Motor controller via FPGA

chef/Makefile

@@ -11,7 +11,7 @@ CFLAGS_CUSTOM += -g
 ## Générateurs de drapeaux pour les bibliothèques
 PKG_CONFIG=pkg-config
 ## Nom des objets communs
-OBJS=CF debug i2c ihm lcd movement parcours points position
+OBJS=buttons CF debug i2c ihm lcd movement parcours points position
 OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
 
 # VARIABLES AUTOMATIQUES

chef/src/CFsignals.h

@@ -58,5 +58,21 @@ struct __attribute__ ((packed)) F2CT_CAPTs {
     uint16_t back;
 };
 
+// Met à jour la PWM (pour ctrl moteur (EN, IN × 2) × 2)
+#define C2FD_PWM 'W'
+struct __attribute__ ((packed)) C2FD_PWMs { 
+    uint8_t ena;
+    uint8_t enb;
+    uint8_t in;
+};
+
+// Met à jour la PWM (pour ctrl moteur (EN × 2) × 2)
+#define C2FD_PWM2 'w'
+struct __attribute__ ((packed)) C2FD_PWM2s { 
+    uint8_t ena;
+    uint8_t enc;
+    uint8_t enb;
+    uint8_t end;
+};
 
 #endif

chef/src/buttons.c

@@ -0,0 +1,99 @@
+#include <pthread.h>
+#include <stdio.h>
+
+#include "buttons.h"
+
+// Globales
+pthread_t tStdinButton;
+enum boutons stdinbutton = none;
+
+// Fonctions
+void configureButtons()
+{
+    pinMode(BUT_PIN_ROUGE, INPUT);
+    pullUpDnControl(BUT_PIN_ROUGE, PUD_UP);
+    pinMode(BUT_PIN_JAUNE, INPUT);
+    pullUpDnControl(BUT_PIN_JAUNE, PUD_UP);
+    pinMode(BUT_PIN_TIRETTE, INPUT);
+    pullUpDnControl(BUT_PIN_TIRETTE, PUD_UP);
+
+    pthread_create(&tStdinButton, NULL, TaskStdinButton, NULL);
+}
+
+bool debunkButton(int pin)
+{
+    int t;
+    // Press (cancel if wrong)
+    for (t = BUT_DEBUNK_TIME / 2; t > 0; t--) {
+        if (digitalRead(pin) != LOW) {
+            return false;
+        }
+        delay(1);
+    }
+    // Release (re-wait if wrong)
+    for (t = BUT_DEBUNK_TIME / 2; t > 0; t--) {
+        if (digitalRead(pin) != HIGH) {
+            t = BUT_DEBUNK_TIME / 2;
+        }
+        delay(1);
+    }
+    return true;
+}
+
+
+void* TaskStdinButton(void* pdata)
+
+{
+    (void)pdata;
+
+    for (;;) {
+        char c = getchar();
+        if (c == '1') {
+            stdinbutton = jaune;
+        } else if (c == '2') {
+            stdinbutton = rouge;
+        }
+    }
+
+    return NULL;
+}
+
+enum boutons pressedButton(int timeout)
+{
+    bool block = timeout < 0;
+    while (timeout > 0 || block) {
+
+        if (stdinbutton != none) {
+            enum boutons bout = stdinbutton;
+            stdinbutton = none;
+            return bout;
+        }
+
+        if (debunkButton(BUT_PIN_JAUNE)) {
+            return jaune;
+        }
+
+        if (debunkButton(BUT_PIN_ROUGE)) {
+            return rouge;
+        }
+
+        delay(BUT_POLLING_INTERVAL);
+        timeout -= BUT_POLLING_INTERVAL;
+    }
+    return none;
+}
+
+bool tirettePresente()
+{
+    int etat, newEtat;
+    int t;
+    for (t = 0; t < BUT_DEBUNK_TIME; t++) {
+        newEtat = digitalRead(BUT_PIN_TIRETTE);
+        if (etat != newEtat) {
+            t = 0;
+            etat = newEtat;
+        }
+        delay(1);
+    }
+    return etat == LOW;
+}

chef/src/buttons.h

@@ -0,0 +1,30 @@
+#ifndef __BUTTONS_H_
+#define __BUTTONS_H_
+
+#include <stdbool.h>
+#include <wiringPi.h>
+
+// Constants
+#define BUT_PIN_ROUGE 0
+#define BUT_PIN_JAUNE 2
+#define BUT_PIN_TIRETTE 3
+
+// ms
+#define BUT_BLOCK -1
+#define BUT_POLLING_INTERVAL 50
+#define BUT_DEBUNK_TIME 50
+#define BUT_REFRESH_INTERVAL 1000
+
+// Structures
+enum boutons {none, jaune, rouge};
+
+// Public
+void configureButtons();
+enum boutons pressedButton(int timeout); // timeout: ms or -1
+bool tirettePresente();
+
+// Private
+bool debunkButton(int pin);
+void* TaskStdinButton(void *pdata);
+
+#endif

chef/src/ihm.c

@@ -1,17 +1,16 @@
 #include <pthread.h>
 #include <signal.h>
-#include <stdio.h>
 #include <time.h>
-#include <wiringPi.h>
 
 #include "ihm.h"
 #include "movement.h"
 #include "parcours.h"
 #include "points.h"
+#include "lcd.h"
+#include "buttons.h"
 
 // Globales
 pthread_t tIHM;
-pthread_t tStdinIHM;
 
 // Fonctions
 void configureIHM()
@@ -22,15 +21,8 @@ void configureIHM()
 
 void startIHM()
 {
-    pinMode(IHM_PIN_ROUGE, INPUT);
+    configureButtons();
-    pullUpDnControl(IHM_PIN_ROUGE, PUD_UP);
-    pinMode(IHM_PIN_JAUNE, INPUT);
-    pullUpDnControl(IHM_PIN_JAUNE, PUD_UP);
-    pinMode(IHM_PIN_TIRETTE, INPUT);
-    pullUpDnControl(IHM_PIN_TIRETTE, PUD_UP);
-
     pthread_create(&tIHM, NULL, TaskIHM, NULL);
-    pthread_create(&tStdinIHM, NULL, TaskStdinIHM, NULL);
     pthread_join(tIHM, NULL);
 }
 
