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1. Information The game demonstrates a number of important techniques for producing high performance hardware using Handel C The FPGA on the board has been configured to implement the mouse and video drivers in parallel with the processing required for the game The landscape in the game is represented using a height map or height field This is a two dimensional grid with each point on the grid having an associated height similar to a top down contour map The map image is loaded from Flash RAM The video stream is generated at a rate of one pixel per clock cycle which produces a frame rate of 60fps This application is described in more detail in the HC100 Tutorial Manual 2 2 Reloading the demonstrations The demos are stored on the board in Flash RAM If you overwrite the demos you can transfer them onto the board again by using the File Transfer Utility Section 3 2 A script file Load Demos Script txt is provided with all the commands necessary to transfer the data The default location for the file is RC100 Demos CeloXica RC100 User Manual gt 2 Demonstrations provided You can execute this script by pressing the Use Script button on the main File Transfer Utility dialog Section 3 3 3 A map of the locations of the demonstrations in Flash RAM is given in Appendix B CeloXica RC100 User Manual gt 3 Transferring files gt 3 Transferring files 3 1 Introduction The Celoxica File Transf
2. 1 Open the workspace for the example in DK1 menu hw 2 Compile the program and produce the Xilinx BIT file see Section 4 1 2 3 Connect a monitor and a mouse to the board Set the monitor to a 640 480 display 4 Choose the sector on the Flash RAM you want to load the BIT file to and then configure the other switches For example turn on switch 1 if you are loading to sector 1 or turn on switches 2 and 3 if you are loading to sector 6 This is not necessary if you want to load the program to sector 0 5 Use the File Transfer Utility Section 3 2 to transfer the relevant files First load the background image for the program menu raw to Flash location 0x380000 Note that this will overwrite whatever was previously stored in the Flash Then transfer the BIT file to the chosen sector on the Flash RAM CeloXica RC100 User Manual gt 4 Using the example programs Menu Selection 1 Menu Selection 2 Menu Selection 3 Menu Selection 4 Menu Selection 5 Menu Selection 6 4 2 2 Program structure The par statement in the mai n function calls e The input macro the mouse driver RC100PS2MouseDri ver from the RC100 library e The output macro Video driver RC100Vi deoDri ver from the RC100 library e The continuous macro procedures that run the program Load mage MenuSelection andDi splay Since these macros are all run in parallel with each other operations on each pixel are performed at the same t
3. This manual contains references to the following documents 1 2 RC100 Installation Guide Celoxica 2001 RC100 Function Library Manual Celoxica 2001 RC100 Tutorial Manual Celoxica 2001 RC100 Hardware Manual Celoxica 2001 Handel C Language Reference Manual contained within the online help for DK1 Celoxica 2000 FTT CeloXica RC100 User Manual gt 2 Demonstrations provided gt 2 Demonstrations provided 2 1 Introduction The demonstration programs that are pre installed on the RC100 Board are provided for testing and demonstrating the RC100 Board Note that the source code is not available for these demonstrations except for the Breakout and Celoni racer programs which are provided as tutorials See the RC100 Tutorial Manual for more information on the tutorials The demonstration programs are stored on the board in Flash RAM If you overwrite the demonstrations you can upload them again by using the File Transfer Utility Section 3 2 To use the demos set up the board 1 Make sure that the Autoboot switch is on and all the others are off For more information about switches refer to the RC100 Hardware manual 2 Connect a PS2 mouse monitor camera and power supply to the board Set the monitor to a 640 480 display 3 Switch on the power You will see the Menu Screen displayed on your monitor The Menu Screen allows you to select the other demos Note that the peripheral devices should be
4. RC100 User Manual Version 1 2 Celoxica Celoxica the Celoxica logo and Handel C are trademarks of Celoxica Limited Xilinx Virtex LogiBLOX XBLOX and XACTStep are trademarks of Xilinx Corp Altera APEX MAX PLUS II FLEX FLEX 10K and FLEX 8000 are trademarks and or service marks of Altera Corp DriverLINX LabOBJX and SSTNET are registered trademarks and DriverLINX VB LabOBJX Gauge and LabOBJX Real Time Chart are trademarks of Scientific Software Tools Inc Microsoft and MS DOS are registered trademarks and Windows Windows 95 and Windows NT are trademarks of Microsoft Corporation All other products or services mentioned herein may be trademarks of their respective owners Neither the whole nor any part of the information contained in or the product described in this document may be adapted or reproduced in any material form except with the prior written permission of the copyright holder The product described in this document is subject to continuous development and improvement All particulars of the product and its use contained in this document are given by Celoxica Limited in good faith However all warranties implied or express including but not limited to implied warranties of merchantability or fitness for purpose are excluded This document is intended only to assist the reader in the use of the product Celoxica Limited shall not be liable for any loss or damage arising from the use of any information in thi
5. 3 00060000 Venus 1 4 00080000 Breakout 2 5 000A0000 Breakout 2 6 000C0000 Squish 3 7 000E0000 Squish 3 8 00100000 Video 4 9 00120000 Video 4 10 00140000 Celoni Racer 5 11 00160000 Celoni Racer 5 12 00180000 Windows 6 13 001A0000 Windows 6 14 001C0000 Boat Game 7 15 001E0000 Boat Game 7 16 00200000 unused 8 17 00220000 unused 8 18 00240000 Squish Image 9 19 00260000 Squish Image 9 20 00280000 Squish Image 10 21 002A0000 Squish Image 10 22 002C0000 Squish Image 11 23 002E0000 Squish Image 11 24 00300000 Font raw file 12 25 00320000 Celoni Map 12 26 00340000 unused 13 27 00360000 unused 13 28 00380000 spans 14 29 003A0000 spans 14 30 003C0000 spans 15 31 003E0000 spans 15 32 00400000 spans 16 33 00420000 spans 16 lll Celoxica RC100 User Manual gt 5 Appendices 34 00440000 spans 17 35 00460000 spans 17 36 00480000 spans 18 37 004A0000 spans 18 38 004C0000 spans 19 39 004E0000 spans 19 40 00500000 spans 20 41 00520000 spans 20 42 00540000 spans 21 43 00560000 spans 21 44 00580000 spans 22 45 005A0000 spans 22 46 005C0000 spans 23 47 005E0000 spans 23 48 00600000 spans 24 49 00620000 spans 24 50 00640000 spans 25 51 00660000 spans 25 52 00680000 spans 26 53 006A0000 spans 26 54 006C0000 spans 27 55 006E0000 spans 27 56 00700000 Mask 28 57 00720000 Mask 28 58 00740000 Embossing 29 59 00760000 Embossing 29 60 00780000 Text Overlay 30 61 007A0000 Text Overlay 30 62 007C0000 Swirly Background 31 63 00
6. FTT CeloXica RC100 User Manual gt 3 Transferring files e run a script file containing commands The message log stores a list of recently executed commands 3 1 1 DriverLINX device driver The program uses the DriverLINX device driver that is provided on the RC100 Software Support CD The latest version can be downloaded without charge from the Scientific Software Tools Inc website http www sstnet com 3 1 2 File Transfer Utility performance It takes approximately 5 seconds per megabyte to transfer a configuration file to the FPGA Data is written to the Flash memory at approximately 60 seconds per megabyte The performance of the File Transfer Utility program may be reduced if you have a PC that is significantly below the recommended system requirements 3 2 Transferring files You can use the File Transfer Utility to e Transfer Xilinx BI T files to the FPGA e Transfer files or raw data from your PC to a specified location in the Flash RAM e Transfer files or raw data from the Flash RAM to your PC 3 2 1 Configuring the File Transfer Utility 1 Connect the RC100 board to the parallel port on your PC with an IEEE 1284 compliant cable 2 Switch on the board 3 Start the File transfer program by selecting Start gt Programs gt RC100 gt File Transfer Utility 4 Ensure the correct parallel port is selected The program automatically detects ports at locations 378h LPT1 and 278h LPT2 If your port is a
