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

* Re-wrote "rtps_ahandler"

Browse Source 
- Compiles
This commit is contained in:
Greek 2020-10-29 11:31:41 +01:00
parent d61b9dc80a
commit ce72c147a4
7 changed files with 689 additions and 1262 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
src/TODO.txt
View File

@ -103,8 +103,3 @@ DESIGN DECISIONS
-- Input FIFO Guard
-- Output FIFO Guard
-- Memory Operation Guard
-- Ignore in-line QoS
-- Only relevant for Endpoint Discovery Protocol
-- Check QoS Compatibility (Unmark match on incompatibility)
-- COMPATIBLE (DDS v1.4): offered >= requested, with INSTANCE < TOPIC < GROUP

58
src/rtps_builtin_endpoint.vhd
View File

@ -120,7 +120,7 @@ architecture arch of rtps_builtin_endpoint is
end record;
--*****CONSTANT DECLARATION*****
-- Memory Size in 32-bit Words
-- Memory Size in 4-Byte Words
constant BUILTIN_BUFFER_SIZE : natural := MAX_REMOTE_PARTICIPANTS*PARTICIPANT_FRAME_SIZE;
-- Memory Address Width
constant BUILTIN_BUFFER_ADDR_WIDTH : natural := log2c(BUILTIN_BUFFER_SIZE);
@ -189,7 +189,7 @@ architecture arch of rtps_builtin_endpoint is
signal rd_sig : std_logic := '0';
-- Signal used to reset the word counter
signal reset_read_cnt : std_logic;
-- Word (32-bit) counter (Counts words read from input fifo)
-- Word (4-Byte) counter (Counts words read from input fifo)
signal read_cnt : unsigned(13 downto 0) := (others => '0');
-- RTPS Submessage ID Latch
signal opcode, opcode_next : std_logic_vector(SUBMESSAGE_ID_WIDTH-1 downto 0) := (others => '0');
@ -215,7 +215,7 @@ architecture arch of rtps_builtin_endpoint is
signal data_in_swapped : std_logic_vector(31 downto 0) := (others => '0');
-- Byte Length of string
signal string_length, string_length_next : unsigned(31 downto 0) := (others => '0');
-- Counter of compared string words (32-bit)
-- Counter of compared string words (4-Byte)
signal compare_length, compare_length_next : unsigned(29 downto 0) := (others => '0');
-- Bitmask of local Endpoint Matches
signal endpoint_mask, endpoint_mask_next : std_logic_vector(0 to MAX_ENDPOINTS-1) := (others => '0');
@ -390,27 +390,6 @@ architecture arch of rtps_builtin_endpoint is
return ret;
end function;
-- Returns the 'data' argument either as is, or with reversed Byte order, depending on the
-- 'endianness' argument.
function endian_swap( endianness : std_logic;
data :std_logic_vector) return std_logic_vector is
variable ret : std_logic_vector(data'range);
begin
-- Assert that Data Signal is Byte aligned
assert (data'length mod 8 = 0) severity failure;
-- Little Endian
if (endianness = '1') then
-- Reverse byte Order
for i in 0 to (data'length/8)-1 loop
ret(i*8+8-1 downto i*8) := data(((data'length/8)-1-i)*8+8-1 downto ((data'length/8)-1-i)*8);
end loop;
-- Big Endian
