Proper Clock Freq

.qsys_edit/filters.xml

@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<filters version="19.1" />

.qsys_edit/preferences.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<preferences>
+ <debug showDebugMenu="0" />
+ <systemtable filter="All Interfaces">
+  <columns>
+   <connections preferredWidth="47" />
+   <irq preferredWidth="34" />
+  </columns>
+ </systemtable>
+ <library expandedCategories="Project,Library" />
+ <window width="1100" height="800" x="0" y="0" />
+</preferences>

PWMGenerator.vhd

@@ -22,19 +22,20 @@ ENTITY PWM_GEN IS
 END PWM_GEN;
 
 ARCHITECTURE a OF PWM_GEN IS
-    SIGNAL COUNT    : STD_LOGIC_VECTOR(4 DOWNTO 0);
-    SIGNAL COMPARE  : STD_LOGIC_VECTOR(4 DOWNTO 0);
+    SIGNAL COUNT    : STD_LOGIC_VECTOR(6 DOWNTO 0);
+    SIGNAL COMPARE  : STD_LOGIC_VECTOR(6 DOWNTO 0);
 
     BEGIN
 
     IO_Handler: PROCESS (RESETN, CS)
+
     BEGIN
         -- Create a register to store the data sent from SCOMP
         IF (RESETN = '0') THEN
-            COMPARE <= "00000";
+            COMPARE <= "0000000";
         ELSIF rising_edge(CS) THEN
             -- When written to, latch IO_DATA into the compare register.
-            COMPARE <= IO_DATA(4 DOWNTO 0);
+            COMPARE <= IO_DATA(6 DOWNTO 0);
         END IF;
 
     END PROCESS;
@@ -55,7 +56,7 @@ ARCHITECTURE a OF PWM_GEN IS
 				END IF;
 
             -- todo: on overflow, set the output high
-				IF (COUNT = "11111") THEN
+				IF (COUNT = "1111111") THEN
 					PWM_OUT <= '1';
 				END IF;
 
@@ -64,5 +65,6 @@ ARCHITECTURE a OF PWM_GEN IS
 
         END IF;
     END PROCESS;
+
 
 END a;

PositionControl.asm

@@ -3,37 +3,31 @@
 
 ORG 0
 Start:
-	LOAD VelControlOn
-	JPOS Velocity
 	LOAD PosControlOn
 	JPOS Position
 
-Velocity:	
-	; IN   Switches
-	LOAD  VelControl 
-	OUT   PWM
-
-	IN    Quad
-	OUT   Hex0
-
-	JUMP  Velocity
-
 Position:
-	IN   Switches
-	; LOAD  PosControlSpeed
-	OUT   PWM
-
+
 	IN 	  Quad
 	CALL  Abs
 	OUT   Hex0
 	SUB   PosControl
 	JZERO End
 
+	; IN   Switches
+	LOAD  PosControlSpeed
+	OUT   PWM
+
 	JUMP  Position
 
 End:
 	LOAD  Zero
 	OUT   PWM
+
+	; IN Quad
+	; CALL Abs
+	; OUT Hex1
+
 	JUMP  End
 
 Abs:
@@ -48,6 +42,7 @@ Abs_r:
 ; IO address constants
 Switches:  EQU &H000
 Hex0:      EQU &H004
+Hex1:      EQU &H005
 PWM:       EQU &H021
 Quad:      EQU &H0F1
 
@@ -57,6 +52,8 @@ NegOne:    DW -1
 
 VelControlOn:    DW 0
 PosControlOn:	 DW 1
+PosControlSpeed: DW &B10000
+
 VelControl:      DW &B01111
-PosControlSpeed: DW &B11001
-PosControl:      DW 540
+PosControl:      DW 1080
+; DirControl:		 DW 

PositionControl.mif

@@ -0,0 +1,47 @@
+-- Altera Memory Initialization File (MIF)
+
+DEPTH = 2048;
+WIDTH = 16;
+
+ADDRESS_RADIX = HEX;
+DATA_RADIX = HEX;
+
+CONTENT
+  BEGIN
+    [000..7FF] : 0000;  -- Default to NOP
+
+           000 : 081D;  -- 	LOAD VelControlOn
+           001 : 3804;  -- 	JPOS Velocity
+           002 : 081E;  -- 	LOAD PosControlOn
+           003 : 3809;  -- 	JPOS Position
+           004 : 0820;  -- 	LOAD  VelControl 
+           005 : 9821;  -- 	OUT   PWM
+           006 : 90F1;  -- 	IN    Quad
+           007 : 9804;  -- 	OUT   Hex0
+           008 : 2804;  -- 	JUMP  Velocity
+           009 : 90F1;  -- 	IN 	  Quad
+           00A : 8017;  -- 	CALL  Abs
+           00B : 9804;  -- 	OUT   Hex0
+           00C : 2021;  -- 	SUB   PosControl
+           00D : 4011;  -- 	JZERO End
+           00E : 081F;  -- 	LOAD  PosControlSpeed
+           00F : 9821;  -- 	OUT   PWM
+           010 : 2809;  -- 	JUMP  Position
+           011 : 081B;  -- 	LOAD  Zero
+           012 : 9821;  -- 	OUT   PWM
+           013 : 90F1;  -- 	IN Quad
+           014 : 8017;  -- 	CALL Abs
+           015 : 9805;  -- 	OUT Hex1
+           016 : 2811;  -- 	JUMP  End
+           017 : 381A;  -- 	JPOS   Abs_r        ; If already positive, return
+           018 : 581C;  -- 	XOR    NegOne       ; Flip all bits
+           019 : 6801;  -- 	ADDI   1            ; Add one
+           01A : 8800;  -- 	RETURN
+           01B : 0000;  -- Zero:      DW 0
+           01C : FFFF;  -- NegOne:    DW -1
+           01D : 0000;  -- VelControlOn:    DW 0
+           01E : 0001;  -- PosControlOn:	 DW 1
+           01F : 0010;  -- PosControlSpeed: DW &B10000
+           020 : 000F;  -- VelControl:      DW &B01111
+           021 : 0438;  -- PosControl:      DW 1080
+  END;

SCOMP.qsf

@@ -218,4 +218,5 @@ set_location_assignment PIN_AB8 -to STBY
 set_location_assignment PIN_Y10 -to ENCODER_H1
 set_location_assignment PIN_AB9 -to ENCODER_H2
 set_global_assignment -name VHDL_FILE output_files/PositionControl.vhd
+set_global_assignment -name VHDL_FILE VelocityControl.vhd
 set_instance_assignment -name PARTITION_HIERARCHY root_partition -to | -section_id Top