gps/hardware/soc/scala/fpga/VCU118Peripherals.scala

// See LICENSE.SiFive for license details.

package freechips.rocketchip.fpga

import chisel3._
import chisel3.experimental.IntParam
import chisel3.util._

import org.chipsalliance.cde.config._
import org.chipsalliance.diplomacy.bundlebridge._
import org.chipsalliance.diplomacy.lazymodule._

import freechips.rocketchip.diplomacy.AddressSet
import freechips.rocketchip.amba.apb.{APBSlaveNode, APBSlaveParameters, APBSlavePortParameters}
import freechips.rocketchip.devices.tilelink.{BootROM, BootROMLocated, BootROMParams, MaskROM, MaskROMLocated}
import freechips.rocketchip.interrupts.{IntRange, IntSourceNode, IntSourceParameters, IntSourcePortParameters}
import freechips.rocketchip.regmapper.{RegField, RegFieldDesc, RegReadFn, RegWriteFn}
import freechips.rocketchip.resources.SimpleDevice
import freechips.rocketchip.rocket.{RocketTileConfig, WithNSmallCores}
import freechips.rocketchip.subsystem._
import freechips.rocketchip.system.BaseConfig
import freechips.rocketchip.tile.FPUParams
import freechips.rocketchip.tilelink.{TLFragmenter, TLRAM, TLRegisterNode, TLToAPB, TLWidthWidget}
import freechips.rocketchip.prci.SynchronousCrossing
import freechips.rocketchip.util.{ResetCatchAndSync, SystemFileName}

object FpgaBuildSettings {
  // Makefiles pass user-facing DTIM_BASE/DTIM_SIZE as ROCKET_DTIM_* Java properties.
  // Reading env too keeps direct generator invocations scriptable without a new Config class.
  private def parseBigInt(text: String): BigInt = {
    val clean = text.trim.replace("_", "")
    if (clean.startsWith("0x") || clean.startsWith("0X")) {
      BigInt(clean.drop(2), 16)
    } else {
      BigInt(clean, 10)
    }
  }

  def bigInt(name: String, default: BigInt): BigInt =
    scala.sys.props.get(name).orElse(scala.sys.env.get(name)).map(parseBigInt).getOrElse(default)
}

case class FpgaUARTParams(
  address: BigInt = 0x10013000L,
  clockFrequency: Int = 100000000,
  baudRate: Int = 115200)

class FpgaUARTPort extends Bundle {
  val rxd = Input(Bool())
  val txd = Output(Bool())
}

class TLFpgaUART(params: FpgaUARTParams, beatBytes: Int)(implicit p: Parameters) extends LazyModule {
  val device = new SimpleDevice("uart", Seq("rocket,fpga-uart"))
  val rxdNode = BundleBridgeSink[Bool]()
  val txdNode = BundleBridgeSource(() => Bool())
  val node = TLRegisterNode(
    address = Seq(AddressSet(params.address, 0xfff)),
    device = device,
    beatBytes = beatBytes,
    concurrency = 1)

  lazy val module = new Impl
  class Impl extends LazyModuleImp(this) {
    val rxd = rxdNode.bundle
    val txd = Wire(Bool())
    txdNode.bundle := txd

    private val resetDivisor = (params.clockFrequency + params.baudRate / 2) / params.baudRate
    val clockFrequency = RegInit(params.clockFrequency.U(32.W))
    val baudRate = RegInit(params.baudRate.U(32.W))
    val divisor = RegInit((resetDivisor max 2).U(32.W))
    val divisorMinusOne = Mux(divisor <= 1.U, 1.U, divisor - 1.U)
    val rxStartDelay = Mux(divisor <= 1.U, 1.U, divisor + (divisor >> 1) - 1.U)

    val txReg = RegInit(1.U(10.W))
    val txBusy = RegInit(false.B)
    val txDiv = RegInit(0.U(32.W))
    val txCount = RegInit(0.U(4.W))

    txd := txReg(0)

    when(txBusy) {
      when(txDiv === divisorMinusOne) {
        txDiv := 0.U
        txReg := Cat(1.U(1.W), txReg(9, 1))
        when(txCount === 0.U) {
          txBusy := false.B
          txReg := Fill(10, 1.U(1.W))
        }.otherwise {
          txCount := txCount - 1.U
        }
      }.otherwise {
        txDiv := txDiv + 1.U
      }
    }

    val rxSync = RegNext(RegNext(rxd, true.B), true.B)
    val rxPrev = RegNext(rxSync, true.B)
    val rxBusy = RegInit(false.B)
    val rxDiv = RegInit(0.U(32.W))
    val rxCount = RegInit(0.U(4.W))
    val rxShift = RegInit(0.U(8.W))
    val rxData = RegInit(0.U(8.W))
    val rxValid = RegInit(false.B)

