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-------------------------------------------------------------------------------
-- Title : Dual channel PI controller for use in WR PLLs
-- Project : White Rabbit
-------------------------------------------------------------------------------
-- File : gc_dual_pi_controller.vhd
-- Author : Tomasz Wlostowski
-- Company : CERN BE-Co-HT
-- Created : 2010-06-14
-- Last update: 2011-04-29
-- Platform : FPGA-generic
-- Standard : VHDL'87
-------------------------------------------------------------------------------
-- Description: Dual, programmable PI controller:
-- - first channel processes the frequency error (gain defined by P_KP/P_KI)
-- - second channel processes the phase error (gain defined by F_KP/F_KI)
-- Mode is selected by the mode_sel_i port and FORCE_F field in PCR register.
-------------------------------------------------------------------------------
--
-- Copyright (c) 2009 - 2010 CERN
--
-- This source file is free software; you can redistribute it
-- and/or modify it under the terms of the GNU Lesser General
-- Public License as published by the Free Software Foundation;
-- either version 2.1 of the License, or (at your option) any
-- later version.
--
-- This source is distributed in the hope that it will be
-- useful, but WITHOUT ANY WARRANTY; without even the implied
-- warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
-- PURPOSE. See the GNU Lesser General Public License for more
-- details.
--
-- You should have received a copy of the GNU Lesser General
-- Public License along with this source; if not, download it
-- from http://www.gnu.org/licenses/lgpl-2.1.html
--
-------------------------------------------------------------------------------
-- Revisions :
-- Date Version Author Description
-- 2010-06-14 1.0 twlostow Created
-- 2010-07-16 1.1 twlostow added anti-windup
-------------------------------------------------------------------------------
library ieee;
use ieee.std_logic_1164.all;
use ieee.numeric_std.all;
use work.gencores_pkg.all;
entity gc_dual_pi_controller is
generic(
g_error_bits : integer := 12;
g_dacval_bits : integer := 16;
g_output_bias : integer := 32767;
g_integrator_fracbits : integer := 16;
g_integrator_overbits : integer := 6;
g_coef_bits : integer := 16
);
port (
clk_sys_i : in std_logic;
rst_n_sysclk_i : in std_logic;
-------------------------------------------------------------------------------
-- Phase & frequency error inputs
-------------------------------------------------------------------------------
phase_err_i : in std_logic_vector(g_error_bits-1 downto 0);
phase_err_stb_p_i : in std_logic;
freq_err_i : in std_logic_vector(g_error_bits-1 downto 0);
freq_err_stb_p_i : in std_logic;
-- mode select input: 1 = frequency mode, 0 = phase mode
mode_sel_i : in std_logic;
-------------------------------------------------------------------------------
-- DAC Output
-------------------------------------------------------------------------------
dac_val_o : out std_logic_vector(g_dacval_bits-1 downto 0);
dac_val_stb_p_o : out std_logic;
-------------------------------------------------------------------------------
-- Wishbone regs
-------------------------------------------------------------------------------
-- PLL enable
pll_pcr_enable_i : in std_logic;
-- PI force freq mode. '1' causes the PI to stay in frequency lock mode all the
-- time.
pll_pcr_force_f_i : in std_logic;
-- Frequency Kp/Ki
pll_fbgr_f_kp_i : in std_logic_vector(g_coef_bits-1 downto 0);
pll_fbgr_f_ki_i : in std_logic_vector(g_coef_bits-1 downto 0);
-- Phase Kp/Ki
pll_pbgr_p_kp_i : in std_logic_vector(g_coef_bits-1 downto 0);
pll_pbgr_p_ki_i : in std_logic_vector(g_coef_bits-1 downto 0)
);
end gc_dual_pi_controller;
architecture behavioral of gc_dual_pi_controller is
type t_dmpll_state is (PI_CHECK_MODE, PI_WAIT_SAMPLE, PI_MUL_KI, PI_INTEGRATE, PI_MUL_KP, PI_CALC_SUM, PI_SATURATE, PI_ROUND_SUM, PI_DISABLED);
-- integrator size: 12 error bits + 16 coefficient bits + 6 overflow bits
constant c_INTEGRATOR_BITS : integer := g_error_bits + g_integrator_overbits + g_coef_bits;
constant c_ZEROS : unsigned (63 downto 0) := (others => '0');
constant c_ONES : unsigned (63 downto 0) := (others => '1');
-- DAC DC bias (extended by c_INTEGRATOR_FRACBITS). By default it's half of the
-- output voltage scale.
