Merge FPGA repository back into UHD repository

The FPGA codebase was removed from the UHD repository in 2014 to reduce
the size of the repository. However, over the last half-decade, the
split between the repositories has proven more burdensome than it has
been helpful. By merging the FPGA code back, it will be possible to
create atomic commits that touch both FPGA and UHD codebases. Continuous
integration testing is also simplified by merging the repositories,
because it was previously difficult to automatically derive the correct
UHD branch when testing a feature branch on the FPGA repository.

This commit also updates the license files and paths therein.

We are therefore merging the repositories again. Future development for
FPGA code will happen in the same repository as the UHD host code and
MPM code.

== Original Codebase and Rebasing ==

The original FPGA repository will be hosted for the foreseeable future
at its original local location: https://github.com/EttusResearch/fpga/

It can be used for bisecting, reference, and a more detailed history.

The final commit from said repository to be merged here is
05003794e2da61cabf64dd278c45685a7abad7ec. This commit is tagged as
v4.0.0.0-pre-uhd-merge.

If you have changes in the FPGA repository that you want to rebase onto
the UHD repository, simply run the following commands:

- Create a directory to store patches (this should be an empty
  directory):

    mkdir ~/patches

- Now make sure that your FPGA codebase is based on the same state as
  the code that was merged:

    cd src/fpga # Or wherever your FPGA code is stored
    git rebase v4.0.0.0-pre-uhd-merge

  Note: The rebase command may look slightly different depending on what
  exactly you're trying to rebase.

- Create a patch set for your changes versus v4.0.0.0-pre-uhd-merge:

    git format-patch v4.0.0.0-pre-uhd-merge -o ~/patches

  Note: Make sure that only patches are stored in your output directory.
  It should otherwise be empty. Make sure that you picked the correct
  range of commits, and only commits you wanted to rebase were exported
  as patch files.

- Go to the UHD repository and apply the patches:

    cd src/uhd # Or wherever your UHD repository is stored
    git am --directory fpga ~/patches/*
    rm -rf ~/patches # This is for cleanup

== Contributors ==

The following people have contributed mainly to these files (this list
is not complete):

Co-authored-by: Alex Williams <alex.williams@ni.com>
Co-authored-by: Andrej Rode <andrej.rode@ettus.com>
Co-authored-by: Ashish Chaudhari <ashish@ettus.com>
Co-authored-by: Ben Hilburn <ben.hilburn@ettus.com>
Co-authored-by: Ciro Nishiguchi <ciro.nishiguchi@ni.com>
Co-authored-by: Daniel Jepson <daniel.jepson@ni.com>
Co-authored-by: Derek Kozel <derek.kozel@ettus.com>
Co-authored-by: EJ Kreinar <ej@he360.com>
Co-authored-by: Humberto Jimenez <humberto.jimenez@ni.com>
Co-authored-by: Ian Buckley <ian.buckley@gmail.com>
Co-authored-by: Jörg Hofrichter <joerg.hofrichter@ni.com>
Co-authored-by: Jon Kiser <jon.kiser@ni.com>
Co-authored-by: Josh Blum <josh@joshknows.com>
Co-authored-by: Jonathon Pendlum <jonathan.pendlum@ettus.com>
Co-authored-by: Martin Braun <martin.braun@ettus.com>
Co-authored-by: Matt Ettus <matt@ettus.com>
Co-authored-by: Michael West <michael.west@ettus.com>
Co-authored-by: Moritz Fischer <moritz.fischer@ettus.com>
Co-authored-by: Nick Foster <nick@ettus.com>
Co-authored-by: Nicolas Cuervo <nicolas.cuervo@ettus.com>
Co-authored-by: Paul Butler <paul.butler@ni.com>
Co-authored-by: Paul David <paul.david@ettus.com>
Co-authored-by: Ryan Marlow <ryan.marlow@ettus.com>
Co-authored-by: Sugandha Gupta <sugandha.gupta@ettus.com>
Co-authored-by: Sylvain Munaut <tnt@246tNt.com>
Co-authored-by: Trung Tran <trung.tran@ettus.com>
Co-authored-by: Vidush Vishwanath <vidush.vishwanath@ettus.com>
Co-authored-by: Wade Fife <wade.fife@ettus.com>

