724 lines
42 KiB
VHDL
724 lines
42 KiB
VHDL
-- altera vhdl_input_version vhdl_2008
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-- XXX: QSYS Fix (https://www.intel.com/content/www/us/en/support/programmable/articles/000079458.html)
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library ieee;
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use ieee.std_logic_1164.all;
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use ieee.numeric_std.all;
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use work.ros_package.all;
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use work.ros_config.all;
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use work.rtps_package.all;
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use work.user_config.all;
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use work.rtps_config_package.all;
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entity L2_Testbench_ROS_Lib2 is
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port (
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-- SYSTEM
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clk : in std_logic;
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reset : in std_logic;
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time : in TIME_TYPE;
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-- INPUT
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empty : in std_logic;
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read : out std_logic;
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data_in : in std_logic_vector(WORD_WIDTH-1 downto 0);
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-- OUTPUT
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full : in std_logic;
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write : out std_logic;
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data_out : out std_logic_vector(WORD_WIDTH-1 downto 0)
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);
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end entity;
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architecture arch of L2_Testbench_ROS_Lib2 is
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type EARRAY_DATA_TYPE is array (0 to NUM_ENDPOINTS-1) of std_logic_vector(WORD_WIDTH downto 0);
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type HISTORY_CACHE_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_OPCODE_TYPE;
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type HISTORY_CACHE_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_OPCODE_TYPE;
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type HISTORY_CACHE_RESPONSE_RARRAY_TYPE is array (0 to NUM_READERS-1) of HISTORY_CACHE_RESPONSE_TYPE;
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type HISTORY_CACHE_RESPONSE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of HISTORY_CACHE_RESPONSE_TYPE;
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type RARRAY_DATA_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(WORD_WIDTH downto 0);
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type WARRAY_DATA_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(WORD_WIDTH downto 0);
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type SEQUENCENUMBER_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of SEQUENCENUMBER_TYPE;
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type INSTANCE_HANDLE_RARRAY_TYPE is array (0 to NUM_READERS-1) of INSTANCE_HANDLE_TYPE;
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type INSTANCE_HANDLE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of INSTANCE_HANDLE_TYPE;
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type CACHE_CHANGE_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of CACHE_CHANGE_KIND_TYPE;
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type TIME_RARRAY_TYPE is array (0 to NUM_READERS-1) of TIME_TYPE;
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type TIME_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of TIME_TYPE;
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type DDS_READER_OPCODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of DDS_READER_OPCODE_TYPE;
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type DDS_WRITER_OPCODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DDS_WRITER_OPCODE_TYPE;
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type INSTANCE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(INSTANCE_STATE_KIND_WIDTH-1 downto 0);
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type VIEW_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(VIEW_STATE_KIND_WIDTH-1 downto 0);
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type SAMPLE_STATE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_STATE_KIND_WIDTH-1 downto 0);
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type MAX_SAMPLES_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(MAX_SAMPLES_WIDTH-1 downto 0);
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type RETURN_CODE_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
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type RETURN_CODE_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(RETURN_CODE_WIDTH-1 downto 0);
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type DISPOSED_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(DISPOSED_GENERATION_COUNT_WIDTH-1 downto 0);
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type NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(NO_WRITERS_GENERATION_COUNT_WIDTH-1 downto 0);
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type SAMPLE_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(SAMPLE_RANK_WIDTH-1 downto 0);
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type GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(GENERATION_RANK_WIDTH-1 downto 0);
