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foss-eda-tools / third_party / shuttle / sky130 / mpw-005 / slot-036 / b28c7c240351d7dd06511b9af60ebe6122babc6e / . / verilog / rtl / Motor_Top.v
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// SPDX-FileCopyrightText: 2022 EE, UET Lahore
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// SPDX-License-Identifier: Apache-2.0
// SPDX-FileContributor: Created by Muhammad Tahir <mtahir@uet.edu.pk>
module Interlink_Module( // @[:@4032.2]
input clock, // @[:@4033.4]
input reset, // @[:@4034.4]
input [31:0] io_bus_adr_i, // @[:@4035.4]
input [3:0] io_bus_sel_i, // @[:@4035.4]
input io_bus_we_i, // @[:@4035.4]
input io_bus_stb_i, // @[:@4035.4]
output io_bus_ack_o, // @[:@4035.4]
output [31:0] io_bus_dat_o, // @[:@4035.4]
output io_tmr_val_we, // @[:@4035.4]
input [31:0] io_tmr_val_do, // @[:@4035.4]
output io_tmr_dat_we, // @[:@4035.4]
input [31:0] io_tmr_dat_do, // @[:@4035.4]
output io_tmr_duty_we, // @[:@4035.4]
input [31:0] io_tmr_duty_do, // @[:@4035.4]
output io_tmr_cfg_we, // @[:@4035.4]
input [31:0] io_tmr_cfg_do, // @[:@4035.4]
output io_qei_count_we, // @[:@4035.4]
input [31:0] io_qei_count_do, // @[:@4035.4]
output io_qei_cfg_we, // @[:@4035.4]
input [31:0] io_qei_cfg_do, // @[:@4035.4]
input [15:0] io_qei_speed_do, // @[:@4035.4]
output io_pid_kp_we, // @[:@4035.4]
input [15:0] io_pid_kp_do, // @[:@4035.4]
output io_pid_ki_we, // @[:@4035.4]
input [15:0] io_pid_ki_do, // @[:@4035.4]
output io_pid_kd_we, // @[:@4035.4]
input [15:0] io_pid_kd_do, // @[:@4035.4]
output io_pid_ref_we, // @[:@4035.4]
input [15:0] io_pid_ref_do, // @[:@4035.4]
output io_pid_fb_we, // @[:@4035.4]
input [15:0] io_pid_fb_do, // @[:@4035.4]
output io_pid_cfg_we, // @[:@4035.4]
input [15:0] io_pid_cfg_do, // @[:@4035.4]
input io_ba_match // @[:@4035.4]
);
wire [11:0] reg_offset; // @[interlink.scala 98:35:@4044.4]
wire _T_78; // @[interlink.scala 100:50:@4045.4]
wire _T_79; // @[interlink.scala 100:81:@4046.4]
wire tmr_cfg_sel; // @[interlink.scala 100:66:@4047.4]
wire _T_83; // @[interlink.scala 101:81:@4051.4]
wire tmr_val_sel; // @[interlink.scala 101:66:@4052.4]
wire _T_87; // @[interlink.scala 102:81:@4056.4]
wire tmr_dat_sel; // @[interlink.scala 102:66:@4057.4]
wire _T_91; // @[interlink.scala 103:81:@4061.4]
wire tmr_duty_sel; // @[interlink.scala 103:66:@4062.4]
wire _T_94; // @[interlink.scala 105:72:@4065.4]
wire _T_95; // @[interlink.scala 105:76:@4066.4]
wire _T_121; // @[interlink.scala 112:35:@4092.4]
wire _T_122; // @[interlink.scala 112:50:@4093.4]
wire tmr_sel; // @[interlink.scala 112:65:@4094.4]
wire [31:0] _T_123; // @[interlink.scala 114:26:@4095.4]
wire [31:0] _T_124; // @[interlink.scala 113:57:@4096.4]
wire [31:0] tmr_do; // @[interlink.scala 113:26:@4097.4]
wire _T_128; // @[interlink.scala 118:81:@4100.4]
wire qei_count_sel; // @[interlink.scala 118:66:@4101.4]
wire _T_138; // @[interlink.scala 122:81:@4111.4]
wire qei_cfg_sel; // @[interlink.scala 122:66:@4112.4]
wire _T_148; // @[interlink.scala 126:81:@4122.4]
wire qei_speed_sel; // @[interlink.scala 126:66:@4123.4]
wire _T_155; // @[interlink.scala 130:37:@4131.4]
wire qei_sel; // @[interlink.scala 130:52:@4132.4]
wire [31:0] _T_156; // @[interlink.scala 131:59:@4133.4]
wire [15:0] _T_236; // @[interlink.scala 187:46:@4235.4]
wire [31:0] qei_speed_do; // @[interlink.scala 125:27:@4120.4 interlink.scala 187:21:@4236.4]
wire [31:0] qei_do; // @[interlink.scala 131:26:@4134.4]
wire _T_160; // @[interlink.scala 135:81:@4137.4]
wire pid_kp_sel; // @[interlink.scala 135:66:@4138.4]
wire _T_170; // @[interlink.scala 139:81:@4148.4]
wire pid_ki_sel; // @[interlink.scala 139:66:@4149.4]
wire _T_180; // @[interlink.scala 143:81:@4159.4]
wire pid_kd_sel; // @[interlink.scala 143:66:@4160.4]
wire _T_190; // @[interlink.scala 147:81:@4170.4]
wire pid_ref_sel; // @[interlink.scala 147:66:@4171.4]
wire _T_200; // @[interlink.scala 151:81:@4181.4]
wire pid_fb_sel; // @[interlink.scala 151:66:@4182.4]
wire _T_210; // @[interlink.scala 155:81:@4192.4]
wire pid_cfg_sel; // @[interlink.scala 155:66:@4193.4]
wire _T_217; // @[interlink.scala 158:34:@4201.4]
wire _T_218; // @[interlink.scala 158:48:@4202.4]
wire _T_219; // @[interlink.scala 158:62:@4203.4]
wire _T_220; // @[interlink.scala 158:77:@4204.4]
wire pid_sel; // @[interlink.scala 158:91:@4205.4]
wire [15:0] _T_221; // @[interlink.scala 162:46:@4206.4]
wire [15:0] _T_222; // @[interlink.scala 161:46:@4207.4]
wire [15:0] _T_223; // @[interlink.scala 160:46:@4208.4]
wire [15:0] _T_224; // @[interlink.scala 159:53:@4209.4]
wire [15:0] pid_do; // @[interlink.scala 159:26:@4210.4]
reg wb_ack_o; // @[interlink.scala 165:30:@4211.4]
reg [31:0] _RAND_0;
reg [31:0] wb_data_o; // @[interlink.scala 166:30:@4212.4]
reg [31:0] _RAND_1;
wire [15:0] _T_229; // @[interlink.scala 167:92:@4213.4]
wire [15:0] _T_231; // @[interlink.scala 167:69:@4214.4]
wire [31:0] _T_232; // @[interlink.scala 167:48:@4215.4]
wire [31:0] _T_233; // @[interlink.scala 167:27:@4216.4]
wire _T_234; // @[interlink.scala 168:32:@4218.4]
wire _T_235; // @[interlink.scala 168:43:@4219.4]
assign reg_offset = io_bus_adr_i[11:0]; // @[interlink.scala 98:35:@4044.4]
assign _T_78 = io_bus_stb_i & io_ba_match; // @[interlink.scala 100:50:@4045.4]
assign _T_79 = reg_offset == 12'h0; // @[interlink.scala 100:81:@4046.4]
assign tmr_cfg_sel = _T_78 & _T_79; // @[interlink.scala 100:66:@4047.4]
assign _T_83 = reg_offset == 12'h4; // @[interlink.scala 101:81:@4051.4]
assign tmr_val_sel = _T_78 & _T_83; // @[interlink.scala 101:66:@4052.4]
assign _T_87 = reg_offset == 12'h8; // @[interlink.scala 102:81:@4056.4]
assign tmr_dat_sel = _T_78 & _T_87; // @[interlink.scala 102:66:@4057.4]
assign _T_91 = reg_offset == 12'hc; // @[interlink.scala 103:81:@4061.4]
assign tmr_duty_sel = _T_78 & _T_91; // @[interlink.scala 103:66:@4062.4]
assign _T_94 = io_bus_sel_i[0]; // @[interlink.scala 105:72:@4065.4]
assign _T_95 = _T_94 & io_bus_we_i; // @[interlink.scala 105:76:@4066.4]
assign _T_121 = tmr_cfg_sel | tmr_val_sel; // @[interlink.scala 112:35:@4092.4]
assign _T_122 = _T_121 | tmr_dat_sel; // @[interlink.scala 112:50:@4093.4]
assign tmr_sel = _T_122 | tmr_duty_sel; // @[interlink.scala 112:65:@4094.4]
assign _T_123 = tmr_duty_sel ? io_tmr_duty_do : io_tmr_dat_do; // @[interlink.scala 114:26:@4095.4]
assign _T_124 = tmr_val_sel ? io_tmr_val_do : _T_123; // @[interlink.scala 113:57:@4096.4]
assign tmr_do = tmr_cfg_sel ? io_tmr_cfg_do : _T_124; // @[interlink.scala 113:26:@4097.4]
assign _T_128 = reg_offset == 12'h100; // @[interlink.scala 118:81:@4100.4]
assign qei_count_sel = _T_78 & _T_128; // @[interlink.scala 118:66:@4101.4]
assign _T_138 = reg_offset == 12'h108; // @[interlink.scala 122:81:@4111.4]
assign qei_cfg_sel = _T_78 & _T_138; // @[interlink.scala 122:66:@4112.4]
assign _T_148 = reg_offset == 12'h104; // @[interlink.scala 126:81:@4122.4]
assign qei_speed_sel = _T_78 & _T_148; // @[interlink.scala 126:66:@4123.4]
assign _T_155 = qei_count_sel | qei_cfg_sel; // @[interlink.scala 130:37:@4131.4]
assign qei_sel = _T_155 | qei_speed_sel; // @[interlink.scala 130:52:@4132.4]
assign _T_156 = qei_cfg_sel ? io_qei_cfg_do : io_qei_count_do; // @[interlink.scala 131:59:@4133.4]
assign _T_236 = $unsigned(io_qei_speed_do); // @[interlink.scala 187:46:@4235.4]
assign qei_speed_do = {{16'd0}, _T_236}; // @[interlink.scala 125:27:@4120.4 interlink.scala 187:21:@4236.4]
assign qei_do = qei_speed_sel ? qei_speed_do : _T_156; // @[interlink.scala 131:26:@4134.4]
assign _T_160 = reg_offset == 12'h200; // @[interlink.scala 135:81:@4137.4]
assign pid_kp_sel = _T_78 & _T_160; // @[interlink.scala 135:66:@4138.4]
assign _T_170 = reg_offset == 12'h204; // @[interlink.scala 139:81:@4148.4]
assign pid_ki_sel = _T_78 & _T_170; // @[interlink.scala 139:66:@4149.4]
assign _T_180 = reg_offset == 12'h208; // @[interlink.scala 143:81:@4159.4]
assign pid_kd_sel = _T_78 & _T_180; // @[interlink.scala 143:66:@4160.4]
assign _T_190 = reg_offset == 12'h20c; // @[interlink.scala 147:81:@4170.4]
assign pid_ref_sel = _T_78 & _T_190; // @[interlink.scala 147:66:@4171.4]
assign _T_200 = reg_offset == 12'h210; // @[interlink.scala 151:81:@4181.4]
assign pid_fb_sel = _T_78 & _T_200; // @[interlink.scala 151:66:@4182.4]
assign _T_210 = reg_offset == 12'h214; // @[interlink.scala 155:81:@4192.4]
assign pid_cfg_sel = _T_78 & _T_210; // @[interlink.scala 155:66:@4193.4]
assign _T_217 = pid_kp_sel | pid_ki_sel; // @[interlink.scala 158:34:@4201.4]
assign _T_218 = _T_217 | pid_kd_sel; // @[interlink.scala 158:48:@4202.4]
assign _T_219 = _T_218 | pid_ref_sel; // @[interlink.scala 158:62:@4203.4]
assign _T_220 = _T_219 | pid_fb_sel; // @[interlink.scala 158:77:@4204.4]
assign pid_sel = _T_220 | pid_cfg_sel; // @[interlink.scala 158:91:@4205.4]
assign _T_221 = pid_fb_sel ? $signed(io_pid_fb_do) : $signed(io_pid_cfg_do); // @[interlink.scala 162:46:@4206.4]
assign _T_222 = pid_ref_sel ? $signed(io_pid_ref_do) : $signed(_T_221); // @[interlink.scala 161:46:@4207.4]
assign _T_223 = pid_kd_sel ? $signed(io_pid_kd_do) : $signed(_T_222); // @[interlink.scala 160:46:@4208.4]
assign _T_224 = pid_ki_sel ? $signed(io_pid_ki_do) : $signed(_T_223); // @[interlink.scala 159:53:@4209.4]
assign pid_do = pid_kp_sel ? $signed(io_pid_kp_do) : $signed(_T_224); // @[interlink.scala 159:26:@4210.4]
assign _T_229 = $unsigned(pid_do); // @[interlink.scala 167:92:@4213.4]
assign _T_231 = pid_sel ? _T_229 : 16'h0; // @[interlink.scala 167:69:@4214.4]
assign _T_232 = qei_sel ? qei_do : {{16'd0}, _T_231}; // @[interlink.scala 167:48:@4215.4]
assign _T_233 = tmr_sel ? tmr_do : _T_232; // @[interlink.scala 167:27:@4216.4]
assign _T_234 = tmr_sel | qei_sel; // @[interlink.scala 168:32:@4218.4]
assign _T_235 = _T_234 | pid_sel; // @[interlink.scala 168:43:@4219.4]
assign io_bus_ack_o = wb_ack_o; // @[interlink.scala 171:21:@4222.4]
assign io_bus_dat_o = wb_data_o; // @[interlink.scala 170:21:@4221.4]
assign io_tmr_val_we = tmr_val_sel ? _T_95 : 1'h0; // @[interlink.scala 174:21:@4223.4]
