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

* Endoint Match/Unmatch

Browse Source
This commit is contained in:
John Ring 2020-10-04 08:25:35 +02:00
parent 495cf94a9f
commit b8dc9e9482
6 changed files with 921 additions and 179 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

142
src/TODO.txt
View File

@ -73,6 +73,12 @@ ENDPOINT FIFO PACKET FORMAT
+---------------------------------------------------------------+ +---------------------------------------------------------------+
| SRC_ENTITYID | | SRC_ENTITYID |
+---------------------------------------------------------------+ +---------------------------------------------------------------+
| |
+ +
| SRC_GUIDPREFIX |
+ +
| |
+---------------------------------------------------------------+
| DEST_ENTITYID [only for Builtin Destinations] | | DEST_ENTITYID [only for Builtin Destinations] |
+---------------------------------------------------------------+ +---------------------------------------------------------------+
| | | |
@ -102,6 +108,104 @@ HEARTBEAT messages (and even ignore GAP messages).
PARTICICPANT DATA PARTICICPANT DATA
================= =================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| |
+ +
02| GUIDPREFIX |
+ +
03| |
+---------------------------------------------------------------+
04| META_IPv4_ADDRESS |
+---------------------------------------------------------------+
05| DEFAULT_IPv4_ADDRESS |
+---------------------------------------------------------------+
06| META_UDP_PORT | DEFAULT_UDP_PORT |
+---------------------------------------------------------------+
| UNUSED | EXTRA_FLAGS |Q|
+---------------------------------------------------------------+
07| LEASE_DURATION |
+ +
08| |
+---------------------------------------------------------------+
09| LEASE_DEADLINE |
+ +
10| |
+---------------------------------------------------------------+
12| |
+ SPDP_SEQ_NR +
13| |
+---------------------------------------------------------------+
14| |
+ PUBLICATION_SEQ_NR +
15| |
+---------------------------------------------------------------+
16| |
+ SUBSCRIPTION_SEQ_NR +
17| |
+---------------------------------------------------------------+
18| |
+ MESSAGE_SEQ_NR +
19| |
+---------------------------------------------------------------+
ENDPOINT DATA
=============
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| ENTITYID |
+---------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+---------------------------------------------------------------+
05| |
~ ENDPOINT_BITMASK ~
**| |
+---------------------------------------------------------------+
ENDPOINT MATCH FRAME
====================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| OPCODE |
+---------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+---------------------------------------------------------------+
05| ENTITYID |
+---------------------------------------------------------------+
06| IPv4_ADDRESS |
+---------------------------------------------------------------+
07| UDP_PORT | EXTRA_FLAGS |Q|
+---------------------------------------------------------------+
ENDPOINT UNMATCH FRAME
======================
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
01| OPCODE |
+---------------------------------------------------------------+
02| |
+ +
03| GUIDPREFIX |
+ +
04| |
+---------------------------------------------------------------+
05| ENTITYID |
+---------------------------------------------------------------+
LOCAL ENDPOINT BUFFER
=====================
32..............24..............16..............8...............0 32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+ +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+ +---------------------------------------------------------------+
@ -111,42 +215,6 @@ PARTICICPANT DATA
+ + + +
| | | |
+---------------------------------------------------------------+ +---------------------------------------------------------------+
| META_IPv4_ADDRESS |
+---------------------------------------------------------------+
| DEFAULT_IPv4_ADDRESS |
+---------------------------------------------------------------+
| META_UDP_PORT | DEFAULT_UDP_PORT |
+---------------------------------------------------------------+
| LEASE_DURATION |
+ +
| |
+---------------------------------------------------------------+
| LEASE_DEADLINE |
+ +
| |
+---------------------------------------------------------------+
| EXTRA_FLAGS |
+---------------------------------------------------------------+
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
| ENTITYID |
+---------------------------------------------------------------+
| PARTICICPANT_INDEX |
+---------------------------------------------------------------+
| |
~ ENDPOINT_BITMASK ~
| |
+---------------------------------------------------------------+
32..............24..............16..............8...............0
+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+---------------------------------------------------------------+
| PARTICICPANT_INDEX |
+---------------------------------------------------------------+
| ENTITYID | | ENTITYID |
+---------------------------------------------------------------+ +---------------------------------------------------------------+
| IPv4_ADDRESS | | IPv4_ADDRESS |
@ -158,6 +226,8 @@ PARTICICPANT DATA
| (READER_ONLY) | | (READER_ONLY) |
+---------------------------------------------------------------+ +---------------------------------------------------------------+
TOPIC KEYS TOPIC KEYS
========== ==========
Nominally the key is part of the serialized data of a data submessage. Nominally the key is part of the serialized data of a data submessage.

