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forked from tanchou/Verilog

Add Ultrasonic FPGA module and simulation testbench

- Implemented the ultrasonic_fpga module to handle ultrasonic sensor operations including triggering and measuring distance.
- Added a simulation testbench (ultrasonic_sim) to validate the functionality of the ultrasonic_fpga module.
- The module includes state management for triggering the sensor and measuring the echo duration to calculate distance.
- Simulation includes initialization, triggering the sensor, and checking the output distance.
This commit is contained in:
Gamenight77
2025-04-16 13:30:41 +02:00
parent 66fa5b2650
commit c8f108e01d
5 changed files with 2744 additions and 1 deletions

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`timescale 1ns/1ps
module tb_ultrasonic_fpga;
reg clk = 0;
reg rst = 1;
reg start = 0;
reg echo = 0;
wire trig_out;
wire [15:0] distance;
time t_start, t_end;
// Clock 27MHz => periode = 37.037ns
always #18 clk = ~clk;
ultrasonic_fpga uut (
.clk(clk),
.rst(rst),
.start(start),
.echo(echo),
.trig_out(trig_out),
.distance(distance)
);
initial begin
$dumpfile("ultrasonic.vcd");
$dumpvars(0, tb_ultrasonic_fpga);
// Reset
#100;
rst = 0;
// Start
#100;
start = 1;
#40;
start = 0;
wait (trig_out == 1);
t_start = $time;
// Attendre qu'il redescende
wait (trig_out == 0);
t_end = $time;
$display("Trig HIGH duration: %0dns", t_end - t_start);
if ((t_end - t_start) >= 9500 && (t_end - t_start) <= 10500) begin
$display("Trigger signal is high for 10us.");
#10;
echo = 1;
#5800;// Echo dure 5800ns ( 100 cycles @ 27MHz => 100 cm aller-retour)
echo = 0;
end else begin
$display("Trigger signal is NOT high for 10us.");
end
#500;
// Affiche la distance
if (distance > 0) begin
$display("Distance measured: %d cm", distance);
end else begin
$display("No distance measured.");
end
$finish;
end
endmodule

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module ultrasonic_fpga #(
parameter integer CLK_FREQ = 27_000_000 // frequence de clk en Hz
)(
input wire clk,
input wire rst,
input wire start, // signal de declenchement
input wire echo, // retour du capteur
output reg trig_out, // signal envoye au capteur
output reg [15:0] distance // distance mesuree
);
reg [2:0] state;
reg [8:0] trig_counter;
reg [15:0] echo_counter;
localparam IDLE = 0, TRIG = 1, WAIT_ECHO = 2, MEASURE_ECHO = 3, DONE = 4;
// Constantes dépendantes de CLK_FREQ
localparam integer TRIG_DURATION_CYCLES = CLK_FREQ / 100_000; // 10us
localparam integer DIST_DIVISOR = (58 * CLK_FREQ) / 1_000_000; // pour conversion µs -> cm
always @(posedge clk or posedge rst) begin
if (rst) begin
state <= IDLE;
trig_out <= 0;
trig_counter <= 0;
echo_counter <= 0;
distance <= 0;
end else begin
case (state)
IDLE: begin
if (start) begin
state <= TRIG;
end
end
TRIG: begin
if (trig_counter < TRIG_DURATION_CYCLES) begin
trig_out <= 1;
trig_counter <= trig_counter + 1;
end else begin
trig_out <= 0;
trig_counter <= 0;
state <= WAIT_ECHO;
end
end
WAIT_ECHO: begin
if (echo) begin
echo_counter <= 0;
state <= MEASURE_ECHO;
end
end
MEASURE_ECHO: begin
if (echo) begin
echo_counter <= echo_counter + 1;
end else begin
distance <= (echo_counter*1000) / DIST_DIVISOR;
state <= DONE;
end
end
DONE: begin
state <= IDLE;
end
endcase
end
end
endmodule

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#!
