| Line 92... |
Line 92... |
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-- Internal angle width
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-- Internal angle width
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constant A_WIDTH_I : natural := A_WIDTH+2;
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constant A_WIDTH_I : natural := A_WIDTH+2;
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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=======
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=======
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>>>>>>> Updated C and RTL model as well as the documentation
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>>>>>>> Updated C and RTL model as well as the documentation
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=======
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>>>>>>> Removed some bugs regarding pre-rotation and negative numbers in the wb wrapper
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constant SQRT2_REAL : real := 1.4142135623730951454746218587388284504413604;
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constant SQRT2_REAL : real := 1.4142135623730951454746218587388284504413604;
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constant PI_REAL : real := 3.1415926535897931159979634685441851615905762;
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constant PI_REAL : real := 3.1415926535897931159979634685441851615905762;
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constant PI : integer := natural( PI_REAL * real( 2**( A_WIDTH-1 ) ) + 0.5 );
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constant PI : integer := natural( round( PI_REAL * real( 2**( A_WIDTH-1 ) ) ) );
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constant PI_H : integer := natural( PI_REAL * real( 2**( A_WIDTH-2 ) ) + 0.5 );
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constant PI_H : integer := natural( round( PI_REAL * real( 2**( A_WIDTH-2 ) ) ) );
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constant SQRT2 : integer := natural( SQRT2_REAL * real( 2**( XY_WIDTH-1 ) ) + 0.5 );
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constant SQRT2 : integer := natural( round( SQRT2_REAL * real( 2**( XY_WIDTH-1 ) ) ) );
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constant XY_MAX : integer := natural( 2**( XY_WIDTH-1)-1);
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constant XY_MAX : integer := natural( 2**( XY_WIDTH-1)-1);
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<<<<<<< HEAD
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<<<<<<< HEAD
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=======
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=======
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| Line 133... |
Line 137... |
a_tmp : signed( A_WIDTH_I -1 downto 0 );
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a_tmp : signed( A_WIDTH_I -1 downto 0 );
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ylst : signed( XY_WIDTH_G -1 downto 0 );
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ylst : signed( XY_WIDTH_G -1 downto 0 );
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alst : signed( A_WIDTH_I -1 downto 0 );
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alst : signed( A_WIDTH_I -1 downto 0 );
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i : signed( L2_MAX_I -1 downto 0 );
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i : signed( L2_MAX_I -1 downto 0 );
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do_shift : std_logic;
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do_shift : std_logic;
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done : std_logic;
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repeate : std_logic;
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repeate : std_logic;
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end record state_t;
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end record state_t;
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signal state : state_t;
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signal state : state_t;
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---------------------------------------
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---------------------------------------
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-- Auto-generated function
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-- Auto-generated function
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-- by matlab (see c_octave/cordic_iterative_code.m)
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-- by matlab (see c_octave/cordic_iterative_code.m)
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function angular_lut( n : integer; mode : std_logic_vector; ANG_WIDTH : natural ) return signed is
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function angular_lut( n : integer; mode : std_logic_vector; ANG_WIDTH : natural ) return signed is
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variable result : signed( ANG_WIDTH-1 downto 0 );
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variable result : signed( ANG_WIDTH-1 downto 0 );
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| Line 220... |
Line 224... |
a_tmp => ( others => '0' ),
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a_tmp => ( others => '0' ),
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ylst => ( others => '0' ),
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ylst => ( others => '0' ),
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alst => ( others => '0' ),
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alst => ( others => '0' ),
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mode => ( others => '0' ),
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mode => ( others => '0' ),
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i => ( others => '0' ),
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i => ( others => '0' ),
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done => '0',
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do_shift => '0',
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do_shift => '0',
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repeate => '0'
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repeate => '0'
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);
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);
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elsif en = '1' then
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elsif en = '1' then
