axi_mc_controller: updated core to latest axi interface implementation
Adrian Costina
parent
34ffa15b12
commit
7e8e1e4fd0
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@ -42,94 +42,94 @@ module axi_mc_controller
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parameter C_S_AXI_MIN_SIZE = 32'hffff
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parameter C_S_AXI_MIN_SIZE = 32'hffff
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)
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)
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(
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(
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input ref_clk, // 100 MHz
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input ref_clk, // 100 MHz
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input ctrl_data_clk,
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input ctrl_data_clk,
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// physical interface
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// physical interface
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input fmc_m1_fault_i,
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input fmc_m1_fault_i,
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output fmc_m1_en_o,
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output fmc_m1_en_o,
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output pwm_ah_o,
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output pwm_ah_o,
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output pwm_al_o,
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output pwm_al_o,
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output pwm_bh_o,
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output pwm_bh_o,
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output pwm_bl_o,
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output pwm_bl_o,
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output pwm_ch_o,
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output pwm_ch_o,
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output pwm_cl_o,
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output pwm_cl_o,
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output [7:0] gpo_o,
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output [7:0] gpo_o,
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// controller connections
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// controller connections
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input pwm_a_i,
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input pwm_a_i,
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input pwm_b_i,
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input pwm_b_i,
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input pwm_c_i,
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input pwm_c_i,
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input ctrl_data_valid_i,
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input ctrl_data_valid_i,
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input [31:0] ctrl_data0_i,
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input [31:0] ctrl_data0_i,
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input [31:0] ctrl_data1_i,
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input [31:0] ctrl_data1_i,
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input [31:0] ctrl_data2_i,
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input [31:0] ctrl_data2_i,
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input [31:0] ctrl_data3_i,
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input [31:0] ctrl_data3_i,
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input [31:0] ctrl_data4_i,
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input [31:0] ctrl_data4_i,
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input [31:0] ctrl_data5_i,
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input [31:0] ctrl_data5_i,
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input [31:0] ctrl_data6_i,
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input [31:0] ctrl_data6_i,
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input [31:0] ctrl_data7_i,
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input [31:0] ctrl_data7_i,
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// interconnection with other modules
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// interconnection with other modules
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output [1:0] sensors_o,
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output[1:0] sensors_o,
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input [2:0] position_i,
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input [2:0] position_i,
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// dma interface
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// dma interface
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output adc_clk_o,
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output adc_clk_o,
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input adc_dovf_i,
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input adc_dovf_i,
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input adc_dunf_i,
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input adc_dunf_i,
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output adc_enable_c0,
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output adc_enable_c0,
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output adc_enable_c1,
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output adc_enable_c1,
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output adc_enable_c2,
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output adc_enable_c2,
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output adc_enable_c3,
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output adc_enable_c3,
