FPGA步進電機控制程序

ID:564791 · 發表于 2020-1-1 13:39

//******模塊一：分頻器*****************//
/*en1為使能端，clk為輸入頻率，outdiv(0-9)為輸出頻率，
outdiv(0)為不進行分頻，outdiv(1)進行2分頻，
outdiv(2)進行3分頻，outdiv(3)進行4分頻，
outdiv(4)進行5分頻，outdiv(5)進行6分頻，
outdiv(6)進行7分頻，outdiv(7)進行8分頻，
outdiv(8)進行9分頻，outdiv(9)進行10分頻。*/
library ieee;
use ieee.std_logic_1164.all;
entity FPQ is
port(clk,en1: in std_logic;
outdiv : out std_logic_vector(9 downto 0));
end FPQ;
architecture bh of FPQ is
begin
process(en1,clk)
variable t1 : integer range 0 to 2;
variable t2 : integer range 0 to 3;
variable t3 : integer range 0 to 4;
variable t4 : integer range 0 to 5;
variable t5 : integer range 0 to 6;
variable t6 : integer range 0 to 7;
variable t7 : integer range 0 to 8;
variable t8 : integer range 0 to 9;
variable t9 : integer range 0 to 10;
begin
outdiv(0) <= clk;
if clk'event and clk = '1' then
if en1 = '1' then
if (t1 >= 2) then t1:=0;outdiv(1)<='0';
elsif t1<1 then outdiv(1)<='0';
else outdiv(1) <= '1';
end if;
t1:=t1+1;
if (t2 >= 3) then t2:=0;outdiv(2)<='0';
elsif t2<2 then outdiv(2)<='0';
else outdiv(2) <= '1';
end if;
t2:=t2+1;
if (t3 >= 4) then t3:=0;outdiv(3)<='0';
elsif t3<2 then outdiv(3)<='0';
else outdiv(3) <= '1';
end if;
t3:=t3+1;
if (t4 >= 5) then t4:=0;outdiv(4)<='0';
elsif t4<3 then outdiv(4)<='0';
else outdiv(4) <= '1';
end if;
t4:=t4+1;
if (t5 >= 6) then t5:=0;outdiv(5)<='0';
elsif t5<3 then outdiv(5)<='0';
else outdiv(5) <= '1';
end if;
t5:=t5+1;
if (t6 >= 7) then t6:=0;outdiv(6)<='0';
elsif t6<4 then outdiv(6)<='0';
else outdiv(6) <= '1';
end if;
t6:=t6+1;
if (t7 >= 8) then t7:=0;outdiv(7)<='0';
elsif t7<4 then outdiv(7)<='0';
else outdiv(7) <= '1';
end if;
t7:=t7+1;
if (t8 >= 9) then t8:=0;outdiv(8)<='0';
elsif t8<5 then outdiv(8)<='0';
else outdiv(8) <= '1';
end if;
t8:=t8+1;
if (t9 >= 10) then t9:=0;outdiv(9)<='0';
elsif t9<5 then outdiv(9)<='0';
else outdiv(9) <= '1';
end if;
t9:=t9+1;
end if;
end if;
end process;
end bh;
//***********模塊二：頻率選擇器**************//
/*P0、P1、P2、P3為頻率選擇信號，indiv（0-9）為分頻器分頻之后的頻率信號，
outclk為要選擇的頻率。
當p(3-0)為"0000"時，outclk為indiv（0）；當p(3-0)為"0001"時，outclk為indiv（1）；
當p(3-0)為"0010"時，outclk為indiv（2）；當p(3-0)為"0011"時，outclk為indiv（3）；
當p(3-0)為"0100"時，outclk為indiv（4）；當p(3-0)為"0101"時，outclk為indiv（5）；
當p(3-0)為"0110"時，outclk為indiv（6）；當p(3-0)為"0111"時，outclk為indiv（7）；
當p(3-0)為"1000"時，outclk為indiv（8）；當p(3-0)為"1001"時，outclk為indiv（9）；
當p(3-0)為其它時，outclk為indiv（0）。*/
library ieee;
use ieee.std_logic_1164.all;
entity PLXZQ is
port(p: in std_logic_vector(3 downto 0);