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type ABSOLUTE_GENERATION_RANK_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(ABSOLUTE_GENERATION_COUNT_WIDTH-1 downto 0);
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type STATUS_KIND_RARRAY_TYPE is array (0 to NUM_READERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
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type STATUS_KIND_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of std_logic_vector(STATUS_KIND_WIDTH-1 downto 0);
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type DURATION_WARRAY_TYPE is array (0 to NUM_WRITERS-1) of DURATION_TYPE;
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signal full_fire_rh, write_rh_fire : std_logic_vector(0 to NUM_ENDPOINTS-1);
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signal data_rh_fire, data_rh_fidm : std_logic_vector(WORD_WIDTH downto 0);
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signal full_fidm_rh, write_rh_fidm : std_logic;
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signal read_dm_fidm, empty_fidm_dm : std_logic;
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signal data_fidm_dm : std_logic_vector(WORD_WIDTH downto 0);
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signal read_re_fire, empty_fire_re : std_logic_vector(0 to NUM_ENDPOINTS);
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signal data_fire_re : EARRAY_DATA_TYPE;
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signal alive_re_dm, full_fdmre_re, write_dm_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1);
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signal data_dm_fdmre , data_dm_firo : std_logic_vector(WORD_WIDTH downto 0);
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signal full_firo_dm, write_dm_firo : std_logic;
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signal empty_fdmre_re, read_re_fdmre : std_logic_vector(0 to NUM_ENDPOINTS-1);
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signal data_fdmre_re : EARRAY_DATA_TYPE;
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signal full_firo_re, write_re_firo : std_logic_vector(0 to NUM_ENDPOINTS-1);
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signal data_re_firo : EARRAY_DATA_TYPE;
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signal start_rr_dr, ack_dr_rr, done_dr_rr, valid_rr_dr, ready_dr_rr : std_logic_vector(0 to NUM_READERS-1);
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signal opcode_rr_dr : HISTORY_CACHE_OPCODE_RARRAY_TYPE;
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signal ret_dr_rr : HISTORY_CACHE_RESPONSE_RARRAY_TYPE;
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signal data_rr_dr : RARRAY_DATA_TYPE;
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signal liveliness_assertion_dw_rw, data_available_dw_rw, start_rw_dw, ack_dw_rw, done_rw_dw, get_data_rw_dw, valid_dw_rw, ready_rw_dw : std_logic_vector(0 to NUM_WRITERS-1);
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signal opcode_rw_dw : HISTORY_CACHE_OPCODE_WARRAY_TYPE;
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signal seq_nr_rw_dw, cc_seq_nr_dw_rw : SEQUENCENUMBER_WARRAY_TYPE;
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signal ret_dw_rw : HISTORY_CACHE_RESPONSE_WARRAY_TYPE;
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signal data_dw_rw : WARRAY_DATA_TYPE;
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signal cc_instance_handle_dw_rw : INSTANCE_HANDLE_WARRAY_TYPE;
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signal cc_kind_dw_rw : CACHE_CHANGE_KIND_WARRAY_TYPE;
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signal cc_source_timestamp_dw_rw : TIME_WARRAY_TYPE;
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signal start_ri_dr, ack_dr_ri, get_data_ri_dr, done_dr_ri, ready_ri_dr, valid_dr_ri, si_valid_data_dr_ri, si_valid_dr_ri, si_ack_ri_dr, eoc_dr_ri : std_logic_vector(0 to NUM_READERS-1);
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signal opcode_ri_dr : DDS_READER_OPCODE_RARRAY_TYPE;
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signal instance_state_ri_dr, si_instance_state_dr_ri : INSTANCE_STATE_RARRAY_TYPE;
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signal view_state_ri_dr, si_view_state_dr_ri : VIEW_STATE_RARRAY_TYPE;
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signal sample_state_ri_dr, si_sample_state_dr_ri : SAMPLE_STATE_RARRAY_TYPE;
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signal instance_handle_ri_dr, si_instance_handle_dr_ri, si_publication_handle_dr_ri : INSTANCE_HANDLE_RARRAY_TYPE;
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signal max_samples_ri_dr : MAX_SAMPLES_RARRAY_TYPE;
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signal return_code_dr_ri : RETURN_CODE_RARRAY_TYPE;
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signal data_dr_ri : RARRAY_DATA_TYPE;
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signal si_source_timestamp_dr_ri : TIME_RARRAY_TYPE;
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signal si_disposed_generation_count_dr_ri : DISPOSED_GENERATION_COUNT_RARRAY_TYPE;
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signal si_no_writers_generation_count_dr_ri : NO_WRITERS_GENERATION_COUNT_RARRAY_TYPE;
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signal si_sample_rank_dr_ri : SAMPLE_RANK_RARRAY_TYPE;
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signal si_generation_rank_dr_ri : GENERATION_RANK_RARRAY_TYPE;
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signal si_absolute_generation_rank_dr_ri : ABSOLUTE_GENERATION_RANK_RARRAY_TYPE;
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signal status_dr_ri : STATUS_KIND_RARRAY_TYPE;
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signal start_wi_dw, ack_dw_wi, done_dw_wi, valid_wi_dw, valid_dw_wi, ready_wi_dw, ready_dw_wi : std_logic_vector(0 to NUM_WRITERS-1);
