.rxstb
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@420
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[color] 5
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dut.com.readoffset
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[color] 5
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dut.com.sendoffset
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@22
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[color] 4
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dut.txdata[7:0]
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@820
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[color] 4
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dut.txdata[7:0]
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@28
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dut.txstb
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dut.txack
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[color] 2
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dut.fa.tx
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[color] 2
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dut.fa.tx_baud_tick
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@8028
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[color] 2
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dut.fa.uart_tx_count[2:0]
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@22
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[color] 2
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dut.fa.uart_tx_data_vec[7:0]
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[pattern_trace] 1
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[pattern_trace] 0
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111
fpga/Principal_tb.vhd
Normal file
111
fpga/Principal_tb.vhd
Normal file
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@ -0,0 +1,111 @@
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-- Testbench automatically generated online
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-- at http://vhdl.lapinoo.net
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-- Generation date : 25.2.2018 11:52:20 GMT
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library ieee;
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use ieee.std_logic_1164.all;
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entity Principal_tb is
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end Principal_tb;
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architecture tb of Principal_tb is
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component Principal
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port (CLK : in std_logic;
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BTN : in std_logic;
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IO : inout std_logic_vector (21 downto 20);
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LED : out std_logic_vector (3 downto 0);
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AN : out std_logic_vector (3 downto 0);
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A_TO_G : out std_logic_vector (6 downto 0);
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DOT : out std_logic);
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end component;
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signal CLK : std_logic;
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signal BTN : std_logic;
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signal IO : std_logic_vector (21 downto 20);
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signal LED : std_logic_vector (3 downto 0);
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signal AN : std_logic_vector (3 downto 0);
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signal A_TO_G : std_logic_vector (6 downto 0);
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signal DOT : std_logic;
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constant TbPeriod : time := 20 ns;
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signal TbClock : std_logic := '0';
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signal TbSimEnded : std_logic := '0';
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constant BaudPeriod : time := 104167 ns; -- 9600 baud
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constant CharacterPeriod : time := 10 * BaudPeriod;
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signal rx : std_logic;
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signal tx : std_logic;
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begin
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dut : Principal
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port map (CLK => CLK,
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BTN => BTN,
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IO => IO,
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LED => LED,
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AN => AN,
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A_TO_G => A_TO_G,
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DOT => DOT);
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-- Clock generation
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TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
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CLK <= TbClock;
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IO(20) <= rx;
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tx <= IO(21);
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stimuli : process
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variable sending : std_logic_vector(7 downto 0);
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begin
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rx <= '1';
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-- Reset generation
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BTN <= '1';
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wait for 100 ns;
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BTN <= '0';
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wait for 100 ns;
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wait for 2 * BaudPeriod;
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-- Send 'P'
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rx <= '0'; -- Start bit
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sending := x"50"; -- 'P'
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wait for BaudPeriod;
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for I in 0 to 7 loop
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rx <= sending(I);
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wait for BaudPeriod;
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end loop;
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rx <= '1'; -- Stop bit
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wait for BaudPeriod;
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-- Wait for 1 byte receive
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wait for CharacterPeriod;
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-- Wait margin
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wait for 2 * BaudPeriod;
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-- Send '?'
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rx <= '0'; -- Start bit
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sending := x"3F"; -- '?'