11
src/math_pkg.vhd
View File

@ -55,4 +55,15 @@ package body math_pkg is
end if; end if;
return ret_value; return ret_value;
end function; end function;
function round_div(constant divident, divisor : in integer) return integer is
variable ret : integer;
begin
ret := divident / divisor;
if (divident mod divisor /= 0) then
ret := ret + divisor;
end if;
return ret;
end function;
end package body; end package body;

766
src/rtps_builtin_endpoint.vhd
View File

File diff suppressed because it is too large Load Diff

60
src/rtps_handler.vhd
View File

@ -6,6 +6,9 @@ use work.math_pkg.all;
use work.rtps_package.all; use work.rtps_package.all;
-- TODO: Remove alignment logic for RTPS Submessages, since all Submessages are 32-bit aligned -- TODO: Remove alignment logic for RTPS Submessages, since all Submessages are 32-bit aligned
-- TODO: Merge CHECK_SUB_END and SKIP_SUB stages
-- TODO: Fix payload length
-- TODO: Change all Endpoint Bit Vectors to "to" Ranges
-- Checksum has to be checked before -- Checksum has to be checked before
entity rtps_handler is entity rtps_handler is
@ -111,6 +114,8 @@ architecture arch of rtps_handler is
signal src_entityid, src_entityid_next : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0'); signal src_entityid, src_entityid_next : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0');
-- Destination Endpoint Entity ID latch -- Destination Endpoint Entity ID latch
signal dest_entityid, dest_entityid_next : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0'); signal dest_entityid, dest_entityid_next : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0');
-- Source GUID Prefix latch
signal guidprefix, guidprefix_next : GUIDPREFIX_ARRAY_TYPE := (others => (others => '0'));
-- Vector denoting the Destination User Endpoints of the Message -- Vector denoting the Destination User Endpoints of the Message
signal user_endpoint, user_endpoint_next : std_logic_vector(MAX_ENDPOINTS-1 downto 0) := (others => '0'); signal user_endpoint, user_endpoint_next : std_logic_vector(MAX_ENDPOINTS-1 downto 0) := (others => '0');
-- Denoting if the Message is destined for the Built-in Endpoints -- Denoting if the Message is destined for the Built-in Endpoints
@ -133,6 +138,7 @@ architecture arch of rtps_handler is
-- Denotes if Message is DATA Submessage -- Denotes if Message is DATA Submessage
signal is_data, is_data_next : std_logic := '0'; signal is_data, is_data_next : std_logic := '0';
-- General Purpose counter -- General Purpose counter
-- TODO: Recheck range
signal cnt, cnt_next : integer range 0 to max(GUIDPREFIX_WIDTH/32, 6) := 0; signal cnt, cnt_next : integer range 0 to max(GUIDPREFIX_WIDTH/32, 6) := 0;
--*****ALIAS DEFINATION***** --*****ALIAS DEFINATION*****
@ -348,6 +354,7 @@ begin
domain_id_next <= domain_id; domain_id_next <= domain_id;
flags_next <= flags; flags_next <= flags;
src_entityid_next <= src_entityid; src_entityid_next <= src_entityid;
guidprefix_next <= guidprefix;
dest_entityid_next <= dest_entityid; dest_entityid_next <= dest_entityid;
user_endpoint_next <= user_endpoint; user_endpoint_next <= user_endpoint;
builtin_endpoint_next <= builtin_endpoint; builtin_endpoint_next <= builtin_endpoint;
@ -501,13 +508,17 @@ begin
when RTPS_HEADER_3 => when RTPS_HEADER_3 =>
if (empty = '0') then if (empty = '0') then
rd_sig <= '1'; rd_sig <= '1';
-- Sender GUID_Prefix -- Increment Counter
--TODO <= data_in;
if (cnt = GUIDPREFIX_WIDTH/32) then
-- Next Stage
stage_next <= RTPS_SUB_HEADER;
else
cnt_next <= cnt + 1; cnt_next <= cnt + 1;
-- Latch Sender GUID_Prefix
if (cnt = 1) then
guidprefix_next(0) <= data_in;
elsif (cnt = 2) then
guidprefix_next(1) <= data_in;
elsif (cnt = 3) then
guidprefix_next(2) <= data_in;
stage_next <= RTPS_SUB_HEADER;
end if; end if;
end if; end if;
-- NOTE: From here on, due to the nature of the RTPS Protocol, 32-bit word alignement -- NOTE: From here on, due to the nature of the RTPS Protocol, 32-bit word alignement
@ -748,8 +759,9 @@ begin
rd_sig <= '1'; rd_sig <= '1';
-- Increment Counter (Default) -- Increment Counter (Default)
cnt_next <= cnt + 1; cnt_next <= cnt + 1;
case (cnt) is
-- Locator Kind -- Locator Kind
if (cnt = 1) then when 1 =>
-- Check if UDPv4 Locator -- Check if UDPv4 Locator