7. Green 0 raw2bmp utility The raw2bmp utility is the reverse of the bmp2raw utility It converts binary files to BMP image files The general usage of the raw2bmp utility is as follows raw2bmp b Width RAWFile BMPFile RGBFile Width the width of the image The height will be calculated from this parameter and the source file length RAWFile source file containing raw data BMPFile destination image file RGBFile file describing the format of the pixels in the raw data file The format of the RGBFile describing where each bit is located in the raw data word is similar to the file used by the b mp2r aw utility Indeed for some pixel formats such as in the example presented in the previous section a common file may be used As an example of where a different file may be required consider the conversion of 8 bit per pixel greyscale images to a BMP image Here each bit must be duplicated in the red green and blue components of the destination BMP file For example Cp a reen A U1 ONR cor nN w a UW a N lll Celoxica RC100 User Manual gt 5 Appendices C F NJ UJ fPudn 4 Torn UJ CeloXica RC100 User Manual gt 5 Appendices Appendix B Location of demos in Flash RAM D CeloXica RC100 User Manual gt 5 Appendices Block Start Address Contents Configuration Vector 0 00000000 Intro GUI configuration file 0 1 00020000 Intro GUI configuration file 0 2 00040000 Venus 1
8. a KEE 17 3 1 INTRODUCTION e 17 3 1 Driv rLINX device BrIVBl iusoucisausasucocaacu Ee upu subacti ited reaa co eite one pesa obw E 18 3 1 2 File Transfer Utility performance 18 3 2 TRANSFERRING FILES eene eee nennen nnne nnn nn n nan nhan na annuam sana uasa asas aacra aaa 18 3 2 1 Configuring the File Transfer Uni 18 3 2 2 Transferring files to Flash RAM siii ie eerte priiis ret dees 19 3 2 3 Transferring Tiles to the FPGA c tret eth Rn REREEE PR EXE EER Ku UE ERU EEENREI FAMAE 19 3 2 4 Transferring files from the board to your bt 19 3 2 5 Stopping a transfer EE 20 3 3 USING COMMANDS AND SCRIPT FILES cccccsssseeeccensseeeeecenseeeeeeenseeesecenseeseeeensees 20 Seck Pile Keeser EIERE 21 3 3 2 Writing SCNT THES e ENERG 21 3 3 3 Executing script t nne 22 3 4 INFORMATION IN THE MESSAGE LOG eene eene nennen nnne nnn nnn nan nnmnnn nennen nenne 22 3 4 1 Copying commands from the message Jog 23 RN Celoxica RC100 User Manual gt Table of Contents gt 4 USING THE EXAMPLE PROGRAMS e eene nennen nnne nnn n annm n annus a oaa n nana sana usan uan 24 A 1 INTRODUCTION frr 24 4 1 1 Example ee TT 24 4 1 2 Setting UP DIC M aote 24 4 1 3 Using the SHANG arse Emm 25 4 1 4 Setting Done Cycles and the Start up clock in Xilinx Design Manager 25 4 2 MENU SCREEN PROGRAM citcieisiinnsceieicictiicinies anucisesicinensciwid
9. detection macro with a call to a different spatial image processing macro It is important that you calculate the latency in clock cycles of the image processing process correctly otherwise erroneous data will appear in the output CeloXica RC100 User Manual gt 4 Using the example programs Adding stages to the pipeline You can add extra pipeline stages by inserting a new function between two others in the pipeline For example you could add an image processing function with its own buffers that smoothed the picture before the edge detection algorithm was performed The new function needs to copy the method of communication used in the other functions A template function is provided This reads from a channel and copies the data into the output channel It is important that the pipeline delay is calculated correctly otherwise errors from later or earlier data will filter downstream Pipelining multiple image processing functions You can pipeline a number of image processing functions 1 Take the output of one image processing function 2 Copy it into a buffer for the next image processing function 3 Process the output of the buffer Each set of buffers requires the use of multiport RAM so there is a limited number of functions that can be pipelined An alternative is to use buffering that uses 32 bit wide RAMs constructed from lookup tables on the FPGA which can then be read and written in alternate clock cy
10. displays previously executed commands and any messages generated in response You can copy these into a text file or onto a clipboard Section 3 4 1 Celoxica RC100 User Manual gt 3 Transferring files 3 3 1 File Transfer Utility commands Command Function AutoDetect Set Device DeviceNumber Set Offset MemoryLocation SetFileSize GSizelnBytes Load FileName Save FileName Write Read WriteAuto FileName ReadAuto FileName SetLPT LPTNumber SetPPTBase Address Use ScriptFileName Stop Quit 3 3 2 Writing script files Initiates automatic board detection process Sets the active device to Flash RAM or FPGA The numeric argument to this command is the zero based index into this list Sets the start location for a data file prior to transferring it to Flash memory Sets the required buffer size prior to transferring raw data from the board Loads a file into the buffer ready for transmission to the board Saves the current buffer contents to disk Sends the current buffer contents to the board Initiates a transfer of data from the board to the buffer Compound instruction that loads the specified file then writes it to the currently selected device Compound instruction that reads data from the currently selected device and saves the buffer to the given file name Selects the parallel port by LPT number Selects the parallel port by base I O address Executes the named script H
11. inputs WindowlnChan pointer to a 16 bit channel for incoming data outputs OutChan pointer to a 16 bit channel for outgoing data process pipeline to add latency to the propagation of data SI void ProcessVideo chan WINDOW PIXEL 16 WindowlnChan chan unsigned 16 OutChan const unsigned ProcessDelay void ProcessWi ndow W NDOW PIXEL 16 Window unsigned 16 Pixel window read in from input channel WINDOW PIXEL 16 Window pixel to output unsigned 16 Pixel signal indicating whether or not data has been sent on a clock cycle vi static signal unsigned 1 NoDataSent 0 counter to delay the output of data while the pipe is pri med unsigned DelayCounter l read in the first window blocks until data is available Wi ndowl nChan Window CeloXica RC100 User Manual gt 4 Using the example programs par whi l e 1 if data has been sent if NoDataSent par read in a new window Wi ndowl nChan Window process the window ProcessWi ndow amp Wi ndow amp Pi xel else delay idelay until the pipeline is pri med do Del ayCounter while DelayCounter ProcessDel ay 1 1 l x send the data to the next process in the pipeline if the send blocks pause the pipeline update by setting NoDataSent to 1 d whi e 1 prialt case OutChan Pixel break CeloXica RC100 User Manual gt 4 Using the example programs The Pr
12. it is required on the screen Possible solution You could make process keep track of its own scan position Each process would need to calculate when the information that it reads and writes is visible and stall when it is not Two disadvantages of this are e The work required in calculating the pipeline delays e The overhead of each process keeping track of its own scan position Efficient solution An alternative approach is taken in the Edge Detect program Each process produces the data that the process downstream needs and blocks when the downstream process is not ready to accept data a CeloXica RC100 User Manual gt 4 Using the example programs Process P1 Block until process P2 is Process P2 Process Pn Block until process P n 1 Process P n 1 Process P N 1 Block until process PN is Process PN PIPELINING PROCESS gt Chapter 4 42 MO J EISC JO uornoauiq Celoxica RC100 User Manual gt 4 Using the example programs In the Edge Detect program the display process is furthest downstream and so this stalls the pipeline when it is not ready to take data The display process only needs to take data when the current scan position is in a visible area of the screen Achieving synchronisation Synchronisation is achieved using a combination of signals and channels The ProcessVi deo function shown below copies data over a number of clock cycles to the output l x
13. 1 6 Breakout This is the traditional breakout game e To start the game press the left mouse button e Move the mouse to control the paddle You knock the ball against the bricks to eliminate them and get points If the ball hits the bottom line it is lost Your current score is shown in the top left corner and the previous highest score is in the top right corner Each time you play you get 3 balls When the game is over the ball stays in the centre of the screen e Use the left mouse button to restart the game CeloXica RC100 User Manual gt 2 Demonstrations provided e Toreturn to the menu screen at any time click the right mouse button score ball paddle Information The FPGA on the RC100 Board has been configured to implement the mouse and video driver in parallel with the processing required for the game The video stream is generated at a rate of one pixel per clock cycle so no video buffer is used 2 1 7 Boat Game The aim of this game is to get the boat to the finish line without crashing The boat travels forward at a constant speed and it is your job to steer it through the water system PU CeloXica RC100 User Manual gt 2 Demonstrations provided boat map current and best times Click the left and right mouse buttons on the mouse to steer the boat Once you ve completed the course or have crashed the boat you can restart the game by clicking the left mou