@@ -46,84 +38,6 @@ void diffTimespec(const struct timespec* t1, const struct timespec* t2, struct t
     }
 }
 
-bool debunkButtonIHM(int pin)
-{
-    int t;
-    // Press (cancel if wrong)
-    for (t = IHM_DEBUNK_TIME / 2; t > 0; t--) {
-        if (digitalRead(pin) != LOW) {
-            return false;
-        }
-        delay(1);
-    }
-    // Release (re-wait if wrong)
-    for (t = IHM_DEBUNK_TIME / 2; t > 0; t--) {
-        if (digitalRead(pin) != HIGH) {
-            t = IHM_DEBUNK_TIME / 2;
-        }
-        delay(1);
-    }
-    return true;
-}
-
-enum boutons stdinbutton = none;
-
-void* TaskStdinIHM(void* pdata)
-{
-    (void)pdata;
-
-    for (;;) {
-        char c = getchar();
-        if (c == '1') {
-            stdinbutton = jaune;
-        } else if (c == '2') {
-            stdinbutton = rouge;
-        }
-    }
-
-    return NULL;
-}
-
-enum boutons pressedIHM(int timeout)
-{
-    bool block = timeout < 0;
-    while (timeout > 0 || block) {
-
-        if (stdinbutton != none) {
-            enum boutons bout = stdinbutton;
-            stdinbutton = none;
-            return bout;
-        }
-
-        if (debunkButtonIHM(IHM_PIN_JAUNE)) {
-            return jaune;
-        }
-
-        if (debunkButtonIHM(IHM_PIN_ROUGE)) {
-            return rouge;
-        }
-
-        delay(IHM_POLLING_INTERVAL);
-        timeout -= IHM_POLLING_INTERVAL;
-    }
-    return none;
-}
-
-bool tirettePresente()
-{
-    int etat, newEtat;
-    int t;
-    for (t = 0; t < IHM_DEBUNK_TIME; t++) {
-        newEtat = digitalRead(IHM_PIN_TIRETTE);
-        if (etat != newEtat) {
-            t = 0;
-            etat = newEtat;
-        }
-        delay(1);
-    }
-    return etat == LOW;
-}
-
 bool isDebug = false;
 bool isOrange = true;
 bool annuler = false;
@@ -152,7 +66,7 @@ void* TaskIHM(void* pdata)
             if (isDebug) {
                 printToLCD(LCD_LINE_2, "192.168.0.0 TODO");
             }
-            bout = pressedIHM(IHM_REFRESH_INTERVAL);
+            bout = pressedButton(BUT_REFRESH_INTERVAL);
 
             if (bout == rouge) {
                 isDebug = !isDebug;
@@ -165,7 +79,7 @@ void* TaskIHM(void* pdata)
         for (;;) {
             clearLCD();
             printfToLCD(LCD_LINE_1, "Couleur : %s", getCouleur());
-            bout = pressedIHM(IHM_BLOCK);
+            bout = pressedButton(BUT_BLOCK);
 
             if (bout == rouge) {
                 isOrange = !isOrange;
@@ -184,7 +98,7 @@ void* TaskIHM(void* pdata)
                 printToLCD(LCD_LINE_1, "Calibrer");
                 printfToLCD(LCD_LINE_2, "(%s)", getCouleur());
             }
-            bout = pressedIHM(IHM_REFRESH_INTERVAL);
+            bout = pressedButton(BUT_REFRESH_INTERVAL);
 
             if (bout == rouge) {
                 clearLCD();
@@ -200,7 +114,7 @@ void* TaskIHM(void* pdata)
         for (;;) {
             clearLCD();
             printToLCD(LCD_LINE_1, "Diagnostiquer");
-            bout = pressedIHM(IHM_BLOCK);
+            bout = pressedButton(BUT_BLOCK);
 
             if (bout == rouge) {
                 clearLCD();
@@ -216,7 +130,7 @@ void* TaskIHM(void* pdata)
             clearLCD();
             printToLCD(LCD_LINE_1, "Lancer parcours");
             printfToLCD(LCD_LINE_2, "(%s)", getCouleur());
-            bout = pressedIHM(IHM_BLOCK);
+            bout = pressedButton(BUT_BLOCK);
             if (bout == rouge) {
                 // No tirette
                 annuler = false;
@@ -224,7 +138,7 @@ void* TaskIHM(void* pdata)
                     clearLCD();
                     printToLCD(LCD_LINE_1, "Inserez tirette");
                     printToLCD(LCD_LINE_2, "(ROUGE: ignorer)");
-                    bout = pressedIHM(IHM_REFRESH_INTERVAL);
+                    bout = pressedButton(BUT_REFRESH_INTERVAL);
                     if (bout == rouge) {
                         break;
                     } else if (bout == jaune) {
@@ -241,7 +155,7 @@ void* TaskIHM(void* pdata)
 
                 prepareParcours(isOrange);
                 while (tirettePresente()) {
-                    bout = pressedIHM(IHM_POLLING_INTERVAL);
+                    bout = pressedButton(BUT_POLLING_INTERVAL);
                     if (bout == jaune) {
                         annuler = true;
                         break;
@@ -256,15 +170,15 @@ void* TaskIHM(void* pdata)
 
                 int toWait;
                 while ((toWait = updateParcours()) >= 0) {
-                    if (pressedIHM(toWait) != none) {
+                    if (pressedButton(toWait) != none) {
                         break;
                     }
                 }
                 stopParcours();
 