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wait for BaudPeriod;
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for I in 0 to 7 loop
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rx <= sending(I);
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wait for BaudPeriod;
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end loop;
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rx <= '1'; -- Stop bit
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wait for BaudPeriod;
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-- Wait for 2 bytes receive
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wait for 2 * CharacterPeriod;
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-- Wait margin
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wait for 2 * BaudPeriod;
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-- Stop the clock and hence terminate the simulation
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TbSimEnded <= '1';
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wait;
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end process;
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end tb;
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95
fpga/communication.vhd
Normal file
95
fpga/communication.vhd
Normal file
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@ -0,0 +1,95 @@
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library IEEE;
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use IEEE.STD_LOGIC_1164.ALL;
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use IEEE.NUMERIC_STD.ALL;
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entity communication is
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Port (
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clock : in std_logic;
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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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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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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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);
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end communication;
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architecture Behavioral of communication is
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constant A2FD_PING : std_logic_vector(7 downto 0) := x"50"; -- 'P'
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constant A2FD_RESETCODER : std_logic_vector(7 downto 0) := x"52"; -- 'R'
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constant F2AD_ERR : std_logic_vector(7 downto 0) := x"45"; -- 'E'
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constant ERR_UNKNOWN_CODE : std_logic_vector(7 downto 0) := x"43"; -- 'C'
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constant F2AI_CODER : std_logic_vector(7 downto 0) := x"44"; -- 'D'
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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 readStates is (readIdle);
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signal readState : readStates := readIdle;
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signal readOffset : integer := 0;
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type sendMessages is (none, A2FD_PINGs, F2AD_ERR_UNKNOWN_CODEs);
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signal sendMessage : sendMessages := none;
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signal sendOffset : integer := 0;
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signal frontTrigger : integer := 0;
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signal backTrigger : integer := 0;
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signal txStbs : std_logic := '0';
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begin
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txStb <= txStbs;
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readsendFA : process(clock, reset)
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begin
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if reset = '1' then
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readState <= readIdle;
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txStbs <= '0';
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sendMessage <= none;
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sendOffset <= 0;
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else
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if rising_edge(clock) then
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-- If read something
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if rxStb = '1' then
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if readState = readIdle then
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case rxData is
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when A2FD_PING =>
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sendMessage <= A2FD_PINGs; -- TODO Not so brutal
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when others =>
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sendMessage <= F2AD_ERR_UNKNOWN_CODEs;
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end case;
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end if;
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end if;
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-- If what was sent is acknowledged and there is still something to send
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if txStbs = '0' or txAck = '1' then
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txStbs <= '1';
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sendOffset <= sendOffset + 1;
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case sendMessage is
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when none =>
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txStbs <= '0';
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sendOffset <= 0;
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when A2FD_PINGs =>