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signal opcode_wi_dw : DDS_WRITER_OPCODE_WARRAY_TYPE;
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signal instance_handle_wi_dw, instance_handle_dw_wi : INSTANCE_HANDLE_WARRAY_TYPE;
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signal source_ts_wi_dw : TIME_WARRAY_TYPE;
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signal max_wait_wi_dw : DURATION_WARRAY_TYPE;
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signal return_code_dw_wi : RETURN_CODE_WARRAY_TYPE;
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signal data_dw_wi, data_wi_dw : WARRAY_DATA_TYPE;
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signal status_dw_wi : STATUS_KIND_WARRAY_TYPE;
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signal empty_firo_ro, read_ro_firo, last_word_firo_ro : std_logic_vector(0 to NUM_ENDPOINTS);
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signal data_firo_ro : RTPS_OUT_DATA_TYPE;
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signal service_if : SERVICE_INTERFACE_ARRAY_TYPE(0 to NUM_SERVICES-1);
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-- ###GENERATED START###
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signal start_s, ack_s, taken_s, done_s, data_available_s : std_logic;
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signal opcode_s : ROS_SERVICE_OPCODE_TYPE;
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signal service_info_s : SERVICE_INFO_TYPE;
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signal request_id_s : REQUEST_ID_TYPE;
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signal a_s, b_s, sum_s : std_logic_vector(CDR_LONG_LONG_WIDTH-1 downto 0);
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signal return_code_s : std_logic_vector(ROS_RETCODE_WIDTH-1 downto 0);
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-- ###GENERATED END###
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begin
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rtps_handler_inst : entity work.rtps_handler(arch)
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port map (
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-- SYSTEM
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clk => clk,
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reset => reset,
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-- INPUT
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empty => empty,
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rd => read,
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data_in => data_in,
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-- TO DISCOVERY MODULE
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full_dm => full_fidm_rh,
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wr_dm => write_rh_fidm,
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data_out_dm => data_rh_fidm(WORD_WIDTH-1 downto 0),
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last_word_out_dm => data_rh_fidm(WORD_WIDTH),
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-- TO USER ENDPOINTS
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full_rtps => full_fire_rh,
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wr_rtps => write_rh_fire,
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data_out_rtps => data_rh_fire(WORD_WIDTH-1 downto 0),
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last_word_out_rtps => data_rh_fire(WORD_WIDTH)
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);
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fifo_in_dm_inst : configuration work.FWFT_FIFO_cfg
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generic map (
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FIFO_DEPTH => 2,
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DATA_WIDTH => WORD_WIDTH+1
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)
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port map (
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-- SYSTEM
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reset => reset,
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clk => clk,
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-- INPUT
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full => full_fidm_rh,
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write => write_rh_fidm,
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data_in => data_rh_fidm,
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-- OUTPUT
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empty => empty_fidm_dm,
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read => read_dm_fidm,
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data_out => data_fidm_dm,
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-- MISC
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free => open
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);
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fifo_in_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate
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fifo_in_re_inst : configuration work.FWFT_FIFO_cfg
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generic map (
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FIFO_DEPTH => 2,
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DATA_WIDTH => WORD_WIDTH+1
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)
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port map (
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-- SYSTEM
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reset => reset,
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clk => clk,
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-- INPUT
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full => full_fire_rh(i),
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write => write_rh_fire(i),
