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controller.v
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controller.v
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`timescale 1ns / 1ps
//////////////////////////////////////////////////////////////////////////////////
// Company:
// Engineer:
//
// Create Date: 09.05.2024 15:19:08
// Design Name:
// Module Name: controller
// Project Name:
// Target Devices:
// Tool Versions:
// Description:
//
// Dependencies:
//
// Revision:
// Revision 0.01 - File Created
// Additional Comments:
//
//////////////////////////////////////////////////////////////////////////////////
//first detect request, if solved flag ,only wait 1 cycle and wirte ph to position
// else set bus_av to 1 at the same time calculate first two address
//then calculate the third address , pass bua_av to next agent
// transfer the pos_now and step_pre to data of env and obstiacles
module controller(
input clk,
input rst,
input stall,
input [NUM_AGENTS-1:0]solved,
input [NUM_AGENTS-1:0] bus_request,
output reg [NUM_AGENTS-1:0] bus_av,
input [NUM_AGENTS*POS_ADDR*2-1:0] poses_now, // Input for all agents' memory addresses
output reg [POS_ADDR*2-1:0] pos_active,
input [NUM_AGENTS*2-1:0]steps,
output reg [1:0] step_active,
output reg solved_out,
output reg [1:0] grant_count // in solved==0, grant_count==1 , channel b write ph to ph_map
);
parameter NUM_AGENTS = 8;
parameter POS_ADDR = 4;
parameter MAP_LEN =10;
reg [$clog2(NUM_AGENTS)-1:0] current_agent;
always @(posedge clk)
begin
if (!rst)
begin
bus_av <= 0;
pos_active <= 0;
step_active<=0;
current_agent <= 0;
grant_count <= 0;
end
else if (grant_count==0 && stall) // stall the controller for global ph update , only after finish one access can stall occur
begin
grant_count<=grant_count;
bus_av<=0;
current_agent<=current_agent;
end
else
if (grant_count > 0)
begin
grant_count <= grant_count - 1;
pos_active <= pos_active;
step_active<=step_active;
end
else
begin
current_agent<=(current_agent+1)% NUM_AGENTS; // a in trun check
if (bus_request[current_agent])
begin
bus_av <= (1 << current_agent);
pos_active <= poses_now[current_agent*POS_ADDR*2 +: POS_ADDR*2];
step_active<=steps[current_agent * 2 +: 2];
// Check if the agent is solved and assign grant_count accordingly
if (solved[current_agent] == 1'b1)
begin
grant_count <= 1; // Only grant for 2 cycle if solved
solved_out<=1;
end
else
begin
grant_count <= 2; // Otherwise grant for 2 cycle , in 2 cycle channel 2 read current position ph and add a number in cycle3 write back
solved_out<=0;
end
end
end
end
endmodule