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-- #################################################################################################
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-- #################################################################################################
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-- # << NEORV32 - Pulse Width Modulation Controller (PWM) >> #
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-- # << NEORV32 - Pulse Width Modulation Controller (PWM) >> #
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-- # ********************************************************************************************* #
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-- # ********************************************************************************************* #
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-- # Simple 4-channel PWM controller with 8 bit resolution for the duty cycle and programmable #
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-- # Simple PWM controller with 8 bit resolution for the duty cycle and programmable base #
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-- # clock. #
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-- # frequency. The controller supports up to 60 PWM channels. #
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-- # ********************************************************************************************* #
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-- # ********************************************************************************************* #
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-- # BSD 3-Clause License #
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-- # BSD 3-Clause License #
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-- # #
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-- # #
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-- # Copyright (c) 2020, Stephan Nolting. All rights reserved. #
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-- # Copyright (c) 2021, Stephan Nolting. All rights reserved. #
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-- # #
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-- # #
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-- # Redistribution and use in source and binary forms, with or without modification, are #
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-- # Redistribution and use in source and binary forms, with or without modification, are #
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-- # permitted provided that the following conditions are met: #
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-- # permitted provided that the following conditions are met: #
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-- # #
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-- # #
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-- # 1. Redistributions of source code must retain the above copyright notice, this list of #
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-- # 1. Redistributions of source code must retain the above copyright notice, this list of #
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library neorv32;
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library neorv32;
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use neorv32.neorv32_package.all;
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use neorv32.neorv32_package.all;
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entity neorv32_pwm is
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entity neorv32_pwm is
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generic (
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NUM_CHANNELS : natural := 4 -- number of PWM channels (0..60)
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);
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port (
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port (
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-- host access --
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-- host access --
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clk_i : in std_ulogic; -- global clock line
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clk_i : in std_ulogic; -- global clock line
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addr_i : in std_ulogic_vector(31 downto 0); -- address
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addr_i : in std_ulogic_vector(31 downto 0); -- address
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rden_i : in std_ulogic; -- read enable
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rden_i : in std_ulogic; -- read enable
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ack_o : out std_ulogic; -- transfer acknowledge
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ack_o : out std_ulogic; -- transfer acknowledge
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-- clock generator --
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-- clock generator --
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clkgen_en_o : out std_ulogic; -- enable clock generator
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clkgen_en_o : out std_ulogic; -- enable clock generator
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clkgen_i : in std_ulogic_vector(07 downto 0);
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clkgen_i : in std_ulogic_vector(07 downto 0);
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-- pwm output channels --
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-- pwm output channels --
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pwm_o : out std_ulogic_vector(03 downto 0)
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pwm_o : out std_ulogic_vector(NUM_CHANNELS-1 downto 0)
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);
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);
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end neorv32_pwm;
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end neorv32_pwm;
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architecture neorv32_pwm_rtl of neorv32_pwm is
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architecture neorv32_pwm_rtl of neorv32_pwm is
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-- internal configuration --
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constant num_pwm_channels_c : natural := 4; -- number of PWM channels, fixed!
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-- IO space: module base address --
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-- IO space: module base address --
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constant hi_abb_c : natural := index_size_f(io_size_c)-1; -- high address boundary bit
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constant hi_abb_c : natural := index_size_f(io_size_c)-1; -- high address boundary bit
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constant lo_abb_c : natural := index_size_f(pwm_size_c); -- low address boundary bit
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constant lo_abb_c : natural := index_size_f(pwm_size_c); -- low address boundary bit
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-- Control register bits --
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-- Control register bits --
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signal addr : std_ulogic_vector(31 downto 0); -- access address
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signal addr : std_ulogic_vector(31 downto 0); -- access address
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signal wren : std_ulogic; -- write enable
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signal wren : std_ulogic; -- write enable
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signal rden : std_ulogic; -- read enable
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signal rden : std_ulogic; -- read enable
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-- accessible regs --
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-- accessible regs --
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type pwm_ch_t is array (0 to num_pwm_channels_c-1) of std_ulogic_vector(7 downto 0);