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data_in => data_rh_fire, -- Multicast
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-- OUTPUT
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empty => empty_fire_re(i),
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read => read_re_fire(i),
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data_out => data_fire_re(i),
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-- MISC
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free => open
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);
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end generate;
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rtps_discovery_module_inst : entity work.rtps_discovery_module(arch)
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generic map (
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MAX_REMOTE_PARTICIPANTS => MAX_REMOTE_PARTICIPANTS
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)
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port map (
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clk => clk,
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reset => reset,
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time => time,
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-- FROM RTPS HANDLER
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empty => empty_fidm_dm,
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rd => read_dm_fidm,
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data_in => data_fidm_dm(WORD_WIDTH-1 downto 0),
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last_word_in => data_fidm_dm(WORD_WIDTH),
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-- FROM RTPS ENDPOINTS
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alive => alive_re_dm,
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-- TO RTPS ENDPOINTS
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full_rtps => full_fdmre_re,
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wr_rtps => write_dm_fdmre,
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data_out_rtps => data_dm_fdmre(WORD_WIDTH-1 downto 0),
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last_word_out_rtps => data_dm_fdmre(WORD_WIDTH),
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-- TO RTPS OUT
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full_ro => full_firo_dm,
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wr_ro => write_dm_firo,
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data_out_ro => data_dm_firo(WORD_WIDTH-1 downto 0),
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last_word_out_ro => data_dm_firo(WORD_WIDTH)
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);
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fifo_dm_re_gen : for i in 0 to NUM_ENDPOINTS-1 generate
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fifo_dm_re_inst : configuration work.FWFT_FIFO_cfg
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generic map (
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FIFO_DEPTH => 2,
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DATA_WIDTH => WORD_WIDTH+1
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)
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port map (
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-- SYSTEM
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reset => reset,
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clk => clk,
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-- INPUT
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full => full_fdmre_re(i),
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write => write_dm_fdmre(i),
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data_in => data_dm_fdmre, -- Multicast
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-- OUTPUT
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empty => empty_fdmre_re(i),
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read => read_re_fdmre(i),
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data_out => data_fdmre_re(i),
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-- MISC
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free => open
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);
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end generate;
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rtps_endpoint_gen : for i in 0 to NUM_ENDPOINTS-1 generate
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rtps_endpoint_if : if (i < NUM_READERS) generate
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rtps_reader_inst : entity work.rtps_reader(arch)
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generic map (
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ENTITYID => ENTITYID(i),
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RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS,
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LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS,
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DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS,
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HEARTBEAT_RESPONSE_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_RESPONSE_DELAY,
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HEARTBEAT_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).HEARTBEAT_SUPPRESSION_DELAY,
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LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION,
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WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY,
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MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS
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)
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port map (
