Robotics platform
Sign in or create your account | Project List | Help
Robotics platform Git Source Tree
Root/
| 1 | `timescale 1ns / 1ps |
| 2 | |
| 3 | module pwm_FINAL(clk, reset, enable, we, PWM_in, PWM_out,buffer_addr,out); |
| 4 | input clk; //Clock |
| 5 | input enable; //Seal enable |
| 6 | input we; //Seal enable de escritura |
| 7 | input reset; //Seal reset |
| 8 | input [7:0] PWM_in; //Dutycycle |
| 9 | input [10:0]buffer_addr; //Direcciones ram |
| 10 | output PWM_out; //Salida PWM |
| 11 | output [10:0]out; |
| 12 | |
| 13 | reg [7:0] PWM_accum=0; //Acumulador PWM |
| 14 | reg [7:0] PWM_in_reg=0; //Registro para saber cambios en registro de RAM |
| 15 | //reg [7:0] PWM_in_reg2=0; //Registro para saber cambios en registro de RAM |
| 16 | reg we1=0; //registro write enable? |
| 17 | wire [7:0] PWM_ram_reg; //Registro que se lee desde la ram |
| 18 | |
| 19 | /*always @(negedge clk)//sync de addres. Por ahora lleva todo a la primera direccion |
| 20 | begin |
| 21 | if(enable&we) |
| 22 | begin |
| 23 | PWM_in_reg<=PWM_in; |
| 24 | PWM_in_reg2<=PWM_in_reg; |
| 25 | end |
| 26 | end |
| 27 | */ |
| 28 | // REGISTER BANK: Write control |
| 29 | always @(negedge clk) |
| 30 | begin |
| 31 | /*if(reset) |
| 32 | {PWM_in_reg,we1} <= 0; |
| 33 | else */if(we & enable) begin |
| 34 | /*case (buffer_addr) |
| 35 | 0: begin PWM_in_reg<=PWM_in; end |
| 36 | 1: begin PWM_in_reg<=PWM_in; end |
| 37 | 2: begin PWM_in_reg<=PWM_in; end |
| 38 | default: begin we1 <= 1; end |
| 39 | endcase */ |
| 40 | we1<=1; |
| 41 | end |
| 42 | else begin |
| 43 | we1 <= 0; end |
| 44 | end |
| 45 | |
| 46 | /*always @(posedge clk)//Manejo de escritura RAM?? |
| 47 | begin |
| 48 | // if(reset) {PWM_accum, PWM_in_reg} <= 0; |
| 49 | // else if(enable) |
| 50 | // begin |
| 51 | // PWM_ram_reg<=PWM_in; |
| 52 | // PWM_in_reg<=PWM_in; |
| 53 | // end |
| 54 | if(enable) |
| 55 | begin |
| 56 | case (state) |
| 57 | 0: begin |
| 58 | PWM_in_reg<=PWM_in; |
| 59 | state <= 1; end |
| 60 | 1: begin state <= 1; end |
| 61 | default: begin state <= 0; end |
| 62 | endcase |
| 63 | end |
| 64 | end |
| 65 | |
| 66 | */ |
| 67 | always @(posedge clk)//Manejo de escritura RAM?? |
| 68 | begin |
| 69 | PWM_in_reg<=PWM_ram_reg; |
| 70 | if(PWM_in_reg==PWM_ram_reg) PWM_accum<=PWM_accum+1; else PWM_accum<=0; |
| 71 | //PWM_accum<=PWM_accum+1; |
| 72 | end |
| 73 | /*RAMB16_S9 ba0( .CLK(~clk), |
| 74 | .EN(enable), |
| 75 | .DOP(), |
| 76 | .SSR(1'b0), |
| 77 | .ADDR(buffer_addr[10:0]), |
| 78 | .WE(we1), |
| 79 | .DI(PWM_in), |
| 80 | .DIP(1'b0), |
| 81 | .DO(out)); |
| 82 | */ |
| 83 | // Dual-port RAM instatiation |
| 84 | RAMB16_S9_S9 ba0( |
| 85 | .DOA(out), // Port A 8-bit Data Output |
| 86 | .DOB(PWM_ram_reg), // Port B 8-bit Data Output |
| 87 | .DOPA(), // Port A 1-bit Parity Output |
| 88 | .DOPB(), // Port B 1-bit Parity Output |
| 89 | .ADDRA(buffer_addr[10:0]), // Port A 11-bit Address Input |
| 90 | .ADDRB(1'b0), // Port B 11-bit Address Input |
| 91 | .CLKA(~clk), // Port A Clock |
| 92 | .CLKB(~clk), // Port B Clock |
| 93 | .DIA(PWM_in), // Port A 8-bit Data Input |
| 94 | .DIB(), // Port B 8-bit Data Input |
| 95 | .DIPA(1'b0), // Port A 1-bit parity Input |
| 96 | .DIPB(1'b0), // Port-B 1-bit parity Input |
| 97 | .ENA(1'b1), // Port A RAM Enable Input |
| 98 | .ENB(1'b1), // Port B RAM Enable Input |
| 99 | .SSRA(1'b0), // Port A Synchronous Set/Reset Input |
| 100 | .SSRB(1'b0), // Port B Synchronous Set/Reset Input |
| 101 | .WEA(we1), // Port A Write Enable Input |
| 102 | .WEB(1'b0) ); // Port B Write Enable Input |
| 103 | //Salida para el PWM |
| 104 | |
| 105 | assign PWM_out=(PWM_accum<PWM_ram_reg); |
| 106 | |
| 107 | |
| 108 | endmodule |
Branches:
master