assign io_tmr_dat_we = tmr_dat_sel ? _T_95 : 1'h0; // @[interlink.scala 176:21:@4225.4]
assign io_tmr_duty_we = tmr_duty_sel ? _T_95 : 1'h0; // @[interlink.scala 178:21:@4227.4]
assign io_tmr_cfg_we = tmr_cfg_sel ? _T_95 : 1'h0; // @[interlink.scala 180:21:@4229.4]
assign io_qei_count_we = qei_count_sel ? _T_95 : 1'h0; // @[interlink.scala 183:21:@4231.4]
assign io_qei_cfg_we = qei_cfg_sel ? _T_95 : 1'h0; // @[interlink.scala 185:21:@4233.4]
assign io_pid_kp_we = pid_kp_sel ? _T_95 : 1'h0; // @[interlink.scala 189:21:@4237.4]
assign io_pid_ki_we = pid_ki_sel ? _T_95 : 1'h0; // @[interlink.scala 191:21:@4239.4]
assign io_pid_kd_we = pid_kd_sel ? _T_95 : 1'h0; // @[interlink.scala 193:21:@4241.4]
assign io_pid_ref_we = pid_ref_sel ? _T_95 : 1'h0; // @[interlink.scala 195:21:@4243.4]
assign io_pid_fb_we = pid_fb_sel ? _T_95 : 1'h0; // @[interlink.scala 197:21:@4245.4]
assign io_pid_cfg_we = pid_cfg_sel ? _T_95 : 1'h0; // @[interlink.scala 199:21:@4247.4]
`ifdef RANDOMIZE_GARBAGE_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_INVALID_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_REG_INIT
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_MEM_INIT
`define RANDOMIZE
`endif
`ifndef RANDOM
`define RANDOM $random
`endif
`ifdef RANDOMIZE
integer initvar;
initial begin
`ifdef INIT_RANDOM
`INIT_RANDOM
`endif
`ifndef VERILATOR
#0.002 begin end
`endif
`ifdef RANDOMIZE_REG_INIT
_RAND_0 = {1{`RANDOM}};
wb_ack_o = _RAND_0[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_1 = {1{`RANDOM}};
wb_data_o = _RAND_1[31:0];
`endif // RANDOMIZE_REG_INIT
end
`endif // RANDOMIZE
always @(posedge clock) begin
if (reset) begin
wb_ack_o <= 1'h0;
end else begin
wb_ack_o <= _T_235;
end
if (reset) begin
wb_data_o <= 32'h0;
end else begin
if (tmr_sel) begin
if (tmr_cfg_sel) begin
wb_data_o <= io_tmr_cfg_do;
end else begin
if (tmr_val_sel) begin
wb_data_o <= io_tmr_val_do;
end else begin
if (tmr_duty_sel) begin
wb_data_o <= io_tmr_duty_do;
end else begin
wb_data_o <= io_tmr_dat_do;
end
end
end
end else begin
if (qei_sel) begin
if (qei_speed_sel) begin
wb_data_o <= qei_speed_do;
end else begin
if (qei_cfg_sel) begin
wb_data_o <= io_qei_cfg_do;
end else begin
wb_data_o <= io_qei_count_do;
end
end
end else begin
wb_data_o <= {{16'd0}, _T_231};
end
end
end
end
endmodule
module PWM( // @[:@4250.2]
input clock, // @[:@4251.4]
input reset, // @[:@4252.4]
input io_reg_val_we, // @[:@4253.4]
input [31:0] io_reg_val_di, // @[:@4253.4]
output [31:0] io_reg_val_do, // @[:@4253.4]
input io_reg_cfg_we, // @[:@4253.4]
input [31:0] io_reg_cfg_di, // @[:@4253.4]
output [31:0] io_reg_cfg_do, // @[:@4253.4]
input io_reg_dat_we, // @[:@4253.4]
input [31:0] io_reg_dat_di, // @[:@4253.4]
output [31:0] io_reg_dat_do, // @[:@4253.4]
input io_reg_duty_we, // @[:@4253.4]
input [31:0] io_reg_duty_di, // @[:@4253.4]
output [31:0] io_reg_duty_do, // @[:@4253.4]
input [15:0] io_reg_pid_out, // @[:@4253.4]
output io_pwm_h, // @[:@4253.4]
output io_pwm_l, // @[:@4253.4]
output io_irq_out, // @[:@4253.4]
output io_rawirq_out // @[:@4253.4]
);
reg [31:0] value_cur; // @[pwm.scala 44:32:@4255.4]
reg [31:0] _RAND_0;
reg [31:0] value_reload; // @[pwm.scala 45:32:@4256.4]
reg [31:0] _RAND_1;
reg [31:0] pwm_duty; // @[pwm.scala 46:32:@4257.4]
reg [31:0] _RAND_2;
reg [31:0] reg_duty; // @[pwm.scala 47:32:@4258.4]
reg [31:0] _RAND_3;
reg enable; // @[pwm.scala 54:32:@4262.4]
reg [31:0] _RAND_4;
reg stop_out; // @[pwm.scala 56:32:@4263.4]
reg [31:0] _RAND_5;
reg irq_out; // @[pwm.scala 57:32:@4264.4]
reg [31:0] _RAND_6;
reg lastenable; // @[pwm.scala 60:28:@4265.4]
reg [31:0] _RAND_7;
reg updown; // @[pwm.scala 63:32:@4266.4]
reg [31:0] _RAND_8;
reg irq_ena; // @[pwm.scala 66:32:@4267.4]
reg [31:0] _RAND_9;
reg pid_out_sel; // @[pwm.scala 69:32:@4268.4]
reg [31:0] _RAND_10;
reg [3:0] pwm_db; // @[pwm.scala 72:32:@4269.4]
reg [31:0] _RAND_11;
wire [31:0] _GEN_0; // @[pwm.scala 76:24:@4271.4]
wire [15:0] _T_65; // @[pwm.scala 82:40:@4276.8]
wire [31:0] _GEN_1; // @[pwm.scala 81:22:@4275.6]
wire [31:0] _GEN_2; // @[pwm.scala 80:18:@4274.4]
reg [31:0] proc_offset; // @[pwm.scala 88:24:@4283.4]
reg [31:0] _RAND_12;
reg pwm_ld; // @[pwm.scala 89:24:@4284.4]
reg [31:0] _RAND_13;
reg pwm_hd; // @[pwm.scala 90:24:@4285.4]
reg [31:0] _RAND_14;
wire [4:0] _GEN_25; // @[pwm.scala 93:30:@4286.4]
wire [4:0] pwm_db_twice; // @[pwm.scala 93:30:@4286.4]
wire [31:0] _GEN_26; // @[pwm.scala 95:37:@4287.4]
wire _T_70; // @[pwm.scala 95:37:@4287.4]
wire [32:0] _T_71; // @[pwm.scala 95:84:@4288.4]
wire [32:0] _T_72; // @[pwm.scala 95:84:@4289.4]
wire [31:0] _T_73; // @[pwm.scala 95:84:@4290.4]
wire _T_74; // @[pwm.scala 95:67:@4291.4]
wire _T_75; // @[pwm.scala 95:54:@4292.4]
wire _T_76; // @[pwm.scala 96:36:@4293.4]
wire [31:0] _T_80; // @[pwm.scala 96:26:@4297.4]
wire [31:0] _GEN_30; // @[pwm.scala 97:48:@4300.4]
wire [32:0] _T_82; // @[pwm.scala 97:48:@4300.4]
wire [32:0] _T_83; // @[pwm.scala 97:48:@4301.4]
wire [31:0] _T_84; // @[pwm.scala 97:48:@4302.4]
wire _T_86; // @[pwm.scala 98:34:@4305.4]
wire [32:0] _T_87; // @[pwm.scala 98:79:@4306.4]
wire [32:0] _T_88; // @[pwm.scala 98:79:@4307.4]
wire [31:0] _T_89; // @[pwm.scala 98:79:@4308.4]
wire _T_90; // @[pwm.scala 98:63:@4309.4]
wire _T_94; // @[pwm.scala 104:34:@4317.4]
wire _T_95; // @[pwm.scala 104:32:@4318.4]
wire [2:0] _T_99; // @[Cat.scala 30:58:@4322.4]
wire [28:0] _T_101; // @[Cat.scala 30:58:@4324.4]
wire _T_103; // @[pwm.scala 109:35:@4328.6]
wire _T_104; // @[pwm.scala 110:35:@4330.6]
wire _T_105; // @[pwm.scala 111:35:@4332.6]
wire _T_106; // @[pwm.scala 112:35:@4334.6]
wire [3:0] _T_107; // @[pwm.scala 113:36:@4336.6]
wire [4:0] _T_109; // @[pwm.scala 113:42:@4337.6]
wire [3:0] _T_110; // @[pwm.scala 113:42:@4338.6]
wire _GEN_3; // @[pwm.scala 108:23:@4327.4]
wire _GEN_4; // @[pwm.scala 108:23:@4327.4]
wire _GEN_5; // @[pwm.scala 108:23:@4327.4]
wire _GEN_6; // @[pwm.scala 108:23:@4327.4]
wire [3:0] _GEN_7; // @[pwm.scala 108:23:@4327.4]
wire [31:0] _GEN_8; // @[pwm.scala 118:29:@4343.4]
wire [32:0] _T_114; // @[pwm.scala 124:39:@4347.4]
wire [31:0] value_cur_plus; // @[pwm.scala 124:39:@4348.4]
wire [32:0] _T_117; // @[pwm.scala 125:39:@4350.4]
wire [32:0] _T_118; // @[pwm.scala 125:39:@4351.4]
wire [31:0] value_cur_minus; // @[pwm.scala 125:39:@4352.4]
wire _T_127; // @[pwm.scala 135:23:@4365.8]
wire _T_131; // @[pwm.scala 138:25:@4369.10]
wire _T_134; // @[pwm.scala 143:33:@4375.12]
wire [31:0] _GEN_9; // @[pwm.scala 143:58:@4376.12]
wire [31:0] _GEN_11; // @[pwm.scala 138:38:@4370.10]
wire _GEN_12; // @[pwm.scala 138:38:@4370.10]
wire _T_142; // @[pwm.scala 158:35:@4393.12]
wire [31:0] _GEN_13; // @[pwm.scala 158:50:@4394.12]
wire [31:0] _GEN_15; // @[pwm.scala 153:38:@4388.10]
wire _GEN_16; // @[pwm.scala 153:38:@4388.10]
wire [31:0] _GEN_17; // @[pwm.scala 137:31:@4368.8]
wire _GEN_18; // @[pwm.scala 137:31:@4368.8]
wire _GEN_19; // @[pwm.scala 132:39:@4362.6]
wire [31:0] _GEN_20; // @[pwm.scala 132:39:@4362.6]
wire _GEN_21; // @[pwm.scala 132:39:@4362.6]
wire [31:0] _GEN_22; // @[pwm.scala 130:29:@4357.4]
wire _GEN_23; // @[pwm.scala 130:29:@4357.4]
wire _GEN_24; // @[pwm.scala 130:29:@4357.4]
assign _GEN_0 = io_reg_duty_we ? io_reg_duty_di : reg_duty; // @[pwm.scala 76:24:@4271.4]
assign _T_65 = $unsigned(io_reg_pid_out); // @[pwm.scala 82:40:@4276.8]
assign _GEN_1 = pid_out_sel ? {{16'd0}, _T_65} : reg_duty; // @[pwm.scala 81:22:@4275.6]
assign _GEN_2 = stop_out ? _GEN_1 : pwm_duty; // @[pwm.scala 80:18:@4274.4]
assign _GEN_25 = {{1'd0}, pwm_db}; // @[pwm.scala 93:30:@4286.4]
assign pwm_db_twice = _GEN_25 << 1'h1; // @[pwm.scala 93:30:@4286.4]
assign _GEN_26 = {{27'd0}, pwm_db_twice}; // @[pwm.scala 95:37:@4287.4]
assign _T_70 = pwm_duty >= _GEN_26; // @[pwm.scala 95:37:@4287.4]
assign _T_71 = value_reload - _GEN_26; // @[pwm.scala 95:84:@4288.4]
assign _T_72 = $unsigned(_T_71); // @[pwm.scala 95:84:@4289.4]
assign _T_73 = _T_72[31:0]; // @[pwm.scala 95:84:@4290.4]
assign _T_74 = pwm_duty <= _T_73; // @[pwm.scala 95:67:@4291.4]
assign _T_75 = _T_70 & _T_74; // @[pwm.scala 95:54:@4292.4]
assign _T_76 = pwm_duty < _GEN_26; // @[pwm.scala 96:36:@4293.4]
assign _T_80 = _T_76 ? {{27'd0}, pwm_db_twice} : _T_73; // @[pwm.scala 96:26:@4297.4]
assign _GEN_30 = {{28'd0}, pwm_db}; // @[pwm.scala 97:48:@4300.4]
assign _T_82 = proc_offset - _GEN_30; // @[pwm.scala 97:48:@4300.4]
assign _T_83 = $unsigned(_T_82); // @[pwm.scala 97:48:@4301.4]
assign _T_84 = _T_83[31:0]; // @[pwm.scala 97:48:@4302.4]
assign _T_86 = value_cur > proc_offset; // @[pwm.scala 98:34:@4305.4]
assign _T_87 = value_reload - _GEN_30; // @[pwm.scala 98:79:@4306.4]
assign _T_88 = $unsigned(_T_87); // @[pwm.scala 98:79:@4307.4]
assign _T_89 = _T_88[31:0]; // @[pwm.scala 98:79:@4308.4]
assign _T_90 = value_cur < _T_89; // @[pwm.scala 98:63:@4309.4]
assign _T_94 = ~ irq_out; // @[pwm.scala 104:34:@4317.4]
assign _T_95 = stop_out & _T_94; // @[pwm.scala 104:32:@4318.4]
assign _T_99 = {irq_ena,updown,enable}; // @[Cat.scala 30:58:@4322.4]
assign _T_101 = {24'h0,pwm_db,pid_out_sel}; // @[Cat.scala 30:58:@4324.4]
assign _T_103 = io_reg_cfg_di[0]; // @[pwm.scala 109:35:@4328.6]
assign _T_104 = io_reg_cfg_di[1]; // @[pwm.scala 110:35:@4330.6]
assign _T_105 = io_reg_cfg_di[2]; // @[pwm.scala 111:35:@4332.6]
assign _T_106 = io_reg_cfg_di[3]; // @[pwm.scala 112:35:@4334.6]
assign _T_107 = io_reg_cfg_di[7:4]; // @[pwm.scala 113:36:@4336.6]
assign _T_109 = _T_107 + 4'h2; // @[pwm.scala 113:42:@4337.6]
assign _T_110 = _T_107 + 4'h2; // @[pwm.scala 113:42:@4338.6]
assign _GEN_3 = io_reg_cfg_we ? _T_103 : enable; // @[pwm.scala 108:23:@4327.4]
assign _GEN_4 = io_reg_cfg_we ? _T_104 : updown; // @[pwm.scala 108:23:@4327.4]
assign _GEN_5 = io_reg_cfg_we ? _T_105 : irq_ena; // @[pwm.scala 108:23:@4327.4]
assign _GEN_6 = io_reg_cfg_we ? _T_106 : pid_out_sel; // @[pwm.scala 108:23:@4327.4]
assign _GEN_7 = io_reg_cfg_we ? _T_110 : pwm_db; // @[pwm.scala 108:23:@4327.4]
