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pluto_hdl_adi/library/axi_mc_controller/motor_driver.v

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motor_control: Changed controller to PID controller. Some estetic changes
2014-04-28 14:57:51 +00:00
// -----------------------------------------------------------------------------
//
// Copyright 2014(c) Analog Devices, Inc.
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
// - Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// - Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in
// the documentation and/or other materials provided with the
// distribution.
// - Neither the name of Analog Devices, Inc. nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
// - The use of this software may or may not infringe the patent rights
// of one or more patent holders. This license does not release you
// from the requirement that you obtain separate licenses from these
// patent holders to use this software.
// - Use of the software either in source or binary form, must be run
// on or directly connected to an Analog Devices Inc. component.
//
// THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR IMPLIED
// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT, MERCHANTABILITY
// AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
// IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// -----------------------------------------------------------------------------
// FILE NAME : motor_driver.v
// MODULE NAME :motor_driver
// AUTHOR : acozma
// AUTHOR'S EMAIL : andrei.cozma@analog.com
//
// -----------------------------------------------------------------------------
`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];
//------------------------------------------------------------------------------
//----------- Local Parameters -------------------------------------------------
//------------------------------------------------------------------------------
localparam OFF = 3'b001;
localparam ALIGN = 3'b010;
localparam RUN = 3'b100;
localparam [PWMBW:0] ALIGN_PWM_DUTY = 2**(PWMBW) + 2**(PWMBW-3);
localparam [15:0] ALIGN_TIME = 16'h4000;
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};
//------------------------------------------------------------------------------
//----------- 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 AH_o = commutation_table[0] == 2'd1 ? ~pwm_s : commutation_table[0] == -2'd1 ? pwm_s : 1;
assign AL_o = commutation_table[0] == 2'd1 ? pwm_s : commutation_table[0] == -2'd1 ? ~pwm_s : 1;
assign BH_o = commutation_table[1] == 2'd1 ? ~pwm_s : commutation_table[1] == -2'd1 ? pwm_s : 1;
assign BL_o = commutation_table[1] == 2'd1 ? pwm_s : commutation_table[1] == -2'd1 ? ~pwm_s : 1;
assign CH_o = commutation_table[2] == 2'd1 ? ~pwm_s : commutation_table[2] == -2'd1 ? pwm_s : 1;
assign CL_o = commutation_table[2] == 2'd1 ? pwm_s : commutation_table[2] == -2'd1 ? ~pwm_s : 1;
//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