event_logger.v 27.2 KB
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/*******************************************************************************
 * Module: event_logger
 * Date:2015-07-06  
 * Author: andrey     
 * Description: top module of the event logger (ported from imu_logger)
 *
 * Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
 * event_logger.v is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 *  event_logger.v is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/> .
 *******************************************************************************/
`timescale 1ns/1ps

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module  event_logger#(
    parameter LOGGER_ADDR =                    'h1a0, //TODO: assign valid address
    parameter LOGGER_STATUS =                  'h1a2, //TODO: assign valid address (just 1 location)
    parameter LOGGER_STATUS_REG_ADDR =         'h0b, //TODO: assign valid address (just 1 location)
    parameter LOGGER_MASK =                    'h3fe,
    parameter LOGGER_STATUS_MASK =             'h3ff,

    parameter LOGGER_PAGE_IMU =                 0, // 'h00..'h1f - overlaps with period/duration/halfperiod/config?
    parameter LOGGER_PAGE_GPS =                 1, // 'h20..'h3f
    parameter LOGGER_PAGE_MSG =                 2, // 'h40..'h5f
    
    parameter LOGGER_PERIOD =                   0,
    parameter LOGGER_BIT_DURATION =             1,
    parameter LOGGER_BIT_HALF_PERIOD =          2, //rs232 half bit period
    parameter LOGGER_CONFIG =                   3,

    parameter LOGGER_CONF_IMU =                 2,
    parameter LOGGER_CONF_IMU_BITS =            2,
    parameter LOGGER_CONF_GPS =                 7,
    parameter LOGGER_CONF_GPS_BITS =            4,
    parameter LOGGER_CONF_MSG =                13,
    parameter LOGGER_CONF_MSG_BITS =            5,
    parameter LOGGER_CONF_SYN =                15,
    parameter LOGGER_CONF_SYN_BITS =            1,
    parameter LOGGER_CONF_EN =                 17,
    parameter LOGGER_CONF_EN_BITS =             1,
    parameter LOGGER_CONF_DBG =                22,
    parameter LOGGER_CONF_DBG_BITS =            4,

    parameter GPIO_N =                     10 // number of GPIO bits to control
)(
    input                         rst,
    input                         mclk,        // system clock, negedge TODO:COnvert to posedge!
    input                         xclk,        // half frequency (80 MHz nominal)
    // programming interface
    input                   [7:0] cmd_ad,      // byte-serial command address/data (up to 6 bytes: AL-AH-D0-D1-D2-D3 
    input                         cmd_stb,     // strobe (with first byte) for the command a/d
    output                  [7:0] status_ad,    // status address/data - up to 5 bytes: A - {seq,status[1:0]} - status[2:9] - status[10:17] - status[18:25]
    output                        status_rq,    // input request to send status downstream
    input                         status_start, // Acknowledge of the first status packet byte (address)
//    input                         we,    // write enable (lower 16 bits, high - next cycle)
//    input                         wa,    // write address(1)/data(0)
//    input                  [15:0] di,    // 16-bit data in (32 multiplexed)
    input                  [19:0] usec,  // un-latched timestamp microseconds
    input                  [31:0] sec,   // un-latched timestamp seconds
    input            [GPIO_N-1:0] ext_di,
    output           [GPIO_N-1:0] ext_do,
    output           [GPIO_N-1:0] ext_en,
    input                  [31:0] ts_rcv_sec,  // [31:0] timestamp seconds received over the sync line
    input                  [19:0] ts_rcv_usec, // [19:0] timestamp microseconds received over the sync line
    input                         ts_stb,      // strobe when received timestamp is valid - single negedge sclk cycle
// TODO: Convert to 32-bit?    
    output                 [15:0] data_out,    // 16-bit data out to DMA1 (@negedge mclk)
    output                        data_out_stb,// data out valid (@negedge mclk)
//                       sample_counter, // could be DMA latency, safe to use sample_counter-1
    output                 [31:0] debug_state);
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    wire   [23:0] sample_counter; // TODO: read with status! could be DMA latency, safe to use sample_counter-1


    wire         ser_di;      // gps serial data in
    wire         gps_pulse1sec;
    wire         mosi;  // to IMU, bit 2 in J9
    wire         miso;  // from IMU, bit 3 on J9 
    wire         sda, sda_en, scl, scl_en;