    when(!rxBusy && rxPrev && !rxSync) {
      rxBusy := true.B
      rxDiv := rxStartDelay
      rxCount := 0.U
    }.elsewhen(rxBusy) {
      when(rxDiv === 0.U) {
        rxDiv := divisorMinusOne
        when(rxCount < 8.U) {
          rxShift := Cat(rxSync, rxShift(7, 1))
          rxCount := rxCount + 1.U
        }.otherwise {
          rxBusy := false.B
          when(rxSync) {
            rxData := rxShift
            rxValid := true.B
          }
        }
      }.otherwise {
        rxDiv := rxDiv - 1.U
      }
    }

    val txWrite = RegWriteFn { (valid, data) =>
      when(valid && !txBusy) {
        txReg := Cat(1.U(1.W), data(7, 0), 0.U(1.W))
        txBusy := true.B
        txDiv := 0.U
        txCount := 9.U
      }
      true.B
    }

    val rxRead = RegReadFn { ready =>
      when(ready) { rxValid := false.B }
      (true.B, rxData)
    }

    node.regmap(
      0x00 -> Seq(RegField.w(8, txWrite, RegFieldDesc("txdata", "write byte to transmit"))),
      0x04 -> Seq(RegField.r(8, rxRead, RegFieldDesc("rxdata", "read received byte"))),
      0x08 -> Seq(RegField.r(1, !txBusy, RegFieldDesc("txready", "transmitter can accept a byte"))),
      0x0c -> Seq(RegField.r(1, rxValid, RegFieldDesc("rxvalid", "receiver has a byte"))),
      0x10 -> Seq(RegField(32, clockFrequency, RegFieldDesc("clockfreq", "UART input clock frequency"))),
      0x14 -> Seq(RegField(32, baudRate, RegFieldDesc("baudrate", "UART baud rate"))),
      0x18 -> Seq(RegField(32, divisor, RegFieldDesc("divisor", "UART baud clock divisor")))
    )
  }
}

case class FpgaSPIParams(
  address: BigInt = 0x10014000L,
  clockDiv: Int = 8,
  deviceName: String = "spi",
  compatibility: Seq[String] = Seq("rocket,fpga-spi"))

class FpgaSPIPort extends Bundle {
  val sck = Output(Bool())
  val csn = Output(Bool())
  val dq_i = Input(UInt(4.W))
  val dq_o = Output(UInt(4.W))
  val dq_oe = Output(UInt(4.W))
}

class TLFpgaSPI(params: FpgaSPIParams, beatBytes: Int)(implicit p: Parameters) extends LazyModule {
  val device = new SimpleDevice(params.deviceName, params.compatibility)
  val sckNode = BundleBridgeSource(() => Bool())
  val csnNode = BundleBridgeSource(() => Bool())
  val dqInNode = BundleBridgeSink[UInt]()
  val dqOutNode = BundleBridgeSource(() => UInt(4.W))
  val dqOeNode = BundleBridgeSource(() => UInt(4.W))
  val node = TLRegisterNode(
    address = Seq(AddressSet(params.address, 0xfff)),
    device = device,
    beatBytes = beatBytes,
    concurrency = 1)

  lazy val module = new Impl
  class Impl extends LazyModuleImp(this) {
    val dq_i = dqInNode.bundle
    val sck_o = Wire(Bool())
    val csn_o = Wire(Bool())
    val dq_o = Wire(UInt(4.W))
    val dq_oe = Wire(UInt(4.W))

    sckNode.bundle := sck_o
    csnNode.bundle := csn_o
    dqOutNode.bundle := dq_o
    dqOeNode.bundle := dq_oe

    val csn = RegInit(true.B)
    val sck = RegInit(false.B)
    val quad = RegInit(false.B)
    val cpol = RegInit(false.B)
    val cpha = RegInit(false.B)
    val txShift = RegInit(0.U(32.W))
    val rxShift = RegInit(0.U(32.W))
    val bitsLeft = RegInit(0.U(6.W))
    val busy = RegInit(false.B)
    val div = RegInit(0.U(log2Ceil(params.clockDiv max 2).W))

    csn_o := csn
    sck_o := sck
    dq_o := Mux(quad, txShift(31, 28), Cat(0.U(3.W), txShift(31)))
    dq_oe := Mux(csn || !busy, 0.U, Mux(quad, "b1111".U, "b0001".U))

    when(busy) {
      when(div === (params.clockDiv - 1).U) {
        div := 0.U
        sck := ~sck
        val step = Mux(quad, 4.U, 1.U)
        /*
         * `sck` is the pre-toggle level.  The edge away from CPOL is the
         * leading edge; CPHA selects leading (0) or trailing (1) sampling.
         * TX advances only after the active sample edge, so all four standard
         * SPI modes retain a full half-cycle of setup time.
         */
        val leadingEdge = sck === cpol
        val sampleEdge = Mux(cpha, !leadingEdge, leadingEdge)
        when(sampleEdge) {
          rxShift := Mux(quad, Cat(rxShift(27, 0), dq_i), Cat(rxShift(30, 0), dq_i(1)))
        }

