use work.util.all;
entity rpi_mc_simple_dc is
- port (
- gpio2: in std_logic; -- SDA
- gpio3: in std_logic; -- SCL
- gpio4: out std_logic; -- CLK
- gpio14: in std_logic; -- Tx
- gpio15: in std_logic; -- Rx
- gpio17: out std_logic; -- RTS
- gpio18: out std_logic; -- PWM0/PCMCLK
- gpio27: out std_logic; -- SD1DAT3
- gpio22: out std_logic; -- SD1CLK
- gpio23: out std_logic; -- SD1CMD
- gpio24: out std_logic; -- SD1DAT0
- gpio10: in std_logic; -- SPI0MOSI
- gpio9: in std_logic; -- SPI0MISO
- gpio25: out 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: 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); --na desce je prohozene cislovanni
- -- 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;
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;
- signal pwm_in, pwm_dir_in: std_logic;
- signal spi_clk: std_logic;
- signal dat_reg : STD_LOGIC_VECTOR (7 downto 0); --registr pro SPI
-
+ 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;
+
+
+ type state_type is (f1,f2,f3,f4,f5,f6,f7,f8,f9,f10,f11,f12,f13,f14,r1,r2,r3,r4,r5,r6,r7,r8,r9,r10,r11,r12,r13,r14,f15,r15,reset,rst_wait);
+ signal state : state_type;
+
+ type channel_type is (ch0, ch1, ch2);
+
+ signal adc_data: std_logic_vector(11 downto 0); --ADC income data
+ signal adc_reset : std_logic;
+ signal adc_rst_old : std_logic_vector(1 downto 0);
+ signal adc_address: std_logic_vector(8 downto 0);
+ 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;
+
+
-- attribute syn_noprune of gpio2 : signal is true;
-- attribute syn_preserve of gpio2 : signal is true;
-- attribute syn_keep of gpio2 : signal is true;
begin
-- PLL as a reset generator
- copyclk: CLKINT
+
+ --zesileni signalu GPIO CLK
+ copyclk2: CLKINT
port map (
- a => gpio11,
- y => spi_clk
+ 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;
+
+
+
-- pll: pll50to200
-- port map (
-- powerdown => '1',
-- upon power-on
-- clock <= clkm;
- dummy_unused <= gpio2 and gpio3 and
+ dummy_unused <= gpio2 and gpio3 and gpio4 and
gpio5 and gpio6 and
gpio12 and gpio13 and gpio14 and
gpio15 and gpio16 and gpio19 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
+ 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
- gpio8 and gpio9 and gpio11 and gpio7 and gpio10 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';
-
- --gpio24 <= dip_sw(1); --na desce je prohozene cislovani
- shdn(1) <= '0';
- shdn(2) <= '0';
- shdn(3) <= '1';
+ --shdn(1) <= '0';
+ --shdn(2) <= '0';
+ --shdn(3) <= '1';
- pwm(1) <= '0';
- pwm(2) <= '0';
- pwm(3) <= '0';
-
-
-
- process (spi_clk) --nufunguje preo piny 11,17,27 funguje pro 4,18,22,ext_sclk,10
+ --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
- --if (gpio11'event and gpio11 = '1') then -- rising edge of SCK
- if (rising_edge(spi_clk)) then
+ --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(7 downto 0) <= dat_reg(6 downto 0) & gpio10;
-
- gpio4 <= dat_reg(7);
- gpio17 <= dat_reg(6);
- gpio18 <= dat_reg(5);
- gpio27 <= dat_reg(4);
- gpio22 <= dat_reg(3);
- gpio23 <= dat_reg(2);
- gpio24 <= dat_reg(1);
- gpio25 <= dat_reg(0);
-
+ 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 36) <= (others => '1'); --let the rest fill with ones
+ 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<=dat_reg(95);
+ 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(22 downto 12);
+ pwm_match(3)(pwm_width-1 downto 0)<=dat_reg(10 downto 0);
+ income_data_valid<='1';
+ end if;
end process;
+
+ process
+ variable data_ready : std_logic;
+ variable channel: channel_type;
+ variable reset_re: std_logic:='0';
+ variable reset_count: integer:=0;
+ begin
+ wait until (gpio_clk'event and gpio_clk='1');
+
+ --reset rising edge detection
+ adc_rst_old(0)<=adc_reset;
+ adc_rst_old(1)<=adc_rst_old(0);
+
+ if (adc_rst_old="01") then
+ reset_re:='1';
+ end if;
+
+ case state is
+ when reset=>
+ reset_re:='0'; --clear reset flag
+ adc_scs<='1'; --active-low SS
+ adc_sclk<='0'; --lower clock
+ data_ready:='0';
+ --addresse are CH(A2,A1,A0): CH0:(0,0,1),CH1:(1,0,1),CH2:(0,1,0)
+ adc_address<="001101010";
+ channel:=ch0;
+ adc_channels(35 downto 0)<=(others=>'1'); --for debug only - remove this line!
