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jdeschampsjdeschamps
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Add Mojo alchitry project
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‎Firmware_alchitry/Mojo/Mojo.alp‎

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<?xml version="1.0" encoding="UTF-8"?>
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<project name="Mojo" board="Mojo" language="Lucid" version="3">
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<files>
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<component>reset_conditioner.luc</component>
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<component>reg_interface.luc</component>
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<component>pwm.luc</component>
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<component>uart_rx.luc</component>
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<component>avr_interface.luc</component>
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<component>counter.luc</component>
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<component>spi_peripheral.luc</component>
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<src top="true">mojo_top.luc</src>
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<src>lasertrigger.luc</src>
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<src>analogreader.luc</src>
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<src>cam_synchro.luc</src>
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<src>servo_standard.luc</src>
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<src>servo_stop.luc</src>
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<component>uart_tx.luc</component>
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<component>cclk_detector.luc</component>
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<constraint lib="true">mojo.ucf</constraint>
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<constraint>user.ucf</constraint>
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</files>
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</project>

‎Firmware_alchitry/Mojo/constraint/user.ucf‎

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NET "camera" LOC = P88 | IOSTANDARD = LVTTL | PULLUP;
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NET "laser1" LOC = P57 | IOSTANDARD = LVTTL | PULLUP;
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NET "laser2" LOC = P67 | IOSTANDARD = LVTTL | PULLUP;
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NET "laser3" LOC = P74 | IOSTANDARD = LVTTL | PULLUP;
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NET "laser4" LOC = P79 | IOSTANDARD = LVTTL | PULLUP;
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NET "laser5" LOC = P80 | IOSTANDARD = LVTTL | PULLUP;
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NET "laser6" LOC = P83 | IOSTANDARD = LVTTL | PULLUP;
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NET "ttl1" LOC = P104 | IOSTANDARD = LVTTL | PULLUP;
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NET "ttl2" LOC = P112 | IOSTANDARD = LVTTL | PULLUP;
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NET "ttl3" LOC = P114 | IOSTANDARD = LVTTL | PULLUP;
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NET "ttl4" LOC = P117 | IOSTANDARD = LVTTL | PULLUP;
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NET "ttl5" LOC = P118 | IOSTANDARD = LVTTL | PULLUP;
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NET "ttl6" LOC = P121 | IOSTANDARD = LVTTL | PULLUP;
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NET "servo1" LOC = P143 | IOSTANDARD = LVTTL;
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NET "servo2" LOC = P142 | IOSTANDARD = LVTTL;
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NET "servo3" LOC = P139 | IOSTANDARD = LVTTL;
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NET "servo4" LOC = P138 | IOSTANDARD = LVTTL;
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NET "servo5" LOC = P133 | IOSTANDARD = LVTTL;
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NET "servo6" LOC = P132 | IOSTANDARD = LVTTL;
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NET "pwm1" LOC = P51 | IOSTANDARD = LVTTL;
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NET "pwm2" LOC = P40 | IOSTANDARD = LVTTL;
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NET "pwm3" LOC = P35 | IOSTANDARD = LVTTL;
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NET "pwm4" LOC = P32 | IOSTANDARD = LVTTL;
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NET "pwm5" LOC = P30 | IOSTANDARD = LVTTL;
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NET "pwm6" LOC = P26 | IOSTANDARD = LVTTL;

