Bug fix: unconsistent changes of match signal caused twitches im motor movement....

[fpga/rpi-motor-control.git] / pmsm-control / rpi_pmsm_control.vhdl

--
-- * Raspberry Pi BLDC/PMSM motor control design for RPi-MI-1 board *
-- The toplevel component file
--
-- (c) 2015 Martin Prudek <prudemar@fel.cvut.cz>
-- Czech Technical University in Prague
--
-- Project supervision and original project idea
-- idea by Pavel Pisa <pisa@cmp.felk.cvut.cz>
--
-- Related RPi-MI-1 hardware is designed by Petr Porazil,
-- PiKRON Ltd  <http://www.pikron.com>
--
-- VHDL design reuses some components and concepts from
-- LXPWR motion power stage board and LX_RoCoN system
-- developed at PiKRON Ltd with base code implemented
-- by Marek Peca <hefaistos@gmail.com>
--
-- license: GNU LGPL and GPLv3+
--

library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.util.all;

entity rpi_pmsm_control is
generic(
        pwm_width : natural:=11
        );
port (
        gpio2: in std_logic; -- SDA
        gpio3: in std_logic; -- SCL
        gpio4: in std_logic; -- CLK
        gpio14: in std_logic; -- Tx
        gpio15: in std_logic; -- Rx
        gpio17: in std_logic; -- RTS
        gpio18: in std_logic; -- PWM0/PCMCLK
        gpio27: in std_logic; -- SD1DAT3
        gpio22: in std_logic; -- SD1CLK
        gpio23: in std_logic; -- SD1CMD
        gpio24: in std_logic; -- SD1DAT0
        gpio10: in std_logic; -- SPI0MOSI
        gpio9: out std_logic; -- SPI0MISO
        gpio25: in std_logic; -- SD1DAT1
        gpio11: in std_logic; -- SPI0SCLK
        gpio8: in std_logic; -- SPI0CE0
        gpio7: in std_logic; -- SPI0CE1
        gpio5: in std_logic; -- GPCLK1
        gpio6: in std_logic; -- GPCLK2
        gpio12: in std_logic; -- PWM0
        gpio13: in std_logic; -- PWM1
        gpio19: in std_logic; -- PWM1/SPI1MISO/PCMFS
        gpio16: in std_logic; -- SPI1CE2
        gpio26: in std_logic; -- SD1DAT2
        gpio20: in std_logic; -- SPI1MOSI/PCMDIN/GPCLK0
        gpio21: in std_logic; -- SPI1SCLK/PCMDOUT/GPCLK1
        --
        -- PWM
        -- Each PWM signal has cooresponding shutdown
        pwm: out std_logic_vector (1 to 3);
        shdn: out std_logic_vector (1 to 3);
        -- Fault/power stage status
        stat: in std_logic_vector (1 to 3);
        -- HAL inputs
        hal_in: in std_logic_vector (1 to 3);
        -- IRC inputs
        irc_a: in std_logic;
        irc_b: in std_logic;
        irc_i: in std_logic;
        -- Power status
        power_stat: in std_logic;
        -- ADC for current
        adc_miso: in std_logic;
        adc_mosi: out std_logic;
        adc_sclk: out std_logic;
        adc_scs: out std_logic;
        -- Extarnal SPI
        ext_miso: in std_logic; --master in slave out
        ext_mosi: in std_logic; --master out slave in
        ext_sclk: in std_logic;
        ext_scs0: in std_logic;
        ext_scs1: in std_logic;
        ext_scs2: in std_logic;
        -- RS-485 Transceiver
        rs485_rxd: in std_logic;
        rs485_txd: out std_logic;
        rs485_dir: out std_logic;
        -- CAN Transceiver
        can_rx: in std_logic;
        can_tx: in std_logic;
        -- DIP switch
        dip_sw: in std_logic_vector (1 to 3); --na desce je prohozene cislovanni
        -- Unused terminal to keep design tools silent
        dummy_unused : out std_logic
);
end rpi_pmsm_control;


architecture behavioral of rpi_pmsm_control is
        attribute syn_noprune :boolean;
        attribute syn_preserve :boolean;
        attribute syn_keep :boolean;
        attribute syn_hier :boolean;