        /*
         * CPHA=0 completes on the trailing edge after the final leading-edge
         * sample. CPHA=1 samples and completes on the final trailing edge.
         */
        val advanceEdge = Mux(cpha, sampleEdge, !sampleEdge)
        when(advanceEdge) {
          txShift := Mux(quad, Cat(txShift(27, 0), 0.U(4.W)), Cat(txShift(30, 0), 0.U(1.W)))
          when(bitsLeft <= step) {
            busy := false.B
            sck := cpol
            bitsLeft := 0.U
          }.otherwise {
            bitsLeft := bitsLeft - step
          }
        }
      }.otherwise {
        div := div + 1.U
      }
    }

    val ctrl = Wire(UInt(32.W))
    ctrl := Cat(0.U(27.W), cpha, cpol, quad, csn, busy)

    val ctrlWrite = RegWriteFn { (valid, data) =>
      when(valid && !busy) {
        csn := data(1)
        quad := data(2)
        cpol := data(3)
        cpha := data(4)
        sck := data(3)
      }
      true.B
    }

    val txWrite = RegWriteFn { (valid, data) =>
      when(valid && !busy) {
        txShift := data
        rxShift := 0.U
        bitsLeft := Mux(quad, 32.U, 8.U)
        busy := true.B
        div := 0.U
        sck := cpol
      }
      true.B
    }

    node.regmap(
      0x00 -> Seq(RegField(32, ctrl, ctrlWrite, RegFieldDesc("ctrl", "bit0 busy RO, bit1 csn RW, bit2 quad RW, bit3 CPOL RW, bit4 CPHA RW"))),
      0x04 -> Seq(RegField.w(32, txWrite, RegFieldDesc("tx", "start transfer"))),
      0x08 -> Seq(RegField.r(32, rxShift, RegFieldDesc("rx", "last received shift register"))),
      0x0c -> Seq(RegField.r(1, !busy, RegFieldDesc("ready", "controller ready")))
    )
  }
}

class WithVCU118UART(address: BigInt = 0x10013000L, clockFrequency: Int = 100000000, baudRate: Int = 115200)
  extends Config((site, here, up) => {
    case VCU118UARTKey => Some(FpgaUARTParams(address, clockFrequency, baudRate))
  })

class WithVCU118SPI(address: BigInt = 0x10014000L)
  extends Config((site, here, up) => {
    case VCU118SPIKey => Some(FpgaSPIParams(address))
  })

class WithVCU118PmodSPI(address: BigInt = 0x10015000L)
  extends Config((site, here, up) => {
    case VCU118PmodSPIKey => Some(FpgaSPIParams(
      address = address,
      deviceName = "pmod-spi",
      compatibility = Seq("rocket,fpga-pmod-spi", "rocket,fpga-spi")))
  })

case class FpgaGPSParams(
  baseAddress: BigInt = 0x10020000L,
  trackingCount: Int = 9,
  windowBytes: BigInt = 0x1000L) {
  require(trackingCount > 0)
  require(windowBytes == 0x1000L, "GPS APB wrappers use 12-bit APB register offsets")

  def acqAddress: BigInt = baseAddress
  def trackingAddress(index: Int): BigInt = baseAddress + ((index + 1) * windowBytes)
  def ppsAddress: BigInt = baseAddress + ((trackingCount + 1) * windowBytes)
}

class GpsAcqBlackBox(localAddrBits: Int = 12) extends BlackBox(Map(
    "HIGH_ADDRESS" -> IntParam((BigInt(1) << localAddrBits) - 1),
    "LOW_ADDRESS" -> IntParam(0),
    "DATA_BUS_WIDTH" -> IntParam(32),
    "ADDR_BUS_WIDTH" -> IntParam(localAddrBits))) {
  override def desiredName: String = "acq_wrapper"

  val io = IO(new Bundle {
    val PCLK = Input(Clock())
    val PRESETN = Input(Bool())
    val PADDR = Input(UInt(localAddrBits.W))
    val PSEL = Input(Bool())
    val PENABLE = Input(Bool())
    val PWRITE = Input(Bool())
    val PWDATA = Input(UInt(32.W))
    val PREADY = Output(Bool())
    val PRDATA = Output(UInt(32.W))
    val PSLVERR = Output(Bool())

