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Commit c2b29afd authored by Andrey Filippov's avatar Andrey Filippov
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Finished converting event_logger to use serial (byte-parallal) timestamp messages

parent e9862dab
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logger/event_logger.v
View file @ c2b29afd
......@@ -60,18 +60,15 @@ module event_logger#(
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
output ts_local_snap, // @posedge xclk request to take a local time snapshot
input ts_local_stb, // @posedge xclk one clock pulse before receiving a local TS data
input [7:0] ts_local_data, // @posedge xclk local timestamp data (s0,s1,s2,s3,u0,u1,u2,u3==0)
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
// byte-parallel timestamps from 4 sesnors channels (in triggered mode all are the same, different only in free running mode)
// each may generate logger event, channel number encoded in bits 25:24 of the external microseconds
......@@ -112,7 +109,6 @@ module event_logger#(
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
......@@ -121,15 +117,10 @@ module event_logger#(
reg we_config_debug; // bit 14, 15 - enable - enable logging external timestamps
reg we_bitHalfPeriod;
// reg we_config_rst; // bit 16, 17 - enable - reset modules
// reg we_config_debug; // bits 21:18, 22 - enable
// reg [15:0] di_d;
// reg di_d2;
reg [1:0] config_imu;
reg [3:0] config_gps;
reg [4:0] config_msg;
// reg [3:0] config_syn;
reg config_rst;
reg [3:0] config_debug;
reg [15:0] bitHalfPeriod;// serial gps speed - number of xclk pulses in half bit period
......@@ -138,7 +129,6 @@ module event_logger#(
wire we_config_imu_xclk; // copy config_imu_mclk (@mclk) to config_imu (@xclk)
wire we_config_gps_xclk;
wire we_config_msg_xclk;
// wire we_config_syn_xclk;
wire we_config_rst_xclk;
wire we_config_debug_xclk;
wire we_bitHalfPeriod_xclk;
......@@ -153,27 +143,13 @@ module event_logger#(
reg [3:0] config_debug_mclk;
reg [15:0] bitHalfPeriod_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;
reg enable_gps;
reg enable_msg;
// reg [3:0] enable_syn;
wire [3:0] enable_syn_mclk;
reg enable_timestamps;
wire message_trig;
// reg ts_stb_rq;
// reg [1:0] ext_ts_stb;
// 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;
......@@ -215,25 +191,7 @@ module event_logger#(
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,
......@@ -252,33 +210,11 @@ module event_logger#(
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));
//sngl_wire
/*
// always @(config_msg[3:0] or ext_di[11:0]) begin
always @* begin
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
end
*/
assign pre_message_trig = ext_di16[config_msg[3:0]];
assign message_trig= config_msg[4]^pre_message_trig;
......@@ -302,18 +238,6 @@ module event_logger#(
end
// re-sync single pulse @ negedge sclk - ts_stb to @posedge xclk
/*
always @ (posedge ext_ts_stb[1] or negedge mclk) begin
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
*/
always @ (posedge mclk) begin // was negedge
if (cmd_we) cmd_data_r <= cmd_data; // valid next after cmd_we;
we_d <= cmd_we && !cmd_a;
......@@ -350,13 +274,10 @@ module event_logger#(
if (we_config_imu_xclk) config_imu <= config_imu_mclk;
if (we_config_gps_xclk) config_gps <= config_gps_mclk;
if (we_config_msg_xclk) config_msg <= config_msg_mclk;
