S3esk_startup_rev2 S3esk Startup Rev2
User Manual: s3esk_startup_rev2
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Initial Design for Spartan-3E Starter Kit (LCD Display Control) Ken Chapman Xilinx Ltd 16th February 2006 Rev.2 Limitations Limited Warranty and Disclaimer. These designs are provided to you “as is”. Xilinx and its licensors make and you receive no warranties or conditions, express, implied, statutory or otherwise, and Xilinx specifically disclaims any implied warranties of merchantability, non-infringement, or fitness for a particular purpose. Xilinx does not warrant that the functions contained in these designs will meet your requirements, or that the operation of these designs will be uninterrupted or error free, or that defects in the Designs will be corrected. Furthermore, Xilinx does not warrant or make any representations regarding use or the results of the use of the designs in terms of correctness, accuracy, reliability, or otherwise. Limitation of Liability. In no event will Xilinx or its licensors be liable for any loss of data, lost profits, cost or procurement of substitute goods or services, or for any special, incidental, consequential, or indirect damages arising from the use or operation of the designs or accompanying documentation, however caused and on any theory of liability. This limitation will apply even if Xilinx has been advised of the possibility of such damage. This limitation shall apply not-withstanding the failure of the essential purpose of any limited remedies herein. This design module is not supported by general Xilinx Technical support as an official Xilinx Product. Please refer any issues initially to the provider of the module. Any problems or items felt of value in the continued improvement of KCPSM3 or this reference design would be gratefully received by the author. Ken Chapman Senior Staff Engineer – Spartan Applications Specialist email: chapman@xilinx.com The author would also be pleased to hear from anyone using KCPSM3 or the UART macros with information about your application and how these macros have been useful. PicoBlaze Spartan-3E Starter Kit Initial Design 2 Design Overview This design is provided on the Spartan-3E Starter Kit when it is dispatched from the factory. It confirms that the board is operational by scrolling a simple message across the LCD display and allowing the LED’s to be controlled by the rotary knob, press buttons and slide switches. The principle purpose of this document is to illustrate how PicoBlaze can be used to control the LCD display. It is hoped that the design may form the basis for future PicoBlaze designs as well as provide a general introduction to the board. Some exercises are suggested to encourage further self study. Try it now – it only takes 30 seconds! It is recommended that you try this to become familiar with what the design does before continuing to read. If your board is ‘fresh out of the box’, then simply connect the power supply, switch on and see the design come to life. If it doesn’t work (XCDONE LED remains unlit), check that all 3 jumpers are installed in J30 and press the PROG button again. If your board has be reprogrammed since it arrived, you can still try the design quickly. As well as the source design files, a compiled configuration bit file is provided which you can immediately download into the Spartan XC3S500E device on your board. To make this task really easy the first time, unzip all the files provided into a directory and then…. double click on ‘install_s3esk_startup.bat’. Assuming you have the Xilinx software installed, your board connected with the USB cable and the board powered (don’t forget the switch), then this should open a DOS window and run iMPACT in batch mode to configure the Spartan-3E with the design. Rotate knob to control position of the illuminated LED West North South East SW3 SW2 SW1 SW0 Press and release knob to toggle between control modes PicoBlaze Spartan-3E Starter Kit Initial Design 3 Operate buttons and switches to illuminated each LED 4 press buttons Scrolling message 8 LEDs 4 slide switches PicoBlaze Design Size The images and statistics on this