        -- Actel lib
        component pll50to200
                port (
                        powerdown, clka: in std_logic;
                        lock, gla: out std_logic
                );
        end component;
        
        component CLKINT
                port (A: in std_logic; Y: out std_logic);
        end component;
        
        component qcounter
        port (
                clock: in std_logic;
                reset: in std_logic;
                a0, b0: in std_logic;
                qcount: out std_logic_vector (31 downto 0);
                a_rise, a_fall, b_rise, b_fall, ab_event: out std_logic;
                ab_error: out std_logic
        );
        end component;

        component mcpwm is
        generic (
                pwm_width: natural
        );
        port (
                clock: in std_logic;
                sync: in std_logic;                             --flag that counter "restarts-overflows"
                data_valid:in std_logic;                        --indicates data is consistent
                failsafe: in std_logic;                         --turn off both transistors
                en_p, en_n: in std_logic;                       --enable positive & enable shutdown
                match: in std_logic_vector (pwm_width-1 downto 0); --posion of counter when we swap output logic
                count: in std_logic_vector (pwm_width-1 downto 0); --we use an external counter
                out_p, out_n: out std_logic                     --pwm outputs: positive & shutdown
                --TODO add the rest of pwm signals, swap match to pwm_word
        );
        end component;
        
        --frequency division by 12
        component divider is
        port (
                clk_in: in std_logic;
                div12: out std_logic
        );
        end component;
        
        component adc_reader is
        port (
                clk: in std_logic;                                      --input clk
                divided_clk : in std_logic;                             --divided clk - value suitable to sourcing voltage
                adc_reset: in std_logic;
                adc_miso: in std_logic;                                 --spi master in slave out
                adc_channels: out std_logic_vector (35 downto 0);       --consistent data of 3 channels
                adc_sclk: out std_logic;                                --spi clk
                adc_scs: out std_logic;                                 --spi slave select
                adc_mosi: out std_logic;                                --spi master out slave in
                measur_count: out std_logic_vector(8 downto 0)          --number of accumulated measurments
        
        );
        end component;
        
        
        signal adc_channels: std_logic_vector(71 downto 0);
        signal adc_m_count: std_logic_vector(8 downto 0);

        --clock signals for logic and master fail monitoring
        signal gpio_clk: std_logic;
        signal pll_clkin, pll_clkout, pll_lock: std_logic;
        signal clkmon_dly1, clkmon_dly2: std_logic;
        signal clkmon_fail, clkmon_fail_next: std_logic;
        signal clkmon_wdg: integer range 0 to 6;
        signal reset_sync, reset_async: std_logic;
        signal failsafe, next_failsafe: std_logic;

        --RPi SPI interface signals named aliases
        signal spi_clk, spi_ce, spi_mosi, spi_miso : std_logic;
        signal spiclk_old: std_logic_vector(1 downto 0); --pro detekci hrany SPI hodin

        --signal pwm_in, pwm_dir_in: std_logic;
        signal dat_reg : STD_LOGIC_VECTOR (127 downto 0); --shift register for spi
        signal position: std_logic_vector(31 downto 0); --pozice z qcounteru
        signal index_position: std_logic_vector(11 downto 0);           --pozice irc_i
        signal ce0_old: std_logic_vector(1 downto 0);
        
        --pwm signals
        constant pwm_n: natural := 3;                                   --number of pwm outputs
        --number of ticks per pwm cycle, 2^11=2048
        constant pwm_period : std_logic_vector (pwm_width-1 downto 0) := (others=>'1'); 
        type pwm_res_type is array(1 to 3) of std_logic_vector (pwm_width-1 downto 0);
        
        signal pwm_match: pwm_res_type;                                 --point of reversion of pwm output, 0 to 2047
        signal pwm_count: std_logic_vector (pwm_width-1 downto 0);      --counter, 0 to 2047
        signal pwm_sync_at_next: std_logic;
        signal pwm_sync: std_logic;
        signal pwm_en_p: std_logic_vector(1 to 3);
        signal pwm_en_n: std_logic_vector(1 to 3);
        signal pwm_sig: std_logic_vector(1 to 3);
        
        signal income_data_valid: std_logic;
        
        signal clk_4M17: std_logic;

        -- irc signals processing
        signal irc_i_prev: std_logic;
        
