use work.qcounter.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: 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: out 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
- );
+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: 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: out 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
+);
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 spiclk_old_lvl: std_logic :='0'; --pro detekci hrany SPI hodin
signal pwm_in, pwm_dir_in: std_logic;
signal spi_clk: std_logic;
signal gpio_clk: std_logic;
signal dat_reg : STD_LOGIC_VECTOR (7 downto 0):=(others=>'0'); --registr pro SPI
+ signal position: std_logic_vector(31 downto 0); --pozice z qcounteru
-- attribute syn_noprune of gpio2 : signal is true;
-- attribute syn_preserve of gpio2 : signal is true;
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
+ );
+
+
-- pll: pll50to200
-- port map (
-- powerdown => '1',
projects / fpga / rpi-motor-control.git / blobdiff