pluto_hdl_adi/library/axi_mc_speed/delay_30_degrees.v

229 lines
7.8 KiB
Verilog

// -----------------------------------------------------------------------------
//
// Copyright 2013(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:
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// the documentation and/or other materials provided with the
// distribution.
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// 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.
//
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// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT, MERCHANTABILITY
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// INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// -----------------------------------------------------------------------------
// FILE NAME : delay_30_degrees.v
// MODULE NAME : delay_30_degrees
// AUTHOR : ACostina
// AUTHOR'S EMAIL : adrian.costina@analog.com
// -----------------------------------------------------------------------------
// KEYWORDS : BEMF, Analog Devices, Motor Control
// -----------------------------------------------------------------------------
// PURPOSE : Module used for delaying the BEMF based position signal with 30
// degrees.
// -----------------------------------------------------------------------------
// REUSE ISSUES
// Reset Strategy :
// Clock Domains :
// Critical Timing :
// Test Features :
// Asynchronous I/F :
// Instantiations :
// Synthesizable (y/n) :
// Target Device :
// Other :
// -----------------------------------------------------------------------------
`timescale 1ns / 1ps
module delay_30_degrees
//----------- Paramters Declarations -------------------------------------------
//----------- Ports Declarations -----------------------------------------------
(
input clk_i,
input rst_i,
input [31:0] offset_i, // offset register
input [2:0] position_i, // input position
output reg [2:0] position_o // delayed with 30 degrees position
);
//------------------------------------------------------------------------------
//----------- Local Parameters -------------------------------------------------
//------------------------------------------------------------------------------
localparam MAX_SPEED_COUNT = 32'h1000000;
//State machine
localparam RESET = 6'b000001;
localparam INIT = 6'b000010;
localparam CHANGE_POSITION = 6'b000100;
localparam DELAY_30_DEGREES = 6'b001000;
localparam APPLY_CHANGE = 6'b010000;
localparam IDLE = 6'b100000;
//------------------------------------------------------------------------------
//----------- Registers Declarations -------------------------------------------
//------------------------------------------------------------------------------
reg [5:0] state; // current state
reg [5:0] next_state; // next state
reg [2:0] position_old; // saves the latest position
reg [31:0] speed_count; // counts the current speed of rotation
reg [31:0] speed_divider; // divides the speed of rotation by 2, correspoding to 30 degrees
reg [31:0] delay_count; // Applied the delay to the input signal
//------------------------------------------------------------------------------
//----------- Assign/Always Blocks ---------------------------------------------
//------------------------------------------------------------------------------
// State transitions
always @*
begin
next_state = state;
case (state)
RESET:
begin
next_state = INIT;
end
INIT:
begin
if (position_i != position_old)
begin
next_state = CHANGE_POSITION;
end
end
CHANGE_POSITION:
begin
next_state = DELAY_30_DEGREES;
end
DELAY_30_DEGREES:
begin
if( delay_count > speed_divider)
begin
next_state = APPLY_CHANGE;
end
end
APPLY_CHANGE:
begin
next_state = IDLE;
end
IDLE:
begin
if (position_i != position_old)
begin
next_state = CHANGE_POSITION;
end
end
default:
begin
next_state = RESET;
end
endcase
end
always @(posedge clk_i)
begin
case(state)
RESET:
begin
speed_count <= 0;
speed_divider <= 0;
position_o <= 3'b1;
end
INIT:
begin
if (speed_count < MAX_SPEED_COUNT)
begin
speed_count <= speed_count + 1;
end
end
CHANGE_POSITION:
begin
speed_divider <= speed_count >> 1 ;
speed_count <= 0;
delay_count <= 0;
end
DELAY_30_DEGREES:
begin
if (speed_count < MAX_SPEED_COUNT)
begin
speed_count <= speed_count + 1;
end
delay_count <= delay_count + 1;
end
APPLY_CHANGE:
begin
if (position_i == 3'b101)
begin
position_o <= 100;
end
if (position_i == 3'b100)
begin
position_o <= 110;
end
if (position_i == 3'b110)
begin
position_o <= 010;
end
if (position_i == 3'b010)
begin
position_o <= 011;
end
if (position_i == 3'b011)
begin
position_o <= 001;
end
if (position_i == 3'b001)
begin
position_o <= 101;
end
position_old <= position_i;
if (speed_count < MAX_SPEED_COUNT)
begin
speed_count <= speed_count + 1;
end
end
IDLE:
begin
if (speed_count < MAX_SPEED_COUNT)
begin
speed_count <= speed_count + 1;
end
end
endcase
end
always @ (posedge clk_i)
begin
if(rst_i == 1'b1)
begin
state <= RESET;
end
else
begin
state <= next_state;
end
end
endmodule