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| Line 234... |
Line 237... |
state.mode <= mode_i;
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state.mode <= mode_i;
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state.x <= resize( signed( x_i ), state.x'length );
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state.x <= resize( signed( x_i ), state.x'length );
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state.y <= resize( signed( y_i ), state.y'length );
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state.y <= resize( signed( y_i ), state.y'length );
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state.a <= resize( signed( a_i ), state.a'length );
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state.a <= resize( signed( a_i ), state.a'length );
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state.i <= ( others => '0' );
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state.i <= ( others => '0' );
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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elsif state.st = ST_INIT then
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elsif state.st = ST_INIT then
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--
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--
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| Line 253... |
Line 257... |
-- -> check special situations / miss-configurations (TODO)
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-- -> check special situations / miss-configurations (TODO)
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--
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--
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elsif state.st = ST_INIT then
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elsif state.st = ST_INIT then
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>>>>>>> initial commit
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>>>>>>> initial commit
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=======
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=======
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=======
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state.alst <= ( others => '0' );
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state.ylst <= ( others => '0' );
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>>>>>>> Removed some bugs regarding pre-rotation and negative numbers in the wb wrapper
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elsif state.st = ST_INIT then
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elsif state.st = ST_INIT then
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--
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--
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-- initialization state
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-- initialization state
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-- -> do initial rotation (alignment)
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-- -> do initial rotation (alignment)
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-- -> check special situations / miss-configurations (TODO)
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-- -> check special situations / miss-configurations (TODO)
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| Line 267... |
Line 275... |
state.do_shift <= '1';
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state.do_shift <= '1';
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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if state.mode( 1 downto 0 ) = VAL_MODE_HYP then
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if state.mode( 1 downto 0 ) = VAL_MODE_HYP then
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-- if we do a hyperbolic rotation, we start with 1
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-- if we do a hyperbolic rotation, we start with 1
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=======
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=======
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-- if we do a hyperbolic rotation, we start with 1
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-- if we do a hyperbolic rotation, we start with 1
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if state.mode( 1 downto 0 ) = VAL_MODE_HYP then
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if state.mode( 1 downto 0 ) = VAL_MODE_HYP then
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| Line 286... |
Line 295... |
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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<<<<<<< HEAD
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if state.mode( I_FLAG_VEC_ROT ) = '0'
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if state.mode( I_FLAG_VEC_ROT ) = '0'
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=======
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if state.mode( 1 downto 0 ) = VAL_MODE_HYP then
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-- if we do a hyperbolic rotation, we start with 1
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state.i(0) <= '1';
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end if;
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if state.mode( I_FLAG_VEC_ROT ) = '1' and state.y = 0 then
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-- zero-input
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state.x_sum <= state.x;
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state.y_sum <= state.y;
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state.a <= ( others => '0' );
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state.st <= ST_DONE;
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elsif state.mode( I_FLAG_VEC_ROT ) = '0' and state.a = 0 then
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-- nothing to do, a is zero
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state.x_sum <= state.x;
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state.y_sum <= state.y;
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state.st <= ST_DONE;
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elsif state.mode( I_FLAG_VEC_ROT ) = '0'
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>>>>>>> Removed some bugs regarding pre-rotation and negative numbers in the wb wrapper
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and state.mode( 1 downto 0 ) = VAL_MODE_CIR then
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and state.mode( 1 downto 0 ) = VAL_MODE_CIR then
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-- circular vector mode
