geoffrey/cdf2018-principal
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FPGA : Gestion des encodeurs

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This commit is contained in:
Geoffrey Frogeye 2018-02-27 10:41:33 +01:00
parent 23ef0c57dc
commit d111629b12
11 changed files with 307 additions and 107 deletions
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3
arduino/AFsignals.h
View file

@ -28,9 +28,6 @@
// Pour le debug // Pour le debug
#define A2FD_PING 'P' #define A2FD_PING 'P'
// Réinitialise la valeur des codeuses
#define A2FD_RESETCODER 'R'
// FPGA → Arduino // FPGA → Arduino
// Erreur quelconque // Erreur quelconque

4
fpga/Makefile
View file

@ -175,10 +175,10 @@ build/%_tb: build/%_tb.o $(addprefix build/,$(subst .vhd,.o,$(VHDSOURCE)))
ghdl -e --workdir="$(shell dirname "$@")" -o "$(shell echo "$@" | tr A-Z a-z)" "$(basename $(notdir $<))" ghdl -e --workdir="$(shell dirname "$@")" -o "$(shell echo "$@" | tr A-Z a-z)" "$(basename $(notdir $<))"
build/%_tb.vcd: build/%_tb build/%_tb.vcd: build/%_tb
(cd "$(shell dirname "$<")"; ghdl -r "$(basename $(notdir $<))" --vcd="../$@" ) (cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --vcd="../$@" )
build/%_tb.ghw: build/%_tb build/%_tb.ghw: build/%_tb
(cd "$(shell dirname "$<")"; ghdl -r "$(basename $(notdir $<))" --wave="../$@" ) (cd "$(shell dirname "$<")"; time ghdl -r "$(basename $(notdir $<))" --wave="../$@" )
%_wave: build/%_tb.ghw %_wave: build/%_tb.ghw
gtkwave --save "$(notdir $(basename $<)).gtkw" "$<" gtkwave --save "$(notdir $(basename $<)).gtkw" "$<"

43
fpga/Principal.vhd
View file

@ -6,8 +6,9 @@ use IEEE.NUMERIC_STD.ALL;
entity Principal is entity Principal is
Port ( CLK : in STD_LOGIC; -- Clock Port ( CLK : in STD_LOGIC; -- Clock
BTN : in STD_LOGIC; -- Reset BTN : in STD_LOGIC; -- Reset
-- FA
IO : inout STD_LOGIC_VECTOR (21 downto 20); -- FA & Encoder
IO : inout STD_LOGIC_VECTOR (21 downto 16);
-- Debug -- Debug
LED : out STD_LOGIC_VECTOR (3 downto 0); LED : out STD_LOGIC_VECTOR (3 downto 0);
AN : out STD_LOGIC_VECTOR (3 downto 0); AN : out STD_LOGIC_VECTOR (3 downto 0);
@ -27,10 +28,22 @@ architecture Behavioral of Principal is
-- Encoder -- Encoder
signal left : integer; signal left : integer;
signal right : integer; signal right : integer;
signal zerocoder : std_logic;
component hedm is
Port (
clk : in STD_LOGIC;
chA : in STD_LOGIC;
chB : in STD_LOGIC;
reset : in STD_LOGIC;
zero : in STD_LOGIC;
counts : out integer
);
end component;
-- Sensors -- Sensors
signal front : integer; signal front : integer := 0;
signal back : integer; signal back : integer := 0;
-- AF -- AF
component uart is component uart is
@ -67,6 +80,7 @@ architecture Behavioral of Principal is
reset : in std_logic; reset : in std_logic;
left : in integer; left : in integer;
right : in integer; right : in integer;
zerocoder : out std_logic;
front : in integer; front : in integer;
back : in integer; back : in integer;
txData : out std_logic_vector(7 downto 0); txData : out std_logic_vector(7 downto 0);
@ -93,6 +107,24 @@ begin
reset <= BTN; reset <= BTN;
leftCoder: hedm port map (
clk => CLK,
chA => IO(19),
chB => IO(18),
reset => reset,
zero => zerocoder,
counts => left
);
rightCoder: hedm port map (
clk => CLK,
chA => IO(17),
chB => IO(16),
reset => reset,
zero => zerocoder,
counts => right
);
FA: uart port map( FA: uart port map(
clock => CLK, clock => CLK,
reset => reset, reset => reset,
@ -110,6 +142,7 @@ begin
reset => reset, reset => reset,
left => left, left => left,
right => right, right => right,
zerocoder => zerocoder,
front => front, front => front,
back => back, back => back,
txData => txData, txData => txData,
@ -126,6 +159,8 @@ begin
if reset = '1' then if reset = '1' then
count <= 0; count <= 0;
theled <= "0000"; theled <= "0000";
front <= 0;
back <= 0;
elsif CLK'event and CLK = '1' then elsif CLK'event and CLK = '1' then
if count = 9999999 then if count = 9999999 then
count <= 0; count <= 0;