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output adc_enable_c4,
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output adc_enable_c4,
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output adc_enable_c5,
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output adc_enable_c5,
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output adc_enable_c6,
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output adc_enable_c6,
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output adc_enable_c7,
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output adc_enable_c7,
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output adc_valid_c0,
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output adc_valid_c0,
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output adc_valid_c1,
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output adc_valid_c1,
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output adc_valid_c2,
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output adc_valid_c2,
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output adc_valid_c3,
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output adc_valid_c3,
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output adc_valid_c4,
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output adc_valid_c4,
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output adc_valid_c5,
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output adc_valid_c5,
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output adc_valid_c6,
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output adc_valid_c6,
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output adc_valid_c7,
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output adc_valid_c7,
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output [31:0] adc_data_c0,
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output [31:0] adc_data_c0,
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output [31:0] adc_data_c1,
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output [31:0] adc_data_c1,
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output [31:0] adc_data_c2,
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output [31:0] adc_data_c2,
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output [31:0] adc_data_c3,
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output [31:0] adc_data_c3,
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output [31:0] adc_data_c4,
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output [31:0] adc_data_c4,
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output [31:0] adc_data_c5,
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output [31:0] adc_data_c5,
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output [31:0] adc_data_c6,
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output [31:0] adc_data_c6,
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output [31:0] adc_data_c7,
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output [31:0] adc_data_c7,
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// axi interface
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// axi interface
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input s_axi_aclk,
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input s_axi_aclk,
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input s_axi_aresetn,
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input s_axi_aresetn,
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input s_axi_awvalid,
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input s_axi_awvalid,
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input [31:0] s_axi_awaddr,
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input [31:0] s_axi_awaddr,
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output s_axi_awready,
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output s_axi_awready,
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input s_axi_wvalid,
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input s_axi_wvalid,
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input [31:0] s_axi_wdata,
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input [31:0] s_axi_wdata,
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input [3:0] s_axi_wstrb,
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input [3:0] s_axi_wstrb,
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output s_axi_wready,
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output s_axi_wready,
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output s_axi_bvalid,
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output s_axi_bvalid,
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output [1:0] s_axi_bresp,
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output [1:0] s_axi_bresp,
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input s_axi_bready,
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input s_axi_bready,
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input s_axi_arvalid,
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input s_axi_arvalid,
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input [31:0] s_axi_araddr,
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input [31:0] s_axi_araddr,
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output s_axi_arready,
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output s_axi_arready,
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output s_axi_rvalid,
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output s_axi_rvalid,
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output [1:0] s_axi_rresp,
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output [1:0] s_axi_rresp,
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output [31:0] s_axi_rdata,
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output [31:0] s_axi_rdata,
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input s_axi_rready
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input s_axi_rready
