ADC state machine upgraded (reset added), ready for testing.
[fpga/rpi-motor-control.git] / pmsm-control / rpi_mc_simple_dc.vhdl
index 35de1b8..56401e5 100644 (file)
@@ -113,9 +113,13 @@ architecture behavioral of rpi_mc_simple_dc is
        );
        end component;
 
-       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);
+       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,reset);
        signal state : state_type;
        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;
@@ -226,21 +230,30 @@ begin
                
                        
                --sestupna hrana SS, pripravime data pro prenos
-               if ((ce0_old = "10") ) then 
+               if (ce0_old = "10" ) then 
                        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 0) <= (others => '1'); --zbytek zatim nuly
-
+                       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
+               elsif (ce0_old = "01") then --rising edge of SS, we should read the data
+                       adc_reset<=dat_reg(95);
                end if;
        end process;
        
        process 
+               variable data_ready : std_logic;
+               variable channel: std_logic_vector(1 downto 0);
        begin
                wait until (gpio_clk'event and gpio_clk='1');
                case state is
+                       when reset=>
+                               adc_scs<='0'; --active-high SS
+                               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:="00";
                        when f1=>
                                adc_sclk<='0'; --clk
-                               adc_scs<='0'; --active-high SS
                                adc_mosi<='1'; --start bit
                                state<=r1; --next state
                        when r1=>       --rising edge
@@ -249,7 +262,7 @@ begin
                                state<=f2;
                        when f2=> --2nd falling edge
                                adc_sclk<='0';
-                               adc_mosi<='0'; --A2 address
+                               adc_mosi<=adc_address(8); --A2 address
                                state<=r2;
                        when r2=> --rising edge
                                adc_sclk<='1';
@@ -257,7 +270,7 @@ begin
                                state<=f3;
                        when f3=> --3rd falling edge
                                adc_sclk<='0';
-                               adc_mosi<='0'; --A1 address
+                               adc_mosi<=adc_address(7); --A1 address
                                state<=r3;
                        when r3=> --rising edge
                                adc_sclk<='1';
@@ -265,7 +278,9 @@ begin
                                state<=f4;      
                        when f4=> --4th falling edge
                                adc_sclk<='0';
-                               adc_mosi<='1'; --A0 address
+                               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';
@@ -293,6 +308,20 @@ begin
                                state<=r7;
                        when r7=> --rising edge, data ready
                                adc_sclk<='1';
+                               if (data_ready='1') then
+                                       case channel is
+                                               when "00"=>
+                                                       adc_channels(35 downto 24)<=adc_data(11 downto 0);
+                                                       channel:="01";
+                                               when "01"=>
+                                                       adc_channels(23 downto 12)<=adc_data(11 downto 0);
+                                                       channel:="10";
+                                               when "10"=>
+                                                       adc_channels(11 downto 0)<=adc_data(11 downto 0);
+                                                       channel:="00";
+                                       end case;
+                               end if;
+                               data_ready:='1';
                                state<=f8;      
                        when f8=> --8th falling edge
                                adc_sclk<='0';
@@ -340,8 +369,15 @@ begin
                                adc_sclk<='0';
                                state<=r14;
                        when r14=> --15th rising edge
+                               adc_sclk<='1';
                                adc_data(6)<=adc_miso;
-                               state<=f1;
+                               adc_rst_old(0)<=adc_reset;
+                               adc_rst_old(1)<=adc_rst_old(0);
+                               if (adc_rst_old="01") then --we check rising edge of reset 
+                                       state<=reset;
+                               else
+                                       state<=f1;
+                               end if;
                end case;
        end process;