    val afe_start = Output(Bool())
    val sample_counter_clear = Output(Bool())
    val clk_80mhz = Input(Clock())
    val rf_clk = Input(Clock())
    val acq_resetn = Input(Bool())
    val afe_resetn = Input(Bool())
    val rf_data = Input(UInt(4.W))
    val sample_align = Input(Bool())
    val start_acq_manuel = Input(Bool())
    val acq_intr = Output(Bool())
  })
}

class GpsTrackingBlackBox(localAddrBits: Int = 12) extends BlackBox(Map(
    "HIGH_ADDRESS" -> IntParam((BigInt(1) << localAddrBits) - 1),
    "LOW_ADDRESS" -> IntParam(0),
    "DATA_BUS_WIDTH" -> IntParam(32),
    "ADDR_BUS_WIDTH" -> IntParam(localAddrBits))) {
  override def desiredName: String = "tracking_wrapper"

  val io = IO(new Bundle {
    val PCLK = Input(Clock())
    val PRESETN = Input(Bool())
    val PADDR = Input(UInt(localAddrBits.W))
    val PSEL = Input(Bool())
    val PENABLE = Input(Bool())
    val PWRITE = Input(Bool())
    val PWDATA = Input(UInt(32.W))
    val PREADY = Output(Bool())
    val PRDATA = Output(UInt(32.W))
    val PSLVERR = Output(Bool())

    val trck_resetn = Input(Bool())
    val afe_resetn = Input(Bool())
    val trck_clk = Input(Clock())
    val afe_clk = Input(Clock())
    val afe_data = Input(UInt(4.W))
    val sample_align = Input(Bool())
    val sample_counter = Input(UInt(32.W))
    val gps_frame_ready = Output(Bool())
    val pps_capture = Output(Bool())
  })
}

class GpsPpsBlackBox(localAddrBits: Int = 12, captureChannels: Int = 9) extends BlackBox(Map(
    "HIGH_ADDRESS" -> IntParam((BigInt(1) << localAddrBits) - 1),
    "LOW_ADDRESS" -> IntParam(0),
    "DATA_BUS_WIDTH" -> IntParam(32),
    "ADDR_BUS_WIDTH" -> IntParam(localAddrBits),
    "NUM_CAPTURE_CHANNELS" -> IntParam(captureChannels))) {
  override def desiredName: String = "pps_wrapper"

  val io = IO(new Bundle {
    val PCLK = Input(Clock())
    val PRESETN = Input(Bool())
    val PADDR = Input(UInt(localAddrBits.W))
    val PSEL = Input(Bool())
    val PENABLE = Input(Bool())
    val PWRITE = Input(Bool())
    val PWDATA = Input(UInt(32.W))
    val PREADY = Output(Bool())
    val PRDATA = Output(UInt(32.W))
    val PSLVERR = Output(Bool())

    val pps_clk = Input(Clock())
    val pps_resetn = Input(Bool())
    val capture_i = Input(UInt(captureChannels.W))
    val pps_out = Output(Bool())
    val pps_valid = Output(Bool())
  })
}

class GpsAfeTopBlackBox extends BlackBox {
  override def desiredName: String = "afe_top"

  val io = IO(new Bundle {
    val afe_rstn = Input(Bool())
    val trk_rstn = Input(Bool())
    val afe_clk = Input(Clock())
    val trk_clk = Input(Clock())
    val start_i = Input(Bool())
    val sample_counter_clear_i = Input(Bool())
    val sample_align_o = Output(Bool())
    val sample_counter_o = Output(UInt(32.W))
    val rf_data_o = Output(UInt(4.W))
  })
}

class APBGpsBlock(params: FpgaGPSParams, beatBytes: Int)(implicit p: Parameters) extends LazyModule {
  private val localAddrBits = log2Ceil(params.windowBytes)
  private val acqDevice = new SimpleDevice("gps-acq", Seq("anka,gps-acq-apb"))
  private val trackingDevices =
    Seq.tabulate(params.trackingCount)(i => new SimpleDevice(s"gps-tracking$i", Seq("anka,gps-tracking-apb")))
  private val ppsDevice = new SimpleDevice("gps-pps", Seq("anka,gps-pps-apb"))
  private val addresses = params.acqAddress +:
    (Seq.tabulate(params.trackingCount)(params.trackingAddress) :+ params.ppsAddress)
  private val devices = acqDevice +: (trackingDevices :+ ppsDevice)
  private val interruptDevices = acqDevice +: trackingDevices
  private val apertures = addresses.map(addr => AddressSet(addr, params.windowBytes - 1))

