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Commit e9862dab authored by Andrey Filippov's avatar Andrey Filippov
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Converting event_logger to use serial timestamps and 4 sesnor channels

parent 6a297fff
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logger/buf_xclk_mclk16_393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: move data from xclk to mclk domain
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* buf_xclk_mclk16_393.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
......@@ -21,21 +21,13 @@
`timescale 1ns/1ps
module buf_xclk_mclk16_393(
xclk, // posedge
mclk, // posedge
rst, // @posedge xclk
din,
din_stb,
dout,
dout_stb);
input xclk; // half frequency (80 MHz nominal)
input mclk; // system clock - frequency (160 MHz nominal)
input rst; // reset module
input [15:0] din;
input din_stb;
output [15:0] dout;
output dout_stb;
input mclk, // system clock, posedge
input xclk, // half frequency (80 MHz nominal)
input rst, // @posedge xclk reset module
input [15:0] din,
input din_stb,
output reg [15:0] dout,
output reg dout_stb);
reg [1:0] wa;
reg [1:0] wa_mclk;
......@@ -45,12 +37,12 @@ module buf_xclk_mclk16_393(
reg [1:0] ra_next;
reg inc_ra;
wire [15:0] pre_dout;
reg [15:0] dout;
reg dout_stb;
always @ (posedge xclk) begin
if (rst) wa[1:0] <= 2'h0;
else if (din_stb) wa[1:0] <={wa[0],~wa[1]};
end
always @ (posedge mclk) begin
wa_mclk[1:0] <= wa[1:0];
wa_mclk_d[1:0] <= wa_mclk[1:0];
......@@ -66,18 +58,9 @@ module buf_xclk_mclk16_393(
if (inc_ra) dout[15:0] <= pre_dout[15:0];
end
myRAM_WxD_D #( .DATA_WIDTH(16),.DATA_DEPTH(2))
i_fifo_4x16 (.D(din[15:0]),
.WE(din_stb),
.clk(xclk),
.AW(wa[1:0]),
.AR(ra[1:0]),
.QW(),
.QR(pre_dout[15:0]));
endmodule
reg [15:0] fifo_4x16_ram[0:3];
always @ (posedge xclk) if (din_stb) fifo_4x16_ram[wa[1:0]] <= din[15:0];
assign pre_dout[15:0] = fifo_4x16_ram[ra[1:0]];
endmodule
logger/event_logger.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: top module of the event logger (ported from imu_logger)
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* 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
......@@ -42,11 +42,11 @@ module event_logger#(
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_SYN = 18, // 15,
parameter LOGGER_CONF_SYN_BITS = 4, // 1,
parameter LOGGER_CONF_EN = 20, // 17,
parameter LOGGER_CONF_EN_BITS = 1,
parameter LOGGER_CONF_DBG = 22,
parameter LOGGER_CONF_DBG = 25, // 22,
parameter LOGGER_CONF_DBG_BITS = 4,
parameter GPIO_N = 10 // number of GPIO bits to control
......@@ -68,9 +68,27 @@ module event_logger#(
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
// 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
input ts_stb_chn0, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn0, // @mclk byte-wide serialized timestamp message received or local
input ts_stb_chn1, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn1, // @mclk byte-wide serialized timestamp message received or local
input ts_stb_chn2, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn2, // @mclk byte-wide serialized timestamp message received or local
input ts_stb_chn3, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn3, // @mclk byte-wide serialized timestamp message received or local
// 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)
......@@ -94,11 +112,14 @@ module event_logger#(
reg we_period;
reg we_bit_duration;
reg we_message;
reg we_config;
// 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
reg we_config_rst; // bit 14, 15 - enable - enable logging external timestamps
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
......@@ -108,38 +129,50 @@ module event_logger#(
reg [1:0] config_imu;
reg [3:0] config_gps;
reg [4:0] config_msg;
reg config_syn;
// 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
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;
reg [1:0] config_imu_mclk;
reg [3:0] config_gps_mclk;
reg [4:0] config_msg_mclk;
reg config_syn_mclk;
reg [3:0] config_syn_mclk;
reg config_rst_mclk;
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 [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 [15:0] bitHalfPeriod;// serial gps speed - number of xclk pulses in half bit period
reg we_bitHalfPeriod;
reg [15:0] bitHalfPeriod_mclk;
reg enable_gps;
reg enable_msg;
reg enable_syn;
// 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 ts_stb_xclk; // re-clocked to posedge xclk
wire gps_ts_stb, ser_do,ser_do_stb;
wire [15:0] imu_data;
......@@ -283,7 +316,6 @@ module event_logger#(
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);
......@@ -291,48 +323,40 @@ module event_logger#(
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];
we_config_rst <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_CONFIG) && cmd_data[LOGGER_CONF_EN];
we_config_debug <= cmd_we && !cmd_a && (ctrl_addr[6:0] == LOGGER_CONFIG) && cmd_data[LOGGER_CONF_DBG];
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
if (we_config_rst) config_rst_mclk <= cmd_data_r[LOGGER_CONF_EN -1 -: LOGGER_CONF_EN_BITS]; // bit 16, 17 - enable
if (we_config_debug) config_debug_mclk[3:0] <= cmd_data_r[LOGGER_CONF_DBG - 1 -: LOGGER_CONF_DBG_BITS]; // bit 21:18, 22 - enable
if (we_bitHalfPeriod) bitHalfPeriod_mclk[15:0] <= cmd_data_r[15:0];
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,
end
assign enable_syn_mclk= config_rst_mclk? 4'b0 : config_syn_mclk;
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];
// enable_gps <= (config_gps[1:0] != 2'h0) && !config_rst;
if (we_bitHalfPeriod_xclk) bitHalfPeriod[15:0] <= bitHalfPeriod_mclk[15:0];
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_syn && !config_rst;
// enable_syn <= config_rst? 4'b0 : config_syn;
enable_timestamps <= !config_rst;
end
......@@ -350,7 +374,18 @@ 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());
// 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),
......@@ -386,131 +421,139 @@ module event_logger#(
.start (status_start) // input
);
imu_spi393 i_imu_spi ( .sclk(mclk), // system clock, negedge
.xclk(xclk), // half frequency (80 MHz nominal)
.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)
.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)
imu_spi393 i_imu_spi (
// .rst(rst),
.mclk (mclk), // system clock, negedge
.xclk (xclk), // half frequency (80 MHz nominal)
.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)
.din (cmd_data_r[31:0]), // 16?-bit data in (di, not di_d)
.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)
.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)
*/
imu_message393 i_imu_message(.sclk(mclk), // system clock, negedge
.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)
.di(cmd_data_r[15:0]), // 16-bit data in multiplexed
.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)
imu_message393 i_imu_message(
.mclk (mclk), // system clock, negedge
.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)
.din (cmd_data_r[31:0]), // 16-bit data in multiplexed
.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
.trig(ts_stb_xclk), // ext_ts_stb[1]), // external time stamp updated, single pulse @posedge xclk
.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 (
.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
wire debug_unused_a; // SuppressThisWarning Veditor (unused)
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]),
.debug({debug_unused_a, debug_state[15:12]}),
.bit_dur_cntr(debug_state[31:16]),
.bit_cntr(debug_state[11:7])
imu_exttime393 i_imu_exttime(
.rst (rst), // input global reset
.mclk (mclk), // system clock, negedge
.xclk (xclk), // half frequency (80 MHz nominal)
.en_chn_mclk (enable_syn_mclk), // enable module operation, if 0 - reset
.ts_stb_chn0 (ts_stb_chn0), // input
.ts_data_chn0 (ts_data_chn0), // input[7:0]
.ts_stb_chn1 (ts_stb_chn1), // input
.ts_data_chn1 (ts_data_chn1), // input[7:0]
.ts_stb_chn2 (ts_stb_chn2), // input
.ts_data_chn2 (ts_data_chn2), // input[7:0]
.ts_stb_chn3 (ts_stb_chn3), // input
.ts_data_chn3 (ts_data_chn3), // input[7:0]
.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 (
.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
wire debug_unused_a; // SuppressThisWarning Veditor (unused)
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_unused_a, debug_state[15:12]}),
.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
nmea_decoder393 i_nmea_decoder (.sclk(mclk), // system clock, @negedge
.we(we_gps), // registers write enable (@negedge sclk)
.wa(ctrl_addr[4:0]), // registers write address
.wd(cmd_data_r[7:0]), // write data
.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)
nmea_decoder393 i_nmea_decoder (
.mclk (mclk), // system clock, @posedge
.xclk (xclk), // 80MHz, posedge
.we (we_gps), // registers write enable
.wa (ctrl_addr[4:0]), // registers write address
.wd (cmd_data_r[7:0]), // write data
.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
.mclk(mclk), // posedge!
