geoffrey/cdf2018-principal
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FPGA : HCSR04 et améliorations

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This commit is contained in:
Geoffrey Frogeye 2018-02-27 19:33:58 +01:00
parent d111629b12
commit d477c9ec58
10 changed files with 497 additions and 417 deletions
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151
fpga/Principal.vhd
View file

@ -4,24 +4,27 @@ use IEEE.NUMERIC_STD.ALL;
entity Principal is entity Principal is
Port ( CLK : in STD_LOGIC; -- Clock Generic(
BTN : in STD_LOGIC; -- Reset fFpga : INTEGER := 50_000_000;
fBaud : INTEGER := 9600
-- FA & Encoder );
IO : inout STD_LOGIC_VECTOR (21 downto 16); Port (
-- Debug CLK : in std_logic;
LED : out STD_LOGIC_VECTOR (3 downto 0); BTN: in std_logic;
AN : out STD_LOGIC_VECTOR (3 downto 0); RX: in std_logic;
A_TO_G : out STD_LOGIC_VECTOR (6 downto 0); TX: out std_logic;
DOT : out STD_LOGIC LEFTCHA: in std_logic;
); LEFTCHB: in std_logic;
RIGHTCHA: in std_logic;
RIGHTCHB: in std_logic;
FRONTTRIGGER: out std_logic;
FRONTECHO: in std_logic;
BACKTRIGGER: out std_logic;
BACKECHO: in std_logic
);
end Principal; end Principal;
architecture Behavioral of Principal is architecture Behavioral of Principal is
-- Blink led
signal count : integer := 0;
signal theled: std_logic_vector(3 downto 0) := "0000";
-- General -- General
signal reset : std_logic := '0'; signal reset : std_logic := '0';
@ -44,12 +47,26 @@ architecture Behavioral of Principal is
-- Sensors -- Sensors
signal front : integer := 0; signal front : integer := 0;
signal back : integer := 0; signal back : integer := 0;
component hcsr04 IS
generic(
fFpga : INTEGER := fFpga
);
port(
clk : IN STD_LOGIC;
reset : IN STD_LOGIC;
echo : IN STD_LOGIC;
distance : OUT INTEGER;
trigger : OUT STD_LOGIC;
start : IN STD_LOGIC;
finished : OUT STD_LOGIC
);
end component;
-- AF -- AF
component uart is component uart is
generic ( generic (
baud : positive := 9600; baud : positive := fBaud;
clock_frequency : positive := 50_000_000 clock_frequency : positive := fFpga
); );
port ( port (
clock : in std_logic; clock : in std_logic;
@ -64,8 +81,6 @@ architecture Behavioral of Principal is
); );
end component; end component;
constant BAUD_COUNT: std_logic_vector := x"1458"; -- 96000 Baud at 50 MHz
signal txData : std_logic_vector(7 downto 0); signal txData : std_logic_vector(7 downto 0);
signal txStb : std_logic := '0'; signal txStb : std_logic := '0';
signal txAck : std_logic := '0'; signal txAck : std_logic := '0';
@ -91,39 +106,46 @@ architecture Behavioral of Principal is
); );
end component; end component;
-- Debug
component sevenseg is
Port (
data : in STD_LOGIC_VECTOR (15 downto 0);
clock : in STD_LOGIC;
anode : out STD_LOGIC_VECTOR (3 downto 0);
segment : out STD_LOGIC_VECTOR (6 downto 0);
dot : out STD_LOGIC
);
end component;
signal sevensegdata: std_logic_vector(15 downto 0);
signal fullseg: std_logic_vector(7 downto 0);
begin begin
reset <= BTN; reset <= BTN;
leftCoder: hedm port map ( leftCoder: hedm port map (
clk => CLK, clk => CLK,
chA => IO(19), chA => LEFTCHA,
chB => IO(18), chB => LEFTCHB,
reset => reset, reset => reset,
zero => zerocoder, zero => zerocoder,
counts => left counts => left
); );
rightCoder: hedm port map ( rightCoder: hedm port map (
clk => CLK, clk => CLK,
chA => IO(17), chA => RIGHTCHA,
chB => IO(16), chB => RIGHTCHB,
reset => reset, reset => reset,
