From 1c8eb36a8a3c7e271cc07ee6d25120c950fb0160 Mon Sep 17 00:00:00 2001
From: Martin Prudek <prudemar@fel.cvut.cz>
Date: Sun, 4 Oct 2015 16:34:59 +0200
Subject: [PATCH] Added UNTESTED version of spi-commands-lost detection.

---
 pmsm-control/div128.vhdl           | 46 ++++++++++++++++++++++++++++++
 pmsm-control/div256.vhdl           | 32 +++++++++++++++++++++
 pmsm-control/rpi_pmsm_control.vhdl | 40 ++++++++++++++++++++++++--
 pmsm-control/syn.tcl               |  2 ++
 4 files changed, 117 insertions(+), 3 deletions(-)
 create mode 100644 pmsm-control/div128.vhdl
 create mode 100644 pmsm-control/div256.vhdl

diff --git a/pmsm-control/div128.vhdl b/pmsm-control/div128.vhdl
new file mode 100644
index 0000000..b63d1dd
--- /dev/null
+++ b/pmsm-control/div128.vhdl
@@ -0,0 +1,46 @@
+-- provides frequency division by 12
+-- initialy intended to make 4.17Mhz from 50Mhz 
+
+library ieee;
+use ieee.std_logic_1164.all;
+use ieee.numeric_std.all;
+use work.util.all;
+
+entity div128 is
+
+port (
+	clk_in: in std_logic;
+	rst: in std_logic;
+	fail_safe: out std_logic
+);
+end div128;
+
+
+architecture behavioral of div128 is
+	signal count : std_logic_vector (6 downto 0);
+	signal rst_prev: std_logic;
+begin
+	
+	
+	seq : process 
+	begin
+		wait until (clk_in'event and clk_in='1');
+		rst_prev <= rst;
+		if rst='1' and rst_prev='0' then
+			count <= "0000000";
+			fail_safe <= '0';
+		else
+			count <= std_logic_vector(unsigned(count) + 1);
+		end if;
+		
+		if count = "1111111" then
+			fail_safe <= '1';
+		else 
+			fail_safe <= '0';
+		end if;
+	end process;
+
+	
+		
+end behavioral;
+
diff --git a/pmsm-control/div256.vhdl b/pmsm-control/div256.vhdl
new file mode 100644
index 0000000..26be680
--- /dev/null
+++ b/pmsm-control/div256.vhdl
@@ -0,0 +1,32 @@
+-- provides frequency division by 256 (8 bit divider)
+
+library ieee;
+use ieee.std_logic_1164.all;
+use ieee.numeric_std.all;
+use work.util.all;
+
+entity div256 is
+
+port (
+	clk_in: in std_logic;
+	div256: out std_logic
+);
+end div256;
+
+
+architecture behavioral of div256 is
+	signal count : std_logic_vector (8 downto 0);
+begin
+	
+	div256 <= count(8);
+	
+	seq : process 
+	begin
+		wait until (clk_in'event and clk_in='1');
+		count <= std_logic_vector(unsigned(count) + 1);
+	end process;
+
+	
+		
+end behavioral;
+
diff --git a/pmsm-control/rpi_pmsm_control.vhdl b/pmsm-control/rpi_pmsm_control.vhdl
index 177029f..22b9f7d 100644
--- a/pmsm-control/rpi_pmsm_control.vhdl
+++ b/pmsm-control/rpi_pmsm_control.vhdl
@@ -181,6 +181,22 @@ architecture behavioral of rpi_pmsm_control is
 	);
 	end component;
 	
+	--resetovatelna delicka
+	component div128 is
+	port (
+		clk_in: in std_logic;
+		rst: in std_logic;
+		fail_safe: out std_logic
+	);
+	end component;
+	
+	component div256 is
+	port (
+		clk_in: in std_logic;
+		div256: out std_logic
+	);
+	end component;
+	
 	
 	signal adc_channels: std_logic_vector(71 downto 0);
 	signal adc_m_count: std_logic_vector(8 downto 0);
@@ -229,6 +245,11 @@ architecture behavioral of rpi_pmsm_control is
 	signal irc_a_dff3: std_logic;
 	signal irc_b_dff3: std_logic;
 	
+	--16k3 clk signal
+	signal clk_16k3: std_logic;
+	--detekce prichazejicich prikazu po SPI
+	signal spi_command_lost: std_logic;
+	
 	--  attribute syn_noprune of gpio2 : signal is true;
 	--  attribute syn_preserve of gpio2 : signal is true;
 	--  attribute syn_keep of gpio2 : signal is true;
@@ -306,6 +327,19 @@ begin
 		q_out_o   =>clk_4M17
 	);
 	
+	div256_map: div256 
+	port map(
+		clk_in => clk_4M17,
+		div256 => clk_16k3
+	);
+	
+	div128_map: div128 
+	port map(
+		clk_in => clk_16k3,
+		rst => income_data_valid,
+		fail_safe => spi_command_lost
+);
+
 	-- ADC needs 3.2 MHz clk when powered from +5V Vcc
 	--	     2.0 MHz clk when +2.7V Vcc
 	-- on the input is 4.17Mhz,but this frequency is divided inside adc_reader by 2 to 2.08 Mhz,
@@ -363,9 +397,9 @@ begin
 	spi_mosi <= gpio10;
 	gpio9 <= spi_miso;
 
-	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);
+	pwm(1) <= pwm_sig(1) and dip_sw(1) and not spi_command_lost;
+	pwm(2) <= pwm_sig(2) and dip_sw(2) and not spi_command_lost;
+	pwm(3) <= pwm_sig(3) and dip_sw(3) and not spi_command_lost;
 	
 		
 	process
diff --git a/pmsm-control/syn.tcl b/pmsm-control/syn.tcl
index c600086..8052141 100644
--- a/pmsm-control/syn.tcl
+++ b/pmsm-control/syn.tcl
@@ -11,6 +11,8 @@ add_file mcpwm.vhdl
 add_file cnt_div.vhdl
 add_file adc_reader.vhdl
 add_file dff3.vhdl
+add_file div128.vhdl
+add_file div256.vhdl
 
 # top-level
 add_file rpi_pmsm_control.vhdl
-- 
2.39.2