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-- circular vector mode
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if state.a < - PI_H then
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if state.a < - PI_H then
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-- move from third quadrant to first
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-- move from third quadrant to first
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| Line 401... |
Line 433... |
elsif state.mode( I_FLAG_VEC_ROT ) = '1'
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elsif state.mode( I_FLAG_VEC_ROT ) = '1'
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>>>>>>> Updated C and RTL model as well as the documentation
|
>>>>>>> Updated C and RTL model as well as the documentation
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and state.mode( 1 downto 0 ) = VAL_MODE_CIR then
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and state.mode( 1 downto 0 ) = VAL_MODE_CIR then
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-- circular rotation mode
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-- circular rotation mode
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if state.x = 0 and state.y = 0 then
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if state.y = 0 then
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-- zero-input
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-- zero-input
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state.x_sum <= state.x;
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state.y_sum <= state.y;
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state.a <= ( others => '0' );
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state.a <= ( others => '0' );
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state.y <= ( others => '0' );
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state.st <= ST_DONE;
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state.st <= ST_DONE;
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elsif state.x = XY_MAX and state.y = XY_MAX then
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elsif state.x = XY_MAX and state.y = XY_MAX then
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-- all-max 1
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-- all-max 1
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state.x_sum <= to_signed( SQRT2, state.x'length );
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state.y_sum <= (others => '0' );
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state.a <= resize( angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I );
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state.a <= resize( angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I );
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state.x <= to_signed( SQRT2, state.x'length );
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state.y <= (others => '0' );
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state.st <= ST_DONE;
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state.st <= ST_DONE;
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elsif state.x = -XY_MAX and state.y = -XY_MAX then
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elsif state.x = -XY_MAX and state.y = -XY_MAX then
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-- all-max 2
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-- all-max 2
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state.x_sum <= to_signed( SQRT2, state.x'length );
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state.y_sum <= (others => '0' );
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state.a <= resize( angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I ) - PI;
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state.a <= resize( angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I ) - PI;
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state.x <= to_signed( SQRT2, state.x'length );
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state.y <= (others => '0' );
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state.st <= ST_DONE;
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state.st <= ST_DONE;
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elsif state.x = XY_MAX and state.y = -XY_MAX then
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elsif state.x = XY_MAX and state.y = -XY_MAX then
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-- all-max 3
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-- all-max 3
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state.x_sum <= to_signed( SQRT2, state.x'length );
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state.y_sum <= (others => '0' );
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state.a <= resize( -angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I );
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state.a <= resize( -angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I );
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state.x <= to_signed( SQRT2, state.x'length );
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state.y <= (others => '0' );
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state.st <= ST_DONE;
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state.st <= ST_DONE;
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elsif state.x = -XY_MAX and state.y = XY_MAX then
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elsif state.x = -XY_MAX and state.y = XY_MAX then
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-- all-max 4
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-- all-max 4
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state.x_sum <= to_signed( SQRT2, state.x'length );
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state.y_sum <= (others => '0' );
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state.a <= PI- resize( angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I );
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state.a <= PI- resize( angular_lut( 0, state.mode( 1 downto 0 ), A_WIDTH ), A_WIDTH_I );
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state.x <= to_signed( SQRT2, state.x'length );
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state.y <= (others => '0' );
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state.st <= ST_DONE;
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state.st <= ST_DONE;
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elsif state.x = 0 and state.y > 0 then