// if (we_config_syn_xclk) config_syn <= config_syn_mclk;
if (we_config_rst_xclk) config_rst <= config_rst_mclk;
if (we_config_debug_xclk) config_debug <= config_debug_mclk;
// enable_gps <= (config_gps[1:0] != 2'h0) && !config_rst;
enable_gps <= (^config_gps[1:0]) && !config_rst; // both 00 and 11 - disable
enable_msg <= (config_gps[3:0] != 4'hf) && !config_rst;
// enable_syn <= config_rst? 4'b0 : config_syn;
enable_timestamps <= !config_rst;
end
......@@ -374,19 +295,14 @@ module event_logger#(
16'h0); // replace 16'h0 with some pattern to debug output
end
// 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());
// generate strobes to copy configuration data from mclk to xclk domain
pulse_cross_clock i_we_config_imu_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(we_config_imu), .out_pulse(we_config_imu_xclk),.busy());
pulse_cross_clock i_we_config_gps_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(we_config_gps), .out_pulse(we_config_gps_xclk),.busy());
pulse_cross_clock i_we_config_msg_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(we_config_msg), .out_pulse(we_config_msg_xclk),.busy());
// pulse_cross_clock i_we_config_syn_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(we_config_syn), .out_pulse(we_config_syn_xclk),.busy());
pulse_cross_clock i_we_config_rst_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(we_config_rst), .out_pulse(we_config_rst_xclk),.busy());
pulse_cross_clock i_we_config_debug_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(we_config_debug), .out_pulse(we_config_debug_xclk),.busy());
pulse_cross_clock i_we_bitHalfPeriod_xclk (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(we_bitHalfPeriod), .out_pulse(we_bitHalfPeriod_xclk),.busy());
cmd_deser #(
.ADDR (LOGGER_ADDR),
.ADDR_MASK (LOGGER_MASK),
......@@ -480,15 +396,15 @@ fixed-length de-noise circuitry with latency 256*T(xclk) (~3usec)
.rdata (extts_data[15:0])); // data out (16 bits)
imu_timestamps393 i_imu_timestamps (
.sclk (mclk), // 160MHz, negedge
.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
.ts_snap (ts_local_snap), // output (@posedge xclk) - get local TS snapshot
.ts_stb (ts_local_stb), // input (@posedge xclk) - 1 xclk before local ts data
.ts_data (ts_local_data), // input[7:0] (@posedge xclk) - local TS data
.ts_rq (timestamp_request_long[3:0]), // input[3:0] requests to create timestamps (4 channels), @posedge xclk
.ts_ackn (timestamp_ackn[3:0]), // output[3:0] timestamp for this channel is stored
.ra ({channel[1:0],timestamp_sel[1:0]}), // input[3:0]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[15:0] output data
wire debug_unused_a; // SuppressThisWarning Veditor (unused)
rs232_rcv393 i_rs232_rcv (
......
logger/imu_exttime393.v
View file @ c2b29afd
......@@ -101,11 +101,11 @@ module imu_exttime393(
if (pre_copy_w) sel_chn <= chn_enc_w;
if (!copy_selected[1]) copy_cntr <= 0;
if (!copy_selected[1]) copy_cntr <= 4; // reverse order - timestamp message start with seconds, here usec first
else copy_cntr <= copy_cntr + 1;
copy_data_r <= copy_data; // previous data is low byte
// write x16 timestamp data to RAM, inser channel number into unused microseconds byte
// write x16 timestamp data to RAM, insert channel number into unused microseconds byte
if (copy_selected[1] && copy_cntr[0]) ts_ram[copy_cntr[2:1]] <= {copy_selected[0]?copy_data:{6'b0,sel_chn},copy_data_r};