page show that the design occupies just 113 slices and 1 BRAM. This is only 2.5% of the slices and 5% of the BRAMs available in an XC3S500E device and would still be less than 12% of the slices in the smallest XC3S100E device. MAP report Number of occupied Slices: Number of Block RAMs: 113 out of 1 out of Total equivalent gate count for design: FPGA Editor view XC3S500E PicoBlaze Spartan-3E Starter Kit Initial Design 4 4,656 20 75,945 2% 5% PicoBlaze makes extensive use of the distributed memory features of the Spartan-3E device leading to very high design efficiency. If this design was replicated to fill the XC3S500E device, it would represent the equivalent of over 1.5 million gates. Not bad for a device even marketing claims to be 500 thousand gates Floorplanner view Design Files The source files provided for the reference design are….. s3esk_startup.vhd Top level file and main description of hardware. Contains I/O required to disable other StrataFLASH memory device on the board which may otherwise interfere with the LCD display. s3esk_startup.ucf I/O constraints file for Spartan-3E Starter Kit and timing specifications for 50MHz clock. kcpsm3.vhd PicoBlaze processor for Spartan-3E devices. control.vhd Assembled program for PicoBlaze (stored in a Block memory) control.psm s3esk_startup_rev2.mcs PicoBlaze program source assembler code PROM programming file for this design for use with any of the FLASH storage devices Note: The file shown in green is not included with the reference design as it is provided with PicoBlaze download. Please visit the PicoBlaze Web site for your free copy of PicoBlaze, assembler, JTAG_loader and documentation. www.xilinx.com/picoblaze Hint - If you only want to write new programs for PicoBlaze using the existing hardware design, then simply use the JTAG_Loader utility supplied with PicoBlaze. The design supplied is already equipped with the JTAG loading circuit (see schematic on next page). PicoBlaze Spartan-3E Starter Kit Initial Design 5 PicoBlaze Circuit Diagram Vcc * StrataFLASH memory must be disabled to prevent interference with the LCD display. strataflash_oe strataflash_ce strataflash_we ‘JTAG_loader’ allows rapid PicoBlaze code development. program_rom * * * led(7) control proc_reset led(6) JTAG led(5) lcd(6) lcd(5) lcd(4) kcpsm3 input_ports rotary_press_in Pull-down resistors added to switch and press button inputs in UCF file. output_ports led(2) 7 led(0) address out_port btn_west 1 btn_north 0 port_id btn_east interrupt switch(2) switch(1) clk interrupt read_strobe port_id reset switch(3) bidirectional LCD data write_strobe read_strobe btn_south interrupt_ack lcd(7) lcd(6) lcd(5) lcd(4) clk switch(0) lcd_rs lcd_rw interrupt_control rotary_filter & direction See reference design called ‘Rotary Encoder Interface for Spartan-3E Starter Kit’ for details of this section. led(3) led(1) out_port in_port rotary_b processor instruction in_port rotary_a led(4) address write_strobe rotary_press clk instruction lcd(7) address kcpsm3_reset instruction 6 rotary_left interrupt_ack rotary_event PicoBlaze Spartan-3E Starter Kit Initial Design 6 50MHz clk Synchronous design lcd_e LCD Display Connections The board is set up to use the 4-wire data interface to the LCD character module. The data connections are shared with the StrataFLASH memory which must be disabled to prevent interference. This diagram shows the pin connections to the Spartan-3E device. The LCD display is powered by a +5v supply. This means that if the display is read it will potentially drive the data signal lines above the maximum level (VCCO+0.5v) allowed for the Spartan-3E and StrataFLASH pins which are both powered by 3.3v. Therefore the display data pins have been connected via 390Ω series resistors to limit the current and voltage during read operations. +5v lcd_rs lcd_rw lcd_e L18 LCD_RS L17 LCD_RW M18 LCD_E D7 RS RW E LCD Display D6 D5 D4 390Ω 390Ω 390Ω 390Ω M15 lcd(7) P17 lcd(6) R16 lcd(5) R15 lcd(4) Hint – This design provides all the mechanisms to enable the display to be read but does not actually need to use it. Most applications only require write operations. +3.3v strataflash_oe C18 SF-OE OE# D11 