-                pressedIHM(IHM_BLOCK); // Nécessite 3 appuis pour éviter d'enlever le score par inadvertance
+                pressedButton(BUT_BLOCK); // Nécessite 3 appuis pour éviter d'enlever le score par inadvertance
-                pressedIHM(IHM_BLOCK);
+                pressedButton(BUT_BLOCK);
-                pressedIHM(IHM_BLOCK);
+                pressedButton(BUT_BLOCK);
             } else if (bout == jaune) {
                 break;
             }
@@ -274,7 +188,7 @@ void* TaskIHM(void* pdata)
         for (;;) {
             clearLCD();
             printToLCD(LCD_LINE_1, "Remettre a zero");
-            bout = pressedIHM(IHM_BLOCK);
+            bout = pressedButton(BUT_BLOCK);
 
             if (bout == rouge) {
                 clearLCD();

chef/src/ihm.h

@@ -3,20 +3,6 @@
 
 #include <stdbool.h>
 
-#include "lcd.h"
-
-#define IHM_PIN_ROUGE 0
-#define IHM_PIN_JAUNE 2
-#define IHM_PIN_TIRETTE 3
-
-// ms
-#define IHM_BLOCK -1
-#define IHM_POLLING_INTERVAL 50
-#define IHM_DEBUNK_TIME 50
-#define IHM_REFRESH_INTERVAL 1000
-
-enum boutons {none, jaune, rouge};
-
 // Public
 void configureIHM();
 void startIHM();
@@ -24,8 +10,5 @@ void deconfigureIHM();
 
 // Private
 void* TaskIHM(void *pdata);
-void* TaskStdinIHM(void *pdata);
-enum boutons pressedIHM(int timeout); // timeout: ms or -1
-bool debunkButtonIHM(int pin);
 
 #endif

chef/src/movement.c

@@ -1,85 +1,74 @@
-#include "movement.h"
 #include <stdbool.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <math.h>
 
+#include "movement.h"
+#include "CF.h"
+
 void configureMovement()
 {
-    pinMode(ENA, PWM_OUTPUT);
+    stop();
-    pinMode(ENB, PWM_OUTPUT);
 }
 
 void aller(struct position* pos);
 
 int dbg = 0;
 
-int changerMoteurs(float lVit, float rVit)
+uint8_t tensionToPWM(float V)
 {
+    if (V >= PWM_MAX_V) {
+        return PWM_MAX;
+    } else if (V <= 0) {
+        return 0;
+    } else {
+        return V * (float) PWM_MAX / (float) PWM_MAX_V;
+    }
+}
+
+// Tension de PWM
+// TODO Changer en tension de moteur
+int setMoteurTension(float lVolt, float rVolt)
+{
+    static struct C2FD_PWMs msg;
+
+    msg.in = 0x00;
+
     // Gauche
-    bool lFor = lVit < 0;
+    bool lFor = lVolt < 0;
-    float lVolt = fabs(lVit); // TODO Utiliser les vitesses
+    lVolt = fabs(lVolt);
     if (lVolt > MOT_MAX_V) {
         lVolt = MOT_MAX_V;
     }
-    if (lVolt < MOT_MIN_V) {
+    msg.in |= 1 << (lFor ? IN1 : IN2);
-        digitalWrite(IN1, LOW);
+    msg.ena = tensionToPWM(lVolt);
-        digitalWrite(IN2, LOW);
-        printf("x");
-
-    } else if (lFor) {
-        digitalWrite(IN1, HIGH);
-        digitalWrite(IN2, LOW);
-        printf("↑");
-    } else {
-        digitalWrite(IN1, LOW);
-        digitalWrite(IN2, HIGH);
-        printf("↓");
-    }
-    int lAbs = lVolt * PWM_MAX / PWM_MAX_V;
-    pwmWrite(ENA, lAbs);
-    printf("%6d", lAbs);
 
     // Droite
-    bool rFor = rVit < 0;
+    bool rFor = rVolt < 0;
-    float rVolt = fabs(rVit); // TODO Utiriser res vitesses
+    rVolt = fabs(rVolt);
-    if (rVolt > MOT_MAX_V) {
+    msg.in |= 1 << (rFor ? IN3 : IN4);
-        rVolt = MOT_MAX_V;
+    msg.enb = tensionToPWM(rVolt);
-    }
-    if (rVolt < MOT_MIN_V) {
-        digitalWrite(IN3, LOW);
-        digitalWrite(IN4, LOW);
-        printf("x");
 
-    } else if (rFor) {
+    sendCF(C2FD_PWM, &msg, sizeof(struct C2FD_PWMs));
-        digitalWrite(IN3, HIGH);
-        digitalWrite(IN4, LOW);
-        printf("↑");
-    } else {
-        digitalWrite(IN3, LOW);
-        digitalWrite(IN4, HIGH);
-        printf("↓");
-    }
-    int rAbs = rVolt * PWM_MAX / PWM_MAX_V;
-    pwmWrite(ENB, rAbs);
-    printf("%6d", rAbs);
-    printf("\n");
 }
 
+int changerMoteurs(float lVit, float rVit)
+{
+    // TODO Conversion en vitesse
+    setMoteurTension(lVit, rVit);
+}
+
+static struct C2FD_PWMs msgBrake = {0, 0, 0x00};
+static struct C2FD_PWMs msgFree = {0, 0, (1 << IN1) | (1 << IN2) | (1 << IN3) | (1 << IN4)};
+
 int brake()
 {
-    digitalWrite(IN1, LOW);
+    sendCF(C2FD_PWM, &msgBrake, sizeof(struct C2FD_PWMs));
-    digitalWrite(IN2, LOW);
-    digitalWrite(IN3, LOW);
-    digitalWrite(IN4, LOW);
 }
 
 int freewheel()
 {
-    digitalWrite(IN1, HIGH);
+    sendCF(C2FD_PWM, &msgFree, sizeof(struct C2FD_PWMs));
-    digitalWrite(IN2, HIGH);
-    digitalWrite(IN3, HIGH);
-    digitalWrite(IN4, HIGH);
 }
 
 void deconfigureMovement()
@@ -90,5 +79,5 @@ void deconfigureMovement()
 int stop()
 {
     brake();
-    // TODO
+    // TODO Actionneurs
 }

chef/src/movement.h

@@ -7,8 +7,7 @@
 
 #include "position.h"
 
-#include <wiringPi.h>
+#define PWM_MAX 255
-#define PWM_MAX 1023
 #define PWM_MAX_V 3.3
 
 #define TESTINATOR
@@ -24,17 +23,10 @@
 #define MOT_MAX_V 2.5
 #endif
 
-// Pins definition
+#define IN1 0
-// Left
+#define IN2 1
-#define ENA 26
+#define IN3 2
-#define IN1 21
+#define IN4 3
-#define IN2 22
-
-// Right
-#define ENB 23
-#define IN3 24
-#define IN4 25
-
 
 void configureMovement();
 void aller(struct position* pos);

chef/src/parcours.c

@@ -1,6 +1,7 @@
 #include <pthread.h>
 #include <stdio.h>
 #include <unistd.h>
+#include <wiringPi.h>
 
