2 -- * LXPWR slave part *
3 -- common sioreg & common counter for several ADC&PWM blocks
5 -- part of LXPWR motion control board (c) PiKRON Ltd
6 -- idea by Pavel Pisa PiKRON Ltd <pisa@cmp.felk.cvut.cz>
7 -- code by Marek Peca <mp@duch.cz>
14 use ieee.std_logic_1164.all;
15 use ieee.numeric_std.all;
18 entity rpi_mc_simple_dc is
20 gpio2: in std_logic; -- SDA
21 gpio3: in std_logic; -- SCL
22 gpio4: in std_logic; -- CLK
23 gpio14: in std_logic; -- Tx
24 gpio15: in std_logic; -- Rx
25 gpio17: out std_logic; -- RTS
26 gpio18: out std_logic; -- PWM0/PCMCLK
27 gpio27: out std_logic; -- SD1DAT3
28 gpio22: out std_logic; -- SD1CLK
29 gpio23: out std_logic; -- SD1CMD
30 gpio24: out std_logic; -- SD1DAT0
31 gpio10: in std_logic; -- SPI0MOSI
32 gpio9: out std_logic; -- SPI0MISO
33 gpio25: out std_logic; -- SD1DAT1
34 gpio11: in std_logic; -- SPI0SCLK
35 gpio8: in std_logic; -- SPI0CE0
36 gpio7: in std_logic; -- SPI0CE1
37 gpio5: in std_logic; -- GPCLK1
38 gpio6: in std_logic; -- GPCLK2
39 gpio12: in std_logic; -- PWM0
40 gpio13: in std_logic; -- PWM1
41 gpio19: in std_logic; -- PWM1/SPI1MISO/PCMFS
42 gpio16: in std_logic; -- SPI1CE2
43 gpio26: in std_logic; -- SD1DAT2
44 gpio20: in std_logic; -- SPI1MOSI/PCMDIN/GPCLK0
45 gpio21: in std_logic; -- SPI1SCLK/PCMDOUT/GPCLK1
48 -- Each PWM signal has cooresponding shutdown
49 pwm: out std_logic_vector (1 to 3);
50 shdn: out std_logic_vector (1 to 3);
51 -- Fault/power stage status
52 stat: in std_logic_vector (1 to 3);
54 hal_in: in std_logic_vector (1 to 3);
60 power_stat: in std_logic;
62 adc_miso: in std_logic;
63 adc_mosi: out std_logic;
64 adc_sclk: out std_logic;
65 adc_scs: out std_logic;
67 ext_miso: in std_logic; --master in slave out
68 ext_mosi: in std_logic; --master out slave in
69 ext_sclk: in std_logic;
70 ext_scs0: in std_logic;
71 ext_scs1: in std_logic;
72 ext_scs2: in std_logic;
74 rs485_rxd: in std_logic;
75 rs485_txd: out std_logic;
76 rs485_dir: out std_logic;
81 dip_sw: in std_logic_vector (1 to 3); --na desce je prohozene cislovanni
82 -- Unused terminal to keep design tools silent
83 dummy_unused : out std_logic
88 architecture behavioral of rpi_mc_simple_dc is
89 attribute syn_noprune :boolean;
90 attribute syn_preserve :boolean;
91 attribute syn_keep :boolean;
92 attribute syn_hier :boolean;
94 -- component pll50to200
96 -- powerdown, clka: in std_logic;
97 -- lock, gla: out std_logic
102 port (A: in std_logic; Y: out std_logic);
109 a0, b0: in std_logic;
110 qcount: out std_logic_vector (31 downto 0);
111 a_rise, a_fall, b_rise, b_fall, ab_event: out std_logic;
112 ab_error: out std_logic
116 type state_type is (f1,f2,f3,f4,f5,f6,f7,f8,f9,f10,f11,f12,f13,f14,f15,r1,r2,r3,r4,r5,r6,r7,r8,r9,r10,r11,r12,r13,r14,r15);
117 signal state : state_type;
118 signal adc_data: std_logic_vector(11 downto 0); --ADC income data
120 signal spiclk_old: std_logic_vector(1 downto 0); --pro detekci hrany SPI hodin
121 signal pwm_in, pwm_dir_in: std_logic;
122 signal gpio_clk: std_logic;
123 signal dat_reg : STD_LOGIC_VECTOR (95 downto 0); --shift register for spi
124 signal position: std_logic_vector(31 downto 0); --pozice z qcounteru
125 signal ce0_old: std_logic_vector(1 downto 0);
129 -- attribute syn_noprune of gpio2 : signal is true;