14. 3 2 4 Transferring files from the board to your PC Configure the File Transfer Utility as described above Select Flash from the Device drop down list Specify the location of the file you want to read in the Address offset box Enter the exact number of bytes of the file you want to read in the Size box Click Read This opens the Save As dialog box Browse to select the directory where you want to save the file Enter the filename you want to use The transfer will begin immediately The activity indicator lights whilst data is being transferred You will also see information about the progress of the data transfer in the message log window Jo mb bz BH CeloXica RC100 User Manual gt 3 Transferring files 3 2 5 Stopping a transfer You can stop a file transfer at any time by clicking the Stop button 3 3 Using commands and script files You can type commands at the command prompt in the main File Transfer Utility dialog or execute them from a script file They will be interpreted by the command parser and acted upon accordingly If you mistype a command or if the parameters are invalid it will simply be ignored by the command parser The command parser is not case sensitive You can repeat recently executed commands by selecting them from the drop down list box next to the Repeat button then clicking Repeat You can recall commands typed at the command prompt by pressing the up or down arrow keys The message log
15. 7E0000 Swirly Background 31 A CeloXica RC100 User Manual gt Index Index activity indicator 19 writing 21 address offset 53 demonstrations 5 Autoboot switch 5 Boat game 12 AutoDetect 21 Breakout 11 background image 29 Celoni racer be BIT files 25 Menu screen 5 bitmaps 47 SIE 5 bmp2raw utility 29 47 Sus vi Boat Game demonstration 12 ue de Milo Breakout demonstration 11 Video processing 9 buffers 38 39 Windows 6 camera input 38 digital to analogue converter 4 Celoni racer demonstration 14 Display macro 28 33 clocks 6 8 9 11 12 14 28 32 35 38 DK1 coloured text 22 setting up 24 command prompt 20 done cycles 25 commands 20 21 downloading data 17 compound 2i DriverLINX 18 comments 22 driving communication between clock domains 38 video output 27 compiling programs 25 edge detection algorithm 40 complex programmable logic device 3 environment variables 24 compound commands 21 example programs 24 converting Menu Screen program 25 bitmaps 47 Sobel Edge Detect program 34 raw file format 47 Text Editor program 30 CPLD 3 executing script files 21 DAC 4 FIFO buffers 38 39 data File Transfer Utility 17 loading 21 performance 18 reading 21 setting up 18 saving 21 files Celoxica RC100 User Manual gt Index loading saving Flash RAM location of demos map setting done cycles start address transferring files using font raw FPGA reconfiguring transferring files Game of Life greyscale image processing includ
16. I ntroduction This chapter describes the example programs provided in the RC100 support software and describes how you can modify them These programs demonstrate some of the features of Handel C such as pipelining channels and prialts 4 1 1 Example programs The RC100 support software contains the source code for three example programs e Menu Screen program a simple program that demonstrates how to reconfigure the FPGA from files stored in Flash RAM e Text Editor program a simple program that demonstrates how to interface with a keyboard and mouse e Sobel Edge Detect program a more advanced program that demonstrates how to use the FPGA for real time image processing The program shows how to use two clocks set at different speeds 4 1 2 Setting up DK1 In order to build the example programs you must set your environment variables to access the RC100 library and include files 1 Start DK1 For the default installation select Start gt Programs gt DK1 Design Suite DK1 2 Select the Options command from the Tools menu 3 Inthe dialog that appears select the Directories tab 4 In the Show directories for drop down list choose Include files Click Add In the dialog that appears you may browse for the directory containing the RC100 include files or type the full pathname in the Directories name pane The default path is RC100 I ncl ude For example C Program Files Celoxica RC100 I nclude 5 Choose Libra
17. You need to change the background image of the menu screen example to specify the names of the programs you wish to access from the menu The background image menu raw is stored in 24 bit Raw File Format It does not contain header information and is interleaved in the following format RGB RGB The image is also provided in a Paint Shop Pro file format nenu psp which may be easier to modify To change the background image 1 Make changes to the image file using a graphics editor Alternatively you can substitute a new image 2 Save the new image in Raw File Format If you do not have any software that can save as Raw File Format you can save as a bitmap and use the bmp2raw utility described in Appendix A 3 Transfer the new file to Flash RAM using the File Transfer Utility Graphic files loaded from Flash RAM use a 24 bit Raw File Format without header information Other formats will not work with this program Saving the image in raw file format If you do not have any software that can save as Raw File Format you can save as a bitmap and use the bmp2raw utility provided in the support software see Appendix A Setting coordinates for a new item on the menu The Set Area macro is used to set the coordinates of menu items in the ROM These coordinates describe an imaginary box around each menu item For example the a CeloXica RC100 User Manual gt 4 Using the example programs coordinates for Menu Selecti
18. alts any currently active process Closes the application The scripting feature allows you to execute a sequence of commands For example you could use this to run an automated sequence of tests or to transfer a series of files to Flash memory To write a script file type your commands into a text file You can also copy commands from the message log window Section 3 4 1 Each command must be placed on a separate line in the file BH CeloXica RC100 User Manual gt 3 Transferring files Unrecognized or misspelled commands are ignored Execution continues with the next line in the script file Comments in script files All text that isn t recognized as a command is assumed to be a comment For ease of reading it is recommended that you surround comments in brackets For example This is a comment To comment a warning prefix the comment with an exclamation mark Stranger danger 3 3 3 Executing script files 1 Configure the File Transfer Utility Section 3 2 1 2 Click the Use script button 3 Browse and select the script file you want to use or type Use ScriptFileName in the command prompt The progress bar will indicate the progress of the individual activity currently being executed not the progress of the script file itself You can terminate a script at any time by clicking the Stop button 3 4 Information in the message log The message log appears in the right hand pane of the main Fil
19. an alternative to functions in Handel C and implement direct code replication They allow programmers to imply word width and sign and to use different widths with each call to the macro The Sobel macro procedure performs the same edge detection algorithm on the red green and blue components even though the green component is a 6 bit number and red and blue are 5 bit a CeloXica RC100 User Manual gt 4 Using the example programs Displaying data on the screen The RC100Vi deoDri ver macro is used to generate scan data When the current scan position is within the visible area the display process reads a pixel from its input channel 4 4 5 Pipelining the data processing The Sobel Edge Detect program uses a complex pipeline to accelerate the processing of data Each of the processes below uses the scan position of the screen to ensure that they carry out actions at the correct time e Reading process reads an image the size of the visible area of the screen from the SSRAM bank not being used by the writing process e Buffer process copies information from the reading process into the buffers and shifts data through the buffer at the right time so that valid visible data is input at one end and output at the other e Image processing process takes data at the correct time from the buffers and passes the output to the display process e Display process reads output from the image processing process and displays it when
