Archived
first commit after restructuring
This commit is contained in:
@@ -0,0 +1,265 @@
|
||||
// ***************************************************************************
|
||||
// ***************************************************************************
|
||||
// Copyright 2014 - 2017 (c) Analog Devices, Inc. All rights reserved.
|
||||
//
|
||||
// In this HDL repository, there are many different and unique modules, consisting
|
||||
// of various HDL (Verilog or VHDL) components. The individual modules are
|
||||
// developed independently, and may be accompanied by separate and unique license
|
||||
// terms.
|
||||
//
|
||||
// The user should read each of these license terms, and understand the
|
||||
// freedoms and responsibilities that he or she has by using this source/core.
|
||||
//
|
||||
// This core is distributed in the hope that it will be useful, but WITHOUT ANY
|
||||
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
|
||||
// A PARTICULAR PURPOSE.
|
||||
//
|
||||
// Redistribution and use of source or resulting binaries, with or without modification
|
||||
// of this file, are permitted under one of the following two license terms:
|
||||
//
|
||||
// 1. The GNU General Public License version 2 as published by the
|
||||
// Free Software Foundation, which can be found in the top level directory
|
||||
// of this repository (LICENSE_GPL2), and also online at:
|
||||
// <https://www.gnu.org/licenses/old-licenses/gpl-2.0.html>
|
||||
//
|
||||
// OR
|
||||
//
|
||||
// 2. An ADI specific BSD license, which can be found in the top level directory
|
||||
// of this repository (LICENSE_ADIBSD), and also on-line at:
|
||||
// https://github.com/analogdevicesinc/hdl/blob/master/LICENSE_ADIBSD
|
||||
// This will allow to generate bit files and not release the source code,
|
||||
// as long as it attaches to an ADI device.
|
||||
//
|
||||
// ***************************************************************************
|
||||
// ***************************************************************************
|
||||
`timescale 1ns / 1ps
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
//----------- Module Declaration -----------------------------------------------
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
module motor_driver
|
||||
|
||||
//----------- Parameters Declarations -------------------------------------------
|
||||
#(
|
||||
parameter PWM_BITS = 11,
|
||||
localparam PWMBW = PWM_BITS - 1
|
||||
)
|
||||
//----------- Ports Declarations -----------------------------------------------
|
||||
(
|
||||
input clk_i,
|
||||
input pwm_clk_i,
|
||||
input rst_n_i,
|
||||
input run_i,
|
||||
input star_delta_i, // 1 STAR, 0 DELTA
|
||||
input dir_i, // 1 CW, 0 CCW
|
||||
input [2:0] position_i,
|
||||
input [PWMBW:0] pwm_duty_i,
|
||||
output AH_o,
|
||||
output BH_o,
|
||||
output CH_o,
|
||||
output AL_o,
|
||||
output BL_o,
|
||||
output CL_o
|
||||
);
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
//----------- Registers Declarations -------------------------------------------
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
reg pwm_s;
|
||||
reg [ 3:0] motor_state;
|
||||
reg [15:0] align_counter;
|
||||
reg [ 2:0] position_s;
|
||||
reg [PWMBW:0] pwm_cnt;
|
||||
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
//----------- Wires Declarations -----------------------------------------------
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
wire align_complete;
|
||||
wire [PWMBW:0] pwm_duty_s;
|
||||
wire [1:0] commutation_table[0:2];
|
||||
|
||||
wire pwm_al_s;
|
||||
wire pwm_ah_s;
|
||||
wire pwm_bl_s;
|