else
ret := data;
end if;
return ret;
end function;
begin
--*****COMPONENT INSTANTIATION*****
@ -721,7 +700,7 @@ begin
-- Reset Latches
def_addr_next <= (others => '0');
meta_addr_next <= DEFAULT_IPv4_MULTICAST_ADDRESS;
meta_addr_next <= DEFAULT_IPv4_META_ADDRESS;
def_port_next <= (others => '0');
meta_port_next <= META_IPv4_MULTICAST_PORT;
lease_duration_next <= (others => (others => '0'));
@ -840,7 +819,7 @@ begin
cnt_next <= 0;
-- Unmark all Writers
endpoint_mask_next(NUM_READERS to MAX_ENDPOINTS-1) <= (others => '0');
endpoint_mask_next <= ENDPOINT_READERS;
when others =>
null;
end case;
@ -873,7 +852,7 @@ begin
cnt_next <= 0;
-- Unmark all Readers
endpoint_mask_next(0 to NUM_READERS-1) <= (others => '0');
endpoint_mask_next <= not ENDPOINT_READERS;
when others =>
null;
end case;
@ -907,7 +886,7 @@ begin
cnt_next <= 0;
-- Unmark all Writers
endpoint_mask_next(NUM_READERS to MAX_ENDPOINTS-1) <= (others => '0');
endpoint_mask_next <= ENDPOINT_READERS;
when others =>
null;
end case;
@ -960,7 +939,7 @@ begin
cnt_next <= 0;
-- Unmark all Writers
endpoint_mask_next(NUM_READERS to MAX_ENDPOINTS-1) <= (others => '0');
endpoint_mask_next <= ENDPOINT_READERS;
when others =>
null;
end case;
@ -993,7 +972,7 @@ begin
cnt_next <= 0;
-- Unmark all Readers
endpoint_mask_next(0 to NUM_READERS-1) <= (others => '0');
endpoint_mask_next <= not ENDPOINT_READERS;
when others =>
null;
end case;
@ -1027,7 +1006,7 @@ begin
cnt_next <= 0;
-- Unmark all Writers
endpoint_mask_next(NUM_READERS to MAX_ENDPOINTS-1) <= (others => '0');
endpoint_mask_next <= ENDPOINT_READERS;
when others =>
null;
end case;
@ -1907,7 +1886,7 @@ begin
null;
end case;
-- NOTE: "compare_length" counts the 32-bit words, while "string_length" contains the total string octets/bytes
-- NOTE: "compare_length" counts the 4-Byte words, while "string_length" contains the total string octets/bytes
-- End of String (Exit Condition)
if ((compare_length & "00") >= string_length) then
-- DONE
@ -1990,7 +1969,16 @@ begin
else
meta_port_next <= data_in_swapped(meta_port'length-1 downto 0);
end if;
-- Locator Addr (IPv4)
-- Locator Address 1/4
when 2 =>
null;
-- Locator Address 2/4
when 3 =>
null;
-- Locator Address 3/4
when 4 =>
null;
-- Locator Address 4/4 (IPv4)
when 5 =>
-- Latch Src Addr
if (is_meta_addr = '0') then
@ -2547,12 +2535,12 @@ begin
-- OUTPUT HEADER
-- Src IPv4 Address
when 0 =>
output_sig <= DEFAULT_IPv4_MULTICAST_ADDRESS;
output_sig <= DEFAULT_IPv4_META_ADDRESS;
-- Dest IPv4 Address
when 1 =>
-- Set Default Multicast Announce Address if Participant Announcement
if (return_stage = SEND_PARTICIPANT_ANNOUNCEMENT) then
output_sig <= DEFAULT_IPv4_MULTICAST_ADDRESS;
output_sig <= DEFAULT_IPv4_META_ADDRESS;
else
output_sig <= mem_participant_data.meta_addr;
end if;