assign _GEN_8 = io_reg_val_we ? io_reg_val_di : value_reload; // @[pwm.scala 118:29:@4343.4]
assign _T_114 = value_cur + 32'h1; // @[pwm.scala 124:39:@4347.4]
assign value_cur_plus = value_cur + 32'h1; // @[pwm.scala 124:39:@4348.4]
assign _T_117 = value_cur - 32'h1; // @[pwm.scala 125:39:@4350.4]
assign _T_118 = $unsigned(_T_117); // @[pwm.scala 125:39:@4351.4]
assign value_cur_minus = _T_118[31:0]; // @[pwm.scala 125:39:@4352.4]
assign _T_127 = irq_ena ? _T_95 : 1'h0; // @[pwm.scala 135:23:@4365.8]
assign _T_131 = lastenable == 1'h0; // @[pwm.scala 138:25:@4369.10]
assign _T_134 = value_cur == value_reload; // @[pwm.scala 143:33:@4375.12]
assign _GEN_9 = _T_134 ? 32'h0 : value_cur_plus; // @[pwm.scala 143:58:@4376.12]
assign _GEN_11 = _T_131 ? 32'h0 : _GEN_9; // @[pwm.scala 138:38:@4370.10]
assign _GEN_12 = _T_131 ? 1'h0 : _T_134; // @[pwm.scala 138:38:@4370.10]
assign _T_142 = value_cur == 32'h0; // @[pwm.scala 158:35:@4393.12]
assign _GEN_13 = _T_142 ? value_reload : value_cur_minus; // @[pwm.scala 158:50:@4394.12]
assign _GEN_15 = _T_131 ? value_reload : _GEN_13; // @[pwm.scala 153:38:@4388.10]
assign _GEN_16 = _T_131 ? 1'h0 : _T_142; // @[pwm.scala 153:38:@4388.10]
assign _GEN_17 = updown ? _GEN_11 : _GEN_15; // @[pwm.scala 137:31:@4368.8]
assign _GEN_18 = updown ? _GEN_12 : _GEN_16; // @[pwm.scala 137:31:@4368.8]
assign _GEN_19 = enable ? _T_127 : irq_out; // @[pwm.scala 132:39:@4362.6]
assign _GEN_20 = enable ? _GEN_17 : value_cur; // @[pwm.scala 132:39:@4362.6]
assign _GEN_21 = enable ? _GEN_18 : stop_out; // @[pwm.scala 132:39:@4362.6]
assign _GEN_22 = io_reg_dat_we ? io_reg_dat_di : _GEN_20; // @[pwm.scala 130:29:@4357.4]
assign _GEN_23 = io_reg_dat_we ? irq_out : _GEN_19; // @[pwm.scala 130:29:@4357.4]
assign _GEN_24 = io_reg_dat_we ? stop_out : _GEN_21; // @[pwm.scala 130:29:@4357.4]
assign io_reg_val_do = value_reload; // @[pwm.scala 117:19:@4341.4]
assign io_reg_cfg_do = {_T_101,_T_99}; // @[pwm.scala 107:20:@4326.4]
assign io_reg_dat_do = value_cur; // @[pwm.scala 123:19:@4346.4]
assign io_reg_duty_do = pwm_duty; // @[pwm.scala 75:23:@4270.4]
assign io_pwm_h = pwm_hd & enable; // @[pwm.scala 99:20:@4313.4]
assign io_pwm_l = pwm_ld & enable; // @[pwm.scala 100:20:@4315.4]
assign io_irq_out = irq_out; // @[pwm.scala 103:20:@4316.4]
assign io_rawirq_out = stop_out & _T_94; // @[pwm.scala 104:20:@4319.4]
`ifdef RANDOMIZE_GARBAGE_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_INVALID_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_REG_INIT
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_MEM_INIT
`define RANDOMIZE
`endif
`ifndef RANDOM
`define RANDOM $random
`endif
`ifdef RANDOMIZE
integer initvar;
initial begin
`ifdef INIT_RANDOM
`INIT_RANDOM
`endif
`ifndef VERILATOR
#0.002 begin end
`endif
`ifdef RANDOMIZE_REG_INIT
_RAND_0 = {1{`RANDOM}};
value_cur = _RAND_0[31:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_1 = {1{`RANDOM}};
value_reload = _RAND_1[31:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_2 = {1{`RANDOM}};
pwm_duty = _RAND_2[31:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_3 = {1{`RANDOM}};
reg_duty = _RAND_3[31:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_4 = {1{`RANDOM}};
enable = _RAND_4[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_5 = {1{`RANDOM}};
stop_out = _RAND_5[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_6 = {1{`RANDOM}};
irq_out = _RAND_6[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_7 = {1{`RANDOM}};
lastenable = _RAND_7[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_8 = {1{`RANDOM}};
updown = _RAND_8[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_9 = {1{`RANDOM}};
irq_ena = _RAND_9[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_10 = {1{`RANDOM}};
pid_out_sel = _RAND_10[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_11 = {1{`RANDOM}};
pwm_db = _RAND_11[3:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_12 = {1{`RANDOM}};
proc_offset = _RAND_12[31:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_13 = {1{`RANDOM}};
pwm_ld = _RAND_13[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_14 = {1{`RANDOM}};
pwm_hd = _RAND_14[0:0];
`endif // RANDOMIZE_REG_INIT
end
`endif // RANDOMIZE
always @(posedge clock) begin
if (reset) begin
value_cur <= 32'h0;
end else begin
if (io_reg_dat_we) begin
value_cur <= io_reg_dat_di;
end else begin
if (enable) begin
if (updown) begin
if (_T_131) begin
value_cur <= 32'h0;
end else begin
if (_T_134) begin
value_cur <= 32'h0;
end else begin
value_cur <= value_cur_plus;
end
end
end else begin
if (_T_131) begin
value_cur <= value_reload;
end else begin
if (_T_142) begin
value_cur <= value_reload;
end else begin
value_cur <= value_cur_minus;
end
end
end
end
end
end
if (reset) begin
value_reload <= 32'hff;
end else begin
if (io_reg_val_we) begin
value_reload <= io_reg_val_di;
end
end
if (reset) begin
pwm_duty <= 32'h0;
end else begin
if (stop_out) begin
if (pid_out_sel) begin
pwm_duty <= {{16'd0}, _T_65};
end else begin
pwm_duty <= reg_duty;
end
end
end
if (reset) begin
reg_duty <= 32'h0;
end else begin
if (io_reg_duty_we) begin
reg_duty <= io_reg_duty_di;
end
end
if (reset) begin
enable <= 1'h0;
end else begin
if (io_reg_cfg_we) begin
enable <= _T_103;
end
end
if (reset) begin
stop_out <= 1'h0;
end else begin
if (!(io_reg_dat_we)) begin
if (enable) begin
if (updown) begin
if (_T_131) begin
stop_out <= 1'h0;
end else begin
stop_out <= _T_134;
end
end else begin
if (_T_131) begin
stop_out <= 1'h0;
end else begin
stop_out <= _T_142;
end
end
end
end
end
if (reset) begin
irq_out <= 1'h0;
end else begin
if (!(io_reg_dat_we)) begin
if (enable) begin
if (irq_ena) begin
irq_out <= _T_95;
end else begin
irq_out <= 1'h0;
end
end
end
end
lastenable <= enable;
if (reset) begin
updown <= 1'h0;
end else begin
if (io_reg_cfg_we) begin
updown <= _T_104;
end
end
if (reset) begin
irq_ena <= 1'h0;
end else begin
if (io_reg_cfg_we) begin
irq_ena <= _T_105;
end
end
if (reset) begin
pid_out_sel <= 1'h0;
end else begin
if (io_reg_cfg_we) begin
pid_out_sel <= _T_106;
end
end
if (reset) begin
pwm_db <= 4'h2;
end else begin
if (io_reg_cfg_we) begin
pwm_db <= _T_110;
end
end
if (_T_75) begin
proc_offset <= pwm_duty;
end else begin
if (_T_76) begin
proc_offset <= {{27'd0}, pwm_db_twice};
end else begin
proc_offset <= _T_73;
end
end
pwm_ld <= _T_86 & _T_90;
pwm_hd <= value_cur < _T_84;
end
endmodule
module Quad_Encoder( // @[:@4406.2]
input clock, // @[:@4407.4]
input reset, // @[:@4408.4]
input io_quad_a, // @[:@4409.4]
input io_quad_b, // @[:@4409.4]
input io_raw_irq, // @[:@4409.4]
input io_reg_count_we, // @[:@4409.4]
input [31:0] io_reg_count_di, // @[:@4409.4]
output [31:0] io_reg_count_do, // @[:@4409.4]
input io_reg_cfg_we, // @[:@4409.4]
input [31:0] io_reg_cfg_di, // @[:@4409.4]
output [31:0] io_reg_cfg_do, // @[:@4409.4]
output [15:0] io_reg_speed_do, // @[:@4409.4]
output io_fb_period // @[:@4409.4]
);
reg [2:0] quad_a_delayed; // @[qei.scala 35:33:@4411.4]
reg [31:0] _RAND_0;
reg [2:0] quad_b_delayed; // @[qei.scala 36:33:@4412.4]
reg [31:0] _RAND_1;
reg [31:0] count_reg; // @[qei.scala 37:33:@4413.4]
reg [31:0] _RAND_2;
reg [15:0] count_reg_2; // @[qei.scala 38:33:@4414.4]
reg [31:0] _RAND_3;
reg [15:0] period_count; // @[qei.scala 39:33:@4415.4]
reg [31:0] _RAND_4;
reg speed_enable; // @[qei.scala 41:33:@4416.4]
reg [31:0] _RAND_5;
reg count_sel_2x; // @[qei.scala 42:33:@4417.4]
reg [31:0] _RAND_6;
reg [15:0] qei_output; // @[qei.scala 44:33:@4419.4]
reg [31:0] _RAND_7;
reg [15:0] qei_speed_count; // @[qei.scala 45:33:@4420.4]
reg [31:0] _RAND_8;
reg [15:0] qei_period_count; // @[qei.scala 46:33:@4421.4]
reg [31:0] _RAND_9;
reg period_sel; // @[qei.scala 47:33:@4422.4]
reg [31:0] _RAND_10;
wire _T_51; // @[qei.scala 51:44:@4424.4]
wire _T_52; // @[qei.scala 51:63:@4425.4]
wire [2:0] _T_54; // @[Cat.scala 30:58:@4427.4]
wire _T_55; // @[qei.scala 52:44:@4429.4]
wire _T_56; // @[qei.scala 52:63:@4430.4]
wire [2:0] _T_58; // @[Cat.scala 30:58:@4432.4]
wire _T_61; // @[qei.scala 54:75:@4435.4]
wire count_2x; // @[qei.scala 54:60:@4436.4]
wire _T_68; // @[qei.scala 55:78:@4443.4]
wire _T_69; // @[qei.scala 55:111:@4444.4]
wire count_4x; // @[qei.scala 55:96:@4445.4]
wire count_direction; // @[qei.scala 56:60:@4450.4]
wire count_pulses; // @[qei.scala 57:29:@4453.4]
wire [32:0] _T_76; // @[qei.scala 64:36:@4456.8]
wire [31:0] _T_77; // @[qei.scala 64:36:@4457.8]
wire [32:0] _T_79; // @[qei.scala 66:36:@4461.8]
wire [32:0] _T_80; // @[qei.scala 66:36:@4462.8]
wire [31:0] _T_81; // @[qei.scala 66:36:@4463.8]
wire [31:0] _GEN_0; // @[qei.scala 63:27:@4455.6]
wire [31:0] _GEN_1; // @[qei.scala 62:22:@4454.4]
wire _T_82; // @[qei.scala 71:20:@4467.4]
wire [16:0] _T_85; // @[qei.scala 76:38:@4474.8]
wire [15:0] _T_86; // @[qei.scala 76:38:@4475.8]
wire [15:0] _GEN_2; // @[qei.scala 72:23:@4469.6]
wire [15:0] _GEN_3; // @[qei.scala 72:23:@4469.6]
wire [15:0] _GEN_4; // @[qei.scala 71:37:@4468.4]
wire [15:0] _GEN_5; // @[qei.scala 71:37:@4468.4]
wire _T_89; // @[qei.scala 85:29:@4485.8]
wire [16:0] _T_92; // @[qei.scala 89:40:@4491.10]
wire [15:0] _T_93; // @[qei.scala 89:40:@4492.10]
wire [15:0] _GEN_6; // @[qei.scala 85:40:@4486.8]
wire [15:0] _GEN_7; // @[qei.scala 85:40:@4486.8]
wire [15:0] _GEN_8; // @[qei.scala 82:24:@4480.6]
wire [15:0] _GEN_9; // @[qei.scala 82:24:@4480.6]
wire [15:0] _GEN_10; // @[qei.scala 81:20:@4479.4]
wire [15:0] _GEN_11; // @[qei.scala 81:20:@4479.4]
wire [15:0] _T_94; // @[qei.scala 94:30:@4496.4]
wire [1:0] _T_96; // @[Cat.scala 30:58:@4498.4]
wire [29:0] _T_97; // @[Cat.scala 30:58:@4499.4]
wire _T_101; // @[qei.scala 106:40:@4511.8]
wire _T_102; // @[qei.scala 107:40:@4513.8]
wire _T_103; // @[qei.scala 108:40:@4515.8]
wire _GEN_12; // @[qei.scala 105:28:@4510.6]
wire _GEN_13; // @[qei.scala 105:28:@4510.6]
wire _GEN_14; // @[qei.scala 105:28:@4510.6]
wire [31:0] _GEN_15; // @[qei.scala 103:25:@4506.4]
wire _GEN_16; // @[qei.scala 103:25:@4506.4]
wire _GEN_17; // @[qei.scala 103:25:@4506.4]
wire _GEN_18; // @[qei.scala 103:25:@4506.4]
