Stepper-Motor-Control/motor__control__unit__tb_8vhd_source.html

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 --! @file         motor_control_unit_tb.vhd

 --! @author       Marc Kossmann

 --! @author       Michael Riedel

 --! @version      v1.0.0

 --! @date         05.12.2014

 --!

 --! @brief        Testbench for Motor-Control-Unit Component

 --! @details      Tests full functionality of component

 --!

 --! @par History:

 --! @details      v0.1.0 26.11.2014 Riedel

 --!               - first draft

 --! @details      v0.1.1 27.11.2014 Riedel

 --!               - implemented first test-procedures

 --! @details      v0.1.2 28.11.2014 Riedel

 --!               - added documentation for GENERIC divider

 --!               - moved test-procedure-documentation to doxygen-heade

 --! @details      v0.1.3 30.11.2014 Kossmann

 --!               - changed divider to 250 to get 1 ms in simulation for 1 s

 --!               in real. Simulation takes longer but easier to measure

 --!               - Test-procedure must no commented in or out for easier readability

 --!               - initialized every signal

 --! @details      v0.1.4 30.11.2014 Riedel & Kossmann

 --!               - wiring new run signal for signal_generator

 --!               - added testcases

 --! @details      v0.1.5 03.12.2014 Kossmann

 --!               - implemented more testcases

 --! @details      v1.0.0 05.12.2014 Riedel & Kossmann

 --!               - release milestone 3b

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 --! Use Standard Library

 LIBRARY ieee;

 --! Use Logic Elements

 USE ieee.STD_LOGIC_1164.all;

 --! Use Arithmetic Functions

 USE ieee.STD_LOGIC_arith.all;

 --! Use Conversion Functions

 USE ieee.STD_LOGIC_SIGNED.all;


 --! @brief    Entity of testbench for motor_control_unit

 ENTITY motor_control_unit_tb  IS

   GENERIC

   (

     --! @brief    Prescaler for PWM-signal.

     --! @details  For this purpose 2,5 ms are used as minimal pulse-width.

     --! @details  The prescaler is calculated with the given and desired frequency

     --!     via the following formula:

     --!     \f{equation*}{

     --!       \text{prescaler}         = \frac{f_{\text{clock}} \text{Hz}}{f_{\text{prescaler}} \text{Hz}}

     --!     \f}

     --!     e.g.:

     --!     \f{equation*}{

     --!       \left.\begin{aligned}

     --!         f_{\text{prescaler}}  &= \frac{5}{2}\,\text{ms} \newline

     --!                               &= 400\,\text{Hz} \newline\newline

     --!         \text{prescaler}      &= \frac{50\,\text{Mhz}}{400\,\text{Hz}} \newline

     --!                               &= 125000 \newline

     --!       \end{aligned}

     --!     \right\}

     --!     \qquad \text{pulse-width: 2.5 ms}

     --!     \f}

     --! @details For simulation-purpose the divider was set to 125 for faster wave generation.

     divider : integer := 125

   );

 END;


 --! @brief    Architecture of testbench for motor_control_unit

 ARCHITECTURE motor_control_unit_tb_arch OF motor_control_unit_tb IS


   SIGNAL    motor_pwm : STD_LOGIC_VECTOR (3 DOWNTO 0)   := "0000";

   SIGNAL    reset_n   : STD_LOGIC                       := '1';

   SIGNAL    clock     : STD_LOGIC                       := '0';

   SIGNAL    speed     : STD_LOGIC_VECTOR (2 DOWNTO 0)   := "000";

   SIGNAL    mode      : STD_LOGIC_VECTOR (3 DOWNTO 0)   := "0000";

   SIGNAL    direction : STD_LOGIC                       := '0';

   SIGNAL    run       : STD_LOGIC                       := '0';

   SIGNAL    ir        : STD_LOGIC                       := '0';

   SIGNAL    steps     : STD_LOGIC_VECTOR (31 DOWNTO 0)  := (others => '0');

   SIGNAL    motor_en  : STD_LOGIC_VECTOR (1 DOWNTO 0)   := "00";

   CONSTANT  left      : STD_LOGIC                       := '0';

   CONSTANT  right     : STD_LOGIC                       := NOT left;


   COMPONENT motor_control_unit

     GENERIC

     (

       divider  : INTEGER

     );