zero => zerocoder, zero => zerocoder,
counts => right counts => right
); );
frontCapt: hcsr04 port map (
clk => CLK,
reset => reset,
echo => FRONTECHO,
distance => front,
trigger => FRONTTRIGGER,
start => '1'
-- finished =>
);
backCapt: hcsr04 port map (
clk => CLK,
reset => reset,
echo => BACKECHO,
distance => back,
trigger => BACKTRIGGER,
start => '1'
-- finished =>
);
FA: uart port map( FA: uart port map(
clock => CLK, clock => CLK,
@ -133,8 +155,8 @@ begin
data_stream_in_ack => txAck, data_stream_in_ack => txAck,
data_stream_out => rxData, data_stream_out => rxData,
data_stream_out_stb => rxStb, data_stream_out_stb => rxStb,
tx => IO(21), tx => TX,
rx => IO(20) rx => RX
); );
com: communication port map( com: communication port map(
@ -151,40 +173,5 @@ begin
rxData => rxData, rxData => rxData,
rxStb => rxStb rxStb => rxStb
); );
-- Debug
blinkled : process(CLK, reset)
begin
if reset = '1' then
count <= 0;
theled <= "0000";
front <= 0;
back <= 0;
elsif CLK'event and CLK = '1' then
if count = 9999999 then
count <= 0;
theled(3) <= not theled(3);
theled(2 downto 0) <= "000";
else
count <= count + 1;
theled(2 downto 0) <= theled(2 downto 0) or (txStb & rxStb & txAck);
end if;
end if;
end process;
LED <= theled;
debugSeg: sevenseg port map(
data => sevensegdata,
clock => CLK,
anode => AN,
segment => A_TO_G,
dot => DOT
);
sevensegdata(15 downto 8) <= rxData;
sevensegdata(7 downto 0) <= txData;
end Behavioral; end Behavioral;

37
fpga/Principal_tb.gtkw
View file

@ -1,19 +1,18 @@
[*] [*]
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI [*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
[*] Tue Feb 27 09:39:06 2018 [*] Tue Feb 27 18:30:48 2018
[*] [*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.ghw" [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.ghw"
[dumpfile_mtime] "Tue Feb 27 09:38:56 2018" [dumpfile_mtime] "Tue Feb 27 18:29:45 2018"
[dumpfile_size] 32911228 [dumpfile_size] 4891772
[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] 1600 862 [size] 1600 862
[pos] -1 -1 [pos] -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 *-43.418156 1760000000000 -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.principal_tb. [treeopen] top.principal_tb.
[treeopen] top.principal_tb.dut. [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
@ -73,8 +72,34 @@ top.principal_tb.dut.left
top.principal_tb.dut.rightcoder.cha top.principal_tb.dut.rightcoder.cha
[color] 6 [color] 6
top.principal_tb.dut.rightcoder.chb top.principal_tb.dut.rightcoder.chb
@8421 @8420
[color] 6 [color] 6
top.principal_tb.dut.right top.principal_tb.dut.right
@28
[color] 3
top.principal_tb.dut.frontcapt.start
[color] 3
top.principal_tb.dut.frontcapt.trigger
[color] 3
top.principal_tb.dut.frontcapt.echo
@8420
[color] 3
top.principal_tb.dut.frontcapt.distancecounter
@420
[color] 3
top.principal_tb.dut.front
@28
[color] 3
top.principal_tb.dut.backcapt.start
[color] 3
top.principal_tb.dut.backcapt.trigger
[color] 3
top.principal_tb.dut.backcapt.echo
@8421
[color] 3
top.principal_tb.dut.backcapt.distancecounter
@420
[color] 3
top.principal_tb.dut.back
[pattern_trace] 1 [pattern_trace] 1
[pattern_trace] 0 [pattern_trace] 0

138
fpga/Principal_tb.vhd
View file

@ -10,63 +10,84 @@ entity Principal_tb is
architecture tb of Principal_tb is architecture tb of Principal_tb is
component Principal constant fFpga : INTEGER := 2_000_000;
