gismo141/stepper-motor-control

System on a Chip - Design for a stepper-motor-control with NIOS II/s µC on Cyclone IV/V FPGA

Stepper-Motor-Control with NIOS II/s and Cyclone IV/V - FPGA

System on a Chip - HT-2014

Documentation History

v1.0.0 Marc Kossmann & Michael Riedel:

• finalized milestone 1b

v2.0.0 Marc Kossmann & Michael Riedel:

• finalized milestone 2

v3.0.0 Marc Kossmann & Michael Riedel:

• finalized milestone 3b

Overview

This project is an example for a system-on-a-chip-design of a stepper-motor-control using the NIOS II/s Processor on the development boards from terasIC.

Software

The following software is beeing used for the development:

• VHDL-Simulation: ModelSim - Starter Edition (14.0.2)
• VHDL-Source- and Project-Management: Quartus II - Web Edition (14.0.0)
• C-Source-Management: NIOS (based on Eclipse, integrated in Quartus)

Development

The development is devided into 4 so-called milestones:

1. Basic Processor Development

a) Design-Phase:

• UML-diagrams;
• project-planning;
• tasks-overview;
• interrupt-service-routines;
• listing of OS-components (events, mutexes, semaphores, message queues, etc).

b) NIOS II/s Base-Software without stepper-component:

• Proof-of-Concept with working C-Sources
• complete Doxygen-documentation

2. NIOS II/s Base-Software with register-interface

• presenting the solution
  • show control-status (ctrlReg) on red-LEDs (chapter 8.2.4)
  • show speed-status (speedReg) on green-LEDs (chapter 8.2.4)
  • show steps-status (stepsReg) on NIOS-console (with changing values in debug-mode)
  • testing of the steppermotor-ISR by setting the requestbit every 4s
• development of VHDL-register-interface
  • listing and description of chosen desing-parameters
  • block-diagram of the register-interface showing all signals
  • Proof-of-Concept with working VHDL-Sources
  • available simulation-files

3. Motor-Control-Unit

a) Idea of Design

• block-diagram for every component
• state-diagrams (if necessary)
• textual representation of the design-idea

b) Isolated Control via DE0 / DE2 - Board-Switches

• presenting the solution
  • metering of the important speedsteps 0, 1 and 7
  • qualitative presentation of every other speedsteps
  • demonstration of every usage-mode
• Proof-of-Concept with working VHDL-Sources
• available simulation-files

4. Combined Solution

combining the motor-control-unit with the NIOS II/s Base-Software with register-interface

stepper-motor-control's Issues

DEBUG-define is not working

dataTypes.h - versioning is incorrect

Correct header versioning and history according to other headers.

Use uint8_t instead of uint32_t for HEX-segments

Smaller data-types in the hardwareAccess.h could improve the program.

mistake in `ctrlReg`

Uebersicht_Komponenten_und_Kommunikation.pdf:

• Bit for Left/Right is missing.

activity diagramm User Input Task: initial output missing

initial output was moved from init into UserInputTask but activity is missing

Debug-Task only moves Motor once per heartbeat-cycle but should adjust the stepsReg every heartbeat-step!

@see heartbeatTask.c

activitydiagram "User-Ouput-Task" - no LED access through software except Heartbeat-LED9

-see "Aufgabenstellung" - 8.2.4 Beschaltung der Leds
-LEDs will be directly connected to registers via vhdl