comp541 state machines

COMP541COMP541

State MachinesState Machines

Montek SinghMontek Singh

Feb 4, 2010Feb 4, 2010

TopicsTopics More advanced VerilogMore advanced Verilog State MachinesState Machines

How to design machines that go through a sequence How to design machines that go through a sequence of eventsof events

Basically close this loopBasically close this loop

First TopicFirst Topic More Verilog…More Verilog…

HierarchyHierarchy

module and3(input a, b, module and3(input a, b, c, output y);c, output y);

assign y = a & b & c;assign y = a & b & c;

endmoduleendmodule

module inv(input a,module inv(input a,

output y);output y);

assign y = ~a;assign y = ~a;

endmoduleendmodule

module nand3(input a, b, c output y); wire n1; // internal signal

and3 andgate(a, b, c, n1); // instance of and3 inv inverter(n1, y); // instance of inverterendmodule

Internal VariablesInternal Variables

module fulladder(input a, b, cin, output s, cout);module fulladder(input a, b, cin, output s, cout);

wire p, g; // internalwire p, g; // internal

assign p = a ^ b;assign p = a ^ b;

assign g = a & b;assign g = a & b;

assign s = p ^ cin;assign s = p ^ cin;

assign cout = g | (p & cin);assign cout = g | (p & cin);

endmoduleendmodule

un1_cout cout

Bitwise Operators (we have used)Bitwise Operators (we have used)module gates(input [3:0] a, b,

output [3:0] y1, y2, y3, y4, y5);

assign y1 = a & b; // AND

assign y2 = a | b; // OR

assign y3 = a ^ b; // XOR

assign y4 = ~(a & b); // NAND

assign y5 = ~(a | b); // NOR

endmodule

// single line comment

/*…*/ multiline comment

Reduction OperatorsReduction Operatorsmodule and8(input [7:0] a, module and8(input [7:0] a,

output y);output y);

assign y = &a;assign y = &a;

// &a is much easier to write than// &a is much easier to write than

// assign y = a[7] & a[6] & a[5] & a[4] &// assign y = a[7] & a[6] & a[5] & a[4] &

// a[3] & a[2] & a[1] & a[0];// a[3] & a[2] & a[1] & a[0];

endmoduleendmodule

PrecedencePrecedence

*, /, % mult, div, mod

+, - add,sub

<<, >> shift

<<<, >>> arithmetic shift

<, <=, >, >= comparison

==, != equal, not equal

&, ~& AND, NAND

^, ~^ XOR, XNOR

|, ~| OR, XOR

?: ternary operator

Highest

Lowest

NumbersNumbers Format: Format: N'BvalueN'Bvalue

N = number of bits, B = baseN = number of bits, B = base N'B is optional but recommended (default is decimal)N'B is optional but recommended (default is decimal)

Number # Bits Base Decimal Equivalent

Stored

3’b101 3 binary 5 101

‘b11 unsized binary 3 00…0011

8’b11 8 binary 3 00000011

8’b1010_1011 8 binary 171 10101011

3’d6 3 decimal 6 110

6’o42 6 octal 34 100010

8’hAB 8 hexadecimal 171 10101011

42 Unsized decimal 42 00…0101010

Bit Manipulations: Ex 1Bit Manipulations: Ex 1assign y = {a[2:1], {3{b[0]}}, a[0], 6’b100_010};

// if y is a 12-bit signal, the above statement produces:

y = a[2] a[1] b[0] b[0] b[0] a[0] 1 0 0 0 1 0

// underscores (_) are used for formatting only to make it easier to read. Verilog ignores them.

