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Special Design Report

Special Design Report. IMDL Summer 2002 Matthew Chernosky July 11, 2002. Overview. Additional hardware Pulse Width Modulation channels Need for additonal PWM channels Design Results. Need for additional channels. Atmel ATMega163 3 PWM channels built-in Motion

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Special Design Report

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  1. Special Design Report IMDL Summer 2002 Matthew Chernosky July 11, 2002

  2. Overview • Additional hardware Pulse Width Modulation channels • Need for additonal PWM channels • Design • Results

  3. Need for additional channels • Atmel ATMega163 • 3 PWM channels built-in • Motion • Requires 2 channels (left and right) • Golf ball pickup • Needs more than one channel

  4. Design • 2 additional channels to be implemented • Channels used for locomotion • Altera MAX7032 CPLD • Development in VHDL

  5. Design • 3 Settings for each channel • Forward • Reverse • Stopped • A 2-bit wide input bus selects desired setting for each channel • 4 output port pins of uP

  6. Design 1 MHz oscillator Atmel Mega163 Chan A select Altera MAX7032 PWM A Out PWM B Out Chan B select CPLD Microcontroller

  7. Design Reset 15-bit counter Logic FF PWM A 1 MHz clock FF PWM B Chan A select Chan B select CPLD

  8. VHDL ENTITY motor_pwm_580 IS PORT( clk : in STD_LOGIC; PWM_IN_A: in STD_LOGIC_VECTOR(1 downto 0); PWM_IN_B: in STD_LOGIC_VECTOR(1 downto 0); PWM_OUT_A: out STD_LOGIC; PWM_OUT_B: out STD_LOGIC ); END motor_pwm_580;

  9. VHDL cnt: PROCESS (clk) BEGIN IF (clk = '1' and clk'EVENT) THEN if (count < COUNT_MAX) then -- increment counter count <= count + 1; else -- reset counter when COUNT_MAX reached count <= COUNT_RST; end if; END IF; END PROCESS;

  10. Results • Oscilliscope waveform tests • Works with servos 1.75 ms 20 ms

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