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control_loop; add dirty bit to decrease the amount of comparisons

This commit is contained in:
Peter McGoron 2022-11-17 19:14:24 -05:00
parent 8d11442cbb
commit 3a23ac6e92
1 changed files with 32 additions and 23 deletions
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55
firmware/rtl/control_loop/control_loop.v
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@ -155,12 +155,12 @@ always @ (posedge clk) begin
end end
/**** Read-Write control interface. /**** Read-Write control interface.
* Make less expensive comparison by adding dirty register. Dirty register * `write_control` ensures that writes to the dirty bit do not happen when
* is written to for writes that change the control loop, but writes will * the main loop is clearing the dirty bit.
* not be processed when the loop is checking the dirty bit, avoiding
* race condition.
*/ */
reg dirty_bit = 0;
always @ (posedge clk) begin always @ (posedge clk) begin
if (start_cmd && !finish_cmd) begin if (start_cmd && !finish_cmd) begin
case (cmd) case (cmd)
@ -172,31 +172,43 @@ always @ (posedge clk) begin
finish_cmd <= 1; finish_cmd <= 1;
end end
CONTROL_LOOP_STATUS | CONTROL_LOOP_WRITE_BIT: CONTROL_LOOP_STATUS | CONTROL_LOOP_WRITE_BIT:
running <= word_in[0]; if (write_control) begin
finish_cmd <= 1; running <= word_in[0];
finish_cmd <= 1;
dirty_bit <= 1;
end
CONTROL_LOOP_SETPT: begin CONTROL_LOOP_SETPT: begin
word_out[DATA_WID-1:ADC_WID] <= 0; word_out[DATA_WID-1:ADC_WID] <= 0;
word_out[ADC_WID-1:0] <= setpt; word_out[ADC_WID-1:0] <= setpt;
finish_cmd <= 1; finish_cmd <= 1;
end end
CONTROL_LOOP_SETPT | CONTROL_LOOP_WRITE_BIT: CONTROL_LOOP_SETPT | CONTROL_LOOP_WRITE_BIT:
setpt_buffer <= word_in[ADC_WID-1:0]; if (write_control) begin
finish_cmd <= 1; setpt_buffer <= word_in[ADC_WID-1:0];
finish_cmd <= 1;
dirty_bit <= 1;
end
CONTROL_LOOP_P: begin CONTROL_LOOP_P: begin
word_out <= cl_p_reg; word_out <= cl_p_reg;
finish_cmd <= 1; finish_cmd <= 1;
end end
CONTROL_LOOP_P | CONTROL_LOOP_WRITE_BIT: begin CONTROL_LOOP_P | CONTROL_LOOP_WRITE_BIT: begin
cl_p_reg_buffer <= word_in; if (write_control) begin
finish_cmd <= 1; cl_p_reg_buffer <= word_in;
finish_cmd <= 1;
dirty_bit <= 1;
end
end end
CONTROL_LOOP_ALPHA: begin CONTROL_LOOP_ALPHA: begin
word_out <= cl_alpha_reg; word_out <= cl_alpha_reg;
finish_cmd <= 1; finish_cmd <= 1;
end end
CONTROL_LOOP_ALPHA | CONTROL_LOOP_WRITE_BIT: begin CONTROL_LOOP_ALPHA | CONTROL_LOOP_WRITE_BIT: begin
cl_alpha_reg_buffer <= word_in; if (write_control) begin
finish_cmd <= 1; cl_alpha_reg_buffer <= word_in;
finish_cmd <= 1;
dirty_bit <= 1;
end
end end
CONTROL_LOOP_DELAY: begin CONTROL_LOOP_DELAY: begin
word_out[DATA_WID-1:DELAY_WID] <= 0; word_out[DATA_WID-1:DELAY_WID] <= 0;
@ -204,8 +216,11 @@ always @ (posedge clk) begin
finish_cmd <= 1; finish_cmd <= 1;
end end
CONTROL_LOOP_DELAY | CONTROL_LOOP_WRITE_BIT: begin CONTROL_LOOP_DELAY | CONTROL_LOOP_WRITE_BIT: begin
dely_buffer <= word_in[DELAY_WID-1:0]; if (write_control) begin
finish_cmd <= 1; dely_buffer <= word_in[DELAY_WID-1:0];
finish_cmd <= 1;
dirty_bit <= 1;
end
end end
CONTROL_LOOP_ERR: begin CONTROL_LOOP_ERR: begin
word_out[DATA_WID-1:ERR_WID] <= 0; word_out[DATA_WID-1:ERR_WID] <= 0;
@ -227,12 +242,6 @@ always @ (posedge clk) begin
end end
end end
/* This is not a race condition as long as two variables are
* not being assigned at the same time. Instead, the lower
* assign block will use the older values (i.e. the upper assign
* block only takes effect next clock cycle).
*/
always @ (posedge clk) begin always @ (posedge clk) begin
case (state) case (state)
INIT_READ_FROM_DAC: begin INIT_READ_FROM_DAC: begin
@ -274,15 +283,15 @@ always @ (posedge clk) begin
timer <= timer + 1; timer <= timer + 1;
end else begin end else begin
/* On change of constants, previous values are invalidated. */ /* On change of constants, previous values are invalidated. */
if (setpt != setpt_buffer || if (dirty_bit) begin
cl_alpha_reg != cl_alpha_reg_buffer ||
cl_p_reg != cl_p_reg_buffer) begin
setpt <= setpt_buffer; setpt <= setpt_buffer;
dely <= dely_buf; dely <= dely_buf;
cl_alpha_reg <= cl_alpha_reg_buffer; cl_alpha_reg <= cl_alpha_reg_buffer;
cl_p_reg <= cl_p_reg_buffer; cl_p_reg <= cl_p_reg_buffer;
adj_prev <= 0; adj_prev <= 0;
err_prev <= 0; err_prev <= 0;
dirty_bit <= 0;
end end
state <= WAIT_ON_ADC; state <= WAIT_ON_ADC;