    reg    [6:0] ctrl_addr=7'h0; // 0 - period, 1 - reserved, 2..31 - registers to log, >32 - gps parameters, >64 - odometer message
    reg          we_d; // only if wa was 0
    reg          we_imu;
    reg          we_gps;
    reg          we_period;
    reg          we_bit_duration;
    reg          we_message;
    reg          we_config;
    reg          we_config_imu; // bits 1:0, 2 - enable slot[1:0]
    reg          we_config_gps; // bits 6:3, 7 - enable - {ext,invert, slot[1:0]} slot==0 - disable
    reg          we_config_msg; // bits 12:8,13 - enable - {invert,extinp[3:0]} extinp[3:0]=='hf' - disable
    reg          we_config_syn; // bit  14,  15 - enable  - enable logging external timestamps
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//  reg           we_config_rst; // bit  16,  17 - enable - reset modules 
//  reg           we_config_debug; // bits  21:18, 22 - enable
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//    reg   [15:0] di_d;
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//  reg           di_d2; 

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    reg    [1:0] config_imu;
    reg    [3:0] config_gps;
    reg    [4:0] config_msg;
    reg          config_syn;
    reg          config_rst;
    reg    [3:0] config_debug;

    reg    [1:0] config_imu_mclk;
    reg    [3:0] config_gps_mclk;
    reg    [4:0] config_msg_mclk;
    reg          config_syn_mclk;
    reg          config_rst_mclk;
    reg    [3:0] config_debug_mclk;

    reg    [1:0] config_imu_pre;
    reg    [3:0] config_gps_pre;
    reg    [4:0] config_msg_pre;
    reg          config_syn_pre;
    reg          config_rst_pre;
    reg    [3:0] config_debug_pre;
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    reg   [15:0] bitHalfPeriod;//  serial gps speed - number of xclk pulses in half bit period
    reg          we_bitHalfPeriod;
    reg   [15:0] bitHalfPeriod_mclk;
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    reg          enable_gps;
    reg          enable_msg;
    reg          enable_syn;
    reg          enable_timestamps;
    wire         message_trig;
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//    reg          ts_stb_rq;
//    reg    [1:0] ext_ts_stb;
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    wire         ts_stb_xclk; // re-clocked to posedge xclk
    
    wire         gps_ts_stb, ser_do,ser_do_stb;
    wire  [15:0] imu_data;
    wire  [15:0] nmea_data;
    wire  [15:0] extts_data;
    wire  [15:0] msg_data;

    wire  [15:0] timestamps_rdata; // multiplexed timestamp data

    reg    [2:0] gps_pulse1sec_d;
    reg    [1:0] gps_pulse1sec_denoise;
    reg    [7:0] gps_pulse1sec_denoise_count;
    reg          gps_pulse1sec_single;

    wire   [3:0] timestamp_request; // 0 - imu, 1 - gps, 2 - ext, 3 - msg
    wire   [3:0] timestamp_ackn;

    wire   [3:0] timestamp_request_long; //from sub-module ts request until reset by arbiter, to allow  timestamp_ackn
    wire   [3:0] channel_ready;  // 0 - imu, 1 - gps, 2 - ext, 3 - msg
    wire   [3:0] channel_next;   // 0 - imu, 1 - gps, 2 - ext, 3 - msg
    wire   [1:0] channel;        // currently logged channel number
    wire   [1:0] timestamp_sel;  // selected word in timestamp (0..3)
    wire         ts_en;          // log timestamp (when false - data)
    wire         mux_data_valid; // data valid from multiplexer (to xclk->mclk converter fifo)
    reg   [15:0] mux_data_source;// data multiplexed from 1 of the 4 channels
    reg          mux_rdy_source; // data ready multiplexed from 1of the 4 channels (to fill rest with zeros)
    reg   [15:0] mux_data_final; // data multiplexed between timestamps and channel data (or 0 if ~ready)

    wire         rs232_wait_pause;// may be used as reset for decoder
    wire         rs232_start;          // serial character start (single pulse)
    wire         nmea_sent_start;          // serial character start (single pulse)
    