     PORT

     (

       motor_pwm       : OUT STD_LOGIC_VECTOR (3 DOWNTO 0);

       reset_n         : IN  STD_LOGIC;

       clock           : IN  STD_LOGIC;

       speed           : IN  STD_LOGIC_VECTOR (2 DOWNTO 0);

       mode            : IN  STD_LOGIC_VECTOR (3 DOWNTO 0);

       direction       : IN  STD_LOGIC;

       run             : IN  STD_LOGIC;

       ir              : OUT STD_LOGIC;

       steps           : OUT STD_LOGIC_VECTOR (31 DOWNTO 0);

       motor_en        : OUT STD_LOGIC_VECTOR (1 DOWNTO 0)

     );

   END COMPONENT;

 BEGIN

   DUT  : motor_control_unit

     GENERIC MAP

     (

       divider          => divider

     )

     PORT MAP

     (

       motor_pwm        => motor_pwm,

       reset_n          => reset_n,

       clock            => clock,

       speed            => speed,

       mode             => mode,

       direction        => direction,

       run              => run,

       ir               => ir,

       steps            => steps,

       motor_en         => motor_en

     );


   -- creates the clock

   clock     <= not clock after 10 ns;


   -- Test-procedure (1), reset_n

   reset_n   <= '0',

                '1' after 20 ns;


   -- Test-procedure (2), Continuous Run with speed = 0, direction = left

   -- 5 ms sim time for two pulses

 --  run       <= '1' after 20 ns;

 --  mode       <= "0001" after 20 ns;

 --  direction <= left;

 --  speed     <= "000";


   -- Test-procedure (3), Continuous Run with speed = 1, direction = left, R/S toggle

   -- 3 ms sim time for two pulses

 --  run       <= '1' after 20 ns,

 --               '0' after 3000 us,

 --               '1' after 3100 us;

 --  mode       <= "0001" after 20 ns;

 --  direction <= left;

 --  speed     <= "001";


   -- Test-procedure (4), Continuous Run with speed = 7, direction = left

   -- 15 us sim time for two pulses

 --  run       <= '1' after 20 ns;

 --  mode       <= "0001" after 20 ns;

 --  direction <= left;

 --  speed     <= "111";


   -- Test-procedure (5), Continuous Run with speed = 7, direction = right

   -- 15 us sim time for two pulses

 --  run       <= '1' after 20 ns;

 --  mode       <= "0001" after 20 ns;

 --  direction <= right;

 --  speed     <= "111";


   -- Test-procedure (6), Chain of Steps - 1/4 rotation with speed = 7, direction = left

   -- 750 us sim time for 1/4 rotation

 --  register_interface_sim : process(clock)

 --  begin

 --    if (reset_n = '0') then

 --      run <= '1';

 --

 --    elsif(rising_edge(clock)) then

 --      if(ir = '1') then

 --        run <= '0';

 --      else

 --        run <= run;

 --      end if;

 --    end if;

 --  end process;

 --

 --  mode       <= "0010" after 20 ns;

 --  direction <= right;

 --  speed     <= "111" after 20 ns;


   -- Test-procedure (7), Chain of Steps - 1/4 rotation with speed = 7, direction = left/right switch

   -- 750 us sim time for 1/4 rotation

 --  register_interface_sim : process(clock)

 --  begin

 --    if (reset_n = '0') then

 --      run <= '1';

 --    elsif(rising_edge(clock)) then

 --      if(ir = '1') then

 --        run <= '0';

 --      else

 --        run <= run;

 --      end if;

 --    end if;

 --  end process;

 --

 --  mode       <= "0010" after 20 ns;

 --  direction <= right,

 --               left after 300 us;

 --  speed     <= "111" after 20 ns;


   -- Test-procedure (8), Chain of Steps - 1/4 rotation with speed = 7, direction = left with R/S restart

   -- 750 us sim time for 1/4 rotation

 --  register_interface_sim : process(clock)

 --  begin

 --    if (reset_n = '0') then

 --      run <= '1';

 --    elsif(rising_edge(clock)) then

 --      if(ir = '1') then

 --        run <= '0';

 --      else

 --        run <= '1';

 --      end if;

 --    end if;

 --  end process;

 --

 --  mode       <= "0010" after 20 ns;

 --  direction <= right,

 --               left after 300 us;

 --  speed     <= "111" after 20 ns;


   -- Test-procedure (9): Chain of Steps - 1/2 rotation with speed = 7, direction = left

   -- 1100 us sim time for 1/2 rotation

 --  register_interface_sim : process(clock)

 --  begin

 --    if (reset_n = '0') then

 --      run <= '1';

 --    elsif(rising_edge(clock)) then

 --      if(ir = '1') then

 --        run <= '0';

