use work.util.all;
entity rpi_mc_simple_dc is
- 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: out std_logic; -- SD1CMD
- gpio24: out std_logic; -- SD1DAT0
- gpio10: in std_logic; -- SPI0MOSI
- gpio9: in std_logic; -- SPI0MISO
- gpio25: in std_logic; -- SD1DAT1
- gpio11: in std_logic; -- SPI0SCLK
- gpio8: out std_logic; -- SPI0CE0
- gpio7: out 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: in std_logic;
- adc_sclk: in std_logic;
- adc_scs: in 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);
- -- Unused terminal to keep design tools silent
- dummy_unused : out std_logic
- );
+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_mc_simple_dc;
+
architecture behavioral of rpi_mc_simple_dc 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;
- --
- signal pwm_in, pwm_dir_in: std_logic;
+ 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;
--- 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;
+ 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;
+
+ component div8 is
+ port (
+ --reset: in std_logic;
+ clk_in: in std_logic;
+ clk_out: out std_logic
+ );
+ end component;
+
+ component adc_reader is
+ port (
+ clk: in std_logic; --input clk
+ 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
+
+ );
+ end component;
+
+
+ signal adc_reset : std_logic;
+ signal adc_channels: std_logic_vector(35 downto 0);
+
+ signal spiclk_old: std_logic_vector(1 downto 0); --pro detekci hrany SPI hodin
+ --signal pwm_in, pwm_dir_in: std_logic;
+ signal gpio_clk: std_logic;
+ signal dat_reg : STD_LOGIC_VECTOR (95 downto 0); --shift register for spi
+ signal position: std_logic_vector(31 downto 0); --pozice z qcounteru
+ 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: std_logic;
+ signal pwm_en_p: std_logic_vector(1 to 3);
+ signal pwm_en_n: std_logic_vector(1 to 3);
+
+ signal income_data_valid: std_logic;
+
+ signal clk_3M1: 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
--- copyclk: CLKINT
--- port map (
--- a => clkm,
--- y => pll_clkin);
--- pll: pll50to200
--- port map (
--- powerdown => '1',
--- clka => pll_clkin,
--- gla => pll_clkout,
--- lock => pll_lock);
--- -- reset <= not pll_lock;
--- reset <= '0'; -- TODO: apply reset for good failsafe
- -- upon power-on
--- clock <= clkm;
-
- dummy_unused <= gpio2 and gpio3 and gpio4 and
- gpio5 and gpio6 and gpio9 and
- gpio10 and gpio11 and gpio12 and gpio13 and gpio14 and
- gpio15 and gpio16 and gpio17 and gpio19 and
- gpio20 and gpio21 and
- gpio25 and gpio26 and gpio27 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 adc_mosi and adc_sclk and adc_scs and
- ext_miso and ext_mosi and ext_sclk and ext_scs0 and ext_scs1 and ext_scs2 and
- rs485_rxd and
- can_rx and can_tx and
- dip_sw(1) and dip_sw(2) and dip_sw(3);
-
- rs485_txd <= '1';
- rs485_dir <= '0';
+ -- PLL as a reset generator
+
+ --zesileni signalu GPIO CLK
+ copyclk2: CLKINT
+ port map (
+ a => gpio4,
+ y => 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 => income_data_valid,
+ failsafe => '0',
+ --
+ -- 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(i), --positive signal
