geoffrey/cdf2018-principal
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Ajout de deux capteurs à ultrasons

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This commit is contained in:
Geoffrey Frogeye 2018-05-10 10:09:56 +02:00
parent d30f0ed548
commit f730d7b2b1
2 changed files with 81 additions and 30 deletions
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102
fpga/Principal.vhd
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@ -18,9 +18,11 @@ entity Principal is
RIGHTCHA: in std_logic;
RIGHTCHB: in std_logic;
FRONTTRIGGER: out std_logic;
FRONTECHO: in std_logic;
BACKTRIGGER: out std_logic;
BACKECHO: in std_logic;
FRONTLECHO: in std_logic;
BACKLECHO: in std_logic;
FRONTRECHO: in std_logic;
BACKRECHO: in std_logic;
ENAREF: out std_logic;
ENA: out std_logic;
IN1ENC: out std_logic;
@ -53,12 +55,20 @@ architecture Behavioral of Principal is
end component;
-- Distance sensors
signal front : integer := 0;
signal frontRaw : integer := 0;
signal frontFinished : std_logic;
signal back : integer := 0;
signal backRaw : integer := 0;
signal backFinished : std_logic;
signal frontMin : integer := 0;
signal backMin : integer := 0;
signal frontL : integer := 0;
signal frontLRaw : integer := 0;
signal frontLFinished : std_logic;
signal backL : integer := 0;
signal backLRaw : integer := 0;
signal backLFinished : std_logic;
signal frontR : integer := 0;
signal frontRRaw : integer := 0;
signal frontRFinished : std_logic;
signal backR : integer := 0;
signal backRRaw : integer := 0;
signal backRFinished : std_logic;
component hcsr04 IS
generic(
fFpga : INTEGER := fFpga
@ -187,39 +197,74 @@ begin
counts => right
);
frontCapt: hcsr04 port map (
frontLCapt: hcsr04 port map (
clk => CLK,
reset => reset,
echo => FRONTECHO,
distance => frontRaw,
echo => FRONTLECHO,
distance => frontLRaw,
trigger => FRONTTRIGGER,
start => '1',
finished => frontFinished
finished => frontLFinished
);
frontFilter : FIR port map (
frontLFilter : FIR port map (
clock => CLK,
reset => reset,
signalIn => frontRaw,
signalOut => front,
start => frontFinished
signalIn => frontLRaw,
signalOut => frontL,
start => frontLFinished
-- done => done
);
backCapt: hcsr04 port map (
frontRCapt: hcsr04 port map (
clk => CLK,
reset => reset,
echo => BACKECHO,
distance => backRaw,
trigger => BACKTRIGGER,
echo => FRONTRECHO,
distance => frontRRaw,
-- trigger => FRONTTRIGGER,
start => '1',
finished => backFinished
finished => frontRFinished
);
backFilter : FIR port map (
frontRFilter : FIR port map (
clock => CLK,
reset => reset,
signalIn => backRaw,
signalOut => back,
start => backFinished
signalIn => frontRRaw,
signalOut => frontR,
start => frontRFinished
-- done => done
);
backLCapt: hcsr04 port map (
clk => CLK,
reset => reset,
echo => BACKLECHO,
distance => backLRaw,
trigger => BACKTRIGGER,
start => '1',
finished => backLFinished
);
backLFilter : FIR port map (
clock => CLK,
reset => reset,
signalIn => backLRaw,
signalOut => backL,
start => backLFinished
-- done => done
);
backRCapt: hcsr04 port map (
clk => CLK,
reset => reset,
echo => BACKRECHO,
distance => backRRaw,
-- trigger => BACKTRIGGER,
start => '1',
finished => backRFinished
);
backRFilter : FIR port map (
clock => CLK,
reset => reset,
signalIn => backRRaw,
signalOut => backR,
start => backRFinished
-- done => done
);
enAp : PWM port map (
@ -263,14 +308,17 @@ begin
rx => RX
);
frontMin <= frontLRaw when frontLRaw < frontRRaw else frontRRaw;
backMin <= backLRaw when backLRaw < backRRaw else backRRaw;
com: communication port map(
clock => CLK,
reset => reset,
left => left,
right => right,
zerocoder => zerocoder,
front => front,
back => back,
front => frontMin,
back => backMin,
txData => txData,
txStb => txStb,
txAck => txAck,

11
fpga/principal.ucf
View file

@ -29,13 +29,13 @@ NET "RIGHTCHB" LOC = "P65" | IOSTANDARD = LVTTL ;
NET "FRONTTRIGGER" LOC = "P70" | IOSTANDARD = LVTTL ;
# IO<17>
NET "FRONTECHO" LOC = "P71" | IOSTANDARD = LVTTL ;
NET "FRONTLECHO" LOC = "P71" | IOSTANDARD = LVTTL ;
# IO<18>
NET "BACKTRIGGER" LOC = "P72" | IOSTANDARD = LVTTL ;
# IO<19>
NET "BACKECHO" LOC = "P73" | IOSTANDARD = LVTTL ;
NET "BACKLECHO" LOC = "P73" | IOSTANDARD = LVTTL ;
# IO<20>
NET "ENAREF" LOC = "P5" | IOSTANDARD = LVTTL ;
@ -61,5 +61,8 @@ NET "IN3END" LOC = "P90" | IOSTANDARD = LVTTL ;
# IO<27>
NET "IN4" LOC = "P89" | IOSTANDARD = LVTTL ;
# NET "IO<28>" LOC = "P88" | IOSTANDARD = LVTTL ;
# NET "IO<29>" LOC = "P86" | IOSTANDARD = LVTTL ;
# IO<28>
NET "FRONTRECHO" LOC = "P88" | IOSTANDARD = LVTTL ;
# IO<29>
NET "BACKRECHO" LOC = "P86" | IOSTANDARD = LVTTL ;