  val intnode = IntSourceNode(Seq(IntSourcePortParameters(
    interruptDevices.zipWithIndex.map { case (device, index) =>
      IntSourceParameters(IntRange(index, index + 1), device.int)
    })))
  val node = APBSlaveNode(Seq(APBSlavePortParameters(
    slaves = apertures.zip(devices).map { case (aperture, device) =>
      APBSlaveParameters(
        address = Seq(aperture),
        resources = device.reg,
        supportsRead = true,
        supportsWrite = true,
        device = Some(device))
    },
    beatBytes = beatBytes)))

  val acqClockNode = BundleBridgeSink[Clock]()
  val trackingClockNode = BundleBridgeSink[Clock]()
  val afeClockNode = BundleBridgeSink[Clock]()
  val rfDataNode = BundleBridgeSink[UInt]()
  val clockReadyNode = BundleBridgeSink[Bool]()
  val ppsOutNode = BundleBridgeSource(() => Bool())

  lazy val module = new Impl
  class Impl extends LazyModuleImp(this) {
    val (apb, _) = node.in(0)
    val acq = Module(new GpsAcqBlackBox(localAddrBits))
    val afe = Module(new GpsAfeTopBlackBox)
    val tracking = Seq.tabulate(params.trackingCount)(_ => Module(new GpsTrackingBlackBox(localAddrBits)))
    val pps = Module(new GpsPpsBlackBox(localAddrBits, params.trackingCount))
    val localAddr = apb.paddr(localAddrBits - 1, 0)
    val sel = VecInit(apertures.map(_.contains(apb.paddr)))
    val hit = sel.asUInt.orR

    // GDB ndmreset reaches this reset. Deassert it inside each GPS clock domain so
    // APB, acquisition, tracking, and RF/AFE logic do not leave reset on an async edge.
    val gpsDomainReset = reset.asBool || !clockReadyNode.bundle
    // Keep the APB/fabric side alive when the external RF clock disappears so
    // the CPU and its RAM ephemeris cache survive. Only the clock-dependent GPS
    // DSP domains receive the lock-qualified local reset.
    val apbReset = ResetCatchAndSync(clock, reset.asBool, 3, "gps_apb_reset")
    val acqReset = ResetCatchAndSync(acqClockNode.bundle, gpsDomainReset, 3, "gps_acq_reset")
    val trckReset = ResetCatchAndSync(trackingClockNode.bundle, gpsDomainReset, 3, "gps_trck_reset")
    val afeReset = ResetCatchAndSync(afeClockNode.bundle, gpsDomainReset, 3, "gps_afe_reset")
    // PPS uses the fabric-derived tracking clock but must keep counting during
    // RF/MMCM loss. Only a real SoC reset may reset its monotonic timebase.
    val ppsReset = ResetCatchAndSync(trackingClockNode.bundle, reset.asBool, 3, "gps_pps_reset")

    val apbResetn = !apbReset
    val acqResetn = !acqReset
    val trckResetn = !trckReset
    val afeResetn = !afeReset
    val ppsResetn = !ppsReset

    afe.io.afe_rstn := afeResetn
    afe.io.trk_rstn := trckResetn
    afe.io.afe_clk := afeClockNode.bundle
    afe.io.trk_clk := trackingClockNode.bundle
    // A disappearing RF clock resets the AFE while the APB register bank is
    // intentionally retained. Generate one local restart pulse when the RF
    // domain returns; the normal software pulse remains valid at cold boot.
    val afeAutoStart = withClockAndReset(afeClockNode.bundle, afeReset) {
      val started = RegInit(false.B)
      val pulse = !started
      started := true.B
      pulse
    }
    afe.io.start_i := acq.io.afe_start || afeAutoStart
    afe.io.sample_counter_clear_i := acq.io.sample_counter_clear

    acq.io.PCLK := clock
    acq.io.PRESETN := apbResetn
    acq.io.PADDR := localAddr
    acq.io.PSEL := apb.psel && sel(0)
    acq.io.PENABLE := apb.penable
    acq.io.PWRITE := apb.pwrite
    acq.io.PWDATA := apb.pwdata(31, 0)

    acq.io.clk_80mhz := acqClockNode.bundle
    acq.io.rf_clk := afeClockNode.bundle
    acq.io.acq_resetn := acqResetn
    acq.io.afe_resetn := afeResetn
    acq.io.rf_data := rfDataNode.bundle
    acq.io.sample_align := afe.io.sample_align_o
    acq.io.start_acq_manuel := false.B

    tracking.zipWithIndex.foreach { case (trck, index) =>
      trck.io.PCLK := clock
      trck.io.PRESETN := apbResetn
      trck.io.PADDR := localAddr
      trck.io.PSEL := apb.psel && sel(index + 1)
      trck.io.PENABLE := apb.penable
      trck.io.PWRITE := apb.pwrite
      trck.io.PWDATA := apb.pwdata(31, 0)