:ivl_version "13.0 (devel)" "(s20250103-31-g7e238e7ca-dirty)";
:ivl_delay_selection "TYPICAL";
:vpi_time_precision - 12;
:vpi_module "C:\Users\louis\BUT2\Verilog\OSS-CA~1\lib\ivl\system.vpi";
:vpi_module "C:\Users\louis\BUT2\Verilog\OSS-CA~1\lib\ivl\vhdl_sys.vpi";
:vpi_module "C:\Users\louis\BUT2\Verilog\OSS-CA~1\lib\ivl\vhdl_textio.vpi";
:vpi_module "C:\Users\louis\BUT2\Verilog\OSS-CA~1\lib\ivl\v2005_math.vpi";
:vpi_module "C:\Users\louis\BUT2\Verilog\OSS-CA~1\lib\ivl\va_math.vpi";
S_000002569854ec30 .scope module, "tb_ultrasonic_fpga" "tb_ultrasonic_fpga" 2 3;
.timescale -9 -12;
v00000256985b7a50_0 .var "clk", 0 0;
v00000256985b72d0_0 .net "distance", 15 0, v000002569854e7f0_0; 1 drivers
v00000256985b7870_0 .var "echo", 0 0;
v00000256985b7cd0_0 .var "rst", 0 0;
v00000256985b7f50_0 .var "start", 0 0;
v00000256985b7910_0 .var "t_end", 63 0;
v00000256985b7af0_0 .var "t_start", 63 0;
v00000256985b7d70_0 .net "trig_out", 0 0, v00000256985b7370_0; 1 drivers
E_000002569854ae50 .event anyedge, v00000256985b7370_0;
S_000002569854edc0 .scope module, "uut" "ultrasonic_fpga" 2 17, 3 1 0, S_000002569854ec30;
.timescale 0 0;
.port_info 0 /INPUT 1 "clk";
.port_info 1 /INPUT 1 "rst";
.port_info 2 /INPUT 1 "start";
.port_info 3 /INPUT 1 "echo";
.port_info 4 /OUTPUT 1 "trig_out";
.port_info 5 /OUTPUT 16 "distance";
P_0000025698560660 .param/l "CLK_FREQ" 0 3 2, +C4<00000001100110111111110011000000>;
P_0000025698560698 .param/l "DIST_DIVISOR" 1 3 20, +C4<00000000000000000000000000000001>;
P_00000256985606d0 .param/l "DONE" 1 3 16, +C4<00000000000000000000000000000100>;
P_0000025698560708 .param/l "IDLE" 1 3 16, +C4<00000000000000000000000000000000>;
P_0000025698560740 .param/l "MEASURE_ECHO" 1 3 16, +C4<00000000000000000000000000000011>;
P_0000025698560778 .param/l "TRIG" 1 3 16, +C4<00000000000000000000000000000001>;
P_00000256985607b0 .param/l "TRIG_DURATION_CYCLES" 1 3 19, +C4<00000000000000000000000100001110>;
P_00000256985607e8 .param/l "WAIT_ECHO" 1 3 16, +C4<00000000000000000000000000000010>;
v000002569854ef50_0 .net "clk", 0 0, v00000256985b7a50_0; 1 drivers
v000002569854e7f0_0 .var "distance", 15 0;
v000002569854c1a0_0 .net "echo", 0 0, v00000256985b7870_0; 1 drivers
v00000256985b74b0_0 .var "echo_counter", 15 0;
v00000256985b7b90_0 .net "rst", 0 0, v00000256985b7cd0_0; 1 drivers
v00000256985b7c30_0 .net "start", 0 0, v00000256985b7f50_0; 1 drivers
v00000256985b7050_0 .var "state", 2 0;
v00000256985b77d0_0 .var "trig_counter", 8 0;