constant c_OUTPUT_BIAS : signed(g_dacval_bits + g_integrator_fracbits-1 downto 0) := to_signed(g_output_bias, g_dacval_bits) & to_signed(0, g_integrator_fracbits);
-- Multiplier size. A = error value, B = coefficient value
constant c_MUL_A_BITS : integer := g_error_bits;
constant c_MUL_B_BITS : integer := g_coef_bits;
-- the integrator
signal i_reg : signed(c_INTEGRATOR_BITS-1 downto 0);
-- multiplier IO
signal mul_A : signed(c_MUL_A_BITS - 1 downto 0);
signal mul_B : signed(c_MUL_B_BITS - 1 downto 0);
signal mul_OUT : signed(c_MUL_A_BITS + c_MUL_B_BITS - 1 downto 0);
signal mul_out_reg : signed(c_MUL_A_BITS + c_MUL_B_BITS - 1 downto 0);
signal pi_state : t_dmpll_state;
-- 1: we are in the frequency mode, 0: we are in phase mode.
signal freq_mode : std_logic;
signal freq_mode_ld : std_logic;
signal output_val : unsigned(c_INTEGRATOR_BITS-1 downto 0);
signal output_val_unrounded : unsigned(g_dacval_bits-1 downto 0);
signal output_val_round_up : std_logic;
signal dac_val_int : std_logic_vector(g_dacval_bits-1 downto 0);
signal output_val_sign : std_logic;
signal output_val_sat_hi : std_logic;
signal output_val_sat_lo : std_logic;
signal s_zero : unsigned(63 downto 0) := (others => '0');
signal anti_windup_hi, anti_windup_lo : std_logic;
begin -- behavioral
-- shared multiplier
multiplier : process (mul_A, mul_B)
begin -- process
mul_OUT <= mul_A * mul_B;
end process;
output_val_unrounded <= output_val(g_integrator_fracbits + g_dacval_bits - 1 downto g_integrator_fracbits);
output_val_round_up <= std_logic(output_val(g_integrator_fracbits - 1));
-- saturation detect logic
output_val_sign <= output_val(output_val'high);
output_val_sat_hi <= '1' when output_val_sign = '0' and (output_val(output_val'high-1 downto g_integrator_fracbits+g_dacval_bits) /= s_zero(output_val'high-1 downto g_integrator_fracbits+g_dacval_bits)) else '0';
output_val_sat_lo <= '1' when output_val_sign = '1' else '0';
main_fsm : process (clk_sys_i, rst_n_sysclk_i)
begin -- process
if rising_edge(clk_sys_i) then
if rst_n_sysclk_i = '0' then
i_reg <= (others => '0');
freq_mode <= '1'; -- start in frequency lock mode
pi_state <= PI_CHECK_MODE;
dac_val_stb_p_o <= '0';
dac_val_int <= std_logic_vector(to_unsigned(g_output_bias, dac_val_int'length));
freq_mode <= '1';
else
case pi_state is
when PI_DISABLED =>
dac_val_stb_p_o <= '0';
if(pll_pcr_enable_i = '1') then
pi_state <= PI_CHECK_MODE;
end if;
when PI_CHECK_MODE =>
if(pll_pcr_force_f_i = '0') then
freq_mode <= mode_sel_i;
else
freq_mode <= '1';
end if;
if(pll_pcr_enable_i = '1') then
dac_val_stb_p_o <= '0';
pi_state <= PI_WAIT_SAMPLE;
else
dac_val_stb_p_o <= '1';
dac_val_int <= std_logic_vector(to_unsigned(g_output_bias, dac_val_int'length));
pi_state <= PI_DISABLED;
freq_mode <= '1';
end if;
-------------------------------------------------------------------------------
-- State: DMPLL wait for input sample. When a frequency error (or phase error)
-- sample arrives from the detector, start the PI update.