      trck.io.trck_resetn := trckResetn
      trck.io.afe_resetn := afeResetn
      trck.io.trck_clk := trackingClockNode.bundle
      trck.io.afe_clk := afeClockNode.bundle
      trck.io.afe_data := rfDataNode.bundle
      trck.io.sample_align := afe.io.sample_align_o
      trck.io.sample_counter := afe.io.sample_counter_o
    }

    pps.io.PCLK := clock
    pps.io.PRESETN := apbResetn
    pps.io.PADDR := localAddr
    pps.io.PSEL := apb.psel && sel(params.trackingCount + 1)
    pps.io.PENABLE := apb.penable
    pps.io.PWRITE := apb.pwrite
    pps.io.PWDATA := apb.pwdata(31, 0)
    pps.io.pps_clk := trackingClockNode.bundle
    pps.io.pps_resetn := ppsResetn
    pps.io.capture_i := VecInit(tracking.map(_.io.pps_capture)).asUInt
    ppsOutNode.bundle := pps.io.pps_out

    val pready = acq.io.PREADY +: (tracking.map(_.io.PREADY) :+ pps.io.PREADY)
    val prdata = acq.io.PRDATA +: (tracking.map(_.io.PRDATA) :+ pps.io.PRDATA)
    val pslverr = acq.io.PSLVERR +: (tracking.map(_.io.PSLVERR) :+ pps.io.PSLVERR)

    apb.pready := Mux(hit, Mux1H(sel, pready), true.B)
    apb.prdata := Mux1H(sel, prdata.map(_.pad(apb.params.dataBits)))
    apb.pslverr := Mux(hit, Mux1H(sel, pslverr), true.B)

    intnode.out.foreach { case (out, _) =>
      out(0) := acq.io.acq_intr
      tracking.zipWithIndex.foreach { case (trck, index) =>
        out(index + 1) := trck.io.gps_frame_ready
      }
    }
  }
}

class WithVCU118GPS(baseAddress: BigInt = 0x10020000L, trackingCount: Int = 9)
  extends Config((site, here, up) => {
    case VCU118GPSKey => Some(FpgaGPSParams(baseAddress, trackingCount))
  })

class WithVCU118TLRAM(base: BigInt = 0x80000000L, size: BigInt = 0x20000L)
  extends Config((site, here, up) => {
    case VCU118RAMKey => Some(AddressSet(base, size - 1))
  })

// Defaults stay at the original 1 MiB DTIM, but board Makefiles may override base/size.
class WithVCU118OneMiBDTIM(
    base: BigInt = FpgaBuildSettings.bigInt("ROCKET_DTIM_BASE", 0x80000000L),
    size: BigInt = FpgaBuildSettings.bigInt("ROCKET_DTIM_SIZE", 0x100000L))
  extends RocketTileConfig(tp => tp.copy(
    core = tp.core.copy(useVM = false),
    dcache = tp.dcache.map { dc =>
      require(size > 0, s"DTIM size $size must be positive")
      require(base % dc.blockBytes == 0, s"DTIM base $base must be aligned to blockBytes ${dc.blockBytes}")
      require(size % dc.blockBytes == 0, s"DTIM size $size must be a multiple of blockBytes ${dc.blockBytes}")
      dc.copy(
        nSets = (size / dc.blockBytes).toInt,
        nWays = 1,
        nMSHRs = 0,
        scratch = Some(base))
    }
  ))

class WithVCU118HardDoubleFPU extends RocketTileConfig(tp => tp.copy(
  core = tp.core.copy(fpu = Some(FPUParams(minFLen = 32, fLen = 64, divSqrt = true)))
))

class WithVCU118FlashBootROM(file: String = "./soc/out/software/bootloader/bootloader.img")
  extends Config((site, here, up) => {
    case BootROMLocated(InSubsystem) => Seq(BootROMParams(
      hang = 0x10000,
      appendDTB = false,
      contentFileName = SystemFileName(file)))
  })

case object VCU118UARTKey extends Field[Option[FpgaUARTParams]](None)
case object VCU118SPIKey extends Field[Option[FpgaSPIParams]](None)
case object VCU118PmodSPIKey extends Field[Option[FpgaSPIParams]](None)
case object VCU118GPSKey extends Field[Option[FpgaGPSParams]](None)
case object VCU118RAMKey extends Field[Option[AddressSet]](None)