‎Firmware_alchitry/Mojo/source/analogreader.luc‎

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module analogreader (
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input clk, // clock
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input rst, // reset
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input sample[10],
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input sample_channel[4],
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input new_sample,
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output channel[4],
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output value[8][10]
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) {
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// This is used to convert 0 to 7 to its corresponding channel 0 to 1 and 4 to 9
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const DIGIT_TO_CHANNEL = {4d9,4d8,4d7,4d6,4d5,4d4,4d1,4d0};
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// This is used to convert the sample channel to the corresponding LED
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// Most channels are invalid and will never be seen so we use 'x' as don't cares
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const CHANNEL_TO_LED = {4bx,4bx,4bx,4bx,4bx,4bx,4d7,4d6,4d5,4d4,4d3,4d2,4bx,4bx,4d1,4d0};
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.clk(clk){
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.rst(rst) {
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dff value_lib[8][10];
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dff ch[4];
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}}
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always {
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channel = DIGIT_TO_CHANNEL[ch.q]; // set the channel to sample
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value = value_lib.q;
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if (new_sample) { // when there is a new sample
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value_lib.d[CHANNEL_TO_LED[sample_channel]] = sample;
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ch.d = ch.q + 1; // increment the channel we are sampling
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if (ch.q == 7) // there are only 8 channels (0 to 7)
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ch.d = 0; // restart at 0
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}
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}
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}

‎Firmware_alchitry/Mojo/source/cam_synchro.luc‎

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module cam_synchro (
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input clk, // clock
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input rst, // reset
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input camera,
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output sync[4]
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) {
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.clk(clk){
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.rst(rst) {
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dff sync_count[4];
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dff sig_sync[2];
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dff sig_old;
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}}
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always {
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sig_sync.d[0] = camera;
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sig_sync.d[1] = sig_sync.q[0];
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sig_old.d = sig_sync.q[1];
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if(sig_old.q == 0 && sig_sync.q[1] == 1){
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sync_count.d = sync_count.q+1;
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}
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sync = sync_count.q;
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}
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}

‎Firmware_alchitry/Mojo/source/lasertrigger.luc‎

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module lasertrigger (
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input clk, // clock
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input rst, // reset
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input trig,
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input seq[16],
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input mod[3],
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input dura[16],
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input sync[4],
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output lasersignal
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) {
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const OFF = 0;
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const ON = 1;
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const RISING = 2;
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const FALLING = 3;
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const FOLLOW = 4;
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const NM_CYCLES = 50;
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var plength;
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.clk(clk){
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.rst(rst) {
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dff sig_sync[2];
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dff sig_old;
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dff count_sig[22];
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}}
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always {
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plength = dura*NM_CYCLES;
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sig_sync.d[0] = trig;
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sig_sync.d[1] = sig_sync.q[0];
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sig_old.d = sig_sync.q[1];
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if (!&count_sig.q){
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count_sig.d = count_sig.q + 1;
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}
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lasersignal=0;
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case(mod){
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OFF:
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lasersignal = 0;
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ON:
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lasersignal = 1;
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RISING:
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if(sig_old.q == 0 && sig_sync.q[1] == 1){
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count_sig.d = 0;
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}
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lasersignal = (sig_sync.q[1] && seq[15-sync]) && count_sig.q<plength;
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FALLING:
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if(sig_old.q == 1 && sig_sync.q[1] == 0){
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count_sig.d = 0;
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}
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lasersignal = (!sig_sync.q[1] && seq[15-sync]) && count_sig.q<plength;
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FOLLOW:
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lasersignal = (sig_sync.q[1] && seq[15-sync]);
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}
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}
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}

