274 lines
9.9 KiB
Verilog
274 lines
9.9 KiB
Verilog
// -----------------------------------------------------------------------------
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//
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// Copyright 2014(c) Analog Devices, Inc.
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//
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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// - Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// - Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in
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// the documentation and/or other materials provided with the
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// distribution.
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// - Neither the name of Analog Devices, Inc. nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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// - The use of this software may or may not infringe the patent rights
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// of one or more patent holders. This license does not release you
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// from the requirement that you obtain separate licenses from these
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// patent holders to use this software.
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// - Use of the software either in source or binary form, must be run
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// on or directly connected to an Analog Devices Inc. component.
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//
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// THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR IMPLIED
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// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT, MERCHANTABILITY
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// AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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// IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// -----------------------------------------------------------------------------
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// FILE NAME : motor_driver.v
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// MODULE NAME :motor_driver
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// AUTHOR : acozma
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// AUTHOR'S EMAIL : andrei.cozma@analog.com
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//
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// -----------------------------------------------------------------------------
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`timescale 1ns / 1ps
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//------------------------------------------------------------------------------
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//----------- Module Declaration -----------------------------------------------
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//------------------------------------------------------------------------------
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module motor_driver
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//----------- Parameters Declarations -------------------------------------------
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#(
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parameter PWM_BITS = 11,
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localparam PWMBW = PWM_BITS - 1
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)
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//----------- Ports Declarations -----------------------------------------------
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(
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input clk_i,
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input pwm_clk_i,
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input rst_n_i,
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input run_i,
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input star_delta_i, // 1 STAR, 0 DELTA
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input dir_i, // 1 CW, 0 CCW
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input [2:0] position_i,
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input [PWMBW:0] pwm_duty_i,
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output AH_o,
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output BH_o,
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output CH_o,
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output AL_o,
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output BL_o,
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output CL_o
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);
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//------------------------------------------------------------------------------
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//----------- Registers Declarations -------------------------------------------
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//------------------------------------------------------------------------------
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reg pwm_s;
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reg [ 3:0] motor_state;
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reg [15:0] align_counter;
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reg [ 2:0] position_s;
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reg [PWMBW:0] pwm_cnt;
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//------------------------------------------------------------------------------
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//----------- Wires Declarations -----------------------------------------------
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//------------------------------------------------------------------------------
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wire align_complete;
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wire [PWMBW:0] pwm_duty_s;
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wire [1:0] commutation_table[0:2];
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wire pwm_al_s;
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wire pwm_ah_s;
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wire pwm_bl_s;
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wire pwm_bh_s;
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wire pwm_cl_s;
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wire pwm_ch_s;
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wire pwmd_al_s;
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wire pwmd_ah_s;
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wire pwmd_bl_s;
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wire pwmd_bh_s;
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wire pwmd_cl_s;
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wire pwmd_ch_s;
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//------------------------------------------------------------------------------
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//----------- Local Parameters -------------------------------------------------
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//------------------------------------------------------------------------------
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localparam OFF = 3'b001;
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localparam ALIGN = 3'b010;
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localparam RUN = 3'b100;
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localparam DT = 20;
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localparam [PWMBW:0] ALIGN_PWM_DUTY = 2**(PWMBW) + 2**(PWMBW-3);
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localparam [15:0] ALIGN_TIME = 16'h8000;
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localparam [1:0] COMMUTATION_TABLE_DELTA_CW_0[0:5] = { 2'd1,-2'd1, 2'd1,-2'd1, 2'd1,-2'd1};
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localparam [1:0] COMMUTATION_TABLE_DELTA_CW_1[0:5] = {-2'd1, 2'd1, 2'd1,-2'd1,-2'd1, 2'd1};
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localparam [1:0] COMMUTATION_TABLE_DELTA_CW_2[0:5] = {-2'd1,-2'd1,-2'd1, 2'd1, 2'd1, 2'd1};
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localparam [1:0] COMMUTATION_TABLE_DELTA_CCW_0[0:5] = {-2'd1, 2'd1,-2'd1, 2'd1,-2'd1, 2'd1};
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localparam [1:0] COMMUTATION_TABLE_DELTA_CCW_1[0:5] = { 2'd1,-2'd1,-2'd1, 2'd1, 2'd1,-2'd1};
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localparam [1:0] COMMUTATION_TABLE_DELTA_CCW_2[0:5] = { 2'd1, 2'd1, 2'd1,-2'd1,-2'd1,-2'd1};
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localparam [1:0] COMMUTATION_TABLE_STAR_CW_0[0:5] = { 2'd1,-2'd1, 2'd0, 2'd0, 2'd1,-2'd1};
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localparam [1:0] COMMUTATION_TABLE_STAR_CW_1[0:5] = { 2'd0, 2'd1, 2'd1,-2'd1,-2'd1, 2'd0};
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localparam [1:0] COMMUTATION_TABLE_STAR_CW_2[0:5] = {-2'd1, 2'd0,-2'd1, 2'd1, 2'd0, 2'd1};
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localparam [1:0] COMMUTATION_TABLE_STAR_CCW_0[0:5] = {-2'd1, 2'd1, 2'd0, 2'd0, -2'd1, 2'd1};
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localparam [1:0] COMMUTATION_TABLE_STAR_CCW_1[0:5] = { 2'd0,-2'd1,-2'd1, 2'd1, 2'd1, 2'd0};
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localparam [1:0] COMMUTATION_TABLE_STAR_CCW_2[0:5] = { 2'd1, 2'd0, 2'd1,-2'd1, 2'd0,-2'd1};
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delay #(
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.DELAY(DT))