130 -- attribute syn_preserve of gpio2 : signal is true;
131 -- attribute syn_keep of gpio2 : signal is true;
132 -- attribute syn_hier of gpio2 : signal is true;
135 -- PLL as a reset generator
137 --zesileni signalu GPIO CLK
164 -- clka => pll_clkin,
165 -- gla => pll_clkout,
166 -- lock => pll_lock);
167 -- -- reset <= not pll_lock;
168 -- reset <= '0'; -- TODO: apply reset for good failsafe
172 dummy_unused <= gpio2 and gpio3 and gpio4 and
174 gpio12 and gpio13 and gpio14 and
175 gpio15 and gpio16 and gpio19 and
176 gpio20 and gpio21 and gpio26 and
177 stat(1) and stat(2) and stat(3) and
178 hal_in(1) and hal_in(2) and hal_in(3) and
179 irc_i and power_stat and
182 can_rx and can_tx and
183 dip_sw(1) and dip_sw(2) and dip_sw(3) and
185 -- gpio17 and gpio18 and gpio27 and gpio22 and
186 gpio8 and gpio11 and gpio7 and gpio10 and
187 ext_scs1 and ext_scs2 and ext_miso and ext_mosi and ext_sclk and ext_scs0;
204 --position is obtained on rising edge -> we should write it on next cycle
205 wait until (gpio_clk'event and gpio_clk='1');
207 --SCLK edge detection
208 spiclk_old(0)<=gpio11;
209 spiclk_old(1)<=spiclk_old(0);
213 ce0_old(1)<=ce0_old(0);
215 if (spiclk_old="01") then --rising edge, faze cteni
216 if (gpio7 = '0') then -- SPI CS must be selected
217 -- shift serial data into dat_reg on each rising edge
219 dat_reg(95 downto 0) <= dat_reg(94 downto 0) & gpio10;
221 elsif (spiclk_old="10" ) then --falling edge, faze zapisu
222 if (gpio7 = '0') then
223 gpio9 <= dat_reg(95); --zapisujeme nejdriv MSB
228 --sestupna hrana SS, pripravime data pro prenos
229 if ((ce0_old = "10") ) then
230 dat_reg(95 downto 64) <= position(31 downto 0); --pozice
231 dat_reg(63 downto 61) <= hal_in(1 to 3); --halovy sondy
232 dat_reg(60 downto 0) <= (others => '1'); --zbytek zatim nuly
239 wait until (gpio_clk'event and gpio_clk='1');
243 adc_scs<='0'; --active-high SS
244 adc_mosi<='1'; --start bit
245 state<=r1; --next state
246 when r1=> --rising edge
248 adc_data(5)<=adc_miso;
250 when f2=> --2nd falling edge
252 adc_mosi<='0'; --A2 address
254 when r2=> --rising edge
256 adc_data(4)<=adc_miso;
258 when f3=> --3rd falling edge
260 adc_mosi<='0'; --A1 address
262 when r3=> --rising edge
264 adc_data(3)<=adc_miso;
266 when f4=> --4th falling edge
268 adc_mosi<='1'; --A0 address
270 when r4=> --rising edge
272 adc_data(2)<=adc_miso;
274 when f5=> --5th falling edge
276 adc_mosi<='0'; --MODE (LOW -12bit)
278 when r5=> --rising edge
280 adc_data(1)<=adc_miso;
282 when f6=> --6th falling edge
284 adc_mosi<='1'; --SGL/DIF (HIGH - SGL=Single Ended)
286 when r6=> --rising edge
288 adc_data(0)<=adc_miso;
290 when f7=> -- 7th falling edge
292 adc_mosi<='0'; --PD1 (power down - PD1=PD0=0 -> power down between conversion)
294 when r7=> --rising edge, data ready
297 when f8=> --8th falling edge
301 when r8=> --rising edge
304 when f9=> --busy state between conversion, 9th falling edge
307 when r9=> --10th rising edge
309 adc_data(11)<=adc_miso;
314 when r10=> --11th rising edge
316 adc_data(10)<=adc_miso;
321 when r11=> --12th rising edge
323 adc_data(9)<=adc_miso;
328 when r12=> --13th rising edge
330 adc_data(8)<=adc_miso;
335 when r13=> --14th rising edge
337 adc_data(7)<=adc_miso;
342 when r14=> --15th rising edge
343 adc_data(6)<=adc_miso;