Bit Manipulations: Ex 2Bit Manipulations: Ex 2

module mux2_8(input [7:0] d0, d1,module mux2_8(input [7:0] d0, d1,

input s,input s,

output [7:0] y);output [7:0] y);

mux2 lsbmux(d0[3:0], d1[3:0], s, y[3:0]);mux2 lsbmux(d0[3:0], d1[3:0], s, y[3:0]);

mux2 msbmux(d0[7:4], d1[7:4], s, y[7:4]);mux2 msbmux(d0[7:4], d1[7:4], s, y[7:4]);

endmoduleendmodule

lsbmux

msbmux

y[7:0][7:0]

d1[7:0] [7:0]

d0[7:0] [7:0]

s[3:0] d0[3:0][3:0] d1[3:0]

[3:0]y[3:0]

s[7:4] d0[3:0][7:4] d1[3:0]

[7:4]y[3:0]

Synthesis:

Verilog:

Behavioral StatementsBehavioral Statements Statements that must be inside always Statements that must be inside always

statements:statements: if / elseif / else case, casezcase, casez

Reminder: Variables/signals assigned in an Reminder: Variables/signals assigned in an always statement must be declared as regalways statement must be declared as reg (even if they’re not actually registered! More in a (even if they’re not actually registered! More in a

moment) moment)

Comb. Logic using Comb. Logic using casecase

module sevenseg(input [3:0] data,

output reg [6:0] segments);

always @(*)

case (data)

// abc_defg

0: segments = 7'b111_1110;

1: segments = 7'b011_0000;

2: segments = 7'b110_1101;

3: segments = 7'b111_1001;

4: segments = 7'b011_0011;

5: segments = 7'b101_1011;

6: segments = 7'b101_1111;

7: segments = 7'b111_0000;

8: segments = 7'b111_1111;

9: segments = 7'b111_1011;

default: segments = 7'b000_0000; // required

endcase

endmodule

Note the *

Synthesizing an Unwanted Latch?Synthesizing an Unwanted Latch? Could happen!Could happen! Check the synthesizer outputCheck the synthesizer output In order for a case statement to imply In order for a case statement to imply

combinational logic, all possible input combinational logic, all possible input combinations must be described by the HDLcombinations must be described by the HDL

Remember to use a Remember to use a default default statement when statement when necessarynecessary May be good practice anywayMay be good practice anyway And all And all if if statements w/ matching statements w/ matching elseelse

Combinational Logic using Combinational Logic using casezcasez

module priority_casez(input [3:0] a,

output reg [3:0] y);

always @(*)

casez(a)

4'b1???: y = 4'b1000; // ? = don’t care

4'b01??: y = 4'b0100;

4'b001?: y = 4'b0010;

4'b0001: y = 4'b0001;

default: y = 4'b0000;

endcase

endmodule

Blocking vs. Nonblocking Assignments Blocking vs. Nonblocking Assignments (review)(review) <= is a “nonblocking assignment”<= is a “nonblocking assignment”

Occurs simultaneously with othersOccurs simultaneously with others

= is a “blocking assignment”= is a “blocking assignment” Occurs in the order it appears in the fileOccurs in the order it appears in the file

// nonblocking assignmentsmodule syncgood(input clk, input d, output reg q); reg n1; always @(posedge clk) begin n1 <= d; // nonblocking q <= n1; // nonblocking endendmodule

// blocking assignmentsmodule syncbad(input clk, input d, output reg q); reg n1; always @(posedge clk) begin n1 = d; // blocking q = n1; // blocking endendmodule

Rules for Signal AssignmentRules for Signal Assignment Use always @(posedge clk) and nonblocking Use always @(posedge clk) and nonblocking

assignments (<=) to model synchronous assignments (<=) to model synchronous sequential logicsequential logic

always @ (posedge clk)always @ (posedge clk)

q <= d; // nonblockingq <= d; // nonblocking

Use continuous assignments (assign …) to Use continuous assignments (assign …) to model simple combinational logic.model simple combinational logic.

assign y = a & b; assign y = a & b;

Use always @ (*) and blocking assignments (=) Use always @ (*) and blocking assignments (=) to model more complicated combinational logic to model more complicated combinational logic where the always statement is helpful.where the always statement is helpful.

