Arobot_fpga
The implementation of stepper motor controller in FPGA.
The main development work is made in the branch "develop".
The structure of the repository:
| Name of folder | Content |
|---|---|
| source/ | The source in VHDL |
| simulation/ | ".do" files for simulation in Modelsim |
| testbench/ | ".vhdl" testbench files for simulation |
| synth_c4/ | synthesis in Altera Cyclone C4 |
| synth_c5/ | synthesis in Altera Cyclone C5 |
The main component is 1 Axis controller.
- Input: Velocity 16 bit signed
- Output: 4 PWM outputs for driving 2 phases of stepper motor.
- Feedback: 32 register signed, position
The run time parameters:
- microsteps/step (from 1 to 16)
- Ramp (allowed changes of actual velocity pro one system tick)
The compile time parameters:
- System Tick (Freq when the new velocity will be calculated)
- PWM Output freq