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);
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);
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//------------------------------------------------------------------------------
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//------------------------------------------------------------------------------
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@ -140,7 +140,8 @@ module axi_mc_controller
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reg adc_valid = 'd0;
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reg adc_valid = 'd0;
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reg [31:0] adc_data = 'd0;
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reg [31:0] adc_data = 'd0;
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reg [31:0] up_rdata = 'd0;
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reg [31:0] up_rdata = 'd0;
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reg up_ack = 'd0;
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reg up_wack = 'd0;
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reg up_rack = 'd0;
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reg pwm_gen_clk = 'd0;
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reg pwm_gen_clk = 'd0;
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reg one_chan_reg = 'd0;
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reg one_chan_reg = 'd0;
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@ -155,9 +156,10 @@ wire up_clk;
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// internal signals
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// internal signals
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wire up_sel_s;
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wire up_rreq_s;
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wire up_wr_s;
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wire up_wreq_s;
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wire [13:0] up_addr_s;
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wire [13:0] up_raddr_s;
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wire [13:0] up_waddr_s;
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wire [31:0] up_wdata_s;
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wire [31:0] up_wdata_s;
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wire [31:0] up_adc_common_rdata_s;
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wire [31:0] up_adc_common_rdata_s;
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wire [31:0] up_control_rdata_s;
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wire [31:0] up_control_rdata_s;
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@ -169,16 +171,26 @@ wire [31:0] rdata_c4_s;
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wire [31:0] rdata_c5_s;
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wire [31:0] rdata_c5_s;
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wire [31:0] rdata_c6_s;
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wire [31:0] rdata_c6_s;
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wire [31:0] rdata_c7_s;
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wire [31:0] rdata_c7_s;
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wire up_adc_common_ack_s;
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wire up_adc_common_wack_s;
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wire up_control_ack_s;
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wire up_adc_common_rack_s;
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wire ack_c0_s;
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wire up_control_wack_s;
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wire ack_c1_s;
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wire up_control_rack_s;
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wire ack_c2_s;
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wire wack_c0_s;
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wire ack_c3_s;
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wire rack_c0_s;
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wire ack_c4_s;
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wire wack_c1_s;
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wire ack_c5_s;
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wire rack_c1_s;
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wire ack_c6_s;
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wire wack_c2_s;
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wire ack_c7_s;
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wire rack_c2_s;
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wire wack_c3_s;
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wire rack_c3_s;
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wire wack_c4_s;
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wire rack_c4_s;
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wire wack_c5_s;
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wire rack_c5_s;
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wire wack_c6_s;
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wire rack_c6_s;
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wire wack_c7_s;
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wire rack_c7_s;
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wire run_s;
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wire run_s;
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wire star_delta_s;
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wire star_delta_s;
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wire dir_s;
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wire dir_s;
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@ -187,14 +199,14 @@ wire [10:0] pwm_s;
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wire [10:0] gpo_s;
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wire [10:0] gpo_s;
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wire dpwm_ah_s;