86
fpga/Principal_tb.gtkw
View file

@ -1,62 +1,80 @@
[*] [*]
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI [*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
[*] Sun Feb 25 14:12:54 2018 [*] Tue Feb 27 09:39:06 2018
[*] [*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.vcd" [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.ghw"
[dumpfile_mtime] "Sun Feb 25 14:10:51 2018" [dumpfile_mtime] "Tue Feb 27 09:38:56 2018"
[dumpfile_size] 38271255 [dumpfile_size] 32911228
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/Principal_tb.gtkw" [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/Principal_tb.gtkw"
[timestart] 0 [timestart] 0
[size] 1680 1012 [size] 1600 862
[pos] -1 -1 [pos] -1 -1
*-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 *-41.636795 7980000000000 -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] dut. [treeopen] top.
[treeopen] top.principal_tb.
[treeopen] top.principal_tb.dut.
[treeopen] top.principal_tb.dut.fa.
[sst_width] 213 [sst_width] 213
[signals_width] 198 [signals_width] 198
[sst_expanded] 1 [sst_expanded] 1
[sst_vpaned_height] 296 [sst_vpaned_height] 296
@28 @28
[color] 4 top.principal_tb.dut.clk
clk top.principal_tb.dut.reset
dut.reset
[color] 2 [color] 2
dut.fa.rx_baud_tick top.principal_tb.dut.fa.rx_baud_tick
[color] 2 [color] 2
dut.fa.rx top.principal_tb.dut.fa.rx
@8028 @8028
[color] 2 [color] 2
dut.fa.uart_rx_count[2:0] #{top.principal_tb.dut.fa.uart_rx_count[2:0]} top.principal_tb.dut.fa.uart_rx_count[2] top.principal_tb.dut.fa.uart_rx_count[1] top.principal_tb.dut.fa.uart_rx_count[0]
@22 @22
[color] 2 [color] 1
dut.fa.uart_rx_data_vec[7:0] #{top.principal_tb.dut.rxdata[7:0]} top.principal_tb.dut.rxdata[7] top.principal_tb.dut.rxdata[6] top.principal_tb.dut.rxdata[5] top.principal_tb.dut.rxdata[4] top.principal_tb.dut.rxdata[3] top.principal_tb.dut.rxdata[2] top.principal_tb.dut.rxdata[1] top.principal_tb.dut.rxdata[0]
dut.rxdata[7:0]
@820 @820
dut.rxdata[7:0] [color] 1
#{top.principal_tb.dut.rxdata[7:0]} top.principal_tb.dut.rxdata[7] top.principal_tb.dut.rxdata[6] top.principal_tb.dut.rxdata[5] top.principal_tb.dut.rxdata[4] top.principal_tb.dut.rxdata[3] top.principal_tb.dut.rxdata[2] top.principal_tb.dut.rxdata[1] top.principal_tb.dut.rxdata[0]