SF-D11 strataflash_we D17 SF-WE WE# D10 SF-D10 strataflash_ce D16 SF-CE0 CE0 D9 SF-D9 D8 SF-D8 IC22 StrataFLASH Holding all three controls High ensures that the StrataFLASH memory does not interfere with the LCD display and also prevents inadvertent modifications to the memory contents. GND +5v RS RW E D4 D5 D6 D7 Hint - The signals can be easily monitored at the edge of the display if desired. PicoBlaze Spartan-3E Starter Kit Initial Design 7 LCD Display Timing Once mastered, the LCD display is a practical way to display a variety of information using standard ASCII characters and even allows you to create some of your own. However, these displays are not fast. This design scrolls the display at ½ second intervals and that really is the practical limit for clarity. This low performance rate also relates to the signals used for communication. Compared with a Spartan-3E operating at 50MHz, the display can appear extremely slow. This is where PicoBlaze can be used to efficiently implement timing delays as well as control the actual content of the display. 4-bit Write Operation 50MHz This timing diagram shows a single write operation being performed. The diagram is approximately to scale showing the minimum times allowed for setup, hold and enable pulse length relative to a 50MHz clock (20ns period). The data D[7:4], Register Select (RS) and write control (RW) must be set up at least 40ns before the enable E goes High. Enable must be High for at least 230ns which is almost 12 clock cycles at 50MHz. Hint – In a write only system, the R/W signal can be tied Low permanently. RS 0=command 1=data D[7:4] Valid Data R/W E 8-bit Write Operation After initial display communication is established, all data transfers are 8-bit ASCII character codes, data bytes or 8-bit addresses. Each 8-bit transfer obviously has to be decomposed into two 4-bit transfers which must be spaced by at least 1µs. Following an 8-bit write operation, there must be an interval of at least 40µs before the next communication. This delay must be increased to 1.64ms following a clear display command. Upper 4-bits 230ns 40ns 10ns Lower 4-bits RS D[7:4] R/W E 1µs 40µs Exercise – Implement a hardware based state machine which obeys the timing requirements for an 8-bit write of data including the 40µs delay. Modify the PicoBlaze interface and code to use your hardware circuit to write to the display. Under what circumstances would this approach be useful? PicoBlaze Spartan-3E Starter Kit Initial Design 8 PicoBlaze Timing In this design, PicoBlaze is used to implement the LCD communication 100% in software. The fact that a processor is sequential in nature means that the required delays can be formed simply by executing the appropriate number of instructions. PicoBlaze simplifies the task of writing code because all instructions execute in two clock cycles under all conditions. CONSTANT delay_1us_constant, 0B delay_1us: LOAD s0, delay_1us_constant wait_1us: SUB s0, 01 JUMP NZ, wait_1us RETURN delay_40us: LOAD s1, 28 wait_40us: CALL delay_1us SUB s1, 01 JUMP NZ, wait_40us RETURN The PicoBlaze program supplied implements a 1µs delay in software which it then uses as the base for all operations. This subroutine is invoked with a ‘CALL delay_1us’ which then LOADs register s0 with 11 (0B hex). This in turn causes the SUB and JUMPNZ instructions to execute 11 times before RETURN completes the routine. This means that a delay of exactly 1µs is formed by the 25 instructions each taking two clock cycles at 50MHz. Creating other delays such as the 40µs required between 8-bit transfers is then a simple case of calling the ‘delay_1us’ the appropriate number of times. In this case 40 (28 hex) times results in slightly more than 40µs due to the executions of instructions within the routine itself. Exercise – Calculate the exact number of instructions, clock cycles and delay provided by the ‘delay_40us’ subroutine. Prove your result either by simulation or preferably by running a test design on the Starter Kit and making measurements. LCD_pulse_E: XOR s4, LCD_E OUTPUT s4, LCD_output_port CALL delay_1us XOR s4, LCD_E OUTPUT s4, LCD_output_port RETURN The enable E pulse