hostmot5-8e.vhd

来自「CNC 的开放码,EMC2 V2.2.8版」· VHDL 代码 · 共 1,006 行 · 第 1/2 页

library IEEE;
use IEEE.std_logic_1164.all;  -- defines std_logic types
-- 8 axis version with 24 I/O bits
entity HostMot5_8 is
  	port 
  (
 	LRD: in STD_LOGIC; 
	LWR: in STD_LOGIC; 
	LW_R: in STD_LOGIC; 
	ALE: in STD_LOGIC; 
	ADS: in STD_LOGIC; 
	BLAST: in STD_LOGIC; 
	WAITO: in STD_LOGIC;
	LOCKO: in STD_LOGIC;
	CS0: in STD_LOGIC;
	CS1: in STD_LOGIC;
	READY: out STD_LOGIC; 
	INT: out STD_LOGIC;
	
   LAD: inout STD_LOGIC_VECTOR (31 downto 0); 		-- data/address bus
 	LA: in STD_LOGIC_VECTOR (8 downto 2); 				-- non-muxed address bus
	lBE: in STD_LOGIC_VECTOR (3 downto 0); 			-- byte enables

			
	SYNCLK: in STD_LOGIC;
	LCLK: in STD_LOGIC;
	-- I/O signals	
	A: in STD_LOGIC_VECTOR (7 downto 0);
	B: in STD_LOGIC_VECTOR (7 downto 0);
	IDX: in STD_LOGIC_VECTOR (7 downto 0);
	PWM: inout STD_LOGIC_VECTOR  (7 downto 0);
	ENA: out STD_LOGIC_VECTOR  (7 downto 0);
	DIR: inout STD_LOGIC_VECTOR  (7 downto 0);

	IOBITSA: inout STD_LOGIC_VECTOR (23 downto 0);
--	IOBITSB: inout STD_LOGIC_VECTOR (23 downto 0);
		

	-- led bits
	LEDS: out STD_LOGIC_VECTOR(7 downto 0)

	);
end HostMot5_8; -- for 5I20 or 4I65


architecture dataflow of Hostmot5_8 is

	alias BLE: STD_LOGIC is LBE(0);	-- 16 bit mode
   alias BHE: STD_LOGIC is LBE(3);	-- 16 bit mode
	alias LA1: STD_LOGIC is LBE(1);	-- 8/16 bit mode
	alias LA0: STD_LOGIC is LBE(0);	-- 8 bit mode
-- misc global signals --
	signal D: STD_LOGIC_VECTOR (31 downto 0);							-- internal data bus
	signal LatchedA: STD_LOGIC_VECTOR (15 downto 0);
	signal LatchedLBE: STD_LOGIC_VECTOR (3 downto 0);
	signal PreFastRead: STD_LOGIC;
	signal FastRead: STD_LOGIC;
-- Version specific constants  --

	constant counters :integer := 8;
	constant HMID : STD_LOGIC_VECTOR (31 downto 0) := x"AA010008";	-- MSW = rev 1, LSW = 4 axis 
	constant MasterClock : STD_LOGIC_VECTOR (31 downto 0) := x"01FCA055"; -- = 33.3333 MHz

-- misc global signals --
	signal CardSelect: STD_LOGIC; 											-- card select decode
	signal LEDView: STD_LOGIC_VECTOR (7 downto 0); 					-- index register


--	irq related signals
	signal IRQSource: STD_LOGIC; 
	signal IRQLatch: STD_LOGIC;
	signal IRQMask: STD_LOGIC;
	signal MissedIRQ: STD_LOGIC; 
	signal StopOnMissedIRQ: STD_LOGIC;
	signal ClearMissedIRQ: STD_LOGIC;
	signal LatchOnInterrupt: STD_LOGIC;

--	timeout related signals
	signal ReloadWDCmd: STD_LOGIC;
	signal StopOnTimeout: STD_LOGIC;
	signal WDTimeOut: STD_LOGIC; 