@28 @28
dut.rxstb [color] 1
@420 top.principal_tb.dut.com.rxstb
[color] 5
dut.com.readoffset
[color] 5
dut.com.sendoffset
@22 @22
[color] 4 [color] 1
dut.txdata[7:0] #{top.principal_tb.dut.txdata[7:0]} top.principal_tb.dut.txdata[7] top.principal_tb.dut.txdata[6] top.principal_tb.dut.txdata[5] top.principal_tb.dut.txdata[4] top.principal_tb.dut.txdata[3] top.principal_tb.dut.txdata[2] top.principal_tb.dut.txdata[1] top.principal_tb.dut.txdata[0]
@820 @820
[color] 4 [color] 1
dut.txdata[7:0] #{top.principal_tb.dut.txdata[7:0]} top.principal_tb.dut.txdata[7] top.principal_tb.dut.txdata[6] top.principal_tb.dut.txdata[5] top.principal_tb.dut.txdata[4] top.principal_tb.dut.txdata[3] top.principal_tb.dut.txdata[2] top.principal_tb.dut.txdata[1] top.principal_tb.dut.txdata[0]
@28 @28
dut.txstb [color] 1
dut.txack top.principal_tb.dut.txstb
[color] 1
top.principal_tb.dut.txack
[color] 2 [color] 2
dut.fa.tx top.principal_tb.dut.fa.tx_baud_tick
[color] 2
dut.fa.tx_baud_tick
@8028 @8028
[color] 2 [color] 2
dut.fa.uart_tx_count[2:0] #{top.principal_tb.dut.fa.uart_tx_count[2:0]} top.principal_tb.dut.fa.uart_tx_count[2] top.principal_tb.dut.fa.uart_tx_count[1] top.principal_tb.dut.fa.uart_tx_count[0]
@22 @22
[color] 2 [color] 2
dut.fa.uart_tx_data_vec[7:0] #{top.principal_tb.dut.fa.uart_tx_data_vec[7:0]} top.principal_tb.dut.fa.uart_tx_data_vec[7] top.principal_tb.dut.fa.uart_tx_data_vec[6] top.principal_tb.dut.fa.uart_tx_data_vec[5] top.principal_tb.dut.fa.uart_tx_data_vec[4] top.principal_tb.dut.fa.uart_tx_data_vec[3] top.principal_tb.dut.fa.uart_tx_data_vec[2] top.principal_tb.dut.fa.uart_tx_data_vec[1] top.principal_tb.dut.fa.uart_tx_data_vec[0]
@28
[color] 2
top.principal_tb.dut.fa.tx
[color] 6
top.principal_tb.dut.zerocoder
[color] 6
top.principal_tb.dut.leftcoder.cha
[color] 6
top.principal_tb.dut.leftcoder.chb
@8420
[color] 6
top.principal_tb.dut.left
@28
[color] 6
top.principal_tb.dut.rightcoder.cha
[color] 6
top.principal_tb.dut.rightcoder.chb
@8421
[color] 6
top.principal_tb.dut.right
[pattern_trace] 1 [pattern_trace] 1
[pattern_trace] 0 [pattern_trace] 0