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wire dpwm_ah_s;
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wire dpwm_al_s;
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wire dpwm_al_s;
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wire dpwm_bh_s;
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wire dpwm_bh_s;
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wire dpwm_bl_s;
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wire dpwm_bl_s;
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wire dpwm_ch_s;
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wire dpwm_ch_s;
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wire dpwm_cl_s;
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wire dpwm_cl_s;
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wire foc_ctrl_s;
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wire foc_ctrl_s;
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//------------------------------------------------------------------------------
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//------------------------------------------------------------------------------
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//----------- Assign/Always Blocks ---------------------------------------------
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//----------- Assign/Always Blocks ---------------------------------------------
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@ -207,23 +219,23 @@ assign up_rstn = s_axi_aresetn;
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assign adc_clk_o = ctrl_data_clk;
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assign adc_clk_o = ctrl_data_clk;
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assign adc_valid_c0 = ctrl_data_valid_i;
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assign adc_valid_c0 = ctrl_data_valid_i;
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assign adc_valid_c1 = ctrl_data_valid_i;
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assign adc_valid_c1 = ctrl_data_valid_i;
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assign adc_valid_c2 = ctrl_data_valid_i;
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assign adc_valid_c2 = ctrl_data_valid_i;
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assign adc_valid_c3 = ctrl_data_valid_i;
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assign adc_valid_c3 = ctrl_data_valid_i;
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assign adc_valid_c4 = ctrl_data_valid_i;
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assign adc_valid_c4 = ctrl_data_valid_i;
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assign adc_valid_c5 = ctrl_data_valid_i;
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assign adc_valid_c5 = ctrl_data_valid_i;
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assign adc_valid_c6 = ctrl_data_valid_i;
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assign adc_valid_c6 = ctrl_data_valid_i;
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assign adc_valid_c7 = ctrl_data_valid_i;
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assign adc_valid_c7 = ctrl_data_valid_i;
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assign adc_data_c0 = ctrl_data0_i;
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assign adc_data_c0 = ctrl_data0_i;
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assign adc_data_c1 = ctrl_data1_i;
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assign adc_data_c1 = ctrl_data1_i;
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assign adc_data_c2 = ctrl_data2_i;
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assign adc_data_c2 = ctrl_data2_i;
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assign adc_data_c3 = ctrl_data3_i;
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assign adc_data_c3 = ctrl_data3_i;
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assign adc_data_c4 = ctrl_data4_i;
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assign adc_data_c4 = ctrl_data4_i;
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assign adc_data_c5 = ctrl_data5_i;
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assign adc_data_c5 = ctrl_data5_i;
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assign adc_data_c6 = ctrl_data6_i;
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assign adc_data_c6 = ctrl_data6_i;
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assign adc_data_c7 = ctrl_data7_i;
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assign adc_data_c7 = ctrl_data7_i;
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assign ctrl_rst_o = !run_s;
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assign ctrl_rst_o = !run_s;
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@ -258,10 +270,12 @@ end
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always @(negedge up_rstn or posedge up_clk) begin
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always @(negedge up_rstn or posedge up_clk) begin
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if(up_rstn == 0) begin
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if(up_rstn == 0) begin
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up_rdata <= 'd0;
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up_rdata <= 'd0;
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up_ack <= 'd0;
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up_wack <= 'd0;
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up_rack <= 'd0;
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end else begin
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end else begin
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up_rdata <= up_control_rdata_s | up_adc_common_rdata_s | rdata_c0_s | rdata_c1_s | rdata_c2_s | rdata_c3_s | rdata_c4_s | rdata_c5_s | rdata_c6_s | rdata_c7_s;