6 files changed, 258 insertions, 0 deletions

diff --git a/fpga/usrp3/lib/timing/Makefile.srcs b/fpga/usrp3/lib/timing/Makefile.srcs
new file mode 100644
index 000000000..8d116c064
--- /dev/null
+++ b/fpga/usrp3/lib/timing/Makefile.srcs
@@ -0,0 +1,17 @@
+#
+# Copyright 2013 Ettus Research LLC
+# Copyright 2016 Ettus Research, a National Instruments Company
+#
+# SPDX-License-Identifier: LGPL-3.0-or-later
+#
+
+##################################################
+# Timing Sources
+##################################################
+TIMING_SRCS = $(abspath $(addprefix $(BASE_DIR)/../lib/timing/, \
+time_compare.v \
+timekeeper.v \
+pps_generator.v \
+pps_synchronizer.v \
+pulse_generator.v \
+))
diff --git a/fpga/usrp3/lib/timing/pps_generator.v b/fpga/usrp3/lib/timing/pps_generator.v
new file mode 100644
index 000000000..9142c3a48
--- /dev/null
+++ b/fpga/usrp3/lib/timing/pps_generator.v
@@ -0,0 +1,29 @@
+//
+// Copyright 2015 Ettus Research LLC
+// Copyright 2018 Ettus Research, a National Instruments Company
+//
+// SPDX-License-Identifier: LGPL-3.0-or-later
+//
+
+module pps_generator #(
+   parameter CLK_FREQ   = 32'd10_000_000, //Min:10kHz, Max:4GHz
+   parameter DUTY_CYCLE = 25
+) (
+   input  clk,
+   input  reset,
+   output pps
+);
+    reg [31:0] count;
+
+    always @(posedge clk) begin
+        if (reset) begin
+            count <= 32'd0;
+        end else if (count >= CLK_FREQ - 1) begin
+            count <= 32'd0;
+        end else begin
+            count <= count + 32'd1;
+        end
+    end
+
+    assign pps = (count < ((CLK_FREQ / 100) * DUTY_CYCLE));
+endmodule //pps_generator
diff --git a/fpga/usrp3/lib/timing/pps_synchronizer.v b/fpga/usrp3/lib/timing/pps_synchronizer.v
new file mode 100644
index 000000000..c984e9c86
--- /dev/null
+++ b/fpga/usrp3/lib/timing/pps_synchronizer.v
@@ -0,0 +1,42 @@
+//
+// Copyright 2015 Ettus Research LLC
+// Copyright 2018 Ettus Research, a National Instruments Company
+//
+// SPDX-License-Identifier: LGPL-3.0-or-later
+//
+
+module pps_synchronizer
+(
+   input      ref_clk,
+   input      timebase_clk,
+   input      pps_in,
+   output     pps_out,
+   output reg pps_count
+);
+   wire pps_refclk;
+   reg  pps_out_del;
+
+   //The input pps is treated an as async signal and is first synchronized
+   //to a common reference clock shared between multiple devices. It is then
+   //synchronized to the timebase clock which counts up the VITA time.
+   //The reference clock frequency must be equal to or smaller than the 
+   //timebase clock frequency to remove any time ambiguity.
+
+   //For robust synchronization across FPGA builds, the async delay for pps_in
+   //must be constrained along with the clock delay (or meet static timing there).
+   //The path length between the two synchronizers must also be constrained
+   synchronizer #(.INITIAL_VAL(1'b0), .FALSE_PATH_TO_IN(0)) pps_sync_refclk_inst (
+      .clk(ref_clk), .rst(1'b0 /* no reset */), .in(pps_in), .out(pps_refclk));
+
+   synchronizer #(.INITIAL_VAL(1'b0), .FALSE_PATH_TO_IN(0)) pps_sync_tbclk_inst (
+      .clk(timebase_clk), .rst(1'b0 /* no reset */), .in(pps_refclk), .out(pps_out));
+
+   //Implement a 1-bit counter to detect PPS edges