assign _T_51 = quad_a_delayed[1]; // @[qei.scala 51:44:@4424.4]
assign _T_52 = quad_a_delayed[0]; // @[qei.scala 51:63:@4425.4]
assign _T_54 = {_T_51,_T_52,io_quad_a}; // @[Cat.scala 30:58:@4427.4]
assign _T_55 = quad_b_delayed[1]; // @[qei.scala 52:44:@4429.4]
assign _T_56 = quad_b_delayed[0]; // @[qei.scala 52:63:@4430.4]
assign _T_58 = {_T_55,_T_56,io_quad_b}; // @[Cat.scala 30:58:@4432.4]
assign _T_61 = quad_a_delayed[2]; // @[qei.scala 54:75:@4435.4]
assign count_2x = _T_51 ^ _T_61; // @[qei.scala 54:60:@4436.4]
assign _T_68 = count_2x ^ _T_55; // @[qei.scala 55:78:@4443.4]
assign _T_69 = quad_b_delayed[2]; // @[qei.scala 55:111:@4444.4]
assign count_4x = _T_68 ^ _T_69; // @[qei.scala 55:96:@4445.4]
assign count_direction = _T_51 ^ _T_69; // @[qei.scala 56:60:@4450.4]
assign count_pulses = count_sel_2x ? count_2x : count_4x; // @[qei.scala 57:29:@4453.4]
assign _T_76 = count_reg + 32'h1; // @[qei.scala 64:36:@4456.8]
assign _T_77 = count_reg + 32'h1; // @[qei.scala 64:36:@4457.8]
assign _T_79 = count_reg - 32'h1; // @[qei.scala 66:36:@4461.8]
assign _T_80 = $unsigned(_T_79); // @[qei.scala 66:36:@4462.8]
assign _T_81 = _T_80[31:0]; // @[qei.scala 66:36:@4463.8]
assign _GEN_0 = count_direction ? _T_77 : _T_81; // @[qei.scala 63:27:@4455.6]
assign _GEN_1 = count_pulses ? _GEN_0 : count_reg; // @[qei.scala 62:22:@4454.4]
assign _T_82 = io_raw_irq | count_pulses; // @[qei.scala 71:20:@4467.4]
assign _T_85 = count_reg_2 + 16'h1; // @[qei.scala 76:38:@4474.8]
assign _T_86 = count_reg_2 + 16'h1; // @[qei.scala 76:38:@4475.8]
assign _GEN_2 = io_raw_irq ? count_reg_2 : qei_speed_count; // @[qei.scala 72:23:@4469.6]
assign _GEN_3 = io_raw_irq ? 16'h0 : _T_86; // @[qei.scala 72:23:@4469.6]
assign _GEN_4 = _T_82 ? _GEN_2 : qei_speed_count; // @[qei.scala 71:37:@4468.4]
assign _GEN_5 = _T_82 ? _GEN_3 : count_reg_2; // @[qei.scala 71:37:@4468.4]
assign _T_89 = period_count == 16'hff; // @[qei.scala 85:29:@4485.8]
assign _T_92 = period_count + 16'h1; // @[qei.scala 89:40:@4491.10]
assign _T_93 = period_count + 16'h1; // @[qei.scala 89:40:@4492.10]
assign _GEN_6 = _T_89 ? period_count : qei_period_count; // @[qei.scala 85:40:@4486.8]
assign _GEN_7 = _T_89 ? 16'h0 : _T_93; // @[qei.scala 85:40:@4486.8]
assign _GEN_8 = count_pulses ? period_count : _GEN_6; // @[qei.scala 82:24:@4480.6]
assign _GEN_9 = count_pulses ? 16'h0 : _GEN_7; // @[qei.scala 82:24:@4480.6]
assign _GEN_10 = period_sel ? _GEN_8 : qei_period_count; // @[qei.scala 81:20:@4479.4]
assign _GEN_11 = period_sel ? _GEN_9 : period_count; // @[qei.scala 81:20:@4479.4]
assign _T_94 = period_sel ? qei_period_count : qei_speed_count; // @[qei.scala 94:30:@4496.4]
assign _T_96 = {speed_enable,count_sel_2x}; // @[Cat.scala 30:58:@4498.4]
assign _T_97 = {29'h0,period_sel}; // @[Cat.scala 30:58:@4499.4]
assign _T_101 = io_reg_cfg_di[0]; // @[qei.scala 106:40:@4511.8]
assign _T_102 = io_reg_cfg_di[1]; // @[qei.scala 107:40:@4513.8]
assign _T_103 = io_reg_cfg_di[2]; // @[qei.scala 108:40:@4515.8]
assign _GEN_12 = io_reg_cfg_we ? _T_101 : count_sel_2x; // @[qei.scala 105:28:@4510.6]
assign _GEN_13 = io_reg_cfg_we ? _T_102 : speed_enable; // @[qei.scala 105:28:@4510.6]
assign _GEN_14 = io_reg_cfg_we ? _T_103 : period_sel; // @[qei.scala 105:28:@4510.6]
assign _GEN_15 = io_reg_count_we ? io_reg_count_di : _GEN_1; // @[qei.scala 103:25:@4506.4]
assign _GEN_16 = io_reg_count_we ? count_sel_2x : _GEN_12; // @[qei.scala 103:25:@4506.4]
assign _GEN_17 = io_reg_count_we ? speed_enable : _GEN_13; // @[qei.scala 103:25:@4506.4]
assign _GEN_18 = io_reg_count_we ? period_sel : _GEN_14; // @[qei.scala 103:25:@4506.4]
assign io_reg_count_do = count_reg; // @[qei.scala 49:23:@4423.4]
assign io_reg_cfg_do = {_T_97,_T_96}; // @[qei.scala 97:24:@4501.4]
assign io_reg_speed_do = $signed(qei_output); // @[qei.scala 100:24:@4504.4]
assign io_fb_period = period_sel; // @[qei.scala 101:24:@4505.4]
`ifdef RANDOMIZE_GARBAGE_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_INVALID_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_REG_INIT
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_MEM_INIT
`define RANDOMIZE
`endif
`ifndef RANDOM
`define RANDOM $random
`endif
`ifdef RANDOMIZE
integer initvar;
initial begin
`ifdef INIT_RANDOM
`INIT_RANDOM
`endif
`ifndef VERILATOR
#0.002 begin end
`endif
`ifdef RANDOMIZE_REG_INIT
_RAND_0 = {1{`RANDOM}};
quad_a_delayed = _RAND_0[2:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_1 = {1{`RANDOM}};
quad_b_delayed = _RAND_1[2:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_2 = {1{`RANDOM}};
count_reg = _RAND_2[31:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_3 = {1{`RANDOM}};
count_reg_2 = _RAND_3[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_4 = {1{`RANDOM}};
period_count = _RAND_4[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_5 = {1{`RANDOM}};
speed_enable = _RAND_5[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_6 = {1{`RANDOM}};
count_sel_2x = _RAND_6[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_7 = {1{`RANDOM}};
qei_output = _RAND_7[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_8 = {1{`RANDOM}};
qei_speed_count = _RAND_8[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_9 = {1{`RANDOM}};
qei_period_count = _RAND_9[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_10 = {1{`RANDOM}};
period_sel = _RAND_10[0:0];
`endif // RANDOMIZE_REG_INIT
end
`endif // RANDOMIZE
always @(posedge clock) begin
if (reset) begin
quad_a_delayed <= 3'h0;
end else begin
quad_a_delayed <= _T_54;
end
if (reset) begin
quad_b_delayed <= 3'h0;
end else begin
quad_b_delayed <= _T_58;
end
if (reset) begin
count_reg <= 32'h0;
end else begin
if (io_reg_count_we) begin
count_reg <= io_reg_count_di;
end else begin
if (count_pulses) begin
if (count_direction) begin
count_reg <= _T_77;
end else begin
count_reg <= _T_81;
end
end
end
end
if (reset) begin
count_reg_2 <= 16'h0;
end else begin
if (_T_82) begin
if (io_raw_irq) begin
count_reg_2 <= 16'h0;
end else begin
count_reg_2 <= _T_86;
end
end
end
if (reset) begin
period_count <= 16'h0;
end else begin
if (period_sel) begin
if (count_pulses) begin
period_count <= 16'h0;
end else begin
if (_T_89) begin
period_count <= 16'h0;
end else begin
period_count <= _T_93;
end
end
end
end
if (reset) begin
speed_enable <= 1'h1;
end else begin
if (!(io_reg_count_we)) begin
if (io_reg_cfg_we) begin
speed_enable <= _T_102;
end
end
end
if (reset) begin
count_sel_2x <= 1'h1;
end else begin
if (!(io_reg_count_we)) begin
if (io_reg_cfg_we) begin
count_sel_2x <= _T_101;
end
end
end
if (reset) begin
qei_output <= 16'h0;
end else begin
if (period_sel) begin
qei_output <= qei_period_count;
end else begin
qei_output <= qei_speed_count;
end
end
if (reset) begin
qei_speed_count <= 16'h0;
end else begin
if (_T_82) begin
if (io_raw_irq) begin
qei_speed_count <= count_reg_2;
end
end
end
if (reset) begin
qei_period_count <= 16'h1fff;
end else begin
if (period_sel) begin
if (count_pulses) begin
qei_period_count <= period_count;
end else begin
if (_T_89) begin
qei_period_count <= period_count;
end
end
end
end
if (reset) begin
period_sel <= 1'h0;
end else begin
if (!(io_reg_count_we)) begin
if (io_reg_cfg_we) begin
period_sel <= _T_103;
end
end
end
end
endmodule
module vedic_2x2( // @[:@4519.2]
input [1:0] io_a, // @[:@4522.4]
input [1:0] io_b, // @[:@4522.4]
output [3:0] io_c // @[:@4522.4]
);
wire _T_11; // @[multiplier.scala 25:21:@4524.4]
wire _T_12; // @[multiplier.scala 25:31:@4525.4]
wire result0; // @[multiplier.scala 25:25:@4526.4]
wire _T_13; // @[multiplier.scala 26:21:@4527.4]
wire temp0; // @[multiplier.scala 26:25:@4529.4]
wire _T_16; // @[multiplier.scala 27:31:@4531.4]
wire temp1; // @[multiplier.scala 27:25:@4532.4]
wire temp2; // @[multiplier.scala 28:25:@4535.4]
wire result1; // @[multiplier.scala 31:23:@4536.4]
wire temp3; // @[multiplier.scala 32:23:@4537.4]
wire result2; // @[multiplier.scala 34:23:@4538.4]
wire result3; // @[multiplier.scala 35:23:@4539.4]
wire [1:0] _T_19; // @[Cat.scala 30:58:@4540.4]
wire [1:0] _T_20; // @[Cat.scala 30:58:@4541.4]
assign _T_11 = io_a[0]; // @[multiplier.scala 25:21:@4524.4]
assign _T_12 = io_b[0]; // @[multiplier.scala 25:31:@4525.4]
assign result0 = _T_11 & _T_12; // @[multiplier.scala 25:25:@4526.4]
assign _T_13 = io_a[1]; // @[multiplier.scala 26:21:@4527.4]
assign temp0 = _T_13 & _T_12; // @[multiplier.scala 26:25:@4529.4]
assign _T_16 = io_b[1]; // @[multiplier.scala 27:31:@4531.4]
assign temp1 = _T_11 & _T_16; // @[multiplier.scala 27:25:@4532.4]
assign temp2 = _T_13 & _T_16; // @[multiplier.scala 28:25:@4535.4]
assign result1 = temp0 ^ temp1; // @[multiplier.scala 31:23:@4536.4]
assign temp3 = temp0 & temp1; // @[multiplier.scala 32:23:@4537.4]
assign result2 = temp2 ^ temp3; // @[multiplier.scala 34:23:@4538.4]
assign result3 = temp2 & temp3; // @[multiplier.scala 35:23:@4539.4]
assign _T_19 = {result1,result0}; // @[Cat.scala 30:58:@4540.4]
assign _T_20 = {result3,result2}; // @[Cat.scala 30:58:@4541.4]
assign io_c = {_T_20,_T_19}; // @[multiplier.scala 37:15:@4543.4]
endmodule
module vedic_4x4( // @[:@4623.2]
input [3:0] io_a, // @[:@4626.4]
input [3:0] io_b, // @[:@4626.4]
output [7:0] io_c // @[:@4626.4]
);
wire [1:0] z1_io_a; // @[multiplier.scala 64:23:@4639.4]
wire [1:0] z1_io_b; // @[multiplier.scala 64:23:@4639.4]
wire [3:0] z1_io_c; // @[multiplier.scala 64:23:@4639.4]
wire [1:0] z2_io_a; // @[multiplier.scala 69:23:@4647.4]
wire [1:0] z2_io_b; // @[multiplier.scala 69:23:@4647.4]
wire [3:0] z2_io_c; // @[multiplier.scala 69:23:@4647.4]
wire [1:0] z3_io_a; // @[multiplier.scala 73:23:@4655.4]
wire [1:0] z3_io_b; // @[multiplier.scala 73:23:@4655.4]
wire [3:0] z3_io_c; // @[multiplier.scala 73:23:@4655.4]
wire [1:0] z4_io_a; // @[multiplier.scala 78:23:@4663.4]
wire [1:0] z4_io_b; // @[multiplier.scala 78:23:@4663.4]
wire [3:0] z4_io_c; // @[multiplier.scala 78:23:@4663.4]
wire [3:0] q0; // @[multiplier.scala 49:21:@4628.4 multiplier.scala 67:15:@4646.4]
wire [1:0] _T_31; // @[multiplier.scala 83:37:@4671.4]