‎Firmware_alchitry/Mojo/source/mojo_top.luc‎

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module mojo_top (
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input clk, // 50MHz clock
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input rst_n, // reset button (active low)
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output led [8], // 8 user controllable LEDs
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input cclk, // configuration clock, AVR ready when high
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output spi_miso, // AVR SPI MISO
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input spi_ss, // AVR SPI Slave Select
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input spi_mosi, // AVR SPI MOSI
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input spi_sck, // AVR SPI Clock
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output spi_channel [4], // AVR general purpose pins (used by default to select ADC channel)
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input avr_tx, // AVR TX (FPGA RX)
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output avr_rx, // AVR RX (FPGA TX)
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input avr_rx_busy, // AVR RX buffer full
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input camera,
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output laser1,
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output laser2,
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output laser3,
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output laser4,
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output laser5,
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output laser6,
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output ttl1,
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output ttl2,
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output ttl3,
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output ttl4,
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output ttl5,
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output ttl6,
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output servo1,
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output servo2,
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output servo3,
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output servo4,
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output servo5,
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output servo6,
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output pwm1,
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output pwm2,
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output pwm3,
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output pwm4,
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output pwm5,
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output pwm6
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) {
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const ADDRESS_VERSION = 100;
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const ERROR_UNKNOW_COMMAND = 38730;
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const NUM_INPUT = 8; // fixed by the board
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const NUM_LASERS = 6;
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const NUM_PWM = 6;
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const NUM_TTL = 6;
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const NUM_SERVOS = 6;
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sig rst; // reset signal
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.clk(clk) {
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// The reset conditioner is used to synchronize the reset signal to the FPGA
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// clock. This ensures the entire FPGA comes out of reset at the same time.
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reset_conditioner reset_cond;
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.rst(rst){
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// the avr_interface module is used to talk to the AVR for access to the USB port and analog pins
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avr_interface avr;
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reg_interface reg;
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// adc
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analogreader adc;
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// lasers
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lasertrigger l[NUM_LASERS];
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cam_synchro camsync;
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dff sequence[NUM_LASERS][16];
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dff duration[NUM_LASERS][16];
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dff mode[NUM_LASERS][3];
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// ttls
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dff ttl[NUM_TTL];
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// servos
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servo_standard servo_controller[NUM_SERVOS];
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dff position[NUM_SERVOS][16];
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dff servo_sig_update[NUM_SERVOS];
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servo_stop servo_sig[NUM_SERVOS];// to shut down the servos 10 sec after every movement
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// pwm
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pwm pulsewm[NUM_PWM](#TOP(254),#DIV(9),#WIDTH(8));
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dff dutycycle[NUM_PWM][8];
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dff pwmupdate[NUM_PWM];
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}
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}
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always {
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led = 8b0;
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reset_cond.in = ~rst_n; // input raw inverted reset signal
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rst = reset_cond.out; // conditioned reset
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// connect inputs of avr
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avr.cclk = cclk;
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avr.spi_ss = spi_ss;
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avr.spi_mosi = spi_mosi;
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avr.spi_sck = spi_sck;
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avr.rx = avr_tx;
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avr.tx_block = avr_rx_busy; // block TX when AVR is busy
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// connect outputs of avr
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spi_miso = avr.spi_miso;
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spi_channel = avr.spi_channel;
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avr_rx = avr.tx;
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// connect adc to avr avr_interface
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avr.channel = adc.channel;
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adc.sample = avr.sample;
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adc.sample_channel = avr.sample_channel;
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adc.new_sample = avr.new_sample;
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// connect reg interface to avr interface
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reg.rx_data = avr.rx_data;
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reg.new_rx_data = avr.new_rx_data;
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avr.tx_data = reg.tx_data;
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avr.new_tx_data = reg.new_tx_data;
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reg.tx_busy = avr.tx_busy;