Do not make assignments to the same signal in Do not make assignments to the same signal in more than one always or continuous more than one always or continuous assignment statementassignment statement

Next TopicNext Topic Finite State MachinesFinite State Machines

A basic sequential building blockA basic sequential building block

Synchronous Sequential Logic Synchronous Sequential Logic DesignDesign Registers contain the state of the systemRegisters contain the state of the system The state changes at the clock edge, so The state changes at the clock edge, so

system is system is synchronized synchronized to the clockto the clock Rules:Rules:

Every circuit element is either a register or a Every circuit element is either a register or a combinational circuitcombinational circuit

All registers receive the same clock signal All registers receive the same clock signal (important!)(important!)

Every cyclic path contains at least one registerEvery cyclic path contains at least one register

Two common synchronous sequential circuitsTwo common synchronous sequential circuits Finite State Machines (FSMs)Finite State Machines (FSMs) PipelinesPipelines

Finite State Machine (FSM)Finite State Machine (FSM) Consists of:Consists of:

State register thatState register thatStore the current state and Store the current state and Loads the next state at Loads the next state at

clock edgeclock edge

Combinational logic thatCombinational logic thatComputes the next stateComputes the next stateComputes the outputsComputes the outputs

NextState

CurrentState

S’ S

Next StateLogic

NextState

OutputLogic

Outputs

Finite State Machines (FSMs)Finite State Machines (FSMs) Next state is determined by the current state Next state is determined by the current state

and the inputsand the inputs Two types of finite state machines differ in the Two types of finite state machines differ in the

output logic:output logic: Moore FSM: Moore FSM: outputs depend only on the current outputs depend only on the current

statestate Mealy FSM: Mealy FSM: outputs depend on the current state and outputs depend on the current state and

the inputsthe inputs

Moore and Mealy FSMsMoore and Mealy FSMs

CLKM Nk knext

statelogic

outputlogic

Moore FSM

CLKM Nk knext

statelogic

outputlogic

inputs

outputs

outputsstate

statenextstate

nextstate

Mealy FSM

FSM ExampleFSM Example Traffic light controllerTraffic light controller

Traffic sensors: TTraffic sensors: TAA, T, TBB (TRUE when there’s traffic) (TRUE when there’s traffic)

Lights: LLights: LAA, L, LBB

Academic Ave.

Bravado

Fields

DiningHall

FSM Black BoxFSM Black Box• Inputs: Inputs: CLKCLK, , ResetReset, , TTAA, , TTBB

• Outputs: Outputs: LLAA, , LLBB

TrafficLight

Controller

Design Simple FSMDesign Simple FSM When When resetreset, L, LAA is green is green

and Land LBB is red is red As long as traffic on As long as traffic on

Academic (TAcademic (TAA high), keep high), keep LLAA green green

When TWhen TAA goes low, goes low, sequence to traffic on sequence to traffic on BravadoBravado

Follow same algorithm for Follow same algorithm for BravadoBravado

Let’s say clock is 5 secs. Let’s say clock is 5 secs. (time for yellow light)(time for yellow light)

Academic Ave.

Bravado

Fields

DiningHall

StatesStates What sequence do the traffic lights follow?What sequence do the traffic lights follow?

Reset to State 0, LReset to State 0, LAA is green and L is green and LBB is red is red Next (on board)?Next (on board)?

Academic Ave.

Fields

DiningHall

State Transition DiagramState Transition Diagram

• Moore FSM: outputs labeled in each state• States: Circles• Transitions: Arcs

S0LA: greenLB: red

S1LA: yellowLB: red

S3LA: redLB: yellow

S2LA: redLB: green

Academic Ave.

Fields

DiningHall

State Transition TableState Transition Table

Current State Inputs

Next State

S TA TB S'