 // reg  [1:0]  debug_reg;
    reg    [7:0] dbg_cntr;
    wire         pre_message_trig;
    wire  [15:0] ext_di16 ={{(16-GPIO_N){1'b0}},ext_di};
   
    wire         cmd_a; // single bit 
    wire  [31:0] cmd_data; 
    reg   [31:0] cmd_data_r; // valid next after cmd_we; 
    wire         cmd_we;
    wire         cmd_status;
   
    

/*
  assign ext_en[11:0]= {5'b0,
                       (config_imu[1:0]==2'h3)?1'b1:1'b0,
                       1'b0,
                       (config_imu[1:0]==2'h2)?1'b1:1'b0,
                       1'b0,
                       (config_imu[1:0]==2'h1)?1'b1:1'b0,
                       (config_imu[1:0]!=2'h0)?{sda_en,scl_en}:2'h0};
  assign ext_do[11:0]= {5'b0,
                       (config_imu[1:0]==2'h3)?mosi:1'b0,
                       1'b0,
                       (config_imu[1:0]==2'h2)?mosi:1'b0,
                       1'b0,
                       (config_imu[1:0]==2'h1)?mosi:1'b0,
                       (config_imu[1:0]!=2'h0)?{sda,scl}:2'h0};
*/
    assign ext_en = {{(GPIO_N-5){1'b0}},
                   (config_imu[1:0]==2'h2)?1'b1:1'b0,
                   1'b0,
                   (config_imu[1:0]==2'h1)?1'b1:1'b0,
                   (config_imu[1:0]!=2'h0)?{sda_en,scl_en}:2'h0};
                   
    assign ext_do= {{(GPIO_N-5){1'b0}},
                   (config_imu[1:0]==2'h2)?mosi:1'b0,
                   1'b0,
                   (config_imu[1:0]==2'h1)?mosi:1'b0,
                   (config_imu[1:0]!=2'h0)?{sda,scl}:2'h0};

    assign miso=         config_imu[1]?
                              (config_imu[0]?1'b0 :ext_di[5]):
                              (config_imu[0]?ext_di[3]:1'b0);
    assign ser_di=       config_gps[1]?
                              (config_gps[0]?1'b0 :ext_di[4]):
                              (config_gps[0]?ext_di[2]:1'b0);
//    if (we_config_gps) config_gps_mclk[3:0] <= di_d[ 6:3]; // bits 6:3, 7 - enable - {ext,inver, slot[1:0]} slot==0 - disable
                              
    assign gps_pulse1sec=config_gps[2]^(config_gps[1]?
                                      (config_gps[0]?1'b0 :ext_di[5]):
                                      (config_gps[0]?ext_di[3]:1'b0));
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//sngl_wire  
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/*  
//  always @(config_msg[3:0] or ext_di[11:0])  begin
  always @*  begin
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    case (config_msg[3:0])
      4'h0:   pre_message_trig = ext_di[0];
      4'h1:   pre_message_trig = ext_di[1];
      4'h2:   pre_message_trig = ext_di[2];
      4'h3:   pre_message_trig = ext_di[3];
      4'h4:   pre_message_trig = ext_di[4];
      4'h5:   pre_message_trig = ext_di[5];
      4'h6:   pre_message_trig = ext_di[6];
      4'h7:   pre_message_trig = ext_di[7];
      4'h8:   pre_message_trig = ext_di[8]; // internal optocoupler, use invert 5'h18
      4'h9:   pre_message_trig = ext_di[9];
      4'ha:   pre_message_trig = ext_di[10];// external optocoupler, use invert 5'h1a
      4'hb:   pre_message_trig = ext_di[10];
      default:pre_message_trig = 1'b0;
    endcase
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  end
   */
    assign pre_message_trig = ext_di16[config_msg[3:0]];
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    assign message_trig= config_msg[4]^pre_message_trig;

    assign timestamp_request[1]=config_gps[3]? (config_gps[2]?nmea_sent_start:gps_ts_stb):gps_pulse1sec_single;
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// filter gps_pulse1sec
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    always @ (posedge xclk) begin
        if  (config_rst) gps_pulse1sec_d[2:0] <= 3'h0;
        else      gps_pulse1sec_d[2:0] <= {gps_pulse1sec_d[1:0], gps_pulse1sec};
        
