Added reading of irc_index position.

[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 1e06af923d5c14d9c8e8a32111afc01c16d406b8..45ea914ac46af22bba59f04304c3b76918f55d25 100644 (file)
--- a/pmsm-control/rpi_pmsm_control.vhdl
+++ b/pmsm-control/rpi_pmsm_control.vhdl
@@ -149,20 +149,23 @@ architecture behavioral of rpi_mc_simple_dc is
                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
+               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_reset : std_logic;
-       signal adc_channels: std_logic_vector(35 downto 0);
+       signal adc_channels: std_logic_vector(71 downto 0);
+       signal adc_m_count: std_logic_vector(8 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 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
@@ -176,6 +179,7 @@ architecture behavioral of rpi_mc_simple_dc is
        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;
        
@@ -232,7 +236,7 @@ begin
                        match => pwm_match(i),
                        count => pwm_count,
                        -- outputs
-                       out_p => pwm(i),                                --positive signal
+                       out_p => pwm_sig(i),                            --positive signal
                        out_n => shdn(i)                                --reverse signal is in shutdown mode
                );
        end generate;
@@ -253,7 +257,8 @@ begin
                adc_channels => adc_channels,
                adc_sclk => adc_sclk,
                adc_scs => adc_scs,
-               adc_mosi => adc_mosi
+               adc_mosi => adc_mosi,
+               measur_count => adc_m_count
                
        );
 
@@ -291,13 +296,16 @@ begin
        rs485_dir <= '0';
 
 
-       --shdn(1) <= '0';
-       --shdn(2) <= '1';
-       --shdn(3) <= '0';
-
-       --pwm(1) <= '0';
-       --pwm(2) <= '0';
-       --pwm(3) <= '0';
+       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 (irc_i'event and irc_i='1');
+               index_position(11 downto 0)<=position(11 downto 0);
+       end process;
        
        process
        begin
@@ -329,11 +337,11 @@ begin
                        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;
+                               dat_reg(127 downto 0) <= dat_reg(126 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
+                               gpio9 <= dat_reg(127); --zapisujeme nejdriv MSB
                        end if;
                end if;
                
@@ -341,24 +349,22 @@ begin
                --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
+                       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
                        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);
+                       pwm_en_p(1 to 3)<=dat_reg(126 downto 124);
+                       pwm_en_n(1 to 3)<=dat_reg(123 downto 121);
                        --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);
+                       pwm_match(1)(pwm_width-1 downto 0)<=dat_reg(66 downto 56);
+                       pwm_match(2)(pwm_width-1 downto 0)<=dat_reg(55 downto 45);
                        -- 12 + 11 Unused
-                       pwm_match(3)(pwm_width-1 downto 0)<=dat_reg(10 downto 0);
+                       pwm_match(3)(pwm_width-1 downto 0)<=dat_reg(42 downto 32);
                        income_data_valid<='1';
                end if;
        end process;