-- LEDView and id reg signals
	signal LoadLEDViewCmd: STD_LOGIC;
	signal ReadLEDViewCmd: STD_LOGIC;
	signal Enasigs :STD_LOGIC_VECTOR (counters-1 downto 0);
	signal IDSel: STD_LOGIC;
	signal ReadIDCmd: STD_LOGIC;
	signal MCSel: STD_LOGIC;
	signal ReadMCCmd: STD_LOGIC;

-- irqdiv reg signals
	signal ReadIRQDivCmd: STD_LOGIC; 
	signal LoadIRQDivCmd: STD_LOGIC; 
	signal ClearIRQCmd: STD_LOGIC;

-- irq sel reg signals

	signal loadGCRCmd: STD_LOGIC;
	signal LoadGMRCmd: STD_LOGIC;
	signal ReadGMRCmd: STD_LOGIC;

-- timeout reg signals

	signal loadTimeoutCmd: STD_LOGIC;
	signal ReadTimeoutCmd: STD_LOGIC;
	signal ReadTimerCmd: STD_LOGIC;


-- phase accumulator signals

	signal ReadPhaseCmd: STD_LOGIC; 
	signal LoadPhaseCmd: STD_LOGIC; 

-- counter signals --
	signal CounterRead: STD_LOGIC_VECTOR  (counters-1 downto 0);		-- read counter
	signal GlobalCounterEnable: STD_LOGIC;										-- enable counting
	signal GlobalCountLatchcmd: STD_LOGIC;					-- command to latch counter value	
	signal GlobalCountLatch: STD_LOGIC;						-- command + irq generated latch count
	signal CountLatchEdge1: STD_LOGIC;
	signal CountLatchEdge2: STD_LOGIC;
	signal CCRLoadCmds: STD_LOGIC_VECTOR (counters-1 downto 0);			-- counter control reg loads
	signal CCRReadCmds:	STD_LOGIC_VECTOR (counters-1 downto 0);		-- counter control reg reads
	signal GlobalCounterClear: STD_LOGIC;										-- clear counter

-- secondary counter signals --
	signal SCounterRead: STD_LOGIC_VECTOR  (counters-1 downto 0);		-- read counter
	signal SCCRLoadCmds: STD_LOGIC_VECTOR (counters-1 downto 0);			-- counter control reg loads
	signal SCCRReadCmds:	STD_LOGIC_VECTOR (counters-1 downto 0);		-- counter control reg reads

-- pwm generator signals --
	signal RefCountBus: STD_LOGIC_VECTOR (9 downto 0);
	signal LoadPWM: STD_LOGIC_VECTOR  (counters-1 downto 0);
	signal ReadPWM: STD_LOGIC_VECTOR  (counters-1 downto 0);
	signal PCRLoadCmds: STD_LOGIC_VECTOR  (counters-1 downto 0);
	signal PCRReadCmds: STD_LOGIC_VECTOR  (counters-1 downto 0);
	signal GlobalPWMEnable: STD_LOGIC;
	signal GlobalClearPWM: STD_LOGIC;
	signal GlobalClearPWMCmd: STD_LOGIC;
	signal StopPWM: STD_LOGIC;

-- misc i/o signals
	signal PortASel: STD_LOGIC;
	signal DDRASel: STD_LOGIC;
	signal LoadPortA: STD_LOGIC;
	signal LoadDDRA: STD_LOGIC;
	signal ReadDDRA: STD_LOGIC;
	signal ReadPortA: STD_LOGIC;

	signal PortBSel: STD_LOGIC;
	signal DDRBSel: STD_LOGIC;
	signal LoadPortB: STD_LOGIC;
	signal LoadDDRB: STD_LOGIC;
	signal ReadDDRB: STD_LOGIC;
	signal ReadPortB: STD_LOGIC;