        if      (config_rst)                      gps_pulse1sec_denoise[0] <= 1'b0;
        else if (gps_pulse1sec_denoise_count[7:0]==8'h0) gps_pulse1sec_denoise[0] <= gps_pulse1sec_d[2];
        
        if (gps_pulse1sec_d[2]==gps_pulse1sec_denoise[0]) gps_pulse1sec_denoise_count[7:0] <= 8'hff;
        else                            gps_pulse1sec_denoise_count[7:0] <= gps_pulse1sec_denoise_count[7:0] - 1;
        
        gps_pulse1sec_denoise[1] <= gps_pulse1sec_denoise[0];
        gps_pulse1sec_single <= !gps_pulse1sec_denoise[1] && gps_pulse1sec_denoise[0];
    end
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// re-sync single pulse @ negedge sclk - ts_stb to @posedge xclk
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/*
  always @ (posedge ext_ts_stb[1] or negedge mclk) begin
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    if (ext_ts_stb[1])        ts_stb_rq <= 1'b0;
    else if (config_rst_mclk) ts_stb_rq <= 1'b0;
    else if (ts_stb)          ts_stb_rq <= 1'b1;
  end
  always @ (posedge xclk) begin
     ext_ts_stb[1:0] <= {ext_ts_stb[0] & ~ext_ts_stb[1],ts_stb_rq};
  end
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*/
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  always @ (posedge mclk) begin // was negedge
    if (cmd_we)  cmd_data_r <= cmd_data; // valid next after cmd_we; 
//    if (we)      di_d[15:0] <= di[15:0];
    we_d            <= cmd_we && !cmd_a;
    we_imu          <= cmd_we && !cmd_a && (ctrl_addr[6:5] == LOGGER_PAGE_IMU);
    we_gps          <= cmd_we && !cmd_a && (ctrl_addr[6:5] == LOGGER_PAGE_GPS);
    we_message      <= cmd_we && !cmd_a && (ctrl_addr[6:5] == LOGGER_PAGE_MSG);
    we_period       <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_PERIOD);
    we_bit_duration <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_BIT_DURATION);
    we_bitHalfPeriod<= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_BIT_HALF_PERIOD);
    we_config       <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_CONFIG);
    we_config_imu   <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_CONFIG) && cmd_data[LOGGER_CONF_IMU];
    we_config_gps   <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_CONFIG) && cmd_data[LOGGER_CONF_GPS];
    we_config_msg   <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_CONFIG) && cmd_data[LOGGER_CONF_MSG];
    we_config_syn   <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_CONFIG) && cmd_data[LOGGER_CONF_SYN];

    if (we_config_imu) config_imu_mclk[1:0] <= cmd_data_r[LOGGER_CONF_IMU - 1 -: LOGGER_CONF_IMU_BITS]; // bits 1:0, 2 - enable slot[1:0]
    if (we_config_gps) config_gps_mclk[3:0] <= cmd_data_r[LOGGER_CONF_GPS - 1 -: LOGGER_CONF_GPS_BITS]; // bits 6:3, 7 - enable - {ext,inver, slot[1:0]} slot==0 - disable
    if (we_config_msg) config_msg_mclk[4:0] <= cmd_data_r[LOGGER_CONF_MSG - 1 -: LOGGER_CONF_MSG_BITS]; // bits 12:8,13 - enable - {invert,extinp[3:0]} extinp[3:0]=='hf' - disable
    if (we_config_syn) config_syn_mclk      <= cmd_data_r[LOGGER_CONF_SYN - 1 -: LOGGER_CONF_SYN_BITS]; // bit  14,  15 - enable
    if (we_config && cmd_data_r[LOGGER_CONF_EN]) config_rst_mclk <= cmd_data_r[LOGGER_CONF_EN -1 -: LOGGER_CONF_EN_BITS]; // bit  16,  17 - enable

