can_bsp.v

人民邮电出版社出版的《FPGA硬件接口设计实践》一书的代码

// synopsys translate_off
`include "timescale.v"
// synopsys translate_on
`include "can_defines.v"

module can_bsp
( 
  clk,
  rst,

  sample_point,
  sampled_bit,
  sampled_bit_q,
  tx_point,
  hard_sync,

  addr,
  data_in,
  data_out,
  fifo_selected,
  


  /* Mode register */
  reset_mode,
  listen_only_mode,
  acceptance_filter_mode,
  self_test_mode,

  /* Command register */
  release_buffer,
  tx_request,
  abort_tx,
  self_rx_request,
  single_shot_transmission,

  /* Arbitration Lost Capture Register */
  read_arbitration_lost_capture_reg,

  /* Error Code Capture Register */
  read_error_code_capture_reg,
  error_capture_code,

  /* Error Warning Limit register */
  error_warning_limit,

  /* Rx Error Counter register */
  we_rx_err_cnt,

  /* Tx Error Counter register */
  we_tx_err_cnt,

  /* Clock Divider register */
  extended_mode,

  rx_idle,
  transmitting,
  last_bit_of_inter,
  set_reset_mode,
  node_bus_off,
  error_status,
  rx_err_cnt,
  tx_err_cnt,
  transmit_status,
  receive_status,
  tx_successful,
  need_to_tx,
  overrun,
  info_empty,
  set_bus_error_irq,
  set_arbitration_lost_irq,
  arbitration_lost_capture,
  node_error_passive,
  node_error_active,
  rx_message_counter,



  /* This section is for BASIC and EXTENDED mode */
  /* Acceptance code register */
  acceptance_code_0,

  /* Acceptance mask register */
  acceptance_mask_0,
  /* End: This section is for BASIC and EXTENDED mode */
  
  /* This section is for EXTENDED mode */
  /* Acceptance code register */
  acceptance_code_1,
  acceptance_code_2,
  acceptance_code_3,

  /* Acceptance mask register */
  acceptance_mask_1,
  acceptance_mask_2,
  acceptance_mask_3,
  /* End: This section is for EXTENDED mode */
  
  /* Tx data registers. Holding identifier (basic mode), tx frame information (extended mode) and data */
  tx_data_0,
  tx_data_1,
  tx_data_2,
  tx_data_3,
  tx_data_4,
  tx_data_5,
  tx_data_6,
  tx_data_7,
  tx_data_8,
  tx_data_9,
  tx_data_10,
  tx_data_11,
  tx_data_12,
  /* End: Tx data registers */
  
  /* Tx signal */
  tx,
  tx_oen

);

parameter Tp = 1;

input         clk;
input         rst;
input         sample_point;
input         sampled_bit;
input         sampled_bit_q;
input         tx_point;
input         hard_sync;
input   [7:0] addr;
input   [7:0] data_in;
output  [7:0] data_out;
input         fifo_selected;


input         reset_mode;
input         listen_only_mode;
input         acceptance_filter_mode;
input         extended_mode;
input         self_test_mode;


/* Command register */
input         release_buffer;
input         tx_request;
input         abort_tx;
input         self_rx_request;
input         single_shot_transmission;

/* Arbitration Lost Capture Register */
input         read_arbitration_lost_capture_reg;

/* Error Code Capture Register */
input         read_error_code_capture_reg;
output  [7:0] error_capture_code;

/* Error Warning Limit register */
input   [7:0] error_warning_limit;

/* Rx Error Counter register */
input         we_rx_err_cnt;

/* Tx Error Counter register */
input         we_tx_err_cnt;

output        rx_idle;
output        transmitting;
output        last_bit_of_inter;
output        set_reset_mode;
output        node_bus_off;
output        error_status;
output  [8:0] rx_err_cnt;
output  [8:0] tx_err_cnt;
output        transmit_status;
output        receive_status;
output        tx_successful;
output        need_to_tx;
output        overrun;
output        info_empty;
output        set_bus_error_irq;
output        set_arbitration_lost_irq;
output  [4:0] arbitration_lost_capture;
output        node_error_passive;
output        node_error_active;
output  [6:0] rx_message_counter;


/* This section is for BASIC and EXTENDED mode */
/* Acceptance code register */
input   [7:0] acceptance_code_0;

/* Acceptance mask register */
input   [7:0] acceptance_mask_0;

/* End: This section is for BASIC and EXTENDED mode */


/* This section is for EXTENDED mode */
/* Acceptance code register */
input   [7:0] acceptance_code_1;
input   [7:0] acceptance_code_2;
input   [7:0] acceptance_code_3;

/* Acceptance mask register */
input   [7:0] acceptance_mask_1;
input   [7:0] acceptance_mask_2;
input   [7:0] acceptance_mask_3;
/* End: This section is for EXTENDED mode */

