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Implement distance measurement and display modules: add ultrasonic sensor, FPGA logic, LED display, and WS2812 driver for enhanced distance visualization

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This commit is contained in:
Gamenight77
2025-04-25 10:21:18 +02:00
parent eecf17f45d
commit c6d33d278e
10 changed files with 454 additions and 14 deletions
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29
Semaine_2/Capteur_recule_bidirectionel_V2/Distance_display_led/distance_display_led.v Normal file
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module distance_display_led (
input wire [8:0] distance,
output reg [5:0] leds
);
// Constante
parameter MIN_DIST = 2;
parameter MAX_DIST = 349;
parameter LEVELS = 5;
parameter PART_SIZE = (MAX_DIST - MIN_DIST + 1) / LEVELS;
always @(*) begin
if (distance <= MIN_DIST + PART_SIZE*0)
leds = 6'b111111;
else if (distance <= MIN_DIST + PART_SIZE*1)
leds = 6'b111110;
else if (distance <= MIN_DIST + PART_SIZE*2)
leds = 6'b111100;
else if (distance <= MIN_DIST + PART_SIZE*3)
leds = 6'b111000;
else if (distance <= MIN_DIST + PART_SIZE*4)
leds = 6'b110000;
else if (distance <= MIN_DIST + PART_SIZE*5)
leds = 6'b100000;
else
leds = 6'b000000;
end
endmodule

26
Semaine_2/Capteur_recule_bidirectionel_V2/Distance_display_led/tb_distance_display_led.v Normal file
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module tb_distance_display_led;
reg [8:0] distance;
wire [5:0] leds;
distance_display_led uut (
.distance(distance),
.leds(leds)
);
integer i;
initial begin
$dumpfile("distance_display_led.vcd");
$dumpvars(0, tb_distance_display_led);
// Test de la conversion de distance en LED
for (i = 0; i <= 380; i = i + 10) begin
distance = i;
#10;
$display("Distance: %3d cm => LEDs: %b", distance, leds);
end
$finish;
end
endmodule

59
Semaine_2/Capteur_recule_bidirectionel_V2/Ultrasonic/tb_ultrasonic_fpga.v Normal file
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`timescale 1ns/1ps
module tb_ultrasonic_fpga;
reg clk = 0;
reg rst = 1;
reg start = 0;
wire sig;
wire [8:0] distance;
time t_start, t_end;
// Clock 27MHz => periode = 37ns
always #18 clk = ~clk;
ultrasonic_fpga uut (
.clk(clk),
.rst(rst),
.start(start),
.sig(sig),
.distance(distance)
);
ultrasonic_sensor sensor (
.clk(clk),
.signal(sig)
);
initial begin
$dumpfile("ultrasonic.vcd");
$dumpvars(0, tb_ultrasonic_fpga);
// Reset
#100;
rst = 0;
// Start
#100;
start = 1;
#40;
start = 0;
// Attendre que la distance soit mesurée
wait (distance > 0);
#10; // petite marge pour stabiliser
$display("Distance mesurée: %d cm", distance);
// Affiche la distance
if (distance > 0) begin
$display("Distance measured: %d cm", distance);
end else begin
$display("No distance measured.");
end
$finish;
end
endmodule