end
......
logger/imu_timestamps393.v
View file @ c2b29afd
......@@ -21,132 +21,75 @@
`timescale 1ns/1ps
module imu_timestamps393(
sclk, // 160MHz, negedge
xclk, // 80 MHz, posedge
rst, // reset (@posedge xclk)
sec, // running seconds (@negedge sclk)
usec, // running microseconds (@negedge sclk)
ts_rq,// requests to create timestamps (4 channels), @posedge xclk
ts_ackn, // timestamp for this channel is stored
ra, // read address (2 MSBs - channel number, 2 LSBs - usec_low, (usec_high ORed with channel <<24), sec_low, sec_high
dout);// output data
input sclk;
input xclk;
input rst;
input [31:0] sec;
input [19:0] usec;
input [ 3:0] ts_rq;
output [ 3:0] ts_ackn;
input [ 3:0] ra;
output [15:0] dout;
reg [31:0] sec_latched;
reg [19:0] usec_latched;
reg [15:0] ts_mux;
reg [ 3:0] wa;
reg srst;
reg [3:0] rq_d;
reg [3:0] rq_d2;
reg [3:0] rq_r;
reg [3:0] rq_sclk;
reg [3:0] rq_sclk2;
reg [3:0] pri_sclk;
reg [3:0] pri_sclk_d;
reg [3:0] rst_rq;
reg [9:0] proc;
wire wstart;
reg we;
wire [3:0] wrst_rq;
reg [3:0] ts_preackn;
reg [3:0] ts_ackn;
assign wstart=|pri_sclk[3:0] && (pri_sclk[3:0] != pri_sclk_d[3:0]);
assign wrst_rq[3:0]={wa[3]&wa[2],wa[3]&~wa[2],~wa[3]&wa[2],~wa[3]&~wa[2]} & {4{proc[5]}};
always @ (posedge xclk) begin
rq_d[3:0] <= ts_rq[3:0];
rq_d2[3:0] <= rq_d[3:0];
end
always @ (negedge sclk) begin
srst <= rst;
rq_sclk[3:0] <= srst?4'h0:(~rst_rq[3:0] & (rq_r[3:0] | rq_sclk[3:0])) ;
rq_sclk2[3:0] <= srst?4'h0:(~rst_rq[3:0] & rq_sclk[3:0]) ;
pri_sclk[3:0] <= {rq_sclk2[3] & ~|rq_sclk2[2:0],
rq_sclk2[2] & ~|rq_sclk2[1:0],
rq_sclk2[1] & ~rq_sclk2[0],
rq_sclk2[0]};
pri_sclk_d[3:0] <= pri_sclk[3:0];
proc[9:0] <= {proc[9:0], wstart};
if (proc[0]) wa[3:2] <= {|pri_sclk_d[3:2], pri_sclk_d[3] | pri_sclk_d[1]};
if (proc[0]) sec_latched[31:0] <= sec[31:0];
if (proc[0]) usec_latched[19:0] <= usec[19:0];
// if (proc[2]) ts_mux[15:0] <= {6'h0,wa[3:2],4'h0,usec[19:16]};
casex({proc[8],proc[6],proc[4],proc[2]})
// 4'bXXX1: ts_mux[15:0] <= {6'h0,wa[3:2],4'h0,usec_latched[19:16]};
// 4'bXX1X: ts_mux[15:0] <= usec_latched[15: 0];
// 4'bX1XX: ts_mux[15:0] <= sec_latched[31:16];
// 4'b1XXX: ts_mux[15:0] <= sec_latched[15: 0];
4'bXXX1: ts_mux[15:0] <= usec_latched[15: 0];
4'bXX1X: ts_mux[15:0] <= {6'h0,wa[3:2],4'h0,usec_latched[19:16]};
4'bX1XX: ts_mux[15:0] <= sec_latched[15: 0];
4'b1XXX: ts_mux[15:0] <= sec_latched[31:16];
input xclk, // 80 MHz, posedge
input rst, // sync reset (@posedge xclk)
output reg ts_snap, // request to take a local time snapshot
input ts_stb, // one clock pulse before receiving a local TS data
input [7:0] ts_data, // local timestamp data (s0,s1,s2,s3,u0,u1,u2,u3==0)
endcase
we <= proc[3] || proc[5] || proc[7] || proc[9];
if (proc[2]) wa[1:0] <= 2'b0;
else if (we) wa[1:0] <= wa[1:0] + 1;
rst_rq[3:0] <= wrst_rq[3:0] | {4{srst}};
end
always @ (posedge xclk or posedge rq_sclk2[0]) begin
if (rq_sclk2[0]) rq_r[0] <= 1'b0;
else if (srst) rq_r[0] <= 1'b0;
else if (rq_d[0] && !rq_d2[0]) rq_r[0] <= 1'b1;
end
always @ (posedge xclk or posedge rq_sclk2[1]) begin
if (rq_sclk2[1]) rq_r[1] <= 1'b0;
else if (srst) rq_r[1] <= 1'b0;
else if (rq_d[1] && !rq_d2[1]) rq_r[1] <= 1'b1;
end
always @ (posedge xclk or posedge rq_sclk2[2]) begin
if (rq_sclk2[2]) rq_r[2] <= 1'b0;
else if (srst) rq_r[2] <= 1'b0;
else if (rq_d[2] && !rq_d2[2]) rq_r[2] <= 1'b1;
end