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up_rdata <= up_control_rdata_s | up_adc_common_rdata_s | rdata_c0_s | rdata_c1_s | rdata_c2_s | rdata_c3_s | rdata_c4_s | rdata_c5_s | rdata_c6_s | rdata_c7_s;
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up_ack <= up_control_ack_s | up_adc_common_ack_s | ack_c0_s | ack_c1_s | ack_c2_s | ack_c3_s | ack_c4_s | ack_c5_s | ack_c6_s | ack_c7_s;
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up_rack <= up_control_rack_s | up_adc_common_rack_s | rack_c0_s | rack_c1_s | rack_c2_s | rack_c3_s | rack_c4_s | rack_c5_s | rack_c6_s | rack_c7_s;
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up_wack <= up_control_wack_s | up_adc_common_wack_s | wack_c0_s | wack_c1_s | wack_c2_s | wack_c3_s | wack_c4_s | wack_c5_s | wack_c6_s | wack_c7_s;
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end
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end
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end
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end
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@ -288,30 +302,32 @@ motor_driver_inst(
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control_registers control_reg_inst(
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control_registers control_reg_inst(
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.up_rstn(up_rstn),
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.up_rstn(up_rstn),
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.up_clk(up_clk),
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.up_clk(up_clk),
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.up_sel(up_sel_s),
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.up_wreq (up_wreq_s),
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.up_wr(up_wr_s),
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.up_waddr (up_waddr_s),
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.up_addr(up_addr_s),
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.up_wdata (up_wdata_s),
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.up_wdata(up_wdata_s),
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.up_wack (up_control_wack_s),
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.up_rdata(up_control_rdata_s),
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.up_rreq (up_rreq_s),
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.up_ack(up_control_ack_s),
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.up_raddr (up_raddr_s),
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.up_rdata (up_control_rdata_s),
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.up_rack (up_control_rack_s),
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.run_o(run_s),
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.run_o(run_s),
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.break_o(),
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.break_o(),
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.dir_o(dir_s),
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.dir_o(dir_s),
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.star_delta_o(star_delta_s),
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.star_delta_o(star_delta_s),
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.sensors_o(sensors_o),
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.sensors_o(sensors_o),
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.kp_o(kp_o),
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.kp_o(),
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.ki_o(ki_o),
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.ki_o(),
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.kd_o(kd_o),
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.kd_o(),
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.kp1_o(),
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.kp1_o(),
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.ki1_o(),
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.ki1_o(),
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.kd1_o(),
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.kd1_o(),
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.gpo_o(gpo_s),
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.gpo_o(gpo_s),
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.reference_speed_o(ref_speed_o),
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.reference_speed_o(),
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.oloop_matlab_o(foc_ctrl_s),
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.oloop_matlab_o(foc_ctrl_s),
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.err_i(err_i),
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.err_i(),
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.calibrate_adcs_o(),
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.calibrate_adcs_o(),
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.pwm_open_o( pwm_open_s));
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.pwm_open_o(pwm_open_s));
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up_adc_channel #(.PCORE_ADC_CHID(0)) adc_channel0(
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up_adc_channel #(.PCORE_ADC_CHID(0)) adc_channel0(
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.adc_clk(ref_clk),
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.adc_clk(ref_clk),
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@ -326,6 +342,8 @@ up_adc_channel #(.PCORE_ADC_CHID(0)) adc_channel0(
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.adc_dcfilt_coeff(),
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.adc_dcfilt_coeff(),
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.adc_iqcor_coeff_1(),
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.adc_iqcor_coeff_1(),
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.adc_iqcor_coeff_2(),
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.adc_iqcor_coeff_2(),
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.adc_pnseq_sel(),
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.adc_data_sel(),