1193
src/rtps_handler.vhd
View File

File diff suppressed because it is too large Load Diff

516
src/rtps_handler.vhd.BAK
View File

@ -1,516 +0,0 @@
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.math_pkg.all;
entity rtps_handler is
generic(
);
port (
clk : in std_logic; -- Input Clock
reset : in std_logic; -- Synchronous Reset
empty : in std_logic; -- Input FIFO empty flag
rd : out std_logic; -- Input FIFO read signal
data_in : in std_logic_vector(31 downto 0); -- Input FIFO data signal
);
end entity;
architecture arch of rtps_handler is
--*****COMPOENENT DECLARATION******
entity adder is
generic (
PIPELINE_STAGES : integer := 1;
DATA_WIDTH : integer := 32
);
port (
clk : in std_logic;
reset : in std_logic;
cin : in std_logic;
A : in std_logic_vector(DATA_WIDTH-1 downto 0);
B : in std_logic_vector(DATA_WIDTH-1 downto 0);
RES : out std_logic_vector(DATA_WIDTH-1 downto 0);
cout : out std_logic
);
end entity;
--*****CONSTANT DECLARATION*****
-- Minimum Packet Length to consider valid
-- 2 UDP Header 32-bit Words, 5 RTPS Header 32-bit Words
constant MIN_PACKET_LENGTH : integer := 7;
constant MAX_ENDPOINTS : integer := NUM_READERS+NUM_WRITERS;
--GUIDPREFIX(1 downto 0) <= VENDORID;
--*****TYPE DECLARATION*****
type STAGE_TYPE is (INIT, SRC_ADDR, DEST_ADDR, UDP_HEADER_1, UDP_HEADER_2, RTPS_HEADER_1,
RTPS_HEADER_2, RTPS_HEADER_3, RTPS_HEADER_4, SKIP_PACKET);
--*****SIGNAL DECLARATION*****
-- FSM state
signal stage, stage_next : PARSER_STAGE_TYPE := INIT;
-- Intermediate input read signal. (Read from output port not allowed)
signal rd_sig : std_logic := '0';
-- Signal used to reset the word counter
signal reset_read_cnt : std_logic;
-- 32-bit word counter (Counts words read from input fifo)
signal read_cnt : unsigned(13 downto 0) := (others => '0');
-- 32-bit aligned total packet length
signal packet_length, packet_length_next : unsigned(13 downto 0) := (others => '0');
signal sub_length, sub_length_next : unsigned(13 downto 0) := (others => '0');
signal align_sig, align_sig_next : std_logic_vector(23 downto 0) := (others => '0');
signal aligned_data_in : std_logic_vector(31 downto 0);
signal align_offset, align_offset_next : std_logic_vector(1 downto 0) := (others => '0');
signal offset_latch, offset_latch_next : std_logic_vector(1 downto 0) := (others => '0');
signal src_addr, src_addr_next : std_logic_vector(31 downto 0) := (others => '0');
signal src_port, src_port_next : std_logic_vector(15 downto 0) := (others => '0');
signal is_multicast, is_multicast_next : std_logic := '0';
signal is_metatraffic, is_metatraffic_next : std_logic := '0';
signal participant_id, participant_id_next : integer range 0 to NUM_DOMAIN-1 := 0;
signal flags, flags_next : std_logic_vector(7 downto 0) := (others => '0');
-- General purpose counter
signal cnt, cnt_next : integer := 0; --TODO: Range
-- Adder Signals
signal add_res, add_a, add_b : std_logic_vector(31 downto 0) := (others => '0');
signal add_cin, add_cout : std_logic := '0';
--*****ALIAS DEFINATION*****
-- UDP HEADER
alias udp_src_port : std_logic_vector(15 downto 0) is data_in(31 downto 16);
alias udp_dest_port : std_logic_vector(15 downto 0) is data_in(15 downto 0);
alias udp_length : std_logic_vector(15 downto 0) is data_in(31 downto 16);
alias udp_checksum : std_logic_vector(15 downto 0) is data_in(15 downto 0);
-- RTPS HEADER
alias rtps_version : std_logic_vector(15 downto 0) is data_in(31 downto 16);
alias rtps_vendorid : std_logic_vector(15 downto 0) is data_in(15 downto 0);
-- RTPS SUBMESSAGE HEADER