v00000256985b7370_0 .var "trig_out", 0 0;
E_000002569854af10 .event posedge, v00000256985b7b90_0, v000002569854ef50_0;
.scope S_000002569854edc0;
T_0 ;
%wait E_000002569854af10;
%load/vec4 v00000256985b7b90_0;
%flag_set/vec4 8;
%jmp/0xz T_0.0, 8;
%pushi/vec4 0, 0, 3;
%assign/vec4 v00000256985b7050_0, 0;
%pushi/vec4 0, 0, 1;
%assign/vec4 v00000256985b7370_0, 0;
%pushi/vec4 0, 0, 9;
%assign/vec4 v00000256985b77d0_0, 0;
%pushi/vec4 0, 0, 16;
%assign/vec4 v00000256985b74b0_0, 0;
%pushi/vec4 0, 0, 16;
%assign/vec4 v000002569854e7f0_0, 0;
%jmp T_0.1;
T_0.0 ;
%load/vec4 v00000256985b7050_0;
%dup/vec4;
%pushi/vec4 0, 0, 3;
%cmp/u;
%jmp/1 T_0.2, 6;
%dup/vec4;
%pushi/vec4 1, 0, 3;
%cmp/u;
%jmp/1 T_0.3, 6;
%dup/vec4;
%pushi/vec4 2, 0, 3;
%cmp/u;
%jmp/1 T_0.4, 6;
%dup/vec4;
%pushi/vec4 3, 0, 3;
%cmp/u;
%jmp/1 T_0.5, 6;
%dup/vec4;
%pushi/vec4 4, 0, 3;
%cmp/u;
%jmp/1 T_0.6, 6;
%jmp T_0.7;
T_0.2 ;
%load/vec4 v00000256985b7c30_0;
%flag_set/vec4 8;
%jmp/0xz T_0.8, 8;
%pushi/vec4 1, 0, 3;
%assign/vec4 v00000256985b7050_0, 0;
T_0.8 ;
%jmp T_0.7;
T_0.3 ;
%load/vec4 v00000256985b77d0_0;
%pad/u 32;
%cmpi/u 270, 0, 32;
%jmp/0xz T_0.10, 5;
%pushi/vec4 1, 0, 1;
%assign/vec4 v00000256985b7370_0, 0;
%load/vec4 v00000256985b77d0_0;
%addi 1, 0, 9;
%assign/vec4 v00000256985b77d0_0, 0;
%jmp T_0.11;
T_0.10 ;
%pushi/vec4 0, 0, 1;
%assign/vec4 v00000256985b7370_0, 0;
%pushi/vec4 0, 0, 9;
%assign/vec4 v00000256985b77d0_0, 0;
%pushi/vec4 2, 0, 3;
%assign/vec4 v00000256985b7050_0, 0;
T_0.11 ;
%jmp T_0.7;
T_0.4 ;
%load/vec4 v000002569854c1a0_0;
%flag_set/vec4 8;
%jmp/0xz T_0.12, 8;
%pushi/vec4 0, 0, 16;
%assign/vec4 v00000256985b74b0_0, 0;
%pushi/vec4 3, 0, 3;
%assign/vec4 v00000256985b7050_0, 0;
T_0.12 ;
%jmp T_0.7;
T_0.5 ;
%load/vec4 v000002569854c1a0_0;
%flag_set/vec4 8;
%jmp/0xz T_0.14, 8;
%load/vec4 v00000256985b74b0_0;
%addi 1, 0, 16;
%assign/vec4 v00000256985b74b0_0, 0;
%jmp T_0.15;
T_0.14 ;
%load/vec4 v00000256985b74b0_0;
%pad/u 32;
%pushi/vec4 1, 0, 32;
%div;
%pad/u 16;
%assign/vec4 v000002569854e7f0_0, 0;
%pushi/vec4 4, 0, 3;
%assign/vec4 v00000256985b7050_0, 0;
T_0.15 ;
%jmp T_0.7;
T_0.6 ;
%pushi/vec4 0, 0, 3;
%assign/vec4 v00000256985b7050_0, 0;
%jmp T_0.7;
T_0.7 ;
%pop/vec4 1;
T_0.1 ;
%jmp T_0;
.thread T_0;
.scope S_000002569854ec30;
T_1 ;
%pushi/vec4 0, 0, 1;
%store/vec4 v00000256985b7a50_0, 0, 1;
%pushi/vec4 1, 0, 1;
%store/vec4 v00000256985b7cd0_0, 0, 1;
%pushi/vec4 0, 0, 1;
%store/vec4 v00000256985b7f50_0, 0, 1;
%pushi/vec4 0, 0, 1;