is formed by setting the E signal High on the output port, waiting for 1µs and then driving E Low again. This oscilloscope screen shot shows a single enable pulse observed at the LCD display pin. Data bit D7 is also shown (see code on next page for more details). Exercise – 1µs is greater than the 230ns minimum requirement for the enable pulse width. Modify the code to generate an enable pulse which is 250ns. PicoBlaze Spartan-3E Starter Kit Initial Design 9 1.08µs E D7 PicoBlaze Timing LCD_write_data: LOAD s4, s5 AND s4, F0 OR s4, 0C OUTPUT s4, LCD_output_port CALL LCD_pulse_E CALL delay_1us LOAD s4, s5 SL1 s4 SL1 s4 SL0 s4 SL0 s4 OUTPUT s4, LCD_output_port CALL LCD_pulse_E CALL delay_40us LOAD s4, F0 OUTPUT s4, LCD_output_port RETURN ;Enable=0 RS=0 Instruction, RW=0 Write, E=0 ;Enable=1 RS=1 Data, RW=0 Write, E=0 ;set up RS and RW >40ns before enable pulse ;write upper nibble ;wait >1us ;select lower nibble with ;Enable=1 ;RS=1 Data ;RW=0 Write ;E=0 ;set up RS and RW >40ns before enable pulse ;write lower nibble ;wait >40us ;Enable=0 RS=0 Instruction, RW=0 Write, E=0 ;Release master enable >1µs between E pulses writing upper and then lower nibbles The writing of 8-bit data is achieved using the delays and enable pulse routines together with appropriate setting the D[7:4] data bits, RW=0 and RS=1. Writing command instructions to the display is very similar but requires that RS=0. 8-bit writes. >1µs between E pulses E 44µs D7 1µs/div PicoBlaze Spartan-3E Starter Kit Initial Design 10 Display Setup Before the display can be used for the first time, there is an initialisation sequence which must be followed to allow communication to take place. These sequences are ideally suited to an 8-bit processor such as PicoBlaze. Besides the relative complexity of the sequence, the process is only executed once and then the processor is available to perform other tasks including the control on the display itself. Hint - The PicoBlaze code provided includes a subroutine called ‘LCD_reset’ which performs this initialisation sequence. The first part of this sequence is to establish that the 4-wire data interface is being used. Note that some of these delays are in milliseconds. Power on Wait 15ms 4-bit write = 3 hex Wait 4.1ms 4-bit write = 3 hex Wait 100µs 4-bit write = 3 hex Wait 40µs 4-bit write = 2 hex Wait 40µs The 4-wire interface is now established which means that all subsequent communication is formed of the 8-bit writes described previously. Note that these writes are all commands and therefore RS must be Low. The next part of the sequence is used to establish how the display should operate. Function Set 28 hex Entry Mode 06 hex Display Control 0C hex Display Clear 01 hex Wait 1.64ms Function Set = 28 hex : This code describes the display type as being 2 lines, 5×7 dots per character and using 4-wire communication (again). Entry Mode = 06 hex Display Control = 0C hex 0 0 0 0 0 1 1 0 0 0 0 0 1 1 0 0 Do not shift display left or right when writing a character Cursor blinking off (character flashes) Increment cursor position when writing a character Cursor (line under character) is off Display is ON Exercise – Implement a hardware state machine which can perform the LCD initialisation sequence. Compare the size of your implementation with the 96 slices required to implement a PicoBlaze processor. Does the claim of the first paragraph hold true? PicoBlaze Spartan-3E Starter Kit Initial Design 11 Display Control The most common operation is simply to write ASCII characters to be displayed. These are considered to be data and hence RS will be High. With the display set up as described previously, writing a series of characters will automatically result in their display on the top line of the display. LOAD CALL LOAD CALL LOAD CALL LOAD CALL LOAD CALL LOAD CALL LOAD s5, character_S LCD_write_data s5, character_P LCD_write_data s5, character_A LCD_write_data s5, character_R LCD_write_data s5, character_T LCD_write_data s5, character_A LCD_write_data s5, character_N Following the execution of this code, the display will look like this. Cursor is here waiting for the next character to be written S P A R T A N S S S S S