    if (we_config && cmd_data_r[LOGGER_CONF_DBG]) config_debug_mclk[3:0] <= cmd_data_r[LOGGER_CONF_DBG - 1 -: LOGGER_CONF_DBG_BITS]; // bit  21:18,  22 - enable
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    if (we_bitHalfPeriod)            bitHalfPeriod_mclk[15:0] <= cmd_data_r[15:0];
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    if      (cmd_we && cmd_a) ctrl_addr[6:5] <= cmd_data[6:5];
    if      (cmd_we && cmd_a) ctrl_addr[4:0] <= cmd_data[4:0];
    else if (we_d &&  (ctrl_addr[4:0]!=5'h1f)) ctrl_addr[4:0] <=ctrl_addr[4:0]+1; // no roll over, 
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  end

  always @ (posedge xclk) begin
    bitHalfPeriod[15:0] <= bitHalfPeriod_mclk[15:0];
    config_imu_pre[1:0] <= config_imu_mclk[1:0];
    config_gps_pre[3:0] <= config_gps_mclk[3:0];
    config_msg_pre[4:0] <= config_msg_mclk[4:0];
    config_syn_pre      <= config_syn_mclk;
    config_rst_pre      <= config_rst_mclk;
    config_debug_pre[3:0] <= config_debug_mclk[3:0];

    config_imu[1:0] <= config_imu_pre[1:0];
    config_gps[3:0] <= config_gps_pre[3:0];
    config_msg[4:0] <= config_msg_pre[4:0];
    config_syn      <= config_syn_pre;
    config_rst      <= config_rst_pre;
    config_debug[3:0] <= config_debug_pre[3:0];

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//    enable_gps         <= (config_gps[1:0] != 2'h0) && !config_rst;
    enable_gps         <= (^config_gps[1:0]) && !config_rst;  // both 00 and 11 - disable
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    enable_msg         <= (config_gps[3:0] != 4'hf) && !config_rst;
    enable_syn         <= config_syn && !config_rst;
    enable_timestamps  <= !config_rst;
  end

  always @ (posedge xclk) begin
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    mux_data_source[15:0] <= channel[1]?
                             (channel[0]?msg_data[15:0]:extts_data[15:0]):
                             (channel[0]?nmea_data[15:0]:imu_data[15:0]);
    mux_rdy_source        <= channel[1]?
                             (channel[0]?channel_ready[3]:channel_ready[2]):
                             (channel[0]?channel_ready[1]:channel_ready[0]);
    mux_data_final[15:0]  <= ts_en?
                              timestamps_rdata[15:0]:
                              (mux_rdy_source?
                                     mux_data_source[15:0]:
                                     16'h0); // replace 16'h0 with some pattern to debug output
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  end

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    pulse_cross_clock i_ts_stb_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(ts_stb), .out_pulse(ts_stb_xclk),.busy());

    cmd_deser #(
        .ADDR       (LOGGER_ADDR),
        .ADDR_MASK  (LOGGER_MASK),
        .NUM_CYCLES (6),
        .ADDR_WIDTH (1),
        .DATA_WIDTH (32),
        .ADDR1      (LOGGER_STATUS),
        .ADDR_MASK1 (LOGGER_STATUS_MASK)
        
    ) cmd_deser_32bit_i (
        .rst        (rst),         // input
        .clk        (mclk),        // input
        .ad         (cmd_ad),      // input[7:0] 
        .stb        (cmd_stb),     // input
        .addr       (cmd_a),       // output[3:0] 
        .data       (cmd_data),    // output[31:0] 
        .we         ({cmd_status,cmd_we})       // output
    );

    status_generate #(
        .STATUS_REG_ADDR     (LOGGER_STATUS_REG_ADDR),
        .PAYLOAD_BITS        (26),
        .REGISTER_STATUS     (1)
    ) status_generate_i (
        .rst           (), // input
        .clk           (mclk), // input
        .we            (cmd_status), // input
        .wd            (cmd_data[7:0]), // input[7:0] 
        .status        ({sample_counter,2'b0}), // input[25:0] // 2 LSBs - may add "real" status 
        .ad            (status_ad), // output[7:0] 
        .rq            (status_rq), // output
        .start         (status_start) // input
    );

