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pluto_hdl_adi/library/axi_mc_controller/motor_driver.v

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// ***************************************************************************
// ***************************************************************************
// Copyright 2014 - 2017 (c) Analog Devices, Inc. All rights reserved.
//
// Each core or library found in this collection may have its own licensing terms.
// The user should keep this in in mind while exploring these cores.
//
// Redistribution and use in source and binary forms,
// with or without modification of this file, are permitted under the terms of either
// (at the option of the user):
//
// 1. The GNU General Public License version 2 as published by the
// Free Software Foundation, which can be found in the top level directory, or at:
// https://www.gnu.org/licenses/old-licenses/gpl-2.0.en.html
//
// OR
//
// 2. An ADI specific BSD license as noted in the top level directory, or on-line at:
// https://github.com/analogdevicesinc/hdl/blob/dev/LICENSE
//
// ***************************************************************************
// ***************************************************************************
`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
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