/* Tx data registers. Holding identifier (basic mode), tx frame information (extended mode) and data */
input   [7:0] tx_data_0;
input   [7:0] tx_data_1;
input   [7:0] tx_data_2;
input   [7:0] tx_data_3;
input   [7:0] tx_data_4;
input   [7:0] tx_data_5;
input   [7:0] tx_data_6;
input   [7:0] tx_data_7;
input   [7:0] tx_data_8;
input   [7:0] tx_data_9;
input   [7:0] tx_data_10;
input   [7:0] tx_data_11;
input   [7:0] tx_data_12;
/* End: Tx data registers */

/* Tx signal */
output        tx;
output        tx_oen;

reg           reset_mode_q;
reg     [5:0] bit_cnt;

reg     [3:0] data_len;
reg    [28:0] id;
reg     [2:0] bit_stuff_cnt;
reg     [2:0] bit_stuff_cnt_tx;
reg           tx_point_q;

reg           rx_idle;
reg           rx_id1;
reg           rx_rtr1;
reg           rx_ide;
reg           rx_id2;
reg           rx_rtr2;
reg           rx_r1;
reg           rx_r0;
reg           rx_dlc;
reg           rx_data;
reg           rx_crc;
reg           rx_crc_lim;
reg           rx_ack;
reg           rx_ack_lim;
reg           rx_eof;
reg           rx_inter;
reg           go_early_tx_latched;

reg           rtr1;
reg           ide;
reg           rtr2;
reg    [14:0] crc_in;

reg     [7:0] tmp_data;
reg     [7:0] tmp_fifo [0:7];
reg           write_data_to_tmp_fifo;
reg     [2:0] byte_cnt;
reg           bit_stuff_cnt_en;
reg           bit_stuff_cnt_tx_en;
reg           crc_enable;

reg     [2:0] eof_cnt;
reg     [2:0] passive_cnt;

reg           transmitting;

reg           error_frame;
reg           error_frame_q;
reg           enable_error_cnt2;
reg     [2:0] error_cnt1;
reg     [2:0] error_cnt2;
reg     [2:0] delayed_dominant_cnt;
reg           enable_overload_cnt2;
reg           overload_frame;
reg           overload_frame_blocked;
reg     [2:0] overload_cnt1;
reg     [2:0] overload_cnt2;
reg           tx;
reg           crc_err;

reg           arbitration_lost;
reg           arbitration_lost_q;
reg     [4:0] arbitration_lost_capture;
reg           arbitration_cnt_en;
reg           arbitration_blocked;
reg           tx_q;

reg           need_to_tx;   // When the CAN core has something to transmit and a dominant bit is sampled at the third bit
reg     [3:0] data_cnt;     // Counting the data bytes that are written to FIFO
reg     [2:0] header_cnt;   // Counting header length
reg           wr_fifo;      // Write data and header to 64-byte fifo
reg     [7:0] data_for_fifo;// Multiplexed data that is stored to 64-byte fifo

reg     [5:0] tx_pointer;
reg           tx_bit;
reg           tx_state;
reg           transmitter;
reg           finish_msg;

reg     [8:0] rx_err_cnt;
reg     [8:0] tx_err_cnt;
reg           rx_err_cnt_blocked;
reg     [3:0] bus_free_cnt;
reg           bus_free_cnt_en;
reg           bus_free;
reg           waiting_for_bus_free;

reg           node_error_passive;
reg           node_bus_off;
reg           node_bus_off_q;
reg           ack_err_latched;
reg           bit_err_latched;
reg           stuff_err_latched;
reg           form_err_latched;
reg           rule3_exc1_1;
reg           rule3_exc1_2;
reg           rule3_exc2;
reg           suspend;
reg           susp_cnt_en;
reg     [2:0] susp_cnt;
reg           error_flag_over_blocked;

reg     [7:0] error_capture_code;
reg     [7:6] error_capture_code_type;
reg           error_capture_code_blocked;

wire    [4:0] error_capture_code_segment;
wire          error_capture_code_direction;

wire          bit_de_stuff;
wire          bit_de_stuff_tx;

wire          rule5;

/* Rx state machine */
wire          go_rx_idle;
wire          go_rx_id1;
wire          go_rx_rtr1;
wire          go_rx_ide;
wire          go_rx_id2;
wire          go_rx_rtr2;
wire          go_rx_r1;
wire          go_rx_r0;
wire          go_rx_dlc;
wire          go_rx_data;
wire          go_rx_crc;
wire          go_rx_crc_lim;
wire          go_rx_ack;
wire          go_rx_ack_lim;
wire          go_rx_eof;
wire          go_overload_frame;
wire          go_rx_inter;
wire          go_error_frame;

wire          go_crc_enable;
wire          rst_crc_enable;

wire          bit_de_stuff_set;
wire          bit_de_stuff_reset;

wire          go_early_tx;
wire          go_tx;

wire   [14:0] calculated_crc;
wire   [15:0] r_calculated_crc;
wire          remote_rq;
wire    [3:0] limited_data_len;
wire          form_err;

wire          error_frame_ended;
wire          overload_frame_ended;
wire          bit_err;
wire          ack_err;
wire          stuff_err;
                                    // of intermission, it starts reading the identifier (and transmitting its own).
wire          overload_needed = 0;  // When receiver is busy, it needs to send overload frame. Only 2 overload frames are allowed to
                                    // be send in a row. This is not implemented because host can not send an overload request.