port (CLK : in std_logic; constant fBaud : INTEGER := 9600;
BTN : in std_logic;
IO : inout std_logic_vector (21 downto 16); component Principal is
LED : out std_logic_vector (3 downto 0); Generic(
AN : out std_logic_vector (3 downto 0); fFpga : INTEGER := fFpga;
A_TO_G : out std_logic_vector (6 downto 0); fBaud : INTEGER := fBaud
DOT : out std_logic); );
Port (
CLK : in std_logic;
BTN: in std_logic;
RX: in std_logic;
TX: out std_logic;
LEFTCHA: in std_logic;
LEFTCHB: in std_logic;
RIGHTCHA: in std_logic;
RIGHTCHB: in std_logic;
FRONTTRIGGER: out std_logic;
FRONTECHO: in std_logic;
BACKTRIGGER: out std_logic;
BACKECHO: in std_logic
);
end component; end component;
signal CLK : std_logic; signal CLK : std_logic;
signal BTN : std_logic; signal BTN : std_logic;
signal IO : std_logic_vector (21 downto 16); signal RX : std_logic;
signal LED : std_logic_vector (3 downto 0); signal TX : std_logic;
signal AN : std_logic_vector (3 downto 0); signal LEFTCHA : std_logic;
signal A_TO_G : std_logic_vector (6 downto 0); signal LEFTCHB : std_logic;
signal DOT : std_logic; signal RIGHTCHA : std_logic;
signal RIGHTCHB : std_logic;
signal FRONTTRIGGER : std_logic;
signal FRONTECHO : std_logic;
signal BACKTRIGGER : std_logic;
signal BACKECHO : std_logic;
constant TbPeriod : time := 20 ns; constant TbPeriod : time := 500 ns;
signal TbClock : std_logic := '0'; signal TbClock : std_logic := '0';
signal TbSimEnded : std_logic := '0'; signal TbSimEnded : std_logic := '0';
constant BaudPeriod : time := 104167 ns; -- 9600 baud signal TbDoneWithCapt : std_logic := '0';
constant CharacterPeriod : time := 10 * BaudPeriod;
signal rx : std_logic;
signal tx : std_logic;
constant CoderPeriod : time := 27611 ns; constant BaudPeriod : time := 1E9 ns / fBaud;
constant CharacterPeriod : time := 10 * BaudPeriod;
constant CoderPeriod : time := 27611 ns; -- 10 km/h
begin begin
dut : Principal dut : Principal
port map (CLK => CLK, port map (CLK => CLK,
BTN => BTN, BTN => BTN,
IO => IO, RX => RX,
LED => LED, TX => TX,
AN => AN, LEFTCHA => LEFTCHA,
A_TO_G => A_TO_G, LEFTCHB => LEFTCHB,
DOT => DOT); RIGHTCHA => RIGHTCHA,
RIGHTCHB => RIGHTCHB,
FRONTTRIGGER => FRONTTRIGGER,
FRONTECHO => FRONTECHO,
BACKTRIGGER => BACKTRIGGER,
BACKECHO => BACKECHO);
-- Clock generation -- Clock generation
TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0'; TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
CLK <= TbClock; CLK <= TbClock;
IO(20) <= rx;
tx <= IO(21);
leftCoder : process leftCoder : process
begin begin
while TbSimEnded = '0' loop while TbSimEnded = '0' loop
IO(19) <= '1'; LEFTCHA <= '1';
wait for CoderPeriod; wait for CoderPeriod;
IO(18) <= '1'; LEFTCHB <= '1';
wait for CoderPeriod; wait for CoderPeriod;
IO(19) <= '0'; LEFTCHA <= '0';
wait for CoderPeriod; wait for CoderPeriod;
IO(18) <= '0'; LEFTCHB <= '0';
wait for CoderPeriod; wait for CoderPeriod;
end loop; end loop;
wait; wait;
@ -75,18 +96,36 @@ begin
rightCoder : process rightCoder : process
begin begin
while TbSimEnded = '0' loop while TbSimEnded = '0' loop
IO(16) <= '0'; RIGHTCHA <= '0';
wait for CoderPeriod; wait for CoderPeriod;
IO(17) <= '0'; RIGHTCHB <= '0';
wait for CoderPeriod; wait for CoderPeriod;
IO(16) <= '1'; RIGHTCHA <= '1';
wait for CoderPeriod; wait for CoderPeriod;
IO(17) <= '1'; RIGHTCHB <= '1';
wait for CoderPeriod; wait for CoderPeriod;
end loop; end loop;
wait; wait;
end process; end process;
frontCapt: process