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-- SYSTEM
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clk => clk,
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reset => reset,
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time => time,
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-- FROM RTPS_HANDLER (USER TRAFFIC)
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empty_user => empty_fire_re(i),
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rd_user => read_re_fire(i),
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data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0),
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last_word_in_user => data_fire_re(i)(WORD_WIDTH),
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-- FROM DISCOVERY MODULE (META TRAFFIC)
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empty_meta => empty_fdmre_re(i),
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rd_meta => read_re_fdmre(i),
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data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0),
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last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH),
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-- RTPS OUTPUT
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full_ro => full_firo_re(i),
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wr_ro => write_re_firo(i),
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data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0),
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last_word_out_ro => data_re_firo(i)(WORD_WIDTH),
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-- TO HISTORY CACHE
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start_hc => start_rr_dr(i),
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opcode_hc => opcode_rr_dr(i),
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ack_hc => ack_dr_rr(i),
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done_hc => done_dr_rr(i),
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ret_hc => ret_dr_rr(i),
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valid_out_hc => valid_rr_dr(i),
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ready_out_hc => ready_dr_rr(i),
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data_out_hc => data_rr_dr(i)(WORD_WIDTH-1 downto 0),
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last_word_out_hc => data_rr_dr(i)(WORD_WIDTH)
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);
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-- Set Alive Signals of Readers to Zero
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alive_re_dm(i) <= ('0');
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else generate
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rtps_writer_inst : entity work.rtps_writer(arch)
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generic map (
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RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS,
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LIVELINESS_QOS => ENDPOINT_CONFIG(i).LIVELINESS_QOS,
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DURABILITY_QOS => ENDPOINT_CONFIG(i).DURABILITY_QOS,
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DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS,
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ACKNACK_RESPONSE_DELAY => ENDPOINT_CONFIG(i).ACKNACK_RESPONSE_DELAY,
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ACKNACK_SUPPRESSION_DELAY => ENDPOINT_CONFIG(i).ACKNACK_SUPPRESSION_DELAY,
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LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION,
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HEARTBEAT_PERIOD => ENDPOINT_CONFIG(i).HEARTBEAT_PERIOD,
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ENTITYID => ENTITYID(i),
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WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY,
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PUSH_MODE => ENDPOINT_CONFIG(i).PUSH_MODE,
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INLINE_QOS => gen_inline_qos(i),
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MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS
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)
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port map (
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-- SYSTEM
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clk => clk,
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reset => reset,
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time => time,
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-- FROM RTPS_HANDLER (USER TRAFFIC)
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empty_user => empty_fire_re(i),
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rd_user => read_re_fire(i),
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data_in_user => data_fire_re(i)(WORD_WIDTH-1 downto 0),
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last_word_in_user => data_fire_re(i)(WORD_WIDTH),
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-- FROM DISCOVERY MODULE (META TRAFFIC)
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empty_meta => empty_fdmre_re(i),
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rd_meta => read_re_fdmre(i),
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data_in_meta => data_fdmre_re(i)(WORD_WIDTH-1 downto 0),
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last_word_in_meta => data_fdmre_re(i)(WORD_WIDTH),
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-- TO DISCOVERY MODULE (META TRAFFIC)
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alive_sig => alive_re_dm(i),
