use work.util.all;
entity rpi_mc_simple_dc is
+generic(
+ pwm_width : natural:=11
+ );
port (
gpio2: in std_logic; -- SDA
gpio3: in std_logic; -- SCL
);
end component;
+ 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;
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;
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 (
rs485_dir <= '0';
- shdn(1) <= '0';
- shdn(2) <= '0';
- shdn(3) <= '1';
-
- pwm(1) <= '0';
- pwm(2) <= '0';
- pwm(3) <= '0';
+ --shdn(1) <= '0';
+ --shdn(2) <= '0';
+ --shdn(3) <= '1';
+ --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
--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
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;