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//////////////////////////////////////////////////////////////////////

////                                                              ////

////  can_btl.v                                                   ////

////                                                              ////

////                                                              ////

////  This file is part of the CAN Protocol Controller            ////

////  http://www.opencores.org/projects/can/                      ////

////                                                              ////

////                                                              ////

////  Author(s):                                                  ////

////       Igor Mohor                                             ////

////       igorm@opencores.org                                    ////

////                                                              ////

////                                                              ////

////  All additional information is available in the README.txt   ////

////  file.                                                       ////

////                                                              ////

//////////////////////////////////////////////////////////////////////

////                                                              ////

//// Copyright (C) 2002, 2003 Authors                             ////

////                                                              ////

//// This source file may be used and distributed without         ////

//// restriction provided that this copyright statement is not    ////

//// removed from the file and that any derivative work contains  ////

//// the original copyright notice and the associated disclaimer. ////

////                                                              ////

//// This source file is free software; you can redistribute it   ////

//// and/or modify it under the terms of the GNU Lesser General   ////

//// Public License as published by the Free Software Foundation; ////

//// either version 2.1 of the License, or (at your option) any   ////

//// later version.                                               ////

////                                                              ////

//// This source is distributed in the hope that it will be       ////

//// useful, but WITHOUT ANY WARRANTY; without even the implied   ////

//// warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      ////

//// PURPOSE.  See the GNU Lesser General Public License for more ////

//// details.                                                     ////

////                                                              ////

//// You should have received a copy of the GNU Lesser General    ////

//// Public License along with this source; if not, download it   ////

//// from http://www.opencores.org/lgpl.shtml                     ////

////                                                              ////

//// The CAN protocol is developed by Robert Bosch GmbH and       ////

//// protected by patents. Anybody who wants to implement this    ////

//// CAN IP core on silicon has to obtain a CAN protocol license  ////

//// from Bosch.                                                  ////

////                                                              ////

//////////////////////////////////////////////////////////////////////

//

// CVS Revision History

//

// $Log: not supported by cvs2svn $

// Revision 1.26  2003/09/25 18:55:49  mohor

// Synchronization changed, error counters fixed.

//

// Revision 1.25  2003/07/16 13:40:35  mohor

// Fixed according to the linter.

//

// Revision 1.24  2003/07/10 15:32:28  mohor

// Unused signal removed.

//

// Revision 1.23  2003/07/10 01:59:04  tadejm

// Synchronization fixed. In some strange cases it didn't work according to

// the VHDL reference model.

//

// Revision 1.22  2003/07/07 11:21:37  mohor

// Little fixes (to fix warnings).

//

// Revision 1.21  2003/07/03 09:32:20  mohor

// Synchronization changed.

//

// Revision 1.20  2003/06/20 14:51:11  mohor

// Previous change removed. When resynchronization occurs we go to seg1

// stage. sync stage does not cause another start of seg1 stage.

//

// Revision 1.19  2003/06/20 14:28:20  mohor

// When hard_sync or resync occure we need to go to seg1 segment. Going to

// sync segment is in that case blocked.

//

// Revision 1.18  2003/06/17 15:53:33  mohor

// clk_cnt reduced from [8:0] to [6:0].

//

// Revision 1.17  2003/06/17 14:32:17  mohor

// Removed few signals.

//

// Revision 1.16  2003/06/16 13:57:58  mohor

// tx_point generated one clk earlier. rx_i registered. Data corrected when

// using extended mode.

//

// Revision 1.15  2003/06/13 15:02:24  mohor

// Synchronization is also needed when transmitting a message.

//

// Revision 1.14  2003/06/13 14:55:11  mohor

// Counters width changed.

//

// Revision 1.13  2003/06/11 14:21:35  mohor

// When switching to tx, sync stage is overjumped.

//

// Revision 1.12  2003/02/14 20:17:01  mohor

// Several registers added. Not finished, yet.

//

// Revision 1.11  2003/02/09 18:40:29  mohor

// Overload fixed. Hard synchronization also enabled at the last bit of

// interframe.

//

// Revision 1.10  2003/02/09 02:24:33  mohor

// Bosch license warning added. Error counters finished. Overload frames

// still need to be fixed.

//

// Revision 1.9  2003/01/31 01:13:38  mohor

// backup.

//

// Revision 1.8  2003/01/10 17:51:34  mohor

// Temporary version (backup).

//

// Revision 1.7  2003/01/08 02:10:53  mohor

// Acceptance filter added.

//

// Revision 1.6  2002/12/28 04:13:23  mohor

// Backup version.

