步进电机定位控制系统VHDL程序与仿真

步进电机定位控制系统VHDL程序与仿真
library IEEE;
use IEEE.std_logic_1164.all;
use IEEE.std_logic_arith.all;
use IEEE.std_logic_unsigned.all;
entity step_motor is
port (reset:in STD_LOGIC; --系统复位信号
      dir: in STD_LOGIC; --方向控制信号
      clk: in STD_LOGIC; --系统时钟信号
      ini: in STD_LOGIC; --初始化使能信号
      manner: in STD_LOGIC_VECTOR (1 downto 0); --激磁方式的选择开关
      angle: in INTEGER range 255 downto 0; --步进角的倍数设定输入
      baBA: out STD_LOGIC_VECTOR (3 downto 0)); --步进电机状态输出
end step_motor;
architecture stepmotor_arch of step_motor is
signal count: INTEGER range 0 to 7; --计数器
signal cntInc: INTEGER range -2 to 2; --设定累加器所需的累（加/减）计数值
signal cc : integer range 0 to 3;
signal cntIni: INTEGER range -1 to 0; --设定累加器所需的计数初值
signal angleDnCount: INTEGER range 255 downto 0;  --计算已经转过的步进角
signal angleDnCntDec: INTEGER range 2 downto 1;
begin
  process(dir, manner, angle)--, ini)
  begin
      --if ini='1' then
      cc<=conv_integer(manner);
      if dir='0' then
          case cc is
              when 1 => -- 1-?相激励
                  --count<=0;
                  cntIni<=0;
                  cntInc<=2;
                  angleDnCntDec<=2;--"10";
              when 2 => -- 2-?相激励
                  --count<=7;
                  cntIni<=-1;
                  cntInc<=2;
                  angleDnCntDec<=2;--"10";  
              when 3 => -- 1-2?相激励
                  --count<=0;
                  cntIni<=0;
                  cntInc<=1;
                  angleDnCntDec<=1;--"01";   
              when 0 => --manner="00" autodetect            
                  if (angle rem 2) =1 then -- 2-?相激励
                  --count<=7;
                  cntIni<=-1;
                      cntInc<=2;
                      angleDnCntDec<=2;--"10"; 
                  else -- 1-?相激励                  
                  --count<=0;
                  cntIni<=0;
                      cntInc<=2;
                      angleDnCntDec<=2;--"10";
                  end if; --angle
          end case; --manner
      else -- if dir='1'
          case cc is
               when 1 => -- 1-?相激励
                  --count<=0;
                  cntIni<=0;
                  cntInc<=-2;
                  angleDnCntDec<=2;--"10";
              when 2 => -- 2-?相激励
                  --count<=7;
                  cntIni<=-1;
                  cntInc<=-2;
                  angleDnCntDec<=2;--"10";  
              when 3 => -- 1-2?相激励
                  --count<=0;
                  cntIni<=0;
                  cntInc<=-1;
                  angleDnCntDec<=1;--"01";   
              when 0 => --manner="00" autodetect            
                  if (angle rem 2) = 1 then -- 2-?相激励
                      cntIni<=-1;
                      cntInc<=-2;
                      angleDnCntDec<=2;--"10"; 
                  else -- 1-?相激励                  
                      cntIni<=0;
                      cntInc<=-2;
                      angleDnCntDec<=2;--"10";
                  end if; --angle
          end case; --manner
      end if; -- else dir=0
      --end if; -- ini
  end process;
  counting_reset: process(reset,ini, angle, clk)
  begin
      if reset='1' then
         count<=0;
         angleDnCount<=0;
      elsif clk'event and clk='1' then
          if ini='0' then
              count<=0+cntIni;
              angleDnCount<=angle;
          else
              count <= count+cntInc;
              if angleDnCount > angleDnCntDec then
                  angleDnCount <= angleDnCount-angleDnCntDec;
              else
                  angleDnCount <= 0;
              end if;
          end if;
      end if;
  end process;

  baBA <="0000" when angleDnCount=0 else
         "0001" when count=0 else
         "0011" when count=1 else
         "0010" when count=2 else
         "0110" when count=3 else
         "0100" when count=4 else
         "1100" when count=5 else
         "1000" when count=6 else
         "1001";-- when count>=7;
end stepmotor_arch;