-- decodes --
	signal LEDViewSel: STD_LOGIC;
	signal IndexSel: STD_LOGIC;	
	signal GCRSel: STD_LOGIC;	
	signal GMRSel: STD_LOGIC;
	signal CCRSel: STD_LOGIC;
	signal SCCRSel: STD_LOGIC;
	signal PCRSel: STD_LOGIC;
	signal TimeOutSel: STD_LOGIC; 
	signal TimerSel: STD_LOGIC;	
	signal IRQDIVSel: STD_LOGIC;	
	signal PWMValSel: STD_LOGIC;
	signal PhaseSel: STD_LOGIC;
	signal CounterSel: STD_LOGIC;	
	signal SCounterSel: STD_LOGIC;	


  function OneOfEightDecode(ena : std_logic; dec : std_logic_vector(2 downto 0)) return std_logic_vector is
    variable result : std_logic_vector(counters-1 downto 0);
  begin
    if ena = '1' then
      case dec is
        when "000" => result := "00000001";
        when "001" => result := "00000010";
        when "010" => result := "00000100";
        when "011" => result := "00001000";
        when "100" => result := "00010000";
        when "101" => result := "00100000";
        when "110" => result := "01000000";
        when "111" => result := "10000000";

        when others => result := "00000000";
      end case;
    else
      result := "00000000";
    end if;
    return result;
  end OneOfEightDecode;

  	function OneOfEightMux(sel: std_logic_vector (2 downto 0); input: std_logic_vector(counters-1 downto 0)) return std_logic is
 	variable result : std_logic;
  	begin
		case sel is
        when "000" => result := input(0);
        when "001" => result := input(1);
		  when "010" => result := input(2);
		  when "011" => result := input(3);
        when "100" => result := input(4);
        when "101" => result := input(5);
		  when "110" => result := input(6);
		  when "111" => result := input(7);
		  when others => result := '0';
      end case;
    return result;
  end OneOfEightMux;


	component indexreg 
   	port (
		clk: in STD_LOGIC;
		ibus: in STD_LOGIC_VECTOR (15 downto 0);
		obus: out STD_LOGIC_VECTOR (15 downto 0);
		loadindex: in STD_LOGIC;
		readindex: in STD_LOGIC;
		index: out STD_LOGIC_VECTOR (7 downto 0)
		);
	end component;
		
	component counter
		port ( 
		obus: out STD_LOGIC_VECTOR (31 downto 0);
		ibus: in STD_LOGIC_VECTOR (31 downto 0);
		quada: in STD_LOGIC;
		quadb: in STD_LOGIC;
		index: in STD_LOGIC;
		ccrloadcmd: in STD_LOGIC;
		ccrreadcmd: in STD_LOGIC;
		countoutreadcmd: in STD_LOGIC;
		countlatchcmd: in STD_LOGIC;
		countclearcmd: in STD_LOGIC;
		countenable: in STD_LOGIC;
		indexmask: in STD_LOGIC;
		nads: in STD_LOGIC;
		clk: in STD_LOGIC
		);
	end component;

	component pwmgen 
		port (
		clk: in STD_LOGIC;
		refcount: in STD_LOGIC_VECTOR (9 downto 0);
		ibus: in STD_LOGIC_VECTOR (15 downto 0);
		obus: out STD_LOGIC_VECTOR (15 downto 0);
		loadpwmval: in STD_LOGIC;
		readpwmval: in STD_LOGIC;
		clearpwmval: in STD_LOGIC;
		pcrloadcmd: STD_LOGIC;
		pcrreadcmd: STD_LOGIC;
		pwmout: out STD_LOGIC;
		dirio: inout STD_LOGIC;
		enablein: in STD_LOGIC;
		enableout: out STD_LOGIC
		);
	end component pwmgen;
		