91
fpga/Principal_tb.vhd
View file

@ -13,7 +13,7 @@ architecture tb of Principal_tb is
component Principal component Principal
port (CLK : in std_logic; port (CLK : in std_logic;
BTN : in std_logic; BTN : in std_logic;
IO : inout std_logic_vector (21 downto 20); IO : inout std_logic_vector (21 downto 16);
LED : out std_logic_vector (3 downto 0); LED : out std_logic_vector (3 downto 0);
AN : out std_logic_vector (3 downto 0); AN : out std_logic_vector (3 downto 0);
A_TO_G : out std_logic_vector (6 downto 0); A_TO_G : out std_logic_vector (6 downto 0);
@ -22,7 +22,7 @@ architecture tb of Principal_tb is
signal CLK : std_logic; signal CLK : std_logic;
signal BTN : std_logic; signal BTN : std_logic;
signal IO : std_logic_vector (21 downto 20); signal IO : std_logic_vector (21 downto 16);
signal LED : std_logic_vector (3 downto 0); signal LED : std_logic_vector (3 downto 0);
signal AN : std_logic_vector (3 downto 0); signal AN : std_logic_vector (3 downto 0);
signal A_TO_G : std_logic_vector (6 downto 0); signal A_TO_G : std_logic_vector (6 downto 0);
@ -36,6 +36,8 @@ architecture tb of Principal_tb is
constant CharacterPeriod : time := 10 * BaudPeriod; constant CharacterPeriod : time := 10 * BaudPeriod;
signal rx : std_logic; signal rx : std_logic;
signal tx : std_logic; signal tx : std_logic;
constant CoderPeriod : time := 27611 ns;
begin begin
dut : Principal dut : Principal
@ -55,9 +57,49 @@ begin
IO(20) <= rx; IO(20) <= rx;
tx <= IO(21); tx <= IO(21);
leftCoder : process
begin
while TbSimEnded = '0' loop
IO(19) <= '1';
wait for CoderPeriod;
IO(18) <= '1';
wait for CoderPeriod;
IO(19) <= '0';
wait for CoderPeriod;
IO(18) <= '0';
wait for CoderPeriod;
end loop;
wait;
end process;
rightCoder : process
begin
while TbSimEnded = '0' loop
IO(16) <= '0';
wait for CoderPeriod;
IO(17) <= '0';
wait for CoderPeriod;
IO(16) <= '1';
wait for CoderPeriod;
IO(17) <= '1';
wait for CoderPeriod;
end loop;
wait;
end process;
stimuli : process stimuli : process
variable sending : std_logic_vector(7 downto 0); procedure send
(char : std_logic_vector(7 downto 0)) is
begin
rx <= '0'; -- Start bit
wait for BaudPeriod;
for I in 0 to 7 loop
rx <= char(I);
wait for BaudPeriod;
end loop;
rx <= '1'; -- Stop bit
wait for BaudPeriod;
end procedure;
begin begin
rx <= '1'; rx <= '1';
@ -69,40 +111,39 @@ begin
wait for 2 * BaudPeriod; wait for 2 * BaudPeriod;
-- Send 'P'
rx <= '0'; -- Start bit
sending := x"50"; -- 'P'
wait for BaudPeriod;
for I in 0 to 7 loop
rx <= sending(I);
wait for BaudPeriod;
end loop;
rx <= '1'; -- Stop bit
wait for BaudPeriod;
-- Wait for 1 byte receive -- Send 'P'
send(x"50"); -- 'P'
wait for CharacterPeriod; wait for CharacterPeriod;
-- Wait margin -- Wait margin
wait for 2 * BaudPeriod; wait for 2 * BaudPeriod;
-- Send '?'
rx <= '0'; -- Start bit
sending := x"3F"; -- '?'
wait for BaudPeriod;
for I in 0 to 7 loop
rx <= sending(I);
wait for BaudPeriod;
end loop;
rx <= '1'; -- Stop bit
wait for BaudPeriod;
-- Wait for 2 bytes receive -- Send '?'
send(x"3F"); -- '?'
wait for 2 * CharacterPeriod; wait for 2 * CharacterPeriod;
-- Wait margin -- Wait margin
wait for 2 * BaudPeriod; wait for 2 * BaudPeriod;
-- Send 'C'
send(x"43"); -- '?'
wait for 5 * CharacterPeriod;
-- Wait margin
wait for 5 * BaudPeriod;
-- Send 'D'
send(x"44"); -- '?'
wait for 5 * CharacterPeriod;
-- Wait margin
wait for 5 * BaudPeriod;
-- Stop the clock and hence terminate the simulation -- Stop the clock and hence terminate the simulation
TbSimEnded <= '1'; TbSimEnded <= '1';
wait; wait;