if (endian_swap(rtps_sub_endianness, aligned_data_in) = LOCATOR_KIND_UDPv4) then if (endian_swap(rtps_sub_endianness, aligned_data_in) = LOCATOR_KIND_UDPv4) then
locator_match_next <= '1'; locator_match_next <= '1';
@ -757,13 +769,13 @@ begin
locator_match_next <= '0'; locator_match_next <= '0';
end if; end if;
-- Locator Port -- Locator Port
elsif (cnt = 2) then when 2 =>
if (locator_match = '1') then if (locator_match = '1') then
-- Latch Source Port -- Latch Source Port
src_port_next <= endian_swap(rtps_sub_endianness, aligned_data_in)(src_port_next'length-1 downto 0); src_port_next <= endian_swap(rtps_sub_endianness, aligned_data_in)(src_port_next'length-1 downto 0);
end if; end if;
-- Locator Addr (IPv4) -- Locator Addr (IPv4)
elsif (cnt = 6) then when 6 =>
if (locator_match = '1') then if (locator_match = '1') then
-- Latch Src Addr -- Latch Src Addr
src_addr_next <= endian_swap(rtps_sub_endianness, aligned_data_in); src_addr_next <= endian_swap(rtps_sub_endianness, aligned_data_in);
@ -775,7 +787,9 @@ begin
numlocators_next <= numlocators - 1; numlocators_next <= numlocators - 1;
-- Reset Counter -- Reset Counter
cnt_next <= 1; cnt_next <= 1;
end if; when others =>
null;
end case;
-- Latch Input for alignment purposes -- Latch Input for alignment purposes
align_sig_next <= data_in(23 downto 0); align_sig_next <= data_in(23 downto 0);
end if; end if;
@ -783,20 +797,26 @@ begin
when INFO_SRC_HEADER => when INFO_SRC_HEADER =>
if (empty = '0') then if (empty = '0') then
rd_sig <= '1'; rd_sig <= '1';
-- Second Word of INFO_SRC Submessage
case (cnt) is case (cnt) is
-- Second Word of INFO_SRC Submessage
when 2 => when 2 =>
-- Default Next Stage
stage_next <= SKIP_SUB;
-- Check Major Protocol Version -- Check Major Protocol Version
if (aligned_data_in(31 downto 24) /= PROTOCOLVERSION_2_4(15 downto 8)) then if (aligned_data_in(31 downto 24) /= PROTOCOLVERSION_2_4(15 downto 8)) then
-- Protocol not supported, skip rest of Packet -- Protocol not supported, skip rest of Packet
stage_next <= SKIP_PACKET; stage_next <= SKIP_PACKET;
end if; end if;
when 3 =>
guidprefix_next(0) <= aligned_data_in;
when 4 =>
guidprefix_next(1) <= aligned_data_in;
when 5 =>
guidprefix_next(2) <= aligned_data_in;
stage_next <= CHECK_SUB_END;
when others => when others =>
null; null;
end case; end case;
-- TODO: Check how many addres are synthesized for cnt/cnt_next -- TODO: Check how many adders are synthesized for cnt/cnt_next
cnt_next <= cnt + 1; cnt_next <= cnt + 1;
-- Latch Input for alignment purposes -- Latch Input for alignment purposes
align_sig_next <= data_in(23 downto 0); align_sig_next <= data_in(23 downto 0);
@ -813,7 +833,6 @@ begin
-- Next Stage (Dynamic) -- Next Stage (Dynamic)
stage_next <= return_stage; stage_next <= return_stage;
else else
-- TODO: Check how many addres are synthesized for cnt/cnt_next
cnt_next <= cnt + 1; cnt_next <= cnt + 1;
end if; end if;
-- Latch Input for alignment purposes -- Latch Input for alignment purposes
@ -924,6 +943,15 @@ begin
when 4 => when 4 =>
output_sig <= src_entityid; output_sig <= src_entityid;
wr_sig <= '1'; wr_sig <= '1';
when 5 =>
output_sig <= guidprefix(0);
wr_sig <= '1';
when 6 =>
output_sig <= guidprefix(1);
wr_sig <= '1';
when 7 =>
output_sig <= guidprefix(2);
wr_sig <= '1';
-- Next Stage -- Next Stage
if (builtin_endpoint = '1') then if (builtin_endpoint = '1') then
-- If the destination is a built-in Endpoint, push also the destination ID, -- If the destination is a built-in Endpoint, push also the destination ID,
@ -1091,6 +1119,7 @@ begin
domain_id <= 0; domain_id <= 0;
flags <= (others => '0'); flags <= (others => '0');
src_entityid <= (others => '0'); src_entityid <= (others => '0');
guidprefix <= (others => (others => '0'));
dest_entityid <= (others => '0'); dest_entityid <= (others => '0');
user_endpoint <= (others => '0'); user_endpoint <= (others => '0');
numlocators <= (others => '0'); numlocators <= (others => '0');
@ -1118,6 +1147,7 @@ begin
domain_id <= domain_id_next; domain_id <= domain_id_next;
flags <= flags_next; flags <= flags_next;
src_entityid <= src_entityid_next; src_entityid <= src_entityid_next;
guidprefix <= guidprefix_next;
dest_entityid <= dest_entityid_next; dest_entityid <= dest_entityid_next;
user_endpoint <= user_endpoint_next; user_endpoint <= user_endpoint_next;
numlocators <= numlocators_next; numlocators <= numlocators_next;