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-- RTPS OUTPUT
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full_ro => full_firo_re(i),
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wr_ro => write_re_firo(i),
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data_out_ro => data_re_firo(i)(WORD_WIDTH-1 downto 0),
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last_word_out_ro => data_re_firo(i)(WORD_WIDTH),
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-- FROM HC
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liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS),
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data_available => data_available_dw_rw(i-NUM_READERS),
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start_hc => start_rw_dw(i-NUM_READERS),
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opcode_hc => opcode_rw_dw(i-NUM_READERS),
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ack_hc => ack_dw_rw(i-NUM_READERS),
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seq_nr_hc => seq_nr_rw_dw(i-NUM_READERS),
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done_hc => done_rw_dw(i-NUM_READERS),
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ret_hc => ret_dw_rw(i-NUM_READERS),
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get_data_hc => get_data_rw_dw(i-NUM_READERS),
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valid_in_hc => valid_dw_rw(i-NUM_READERS),
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ready_in_hc => ready_rw_dw(i-NUM_READERS),
|
|
data_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0),
|
|
last_word_in_hc => data_dw_rw(i-NUM_READERS)(WORD_WIDTH),
|
|
cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS),
|
|
cc_kind => cc_kind_dw_rw(i-NUM_READERS),
|
|
cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS),
|
|
cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS)
|
|
);
|
|
end generate;
|
|
end generate;
|
|
|
|
|
|
dds_endpoint_gen : for i in 0 to NUM_ENDPOINTS-2 generate
|
|
dds_endpoint_if : if (i < NUM_READERS) generate
|
|
dds_reader_inst : entity work.dds_reader(arch)
|
|
generic map (
|
|
TIME_BASED_FILTER_QOS => ENDPOINT_CONFIG(i).TIME_BASED_FILTER_QOS,
|
|
DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS,
|
|
MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES,
|
|
MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE,
|
|
MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES,
|
|
HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS,
|
|
RELIABILITY_QOS => ENDPOINT_CONFIG(i).RELIABILITY_QOS,
|
|
PRESENTATION_QOS => ENDPOINT_CONFIG(i).PRESENTATION_QOS,
|
|
DESTINATION_ORDER_QOS => ENDPOINT_CONFIG(i).DESTINATION_ORDER_QOS,
|
|
COHERENT_ACCESS => ENDPOINT_CONFIG(i).COHERENT_ACCESS,
|
|
ORDERED_ACCESS => ENDPOINT_CONFIG(i).ORDERED_ACCESS,
|
|
WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY,
|
|
PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE,
|
|
MAX_REMOTE_ENDPOINTS => MAX_REMOTE_ENDPOINTS
|
|
)
|
|
port map (
|
|
-- SYSTEM
|
|
clk => clk,
|
|
reset => reset,
|
|
time => time,
|
|
-- FROM RTPS ENDPOINT
|
|
start_rtps => start_rr_dr(i),
|
|
opcode_rtps => opcode_rr_dr(i),
|
|
ack_rtps => ack_dr_rr(i),
|
|
done_rtps => done_dr_rr(i),
|
|
ret_rtps => ret_dr_rr(i),
|
|
valid_in_rtps => valid_rr_dr(i),
|
|
ready_in_rtps => ready_dr_rr(i),
|
|
data_in_rtps => data_rr_dr(i)(WORD_WIDTH-1 downto 0),
|
|
last_word_in_rtps => data_rr_dr(i)(WORD_WIDTH),
|
|
-- TO USER ENTITY
|
|
start_dds => start_ri_dr(i),
|
|
ack_dds => ack_dr_ri(i),
|
|
opcode_dds => opcode_ri_dr(i),
|
|
instance_state_dds => instance_state_ri_dr(i),
|
|
view_state_dds => view_state_ri_dr(i),
|
|
sample_state_dds => sample_state_ri_dr(i),
|
|
instance_handle_dds => instance_handle_ri_dr(i),
|
|
max_samples_dds => max_samples_ri_dr(i),
|
|
get_data_dds => get_data_ri_dr(i),
|
|
done_dds => done_dr_ri(i),
|
|
return_code_dds => return_code_dr_ri(i),
|
|
valid_out_dds => valid_dr_ri(i),
|
|
ready_out_dds => ready_ri_dr(i),
|
|
data_out_dds => data_dr_ri(i)(WORD_WIDTH-1 downto 0),
|
|
last_word_out_dds => data_dr_ri(i)(WORD_WIDTH),
|
|
-- Sample Info
|
|
si_sample_state => si_sample_state_dr_ri(i),
|
|
si_view_state => si_view_state_dr_ri(i),
|
|
si_instance_state => si_instance_state_dr_ri(i),
|
|
si_source_timestamp => si_source_timestamp_dr_ri(i),
|
|
si_instance_handle => si_instance_handle_dr_ri(i),
|
|
si_publication_handle => si_publication_handle_dr_ri(i),
|
|
si_disposed_generation_count => si_disposed_generation_count_dr_ri(i),
|
|
si_no_writers_generation_count => si_no_writers_generation_count_dr_ri(i),
|
|
si_sample_rank => si_sample_rank_dr_ri(i),
|
|
si_generation_rank => si_generation_rank_dr_ri(i),
|
|
si_absolute_generation_rank => si_absolute_generation_rank_dr_ri(i),
|
|
si_valid_data => si_valid_data_dr_ri(i),
|
|
si_valid => si_valid_dr_ri(i),
|
|
si_ack => si_ack_ri_dr(i),
|
|
eoc => eoc_dr_ri(i),
|
|
-- Communication Status
|
|
status => status_dr_ri(i)
|
|
);
|
|
else generate
|
|
dds_writer_inst : entity work.dds_writer(arch)
|
|
generic map (
|
|
HISTORY_QOS => ENDPOINT_CONFIG(i).HISTORY_QOS,
|
|
DEADLINE_QOS => ENDPOINT_CONFIG(i).DEADLINE_QOS,
|
|
LIFESPAN_QOS => ENDPOINT_CONFIG(i).LIFESPAN_QOS,
|
|
LEASE_DURATION => ENDPOINT_CONFIG(i).LEASE_DURATION,
|
|
WITH_KEY => ENDPOINT_CONFIG(i).WITH_KEY,
|
|
MAX_SAMPLES => ENDPOINT_CONFIG(i).MAX_SAMPLES,
|
|
MAX_INSTANCES => ENDPOINT_CONFIG(i).MAX_INSTANCES,
|
|
MAX_SAMPLES_PER_INSTANCE => ENDPOINT_CONFIG(i).MAX_SAMPLES_PER_INSTANCE,
|
|
PAYLOAD_FRAME_SIZE => ENDPOINT_CONFIG(i).MAX_PAYLOAD_SIZE
|
|
)
|
|
port map (
|
|
-- SYSTEM
|
|
clk => clk,
|
|
reset => reset,
|
|
time => time,
|
|
-- TO/FROM RTPS ENDPOINT
|
|
start_rtps => start_rw_dw(i-NUM_READERS),
|
|
opcode_rtps => opcode_rw_dw(i-NUM_READERS),
|
|
ack_rtps => ack_dw_rw(i-NUM_READERS),
|
|
done_rtps => done_rw_dw(i-NUM_READERS),
|
|
ret_rtps => ret_dw_rw(i-NUM_READERS),
|
|