class VCU118RocketSystem(implicit p: Parameters) extends RocketSubsystem
    with HasAsyncExtInterrupts {
  val bootROM = p(BootROMLocated(location)).map { BootROM.attach(_, this, CBUS) }
  val maskROMs = p(MaskROMLocated(location)).map { MaskROM.attach(_, this, CBUS) }
  val uartRXSourceNode = p(VCU118UARTKey).map(_ => BundleBridgeSource(() => Bool()))
  val gpsAcqClockSourceNode = p(VCU118GPSKey).map(_ => BundleBridgeSource(() => Clock()))
  val gpsTrackingClockSourceNode = p(VCU118GPSKey).map(_ => BundleBridgeSource(() => Clock()))
  val gpsRfClockSourceNode = p(VCU118GPSKey).map(_ => BundleBridgeSource(() => Clock()))
  val gpsRfDataSourceNode = p(VCU118GPSKey).map(_ => BundleBridgeSource(() => UInt(4.W)))
  val gpsClockReadySourceNode = p(VCU118GPSKey).map(_ => BundleBridgeSource(() => Bool()))
  private val pmodIRQDevice = new SimpleDevice("pmod-sensor-irq", Seq("rocket,pmod-sensor-irq"))
  val pmodIRQIntNode = IntSourceNode(Seq(IntSourcePortParameters(Seq(
    IntSourceParameters(IntRange(0, 1), pmodIRQDevice.int)))))

  val ram = p(VCU118RAMKey).map { address =>
    val tlram = LazyModule(new TLRAM(address, beatBytes = locateTLBusWrapper(SBUS).beatBytes, devName = Some("fpga-sram")))
    tlram.node := locateTLBusWrapper(SBUS).coupleTo("fpga_sram") {
      TLFragmenter(locateTLBusWrapper(SBUS).beatBytes, locateTLBusWrapper(SBUS).blockBytes) := _
    }
    tlram
  }

  val uart = p(VCU118UARTKey).map { params =>
    val pbus = locateTLBusWrapper(PBUS)
    val domain = pbus.generateSynchronousDomain("FPGAUART").suggestName("fpga_uart_domain")
    val dev = domain { LazyModule(new TLFpgaUART(params, pbus.beatBytes)) }
    domain {
      dev.node := pbus.coupleTo("fpga_uart") {
        TLFragmenter(pbus, Some("FPGAUART")) := _
      }
    }
    uartRXSourceNode.foreach { source => dev.rxdNode := source }
    dev
  }

  val uartTXSinkNode = uart.map(_.txdNode.makeSink())
  val spiDQISourceNode = p(VCU118SPIKey).map(_ => BundleBridgeSource(() => UInt(4.W)))

  val spi = p(VCU118SPIKey).map { params =>
    val pbus = locateTLBusWrapper(PBUS)
    val domain = pbus.generateSynchronousDomain("FPGASPI").suggestName("fpga_spi_domain")
    val dev = domain { LazyModule(new TLFpgaSPI(params, pbus.beatBytes)) }
    domain {
      dev.node := pbus.coupleTo("fpga_spi") {
        TLFragmenter(pbus, Some("FPGASPI")) := _
      }
    }
    spiDQISourceNode.foreach { source => dev.dqInNode := source }
    dev
  }

  val spiSCKSinkNode = spi.map(_.sckNode.makeSink())
  val spiCSNSinkNode = spi.map(_.csnNode.makeSink())
  val spiDQOSinkNode = spi.map(_.dqOutNode.makeSink())
  val spiDQOESinkNode = spi.map(_.dqOeNode.makeSink())

  val pmodSPIDQISourceNode = p(VCU118PmodSPIKey).map(_ => BundleBridgeSource(() => UInt(4.W)))

  val pmodSPI = p(VCU118PmodSPIKey).map { params =>
    val pbus = locateTLBusWrapper(PBUS)
    val domain = pbus.generateSynchronousDomain("FPGAPMODSPI").suggestName("fpga_pmod_spi_domain")
    val dev = domain { LazyModule(new TLFpgaSPI(params, pbus.beatBytes)) }
    domain {
      dev.node := pbus.coupleTo("fpga_pmod_spi") {
        TLFragmenter(pbus, Some("FPGAPMODSPI")) := _
      }
    }
    pmodSPIDQISourceNode.foreach { source => dev.dqInNode := source }
    dev
  }

  val pmodSPISCKSinkNode = pmodSPI.map(_.sckNode.makeSink())
  val pmodSPICSNSinkNode = pmodSPI.map(_.csnNode.makeSink())
  val pmodSPIDQOSinkNode = pmodSPI.map(_.dqOutNode.makeSink())
  val pmodSPIDQOESinkNode = pmodSPI.map(_.dqOeNode.makeSink())