begin
FRONTECHO <= '0';
wait on FRONTTRIGGER until FRONTTRIGGER = '1';
wait on FRONTTRIGGER until FRONTTRIGGER = '0';
wait for 10 ms;
FRONTECHO <= '1';
wait for 15 ms;
FRONTECHO <= '0';
wait for 35 ms;
TbDoneWithCapt <= '1';
wait;
end process;
stimuli : process stimuli : process
procedure send procedure send
(char : std_logic_vector(7 downto 0)) is (char : std_logic_vector(7 downto 0)) is
@ -101,7 +140,9 @@ begin
wait for BaudPeriod; wait for BaudPeriod;
end procedure; end procedure;
begin begin
rx <= '1'; BTN <= '0';
RX <= '1';
BACKECHO <= '0';
-- Reset generation -- Reset generation
BTN <= '1'; BTN <= '1';
@ -128,22 +169,19 @@ begin
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 'D'
send(x"44"); -- '?' send(x"44");
wait for 5 * CharacterPeriod;
wait on TbDoneWithCapt until TbDoneWithCapt = '1';
-- Send 'C'
send(x"43");
wait for 5 * CharacterPeriod; wait for 5 * CharacterPeriod;
-- Wait margin -- Wait margin
wait for 5 * BaudPeriod; 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;

179
fpga/debug.ucf
View file

@ -1,179 +0,0 @@
# __ ____ _ __
# / |/ (_)_____________ / | / /___ _ ______ _
# / /|_/ / / ___/ ___/ __ \/ |/ / __ \ | / / __ `/
# / / / / / /__/ / / /_/ / /| / /_/ / |/ / /_/ /
# /_/ /_/_/\___/_/ \____/_/ |_/\____/|___/\__,_/
#
# Mercury BASEBOARD User Constraints File
# Revision 1.0.0 (03/25/2015)
# Copyright (c) 2015 MicroNova, LLC
# www.micro-nova.com
# system oscillators
NET "EXT_CLK" LOC = "P44" | IOSTANDARD = LVTTL ;
NET "CLK" LOC = "P43" | IOSTANDARD = LVTTL ;
NET "CLK" TNM_NET = "CLK";
TIMESPEC "TS_CLK" = PERIOD "CLK" 20 ns HIGH 50 %;
# PS/2
NET "PS2_DATA" LOC = "P13" | IOSTANDARD = LVTTL ;
NET "PS2_CLK" LOC = "P15" | IOSTANDARD = LVTTL ;
# Buttons
NET "USR_BTN" LOC = "P41" | IOSTANDARD = LVTTL ;
NET "BTN<0>" LOC = "P68" | IOSTANDARD = LVTTL ;
NET "BTN<1>" LOC = "P97" | IOSTANDARD = LVTTL ;
NET "BTN<2>" LOC = "P7" | IOSTANDARD = LVTTL ;
NET "BTN<3>" LOC = "P82" | IOSTANDARD = LVTTL ;
# VGA
NET "RED<0>" LOC = "P20" | IOSTANDARD = LVTTL ;
NET "RED<1>" LOC = "P32" | IOSTANDARD = LVTTL ;
NET "RED<2>" LOC = "P33" | IOSTANDARD = LVTTL ;
NET "GRN<0>" LOC = "P34" | IOSTANDARD = LVTTL ;
NET "GRN<1>" LOC = "P35" | IOSTANDARD = LVTTL ;
NET "GRN<2>" LOC = "P36" | IOSTANDARD = LVTTL ;
NET "BLU<0>" LOC = "P37" | IOSTANDARD = LVTTL ;
NET "BLU<1>" LOC = "P40" | IOSTANDARD = LVTTL ;
NET "HSYNC" LOC = "P16" | IOSTANDARD = LVTTL ;
NET "VSYNC" LOC = "P19" | IOSTANDARD = LVTTL ;
# SWITCHES
NET "SW<0>" LOC = "P59" | IOSTANDARD = LVTTL ;
NET "SW<1>" LOC = "P60" | IOSTANDARD = LVTTL ;
NET "SW<2>" LOC = "P61" | IOSTANDARD = LVTTL ;
NET "SW<3>" LOC = "P62" | IOSTANDARD = LVTTL ;
NET "SW<4>" LOC = "P64" | IOSTANDARD = LVTTL ;
NET "SW<5>" LOC = "P57" | IOSTANDARD = LVTTL ;
NET "SW<6>" LOC = "P56" | IOSTANDARD = LVTTL ;
NET "SW<7>" LOC = "P52" | IOSTANDARD = LVTTL ;
# 7 SEG
NET "AN<0>" LOC = "P50" | IOSTANDARD = LVTTL ;
NET "AN<1>" LOC = "P49" | IOSTANDARD = LVTTL ;
NET "AN<2>" LOC = "P85" | IOSTANDARD = LVTTL ;
NET "AN<3>" LOC = "P84" | IOSTANDARD = LVTTL ;
NET "A_TO_G<0>" LOC = "P72" | IOSTANDARD = LVTTL ;
NET "A_TO_G<1>" LOC = "P71" | IOSTANDARD = LVTTL ;
NET "A_TO_G<2>" LOC = "P70" | IOSTANDARD = LVTTL ;
NET "A_TO_G<3>" LOC = "P65" | IOSTANDARD = LVTTL ;
NET "A_TO_G<4>" LOC = "P77" | IOSTANDARD = LVTTL ;
NET "A_TO_G<5>" LOC = "P78" | IOSTANDARD = LVTTL ;
NET "A_TO_G<6>" LOC = "P83" | IOSTANDARD = LVTTL ;
