From 854b62a379216d8c5fc12c6b6cb7162048cd93b1 Mon Sep 17 00:00:00 2001 From: Greek Date: Thu, 27 Jan 2022 20:42:59 +0100 Subject: [PATCH] Add CLOCK_PERIOD to ros_config --- src/ros2/TEMPLATE_ros_config.vhd | 6 ++++-- src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd | 2 ++ src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd | 2 ++ src/ros2/dds_user_config.vhd | 2 +- syn/syn_ros_service_config.vhd | 2 ++ 5 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/ros2/TEMPLATE_ros_config.vhd b/src/ros2/TEMPLATE_ros_config.vhd index 733d3c7..f23f75a 100644 --- a/src/ros2/TEMPLATE_ros_config.vhd +++ b/src/ros2/TEMPLATE_ros_config.vhd @@ -10,10 +10,12 @@ use work.rtps_package.all; -- gen_user_string package ros_config is + -- Period of ros system clock + constant ROS_CLOCK_PERIOD : time := 50 ns; -- IPv4 Address of ROS System [Default 192.168.0.128] - constant ROS_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A80080"; + constant ROS_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A80080"; -- Random Key used to generate GUIDs - constant ROS_RAND_KEY : std_logic_vector(47 downto 0) := x"97917E0BA8CF"; + constant ROS_RAND_KEY : std_logic_vector(47 downto 0) := x"97917E0BA8CF"; constant NUM_NODES : natural := 1; diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd index 9ad9c33..74318df 100644 --- a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd +++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2_config.vhd @@ -11,6 +11,8 @@ use work.AddTwoInts_package.all; package ros_config is + -- Period of ros system clock + constant ROS_CLOCK_PERIOD : time := 50 ns; -- IPv4 Address of ROS System [Default 192.168.0.129] constant ROS_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A80081"; -- Random Key used to generate GUIDs diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd index ef3f9fe..0cf5565 100644 --- a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd +++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3_config.vhd @@ -11,6 +11,8 @@ use work.AddTwoInts_package.all; package ros_config is + -- Period of ros system clock + constant ROS_CLOCK_PERIOD : time := 50 ns; -- IPv4 Address of ROS System [Default 192.168.0.130] constant ROS_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A80082"; -- Random Key used to generate GUIDs diff --git a/src/ros2/dds_user_config.vhd b/src/ros2/dds_user_config.vhd index 478f3d6..87acc27 100644 --- a/src/ros2/dds_user_config.vhd +++ b/src/ros2/dds_user_config.vhd @@ -14,7 +14,7 @@ package user_config is --*****USER CONFIG***** -- Period of system clock - constant CLOCK_PERIOD : time := 50 ns; + constant CLOCK_PERIOD : time := ROS_CLOCK_PERIOD; -- Maximum number of supported remote Participants (Affects generated Memory Size) constant MAX_REMOTE_PARTICIPANTS : natural := 50; -- Maximum number of supported remote Endpoints (Affects generated Memory Size) diff --git a/syn/syn_ros_service_config.vhd b/syn/syn_ros_service_config.vhd index c08531b..35ec498 100644 --- a/syn/syn_ros_service_config.vhd +++ b/syn/syn_ros_service_config.vhd @@ -11,6 +11,8 @@ use work.AddTwoInts_package.all; package ros_config is + -- Period of ros system clock + constant ROS_CLOCK_PERIOD : time := 20 ns; -- 50 MHz -- IPv4 Address of ROS System [192.168.0.90] constant ROS_ADDRESS : std_logic_vector(IPv4_ADDRESS_WIDTH-1 downto 0) := x"C0A8005A"; -- Random Key used to generate GUIDs