127
Semaine_2/Capteur_recule_bidirectionel_V2/Ultrasonic/ultrasonic_fpga.v Normal file
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module ultrasonic_fpga #(
parameter integer CLK_FREQ = 27_000_000 // Fréquence d'horloge en Hz
)(
input wire clk,
input wire start,
inout wire sig, // Broche bidirectionnelle vers le capteur
output reg [15:0] distance, // Distance mesurée en cm
output reg [2:0] state = IDLE
);
reg [15:0] trig_counter;
reg [31:0] echo_counter;
reg [31:0] echo_div_counter;
reg [15:0] distance_counter;
reg sig_out;
reg sig_dir; // 1: output, 0: input
assign sig = sig_dir ? sig_out : 1'bz; // bz pour dire que le fpga laisse le fils libre et n'oblige pas de valeur
reg sig_int, sig_ok;
always_ff(@posedge clk) {sig_ok, sig_int} = {sig_int, sig};
localparam IDLE = 3'd0,
TRIG_HIGH = 3'd1,
TRIG_LOW = 3'd2,
WAIT_ECHO = 3'd3,
MEASURE_ECHO = 3'd4,
DONE = 3'd5,
WAIT_NEXT = 3'd6;
localparam integer TRIG_PULSE_CYCLES = CLK_FREQ / 100_000; // 10us pulse
localparam integer DIST_DIVISOR = (58 * CLK_FREQ) / 1_000_000; // pour conversion us -> cm
localparam integer MAX_CM = 350;
localparam integer TIMEOUT_CYCLES = (MAX_CM * 58 * CLK_FREQ) / 1_000_000;
localparam WAIT_NEXT_CYCLES = (CLK_FREQ / 1000) * 100; // 60 ms
reg [31:0] wait_counter;
always @(posedge clk) begin // FSM
case (state)
IDLE: begin
sig_out <= 0;
sig_dir <= 1;
distance <= 0;
if (start) begin
state <= TRIG_HIGH;
trig_counter <= 0;
end
end
TRIG_HIGH: begin
sig_out <= 1;
sig_dir <= 1;
if (trig_counter < TRIG_PULSE_CYCLES) begin
trig_counter <= trig_counter + 1;
end else begin
trig_counter <= 0;
state <= TRIG_LOW;
end
end
TRIG_LOW: begin
sig_out <= 0;
sig_dir <= 0; // Mettre en entrée
state <= WAIT_ECHO;
end
WAIT_ECHO: begin
if (sig_ok) begin
echo_counter <= 0;
state <= MEASURE_ECHO;
end else if (echo_counter >= TIMEOUT_CYCLES) begin
distance <= 0;
state <= DONE;
end else begin
echo_counter <= echo_counter + 1;
end
end
MEASURE_ECHO: begin
if (sig_ok) begin
if (echo_counter < TIMEOUT_CYCLES) begin
echo_counter <= echo_counter + 1;
end else begin
distance <= 0;
state <= DONE;
end
end else begin //Comptage par cycle de dist diviseur
echo_counter <= echo_counter + 1;
if (echo_div_counter >= DIST_DIVISOR - 1) begin
echo_div_counter <= 0;
distance_counter <= distance_counter + 1;
end else begin
echo_div_counter <= echo_div_counter + 1;
end
distance <= distance_counter;
state <= DONE;
end
end
DONE: begin
if (start) begin
wait_counter <= 0;
state <= WAIT_NEXT;
end else begin
state <= IDLE;
end
end
WAIT_NEXT: begin
wait_counter <= wait_counter + 1;
if (wait_counter >= WAIT_NEXT_CYCLES) begin
state <= TRIG_HIGH;
end
end
endcase
end
endmodule

46
Semaine_1/Capteur_recule_bidirectionel/Ultrasonic/ultrasonic_sensor.v → Semaine_2/Capteur_recule_bidirectionel_V2/Ultrasonic/ultrasonic_sensor.v
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@@ -1,18 +1,23 @@
module ultrasonic_sensor(// Simulation of an ultrasonic sensor
module ultrasonic_sensor( // Simulation of an ultrasonic sensor
input wire clk,
inout wire signal, // Signal from the ultrasonic sensor
inout wire signal, // Signal from the ultrasonic sensor
);
reg [2:0] state, next_state;
reg sig_dir; // 1: output, 0: input
reg [15:0] trig_counter; // Counter for the trigger pulse
reg [31:0] echo_counter; // Echo signal
reg valid_trig; // Valid trigger signal
parameter integer CLK_FREQ = 27_000_000;
reg echo_sended; // Flag to indicate if echo has been sent
reg [2:0] state, next_state;
reg sig_dir; // 1: output, 0: input
reg [15:0] trig_counter; // Counter for the trigger pulse
reg [31:0] echo_counter; // Echo signal
reg valid_trig; // Valid trigger signal
reg echo_sended; // Flag to indicate if echo has been sent
reg signal_out;
assign signal = sig_dir ? signal_out : 1'bz; // Assign the signal to the output if sig_dir is high, otherwise set it to high impedance
localparam S_WAIT_TRIG = 3'd0,
S_MEASURE_TRIG = 3'd1,
S_SEND_ECHO = 3'd2,
S_SEND_ECHO = 3'd2;
localparam integer TRIG_PULSE_CYCLES = CLK_FREQ / 100_000; // 10us pulse
@@ -41,12 +46,8 @@ module ultrasonic_sensor(// Simulation of an ultrasonic sensor
echo_sended = 0; // Reset flag
next_state = S_WAIT_TRIG;
end else begin
signal = 1; // Send echo signal
#5800; // Wait for 5800ns (≈ 100 cycles @ 27MHz => ≈ 100 cm aller-retour)
signal = 0; // Stop sending echo signal
echo_sended = 1; // Set flag to indicate echo has been sent
next_state = S_SEND_ECHO;
end
next_state = S_WAIT_TRIG;
end
default: begin
@@ -76,4 +77,21 @@ module ultrasonic_sensor(// Simulation of an ultrasonic sensor
end
end
end
reg [15:0] echo_delay_counter;
always @(posedge clk) begin
if (state == S_SEND_ECHO) begin
if (echo_delay_counter == 5800) begin //
signal_out <= 0;
echo_sended <= 1;
end else begin
signal_out <= 1;
echo_delay_counter <= echo_delay_counter + 1;
end
end else begin
echo_delay_counter <= 0;
end
end
endmodule