NET "DOT" LOC = "P73" | IOSTANDARD = LVTTL ;
# PMOD
NET "PMOD<0>" LOC = "P5" | IOSTANDARD = LVTTL ;
NET "PMOD<1>" LOC = "P4" | IOSTANDARD = LVTTL ;
NET "PMOD<2>" LOC = "P6" | IOSTANDARD = LVTTL ;
NET "PMOD<3>" LOC = "P98" | IOSTANDARD = LVTTL ;
NET "PMOD<4>" LOC = "P94" | IOSTANDARD = LVTTL ;
NET "PMOD<5>" LOC = "P93" | IOSTANDARD = LVTTL ;
NET "PMOD<6>" LOC = "P90" | IOSTANDARD = LVTTL ;
NET "PMOD<7>" LOC = "P89" | IOSTANDARD = LVTTL ;
# AUDIO OUT
NET "AUDIO_OUT_R" LOC = "P88" | IOSTANDARD = LVTTL ;
NET "AUDIO_OUT_L" LOC = "P86" | IOSTANDARD = LVTTL ;
# memory & bus-switch
NET "SWITCH_OEN" LOC = "P3" | IOSTANDARD = LVTTL ;
NET "MEMORY_OEN" LOC = "P30" | IOSTANDARD = LVTTL ;
# flash/usb interface
NET "FPGA_CSN" LOC = "P39" | IOSTANDARD = LVTTL ;
NET "FLASH_CSN" LOC = "P27" | IOSTANDARD = LVTTL ;
NET "SPI_MOSI" LOC = "P46" | IOSTANDARD = LVTTL ;
NET "SPI_MISO" LOC = "P51" | IOSTANDARD = LVTTL ;
NET "SPI_SCK" LOC = "P53" | IOSTANDARD = LVTTL ;
# ADC interface
NET "ADC_MISO" LOC = "P21" | IOSTANDARD = LVTTL ;
NET "ADC_MOSI" LOC = "P10" | IOSTANDARD = LVTTL ;
NET "ADC_SCK" LOC = "P9" | IOSTANDARD = LVTTL ;
NET "ADC_CSN" LOC = "P12" | IOSTANDARD = LVTTL ;
# __ ____ _ __
# / |/ (_)_____________ / | / /___ _ ______ _
# / /|_/ / / ___/ ___/ __ \/ |/ / __ \ | / / __ `/
# / / / / / /__/ / / /_/ / /| / /_/ / |/ / /_/ /
# /_/ /_/_/\___/_/ \____/_/ |_/\____/|___/\__,_/
#
# Mercury User Constraints File
# Revision 1.0.142 (10/24/2012)
# Copyright (c) 2012 MicroNova, LLC
# www.micro-nova.com
# user LEDs and button
NET "LED<0>" LOC = "P13" | IOSTANDARD = LVTTL ;
NET "LED<1>" LOC = "P15" | IOSTANDARD = LVTTL ;
NET "LED<2>" LOC = "P16" | IOSTANDARD = LVTTL ;
NET "LED<3>" LOC = "P19" | IOSTANDARD = LVTTL ;
NET "BTN" LOC = "P41" | IOSTANDARD = LVTTL ;
# direct and global-clock I/O
NET "DIO<0>" LOC = "P20" | IOSTANDARD = LVTTL ;
NET "DIO<1>" LOC = "P32" | IOSTANDARD = LVTTL ;
NET "DIO<2>" LOC = "P33" | IOSTANDARD = LVTTL ;
NET "DIO<3>" LOC = "P34" | IOSTANDARD = LVTTL ;
NET "DIO<4>" LOC = "P35" | IOSTANDARD = LVTTL ;
NET "DIO<5>" LOC = "P36" | IOSTANDARD = LVTTL ;
NET "DIO<6>" LOC = "P37" | IOSTANDARD = LVTTL ;
NET "CIO<0>" LOC = "P40" | IOSTANDARD = LVTTL ;
NET "CIO<1>" LOC = "P44" | IOSTANDARD = LVTTL ;
# in-only pins
NET "INPIN<0>" LOC = "P68" | IOSTANDARD = LVTTL ;
NET "INPIN<1>" LOC = "P97" | IOSTANDARD = LVTTL ;
NET "INPIN<2>" LOC = "P7" | IOSTANDARD = LVTTL ;
NET "INPIN<3>" LOC = "P82" | IOSTANDARD = LVTTL ;
# level-shifted I/O
NET "IO<0>" LOC = "P59" | IOSTANDARD = LVTTL ;
NET "IO<1>" LOC = "P60" | IOSTANDARD = LVTTL ;
NET "IO<2>" LOC = "P61" | IOSTANDARD = LVTTL ;
NET "IO<3>" LOC = "P62" | IOSTANDARD = LVTTL ;
NET "IO<4>" LOC = "P64" | IOSTANDARD = LVTTL ;
NET "IO<5>" LOC = "P57" | IOSTANDARD = LVTTL ;
NET "IO<6>" LOC = "P56" | IOSTANDARD = LVTTL ;
NET "IO<7>" LOC = "P52" | IOSTANDARD = LVTTL ;
NET "IO<8>" LOC = "P50" | IOSTANDARD = LVTTL ;
NET "IO<9>" LOC = "P49" | IOSTANDARD = LVTTL ;
NET "IO<10>" LOC = "P85" | IOSTANDARD = LVTTL ;
NET "IO<11>" LOC = "P84" | IOSTANDARD = LVTTL ;
NET "IO<12>" LOC = "P83" | IOSTANDARD = LVTTL ;
NET "IO<13>" LOC = "P78" | IOSTANDARD = LVTTL ;
NET "IO<14>" LOC = "P77" | IOSTANDARD = LVTTL ;
NET "IO<15>" LOC = "P65" | IOSTANDARD = LVTTL ;
NET "IO<16>" LOC = "P70" | IOSTANDARD = LVTTL ;
NET "IO<17>" LOC = "P71" | IOSTANDARD = LVTTL ;
NET "IO<18>" LOC = "P72" | IOSTANDARD = LVTTL ;
NET "IO<19>" LOC = "P73" | IOSTANDARD = LVTTL ;
