PicoBlaze Hello World project using the PicoBlaze 2014/Class_9.pdfPicoBlaze Function Blocks (cont.) •CAL/RETURN Stack –Stores up to 31 instruction addresses •Allows up to 31

Class 9 Copyright 2011 Greg Tumbush Ver 1.0 1

• PicoBlaze • Hello World project using the PicoBlaze

Agenda


•Why? • Firmware is easier to maintain/modify/deploy • If the constraints of you system can be met by a processor, no reason build dedicated hardware. • Customization – e.g. connectivity to FPGA on-chip functions • Obsolescence Mitigation – soft processor RTL can be purchased to fulfill product lifespan requirements. • Multiple components can be combined for cost and count reduction.

• Multiple processers on same FPGA to control particular functions. • Hardware Acceleration – Slow SW algorithm can be moved to custom HW co-processor and interfaced to processor.

• Why Not? • Design tools more complex as integration of HW/SW.

• What? • ARM, Tensilica, Xilinx, etc. market embedded processors

• How? •Distributed as hard macro or soft core

Embedded Processor


Xilinx’s Embedded Processors • PicoBlaze

• 8-bit RISC • Distributed as a soft core • Can use the EDK or a free DOS based EDK • Supplied in VHDL

• MicroBlaze • 32-bit RISC Harvard • Distributed as a soft core • Requires Xilinx Embedded Developer Kit (EDK) • DO-254 Compliant version available from Logicircuit

• PowerPC • 32-bit RISC • Instantiated in some higher end FPGAs • Requires Xilinx Embedded Developer Kit (EDK) • PLC Interface

• ARM • Dual core Cortex-A9 MPCore processors • Each run up to 800MHz • AMBA-AXI Interface


The PicoBlaze Embedded Processor • Downloadable from the 4211 web site or http://www.xilinx.com/products/ipcenter/picoblaze • Core is kcpsm3.v (VHDL version also available) • Uses block ram configured as a PROM for program memory. • Occupies 96 slices or about 2% of the FPGA on our boards • Program memory space occupies 5% of block RAM • 57 Instructions • Up to 200MHz or 100MIPS on a Virtex-II Pro FPGA • Free assembler

http://www.xilinx.com/products/ipcenter/picoblaze


PicoBlaze Block Diagram

1K x 18

Block

Ram

PCaddress 10 31x10

Stack

10

10

Instruction

Decoder

18

interrupt

64x8

Scratchpad

RAM

16x8

General

Purpose

Registers

8in_port 8

8

ALU

IE

C

z

out_port8

port_id8

clk

reset

instruction

read_strobe

write_strobe

interrupt_ack

PicoBlaze Function Blocks

• General Purpose Registers – 16 Byte wide registers (s0 – sF) – Can be renamed for better program clarity – No registers are reserved or have priority – Each result is computed in specified register

• 1024 Instruction PROM – Instructions are 18 bits wide – Instructions are compiled within the FPGA design and automatically loaded

during FPGA config. – Can update code w/o FPGA design recompile.

• ALU – 8 bits wide – Addition and Subtraction – Bitwise AND, OR, and XOR – Arithmetic compare and bitwise test operations – Shift and Rotate operations

Source: Xilinx PicoBlaze User Guide 6

PicoBlaze Function Blocks (cont.)

• Flags – ZERO: indicates results of last op. resulted in zero. – CARRY: depending on last instruction, indicates various conditions

• Scratchpad RAM – 64 Byte – Accessed via the STORE or FETCH commands. – Directly or Indirectly accessable

• I/O – Up to 256 input or output or combination of

• PC – Points to the next instruction – Automatically increments to next instruction – JUMP, CALL, RETURN, and RETURNI instructions and Interrupt and

Reset Events modify auto increment behavior.


PicoBlaze Function Blocks (cont.)

• CAL/RETURN Stack

– Stores up to 31 instruction addresses

• Allows up to 31 nested CALL sequences

• Interrupt

– Optional asynchronous (w.r.t. instruction cycle) input.

• Reset

– Automatically reset after FPGA configuarion


PicoBlaze Ports


User Level

Subfunctions

Can also use dist. ROM if all block ROM used


port_id and in_port

PicoBlaze

in_port8 read_strobe

port_id 8

...

clk

instruction INPUT s0, (s7)

port_id contents of register s7

mux_out

mux_out_q

Valid Data

Valid Data

read_strobe

Register s0 Valid Data

mux_out

FPGA Logic

Indirect Addressing

0 1 2 3

Should register


port_id and out_port

PicoBlazeout_port

write_strobe

port_id 8

clk

instruction OUTPUT s0, 65

port_id 65

out_port Contents of Register s0

write_strobe

Q

8D Q

EN

8 Q

Contents of Register s0

address of register R1, (constant)

R1

Performance

• The PicoBlaze on a Spartan-3 FPGA has a maximum clock of 125.3MHz

– Fully static, i.e. operates down to DC.

• All instructions execute in two clock cycles.