S0 0 X S1

S0 1 X S0

S1 X X S2

S2 X 0 S3

S2 X 1 S2

S3 X X S0

FSM Encoded State Transition FSM Encoded State Transition TableTable

State Encoding

Current State Inputs Next State

S1 S0 TA TB S'1 S'00 0 0 X 0 1

0 0 1 X 0 0

0 1 X X 1 0

1 0 X 0 1 1

1 0 X 1 1 0

1 1 X X 0 0

FSM Output TableFSM Output Table

Current State Outputs

S1 S0 LA1 LA0 LB1 LB0

0 0 0 0 1 0

0 1 0 1 1 0

1 0 1 0 0 0

1 1 1 0 0 1

Output Encoding

green 00

yellow 01

red 10

LA1 = S1

LA0 = S1S0

LB1 = S1

LB0 = S1S0

FSM Schematic: State RegisterFSM Schematic: State Register

state register

Next State LogicNext State Logic

next state logic state register

inputs

Output LogicOutput Logic

next state logic output logicstate register

inputs outputs

FSM Timing DiagramFSM Timing Diagram

Cycle 1 Cycle 2 Cycle 3 Cycle 4 Cycle 5 Cycle 6 Cycle 7 Cycle 8 Cycle 9 Cycle 10

S1 (01) S2 (10) S3 (11) S0 (00)

t (sec)

S0 (00)

S0 (00) S1 (01) S2 (10) S3 (11) S1 (01)

0 5 10 15 20 25 30 35 40 45

Green (00)

Red (10)

S0 (00)

Yellow (01) Red (10) Green (00)

Green (00) Red (10)Yellow (01)

S0LA: greenLB: red

S1LA: yellowLB: red

S3LA: redLB: yellow

S2LA: redLB: green

ResetS1

next state logic output logicstate register

inputs outputs

Current State Inputs Next State

S1 S0 TA TB S'1 S'00 0 0 X 0 1

0 0 1 X 0 0

0 1 X X 1 0

1 0 X 0 1 1

1 0 X 1 1 0

1 1 X X 0 0

State EncodingState Encoding Binary encoding: i.e., for four states, 00, 01, Binary encoding: i.e., for four states, 00, 01,

10, 1110, 11 One-hot encodingOne-hot encoding

One state bit per stateOne state bit per state Only one state bit is HIGH at onceOnly one state bit is HIGH at once I.e., for four states, 0001, 0010, 0100, 1000I.e., for four states, 0001, 0010, 0100, 1000 Requires more flip-flopsRequires more flip-flops Often next state and output logic is simplerOften next state and output logic is simpler Synthesizer will often use one-hot (you can change)Synthesizer will often use one-hot (you can change)

Moore State DiagramMoore State Diagram

State/OutputInputs

Mealy State DiagramMealy State Diagram Output depends on Output depends on

input and stateinput and state

Input/Output

State Table vs. DiagramState Table vs. Diagram Same informationSame information Table is perhaps easier to fill in from Table is perhaps easier to fill in from

descriptiondescription Diagram is perhaps easier to understandDiagram is perhaps easier to understand

You can label states with English descriptionYou can label states with English description

Design ProcedureDesign Procedure Take problem description and refine it into a Take problem description and refine it into a

state table or diagramstate table or diagram Assign codes to the statesAssign codes to the states Derive Boolean equations and implementDerive Boolean equations and implement

Or, write Verilog and compileOr, write Verilog and compileSee example next classSee example next classDesigning with gates and FFs more involved because you Designing with gates and FFs more involved because you

have to derive input and output functionshave to derive input and output functions

Example – Sequence RecognizerExample – Sequence Recognizer Circuit has input, X, and output, ZCircuit has input, X, and output, Z Recognizes sequence 1101 on XRecognizes sequence 1101 on X

Specifically, if X has been 110 and next bit is 1, make Specifically, if X has been 110 and next bit is 1, make Z highZ high

How to Design StatesHow to Design States States States rememberremember past history past history Clearly must remember we’ve seen 110 when Clearly must remember we’ve seen 110 when

next 1 comes alongnext 1 comes along

Tell me one necessary stateTell me one necessary state

Beginning StateBeginning State Start state: let’s call it AStart state: let’s call it A If 1 appears, move to next state BIf 1 appears, move to next state B

Input / Output

Second 1Second 1 New state, CNew state, C To reach C, must have seen 11To reach C, must have seen 11

Next a 0Next a 0 If 110 has been received, go to DIf 110 has been received, go to D Next 1 will generate a 1 on output ZNext 1 will generate a 1 on output Z

What else?What else? What happens to arrow on right?What happens to arrow on right? Must go to some state.Must go to some state. Where?Where?

