// *************************************************************************** // *************************************************************************** // Copyright 2014 - 2017 (c) Analog Devices, Inc. All rights reserved. // // This core is distributed in the hope that it will be useful, but WITHOUT ANY // WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR // A PARTICULAR PURPOSE. // // Redistribution and use of source or resulting binaries, with or without modification // of this file, are permitted under one of the following two license terms: // // 1. The GNU General Public License version 2 as published by the // Free Software Foundation, which can be found in the top level directory of // the repository (LICENSE_GPL2), and at: // // OR // // 2. An ADI specific BSD license as noted in the top level directory, or on-line at: // https://github.com/analogdevicesinc/hdl/blob/master/LICENSE_ADIBSD // This will allow to generate bit files and not release the source code, // as long as it attaches to an ADI device. // // *************************************************************************** // *************************************************************************** `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