Class 9 Copyright 2011 Greg Tumbush Ver 1.0

12

Interrupts

• Single INTERRUPT input – Use FPGA logic to create single interrupt from multiple

sources.

• INTERRUPT disabled upon reset – Enable via the ENABLE INTERRUPT instruction.

• Interrupt signal must be applied for at least two clock cycles. Interrupts must be disabled during ISR.

• Interrupt causes: – processor to execute CALL 3FF (which typically has jump

to ISR) – Preserves ZERO and CARRY flags – Pushes the PC value onto the CALL/RETURN stack.

Class 9 Copyright 2011 Greg Tumbush Ver 1.0

13


Design Flow

Assembler/KCPSM3.exe

my_code.psm ROM_form.coeROM_form.vhd

my_code.v

ROM_form.v

ISE

kcpsm3.v

my_design.v

my_design.ucf

my_design.bit


Design Flow

Note: kcpsm3 doesn’t run on 64 (and 32?) bit machines. One solution is to download Intel x86 PC emulator that runs DOS from: http://www.dosbox.com According to the Xilinx forums, kcpsm6 won’t work with Spartan-3E.

http://www.dosbox.com/

http://www.dosbox.com/


The Hello World Project • Displays “hello world” on line 2 starting at character 44

lcd_master.v

LCDDAT[3:0]

LCDELCDRSLCDRW

LCDdebounce.vBTN0

DCM

CCLK

slow_clk

LCDDAT[3:0]

LCDELCDRSLCDRW

LCDCCLK

hello_world.v

kcpsm3.v

Block

Ram

control.v

New


The program – control.psm CONSTANT LCD_output_port, 40 ; output data and control CONSTANT LCD_E, 01 ; active High Enable CONSTANT LCD_RW, 02 ; Read=1 Write=0 CONSTANT LCD_RS, 04 ; Instruction=0 Data=1 CONSTANT LCD_DB4, 10 ; Data[0] CONSTANT LCD_DB5, 20 ; Data[1] CONSTANT LCD_DB6, 40 ; Data[2] CONSTANT LCD_DB7, 80 ; Data[3] ;ASCII table CONSTANT character_a, 61 CONSTANT character_b, 62 CONSTANT character_c, 63 CONSTANT character_d, 64 ....... syntax: CONSTANT name, value; ; is a comment delimiter


control.psm - Main

CALL LCD_reset ; Initialize LCD display LOAD s5, 24 ; Line 2 position 4 CALL LCD_cursor ; Set the cursor position CALL disp_hello_world ; Display 'hello world‘ wait: JUMP wait

PC


control.psm - LCD_reset LCD_reset: CALL delay_20ms ; wait>15ms for display to be ready

LOAD s4, 30 CALL LCD_write_inst4 ; send '3' CALL delay_20ms ; wait > 4.1ms CALL LCD_write_inst4 ; send '3‘ CALL delay_1ms ; wait > 100us CALL LCD_write_inst4 ; send '3' CALL delay_40us ; wait > 40us LOAD s4, 20 CALL LCD_write_inst4 ; send '2' CALL delay_40us ; wait >40us LOAD s5, 28 ; Function set CALL LCD_write_inst8 LOAD s5, 06 ; Entry mode CALL LCD_write_inst8 LOAD s5, 0C ; Display control CALL LCD_write_inst8


control.psm - LCD_clear

LCD_clear: LOAD s5, 01 ; Display clear CALL LCD_write_inst8 CALL delay_1ms ; wait >1.64ms for display to clear CALL delay_1ms RETURN


LCD_write_inst4 subroutine

;RS=0 (Instruction), RW=0 (Write), E=0 LCD_write_inst4: AND s4, F0 ;set up RS and RW >40ns before enable pulse OUTPUT s4, LCD_output_port CALL LCD_pulse_E RETURN LCD_pulse_E: XOR s4, LCD_E ;E=1 OUTPUT s4, LCD_output_port CALL delay_1us XOR s4, LCD_E ;E=0 OUTPUT s4, LCD_output_port RETURN


LCD_write_inst8 subroutine LCD_write_inst8: LOAD s4, s5 AND s4, F0 ; RS=0, RW=0, E=0 CALL LCD_write_inst4 ;write upper nibble CALL delay_1us ;wait >1us LOAD s4, s5 ;select lower nibble with SL0 s4 ;don’t care SL0 s4 ;RS=0 Instruction SL0 s4 ;RW=0 Write SL0 s4 ;E=0 CALL LCD_write_inst4 ;write lower nibble CALL delay_40us ;wait >40us RETURN


The delay subroutines

CALL delay_1us delay_1us: LOAD s0, delay_1us_constant wait_1us: SUB s0, 01 JUMP NZ, wait_1us RETURN