        --  attribute syn_noprune of gpio2 : signal is true;
        --  attribute syn_preserve of gpio2 : signal is true;
        --  attribute syn_keep of gpio2 : signal is true;
        --  attribute syn_hier of gpio2 : signal is true;

begin
        -- PLL as a reset generator
        
        --zesileni signalu GPIO CLK
        copyclk2: CLKINT
        port map (
                a => gpio4,
                y => gpio_clk
        );
        
        pll: pll50to200
        port map (
                powerdown => '1',
                clka => pll_clkin,
                gla => pll_clkout,
                lock => pll_lock);

        -- the failasfe signal from communication block if CRC is used
        next_failsafe <= '0';

        reset_async <= not pll_lock or clkmon_fail;

        pll_clkin <= gpio_clk;
        
        qcount: qcounter
        port map (
                clock => gpio_clk,
                reset => '0',
                a0 => irc_a,
                b0 => irc_b,
                qcount => position,
                a_rise => open,
                a_fall => open,
                b_rise => open,
                b_fall => open,
                ab_event => open,
                ab_error => open
        );
        
        pwm_block: for i in pwm_n downto 1 generate
                pwm_map: mcpwm
                generic map (
                        pwm_width => pwm_width
                )
                port map (
                        clock => gpio_clk,                              --50 Mhz clk from gpclk on raspberry
                        sync => pwm_sync,                               --counter restarts
                        data_valid => pwm_sync_at_next,                 
                        failsafe => failsafe,
                        --
                        -- pwm config bits & match word
                        --
                        en_n => pwm_en_n(i),                            --enable positive pwm
                        en_p => pwm_en_p(i),                            --enable "negative" ->activate shutdown
                        match => pwm_match(i),
                        count => pwm_count,
                        -- outputs
                        out_p => pwm_sig(i),                            --positive signal
                        out_n => shdn(i)                                --reverse signal is in shutdown mode
                );
        end generate;
        
        
        div12_map: divider
        port map(
                --reset => income_data_valid,
                clk_in => gpio_clk,
                div12 => clk_4M17
        );
        
        -- ADC needs 3.2 MHz clk when powered from +5V Vcc
        --           2.0 MHz clk when +2.7V Vcc
        -- on the input is 4.17Mhz,but this frequency is divided inside adc_reader by 2 to 2.08 Mhz,
        --        while we use +3.3V Vcc     
        adc_reader_map: adc_reader 
        port map(
                clk => gpio_clk,
                divided_clk => clk_4M17,
                adc_reset => income_data_valid, --reset at each SPI cycle,TODO: replace with PLL reset
                adc_miso => adc_miso,
                adc_channels => adc_channels,
                adc_sclk => adc_sclk,
                adc_scs => adc_scs,
                adc_mosi => adc_mosi,
                measur_count => adc_m_count
                
        );

        dummy_unused <= gpio2 and gpio3 and
                gpio5 and gpio6 and
                gpio12 and gpio13 and gpio14 and
                gpio15 and gpio16 and gpio19 and
                gpio20 and gpio21 and gpio26 and
                stat(1) and stat(2) and stat(3) and
                hal_in(1) and hal_in(2) and hal_in(3) and
                irc_i and power_stat and 
                adc_miso and 
                rs485_rxd and
                can_rx and can_tx and
                dip_sw(1) and dip_sw(2) and dip_sw(3) and
                irc_a and irc_b and
                gpio17 and gpio18 and gpio27 and gpio22 and gpio23 and gpio24 and gpio25 and
                gpio8  and
                ext_scs1 and ext_scs2 and ext_miso and ext_mosi and ext_sclk and ext_scs0;
                        
        rs485_txd <= '1';
        rs485_dir <= '0';

        spi_clk <= gpio11;
        spi_ce <= gpio7;
        spi_mosi <= gpio10;
        gpio9 <= spi_miso;

        pwm(1) <= pwm_sig(1) and dip_sw(1);
        pwm(2) <= pwm_sig(2) and dip_sw(2);
        pwm(3) <= pwm_sig(3) and dip_sw(3);
        