+   always @(posedge timebase_clk)
+      pps_out_del <= pps_out;
+
+   always @(posedge timebase_clk)
+      if (~pps_out_del && pps_out)
+         pps_count <= ~pps_count;
+
+endmodule //pps_synchronizer
diff --git a/fpga/usrp3/lib/timing/pulse_generator.v b/fpga/usrp3/lib/timing/pulse_generator.v
new file mode 100644
index 000000000..12a98f5aa
--- /dev/null
+++ b/fpga/usrp3/lib/timing/pulse_generator.v
@@ -0,0 +1,29 @@
+//
+// Copyright 2018 Ettus Research, a National Instruments Company
+//
+// SPDX-License-Identifier: LGPL-3.0-or-later
+//
+// Module: pulse_generator
+// Description:
+// Generates pulses of a given width at intervals of a given period based on
+// a given input clock.
+
+module pulse_generator #(parameter WIDTH = 32) (
+  input  wire             clk,          /* clock */
+  input  wire             reset,        /* reset */
+  input  wire [WIDTH-1:0] period,       /* period, in clk cycles */
+  input  wire [WIDTH-1:0] pulse_width,  /* pulse width, in clk cycles */
+  output reg              pulse         /* pulse */
+);
+  reg [WIDTH-1:0] count = 0;
+
+  always @(posedge clk) begin
+    if (reset | count <= 1)
+      count <= period;
+    else
+      count <= count - 1;
+
+    pulse <= (count > (period - pulse_width));
+  end
+
+endmodule //pulse_generator
diff --git a/fpga/usrp3/lib/timing/time_compare.v b/fpga/usrp3/lib/timing/time_compare.v
new file mode 100644
index 000000000..60b472d05
--- /dev/null
+++ b/fpga/usrp3/lib/timing/time_compare.v
@@ -0,0 +1,54 @@
+//
+// Copyright 2011-2012 Ettus Research LLC
+// Copyright 2018 Ettus Research, a National Instruments Company
+//
+// SPDX-License-Identifier: LGPL-3.0-or-later
+//
+
+
+
+// 64 bits worth of ticks
+//
+// Not concerned with clock wrapping, human race will likely have extermintated it's self by this time.
+//
+
+module time_compare
+  (
+   input clk,
+   input reset,
+   input [63:0] time_now,
+   input [63:0] trigger_time,
+   output now,
+   output early,
+   output late,
+   output too_early);
+
+/*
+   reg [63:0] time_diff;
+
+   always @(posedge clk) begin
+        if (reset) begin
+            time_diff <= 64'b0;
+            now <= 1'b0;
+            late <= 1'b0;
+            early <= 1'b0;
+        end
+        else begin
+          time_diff <= trigger_time - time_now;
+          now <= ~(|time_diff);
+          late <= time_diff[63];
+          early <= ~now & ~late;
+       end
+   end
+   //assign now = ~(|time_diff);
+   //assign late = time_diff[63];
+   //assign early = ~now & ~late;
+   assign too_early = 0; //not implemented
+*/
+
+    assign now = time_now == trigger_time;
+    assign late = time_now > trigger_time;
+    assign early = ~now & ~late;
+    assign too_early = 0; //not implemented
+
+endmodule // time_compare
diff --git a/fpga/usrp3/lib/timing/timekeeper.v b/fpga/usrp3/lib/timing/timekeeper.v
new file mode 100644
index 000000000..16b7f0fe6
--- /dev/null
+++ b/fpga/usrp3/lib/timing/timekeeper.v
@@ -0,0 +1,87 @@
+//
+// Copyright 2013-2014 Ettus Research LLC
+// Copyright 2018 Ettus Research, a National Instruments Company
+//
+// SPDX-License-Identifier: LGPL-3.0-or-later
+//
+
+
+module timekeeper
