X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/6aed1bb7f39be0834cce9351ecc4f09c3c8aef06..e9eadbd980bbd3a738745368c2e8acbe189b79b4:/pmsm-control/rpi_mc_simple_dc.vhdl

diff --git a/pmsm-control/rpi_mc_simple_dc.vhdl b/pmsm-control/rpi_mc_simple_dc.vhdl
index 0ff098e..1e06af9 100644
--- a/pmsm-control/rpi_mc_simple_dc.vhdl
+++ b/pmsm-control/rpi_mc_simple_dc.vhdl
@@ -16,6 +16,9 @@ use ieee.numeric_std.all;
 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
@@ -113,15 +116,46 @@ 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,r1,r2,r3,r4,r5,r6,r7,r8,r9,r10,r11,r12,r13,r14,reset);
-	signal state : state_type;
+	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;
+	
+	component div8 is
+	port (
+		--reset: in std_logic;
+		clk_in: in std_logic;
+		clk_out: out std_logic
+	);
+	end component;
+	
+	component adc_reader is
+	port (
+		clk: in std_logic;					--input clk
+		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_sclk: out std_logic; 				--spi clk
+		adc_scs: out std_logic;					--spi slave select
+		adc_mosi: out std_logic					--spi master out slave in
+	
+	);
+	end component;
 	
-	type channel_type is (ch0, ch1, ch2);
 	
-	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
@@ -131,6 +165,22 @@ architecture behavioral of rpi_mc_simple_dc is
 	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;
+	
+	signal clk_3M1: std_logic;
+	
 	
 	
 	--  attribute syn_noprune of gpio2 : signal is true;
@@ -164,6 +214,50 @@ begin
 		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;
+	
+	
+	div8_map: div8 
+	port map(
+		--reset => income_data_valid,
+		clk_in => gpio_clk,
+		clk_out => clk_3M1
+	);
+	
+	adc_reader_map: adc_reader 
+	port map(
+		clk =>clk_3M1,
+		adc_reset => adc_reset,
+		adc_miso => adc_miso,
+		adc_channels => adc_channels,
+		adc_sclk => adc_sclk,
+		adc_scs => adc_scs,
+		adc_mosi => adc_mosi
+		
+	);
+
+	
 	
 	--   pll: pll50to200
 	--     port map (
@@ -197,14 +291,26 @@ begin
 	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) <= '1';
+	--shdn(3) <= '0';
 
+	--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
@@ -234,163 +340,28 @@ 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
+			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
 			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);
+			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);
+			--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);
+			-- 12 + 11 Unused
+			pwm_match(3)(pwm_width-1 downto 0)<=dat_reg(10 downto 0);
+			income_data_valid<='1';
 		end if;
 	end process;
-	
-	process 
-		variable data_ready : std_logic;
-		variable channel: channel_type;
-	begin
-		wait until (gpio_clk'event and gpio_clk='1');
-		case state is
-			when reset=>
-				adc_scs<='1'; --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:=ch0;
-			when f1=>
-				adc_scs<='0'; --active-high SS
-				adc_sclk<='0'; --clk
-				adc_mosi<='1'; --start bit
-				state<=r1; --next state
-			when r1=> 	--rising edge
-				adc_sclk<='1';
-				adc_data(5)<=adc_miso;
-				state<=f2;
-			when f2=> --2nd falling edge
-				adc_sclk<='0';
-				adc_mosi<=adc_address(8); --A2 address
-				state<=r2;
-			when r2=> --rising edge
-				adc_sclk<='1';
-				adc_data(4)<=adc_miso;
-				state<=f3;
-			when f3=> --3rd falling edge
-				adc_sclk<='0';
-				adc_mosi<=adc_address(7); --A1 address
-				state<=r3;
-			when r3=> --rising edge
-				adc_sclk<='1';
-				adc_data(3)<=adc_miso;
-				state<=f4;	
-			when f4=> --4th falling edge
-				adc_sclk<='0';
-				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';
-				adc_data(2)<=adc_miso;
-				state<=f5;	
-			when f5=> --5th falling edge
-				adc_sclk<='0';
-				adc_mosi<='0'; --MODE (LOW -12bit)
-				state<=r5;
-			when r5=> --rising edge
-				adc_sclk<='1';
-				adc_data(1)<=adc_miso;
-				state<=f6;	
-			when f6=> --6th falling edge
-				adc_sclk<='0';
-				adc_mosi<='1'; --SGL/DIF (HIGH - SGL=Single Ended)
-				state<=r6;
-			when r6=> --rising edge
-				adc_sclk<='1';
-				adc_data(0)<=adc_miso;
-				state<=f7;		
-			when f7=> -- 7th falling edge
-				adc_sclk<='0';
-				adc_mosi<='0'; --PD1 (power down - PD1=PD0=0 -> power down between conversion)
-				state<=r7;
-			when r7=> --rising edge, data ready
-				adc_sclk<='1';
-				if (data_ready='1') then
-					case channel is
-						when ch0=>
-							--adc_channels(35 downto 24)<=adc_data(11 downto 0);
-							adc_channels(35 downto 24)<=(others=>'0');
-							channel:=ch1;
-						when ch1=>
-							--adc_channels(23 downto 12)<=adc_data(11 downto 0);
-							adc_channels(23 downto 12)<=(others=>'1');
-							channel:=ch2;
-						when ch2=>
-							--adc_channels(11 downto 0)<=adc_data(11 downto 0);
-							adc_channels(11 downto 0)<=(others=>'0');
-							channel:=ch0;
-					end case;
-				end if;
-				data_ready:='1';
-				state<=f8;	
-			when f8=> --8th falling edge
-				adc_sclk<='0';
-				adc_mosi<='0'; --PD0
-				state<=r8;
-			when r8=> --rising edge
-				adc_sclk<='1';
-				state<=f9;
-			when f9=> --busy state between conversion, 9th falling edge
-				adc_sclk<='0';
-				state<=r9;
-			when r9=>  --10th rising edge
-				adc_sclk<='1';
-				adc_data(11)<=adc_miso;
-				state<=f10;
-			when f10=>
-				adc_sclk<='0';
-				state<=r10;
-			when r10=>  --11th rising edge
-				adc_sclk<='1';
-				adc_data(10)<=adc_miso;
-				state<=f11;
-			when f11=>
-				adc_sclk<='0';
-				state<=r11;
-			when r11=>  --12th rising edge
-				adc_sclk<='1';
-				adc_data(9)<=adc_miso;
-				state<=f12;
-			when f12=>
-				adc_sclk<='0';
-				state<=r12;
-			when r12=>  --13th rising edge
-				adc_sclk<='1';
-				adc_data(8)<=adc_miso;
-				state<=f13;
-			when f13=>
-				adc_sclk<='0';
-				state<=r13;
-			when r13=>  --14th rising edge
-				adc_sclk<='1';
-				adc_data(7)<=adc_miso;
-				state<=f14;
-			when f14=>
-				adc_sclk<='0';
-				--for rising edge detection in next cycle
-				adc_rst_old(0)<=adc_reset;
-				adc_rst_old(1)<=adc_rst_old(0);
-				state<=r14;
-			when r14=> --15th rising edge
-				adc_sclk<='1';
-				adc_data(6)<=adc_miso;
-				if (adc_rst_old="01") then --we check rising edge of reset 
-					state<=reset;
-				else
-					state<=f1;
-				end if;
-		end case;
-	end process;
 			
-	
-		
 end behavioral;