Subversion Repositories ps2

//-------------------------------------------------------------------------------------
//
// Author: John Clayton
// Date  : April 30, 2001
// Update: 6/06/01 copied this file from ps2.v (pared down).
// Update: 6/07/01 Finished initial coding efforts.
// Update: 6/09/01 Made minor changes to state machines during debugging.
//                 Fixed errors in state transitions.  Added state to m2
//                 so that "reset" causes the mouse to be initialized.
//                 Removed debug port.
//
//
//
//
//
// Description
//-------------------------------------------------------------------------------------
// This is a state-machine driven serial-to-parallel and parallel-to-serial
// interface to the ps2 style mouse.  The state diagram for part of the
// m2 state machine was obtained from the work of Rob Chapman, as published
// at: 
// www.ee.ualberta.ca/~elliott/ee552/studentAppNotes/1998_w/mouse_notes.html
//
//
// Some aspects of the mouse interface are not implemented (e.g, verifying
// the FA response code from the mouse when enabling streaming mode.)
// However, the mouse interface was designed so that "hot plugging" a mouse
// into the connector should cause the interface to send the F4 code to the
// mouse in order to enable streaming.  By this means, the mouse begins to
// operate, and no reset pulse should be needed.
//
// Similarly, there is a "watchdog" timer implemented, so that during periods
// of inactivity, the bit_count is cleared to zero.  Therefore, the effects of
// a bad count value are corrected, and internal errors of that type are not
// propagated into subsequent packet receive operations.
//
// To enable the streaming mode, F4 is sent to the mouse.
// The mouse responds with FA to acknowledge the command, and then enters
// streaming mode at the default rate of 100 packets per second (transmission
// of packets ceases when the activity at the mouse is not longer sensed.)
//
// There are additional commands to change the sampling rate and resolution
// of the mouse reported data.  Those commands are not implemented here.
// (E8,XX = set resolution 0,1,2,3)
// (E7 = set scaling 2:1)
// (E6 = reset scaling)
// (F3,XX = set sampling rate to XX packets per second.)
//
// At this time I do not know any of the command related to using the
// wheel of a "wheel mouse." 
//
// The packets consists of three bytes transmitted in sequence.  The interval
// between these bytes has been measured on two different mice, and found to
// be different.  On the slower (older) mouse it was approximately 345
// microseconds, while on a newer "wheel" mouse it was approximately 125
// microseconds.  The watchdog timer is designed to cause processing of a
// complete packet when it expires.  Therefore, the watchdog timer must last
// for longer than the "inter-byte delay" between bytes of the packet.
// I have set the default timer value to 400 usec, for my 49.152 MHz clock.
// The timer value and size of the timer counter is settable by parameters,
// so that other clock frequencies and settings may be used.  The setting for
// the watchdog timeout is not critical -- it only needs to be greater than
// the inter-byte delay as data is transmitted from the mouse, and no less
// than 60usec.
//
// Each "byte" of the packet is transmitted from the mouse as follows:
//
// 1 start bit, 8 data bits, 1 odd parity bit, 1 stop bit. == 11 bits total.
// (The data bits are sent LSB first)
//
// The data bits are formatted as follows:
//
// byte 0: YV, XV, YS, XS, 1, 0, R, L
// byte 1: X7..X0
// byte 2: Y7..Y0
//
// Where YV, XV are set to indicate overflow conditions.
//       XS, YS are set to indicate negative quantities (sign bits).
//        R,  L are set to indicate buttons pressed, left and right.
// 
//
//
// The interface to the ps2 mouse (like the keyboard) uses clock rates of
// 30-40 kHz, dependent upon the mouse itself.  The mouse generates the
// clock.
// The rate at which the state machine runs should be at least twice the 
// rate of the ps2_clk, so that the states can accurately follow the clock
// signal itself.  Four times oversampling is better.  Say 200kHz at least.
// In order to run the state machine extremely fast, synchronizing flip-flops
// have been added to the ps2_clk and ps2_data inputs of the state machine.
// This avoids poor performance related to slow transitions of the inputs.
//
// Because this is a bi-directional interface, while reading from the mouse
// the ps2_clk and ps2_data lines are used as inputs.  While writing to the
// mouse, however (which is done when a "packet" of less than 33 bits is
// received), both the ps2_clk and ps2_data lines are sometime pulled low by
// this interface.  As such, they are bidirectional, and pullups are used to
// return them to the "high" state, whenever the drivers are set to the
// high impedance state.
//
// Pullups MUST BE USED on the ps2_clk and ps2_data lines for this design,
// whether they be internal to an FPGA I/O pad, or externally placed.
// If internal pullups are used, they may be fairly weak, causing bounces
// due to crosstalk, etc.  There is a "debounce timer" implemented in order
// to eliminate erroneous state transitions which would occur based on bounce.
// Parameters are provided to configure the debounce timer for different
// clock frequencies.  2 or 3 microseconds of debounce should be plenty.
// You may possibly use much less, if your pullups are strong.
//
// A parameters is provided to configure a 60 microsecond period used while
// transmitting to the mouse.  The 60 microsecond period is guaranteed to be
// more than one period of the ps2_clk signal.
//
//
//-------------------------------------------------------------------------------------
 