imu_spi393 i_imu_spi ( .sclk(mclk),  // system clock, negedge
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                    .xclk(xclk),  // half frequency (80 MHz nominal)
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                    .we_ra(we_imu), // write enable for registers to log (@negedge mclk)
                    .we_div(we_bit_duration),// write enable for clock dividing(@negedge mclk)
                    .we_period(we_period),// write enable for IMU cycle period(@negedge mclk) 0 - disable, 1 - single, >1 - half bit periods
                    .wa(ctrl_addr[4:0]),    // write address for register (5 bits, @negedge mclk)
                    .di(cmd_data_r[15:0]),    // 16?-bit data in  (di, not di_d)
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                    .mosi(mosi),  // to IMU, bit 2 in J9
                    .miso(miso),  // from IMU, bit 3 on J9 
                    .config_debug(config_debug[3:0]),
                    .sda(sda),   // sda, shared with i2c, bit 1
                    .sda_en(sda_en), // enable sda output (when sda==0 and 1 cycle after sda 0->1)
                    .scl(scl),   // scl, shared with i2c, bit 0
                    .scl_en(scl_en), // enable scl output (when scl==0 and 1 cycle after sda 0->1)
//                    .sngl_wire(sngl_wire), // single wire clock/data for the 103695 rev A

                    .ts(timestamp_request[0]),    // timestamop request
                    .rdy(channel_ready[0]),    // data ready
                    .rd_stb(channel_next[0]), // data read strobe (increment address)
                    .rdata(imu_data[15:0])); // data out (16 bits)
/*
logs events from odometer (can be software triggered), includes 56-byte message written to the buffer
So it is possible to assert trig input (will request timestamp), write message by software, then
de-assert the trig input - message with the timestamp will be logged
fixed-length de-noise circuitry with latency 256*T(xclk) (~3usec)
*/
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imu_message393 i_imu_message(.sclk(mclk),   // system clock, negedge
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                       .xclk(xclk),  // half frequency (80 MHz nominal)
                       .we(we_message),    // write enable for registers to log (@negedge sclk), with lower data half
                       .wa(ctrl_addr[3:0]),    // write address for register (4 bits, @negedge sclk)
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                       .di(cmd_data_r[15:0]),    // 16-bit data in  multiplexed 
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                       .en(enable_msg),    // enable module operation, if 0 - reset
                       .trig(message_trig),  // leading edge - sample time, trailing set rdy
                       .ts(timestamp_request[3]),    // timestamop request
                       .rdy(channel_ready[3]),    // data ready
                       .rd_stb(channel_next[3]), // data read strobe (increment address)
                       .rdata(msg_data[15:0])); // data out (16 bits)
/* logs frame synchronization data from other camera (same as frame sync) */
// ts_stb (mclk) -> trig)
imu_exttime393 i_imu_exttime(.xclk(xclk),  // half frequency (80 MHz nominal)
                       .en(enable_syn),    // enable module operation, if 0 - reset
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                       .trig(ts_stb_xclk), // ext_ts_stb[1]),  // external time stamp updated, single pulse @posedge xclk
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                       .usec(ts_rcv_usec[19:0]),  // microseconds from external timestamp (should not chnage after trig for 10 xclk)
                       .sec(ts_rcv_sec[31:0]),   // seconds from external timestamp
                       .ts(timestamp_request[2]),    // timestamop request
                       .rdy(channel_ready[2]),    // data ready
                       .rd_stb(channel_next[2]), // data read strobe (increment address)
                       .rdata(extts_data[15:0])); // data out (16 bits)

imu_timestamps393 i_imu_timestamps (
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                        .sclk(mclk), // 160MHz, negedge            
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                        .xclk(xclk), // 80 MHz, posedge
                        .rst(!enable_timestamps),  // reset (@posedge xclk)
                        .sec(sec[31:0]),  // running seconds (@negedge sclk)
                        .usec(usec[19:0]), // running microseconds (@negedge sclk)
                        .ts_rq(timestamp_request_long[3:0]),// requests to create timestamps (4 channels), @posedge xclk
                        .ts_ackn(timestamp_ackn[3:0]), // timestamp for this channel is stored
                        .ra({channel[1:0],timestamp_sel[1:0]}),   // read address (2 MSBs - channel number, 2 LSBs - usec_low, (usec_high ORed with channel <<24), sec_low, sec_high
                        .dout(timestamps_rdata[15:0]));// output data
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wire debug_unused_a;   // SuppressThisWarning Veditor (unused)                     
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rs232_rcv393 i_rs232_rcv (.xclk(xclk),           // half frequency (80 MHz nominal)
                       .bitHalfPeriod(bitHalfPeriod[15:0]),  // half of the serial bit duration, in xclk cycles
                       .ser_di(ser_di),              // rs232 (ttl) serial data in
                       .ser_rst(!enable_gps),        // reset (force re-sync)
                       .ts_stb(gps_ts_stb),          // strobe timestamp (start of message) (reset bit counters in nmea decoder)
                       .wait_just_pause(rs232_wait_pause),// may be used as reset for decoder
                       .start(rs232_start),          // serial character start (single pulse)
                       