 #include "lcd.h"
 #include "movement.h"
@@ -69,7 +70,7 @@ void stopParcours()
 }
 
 #define UP_TIME 1000
-#define HIGH_TIME 30000
+#define HIGH_TIME 3000
 #define DOWN_TIME 1000
 #define LOW_TIME 2000
 #define MAX_VIT MOT_MAX_V

chef/src/premier.c

@@ -24,16 +24,16 @@ int main()
 
     srand(time(NULL));
     configureDebug();
-    /* configureCF(); */
+    configureCF();
-    /* configureMovement(); */
+    configureMovement();
-    /* configurePosition(); */
+    configurePosition();
     startDebug();
 
     startIHM();
 
-    /* deconfigureMovement(); */
+    deconfigureMovement();
-    /* deconfigurePosition(); */
+    deconfigurePosition();
-    /* deconfigureCF(); */
+    deconfigureCF();
     deconfigureIHM();
     deconfigureDebug();
     return EXIT_SUCCESS;

chef/src/testForward.c

@@ -4,10 +4,13 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>
+#include <wiringPi.h>
 #include <wiringPiI2C.h>
 
 #include "lcd.h"
+#include "CF.h"
 #include "movement.h"
+#include "buttons.h"
 
 int main(int argc, char* argv[])
 {
@@ -15,17 +18,44 @@ int main(int argc, char* argv[])
     (void)argc;
     (void)argv;
 
+    wiringPiSetup();
+
     initI2C();
-
     initLCD();
-    clearLCD();
+    configureCF();
-    printToLCD(LCD_LINE_1, "Forward");
+    configureButtons();
-
     configureMovement();
 
     for (;;) {
-        changerMoteurs(1.5, 2);
+        clearLCD();
-        sleep(1);
+        printToLCD(LCD_LINE_1, "Forward");
+        changerMoteurs(3.3, 3.3);
+        pressedButton(BUT_BLOCK);
+
+        clearLCD();
+        printToLCD(LCD_LINE_1, "Right");
+        changerMoteurs(-3.3, 3.3);
+        pressedButton(BUT_BLOCK);
+
+        clearLCD();
+        printToLCD(LCD_LINE_1, "Left");
+        changerMoteurs(-3.3, -3.3);
+        pressedButton(BUT_BLOCK);
+
+        clearLCD();
+        printToLCD(LCD_LINE_1, "Backward");
+        changerMoteurs(3.3, -3.3);
+        pressedButton(BUT_BLOCK);
+
+        clearLCD();
+        printToLCD(LCD_LINE_1, "Brake");
+        brake();
+        pressedButton(BUT_BLOCK);
+
+        clearLCD();
+        printToLCD(LCD_LINE_1, "Free");
+        freewheel();
+        pressedButton(BUT_BLOCK);
     }
 
 }

fpga/Makefile

@@ -163,7 +163,7 @@ isimgui: build/isim_$(TB)$(EXE)
 # Testing (using ghdl and gtkwave)
 ###########################################################################
 
-GHDL_FLAGS=--mb-comments
+GHDL_FLAGS=--mb-comments --ieee=synopsys
 
 %_syntax: %.vhd
 	ghdl -s $(GHDL_FLAGS) "$<"

fpga/Principal.vhd

@@ -20,7 +20,13 @@ entity Principal is
              FRONTTRIGGER: out std_logic;
              FRONTECHO: in std_logic;
              BACKTRIGGER: out std_logic;
-             BACKECHO: in std_logic
+             BACKECHO: in std_logic;
+             ENA: out std_logic;
+             IN1ENC: out std_logic;
+             IN2: out std_logic;
+             ENB: out std_logic;
+             IN3END: out std_logic;
+             IN4: out std_logic
          );
 end Principal;
 
@@ -76,7 +82,22 @@ architecture Behavioral of Principal is
              );
     end component;
 
-    -- AF
+    -- Motor controller
+    signal enAd : std_logic_vector(7 downto 0);
+    signal in1enCd : std_logic_vector(7 downto 0);
+    signal in2d : std_logic;
+    signal enBd : std_logic_vector(7 downto 0);
+    signal in3enDd : std_logic_vector(7 downto 0);
+    signal in4d : std_logic;
+    component PWM is
+        port (
+                 clk : in std_logic;
+                 data : in std_logic_vector (7 downto 0);
+                 pulse : out std_logic
+             );
+    end component;
+
+    -- CF
     component uart is
         generic (
                     baud                : positive := fBaud;
@@ -116,7 +137,13 @@ architecture Behavioral of Principal is
                  txStb : out std_logic;
                  txAck : in std_logic;
                  rxData : in std_logic_vector(7 downto 0);
-                 rxStb : in std_logic
+                 rxStb : in std_logic;
+                 enA : out std_logic_vector(7 downto 0);
+                 in1enC : out std_logic_vector(7 downto 0);
+                 in2 : out std_logic;
+                 enB : out std_logic_vector(7 downto 0);
+                 in3enD : out std_logic_vector(7 downto 0);
+                 in4 : out std_logic
              );
     end component;
 
@@ -175,9 +202,33 @@ begin
                                   signalIn  => backRaw,
                                   signalOut => back,
                                   start     => backFinished
-                               -- done      => done
+                              -- done      => done
                               );
+    enAp : PWM port map (
+                            clk => CLK,
+                            data => enAd,
+                            pulse => ENA
+                        );
 
+    in1enCp : PWM port map (
+                               clk => CLK,
+                               data => in1enCd,
+                               pulse => IN1ENC
+                           );
+    IN2 <= in2d;
+
+    enBp : PWM port map (
+                            clk => CLK,
+                            data => enBd,
+                            pulse => ENB
+                        );
+
+    in3enDp : PWM port map (
+                               clk => CLK,
+                               data => in3enDd,
+                               pulse => IN3END
+                           );
+    IN4 <= in4d;
 
 
     FA: uart port map(
@@ -204,7 +255,13 @@ begin
                                    txStb  => txStb,
                                    txAck  => txAck,
                                    rxData  => rxData,
-                                   rxStb  => rxStb
+                                   rxStb  => rxStb,
+                                   enA    => enAd,
+                                   in1enC => in1enCd,
+                                   in2    => in2d,
+                                   enB    => enBd,
+                                   in3enD => in3enDd,
+                                   in4    => in4d
                                );
 end Behavioral;
 

fpga/Principal_tb.gtkw

@@ -1,20 +1,22 @@
 [*]
-[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
+[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI
-[*] Tue Feb 27 18:30:48 2018
+[*] Tue May  1 05:22:50 2018
 [*]
 [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/Principal_tb.ghw"
-[dumpfile_mtime] "Tue Feb 27 18:29:45 2018"
+[dumpfile_mtime] "Tue May  1 05:18:35 2018"
-[dumpfile_size] 4891772
+[dumpfile_size] 6534540
 [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/Principal_tb.gtkw"
 [timestart] 0
 [size] 1600 862
 [pos] -1 -1
-*-43.418156 1760000000000 -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
+*-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
 [treeopen] top.
 [treeopen] top.principal_tb.
 [treeopen] top.principal_tb.dut.
+[treeopen] top.principal_tb.dut.in1encp.
+[treeopen] top.principal_tb.dut.in3endp.
 [sst_width] 213
-[signals_width] 198
+[signals_width] 255
 [sst_expanded] 1
 [sst_vpaned_height] 296
 @28
@@ -95,11 +97,43 @@ top.principal_tb.dut.backcapt.start
 top.principal_tb.dut.backcapt.trigger
 [color] 3
 top.principal_tb.dut.backcapt.echo
-@8421
+@8420
 [color] 3
 top.principal_tb.dut.backcapt.distancecounter
 @420
 [color] 3
 top.principal_tb.dut.back
+@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]
+@28
+[color] 5
+top.principal_tb.dut.ena
+@22
+[color] 5
+#{top.principal_tb.dut.in1encd[7:0]} top.principal_tb.dut.in1encd[7] top.principal_tb.dut.in1encd[6] top.principal_tb.dut.in1encd[5] top.principal_tb.dut.in1encd[4] top.principal_tb.dut.in1encd[3] top.principal_tb.dut.in1encd[2] top.principal_tb.dut.in1encd[1] top.principal_tb.dut.in1encd[0]
+@28
+[color] 5
+top.principal_tb.dut.in1enc
+[color] 5
+top.principal_tb.dut.in2d
+[color] 5
+top.principal_tb.dut.in2
+@22
+[color] 5
+#{top.principal_tb.dut.enbd[7:0]} top.principal_tb.dut.enbd[7] top.principal_tb.dut.enbd[6] top.principal_tb.dut.enbd[5] top.principal_tb.dut.enbd[4] top.principal_tb.dut.enbd[3] top.principal_tb.dut.enbd[2] top.principal_tb.dut.enbd[1] top.principal_tb.dut.enbd[0]
+@28
+[color] 5
+top.principal_tb.dut.enb
+@22
+[color] 5
+#{top.principal_tb.dut.in3endd[7:0]} top.principal_tb.dut.in3endd[7] top.principal_tb.dut.in3endd[6] top.principal_tb.dut.in3endd[5] top.principal_tb.dut.in3endd[4] top.principal_tb.dut.in3endd[3] top.principal_tb.dut.in3endd[2] top.principal_tb.dut.in3endd[1] top.principal_tb.dut.in3endd[0]
+@28
+[color] 5
+top.principal_tb.dut.in3end
+[color] 5
+top.principal_tb.dut.in4d
+[color] 5
+top.principal_tb.dut.in4
 [pattern_trace] 1
 [pattern_trace] 0

fpga/Principal_tb.vhd

@@ -30,7 +30,13 @@ architecture tb of Principal_tb is
                  FRONTTRIGGER: out std_logic;
                  FRONTECHO: in std_logic;
                  BACKTRIGGER: out std_logic;
-                 BACKECHO: in std_logic
+                 BACKECHO: in std_logic;
+                 ENA: out std_logic;
+                 IN1ENC: out std_logic;
+                 IN2: out std_logic;
+                 ENB: out std_logic;
+                 IN3END: out std_logic;
+                 IN4: out std_logic
              );
     end component;
 
@@ -46,6 +52,12 @@ architecture tb of Principal_tb is
     signal FRONTECHO    : std_logic;
     signal BACKTRIGGER  : std_logic;
     signal BACKECHO     : std_logic;
+    signal ENA          : std_logic;
+    signal IN1ENC       : std_logic;
+    signal IN2          : std_logic;
+    signal ENB          : std_logic;
+    signal IN3END       : std_logic;
+    signal IN4          : std_logic;
 
     constant TbPeriod : time := 500 ns;
     signal TbClock : std_logic := '0';
@@ -71,7 +83,14 @@ begin
               FRONTTRIGGER => FRONTTRIGGER,
               FRONTECHO    => FRONTECHO,
               BACKTRIGGER  => BACKTRIGGER,
-              BACKECHO     => BACKECHO);
+              BACKECHO     => BACKECHO,
+              ENA          => ENA,
+              IN1ENC       => IN1ENC,
+              IN2          => IN2,
+              ENB          => ENB,
+              IN3END       => IN3END,
+              IN4          => IN4
+          );
 
     -- Clock generation
     TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';

fpga/communication.vhd

@@ -16,31 +16,39 @@ entity communication is
              txStb : out std_logic := '0';
              txAck : in std_logic;
              rxData : in std_logic_vector(7 downto 0);
-             rxStb : in std_logic
+             rxStb : in std_logic;
+             enA : out std_logic_vector(7 downto 0) := x"00";
+             in1enC : out std_logic_vector(7 downto 0) := x"00";
+             in2 : out std_logic := '0';
+             enB : out std_logic_vector(7 downto 0) := x"00";
+             in3enD : out std_logic_vector(7 downto 0) := x"00";
+             in4 : out std_logic := '0'
          );
 end communication;
 
 architecture Behavioral of communication is
 
-    constant A2FD_PING : std_logic_vector(7 downto 0) := x"50"; -- 'P'
+    constant C2FD_PING : std_logic_vector(7 downto 0) := x"50"; -- 'P'
-    constant A2FD_RESETCODER : std_logic_vector(7 downto 0) := x"52"; -- 'R'
+    constant C2FD_RESETCODER : std_logic_vector(7 downto 0) := x"52"; -- 'R'
-    constant F2AD_ERR : std_logic_vector(7 downto 0) := x"45"; -- 'E'
+    constant F2CD_ERR : std_logic_vector(7 downto 0) := x"45"; -- 'E'
     constant ERR_UNKNOWN_CODE : std_logic_vector(7 downto 0) := x"43"; -- 'C'
-    constant F2AI_CODER : std_logic_vector(7 downto 0) := x"44"; -- 'D'
+    constant F2CI_CODER : std_logic_vector(7 downto 0) := x"44"; -- 'D'
-    constant F2AI_CAPT : std_logic_vector(7 downto 0) := x"43"; -- 'C'
+    constant F2CI_CAPT : std_logic_vector(7 downto 0) := x"43"; -- 'C'
-    constant F2AT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c'
+    constant F2CT_CAPT : std_logic_vector(7 downto 0) := x"63"; -- 'c'
+    constant C2FD_PWM : std_logic_vector(7 downto 0) := x"57"; -- 'W'
+    constant C2FD_PWM2 : std_logic_vector(7 downto 0) := x"77"; -- 'w'
 
     signal frontTrigger : integer := 0;
     signal backTrigger : integer := 0;
     signal triggerSet : std_logic := '0';
 
-    type readMessages is (F2AT_CAPTs);
+    type readMessages is (F2CT_CAPTs, C2FD_PWMs, C2FD_PWM2s);
     signal readMessage : readMessages;
     signal readSize : integer := 0;
     signal readOffset : integer := 0;
     signal readData : std_logic_vector(63 downto 0) := (others => '0'); -- Max message size (will be trimmed down by the synthetizer)
 
-    type sendMessages is (A2FD_PINGs, F2AI_CODERs, F2AI_CAPTs, F2AD_ERR_UNKNOWN_CODEs);
+    type sendMessages is (C2FD_PINGs, F2CI_CODERs, F2CI_CAPTs, F2CD_ERR_UNKNOWN_CODEs);
     constant SENDQUEUE_SIZE : integer := 16;
     type sendQueueMemorya is array (0 to SENDQUEUE_SIZE - 1) of sendMessages;
     signal sendQueueMemory : sendQueueMemorya;
@@ -98,17 +106,23 @@ begin
                     if readSize = 0 then -- Beginning of message
                         readSize <= 0;
                         case rxData is
-                            when A2FD_PING =>
+                            when C2FD_PING =>
-                                pushSend(A2FD_PINGs);
+                                pushSend(C2FD_PINGs);
-                            when F2AI_CODER =>
+                            when F2CI_CODER =>
-                                pushSend(F2AI_CODERs);
+                                pushSend(F2CI_CODERs);
-                            when F2AI_CAPT =>
+                            when F2CI_CAPT =>
-                                pushSend(F2AI_CAPTs);
+                                pushSend(F2CI_CAPTs);
-                            when F2AT_CAPT =>
+                            when F2CT_CAPT =>
-                                readMessage <= F2AT_CAPTs;
+                                readMessage <= F2CT_CAPTs;
+                                readSize <= 4;
+                            when C2FD_PWM =>
+                                readMessage <= C2FD_PWMs;
+                                readSize <= 3;
+                            when C2FD_PWM2 =>
+                                readMessage <= C2FD_PWM2s;
                                 readSize <= 4;
                             when others =>
-                                pushSend(F2AD_ERR_UNKNOWN_CODEs);
+                                pushSend(F2CD_ERR_UNKNOWN_CODEs);
                         end case;
                     else -- Rest of message
                         if readOffset < readSize then
@@ -118,17 +132,39 @@ begin
                     end if;
                 elsif readSize > 0 and readOffset = readSize then -- Rest of message ended
                     case readMessage is
-                        when F2AT_CAPTs =>
+                        when F2CT_CAPTs =>
                             frontTrigger <= to_integer(unsigned(readData(15 downto 0)));
                             backTrigger <= to_integer(unsigned(readData(31 downto 16)));
                             triggerSet <= '1';
+                        when C2FD_PWMs =>
+                            enA <= readData(7 downto 0);
+                            enB <= readData(15 downto 8);
+                            if readData(16) = '1' then
+                                in1enC <= x"FF";
+                            else
+                                in1enC <= x"00";
+                            end if;
+                            in2 <= readData(17);
+                            if readData(18) = '1' then
+                                in3enD <= x"FF";
+                            else
+                                in3enD <= x"00";
+                            end if;
+                            in4 <= readData(19);
+                        when C2FD_PWM2s =>
+                            enA <= readData(7 downto 0);
+                            in1enC <= readData(15 downto 8);
+                            enB <= readData(23 downto 16);
+                            in3enD <= readData(31 downto 24);
+                            in2 <= '0';
+                            in4 <= '0';
                         when others =>
-                            pushSend(F2AD_ERR_UNKNOWN_CODEs);
+                            pushSend(F2CD_ERR_UNKNOWN_CODEs);
                     end case;
                     readOffset <= 0;
                     readSize <= 0;
                 elsif (triggerSet = '1' and ((front > frontTrigger) or (back > backTrigger))) then
-                    pushSend(F2AI_CAPTs);
+                    pushSend(F2CI_CAPTs);
                     triggerSet <= '0';
                 end if;
 
@@ -146,22 +182,22 @@ begin
                         sendAvailable <= '1';
 
                         case sendQueueMemory(sendTail) is
-                            when A2FD_PINGs =>
+                            when C2FD_PINGs =>
-                                sendData(7 downto 0) <= A2FD_PING;
+                                sendData(7 downto 0) <= C2FD_PING;
                                 sendSize <= 1;
-                            when F2AI_CAPTs =>
+                            when F2CI_CAPTs =>
-                                sendData(7 downto 0) <= F2AI_CAPT;
+                                sendData(7 downto 0) <= F2CI_CAPT;
                                 sendData(23 downto 8) <= std_logic_vector(to_signed(front, 16));
                                 sendData(39 downto 24) <= std_logic_vector(to_unsigned(back, 16));
                                 sendSize <= 5;
-                            when F2AI_CODERs =>
+                            when F2CI_CODERs =>
                                 zerocoder <= '1';
-                                sendData(7 downto 0) <= F2AI_CODER;
+                                sendData(7 downto 0) <= F2CI_CODER;
                                 sendData(23 downto 8) <= std_logic_vector(to_signed(left, 16));
                                 sendData(39 downto 24) <= std_logic_vector(to_signed(right, 16));
                                 sendSize <= 5;
-                            when others => -- Including F2AD_ERR_UNKNOWN_CODEs
+                            when others => -- Including F2CD_ERR_UNKNOWN_CODEs
-                                sendData(7 downto 0) <= F2AD_ERR;
+                                sendData(7 downto 0) <= F2CD_ERR;
                                 sendData(15 downto 8) <= ERR_UNKNOWN_CODE;
                                 sendSize <= 2;
                         end case;

fpga/communication_tb.gtkw

@@ -1,15 +1,15 @@
 [*]
-[*] GTKWave Analyzer v3.3.86 (w)1999-2017 BSI
+[*] GTKWave Analyzer v3.3.89 (w)1999-2018 BSI
-[*] Wed Feb 28 14:53:10 2018
+[*] Tue May  1 04:06:11 2018
 [*]
 [dumpfile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/build/communication_tb.ghw"
-[dumpfile_mtime] "Wed Feb 28 14:51:41 2018"
+[dumpfile_mtime] "Tue May  1 04:02:41 2018"
-[dumpfile_size] 7845
+[dumpfile_size] 8903
 [savefile] "/home/geoffrey/Documents/Polytech/Robotech/2017-2018/CdF/cdf2018-principal/fpga/communication_tb.gtkw"
 [timestart] 0
 [size] 1600 862
 [pos] -1 -1
-*-30.009827 1783000000 -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
+*-30.189280 1783000000 -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.communication_tb.
 [treeopen] top.communication_tb.dut.
@@ -66,5 +66,22 @@ top.communication_tb.dut.backtrigger
 top.communication_tb.dut.front
 [color] 2
 top.communication_tb.dut.back
+@22
+[color] 6
+#{top.communication_tb.ena[7:0]} top.communication_tb.ena[7] top.communication_tb.ena[6] top.communication_tb.ena[5] top.communication_tb.ena[4] top.communication_tb.ena[3] top.communication_tb.ena[2] top.communication_tb.ena[1] top.communication_tb.ena[0]
+[color] 6
+#{top.communication_tb.in1enc[7:0]} top.communication_tb.in1enc[7] top.communication_tb.in1enc[6] top.communication_tb.in1enc[5] top.communication_tb.in1enc[4] top.communication_tb.in1enc[3] top.communication_tb.in1enc[2] top.communication_tb.in1enc[1] top.communication_tb.in1enc[0]
+@28
+[color] 6
+top.communication_tb.dut.in2
+@22
+[color] 6
+#{top.communication_tb.enb[7:0]} top.communication_tb.enb[7] top.communication_tb.enb[6] top.communication_tb.enb[5] top.communication_tb.enb[4] top.communication_tb.enb[3] top.communication_tb.enb[2] top.communication_tb.enb[1] top.communication_tb.enb[0]
+@80023
+[color] 6
+#{top.communication_tb.in3end[7:0]} top.communication_tb.in3end[7] top.communication_tb.in3end[6] top.communication_tb.in3end[5] top.communication_tb.in3end[4] top.communication_tb.in3end[3] top.communication_tb.in3end[2] top.communication_tb.in3end[1] top.communication_tb.in3end[0]
+@28
+[color] 6
+top.communication_tb.dut.in4
 [pattern_trace] 1
 [pattern_trace] 0

fpga/communication_tb.vhd

@@ -23,7 +23,14 @@ architecture tb of communication_tb is
               txStb  : out std_logic;
               txAck  : in std_logic;
               rxData : in std_logic_vector (7 downto 0);
-              rxStb  : in std_logic);
+              rxStb  : in std_logic;
+              enA    : out std_logic_vector(7 downto 0);
+              in1enC : out std_logic_vector(7 downto 0);
+              in2    : out std_logic;
+              enB    : out std_logic_vector(7 downto 0);
+              in3enD : out std_logic_vector(7 downto 0);
+              in4    : out std_logic
+          );
     end component;
 
     signal clock  : std_logic;
@@ -38,6 +45,12 @@ architecture tb of communication_tb is
     signal txAck  : std_logic;
     signal rxData : std_logic_vector (7 downto 0);
     signal rxStb  : std_logic;
+    signal enA    : std_logic_vector(7 downto 0);
+    signal in1enC : std_logic_vector(7 downto 0);
+    signal in2    : std_logic;
+    signal enB    : std_logic_vector(7 downto 0);
+    signal in3enD : std_logic_vector(7 downto 0);
+    signal in4    : std_logic;
 
     constant TbPeriod : time := 20 ns;
     signal TbClock : std_logic := '0';
@@ -59,7 +72,14 @@ begin
               zerocoder  => zerocoder,
               txAck  => txAck,
               rxData => rxData,
-              rxStb  => rxStb);
+              rxStb  => rxStb,
+              enA    => enA,
+              in1enC => in1enC,
+              in2    => in2,
+              enB    => enB,
+              in3enD => in3enD,
+              in4    => in4
+          );
 
     -- Clock generation
     TbClock <= not TbClock after TbPeriod/2 when TbSimEnded /= '1' else '0';
@@ -245,6 +265,46 @@ begin
 
         wait for 100 ns;
 