alias rtps_sub_id : std_logic_vector(7 downto 0) is aligned_data_in(31 downto 24);
alias rtps_sub_flags : std_logic_vector(7 downto 0) is aligned_data_in(23 downto 16);
alias rtps_sub_length : std_logic_vector(7 downto 0) is aligned_data_in(15 downto 0);
-- ACKNACK
alias rtps_acknack_final : std_logic is rtps_sub_flags(1);
-- MISC
--*****FUNCTION DECLARATION*****
-- Truncates the lower 2 bits of the input, and if they are not equal zero, adds one to the result.
-- This is used to round the byte length to 32-bit word length.
function normalize_length (len : std_logic_vector(15 downto 0)) return std_logic_vector is
variable tmp : std_logic_vector(13 downto 0) := (others => '0');
begin
tmp := len(15 downto 2);
if(len(1 downto 0) /= "00") then
tmp := std_logic_vector(unsigned(tmp) + to_unsigned(1, tmp'length));
end if;
return tmp;
end function;
-- Depending on the offset argument "off" returns a 32-bit slice from the 56-bit input signal
-- This is used to extract 32-bit aligned words from the input signal
function align_word ( off : std_logic_vector(1 downto 0),
input : std_logic_vector(56 downto 0)) return std_logic_vector is
variable ret : std_logic_vector(31 downto 0) := (others => '0');
begin
case(off) is
when "00" =>
ret := input(31 downto 0);
when "01" =>
ret := input(39 downto 8);
when "10" =>
ret := input(47 downto 16);
when "11" =>
ret := input(55 downto 24);
end case;
return ret;
end function;
-- Compares argument 'ref' with every elemant of 'ar', and returns the index of the last match.
-- If no match is found, array length is returned.
function match_domain_id ( ref : std_logic_vector(UDP_PORT_WIDTH-1 downto 0),
ar : IPv4_PORT_TYPE) return integer is
variable id : integer := 0;
begin
id := ar'length(1);
for i in 0 to ar'length-1 loop
if(ref = ar(i)) then
id := i;
end if;
end loop;
return id;
end function;
-- Returns the 'data' argument either as is, or with reversed Byte order, depending on the
-- 'endianness' argument.
function endian_swap( endianness : std_logic,
data :std_logic_vector(31 downto 0)) return std_logic_vector is
variable ret : std_logic_vector(31 downto 0);
begin
-- Little Endian
if (endianness = '1') then
-- Reverse byte Order
for i in 0 to 3 loop
ret(i*8+8-1 downto i*8) := data((3-i)*8+8-1 downto (3-i)*8);
end loop;
-- Big Endian
else
ret := data;
end if;
return ret;
end function;
begin
rd <= rd_sig;
align_prc : process(all)
variable input : std_logic_vector(55 downto 0) := (others => '0');
begin
input := align_sig & data_in;
case(align_offset) is
when "00" =>
aligned_data_in <= input(31 downto 0);
when "01" =>
aligned_data_in <= input(39 downto 8);
when "10" =>
aligned_data_in <= input(47 downto 16);
when "11" =>
aligned_data_in <= input(55 downto 24);
end case;
end process;
checksum_adder : adder
generic map (
PIPELINE_STAGES => 1,
DATA_WIDTH => 32
)
port map(
clk => clk,
reset => reset,
cin => add_cin,
A => add_a,
B => add_b,
RES => add_res,
cout => add_cout
);
end entity;
parse_prc: process(all)
variable tmp : integer range 0 to MAX_ENDPOINTS := 0;
begin
--DEFAULT
stage_next <= stage;
reset_read_cnt <= '0';
add_a <= (others => '0');
add_b <= (others => '0');
add_cin <= '0';
cnt_next <= count;
align_offset_next <= align_offset;
align_sig_next <= align_sig;
packet_length_next <= packet_length;
sub_length_next <= sub_length;
offset_latch_next <= offset_latch;
src_addr_next <= src_addr;
is_multicast_next <= is_multicast;
src_port_next <= src_port;
is_metatraffic_next <= is_metatraffic;
participant_id_next <= participant_id;
flags_next <= flags;
case(stage) is
-- Initial/Idle State