61
src/rtps_package.vhd
View File

@ -2,6 +2,8 @@ library ieee;
use ieee.std_logic_1164.all; use ieee.std_logic_1164.all;
use ieee.numeric_std.all; use ieee.numeric_std.all;
use work.math_pkg.all;
package rtps_package is package rtps_package is
--*****USER CONFIG***** --*****USER CONFIG*****
@ -36,7 +38,7 @@ package rtps_package is
constant MAC_ADDRESS : std_logic_vector(47 downto 0) := x"97917E0BA8CF"; constant MAC_ADDRESS : std_logic_vector(47 downto 0) := x"97917E0BA8CF";
----------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------
-- *DO NOT MODIFY BEGIN* -- *DO NOT MODIFY BEGIN*
type USER_DOMAIN_ID_TYPE is array (NUM_DOMAIN-1 downto 0) of integer; type USER_DOMAIN_ID_TYPE is array (0 to NUM_DOMAIN-1) of integer;
-- *DO NOT MODIFY END* -- *DO NOT MODIFY END*
----------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------
-- Array of Domain IDs -- Array of Domain IDs
@ -44,14 +46,14 @@ package rtps_package is
----------------------------------------------------------------------------------------------------- -----------------------------------------------------------------------------------------------------
-- *DO NOT MODIFY BEGIN* -- *DO NOT MODIFY BEGIN*
type ENDPOINT_DOMAIN_MAP_TYPE is array (MAX_ENDPOINTS-1 downto 0) of integer; type ENDPOINT_DOMAIN_MAP_TYPE is array (0 to MAX_ENDPOINTS-1) of integer;
type ENDPOINT_WITH_KEY_TYPE is array (MAX_ENDPOINTS-1 downto 0) of boolean; type ENDPOINT_WITH_KEY_TYPE is array (0 to MAX_ENDPOINTS-1) of boolean;
type ENDPOINT_TOPIC_STRING_TYPE is array (MAX_ENDPOINTS-1 downto 0) of string(1 to 256); type ENDPOINT_TOPIC_STRING_TYPE is array (0 to MAX_ENDPOINTS-1) of string(1 to 256);
type ENDPOINT_TOPIC_TYPE is array (MAX_ENDPOINTS-1 downto 0) of std_logic_vector(0 to (256*8)-1); type ENDPOINT_TOPIC_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(0 to (256*8)-1);
subtype QOS_TYPE is array (MAX_ENDPOINTS-1 downto 0) of std_logic_vector(31 downto 0); subtype QOS_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
subtype QOS_SLV_TYPE is array (MAX_ENDPOINTS-1 downto 0) of std_logic_vector(31 downto 0); subtype QOS_SLV_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
type DURATION_TYPE is array (1 downto 0) of unsigned(31 downto 0); type DURATION_TYPE is array (0 to 1) of unsigned(31 downto 0);
type ENDPOINT_DURATION_TYPE is array (MAX_ENDPOINTS-1 downto 0) of DURATION_TYPE; type ENDPOINT_DURATION_TYPE is array (0 to MAX_ENDPOINTS-1) of DURATION_TYPE;
constant DURATION_INFINITE : DURATION_TYPE := (x"7fffffff", x"ffffffff"); constant DURATION_INFINITE : DURATION_TYPE := (x"7fffffff", x"ffffffff");
@ -98,8 +100,8 @@ package rtps_package is
constant ENDPOINT_TOPIC : ENDPOINT_TOPIC_TYPE; -- Deferred to Package Body constant ENDPOINT_TOPIC : ENDPOINT_TOPIC_TYPE; -- Deferred to Package Body
constant ENDPOINT_DURABILITY : QOS_TYPE := (0 => VOLATILE_DURABILITY_QOS); constant ENDPOINT_DURABILITY : QOS_TYPE := (0 => VOLATILE_DURABILITY_QOS);
constant ENDPOINT_PRESENTATION : QOS_TYPE := (0 => INSTANCE_PRESENTATION_QOS); constant ENDPOINT_PRESENTATION : QOS_TYPE := (0 => INSTANCE_PRESENTATION_QOS);
constant ENDPOINT_COHERENT_ACCESS : std_logic_vector(MAX_ENDPOINTS-1 downto 0) := (others => '0'); constant ENDPOINT_COHERENT_ACCESS : std_logic_vector(0 to MAX_ENDPOINTS-1) := (others => '0');
constant ENDPOINT_ORDERED_ACCESS : std_logic_vector(MAX_ENDPOINTS-1 downto 0) := (others => '0'); constant ENDPOINT_ORDERED_ACCESS : std_logic_vector(0 to MAX_ENDPOINTS-1) := (others => '0');
constant ENDPOINT_DEADLINE : ENDPOINT_DURATION_TYPE := (0 => DURATION_INFINITE); --TODO: Assert constant ENDPOINT_DEADLINE : ENDPOINT_DURATION_TYPE := (0 => DURATION_INFINITE); --TODO: Assert
constant ENDPOINT_LIVELINESS : QOS_TYPE := (0 => AUTOMATIC_LIVELINESS_QOS); constant ENDPOINT_LIVELINESS : QOS_TYPE := (0 => AUTOMATIC_LIVELINESS_QOS);
constant ENDPOINT_LEASE_DURATION : ENDPOINT_DURATION_TYPE := (0 => DURATION_INFINITE); --TODO: Assert constant ENDPOINT_LEASE_DURATION : ENDPOINT_DURATION_TYPE := (0 => DURATION_INFINITE); --TODO: Assert
@ -116,6 +118,10 @@ package rtps_package is
constant ENDPOINT_MAX_INSTANCES : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert constant ENDPOINT_MAX_INSTANCES : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert
constant ENDPOINT_MAX_SAMP_PER_INST : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert constant ENDPOINT_MAX_SAMP_PER_INST : QOS_SLV_TYPE := (0 => std_logic_vector(to_unsigned(0,32))); --TODO: Assert
-- NOTE: The buffer will not only store participants, but also endpoint data
-- Used to determine the size of the built-inendpoint buffer
constant MAX_REMOTE_PARTICIPANTS : integer := 50;
--*****DDSI-RTPS 2.3***** --*****DDSI-RTPS 2.3*****
-- Default Multicast Ipv4 Address (239.255.0.1) -- Default Multicast Ipv4 Address (239.255.0.1)
@ -132,6 +138,7 @@ package rtps_package is
constant PARAMETER_ID_WIDTH : integer := 16; constant PARAMETER_ID_WIDTH : integer := 16;
constant PAYLOAD_REPRESENTATION_ID : integer := 16; constant PAYLOAD_REPRESENTATION_ID : integer := 16;
constant PAYLOAD_REPRESENTATION_OPTIONS : integer := 16; constant PAYLOAD_REPRESENTATION_OPTIONS : integer := 16;
constant SEQUENCE_NR_WIDTH : integer := 64;
-- 'RTPS' in Ascii code -- 'RTPS' in Ascii code
constant PROTOCOL_RTPS : std_logic_vector(PROTOCOL_WIDTH-1 downto 0) := x"52545053"; constant PROTOCOL_RTPS : std_logic_vector(PROTOCOL_WIDTH-1 downto 0) := x"52545053";
@ -232,10 +239,10 @@ package rtps_package is
type DOMAIN_ID_TYPE is array (NUM_DOMAIN-1 downto 0) of std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0); type DOMAIN_ID_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(DOMAIN_ID_WIDTH-1 downto 0);
constant DOMAIN_ID : DOMAIN_ID_TYPE; -- Deferred to Package Body constant DOMAIN_ID : DOMAIN_ID_TYPE; -- Deferred to Package Body
