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標(biāo)題: FPGA控制馬達(dá) T型加減速代碼 [打印本頁]

作者: qqfishboy 時(shí)間: 2019-9-11 11:55
標(biāo)題: FPGA控制馬達(dá) T型加減速代碼
項(xiàng)目上用的，F(xiàn)PGA 控制馬達(dá) T型加減速代碼，加減速時(shí)間速度可調(diào)。

module       Motor_test(
                                                      input             wire                      rst_n,
                                                      input             wire                      clk10m,
                                                      output       wire                      motor_pul,
                                                      output       wire                      motor_done,             // Execute Finish
                                                      output       wire                      motor_busy,
                                                      output       wire                      motor_invalid,
                                                      input             wire                      iMotor_en,             // Begin Execute
(* MARK_DEBUG="true" *)                                                       input             wire [7:0]       test_Moto
                                                      //output       reg[9:0]             i
);

//`include "MOTOR_Param.h"
//---- Motor Parameter----
//parameter             Mid_Thr             =  20'b0100_0000_0000_0000;       // Max_Speed - Init_Speed
//parameter             Acc_Time             =       2;                                     //Speed up the time
//parameter             Inc_value       =       20'd10;                      // Incress parameter
//parameter             Total_Define       =       20'd40000;       //Total running number of rotation
//parameter             Slow_Set                      =       20'd1500;       // Set Turns of End
//////////////////////////////////////////////////////////////
// parameter             Speed_Time             =       20'd1000;//20'd2000;       //Speed Up Turns Number
// parameter             Slow_Time             =       20'd1000;//20'd2000;       //Slow Down Start Turns (Total_Circle - Slow_Set)

// parameter             Init_Speed       =       20'd500;//20'd1000;             //initial velocity Constant Speed or Velocity
// parameter             Max_Speed       =       20'd2000;//20'd3000;             //Maxiam Speed Start Spped ,launch velocity
///////////////////////////////////////////////////////////////////////////////////

parameter             Speed_Time             =       20'd2000;//20'd2000;       //Speed Up Turns Number
parameter             Slow_Time             =       20'd2000;//20'd2000;       //Slow Down Start Turns (Total_Circle - Slow_Set)

parameter             Init_Speed       =       20'd800;//20'd1000;             //initial velocity Constant Speed or Velocity
parameter             Max_Speed       =       20'd2800;//20'd3000;             //Maxiam Speed Start Spped ,launch velocity

// Motor Clock


reg                               motor_en;
reg       [19:0]       time_cnt;

reg       [1:0]             key_en_reg;
reg       [19:0]       cnt;
reg       [19:0]       cnt_time;
reg                               motor_dir_reg;
reg                               motor_pul_reg;
//motor pulse period
reg       [19:0]       pul_value_temp;
//r
reg       [15:0]       motor_cmd;
reg                               motor_done_reg;
reg                               motor_en1;
reg       [19:0]       Total_Circle;
//************************************************************
// Motor Output
assign             motor_pul  = motor_pul_reg;
assign             motor_done = motor_done_reg;
//************************************************************
// enable period
//************************************************************
parameter  subdivide = 6400*2;//6400細(xì)分 6400個(gè)脈沖驅(qū)動(dòng)器旋轉(zhuǎn)360庿  6400*2 叿6400個(gè)脈冿
//160/12=40/3=13.333 為傳動(dòng)比電機(jī)轎13.33 轉(zhuǎn)盤轉(zhuǎn)一圿

//步進(jìn)角度1.8庿  毿1.8度要32個(gè)脈冿

//轉(zhuǎn)鿿計(jì)算

//頻率=10_000_000(10mhz)/1600（分頻系數(shù)）=6250 hz

//旋轉(zhuǎn)丿個(gè)細(xì)劌時(shí)間=1/6250=0.00016 s

//電機(jī)旋轉(zhuǎn)丿圿時(shí)間 =6400*0.00016 = 1.024 秿

//轉(zhuǎn)盤丿圿時(shí)間 = 1.024*13.33(傳動(dòng)比）= 13.64992 秿

//電機(jī)轉(zhuǎn)鿟：1/1.024 = 0.9765625圿/秿
//轉(zhuǎn)盤轉(zhuǎn)鿟：1/13.64992 = 0.0732605026256564圿/秿

//傳動(dòng)毿 13.333  步進(jìn)觿1.8  細(xì)分6400

parameter  ALL360_1= (subdivide*40)/(3*1);//170666    160/12=40/3
parameter  ALL180_2= (subdivide*40)/(3*2);
parameter  ALL120_3= (subdivide*40)/(3*3);
parameter ALL90_4= (subdivide*40)/(3*4);
parameter ALL72_5= (subdivide*40)/(3*5);
parameter ALL60_6= (subdivide*40)/(3*6);
parameter ALL51_7= (subdivide*40)/(3*7);
parameter ALL45_8= (subdivide*40)/(3*8);
parameter  ALL30_12= (subdivide*40)/(3*12);
//parameter  ALL15_13= (subdivide*40)/(3*18);//9457  change to 20 °c       360/20=18
//parameter  ALL40_14= (subdivide*40)/(3*9);//9457  change to 40 °c       360/20=18

//parameter  ALL15_13= (subdivide*40)/(3*36);//9457  change to 10 °c       360/10=36 usd this value mark
//parameter  ALL40_14= (subdivide*40)/(3*18);//9457  change to 20 °c       360/20=18

parameter  ALL15_13= (subdivide*40)/(3*15);//9457  change to 24 °c       360/24=15 usd this value mark
parameter  ALL40_14= (subdivide*40)/(3*7);//9457  change to 48 °c       360/48=7