%store/vec4 v00000256985b7870_0, 0, 1;
%end;
.thread T_1;
.scope S_000002569854ec30;
T_2 ;
%delay 18000, 0;
%load/vec4 v00000256985b7a50_0;
%inv;
%store/vec4 v00000256985b7a50_0, 0, 1;
%jmp T_2;
.thread T_2;
.scope S_000002569854ec30;
T_3 ;
%vpi_call 2 27 "$dumpfile", "ultrasonic.vcd" {0 0 0};
%vpi_call 2 28 "$dumpvars", 32'sb00000000000000000000000000000000, S_000002569854ec30 {0 0 0};
%delay 100000, 0;
%pushi/vec4 0, 0, 1;
%store/vec4 v00000256985b7cd0_0, 0, 1;
%delay 100000, 0;
%pushi/vec4 1, 0, 1;
%store/vec4 v00000256985b7f50_0, 0, 1;
%delay 40000, 0;
%pushi/vec4 0, 0, 1;
%store/vec4 v00000256985b7f50_0, 0, 1;
T_3.0 ;
%load/vec4 v00000256985b7d70_0;
%pad/u 32;
%pushi/vec4 1, 0, 32;
%cmp/e;
%flag_get/vec4 4;
%cmpi/ne 1, 0, 1;
%jmp/0xz T_3.1, 6;
%wait E_000002569854ae50;
%jmp T_3.0;
T_3.1 ;
%vpi_func 2 41 "$time" 64 {0 0 0};
%store/vec4 v00000256985b7af0_0, 0, 64;
T_3.2 ;
%load/vec4 v00000256985b7d70_0;
%pad/u 32;
%pushi/vec4 0, 0, 32;
%cmp/e;
%flag_get/vec4 4;
%cmpi/ne 1, 0, 1;
%jmp/0xz T_3.3, 6;
%wait E_000002569854ae50;
%jmp T_3.2;
T_3.3 ;
%vpi_func 2 45 "$time" 64 {0 0 0};
%store/vec4 v00000256985b7910_0, 0, 64;
%load/vec4 v00000256985b7910_0;
%load/vec4 v00000256985b7af0_0;
%sub;
%vpi_call 2 47 "$display", "Trig HIGH duration: %0dns", S<0,vec4,u64> {1 0 0};
%load/vec4 v00000256985b7910_0;
%load/vec4 v00000256985b7af0_0;
%sub;
%cmpi/u 9500, 0, 64;
%flag_inv 5; GE is !LT
%flag_get/vec4 5;
%jmp/0 T_3.6, 5;
%load/vec4 v00000256985b7910_0;
%load/vec4 v00000256985b7af0_0;
%sub;
%cmpi/u 10500, 0, 64;
%flag_get/vec4 4;
%flag_get/vec4 5;
%or;
%and;
T_3.6;
%flag_set/vec4 8;
%jmp/0xz T_3.4, 8;
%vpi_call 2 50 "$display", "Trigger signal is high for 10us." {0 0 0};
%delay 10000, 0;
%pushi/vec4 1, 0, 1;
%store/vec4 v00000256985b7870_0, 0, 1;
%delay 5800000, 0;
%pushi/vec4 0, 0, 1;
%store/vec4 v00000256985b7870_0, 0, 1;
%jmp T_3.5;
T_3.4 ;
%vpi_call 2 58 "$display", "Trigger signal is NOT high for 10us." {0 0 0};
T_3.5 ;
%delay 500000, 0;
%load/vec4 v00000256985b72d0_0;
%pad/u 32;
%cmpi/u 0, 0, 32;
%flag_or 5, 4; GT is !LE
%flag_inv 5;
%jmp/0xz T_3.7, 5;
%vpi_call 2 65 "$display", "Distance measured: %d cm", v00000256985b72d0_0 {0 0 0};
%jmp T_3.8;
T_3.7 ;
%vpi_call 2 67 "$display", "No distance measured." {0 0 0};
T_3.8 ;
%vpi_call 2 70 "$finish" {0 0 0};
%end;
.thread T_3;
# The file index is used to find the file name in the following table.
:file_names 4;
"N/A";
"<interactive>";
"tb_ultrasonic_fpga.v";
"ultrasonic_fpga.v";