 
`resetall
`timescale 1ns/100ps
 
`define TOTAL_BITS   33  // Number of bits in one full packet
 
 
module ps2_mouse_interface (
  clk,
  reset,
  ps2_clk,
  ps2_data,
  left_button,
  right_button,
  x_increment,
  y_increment,
  data_ready,       // rx_read_o
  read,             // rx_read_ack_i
  error_no_ack
  );
 
// Parameters
 
// The timer value can be up to (2^bits) inclusive.
parameter WATCHDOG_TIMER_VALUE_PP = 19660; // Number of sys_clks for 400usec.
parameter WATCHDOG_TIMER_BITS_PP  = 15;    // Number of bits needed for timer
parameter DEBOUNCE_TIMER_VALUE_PP = 186;   // Number of sys_clks for debounce
parameter DEBOUNCE_TIMER_BITS_PP  = 8;     // Number of bits needed for timer
 
 
// State encodings, provided as parameters
// for flexibility to the one instantiating the module.
// In general, the default values need not be changed.
 
// There are three state machines: m1, m2 and m3.
// States chosen as "default" states upon power-up and configuration:
//    "m1_clk_h"
//    "m2_wait"
//    "m3_data_ready_ack"
 
parameter m1_clk_h = 0;
parameter m1_falling_edge = 1;
parameter m1_falling_wait = 3;
parameter m1_clk_l = 2;
parameter m1_rising_edge = 6;
parameter m1_rising_wait = 4;
 
parameter m2_reset = 14;
parameter m2_wait = 0;
parameter m2_gather = 1;
parameter m2_verify = 3;
parameter m2_use = 2;
parameter m2_hold_clk_l = 6;
parameter m2_data_low_1 = 4;
parameter m2_data_high_1 = 5;
parameter m2_data_low_2 = 7;
parameter m2_data_high_2 = 8;
parameter m2_data_low_3 = 9;
parameter m2_data_high_3 = 11;
parameter m2_error_no_ack = 15;
parameter m2_await_response = 10;
 
parameter m3_data_ready = 1;
parameter m3_data_ready_ack = 0;
 
// I/O declarations
input clk;
input reset;
inout ps2_clk;
inout ps2_data;
output left_button;
output right_button;
output [8:0] x_increment;
output [8:0] y_increment;
output data_ready;
input read;
output error_no_ack;
 
reg left_button;
reg right_button;
reg [8:0] x_increment;
reg [8:0] y_increment;
reg data_ready;
reg error_no_ack;
 
// Internal signal declarations
wire watchdog_timer_done;
wire debounce_timer_done;
wire packet_good;
 
reg [`TOTAL_BITS-1:0] q;  // Shift register
reg [2:0] m1_state;
reg [2:0] m1_next_state;
reg [3:0] m2_state;
reg [3:0] m2_next_state;
reg m3_state;
reg m3_next_state;
reg [5:0] bit_count;      // Bit counter
reg [WATCHDOG_TIMER_BITS_PP-1:0] watchdog_timer_count;
reg [DEBOUNCE_TIMER_BITS_PP-1:0] debounce_timer_count;
reg ps2_clk_hi_z;     // Without keyboard, high Z equals 1 due to pullups.
reg ps2_data_hi_z;    // Without keyboard, high Z equals 1 due to pullups.
reg clean_clk;        // Debounced output from m1, follows ps2_clk.
reg rising_edge;      // Output from m1 state machine.
reg falling_edge;     // Output from m1 state machine.
reg output_strobe;    // Latches data data into the output registers
 
//--------------------------------------------------------------------------
// Module code
 
assign ps2_clk = ps2_clk_hi_z?1'bZ:1'b0;
assign ps2_data = ps2_data_hi_z?1'bZ:1'b0;
 
// State register
always @(posedge clk)
begin : m1_state_register
  if (reset) m1_state <= m1_clk_h;
  else m1_state <= m1_next_state;
end
 
// State transition logic
always @(m1_state
         or ps2_clk
         or debounce_timer_done
         or watchdog_timer_done
         )
begin : m1_state_logic
 