	component pwmref is
   	port (
		clk: in STD_LOGIC;
		refcount: out STD_LOGIC_VECTOR (9 downto 0);
		irqgen: out STD_LOGIC;
		ibus: in STD_LOGIC_VECTOR (15 downto 0);
		obus: out STD_LOGIC_VECTOR (15 downto 0);
		irqdivload: in STD_LOGIC;
		irqdivread: in STD_LOGIC;
		phaseload: in STD_LOGIC;
		phaseread: in STD_LOGIC
		);
	end component pwmref;

 	
	component globalcontrolreg is
	   port (
		clk: in STD_LOGIC;
		ibus: in STD_LOGIC_VECTOR (15 downto 0);
		reset: in STD_LOGIC;
		loadgcr: in STD_LOGIC;
		ctrclear: out STD_LOGIC;
		ctrlatch: out STD_LOGIC;
		pwmclear: out STD_LOGIC;
		irqclear: out STD_LOGIC;
		reloadwd: out STD_LOGIC 
	);
	end component globalcontrolreg;

	component globalmodereg is
   	port (
		clk: in STD_LOGIC;
		ibus: in STD_LOGIC_VECTOR (15 downto 0);
		obus: out STD_LOGIC_VECTOR (15 downto 0);
		reset: in STD_LOGIC;
		loadglobalmode: in STD_LOGIC;
		readglobalmode: in STD_LOGIC;
		ctrena: out STD_LOGIC;
		pwmena: out STD_LOGIC;
		clearpwmena: in STD_LOGIC;
		loi: out STD_LOGIC;
		som: out STD_LOGIC;
		sot: out STD_LOGIC;
		miout: out STD_LOGIC;
		miin: in STD_LOGIC;
   	irqmask: out STD_LOGIC;
   	irqstatus: in STD_LOGIC		
		);
	end component globalmodereg;

	component WordPR24 is 
		port (
		clear: in STD_LOGIC;
		clk: in STD_LOGIC;
		ibus: in STD_LOGIC_VECTOR (23 downto 0);
		obus: out STD_LOGIC_VECTOR (23 downto 0);
		loadport: in STD_LOGIC;
		loadddr: in STD_LOGIC;
		readddr: in STD_LOGIC;
		portdata: out STD_LOGIC_VECTOR (23 downto 0)
		);
	end component WordPR24;

	component Word24RB is
    Port (			
	 		obus: out STD_LOGIC_VECTOR (23 downto 0);
			readport: in STD_LOGIC;
			portdata: in STD_LOGIC_VECTOR (23 downto 0) );
	end component Word24RB;

	component Timeout is
    Port ( clk : in std_logic;
           ibus : in std_logic_vector(15 downto 0);
           obus : out std_logic_vector(15 downto 0);
           timeoutload : in std_logic;
           timeoutread : in std_logic;
           timerread : in std_logic;
           reload : in std_logic;
           timerz : out std_logic);
	end component Timeout;

	component idreadback is
    Generic ( id : std_logic_vector(31 downto 0);
	           mc : std_logic_vector(31 downto 0));

	 Port ( readid : in std_logic;
           readmc : in std_logic;
           obus : out std_logic_vector(31 downto 0));
	end component idreadback;


	
	begin

 

	makecounters: for i in 0 to (counters -1) generate
		counterx: counter port map ( 		
		obus => D,
		ibus => LAD,
		quada => A(i),
		quadb => B(i),		
		index => Idx(i),
		ccrloadcmd => CCRLoadCmds(i),
		ccrreadcmd =>	CCRReadCmds(i),
		countoutreadcmd  => CounterRead(i),
		countlatchcmd => GlobalCountLatch,	
		countclearcmd => GlobalCounterClear,
		countenable => GlobalCounterEnable,
		indexmask => IOBITSA(16+i),
		nads => ADS,
		clk => LClk
		);	
	end generate;
	