-- Src Addr
when SRC_ADDR =>
if (empty = '0') then
rd_sig <= '1';
-- Latch Src Address
src_addr_next <= data_in;
-- Initiate Checksum Calculation
add_a <= data_in;
-- TODO: Reset Flags
is_multicast_next <= '0';
is_metatraffic_next <= '0';
-- Next Stage
stage_next <= DEST_ADDR;
end if;
-- Dest Addr
when DEST_ADDR =>
if (empty = '0') then
rd_sig <= '1';
-- Check Destination Address
if (data_in = IPv4_UNICAST_ADDRESS or data_in = DEFAULT_IPv4_MULTICAST_ADDRESS) then
-- Latch if Addr is Multicast
if (data_in = DEFAULT_IPv4_MULTICAST_ADDRESS) then
is_multicast_next <= '1';
end if;
-- Checksum Calculation
add_a <= data_in;
add_b <= add_res;
add_cin <= add_cout;
-- Next Stage
stage_next <= UDP_HEADER_1;
-- packet not for us, skip
else
stage_next <= SKIP_PACKET;
end if;
else
-- Hold Checksum Value
add_a <= add_res;
end if;
when LEN =>
-- Reset packet Byte Counter
reset_read_cnt <= '1';
-- Hold Checksum Value
add_a <= add_res;
if (empty = '0') then
rd_sig <= '1';
-- Read Packet Length from input
packet_length_next <= unsigned(data_in(13 downto 0));
-- Check Packet Length
if(to_integer(unsigned(data_in(13 downto 0))) < MIN_PACKET_LENGTH) then
stage_next <= SKIP_PACKET;
else
-- Begin Processing
stage_next <= UDP_HEADER_1;
end if;
end if;
-- First UDP Header word (Fields: Src Port, Dest Port)
when UDP_HEADER_1 =>
if (empty = '0') then
rd_sig <= '1';
-- Latch Src Port
src_port_next <= udp_src_port;
-- Checksum Calculation
add_a <= data_in;
add_b <= add_res;
add_cin <= add_cout;
-- Default Next Stage
stage_next <= SKIP_PACKET;
-- Check if Dest Port is valid, if not Skip Packet
if (is_multicast = '1') then
-- Check if Metatraffic (via Mutlicast)
tmp := match_domain_id(udp_dest_port, META_IPv4_MULTICAST_PORT);
if (tmp != MAX_ENDPOINTS) then
is_metatraffic_next <= '1';
participant_id_next <= tmp;
stage_next <= UDP_HEADER_2;
-- Check if User Traffic (via Multicast)
else
tmp := match_domain_id(udp_dest_port, USER_IPv4_MULTICAST_PORT);
if (tmp != MAX_ENDPOINTS) then
stage_next <= UDP_HEADER_2;
participant_id_next <= tmp;
end if;
end if;
else
-- Check if Metatraffic (via Unicast)
tmp := match_domain_id(udp_dest_port, META_IPv4_UNICAST_PORT);
if (tmp != MAX_ENDPOINTS) then
is_metatraffic_next <= '1';
participant_id_next <= tmp;
stage_next <= UDP_HEADER_2;
-- Check if User Traffic (via Unicast)
else
tmp := match_domain_id(udp_dest_port, USER_IPv4_UNICAST_PORT);
if (tmp != MAX_ENDPOINTS) then
stage_next <= UDP_HEADER_2;
participant_id_next <= tmp;
end if;
end if;
end if;
else
-- Hold Checksum Value
add_a <= add_res;
end if;
-- Second UDP Header Word (Fields: Length, Checksum)
when UDP_HEADER_2 =>
if (empty = '0') then
rd_sig <= '1';
-- If UPD header length does not match actual packet length, skip packet
if (normalize_length(udp_length) /= std_logic_vector(packet_length)) then
stage_next <= SKIP_PACKET;
else
-- Checksum Calculation
add_a <= (udp_length & x"0000");
add_b <= add_res;
add_cin <= add_cout;
-- Next Stage
stage_next <= RTPS_HEADER_1;
end if;
else
-- Hold Checksum Value
add_a <= add_res;
end if;
-- First RTPS Header word (Fields: Protocolld)
when RTPS_HEADER_1 =>
if (empty = '0') then
rd_sig <= '1';
-- If underlying Protocol is not RTPS, skip packet
if(data_in /= PROTOCOLLD_RTPS) then
stage_next <= SKIP_PACKET;
-- Continue Parsing
else
-- Checksum Calculation
add_a <= data_in;
add_b <= add_res;
add_cin <= add_cout;
-- Next Stage
stage_next <= RTPS_HEADER_2;
end if;
else
-- Hold Checksum Value
add_a <= add_res;
end if;
-- Second RTPS Header word (Fields: Protocol Version, Vendor ID)
when RTPS_HEADER_2 =>
if (empty = '0') then
rd_sig <= '1';
-- If RTPS Protocol Major Version is not 2, skip packet
if(rtps_version(15 downto 8) /= PROTOCOLVERSION_2_4(15 downto 8)) then
stage_next <= SKIP_PACKET;
-- Continue Parsing
else
-- Checksum Calculation
add_a <= data_in;
add_b <= add_res;
add_cin <= add_cout;
-- Reset GP Counter
cnt_next <= 1;
-- Next Stage
stage_next <= RTPS_HEADER_3;
end if;
else
-- Hold Checksum Value
add_a <= add_res;
end if;
-- Rest of RTPS Header (Fields: GUID Prefix)
when RTPS_HEADER_3 =>
if (empty = '0') then
rd_sig <= '1';
-- Sender GUID_Prefix
TODO <= data_in;
-- Checksum Calculation
add_a <= data_in;
add_b <= add_res;
add_cin <= add_cout;
if (cnt = GUIDPREFIX_WIDTH/32) then
-- Next Stage
stage_next <= RTPS_SUB_HEADER;
else
cnt_next <= cnt + 1;
end if;
else
-- Hold Checksum Value
add_a <= add_res;
end if;
-- NOTE: From here on, due to the nature of the RTPS Protocol, 32-bit word alignement
-- is not guaranteed, and has to be handled.
-- RTPS Submessage Header (Fields: Submessage ID, Flags, Submessage Length)
when RTPS_SUB_HEADER =>
if (empty = '0') then
rd_sig <= '1';
case (rtps_sub_id) is
when SID_ACKNACK =>
-- Ignore Submessage if Final Flag not set
if (rtps_acknack_final = '1') then
-- Next Stage
stage_next <= ACKNACK_1;
else
-- Skip Submessage
stage_next <= SKIP_SUB;
end if;
when SID_PAD =>
when SID_HEARTBEAT =>
when SID_GAP =>
when SID_INFO_TS => --state
when SID_INFO_SRC => --state
when SID_INFO_REPLY_IP4 =>
when SID_INFO_DST => --state
when SID_INFO_REPLY => --state
when SID_NACK_FRAG =>
when SID_HEARTBEAT_FRAG =>
when SID_DATA =>
when SID_DATA_FRAG =>
-- Unknown ID, skip submessage
when others =>
stage_next <= SKIP_SUB;
end case;
-- Checksum Calculation
add_a <= data_in;
add_b <= add_res;
add_cin <= add_cout;
-- Store Submessage Length
-- TODO: The below conditional +1 adder should be solved with a carry-in
sub_length_next <= packet_length + unsigned(normalize_length(rtps_sub_length));
-- Store Byte offset of next Header
offset_latch_next <= unsigned(align_offset) + unsigned(rtps_sub_length(1 downto 0));
-- Next Stage
align_sig_next <= data_in(23 downto 0);
else
-- Hold Checksum Value
add_a <= add_res;
end if;
when ACKNACK_1 =>
if (empty = '0') then
rd_sig <= '1';
--TODO
-- Checksum Calculation
add_a <= data_in;
add_b <= add_res;
add_cin <= add_cout;
-- Next Stage
align_sig_next <= data_in(23 downto 0);
else
-- Hold Checksum Value
add_a <= add_res;
end if;
when SKIP_PACKET =>
if (empty = '0') then
rd_sig <= '1';
-- End of Packet
if (read_cnt = packet_length) then
-- Continue parsing next packet
stage_next <= SRC_ADDR;
end if;
end if;
when SKIP_SUB =>
if (empty = '0') then
rd_sig <= '1';
-- End of Packet (No further Submessages)
if (read_cnt = packet_length) then
-- Continue parsing next packet
stage_next <= SRC_ADDR;
-- End of Submessage
elsif (read_cnt = sub_length) then
-- Begin parsing of next submessage
stage_next <= RTPS_SUB_HEADER;
-- Fix alignement
align_offset <= offset_latch;
end if;
end if;
when others =>
null;
end case;
end process;
-- Process responsible for counting read words
-- This process uses the actual FIFO read signals to determine reads
word_counter_prc : process(clk, reset)
begin
if rising_edge(clk) then
-- Reset Read counter
if (reset = '1' or reset_read_cnt = '1') then
read_cnt <= to_unsigned(1, read_cnt'length);
-- Increment read counter each time rd is high
elsif (rd_sig = '1' or buffer_ren = '1') then
read_cnt <= read_cnt + to_unsigned(1, read_cnt'length);
end if;
end if;
end process;
end architecture;