+        -- Test PWM1
+        report "TEST Receiving 'W'" severity note;
+
+        tampon(0 to 3) := (x"57", x"CC", x"77", x"03");
+        for I in 0 to 3 loop
+            rxData <= tampon(I);
+            rxStb <= '1';
+            wait for TbPeriod;
+            rxStb <= '0';
+            wait for TbPeriod;
+        end loop;
+
+        assert enA = x"CC" report "ENA not at correct value" severity error;
+        assert enB = x"77" report "ENB not at correct value" severity error;
+        assert in1enC = x"FF" report "IN1 not at correct value" severity error;
+        assert in2 = '1' report "IN1 not at correct value" severity error;
+        assert in3enD = x"00" report "IN3 not at correct value" severity error;
+        assert in4 = '0' report "IN4 not at correct value" severity error;
+
+        wait for 100 ns;
+
+        -- Test PWM2
+        report "TEST Receiving 'w'" severity note;
+
+        tampon(0 to 4) := (x"77", x"11", x"22", x"33", x"44");
+        for I in 0 to 4 loop
+            rxData <= tampon(I);
+            rxStb <= '1';
+            wait for TbPeriod;
+            rxStb <= '0';
+            wait for TbPeriod;
+        end loop;
+
+        assert enA = x"11" report "ENA not at correct value" severity error;
+        assert in1enC = x"22" report "ENC not at correct value" severity error;
+        assert enB = x"33" report "ENB not at correct value" severity error;
+        assert in3enD = x"44" report "END not at correct value" severity error;
+
+        wait for 100 ns;
+
 
         TbSimEnded <= '1';
         wait;

fpga/principal.ucf

@@ -7,32 +7,56 @@ TIMESPEC "TS_CLK" = PERIOD "CLK" 20 ns HIGH 50 %;
 # BTN
 NET "BTN" LOC = "P41" | IOSTANDARD = LVTTL ;
 
-# IO<0>
+# IO<10>
-NET "RX" LOC = "P59" | IOSTANDARD = LVTTL ;
+NET "RX" LOC = "P85" | IOSTANDARD = LVTTL ;
 
-# IO<1>
+# IO<11>
-NET "TX" LOC = "P60" | IOSTANDARD = LVTTL ;
+NET "TX" LOC = "P84" | IOSTANDARD = LVTTL ;
 
-# IO<2>
+# IO<12>
-NET "LEFTCHA" LOC = "P61" | IOSTANDARD = LVTTL ;
+NET "LEFTCHA" LOC = "P83" | IOSTANDARD = LVTTL ;
 
-# IO<3>
+# IO<13>
-NET "LEFTCHB" LOC = "P62" | IOSTANDARD = LVTTL ;
+NET "LEFTCHB" LOC = "P78" | IOSTANDARD = LVTTL ;
 
-# IO<4>
+# IO<14>
-NET "RIGHTCHA" LOC = "P64" | IOSTANDARD = LVTTL ;
+NET "RIGHTCHA" LOC = "P77" | IOSTANDARD = LVTTL ;
 
-# IO<5>
+# IO<15>
-NET "RIGHTCHB" LOC = "P57" | IOSTANDARD = LVTTL ;
+NET "RIGHTCHB" LOC = "P65" | IOSTANDARD = LVTTL ;
 
-# IO<6>
+# IO<16>
-NET "FRONTTRIGGER" LOC = "P56" | IOSTANDARD = LVTTL ;
+NET "FRONTTRIGGER" LOC = "P70" | IOSTANDARD = LVTTL ;
 
-# IO<7>
+# IO<17>
-NET "FRONTECHO" LOC = "P52" | IOSTANDARD = LVTTL ;
+NET "FRONTECHO" LOC = "P71" | IOSTANDARD = LVTTL ;
 
-# IO<8>
+# IO<18>
-NET "BACKTRIGGER" LOC = "P50" | IOSTANDARD = LVTTL ;
+NET "BACKTRIGGER" LOC = "P72" | IOSTANDARD = LVTTL ;
 
-# IO<9>
+# IO<19>
-NET "BACKECHO" LOC = "P49" | IOSTANDARD = LVTTL ;
+NET "BACKECHO" LOC = "P73" | IOSTANDARD = LVTTL ;
+
+# IO<20>
+NET "ENA" LOC = "P5" | IOSTANDARD = LVTTL ;
+
+
+# IO<21>
+NET "IN1ENC" LOC = "P4" | IOSTANDARD = LVTTL ;
+
+# IO<22>
+NET "IN2" LOC = "P6" | IOSTANDARD = LVTTL ;
+
+# IO<23>
+NET "ENB" LOC = "P98" | IOSTANDARD = LVTTL ;
+
+# IO<24>
+NET "IN3END" LOC = "P94" | IOSTANDARD = LVTTL ;
+
+# IO<25>
+NET "IN4" LOC = "P93" | IOSTANDARD = LVTTL ;
+
+# NET "IO<26>" LOC = "P90" | IOSTANDARD = LVTTL ;
+# NET "IO<27>" LOC = "P89" | IOSTANDARD = LVTTL ;
+# NET "IO<28>" LOC = "P88" | IOSTANDARD = LVTTL ;
+# NET "IO<29>" LOC = "P86" | IOSTANDARD = LVTTL ;

fpga/project.cfg

@@ -5,5 +5,5 @@ PROGRAMMER = mercpcl
 
 TOPLEVEL = Principal
 # Prod
-VHDSOURCE = $(TOPLEVEL).vhd communication.vhd uart.vhd hedm.vhd hcsr04.vhd fir.vhd
+VHDSOURCE = $(TOPLEVEL).vhd communication.vhd uart.vhd hedm.vhd hcsr04.vhd fir.vhd pwm.vhd
 CONSTRAINTS = principal.ucf

fpga/pwm.vhd

@@ -0,0 +1,30 @@
+-- Inspiré de http://www.fpga4fun.com/PWM_DAC_2.html
+
+library IEEE;
+use IEEE.STD_LOGIC_1164.all;
+use IEEE.NUMERIC_STD.ALL;
+
+entity PWM is
+    port (
+             clk : in std_logic;
+             data : in std_logic_vector (7 downto 0) := "00000000";
+             pulse : out std_logic
+         );
+end PWM;
+
+architecture Behavioral of PWM is
+    signal  accuI : integer;
+    signal  dataI : integer;
+begin
+
+    dataI <= to_integer(unsigned(data));
+
+    process(clk, data)
+    begin
+        if rising_edge(clk) then
+            accuI  <=  accuI mod 256 + dataI + 1;
+        end if;
+    end process;
+
+    pulse <= '1' when accuI >= 256 else '0';
+end Behavioral;