                       .ser_do(ser_do),         // serial data out(@posedge xclk) LSB first!
                       .ser_do_stb(ser_do_stb),    // output data strobe (@posedge xclk), first cycle after ser_do becomes valid
//                       .debug(debug_state[4:0]),
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                       .debug({debug_unused_a, debug_state[15:12]}),
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                       .bit_dur_cntr(debug_state[31:16]),
                       .bit_cntr(debug_state[11:7])
                       );
//  output [15:0] debug_state;
// reg [7:0] dbg_cntr;
//    assign debug_state[15:12]=3'b0;
    assign debug_state[6:0] = dbg_cntr [6:0];

 always @ (posedge xclk) begin
   if (!enable_gps) dbg_cntr[7:0] <= 8'h0;
//   else if (ser_do_stb) dbg_cntr[7:0] <= dbg_cntr[7:0]+1;
   else if (rs232_start) dbg_cntr[7:0] <= dbg_cntr[7:0]+1;
 end
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nmea_decoder393 i_nmea_decoder (.sclk(mclk),   // system clock, @negedge
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                             .we(we_gps),     // registers write enable (@negedge sclk)
                             .wa(ctrl_addr[4:0]),     // registers write address
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                             .wd(cmd_data_r[7:0]),     // write data
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                             .xclk(xclk),   // 80MHz, posedge
                             .start(gps_ts_stb),  // start of the serial message
                             .rs232_wait_pause(rs232_wait_pause),// may be used as reset for decoder
                             .start_char(rs232_start),           // serial character start (single pulse)
                             .nmea_sent_start(nmea_sent_start),  // serial character start (single pulse)
                             .ser_di(ser_do), // serial data in (LSB first)
                             .ser_stb(ser_do_stb),// serial data strobe, single-cycle, first cycle after ser_di valid
                             .rdy(channel_ready[1]),    // encoded nmea data ready
                             .rd_stb(channel_next[1]), // encoded nmea data read strobe (increment address)
                             .rdata(nmea_data[15:0]), // encoded data (16 bits)
                             .ser_rst(!enable_gps),        // reset (now only debug register)
                             .debug()
                             );
                             

logger_arbiter393 i_logger_arbiter(.xclk(xclk), // 80 MHz, posedge
                                .rst(config_rst), // module reset
                                .ts_rq_in(timestamp_request[3:0]),      // in requests for timestamp (single-cycle - just leading edge )
                                .ts_rq(timestamp_request_long[3:0]),         // out request for timestamp, to timestmp module
                                .ts_grant(timestamp_ackn[3:0]),      // granted ts requests from timestamping module
                                .rdy(channel_ready[3:0]),           // channels ready (leading edge - became ready, trailing - no more data, use zero)
                                .nxt(channel_next[3:0]),           // pulses to modules to output next word
                                .channel(channel[1:0]),       // decoded channel number (2 bits)
                                .ts_sel(timestamp_sel[1:0]),        // select timestamp word to be output (0..3)
                                .ts_en(ts_en),         // 1 - use timestamp, 0 - channel data (or 16'h0 if !ready)
                                .dv(mux_data_valid),            // output data valid (from registered mux - 2 stage - first selects data and ready, second ts/data/zero)
                                .sample_counter(sample_counter));// number of 64-byte samples logged

buf_xclk_mclk16_393 i_buf_xclk_mclk16(.xclk(xclk), // posedge
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                                  .mclk(mclk), // posedge!
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                                  .rst(config_rst),  // @posedge xclk
                                  .din(mux_data_final[15:0]),
                                  .din_stb(mux_data_valid),
                                  .dout(data_out[15:0]),
                                  .dout_stb(data_out_stb));

endmodule