FPGA步进电机控制程序

ID:564791 · 发表于 2020-1-1 13:39

//******模块一：分频器*****************//
/*en1为使能端，clk为输入频率，outdiv(0-9)为输出频率，
outdiv(0)为不进行分频，outdiv(1)进行2分频，
outdiv(2)进行3分频，outdiv(3)进行4分频，
outdiv(4)进行5分频，outdiv(5)进行6分频，
outdiv(6)进行7分频，outdiv(7)进行8分频，
outdiv(8)进行9分频，outdiv(9)进行10分频。*/
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;
//***********模块二：频率选择器**************//
/*P0、P1、P2、P3为频率选择信号，indiv（0-9）为分频器分频之后的频率信号，
outclk为要选择的频率。
当p(3-0)为"0000"时，outclk为indiv（0）；当p(3-0)为"0001"时，outclk为indiv（1）；
当p(3-0)为"0010"时，outclk为indiv（2）；当p(3-0)为"0011"时，outclk为indiv（3）；
当p(3-0)为"0100"时，outclk为indiv（4）；当p(3-0)为"0101"时，outclk为indiv（5）；
当p(3-0)为"0110"时，outclk为indiv（6）；当p(3-0)为"0111"时，outclk为indiv（7）；
当p(3-0)为"1000"时，outclk为indiv（8）；当p(3-0)为"1001"时，outclk为indiv（9）；
当p(3-0)为其它时，outclk为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;
//***********模块三：方向锁存器**************//
/*Zz、Fz、Tz为方向和开关信号，Modxz为六拍和三拍选择切换信号，
outctrl为输出的控制信号。
当Modxz为1时，为六拍；当Modxz为0时，为双三拍。
当Tz为1时，为停止电机，当Tz为0时，为启动电机。
当Zz为1、Fz为0时，为电机正转，
当Zz为0、Fz为1时，为电机反转，
当Zz为1、Fz为1时，为电机停止，
当Zz为0、Fz为0时，为电机停止。
outctrl（0）对应Tz；outctrl（1）对应Fz；
outctrl（2）对应Zz；outctrl（3）对应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;
//***********模块四：中央控制器**************//
/*inclk为经过频率选择器选择之后的输入频率，
inctrl为经过方向锁存器之后的输入控制信号，
outDj为三相电机的的三相电压，
当inctrl为“0100”时，电机为双三相正转；
当inctrl为“0010”时，电机为双三相反转；
当inctrl为“1100”时，电机为单六相正转；
当inctrl为“1010”时，电机为单六相正转；
当inctrl为“xxx1”时，电机停止。*/
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;
//***********模块五：译码器**************//
/*xyk（3-0）为输入信号，输入数值，dnf（8-0）为输出控制数码管信号。
//dnf（8）为数码管的位选信号。
当xyk为“0000”时，dnf输出为“100111111”，数码管显示‘0’；
当xyk为“0001”时，dnf输出为“100000110”，数码管显示‘1’；
当xyk为“0010”时，dnf输出为“101011011”，数码管显示‘2’；
当xyk为“0011”时，dnf输出为“101001111”，数码管显示‘3’；
当xyk为“0100”时，dnf输出为“101100110”，数码管显示‘4’；
当xyk为“0101”时，dnf输出为“100101001”，数码管显示‘5’；
当xyk为“0110”时，dnf输出为“101111101”，数码管显示‘6’；
当xyk为“0111”时，dnf输出为“100000111”，数码管显示‘7’；
当xyk为“1000”时，dnf输出为“101111111”，数码管显示‘8’；
当xyk为“1001”时，dnf输出为“101100111”，数码管显示‘9’；
当xyk为其它时，dnf输出为“100111111”，数码管显示‘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;
//********总体：模块的例化*************//
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步进电机控制程序

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