//

// Revision 1.5  2002/12/27 00:12:52  mohor

// Header changed, testbench improved to send a frame (crc still missing).

//

// Revision 1.4  2002/12/26 01:33:05  mohor

// Tripple sampling supported.

//

// Revision 1.3  2002/12/25 23:44:16  mohor

// Commented lines removed.

//

// Revision 1.2  2002/12/25 14:17:00  mohor

// Synchronization working.

//

// Revision 1.1.1.1  2002/12/20 16:39:21  mohor

// Initial

//

//

//

// synopsys translate_off

`include "timescale.v"

// synopsys translate_on

`include "can_defines.v"

module can_btl

(

  clk,

  rst,

  rx,

  tx,

  /* Bus Timing 0 register */

  baud_r_presc,

  sync_jump_width,

  /* Bus Timing 1 register */

  time_segment1,

  time_segment2,

  triple_sampling,

  /* Output signals from this module */

  sample_point,

  sampled_bit,

  sampled_bit_q,

  tx_point,

  hard_sync,

  /* Output from can_bsp module */

  rx_idle,

  rx_inter,

  transmitting,

  transmitter,

  go_rx_inter,

  tx_next,

  go_overload_frame,

  go_error_frame,

  go_tx,

  send_ack,

  node_error_passive

);

parameter Tp = 1;

input         clk;

input         rst;

input         rx;

input         tx;

/* Bus Timing 0 register */

input   [5:0] baud_r_presc;

input   [1:0] sync_jump_width;

/* Bus Timing 1 register */

input   [3:0] time_segment1;

input   [2:0] time_segment2;

input         triple_sampling;

/* Output from can_bsp module */

input         rx_idle;

input         rx_inter;

input         transmitting;

input         transmitter;

input         go_rx_inter;

input         tx_next;

input         go_overload_frame;

input         go_error_frame;

input         go_tx;

input         send_ack;

input         node_error_passive;

/* Output signals from this module */

output        sample_point;

output        sampled_bit;

output        sampled_bit_q;

output        tx_point;

output        hard_sync;

reg     [6:0] clk_cnt;

reg           clk_en;

reg           clk_en_q;

reg           sync_blocked;

reg           hard_sync_blocked;

reg           sampled_bit;

reg           sampled_bit_q;

reg     [3:0] quant_cnt;

reg     [3:0] delay;

reg           sync;

reg           seg1;

reg           seg2;

reg           resync_latched;

reg           sample_point;

reg     [1:0] sample;

reg           tx_point;

reg           tx_next_sp;

wire          go_sync;

wire          go_seg1;

wire          go_seg2;

wire [7:0]    preset_cnt;

wire          sync_window;

wire          resync;

assign preset_cnt = (baud_r_presc + 1'b1)<<1;        // (BRP+1)*2

assign hard_sync  =   (rx_idle | rx_inter)    & (~rx) & sampled_bit & (~hard_sync_blocked);  // Hard synchronization

assign resync     =  (~rx_idle) & (~rx_inter) & (~rx) & sampled_bit & (~sync_blocked);       // Re-synchronization

/* Generating general enable signal that defines baud rate. */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    clk_cnt <= 7'h0;

  else if (clk_cnt >= (preset_cnt-1'b1))

    clk_cnt <=#Tp 7'h0;

  else

    clk_cnt <=#Tp clk_cnt + 1'b1;

end

always @ (posedge clk or posedge rst)

begin

  if (rst)

    clk_en  <= 1'b0;

  else if ({1'b0, clk_cnt} == (preset_cnt-1'b1))

    clk_en  <=#Tp 1'b1;

  else

    clk_en  <=#Tp 1'b0;

end

always @ (posedge clk or posedge rst)

begin

  if (rst)

    clk_en_q  <= 1'b0;

  else

    clk_en_q  <=#Tp clk_en;

end

/* Changing states */

assign go_sync = clk_en_q & seg2 & (quant_cnt[2:0] == time_segment2) & (~hard_sync) & (~resync);

assign go_seg1 = clk_en_q & (sync | hard_sync | (resync & seg2 & sync_window) | (resync_latched & sync_window));

assign go_seg2 = clk_en_q & (seg1 & (~hard_sync) & (quant_cnt == (time_segment1 + delay)));

always @ (posedge clk or posedge rst)

begin

  if (rst)

    tx_point <= 1'b0;

  else

    tx_point <=#Tp ~tx_point & seg2 & (  clk_en & (quant_cnt[2:0] == time_segment2)

                                       | clk_en_q & (resync | hard_sync)

//                                       | clk_en & (resync | hard_sync)

                                      );    // When transmitter we should transmit as soon as possible.