wire [3:0] temp1; // @[Cat.scala 30:58:@4672.4]
wire [3:0] q1; // @[multiplier.scala 50:21:@4629.4 multiplier.scala 72:15:@4654.4]
wire [4:0] _T_34; // @[multiplier.scala 84:26:@4675.4]
wire [3:0] q4; // @[multiplier.scala 84:26:@4676.4]
wire [3:0] q2; // @[multiplier.scala 51:21:@4630.4 multiplier.scala 76:15:@4662.4]
wire [5:0] temp2; // @[Cat.scala 30:58:@4679.4]
wire [3:0] q3; // @[multiplier.scala 52:21:@4631.4 multiplier.scala 81:15:@4670.4]
wire [5:0] temp3; // @[Cat.scala 30:58:@4682.4]
wire [6:0] _T_42; // @[multiplier.scala 87:24:@4684.4]
wire [5:0] q5; // @[multiplier.scala 87:24:@4685.4]
wire [5:0] temp4; // @[Cat.scala 30:58:@4688.4]
wire [6:0] _T_47; // @[multiplier.scala 89:24:@4690.4]
wire [5:0] q6; // @[multiplier.scala 89:24:@4691.4]
wire [1:0] result1; // @[multiplier.scala 91:19:@4693.4]
vedic_2x2 z1 ( // @[multiplier.scala 64:23:@4639.4]
.io_a(z1_io_a),
.io_b(z1_io_b),
.io_c(z1_io_c)
);
vedic_2x2 z2 ( // @[multiplier.scala 69:23:@4647.4]
.io_a(z2_io_a),
.io_b(z2_io_b),
.io_c(z2_io_c)
);
vedic_2x2 z3 ( // @[multiplier.scala 73:23:@4655.4]
.io_a(z3_io_a),
.io_b(z3_io_b),
.io_c(z3_io_c)
);
vedic_2x2 z4 ( // @[multiplier.scala 78:23:@4663.4]
.io_a(z4_io_a),
.io_b(z4_io_b),
.io_c(z4_io_c)
);
assign q0 = z1_io_c; // @[multiplier.scala 49:21:@4628.4 multiplier.scala 67:15:@4646.4]
assign _T_31 = q0[3:2]; // @[multiplier.scala 83:37:@4671.4]
assign temp1 = {2'h0,_T_31}; // @[Cat.scala 30:58:@4672.4]
assign q1 = z2_io_c; // @[multiplier.scala 50:21:@4629.4 multiplier.scala 72:15:@4654.4]
assign _T_34 = q1 + temp1; // @[multiplier.scala 84:26:@4675.4]
assign q4 = q1 + temp1; // @[multiplier.scala 84:26:@4676.4]
assign q2 = z3_io_c; // @[multiplier.scala 51:21:@4630.4 multiplier.scala 76:15:@4662.4]
assign temp2 = {2'h0,q2}; // @[Cat.scala 30:58:@4679.4]
assign q3 = z4_io_c; // @[multiplier.scala 52:21:@4631.4 multiplier.scala 81:15:@4670.4]
assign temp3 = {q3,2'h0}; // @[Cat.scala 30:58:@4682.4]
assign _T_42 = temp2 + temp3; // @[multiplier.scala 87:24:@4684.4]
assign q5 = temp2 + temp3; // @[multiplier.scala 87:24:@4685.4]
assign temp4 = {2'h0,q4}; // @[Cat.scala 30:58:@4688.4]
assign _T_47 = temp4 + q5; // @[multiplier.scala 89:24:@4690.4]
assign q6 = temp4 + q5; // @[multiplier.scala 89:24:@4691.4]
assign result1 = q0[1:0]; // @[multiplier.scala 91:19:@4693.4]
assign io_c = {q6,result1}; // @[multiplier.scala 94:15:@4696.4]
assign z1_io_a = io_a[1:0]; // @[multiplier.scala 65:15:@4643.4]
assign z1_io_b = io_b[1:0]; // @[multiplier.scala 66:15:@4645.4]
assign z2_io_a = io_a[3:2]; // @[multiplier.scala 70:15:@4651.4]
assign z2_io_b = io_b[1:0]; // @[multiplier.scala 71:15:@4653.4]
assign z3_io_a = io_a[1:0]; // @[multiplier.scala 74:15:@4659.4]
assign z3_io_b = io_b[3:2]; // @[multiplier.scala 75:15:@4661.4]
assign z4_io_a = io_a[3:2]; // @[multiplier.scala 79:15:@4667.4]
assign z4_io_b = io_b[3:2]; // @[multiplier.scala 80:15:@4669.4]
endmodule
module vedic_8x8( // @[:@5235.2]
input [7:0] io_a, // @[:@5238.4]
input [7:0] io_b, // @[:@5238.4]
output [15:0] io_c // @[:@5238.4]
);
wire [3:0] z1_io_a; // @[multiplier.scala 188:22:@5252.4]
wire [3:0] z1_io_b; // @[multiplier.scala 188:22:@5252.4]
wire [7:0] z1_io_c; // @[multiplier.scala 188:22:@5252.4]
wire [3:0] z2_io_a; // @[multiplier.scala 193:22:@5260.4]
wire [3:0] z2_io_b; // @[multiplier.scala 193:22:@5260.4]
wire [7:0] z2_io_c; // @[multiplier.scala 193:22:@5260.4]
wire [3:0] z3_io_a; // @[multiplier.scala 198:22:@5268.4]
wire [3:0] z3_io_b; // @[multiplier.scala 198:22:@5268.4]
wire [7:0] z3_io_c; // @[multiplier.scala 198:22:@5268.4]
wire [3:0] z4_io_a; // @[multiplier.scala 203:22:@5276.4]
wire [3:0] z4_io_b; // @[multiplier.scala 203:22:@5276.4]
wire [7:0] z4_io_c; // @[multiplier.scala 203:22:@5276.4]
wire [15:0] q0; // @[multiplier.scala 171:20:@5240.4 multiplier.scala 191:14:@5259.4]
wire [3:0] _T_31; // @[multiplier.scala 210:36:@5284.4]
wire [7:0] temp1; // @[Cat.scala 30:58:@5285.4]
wire [15:0] q1; // @[multiplier.scala 172:20:@5241.4 multiplier.scala 196:14:@5267.4]
wire [7:0] _T_33; // @[multiplier.scala 211:19:@5287.4]
wire [8:0] _T_34; // @[multiplier.scala 211:25:@5288.4]
wire [7:0] q4; // @[multiplier.scala 211:25:@5289.4]
wire [15:0] q2; // @[multiplier.scala 173:20:@5242.4 multiplier.scala 201:14:@5275.4]
wire [7:0] _T_37; // @[multiplier.scala 212:36:@5291.4]
wire [11:0] temp2; // @[Cat.scala 30:58:@5292.4]
wire [15:0] q3; // @[multiplier.scala 174:20:@5243.4 multiplier.scala 206:14:@5283.4]
wire [7:0] _T_39; // @[multiplier.scala 213:23:@5294.4]
wire [11:0] temp3; // @[Cat.scala 30:58:@5295.4]
wire [12:0] _T_42; // @[multiplier.scala 214:23:@5297.4]
wire [11:0] q5; // @[multiplier.scala 214:23:@5298.4]
wire [11:0] temp4; // @[Cat.scala 30:58:@5301.4]
wire [12:0] _T_47; // @[multiplier.scala 218:23:@5303.4]
wire [11:0] q6; // @[multiplier.scala 218:23:@5304.4]
wire [3:0] result1; // @[multiplier.scala 220:19:@5306.4]
vedic_4x4 z1 ( // @[multiplier.scala 188:22:@5252.4]
.io_a(z1_io_a),
.io_b(z1_io_b),
.io_c(z1_io_c)
);
vedic_4x4 z2 ( // @[multiplier.scala 193:22:@5260.4]
.io_a(z2_io_a),
.io_b(z2_io_b),
.io_c(z2_io_c)
);
vedic_4x4 z3 ( // @[multiplier.scala 198:22:@5268.4]
.io_a(z3_io_a),
.io_b(z3_io_b),
.io_c(z3_io_c)
);
vedic_4x4 z4 ( // @[multiplier.scala 203:22:@5276.4]
.io_a(z4_io_a),
.io_b(z4_io_b),
.io_c(z4_io_c)
);
assign q0 = {{8'd0}, z1_io_c}; // @[multiplier.scala 171:20:@5240.4 multiplier.scala 191:14:@5259.4]
assign _T_31 = q0[7:4]; // @[multiplier.scala 210:36:@5284.4]
assign temp1 = {4'h0,_T_31}; // @[Cat.scala 30:58:@5285.4]
assign q1 = {{8'd0}, z2_io_c}; // @[multiplier.scala 172:20:@5241.4 multiplier.scala 196:14:@5267.4]
assign _T_33 = q1[7:0]; // @[multiplier.scala 211:19:@5287.4]
assign _T_34 = _T_33 + temp1; // @[multiplier.scala 211:25:@5288.4]
assign q4 = _T_33 + temp1; // @[multiplier.scala 211:25:@5289.4]
assign q2 = {{8'd0}, z3_io_c}; // @[multiplier.scala 173:20:@5242.4 multiplier.scala 201:14:@5275.4]
assign _T_37 = q2[7:0]; // @[multiplier.scala 212:36:@5291.4]
assign temp2 = {4'h0,_T_37}; // @[Cat.scala 30:58:@5292.4]
assign q3 = {{8'd0}, z4_io_c}; // @[multiplier.scala 174:20:@5243.4 multiplier.scala 206:14:@5283.4]
assign _T_39 = q3[7:0]; // @[multiplier.scala 213:23:@5294.4]
assign temp3 = {_T_39,4'h0}; // @[Cat.scala 30:58:@5295.4]
assign _T_42 = temp2 + temp3; // @[multiplier.scala 214:23:@5297.4]
assign q5 = temp2 + temp3; // @[multiplier.scala 214:23:@5298.4]
assign temp4 = {4'h0,q4}; // @[Cat.scala 30:58:@5301.4]
assign _T_47 = temp4 + q5; // @[multiplier.scala 218:23:@5303.4]
assign q6 = temp4 + q5; // @[multiplier.scala 218:23:@5304.4]
assign result1 = q0[3:0]; // @[multiplier.scala 220:19:@5306.4]
assign io_c = {q6,result1}; // @[multiplier.scala 224:15:@5309.4]
assign z1_io_a = io_a[3:0]; // @[multiplier.scala 189:14:@5256.4]
assign z1_io_b = io_b[3:0]; // @[multiplier.scala 190:14:@5258.4]
assign z2_io_a = io_a[7:4]; // @[multiplier.scala 194:14:@5264.4]
assign z2_io_b = io_b[3:0]; // @[multiplier.scala 195:14:@5266.4]
assign z3_io_a = io_a[3:0]; // @[multiplier.scala 199:14:@5272.4]
assign z3_io_b = io_b[7:4]; // @[multiplier.scala 200:14:@5274.4]
assign z4_io_a = io_a[7:4]; // @[multiplier.scala 204:14:@5280.4]
assign z4_io_b = io_b[7:4]; // @[multiplier.scala 205:14:@5282.4]
endmodule
module vedic_16x16( // @[:@7074.2]
input [15:0] io_a, // @[:@7077.4]
input [15:0] io_b, // @[:@7077.4]
output [31:0] io_c // @[:@7077.4]
);
wire [7:0] z1_io_a; // @[multiplier.scala 254:30:@7099.4]
wire [7:0] z1_io_b; // @[multiplier.scala 254:30:@7099.4]
wire [15:0] z1_io_c; // @[multiplier.scala 254:30:@7099.4]
wire [7:0] z2_io_a; // @[multiplier.scala 259:30:@7107.4]
wire [7:0] z2_io_b; // @[multiplier.scala 259:30:@7107.4]
wire [15:0] z2_io_c; // @[multiplier.scala 259:30:@7107.4]
wire [7:0] z3_io_a; // @[multiplier.scala 264:30:@7115.4]
wire [7:0] z3_io_b; // @[multiplier.scala 264:30:@7115.4]
wire [15:0] z3_io_c; // @[multiplier.scala 264:30:@7115.4]
wire [3:0] z4_io_a; // @[multiplier.scala 269:30:@7123.4]
wire [3:0] z4_io_b; // @[multiplier.scala 269:30:@7123.4]
wire [7:0] z4_io_c; // @[multiplier.scala 269:30:@7123.4]
wire [15:0] _T_22; // @[multiplier.scala 250:25:@7090.4]
wire [15:0] _T_23; // @[multiplier.scala 250:25:@7091.4]
wire [15:0] _T_24; // @[multiplier.scala 250:38:@7092.4]
wire [16:0] _T_26; // @[multiplier.scala 250:41:@7093.4]
wire [15:0] in1_complement; // @[multiplier.scala 250:41:@7094.4]
wire _T_27; // @[multiplier.scala 251:32:@7095.4]
wire [15:0] _T_29; // @[multiplier.scala 251:64:@7097.4]
wire [15:0] input1; // @[multiplier.scala 251:27:@7098.4]
wire [7:0] _T_32; // @[multiplier.scala 260:31:@7110.4]
wire [7:0] _T_35; // @[multiplier.scala 266:29:@7120.4]
wire [15:0] q0; // @[multiplier.scala 236:28:@7079.4 multiplier.scala 257:22:@7106.4]
wire [7:0] _T_39; // @[multiplier.scala 275:44:@7131.4]
wire [15:0] _T_40; // @[Cat.scala 30:58:@7132.4]
wire [15:0] q1; // @[multiplier.scala 237:28:@7080.4 multiplier.scala 262:22:@7114.4]
wire [17:0] temp1; // @[multiplier.scala 241:28:@7083.4 multiplier.scala 275:22:@7133.4]
wire [17:0] _GEN_0; // @[multiplier.scala 276:34:@7135.4]
wire [18:0] _T_42; // @[multiplier.scala 276:34:@7135.4]
wire [17:0] _T_43; // @[multiplier.scala 276:34:@7136.4]
wire [15:0] q2; // @[multiplier.scala 238:28:@7081.4 multiplier.scala 267:22:@7122.4]
wire [23:0] temp2; // @[Cat.scala 30:58:@7139.4]
wire [15:0] q3; // @[multiplier.scala 239:28:@7082.4 multiplier.scala 272:22:@7130.4]
wire [23:0] temp3; // @[Cat.scala 30:58:@7142.4]
wire [24:0] _T_50; // @[multiplier.scala 279:31:@7144.4]
wire [23:0] q5; // @[multiplier.scala 279:31:@7145.4]
wire [15:0] q4; // @[multiplier.scala 246:28:@7087.4 multiplier.scala 276:22:@7137.4]
wire [23:0] temp4; // @[Cat.scala 30:58:@7148.4]
wire [24:0] _T_55; // @[multiplier.scala 281:31:@7150.4]
wire [23:0] q6; // @[multiplier.scala 281:31:@7151.4]
wire [7:0] result1; // @[multiplier.scala 283:26:@7153.4]
wire [31:0] result; // @[Cat.scala 30:58:@7155.4]