type DOMAIN_ENDPOINT_MAP_TYPE is array (NUM_DOMAIN-1 downto 0) of std_logic_vector(MAX_ENDPOINTS-1 downto 0); type DOMAIN_ENDPOINT_MAP_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(MAX_ENDPOINTS-1 downto 0);
constant DOMAIN_ENDPOINT_MAP : DOMAIN_ENDPOINT_MAP_TYPE; -- Deferred to Package Body constant DOMAIN_ENDPOINT_MAP : DOMAIN_ENDPOINT_MAP_TYPE; -- Deferred to Package Body
-- Since this implementation runs on the same network stack and the RTPS Endpoints (Readers & Writers) -- Since this implementation runs on the same network stack and the RTPS Endpoints (Readers & Writers)
@ -244,17 +251,17 @@ package rtps_package is
-- We generate just a single participant for every Domain, and later match the Endpoints to their respective -- We generate just a single participant for every Domain, and later match the Endpoints to their respective
-- Domain (and thus also to their respective RTPS Participant). -- Domain (and thus also to their respective RTPS Participant).
type IPv4_PORT_TYPE is array (NUM_DOMAIN-1 downto 0) of std_logic_vector(UDP_PORT_WIDTH-1 downto 0); type IPv4_PORT_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(UDP_PORT_WIDTH-1 downto 0);
constant META_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE; -- Deferred to Package Body constant META_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE; -- Deferred to Package Body
constant META_IPv4_UNICAST_PORT : IPv4_PORT_TYPE; -- Deferred to Package Body constant META_IPv4_UNICAST_PORT : IPv4_PORT_TYPE; -- Deferred to Package Body
constant USER_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE; -- Deferred to Package Body constant USER_IPv4_MULTICAST_PORT: IPv4_PORT_TYPE; -- Deferred to Package Body
constant USER_IPv4_UNICAST_PORT : IPv4_PORT_TYPE; -- Deferred to Package Body constant USER_IPv4_UNICAST_PORT : IPv4_PORT_TYPE; -- Deferred to Package Body
type GUIDPREFIX_TYPE is array (NUM_DOMAIN-1 downto 0) of std_logic_vector(GUIDPREFIX_WIDTH-1 downto 0); type GUIDPREFIX_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(GUIDPREFIX_WIDTH-1 downto 0);
type GUIDPREFIX_ARRAY_TYPE is array (GUIDPREFIX_WIDTH/32-1 downto 0) of std_logic_vector(31 downto 0); type GUIDPREFIX_ARRAY_TYPE is array (0 to GUIDPREFIX_WIDTH/32-1) of std_logic_vector(31 downto 0);
type GUID_ARRAY_TYPE is array ((GUIDPREFIX_WIDTH+ENTITYID_WIDTH)/32-1 downto 0) of std_logic_vector(31 downto 0); type GUID_ARRAY_TYPE is array (0 to (GUIDPREFIX_WIDTH+ENTITYID_WIDTH)/32-1) of std_logic_vector(31 downto 0);
constant GUIDPREFIX : GUIDPREFIX_TYPE; -- Deferred to Package Body constant GUIDPREFIX : GUIDPREFIX_TYPE; -- Deferred to Package Body
constant GUIDPREFIX_UNKNOWN : std_logic_vector(GUIDPREFIX_WIDTH-1 downto 0) := (others => '0'); constant GUIDPREFIX_UNKNOWN : std_logic_vector(0 to GUIDPREFIX_WIDTH-1) := (others => '0');
subtype ENTITY_KIND_H is std_logic_vector(1 downto 0); subtype ENTITY_KIND_H is std_logic_vector(1 downto 0);
subtype ENTITY_KIND_L is std_logic_vector(5 downto 0); subtype ENTITY_KIND_L is std_logic_vector(5 downto 0);