wire          id_ok;                // If received ID matches ID set in registers
wire          no_byte0;             // There is no byte 0 (RTR bit set to 1 or DLC field equal to 0). Signal used for acceptance filter.
wire          no_byte1;             // There is no byte 1 (RTR bit set to 1 or DLC field equal to 1). Signal used for acceptance filter.

wire    [2:0] header_len;
wire          storing_header;
wire    [3:0] limited_data_len_minus1;
wire          reset_wr_fifo;
wire          err;

wire          arbitration_field;

wire   [18:0] basic_chain;
wire   [63:0] basic_chain_data;
wire   [18:0] extended_chain_std;
wire   [38:0] extended_chain_ext;
wire   [63:0] extended_chain_data;

wire          rst_tx_pointer;

wire    [7:0] r_tx_data_0;
wire    [7:0] r_tx_data_1;
wire    [7:0] r_tx_data_2;
wire    [7:0] r_tx_data_3;
wire    [7:0] r_tx_data_4;
wire    [7:0] r_tx_data_5;
wire    [7:0] r_tx_data_6;
wire    [7:0] r_tx_data_7;
wire    [7:0] r_tx_data_8;
wire    [7:0] r_tx_data_9;
wire    [7:0] r_tx_data_10;
wire    [7:0] r_tx_data_11;
wire    [7:0] r_tx_data_12;

wire          send_ack;
wire          bit_err_exc1;
wire          bit_err_exc2;
wire          bit_err_exc3;
wire          bit_err_exc4;
wire          bit_err_exc5;
wire          error_flag_over;
wire          overload_flag_over;


assign go_rx_idle     =                   sample_point &  sampled_bit & last_bit_of_inter | bus_free & (~node_bus_off);
assign go_rx_id1      =                   sample_point &  (~sampled_bit) & (rx_idle | last_bit_of_inter);
assign go_rx_rtr1     = (~bit_de_stuff) & sample_point &  rx_id1  & (bit_cnt == 10);
assign go_rx_ide      = (~bit_de_stuff) & sample_point &  rx_rtr1;
assign go_rx_id2      = (~bit_de_stuff) & sample_point &  rx_ide  &   sampled_bit;
assign go_rx_rtr2     = (~bit_de_stuff) & sample_point &  rx_id2  & (bit_cnt == 17);
assign go_rx_r1       = (~bit_de_stuff) & sample_point &  rx_rtr2;
assign go_rx_r0       = (~bit_de_stuff) & sample_point & (rx_ide  & (~sampled_bit) | rx_r1);
assign go_rx_dlc      = (~bit_de_stuff) & sample_point &  rx_r0;
assign go_rx_data     = (~bit_de_stuff) & sample_point &  rx_dlc  & (bit_cnt == 3) &  (sampled_bit   |   (|data_len[2:0])) & (~remote_rq);
assign go_rx_crc      = (~bit_de_stuff) & sample_point & (rx_dlc  & (bit_cnt == 3) & ((~sampled_bit) & (~(|data_len[2:0])) | remote_rq) |
                                                          rx_data & (bit_cnt == ((limited_data_len<<3) - 1'b1)));
assign go_rx_crc_lim  = (~bit_de_stuff) & sample_point &  rx_crc  & (bit_cnt == 14);
assign go_rx_ack      =                   sample_point &  rx_crc_lim;
assign go_rx_ack_lim  =                   sample_point &  rx_ack;
assign go_rx_eof      =                   sample_point &  rx_ack_lim;
assign go_rx_inter    =                 ((sample_point &  rx_eof  & (eof_cnt == 6)) | error_frame_ended | overload_frame_ended) & (~overload_needed);

assign go_error_frame = (form_err | stuff_err | bit_err | ack_err | (crc_err & go_rx_eof));
assign error_frame_ended = (error_cnt2 == 7) & tx_point;
assign overload_frame_ended = (overload_cnt2 == 7) & tx_point;

assign go_overload_frame = (   ((sample_point &  rx_eof  & (eof_cnt == 6)) | error_frame_ended | overload_frame_ended) & overload_needed | 
                               sample_point & (~sampled_bit) & rx_inter & (bit_cnt < 2)                                                  |
                               sample_point & (~sampled_bit) & ((error_cnt2 == 7) | (overload_cnt2 == 7))
                           )
                           & (~overload_frame_blocked)
                           ;


assign go_crc_enable  = hard_sync | go_tx;
assign rst_crc_enable = go_rx_crc;

assign bit_de_stuff_set   = go_rx_id1 & (~go_error_frame);