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type pwm_ch_t is array (0 to NUM_CHANNELS-1) of std_ulogic_vector(7 downto 0);
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signal pwm_ch : pwm_ch_t; -- duty cycle (r/w)
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signal pwm_ch : pwm_ch_t; -- duty cycle (r/w)
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signal enable : std_ulogic; -- enable unit (r/w)
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signal enable : std_ulogic; -- enable unit (r/w)
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signal prsc : std_ulogic_vector(2 downto 0); -- clock prescaler (r/w)
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signal prsc : std_ulogic_vector(2 downto 0); -- clock prescaler (r/w)
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type pwm_ch_rd_t is array (0 to 60-1) of std_ulogic_vector(7 downto 0);
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signal pwm_ch_rd : pwm_ch_rd_t; -- duty cycle read-back
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-- prescaler clock generator --
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-- prescaler clock generator --
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signal prsc_tick : std_ulogic;
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signal prsc_tick : std_ulogic;
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-- pwm core counter --
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-- pwm core counter --
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signal pwm_cnt : std_ulogic_vector(7 downto 0);
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signal pwm_cnt : std_ulogic_vector(7 downto 0);
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begin
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begin
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-- Sanity Checks --------------------------------------------------------------------------
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-- -------------------------------------------------------------------------------------------
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assert not (NUM_CHANNELS > 60) report "NEORV32 PROCESSOR CONFIG ERROR! <IO.PWM> invalid number of channels! Has to be 0..60.!" severity error;
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-- Access Control -------------------------------------------------------------------------
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-- Access Control -------------------------------------------------------------------------
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-- -------------------------------------------------------------------------------------------
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-- -------------------------------------------------------------------------------------------
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acc_en <= '1' when (addr_i(hi_abb_c downto lo_abb_c) = pwm_base_c(hi_abb_c downto lo_abb_c)) else '0';
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acc_en <= '1' when (addr_i(hi_abb_c downto lo_abb_c) = pwm_base_c(hi_abb_c downto lo_abb_c)) else '0';
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addr <= pwm_base_c(31 downto lo_abb_c) & addr_i(lo_abb_c-1 downto 2) & "00"; -- word aligned
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addr <= pwm_base_c(31 downto lo_abb_c) & addr_i(lo_abb_c-1 downto 2) & "00"; -- word aligned
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rden <= acc_en and rden_i;
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rden <= acc_en and rden_i;
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-- -------------------------------------------------------------------------------------------
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-- -------------------------------------------------------------------------------------------
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wr_access: process(clk_i)
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wr_access: process(clk_i)
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begin
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begin
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if rising_edge(clk_i) then
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if rising_edge(clk_i) then
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ack_o <= acc_en and (rden_i or wren_i);
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ack_o <= acc_en and (rden_i or wren_i);
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-- write access --
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-- write access --
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if (wren = '1') then
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if (wren = '1') then
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if (addr = pwm_ctrl_addr_c) then -- control register
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-- control register --
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if (addr = pwm_ctrl_addr_c) then
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enable <= data_i(ctrl_enable_c);
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enable <= data_i(ctrl_enable_c);
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prsc <= data_i(ctrl_prsc2_bit_c downto ctrl_prsc0_bit_c);
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prsc <= data_i(ctrl_prsc2_bit_c downto ctrl_prsc0_bit_c);
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end if;
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end if;
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if (addr = pwm_duty_addr_c) then -- duty cycle register
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-- duty cycle registers --
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for i in 0 to 3 loop
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for i in 0 to NUM_CHANNELS-1 loop -- channel loop
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pwm_ch(i) <= data_i(7+i*8 downto 0+i*8);
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if (addr(5 downto 2) = std_ulogic_vector(to_unsigned((i/4)+1, 4))) then -- 4 channels per register; add ctrl reg offset
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end loop;
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pwm_ch(i) <= data_i((i mod 4)*8+7 downto (i mod 4)*8+0);
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end if;
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end if;
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end loop;
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end if;
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end if;
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-- read access --
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-- read access --
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data_o <= (others => '0');
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data_o <= (others => '0');
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if (rden = '1') then
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if (rden = '1') then
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if (addr = pwm_ctrl_addr_c) then
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case addr(5 downto 2) is
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data_o(ctrl_enable_c) <= enable;
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when x"0" => data_o(ctrl_enable_c) <= enable; data_o(ctrl_prsc2_bit_c downto ctrl_prsc0_bit_c) <= prsc;
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data_o(ctrl_prsc2_bit_c downto ctrl_prsc0_bit_c) <= prsc;
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when x"1" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(3) & pwm_ch_rd(2) & pwm_ch_rd(1) & pwm_ch_rd(0); else NULL; end if;
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else -- pwm_duty_addr_c
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when x"2" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(7) & pwm_ch_rd(6) & pwm_ch_rd(5) & pwm_ch_rd(4); else NULL; end if;
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data_o(07 downto 00) <= pwm_ch(0);
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when x"3" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(11) & pwm_ch_rd(10) & pwm_ch_rd(9) & pwm_ch_rd(8); else NULL; end if;