20. cles Interpreting the data output from the edge detection The Sobel Edge Detection program displays the results of the image processing on the screen but many applications need to interpret this data in order to make an analysis of the image The way in which the RAM is used in this application makes it difficult to do a significant amount of interpretation as the processed data is not stored in RAM Greyscale vs full colour The example code is written for full colour image processing but you can adjust it to do grey scale image processing Greyscale image processing will reduce the amount of data storage and logic produced In order to create the most efficient program possible the grey scaling should be done at the earliest moment as soon as a pixel is read from the camera This will reduce the amount of RAM used to store a pixel the size of registers for the pipeline stages and thus the logic needed to manipulate the data through the pipeline It should also be possible to pipeline more image processing operations as the buffers for storing the data will be smaller BH CeloXica RC100 User Manual gt 5 Appendices gt 5 Appendices Appendix A Bitmap raw file format utilities 5 1 1 Introduction The Text Editor program only accepts images that are in raw file format However images in BMP format may be easier to edit The RC100 support software contains two utilities that allow you to convert between these fo
21. connected before the RC100 Board is turned on Otherwise the devices may not function correctly 2 1 1 Menu screen for RC100 demonstrations This application is used as a menu system for selecting all other demonstration programs You can select the other programs by moving the mouse over the appropriate text and clicking the left mouse button Sl CeloXica RC100 User Manual gt 2 Demonstrations provided TELTE ndows eak Out Venus de Milo COFLAT Video Processing T Ceioni Racer m Ties d Parallel processing The menu screen demo shows how important parallel computing is when running at a low clock frequency The demo is mixing the rotating background with the moving lights the text and the logo This is possible because the calculations for each procedure are done in parallel The video stream is generated at a rate of one pixel per clock cycle so no video buffer is required 2 1 2 Windows This demo displays two windows One contains a bouncing ball and the other contains a demonstration of the classic computer science problem popularly known as the Conway s Game of Life e You can use the mouse to move the windows around e You can click the right mouse button in the window with the bouncing ball to alternate between a transparent and opaque background CeloXica RC100 User Manual gt 2 Demonstrations provided e To start the game of life click the left mouse button anywhere
22. cro changes the cursor colour and the text to the selected colour starting with the next character to be typed e If the left mouse button is pressed anywhere in the text area the cursor will be repositioned to that location Display macro TheDi splay macro is pipelined into two parts that run in parallel One part loads the ASCII character specified by input from the keyboard from RAM and works out which part of the bitmap to display in each clock cycle As each character is 8 bits wide the process is broken down to two sequential processes running in parallel and lasting 8 clock cycles The other part of the macro provides the output signal It calculates whether the mouse pointer or the result from the first part of the macro should be displayed 4 3 3 Modifying the program Adding more keyboard functions The Text Editor program recognizes 12 control characters These are listed in the s wi t ch statement in the Keyboard nterface macro procedure inedi tor c ASCII Chars h lists additional control characters which have been assigned You can add these functions to theText Editor program by adding them as new cases in the switch statement For example to add in the Insert control BH CeloXica RC100 User Manual gt 4 Using the example programs case ASCII CTRL I NSERT par Enter your code here break Only ASCII codes 0 127 are supported for this program This means you cannot use the function keys numb
23. d before the output is displayed This prevents unwanted data being displayed KeyboardInterface macro The Keyboard nterface macro determines what to do with the data returned from the keyboard The program waits for input from the keyboard passed via a channel After this has been received it checks whether the character is a control character or an ASCII character If itis a control character the program runs a switch statement and performs the appropriate action For example if Home is pressed the cursor is returned to the left side of the screen a CeloXica RC100 User Manual gt 4 Using the example programs If the input is a valid ASCII character it will be stored in the appropriate location in RAM and the cursor will be moved to the next position Write macro The Write macro stores the ASCII characters This is a protected write meaning that if the memory is in use it will wait until it is free before writing This prevents multiple accesses on the same clock cycle that would otherwise corrupt the data MouseClick macro The MouseCl i ck macro determines what to do when mouse buttons are pressed There are three parts to this macro e If the right mouse button is pressed the FPGA reconfigures itself with whatever program is stored in Flash RAM at location zero This is usually a menu program resulting in the menu screen being displayed on the VGA e If the left mouse button is clicked on the colour palette the ma
24. e Transfer Utility dialog Each new action causes some additional text to appear at the bottom of this window You can scroll through recent entries using Page Up and Page Down on your keyboard or by using the arrows or the hand on the scroll bar The outer set of arrows takes you to the start or the end of the list The text in the message log is coloured according to its origin Green Commands automatically generated by pressing buttons Black Commands typed manually at the command prompt Purple Messages generated by the parallel port handler Blue Messages generated by the board handler Sl Celoxica RC100 User Manual gt 3 Transferring files Grey Intermediate messages or commands Red Error messages 3 4 1 Copying commands from the message log You can copy commands from the message box onto a clipboard or into a text file This allows you to create or add to script files Copying commands to a text file 1 Press the Save icon at the bottom right of the dialog This will open the Save As dialog 2 Select a name and location for the text file You can then execute the commands by using the text file as a script file Section 3 3 3 Copying commands to a clipboard To save the contents of the message log window into a clipboard press the Copy icon at the bottom right of the dialog CeloXica RC100 User Manual gt 4 Using the example programs gt 4 Using the example programs 4 1
25. e files Initialise macro keyboard driver KeyboardInterface libraries Load Demos script file Loadlmage macro loading files macro procedures Menu screen demonstration Menu Screen program modifying structure menu psp menu raw MenuSelection macro message log monitor resolution mouse interfacing with mouse driver MouseClick gt Index 21 21 3 4 52 52 25 52 19 30 31 25 19 6 46 11 34 24 32 32 32 24 15 28 21 27 31 40 5 29 27 29 26 29 28 20 22 5 26 31 35 33 28 32 33 muliple clock domains multi port block RAM NCF files netlists parallel port setting parallel processing Philips SAA7111A EVIP pipelining place and route prialt ProcessVideo producing BIT files programs demonstrations examples File Transfer Utility PS2 mouse PS2 ports Quit command raw file format raw2bmp utility RC100 demonstrations example programs features RC100PS2KeyboardDriver RC100PS2MouseDriver RC100VideoDecoder RC100VideoDriver ReadAuto reading data 38 39 25 25 18 21 6 7 4 41 42 46 25 45 43 25 5 24 17 25 4 21 29 47 50 47 50 5 24 3 32 28 32 38 27 32 41 21 21 real time image processing 10 11 14 34 reconfiguring 17 FPGA 25 references 4 Repeat button 20 9 Celoxica RC100 User Manual gt Index RGBFile 47 structure 36 SAA7111A EVIP 35 Sobel Edge Detect program Save file dialog 19 modifying 45 saving Sobel edge Detect
26. e on the diagram Celoxica RC100 User Manual gt 4 Using the example programs Video DAC Chip Clock Read Domain B Interlaced GE Data From Camera Clock Domain A Edge Spartan 200 Detection Algorithm Deinterlace Read Data Data to RAM from RAM Buffer Data SRAM 0 SRAM 1 HIGH LEVEL DESIGN OF THE SOBEL EDGE DETECT PROGRAM CeloXica RC100 User Manual gt 4 Using the example programs Using multiple clock domains The interface to the video decoder chip is clocked at the same speed as the clock on the chip 27MHz The rest of the FPGA is clocked by the main oscillator running at 80MHz This is divided by three or four depending on which Handel C program is running More information on the use of clocks with Handel C is given in the Handel C Language Reference Manual in the DK1 online help 4 4 3 Reading and storing data input Reading input from the camera The Edge Detect program uses the RC100Vi deoDecoder driver from the RC100 library to read data input from the camera Communication between clock domains A FIFO buffer implemented in block RAM passes data between the two clock domains Synchronisation is achieved using Handel C channels which abstract away from the programmer the complexities of communication between different clock domains Writing data into SSRAM The inpu