+ out_n => shdn(i) --reverse signal is in shutdown mode
+ );
+ end generate;
+
+
+ div8_map: div8
+ port map(
+ --reset => income_data_valid,
+ clk_in => gpio_clk,
+ clk_out => clk_3M1
+ );
+
+ adc_reader_map: adc_reader
+ port map(
+ clk =>clk_3M1,
+ adc_reset => adc_reset,
+ adc_miso => adc_miso,
+ adc_channels => adc_channels,
+ adc_sclk => adc_sclk,
+ adc_scs => adc_scs,
+ adc_mosi => adc_mosi
+
+ );
- gpio23 <= irc_a;
- gpio24 <= irc_a;
-
- gpio7 <= '1';
- gpio8 <= irc_b;
+
+
+ -- pll: pll50to200
+ -- port map (
+ -- powerdown => '1',
+ -- clka => pll_clkin,
+ -- gla => pll_clkout,
+ -- lock => pll_lock);
+ -- -- reset <= not pll_lock;
+ -- reset <= '0'; -- TODO: apply reset for good failsafe
+ -- upon power-on
+ -- clock <= clkm;
- pwm_in <= gpio18;
- pwm_dir_in <= gpio22;
+ dummy_unused <= gpio2 and gpio3 and gpio4 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 gpio11 and gpio7 and gpio10 and
+ ext_scs1 and ext_scs2 and ext_miso and ext_mosi and ext_sclk and ext_scs0;
+
+ rs485_txd <= '1';
+ rs485_dir <= '0';
- shdn(1) <= '0';
- shdn(2) <= '0';
- shdn(3) <= '1';
- pwm(1) <= pwm_in and not pwm_dir_in;
- pwm(2) <= pwm_in and pwm_dir_in;
- pwm(3) <= '0';
+ --shdn(1) <= '0';
+ --shdn(2) <= '1';
+ --shdn(3) <= '0';
+ --pwm(1) <= '0';
+ --pwm(2) <= '0';
+ --pwm(3) <= '0';
+
+ process
+ begin
+ wait until (gpio_clk'event and gpio_clk='1');
+ IF(pwm_count = pwm_period) 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)<=gpio11;
+ spiclk_old(1)<=spiclk_old(0);
+
+ --SS edge detection
+ ce0_old(0)<=gpio7;
+ ce0_old(1)<=ce0_old(0);
+
+ if (spiclk_old="01") then --rising edge, faze cteni
+ if (gpio7 = '0') then -- SPI CS must be selected
+ -- shift serial data into dat_reg on each rising edge
+ -- of SCK, MSB first
+ dat_reg(95 downto 0) <= dat_reg(94 downto 0) & gpio10;
+ end if;
+ elsif (spiclk_old="10" ) then --falling edge, faze zapisu
+ if (gpio7 = '0') then
+ gpio9 <= dat_reg(95); --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(95 downto 64) <= position(31 downto 0); --pozice
+ dat_reg(63 downto 61) <= hal_in(1 to 3); --halovy sondy
+ dat_reg(60 downto 58) <= pwm_en_p(1 to 3); --enable positive
+ dat_reg(57 downto 55) <= pwm_en_n(1 to 3); --shutdown
+ dat_reg(54 downto 49) <= pwm_match(1)(10 downto 5); --6 MSb of PWM1
+ dat_reg(48 downto 42) <= pwm_match(2)(10 downto 4); --7 MSb of PWM2
+ dat_reg(41 downto 36) <= pwm_match(3)(10 downto 5); --6 MSb of PWM3
+ dat_reg(35 downto 0) <= adc_channels(35 downto 0); --current mesurments
+ adc_reset<='0'; --remove reset flag, and wait on its rising edge
+ elsif (ce0_old = "01") then --rising edge of SS, we should read the data
+ adc_reset<='1';
+ pwm_en_p(1 to 3)<=dat_reg(94 downto 92);
+ pwm_en_n(1 to 3)<=dat_reg(91 downto 89);
+ --11 bit pwm TODO: make it generic
+ pwm_match(1)(pwm_width-1 downto 0)<=dat_reg(34 downto 24);
+ pwm_match(2)(pwm_width-1 downto 0)<=dat_reg(23 downto 13);
+ -- 12 + 11 Unused
+ pwm_match(3)(pwm_width-1 downto 0)<=dat_reg(10 downto 0);
+ income_data_valid<='1';
+ end if;
+ end process;
+
end behavioral;
+
projects / fpga / rpi-motor-control.git / blobdiff