-------------------------------------------------------------------------------
when PI_WAIT_SAMPLE =>
-- frequency lock mode, got a frequency sample
if(freq_mode = '1' and freq_err_stb_p_i = '1') then
pi_state <= PI_MUL_KI;
mul_A <= signed(freq_err_i);
mul_B <= signed(pll_fbgr_f_ki_i);
-- phase lock mode, got a phase sample
elsif (freq_mode = '0' and phase_err_stb_p_i = '1') then
pi_state <= PI_MUL_KI;
mul_A <= signed(phase_err_i);
mul_B <= signed(pll_pbgr_p_ki_i);
end if;
-------------------------------------------------------------------------------
-- State: DMPLL multiply by Ki: multiples the phase/freq error by an appropriate
-- Kp/Ki coefficient, set up the multipler for (error * Kp) operation.
-------------------------------------------------------------------------------
when PI_MUL_KI =>
if(freq_mode = '1') then
mul_B <= signed(pll_fbgr_f_kp_i);
else
mul_B <= signed(pll_pbgr_p_kp_i);
end if;
mul_out_reg <= mul_OUT; -- just keep the result
pi_state <= PI_INTEGRATE;
-------------------------------------------------------------------------------
-- State: HPLL integrate: add the (Error * Ki) to the integrator register
-------------------------------------------------------------------------------
when PI_INTEGRATE =>
if(anti_windup_lo = '0' and anti_windup_hi = '0') then
i_reg <= i_reg + mul_out_reg;
end if;
-- the output is saturated to MAX value, but the (Ki*error)
-- is negative, or the output is saturated to MIN value
-- and the (Ki*error) is positive
if (anti_windup_hi = '1' and mul_out_reg(mul_out_reg'high) = '1') or (anti_windup_lo = '1' and mul_out_reg(mul_out_reg'high) = '0') then --
i_reg <= i_reg + mul_out_reg;
end if;
pi_state <= PI_MUL_KP;
-------------------------------------------------------------------------------
-- State: HPLL multiply by Kp: does the same as PI_MUL_KI but for the proportional
-- branch.
-------------------------------------------------------------------------------
when PI_MUL_KP =>
mul_out_reg <= mul_OUT;
pi_state <= PI_CALC_SUM;
when PI_CALC_SUM =>
output_val <= unsigned(c_OUTPUT_BIAS + resize(mul_out_reg, output_val'length) + resize(i_reg, output_val'length));
pi_state <= PI_SATURATE;
when PI_SATURATE =>
if(output_val_sat_hi = '1') then
dac_val_int <= (others => '1');
dac_val_stb_p_o <= '1';
pi_state <= PI_CHECK_MODE;
anti_windup_hi <= '1';
anti_windup_lo <= '0';
elsif (output_val_sat_lo = '1') then
dac_val_int <= (others => '0');
dac_val_stb_p_o <= '1';
pi_state <= PI_CHECK_MODE;
anti_windup_hi <= '0';
anti_windup_lo <= '1';
else
anti_windup_lo <= '0';
anti_windup_hi <= '0';
pi_state <= PI_ROUND_SUM;
end if;
-------------------------------------------------------------------------------
-- State: HPLL round sum: calculates the final DAC value, with 0.5LSB rounding.
-- Also checks for the frequency lock.
-------------------------------------------------------------------------------
when PI_ROUND_SUM =>
dac_val_stb_p_o <= '1';
-- +-0.5 rounding of the output value
if(output_val_round_up = '1') then
dac_val_int <= std_logic_vector(output_val_unrounded + 1);
else
dac_val_int <= std_logic_vector(output_val_unrounded);
end if;
pi_state <= PI_CHECK_MODE;
when others => null;
end case;
end if;
end if;
end process;
dac_val_o <= dac_val_int;
end behavioral;