indiv : in std_logic_vector(9 downto 0);
outclk : out std_logic);
end PLXZQ;
architecture bh1 of PLXZQ is
begin
process(p,indiv)
begin
case p is
when "0000" => outclk <= indiv(0);
when "0001" => outclk <= indiv(1);
when "0010" => outclk <= indiv(2);
when "0011" => outclk <= indiv(3);
when "0100" => outclk <= indiv(4);
when "0101" => outclk <= indiv(5);
when "0110" => outclk <= indiv(6);
when "0111" => outclk <= indiv(7);
when "1000" => outclk <= indiv(8);
when "1001" => outclk <= indiv(9);
when others => outclk <= indiv(0);
end case;
end process;
end bh1;
//***********模塊三：方向鎖存器**************//
/*Zz、Fz、Tz為方向和開關信號，Modxz為六拍和三拍選擇切換信號，
outctrl為輸出的控制信號。
當Modxz為1時，為六拍；當Modxz為0時，為雙三拍。
當Tz為1時，為停止電機，當Tz為0時，為啟動電機。
當Zz為1、Fz為0時，為電機正轉，
當Zz為0、Fz為1時，為電機反轉，
當Zz為1、Fz為1時，為電機停止，
當Zz為0、Fz為0時，為電機停止。
outctrl（0）對應Tz；outctrl（1）對應Fz；
outctrl（2）對應Zz；outctrl（3）對應Modxz。*/
library ieee;
use ieee.std_logic_1164.all;
entity FXSCQ is
port(modxz,zz,fz,tz: in std_logic;
outctrl: out std_logic_vector(3 downto 0));
end FXSCQ;
architecture bh2 of FXSCQ is
begin
process(modxz,zz,fz,tz)
begin
outctrl(0) <= tz;
outctrl(1) <= fz;
outctrl(2) <= zz;
outctrl(3) <= modxz;
if zz = '1' and fz = '1' then
outctrl(0) <= '1';
elsif zz = '0' and fz = '0' then
outctrl(0) <= '1';
end if;
end process;
end bh2;
//***********模塊四：中央控制器**************//
/*inclk為經過頻率選擇器選擇之后的輸入頻率，
inctrl為經過方向鎖存器之后的輸入控制信號，
outDj為三相電機的的三相電壓，
當inctrl為“0100”時，電機為雙三相正轉；
當inctrl為“0010”時，電機為雙三相反轉；
當inctrl為“1100”時，電機為單六相正轉；
當inctrl為“1010”時，電機為單六相正轉；
當inctrl為“xxx1”時，電機停止。*/
library ieee;
use ieee.std_logic_1164.all;
use ieee.std_logic_unsigned.all;
entity CPU is
port(inclk: in std_logic;
inctrl: in std_logic_vector(3 downto 0);
outDJ: out std_logic_vector(2 downto 0));
end CPU;
architecture bh3 of CPU is
signal Tmp : std_logic_vector(2 downto 0);
begin
process(inclk,inctrl)
begin
if inclk'event and inclk = '1' then
if inctrl = "1100" then
if Tmp = 6 then
Tmp <= "001";
else
Tmp <= Tmp+1;
end if;
elsif inctrl = "1010" then
if Tmp = 1 then
Tmp <= "110";
else
Tmp <= Tmp-1;
end if;
elsif inctrl = "1000" then
Tmp <= "000";
elsif inctrl = "0100" then
if Tmp = 6 then
Tmp <= "010";
else
Tmp <= Tmp+2;
end if;
elsif inctrl = "0010" then
if Tmp = 2 then
Tmp <="110";
else
Tmp <= Tmp-2;
end if;
elsif inctrl = "0000" then
Tmp <= "000";
end if;
end if;
end process;
with Tmp select
outDJ <= "001" when "001",
"011" when "010",
"010" when "011",
"110" when "100",
"100" when "101",
"101" when "110",
"000" when others;
end bh3;
//***********模塊五：譯碼器**************//
