geoffrey/cdf2018-principal
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Lowered PWM frequency

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This commit is contained in:
Geoffrey Frogeye 2018-05-02 05:50:33 +02:00
parent ec5867fa12
commit 1ef117c0ad
5 changed files with 126 additions and 12 deletions
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24
fpga/Principal.vhd
View file

@ -82,6 +82,11 @@ architecture Behavioral of Principal is
);
end component;
-- PWM clock
signal pwmClk : std_logic := '0';
signal pwmCounter : integer := 0;
constant PWM_DIVIDER : integer := 1024;
-- Motor controller
signal enAd : std_logic_vector(7 downto 0);
signal in1enCd : std_logic_vector(7 downto 0);
@ -151,6 +156,17 @@ begin
reset <= BTN;
pwmClkGenerator: process (clk) begin
if rising_edge(clk) then
if (pwmCounter >= PWM_DIVIDER) then
pwmClk <= not pwmClk;
pwmCounter <= 0;
else
pwmCounter <= pwmCounter + 1;
end if;
end if;
end process;
leftCoder: hedm port map (
clk => CLK,
chA => LEFTCHA,
@ -205,26 +221,26 @@ begin
-- done => done
);
enAp : PWM port map (
clk => CLK,
clk => pwmClk,
data => enAd,
pulse => ENA
);
in1enCp : PWM port map (
clk => CLK,
clk => pwmClk,
data => in1enCd,
pulse => IN1ENC
);
IN2 <= in2d;
enBp : PWM port map (
clk => CLK,
clk => pwmClk,
data => enBd,
pulse => ENB
);
in3enDp : PWM port map (
clk => CLK,
clk => pwmClk,
data => in3enDd,
pulse => IN3END
);

14
fpga/Principal_tb.gtkw
View file

@ -1,15 +1,15 @@
[*]
[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI
[*] Tue May 1 05:22:50 2018
[*] Tue May 1 19:20:55 2018
[*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.ghw"
[dumpfile_mtime] "Tue May 1 05:18:35 2018"
[dumpfile_size] 6534540
[dumpfile_mtime] "Tue May 1 19:20:01 2018"
[dumpfile_size] 5276557
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/Principal_tb.gtkw"
[timestart] 0
[size] 1600 862
[pos] -1 -1
*-43.492355 11010000000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
*-42.492355 11010000000000 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
[treeopen] top.
[treeopen] top.principal_tb.
[treeopen] top.principal_tb.dut.
@ -103,6 +103,12 @@ top.principal_tb.dut.backcapt.distancecounter
@420
[color] 3
top.principal_tb.dut.back
@8421
[color] 5
top.principal_tb.dut.pwmcounter
@29
[color] 5
top.principal_tb.dut.pwmclk
@22
[color] 5
#{top.principal_tb.dut.enad[7:0]} top.principal_tb.dut.enad[7] top.principal_tb.dut.enad[6] top.principal_tb.dut.enad[5] top.principal_tb.dut.enad[4] top.principal_tb.dut.enad[3] top.principal_tb.dut.enad[2] top.principal_tb.dut.enad[1] top.principal_tb.dut.enad[0]

8
fpga/pwm.vhd
View file

@ -13,8 +13,8 @@ entity PWM is
end PWM;
architecture Behavioral of PWM is
signal accuI : integer;
signal dataI : integer;
signal accuI : integer := 0;
signal dataI : integer := 0;
begin
dataI <= to_integer(unsigned(data));
@ -22,9 +22,9 @@ begin
process(clk, data)
begin
if rising_edge(clk) then
accuI <= accuI mod 256 + dataI + 1;
accuI <= accuI mod 256 + dataI;
end if;
end process;
pulse <= '1' when accuI >= 256 else '0';
pulse <= '1' when accuI > 256 else '0';
end Behavioral;

31
fpga/pwm_tb.gtkw Normal file
View file

@ -0,0 +1,31 @@
[*]
[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI
[*] Tue May 1 17:18:48 2018
[*]
[dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/pwm_tb.ghw"
[dumpfile_mtime] "Tue May 1 17:16:31 2018"
[dumpfile_size] 11137
[savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/pwm_tb.gtkw"
[timestart] 0
[size] 1600 862
[pos] -1 -1
*-29.567368 0 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1 -1
[treeopen] top.
[treeopen] top.pwm_tb.
[treeopen] top.pwm_tb.dut.
[sst_width] 213
[signals_width] 257
[sst_expanded] 1
[sst_vpaned_height] 244
@28
top.pwm_tb.clk
@22
#{top.pwm_tb.data[7:0]} top.pwm_tb.data[7] top.pwm_tb.data[6] top.pwm_tb.data[5] top.pwm_tb.data[4] top.pwm_tb.data[3] top.pwm_tb.data[2] top.pwm_tb.data[1] top.pwm_tb.data[0]
@8421
top.pwm_tb.dut.datai
@88420
top.pwm_tb.dut.accui
@28
top.pwm_tb.dut.pulse
[pattern_trace] 1
[pattern_trace] 0

61
fpga/pwm_tb.vhd Normal file
View file

@ -0,0 +1,61 @@
-- Testbench automatically generated online
-- at http://vhdl.lapinoo.net
-- Generation date : 1.5.2018 17:12:00 GMT
library ieee;
use ieee.std_logic_1164.all;
entity PWM_tb is
end PWM_tb;
architecture tb of PWM_tb is
component PWM
port (clk : in std_logic;
data : in std_logic_vector (7 downto 0);
pulse : out std_logic);
end component;
signal clk : std_logic;
signal data : std_logic_vector (7 downto 0);
signal pulse : std_logic;
constant TbPeriod : time := 20 ns;
signal TbClock : std_logic := '0';
signal TbSimEnded : std_logic := '0';
begin
dut : PWM
port map (clk => clk,
data => data,
pulse => pulse);
-- Clock generation
TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
clk <= TbClock;
stimuli : process
begin
data <= x"00";
wait for 100 * TbPeriod;
data <= x"FF";
wait for 100 * TbPeriod;
data <= x"80";
wait for 100 * TbPeriod;
data <= x"e6";
wait for 100 * TbPeriod;
data <= x"3c";
wait for 100 * TbPeriod;
-- Stop the clock and hence terminate the simulation
TbSimEnded <= '1';
wait;
end process;
end tb;