Initial commit

Cursor_test/hdl/cursor_tester_test.vhd

@@ -0,0 +1,148 @@
+ARCHITECTURE test OF cursor_tester IS
+
+  constant clockFrequency: real := 66.0E6;
+  constant clockPeriod: time := 1.0/clockFrequency * 1 sec;
+  signal sClock: std_uLogic := '1';
+
+  signal testMode_int: std_uLogic;
+
+  constant buttonsPulseWidth : time := 100 us;
+
+  constant pulsesPerTurn: integer := 2000;
+  constant pwmReadBitNb: positive :=8;
+  constant pwmLowpassAddBitNb: positive :=8;
+  constant voltageToSpeedBitNb: positive := 8;
+  signal side1Acc: unsigned(pwmReadBitNb+pwmLowpassAddBitNb-1 downto 0) := (others => '0');
+  signal side2Acc: unsigned(pwmReadBitNb+pwmLowpassAddBitNb-1 downto 0) := (others => '0');
+  signal side1M: unsigned(pwmReadBitNb-1 downto 0);
+  signal side2M: unsigned(pwmReadBitNb-1 downto 0);
+  signal position: signed(pwmReadBitNb+voltageToSpeedBitNb-1 downto 0) := (others => '0');
+  signal stepCount: unsigned(1 downto 0);
+
+BEGIN
+
+  ------------------------------------------------------------------------------
+  -- clock and reset
+  --
+  reset <= '1', '0' after 2*clockPeriod;
+
+  sClock <= not sClock after clockPeriod/2;
+  clock <= transport sClock after clockPeriod*9/10;
+
+
+  ------------------------------------------------------------------------------
+  -- test sequence
+  --
+  process
+  begin
+
+    testMode_int <= '1';
+
+    restart <= '0';
+    go1 <= '0';
+    go2 <= '0';
+    button4 <= '0';
+
+    sensor1 <= '0';
+    sensor2 <= '0';
+
+    wait for 0.1 ms;
+    
+     ----------------------------------------------------------------------------
+                                                    -- restart
+    restart <= '1', '0' after buttonsPulseWidth;
+    wait for 0.25 ms;
+    sensor1 <= '1', '0' after buttonsPulseWidth;
+    wait for 0.25 ms;
+
+    ----------------------------------------------------------------------------
+                                                  -- advance to first stop point
+    go1 <= '1', '0' after buttonsPulseWidth;
+    wait for 2 ms;
+
+    ----------------------------------------------------------------------------
+                                                 -- advance to second stop point
+    go2 <= '1', '0' after buttonsPulseWidth;
+    wait for 2 ms;
+
+    ----------------------------------------------------------------------------
+                                                  -- go back to first stop point
+    go1 <= '1', '0' after buttonsPulseWidth;
+    wait for 2 ms;
+
+    ----------------------------------------------------------------------------
+                                              -- back to start with sensor reset
+    restart <= '1', '0' after buttonsPulseWidth;
+    wait for 0.5 ms;
+    sensor1 <= '1', '0' after buttonsPulseWidth;
+    wait for 0.5 ms;
+
+    ----------------------------------------------------------------------------
+                                                 -- advance to second stop point
+    go2 <= '1', '0' after buttonsPulseWidth;
+    wait for 3 ms;
+
+    ----------------------------------------------------------------------------
+                                              -- back to start with counter stop
+    restart <= '1', '0' after buttonsPulseWidth;
+    wait for 2 ms;
+    sensor1 <= '1', '0' after buttonsPulseWidth;
+    wait for 1 ms;
+
+    ----------------------------------------------------------------------------
+                                                               -- quit test mode
+    testMode_int <= '0';
+
+    ----------------------------------------------------------------------------
+                                                  -- advance to first stop point
+    go1 <= '1', '0' after buttonsPulseWidth;
+    wait for 2 ms;
+
+    wait;
+  end process;
+
+  testMode <= testMode_int;
+
+  ------------------------------------------------------------------------------
+  -- PWM lowpass
+  --
+  process(sClock)
+  begin
+    if rising_edge(sClock) then
+      if side1 = '1' then
+        side1Acc <= side1Acc + 2**pwmReadBitNb-1 - shift_right(side1Acc, pwmLowpassAddBitNb);
+      else
+        side1Acc <= side1Acc - shift_right(side1Acc, pwmLowpassAddBitNb);
+      end if;
+      if side2 = '1' then
+        side2Acc <= side2Acc + 2**pwmReadBitNb-1 - shift_right(side2Acc, pwmLowpassAddBitNb);
+      else
+        side2Acc <= side2Acc - shift_right(side2Acc, pwmLowpassAddBitNb);
+      end if;
+    end if;
+  end process;
+
+  side1M <= resize(shift_right(side1Acc, pwmLowpassAddBitNb), side1M'length);
+  side2M <= resize(shift_right(side2Acc, pwmLowpassAddBitNb), side2M'length);
+
+  ------------------------------------------------------------------------------
+  -- motor feedback
+  --
+  count: process (sClock)
+  begin
+    if motorOn = '1' then
+      if testMode_int = '0' then
+        position <= position + to_integer(side1M) - to_integer(side2M);
+      else
+        position <= position + (to_integer(side1M) - to_integer(side2M)) * 5;
+      end if;
+    end if;
+  end process count;
+
+  stepCount <= resize(shift_right(unsigned(position), position'length-stepCount'length), stepCount'length);
+
+  encoderA <= stepCount(1);
+  encoderB <= not stepCount(1) xor stepCount(0);
+  encoderI <= '1' when stepCount = pulsesPerTurn-1 else '0';
+
+END ARCHITECTURE test;

Cursor_test/hdl/divider_tester_test.vhd

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+ARCHITECTURE test OF divider_tester IS
+
+  constant clockFrequency: real := 66.0E6;
+  constant clockPeriod: time := 1.0/clockFrequency * 1 sec;
+  signal sClock: std_uLogic := '1';
+
+BEGIN
+
+  reset <= '1', '0' after clockPeriod/4;
+
+  sClock <= not sClock after clockPeriod/2;
+  clock <= sClock after clockPeriod/10;
+
+  testMode <= '1', '0' after 10000*clockPeriod;
+
+--  start <=  '0',
+--            '1' after 210 us,
+--            '0' after 210 us + clockPeriod,
+--            '1' after 2.1 ms,
+--            '0' after 2.1 ms + clockPeriod;
+
+END ARCHITECTURE test;

Cursor_test/hdl/positioncounter_tester_generatedinstance.vhd

@@ -0,0 +1,8 @@
+-- 
+-- Auto generated dummy architecture for leaf level instance.
+-- 
+ARCHITECTURE generatedInstance OF positionCounter_tester IS 
+BEGIN
+
+
+END generatedInstance;