47
src/rtps_package.vhd
View File

@ -10,7 +10,7 @@ package rtps_package is
--*****USER CONFIG*****
-- Unicast IPv4 Address used by all RTPS Entities [Default 192.168.0.80]
constant IPv4_UNICAST_ADDRESS : std_logic_vector(31 downto 0) := x"C0A80080";
constant DEFAULT_IPv4_ADDRESS : std_logic_vector(31 downto 0) := x"C0A80080";
-- Number of RTPS Writer Endpoints
constant NUM_WRITERS : natural := 0;
-- Number of RTPS Reader Endpoints
@ -142,7 +142,7 @@ package rtps_package is
--*****DDSI-RTPS 2.3*****
-- Default Multicast Ipv4 Address (239.255.0.1)
constant DEFAULT_IPv4_MULTICAST_ADDRESS : std_logic_vector(31 downto 0) := x"EFFF0001";
constant DEFAULT_IPv4_META_ADDRESS : std_logic_vector(31 downto 0) := x"EFFF0001";
constant GUIDPREFIX_WIDTH : natural := 96;
constant PROTOCOLVERSION_WIDTH : natural := 16;
@ -369,6 +369,10 @@ package rtps_package is
length : natural;
end record;
-- TODO: Use this everywhere
-- Marks the Reader Endpoint in the Endpoint Array
constant ENDPOINT_READERS : std_logic_vector(0 to MAX_ENDPOINTS-1) := (0 to NUM_READERS-1 => '1', others => '0');
constant READER_ENDPOINT_DATA : OUTPUT_DATA_TYPE; --Deferred to package body
constant WRITER_ENDPOINT_DATA : OUTPUT_DATA_TYPE; --Deferred to package body
constant PARTICIPANT_DATA : OUTPUT_DATA_TYPE; --Deferred to package body
@ -403,6 +407,10 @@ package rtps_package is
function min(L, R : DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
function max(L, R : DOUBLE_WORD_ARRAY) return DOUBLE_WORD_ARRAY;
function endian_swap(endianness : std_logic; data : std_logic_vector) return std_logic_vector;
function endian_swap(endianness : std_logic; data : unsigned) return unsigned;
end package;
package body rtps_package is
@ -910,7 +918,7 @@ package body rtps_package is
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
ret.data(ind+len) := DEFAULT_IPv4_META_ADDRESS;
-- METATRAFFIC MULTICAST LOCATOR
len := len + 1;
ret.data(ind+len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
@ -926,7 +934,7 @@ package body rtps_package is
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
ret.data(ind+len) := DEFAULT_IPv4_META_ADDRESS;
-- DEFAULT UNICAST LOCATOR
len := len + 1;
ret.data(ind+len) := PID_DEFAULT_UNICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
@ -942,7 +950,7 @@ package body rtps_package is
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
ret.data(ind+len) := DEFAULT_IPv4_META_ADDRESS;
-- DEFAULT MULTICAST LOCATOR
len := len + 1;
ret.data(ind+len) := PID_METATRAFFIC_MULTICAST_LOCATOR & std_logic_vector(to_unsigned(24, 16));
@ -958,7 +966,7 @@ package body rtps_package is
len := len + 1;
ret.data(ind+len) := (others => '0');
len := len + 1;
ret.data(ind+len) := DEFAULT_IPv4_MULTICAST_ADDRESS;
ret.data(ind+len) := DEFAULT_IPv4_META_ADDRESS;
-- LEASE DURATION
if (PARTICIPANT_LEASE_DURATION /= DEFAULT_PARTICIPANT_LEASE_DURATION) then
len := len + 1;
@ -1155,4 +1163,31 @@ package body rtps_package is
return ret;
end function;
-- Returns the 'data' argument either as is, or with reversed Byte order, depending on the
-- 'endianness' argument.
function endian_swap(endianness : std_logic; data : std_logic_vector) return std_logic_vector is
variable ret : std_logic_vector(data'range);
begin
-- Assert that Data Signal is Byte aligned
assert (data'length mod 8 = 0) severity failure;
-- Little Endian
if (endianness = '1') then
-- Reverse byte Order
for i in 0 to (data'length/8)-1 loop
ret(i*8+8-1 downto i*8) := data(((data'length/8)-1-i)*8+8-1 downto ((data'length/8)-1-i)*8);
end loop;
-- Big Endian
else
ret := data;
end if;
return ret;
end function;
-- Returns the 'data' argument either as is, or with reversed Byte order, depending on the
-- 'endianness' argument.
function endian_swap(endianness : std_logic; data : unsigned) return unsigned is
begin
return unsigned(endian_swap(endianness, std_logic_vector(data)));
end function;
end package body;