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delay_ah_i (
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.clk_i (clk_i),
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.rst_n_i (pwm_ah_s),
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.sig_i (pwm_ah_s),
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.sig_o (pwmd_ah_s));
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delay #(
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.DELAY(DT))
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delay_al_i (
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.clk_i (clk_i),
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.rst_n_i (pwm_al_s),
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.sig_i (pwm_al_s),
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.sig_o (pwmd_al_s));
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delay #(
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.DELAY(DT))
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delay_bh_i (
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.clk_i (clk_i),
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.rst_n_i (pwm_bh_s),
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.sig_i (pwm_bh_s),
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.sig_o (pwmd_bh_s));
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delay #(
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.DELAY(DT))
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delay_bl_i (
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.clk_i (clk_i),
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.rst_n_i (pwm_bl_s),
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.sig_i (pwm_bl_s),
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.sig_o (pwmd_bl_s));
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delay #(
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.DELAY(DT))
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delay_ch_i (
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.clk_i (clk_i),
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.rst_n_i (pwm_ch_s),
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.sig_i (pwm_ch_s),
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.sig_o (pwmd_ch_s));
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delay #(
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.DELAY(DT))
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delay_cl_i (
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.clk_i (clk_i),
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.rst_n_i (pwm_cl_s),
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.sig_i (pwm_cl_s),
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.sig_o (pwmd_cl_s));
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//------------------------------------------------------------------------------
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//----------- Assign/Always Blocks ---------------------------------------------
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//------------------------------------------------------------------------------
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assign align_complete = align_counter < ALIGN_TIME ? 0 : 1;
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assign pwm_duty_s = motor_state == OFF ? 0 :
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motor_state == ALIGN ? ALIGN_PWM_DUTY : pwm_duty_i;
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assign commutation_table[0] = star_delta_i ?
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dir_i ? COMMUTATION_TABLE_STAR_CW_0[position_s] : COMMUTATION_TABLE_STAR_CCW_0[position_s] :
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dir_i ? COMMUTATION_TABLE_DELTA_CW_0[position_s] : COMMUTATION_TABLE_DELTA_CCW_0[position_s];
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assign commutation_table[1] = star_delta_i ?
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dir_i ? COMMUTATION_TABLE_STAR_CW_1[position_s] : COMMUTATION_TABLE_STAR_CCW_1[position_s] :
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dir_i ? COMMUTATION_TABLE_DELTA_CW_1[position_s] : COMMUTATION_TABLE_DELTA_CCW_1[position_s];
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assign commutation_table[2] = star_delta_i ?
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dir_i ? COMMUTATION_TABLE_STAR_CW_2[position_s] : COMMUTATION_TABLE_STAR_CCW_2[position_s] :
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dir_i ? COMMUTATION_TABLE_DELTA_CW_2[position_s] : COMMUTATION_TABLE_DELTA_CCW_2[position_s];
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//Motor Phases Control
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assign pwm_ah_s = commutation_table[0] == 2'd1 ? ~pwm_s : commutation_table[0] == -2'd1 ? pwm_s : 0;
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assign pwm_al_s = commutation_table[0] == 2'd1 ? pwm_s : commutation_table[0] == -2'd1 ? ~pwm_s : 0;
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assign pwm_bh_s = commutation_table[1] == 2'd1 ? ~pwm_s : commutation_table[1] == -2'd1 ? pwm_s : 0;
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assign pwm_bl_s = commutation_table[1] == 2'd1 ? pwm_s : commutation_table[1] == -2'd1 ? ~pwm_s : 0;
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assign pwm_ch_s = commutation_table[2] == 2'd1 ? ~pwm_s : commutation_table[2] == -2'd1 ? pwm_s : 0;
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assign pwm_cl_s = commutation_table[2] == 2'd1 ? pwm_s : commutation_table[2] == -2'd1 ? ~pwm_s : 0;
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assign AL_o = pwmd_ah_s? 0 : pwmd_al_s;
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assign AH_o = pwmd_ah_s;
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assign BL_o = pwmd_bh_s ? 0 : pwmd_bl_s;
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assign BH_o = pwmd_bh_s;
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assign CL_o = pwmd_ch_s ? 0 : pwmd_cl_s;
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assign CH_o = pwmd_ch_s;
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//Control the current motor state
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always @(posedge clk_i)
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begin
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if(rst_n_i == 1'b0)
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begin
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motor_state <= OFF;
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align_counter <= 0;
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end
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else
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begin
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case(motor_state)
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OFF:
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begin
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position_s <= 0;
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motor_state <= (run_i == 1'b1 ? ALIGN : OFF);
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end
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ALIGN:
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begin
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position_s <= 0;
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if(align_complete == 1'b1)
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begin
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motor_state <= (run_i == 1'b1 ? RUN : OFF);
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end
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else
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begin
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motor_state <= (run_i == 1'b1 ? ALIGN : OFF);
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end
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end
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RUN:
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begin
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position_s <= position_i - 1;
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motor_state <= (run_i == 1'b1 ? RUN : OFF);
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end
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default:
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begin
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motor_state <= OFF;
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end
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endcase
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align_counter <= motor_state == ALIGN ? align_counter + 1 : 0;
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end
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end
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//Generate the PWM signal
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always @(posedge pwm_clk_i)
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begin
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if((rst_n_i == 1'b0))
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begin
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pwm_cnt <= 0;
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end
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else
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begin
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pwm_cnt <= pwm_cnt < (2**PWM_BITS - 1) ? pwm_cnt + 1 : 0;
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end
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pwm_s <= pwm_cnt < pwm_duty_s ? 1 : 0;
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end
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endmodule
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