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txData <= A2FD_PING;
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sendMessage <= none;
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when F2AD_ERR_UNKNOWN_CODEs =>
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case sendOffset is
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when 0 =>
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txData <= F2AD_ERR;
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when others =>
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txData <= ERR_UNKNOWN_CODE;
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sendMessage <= none;
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end case;
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end case;
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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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41
fpga/communication_tb.gtkw
Normal file
41
fpga/communication_tb.gtkw
Normal file
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@ -0,0 +1,41 @@
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[*]
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||||
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
|
||||
[*] Sun Feb 25 17:14:08 2018
|
||||
[*]
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[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.vcd"
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[dumpfile_mtime] "Sun Feb 25 17:12:53 2018"
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[dumpfile_size] 4479
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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] 1680 1012
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[pos] -1 -1
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*-27.785210 1133000000 -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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[sst_width] 213
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[signals_width] 118
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[sst_expanded] 1
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[sst_vpaned_height] 244
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@28
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clock
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reset
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@820
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[color] 2
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rxdata[7:0]
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@22
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[color] 2
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rxdata[7:0]
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@28
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[color] 2
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rxstb
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@820
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[color] 5
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txdata[7:0]
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@22
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[color] 5
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txdata[7:0]
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@28
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[color] 5
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txstb
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[color] 5
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txack
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[pattern_trace] 1
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[pattern_trace] 0
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139
fpga/communication_tb.vhd
Normal file
139
fpga/communication_tb.vhd
Normal file
|
@ -0,0 +1,139 @@
|
|||
-- Testbench automatically generated online
|
||||
-- at http://vhdl.lapinoo.net
|
||||
-- Generation date : 24.2.2018 16:12:08 GMT
|
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|
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library ieee;
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use ieee.std_logic_1164.all;
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entity communication_tb is
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end communication_tb;
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architecture tb of communication_tb is
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component communication
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port (clock : in std_logic;
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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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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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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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end component;
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signal clock : std_logic;
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signal reset : std_logic;
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signal left : integer;
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signal right : integer;
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signal front : integer;
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signal back : integer;
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signal txData : std_logic_vector (7 downto 0);
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signal txStb : std_logic;
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signal txAck : std_logic;
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signal rxData : std_logic_vector (7 downto 0);
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signal rxStb : std_logic;
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constant TbPeriod : time := 20 ns;
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signal TbClock : std_logic := '0';
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signal TbSimEnded : std_logic := '0';