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reg.regIn.drdy = 0; // default to not ready
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reg.regIn.data = 32bx; // don't care
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pwmupdate.d = NUM_PWMx{0};
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servo_sig_update.d = NUM_SERVOSx{0};
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if (reg.regOut.new_cmd) { // new command
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if (reg.regOut.write) { // if write
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if (reg.regOut.address < NUM_LASERS) { // Laser modes
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mode.d[reg.regOut.address] = reg.regOut.data[2:0];
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} else if (reg.regOut.address < 10+NUM_LASERS) { // Laser duration
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duration.d[reg.regOut.address-10] = reg.regOut.data[15:0];
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} else if (reg.regOut.address < 20+NUM_LASERS) { // Laser sequence
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sequence.d[reg.regOut.address-20] = reg.regOut.data[15:0];
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} else if (reg.regOut.address < 30+NUM_TTL){ // TTL
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ttl.d[reg.regOut.address-30] = reg.regOut.data[0];
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} else if (reg.regOut.address < 40+NUM_SERVOS){ // Servo
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position.d[reg.regOut.address-40] = reg.regOut.data[15:0];
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servo_sig_update.d[reg.regOut.address-40] = 1;
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} else if (reg.regOut.address < 50+NUM_PWM){ // PWM
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dutycycle.d[reg.regOut.address-50] = reg.regOut.data[7:0];
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pwmupdate.d[reg.regOut.address-50] = 1;
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}
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} else { // read
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led = 10;
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if (reg.regOut.address < NUM_LASERS) { // Laser modes
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reg.regIn.data = mode.q[reg.regOut.address];
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reg.regIn.drdy = 1;
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} else if (reg.regOut.address < 10+NUM_LASERS) { // Laser duration
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reg.regIn.data = duration.q[reg.regOut.address-10];
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reg.regIn.drdy = 1;
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} else if (reg.regOut.address < 20+NUM_LASERS) { // Laser sequence
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reg.regIn.data = sequence.q[reg.regOut.address-20];
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reg.regIn.drdy = 1;
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} else if (reg.regOut.address < 30+NUM_TTL){ // TTL
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reg.regIn.data = ttl.q[reg.regOut.address-30];
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reg.regIn.drdy = 1;
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} else if (reg.regOut.address < 40+NUM_SERVOS){ // Servo
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reg.regIn.data = position.q[reg.regOut.address-40];
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reg.regIn.drdy = 1;
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} else if (reg.regOut.address < 50+NUM_PWM){ // PWM
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reg.regIn.data = dutycycle.q[reg.regOut.address-50];
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reg.regIn.drdy = 1;
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} else if (reg.regOut.address < 60+NUM_INPUT) { // Analog input
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reg.regIn.data = adc.value[reg.regOut.address-60];
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reg.regIn.drdy = 1;
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} else if (reg.regOut.address == ADDRESS_VERSION) { // Version
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reg.regIn.data = 1; // version number
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reg.regIn.drdy = 1;
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} else { // Error
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reg.regIn.data = ERROR_UNKNOW_COMMAND;
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reg.regIn.drdy = 1;
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}
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}
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}
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///////////////// Lasers
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camsync.camera = camera;
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l.trig = NUM_LASERSx{camera};
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l.seq = sequence.q;
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l.mod = mode.q;
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l.dura = duration.q;
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l.sync = NUM_LASERSx{{camsync.sync}};
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laser1 = l.lasersignal[0];
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laser2 = l.lasersignal[1];
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laser3 = l.lasersignal[2];
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laser4 = l.lasersignal[3];
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laser5 = l.lasersignal[4];
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laser6 = l.lasersignal[5];
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//////////////// TTLs
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ttl1 = ttl.q[0];
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ttl2 = ttl.q[1];
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ttl3 = ttl.q[2];
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ttl4 = ttl.q[3];
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ttl5 = ttl.q[4];
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ttl6 = ttl.q[5];
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//////////////// Servos
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servo_controller.position = position.q;
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servo_sig.update = servo_sig_update.q;
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servo_sig.signal_in = servo_controller.servo;
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servo1 = servo_sig.signal_out[0];
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servo2 = servo_sig.signal_out[1];
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servo3 = servo_sig.signal_out[2];
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servo4 = servo_sig.signal_out[3];
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servo5 = servo_sig.signal_out[4];
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servo6 = servo_sig.signal_out[5];
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//////////////// PWM
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pulsewm.update = pwmupdate.q;
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pulsewm.value = dutycycle.q;
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pwm1 = pulsewm.pulse[0];
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pwm2 = pulsewm.pulse[1];
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pwm3 = pulsewm.pulse[2];
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pwm4 = pulsewm.pulse[3];
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pwm5 = pulsewm.pulse[4];
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pwm6 = pulsewm.pulse[5];
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}
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}

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