seq_nr_rtps => seq_nr_rw_dw(i-NUM_READERS),
|
|
get_data_rtps => get_data_rw_dw(i-NUM_READERS),
|
|
valid_out_rtps => valid_dw_rw(i-NUM_READERS),
|
|
ready_out_rtps => ready_rw_dw(i-NUM_READERS),
|
|
data_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH-1 downto 0),
|
|
last_word_out_rtps => data_dw_rw(i-NUM_READERS)(WORD_WIDTH),
|
|
liveliness_assertion => liveliness_assertion_dw_rw(i-NUM_READERS),
|
|
data_available => data_available_dw_rw(i-NUM_READERS),
|
|
-- Cache Change
|
|
cc_instance_handle => cc_instance_handle_dw_rw(i-NUM_READERS),
|
|
cc_kind => cc_kind_dw_rw(i-NUM_READERS),
|
|
cc_source_timestamp => cc_source_timestamp_dw_rw(i-NUM_READERS),
|
|
cc_seq_nr => cc_seq_nr_dw_rw(i-NUM_READERS),
|
|
-- TO/FROM USER ENTITY
|
|
start_dds => start_wi_dw(i-NUM_READERS),
|
|
ack_dds => ack_dw_wi(i-NUM_READERS),
|
|
opcode_dds => opcode_wi_dw(i-NUM_READERS),
|
|
instance_handle_in_dds => instance_handle_wi_dw(i-NUM_READERS),
|
|
source_ts_dds => source_ts_wi_dw(i-NUM_READERS),
|
|
max_wait_dds => max_wait_wi_dw(i-NUM_READERS),
|
|
done_dds => done_dw_wi(i-NUM_READERS),
|
|
return_code_dds => return_code_dw_wi(i-NUM_READERS),
|
|
instance_handle_out_dds => instance_handle_dw_wi(i-NUM_READERS),
|
|
valid_in_dds => valid_wi_dw(i-NUM_READERS),
|
|
ready_in_dds => ready_dw_wi(i-NUM_READERS),
|
|
data_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH-1 downto 0),
|
|
last_word_in_dds => data_wi_dw(i-NUM_READERS)(WORD_WIDTH),
|
|
valid_out_dds => valid_dw_wi(i-NUM_READERS),
|
|
ready_out_dds => ready_wi_dw(i-NUM_READERS),
|
|
data_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH-1 downto 0),
|
|
last_word_out_dds => data_dw_wi(i-NUM_READERS)(WORD_WIDTH),
|
|
-- Communication Status
|
|
status => status_dw_wi(i-NUM_READERS)
|
|
);
|
|
end generate;
|
|
end generate;
|
|
|
|
ros_discovery_writer_inst : entity work.ros_static_discovery_writer(arch)
|
|
port map (
|
|
-- SYSTEM
|
|
clk => clk,
|
|
reset => reset,
|
|
-- TO/FROM RTPS ENDPOINT
|
|
start => start_rw_dw(NUM_WRITERS-1),
|
|
opcode => opcode_rw_dw(NUM_WRITERS-1),
|
|
ack => ack_dw_rw(NUM_WRITERS-1),
|
|
done => done_rw_dw(NUM_WRITERS-1),
|
|
ret => ret_dw_rw(NUM_WRITERS-1),
|
|
seq_nr => seq_nr_rw_dw(NUM_WRITERS-1),
|
|
get_data => get_data_rw_dw(NUM_WRITERS-1),
|
|
valid_out => valid_dw_rw(NUM_WRITERS-1),
|
|
ready_out => ready_rw_dw(NUM_WRITERS-1),
|
|
data_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH-1 downto 0),
|
|
last_word_out => data_dw_rw(NUM_WRITERS-1)(WORD_WIDTH),
|
|
liveliness_assertion => liveliness_assertion_dw_rw(NUM_WRITERS-1),
|
|
data_available => data_available_dw_rw(NUM_WRITERS-1),
|
|
-- Cache Change
|
|
cc_instance_handle => cc_instance_handle_dw_rw(NUM_WRITERS-1),
|
|
cc_kind => cc_kind_dw_rw(NUM_WRITERS-1),
|
|
cc_source_timestamp => cc_source_timestamp_dw_rw(NUM_WRITERS-1),
|
|
cc_seq_nr => cc_seq_nr_dw_rw(NUM_WRITERS-1)
|
|
);
|
|
|
|
|
|
fifo_in_ro_gen : for i in 0 to NUM_ENDPOINTS generate
|
|
fifo_in_ro_if : if (i = NUM_ENDPOINTS) generate
|
|
fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg
|
|
generic map (
|
|
FIFO_DEPTH => 2,
|
|
DATA_WIDTH => WORD_WIDTH+1
|
|
)
|
|
port map (
|
|
-- SYSTEM
|
|
reset => reset,
|
|
clk => clk,
|
|
-- INPUT
|
|
full => full_firo_dm,
|
|
write => write_dm_firo,
|
|
data_in => data_dm_firo,
|
|
-- OUTPUT
|
|
empty => empty_firo_ro(i),
|
|
read => read_ro_firo(i),
|
|
data_out(WORD_WIDTH) => last_word_firo_ro(i),
|
|
data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i),
|
|
-- MISC
|
|
free => open
|
|
);
|
|
else generate
|
|
fifo_in_ro_inst : configuration work.FWFT_FIFO_cfg
|
|
generic map (
|
|
FIFO_DEPTH => 2,
|
|
DATA_WIDTH => WORD_WIDTH+1
|
|
)
|
|
port map (
|
|
-- SYSTEM
|
|
reset => reset,
|
|
clk => clk,
|
|
-- INPUT
|
|
full => full_firo_re(i),
|
|
write => write_re_firo(i),
|
|
data_in => data_re_firo(i),
|
|
-- OUTPUT
|
|
empty => empty_firo_ro(i),
|
|
read => read_ro_firo(i),
|
|
data_out(WORD_WIDTH) => last_word_firo_ro(i),
|
|
data_out(WORD_WIDTH-1 downto 0) => data_firo_ro(i),
|
|
-- MISC
|
|
free => open
|
|
);
|
|
end generate;
|
|
end generate;
|
|
|
|
|
|
rtps_out_inst : entity work.rtps_out(arch)
|
|
port map (
|
|
-- SYSTEM
|
|
clk => clk,
|
|
reset => reset,
|
|
-- INPUT
|
|
empty => empty_firo_ro,
|
|
rd => read_ro_firo,
|
|
data_in => data_firo_ro,
|
|
last_word_in => last_word_firo_ro,
|
|
-- OUTPUT
|
|
full => full,
|
|
wr => write,
|
|
data_out => data_out
|
|
);
|
|
|
|
service_if_gen : for i in 0 to NUM_SERVICES-1 generate
|
|
start_ri_dr(i) <= service_if(i).start_r;
|
|
service_if(i).ack_r <= ack_dr_ri(i);
|
|
opcode_ri_dr(i) <= service_if(i).opcode_r;
|
|
instance_state_ri_dr(i) <= service_if(i).instance_state_r;
|
|
view_state_ri_dr(i) <= service_if(i).view_state_r;
|
|
sample_state_ri_dr(i) <= service_if(i).sample_state_r;
|
|
instance_handle_ri_dr(i) <= service_if(i).instance_handle_r;
|
|
max_samples_ri_dr(i) <= service_if(i).max_samples_r;
|
|
get_data_ri_dr(i) <= service_if(i).get_data_r;
|
|
service_if(i).done_r <= done_dr_ri(i);
|
|
service_if(i).return_code_r <= return_code_dr_ri(i);
|
|
service_if(i).valid_in_r <= valid_dr_ri(i);
|
|
ready_ri_dr(i) <= service_if(i).ready_in_r;
|
|
service_if(i).data_in_r <= data_dr_ri(i)(WORD_WIDTH-1 downto 0);
|
|
service_if(i).last_word_in_r <= data_dr_ri(i)(WORD_WIDTH);
|
|
service_if(i).si_sample_state_r <= si_sample_state_dr_ri(i);
|
|
service_if(i).si_view_state_r <= si_view_state_dr_ri(i);
|
|
service_if(i).si_instance_state_r <= si_instance_state_dr_ri(i);
|
|
service_if(i).si_source_timestamp_r <= si_source_timestamp_dr_ri(i);
|
|
service_if(i).si_instance_handle_r <= si_instance_handle_dr_ri(i);
|
|
service_if(i).si_publication_handle_r <= si_publication_handle_dr_ri(i);
|
|
service_if(i).si_disposed_generation_count_r <= si_disposed_generation_count_dr_ri(i);
|
|
service_if(i).si_no_writers_generation_count_r <= si_no_writers_generation_count_dr_ri(i);
|
|