27. e these macros are all run in parallel with each other operations on each pixel are performed at the same time as outputting them to the monitor This demonstrates the advantages that Handel C gives over sequential languages like C Hardware drivers The RC100Vi deoDri ver generates the video output synchronisation and blanking periods It is passed the pointer to the VGA structure Each pixel takes one clock cycle Then a blanking period occurs before the next frame is drawn to the screen The RC100PS2MouseDri ver produces feedback from the mouse It is passed the pointer to the mouse structure and which PS2 port to use The RC100PS2KeyboardDri ver produces feedback from the keyboard It is passed the pointer to the keyboard structure which PS2 port to use and a description output format to use The precompiled library functions in the RC100 1 i b are described in more detail in the RC100 Function Library Manual Initialise macro Thelnitialise macroinitializes the SSRAM bank 0 to spaces 0x20 This clears the screen of unwanted characters The second part of this macro loads the font file from Flash RAM and stores it at the beginning of the SSRAM The fonts are stored as bitmaps and are read from memory when they are displayed Their location in Flash RAM is defined at the beginning of the source code and can be easily modified Thelnitialise macro is run before the other macros so that the memory can be successfully initialize
28. er Utility allows you to transfer your files between your PC and the RC100 board via a parallel port cable This allows you to test new Handel C designs by e transferring an FPGA configuration file directly to the FPGA on the RC100 Board e transferring completed Handel C designs to the RC100 board s Flash memory for future execution You also need to use the File Transfer Utility to run the software examples and the tutorials provided in the RC100 support software Message log File Transfer Utility Port e SUPT APIS E Parse SetDevice 0 Afer FPGA selected write only User WriteAuto D Neil s hw SendClient EDIF sendclient bit Board RC100 Board Parse Load D Neil s hw SendClient EDIF sendclient bit Afer bitfile sendclient bit opened xfer source sendclient ncd Afer part 2s200fg456 Afer date 2001 03 16 Afer time 18 25 15 Afer 166980 bytes read xfer He closed Parse Write Afer progress 100 0 Afer transfer complete Parse SetDevice 0 Afer FPGA selected write only Device FPGA Address Uffset Gize 166990 Use Script writeAuto D ANeil shhwNS endClie Repeat Activity CDM Stop Command prompt Polis d ibe You can configure the File Transfer Utility and execute file transfers in three ways e select commands using the GUI e type commands into the command prompt built into the main File Transfer Utility dialog
29. er pad keys or Print Screen Scroll or Pause Break Adding text selection with the mouse Text selection highlighting text with the mouse could be used as part of a text editing function For example you might want to select text before cutting and pasting it elsewhere To add this feature you need to 1 Edit the MouseCl i ck macro so that when you click and drag the mouse a region is selected You need to specify starting and end coordinates for the action e Store the start coordinates from the point where the user first clicks the left mouse button e Store the end coordinates from the point where the user releases the left mouse button 2 Editthe Di spl ay macro to add a function that inverts the colour output within the selected area 4 4 Sobel Edge Detect program The Sobel Edge Detect program demonstrates the use of Handel C in a real time image processing application Video data is read from a camera and a Sobel Edge Detection algorithm is applied to the data The results are output to a VGA screen The program compares groups of pixels with their immediate neighbours If there is no difference nothing will be shown on screen If there is some difference e g different shades of grey a faint edge will be seen Distinct changes in colour will show up as a clear edge on the screen The Sobel Edge Detect example program shows you how to BH CeloXica RC100 User Manual gt 4 Using the example pr
30. he example in DK1 Text Editor hw FTT CeloXica RC100 User Manual gt 4 Using the example programs 2 Compile the program and produce the Xilinx BIT file see Section 4 1 2 3 Connect a monitor a mouse and a keyboard to the board Set the monitor to a 640 480 display 4 Use the File Transfer Utility Section 3 2 to transfer the relevant files First load the font file f ont raw to Flash location 0x300000 Note that this will overwrite whatever was previously stored in the Flash Then transfer the BIT file to the FPGA be loome to the Celoxica FPGA test editor demonstrat ion HH HH EEEEE Li Co HH HH EE LL Li DO o0 HHHHHH EEEE LL UO 00 HH HH EE LL i CO 00 HH HH EEEEE LLLLL LLLI DOC LA WW CHO RRRRRH LL Dpnnpnn VAS 00 OO RA RR L DD DD WW MI Of KRRRHRHH 11 pn DO WW OU CH RR RR DD DO iid Wi DOT AR AR LLLLIL DDDDD Vx Ve LA This text editor is a circuit on an FPGA It k ng designed and developed using Handel c W 4 3 2 Program structure The par statement in the mai n function calls e The input macros the mouse and keyboard drivers RC100PS2MouseDri ver and RC100PS2KeyboardDri ver from the RC100 library e The output macro Video driver RC100Vi deoDri ver from the RC100 library e The continuous macro procedures that run the program ni ti alise Keyboardinterface Write MouseClick and Display CeloXica RC100 User Manual gt 4 Using the example programs Sinc
31. ime as outputting them to the screen This demonstrates the advantages that Handel C gives over sequential languages like C Hardware drivers The RC100Vi deoDri ver generates the video output synchronisation and blanking periods It is passed the pointer to the VGA structure 1 CeloXica RC100 User Manual gt 4 Using the example programs Each pixel takes one clock cycle Then a blanking period occurs before the next frame is drawn to the screen The RC100PS2MouseDri ver produces the feedback from the mouse It is passed the pointer to the mouse structure and which PS2 port to use The precompiled library functions in the RC100 1 i b are described in more detail in the RC100 Function Library Manual Loadimage macro The Load mage macro loads an image file from a predefined area in Flash RAM and stores it in the SSRAM The Flash RAM location is defined at the beginning of the source code and can be easily modified The macro reads each 8 bit colour element from a specified location in Flash RAM and then stores the resulting 24 bit colour pixel The Load mage macro is run before the Di spl ay and MouseSel ection macros so that the memory is initialized before the output is displayed This prevents unwanted data being displayed MenuSelection macro The MenuSel ecti on macro determines whether the mouse pointer is within one of the predefined areas If this is true it sets an offset flag for the Di spl ay macro It als
32. in the Life window Each individual element survives according to the number of neighbours it has It dies if there are too many or too few e Once the game has started you can click the left mouse button to spawn life If you press the right mouse button the screen is cleared If you press both mouse buttons together the screen will pause enabling you to use the right button to single step through the life process To resume normal play press both mouse buttons together e To return to the menu screen click the cross in the top right corner bouncing ball return to menu screen Game of Life Parallel processing This is another demonstration of the power of parallelism You ll notice as you move the windows around that the animations inside do not glitch no matter how fast you move the FTT CeloXica RC100 User Manual gt 2 Demonstrations provided mouse This is because each window is being generated by a completely separate piece of hardware on the FPGA If this demonstration were implemented on a real time operating System you would be able to notice decreased performance as the windows were moved around Video management The program scans the screen area and decides what colour the pixel at the current position should be depending on what the window processes are doing The video stream is generated at a rate of one pixel per clock cycle so no video buffer is required 2 1 3 Venus de Milo Th
33. ion 34 buffer contents 21 Spartan Il FPGA 3 files 21 Squishy demonstration 11 raw file format 29 SSRAM 4 28 32 38 Scientific Software Tools 18 Stop command 20 21 script files 20 21 switches 5 using 22 synchronisation 43 writing 21 Text Editor program 30 selecting modifying 33 demonstrations 5 structure 31 parallel port 21 transferring SetArea macro 29 data 17 19 SetDevice 21 files 17 SetFileSize 21 uploading data 17 SetLPT 21 Use script button 22 SetOffset 21 Venus de Milo demonstration 8 SetPPTBase 21 video camera input 8 setting video decoder 4 38 parallel port 21 video driver 27 32 41 setting coordinates 29 Video processing demonstration 9 setting up Windows demonstration 6 DK1 24 Write macro 33 File Transfer Utility 18 writing data 21 Sobel Edge detect program 34 Xilinx Design Manager 25 Index TT Celoxica Customer Support at Support celoxica com and 44 0 1344 663649 Celoxica Ltd 20 Park Gate Milton Park Abingdon Oxfordshire OX14 4SH United Kingdom Tel 44 0 1235 863 656 Fax 44 0 1235 863 648 Celoxica Inc 900 East Hamilton Avenue Campbell CA 95008 USA Tel 1 800 570 7004 Tel 1 408 626 9070 Fax 1 408 626 9079 Celoxica Japan KK YBP West Tower 11F 134 Godo cho Hodogaya ku Yokohama 240 0005 Japan Tel 81 0 45 331 0218 Fax 81 0 45 331 0433 Celoxica Pte Ltd Unit 05 03 31 Int l Business Park Singapore 609921 Tel 65 896 4838 Fax 65 566 9213 Copyrigh