NET "IO<20>" LOC = "P5" | IOSTANDARD = LVTTL ;
NET "IO<21>" LOC = "P4" | IOSTANDARD = LVTTL ;
NET "IO<22>" LOC = "P6" | IOSTANDARD = LVTTL ;
NET "IO<23>" LOC = "P98" | IOSTANDARD = LVTTL ;
NET "IO<24>" LOC = "P94" | IOSTANDARD = LVTTL ;
NET "IO<25>" LOC = "P93" | IOSTANDARD = LVTTL ;
NET "IO<26>" LOC = "P90" | IOSTANDARD = LVTTL ;
NET "IO<27>" LOC = "P89" | IOSTANDARD = LVTTL ;
NET "IO<28>" LOC = "P88" | IOSTANDARD = LVTTL ;
NET "IO<29>" LOC = "P86" | IOSTANDARD = LVTTL ;
# memory & bus-switch
NET "switch_oen" LOC = "P3" | IOSTANDARD = LVTTL ;
NET "memory_oen" LOC = "P30" | IOSTANDARD = LVTTL ;
# flash/usb interface
NET "fpga_csn" LOC = "P39" | IOSTANDARD = LVTTL ;
NET "flash_csn" LOC = "P27" | IOSTANDARD = LVTTL ;
NET "spi_mosi" LOC = "P46" | IOSTANDARD = LVTTL ;
NET "spi_miso" LOC = "P51" | IOSTANDARD = LVTTL ;
NET "spi_sck" LOC = "P53" | IOSTANDARD = LVTTL ;
# ADC interface
NET "adc_miso" LOC = "P21" | IOSTANDARD = LVTTL ;
NET "adc_mosi" LOC = "P10" | IOSTANDARD = LVTTL ;
NET "adc_sck" LOC = "P9" | IOSTANDARD = LVTTL ;
NET "adc_csn" LOC = "P12" | IOSTANDARD = LVTTL ;
# CLOCK timing

88
fpga/hcSr04.vhd
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@ -1,88 +0,0 @@
LIBRARY ieee;
USE ieee.std_logic_1164.all;
ENTITY hcSr04 IS
GENERIC(
fFpga : INTEGER := 50_000_000 -- frequency of the FPGA clock (Hz)
);
PORT(
clk : IN STD_LOGIC; -- clock of the FPGA
echo : IN STD_LOGIC; -- echo pin of the hcSr04
distance : OUT INTEGER RANGE 0 TO 65535; -- Divide by 58 to get the value in cm
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
-- Generate us clock
CONSTANT fUs : INTEGER := 1_000_000; -- Frequency of the microsecond clock
CONSTANT usTicks : INTEGER := fFPGA / fUs; -- Number of FPGA tick that makes a microsecond
SIGNAL fpgaCounter : INTEGER RANGE 0 TO usTicks - 1; -- Count the microsecond
SIGNAL usClk : STD_LOGIC; -- Clock that ticks every us
-- Trigger
CONSTANT triggerDuration : INTEGER := 10; -- Number of us that makes up a trigger sequence
SIGNAL triggerCounter : INTEGER RANGE 0 TO triggerDuration - 1 := 0; -- Progress in the trigger sequence
SIGNAL theTrigger : STD_LOGIC := '0'; -- Trigger pin but with default value
-- Measurement
CONSTANT measurementDuration : INTEGER := 60_000; -- Number of us that makes up a measurement cycle
SIGNAL measurementCounter : INTEGER RANGE 0 TO measurementDuration - 1 := 0; -- Progress in the measurement cycle
-- Distance
SIGNAL distanceCounter : INTEGER RANGE 0 TO 65535 := 0; -- Distance measured (in us)
-- State machine
TYPE stateType IS (waiting, triggering, measuring);
SIGNAL state : stateType;
BEGIN
us : process(clk)
begin
if rising_edge(clk) then
if fpgaCounter = 0 then
usClk <= '0';
elsif fpgaCounter = 1 then
usClk <= '1';
end if;
fpgaCounter <= fpgaCounter + 1;
end if;
end process;
trigger <= theTrigger;
measure : process(usClk)
begin
if rising_edge(usClk) then
CASE state IS
WHEN waiting =>
finished <= '0';
IF start = '1' THEN
theTrigger <= '1';
triggerCounter <= 0;
state <= triggering;
END IF;
WHEN triggering =>
triggerCounter <= triggerCounter + 1;
IF triggerCounter = triggerDuration - 1 THEN
theTrigger <= '0';
measurementCounter <= 0;
distanceCounter <= 0;
state <= measuring;
END IF;
WHEN measuring =>
IF echo = '1' and distanceCounter < 65535 THEN
distanceCounter <= distanceCounter + 1;
END IF;
measurementCounter <= measurementCounter + 1;
IF measurementCounter = measurementDuration - 1 THEN