service_if(i).si_sample_rank_r <= si_sample_rank_dr_ri(i);
|
|
service_if(i).si_generation_rank_r <= si_generation_rank_dr_ri(i);
|
|
service_if(i).si_absolute_generation_rank_r <= si_absolute_generation_rank_dr_ri(i);
|
|
service_if(i).si_valid_data_r <= si_valid_data_dr_ri(i);
|
|
service_if(i).si_valid_r <= si_valid_dr_ri(i);
|
|
si_ack_ri_dr(i) <= service_if(i).si_ack_r;
|
|
service_if(i).eoc_r <= eoc_dr_ri(i);
|
|
service_if(i).status_r <= status_dr_ri(i);
|
|
start_wi_dw(i) <= service_if(i).start_w;
|
|
service_if(i).ack_w <= ack_dw_wi(i);
|
|
opcode_wi_dw(i) <= service_if(i).opcode_w;
|
|
service_if(i).instance_handle_out_w <= instance_handle_dw_wi(i);
|
|
source_ts_wi_dw(i) <= service_if(i).source_ts_w;
|
|
max_wait_wi_dw(i) <= service_if(i).max_wait_w;
|
|
service_if(i).done_w <= done_dw_wi(i);
|
|
service_if(i).return_code_w <= return_code_dw_wi(i);
|
|
instance_handle_wi_dw(i) <= service_if(i).instance_handle_in_w;
|
|
valid_wi_dw(i) <= service_if(i).valid_out_w;
|
|
service_if(i).ready_out_w <= ready_dw_wi(i);
|
|
data_wi_dw(i)(WORD_WIDTH-1 downto 0) <= service_if(i).data_out_w;
|
|
data_wi_dw(i)(WORD_WIDTH) <= service_if(i).last_word_out_w;
|
|
service_if(i).valid_in_w <= valid_dw_wi(i);
|
|
ready_wi_dw(i) <= service_if(i).ready_in_w;
|
|
service_if(i).data_in_w <= data_dw_wi(i)(WORD_WIDTH-1 downto 0);
|
|
service_if(i).last_word_in_w <= data_dw_wi(i)(WORD_WIDTH);
|
|
service_if(i).status_w <= status_dw_wi(i);
|
|
end generate;
|
|
|
|
-- ######GENERATED START######
|
|
|
|
AddTwoInts_ros_srv_server_inst : entity work.AddTwoInts_ros_srv_server(arch)
|
|
port map (
|
|
clk => clk,
|
|
reset => reset,
|
|
start_r => service_if(0).start_r,
|
|
ack_r => service_if(0).ack_r,
|
|
opcode_r => service_if(0).opcode_r,
|
|
instance_state_r => service_if(0).instance_state_r,
|
|
view_state_r => service_if(0).view_state_r,
|
|
sample_state_r => service_if(0).sample_state_r,
|
|
instance_handle_r => service_if(0).instance_handle_r,
|
|
max_samples_r => service_if(0).max_samples_r,
|
|
get_data_r => service_if(0).get_data_r,
|
|
done_r => service_if(0).done_r,
|
|
return_code_r => service_if(0).return_code_r,
|
|
valid_in_r => service_if(0).valid_in_r,
|
|
ready_in_r => service_if(0).ready_in_r,
|
|
data_in_r => service_if(0).data_in_r,
|
|
last_word_in_r => service_if(0).last_word_in_r,
|
|
si_sample_state_r => service_if(0).si_sample_state_r,
|
|
si_view_state_r => service_if(0).si_view_state_r,
|
|
si_instance_state_r => service_if(0).si_instance_state_r,
|
|
si_source_timestamp_r => service_if(0).si_source_timestamp_r,
|
|
si_instance_handle_r => service_if(0).si_instance_handle_r,
|
|
si_publication_handle_r => service_if(0).si_publication_handle_r,
|
|
si_disposed_generation_count_r => service_if(0).si_disposed_generation_count_r,
|
|
si_no_writers_generation_count_r => service_if(0).si_no_writers_generation_count_r,
|
|
si_sample_rank_r => service_if(0).si_sample_rank_r,
|
|
si_generation_rank_r => service_if(0).si_generation_rank_r,
|
|
si_absolute_generation_rank_r => service_if(0).si_absolute_generation_rank_r,
|
|
si_valid_data_r => service_if(0).si_valid_data_r,
|
|
si_valid_r => service_if(0).si_valid_r,
|
|
si_ack_r => service_if(0).si_ack_r,
|
|
eoc_r => service_if(0).eoc_r,
|
|
status_r => service_if(0).status_r,
|
|
start_w => service_if(0).start_w,
|
|
ack_w => service_if(0).ack_w,
|
|
opcode_w => service_if(0).opcode_w,
|
|
instance_handle_out_w => service_if(0).instance_handle_out_w,
|
|
source_ts_w => service_if(0).source_ts_w,
|
|
max_wait_w => service_if(0).max_wait_w,
|
|
done_w => service_if(0).done_w,
|
|
return_code_w => service_if(0).return_code_w,
|
|
instance_handle_in_w => service_if(0).instance_handle_in_w,
|
|
valid_out_w => service_if(0).valid_out_w,
|
|
ready_out_w => service_if(0).ready_out_w,
|
|
data_out_w => service_if(0).data_out_w,
|
|
last_word_out_w => service_if(0).last_word_out_w,
|
|
valid_in_w => service_if(0).valid_in_w,
|
|
ready_in_w => service_if(0).ready_in_w,
|
|
data_in_w => service_if(0).data_in_w,
|
|
last_word_in_w => service_if(0).last_word_in_w,
|
|
status_w => service_if(0).status_w,
|
|
|
|
start_user => start_s,
|
|
ack_user => ack_s,
|
|
opcode_user => opcode_s,
|
|
service_info_user => service_info_s,
|
|
request_id_user => request_id_s,
|
|
taken_user => taken_s,
|
|
data_available_user => data_available_s,
|
|
a => a_s,
|
|
b => b_s,
|
|
sum => sum_s,
|
|
done_user => done_s,
|
|
return_code_user => return_code_s
|
|
);
|
|
|
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AddTwoInts_inst : entity work.AddTwoInts(arch)
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port map (
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clk => clk,
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reset => reset,
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start => start_s,
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ack => ack_s,
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opcode => opcode_s,
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service_info => service_info_s,
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request_id => request_id_s,
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taken => taken_s,
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data_available => data_available_s,
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a => a_s,
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b => b_s,
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sum => sum_s,
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done => done_s,
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return_code => return_code_s
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);
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-- ######GENERATED END######
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end architecture;
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