34. is program uses video from the camera and displays it in a rotating room with the Venus de Milo as the centrepiece To stop or start the rotation at any time click the left mouse button To return to the menu screen right click the right mouse button while the Venus de Milo is rotating If there is no input from the camera a grey box rotates around the Venus de Milo CeloXica RC100 User Manual gt 2 Demonstrations provided Venus de Milo camera input This demo displays a complex graphical image rotating within a room while displaying and processing live video The FPGA generates one pixel per clock cycle giving a frame rate of 60fps To do this type of processing you would usually need a very high performance processor Techniques used to achieve this rely on Handel C features such as parallelism pipelining and adjustable width variables For information how to use these refer to the HC100 Tutorial manual or to the online help supplied with DK1 2 1 4 Video processing The video processing program detects moving objects and displays them in colour Stationary objects are displayed in dark grey CeloXica RC100 User Manual Input from the camera is combined with a screen showing moving balls If the balls are hit by a moving image received from the camera they bounce and change colour from green to red To return to the menu screen use the moving object in front of the camera e g
35. it 2 of blue Location for bit 1 of blue Location for bit 0 of blue The file works by starting counting at bit 7 of the colour specified by the identifier word and works down through the bits of that colour placing each bit in the specified location in the destination word The destination word will automatically be created wide enough to contain the most significant bit specified up to 32 bits wide in total You need not specify 8 locations for each colour The least significant bits of each colour will be dropped if fewer than 8 locations are specified In the example below the least significant 6 bits of red and blue and the least significant bits of green are dropped To generate 8 bit pixels in the raw file with the following bit pattern CeloXica RC100 User Manual gt 5 Appendices Raw file bit number Colour bit 7 Most significant Red 7 6 Green 7 5 Blue 7 4 Blue 6 3 Green 6 2 Red 6 1 Green 5 0 Least significant Green 4 use the following RGBFile Red Each pixel number and identifier Red Green or Blue must appear on a separate line You may also specify multiple identifiers of the same colour The bit counter will continue to count down from the value reached for that colour each time you specify the colour again For example the above file could also be written like this Red 7 Green 6 Bl ue 5 Red 2 Green 3 1 lll Celoxica RC100 User Manual gt 5 Appendices Bl ue 4
36. linx Design Manager If you want to access programs from Flash memory e g via the Menu Screen example program you need to compile the programs with Done Cycles equal to 6 and the start up clock equal to CCLK You need to change this in the Options dialog in Xilinx Design Manager 1 Open the Options dialog and press the Edit options button for Configuration the second Edit Options button This will open a new dialog Spartan 2 Configuration Options Default 2 Select the Startup tab and change the value for Done to C6 and the start up clock to CCLK 4 2 Menu Screen program The Menu Screen program shows you how to e reconfigure the FPGA from files stored in Flash RAM e use the RC100 board to interface with a monitor and a PS2 mouse e edit and store a background image file e use the Handel C par statement for parallel processing PT CeloXica RC100 User Manual gt 4 Using the example programs The menu screen has six designated areas that can be used to access programs in Flash memory on the board If you place the mouse pointer over a designated area its colour changes from white to yellow You can modify the example code to link programs stored in Flash RAM to these predefined areas or to change the number and size of predefined areas Once you have linked programs to the predefined areas you can reconfigure the FPGA by clicking the left mouse button over one of these areas 4 2 1 Loading the Menu Screen program
37. o checks whether the left mouse button is pressed If it is the FPGA reconfigures itself with a file from Flash RAM depending on which area was selected Display macro The Di spl ay macro is pipelined into two parts that run in parallel One part reads which colour should be displayed next from the RAM The other part provides continuous output of the video signal resulting in the colour being displayed on the screen It also performs two calculations e t determines the location of the mouse pointer on the screen and displays the mouse pointer instead of the output signal in this area e If the mouse pointer is within one of the pre defined areas that describe the files available for download it offsets the colour before it is displayed This changes the colour of the mouse pointer from white to yellow a CeloXica RC100 User Manual gt 4 Using the example programs 4 2 3 Modifying the program If you want to add remove or change items displayed in the menu program you need to 1 Change the background image 2 Save the image in raw file format 3 Setthe coordinates for any new menu items or change the coordinates to fit the length of the text inserted for a menu item 4 Specify the start location of the Flash for each program accessed from the menu at the beginning of the menu c file 5 Recompile the program and transfer the new files to the board as described in Section 4 2 Changing the background image
38. ocessVi deo function reads its input from the channel referenced by the pointer Wi ndowl nChan and writes to the channel referenced by the pointer Out Chan If the receiving channel is not ready to take the current data the process stalls until it is Aprialt statement is used ensure that the pipeline is not updated if a process has stalled In the pri al t statement the first case tries to send the output to the next process If the process is not ready to take the data the default case of the pri al t statement is executed setting a signal high This signal is used to check whether or not to update the pipeline in the same clock cycle This code is highlighted in grey Hardware efficiency of prialts and signals The prialt code block may look large but it is extremely efficient Channels have what can be thought of as two wires one from each side of the communication to indicate readiness The pri al t with a single case and def aul t on the sending side is implemented with a single bit comparator as for a normal channel communication with the branch for an unsuccessful transmission setting the signal high The signal is implemented as a single wire with a single bit comparison in hardware 4 4 6 Modifying the program The Edge Detect program is modular which means you can substitute add or remove processes Some examples are given below Using a different image processing algorithm You can substitute the call to the Sobel edge
39. ograms e Process video input from a camera using the Philips SAA7111A Enhanced Video Input Processor EVIP on the RC100 board e Use two separate clocks running at different clock speeds e Communicate between clock domains using channels e Use multi port block RAMs to buffer data e Use a pipeline to optimize code The program has a modular design allowing you to add change or remove functions For example you could remove the display process and add in some further image processing functions 4 4 1 Loading the Sobel Edge Detect program 1 Open the workspace for the example in DK1 EdgeDetect hw 2 Compile the program and produce the Xilinx BIT file see Section 4 1 2 3 Connect a monitor and a video camera to the board Set the monitor to a 640 480 display 4 Transfer EdgeDetect bit to the chosen sector on the FPGA using the File Transfer Utility Section 3 2 CeloXica RC100 User Manual gt p 1 f p geo PE ES eA e ne E m x ji gm l n ng a La Anii f K Jill de 4 4 2 Program structure The operation of the program is shown below Processes running within the FPGA are denoted using circles Lines with arrowheads represent channels between two processes the arrowheads indicate the direction in which data is sent down the channel A line with no arrowhead indicates a simple connection to a device The design is split into two clock domains shown by a dotted lin