23
fpga/communication.vhd
View file

@ -9,6 +9,7 @@ entity communication is
reset : in std_logic; reset : in std_logic;
left : in integer; left : in integer;
right : in integer; right : in integer;
zerocoder : out std_logic;
front : in integer; front : in integer;
back : in integer; back : in integer;
txData : out std_logic_vector(7 downto 0); txData : out std_logic_vector(7 downto 0);
@ -30,7 +31,7 @@ architecture Behavioral of communication is
constant F2AT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c' constant F2AT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c'
type readStates is (readIdle); type readStates is (readIdle);
signal readState : readStates := readIdle; signal readState : readStates := readIdle; -- TODO Make sure is correctly reset when reworking this
signal readOffset : integer := 0; signal readOffset : integer := 0;
type sendMessages is (none, A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs); type sendMessages is (none, A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
@ -91,8 +92,20 @@ begin
begin begin
if reset = '1' then if reset = '1' then
readState <= readIdle; readState <= readIdle;
sendMessage := none;
sendOffset := 0;
sendSize := 0;
sendTail := 0;
sendHead := 0;
sendLooped := false;
frontTrigger <= 0;
backTrigger <= 0;
zerocoder <= '0';
txData <= x"00";
else else
if rising_edge(clock) then if rising_edge(clock) then
zerocoder <= '0';
-- If read something -- If read something
if rxStb = '1' then if rxStb = '1' then
if readState = readIdle then if readState = readIdle then
@ -120,9 +133,15 @@ begin
sendSize := 1; sendSize := 1;
when F2AI_CAPTs => when F2AI_CAPTs =>
sendData(7 downto 0) := F2AI_CAPT; sendData(7 downto 0) := F2AI_CAPT;
sendData(23 downto 8) := std_logic_vector(to_unsigned(front, 16)); sendData(23 downto 8) := std_logic_vector(to_signed(front, 16));
sendData(39 downto 24) := std_logic_vector(to_unsigned(back, 16)); sendData(39 downto 24) := std_logic_vector(to_unsigned(back, 16));
sendSize := 5; 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;
when others => -- Including F2AD_ERR_UNKNOWN_CODEs when others => -- Including F2AD_ERR_UNKNOWN_CODEs
sendData(7 downto 0) := F2AD_ERR; sendData(7 downto 0) := F2AD_ERR;
sendData(15 downto 8) := ERR_UNKNOWN_CODE; sendData(15 downto 8) := ERR_UNKNOWN_CODE;

11
fpga/communication_tb.gtkw
View file

@ -1,15 +1,15 @@
[*] [*]
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI [*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
[*] Mon Feb 26 19:15:08 2018 [*] Tue Feb 27 08:58:38 2018
[*] [*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw" [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw"
[dumpfile_mtime] "Mon Feb 26 19:15:01 2018" [dumpfile_mtime] "Tue Feb 27 08:58:14 2018"
[dumpfile_size] 4519 [dumpfile_size] 5411
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw" [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw"
[timestart] 0 [timestart] 0
[size] 1600 862 [size] 1600 862
[pos] -1 -1 [pos] -1 -1
*-29.277596 1395000000 -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 *-29.549107 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
[treeopen] top. [treeopen] top.
[treeopen] top.communication_tb. [treeopen] top.communication_tb.
[treeopen] top.communication_tb.dut. [treeopen] top.communication_tb.dut.
@ -45,5 +45,8 @@ top.communication_tb.dut.readoffset
top.communication_tb.dut.txstb top.communication_tb.dut.txstb
[color] 1 [color] 1
top.communication_tb.dut.txack top.communication_tb.dut.txack
@29
[color] 2
top.communication_tb.dut.zerocoder
[pattern_trace] 1 [pattern_trace] 1
[pattern_trace] 0 [pattern_trace] 0