@ -272,7 +279,7 @@ package rtps_package is
-- DDSI-RTPS 2.3 states that Entity IDs have to be unique within each Participant. -- DDSI-RTPS 2.3 states that Entity IDs have to be unique within each Participant.
-- For simplicity and ease of mapping we make the Entity IDs unique across all Participant and Domains on this node. -- For simplicity and ease of mapping we make the Entity IDs unique across all Participant and Domains on this node.
type ENTITYID_TYPE is array (MAX_ENDPOINTS-1 downto 0) of std_logic_vector(ENTITYID_WIDTH-1 downto 0); type ENTITYID_TYPE is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(ENTITYID_WIDTH-1 downto 0);
constant ENTITYID : ENTITYID_TYPE; -- Deferred to Package Body constant ENTITYID : ENTITYID_TYPE; -- Deferred to Package Body
constant ENTITYID_UNKNOWN : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0'); constant ENTITYID_UNKNOWN : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (others => '0');
constant ENTITYID_PARTICIPANT : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (x"000001c1"); constant ENTITYID_PARTICIPANT : std_logic_vector(ENTITYID_WIDTH-1 downto 0) := (x"000001c1");
@ -309,11 +316,21 @@ package rtps_package is
constant BEST_EFFORT_PARTICIPANT_MESSAGE_DATA_READER : integer := 0; constant BEST_EFFORT_PARTICIPANT_MESSAGE_DATA_READER : integer := 0;
--*****CUSTOM***** --*****CUSTOM*****
constant PARTICIPANT_FRAME_SIZE : integer := 12;
constant ENDPOINT_BITMASK_SIZE : integer := round_div(MAX_ENDPOINTS, 32);
constant ENDPOINT_FRAME_SIZE : integer := 2 + ENDPOINT_BITMASK_SIZE;
-- Limit Buffer to 32 bit Addresses
constant BUILTIN_BUFFER_SIZE : integer := min(MAX_ENDPOINTS*PARTICIPANT_FRAME_SIZE, 2**32);
--**************** --****************
type USER_ENDPOINT_OUTPUT is array (MAX_ENDPOINTS-1 downto 0) of std_logic_vector(31 downto 0); constant ENDPOINT_MATCH_OPCODE_WIDTH: integer := 32;
type BUILTIN_ENDPOINT_TYPE is array (NUM_DOMAIN-1 downto 0) of std_logic_vector(31 downto 0);
constant OPCODE_MATCH : std_logic_vector(ENDPOINT_MATCH_OPCODE_WIDTH-1 downto 0) := x"55000000";
constant OPCODE_UNMATCH : std_logic_vector(ENDPOINT_MATCH_OPCODE_WIDTH-1 downto 0) := x"55000001";
type USER_ENDPOINT_OUTPUT is array (0 to MAX_ENDPOINTS-1) of std_logic_vector(31 downto 0);
type BUILTIN_ENDPOINT_TYPE is array (0 to NUM_DOMAIN-1) of std_logic_vector(31 downto 0);
type ENDPOINT_BITMASK_ARRAY_TYPE is array (0 to ENDPOINT_BITMASK_SIZE-1) of std_logic_vector(31 downto 0);
end package; end package;

2
src/single_port_ram.vhd
View File

@ -36,7 +36,7 @@ begin
MEMORY_INIT_PARAM => "0", MEMORY_INIT_PARAM => "0",
MEMORY_OPTIMIZATION => "true", MEMORY_OPTIMIZATION => "true",
MEMORY_PRIMITIVE => "auto", MEMORY_PRIMITIVE => "auto",
MEMORY_SIZE => DATA_WIDTH*(2**ADDR_WIDTH), MEMORY_SIZE => MEMORY_SIZE,
MESSAGE_CONTROL => 0, MESSAGE_CONTROL => 0,
READ_DATA_WIDTH_A => DATA_WIDTH, READ_DATA_WIDTH_A => DATA_WIDTH,
READ_LATENCY_A => 1, READ_LATENCY_A => 1,