distance <= distanceCounter;
finished <= '1';
state <= waiting;
END IF;
END CASE;
end if;
end process;
END Behavioral;

106
fpga/hcsr04.vhd Normal file
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@ -0,0 +1,106 @@
LIBRARY ieee;
USE ieee.std_logic_1164.all;
ENTITY hcsr04 IS
GENERIC(
fFpga : INTEGER := 50_000_000 -- frequency of the FPGA clock (Hz)
);
PORT(
clk : IN STD_LOGIC; -- clock of the FPGA
reset : IN STD_LOGIC; -- hard reset
echo : IN STD_LOGIC; -- echo pin of the hcsr04
distance : OUT INTEGER; -- Divide by 58 to get the value in cm
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
-- Generate us clock
CONSTANT fUs : INTEGER := 1_000_000; -- Frequency of the microsecond clock
CONSTANT usTicks : INTEGER := fFPGA / fUs / 2; -- Number of FPGA tick that makes a demi-microsecond
SIGNAL fpgaCounter : INTEGER; -- Count the microsecond
SIGNAL usClk : STD_LOGIC := '0'; -- Clock that ticks every us
-- Trigger
CONSTANT triggerDuration : INTEGER := 10; -- Number of us that makes up a trigger sequence
SIGNAL triggerCounter : INTEGER; -- Progress in the trigger sequence
SIGNAL theTrigger : STD_LOGIC := '0'; -- Trigger pin but with default value
-- Measurement
CONSTANT measurementDuration : INTEGER := 60_000; -- Number of us that makes up a measurement cycle
SIGNAL measurementCounter : INTEGER := 0; -- Progress in the measurement cycle
-- Distance
CONSTANT maxDistance : INTEGER := 29000; -- 5m
SIGNAL distanceCounter : INTEGER := 0; -- Distance measured (in us)
-- State machine
TYPE stateType IS (waiting, triggering, measuring);
SIGNAL state : stateType;
SIGNAL startUs : STD_LOGIC := '0'; -- A propagation of the start signal
BEGIN
us : process(clk, reset)
begin
if reset = '1' then
usClk <= '0';
fpgaCounter <= 0;
startUs <= '0';
elsif rising_edge(clk) then
if start = '1' then
startUs <= '1';
elsif state /= waiting then
startUs <= '0';
end if;
if fpgaCounter >= usTicks - 1 then
fpgaCounter <= 0;
usClk <= not usClk;
else
fpgaCounter <= fpgaCounter + 1;
end if;
end if;
end process;
trigger <= theTrigger;
measure : process(usClk, reset)
begin
if reset = '1' then
state <= waiting;
finished <= '0';
distance <= 0;
elsif rising_edge(usClk) then
CASE state IS
WHEN waiting =>
finished <= '0';
IF startUs = '1' THEN
theTrigger <= '1';
triggerCounter <= 0;
state <= triggering;
END IF;
WHEN triggering =>
triggerCounter <= triggerCounter + 1;
IF triggerCounter >= triggerDuration - 1 THEN
theTrigger <= '0';
measurementCounter <= 0;
distanceCounter <= 0;
state <= measuring;
END IF;
WHEN measuring =>
IF echo = '1' and distanceCounter < maxDistance THEN
distanceCounter <= distanceCounter + 1;
END IF;
measurementCounter <= measurementCounter + 1;
IF measurementCounter >= measurementDuration - 1 THEN
distance <= distanceCounter;
finished <= '1';
state <= waiting;
END IF;
END CASE;
end if;
end process;
END Behavioral;

48
fpga/hcsr04_tb.gtkw Normal file
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@ -0,0 +1,48 @@
[*]
[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
[*] Tue Feb 27 14:49:24 2018
[*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/hcsr04_tb.ghw"
[dumpfile_mtime] "Tue Feb 27 14:48:30 2018"
[dumpfile_size] 5884923
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/hcsr04_tb.gtkw"
[timestart] 0
[size] 1600 862
[pos] -1 -1
*-44.256817 34900000000000 -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.hcsr04_tb.