+ adc_data(11 downto 0)<=(others=>'1');
+ reset_count:=0;
+ state<=rst_wait;
+ when rst_wait=>
+ if (reset_count<10) then
+ reset_count:=reset_count+1;
+ if (reset_count=7) then
+ adc_scs<='0'; --give the adc some time to prepare before trensfer
+ end if;
+ else
+ state<=f1;
+ end if;
+ when f1=> --1st 'fallin edge' - its not falling edge in any case-if rst clock is low before
+ adc_sclk<='0'; --clk
+ adc_mosi<='1'; --start bit
+ state<=r1; --next state
+ when r1=> --1st rising edge (adc gets the start bit, we get date..)
+ adc_sclk<='1';
+ adc_data(5)<=adc_miso;
+ state<=f2;
+ when f2=> --2nd falling edge
+ adc_sclk<='0';
+ adc_mosi<=adc_address(8); --A2 address
+ state<=r2;
+ when r2=> --2nd rising edge (adc gets A2 address)
+ adc_sclk<='1';
+ adc_data(4)<=adc_miso;
+ state<=f3;
+ when f3=> --3rd falling edge
+ adc_sclk<='0';
+ adc_mosi<=adc_address(7); --A1 address
+ state<=r3;
+ when r3=> --rising edge
+ adc_sclk<='1';
+ adc_data(3)<=adc_miso;
+ state<=f4;
+ when f4=> --4th falling edge
+ adc_sclk<='0';
+ adc_mosi<=adc_address(6); --A0 address
+ --shift the addresses
+ adc_address(8 downto 0)<=adc_address(5 downto 0) & adc_address(8 downto 6);
+ state<=r4;
+ when r4=> --rising edge
+ adc_sclk<='1';
+ adc_data(2)<=adc_miso;
+ state<=f5;
+ when f5=> --5th falling edge
+ adc_sclk<='0';
+ adc_mosi<='0'; --MODE (LOW -12bit)
+ state<=r5;
+ when r5=> --rising edge
+ adc_sclk<='1';
+ adc_data(1)<=adc_miso;
+ state<=f6;
+ when f6=> --6th falling edge
+ adc_sclk<='0';
+ adc_mosi<='1'; --SGL/DIF (HIGH - SGL=Single Ended)
+ state<=r6;
+ when r6=> --6th rising edge (we read last bit of conversion, adc gets SGL/DIF)
+ adc_sclk<='1';
+ adc_data(0)<=adc_miso;
+ state<=f7;
+ when f7=> -- 7th falling edge
+ adc_sclk<='0';
+ adc_mosi<='0'; --PD1 (power down - PD1=PD0=0 -> power down between conversion)
+ state<=r7;
+ when r7=> --7th rising edge, data ready
+ adc_sclk<='1';
+ if (data_ready='1') then
+ case channel is
+ when ch0=>
+ adc_channels(35 downto 24)<=adc_data(11 downto 0);
+ --adc_channels(35 downto 24)<=(others=>'0');
+ channel:=ch1;
+ when ch1=>
+ adc_channels(23 downto 12)<=adc_data(11 downto 0);
+ --adc_channels(23 downto 12)<=(others=>'1');
+ channel:=ch2;
+ when ch2=>
+ adc_channels(11 downto 0)<=adc_data(11 downto 0);
+ --adc_channels(11 downto 0)<=(others=>'0');
+ channel:=ch0;
+ end case;
+ end if;
+ data_ready:='1';
+ state<=f8;
+ when f8=> --8th falling edge
+ adc_sclk<='0';
+ adc_mosi<='0'; --PD0
+ state<=r8;
+ when r8=> --8th rising edge (adc gets PD0)
+ adc_sclk<='1';
+ state<=f9;
+ when f9=> --9th falling edge busy state between conversion (we write nothing)
+ adc_sclk<='0';
+ state<=r9;
+ when r9=> --9th rising edge (we nor ads get nothing)
+ adc_sclk<='1';
+ state<=f10;
+ when f10=> --10th falling edge
+ adc_sclk<='0';
+ state<=r10;
+ when r10=> --10th rising edge (we read 1. bit of conversion)
+ adc_sclk<='1';
+ adc_data(11)<=adc_miso;
+ state<=f11;
+ when f11=>
+ adc_sclk<='0';
+ state<=r11;
+ when r11=> --11th rising edge
+ adc_sclk<='1';
+ adc_data(10)<=adc_miso;
+ state<=f12;
+ when f12=>
+ adc_sclk<='0';
+ state<=r12;
+ when r12=> --12th rising edge
+ adc_sclk<='1';
+ adc_data(9)<=adc_miso;
+ state<=f13;
+ when f13=>
+ adc_sclk<='0';
+ state<=r13;
+ when r13=> --13th rising edge
+ adc_sclk<='1';
+ adc_data(8)<=adc_miso;
+ state<=f14;
+ when f14=>
+ adc_sclk<='0';
+ state<=r14;
+ when r14=> --14th rising edge
+ adc_sclk<='1';
+ adc_data(7)<=adc_miso;
+ state<=f15;
+ when f15=>
+ adc_sclk<='0';
+ --for rising edge detection in next cycle
+ state<=r15;
+ when r15=> --15th rising edge
+ adc_sclk<='1';
+ adc_data(6)<=adc_miso;
+ if (reset_re='1') then --we check rising edge of reset
+ state<=reset;
+ else
+ state<=f1;
+ end if;
+ end case;
+ end process;
+
+
+
end behavioral;
+
projects / fpga / rpi-motor-control.git / blobdiff