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elsif state.x = 0 and state.y > 0 then
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-- fixed rotation of pi/2
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-- fixed rotation of pi/2
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state.x_sum <= state.y;
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state.y_sum <= ( others => '0' );
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state.a <= to_signed( PI_H, state.a'length );
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state.a <= to_signed( PI_H, state.a'length );
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state.x <= state.y;
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state.y <= ( others => '0' );
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state.st<= ST_DONE;
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state.st<= ST_DONE;
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elsif state.x = 0 and state.y < 0 then
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elsif state.x = 0 and state.y < 0 then
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-- fixed rotation of -pi/2
|
-- fixed rotation of -pi/2
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state.x_sum <= -state.y;
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state.y_sum <= ( others => '0' );
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state.a <= to_signed( -PI_H, state.a'length );
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state.a <= to_signed( -PI_H, state.a'length );
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state.x <= -state.y;
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state.y <= ( others => '0' );
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state.st<= ST_DONE;
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state.st<= ST_DONE;
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elsif state.x < 0 and state.y >= 0 then
|
elsif state.x < 0 and state.y >= 0 then
|
-- move from second quadrant to fourth
|
-- move from second quadrant to fourth
|
state.x <= - state.x;
|
state.x <= - state.x;
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| Line 470... |
Line 503... |
end if;
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end if;
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state.a <= to_signed( 0, state.a'length );
|
state.a <= to_signed( 0, state.a'length );
|
>>>>>>> initial commit
|
>>>>>>> initial commit
|
=======
|
=======
|
-- linear rotation mode
|
-- linear rotation mode
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|
|
if state.x < 0 then
|
if state.x < 0 then
|
state.x <= - state.x;
|
state.x <= - state.x;
|
state.y <= - state.y;
|
state.y <= - state.y;
|
end if;
|
end if;
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state.a <= to_signed( 0, state.a'length );
|
state.a <= to_signed( 0, state.a'length );
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| Line 521... |
Line 555... |
end if;
|
end if;
|
|
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if state.do_shift = '1' then
|
if state.do_shift = '1' then
|
-- get the angle, do the shifting and set the right angle
|
state.do_shift <= '0';
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|
|
-- get the angle, do the shifting and set the correct angle
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|
|
if sign = '1' then
|
if sign = '1' then
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-- circular case
|
-- circular case
|
if state.mode( 1 downto 0 ) = VAL_MODE_CIR then
|
if state.mode( 1 downto 0 ) = VAL_MODE_CIR then
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| Line 570... |
Line 606... |
|
|
end if;
|
end if;
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state.x_sh <= - SHIFT_RIGHT( state.x, to_integer( state.i ) );
|
state.x_sh <= - SHIFT_RIGHT( state.x, to_integer( state.i ) );
|
|
|
end if;
|
end if;
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state.do_shift <= '0';
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|
-- abort condition
|
-- abort condition
|
<<<<<<< HEAD
|
<<<<<<< HEAD
|
<<<<<<< HEAD
|
<<<<<<< HEAD
|
if( state.mode( I_FLAG_VEC_ROT ) = '0' and
|
if( state.mode( I_FLAG_VEC_ROT ) = '0' and
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| Line 647... |
Line 682... |
elsif state.st = ST_RM_GAIN then
|
elsif state.st = ST_RM_GAIN then
|
-- we need RM_GAIN+1 cycles to
|
-- we need RM_GAIN+1 cycles to
|
-- calculate the RM_GAIN steps
|
-- calculate the RM_GAIN steps
|
if state.i = (RM_GAIN) then
|
if state.i = (RM_GAIN) then
|
state.st <= ST_DONE;
|
state.st <= ST_DONE;
|
state.done <= '1';
|
|
state.i <= ( others => '0' );
|
state.i <= ( others => '0' );
|
else
|
else
|
state.i <= state.i + 1;
|
state.i <= state.i + 1;
|
end if;
|
end if;
|
|
|
| Line 660... |
Line 694... |
mult_0_61( state.y, state.y_sh, state.y_sum, to_integer( state.i ), RM_GAIN );
|
mult_0_61( state.y, state.y_sh, state.y_sum, to_integer( state.i ), RM_GAIN );
|
elsif state.mode( 1 downto 0 ) = VAL_MODE_HYP then
|
elsif state.mode( 1 downto 0 ) = VAL_MODE_HYP then
|
mult_0_21( state.x, state.x_sh, state.x_sum, to_integer( state.i ), RM_GAIN );
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mult_0_21( state.x, state.x_sh, state.x_sum, to_integer( state.i ), RM_GAIN );
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mult_0_21( state.y, state.y_sh, state.y_sum, to_integer( state.i ), RM_GAIN );
|
mult_0_21( state.y, state.y_sh, state.y_sum, to_integer( state.i ), RM_GAIN );
|
else
|
else
|
-- TODO merge ST_DONE and state.done
|
|
state.done <= '1';
|
|
state.st <= ST_DONE;
|
state.st <= ST_DONE;
|
state.x_sum <= state.x;
|
state.x_sum <= state.x;
|
state.y_sum <= state.y;
|
state.y_sum <= state.y;
|
end if;
|
end if;
|
|
|
|
|
elsif state.st = ST_DONE then
|
elsif state.st = ST_DONE then
|
state.st <= ST_IDLE;
|
state.st <= ST_IDLE;
|
state.done <= '0';
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end if;
|
end if;
|
-- end states
|
-- end states
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| Line 684... |
Line 715... |
|
|
end if;
|
end if;
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-- end clk
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-- end clk
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|
|
end process;
|
end process;
|
done <= state.done ;
|
done <= '1' when state.st = ST_DONE else '0';
|
x_o <= std_logic_vector( state.x_sum );
|
x_o <= std_logic_vector( state.x_sum );
|
y_o <= std_logic_vector( state.y_sum );
|
y_o <= std_logic_vector( state.y_sum );
|
a_o <= std_logic_vector( state.a );
|
a_o <= std_logic_vector( state.a );
|
|
|
end architecture BEHAVIORAL;
|
end architecture BEHAVIORAL;
|