38
fpga/communication_tb.vhd
View file

@ -17,6 +17,7 @@ architecture tb of communication_tb is
left : in integer; left : in integer;
right : in integer; right : in integer;
front : in integer; front : in integer;
zerocoder : out std_logic;
back : in integer; back : in integer;
txData : out std_logic_vector (7 downto 0); txData : out std_logic_vector (7 downto 0);
txStb : out std_logic; txStb : out std_logic;
@ -33,6 +34,7 @@ architecture tb of communication_tb is
signal back : integer; signal back : integer;
signal txData : std_logic_vector (7 downto 0); signal txData : std_logic_vector (7 downto 0);
signal txStb : std_logic; signal txStb : std_logic;
signal zerocoder : std_logic;
signal txAck : std_logic; signal txAck : std_logic;
signal rxData : std_logic_vector (7 downto 0); signal rxData : std_logic_vector (7 downto 0);
signal rxStb : std_logic; signal rxStb : std_logic;
@ -54,6 +56,7 @@ begin
back => back, back => back,
txData => txData, txData => txData,
txStb => txStb, txStb => txStb,
zerocoder => zerocoder,
txAck => txAck, txAck => txAck,
rxData => rxData, rxData => rxData,
rxStb => rxStb); rxStb => rxStb);
@ -92,7 +95,6 @@ begin
assert txData = x"50" report "Not sent 'P'" severity error; assert txData = x"50" report "Not sent 'P'" severity error;
assert txStb = '1' report "Not sending" severity error; assert txStb = '1' report "Not sending" severity error;
report "Acknowledging send" severity note;
wait for 100 ns; wait for 100 ns;
txAck <= '1'; txAck <= '1';
wait for TbPeriod; wait for TbPeriod;
@ -115,7 +117,6 @@ begin
assert txData = x"45" report "Not sent 'E'" severity error; assert txData = x"45" report "Not sent 'E'" severity error;
assert txStb = '1' report "Not sending" severity error; assert txStb = '1' report "Not sending" severity error;
report "Acknowledging send" severity note;
wait for 100 ns; wait for 100 ns;
txAck <= '1'; txAck <= '1';
wait for TbPeriod; wait for TbPeriod;
@ -125,7 +126,6 @@ begin
assert txData = x"43" report "Not sent 'C'" severity error; assert txData = x"43" report "Not sent 'C'" severity error;
assert txStb = '1' report "Not sending" severity error; assert txStb = '1' report "Not sending" severity error;
report "Acknowledging send" severity note;
wait for 100 ns; wait for 100 ns;
txAck <= '1'; txAck <= '1';
wait for TbPeriod; wait for TbPeriod;
@ -150,7 +150,6 @@ begin
assert txData = x"50" report "Not sent 'P'" severity error; assert txData = x"50" report "Not sent 'P'" severity error;
assert txStb = '1' report "Not sending" severity error; assert txStb = '1' report "Not sending" severity error;
report "Acknowledging send" severity note;
wait for 100 ns; wait for 100 ns;
txAck <= '1'; txAck <= '1';
wait for TbPeriod; wait for TbPeriod;
@ -176,7 +175,36 @@ begin
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 = 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 txStb = '1' report "Not sending" 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';
end loop;
wait for 100 ns;
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;
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;
shouldReceive(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 txStb = '1' report "Not sending" severity error;
wait for 100 ns; wait for 100 ns;
txAck <= '1'; txAck <= '1';
wait for TbPeriod; wait for TbPeriod;