2 cycles 4 cycles

2 cycles

2 cycles

xB011constant delay_1us_cycles 4

6cycles - 50cycles constant delay_1us_

cycles 50 constant delay_1us_4cycles cycles 6

sec 6-1E sec

cycles 50E6 2cyclesconstantdelay_1us_4cycles2cycles2cycles

CONSTANT delay_1us_constant, 0B


control.psm - Main


PC PC


control.psm - LCD_cursor

LCD_cursor: TEST s5, 10 ; Test for line 1 JUMP Z, set_line2 ;make address in range 80 to 8F for line 1 AND s5, 0F OR s5, 80 CALL LCD_write_inst8 ;set cursor command RETURN ;make address in range C0 to CF for line 2 set_line2: AND s5, 0F OR s5, C0 CALL LCD_write_inst8 ; set cursor command RETURN


control.psm - Main


PC

PC


control.psm - disp_hello_world disp_hello_world: LOAD s5, character_h CALL LCD_write_data LOAD s5, character_e CALL LCD_write_data LOAD s5, character_l CALL LCD_write_data LOAD s5, character_l CALL LCD_write_data LOAD s5, character_o CALL LCD_write_data CALL disp_space LOAD s5, character_w CALL LCD_write_data

............ RETURN


control.psm - LCD_write_data LCD_write_data: LOAD s4, s5 AND s4, F0 ;RS=0 Instruction, RW=0 Write, E=0 OUTPUT s4, LCD_output_port CALL LCD_pulse_E ;write upper nibble CALL delay_1us ;wait >1us LOAD s4, s5 ;select lower nibble SL0 s4 ;Don't care SL1 s4 ;RS=1 Data SL0 s4 ;RW=0 Write SL0 s4 ;E=0 OUTPUT s4, LCD_output_port CALL LCD_pulse_E ;write lower nibble CALL delay_40us ;wait >40us RETURN


control.psm - Main

CALL LCD_reset ;initialise LCD display LOAD s5, 24 ;Line 2 position 4 CALL LCD_cursor ; Set the cursor position CALL disp_hello_world ;Display 'hello world‘ wait: JUMP wait

PC PC


The Hello World Project

LCDDAT[3:0]

LCDELCDRSLCDRW

LCDCCLK

hello_world.v

kcpsm3.v

Block

Ram

control.v


hello_world.v

module hello_world ( input wire BTN_NORTH, // reset input wire clk, output reg [7:4] lcd_d, output reg lcd_rs, output reg lcd_rw, output reg lcd_e);

wire [9:0] address;

wire [17:0] instruction; wire [7:0] port_id; wire [7:0] out_port; wire write_strobe;


hello_world.v (cont.) kcpsm3 processor(.address(address), .instruction(instruction), .port_id(port_id), .write_strobe(write_strobe), .out_port(out_port), .read_strobe(), .in_port(8'b0), .interrupt(1'b0), .interrupt_ack(), .reset(BTN_NORTH), .clk(clk));

control program_rom(.address(address), .instruction(instruction), .clk(clk));


hello_world.v (cont) always @(posedge clk or posedge BTN_NORTH) begin if (BTN_NORTH) {lcd_d, lcd_rs, lcd_rw, lcd_e} <= 0; else if (write_strobe && port_id == 8’h40) begin lcd_d <= out_port[7:4]; lcd_rs <= out_port[2]; lcd_rw <= out_port[1]; lcd_e <= out_port[0]; end // if (write_strobe) end // always @ (posedge clk) endmodule


The Hello World Project

LCDDAT[3:0]

LCDELCDRSLCDRW

LCDCCLK

hello_world.v

kcpsm3.v

Block

Ram

control.v


control.v module control (address, instruction, clk); input [9:0] address; input clk; output [17:0] instruction; RAMB16_S18 ram_1024_x_18( .DI(16'h0000),

.DIP (2'b00), .EN (1'b1), .WE (1'b0), .SSR (1'b0), .CLK (clk), .ADDR (address), .DO (instruction[15:0]), .DOP (instruction[17:16]))


control.v (cont) /*synthesis init_00 = "001B004C056F004C056C004C056C004C0565004C05684004000500700524005A" init_01 = "C001000BA000004C0520A000004C0564004C056C004C0572004C056F004C0577" ... init_3F = "0000000000000000000000000000000000000000000000000000000000000000" initp_00 = "000B0B0DBF3333CFFF3BEAA3E0BEA8F0B8A38B72DCB72DCB4B2CCCCCF33333F3" ... initp_07= "0000000000000000000000000000000000000000000000000000000000000000" */; endmodule


To run the Hello World Project 1. Go to www.uccs.edu/~gtumbush/4211/PicoBlaze.html and

download/unzip: 1. Xilinx PicoBlaze zip archive 2. Hello World Project archive

2. Open project Hello_World_final

3. If you want to recompile the program do: <Picoblaze Path>/Picoblaze/Assembler/KCPSM3.exe control.psm from a DOS window

http://www.uccs.edu/~gtumbush/4211/PicoBlaze.html

Documents

PicoBlaze Hello World project using the PicoBlaze 2014/Class_9.pdfPicoBlaze Function Blocks (cont.) •CAL/RETURN Stack –Stores up to 31 instruction addresses •Allows up to 31