wire [31:0] _T_57; // @[multiplier.scala 286:28:@7156.4]
wire [31:0] _T_58; // @[multiplier.scala 286:43:@7157.4]
wire [32:0] _T_60; // @[multiplier.scala 286:46:@7158.4]
wire [31:0] _T_61; // @[multiplier.scala 286:46:@7159.4]
wire [31:0] result_complement; // @[multiplier.scala 286:46:@7160.4]
wire [31:0] _T_63; // @[multiplier.scala 288:70:@7162.4]
vedic_8x8 z1 ( // @[multiplier.scala 254:30:@7099.4]
.io_a(z1_io_a),
.io_b(z1_io_b),
.io_c(z1_io_c)
);
vedic_8x8 z2 ( // @[multiplier.scala 259:30:@7107.4]
.io_a(z2_io_a),
.io_b(z2_io_b),
.io_c(z2_io_c)
);
vedic_8x8 z3 ( // @[multiplier.scala 264:30:@7115.4]
.io_a(z3_io_a),
.io_b(z3_io_b),
.io_c(z3_io_c)
);
vedic_4x4 z4 ( // @[multiplier.scala 269:30:@7123.4]
.io_a(z4_io_a),
.io_b(z4_io_b),
.io_c(z4_io_c)
);
assign _T_22 = ~ io_a; // @[multiplier.scala 250:25:@7090.4]
assign _T_23 = $signed(_T_22); // @[multiplier.scala 250:25:@7091.4]
assign _T_24 = $unsigned(_T_23); // @[multiplier.scala 250:38:@7092.4]
assign _T_26 = _T_24 + 16'h1; // @[multiplier.scala 250:41:@7093.4]
assign in1_complement = _T_24 + 16'h1; // @[multiplier.scala 250:41:@7094.4]
assign _T_27 = io_a[15]; // @[multiplier.scala 251:32:@7095.4]
assign _T_29 = $unsigned(io_a); // @[multiplier.scala 251:64:@7097.4]
assign input1 = _T_27 ? in1_complement : _T_29; // @[multiplier.scala 251:27:@7098.4]
assign _T_32 = input1[15:8]; // @[multiplier.scala 260:31:@7110.4]
assign _T_35 = io_b[15:8]; // @[multiplier.scala 266:29:@7120.4]
assign q0 = z1_io_c; // @[multiplier.scala 236:28:@7079.4 multiplier.scala 257:22:@7106.4]
assign _T_39 = q0[15:8]; // @[multiplier.scala 275:44:@7131.4]
assign _T_40 = {8'h0,_T_39}; // @[Cat.scala 30:58:@7132.4]
assign q1 = z2_io_c; // @[multiplier.scala 237:28:@7080.4 multiplier.scala 262:22:@7114.4]
assign temp1 = {{2'd0}, _T_40}; // @[multiplier.scala 241:28:@7083.4 multiplier.scala 275:22:@7133.4]
assign _GEN_0 = {{2'd0}, q1}; // @[multiplier.scala 276:34:@7135.4]
assign _T_42 = _GEN_0 + temp1; // @[multiplier.scala 276:34:@7135.4]
assign _T_43 = _GEN_0 + temp1; // @[multiplier.scala 276:34:@7136.4]
assign q2 = z3_io_c; // @[multiplier.scala 238:28:@7081.4 multiplier.scala 267:22:@7122.4]
assign temp2 = {8'h0,q2}; // @[Cat.scala 30:58:@7139.4]
assign q3 = {{8'd0}, z4_io_c}; // @[multiplier.scala 239:28:@7082.4 multiplier.scala 272:22:@7130.4]
assign temp3 = {q3,8'h0}; // @[Cat.scala 30:58:@7142.4]
assign _T_50 = temp2 + temp3; // @[multiplier.scala 279:31:@7144.4]
assign q5 = temp2 + temp3; // @[multiplier.scala 279:31:@7145.4]
assign q4 = _T_43[15:0]; // @[multiplier.scala 246:28:@7087.4 multiplier.scala 276:22:@7137.4]
assign temp4 = {8'h0,q4}; // @[Cat.scala 30:58:@7148.4]
assign _T_55 = temp4 + q5; // @[multiplier.scala 281:31:@7150.4]
assign q6 = temp4 + q5; // @[multiplier.scala 281:31:@7151.4]
assign result1 = q0[7:0]; // @[multiplier.scala 283:26:@7153.4]
assign result = {q6,result1}; // @[Cat.scala 30:58:@7155.4]
assign _T_57 = ~ result; // @[multiplier.scala 286:28:@7156.4]
assign _T_58 = $signed(_T_57); // @[multiplier.scala 286:43:@7157.4]
assign _T_60 = $signed(_T_58) + $signed(32'sh1); // @[multiplier.scala 286:46:@7158.4]
assign _T_61 = $signed(_T_58) + $signed(32'sh1); // @[multiplier.scala 286:46:@7159.4]
assign result_complement = $signed(_T_61); // @[multiplier.scala 286:46:@7160.4]
assign _T_63 = $signed(result); // @[multiplier.scala 288:70:@7162.4]
assign io_c = _T_27 ? $signed(result_complement) : $signed(_T_63); // @[multiplier.scala 289:22:@7164.4]
assign z1_io_a = input1[7:0]; // @[multiplier.scala 255:22:@7103.4]
assign z1_io_b = io_b[7:0]; // @[multiplier.scala 256:22:@7105.4]
assign z2_io_a = input1[15:8]; // @[multiplier.scala 260:22:@7111.4]
assign z2_io_b = io_b[7:0]; // @[multiplier.scala 261:22:@7113.4]
assign z3_io_a = input1[7:0]; // @[multiplier.scala 265:22:@7119.4]
assign z3_io_b = io_b[15:8]; // @[multiplier.scala 266:22:@7121.4]
assign z4_io_a = _T_32[3:0]; // @[multiplier.scala 270:22:@7127.4]
assign z4_io_b = _T_35[3:0]; // @[multiplier.scala 271:22:@7129.4]
endmodule
module PID_Controller( // @[:@12460.2]
input clock, // @[:@12461.4]
input reset, // @[:@12462.4]
input io_fb_period, // @[:@12463.4]
input io_raw_irq, // @[:@12463.4]
input io_reg_kp_we, // @[:@12463.4]
input [15:0] io_reg_kp_di, // @[:@12463.4]
output [15:0] io_reg_kp_do, // @[:@12463.4]
input io_reg_ki_we, // @[:@12463.4]
input [15:0] io_reg_ki_di, // @[:@12463.4]
output [15:0] io_reg_ki_do, // @[:@12463.4]
input io_reg_kd_we, // @[:@12463.4]
input [15:0] io_reg_kd_di, // @[:@12463.4]
output [15:0] io_reg_kd_do, // @[:@12463.4]
input io_reg_ref_we, // @[:@12463.4]
input [15:0] io_reg_ref_di, // @[:@12463.4]
output [15:0] io_reg_ref_do, // @[:@12463.4]
input io_reg_fb_we, // @[:@12463.4]
input [15:0] io_reg_fb_di, // @[:@12463.4]
output [15:0] io_reg_fb_do, // @[:@12463.4]
input io_reg_cfg_we, // @[:@12463.4]
input [15:0] io_reg_cfg_di, // @[:@12463.4]
output [15:0] io_reg_cfg_do, // @[:@12463.4]
input [15:0] io_speed_fb_in, // @[:@12463.4]
output [15:0] io_pid_out // @[:@12463.4]
);
wire [15:0] mul_kp_io_a; // @[pid.scala 110:25:@12513.4]
wire [15:0] mul_kp_io_b; // @[pid.scala 110:25:@12513.4]
wire [31:0] mul_kp_io_c; // @[pid.scala 110:25:@12513.4]
wire [15:0] mul_ki_io_a; // @[pid.scala 116:25:@12521.4]
wire [15:0] mul_ki_io_b; // @[pid.scala 116:25:@12521.4]
wire [31:0] mul_ki_io_c; // @[pid.scala 116:25:@12521.4]
wire [15:0] mul_kd_io_a; // @[pid.scala 122:25:@12529.4]
wire [15:0] mul_kd_io_b; // @[pid.scala 122:25:@12529.4]
wire [31:0] mul_kd_io_c; // @[pid.scala 122:25:@12529.4]
reg [15:0] kp; // @[pid.scala 56:26:@12465.4]
reg [31:0] _RAND_0;
reg [15:0] ki; // @[pid.scala 57:26:@12466.4]
reg [31:0] _RAND_1;
reg [15:0] kd; // @[pid.scala 58:26:@12467.4]
reg [31:0] _RAND_2;
reg [15:0] ref$; // @[pid.scala 59:26:@12468.4]
reg [31:0] _RAND_3;
reg [15:0] feedback; // @[pid.scala 60:26:@12469.4]
reg [31:0] _RAND_4;
reg [15:0] sigma_old; // @[pid.scala 61:26:@12470.4]
reg [31:0] _RAND_5;
reg fb_sel; // @[pid.scala 62:26:@12471.4]
reg [31:0] _RAND_6;
reg [15:0] e_prev1; // @[pid.scala 64:26:@12472.4]
reg [31:0] _RAND_7;
reg [15:0] e_prev2; // @[pid.scala 65:26:@12473.4]
reg [31:0] _RAND_8;
reg [15:0] reg_pid_out; // @[pid.scala 66:28:@12474.4]
reg [31:0] _RAND_9;
wire [15:0] _GEN_0; // @[pid.scala 70:22:@12476.4]
wire [15:0] _GEN_1; // @[pid.scala 75:22:@12480.4]
wire [15:0] _GEN_2; // @[pid.scala 80:22:@12484.4]
wire [15:0] _GEN_3; // @[pid.scala 86:23:@12488.4]
wire [15:0] _GEN_4; // @[pid.scala 93:24:@12493.6]
wire [15:0] _GEN_5; // @[pid.scala 92:16:@12492.4]
wire [31:0] _T_70; // @[Cat.scala 30:58:@12500.4]
wire [31:0] _T_71; // @[pid.scala 100:49:@12501.4]
wire _T_72; // @[pid.scala 102:28:@12504.6]
wire _GEN_6; // @[pid.scala 101:23:@12503.4]
wire [16:0] _T_73; // @[pid.scala 106:27:@12507.4]
wire [15:0] _T_74; // @[pid.scala 106:27:@12508.4]
wire [16:0] _T_75; // @[pid.scala 107:27:@12510.4]
wire [15:0] _T_76; // @[pid.scala 107:27:@12511.4]
wire [15:0] sigma_new; // @[pid.scala 107:27:@12512.4]
wire [15:0] _T_78; // @[pid.scala 113:30:@12519.4]
wire [15:0] prop_out; // @[pid.scala 113:43:@12520.4]
wire [15:0] _T_80; // @[pid.scala 119:33:@12527.4]
wire [15:0] integral_out; // @[pid.scala 119:46:@12528.4]
wire [15:0] _T_82; // @[pid.scala 125:35:@12535.4]
wire [15:0] derivative_out; // @[pid.scala 125:48:@12536.4]
wire [16:0] _T_83; // @[pid.scala 128:28:@12537.4]
wire [15:0] _T_84; // @[pid.scala 128:28:@12538.4]
wire [15:0] pi_sum; // @[pid.scala 128:28:@12539.4]
wire _T_85; // @[pid.scala 129:34:@12540.4]
wire _T_86; // @[pid.scala 129:54:@12541.4]
wire _T_87; // @[pid.scala 129:39:@12542.4]
wire _T_88; // @[pid.scala 129:69:@12543.4]
wire _T_90; // @[pid.scala 129:62:@12544.4]
wire _T_91; // @[pid.scala 129:59:@12545.4]
wire _T_94; // @[pid.scala 130:26:@12547.4]
wire _T_97; // @[pid.scala 130:43:@12549.4]
wire _T_98; // @[pid.scala 130:40:@12550.4]
wire _T_100; // @[pid.scala 130:61:@12552.4]
wire pi_sum_overflow; // @[pid.scala 129:75:@12553.4]
wire [16:0] _T_101; // @[pid.scala 135:29:@12556.8]
wire [15:0] _T_102; // @[pid.scala 135:29:@12557.8]
wire [15:0] _T_103; // @[pid.scala 135:29:@12558.8]
wire [16:0] _T_104; // @[pid.scala 137:24:@12562.8]
wire [15:0] _T_105; // @[pid.scala 137:24:@12563.8]
wire [15:0] _T_106; // @[pid.scala 137:24:@12564.8]
wire [15:0] _GEN_7; // @[pid.scala 134:23:@12555.6]
wire [16:0] _T_107; // @[pid.scala 141:27:@12569.6]
wire [15:0] _T_108; // @[pid.scala 141:27:@12570.6]
wire [15:0] _T_109; // @[pid.scala 141:27:@12571.6]
wire [15:0] _GEN_8; // @[pid.scala 132:20:@12554.4]
wire [15:0] _GEN_9; // @[pid.scala 132:20:@12554.4]
wire [15:0] _GEN_10; // @[pid.scala 132:20:@12554.4]
wire [15:0] _GEN_11; // @[pid.scala 132:20:@12554.4]
wire _T_110; // @[pid.scala 144:54:@12574.4]
wire _T_111; // @[pid.scala 144:40:@12575.4]
wire [15:0] _GEN_12; // @[pid.scala 100:17:@12502.4]
vedic_16x16 mul_kp ( // @[pid.scala 110:25:@12513.4]
.io_a(mul_kp_io_a),
.io_b(mul_kp_io_b),
.io_c(mul_kp_io_c)
);
vedic_16x16 mul_ki ( // @[pid.scala 116:25:@12521.4]
.io_a(mul_ki_io_a),
.io_b(mul_ki_io_b),
.io_c(mul_ki_io_c)
);
vedic_16x16 mul_kd ( // @[pid.scala 122:25:@12529.4]
.io_a(mul_kd_io_a),
.io_b(mul_kd_io_b),
.io_c(mul_kd_io_c)
);
assign _GEN_0 = io_reg_kp_we ? $signed(io_reg_kp_di) : $signed(kp); // @[pid.scala 70:22:@12476.4]
assign _GEN_1 = io_reg_ki_we ? $signed(io_reg_ki_di) : $signed(ki); // @[pid.scala 75:22:@12480.4]
assign _GEN_2 = io_reg_kd_we ? $signed(io_reg_kd_di) : $signed(kd); // @[pid.scala 80:22:@12484.4]
assign _GEN_3 = io_reg_ref_we ? $signed(io_reg_ref_di) : $signed(ref$); // @[pid.scala 86:23:@12488.4]
assign _GEN_4 = io_reg_fb_we ? $signed(io_reg_fb_di) : $signed(feedback); // @[pid.scala 93:24:@12493.6]
assign _GEN_5 = fb_sel ? $signed(_GEN_4) : $signed(io_speed_fb_in); // @[pid.scala 92:16:@12492.4]
assign _T_70 = {31'h0,fb_sel}; // @[Cat.scala 30:58:@12500.4]
assign _T_71 = $signed(_T_70); // @[pid.scala 100:49:@12501.4]
assign _T_72 = io_reg_cfg_di[0]; // @[pid.scala 102:28:@12504.6]
assign _GEN_6 = io_reg_cfg_we ? _T_72 : fb_sel; // @[pid.scala 101:23:@12503.4]
assign _T_73 = $signed(e_prev1) - $signed(e_prev2); // @[pid.scala 106:27:@12507.4]
assign _T_74 = $signed(e_prev1) - $signed(e_prev2); // @[pid.scala 106:27:@12508.4]
assign _T_75 = $signed(e_prev1) + $signed(sigma_old); // @[pid.scala 107:27:@12510.4]
assign _T_76 = $signed(e_prev1) + $signed(sigma_old); // @[pid.scala 107:27:@12511.4]
assign sigma_new = $signed(_T_76); // @[pid.scala 107:27:@12512.4]
assign _T_78 = mul_kp_io_c[15:0]; // @[pid.scala 113:30:@12519.4]
assign prop_out = $signed(_T_78); // @[pid.scala 113:43:@12520.4]
assign _T_80 = mul_ki_io_c[15:0]; // @[pid.scala 119:33:@12527.4]
assign integral_out = $signed(_T_80); // @[pid.scala 119:46:@12528.4]
assign _T_82 = mul_kd_io_c[15:0]; // @[pid.scala 125:35:@12535.4]
assign derivative_out = $signed(_T_82); // @[pid.scala 125:48:@12536.4]
assign _T_83 = $signed(prop_out) + $signed(integral_out); // @[pid.scala 128:28:@12537.4]
assign _T_84 = $signed(prop_out) + $signed(integral_out); // @[pid.scala 128:28:@12538.4]
assign pi_sum = $signed(_T_84); // @[pid.scala 128:28:@12539.4]
assign _T_85 = prop_out[15]; // @[pid.scala 129:34:@12540.4]
assign _T_86 = integral_out[15]; // @[pid.scala 129:54:@12541.4]
assign _T_87 = _T_85 & _T_86; // @[pid.scala 129:39:@12542.4]
assign _T_88 = pi_sum[15]; // @[pid.scala 129:69:@12543.4]
assign _T_90 = _T_88 == 1'h0; // @[pid.scala 129:62:@12544.4]
assign _T_91 = _T_87 & _T_90; // @[pid.scala 129:59:@12545.4]
assign _T_94 = _T_85 == 1'h0; // @[pid.scala 130:26:@12547.4]
assign _T_97 = _T_86 == 1'h0; // @[pid.scala 130:43:@12549.4]
assign _T_98 = _T_94 & _T_97; // @[pid.scala 130:40:@12550.4]
assign _T_100 = _T_98 & _T_88; // @[pid.scala 130:61:@12552.4]
assign pi_sum_overflow = _T_91 | _T_100; // @[pid.scala 129:75:@12553.4]
assign _T_101 = $signed(feedback) - $signed(ref$); // @[pid.scala 135:29:@12556.8]
assign _T_102 = $signed(feedback) - $signed(ref$); // @[pid.scala 135:29:@12557.8]
assign _T_103 = $signed(_T_102); // @[pid.scala 135:29:@12558.8]
assign _T_104 = $signed(ref$) - $signed(feedback); // @[pid.scala 137:24:@12562.8]
assign _T_105 = $signed(ref$) - $signed(feedback); // @[pid.scala 137:24:@12563.8]
assign _T_106 = $signed(_T_105); // @[pid.scala 137:24:@12564.8]
assign _GEN_7 = io_fb_period ? $signed(_T_103) : $signed(_T_106); // @[pid.scala 134:23:@12555.6]
assign _T_107 = $signed(pi_sum) + $signed(derivative_out); // @[pid.scala 141:27:@12569.6]
assign _T_108 = $signed(pi_sum) + $signed(derivative_out); // @[pid.scala 141:27:@12570.6]
assign _T_109 = $signed(_T_108); // @[pid.scala 141:27:@12571.6]
assign _GEN_8 = io_raw_irq ? $signed(_GEN_7) : $signed(e_prev1); // @[pid.scala 132:20:@12554.4]
assign _GEN_9 = io_raw_irq ? $signed(e_prev1) : $signed(e_prev2); // @[pid.scala 132:20:@12554.4]
assign _GEN_10 = io_raw_irq ? $signed(sigma_new) : $signed(sigma_old); // @[pid.scala 132:20:@12554.4]
assign _GEN_11 = io_raw_irq ? $signed(_T_109) : $signed(reg_pid_out); // @[pid.scala 132:20:@12554.4]
assign _T_110 = reg_pid_out[15]; // @[pid.scala 144:54:@12574.4]
assign _T_111 = pi_sum_overflow | _T_110; // @[pid.scala 144:40:@12575.4]
assign io_reg_kp_do = kp; // @[pid.scala 69:17:@12475.4]
assign io_reg_ki_do = ki; // @[pid.scala 74:17:@12479.4]
assign io_reg_kd_do = kd; // @[pid.scala 79:17:@12483.4]
assign io_reg_ref_do = ref$; // @[pid.scala 85:17:@12487.4]
assign io_reg_fb_do = feedback; // @[pid.scala 90:17:@12491.4]
assign _GEN_12 = _T_71[15:0]; // @[pid.scala 100:17:@12502.4]
assign io_reg_cfg_do = $signed(_GEN_12); // @[pid.scala 100:17:@12502.4]
assign io_pid_out = _T_111 ? $signed(16'sh0) : $signed(reg_pid_out); // @[pid.scala 144:17:@12577.4]
assign mul_kp_io_a = e_prev1; // @[pid.scala 111:17:@12516.4]
assign mul_kp_io_b = $unsigned(kp); // @[pid.scala 112:17:@12518.4]
assign mul_ki_io_a = $signed(_T_76); // @[pid.scala 117:17:@12524.4]
assign mul_ki_io_b = $unsigned(ki); // @[pid.scala 118:17:@12526.4]
assign mul_kd_io_a = $signed(_T_74); // @[pid.scala 123:17:@12532.4]
assign mul_kd_io_b = $unsigned(kd); // @[pid.scala 124:17:@12534.4]
`ifdef RANDOMIZE_GARBAGE_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_INVALID_ASSIGN
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_REG_INIT
`define RANDOMIZE
`endif
`ifdef RANDOMIZE_MEM_INIT
`define RANDOMIZE
`endif
`ifndef RANDOM
`define RANDOM $random
`endif
`ifdef RANDOMIZE
integer initvar;
initial begin
`ifdef INIT_RANDOM
`INIT_RANDOM
`endif
`ifndef VERILATOR
#0.002 begin end
`endif
`ifdef RANDOMIZE_REG_INIT
_RAND_0 = {1{`RANDOM}};
kp = _RAND_0[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_1 = {1{`RANDOM}};
ki = _RAND_1[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_2 = {1{`RANDOM}};
kd = _RAND_2[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_3 = {1{`RANDOM}};
ref$ = _RAND_3[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_4 = {1{`RANDOM}};
feedback = _RAND_4[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_5 = {1{`RANDOM}};
sigma_old = _RAND_5[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_6 = {1{`RANDOM}};
fb_sel = _RAND_6[0:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_7 = {1{`RANDOM}};
e_prev1 = _RAND_7[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_8 = {1{`RANDOM}};
e_prev2 = _RAND_8[15:0];
`endif // RANDOMIZE_REG_INIT
`ifdef RANDOMIZE_REG_INIT
_RAND_9 = {1{`RANDOM}};
reg_pid_out = _RAND_9[15:0];
`endif // RANDOMIZE_REG_INIT
end
`endif // RANDOMIZE
always @(posedge clock) begin
if (reset) begin
kp <= 16'sh1;
end else begin
if (io_reg_kp_we) begin
kp <= io_reg_kp_di;
end
end
if (reset) begin
ki <= 16'sh0;
end else begin
if (io_reg_ki_we) begin
ki <= io_reg_ki_di;
end
end
if (reset) begin
kd <= 16'sh0;
end else begin
if (io_reg_kd_we) begin
kd <= io_reg_kd_di;
end
end
if (reset) begin
ref$ <= 16'sh14;
end else begin
if (io_reg_ref_we) begin
ref$ <= io_reg_ref_di;
end
end
if (reset) begin
feedback <= 16'sh0;
end else begin
if (fb_sel) begin
if (io_reg_fb_we) begin
feedback <= io_reg_fb_di;
end
end else begin
feedback <= io_speed_fb_in;
end
end
if (reset) begin
sigma_old <= 16'sh0;
end else begin
if (io_raw_irq) begin
sigma_old <= sigma_new;
end
end
if (reset) begin
fb_sel <= 1'h0;
end else begin
if (io_reg_cfg_we) begin
fb_sel <= _T_72;
end
end
if (reset) begin
e_prev1 <= 16'sh0;
end else begin
if (io_raw_irq) begin
if (io_fb_period) begin
e_prev1 <= _T_103;
end else begin
e_prev1 <= _T_106;
end
end
end
if (reset) begin
e_prev2 <= 16'sh0;
end else begin
if (io_raw_irq) begin
e_prev2 <= e_prev1;
end
end
if (reset) begin
reg_pid_out <= 16'sh0;
end else begin
if (io_raw_irq) begin
reg_pid_out <= _T_109;
end
end
end
endmodule
module Motor_Top( // @[:@12579.2]
input clock, // @[:@12580.4]
input reset, // @[:@12581.4]
input [15:0] io_wbs_m2s_addr, // @[:@12582.4]
input [31:0] io_wbs_m2s_data, // @[:@12582.4]
input io_wbs_m2s_we, // @[:@12582.4]
input [3:0] io_wbs_m2s_sel, // @[:@12582.4]
input io_wbs_m2s_stb, // @[:@12582.4]
output io_wbs_ack_o, // @[:@12582.4]
output [31:0] io_wbs_data_o, // @[:@12582.4]
input io_ba_match, // @[:@12582.4]
output io_motor_irq, // @[:@12582.4]
input io_qei_ch_a, // @[:@12582.4]
input io_qei_ch_b, // @[:@12582.4]
output io_pwm_high, // @[:@12582.4]
output io_pwm_low // @[:@12582.4]
);
wire interlink_clock; // @[motor_top.scala 37:26:@12584.4]
wire interlink_reset; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_bus_adr_i; // @[motor_top.scala 37:26:@12584.4]
wire [3:0] interlink_io_bus_sel_i; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_bus_we_i; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_bus_stb_i; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_bus_ack_o; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_bus_dat_o; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_tmr_val_we; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_tmr_val_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_tmr_dat_we; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_tmr_dat_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_tmr_duty_we; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_tmr_duty_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_tmr_cfg_we; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_tmr_cfg_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_qei_count_we; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_qei_count_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_qei_cfg_we; // @[motor_top.scala 37:26:@12584.4]
wire [31:0] interlink_io_qei_cfg_do; // @[motor_top.scala 37:26:@12584.4]
wire [15:0] interlink_io_qei_speed_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_pid_kp_we; // @[motor_top.scala 37:26:@12584.4]
wire [15:0] interlink_io_pid_kp_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_pid_ki_we; // @[motor_top.scala 37:26:@12584.4]
wire [15:0] interlink_io_pid_ki_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_pid_kd_we; // @[motor_top.scala 37:26:@12584.4]
wire [15:0] interlink_io_pid_kd_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_pid_ref_we; // @[motor_top.scala 37:26:@12584.4]
wire [15:0] interlink_io_pid_ref_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_pid_fb_we; // @[motor_top.scala 37:26:@12584.4]
wire [15:0] interlink_io_pid_fb_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_pid_cfg_we; // @[motor_top.scala 37:26:@12584.4]
wire [15:0] interlink_io_pid_cfg_do; // @[motor_top.scala 37:26:@12584.4]
wire interlink_io_ba_match; // @[motor_top.scala 37:26:@12584.4]
wire pwm_clock; // @[motor_top.scala 53:37:@12595.4]
wire pwm_reset; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_reg_val_we; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_val_di; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_val_do; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_reg_cfg_we; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_cfg_di; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_cfg_do; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_reg_dat_we; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_dat_di; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_dat_do; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_reg_duty_we; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_duty_di; // @[motor_top.scala 53:37:@12595.4]