33
fpga/hedm.vhd
View file

@ -13,20 +13,22 @@ entity hedm is
clk : in STD_LOGIC; -- Horloge, la fréquence n'importe pas clk : in STD_LOGIC; -- Horloge, la fréquence n'importe pas
chA : in STD_LOGIC; -- Canal A chA : in STD_LOGIC; -- Canal A
chB : in STD_LOGIC; -- Canal B chB : in STD_LOGIC; -- Canal B
reset : in STD_LOGIC; reset : in STD_LOGIC; -- Hard reset
zero : in STD_LOGIC; -- Force la valeur à zéro sans réinitialiser le fonctionnement
counts : out integer counts : out integer
); );
end hedm; end hedm;
architecture Behavioral of hedm is architecture Behavioral of hedm is
signal counter : integer := 0;
signal An, Bn : STD_LOGIC := '0'; -- Nouvelles valeurs de A et B stockées pour que les entrées soient lues une seule fois en début de cycle signal An, Bn : STD_LOGIC := '0'; -- Nouvelles valeurs de A et B stockées pour que les entrées soient lues une seule fois en début de cycle
signal Ap, Bp : STD_LOGIC := '0'; -- Précédentes valeurs de A et B pour détecter les front montant signal Ap, Bp : STD_LOGIC := '0'; -- Précédentes valeurs de A et B pour détecter les front montant
begin begin
processInput : process(clk, reset) processInput : process(clk, reset)
variable counter : integer := 0;
begin begin
if reset = '1' then if reset = '1' then
counter <= 0; counter := 0;
counts <= 0;
An <= '0'; An <= '0';
Bn <= '0'; Bn <= '0';
Ap <= '0'; Ap <= '0';
@ -39,39 +41,44 @@ begin
An <= chA; An <= chA;
Bn <= chB; Bn <= chB;
if zero = '1' then
counter := 0;
end if;
-- On pourrait optimiser la logique avec un tableau de Karnaugh ou autres méthodes -- 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 -- 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 -- tout aussi bon travail, on garde donc le code suivant pour la lisibilité
if (Ap = '0' and An = '1') then -- Front montant A if (Ap = '0' and An = '1') then -- Front montant A
if (Bn = '0') then if (Bn = '0') then
counter <= counter + 1; counter := counter + 1;
else else
counter <= counter - 1; counter := counter - 1;
end if; end if;
elsif (Ap = '1' and An = '0') then -- Front descendant A elsif (Ap = '1' and An = '0') then -- Front descendant A
if (Bn = '1') then if (Bn = '1') then
counter <= counter + 1; counter := counter + 1;
else else
counter <= counter - 1; counter := counter - 1;
end if; end if;
elsif (Bp = '0' and Bn = '1') then -- Front montant B elsif (Bp = '0' and Bn = '1') then -- Front montant B
if (An = '1') then if (An = '1') then
counter <= counter + 1; counter := counter + 1;
else else
counter <= counter - 1; counter := counter - 1;
end if; end if;
elsif (Bp = '1' and Bn = '0') then -- Front descendant B elsif (Bp = '1' and Bn = '0') then -- Front descendant B
if (An = '0') then if (An = '0') then
counter <= counter + 1; counter := counter + 1;
else else
counter <= counter - 1; counter := counter - 1;
end if; end if;
end if; end if;
end if;
end process;
counts <= counter; counts <= counter;
end if;
end process;
end Behavioral; end Behavioral;

42
fpga/hedm_tb.gtkw
View file

@ -1,25 +1,43 @@
[*] [*]
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI [*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
[*] Sat Feb 24 16:20:02 2018 [*] Tue Feb 27 08:32:01 2018
[*] [*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/hedm_tb.vcd" [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/hedm_tb.ghw"
[dumpfile_mtime] "Sat Feb 24 16:19:31 2018" [dumpfile_mtime] "Tue Feb 27 08:31:12 2018"
[dumpfile_size] 10717 [dumpfile_size] 4287
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/hedm_tb.gtkw" [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/hedm_tb.gtkw"
[timestart] 0 [timestart] 0
[size] 1600 862 [size] 1600 862
[pos] -1 -1 [pos] -1 -1
*-28.000000 -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 -1 *-28.781492 -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 -1
[treeopen] top.
[treeopen] top.hedm_tb.
[sst_width] 213 [sst_width] 213
[signals_width] 78 [signals_width] 78
[sst_expanded] 1 [sst_expanded] 1
[sst_vpaned_height] 244 [sst_vpaned_height] 244
@28 @28
clk top.hedm_tb.dut.clk
reset top.hedm_tb.dut.reset
cha [color] 4
chb top.hedm_tb.dut.zero
@421 [color] 5
counts top.hedm_tb.dut.cha
[color] 5
top.hedm_tb.dut.chb
[color] 2
top.hedm_tb.dut.ap
[color] 2
top.hedm_tb.dut.bp
[color] 2
top.hedm_tb.dut.an
[color] 2
top.hedm_tb.dut.bn
@420
[color] 1
top.hedm_tb.dut.counts
@8421
[color] 1
top.hedm_tb.dut.counts
[pattern_trace] 1 [pattern_trace] 1
[pattern_trace] 0 [pattern_trace] 0