  val gps = p(VCU118GPSKey).map { params =>
    val pbus = locateTLBusWrapper(PBUS)
    val domain = pbus.generateSynchronousDomain("FPGAGPS").suggestName("fpga_gps_domain")
    val gpsApbBeatBytes = 4
    val dev = domain { LazyModule(new APBGpsBlock(params, gpsApbBeatBytes)) }
    domain {
      dev.node := TLToAPB() := pbus.coupleTo("gps") {
        TLFragmenter(gpsApbBeatBytes, pbus.blockBytes, nameSuffix = Some("FPGAGPS")) :*= TLWidthWidget(pbus) := _
      }
      ibus.fromSync := dev.intnode
    }
    gpsAcqClockSourceNode.foreach { source => dev.acqClockNode := source }
    gpsTrackingClockSourceNode.foreach { source => dev.trackingClockNode := source }
    gpsRfClockSourceNode.foreach { source => dev.afeClockNode := source }
    gpsRfDataSourceNode.foreach { source => dev.rfDataNode := source }
    gpsClockReadySourceNode.foreach { source => dev.clockReadyNode := source }
    dev
  }
  val gpsPPSSinkNode = gps.map(_.ppsOutNode.makeSink())

  ibus { ibus.fromAsync := pmodIRQIntNode }

  override lazy val module = new VCU118RocketSystemModuleImp(this)
}

class VCU118RocketSystemModuleImp[+L <: VCU118RocketSystem](_outer: L)
    extends RocketSubsystemModuleImp(_outer)
    with HasRTCModuleImp
    with HasExtInterruptsModuleImp
    with freechips.rocketchip.util.DontTouch {
  val uart_rxd = _outer.uartRXSourceNode.map(_.makeIO("uart_rxd"))
  val uart_txd = _outer.uartTXSinkNode.map(_.makeIO("uart_txd"))

  val spi_sck = _outer.spiSCKSinkNode.map(_.makeIO("spi_sck"))
  val spi_csn = _outer.spiCSNSinkNode.map(_.makeIO("spi_csn"))
  val spi_dq_i = _outer.spiDQISourceNode.map(_.makeIO("spi_dq_i"))
  val spi_dq_o = _outer.spiDQOSinkNode.map(_.makeIO("spi_dq_o"))
  val spi_dq_oe = _outer.spiDQOESinkNode.map(_.makeIO("spi_dq_oe"))

  val pmod_spi_sck = _outer.pmodSPISCKSinkNode.map(_.makeIO("pmod_spi_sck"))
  val pmod_spi_csn = _outer.pmodSPICSNSinkNode.map(_.makeIO("pmod_spi_csn"))
  val pmod_spi_dq_i = _outer.pmodSPIDQISourceNode.map(_.makeIO("pmod_spi_dq_i"))
  val pmod_spi_dq_o = _outer.pmodSPIDQOSinkNode.map(_.makeIO("pmod_spi_dq_o"))
  val pmod_spi_dq_oe = _outer.pmodSPIDQOESinkNode.map(_.makeIO("pmod_spi_dq_oe"))
  val pmod_irq = IO(Input(Bool()))

  val gps_acq_clk = _outer.gpsAcqClockSourceNode.map(_.makeIO("gps_acq_clk"))
  val gps_trck_clk = _outer.gpsTrackingClockSourceNode.map(_.makeIO("gps_trck_clk"))
  val gps_rf_clk = _outer.gpsRfClockSourceNode.map(_.makeIO("gps_rf_clk"))
  val gps_rf_data = _outer.gpsRfDataSourceNode.map(_.makeIO("gps_rf_data"))
  val gps_clock_ready = _outer.gpsClockReadySourceNode.map(_.makeIO("gps_clock_ready"))
  val gps_pps = _outer.gpsPPSSinkNode.map(_.makeIO("gps_pps"))

  _outer.pmodIRQIntNode.out.foreach { case (out, _) =>
    out(0) := pmod_irq
  }
}

class VCU118RocketConfig extends Config(
  new WithVCU118FlashBootROM ++
  new WithDebugSBA ++
  new WithoutTLMonitors ++
  new WithNoMemPort ++
  new WithNoMMIOPort ++
  new WithNoSlavePort ++
  new WithNMemoryChannels(0) ++
  new WithNBanks(0) ++
  new WithVCU118HardDoubleFPU ++
  new WithVCU118OneMiBDTIM ++
  new WithVCU118UART(0x10013000L, 100000000, 115200) ++
  new WithVCU118SPI(0x10014000L) ++
  new WithVCU118PmodSPI(0x10015000L) ++
  new WithVCU118GPS(0x10020000L, 9) ++
  new WithNExtTopInterrupts(0) ++
  new WithNSmallCores(1) ++
  new WithIncoherentBusTopology ++
  new BaseConfig)

class VCU118RocketJtagConfig extends Config(
  new WithJtagDTM ++
  new VCU118RocketConfig)