41
src/test.vhd
View File

@ -13,41 +13,32 @@ entity test is
port (
clk : in std_logic; -- Input Clock
reset : in std_logic; -- Synchronous Reset
input : in std_logic_vector(1 downto 0);
cnt : in natural range 0 to 12;
output : out unsigned(5 downto 0)
input : in std_logic_vector(31 downto 0);
cnt : out natural range 0 to MAX_ENDPOINTS
);
end entity;
architecture arch of test is
constant BUILD : std_logic := '0';
signal output_sig : unsigned(5 downto 0) := (others => '0');
-- Compares argument 'ref' with every element of 'ar', and returns the index of the last match.
-- If no match is found, array length is returned.
function match_id_endpoint (ref : std_logic_vector(ENTITYID_WIDTH-1 downto 0); ar : ENTITYID_TYPE) return natural is
variable id : natural := 0;
begin
id := ar'length;
for i in 0 to ar'length-1 loop
if(ref = ar(i)) then
id := i;
end if;
end loop;
return id;
end function;
begin
output <= output_sig;
process(all)
begin
output_sig <= (others => '0');
if (cnt < PARTICIPANT_DATA.length) then
output_sig <= unsigned(PARTICIPANT_DATA.data(cnt))(5 downto 0);
end if;
-- case (input) is
-- when "00" =>
-- output_sig <= to_unsigned(1,6);
-- when "01" =>
-- output_sig <= to_unsigned(2,6);
-- when "10" =>
-- output_sig <= to_unsigned(3,6);
-- when "11" =>
-- if (BUILD = '1') then
-- output_sig <= to_unsigned(1,6) + cnt;
-- end if;
-- end case;
cnt <= match_id_endpoint(input, ENTITYID);
end process;

9
syn/DE10-Nano/top.qsf
View File

@ -38,7 +38,7 @@
set_global_assignment -name FAMILY "Cyclone V"
set_global_assignment -name DEVICE 5CSEBA6U23I7
set_global_assignment -name TOP_LEVEL_ENTITY rtps_builtin_endpoint
set_global_assignment -name TOP_LEVEL_ENTITY test
set_global_assignment -name ORIGINAL_QUARTUS_VERSION 18.1.0
set_global_assignment -name PROJECT_CREATION_TIME_DATE "12:05:11 MAY 29, 2020"
set_global_assignment -name LAST_QUARTUS_VERSION "18.1.0 Lite Edition"
@ -48,13 +48,14 @@ set_global_assignment -name MAX_CORE_JUNCTION_TEMP 100
set_global_assignment -name ERROR_CHECK_FREQUENCY_DIVISOR 256
set_global_assignment -name POWER_PRESET_COOLING_SOLUTION "23 MM HEAT SINK WITH 200 LFPM AIRFLOW"
set_global_assignment -name POWER_BOARD_THERMAL_MODEL "NONE (CONSERVATIVE)"
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 VHDL_FILE ../../src/rtps_handler.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/single_port_ram.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/rtps_builtin_endpoint.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/test_package.vhd -hdl_version VHDL_2008
set_global_assignment -name VHDL_FILE ../../src/test.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