 --      else

 --        run <= run;

 --      end if;

 --    end if;

 --  end process;

 --

 --  mode       <= "0110" after 20 ns;

 --  direction <= right,

 --               left after 300 us;

 --  speed     <= "111" after 20 ns;


   -- Test-procedure (10): Chain of Steps - 1 rotation with speed = 7, direction = left

   -- 2100 us sim time for 1 rotation

 --  register_interface_sim : process(clock)

 --  begin

 --    if (reset_n = '0') then

 --      run <= '1';

 --    elsif(rising_edge(clock)) then

 --      if(ir = '1') then

 --        run <= '0';

 --      else

 --        run <= run;

 --      end if;

 --    end if;

 --  end process;

 --

 --  mode       <= "1010" after 20 ns;

 --  direction <= right,

 --               left after 300 us;

 --  speed     <= "111" after 20 ns;


   -- Test-procedure (11): Chain of Steps - 2 rotation with speed = 7, direction = left

   -- 4200 us sim time for 2 rotation

 --  register_interface_sim : process(clock)

 --  begin

 --    if (reset_n = '0') then

 --      run <= '1';

 --    elsif(rising_edge(clock)) then

 --      if(ir = '1') then

 --        run <= '0';

 --      else

 --        run <= run;

 --      end if;

 --    end if;

 --  end process;

 --

 --  mode       <= "1110" after 20 ns;

 --  direction <= right,

 --               left after 300 us;

 --  speed     <= "111" after 20 ns;


   -- Test-procedure (12): Reserved mode with speed = 7, direction = left

   -- 200 us sim time for 2 rotation

 --  register_interface_sim : process(clock)

 --  begin

 --    if (reset_n = '0') then

 --      run <= '1';

 --    elsif(rising_edge(clock)) then

 --      if(ir = '1') then

 --        run <= '0';

 --      else

 --        run <= run;

 --      end if;

 --    end if;

 --  end process;

 --

 --  mode       <= "1111" after 20 ns;

 --  direction <= right,

 --               left after 300 us;

 --  speed     <= "111" after 20 ns;


   finish_sim_time : PROCESS

     BEGIN

       WAIT FOR 10 ms;

       ASSERT false

         REPORT "simulation finished"

         SEVERITY failure;

   END PROCESS finish_sim_time;

 END;


motor_control_unit.mode
in modeSTD_LOGIC_VECTOR(3 DOWNTO0)
mode to run motor with
Definition: motor_control_unit.vhd:73

motor_control_unit.clock
in clockSTD_LOGIC
component clock
Definition: motor_control_unit.vhd:69

motor_control_unit.motor_en
out motor_enSTD_LOGIC_VECTOR(1 DOWNTO0)
both enable signals for the motor
Definition: motor_control_unit.vhd:76

motor_control_unit.divider
dividerinteger:=125000
Prescaler for PWM-signal.
Definition: motor_control_unit.vhd:67

motor_control_unit.direction
in directionSTD_LOGIC
motor direction ('0' is left)
Definition: motor_control_unit.vhd:72

motor_control_unit_tb.divider
dividerinteger:=125
Prescaler for PWM-signal.
Definition: motor_control_unit_tb.vhd:66

motor_control_unit.reset_n
in reset_nSTD_LOGIC
resets the component
Definition: motor_control_unit.vhd:70

motor_control_unit
Motor Control Unit.
Definition: motor_control_unit.vhd:44

motor_control_unit.ieee
_library_ ieeeieee
Use Standard Library.
Definition: motor_control_unit.vhd:39

motor_control_unit.run
in runSTD_LOGIC
chip enable
Definition: motor_control_unit.vhd:71

motor_control_unit.ir
out irSTD_LOGIC
IR signal set when motor stopped.
Definition: motor_control_unit.vhd:79

motor_control_unit.motor_pwm
out motor_pwmSTD_LOGIC_VECTOR(3 DOWNTO0)
signal-bus for the motor pulse-width-modulation
Definition: motor_control_unit.vhd:75

motor_control_unit_tb
Entity of testbench for motor_control_unit.
Definition: motor_control_unit_tb.vhd:43

motor_control_unit.speed
in speedSTD_LOGIC_VECTOR(2 DOWNTO0)
speed to run moter with
Definition: motor_control_unit.vhd:74

motor_control_unit.steps
out stepsSTD_LOGIC_VECTOR(31 DOWNTO0)
number of steps motor did
Definition: motor_control_unit.vhd:77