greek64/rtps-fpga
2
1
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Modify test_top and config for ROS RTT Test and add to DE10-Nano Project

Browse Source
This commit is contained in:
John Ring 2023-07-23 18:26:09 +02:00
parent c667c6ed5e
commit a20890e126
3 changed files with 138 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
syn/DE10-Nano/top.qsf
View File

@ -49,8 +49,16 @@ set_global_assignment -name POWER_PRESET_COOLING_SOLUTION "23 MM HEAT SINK WITH
set_global_assignment -name POWER_BOARD_THERMAL_MODEL "NONE (CONSERVATIVE)"
set_global_assignment -name VHDL_INPUT_VERSION VHDL_2008
set_global_assignment -name VHDL_SHOW_LMF_MAPPING_MESSAGES OFF
set_global_assignment -name PARTITION_NETLIST_TYPE SOURCE -section_id Top
set_global_assignment -name PARTITION_FITTER_PRESERVATION_LEVEL PLACEMENT_AND_ROUTING -section_id Top
set_global_assignment -name PARTITION_COLOR 16764057 -section_id Top
set_global_assignment -name SDC_FILE top.sdc
set_global_assignment -name VHDL_FILE ../test_top.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib6.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/test_loopback_util.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/Type1_ros_pub.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/Type1_ros_sub.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib4.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/Fibonacci.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/example_interfaces/Fibonacci_ros_action_server.vhd -hdl_version VHDL_2008
@ -73,18 +81,17 @@ set_global_assignment -name VHDL_FILE ../../src/ros2/example_interfaces/AddTwoIn
set_global_assignment -name VHDL_FILE ../../src/ros2/ros_time_converter.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/ros_static_discovery_writer.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Avalon_MM_wrapper.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Level_2/L2_testbench_Lib4.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Level_2/L2_Testbench_Lib4.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/test_loopback.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../test_fpga.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../dds_reader_syn.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/dds_reader.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../dds_writer_syn.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/dds_writer.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Type1_config.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Type1_cfg.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Type1_writer_interface.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Type1_reader_interface.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Type1_key_holder.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/Tests/Type1_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/verbatim_key_hash_generator.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/key_hash_generator.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/key_holder.vhd -hdl_version VHDL_2008
@ -95,6 +102,8 @@ set_global_assignment -name VHDL_FILE ../../src/rtps_writer.vhd -hdl_version VHD
set_global_assignment -name VHDL_FILE ../../src/rtps_discovery_module.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/rtps_handler.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/rtps_out.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/moving_average_wrapper.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/moving_average.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../test7.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../test6.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../test5.vhd -hdl_version VHDL_2008
@ -121,7 +130,8 @@ set_global_assignment -name VHDL_FILE ../../src/single_port_ram.vhd -hdl_version
set_global_assignment -name VHDL_FILE ../../src/ros2/ros_config_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/rtps_config_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/dds_user_config.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../syn_ros_action_config.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../syn_ros_rtt_config.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/Tests/Type1_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/example_interfaces/Fibonacci_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/example_interfaces/AddTwoInts_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/ros2/rcl_interfaces/action_msgs/CancelGoal_package.vhd -hdl_version VHDL_2008
@ -131,7 +141,5 @@ set_global_assignment -name VHDL_FILE ../../src/ros2/rcl_interfaces/action_msgs/
set_global_assignment -name VHDL_FILE ../../src/ros2/ros_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/rtps_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/math_pkg.vhd -hdl_version VHDL_2008
set_global_assignment -name PARTITION_NETLIST_TYPE SOURCE -section_id Top
set_global_assignment -name PARTITION_FITTER_PRESERVATION_LEVEL PLACEMENT_AND_ROUTING -section_id Top
set_global_assignment -name PARTITION_COLOR 16764057 -section_id Top
set_instance_assignment -name PARTITION_HIERARCHY root_partition -to | -section_id Top
set_instance_assignment -name PARTITION_HIERARCHY root_partition -to | -section_id Top