27
Semaine_2/Capteur_recule_bidirectionel_V2/distance_ws2812_display/distance_ws2812_display.v Normal file
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module distance_ws2812_display(
input wire clk,
input wire [8:0] distance, // distance mesurer
output wire ws2812_dout // broche de données pour la LED WS2812
);
reg [23:0] led_color; // couleur à envoyer à la LED (format RGB)
always @(posedge clk) begin
// Mapper la distance sur une couleur
if (distance < 100) begin
led_color <= 24'hFF0000; // Rouge (proche)
end else if (distance < 200) begin
led_color <= 24'hFFFF00; // Jaune (distance moyenne)
end else begin
led_color <= 24'h00FF00; // Vert (très loin)
end
end
// Instance du module de transmission pour WS2812
ws2812_driver ws2812_inst (
.clk(clk),
.color(led_color),
.ws2812_dout(ws2812_dout)
);
endmodule

34
Semaine_2/Capteur_recule_bidirectionel_V2/distance_ws2812_display/tb_distance_ws2812_display.v Normal file
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// Testbench pour distance_ws2812_display
module tb_distance_ws2812_display;
reg clk;
reg [8:0] distance;
wire ws2812_dout;
// Instance du module à tester
distance_ws2812_display uut (
.clk(clk),
.distance(distance),
.ws2812_dout(ws2812_dout)
);
always #5 clk = ~clk;
integer i;
initial begin
// Initialiser les signaux
clk = 0;
distance = 0;
$dumpfile("distance_ws2812_display.vcd");
$dumpvars(0, tb_distance_ws2812_display);
// Test de la conversion de distance en LED
for (i = 0; i <= 380; i = i + 10) begin
distance = i;
#10;
$display("Distance: %3d cm => dout: %b", distance, ws2812_dout);
end
#100 $stop; // Arrêter la simulation après un certain temps
end
endmodule

27
Semaine_2/Capteur_recule_bidirectionel_V2/distance_ws2812_display/ws2812_driver.v Normal file
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module ws2812_driver(
input wire clk,
input wire [23:0] color, // couleur RGB (8 bits par composant)
output reg ws2812_dout // broche de données vers la LED
);
reg [7:0] bit_count; // compteur de bits pour envoyer les données
reg [23:0] shift_reg; // registre pour envoyer la couleur
always @(posedge clk) begin
if (bit_count == 0) begin
shift_reg <= color; // Charger la couleur à transmettre
ws2812_dout <= 1'b0; // Commencer par envoyer un "0"
end else begin
// Envoyer chaque bit un à un en contrôlant la durée de l'impulsion
ws2812_dout <= shift_reg[23]; // Le bit le plus significatif
shift_reg <= shift_reg << 1; // Décalage des bits
end
// Incrémentation du compteur de bits
if (bit_count < 24)
bit_count <= bit_count + 1;
else
bit_count <= 0; // Réinitialiser pour envoyer la prochaine couleur
end
endmodule

61
Semaine_2/Capteur_recule_bidirectionel_V2/tb_top_ultrasonic_led.v Normal file
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`timescale 1ns/1ps
module tb_top_ultrasonic_led;
reg clk;
reg rst;
reg start;
reg echo;
wire trig;
wire [5:0] leds;
// Instance du module top
top_ultrasonic_led uut (
.clk(clk),
.rst(rst),
.start(start),
.echo(echo),
.trig(trig),
.leds(leds)
);
always #18.5 clk = ~clk;
initial begin
// Initialisation
$dumpfile("top_ultrasonic_led.vcd");
$dumpvars(0, tb_top_ultrasonic_led);
clk = 0;
rst = 1;
start = 0;
echo = 0;
#100;
rst = 0;
#50;
start = 1;
#20;
start = 0;
// Attente du signal trig
wait (trig == 1);
$display("TRIG HIGH at %t", $time);
wait (trig == 0);
$display("TRIG LOW at %t", $time);
repeat (500) @(posedge clk);
echo = 1;
#12000
echo = 0;
repeat (500) @(posedge clk);
$display("Leds allumer : %b", leds);
$finish;
end
endmodule

32
Semaine_2/Capteur_recule_bidirectionel_V2/top_ultrasonic_led.v Normal file
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module top_ultrasonic_led (
input wire clk,
input wire start, // bouton de déclenchement
inout wire sig, // broche unique pour trigger + echo
output wire [5:0] leds // LEDs pour affichage distance
output wire ws2812_dout // broche de données pour la LED WS2812 (optionnel)
);
wire [8:0] distance;
// Module de mesure (version bidirectionnelle du capteur)
ultrasonic_fpga ultrasonic_inst (
.clk(clk),
.start(start),
.sig(sig),
.distance(distance)
);
// Module d'affichage LEDs
distance_display_led led_display_inst (
.distance(distance),
.leds(leds)
);
// Module d'affichage WS2812 (optionnel, si vous souhaitez utiliser une LED RGB)
distance_ws2812_display ws2812_display_inst (
.clk(clk),
.distance(distance),
.ws2812_dout(ws2812_dout)
);
endmodule