38
fpga/hedm_tb.vhd
View file

@ -15,6 +15,7 @@ architecture tb of hedm_tb is
chA : in std_logic; chA : in std_logic;
chB : in std_logic; chB : in std_logic;
reset : in std_logic; reset : in std_logic;
zero : in std_logic;
counts : out integer); counts : out integer);
end component; end component;
@ -22,6 +23,7 @@ architecture tb of hedm_tb is
signal chA : std_logic; signal chA : std_logic;
signal chB : std_logic; signal chB : std_logic;
signal reset : std_logic; signal reset : std_logic;
signal zero : std_logic;
signal counts : integer; signal counts : integer;
constant TbPeriod : time := 20 ns; constant TbPeriod : time := 20 ns;
@ -35,6 +37,7 @@ begin
chA => chA, chA => chA,
chB => chB, chB => chB,
reset => reset, reset => reset,
zero => zero,
counts => counts); counts => counts);
-- Clock generation -- Clock generation
@ -48,6 +51,7 @@ begin
begin begin
chA <= '0'; chA <= '0';
chB <= '0'; chB <= '0';
zero <= '0';
-- Reset generation -- Reset generation
reset <= '1'; reset <= '1';
@ -70,8 +74,17 @@ begin
wait for 5 * TbPeriod; wait for 5 * TbPeriod;
assert counts = nbTours * 4 report "Sens avant faux, reçu " & integer'image(counts) severity error; assert counts = nbTours * 4 report "Sens avant faux, reçu " & integer'image(counts) severity error;
-- Test zero
zero <= '1';
wait for TbPeriod;
zero <= '0';
wait for TbPeriod;
-- Test sens avant wait for 5 * TbPeriod;
assert counts = 0 report "Zero faux, reçu " & integer'image(counts) severity error;
-- Test sens arrière
for I in 0 to nbTours-1 loop for I in 0 to nbTours-1 loop
chB <= '1'; chB <= '1';
wait for TbPeriod; wait for TbPeriod;
@ -84,7 +97,27 @@ begin
end loop; end loop;
wait for 5 * TbPeriod; wait for 5 * TbPeriod;
assert counts = 0 report "Sens arrière faux, reçu " & integer'image(counts) severity error; assert counts = -40 report "Sens arrière faux, reçu " & integer'image(counts) severity error;
-- Test zero en éxecution
chA <= '1';
wait for TbPeriod;
chB <= '1';
wait for TbPeriod;
chA <= '0';
zero <= '1';
wait for TbPeriod;
chB <= '0';
zero <= '0';
wait for TbPeriod;
wait for 5 * TbPeriod;
assert counts = 3 report "Zero en éxecution faux, reçu " & integer'image(counts) severity error;
zero <= '1';
wait for TbPeriod;
zero <= '0';
wait for TbPeriod;
-- Test aller-retours -- Test aller-retours
for I in 0 to nbTours-1 loop for I in 0 to nbTours-1 loop
@ -102,6 +135,7 @@ begin
assert counts = 0 report "Aller-retours faux, reçu " & integer'image(counts) severity error; assert counts = 0 report "Aller-retours faux, reçu " & integer'image(counts) severity error;
-- Stop the clock and hence terminate the simulation -- Stop the clock and hence terminate the simulation
TbSimEnded <= '1'; TbSimEnded <= '1';
wait; wait;