/*xyk（3-0）為輸入信號，輸入數值，dnf（8-0）為輸出控制數碼管信號。
//dnf（8）為數碼管的位選信號。
當xyk為“0000”時，dnf輸出為“100111111”，數碼管顯示‘0’；
當xyk為“0001”時，dnf輸出為“100000110”，數碼管顯示‘1’；
當xyk為“0010”時，dnf輸出為“101011011”，數碼管顯示‘2’；
當xyk為“0011”時，dnf輸出為“101001111”，數碼管顯示‘3’；
當xyk為“0100”時，dnf輸出為“101100110”，數碼管顯示‘4’；
當xyk為“0101”時，dnf輸出為“100101001”，數碼管顯示‘5’；
當xyk為“0110”時，dnf輸出為“101111101”，數碼管顯示‘6’；
當xyk為“0111”時，dnf輸出為“100000111”，數碼管顯示‘7’；
當xyk為“1000”時，dnf輸出為“101111111”，數碼管顯示‘8’；
當xyk為“1001”時，dnf輸出為“101100111”，數碼管顯示‘9’；
當xyk為其它時，dnf輸出為“100111111”，數碼管顯示‘0’。*/
library ieee;
use ieee.std_logic_1164.all;
entity YMQ is
port(xyk: in std_logic_vector(3 downto 0);
dnf: out std_logic_vector(8 downto 0));
end YMQ;
architecture bh4 of YMQ is
begin
process(xyk)
begin
case xyk is
when "0000" => dnf <= "100111111";
when "0001" => dnf <= "100000110";
when "0010" => dnf <= "101011011";
when "0011" => dnf <= "101001111";
when "0100" => dnf <= "101100110";
when "0101" => dnf <= "100101001";
when "0110" => dnf <= "101111101";
when "0111" => dnf <= "100000111";
when "1000" => dnf <= "101111111";
when "1001" => dnf <= "101100111";
when others => dnf <= "100111111";
end case;
end process;
end bh4;
//********總體：模塊的例化*************//
library ieee;
use ieee.std_logic_1164.all;
entity zong is
port(clk0,en0,Modxz0,Zz0,Fz0,Tz0 : in std_logic;
P0 : in std_logic_vector(3 downto 0);
DNF0 : out std_logic_vector(8 downto 0);
OutDJ0 : out std_logic_vector(2 downto 0));
end zong;
architecture bh0 of zong is
component FPQ
port(clk,en1: in std_logic;
outdiv : out std_logic_vector(9 downto 0));
end component;
component PLXZQ
port(p: in std_logic_vector(3 downto 0);
indiv : in std_logic_vector(9 downto 0);
outclk : out std_logic);
end component;
component YMQ
port(xyk: in std_logic_vector(3 downto 0);
dnf: out std_logic_vector(8 downto 0));
end component;
component CPU
port(inclk: in std_logic;
inctrl: in std_logic_vector(3 downto 0);
outDJ: out std_logic_vector(2 downto 0));
end component;
component FXSCQ
port(modxz,zz,fz,tz: in std_logic;
outctrl: out std_logic_vector(3 downto 0));
end component;
signal DX1 :std_logic;
signal DX2 :std_logic_vector(9 downto 0);
signal DX3 :std_logic_vector(3 downto 0);
begin
U0 : FPQ port map (clk0,en0,DX2);
U1 : PLXZQ port map (p0,DX2,DX1);
U2 : YMQ port map (p0,dnf0);
U3 : CPU port map (DX1,DX3,OutDJ0);
U4 : FXSCQ port map (Modxz0,Zz0,Fz0,Tz0,DX3);
end bh0;

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FPGA步進電機控制程序

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