	makescounters: for i in 0 to 3 generate
		counterx: counter port map ( 		
		obus => D,
		ibus => LAD,
		quada => IOBITSA((i*4)),
		quadb => IOBITSA((i*4)+1),		
		index => IOBITSA((i*4)+2),
		ccrloadcmd => SCCRLoadCmds(i),
		ccrreadcmd =>	SCCRReadCmds(i),
		countoutreadcmd  => SCounterRead(i),
		countlatchcmd => GlobalCountLatch,	
		countclearcmd => GlobalCounterClear,
		countenable => GlobalCounterEnable,
		indexmask => IOBITSA((i*4)+3),
		nads => ADS,
		clk => LClk
		);	
	end generate;


	makepwmgen: for i in 0 to (counters -1) generate
		pwmgenx: pwmgen port map (
		clk => LClk,
		refcount => RefCountBus,
		ibus => LAD(15 downto 0),
		obus => D(15 downto 0),
		loadpwmval => LoadPWM(i),
		readpwmval => ReadPWM(i),
		clearpwmval => GlobalClearPWM,
		pcrloadcmd => PCRLoadCmds(i),
		pcrreadcmd => PCRReadCmds(i),
		pwmout => PWM(i),
		dirio => Dir(i),
		enablein => GlobalPWMEnable,
		enableout =>EnaSigs(i)
	);
	end generate;

	
	oporta: WordPR24 port map (
		clear => '0',
		clk => LClk,
		ibus => LAD(23 downto 0),
		obus => D(23 downto 0),
		loadport => LoadPortA,
		loadddr => LoadDDRA,
		readddr => ReadDDRA,
		portdata => IOBITSA 
		);	


	iporta: Word24RB port map (
		obus => D(23 downto 0),
		readport => ReadPortA,
		portdata => IOBITSA 
		);	

--	oportb: WordPR24 port map (
--		clear => '0',
--		clk => LClk,
--		ibus => LAD(23 downto 0),
--		obus => D(23 downto 0),
--		loadport => LoadPortB,
--		loadddr => LoadDDRB,
--		readddr => ReadDDRB,
--		portdata => IOBITSB 
--		);	


--	iportb: Word24RB port map (
--		obus => D(23 downto 0),
--		readport => ReadPortB,
--		portdata => IOBitsB 
--		);	
				 
	pwmrefcount: pwmref port map (
		clk => LClk,
		refcount => RefCountBus,
		irqgen => IRQSource,
		ibus => LAD(15 downto 0),
		obus => D(15 downto 0),
		irqdivload => LoadIRQDivCmd,
		irqdivread => ReadIRQDivCmd,
		phaseload => LoadPhaseCmd,
		phaseread => ReadPhaseCmd
		);


	gLedreg: indexreg port map (			
		clk => LClk,
		ibus => LAD(15 downto 0),
		obus => D(15 downto 0),
		loadindex => LoadLEDViewCmd,
		readindex => ReadLEDViewCmd,
		index => LEDView
		);

	ggcontrolreg: globalcontrolreg port map (
		clk => LClk,
		ibus => LAD(15 downto 0),
		reset => '0',
		loadgcr => LoadGCRCmd,
		ctrclear => GlobalCounterClear,
		ctrlatch => GlobalCountLatchCmd,
		pwmclear => GlobalClearPWMCmd,
		irqclear => ClearIRQCmd,
		reloadwd => ReloadWDCmd
		);

	gglobalmodereg: globalmodereg port map (
		clk => LClk,
		ibus => LAD(15 downto 0),
		obus => D(15 downto 0),
		reset => '0',
		loadglobalmode => loadGMRCmd,
		readglobalmode => ReadGMRCmd,
		ctrena => GlobalCounterEnable,
		pwmena => GlobalPWMEnable,
		clearpwmena => StopPWM,
		loi => LatchOnInterrupt,
		som => StopOnMissedIRQ,
		sot => StopOnTimeout,
		miout	=> ClearMissedIRQ,
		miin => MissedIRQ,
		irqmask => IRQMask,
		irqstatus => IRQLatch