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.adc_pn_err(1'b0),
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.adc_pn_err(1'b0),
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.adc_pn_oos(1'b0),
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.adc_pn_oos(1'b0),
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.adc_or(1'b0),
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.adc_or(1'b0),
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@ -348,12 +366,14 @@ up_adc_channel #(.PCORE_ADC_CHID(0)) adc_channel0(
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.adc_usr_decimation_n(16'd1),
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.adc_usr_decimation_n(16'd1),
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.up_rstn(up_rstn),
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.up_rstn(up_rstn),
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.up_clk(up_clk),
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.up_clk(up_clk),
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.up_sel(up_sel_s),
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.up_wreq (up_wreq_s),
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.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c0_s),
|
||||||
.up_rdata(rdata_c0_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c0_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c0_s),
|
||||||
|
.up_rack (rack_c0_s));
|
||||||
|
|
||||||
up_adc_channel #(.PCORE_ADC_CHID(1)) adc_channel1(
|
up_adc_channel #(.PCORE_ADC_CHID(1)) adc_channel1(
|
||||||
.adc_clk(ref_clk),
|
.adc_clk(ref_clk),
|
||||||
|
|
@ -368,6 +388,8 @@ up_adc_channel #(.PCORE_ADC_CHID(1)) adc_channel1(
|
||||||
.adc_dcfilt_coeff(),
|
.adc_dcfilt_coeff(),
|
||||||
.adc_iqcor_coeff_1(),
|
.adc_iqcor_coeff_1(),
|
||||||
.adc_iqcor_coeff_2(),
|
.adc_iqcor_coeff_2(),
|
||||||
|
.adc_pnseq_sel(),
|
||||||
|
.adc_data_sel(),
|
||||||
.adc_pn_err(1'b0),
|
.adc_pn_err(1'b0),
|
||||||
.adc_pn_oos(1'b0),
|
.adc_pn_oos(1'b0),
|
||||||
.adc_or(1'b0),
|
.adc_or(1'b0),
|
||||||
|
|
@ -390,13 +412,15 @@ up_adc_channel #(.PCORE_ADC_CHID(1)) adc_channel1(
|
||||||
.adc_usr_decimation_n(16'd1),
|
.adc_usr_decimation_n(16'd1),
|
||||||
.up_rstn(up_rstn),
|
.up_rstn(up_rstn),
|
||||||
.up_clk(up_clk),
|
.up_clk(up_clk),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c1_s),
|
||||||
.up_rdata(rdata_c1_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c1_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c1_s),
|
||||||
|
.up_rack (rack_c1_s));
|
||||||
|
|
||||||
up_adc_channel #(.PCORE_ADC_CHID(2)) adc_channel2(
|
up_adc_channel #(.PCORE_ADC_CHID(2)) adc_channel2(
|
||||||
.adc_clk(ref_clk),
|
.adc_clk(ref_clk),
|
||||||
.adc_rst(adc_rst),
|
.adc_rst(adc_rst),
|
||||||
|
|
@ -410,6 +434,8 @@ up_adc_channel #(.PCORE_ADC_CHID(2)) adc_channel2(
|
||||||
.adc_dcfilt_coeff(),
|
.adc_dcfilt_coeff(),
|
||||||
.adc_iqcor_coeff_1(),
|
.adc_iqcor_coeff_1(),
|
||||||
.adc_iqcor_coeff_2(),
|
.adc_iqcor_coeff_2(),
|
||||||
|
.adc_pnseq_sel(),
|
||||||
|
.adc_data_sel(),
|
||||||
.adc_pn_err(1'b0),
|
.adc_pn_err(1'b0),
|
||||||
.adc_pn_oos(1'b0),
|
.adc_pn_oos(1'b0),
|
||||||
.adc_or(1'b0),
|
.adc_or(1'b0),
|
||||||
|
|
@ -432,12 +458,14 @@ up_adc_channel #(.PCORE_ADC_CHID(2)) adc_channel2(
|
||||||
.adc_usr_decimation_n(16'd1),
|
.adc_usr_decimation_n(16'd1),
|
||||||
.up_rstn(up_rstn),
|
.up_rstn(up_rstn),
|
||||||
.up_clk(up_clk),
|
.up_clk(up_clk),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c2_s),
|
||||||
.up_rdata(rdata_c2_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c2_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c2_s),
|
||||||
|
.up_rack (rack_c2_s));
|
||||||
|
|
||||||
up_adc_channel #(.PCORE_ADC_CHID(3)) adc_channel3(
|
up_adc_channel #(.PCORE_ADC_CHID(3)) adc_channel3(
|
||||||
.adc_clk(ref_clk),
|
.adc_clk(ref_clk),
|
||||||
|
|
@ -452,6 +480,8 @@ up_adc_channel #(.PCORE_ADC_CHID(3)) adc_channel3(
|
||||||
.adc_dcfilt_coeff(),
|
.adc_dcfilt_coeff(),
|
||||||
.adc_iqcor_coeff_1(),
|
.adc_iqcor_coeff_1(),
|
||||||
.adc_iqcor_coeff_2(),
|
.adc_iqcor_coeff_2(),
|
||||||
|
.adc_pnseq_sel(),
|
||||||
|
.adc_data_sel(),
|
||||||
.adc_pn_err(1'b0),
|
.adc_pn_err(1'b0),
|
||||||
.adc_pn_oos(1'b0),
|
.adc_pn_oos(1'b0),
|
||||||
.adc_or(1'b0),
|
.adc_or(1'b0),
|
||||||
|
|
@ -474,12 +504,14 @@ up_adc_channel #(.PCORE_ADC_CHID(3)) adc_channel3(
|
||||||
.adc_usr_decimation_n(16'd1),
|
.adc_usr_decimation_n(16'd1),
|
||||||
.up_rstn(up_rstn),
|
.up_rstn(up_rstn),
|
||||||
.up_clk(up_clk),
|
.up_clk(up_clk),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c3_s),
|
||||||
.up_rdata(rdata_c3_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c3_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c3_s),
|
||||||
|
.up_rack (rack_c3_s));
|
||||||
|
|
||||||
up_adc_channel #(.PCORE_ADC_CHID(4)) adc_channel4(
|
up_adc_channel #(.PCORE_ADC_CHID(4)) adc_channel4(
|
||||||
.adc_clk(ref_clk),
|
.adc_clk(ref_clk),
|
||||||
|
|
@ -494,6 +526,8 @@ up_adc_channel #(.PCORE_ADC_CHID(4)) adc_channel4(
|
||||||
.adc_dcfilt_coeff(),
|
.adc_dcfilt_coeff(),
|
||||||
.adc_iqcor_coeff_1(),
|
.adc_iqcor_coeff_1(),
|
||||||
.adc_iqcor_coeff_2(),
|
.adc_iqcor_coeff_2(),
|
||||||
|
.adc_pnseq_sel(),
|
||||||
|
.adc_data_sel(),
|
||||||
.adc_pn_err(1'b0),
|
.adc_pn_err(1'b0),
|
||||||
.adc_pn_oos(1'b0),
|
.adc_pn_oos(1'b0),
|
||||||
.adc_or(1'b0),
|
.adc_or(1'b0),
|
||||||
|
|
@ -516,13 +550,15 @@ up_adc_channel #(.PCORE_ADC_CHID(4)) adc_channel4(
|
||||||
.adc_usr_decimation_n(16'd1),
|
.adc_usr_decimation_n(16'd1),
|
||||||
.up_rstn(up_rstn),
|
.up_rstn(up_rstn),
|
||||||
.up_clk(up_clk),
|
.up_clk(up_clk),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c4_s),
|
||||||
.up_rdata(rdata_c4_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c4_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c4_s),
|
||||||
|
.up_rack (rack_c4_s));
|
||||||
|
|
||||||
up_adc_channel #(.PCORE_ADC_CHID(5)) adc_channel5(
|
up_adc_channel #(.PCORE_ADC_CHID(5)) adc_channel5(
|
||||||
.adc_clk(ref_clk),
|
.adc_clk(ref_clk),
|
||||||