.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));
// Logger handshakes timestamps through request/grant, so it is OK to make slow serial communication with RTC)
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(
.mclk (mclk), // posedge
.xclk (xclk), // posedge
.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
logger/imu_exttime393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: get external timestamp (for image)
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* imu_exttime393.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
......@@ -20,77 +20,166 @@
*******************************************************************************/
`timescale 1ns/1ps
/*
logs frame synchronization data from other camera (same as frame sync)
Logs frame synchronization data from other camera (same as frame sync)
When sesnors are running in free running mode, each sensor may provide individual timestamp (sampled at vsync)
*/
module imu_exttime393(
xclk, // half frequency (80 MHz nominal)
en, // enable module operation, if 0 - reset
trig, // external time stamp updated
usec, // microseconds from external timestamp (should not chnage after trig for 10 xclk)
sec, // seconds from external timestamp
ts, // timestamop request
rdy, // data ready
rd_stb, // data read strobe (increment address)
rdata); // data out (16 bits)
input xclk; // half frequency (80 MHz nominal)
input en; // enable
input trig; // external time stamp updated
input [19:0] usec; // microseconds from external timestamp
input [31:0] sec; // seconds from external timestamp
output ts; // timestamp request
output rdy; // encoded nmea data ready
input rd_stb;// encoded nmea data read strobe (increment address)
output [15:0] rdata; // encoded data (16 bits)
input rst,
input mclk, // system clock, negedge TODO:COnvert to posedge!
input xclk, // half frequency (80 MHz nominal)
input [3:0] en_chn_mclk, // enable per-channel module operation, if all 0 - reset
// 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
input ts_stb_chn0, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn0, // @mclk byte-wide serialized timestamp message received or local
input ts_stb_chn1, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn1, // @mclk byte-wide serialized timestamp message received or local
input ts_stb_chn2, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn2, // @mclk byte-wide serialized timestamp message received or local
input ts_stb_chn3, // @mclk 1 clock before ts_rcv_data is valid
input [7:0] ts_data_chn3, // @mclk byte-wide serialized timestamp message received or local
output ts, // timestamop request
output reg rdy, // data ready will go up with timestamp request (ahead of actual time), but it will
// anyway be ready sooner, than the local timestamp retrieved ant sent
input rd_stb, // data read strobe (increment address) - continuous 1'b1 until allthe packet is read out
output [15:0] rdata); // data out (16 bits)
reg [ 4:0] raddr;
reg rdy=1'b0;
wire en_mclk = |en_chn_mclk;
wire [3:0] ts_stb = {ts_stb_chn3, ts_stb_chn2, ts_stb_chn1, ts_stb_chn0};
reg en;
reg rd_stb_r;
reg rd_start; // 1 xclk pulse at the readout start
wire rd_start_mclk;
reg ts_full; // internal 4 x 16 fifo is full (or getting full)
reg [3:0] in_full; // input fifo has (or is acquiring) timestamp
wire pre_copy_w;
reg [1:0] copy_selected; // copying from the winner of 4 input fifos to the x16 output fifo
reg copy_started;
reg [2:0] copy_cntr; // byte counter for copying
reg [1:0] sel_chn; // selected channel
wire [3:0] chn1hot={(sel_chn == 2'h3), (sel_chn == 2'h2), (sel_chn == 2'h1), (sel_chn == 2'h0)};
wire pre_copy_started = copy_selected == 'b01;
wire [3:0] chn_pri_w;
wire [1:0] chn_enc_w;
reg [15:0] ts_ram [0:3]; // inner timestamp x16 memory that receives timestamp from one of the 4 input channel fifos
wire [7:0] dout_chn[0:3];
wire [7:0] copy_data; // data from the selected input fifos
reg [7:0] copy_data_r; // low byte of the timestamp data being copied from one of the input fifos to the ts_ram
assign chn_pri_w = {in_full[3] & ~(|in_full[2:0]),
in_full[2] & ~(|in_full[1:0]),
in_full[1] & ~in_full[0],
in_full[0]};
assign chn_enc_w = {chn_pri_w[3] | chn_pri_w[2],
chn_pri_w[3] | chn_pri_w[1]};
assign pre_copy_w = (|in_full) && !copy_selected[0] && !ts_full;
assign copy_data = dout_chn[sel_chn]; // 4:1 mux
// acquire external timestamps @ mclk
always @ (posedge mclk) begin
copy_started <= pre_copy_started;
if (!en_mclk) ts_full <= 0;
else if (pre_copy_started) ts_full <= 1; // turns on before in_full[*] - || will have no glitches
else if (rd_start_mclk) ts_full <= 0;
if (!en_mclk) in_full <= 0;
else in_full <= en_chn_mclk & (ts_stb | (in_full & ~(chn1hot & {4{copy_started}})));
copy_selected <= {copy_selected[0], pre_copy_w | (copy_selected[0] & ~(&copy_cntr[2:1]))}; // off at count 6
if (pre_copy_w) sel_chn <= chn_enc_w;
if (!copy_selected[1]) copy_cntr <= 0;
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
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
assign rdata[15:0] = ts_ram[raddr[1:0]];
reg we, pre_we;
reg [ 3:0] pre_waddr;
reg [ 1:0] waddr;
reg [ 2:0] trig_d;
reg pre_ts,ts;
reg [15:0] time_mux;
always @ (posedge xclk) begin
if (!en) trig_d[2:0] <= 3'h0;
else trig_d[2:0] <= {trig_d[1:0], trig};
pre_ts <= !trig_d[2] && trig_d[1];
ts <= pre_ts; // delayed so arbiter will enable ts to go through
if (!en || pre_ts) pre_waddr[3:0] <= 4'b0;
else if (!pre_waddr[3]) pre_waddr[3:0] <= pre_waddr[3:0] + 1;
if (pre_waddr[0]) waddr[1:0] <=pre_waddr[2:1];
if (pre_waddr[0] && !pre_waddr[3]) case (pre_waddr[2:1])
2'b00: time_mux[15:0] <= usec[15:0];
2'b01: time_mux[15:0] <= {12'h0,usec[19:16]};
2'b10: time_mux[15:0] <= sec[15:0];
2'b11: time_mux[15:0] <= sec[31:16];
endcase
pre_we<=pre_waddr[0] && !pre_waddr[3];
we <= pre_we;
if (!en || pre_ts) raddr[4:0] <= 5'h0;
en <= en_mclk;
rd_stb_r <= rd_stb;
rd_start <= en && rd_stb && ! rd_stb_r;
if (!en || ts) raddr[4:0] <= 5'h0;
else if (rd_stb) raddr[4:0] <= raddr[4:0] + 1;
if (pre_ts || (rd_stb && (raddr[1:0]==2'h3)) || !en) rdy <= 1'b0;
else if (we && (waddr[1:0]==2'h3)) rdy <= 1'b1;
if (!en) rdy <= 1'b0;
else if (ts) rdy <= 1'b1; // too early, but it will become ready in time, before the local timestamp
else if (rd_stb && (raddr[1:0]==2'h3)) rdy <= 1'b0;
end
myRAM_WxD_D #( .DATA_WIDTH(16),.DATA_DEPTH(2))
i_odbuf (.D(time_mux[15:0]),
.WE(we),
.clk(xclk),
.AW(waddr[1:0]),
.AR(raddr[1:0]),
.QW(),
.QR(rdata[15:0]));
endmodule
timestamp_fifo timestamp_fifo_chn0_i (
.rst (rst), // input
.sclk (mclk), // input
.pre_stb (ts_stb[0]), // input
.din (ts_data_chn0), // input[7:0]
.aclk (mclk), // input
.advance (ts_stb[0]), // enough time
.rclk (mclk), // input
.rstb (pre_copy_started && (sel_chn == 2'h0)),// input
.dout (dout_chn[0]) // output[7:0] reg valid with copy_selected[1]
);
timestamp_fifo timestamp_fifo_chn1_i (
.rst (rst), // input
.sclk (mclk), // input
.pre_stb (ts_stb[1]), // input
.din (ts_data_chn1), // input[7:0]
.aclk (mclk), // input
.advance (ts_stb[1]), // enough time
.rclk (mclk), // input
.rstb (pre_copy_started && (sel_chn == 2'h1)),// input
.dout (dout_chn[1]) // output[7:0] reg valid with copy_selected[1]
);
timestamp_fifo timestamp_fifo_chn2_i (
.rst (rst), // input
.sclk (mclk), // input
.pre_stb (ts_stb[2]), // input
.din (ts_data_chn2), // input[7:0]
.aclk (mclk), // input
.advance (ts_stb[2]), // enough time
.rclk (mclk), // input
.rstb (pre_copy_started && (sel_chn == 2'h2)),// input
.dout (dout_chn[2]) // output[7:0] reg valid with copy_selected[1]
);
timestamp_fifo timestamp_fifo_chn3_i (
.rst (rst), // input
.sclk (mclk), // input
.pre_stb (ts_stb[3]), // input
.din (ts_data_chn3), // input[7:0]
.aclk (mclk), // input
.advance (ts_stb[3]), // enough time
.rclk (mclk), // input
.rstb (pre_copy_started && (sel_chn == 2'h3)),// input
.dout (dout_chn[3]) // output[7:0] reg valid with copy_selected[1]
);
pulse_cross_clock i_rd_start_mclk (.rst(1'b0), .src_clk(xclk), .dst_clk(mclk), .in_pulse(rd_start), .out_pulse(rd_start_mclk),.busy());
// generate timestamp request as soon as one of the sub-channels starts copying. That time stamp will be stored for this (ext) channel
pulse_cross_clock i_ts (.rst(1'b0), .src_clk(mclk), .dst_clk(xclk), .in_pulse(pre_copy_w), .out_pulse(ts),.busy());
endmodule
logger/imu_message393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description:
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* imu_message393.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
......@@ -27,73 +27,58 @@ de-assert the trig input - message with the timestamp will be logged
fixed-length de-noise circuitry with latency 256*T(xclk) (~3usec)
*/
module imu_message393 ( sclk, // system clock, negedge
xclk, // half frequency (80 MHz nominal)
we, // write enable for registers to log (@negedge sclk), with lower data half
wa, // write address for register (4 bits, @negedge sclk)
di, // 16-bit data in multiplexed
en, // enable module operation, if 0 - reset
trig, // leading edge - sample time, trailing set rdy
ts, // timestamop request
rdy, // data ready
rd_stb, // data read strobe (increment address)
rdata); // data out (16 bits)
input sclk; // system clock, negedge
input xclk; // half frequency (80 MHz nominal)
input we; // write enable for registers to log (@negedge sclk)
input [3:0] wa; // write address for register (4 bits, @negedge sclk)
input [15:0] di; // 16-bit data in (32 multiplexed)
input en; // enable
input trig; // leading edge - sample time, trailing set rdy
output ts; // timestamp request
output rdy; // encoded nmea data ready
input rd_stb; // encoded nmea data read strobe (increment address)
output [15:0] rdata; // encoded data (16 bits)
module imu_message393 (
input mclk, // system clock, negedge TODO:COnvert to posedge!