What Sequence?What Sequence? Here we have to interpret problemHere we have to interpret problem We’ve just seen 01We’ve just seen 01

Is this beginning of new 1101?Is this beginning of new 1101? Or do we need to start over w/ another 1?Or do we need to start over w/ another 1?

Textbook: decides that it’s beginning (01…)Textbook: decides that it’s beginning (01…)

Cover every possibilityCover every possibility Well, must have every possibility out of every Well, must have every possibility out of every

statestate In this case, just two: X = 0 or 1In this case, just two: X = 0 or 1 You fill in other casesYou fill in other cases

Fill inFill in

Full AnswerFull Answer

State MinimizationState Minimization When we make state diagram, do we need all When we make state diagram, do we need all

those states?those states? Some may be redundantSome may be redundant State minimization procedures can be usedState minimization procedures can be used

We won’t cover nowWe won’t cover now

How to code FSM in VerilogHow to code FSM in Verilog Case statement very useful here!Case statement very useful here!

But first, let’s look at the parameter statementBut first, let’s look at the parameter statement

Parameter – Just ShorthandParameter – Just Shorthandmodule seq_rec (CLK, RESET, X, Z);module seq_rec (CLK, RESET, X, Z);input CLK, RESET, X;input CLK, RESET, X;output Z;output Z;

reg [1:0] state, next_state;reg [1:0] state, next_state;

parameter A = 2'b00, B = 2'b01, parameter A = 2'b00, B = 2'b01, C = 2 'b10, D = 2'b11;C = 2 'b10, D = 2'b11;

Notice that we’ve assigned codes to the states – more later

Next StateNext State

always @(X or state)always @(X or state)beginbegin

case (state)case (state) A: if (X == 1)A: if (X == 1)

next_state <= B;next_state <= B; elseelse

next_state <= A;next_state <= A; B: if(X) next_state <= C;else next_state <= A;B: if(X) next_state <= C;else next_state <= A; C: if(X) next_state <= C;else next_state <= D;C: if(X) next_state <= C;else next_state <= D; D: if(X) next_state <= B;else next_state <= A;D: if(X) next_state <= B;else next_state <= A;endcaseendcase

endend

The last 3 cases do same thing.Just sparse syntax.

On Reset or CLKOn Reset or CLKalways @(posedge CLK or posedge RESET)always @(posedge CLK or posedge RESET)beginbeginif (RESET == 1)if (RESET == 1)

state <= A;state <= A;elseelse

state <= next_state;state <= next_state;endend

Notice that state only gets updatedon posedge of clock (or on reset)

OutputOutputalways @(X or state)always @(X or state)beginbegincase(state)case(state)

A: Z <= 0;A: Z <= 0;B: Z <= 0;B: Z <= 0;C: Z <= 0;C: Z <= 0;D: Z <= X ? 1 : 0;D: Z <= X ? 1 : 0;

endcaseendcaseendend

Comment on CodeComment on Code Could shortenCould shorten Don’t need Don’t need next_statenext_state, for example, for example

Can just set state on clockCan just set state on clock

Don’t need three Don’t need three alwaysalways clauses clauses Although it’s clearer to have combinational code be separateAlthough it’s clearer to have combinational code be separate

Template helps synthesizerTemplate helps synthesizer Check to see whether your state machines were recognizedCheck to see whether your state machines were recognized

WorkWork Read 3.5-3.6Read 3.5-3.6 Might be good to look at Chapter 4 (Verilog Might be good to look at Chapter 4 (Verilog

only)only)

TodayToday More VerilogMore Verilog Simple state machinesSimple state machines

How to code them in VerilogHow to code them in Verilog

Next TimeNext Time Look at Moore equivalent of sequence recognizerLook at Moore equivalent of sequence recognizer Delays and TimingDelays and Timing

ReadRead Textbook Ch. 3.4-3.6Textbook Ch. 3.4-3.6

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