  // Output signals default to this value, unless changed in a state condition.
  clean_clk <= 0;
  rising_edge <= 0;
  falling_edge <= 0;
 
  case (m1_state)
    m1_clk_h :
      begin
        clean_clk <= 1;
        if (~ps2_clk) m1_next_state <= m1_falling_edge;
        else m1_next_state <= m1_clk_h;
      end
 
    m1_falling_edge :
      begin
        falling_edge <= 1;
        m1_next_state <= m1_falling_wait;
      end
 
    m1_falling_wait :
      begin
        if (debounce_timer_done) m1_next_state <= m1_clk_l;
        else m1_next_state <= m1_falling_wait;
      end
 
    m1_clk_l :
      begin
        if (ps2_clk) m1_next_state <= m1_rising_edge;
        else m1_next_state <= m1_clk_l;
      end
 
    m1_rising_edge :
      begin
        rising_edge <= 1;
        m1_next_state <= m1_rising_wait;
      end
 
    m1_rising_wait :
      begin
        clean_clk <= 1;
        if (debounce_timer_done) m1_next_state <= m1_clk_h;
        else m1_next_state <= m1_rising_wait;
      end
    default : m1_next_state <= m1_clk_h;
  endcase
end
 
 
// State register
always @(posedge clk)
begin : m2_state_register
  if (reset) m2_state <= m2_reset;
  else m2_state <= m2_next_state;
end
 
// State transition logic
always @(m2_state
         or q
         or falling_edge
         or rising_edge
         or watchdog_timer_done
         or bit_count
         or packet_good
         or ps2_data
         or clean_clk
         )
begin : m2_state_logic
 
  // Output signals default to this value, unless changed in a state condition.
  ps2_clk_hi_z <= 1;
  ps2_data_hi_z <= 1;
  error_no_ack <= 0;
  output_strobe <= 0;
 
  case (m2_state)
 
    m2_reset :    // After reset, sends command to mouse.
      begin
        m2_next_state <= m2_hold_clk_l;
      end
 
    m2_wait :
      begin
        if (falling_edge) m2_next_state <= m2_gather;
        else m2_next_state <= m2_wait;
      end
 
    m2_gather :
      begin
        if (watchdog_timer_done && (bit_count == `TOTAL_BITS))
          m2_next_state <= m2_verify;
        else if (watchdog_timer_done && (bit_count < `TOTAL_BITS))
          m2_next_state <= m2_hold_clk_l;
        else m2_next_state <= m2_gather;
      end
 
    m2_verify :
      begin
        if (packet_good) m2_next_state <= m2_use;
        else m2_next_state <= m2_wait;
      end
 
    m2_use :
      begin
        output_strobe <= 1;
        m2_next_state <= m2_wait;
      end
 
    // The following sequence of 9 states is designed to transmit the
    // "enable streaming mode" command to the mouse, and then await the
    // response from the mouse.  Upon completion of this operation, the
    // receive shift register contains 22 bits of data which are "invalid"
    // therefore, the m2_verify state will fail to validate the data, and
    // control will be passed into the m2_wait state once again (but the
    // mouse will then be enabled, and valid data packets will ensue whenever
    // there is activity on the mouse.)
    m2_hold_clk_l :
      begin
        ps2_clk_hi_z <= 0;   // This starts the watchdog timer!
        if (watchdog_timer_done && ~clean_clk) m2_next_state <= m2_data_low_1;
        else m2_next_state <= m2_hold_clk_l;
      end
 
    m2_data_low_1 :
      begin
        ps2_data_hi_z <= 0;  // Forms start bit, d[0] and d[1]
        if (rising_edge && (bit_count == 3))
          m2_next_state <= m2_data_high_1;
        else m2_next_state <= m2_data_low_1;
      end
 
    m2_data_high_1 :
      begin
        ps2_data_hi_z <= 1;  // Forms d[2]
        if (rising_edge && (bit_count == 4))
          m2_next_state <= m2_data_low_2;
        else m2_next_state <= m2_data_high_1;
      end
 
    m2_data_low_2 :
      begin
        ps2_data_hi_z <= 0;  // Forms d[3]
        if (rising_edge && (bit_count == 5))
          m2_next_state <= m2_data_high_2;
        else m2_next_state <= m2_data_low_2;
      end
 
    m2_data_high_2 :
      begin
        ps2_data_hi_z <= 1;  // Forms d[4],d[5],d[6],d[7]
        if (rising_edge && (bit_count == 9))
          m2_next_state <= m2_data_low_3;
        else m2_next_state <= m2_data_high_2;
      end
 
    m2_data_low_3 :
      begin
        ps2_data_hi_z <= 0;  // Forms parity bit
        if (rising_edge) m2_next_state <= m2_data_high_3;
        else m2_next_state <= m2_data_low_3;
      end
 
    m2_data_high_3 :
      begin
        ps2_data_hi_z <= 1;  // Allow mouse to pull low (ack pulse)
        if (falling_edge && ps2_data) m2_next_state <= m2_error_no_ack;
        else if (falling_edge && ~ps2_data)
          m2_next_state <= m2_await_response;
        else m2_next_state <= m2_data_high_3;
      end
 
    m2_error_no_ack :
      begin
        error_no_ack <= 1;
        m2_next_state <= m2_error_no_ack;
      end
 