40. on 1 are the top left corner 40 35 and the bottom right corner 235 60 This translates to the following line in the code SetArea 40 35 235 60 The order in which the items are stored in the RAM determines the configuration vector sent to the Flash RAM To set the coordinates for a menu item e Map an arbitrary box around it by entering the coordinates into the Set Area macro 4 3 Text Editor program The Text Editor program allows you to enter text and simple commands with a keyboard and to change the colour of text It displays the results on a VGA screen Both the mouse and keyboard can control the cursor Once you have started the program you can e move the cursor by left clicking anywhere in the white area of the screen e enter text at the cursor e change the colour of subsequent text by clicking one of the colours at the bottom of the screen e use simple keyboard commands The keyboard commands recognized by the program are e Text editing Return Backspace Delete Ctrl Alt Del Ctrl Alt Del clears the screen e Cursor control left right up and down arrows Home End Ctrl Home Ctrl End All other keyboard keys are ignored The Text Editor program shows you how you how to e use the RC100 board to interface with a monitor PS2 mouse and keyboard e use the Flash RAM on the board e use the Handel C par statement for parallel processing 4 3 1 Loading the Text Editor program 1 Open the workspace for t
41. our hardware e Handy Note These messages draw your attention to crucial pieces of information Hexadecimal numbers will appear throughout this document The convention used is that of prefixing the number with 0x in common with standard C syntax Sections of code or commands that you must type are given in typewriter font like this void main Information about a type of object you must specify is given in italics like this copy SourceFileName DestinationFileName Optional elements are enclosed in square brackets like this struct type Name Curly brackets around an element show that it is optional but it may be repeated any number of times RN eleng RC100 User Manual gt Assumptions Assumptions This manual assumes that you e have used or have the language reference for Handel C e are familiar with common programming terms e g functions e are familiar with MS Windows Omissions This manual does not include e instruction in VHDL e instruction in the use of place and route tools RN Celoxica RC100 User Manual gt 1 Overview gt 1 Overview 1 1 Introduction The RC100 Board is a development board designed to be helpful in the learning of the Handel C language This manual describes e running the demos pre installed on the RC100 board e using the File Transfer Utility program to transfer bit files to the FPGA and to read and write data to the Flash RAM on the board e using and modif
42. rmats bmp2raw converts BMP images to raw file format raw2bmp generates BMP image files from files in raw format These may be easier to modify with graphics editors 5 1 2 How to use the raw file bitmap utilities bmp2raw utility The general usage of the bmp2raw utility is bmp2raw b BMPFile RAWFile RGBFile BMPFile source image file RAWEile destination raw data file RGBFile file describing the format of the pixels in the raw data file The format of the raw data file can be controlled with the RGBFile specified on the command line This tells the utility where to place each colour bit in the words in the raw data file Internally the pixels in the BMP file are expanded to 8 bits for each of red green and blue The RGB description file has the general format Red Location for bit 7 of red Location for bit 6 of red Location for bit 5 of red Location for bit 4 of red Location for bit 3 of red P CeloXica RC100 User Manual gt 5 Appendices Location for bit 2 of red Location for bit 1 of red Location for bit 0 of red Green Location for bit 7 of green Location for bit 6 of green Location for bit 5 of green Location for bit 4 of green Location for bit 3 of green Location for bit 2 of green Location for bit 1 of green Location for bit 0 of green Bl ue Location for bit 7 of blue Location for bit 6 of blue Location for bit 5 of blue Location for bit 4 of blue Location for bit 3 of blue Location for b
43. ry files from the Show directories for drop down list Add the directories containing the RC100 libraries By default this path is RC100 Li b For example C Program Files Cel oxica RC100 Lib P CeloXica RC100 User Manual gt 4 Using the example programs 4 1 3 Using the examples To use the examples you will need to compile the programs and produce Xilinx BIT files 1 Set up DK1 and set your environment variables to access the RC100 library and include files Section 4 1 2 2 Open the workspace for the example The default location for the example programs is Program Files Celoxica RC100 Examples 3 Setthe active configuration to EDIF Build gt Set Active Configuration 4 Check that the correct device is targeted on the Chip tab in the Project Settings dialog This should be Virtex series Xilinx FPGA 5 Build the project This will create a folder called EDIF within your project containing an EDIF netlist and a netlist constraints file ncf 6 Use your Xilinx tools to place and route the netlist If you are going to access the program from Flash memory on the board you need to compile your application with Done Cycles equal to 6 and the start up clock equal to CCLK This is described in Section 4 1 4 7 Usethe File Transfer Utility to load the BIT file and any associated data onto the board This is described in more detail for each example program below 4 1 4 Setting Done Cycles and the Start up clock in Xi
44. s document or any incorrect use of the product The information contained herein is subject to change without notice and is for general guidance only Copyright 2001 Celoxica Limited All rights reserved Authors SB SC NS AS Document number UM 2100 1 2 Rn Celoxica RC100 User Manual gt Table of Contents Table of contents BE felyes n2 iW ETE E EE I E RET GON VENTIONS qme PISSUMPTIONS Tr r s OMISSIONS 0YOO n gt i 1 OVERVIEW M 1 1 INTRODUCTION EE 1 2 en INN 1 2 1 Programmable logic Chis nni tph enn Run er EEGENEN RUN FREE MERE EE 1 2 2 Other devices on the board EE 1 3 REFERENCES EE gt 2 DEMONSTRATIONS PROVIDED e eene nennen nnn nn nnn n nhan nan nhau nean n asas anna anna a nn 2 1 INTRODUCTION P 2 1 1 Menu screen for RC100 demonstrations un 2 Via VV INGOWS dc H e Venus Ge ING tete e 2 1 4 Video PO le EE 2 15 SQUISHY M n 11 21 6 BreakoUl TRENT IIBER S 11 2 1 BD CIID eet 12 TEE EE 14 2 2 RELOADING THE DEMONSTRATIONS e eene eene enhn nnne a nn naue anna anne a ana n a anna 15 9 TRANSFERRING FILES e eee n nnne a nnn numen nhau amoena nasa suas aaa sane a
45. se button or exit and return to the menu screen by clicking the right mouse button There is a small delay between when you crash and when you can restart the game so that accidental resets do not occur There is a map of the course in the bottom left hand corner of the screen At the bottom of the screen are several bars The first shows your time for the current game and the others show the best times achieved during the session gt Chapter 2 13 Celoxica RC100 User Manual gt 2 Demonstrations provided Information The FPGA on the board is configured to implement the mouse and video drivers in parallel with the processing required for the game The rotation angles and angular velocity of the boat are all calculated in real time which results in very smooth rotation compared to a similar game played on a computer The video stream is generated at a rate of one pixel per clock cycle so no video buffer is required This demo does not use the SSRAM chips on the board The map image is loaded from Flash RAM 2 1 8 Celoni racer This is like a 3D version of the boat game e Drive the vessel around the course You don t need to worry about crashing as you rebound off the banks if you hit them e Move the mouse to turn left and right and use the left mouse button to accelerate e You can return to the menu screen by clicking the right mouse button CeloXica RC100 User Manual gt 2 Demonstrations provided
46. t 2001 Celoxica Ltd All rights reserved Celoxica and the Celoxica logo are trademarks of Celoxica Ltd Celoxica
47. t a non standard location type Set PPTBase Adaress at the command prompt where Address is the location of the port Specify the address as either a decimal or a hexadecimal number PT CeloXica RC100 User Manual gt 3 Transferring files 3 2 2 Transferring files to Flash RAM 1 Configure the File Transfer Utility as described above 2 Select Flash from the Device drop down list 3 Specify the Flash location you want to transfer the file to by entering a decimal or hexadecimal number in the Address Offset box e By default the program will write to location zero in the Flash memory the boot sector 4 Click Write This opens the Open file dialog 5 Browse and select the file you want to transfer to Flash RAM The transfer will begin immediately and the activity indicator will light up You will see information about the progress of the data transfer in the message log D Do not disconnect the board from the PC whilst the activity indicator is lit 3 2 3 Transferring files to the FPGA Configure the File Transfer Utility as described above Select FPGA from the Device drop down list Click Write This causes the Open file dialog to appear Browse and select the file you want to transfer to the FPGA The transfer will begin immediately The activity indicator lights whilst data is being transferred You will also see information about the progress of the data transfer in the message log window Fon gt