.adc_rst(adc_rst),
|
.adc_rst(adc_rst),
|
||||||
|
|
@ -536,6 +572,8 @@ up_adc_channel #(.PCORE_ADC_CHID(5)) adc_channel5(
|
||||||
.adc_dcfilt_coeff(),
|
.adc_dcfilt_coeff(),
|
||||||
.adc_iqcor_coeff_1(),
|
.adc_iqcor_coeff_1(),
|
||||||
.adc_iqcor_coeff_2(),
|
.adc_iqcor_coeff_2(),
|
||||||
|
.adc_pnseq_sel(),
|
||||||
|
.adc_data_sel(),
|
||||||
.adc_pn_err(1'b0),
|
.adc_pn_err(1'b0),
|
||||||
.adc_pn_oos(1'b0),
|
.adc_pn_oos(1'b0),
|
||||||
.adc_or(1'b0),
|
.adc_or(1'b0),
|
||||||
|
|
@ -558,12 +596,14 @@ up_adc_channel #(.PCORE_ADC_CHID(5)) adc_channel5(
|
||||||
.adc_usr_decimation_n(16'd1),
|
.adc_usr_decimation_n(16'd1),
|
||||||
.up_rstn(up_rstn),
|
.up_rstn(up_rstn),
|
||||||
.up_clk(up_clk),
|
.up_clk(up_clk),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c5_s),
|
||||||
.up_rdata(rdata_c5_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c5_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c5_s),
|
||||||
|
.up_rack (rack_c5_s));
|
||||||
|
|
||||||
up_adc_channel #(.PCORE_ADC_CHID(6)) adc_channel6(
|
up_adc_channel #(.PCORE_ADC_CHID(6)) adc_channel6(
|
||||||
.adc_clk(ref_clk),
|
.adc_clk(ref_clk),
|
||||||
|
|
@ -578,6 +618,8 @@ up_adc_channel #(.PCORE_ADC_CHID(6)) adc_channel6(
|
||||||
.adc_dcfilt_coeff(),
|
.adc_dcfilt_coeff(),
|
||||||
.adc_iqcor_coeff_1(),
|
.adc_iqcor_coeff_1(),
|
||||||
.adc_iqcor_coeff_2(),
|
.adc_iqcor_coeff_2(),
|
||||||
|
.adc_pnseq_sel(),
|
||||||
|
.adc_data_sel(),
|
||||||
.adc_pn_err(1'b0),
|
.adc_pn_err(1'b0),
|
||||||
.adc_pn_oos(1'b0),
|
.adc_pn_oos(1'b0),
|
||||||
.adc_or(1'b0),
|
.adc_or(1'b0),
|
||||||
|
|
@ -600,13 +642,15 @@ up_adc_channel #(.PCORE_ADC_CHID(6)) adc_channel6(
|
||||||
.adc_usr_decimation_n(16'd1),
|
.adc_usr_decimation_n(16'd1),
|
||||||
.up_rstn(up_rstn),
|
.up_rstn(up_rstn),
|
||||||
.up_clk(up_clk),
|
.up_clk(up_clk),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c6_s),
|
||||||
.up_rdata(rdata_c6_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c6_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c6_s),
|
||||||
|
.up_rack (rack_c6_s));
|
||||||
|
|
||||||
up_adc_channel #(.PCORE_ADC_CHID(7)) adc_channel7(
|
up_adc_channel #(.PCORE_ADC_CHID(7)) adc_channel7(
|
||||||
.adc_clk(ref_clk),
|
.adc_clk(ref_clk),
|
||||||
.adc_rst(adc_rst),
|
.adc_rst(adc_rst),
|
||||||
|
|
@ -620,6 +664,8 @@ up_adc_channel #(.PCORE_ADC_CHID(7)) adc_channel7(
|
||||||
.adc_dcfilt_coeff(),
|
.adc_dcfilt_coeff(),
|
||||||
.adc_iqcor_coeff_1(),
|
.adc_iqcor_coeff_1(),
|
||||||
.adc_iqcor_coeff_2(),
|
.adc_iqcor_coeff_2(),
|
||||||
|
.adc_pnseq_sel(),
|
||||||
|
.adc_data_sel(),
|
||||||
.adc_pn_err(1'b0),
|
.adc_pn_err(1'b0),
|
||||||
.adc_pn_oos(1'b0),
|
.adc_pn_oos(1'b0),
|
||||||
.adc_or(1'b0),
|
.adc_or(1'b0),
|
||||||
|
|
@ -642,13 +688,15 @@ up_adc_channel #(.PCORE_ADC_CHID(7)) adc_channel7(
|
||||||
.adc_usr_decimation_n(16'd1),
|
.adc_usr_decimation_n(16'd1),
|
||||||
.up_rstn(up_rstn),
|
.up_rstn(up_rstn),
|
||||||
.up_clk(up_clk),
|
.up_clk(up_clk),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (wack_c7_s),
|
||||||
.up_rdata(rdata_c7_s),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(ack_c7_s));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (rdata_c7_s),
|
||||||
|
.up_rack (rack_c7_s));
|
||||||
|
|
||||||
// common processor control
|
// common processor control
|
||||||
|
|
||||||
up_adc_common i_up_adc_common(
|
up_adc_common i_up_adc_common(
|
||||||
|
|
@ -659,9 +707,15 @@ up_adc_common i_up_adc_common(
|
||||||
.adc_ddr_edgesel(),
|
.adc_ddr_edgesel(),
|
||||||
.adc_pin_mode(),
|
.adc_pin_mode(),
|
||||||
.adc_status(1'b1),
|
.adc_status(1'b1),
|
||||||
|
.adc_sync_status(1'b0),
|
||||||
.adc_status_ovf(adc_dovf_i),
|
.adc_status_ovf(adc_dovf_i),
|
||||||
.adc_status_unf(adc_dunf_i),
|
.adc_status_unf(adc_dunf_i),
|
||||||
.adc_clk_ratio(32'd1),
|
.adc_clk_ratio(32'd1),
|
||||||
|
.adc_start_code(),
|
||||||
|
.adc_sync(),
|
||||||
|
.up_status_pn_err(1'b0),
|
||||||
|
.up_status_pn_oos(1'b0),
|
||||||
|
.up_status_or(1'b0),
|
||||||
.delay_clk(1'b0),
|
.delay_clk(1'b0),
|
||||||
.delay_rst(),
|
.delay_rst(),
|
||||||
.delay_sel(),
|
.delay_sel(),
|
||||||
|
|
@ -682,14 +736,18 @@ up_adc_common i_up_adc_common(
|
||||||
.drp_locked(1'b0),
|
.drp_locked(1'b0),
|
||||||
.up_usr_chanmax(),
|
.up_usr_chanmax(),
|
||||||
.adc_usr_chanmax(8'd0),
|
.adc_usr_chanmax(8'd0),
|
||||||
.up_rstn(up_rstn),
|
.up_adc_gpio_in(32'h0),
|
||||||
.up_clk(up_clk),
|
.up_adc_gpio_out(),
|
||||||
.up_sel(up_sel_s),
|
.up_rstn (up_rstn),
|
||||||
.up_wr(up_wr_s),
|
.up_clk (up_clk),
|
||||||
.up_addr(up_addr_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_rdata(up_adc_common_rdata_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_ack(up_adc_common_ack_s));
|
.up_wack (up_adc_common_wack_s),
|
||||||
|
.up_rreq (up_rreq_s),
|
||||||
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (up_adc_common_rdata_s),
|
||||||
|
.up_rack (up_adc_common_rack_s));
|
||||||
|
|
||||||
// up bus interface
|
// up bus interface
|
||||||
|
|
||||||
|
|
@ -713,12 +771,14 @@ up_axi i_up_axi(
|
||||||
.up_axi_rresp(s_axi_rresp),
|
.up_axi_rresp(s_axi_rresp),
|
||||||
.up_axi_rdata(s_axi_rdata),
|
.up_axi_rdata(s_axi_rdata),
|
||||||
.up_axi_rready(s_axi_rready),
|
.up_axi_rready(s_axi_rready),
|
||||||
.up_sel(up_sel_s),
|
.up_wreq (up_wreq_s),
|
||||||
.up_wr(up_wr_s),
|
.up_waddr (up_waddr_s),
|
||||||
.up_addr(up_addr_s),
|
.up_wdata (up_wdata_s),
|
||||||
.up_wdata(up_wdata_s),
|
.up_wack (up_wack),
|
||||||
.up_rdata(up_rdata),
|
.up_rreq (up_rreq_s),
|
||||||
.up_ack(up_ack));
|
.up_raddr (up_raddr_s),
|
||||||
|
.up_rdata (up_rdata),
|
||||||
|
.up_rack (up_rack));
|
||||||
|
|
||||||
endmodule
|
endmodule
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -42,17 +42,19 @@ module control_registers
|
||||||
|
|
||||||
input up_rstn,
|
input up_rstn,
|
||||||
input up_clk,
|
input up_clk,
|
||||||
input up_sel,
|
input up_wreq,
|
||||||
input up_wr,
|
input [13:0] up_waddr,
|
||||||
input [13:0] up_addr,
|
|
||||||
input [31:0] up_wdata,
|
input [31:0] up_wdata,