input xclk, // half frequency (80 MHz nominal)
input we, // write enable for registers to log (@negedge mclk), with lower data half
input [3:0] wa, // write address for register (4 bits, @negedge mclk)
// input [15:0] di, // 16-bit data in multiplexed
input [31:0] din, // 32-bit data in, non-multiplexed
input en, // enable module operation, if 0 - reset
input trig, // leading edge - sample time, trailing set rdy
output ts, // timestamop request
output rdy, // data ready
input rd_stb, // data read strobe (increment address)
output [15:0] rdata); // data out (16 bits)
reg [ 4:0] raddr;
reg rdy=1'b0;
reg we_d;
reg [ 4:1] waddr;
reg rdy_r=1'b0;
reg [ 2:0] trig_d;
reg [ 7:0] denoise_count;
reg [ 1:0] trig_denoise;
reg ts;
reg [15:0] di_d;
reg ts_r;
assign rdy = rdy_r;
assign ts = ts_r;
always @ (negedge sclk) begin
di_d[15:0] <= di[15:0];
waddr[4:1] <= wa[3:0];
we_d <=we;
end
always @ (posedge xclk) begin
if (!en) trig_d[2:0] <= 3'h0;
else trig_d[2:0] <= {trig_d[1:0], trig};
if (!en) trig_denoise[0] <= 1'b0;
else if (denoise_count[7:0]==8'h0) trig_denoise[0] <= trig_d[2];
if (trig_d[2]==trig_denoise[0]) denoise_count[7:0] <= 8'hff;
else denoise_count[7:0] <= denoise_count[7:0] - 1;
trig_denoise[1] <= trig_denoise[0];
ts <= !trig_denoise[1] && trig_denoise[0];
if (!en || ts) raddr[4:0] <= 5'h0;
ts_r <= !trig_denoise[1] && trig_denoise[0];
if (!en || ts_r) raddr[4:0] <= 5'h0;
else if (rd_stb) raddr[4:0] <= raddr[4:0] + 1;
if (ts || (rd_stb && (raddr[4:0]==5'h1b)) || !en) rdy <= 1'b0;
else if (trig_denoise[1] && !trig_denoise[0]) rdy <= 1'b1;
if (ts_r || (rd_stb && (raddr[4:0]==5'h1b)) || !en) rdy_r <= 1'b0;
else if (trig_denoise[1] && !trig_denoise[0]) rdy_r <= 1'b1;
end
myRAM_WxD_D #( .DATA_WIDTH(16),.DATA_DEPTH(5))
i_odbuf (.D(di_d[15:0]),
.WE(we | we_d),
.clk(~sclk),
.AW({waddr[4:1],we_d}),
.AR(raddr[4:0]),
.QW(),
.QR(rdata[15:0]));
endmodule
reg [31:0] odbuf0_ram[0:15];
wire [31:0] odbuf0_ram_out;
always @ (posedge mclk) if (we) begin
odbuf0_ram[wa[3:0]] <= din[31:0];
end
assign odbuf0_ram_out = odbuf0_ram[raddr[4:1]];
assign rdata[15:0] = raddr[0] ? odbuf0_ram_out[15:0] : odbuf0_ram_out[31:16];
endmodule
logger/imu_spi393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: SPI interface for the IMU
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* imu_spi393.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
......@@ -21,32 +21,33 @@
`timescale 1ns/1ps
module imu_spi393(
sclk, // system clock, negedge
xclk, // half frequency (80 MHz nominal)
we_ra, // write enable for registers to log (@negedge clk)
we_div,// write enable for clock dividing(@negedge clk)
we_period,// write enable for IMU cycle period(@negedge clk) 0 - disable, 1 - single, >1 - half bit periods
wa, // write address for register (5 bits, @negedge clk)
di, // 16?-bit data in (di, not di_d)
mosi, // to IMU, bit 2 in J9
miso, // from IMU, bit 3 on J9
config_debug, // bit 0 - long sda_en
sda, // sda, shared with i2c, bit 1
sda_en, // enable sda output (when sda==0 and 1 cycle after sda 0->1)
scl, // scl, shared with i2c, bit 0
scl_en, // enable scl output (when scl==0 and 1 cycle after sda 0->1)
// sngl_wire, // single wire clock/data for the 103695 rev A
ts, // timestamop request
rdy, // data ready
rd_stb, // data read strobe (increment address)
rdata); // data out (16 bits)
input sclk; // system clock, negedge
// input rst,
input mclk, // system clock, negedge TODO:COnvert to posedge!
input xclk, // half frequency (80 MHz nominal)
input we_ra, // write enable for registers to log (@negedge clk)
input we_div,// write enable for clock dividing(@negedge clk)
input we_period,// write enable for IMU cycle period(@negedge clk) 0 - disable, 1 - single, >1 - half bit periods
input [ 4:0] wa, // write address for register (5 bits, @negedge clk)
input [31:0] din, //
output mosi, // to IMU, bit 2 in J9
input miso, // from IMU, bit 3 on J9
input [ 3:0] config_debug, // bit 0 - long sda_en
output sda, // sda, shared with i2c, bit 1
output sda_en, // enable sda output (when sda==0 and 1 cycle after sda 0->1)
output scl, // scl, shared with i2c, bit 0
output scl_en, // enable scl output (when scl==0 and 1 cycle after sda 0->1)
output ts, // timestamop request
output rdy, // data ready
input rd_stb, // data read strobe (increment address)
output [15:0] rdata); // data out (16 bits)
/*
input mclk; // system clock, negedge
input xclk; // half frequency (80 MHz nominal)
input we_ra; // write enable for registers to log (@negedge sclk)
input we_div;// write enable for clock dividing(@negedge sclk)
input we_ra; // write enable for registers to log (@negedge mclk)
input we_div;// write enable for clock dividing(@negedge mclk)
input we_period;// write enable for IMU cycle period(@negedge clk)
input [4:0] wa; // write address for register (5 bits, @negedge sclk)
input [4:0] wa; // write address for register (5 bits, @negedge mclk)
input [15:0] di; // 16-bit data in
output mosi; // to IMU, bit 2 in J9
input miso; // from IMU, bit 3 on J9
......@@ -61,7 +62,7 @@ module imu_spi393(
input rd_stb; // encoded nmea data read strobe (increment address)
output [15:0] rdata; // encoded data (16 bits)
// output sngl_wire; // combined clock/data
*/
reg [ 7:0] bit_duration_mclk=8'h0;
reg [ 7:0] bit_duration;
reg [ 7:0] bit_duration_cntr=8'h0;
......@@ -82,23 +83,22 @@ module imu_spi393(
reg set_mosi_prepare, set_mosi_spi;
reg seq_counter_zero, pre_seq_counter_zero;
reg [15:0] mosi_reg;
wire mosi;
reg sda, sda_d;
wire sda_en;
reg scl, scl_d;
wire scl_en;
// wire mosi;
reg [1:0] sda_r;
reg [1:0] scl_r;
// wire scl_en;
reg shift_miso;
reg [15:0] miso_reg;
reg last_bit; // last clk _/~ in spi word (but first one)
reg last_bit_ext=1'b0; // from last bit till buffer write
reg last_buf_wr;
reg [ 4:0] raddr;
reg rdy=1'b0;
reg rdy_r=1'b0;
reg imu_start;
reg ts; // delay imu_start by one cycle, so it will be aftre rdy is reset
reg ts_r; // delay imu_start by one cycle, so it will be after rdy is reset
reg [31:0] period; // 0 - disable, 1 - single, >1 - period in 50 ns steps
reg [15:0] di_d;
// reg [15:0] di_d;
reg imu_enabled_mclk;
reg [1:0] imu_enabled=2'h0;
......@@ -122,7 +122,7 @@ module imu_spi393(
reg [7:0] stall_dur_mclk;
reg [7:0] stall_dur;
reg stall; // stall between words to satisfy SPI stall time
reg [7:0] stall_cntr; // stall counter (in half sclk periods)
reg [7:0] stall_cntr; // stall counter (in half mclk periods)
reg set_stall;
reg skip_stall; // first word after CS -\_
wire shift_mosi;
......@@ -139,34 +139,39 @@ module imu_spi393(
wire sngl_wire;
wire config_single_wire; // used in 103695 rev A
assign sngl_wire=~|sngl_wire_r[1:0];
assign sngl_wire = ~|sngl_wire_r[1:0];
assign shift_mosi = (clk_en[3] && seq_counter[0] && !stall);
assign mosi = config_single_wire?sngl_wire:mosi_reg[15];
assign shift_mosi=(clk_en[3] && seq_counter[0] && !stall);
assign mosi=config_single_wire?sngl_wire:mosi_reg[15];
assign config_long_sda_en = config_debug[0];
assign config_late_clk = config_debug[1];
assign config_single_wire = config_debug[2];
assign config_long_sda_en=config_debug[0];
assign config_late_clk= config_debug[1];
assign config_single_wire=config_debug[2];
assign en= imu_enabled[1];
assign sda_en= !config_single_wire && (!sda_r[0] || !sda_r[1] || (config_long_sda_en && (seq_state[1:0]!=2'b0)));
assign scl_en= !config_single_wire && (!scl_r[0] || !scl_r[1]);
assign en=imu_enabled[1];
assign sda_en= !config_single_wire && (!sda || !sda_d || (config_long_sda_en && (seq_state[1:0]!=2'b0)));
assign scl_en= !config_single_wire && (!scl || !scl_d);
assign sda = sda_r[0];
assign scl = scl_r[0];
assign rdy = rdy_r;
assign ts = ts_r;
always @ (negedge sclk) begin
di_d[15:0] <= di[15:0];
if (we_div) bit_duration_mclk[7:0]<=di_d[7:0];
if (we_div) stall_dur_mclk[7:0]<=di_d[15:8];
always @ (posedge mclk) begin
// di_d[15:0] <= di[15:0];
if (we_div) bit_duration_mclk[7:0] <= din[7:0];
if (we_div) stall_dur_mclk[7:0] <= din[15:8];
we_timer[4:1] <= {we_timer[3:1], we_period};
if (we_period) period[31:0]<={di[15:0],di_d[15:0]};
if (we_period) period[31:0] <= din[31:0];
if (we_timer[2]) imu_run_mclk <= (period[31:1]!=31'b0); // double-cycle
if (we_timer[3]) imu_enabled_mclk <= imu_run_mclk | period[0];
if (we_timer[2]) imu_when_ready_mclk <= &period[31:16]; // double-cycle
if (!imu_enabled_mclk || imu_start_grant[1]) imu_start_mclk<=1'b0;
else if (we_timer[4])imu_start_mclk<=imu_enabled_mclk;
if (!imu_enabled_mclk || imu_start_grant[1]) imu_start_mclk <= 1'b0;
else if (we_timer[4])imu_start_mclk <= imu_enabled_mclk;
end
// debounce imu_data_ready
......@@ -214,7 +219,6 @@ module imu_spi393(
if (imu_start || imu_when_ready[1]) period_counter[31:0] <= period[31:0];
else if (clk_en[3]) period_counter[31:0] <= period_counter[31:0] - 1;
end
......@@ -222,12 +226,12 @@ module imu_spi393(
bit_duration[7:0] <= bit_duration_mclk[7:0];
stall_dur[7:0] <= stall_dur_mclk[7:0];
bit_duration_zero <= (bit_duration[7:0]==8'h0);
clk_div[1:0]=en?(clk_div[1:0]+1):2'b0;
clk_en[3:0] <= {clk_en[2:0],clk_div[1:0]==2'h3};
bit_duration_zero <= (bit_duration[7:0] == 8'h0);
clk_div[1:0] <= en ? (clk_div[1:0] + 1) : 2'b0;
clk_en[3:0] <= {clk_en[2:0], clk_div[1:0] == 2'h3};
if (bit_duration_zero || (bit_duration_cntr[7:0]==8'h0)) bit_duration_cntr[7:0]<=bit_duration[7:0];
else bit_duration_cntr[7:0] <= bit_duration_cntr[7:0]-1;
clk_en[3:0] <= {clk_en[2:0],bit_duration_cntr[7:0]==8'h3}; // change 9'h3 to enforce frequency limit
clk_en[3:0] <= {clk_en[2:0], bit_duration_cntr[7:0] == 8'h3 }; // change 9'h3 to enforce frequency limit
end
always @ (posedge xclk) begin
......@@ -253,70 +257,58 @@ module imu_spi393(
else if (end_spi) seq_counter[9:0] <= 10'h001;
else if (clk_en[3] && (seq_state[1:0]!=2'h0) && !stall) seq_counter[9:0] <= seq_counter[9:0] - 1;
set_mosi_prepare <= clk_en[2] && first_prepare;
set_mosi_spi <= clk_en[2] && (seq_state[1:0]==2'h2) && (seq_counter[4:0]==5'h1f) && (seq_counter[9:5]!=6'h0) && !stall; // last word use zero
// set_mosi_spi <= clk_en[2] && (seq_state[1:0]==2'h2) && (seq_counter[4:0]==5'h1f) && (seq_counter[9:5]!=6'h0) && !stall; // last word use zero
set_mosi_spi <= clk_en[2] && (seq_state[1:0]==2'h2) && (seq_counter[4:0]==5'h1f) && (seq_counter[9:5] != 0) && !stall; // last word use zero
// no stall before the first word
// no stall before the first word
if (!en) skip_stall <= 1'b0;
else if (end_prepare) skip_stall <= 1'b1;
else if (clk_en[3]) skip_stall <= 1'b0;
// set_stall <= clk_en[2] && (seq_state[1:0]==2'h2) && (seq_counter[4:0]==5'h1f) && !skip_stall; // same as set_mosi_spi, but including last
// set_stall <= clk_en[1] && (seq_state[1:0]==2'h2) && (seq_counter[4:0]==5'h1f) && !skip_stall && !stall; // @ clk_en[2]
set_stall <= clk_en[0] && (seq_state[1:0]==2'h2) && (seq_counter[4:0]==5'h1f) && !skip_stall && !stall; // @ clk_en[1]
if (!en) mosi_reg[15:0] <= 16'h0;
else if (set_mosi_prepare) mosi_reg[15:0] <= 16'h7fff;
else if (set_mosi_spi) mosi_reg[15:0] <= {1'b0,imu_reg_number[6:1],9'b0};
else if (shift_mosi) mosi_reg[15:0] <= {mosi_reg[14:0],1'b0};
// assign shift_mosi=(clk_en[3] && seq_counter[0] && !stall);
// stall switches at clk_en[2]
// stall switches at clk_en[1]
// stall switches at clk_en[2]
// stall switches at clk_en[1]
if (!en) stall_cntr[7:0] <= 8'h0;
else if (set_stall) stall_cntr[7:0] <= stall_dur[7:0];
else if (clk_en[1]) stall_cntr[7:0] <= stall?(stall_cntr[7:0]-1):8'h0;
if (!en) stall <= 1'b0;
else if (set_stall) stall <= (stall_dur[7:0]!=0);
else if (clk_en[1] && (stall_cntr[7:1]==0)) stall <= 1'b0;
if (!en) sda <=1'b1;
else if (clk_en[3]) sda <= !(first_prepare_d[1] || (seq_counter[0] && (seq_state[1:0]==2'h3))) ;
if (!en) sda_r <=2'b11;
else if (clk_en[3]) sda_r <= {sda_r[0], !(first_prepare_d[1] || (seq_counter[0] && (seq_state[1:0]==2'h3)))} ;
if (!en) sda_d <=1'b1;
else if (clk_en[3]) sda_d <= sda;
// if (!en) scl <=1'b1;
// else if (clk_en[3]) scl <= (seq_state[1:0]!=2'h2) || !seq_counter[0] || stall;
if (!en) pre_scl <=1'b1;
else if (clk_en[2]) pre_scl <= (seq_state[1:0]!=2'h2) || !seq_counter[0] || stall;
scl <= pre_scl;
scl_r[0] <= pre_scl;
if (!en) scl_r[1] <=1'b1;
else if (clk_en[3]) scl_r[1] <= scl_r[0];
sngl_wire_stb[2:0] <={sngl_wire_stb[1:0], en & ((scl ^ pre_scl) | end_prepare)};
sngl_wire_stb[2:0] <={sngl_wire_stb[1:0], en & ((scl_r[0] ^ pre_scl) | end_prepare)};
if (!en) sngl_wire_r[0]<=1'b0;
// else if (!pre_scl && scl) sngl_wire_r[0]<=1'b1;
// else if (!mosi || sngl_wire_stb[2]) sngl_wire_r[0]<=1'b0;
else if ((pre_scl ^scl) | end_prepare) sngl_wire_r[0]<=1'b1;
else if (!mosi_reg[15] || sngl_wire_stb[2] || scl) sngl_wire_r[0]<=1'b0;
else if ((pre_scl ^scl_r[0]) | end_prepare) sngl_wire_r[0]<=1'b1;
else if (!mosi_reg[15] || sngl_wire_stb[2] || scl_r[0]) sngl_wire_r[0]<=1'b0;
if (!en) scl_d <=1'b1;
else if (clk_en[3]) scl_d <= scl;
if (imu_start) reg_seq_number[4:0] <= 5'h04;
else if (set_mosi_spi) reg_seq_number[4:0] <= reg_seq_number[4:0] + 1;
shift_miso <= !scl_d && clk_en[2]; // active at clk_en[3]
// shift_miso <= !scl_d && clk_en[2] && !stall; // active at clk_en[3]
shift_miso <= !scl_r[1] && clk_en[2]; // active at clk_en[3]
if (shift_miso) miso_reg[15:0] <= {miso_reg[14:0], miso};
......@@ -341,23 +333,31 @@ module imu_spi393(
if (!en || imu_start) raddr[4:0] <= 5'h0;
else if (rd_stb) raddr[4:0] <= raddr[4:0] + 1;
if (imu_start || (rd_stb && (raddr[4:0]==5'h1b)) || !en) rdy <= 1'b0; // only 28 words, not 32
else if (last_buf_wr) rdy <= 1'b1;
if (imu_start || (rd_stb && (raddr[4:0]==5'h1b)) || !en) rdy_r <= 1'b0; // only 28 words, not 32
else if (last_buf_wr) rdy_r <= 1'b1;
ts <=imu_start;
ts_r <=imu_start;
end
assign imu_in_buf[15:0]= miso_reg[15:0];
/*
myRAM_WxD_D #( .DATA_WIDTH(6),.DATA_DEPTH(5))
i_registers2log (.D(di_d[6:1]),
.WE(we_ra),
.clk(!sclk),
.clk(!mclk),
.AW(wa[4:0]),
.AR(reg_seq_number[4:0]),
.QW(),
.QR(imu_reg_number[6:1]));
*/
reg [5:0] registers2log_ram[0:31];
always @ (posedge mclk) if (we_ra) begin
registers2log_ram[wa[4:0]] <= din[6:1];
end
assign imu_reg_number[6:1] = registers2log_ram[reg_seq_number[4:0]];
/*
myRAM_WxD_D #( .DATA_WIDTH(16),.DATA_DEPTH(5))
i_odbuf0 (.D(imu_in_buf[15:0]),
.WE(imu_wr_buf),
......@@ -366,7 +366,12 @@ module imu_spi393(
.AR(raddr[4:0]),
.QW(),
.QR(rdata[15:0]));
*/
reg [15:0] odbuf0_ram[0:31];
always @ (posedge xclk) if (imu_wr_buf) begin
odbuf0_ram[imu_in_word[4:0]] <= imu_in_buf[15:0];
end
assign rdata[15:0] = odbuf0_ram[raddr[4:0]];
endmodule
......
logger/imu_timestamps393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: Acquire timestmps for events
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* imu_timestamps393.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
......
logger/logger_arbiter393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: arbiter for the event_logger
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* logger_arbiter393.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
......@@ -21,19 +21,19 @@
`timescale 1ns/1ps
module logger_arbiter393(
xclk, // 80 MHz, posedge
rst, // module reset
ts_rq_in, // in requests for timestamp (single-cycle - just leading edge )
ts_rq, // out request for timestamp, to timestmp module
ts_grant, // granted ts requests from timestamping module
rdy, // channels ready (leading edge - became ready, trailing - no more data, use zero)
nxt, // pulses to modules to output next word
channel, // decoded channel number (2 bits)
ts_sel, // select timestamp word to be output (0..3)
ts_en, // 1 - use timestamp, 0 - channel data (or 16'h0 if !ready)
dv, // output data valid (from registered mux - 2 stage - first selects data and ready, second ts/data/zero)
sample_counter);// number of 64-byte samples logged
input xclk, // half frequency (80 MHz nominal)
input rst, // module reset (sync)
input [3:0] ts_rq_in, // in requests for timestamp (single-cycle - just leading edge )
output [3:0] ts_rq, // out request for timestamp, to timestmp module
input [3:0] ts_grant, // granted ts requests from timestamping module
input [3:0] rdy, // channels ready (leading edge - became ready, trailing - no more data, use zero)
output reg [3:0] nxt, // pulses to modules to output next word
output [1:0] channel, // decoded channel number (2 bits)
output [1:0] ts_sel, // select timestamp word to be output (0..3)
output ts_en, // 1 - use timestamp, 0 - channel data (or 16'h0 if !ready)
output reg dv, // output data valid (from registered mux - 2 stage - first selects data and ready, second ts/data/zero)
output [23:0] sample_counter);// number of 64-byte samples logged
/*
input xclk; // half frequency (80 MHz nominal)
input rst; // reset module
input [ 3:0] ts_rq_in; // in requests for timestamp (sinlgle-cycle)
......@@ -46,54 +46,53 @@ module logger_arbiter393(
output ts_en; // 1 - use timestamp, 0 - channel data (or 16'h0 if !ready)
output dv; // output data valid (from registered mux - 2 stage - first selects data and ready, second ts/data/zero)
output [23:0] sample_counter;// number of 64-byte samples logged
*/
reg [3:0] ts_rq_in_d;
reg [3:0] ts_rq;
reg [3:0] ts_rq_r;
reg [3:0] ts_valid;
// reg [3:0] ts_rq_reset;
reg [3:0] channels_ready;// channels granted and ready
reg [3:1] chn1hot; // channels 1-hot - granted and ready, priority applied
reg rq_not_zero; // at least one channel is ready for processing (same time as chn1hot[3:0])
reg [1:0] channel;
reg start;
reg [1:0] channel_r;
// reg start; Not used!
reg busy;
wire wstart;
reg ts_en;
reg ts_en_r;
reg [4:0] seq_cntr;
reg seq_cntr_last;
reg [1:0] ts_sel;
reg dv;
reg [1:0] ts_sel_r;
// reg dv;
reg inc_sample_counter;
reg [23:0] sample_counter;// number of 64-byte samples logged
reg [ 3:0] nxt;
reg [23:0] sample_counter_r;// number of 64-byte samples logged
// reg [ 3:0] nxt;
reg pre_nxt;
reg [ 3:0] chn_servicing; //1-hot channel being service
// reg [ 3:0] rdy_d;
wire [3:0] wts_rq;
assign wstart= !busy && rq_not_zero;
assign wts_rq[3:0]= ts_rq_in[3:0] & ~ts_rq_in_d[3:0] & (~rdy[3:0] | chn_servicing[3:0]);
assign wstart = !busy && rq_not_zero;
assign wts_rq[3:0] = ts_rq_in[3:0] & ~ts_rq_in_d[3:0] & (~rdy[3:0] | chn_servicing[3:0]);
assign sample_counter = sample_counter_r;
assign ts_rq = ts_rq_r;
assign channel = channel_r;
assign ts_en = ts_en_r;
assign ts_sel = ts_sel_r;
always @ (posedge xclk) begin
ts_rq_in_d[3:0] <= ts_rq_in[3:0];
// rdy_d[3:0] <=rdy[3:0];
if (wstart) channel[1:0] <= {chn1hot[3] | chn1hot[2],chn1hot[3] | chn1hot[1]};
if (wstart) channel_r[1:0] <= {chn1hot[3] | chn1hot[2],chn1hot[3] | chn1hot[1]};
if (wstart) chn_servicing[3:0] <= {chn1hot[3:1], ~|chn1hot[3:1]};
else if (!busy) chn_servicing[3:0] <= 4'h0;
// if (rst) ts_rq[3:0] <= 4'h0;
// else ts_rq[3:0] <= ~ts_rq_reset[3:0] & ((ts_rq_in[3:0] & ~ts_rq_in_d[3:0]) | ts_rq[3:0]);
if (rst) ts_rq[3:0] <= 4'h0;
// else ts_rq[3:0] <= ~ts_grant & ( (ts_rq_in[3:0] & ~ts_rq_in_d[3:0] & (~rdy[3:0] | ~ts_valid[3:0])) | ts_rq[3:0]);
else ts_rq[3:0] <= ~ts_grant & ( wts_rq[3:0] | ts_rq[3:0]);
if (rst) ts_rq_r[3:0] <= 4'h0;
else ts_rq_r[3:0] <= ~ts_grant & ( wts_rq[3:0] | ts_rq_r[3:0]);
if (rst) ts_valid[3:0] <= 4'h0;
// else ts_valid[3:0] <= ~ts_rq_reset[3:0] &( ts_grant[3:0] | (ts_valid & ~(ts_rq_in[3:0] & ~ts_rq_in_d[3:0] & ~rdy[3:0])));
else ts_valid[3:0] <= (ts_grant[3:0] | (ts_valid & ~wts_rq[3:0]));
// if (rst) request[3:0] <= 4'h0;
// else request[3:0] <= ~ts_rq_reset[3:0] &( request[3:0] | (rdy[3:0] & ~rdy_d[3:0])));
// channels_ready[3:0] <= ts_grant[3:0] & rdy[3:0];
channels_ready[3:0] <= ts_valid[3:0] & rdy[3:0] & ~chn_servicing[3:0]; // ready should go down during servicing
rq_not_zero <= channels_ready[3:0] != 4'h0;
......@@ -102,46 +101,33 @@ module logger_arbiter393(
channels_ready[2] & ~|channels_ready[1:0],
channels_ready[1] & ~channels_ready[0]};
start <= wstart;
// start <= wstart; Not used !
if ((seq_cntr[4:0]=='h1e) || rst) busy <= 1'b0;
else if (rq_not_zero) busy <= 1'b1;
// if (!busy) seq_cntr[4:0] <= 5'h1f;
if (!busy) seq_cntr[4:0] <= 5'h0;
else seq_cntr[4:0] <= seq_cntr[4:0] + 1;
seq_cntr_last <= (seq_cntr[4:0]=='h1e);
if (wstart) ts_en <=1'b1;
else if (seq_cntr[1:0]==2'h3) ts_en <=1'b0;
if (wstart) ts_en_r <=1'b1;
else if (seq_cntr[1:0]==2'h3) ts_en_r <=1'b0;
if (!ts_en) ts_sel[1:0] <= 2'h0;
else ts_sel[1:0] <= ts_sel[1:0] + 1;
if (!ts_en_r) ts_sel_r[1:0] <= 2'h0;
else ts_sel_r[1:0] <= ts_sel_r[1:0] + 1;
if (!busy || (seq_cntr[4:0]=='h1d)) pre_nxt <= 1'b0;
else if (seq_cntr[4:0]=='h01) pre_nxt <= 1'b1;
/*
nxt [3:0] <= pre_nxt? { channel[1] & channel[0],
channel[1] & ~channel[0],
~channel[1] & channel[0],
~channel[1] & ~channel[0]}:4'h0;
*/
nxt [3:0] <= pre_nxt? chn_servicing[3:0]:4'h0;
/*
ts_rq_reset[3:0] <= start? { channel[1] & channel[0],
channel[1] & ~channel[0],
~channel[1] & channel[0],
~channel[1] & ~channel[0]}:4'h0;
*/
dv <= busy || seq_cntr_last;
inc_sample_counter <= seq_cntr_last;
if (rst) sample_counter[23:0] <= 24'h0;
else if (inc_sample_counter) sample_counter[23:0] <= sample_counter[23:0] +1;
if (rst) sample_counter_r[23:0] <= 24'h0;
else if (inc_sample_counter) sample_counter_r[23:0] <= sample_counter_r[23:0] +1;
end
endmodule
\ No newline at end of file
logger/nmea_decoder393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: Decode some of the NMEA sentences (to compress them)
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* nmea_decoder393.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
......@@ -21,45 +21,26 @@
`timescale 1ns/1ps
module nmea_decoder393(
sclk, // system clock, @negedge
we, // registers write enable (@negedge sclk)
wa, // registers write address
wd, // write data
xclk, // 80MHz, posedge
start, // start of the serail message
rs232_wait_pause,// may be used as reset for decoder
start_char, // serial character start (single pulse)
nmea_sent_start, // serial character start (single pulse)
ser_di, // serial data in (LSB first)
ser_stb,// serial data strobe, single-cycle, first cycle after ser_di valid
rdy, // encoded nmea data ready
rd_stb, // encoded nmea data read strobe (increment address)
rdata, // encoded data (16 bits)
ser_rst,
debug);
input sclk; // system clock, @negedge
input we; // registers write enable (@negedge sclk)
input [4:0] wa; // registers write address
input [7:0] wd; // write data
input xclk; // 80MHz, posedge
input start; // start of the serail message (after pause only)
input rs232_wait_pause;// may be used as reset for decoder
input start_char; // serial character start (single pulse)
output nmea_sent_start; // serial character start (single pulse), will repeat until got "$" and the sentence recognized
input ser_di; // serial data in (LSB first)
input ser_stb;// serial data strobe, single-cycle, ends 2 cycles after ser_di valid
output rdy; // encoded nmea data ready
input rd_stb; // encoded nmea data read strobe (increment address)
output [15:0] rdata; // encoded data (16 bits)
input ser_rst;
output[23:0] debug;
input mclk, // system clock, posedge
input xclk, // half frequency (80 MHz nominal)
input we, // registers write enable (@negedge mclk)
input [4:0] wa, // registers write address
input [7:0] wd, // write data
input start, // start of the serail message
input rs232_wait_pause,// may be used as reset for decoder
input start_char, // serial character start (single pulse)
output reg nmea_sent_start, // serial character start (single pulse)
input ser_di, // serial data in (LSB first)
input ser_stb,// serial data strobe, single-cycle, first cycle after ser_di valid
output rdy, // encoded nmea data ready
input rd_stb, // encoded nmea data read strobe (increment address)
output [15:0] rdata, // encoded data (16 bits)
input ser_rst,
output [23:0] debug);
reg [ 9:0] bitnum;
reg gp_exp_bit;
reg valid; // so far valid sentence
reg valid; // so far it is a valid sentence
reg [3:0] sentence1hot; // one-hot sentence, matching first 6 bytes ($GPxxx)
reg restart; // reset byte number if the first byte was not "$"
reg start_d;
......@@ -69,11 +50,9 @@ module nmea_decoder393(
reg vfy_gp;
reg vfy_sel_sent;
reg vfy_first_comma; // first comma after $GPxxx
reg proc_fields;
reg last_vfy_gp; // delayed by 1 cycle from bit counters
reg last_vfy_sent; // delayed by 1 cycle from bit counters
// reg [3:0] sent_sel_cntr; // counts 3 times to 5, as $GPxxx - each 'x' is an upper case latter (0x40..0x5f)
reg lsbs5; // 5 LSBs during reading 3 last letters in $GPxxx
reg [3:0] gpxxx_addr;
wire [3:1] sentence1hot_pri; // sentence1hot made really one-hot
......@@ -99,22 +78,16 @@ module nmea_decoder393(
reg first_byte_in_field;
reg [1:0] extra_nibble; // empty byte field - send two 4'hf nibbles
reg [6:0] nibble_count;
wire [15:0] rdata; // encoded data (16 bits)
reg [ 4:0] raddr;
reg [4:0] raddr;
wire [3:0] gpxxx_w_one;
wire [7:0] format_data;
wire w_sentence_over;
reg [4:0] last_word_written; // number of the last word (4 nibbles) written - used ro deassert rdy (garbage after)
reg rdy=1'b0;
reg nmea_sent_start;
reg rdy_r=1'b0;
reg save_sent_number;
// input ser_rst;
reg [ 7:0] debug0;
reg [15:0] debug1;
reg [15:0] debug1_or;
wire [23:0] debug;
// assign debug[23:0] = {debug1[15:0],debug0[7:0]};
assign debug[23:0] = {1'b0,
proc_fields,
......@@ -125,22 +98,22 @@ module nmea_decoder393(
bitnum[9:0],
debug0[7:0]};
assign sentence1hot_pri[3:1]={sentence1hot[3]& ~|sentence1hot[2:0],
assign sentence1hot_pri[3:1] = {sentence1hot[3]& ~|sentence1hot[2:0],
sentence1hot[2]& ~|sentence1hot[1:0],
sentence1hot[1]& ~sentence1hot[0]};
// assign start_format=(last_vfy_sent && (sentence1hot[3:0]!=4'h0) && (stb[3] && msb));
assign start_format=(vfy_first_comma && (sentence1hot[3:0]!=4'h0) && (stb[3] && msb));
assign wbyte[7:0]={ser_di,last_byte[7:1]}; // valid up to stb[3];
assign wcomma= proc_fields && msb && (wbyte[7:0]==8'h2c);
assign weof= proc_fields && msb && ((wbyte[7:0]==8'h2a) || (wbyte[7:4]==4'h0)); // 0x2a or 0x0? (<0x10)
assign wsep= wcomma || weof;
// assign w_sentence_over=wsep && (format_field[2:0]==format_length[2:0]) && (format_field[4:3]==(format_length[4:3]+1));
assign w_sentence_over=wsep && (format_field[4:0]==format_length_plus_7[4:0]);
assign start_format= (vfy_first_comma && (sentence1hot[3:0]!=4'h0) && (stb[3] && msb));
assign wbyte[7:0] = {ser_di,last_byte[7:1]}; // valid up to stb[3];
assign wcomma = proc_fields && msb && (wbyte[7:0]==8'h2c);
assign weof = proc_fields && msb && ((wbyte[7:0]==8'h2a) || (wbyte[7:4]==4'h0)); // 0x2a or 0x0? (<0x10)
assign wsep = wcomma || weof;
assign w_sentence_over = wsep && (format_field[4:0]==format_length_plus_7[4:0]);
assign rdy = rdy_r;
//format_length_plus_7
always @ (posedge xclk) begin
if (ser_rst) debug0 [7:0] <= 8'b0;
else debug0 [7:0] <=debug0 [7:0] | {rdy,
else debug0 [7:0] <=debug0 [7:0] | {rdy_r,
proc_fields,
shift_format_byte,
start_format,
......@@ -198,10 +171,12 @@ module nmea_decoder393(
else if (stb[3] && msb) vfy_dollar <= 1'b0;
last_vfy_gp <= vfy_gp && !bitnum[3];
if (restart) vfy_gp <= 1'b0;
else if (stb[3] && msb) vfy_gp <= (valid && vfy_dollar) || (vfy_gp && !last_vfy_gp); // bytes 1-2
last_vfy_sent <= vfy_sel_sent && (bitnum[3] && bitnum[5]);
if (restart) vfy_sel_sent <= 1'b0;
else if (stb[3] && msb) vfy_sel_sent <= (valid && last_vfy_gp) || (vfy_sel_sent && !last_vfy_sent); // bytes 3,4,5
......@@ -227,7 +202,9 @@ module nmea_decoder393(
if (!proc_fields) format_field[4:0] <= 5'h0;
else if (read_format_length) format_field[4:0] <= 5'h8;
else if (format_over) format_field[4:0] <= format_field[4:0] + 1;
format_length_plus_7[4:0] <= format_length[4:0]+7;
if (start_format) first_byte_in_field <=1'b1;
else if (stb[3] && msb) first_byte_in_field <= format_over;
......@@ -236,13 +213,17 @@ module nmea_decoder393(
if (read_format_length) format_length[4:0] <= format_data[4:0];
read_format_byte <= read_format_length || (format_over && format_field[2:0]==3'h7); // @stb[4]
shift_format_byte <= format_over; // @stb[4]
if (read_format_byte) format_byte[7:0] <= format_data[7:0];
else if (shift_format_byte) format_byte[7:0] <= {1'b0,format_byte[7:1]};
// format_byte[0] - current format
// format_byte[0] - current format
if (stb[3]) last_byte[7:1] <= {ser_di,last_byte[7:2]};
format_over <= stb[2] && wsep;
// sentence_over <= stb[2] && (weof || (wsep && w_sentence_over));
sentence_over <= stb[2] && (weof || w_sentence_over);
if (bits37 && stb[3]) nibble_pre[3:0] <= last_byte[4:1]; // always OK
......@@ -252,11 +233,13 @@ module nmea_decoder393(
else if (stb[3] && msb && format_byte[0]) nibble[3:0] <= {wsep,nibble_pre[2:0]};
else if (save_sent_number) nibble[3:0] <= {2'b0,sentence[1:0]};
//first_byte_in_field
//first_byte_in_field
extra_nibble[1:0] <= {extra_nibble[0],
msb && wsep && first_byte_in_field & proc_fields & stb[3] & format_byte[0]};// active at stb[4], stb[5]
save_sent_number <= start_format; // valid at stb[4]
nibble_stb <= save_sent_number ||
(proc_fields && ((stb[3] && bit3 && !first_byte_in_field) ||
(stb[3] && msb && !first_byte_in_field && format_byte[0]) ||
......@@ -265,71 +248,43 @@ module nmea_decoder393(
if (start_format) nibble_count[6:0] <= 7'h0;
else if (nibble_stb) nibble_count[6:0] <= nibble_count[6:0] + 1;
// if (weof && stb[3]) raddr[4:0] <= 5'h0;
if (sentence_over) raddr[4:0] <= 5'h0;
else if (rd_stb) raddr[4:0] <= raddr[4:0] + 1;
if (nibble_stb) last_word_written[4:0]<=nibble_count[6:2];
if (start || vfy_first_comma || (rd_stb && ((raddr[4:0]==5'h1b) ||(raddr[4:0]==last_word_written[4:0])))) rdy <= 1'b0;
else if (sentence_over) rdy <= 1'b1;
if (start || vfy_first_comma || (rd_stb && ((raddr[4:0]==5'h1b) ||(raddr[4:0]==last_word_written[4:0])))) rdy_r <= 1'b0;
else if (sentence_over) rdy_r <= 1'b1;
nmea_sent_start <= start_char && vfy_dollar;
end
// output buffer to hold up to 32 16-bit words. Written 1 nibble at a time
myRAM_WxD_D #( .DATA_WIDTH(4),.DATA_DEPTH(5))
i_odbuf0 (.D(nibble[3:0]),
.WE(nibble_stb && (nibble_count[1:0]==2'h0)),
.clk(xclk),
.AW(nibble_count[6:2]),
.AR(raddr[4:0]),
.QW(),
.QR(rdata[3:0]));
myRAM_WxD_D #( .DATA_WIDTH(4),.DATA_DEPTH(5))
i_odbuf1 (.D(nibble[3:0]),
.WE(nibble_stb && (nibble_count[1:0]==2'h1)),
.clk(xclk),
.AW(nibble_count[6:2]),
.AR(raddr[4:0]),
.QW(),
.QR(rdata[7:4]));
myRAM_WxD_D #( .DATA_WIDTH(4),.DATA_DEPTH(5))
i_odbuf2 (.D(nibble[3:0]),
.WE(nibble_stb && (nibble_count[1:0]==2'h2)),
.clk(xclk),
.AW(nibble_count[6:2]),
.AR(raddr[4:0]),
.QW(),
.QR(rdata[11:8]));
myRAM_WxD_D #( .DATA_WIDTH(4),.DATA_DEPTH(5))
i_odbuf3 (.D(nibble[3:0]),
.WE(nibble_stb && (nibble_count[1:0]==2'h3)),
.clk(xclk),
.AW(nibble_count[6:2]),
.AR(raddr[4:0]),
.QW(),
.QR(rdata[15:12]));
myRAM_WxD_D #( .DATA_WIDTH(4),.DATA_DEPTH(4))
i_gpxxx (.D(wd[3:0]),
.WE(we & ~wa[4]), // we_d, decoded sub_address
.clk(!sclk),
.AW(wa[3:0]),
.AR(gpxxx_addr[3:0]),
.QW(),
.QR(gpxxx_w_one[3:0]));
// replaced 6 RAM modules with inferred ones
reg [3:0] odbuf0_ram[0:31];
reg [3:0] odbuf1_ram[0:31];
reg [3:0] odbuf2_ram[0:31];
reg [3:0] odbuf3_ram[0:31];
always @ (posedge xclk) if (nibble_stb && (nibble_count[1:0] == 2'h0)) odbuf0_ram[nibble_count[6:2]] <= nibble[3:0];
always @ (posedge xclk) if (nibble_stb && (nibble_count[1:0] == 2'h1)) odbuf1_ram[nibble_count[6:2]] <= nibble[3:0];
always @ (posedge xclk) if (nibble_stb && (nibble_count[1:0] == 2'h2)) odbuf2_ram[nibble_count[6:2]] <= nibble[3:0];
always @ (posedge xclk) if (nibble_stb && (nibble_count[1:0] == 2'h3)) odbuf3_ram[nibble_count[6:2]] <= nibble[3:0];
assign rdata[ 3: 0] = odbuf0_ram[raddr[4:0]];
assign rdata[ 7: 4] = odbuf1_ram[raddr[4:0]];
assign rdata[11: 8] = odbuf2_ram[raddr[4:0]];
assign rdata[15:12] = odbuf3_ram[raddr[4:0]];
reg [3:0] gpxxx_ram[0:3];
always @ (posedge mclk) if (we & ~wa[4]) gpxxx_ram[wa[3:0]] <= wd[3:0];
assign gpxxx_w_one[3:0] = gpxxx_ram[gpxxx_addr[3:0]];
// for each of the four sentences first byte - number of field (<=24), next 3 bytes - formats for each nmea filed (LSB first):
// 0 - nibble ("-" -> 0xd, "." -> 0xe), terminated with 0xf
// 1 - byte (2 nibbles), all bytes but last have MSB clear, last - set.
// No padding of nibbles to byte borders, bytes are encoded as 2 nibbles
myRAM_WxD_D #( .DATA_WIDTH(8),.DATA_DEPTH(4))
i_format (.D(wd[7:0]),
.WE(we & wa[4]), // we_d, decoded sub_address
.clk(!sclk),
.AW(wa[3:0]),
.AR({sentence[1:0],format_field[4:3]}),
.QW(),
.QR(format_data[7:0]));
reg [7:0] format_ram[0:3];
always @ (posedge mclk) if (we & wa[4]) format_ram[wa[3:0]] <= wd[7:0];
assign format_data[7:0] = format_ram[{sentence[1:0],format_field[4:3]}];
// ROM to decode "$GP"
always @ (posedge xclk) begin
if (ser_stb) case ({(bitnum[4] & ~ vfy_sel_sent) | vfy_first_comma, bitnum[3] | vfy_sel_sent | vfy_first_comma, bitnum[2:0]}) // during vfy_sel_sent will point to 1 ('G')
......
logger/rs232_rcv393.v
View file @ e9862dab
......@@ -4,7 +4,7 @@
* Author: andrey
* Description: rs232 receiver
*
* Copyright (c) 2015 <set up in Preferences-Verilog/VHDL Editor-Templates> .
* Copyright (c) 2015 Elphel, Inc.
* rs232_rcv393.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
......@@ -21,32 +21,19 @@
`timescale 1ns/1ps
module rs232_rcv393(
xclk, // half frequency (80 MHz nominal)
bitHalfPeriod, // half of the serial bit duration, in xclk cycles
ser_di, // rs232 (ttl) serial data in
ser_rst, // reset (force re-sync)
ts_stb, // strobe timestamp (start of message) (reset bit counters in nmea decoder)
wait_just_pause,// may be used as reset for decoder
start, // serial character start (single pulse)
// char, // byte out
// char_stb); // char strobe (@posedge xclk)
ser_do, // serial data out(@posedge xclk) LSB first!
ser_do_stb, // output data strobe (@posedge xclk), first cycle after ser_do becomes valid
debug, // {was_ts_stb, was_start, was_error, was_ser_di_1, was_ser_di_0} - once after reset
bit_dur_cntr,
bit_cntr);
input xclk; // half frequency (80 MHz nominal)
input [15:0] bitHalfPeriod; // half of the serial bit duration, in xclk cycles
input ser_di; // rs232 (ttl) serial data in
input ser_rst; // reset (force re-sync)
output ts_stb; // strobe timestamp (start of message)
output wait_just_pause;// may be used as reset for decoder
output start; // serial character start (single pulse)
output [4:0] debug; // {was_ts_stb, was_start, was_error, was_ser_di_1, was_ser_di_0} - once after reset
output ser_do; // serial data out(@posedge xclk)
output ser_do_stb; // output data strobe (@posedge xclk), 2 cycles after ser_do becomes valid
output [15:0] bit_dur_cntr; // debug
output [4:0] bit_cntr; // debug
input xclk, // half frequency (80 MHz nominal)
input [15:0] bitHalfPeriod, // half of the serial bit duration, in xclk cycles
input ser_di, // rs232 (ttl) serial data in
input ser_rst, // reset (force re-sync)
output ts_stb, // strobe timestamp (start of message) (reset bit counters in nmea decoder)
output reg wait_just_pause,// may be used as reset for decoder
output start, // serial character start (single pulse)
output reg ser_do, // serial data out(@posedge xclk) LSB first!
output reg ser_do_stb, // output data strobe (@posedge xclk), first cycle after ser_do becomes valid
// Next outputs are just fro debugging
output [4:0] debug, // {was_ts_stb, was_start, was_error, was_ser_di_1, was_ser_di_0} - once after reset
output [15:0] bit_dur_cntr,
output [4:0] bit_cntr);
reg [4:0] ser_di_d;
reg ser_filt_di;
......@@ -56,36 +43,37 @@ module rs232_rcv393(
reg wait_pause; // waiting input to stay at 1 for 10 cycles
reg wait_start; // (or use in_sync - set it after wait_pause is over?
reg receiving_byte;
reg start;
reg [15:0] bit_dur_cntr; // bit duration counter (half bit duration)
reg [4:0] bit_cntr; // counts half-bit intervals
reg start_r;
reg [15:0] bit_dur_cntr_r; // bit duration counter (half bit duration)
reg [4:0] bit_cntr_r; // counts half-bit intervals
wire error; // low level during stop slot
reg [1:0] restart;
wire reset_wait_pause;
reg ts_stb;
reg ts_stb_r;
reg shift_en;
reg ser_do;
reg ser_do_stb;
wire sample_bit;
wire reset_bit_duration;
reg wait_just_pause;
wire wstart;
wire [4:0] debug;
reg [4:0] debug0; // {was_ts_stb, was_start, was_error, was_ser_di_1, was_ser_di_0} - once after reset
assign reset_wait_pause= (restart[1] && !restart[0]) || (wait_pause && !wait_start && !ser_di);
assign error=!ser_filt_di && last_half_bit && bit_half_end && receiving_byte;
assign sample_bit=shift_en && bit_half_end && !bit_cntr[0];
assign reset_bit_duration= reset_wait_pause || start || bit_half_end || ser_rst;
// reg [4:0] debug0; // {was_ts_stb, was_start, was_error, was_ser_di_1, was_ser_di_0} - once after reset
assign reset_wait_pause = (restart[1] && !restart[0]) || (wait_pause && !wait_start && !ser_di);
assign error = !ser_filt_di && last_half_bit && bit_half_end && receiving_byte;
assign sample_bit = shift_en && bit_half_end && !bit_cntr[0];
assign reset_bit_duration = reset_wait_pause || start || bit_half_end || ser_rst;
assign wstart=wait_start && ser_filt_di_d && !ser_filt_di;
assign wstart = wait_start && ser_filt_di_d && !ser_filt_di;
// assign debug[4:0] = {1'b0,wait_start,wait_pause,receiving_byte,shift_en};
assign debug[4:0] = {error, wait_start, wait_pause, receiving_byte, shift_en};
assign bit_dur_cntr = bit_dur_cntr_r; // bit duration counter (half bit duration)
assign bit_cntr = bit_cntr_r; // counts half-bit intervals
assign start = start_r;
assign ts_stb = ts_stb_r;
assign debug[4:0] = {1'b0,wait_start,wait_pause,receiving_byte,shift_en};
always @ (posedge xclk) begin
// reg [4:0] ser_di_d;
// reg ser_filt_di;
// reg ser_filt_di_d;
ser_di_d[4:0] <= {ser_di_d[3:0],ser_di};
if (ser_rst || &ser_di_d[4:0]) ser_filt_di <= 1'b1;
else if (~|ser_di_d[4:0]) ser_filt_di <= 1'b0;
......@@ -95,35 +83,29 @@ module rs232_rcv393(
wait_pause <= !ser_rst && (reset_wait_pause ||
(receiving_byte && last_half_bit && bit_half_end ) ||
(wait_pause && !(last_half_bit && bit_half_end) && !(wait_start && !ser_filt_di)));
// start <= wait_start && ser_di_d && !ser_di;
start <= wstart;
// ts_stb <= !wait_pause && wait_start && ser_di_d && !ser_di;
ts_stb <= !wait_pause && wstart; // only first start after pause
bit_half_end <=(bit_dur_cntr[15:0]==16'h1) && !reset_bit_duration;
start_r <= wstart;
ts_stb_r <= !wait_pause && wstart; // only first start after pause
bit_half_end <=(bit_dur_cntr_r[15:0]==16'h1) && !reset_bit_duration;
// wait_start <= ser_di && !ser_rst && ((wait_pause || receiving_byte) && last_half_bit && bit_half_end || wait_start);
wait_start <= !ser_rst && ((wait_pause || receiving_byte) && last_half_bit && bit_half_end || (wait_start && !wstart));
// receiving_byte <= !ser_rst && !error && (start || (receiving_byte && !(last_half_bit && bit_half_end)));
receiving_byte <= !ser_rst && (start || (receiving_byte && !(last_half_bit && bit_half_end)));
receiving_byte <= !ser_rst && (start_r || (receiving_byte && !(last_half_bit && bit_half_end)));
wait_just_pause <=wait_pause && !wait_start;
if (reset_bit_duration) bit_dur_cntr[15:0] <= bitHalfPeriod[15:0];
else bit_dur_cntr[15:0] <= bit_dur_cntr[15:0] - 1;
if (reset_bit_duration) bit_dur_cntr_r[15:0] <= bitHalfPeriod[15:0];
else bit_dur_cntr_r[15:0] <= bit_dur_cntr_r[15:0] - 1;
if (reset_wait_pause || ser_rst) bit_cntr[4:0] <= 5'h13;
else if (start) bit_cntr[4:0] <= 5'h12;
else if (bit_half_end) bit_cntr[4:0] <= bit_cntr[4:0] - 1;
last_half_bit <= ((bit_cntr[4:0] == 5'h0) && !bit_half_end);
shift_en <= receiving_byte && ((bit_half_end && ( bit_cntr[3:0]==4'h2))? bit_cntr[4]:shift_en);
if (reset_wait_pause || ser_rst) bit_cntr_r[4:0] <= 5'h13;
else if (start_r) bit_cntr_r[4:0] <= 5'h12;
else if (bit_half_end) bit_cntr_r[4:0] <= bit_cntr_r[4:0] - 1;
last_half_bit <= ((bit_cntr_r[4:0] == 5'h0) && !bit_half_end);
shift_en <= receiving_byte && ((bit_half_end && ( bit_cntr_r[3:0]==4'h2))? bit_cntr_r[4]:shift_en);
if (sample_bit) ser_do <= ser_filt_di;
ser_do_stb <= sample_bit;
if (ser_rst) debug0[4:0] <=5'b0;
else debug0[4:0] <= debug | {ts_stb,start,error,ser_di_d,~ser_di_d};
// if (ser_rst) debug0[4:0] <=5'b0;
// else debug0[4:0] <= debug | {ts_stb_r,start_r,error,ser_di_d,~ser_di_d};
end
endmodule
timing/timestamp_fifo.v
View file @ e9862dab
......@@ -30,7 +30,7 @@ module timestamp_fifo(
input pre_stb, // marks pre-first input byte (s0,s1,s2,s3,u0,u1,u2,u3)
input [7:0] din, // data in - valid for 8 cycles after pre_stb
input aclk, // clock to synchronize advance puls
input aclk, // clock to synchronize "advance" commands
input advance, // @aclk advance registers
input rclk, // output clock
......@@ -65,10 +65,10 @@ module timestamp_fifo(
always @(posedge rst or posedge rclk) begin
if (rst) snd <= 0;
else if (rstb) snd <= 1;
else if (&rpntr[2:0]) snd <= 0;
else if (&rpntr[2:1]) snd <= 0; // at count 6
if (rst) rpntr[2:0] <= 0;
else if (!snd) rpntr[2:0] <= 0;
else if (!snd && !rstb) rpntr[2:0] <= 0;
else rpntr[2:0] <= rpntr[2:0] + 1;
if (snd) dout <= fifo_ram[rpntr];
......
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