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data_o(15 downto 08) <= pwm_ch(1);
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when x"4" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(15) & pwm_ch_rd(14) & pwm_ch_rd(13) & pwm_ch_rd(12); else NULL; end if;
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data_o(23 downto 16) <= pwm_ch(2);
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when x"5" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(19) & pwm_ch_rd(18) & pwm_ch_rd(17) & pwm_ch_rd(16); else NULL; end if;
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data_o(31 downto 24) <= pwm_ch(3);
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when x"6" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(23) & pwm_ch_rd(22) & pwm_ch_rd(21) & pwm_ch_rd(20); else NULL; end if;
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end if;
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when x"7" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(27) & pwm_ch_rd(26) & pwm_ch_rd(25) & pwm_ch_rd(24); else NULL; end if;
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when x"8" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(31) & pwm_ch_rd(30) & pwm_ch_rd(29) & pwm_ch_rd(28); else NULL; end if;
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when x"9" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(35) & pwm_ch_rd(34) & pwm_ch_rd(33) & pwm_ch_rd(32); else NULL; end if;
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when x"a" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(39) & pwm_ch_rd(38) & pwm_ch_rd(37) & pwm_ch_rd(36); else NULL; end if;
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when x"b" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(43) & pwm_ch_rd(42) & pwm_ch_rd(41) & pwm_ch_rd(40); else NULL; end if;
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when x"c" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(47) & pwm_ch_rd(46) & pwm_ch_rd(45) & pwm_ch_rd(44); else NULL; end if;
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when x"d" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(51) & pwm_ch_rd(50) & pwm_ch_rd(49) & pwm_ch_rd(48); else NULL; end if;
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when x"e" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(55) & pwm_ch_rd(54) & pwm_ch_rd(53) & pwm_ch_rd(52); else NULL; end if;
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when x"f" => if (NUM_CHANNELS > 0) then data_o <= pwm_ch_rd(59) & pwm_ch_rd(58) & pwm_ch_rd(57) & pwm_ch_rd(56); else NULL; end if;
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when others => NULL;
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end case;
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end if;
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end if;
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end if;
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end if;
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end process wr_access;
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end process wr_access;
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-- duty cycle read-back --
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pwm_dc_rd_gen: process(pwm_ch)
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begin
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pwm_ch_rd <= (others => (others => '0'));
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for i in 0 to NUM_CHANNELS-1 loop
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pwm_ch_rd(i) <= pwm_ch(i);
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end loop;
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end process pwm_dc_rd_gen;
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-- PWM clock select --
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-- PWM clock select --
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clkgen_en_o <= enable; -- enable clock generator
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clkgen_en_o <= enable; -- enable clock generator
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prsc_tick <= clkgen_i(to_integer(unsigned(prsc)));
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prsc_tick <= clkgen_i(to_integer(unsigned(prsc)));
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-- PWM Core -------------------------------------------------------------------------------
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-- PWM Core -------------------------------------------------------------------------------
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-- -------------------------------------------------------------------------------------------
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-- -------------------------------------------------------------------------------------------
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pwm_core: process(clk_i)
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pwm_core: process(clk_i)
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begin
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begin
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if rising_edge(clk_i) then
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if rising_edge(clk_i) then
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-- pwm counter --
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-- pwm base counter --
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if (enable = '0') then
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if (enable = '0') then
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pwm_cnt <= (others => '0');
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pwm_cnt <= (others => '0');
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elsif (prsc_tick = '1') then
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elsif (prsc_tick = '1') then
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pwm_cnt <= std_ulogic_vector(unsigned(pwm_cnt) + 1);
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pwm_cnt <= std_ulogic_vector(unsigned(pwm_cnt) + 1);
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end if;
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end if;
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-- channels --
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-- channels --
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for i in 0 to num_pwm_channels_c-1 loop
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for i in 0 to NUM_CHANNELS-1 loop
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--if (pwm_cnt = pwm_ch(i)) or (pwm_ch(i) = x"00") or (enable = '0') then
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-- pwm_o(i) <= '0';
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--elsif (pwm_cnt = x"00") then
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-- pwm_o(i) <= '1';
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--end if;
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if (unsigned(pwm_cnt) >= unsigned(pwm_ch(i))) or (enable = '0') then
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if (unsigned(pwm_cnt) >= unsigned(pwm_ch(i))) or (enable = '0') then
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pwm_o(i) <= '0';
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pwm_o(i) <= '0';
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else
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else
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pwm_o(i) <= '1';
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pwm_o(i) <= '1';
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end if;
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end if;
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end loop; -- i, pwm channel
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end loop;
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end if;
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end if;
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end process pwm_core;
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end process pwm_core;
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end neorv32_pwm_rtl;
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end neorv32_pwm_rtl;
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