always @ (posedge xclk or posedge rq_sclk2[3]) begin
if (rq_sclk2[3]) rq_r[3] <= 1'b0;
else if (srst) rq_r[3] <= 1'b0;
else if (rq_d[3] && !rq_d2[3]) rq_r[3] <= 1'b1;
end
always @ (posedge xclk or posedge rst_rq[0]) begin
if (rst_rq[0]) ts_preackn[0] <= 1'b1;
else if (!ts_rq[0]) ts_preackn[0] <= 1'b0;
end
always @ (posedge xclk or posedge rst_rq[1]) begin
if (rst_rq[1]) ts_preackn[1] <= 1'b1;
else if (!ts_rq[1]) ts_preackn[1] <= 1'b0;
end
always @ (posedge xclk or posedge rst_rq[2]) begin
if (rst_rq[2]) ts_preackn[2] <= 1'b1;
else if (!ts_rq[2]) ts_preackn[2] <= 1'b0;
end
always @ (posedge xclk or posedge rst_rq[3]) begin
if (rst_rq[3]) ts_preackn[3] <= 1'b1;
else if (!ts_rq[3]) ts_preackn[3] <= 1'b0;
end
always @ (posedge xclk) begin
ts_ackn[3:0] <= ts_preackn[3:0] & ts_rq[3:0];
end
myRAM_WxD_D #( .DATA_WIDTH(16),.DATA_DEPTH(4))
i_ts (.D(ts_mux[15:0]),
.WE(we), // we_d, decoded sub_address
.clk(!sclk),
.AW(wa[3:0]),
.AR(ra[3:0]),
.QW(),
.QR(dout[15:0]));
input [3:0] ts_rq,// requests to create timestamps (4 channels), @posedge xclk
output [3:0] ts_ackn, // timestamp for this channel is stored
input [3:0] ra, // read address (2 MSBs - channel number, 2 LSBs - usec_low, (usec_high ORed with channel <<24), sec_low, sec_high
output [15:0] dout);// output data
reg ts_rcv;
reg ts_busy;
reg [1:0] chn; // channel for which timestamp is bein requested/received
wire [3:0] rq_pri; // 1-hot prioritized timestamp request
wire [1:0] rq_enc; // encoded request channel
reg [2:0] cntr; // ts rcv counter
wire pre_snap;
reg [7:0] ts_data_r; // previous value of ts_data
reg [15:0] ts_ram[0:15];
reg rcv_last; // receiving last byte (usec MSB)
reg [3:0] ts_ackn_r;
wire [3:0] chn1hot;
wire pre_ackn;
assign rq_pri = {ts_rq[3] & ~(|ts_rq[2:0]),
ts_rq[2] & ~(|ts_rq[1:0]),
ts_rq[1] & ~ ts_rq[0],
ts_rq[0]};
assign rq_enc = {rq_pri[3] | rq_pri[2],
rq_pri[3] | rq_pri[1]};
assign pre_snap = (|ts_rq) && !ts_busy;
assign chn1hot = {chn[1] & chn[0], chn[1] & ~chn[0], ~chn[1] & chn[0], ~chn[1] & ~chn[0]};
assign pre_ackn = ts_rcv && (cntr == 3'h6);
assign ts_ackn = ts_ackn_r;
always @ (posedge xclk) begin
ts_snap <= pre_snap && !rst;
if (ts_rcv) ts_data_r <= ts_data;
if (rst) ts_busy <= 0;
else if (pre_snap) ts_busy <= 1;
else if (ts_rcv && (cntr == 3'h6)) ts_busy <= 0; // adjust 6?
rcv_last <= ts_rcv && (cntr == 3'h6);
if (rst) ts_rcv <= 0;
else if (ts_stb) ts_rcv <= 1;
else if (rcv_last) ts_rcv <= 0;
if (!rcv) cntr <= 0;
else cntr <= cntr + 1;
if (pre_snap) chn <= rq_enc;
// insert channel instead of the usec MSB, swap usec <-> sec
if (ts_rcv && cntr[0]) ts_ram[{chn, ~cntr[2], cntr[1]}] <= {rcv_last ? {6'b0,chn} : ts_data, ts_data_r};
if (rst) ts_ackn_r <= 4'hf;
else ts_ackn_r <= ts_rq & (ts_ackn_r | (chn1hot & {4{pre_ackn}}));
end
assign dout[15:0] = ts_ram[ra];
endmodule
timing/timing393.v
View file @ c2b29afd
......@@ -99,7 +99,7 @@ module timing393 #(
output [7:0] ts_data_chn3, // byte-wide serialized timestamp message received or local
// timestamp for the event logger
input lclk, // clock used by the evebt logger
input lclk, // clock used by the event logger
input ts_logger_snap, // request from the logger to take a snapshot
output ts_logger_stb, // one clock pulse before sending TS data
output [7:0] ts_logger_data // timestamp data (s0,s1,s2,s3,u0,u1,u2,u3==0)
......
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