98
syn/syn_ros_rtt_config.vhd Normal file
View File

@ -0,0 +1,98 @@
-- altera vhdl_input_version vhdl_2008
-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.rtps_package.all;
use work.ros_package.all;
use work.Type1_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
constant ROS_RAND_KEY : std_logic_vector(47 downto 0) := x"E2A53AA91CC5";
constant NUM_NODES : natural := 1;
constant ROS_NODES : ROS_NODE_ARRAY_TYPE(0 to NUM_NODES-1) := (
0 => (
name => gen_user_string("test_loopback_server"),
namespace => gen_user_string(""),
domain_id => 0,
NUM_PUBS => 1,
NUM_SUBS => 1,
NUM_SERVICES => 0,
NUM_ACTIONS => 0
)
);
constant NUM_PUBS : natural := get_num_pubs(ROS_NODES);
constant NUM_SUBS : natural := get_num_subs(ROS_NODES);
constant NUM_SERVICES : natural := get_num_services(ROS_NODES);
constant NUM_ACTIONS : natural := get_num_actions(ROS_NODES);
constant ROS_PUBLICATIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_PUBS-1) := (
0 => (
node_id => 0,
TOPICNAME => gen_user_string("rt/Loopback_2"),
TYPENAME => gen_user_string("tutorial_interfaces::msg::dds_::Type1_"),
QOS => ROS_QOS_PROFILE_TRANSIENT,
MAX_SIZE => MAX_TYPE1_SIZE
)
);
constant ROS_SUBSCRIPTIONS : ROS_TOPIC_ARRAY_TYPE(0 to NUM_SUBS-1) := (
0 => (
node_id => 0,
TOPICNAME => gen_user_string("rt/Loopback_1"),
TYPENAME => gen_user_string("tutorial_interfaces::msg::dds_::Type1_"),
QOS => ROS_QOS_PROFILE_TRANSIENT,
MAX_SIZE => MAX_TYPE1_SIZE
)
);
constant ROS_SERVICES : ROS_SERVICE_ARRAY_TYPE(0 to NUM_SERVICES-1) := (
others => (
node_id => 0,
SERVICENAME => gen_user_string(""),
RQ_TYPENAME => gen_user_string(""),
RR_TYPENAME => gen_user_string(""),
QOS => ROS_QOS_PROFILE_SERVICES_DEFAULT,
MAX_RQ_SIZE => 0,
MAX_RR_SIZE => 0,
is_client => FALSE
)
);
constant ROS_ACTIONS : ROS_ACTION_ARRAY_TYPE(0 to NUM_ACTIONS-1) := (
others => (
node_id => 0,
ACTIONNAME => gen_user_string(""),
GOAL_RQ_TYPENAME => gen_user_string(""),
GOAL_RR_TYPENAME => gen_user_string(""),
RESULT_RQ_TYPENAME => gen_user_string(""),
RESULT_RR_TYPENAME => gen_user_string(""),
FEEDBACK_TYPENAME => gen_user_string(""),
GOAL_QOS => ROS_QOS_PROFILE_SERVICES_DEFAULT,
RESULT_QOS => ROS_QOS_PROFILE_SERVICES_DEFAULT,
FEEDBACK_QOS => ROS_QOS_PROFILE_DEFAULT,
CANCEL_QOS => ROS_QOS_PROFILE_SERVICES_DEFAULT,
MAX_GOAL_RQ_SIZE => 0,
MAX_GOAL_RR_SIZE => 0,
MAX_RESULT_RQ_SIZE => 0,
MAX_RESULT_RR_SIZE => 0,
MAX_FEEDBACK_SIZE => 0,
is_client => FALSE,
enable_feedback => TRUE
)
);
-- Defines sensible RTPS timings for simulation
constant SIMULATION_TIMING : boolean := FALSE;
end package;

28
syn/test_top.vhd
View File

@ -28,6 +28,7 @@ architecture arch of test_top is
signal full_fi_wr, write_wr_fi, empty_fo_wr, read_wr_fo, empty_fi_test, read_test_fi, full_fo_test, write_test_fo : std_logic;
signal data_wr_fi, data_fo_wr, data_fi_test, data_test_fo : std_logic_vector(WORD_WIDTH-1 downto 0);
signal time : TIME_TYPE;
signal input_util, output_util : natural;
begin
@ -63,7 +64,7 @@ begin
data_out => data_fi_test,
empty => empty_fi_test,
full => full_fi_wr,
free => open
free => input_util
);
FIFO_OUT_inst : configuration work.FWFT_FIFO_cfg
@ -80,7 +81,7 @@ begin
data_out => data_fo_wr,
empty => empty_fo_wr,
full => full_fo_test,
free => open
free => output_util
);
--dds_loopback_inst : entity work.L2_Testbench_Lib4(arch)
@ -115,12 +116,31 @@ begin
-- data_out => data_test_fo
-- );
ros_action_inst : entity work.L2_Testbench_ROS_Lib4(arch)
--ros_action_inst : entity work.L2_Testbench_ROS_Lib4(arch)
-- port map (
-- -- SYSTEM
-- clk => clk,
-- reset => reset,
-- time => time,
-- -- INPUT
-- empty => empty_fi_test,
-- read => read_test_fi,
-- data_in => data_fi_test,
-- -- OUTPUT
-- full => full_fo_test,
-- write => write_test_fo,
-- data_out => data_test_fo
-- );
ros_rtt : entity work.L2_Testbench_ROS_Lib6(arch)
port map (
-- SYSTEM
clk => clk,
reset => reset,
time => time,
-- UTILIZATION
input_util => std_logic_vector(to_unsigned(input_util, WORD_WIDTH)),
output_util => std_logic_vector(to_unsigned(output_util, WORD_WIDTH)),
-- INPUT
empty => empty_fi_test,
read => read_test_fi,
@ -130,7 +150,7 @@ begin
write => write_test_fo,
data_out => data_test_fo
);
time_prc : process(clk)
begin
if rising_edge(clk) then