|
||||||
|
output reg up_wack,
|
||||||
|
input up_rreq,
|
||||||
|
input [13:0] up_raddr,
|
||||||
output reg [31:0] up_rdata,
|
output reg [31:0] up_rdata,
|
||||||
output reg up_ack,
|
output reg up_rack,
|
||||||
|
|
||||||
//control
|
//control
|
||||||
|
|
||||||
input [31:0] err_i,
|
input [31:0] err_i,
|
||||||
output [31:0] pwm_open_o,
|
output [10:0] pwm_open_o,
|
||||||
output [31:0] reference_speed_o,
|
output [31:0] reference_speed_o,
|
||||||
output [31:0] kp_o,
|
output [31:0] kp_o,
|
||||||
output [31:0] ki_o,
|
output [31:0] ki_o,
|
||||||
|
|
@ -96,15 +98,15 @@ reg [10:0] gpo_r;
|
||||||
|
|
||||||
//internal signals
|
//internal signals
|
||||||
|
|
||||||
wire up_sel_s;
|
wire up_wreq_s;
|
||||||
wire up_wr_s;
|
wire up_rreq_s;
|
||||||
|
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
//----------- Assign/Always Blocks ---------------------------------------------
|
//----------- Assign/Always Blocks ---------------------------------------------
|
||||||
//------------------------------------------------------------------------------
|
//------------------------------------------------------------------------------
|
||||||
|
|
||||||
assign up_sel_s = (up_addr[13:4] == 10'h00) ? up_sel : 1'b0;
|
assign up_wreq_s = (up_waddr[13:4] == 10'h00) ? up_wreq : 1'b0;
|
||||||
assign up_wr_s = up_sel_s & up_wr;
|
assign up_rreq_s = (up_raddr[13:4] == 10'h00) ? up_rreq : 1'b0;
|
||||||
|
|
||||||
assign run_o = control_r[0]; // Run the motor
|
assign run_o = control_r[0]; // Run the motor
|
||||||
assign break_o = control_r[2]; // Activate the Break circuit
|
assign break_o = control_r[2]; // Activate the Break circuit
|
||||||
|
|
@ -115,7 +117,7 @@ assign calibrate_adcs_o = control_r[16];
|
||||||
assign oloop_matlab_o = control_r[12]; // Select between open loop control [0] and matlab control [1]
|
assign oloop_matlab_o = control_r[12]; // Select between open loop control [0] and matlab control [1]
|
||||||
assign gpo_o = control_r[30:20];
|
assign gpo_o = control_r[30:20];
|
||||||
|
|
||||||
assign pwm_open_o = pwm_open_r; // PWM value, for open loop control
|
assign pwm_open_o = pwm_open_r[10:0]; // PWM value, for open loop control
|
||||||
assign reference_speed_o = reference_speed_r;
|
assign reference_speed_o = reference_speed_r;
|
||||||
assign kp_o = kp_r; // KP controller parameter
|
assign kp_o = kp_r; // KP controller parameter
|
||||||
assign ki_o = ki_r; // KI controller parameter
|
assign ki_o = ki_r; // KI controller parameter
|
||||||
|
|
@ -130,6 +132,7 @@ always @(negedge up_rstn or posedge up_clk)
|
||||||
begin
|
begin
|
||||||
if (up_rstn == 0)
|
if (up_rstn == 0)
|
||||||
begin
|
begin
|
||||||
|
up_wack <= 1'b0;
|
||||||
control_r <= 'h0;
|
control_r <= 'h0;
|
||||||
reference_speed_r <= 'd1000;
|
reference_speed_r <= 'd1000;
|
||||||
kp_r <= 'd6554;
|
kp_r <= 'd6554;
|
||||||
|
|
@ -144,51 +147,52 @@ begin
|
||||||
end
|
end
|
||||||
else
|
else
|
||||||
begin
|
begin
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'h3))
|
up_wack <= up_wreq_s;
|
||||||
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'h3))
|
||||||
begin
|
begin
|
||||||
reserved_r1 <= up_wdata;
|
reserved_r1 <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'h4))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'h4))
|
||||||
begin
|
begin
|
||||||
control_r <= up_wdata;
|
control_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'h5))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'h5))
|
||||||
begin
|
begin
|
||||||
reference_speed_r <= up_wdata;
|
reference_speed_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'h6))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'h6))
|
||||||
begin
|
begin
|
||||||
kp_r <= up_wdata;
|
kp_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'h7))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'h7))
|
||||||
begin
|
begin
|
||||||
ki_r <= up_wdata;
|
ki_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'h8))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'h8))
|
||||||
begin
|
begin
|
||||||
kd_r <= up_wdata;
|
kd_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'h9))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'h9))
|
||||||
begin
|
begin
|
||||||
kp1_r <= up_wdata;
|
kp1_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'ha))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'ha))
|
||||||
begin
|
begin
|
||||||
ki1_r <= up_wdata;
|
ki1_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'hb))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'hb))
|
||||||
begin
|
begin
|
||||||
kd1_r <= up_wdata;
|
kd1_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'hc))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'hc))
|
||||||
begin
|
begin
|
||||||
pwm_open_r <= up_wdata;
|
pwm_open_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'hd))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'hd))
|
||||||
begin
|
begin
|
||||||
pwm_break_r <= up_wdata;
|
pwm_break_r <= up_wdata;
|
||||||
end
|
end
|
||||||
if ((up_wr_s == 1'b1) && (up_addr[3:0] == 4'he))
|
if ((up_wreq_s == 1'b1) && (up_waddr[3:0] == 4'he))
|
||||||
begin
|
begin
|
||||||
status_r <= up_wdata;
|
status_r <= up_wdata;
|
||||||
end
|
end
|
||||||
|
|
@ -200,14 +204,14 @@ end
|
||||||
always @(negedge up_rstn or posedge up_clk)
|
always @(negedge up_rstn or posedge up_clk)
|
||||||
begin
|
begin
|
||||||
if (up_rstn == 0) begin
|
if (up_rstn == 0) begin
|
||||||
up_ack <= 'd0;
|
up_rack <= 'd0;
|
||||||
up_rdata <= 'd0;
|
up_rdata <= 'd0;
|
||||||
end
|
end
|
||||||
else
|
else
|
||||||
begin
|
begin
|
||||||
up_ack <= up_sel_s;
|
up_rack <= up_rreq_s;
|
||||||
if (up_sel_s == 1'b1) begin
|
if (up_rreq_s == 1'b1) begin
|
||||||
case (up_addr[3:0])
|
case (up_raddr[3:0])
|
||||||
4'h3: up_rdata <= reserved_r1;
|
4'h3: up_rdata <= reserved_r1;
|
||||||
4'h4: up_rdata <= control_r;
|
4'h4: up_rdata <= control_r;
|
||||||
4'h5: up_rdata <= reference_speed_r;
|
4'h5: up_rdata <= reference_speed_r;
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue