upsilon/firmware/rtl/control_loop/calculate_dt.v

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/* Calculate and truncate Δt = cycles/100MhZ.
* NOTE: boothmul is a SIGNED algorithm so both inputs are SIGNED.
* This means that SEC_PER_CYCLE must have a leading 0
* and that cycles must also have a leading zero.
*/
`undefineall
module calculate_dt #(
/* This number is 1/(clock cycle).
The number is interpreted so the least significant bit
coincides with the LSB of a constant. */
parameter SEC_PER_CYCLE_WID = 15,
parameter [SEC_PER_CYCLE_WID-1:0] SEC_PER_CYCLE = 'b010101011110011,
parameter CYCLE_COUNT_WID = 18,
parameter MAX_WID = 48
) (
input clk,
input arm,
output finished,
input [CYCLE_COUNT_WID-1:0] cycles,
/* Multiplication of Q18.0 and 14 lower siginifcant bits. */
`define DT_WID_UNTRUNC (SEC_PER_CYCLE_WID + CYCLE_COUNT_WID)
`define DT_WID (`DT_WID_UNTRUNC > MAX_WID ? MAX_WID : `DT_WID_UNTRUNC)
output [`DT_WID-1:0] dt
);
wire [`DT_WID_UNTRUNC-1:0] dt_untrunc;
boothmul #(
.A1_LEN(CYCLE_COUNT_WID),
.A2_LEN(SEC_PER_CYCLE_WID)
) mul (
.clk(clk),
.arm(arm),
.a1(cycles),
.a2(SEC_PER_CYCLE),
.outn(dt_untrunc),
.fin(finished)
);
generate if (`DT_WID_UNTRUNC > `DT_WID) begin
intsat #(
.IN_LEN(`DT_WID_UNTRUNC),
.LTRUNC(`DT_WID_UNTRUNC - `DT_WID)
) sat (
.inp(dt_untrunc),
.outp(dt)
);
end else begin
assign dt = dt_untrunc;
end endgenerate
`ifdef VERILATOR
initial begin
$dumpfile("calculate_dt.fst");
$dumpvars;
end
`endif
endmodule