||||
wire pwm_bh_s;
|
||||
wire pwm_cl_s;
|
||||
wire pwm_ch_s;
|
||||
wire pwmd_al_s;
|
||||
wire pwmd_ah_s;
|
||||
wire pwmd_bl_s;
|
||||
wire pwmd_bh_s;
|
||||
wire pwmd_cl_s;
|
||||
wire pwmd_ch_s;
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
//----------- Local Parameters -------------------------------------------------
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
localparam OFF = 3'b001;
|
||||
localparam ALIGN = 3'b010;
|
||||
localparam RUN = 3'b100;
|
||||
localparam DT = 20;
|
||||
|
||||
localparam [PWMBW:0] ALIGN_PWM_DUTY = 2**(PWMBW) + 2**(PWMBW-3);
|
||||
localparam [15:0] ALIGN_TIME = 16'h8000;
|
||||
|
||||
|
||||
localparam [1:0] COMMUTATION_TABLE_DELTA_CW_0[0:5] = { 2'd1,-2'd1, 2'd1,-2'd1, 2'd1,-2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_DELTA_CW_1[0:5] = {-2'd1, 2'd1, 2'd1,-2'd1,-2'd1, 2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_DELTA_CW_2[0:5] = {-2'd1,-2'd1,-2'd1, 2'd1, 2'd1, 2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_DELTA_CCW_0[0:5] = {-2'd1, 2'd1,-2'd1, 2'd1,-2'd1, 2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_DELTA_CCW_1[0:5] = { 2'd1,-2'd1,-2'd1, 2'd1, 2'd1,-2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_DELTA_CCW_2[0:5] = { 2'd1, 2'd1, 2'd1,-2'd1,-2'd1,-2'd1};
|
||||
|
||||
localparam [1:0] COMMUTATION_TABLE_STAR_CW_0[0:5] = { 2'd1,-2'd1, 2'd0, 2'd0, 2'd1,-2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_STAR_CW_1[0:5] = { 2'd0, 2'd1, 2'd1,-2'd1,-2'd1, 2'd0};
|
||||
localparam [1:0] COMMUTATION_TABLE_STAR_CW_2[0:5] = {-2'd1, 2'd0,-2'd1, 2'd1, 2'd0, 2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_STAR_CCW_0[0:5] = {-2'd1, 2'd1, 2'd0, 2'd0, -2'd1, 2'd1};
|
||||
localparam [1:0] COMMUTATION_TABLE_STAR_CCW_1[0:5] = { 2'd0,-2'd1,-2'd1, 2'd1, 2'd1, 2'd0};
|
||||
localparam [1:0] COMMUTATION_TABLE_STAR_CCW_2[0:5] = { 2'd1, 2'd0, 2'd1,-2'd1, 2'd0,-2'd1};
|
||||
|
||||
delay #(
|
||||
.DELAY(DT))
|
||||
delay_ah_i (
|
||||
.clk_i (clk_i),
|
||||
.rst_n_i (pwm_ah_s),
|
||||
.sig_i (pwm_ah_s),
|
||||
.sig_o (pwmd_ah_s));
|
||||
delay #(
|
||||
.DELAY(DT))
|
||||
delay_al_i (
|
||||
.clk_i (clk_i),
|
||||
.rst_n_i (pwm_al_s),
|
||||
.sig_i (pwm_al_s),
|
||||
.sig_o (pwmd_al_s));
|
||||
|
||||
delay #(
|
||||
.DELAY(DT))
|
||||
delay_bh_i (
|
||||
.clk_i (clk_i),
|
||||
.rst_n_i (pwm_bh_s),
|
||||
.sig_i (pwm_bh_s),
|
||||
.sig_o (pwmd_bh_s));
|
||||
delay #(
|
||||
.DELAY(DT))
|
||||
delay_bl_i (
|
||||
.clk_i (clk_i),
|
||||
.rst_n_i (pwm_bl_s),
|
||||
.sig_i (pwm_bl_s),
|
||||
.sig_o (pwmd_bl_s));
|
||||
|
||||
delay #(
|
||||
.DELAY(DT))
|
||||
delay_ch_i (
|
||||
.clk_i (clk_i),
|
||||
.rst_n_i (pwm_ch_s),
|
||||
.sig_i (pwm_ch_s),
|
||||
.sig_o (pwmd_ch_s));
|
||||
delay #(
|
||||
.DELAY(DT))
|
||||
delay_cl_i (
|
||||
.clk_i (clk_i),
|
||||
.rst_n_i (pwm_cl_s),
|
||||
.sig_i (pwm_cl_s),
|
||||
.sig_o (pwmd_cl_s));
|
||||
|
||||
//------------------------------------------------------------------------------
|
||||
//----------- Assign/Always Blocks ---------------------------------------------
|
||||
//------------------------------------------------------------------------------
|
||||
|
||||
assign align_complete = align_counter < ALIGN_TIME ? 0 : 1;
|
||||
assign pwm_duty_s = motor_state == OFF ? 0 :
|
||||
motor_state == ALIGN ? ALIGN_PWM_DUTY : pwm_duty_i;
|
||||
|
||||
assign commutation_table[0] = star_delta_i ?
|
||||
dir_i ? COMMUTATION_TABLE_STAR_CW_0[position_s] : COMMUTATION_TABLE_STAR_CCW_0[position_s] :
|
||||
dir_i ? COMMUTATION_TABLE_DELTA_CW_0[position_s] : COMMUTATION_TABLE_DELTA_CCW_0[position_s];
|
||||
assign commutation_table[1] = star_delta_i ?