+  #(parameter SR_TIME_HI = 0,
+    parameter SR_TIME_LO = 1,
+    parameter SR_TIME_CTRL = 2,
+    parameter INCREMENT = 64'h1)
+   (input clk, input reset, input pps, input sync_in, input strobe,
+    input set_stb, input [7:0] set_addr, input [31:0] set_data,
+    output reg [63:0] vita_time, output reg [63:0] vita_time_lastpps,
+    output reg sync_out);
+
+   //////////////////////////////////////////////////////////////////////////
+   // timer settings for this module
+   //////////////////////////////////////////////////////////////////////////
+   wire [63:0] time_at_next_event;
+   wire set_time_pps, set_time_now, set_time_sync;
+   wire cmd_trigger;
+
+   setting_reg #(.my_addr(SR_TIME_HI), .width(32)) sr_time_hi
+     (.clk(clk), .rst(reset), .strobe(set_stb), .addr(set_addr), .in(set_data),
+      .out(time_at_next_event[63:32]), .changed());
+
+   setting_reg #(.my_addr(SR_TIME_LO), .width(32)) sr_time_lo
+     (.clk(clk), .rst(reset), .strobe(set_stb), .addr(set_addr), .in(set_data),
+      .out(time_at_next_event[31:0]), .changed());
+
+   setting_reg #(.my_addr(SR_TIME_CTRL), .width(3)) sr_ctrl
+     (.clk(clk), .rst(reset), .strobe(set_stb), .addr(set_addr), .in(set_data),
+      .out({set_time_sync, set_time_pps, set_time_now}), .changed(cmd_trigger));
+
+   //////////////////////////////////////////////////////////////////////////
+   // PPS edge detection logic
+   //////////////////////////////////////////////////////////////////////////
+   reg pps_del, pps_del2;
+   always @(posedge clk)
+     {pps_del2,pps_del} <= {pps_del, pps};
+
+   wire pps_edge = !pps_del2 & pps_del;
+
+   //////////////////////////////////////////////////////////////////////////
+   // arm the trigger to latch a new time when the ctrl register is written
+   //////////////////////////////////////////////////////////////////////////
+   reg armed;
+   wire time_event = armed && ((set_time_now) || (set_time_pps && pps_edge) || (set_time_sync && sync_in));
+   always @(posedge clk) begin
+     if (reset) armed <= 1'b0;
+     else if (cmd_trigger) armed <= 1'b1;
+     else if (time_event) armed <= 1'b0;
+   end
+
+   //////////////////////////////////////////////////////////////////////////
+   // vita time tracker - update every tick or when we get an "event"
+   //////////////////////////////////////////////////////////////////////////
+   always @(posedge clk) begin
+     sync_out <= 1'b0;
+     if(reset) begin
+       vita_time <= 64'h0;
+     end else begin
+         if (time_event) begin
+           sync_out <= 1'b1;
+           vita_time <= time_at_next_event;
+         end else if (strobe) begin
+	   vita_time <= vita_time + INCREMENT;
+         end
+     end
+   end
+
+   //////////////////////////////////////////////////////////////////////////
+   // track the time at last pps so host can detect the pps
+   //////////////////////////////////////////////////////////////////////////
+   always @(posedge clk)
+     if(reset)
+       vita_time_lastpps <= 64'h0;
+     else if(pps_edge)
+       if(time_event)
+         vita_time_lastpps <= time_at_next_event;
+       else
+         vita_time_lastpps <= vita_time + INCREMENT;
+
+endmodule // timekeeper