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begin
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||||
|
||||
dut : communication
|
||||
port map (clock => clock,
|
||||
reset => reset,
|
||||
left => left,
|
||||
right => right,
|
||||
front => front,
|
||||
back => back,
|
||||
txData => txData,
|
||||
txStb => txStb,
|
||||
txAck => txAck,
|
||||
rxData => rxData,
|
||||
rxStb => rxStb);
|
||||
|
||||
-- Clock generation
|
||||
TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
|
||||
|
||||
clock <= TbClock;
|
||||
|
||||
stimuli : process
|
||||
begin
|
||||
left <= 0;
|
||||
right <= 0;
|
||||
front <= 0;
|
||||
back <= 0;
|
||||
txAck <= '0';
|
||||
rxData <= (others => '0');
|
||||
rxStb <= '0';
|
||||
|
||||
-- Reset generation
|
||||
reset <= '1';
|
||||
wait for 100 ns;
|
||||
reset <= '0';
|
||||
wait for 100 ns;
|
||||
|
||||
|
||||
-- Test Ping
|
||||
report "Receiving 'P'" severity note;
|
||||
rxData <= x"50";
|
||||
rxStb <= '1';
|
||||
wait for TbPeriod;
|
||||
rxStb <= '0';
|
||||
|
||||
wait for 100 ns;
|
||||
assert txData = x"50" report "Not sent 'P'" 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';
|
||||
|
||||
wait for 100 ns;
|
||||
assert txStb = '0' report "Not stopping send" severity error;
|
||||
|
||||
wait for 100 ns; -- Margin
|
||||
|
||||
|
||||
-- Test unknown char
|
||||
report "Receiving '?'" severity note;
|
||||
rxData <= x"3F";
|
||||
rxStb <= '1';
|
||||
wait for TbPeriod;
|
||||
rxStb <= '0';
|
||||
|
||||
wait for 100 ns;
|
||||
assert txData = x"45" report "Not sent 'E'" 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';
|
||||
|
||||
wait for 100 ns;
|
||||
assert txData = x"43" report "Not sent 'C'" 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';
|
||||
|
||||
wait for 100 ns;
|
||||
assert txStb = '0' report "Not stopping send" severity error;
|
||||
wait for 100 ns; -- Margin
|
||||
|
||||
|
||||
TbSimEnded <= '1';
|
||||
wait;
|
||||
end process;
|
||||
|
||||
end tb;
|
|
@ -1,6 +1,5 @@
|
|||
LIBRARY ieee;
|
||||
USE ieee.std_logic_1164.all;
|
||||
USE ieee.std_logic_unsigned.all;
|
||||
|
||||
ENTITY hcSr04 IS
|
||||
GENERIC(
|
||||
|
|
|
@ -1,69 +0,0 @@
|
|||
LIBRARY ieee;
|
||||
USE ieee.std_logic_1164.all;
|
||||
USE ieee.std_logic_unsigned.all;
|
||||
USE ieee.std_logic_arith.all;
|
||||
|
||||
ENTITY hcSr04 IS
|
||||
GENERIC(
|
||||
fFpga : INTEGER := 50_000_000; -- frequency of the FPGA clock (Hz)
|
||||
maxOutput : INTEGER := 65535 -- maximum number to store the distance
|
||||
);
|
||||
PORT(
|
||||
clk : IN STD_LOGIC; -- clock of the FPGA
|
||||
echo : IN STD_LOGIC; -- echo pin of the hcSr04
|
||||
distance : OUT INTEGER RANGE 0 TO maxOutput; -- Ranges from 0 to 4 meters, 0 if no data
|
||||
trigger : OUT STD_LOGIC; -- trigger pin of the hcSr04
|
||||
start : IN STD_LOGIC; -- Set to '1' everytime a measurement is needed (or keep at '1' for continuous measurement)
|
||||
finished : OUT STD_LOGIC -- Driven to '1' everytime a measurement has finished
|
||||
);
|
||||
END hcSr04;
|
||||
|
||||
ARCHITECTURE Behavioral OF hcSr04 IS
|
||||
CONSTANT triggerTicks : INTEGER := fFPGA / 100000; -- Number of FPGA ticks that makes 10us (used for trigger)
|
||||
CONSTANT measurementTicks : INTEGER := fFPGA / 17; -- Number of FPGA ticks that makes 60ms (used for measurement cycles)
|
||||
CONSTANT maximumRange : INTEGER := 4; -- Maximum range the sensor can detect
|
||||
CONSTANT distanceTicks : INTEGER := maximumRange * fFPGA / 172; -- Number of FPGA ticks that makes the maximum distance that can be measured
|
||||
-- 172 = 1 / 58 s/m
|
||||
SIGNAL measurementCounter : INTEGER RANGE 0 to measurementTicks - 1 := 0; -- Progress in the measurement
|
||||
SIGNAL distanceCounter : INTEGER RANGE 0 to distanceTicks - 1 := 0; -- Ticks for wich echo has been at one
|
||||
SIGNAL triggerCounter : INTEGER RANGE 0 to triggerTicks - 1 := 0; -- Progress in the trigger
|
||||
TYPE stateType IS (init, waiting, triggering, measuring);
|
||||
SIGNAL state : stateType;
|
||||
BEGIN
|
||||
measure : process(clk)
|
||||
begin
|
||||
if rising_edge(clk) then
|
||||
CASE state IS
|
||||
WHEN init =>
|
||||
trigger <= '0';
|
||||
distance <= 0;
|
||||
state <= waiting;
|
||||
WHEN waiting =>
|
||||
finished <= '0';
|
||||
IF start = '1' THEN
|
||||
trigger <= '1';
|
||||
triggerCounter <= 0;
|
||||
state <= triggering;
|
||||
END IF;
|
||||
WHEN triggering =>
|
||||
triggerCounter <= triggerCounter + 1;
|
||||
IF triggerCounter = triggerTicks - 1 THEN
|
||||
trigger <= '0';
|
||||
measurementCounter <= 0;
|
||||
distanceCounter <= 0;
|
||||
state <= measuring;
|
||||
END IF;
|
||||
WHEN measuring =>
|
||||
IF echo = '1' and distanceCounter < distanceTicks THEN
|
||||
distanceCounter <= distanceCounter + 1;
|
||||
END IF;
|
||||
measurementCounter <= measurementCounter + 1;
|
||||
IF measurementCounter = measurementTicks - 1 THEN
|
||||
distance <= distanceCounter * maxOutput / distanceTicks;
|
||||
finished <= '1';
|
||||
state <= waiting;
|
||||
END IF;
|
||||
END CASE;
|
||||
end if;
|
||||
end process;
|
||||
END Behavioral;
|
|
@ -39,9 +39,9 @@ begin
|
|||
An <= chA;
|
||||
Bn <= chB;
|
||||
|
||||
-- On pourrait optimiser la logique avec un tableau de Karnaugh ou autres méthodes
|
||||
-- de simplification d'algèbre de Boole, mais le "compilateur" pour FPGA fera un
|
||||
-- tout aussi bon travail, on garde donc le code suivant pour la lisibilité
|
||||
-- On pourrait optimiser la logique avec un tableau de Karnaugh ou autres méthodes
|
||||
-- de simplification d'algèbre de Boole, mais le synthétiseur pour FPGA fera un
|
||||
-- tout aussi bon travail, on garde donc le code suivant pour la lisibilité
|
||||
|
||||
if (Ap = '0' and An = '1') then -- Front montant A
|
||||
if (Bn = '0') then
|
||||
|
|
|
@ -8,7 +8,7 @@ TOPLEVEL = Principal
|
|||
# VHDSOURCE = $(TOPLEVEL).vhd uart.vhd
|
||||
# CONSTRAINTS = mercury.ucf
|
||||
# Debug
|
||||
VHDSOURCE = $(TOPLEVEL).vhd $(wildcard *.vhd)
|
||||
VHDSOURCE = $(TOPLEVEL).vhd $(filter-out %_tb.vhd,$(wildcard *.vhd))
|
||||
CONSTRAINTS = debug.ucf
|
||||
|
||||
|
||||
|
|
Loading…
Reference in a new issue