M-Labs/nix-servo
3
1
Fork 2
Code Issues 1 Pull Requests 1 Packages Projects Releases Wiki Activity

gateware: Fix timing violation

Browse Source
This commit is contained in:
linuswck 2025-01-13 13:14:35 +08:00
parent ef395bf81f
commit 92c990289e
1 changed files with 17 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

25
fast-servo/linien_module_pipeline.patch
View File

@ -1,13 +1,12 @@
diff --git a/gateware/linien_module.py b/gateware/linien_module.py
index a958896..a64714c 100644
index 54b6285..c3f8d14 100644
--- a/gateware/linien_module.py
+++ b/gateware/linien_module.py
@@ -233,23 +233,46 @@ class LinienModule(Module, AutoCSR):
@@ -233,30 +233,52 @@ class LinienModule(Module, AutoCSR):
self.fast_a.adc.eq(soc.analog.adc_a),
self.fast_b.adc.eq(soc.analog.adc_b),
]
-
+
# now, we combine the output of the two paths, with a variable factor each.
mixed = Signal(
(2 + ((signal_width + 1) + self.logic.chain_a_factor.size), True)
@ -42,16 +41,26 @@ index a958896..a64714c 100644
- (self.logic.chain_a_factor.storage * self.fast_a.out_i)
- + (self.logic.chain_b_factor.storage * self.fast_b.out_i)
- + (self.logic.combined_offset_signed << (chain_factor_bits + s))
+ chain_a_factor_mult_fast_a_out_i
+ (chain_a_factor_mult_fast_a_out_i
+ + chain_b_factor_mult_fast_b_out_i
+ + combined_offset_signed_left_shifted
+ + combined_offset_signed_left_shifted) >> chain_factor_bits
),
).Else(
mixed.eq(
- (self.fast_a.out_i << chain_factor_bits)
- + (self.logic.combined_offset_signed << (chain_factor_bits + s))
+ fast_a_out_i_left_shifted
+ + combined_offset_signed_left_shifted
)
- )
+ (fast_a_out_i_left_shifted
+ + combined_offset_signed_left_shifted) >> chain_factor_bits
+ ),
)
]
mixed_limited = Signal((signal_width, True))
- self.comb += [
- self.logic.limit_error_signal.x.eq(mixed >> chain_factor_bits),
+ self.sync += [
+ self.logic.limit_error_signal.x.eq(mixed),
mixed_limited.eq(self.logic.limit_error_signal.y),
]