48. t data from the camera is interlaced This needs to be de interlaced before the data is stored in the SSRAM The input data from the process reading from the camera clock domain contains positional information so that the lines can be written to the correct location Once a frame is complete the reading process reads the de interlaced data from this RAM bank whilst the de interlacing process switches to the other SSRAM bank to write the next frame The de interlacing process sets a 1 bit variable to control which RAM bank is being written to 4 4 4 Processing and displaying stored data Reading data from SSRAM This process uses the RC100ReadSSRAMO driver from the RC100 library to read an image out of the SSRAM The image is equal in size to the visible area of the screen set by constants from the RC100 video library The reading process switches between the two RAM banks to alternate with the writing process described above BH CeloXica RC100 User Manual gt 4 Using the example programs Buffer management Spatial image filters such as Sobel Edge detection operate on a square area of pixels from an image The Sobel Edge Detect program operates on a 3 by 3 pixel area In order to access a 3 by 3 area of an image in a single clock cycle data from the RAM needs to be stored in buffers The process for updating the buffers is implemented using replicated par statements This means you can easily extend the code for different si
49. uamduiacsisnitinidapinatainduniaiahihiennicsiiims 25 4 2 1 Loading the Menu Screen program een 26 4 2 2 et E DEE 27 4 2 3 Modifying the DEOGPBIETIS iio irse eiui itt Rei D 29 4 3 TEXT EDITOR PROGRAM L aeidcdialikodddgn labor pied BD mni 30 4 3 1 Loading the Text Editor program 30 4 3 2 PROUFATESUDELTU E ee erer 31 4 3 3 Modifying the eei Met t EE E E 0 ees 33 4 4 SOBEL EDGE DETECT PROGRAM 5 555 nias causas rh dap stadi Ia ERES EE IKR RE HL a Qu E SEEN LAMP M Mad RE tA TEE 34 4 4 1 Loading the Sobel Edge Detect program 35 4 4 2 Program SUUCIUNG vccciccaientinreieecccereescednornicnctexessieisueidtermeaenpwmnarneieennmecnneecies 36 4 4 3 Reading and storing data Input ertet rre herren rtr genius 38 4 4 4 Processing and displaying stored data 38 4 4 5 Pipelining the data Drocessing EEN 41 4 4 6 Modifying the program 45 gt i 5 APPENDICES m 47 APPENDIX A BITMAP RAW FILE FORMAT UTILITIES e eenen eene 47 SN aureus o tia ELE 47 5 1 2 How to use the raw file bitmap utlties eee eee eeeeeteee eee eeeeeeeeee rere 47 APPENDIX B LOCATION OF DEMOS IN FLASH RAM eene 52 let e i UPPER ME l RN Celoxica RC100 User Manual gt Conventions Conventions A number of conventions are used in this document These conventions are detailed below Warning Message These messages warn you that actions may damage y
50. y 3 arrays for each colour arrive down the input channel and 16 bit pixels are output A wrapper process ProcessVi deo takes pointers to an input channel an output channel and the image processing function as arguments A constant integer value parameter is also passed to the wrapper function This constant is the number of clock cycles that the image processing function takes to produce an output at the end of the pipeline from an input The image processing function Pr ocessWi ndowSobel takes a pointer to the set of three 3 by 3 arrays representing the three colours of the 3 by 3 area of the image as one parameter and a pointer to a 16 bit pixel as the second into which the output will be written This means you can substitute a new image processing function without needing to make any changes to the rest of the code Sobel edge detection is performed using two 3 by 3 matrices one for horizontal edges and one for vertical edges The two 3 by 3 matrices are shown below The results of the application of these two matrices to the 3 by 3 area of the image are then added together to produce the final output Sobel operators x and y direction The algorithm used in this program has been pipelined to produce one pixel every clock cycle The output for a given input appears at the other end of the pipe several clock cycles later The algorithm has been implemented using a Handel C macro procedure Sobel Macro procedures are
51. ying the examples These programs demonstrate some of the features of Handel C such as the par statement pipelining and channels Further information about the RC100 is available in the RC100 Hardware Manual RC100 Library Reference Manual RC100 Tutorial Manual 1 2 RC100 features 1 2 1 Programmable logic chips The RC100 Board contains two programmable logic chips e XILINX Spartan Il FPGA 200Kgates Spartan II FPGA in a FG 456 pin package The Spartan Il FPGA is the main repository of programmable logic on the RC100 Board e XILINX XCR3128XL CPLD The CPLD Complex programmable logic device is used to manage the configuration of the Spartan Il FPGA via the parallel port or Flash RAM FTT CeloXica RC100 User Manual gt 1 Overview 1 2 2 Other devices on the board Device Function 8 Mbytes of Flash RAM Stores multiple configurations or general purpose data for the FPGA Two independent 256K x 36 SSRAM Used by the FPGA for general purpose data banks storage Philips SAA7111A EVIP video decoder Accepts NTSC PAL SECAM signals through an RCA jack or S video connector and outputs RGB signal to the FPGA DAC Digital to Analogue Converter with Used by the FPGA to output video to a VGA a 24 bit colourmap monitor Two mouse keyboard PS2 ports Give the FPGA access to common PC input devices Parallel port interface Used for programming the FPGA and Flash RAM and for bi directional communication 1 3 References
52. your hand to touch each of the stationary balls on the right side of the screen in order from top to bottom moving image bouncing balls light these to return to menu screen Information This program compares previous images from the camera with the current image The image processing is performed in real time and would require a high performance processor to perform the same task on a standard PC 10 Celoxica RC100 User Manual gt 2 Demonstrations provided 2 1 5 Squishy The squishy program allows you to stretch regions of an image by selecting and dragging them with a mouse pointer e Left click the mouse button to grab the parts of the image and keep the left mouse button pressed down whilst you stretch them out e To reset the image to normal left click the R in the top left corner e Toreturn to the menu screen left click the cross in the top right corner Image manipulation The FPGA on the board is configured to implement the mouse and video drivers as well as to perform the image processing required for the game The image is morphed between the original image and the adjusted image using a sine function and a vector map The offsets of the image are calculated in real time and the video stream is generated at a rate of one pixel per clock cycle so no video buffer is required The external memory is only used to store the image and the offset vectors 2
53. ze matrices Thrown away FIFOs Image Width 3 Pixel Input from RAM Pixel Area Processed The buffer management process takes an input of one pixel from a channel and outputs a 3 by 3 array down a channel to the image processing algorithm every clock cycle Two FIFO buffers are used Each stores a line of the image minus the three pixels that are stored in the array Every clock cycle a pixel received from the RAM reading process is put into the bottom right corner of the array The contents of the array are shifted to the left with the leftmost member being added to the tail of the FIFO The top left pixel is now finished with and can be written over without storing it anywhere else The FIFOs are implemented using circular buffers constructed from multi port block RAM with an index keeping track of the front item in the buffer The availability of multi port block RAM in the Spartan II FPGA means that you can read and write to the RAM in the same clock cycle This allows a throughput of one pixel per clock cycle The same effect can be achieved using double width RAMs implemented in lookup tables on the FPGA However the use of block RAMs is more efficient and has less associated logic for reading and writing P CeloXica RC100 User Manual gt 4 Using the example programs Edge detection algorithm In this example code each colour is processed individually and the results make up a single pixel 3 b

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