[sst_width] 213
[signals_width] 174
[sst_expanded] 1
[sst_vpaned_height] 243
@28
top.hcsr04_tb.dut.clk
top.hcsr04_tb.dut.reset
@8420
top.hcsr04_tb.dut.fpgacounter
@28
top.hcsr04_tb.dut.usclk
[color] 5
top.hcsr04_tb.dut.start
[color] 2
top.hcsr04_tb.dut.startus
[color] 1
top.hcsr04_tb.dut.trigger
@8420
[color] 2
top.hcsr04_tb.dut.measurementcounter
@28
[color] 1
top.hcsr04_tb.dut.echo
@8420
[color] 2
top.hcsr04_tb.dut.distancecounter
@28
[color] 5
top.hcsr04_tb.dut.finished
@420
[color] 5
top.hcsr04_tb.distance
[pattern_trace] 1
[pattern_trace] 0

115
fpga/hcsr04_tb.vhd Normal file
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@ -0,0 +1,115 @@
-- Testbench automatically generated online
-- at http://vhdl.lapinoo.net
-- Generation date : 27.2.2018 12:52:54 GMT
library ieee;
use ieee.std_logic_1164.all;
entity hcsr04_tb is
end hcsr04_tb;
architecture tb of hcsr04_tb is
component hcSr04
generic (
fFpga : INTEGER := 2_000_000 -- Reduce speed to increase simulation speed
);
port (
clk : in std_logic;
reset : in std_logic;
echo : in std_logic;
distance : out integer;
trigger : out std_logic;
start : in std_logic;
finished : out std_logic
);
end component;
signal clk : std_logic;
signal reset : std_logic;
signal echo : std_logic;
signal distance : integer;
signal trigger : std_logic;
signal start : std_logic;
signal finished : std_logic;
constant TbPeriod : time := 500 ns;
signal TbClock : std_logic := '0';
signal TbSimEnded : std_logic := '0';
begin
dut : hcSr04 port map (clk => clk,
reset => reset,
echo => echo,
distance => distance,
trigger => trigger,
start => start,
finished => finished);
-- Clock generation
TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
clk <= TbClock;
stimuli : process
variable startT : time;
variable stopT : time;
variable delta : time;
begin
echo <= '0';
start <= '0';
-- Reset generation
reset <= '1';
wait for 100 ns;
reset <= '0';
wait for 100 ns;
report "TEST First measurement" severity note;
startT := now;
start <= '1';
wait for TbPeriod;
start <= '0';
wait for 19 ms;
echo <= '1';
wait for 15 ms;
echo <= '0';
wait on finished until finished = '1';
stopT := now;
delta := stopT - startT;
report "Measurement took " & time'image(now);
assert distance = 15000 report "Wrong distance reported" severity error;
wait for 5 ms; -- Margin
report "TEST Second measurement" severity note;
startT := now;
start <= '1';
wait for TbPeriod;
start <= '0';
wait on finished until finished = '1';
stopT := now;
delta := stopT - startT;
report "Measurement took " & time'image(now);
assert distance = 0 report "Wrong distance reported" severity error;
wait for 5 ms; -- Margin
-- Stop the clock and hence terminate the simulation
TbSimEnded <= '1';
wait;
end process;
end tb;

38
fpga/principal.ucf Normal file
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@ -0,0 +1,38 @@
# CLK
NET "CLK" LOC = "P43" | IOSTANDARD = LVTTL ;
NET "CLK" TNM_NET = "CLK";
TIMESPEC "TS_CLK" = PERIOD "CLK" 20 ns HIGH 50 %;
# BTN
NET "BTN" LOC = "P41" | IOSTANDARD = LVTTL ;
# IO<0>
NET "RX" LOC = "P59" | IOSTANDARD = LVTTL ;
# IO<1>
NET "TX" LOC = "P60" | IOSTANDARD = LVTTL ;
# IO<2>
NET "LEFTCHA" LOC = "P61" | IOSTANDARD = LVTTL ;
# IO<3>
NET "LEFTCHB" LOC = "P62" | IOSTANDARD = LVTTL ;
# IO<4>
NET "RIGHTCHA" LOC = "P64" | IOSTANDARD = LVTTL ;
# IO<5>
NET "RIGHTCHB" LOC = "P57" | IOSTANDARD = LVTTL ;
# IO<6>
NET "FRONTTRIGGER" LOC = "P56" | IOSTANDARD = LVTTL ;
# IO<7>
NET "FRONTECHO" LOC = "P52" | IOSTANDARD = LVTTL ;
# IO<8>
NET "BACKTRIGGER" LOC = "P50" | IOSTANDARD = LVTTL ;
# IO<9>
NET "BACKECHO" LOC = "P49" | IOSTANDARD = LVTTL ;

14
fpga/project.cfg
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@ -5,15 +5,5 @@ PROGRAMMER = mercpcl
TOPLEVEL = Principal TOPLEVEL = Principal
# Prod # Prod
# VHDSOURCE = $(TOPLEVEL).vhd uart.vhd VHDSOURCE = $(TOPLEVEL).vhd communication.vhd uart.vhd hedm.vhd hcsr04.vhd
# CONSTRAINTS = mercury.ucf CONSTRAINTS = principal.ucf
# Debug
VHDSOURCE = $(TOPLEVEL).vhd $(filter-out %_tb.vhd,$(wildcard *.vhd))
CONSTRAINTS = debug.ucf
# Implement design
# Allow unmatched LOC Constraints
NGDBUILD_OPTS += -aul
# Allow unmatched Timing Group Constraints
NGDBUILD_OPTS += -aut