                
        process
        begin
                wait until (gpio_clk'event and gpio_clk='1');
                if irc_i_prev = '0' and irc_i = '1' then
                        index_position(11 downto 0)<=position(11 downto 0);
                end if;
                irc_i_prev<=irc_i;
        end process;
        
        process
        begin
                wait until (gpio_clk'event and gpio_clk='1');
                IF pwm_count = std_logic_vector(unsigned(pwm_period) - 1) THEN                          
                        --end of period nearly reached
                        --fetch new pwm match data
                        pwm_sync_at_next <= '1';
                else
                        pwm_sync_at_next <= '0';
                end if;
                
                if pwm_sync_at_next='1' then
                        --end of period reached
                        pwm_count <= (others=>'0');      --reset counter
                        pwm_sync <= '1';                                -- inform PWM logic about new period start
                ELSE                                                    --end of period not reached
                        pwm_count <= std_logic_vector(unsigned(pwm_count)+1);           --increment counter
                        pwm_sync <= '0';
                END IF;
        end process;
        
        process
        begin
                --position is obtained on rising edge -> we should write it on next cycle
                wait until (gpio_clk'event and gpio_clk='1');
                
                --SCLK edge detection
                spiclk_old(0)<=spi_clk;
                spiclk_old(1)<=spiclk_old(0);
                
                --SS edge detection
                ce0_old(0)<=spi_ce;
                ce0_old(1)<=ce0_old(0);
                
                if (spiclk_old="01") then --rising edge, faze cteni
                        if (spi_ce = '0') then             -- SPI CS must be selected
                                -- shift serial data into dat_reg on each rising edge
                                -- of SCK, MSB first
                                dat_reg(127 downto 0) <= dat_reg(126 downto 0) & spi_mosi;
                                end if;
                elsif (spiclk_old="10" ) then --falling edge, faze zapisu
                        if (spi_ce = '0') then
                                spi_miso <= dat_reg(127); --zapisujeme nejdriv MSB
                        end if;
                end if;
                
                        
                --sestupna hrana SS, pripravime data pro prenos
                if (ce0_old = "10" ) then 
                        income_data_valid<='0';
                        dat_reg(127 downto 96) <= position(31 downto 0); --pozice
                        dat_reg(95 downto 93) <= hal_in(1 to 3); --halovy sondy
                        dat_reg(92 downto 81) <= index_position(11 downto 0);   --position of irc_i
                        dat_reg(80 downto 72) <=adc_m_count(8 downto 0);        --count of measurments
                        --data order schould be: ch2 downto ch0 downto ch1
                        dat_reg(71 downto 0) <= adc_channels(71 downto 0);      --current mesurments
                        spi_miso <= position(31);               --prepare the first bit on SE activation
                elsif (ce0_old = "01") then --rising edge of SS, we should read the data
                        pwm_en_p(1 to 3)<=dat_reg(126 downto 124);
                        pwm_en_n(1 to 3)<=dat_reg(123 downto 121);
                        --usable for up to 16-bit PWM duty cycle resolution (pwm_width):
                        pwm_match(1)(pwm_width-1 downto 0)<=dat_reg(pwm_width+31 downto 32);
                        pwm_match(2)(pwm_width-1 downto 0)<=dat_reg(pwm_width+15 downto 16);
                        pwm_match(3)(pwm_width-1 downto 0)<=dat_reg(pwm_width-1 downto 0);
                        income_data_valid<='1';
                end if;
        end process;

        clock_monitor: process (pll_clkout, gpio_clk, clkmon_dly1, clkmon_wdg, clkmon_fail_next)
        begin
                if pll_clkout'event and pll_clkout = '1' then
                        clkmon_dly1 <= gpio_clk;
                        clkmon_dly2 <= clkmon_dly1;
                        if clkmon_dly1 = '0' and clkmon_dly2 = '1' then
                                clkmon_wdg <= 6;
                                clkmon_fail_next <= '0';
                        elsif clkmon_wdg > 0 then
                                clkmon_wdg <= clkmon_wdg - 1;
                                clkmon_fail_next <= '0';
                        else
                                clkmon_wdg <= 0;
                                clkmon_fail_next <= '1';
                        end if;
                        clkmon_fail <= clkmon_fail_next;
                end if;
        end process;

        async_rst: process (gpio_clk, reset_async, reset_sync)
        begin
                if reset_async = '1' then
                        failsafe <= '1';
                elsif gpio_clk'event and gpio_clk = '1' then
                        failsafe <= next_failsafe or reset_sync;
                end if;
        end process;

        sync_rst: process (gpio_clk, reset_async)
        begin
                if gpio_clk'event and gpio_clk = '1' then
                        reset_sync <= reset_async;
                end if;
        end process;

end behavioral;