end

/* When early edge is detected outside of the SJW field, synchronization request is latched and performed when

   SJW is reached */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    resync_latched <= 1'b0;

  else if (resync & seg2 & (~sync_window))

    resync_latched <=#Tp 1'b1;

  else if (go_seg1)

    resync_latched <= 1'b0;

end

/* Synchronization stage/segment */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    sync <= 1'b0;

  else if (clk_en_q)

    sync <=#Tp go_sync;

end

/* Seg1 stage/segment (together with propagation segment which is 1 quant long) */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    seg1 <= 1'b1;

  else if (go_seg1)

    seg1 <=#Tp 1'b1;

  else if (go_seg2)

    seg1 <=#Tp 1'b0;

end

/* Seg2 stage/segment */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    seg2 <= 1'b0;

  else if (go_seg2)

    seg2 <=#Tp 1'b1;

  else if (go_sync | go_seg1)

    seg2 <=#Tp 1'b0;

end

/* Quant counter */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    quant_cnt <= 4'h0;

  else if (go_sync | go_seg1 | go_seg2)

    quant_cnt <=#Tp 4'h0;

  else if (clk_en_q)

    quant_cnt <=#Tp quant_cnt + 1'b1;

end

/* When late edge is detected (in seg1 stage), stage seg1 is prolonged. */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    delay <= 4'h0;

//  else if (resync & seg1 & (~transmitting | transmitting & tx_next_sp))  // when transmitting 0 with positive error delay is set to 0

  else if (resync & seg1 & (~transmitting | transmitting & (tx_next_sp | (tx & (~rx)))))  // when transmitting 0 with positive error delay is set to 0

    delay <=#Tp (quant_cnt > {2'h0, sync_jump_width})? ({2'h0, sync_jump_width} + 1'b1) : (quant_cnt + 1'b1);

  else if (go_sync | go_seg1)

    delay <=#Tp 4'h0;

end

// If early edge appears within this window (in seg2 stage), phase error is fully compensated

assign sync_window = ((time_segment2 - quant_cnt[2:0]) < ( sync_jump_width + 1'b1));

// Sampling data (memorizing two samples all the time).

always @ (posedge clk or posedge rst)

begin

  if (rst)

    sample <= 2'b11;

  else if (clk_en_q)

    sample <= {sample[0], rx};

end

// When enabled, tripple sampling is done here.

always @ (posedge clk or posedge rst)

begin

  if (rst)

    begin

      sampled_bit <= 1'b1;

      sampled_bit_q <= 1'b1;

      sample_point <= 1'b0;

    end

  else if (clk_en_q & (~hard_sync))

    begin

      if (seg1 & (quant_cnt == (time_segment1 + delay)))

        begin

          sample_point <=#Tp 1'b1;

          sampled_bit_q <=#Tp sampled_bit;

          if (triple_sampling)

            sampled_bit <=#Tp (sample[0] & sample[1]) | ( sample[0] & rx) | (sample[1] & rx);

          else

            sampled_bit <=#Tp rx;

        end

    end

  else

    sample_point <=#Tp 1'b0;

end

// tx_next_sp shows next value that will be driven on the TX. When driving 1 and receiving 0 we

// need to synchronize (even when we are a transmitter)

always @ (posedge clk or posedge rst)

begin

  if (rst)

    tx_next_sp <= 1'b0;

  else if (go_overload_frame | (go_error_frame & (~node_error_passive)) | go_tx | send_ack)

    tx_next_sp <=#Tp 1'b0;

  else if (go_error_frame & node_error_passive)

    tx_next_sp <=#Tp 1'b1;

  else if (sample_point)

    tx_next_sp <=#Tp tx_next;

end

/* Blocking synchronization (can occur only once in a bit time) */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    sync_blocked <=#Tp 1'b1;

  else if (clk_en_q)

    begin

      if (resync)

        sync_blocked <=#Tp 1'b1;

      else if (go_seg2)

        sync_blocked <=#Tp 1'b0;

    end

end

/* Blocking hard synchronization when occurs once or when we are transmitting a msg */

always @ (posedge clk or posedge rst)

begin

  if (rst)

    hard_sync_blocked <=#Tp 1'b0;

//  else if (hard_sync & clk_en_q | transmitting & transmitter & tx_point)

  else if (hard_sync & clk_en_q | transmitting & transmitter & tx_point & (~tx_next))

    hard_sync_blocked <=#Tp 1'b1;

//  else if (go_rx_inter)

  else if (go_rx_inter | (rx_idle | rx_inter) & sample_point & sampled_bit)  // When a glitch performed synchronization

    hard_sync_blocked <=#Tp 1'b0;

end

endmodule