Added synchronous detection o divided clk signal to adc_reader component.

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

diff --git a/pmsm-control/rpi_pmsm_control.vhdl b/pmsm-control/rpi_pmsm_control.vhdl
index f8e8bd5e6ef3c80aa141f6e6f96ec60df9cee125..413f11c297fff1499e8df1aa55c2e6a2d6789ffc 100644 (file)
--- a/pmsm-control/rpi_pmsm_control.vhdl
+++ b/pmsm-control/rpi_pmsm_control.vhdl
@@ -1,13 +1,22 @@
 --
 --

--- * LXPWR slave part *
---  common sioreg & common counter for several ADC&PWM blocks
+-- * Raspberry Pi BLDC/PMSM motor control design for RPi-MI-1 board *
+-- The toplevel component file

 --
 --

--- part of LXPWR motion control board (c) PiKRON Ltd
--- idea by Pavel Pisa PiKRON Ltd <pisa@cmp.felk.cvut.cz>
--- code by Marek Peca <mp@duch.cz>
--- 01/2013
+-- (c) 2015 Martin Prudek <prudemar@fel.cvut.cz>
+-- Czech Technical University in Prague

 --
 --

--- license: GNU GPLv3
+-- 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;
 --
 
 library ieee;


@@ -145,6 +154,7 @@ architecture behavioral of rpi_pmsm_control is
        component adc_reader is
        port (
                clk: in std_logic;                                      --input clk
        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_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


@@ -170,7 +180,10 @@ architecture behavioral of rpi_pmsm_control is
        signal reset_sync, reset_async: std_logic;
        signal failsafe, next_failsafe: std_logic;
 
        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 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 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


@@ -278,7 +291,8 @@ begin
        --        while we use +3.3V Vcc     
        adc_reader_map: adc_reader 
        port map(
        --        while we use +3.3V Vcc     
        adc_reader_map: adc_reader 
        port map(

-               clk =>clk_4M17,
+               clk => gpio_clk,
+               divided_clk => clk_4M17,

                adc_reset => adc_reset,
                adc_miso => adc_miso,
                adc_channels => adc_channels,
                adc_reset => adc_reset,
                adc_miso => adc_miso,
                adc_channels => adc_channels,


@@ -289,7 +303,7 @@ begin
                
        );
 
                
        );
 

-       dummy_unused <= gpio2 and gpio3  and gpio4 and
+       dummy_unused <= gpio2 and gpio3 and

                gpio5 and gpio6 and
                gpio12 and gpio13 and gpio14 and
                gpio15 and gpio16 and gpio19 and
                gpio5 and gpio6 and
                gpio12 and gpio13 and gpio14 and
                gpio15 and gpio16 and gpio19 and


@@ -303,12 +317,16 @@ begin
                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
                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
+               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';
 
                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(1) <= pwm_sig(1) and dip_sw(1);
        pwm(2) <= pwm_sig(2) and dip_sw(2);


@@ -343,22 +361,22 @@ begin
                wait until (gpio_clk'event and gpio_clk='1');
                
                --SCLK edge detection
                wait until (gpio_clk'event and gpio_clk='1');
                
                --SCLK edge detection

-               spiclk_old(0)<=gpio11;
+               spiclk_old(0)<=spi_clk;

                spiclk_old(1)<=spiclk_old(0);
                
                --SS edge detection
                spiclk_old(1)<=spiclk_old(0);
                
                --SS edge detection

-               ce0_old(0)<=gpio7;
+               ce0_old(0)<=spi_ce;

                ce0_old(1)<=ce0_old(0);
                
                if (spiclk_old="01") then --rising edge, faze cteni
                ce0_old(1)<=ce0_old(0);
                
                if (spiclk_old="01") then --rising edge, faze cteni

-                       if (gpio7 = '0') then             -- SPI CS must be selected
+                       if (spi_ce = '0') then             -- SPI CS must be selected

                                -- shift serial data into dat_reg on each rising edge
                                -- of SCK, MSB first
                                -- shift serial data into dat_reg on each rising edge
                                -- of SCK, MSB first

-                               dat_reg(127 downto 0) <= dat_reg(126 downto 0) & gpio10;
+                               dat_reg(127 downto 0) <= dat_reg(126 downto 0) & spi_mosi;

                                end if;
                elsif (spiclk_old="10" ) then --falling edge, faze zapisu
                                end if;
                elsif (spiclk_old="10" ) then --falling edge, faze zapisu

-                       if (gpio7 = '0') then
-                               gpio9 <= dat_reg(127); --zapisujeme nejdriv MSB
+                       if (spi_ce = '0') then
+                               spi_miso <= dat_reg(127); --zapisujeme nejdriv MSB

                        end if;
                end if;
                
                        end if;
                end if;
                


@@ -372,6 +390,7 @@ begin
                        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
                        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

                        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';
                        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';