    // In order to "cleanly" exit the setting of the mouse into "streaming"
    // data mode, the state machine should wait for a long enough time to
    // ensure the FA response is done being sent by the mouse.  Unfortunately,
    // this is tough to figure out, since the watchdog timeout might be longer
    // or shorter depending upon the user.  If the watchdog timeout is set to
    // a small enough value (less than about 560 usec?) then the bit_count
    // will get reset to zero by the watchdog before the FA response is
    // received.  In that case, bit_count will be 11.
    // If the bit_count is not reset by the watchdog, then the
    // total bit_count will be 22.
    // In either case, when this state is reached, the watchdog timer is still
    // running and it is best to let it expire before returning to normal
    // operation.  One easy way to do this is to check for the bit_count to
    // reach 22 (which it will always do when receiving a normal packet) and
    // then jump to "verify" which will always fail for that time.
    m2_await_response :
      begin
        if (bit_count == 22) m2_next_state <= m2_verify;
        else m2_next_state <= m2_await_response;
      end
 
    default : m2_next_state <= m2_wait;
  endcase
end
 
 
 
// State register
always @(posedge clk)
begin : m3_state_register
  if (reset) m3_state <= m3_data_ready_ack;
  else m3_state <= m3_next_state;
end
 
// State transition logic
always @(m3_state or output_strobe or read)
begin : m3_state_logic
  case (m3_state)
    m3_data_ready_ack:
          begin
            data_ready <= 1'b0;
            if (output_strobe) m3_next_state <= m3_data_ready;
            else m3_next_state <= m3_data_ready_ack;
          end
    m3_data_ready:
          begin
            data_ready <= 1'b1;
            if (read) m3_next_state <= m3_data_ready_ack;
            else m3_next_state <= m3_data_ready;
          end
    default : m3_next_state <= m3_data_ready_ack;
  endcase
end
 
// This is the bit counter
always @(posedge clk)
begin
  if (reset) bit_count <= 0;  // normal reset
  else if (falling_edge) bit_count <= bit_count + 1;
  else if (watchdog_timer_done) bit_count <= 0;  // rx watchdog timer reset
end
 
// This is the shift register
always @(posedge clk)
begin
  if (reset) q <= 0;
  else if (falling_edge) q <= {ps2_data,q[`TOTAL_BITS-1:1]};
end
 
// This is the watchdog timer counter
// The watchdog timer is always "enabled" to operate.
always @(posedge clk)
begin
  if (reset || rising_edge || falling_edge) watchdog_timer_count <= 0;
  else if (~watchdog_timer_done)
    watchdog_timer_count <= watchdog_timer_count + 1;
end
assign watchdog_timer_done = (watchdog_timer_count==WATCHDOG_TIMER_VALUE_PP-1);
 
// This is the debounce timer counter
always @(posedge clk)
begin
  if (reset || falling_edge || rising_edge) debounce_timer_count <= 0;
//  else if (~debounce_timer_done)
  else debounce_timer_count <= debounce_timer_count + 1;
end
assign debounce_timer_done = (debounce_timer_count==DEBOUNCE_TIMER_VALUE_PP-1);
 
// This is the logic to verify that a received data packet is "valid"
// or good.
assign packet_good = (
                         (q[0]  == 0)
                      && (q[10] == 1)
                      && (q[11] == 0)
                      && (q[21] == 1)
                      && (q[22] == 0)
                      && (q[32] == 1)
                      && (q[9]  == ~^q[8:1])    // odd parity bit
                      && (q[20] == ~^q[19:12])  // odd parity bit
                      && (q[31] == ~^q[30:23])  // odd parity bit
                      );
 
// Output the special scan code flags, the scan code and the ascii
always @(posedge clk)
begin
  if (reset)
  begin
    left_button <= 0;
    right_button <= 0;
    x_increment <= 0;
    y_increment <= 0;
  end
  else if (output_strobe)
  begin
    left_button <= q[1];
    right_button <= q[2];
    x_increment <= {q[5],q[19:12]};
    y_increment <= {q[6],q[30:23]};
  end
end
 
 
endmodule
 
//`undefine TOTAL_BITS