|
||||
dir_i ? COMMUTATION_TABLE_STAR_CW_1[position_s] : COMMUTATION_TABLE_STAR_CCW_1[position_s] :
|
||||
dir_i ? COMMUTATION_TABLE_DELTA_CW_1[position_s] : COMMUTATION_TABLE_DELTA_CCW_1[position_s];
|
||||
assign commutation_table[2] = star_delta_i ?
|
||||
dir_i ? COMMUTATION_TABLE_STAR_CW_2[position_s] : COMMUTATION_TABLE_STAR_CCW_2[position_s] :
|
||||
dir_i ? COMMUTATION_TABLE_DELTA_CW_2[position_s] : COMMUTATION_TABLE_DELTA_CCW_2[position_s];
|
||||
|
||||
//Motor Phases Control
|
||||
|
||||
assign pwm_ah_s = commutation_table[0] == 2'd1 ? ~pwm_s : commutation_table[0] == -2'd1 ? pwm_s : 0;
|
||||
assign pwm_al_s = commutation_table[0] == 2'd1 ? pwm_s : commutation_table[0] == -2'd1 ? ~pwm_s : 0;
|
||||
|
||||
assign pwm_bh_s = commutation_table[1] == 2'd1 ? ~pwm_s : commutation_table[1] == -2'd1 ? pwm_s : 0;
|
||||
assign pwm_bl_s = commutation_table[1] == 2'd1 ? pwm_s : commutation_table[1] == -2'd1 ? ~pwm_s : 0;
|
||||
|
||||
assign pwm_ch_s = commutation_table[2] == 2'd1 ? ~pwm_s : commutation_table[2] == -2'd1 ? pwm_s : 0;
|
||||
assign pwm_cl_s = commutation_table[2] == 2'd1 ? pwm_s : commutation_table[2] == -2'd1 ? ~pwm_s : 0;
|
||||
|
||||
assign AL_o = pwmd_ah_s? 0 : pwmd_al_s;
|
||||
assign AH_o = pwmd_ah_s;
|
||||
|
||||
assign BL_o = pwmd_bh_s ? 0 : pwmd_bl_s;
|
||||
assign BH_o = pwmd_bh_s;
|
||||
|
||||
assign CL_o = pwmd_ch_s ? 0 : pwmd_cl_s;
|
||||
assign CH_o = pwmd_ch_s;
|
||||
|
||||
//Control the current motor state
|
||||
always @(posedge clk_i)
|
||||
begin
|
||||
if(rst_n_i == 1'b0)
|
||||
begin
|
||||
motor_state <= OFF;
|
||||
align_counter <= 0;
|
||||
end
|
||||
else
|
||||
begin
|
||||
case(motor_state)
|
||||
OFF:
|
||||
begin
|
||||
position_s <= 0;
|
||||
motor_state <= (run_i == 1'b1 ? ALIGN : OFF);
|
||||
end
|
||||
ALIGN:
|
||||
begin
|
||||
position_s <= 0;
|
||||
if(align_complete == 1'b1)
|
||||
begin
|
||||
motor_state <= (run_i == 1'b1 ? RUN : OFF);
|
||||
end
|
||||
else
|
||||
begin
|
||||
motor_state <= (run_i == 1'b1 ? ALIGN : OFF);
|
||||
end
|
||||
end
|
||||
RUN:
|
||||
begin
|
||||
position_s <= position_i - 1;
|
||||
motor_state <= (run_i == 1'b1 ? RUN : OFF);
|
||||
end
|
||||
default:
|
||||
begin
|
||||
motor_state <= OFF;
|
||||
end
|
||||
endcase
|
||||
align_counter <= motor_state == ALIGN ? align_counter + 1 : 0;
|
||||
end
|
||||
end
|
||||
|
||||
//Generate the PWM signal
|
||||
|
||||
always @(posedge pwm_clk_i)
|
||||
begin
|
||||
if((rst_n_i == 1'b0))
|
||||
begin
|
||||
pwm_cnt <= 0;
|
||||
end
|
||||
else
|
||||
begin
|
||||
pwm_cnt <= pwm_cnt < (2**PWM_BITS - 1) ? pwm_cnt + 1 : 0;
|
||||
end
|
||||
pwm_s <= pwm_cnt < pwm_duty_s ? 1 : 0;
|
||||
end
|
||||
|
||||
endmodule
|
||||
Reference in New Issue
Block a user