//parameter  ALL15_13= (subdivide*40)/(3*24);//42666//42666

always       @(posedge clk10m or negedge rst_n)
begin
      if(!rst_n)
            Total_Circle <= 20'b0;       //Total_Define
      else
      begin
            case(test_Moto)
            8'h00:
                     Total_Circle <= ALL360_1;
            8'h01:
                     //Total_Circle <= 20'd288000;             //20'd320000;       // 1600*180
                        Total_Circle <= ALL360_1;             //20'd320000;       // 1600*180

            8'h02:
                     Total_Circle <= ALL180_2;             //20'd160000;       // 1600*200
                     //Total_Circle <= ALL90_4;             //20'd160000;       // 1600*200
            8'h03:
                     Total_Circle <= ALL120_3;             //20'd106700;       // 1600*200
            8'h04:
                     Total_Circle <= ALL90_4;             //80000;       // 1600*200
            8'h05:
                     Total_Circle <= ALL72_5;             //64000;       // 1600*200
            8'h06:
                     Total_Circle <= ALL60_6;             //53400;       // 1600*200
            8'h07:
                     Total_Circle <= ALL51_7;             //45720;       // 1600*200
            8'h08:
                     Total_Circle <= ALL45_8;             //40000;       // 1600*200
            8'h0C:
                     Total_Circle <= ALL30_12;
            8'h0D:
                     Total_Circle <= ALL15_13;
            8'h0E:
                     Total_Circle <= ALL40_14;
      /*
      8'h01:
            Total_Circle <= 20'd288000;       //20'd320000; // 1600*180
         8'h02:
            Total_Circle <= 20'd144000;       //20'd160000; // 1600*200
         8'h03:
            Total_Circle <= 20'd96000;       //20'd106700; // 1600*200
         8'h04:
            Total_Circle <= 20'd72000;       //80000; // 1600*200
         8'h05:
            Total_Circle <= 20'd57600;       //64000; // 1600*200
         8'h06:
            Total_Circle <= 20'd48000;       //53400; // 1600*200
         8'h07:
            Total_Circle <= 20'd41142;       //45720; // 1600*200
         8'h08:
            Total_Circle <= 20'd36000;       //40000; // 1600*200
         8'h0C:
            Total_Circle <= 20'd24000;
         8'h0D:
            Total_Circle <= 20'd12000;
      */
            default:
                     Total_Circle <= 20'd24000;
            endcase
      end
end
//************************************************************
// enable signal
// Attition:must dected motor_done_reg falling is sent next motor command
always       @(posedge clk10m or negedge rst_n)
begin
      if(!rst_n)
            motor_done_reg       <= 1'b0;
      else if(cnt_time >= Total_Circle - 1)//before notice
            motor_done_reg       <= 1'b1;
      else
            motor_done_reg       <= 1'b0;
end

always       @(posedge clk10m or negedge rst_n)//clk125
begin
      if(!rst_n)
            motor_en1 <= 1'b0;
      else
      begin
            if(cnt_time == Total_Circle)
                     motor_en1 <= 1'b0;
            else
                     motor_en1 <= iMotor_en;
      end
end
// Operation Siganl
// pwm width count
always       @(posedge clk10m or negedge rst_n)
if(!rst_n)
            motor_en <= 0;
      else
            motor_en <= motor_en1;

always       @(posedge clk10m or negedge rst_n)
begin
      if(!rst_n)
            cnt <= 20'd0;
      else if(motor_en)
      begin
            if(cnt == pul_value_temp)
                     cnt <= 20'd0;
            else
                     cnt <= cnt + 1'b1;
      end
      else
            cnt <= 20'd0;
end
//pwm circle count
always       @(posedge clk10m or negedge rst_n)
begin
      if(!rst_n)
            cnt_time <= 20'd0;
      else if(motor_en)
      begin
            if(cnt == pul_value_temp)
            begin
                     if(cnt_time == Total_Circle)
                              cnt_time <= 20'd0;
                     else
                              cnt_time <= cnt_time + 1'b1;
            end
            else;
      end
      else
            cnt_time <= 20'd0;
end
// Test Speed up  _____/-------\_____
always       @(posedge clk10m or negedge rst_n)
begin
      if(!rst_n)
            pul_value_temp <= Max_Speed;
      else if(motor_en)
      begin
            if(cnt_time < Speed_Time) // Speed up time 2000
                     pul_value_temp <= Max_Speed - cnt_time;//3000 - 1900*10 = 5000       *Inc_value       Speed_Time +
            else if(cnt_time > (Total_Circle - Slow_Time)) // Slow down time
                     pul_value_temp <= Init_Speed + (cnt_time - (Total_Circle - Slow_Time));//(cnt_time - Slow_Time)       *10 2000
            else
                     pul_value_temp <= Init_Speed;//pul_value_temp;       //Constant Speed
      end
      else
            pul_value_temp <= Max_Speed;
end
// pwm out
always       @(posedge clk10m or negedge rst_n)
begin
      if(!rst_n)
            motor_pul_reg <= 1'b0;
      else if(cnt == pul_value_temp)
            motor_pul_reg <= ~motor_pul_reg;
      else;
end

endmodule

// parameter             Speed_Time             =       20'd2000;//20'd2000;       //Speed Up Turns Number
// parameter             Slow_Time             =       20'd2000;//20'd2000;       //Slow Down Start Turns (Total_Circle - Slow_Set)

// parameter             Init_Speed       =       20'd800;//20'd1000;             //initial velocity Constant Speed or Velocity
// parameter             Max_Speed       =       20'd2800;//20'd3000;             //Maxiam Speed Start Spped ,launch velocity

Motor_test.rar

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作者: ktye 時(shí)間: 2019-9-27 20:02
太復(fù)雜了~~~~~~~

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