S S S S S S S S S S S S S S S S S S S S If you continue to write characters, they will eventually fall off the end of the first line but they will not automatically appear on the second line. This is because the memory map of this display is not consecutive from line to line. The diagram below shows the memory address of each character location. To set the cursor in the position required for subsequent characters to be displayed, the 8-bit memory address of that position must be written to the display as a command (RS=0). Note that this can not be confused with any of the other commands since the MSB is always ‘1’ in these addresses. The ability to move to any particular location and write a few characters is ideal for the display of various information as it becomes available such as time, date, measurements and short status messages. 1 80 81 82 83 84 85 86 87 88 89 8A 8B 8C 8D 8E 8F 2 C0 C1 C2 C3 C4 C5 C6 C7 C8 C9 CA CB CC CD CE CF 0 1 2 3 4 5 6 7 8 9 A B C D E F Hint - The PicoBlaze code provided includes a subroutine called ‘LCD_cursor’. Load register ‘s5’ with the desired position. The upper nibble (value 1 or 2) will define the line and the lower nibble the character position on the line (0 to F). E.g. s5 = 2B will position the cursor at the 12th position on line 2. Exercise – Although this design does make use of the scrolling display feature, it really is not recommended other than for simple messages as used in this example. Analyse the supplied PicoBlaze code and LCD display controller data sheets to determine how scrolling is achieved. Implement a design in which the message is greater than 40 characters per line (Hint – The memory map is actually 40 locations per line. Addresses 80-A7 and C0-E7). PicoBlaze Spartan-3E Starter Kit Initial Design 12 Complete PicoBlaze Program Subroutines are used for delays and LCD display This information is intended to give a guide to the way in which the PicoBlaze assembler code is organised. It is not intended to be a lesson in how to write assembler code or explain how PicoBlaze works. Please refer to the documentation for PicoBlaze (KCPSM3). There are comments contained in the ‘control.psm’ file which should help explain the finer points. Initialise LCD display Interrupt Service Routine Rotary function Switch/button function Enable Interrupts Fetch walking ‘1’ pattern from SPM Read switches and Buttons Write full messages to display memory SPARTAN-3E STARTER KIT www.xilinx.com/s3estarter Output pattern to LEDs Rotary mode Test event pending flag Program maintains 500ms shifting of LCD display during mode switching even if button is held down No event Event Set walking ‘1’ LED pattern in SPM 00001000 = 08Hex clear flag Shift ‘1’ left or right Set mode to rotary control in SPM Fetch mode from SPM Load counter with 500(ms) Toggle mode Read rotary press switch and test state up Fetch mode from SPM and test Store mode in SPM down Delay 1ms Decrement counter and test for zero Call appropriate routine >0 Decrement counter and test for zero 0 down Delay 1ms >0 0 Shift LCD display Load counter with 500 Read rotary press switch up Shift LCD display and test state PicoBlaze Spartan-3E Starter Kit Initial Design 13 Fetch mode from SPM and test Fetch rotary information from SPM Switch/button mode Main program Store walking ‘1’ pattern in SPM Read direction of rotary encoder Set event pending flag Store direction and event in SPM Output pattern to LEDs Scratch Pad Memory (SPM) Interrupts occur every time the rotary control is rotated left or right. The interrupt service routine (ISR) reads a value set into SPM by the main program to determine if the LED display mode is using the rotary control or slide/press button switches to determine if the interrupt is relevant. If the rotary control is relevant, then the direction of rotation is read from the input port and stored together with an ‘event pending’ flag bit. The main program monitors the SPM to determine if the LED pattern should change and in what direction. The position of the walking ‘1’ used in the rotary control mode is also remembered in scratch pad memory.
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