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119 lines
3.3 KiB
VHDL
119 lines
3.3 KiB
VHDL
ARCHITECTURE test OF cursor_tester IS
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constant clockPeriod: time := 50 ns;
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signal sClock: std_uLogic := '1';
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constant pulsesPerTurn: integer := 200;
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constant stepPeriodNb: positive := 8;
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signal stepEn: std_uLogic := '0';
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signal direction: std_uLogic;
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signal turning: std_uLogic;
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signal stepCount: unsigned(10 downto 0) := (others => '0');
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BEGIN
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------------------------------------------------------------------------------
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-- clock and reset
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--
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reset <= '1', '0' after clockPeriod/4;
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sClock <= not sClock after clockPeriod/2;
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clock <= sClock after clockPeriod/10;
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------------------------------------------------------------------------------
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-- test sequence
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--
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process
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begin
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testMode <= '1';
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restart <= '0';
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go1 <= '0';
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go2 <= '0';
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setPoint <= '0';
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sensor1 <= '0';
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sensor2 <= '0';
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wait for 1 us;
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----------------------------------------------------------------------------
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-- advance to first stop point
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go1 <= '1', '0' after 1 us;
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wait for 4 ms;
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----------------------------------------------------------------------------
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-- advance to second stop point
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go2 <= '1', '0' after 1 us;
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wait for 4 ms;
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----------------------------------------------------------------------------
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-- back to start with sensor reset
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restart <= '1', '0' after 1 us;
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wait for 0.5 ms;
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sensor1 <= '1', '0' after 1 us;
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wait for 0.5 ms;
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----------------------------------------------------------------------------
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-- advance to second stop point
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go2 <= '1', '0' after 1 us;
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wait for 7 ms;
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----------------------------------------------------------------------------
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-- go back to first stop point
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go1 <= '1', '0' after 1 us;
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wait for 4 ms;
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----------------------------------------------------------------------------
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-- back to start with counter stop
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restart <= '1', '0' after 1 us;
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wait for 4 ms;
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sensor1 <= '1', '0' after 1 us;
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wait for 1 ms;
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wait;
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end process;
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------------------------------------------------------------------------------
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-- motor feedback
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--
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turning <= motorOn;
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findDirection: process(side1, side2)
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begin
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if (side1 = '1') and (side2 = '0') then
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direction <= '1';
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elsif (side1 = '0') and (side2 = '1') then
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direction <= '0';
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end if;
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end process findDirection;
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stepEn <= not stepEn after (stepPeriodNb/4)*clockPeriod;
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count: process (stepEn)
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begin
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if turning = '1' then
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if direction = '1' then
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if stepCount < pulsesPerTurn-1 then
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stepCount <= stepCount + 1;
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else
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stepCount <= to_unsigned(0, stepCount'length);
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end if;
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else
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if stepCount > 0 then
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stepCount <= stepCount - 1;
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else
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stepCount <= to_unsigned(pulsesPerTurn-1, stepCount'length);
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end if;
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end if;
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end if;
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end process count;
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encoderA <= stepCount(1);
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encoderB <= not stepCount(1) xor stepCount(0);
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encoderI <= '1' when stepCount = pulsesPerTurn-1 else '0';
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END test;
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