wire [31:0] pwm_io_reg_duty_do; // @[motor_top.scala 53:37:@12595.4]
wire [15:0] pwm_io_reg_pid_out; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_pwm_h; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_pwm_l; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_irq_out; // @[motor_top.scala 53:37:@12595.4]
wire pwm_io_rawirq_out; // @[motor_top.scala 53:37:@12595.4]
wire qei_clock; // @[motor_top.scala 82:37:@12615.4]
wire qei_reset; // @[motor_top.scala 82:37:@12615.4]
wire qei_io_quad_a; // @[motor_top.scala 82:37:@12615.4]
wire qei_io_quad_b; // @[motor_top.scala 82:37:@12615.4]
wire qei_io_raw_irq; // @[motor_top.scala 82:37:@12615.4]
wire qei_io_reg_count_we; // @[motor_top.scala 82:37:@12615.4]
wire [31:0] qei_io_reg_count_di; // @[motor_top.scala 82:37:@12615.4]
wire [31:0] qei_io_reg_count_do; // @[motor_top.scala 82:37:@12615.4]
wire qei_io_reg_cfg_we; // @[motor_top.scala 82:37:@12615.4]
wire [31:0] qei_io_reg_cfg_di; // @[motor_top.scala 82:37:@12615.4]
wire [31:0] qei_io_reg_cfg_do; // @[motor_top.scala 82:37:@12615.4]
wire [15:0] qei_io_reg_speed_do; // @[motor_top.scala 82:37:@12615.4]
wire qei_io_fb_period; // @[motor_top.scala 82:37:@12615.4]
wire pid_clock; // @[motor_top.scala 98:37:@12628.4]
wire pid_reset; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_fb_period; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_raw_irq; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_reg_kp_we; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_kp_di; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_kp_do; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_reg_ki_we; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_ki_di; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_ki_do; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_reg_kd_we; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_kd_di; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_kd_do; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_reg_ref_we; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_ref_di; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_ref_do; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_reg_fb_we; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_fb_di; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_fb_do; // @[motor_top.scala 98:37:@12628.4]
wire pid_io_reg_cfg_we; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_cfg_di; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_reg_cfg_do; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_speed_fb_in; // @[motor_top.scala 98:37:@12628.4]
wire [15:0] pid_io_pid_out; // @[motor_top.scala 98:37:@12628.4]
wire [7:0] _T_48; // @[motor_top.scala 103:41:@12634.4]
wire [7:0] _T_49; // @[motor_top.scala 103:53:@12635.4]
wire [15:0] _T_54; // @[motor_top.scala 115:41:@12649.4]
Interlink_Module interlink ( // @[motor_top.scala 37:26:@12584.4]
.clock(interlink_clock),
.reset(interlink_reset),
.io_bus_adr_i(interlink_io_bus_adr_i),
.io_bus_sel_i(interlink_io_bus_sel_i),
.io_bus_we_i(interlink_io_bus_we_i),
.io_bus_stb_i(interlink_io_bus_stb_i),
.io_bus_ack_o(interlink_io_bus_ack_o),
.io_bus_dat_o(interlink_io_bus_dat_o),
.io_tmr_val_we(interlink_io_tmr_val_we),
.io_tmr_val_do(interlink_io_tmr_val_do),
.io_tmr_dat_we(interlink_io_tmr_dat_we),
.io_tmr_dat_do(interlink_io_tmr_dat_do),
.io_tmr_duty_we(interlink_io_tmr_duty_we),
.io_tmr_duty_do(interlink_io_tmr_duty_do),
.io_tmr_cfg_we(interlink_io_tmr_cfg_we),
.io_tmr_cfg_do(interlink_io_tmr_cfg_do),
.io_qei_count_we(interlink_io_qei_count_we),
.io_qei_count_do(interlink_io_qei_count_do),
.io_qei_cfg_we(interlink_io_qei_cfg_we),
.io_qei_cfg_do(interlink_io_qei_cfg_do),
.io_qei_speed_do(interlink_io_qei_speed_do),
.io_pid_kp_we(interlink_io_pid_kp_we),
.io_pid_kp_do(interlink_io_pid_kp_do),
.io_pid_ki_we(interlink_io_pid_ki_we),
.io_pid_ki_do(interlink_io_pid_ki_do),
.io_pid_kd_we(interlink_io_pid_kd_we),
.io_pid_kd_do(interlink_io_pid_kd_do),
.io_pid_ref_we(interlink_io_pid_ref_we),
.io_pid_ref_do(interlink_io_pid_ref_do),
.io_pid_fb_we(interlink_io_pid_fb_we),
.io_pid_fb_do(interlink_io_pid_fb_do),
.io_pid_cfg_we(interlink_io_pid_cfg_we),
.io_pid_cfg_do(interlink_io_pid_cfg_do),
.io_ba_match(interlink_io_ba_match)
);
PWM pwm ( // @[motor_top.scala 53:37:@12595.4]
.clock(pwm_clock),
.reset(pwm_reset),
.io_reg_val_we(pwm_io_reg_val_we),
.io_reg_val_di(pwm_io_reg_val_di),
.io_reg_val_do(pwm_io_reg_val_do),
.io_reg_cfg_we(pwm_io_reg_cfg_we),
.io_reg_cfg_di(pwm_io_reg_cfg_di),
.io_reg_cfg_do(pwm_io_reg_cfg_do),
.io_reg_dat_we(pwm_io_reg_dat_we),
.io_reg_dat_di(pwm_io_reg_dat_di),
.io_reg_dat_do(pwm_io_reg_dat_do),
.io_reg_duty_we(pwm_io_reg_duty_we),
.io_reg_duty_di(pwm_io_reg_duty_di),
.io_reg_duty_do(pwm_io_reg_duty_do),
.io_reg_pid_out(pwm_io_reg_pid_out),
.io_pwm_h(pwm_io_pwm_h),
.io_pwm_l(pwm_io_pwm_l),
.io_irq_out(pwm_io_irq_out),
.io_rawirq_out(pwm_io_rawirq_out)
);
Quad_Encoder qei ( // @[motor_top.scala 82:37:@12615.4]
.clock(qei_clock),
.reset(qei_reset),
.io_quad_a(qei_io_quad_a),
.io_quad_b(qei_io_quad_b),
.io_raw_irq(qei_io_raw_irq),
.io_reg_count_we(qei_io_reg_count_we),
.io_reg_count_di(qei_io_reg_count_di),
.io_reg_count_do(qei_io_reg_count_do),
.io_reg_cfg_we(qei_io_reg_cfg_we),
.io_reg_cfg_di(qei_io_reg_cfg_di),
.io_reg_cfg_do(qei_io_reg_cfg_do),
.io_reg_speed_do(qei_io_reg_speed_do),
.io_fb_period(qei_io_fb_period)
);
PID_Controller pid ( // @[motor_top.scala 98:37:@12628.4]
.clock(pid_clock),
.reset(pid_reset),
.io_fb_period(pid_io_fb_period),
.io_raw_irq(pid_io_raw_irq),
.io_reg_kp_we(pid_io_reg_kp_we),
.io_reg_kp_di(pid_io_reg_kp_di),
.io_reg_kp_do(pid_io_reg_kp_do),
.io_reg_ki_we(pid_io_reg_ki_we),
.io_reg_ki_di(pid_io_reg_ki_di),
.io_reg_ki_do(pid_io_reg_ki_do),
.io_reg_kd_we(pid_io_reg_kd_we),
.io_reg_kd_di(pid_io_reg_kd_di),
.io_reg_kd_do(pid_io_reg_kd_do),
.io_reg_ref_we(pid_io_reg_ref_we),
.io_reg_ref_di(pid_io_reg_ref_di),
.io_reg_ref_do(pid_io_reg_ref_do),
.io_reg_fb_we(pid_io_reg_fb_we),
.io_reg_fb_di(pid_io_reg_fb_di),
.io_reg_fb_do(pid_io_reg_fb_do),
.io_reg_cfg_we(pid_io_reg_cfg_we),
.io_reg_cfg_di(pid_io_reg_cfg_di),
.io_reg_cfg_do(pid_io_reg_cfg_do),
.io_speed_fb_in(pid_io_speed_fb_in),
.io_pid_out(pid_io_pid_out)
);
assign _T_48 = io_wbs_m2s_data[7:0]; // @[motor_top.scala 103:41:@12634.4]
assign _T_49 = $signed(_T_48); // @[motor_top.scala 103:53:@12635.4]
assign _T_54 = io_wbs_m2s_data[15:0]; // @[motor_top.scala 115:41:@12649.4]
assign io_wbs_ack_o = interlink_io_bus_ack_o; // @[motor_top.scala 50:29:@12594.4]
assign io_wbs_data_o = interlink_io_bus_dat_o; // @[motor_top.scala 49:29:@12593.4]
assign io_motor_irq = pwm_io_irq_out; // @[motor_top.scala 74:29:@12612.4]
assign io_pwm_high = pwm_io_pwm_h; // @[motor_top.scala 77:29:@12613.4]
assign io_pwm_low = pwm_io_pwm_l; // @[motor_top.scala 78:29:@12614.4]
assign interlink_clock = clock; // @[:@12585.4]
assign interlink_reset = reset; // @[:@12586.4]
assign interlink_io_bus_adr_i = {{16'd0}, io_wbs_m2s_addr}; // @[motor_top.scala 46:29:@12590.4]
assign interlink_io_bus_sel_i = io_wbs_m2s_sel; // @[motor_top.scala 47:29:@12591.4]
assign interlink_io_bus_we_i = io_wbs_m2s_we; // @[motor_top.scala 48:29:@12592.4]
assign interlink_io_bus_stb_i = io_wbs_m2s_stb; // @[motor_top.scala 44:29:@12588.4]
assign interlink_io_tmr_val_do = pwm_io_reg_val_do; // @[motor_top.scala 57:29:@12600.4]
assign interlink_io_tmr_dat_do = pwm_io_reg_dat_do; // @[motor_top.scala 65:29:@12606.4]
assign interlink_io_tmr_duty_do = pwm_io_reg_duty_do; // @[motor_top.scala 68:29:@12609.4]
assign interlink_io_tmr_cfg_do = pwm_io_reg_cfg_do; // @[motor_top.scala 61:29:@12603.4]
assign interlink_io_qei_count_do = qei_io_reg_count_do; // @[motor_top.scala 89:29:@12623.4]
assign interlink_io_qei_cfg_do = qei_io_reg_cfg_do; // @[motor_top.scala 93:29:@12626.4]
assign interlink_io_qei_speed_do = qei_io_reg_speed_do; // @[motor_top.scala 95:29:@12627.4]
assign interlink_io_pid_kp_do = pid_io_reg_kp_do; // @[motor_top.scala 104:29:@12637.4]
assign interlink_io_pid_ki_do = pid_io_reg_ki_do; // @[motor_top.scala 108:29:@12642.4]
assign interlink_io_pid_kd_do = pid_io_reg_kd_do; // @[motor_top.scala 112:29:@12647.4]
assign interlink_io_pid_ref_do = pid_io_reg_ref_do; // @[motor_top.scala 116:29:@12652.4]
assign interlink_io_pid_fb_do = pid_io_reg_fb_do; // @[motor_top.scala 120:29:@12657.4]
assign interlink_io_pid_cfg_do = pid_io_reg_cfg_do; // @[motor_top.scala 124:29:@12662.4]
assign interlink_io_ba_match = io_ba_match; // @[motor_top.scala 41:29:@12587.4]
assign pwm_clock = clock; // @[:@12596.4]
assign pwm_reset = reset; // @[:@12597.4]
assign pwm_io_reg_val_we = interlink_io_tmr_val_we; // @[motor_top.scala 55:29:@12598.4]
assign pwm_io_reg_val_di = io_wbs_m2s_data; // @[motor_top.scala 56:29:@12599.4]
assign pwm_io_reg_cfg_we = interlink_io_tmr_cfg_we; // @[motor_top.scala 59:29:@12601.4]
assign pwm_io_reg_cfg_di = io_wbs_m2s_data; // @[motor_top.scala 60:29:@12602.4]
assign pwm_io_reg_dat_we = interlink_io_tmr_dat_we; // @[motor_top.scala 63:29:@12604.4]
assign pwm_io_reg_dat_di = io_wbs_m2s_data; // @[motor_top.scala 64:29:@12605.4]
assign pwm_io_reg_duty_we = interlink_io_tmr_duty_we; // @[motor_top.scala 66:29:@12607.4]
assign pwm_io_reg_duty_di = io_wbs_m2s_data; // @[motor_top.scala 67:29:@12608.4]
assign pwm_io_reg_pid_out = pid_io_pid_out; // @[motor_top.scala 73:29:@12611.4]
assign qei_clock = clock; // @[:@12616.4]
assign qei_reset = reset; // @[:@12617.4]
assign qei_io_quad_a = io_qei_ch_a; // @[motor_top.scala 83:29:@12618.4]
assign qei_io_quad_b = io_qei_ch_b; // @[motor_top.scala 84:29:@12619.4]
assign qei_io_raw_irq = pwm_io_rawirq_out; // @[motor_top.scala 85:29:@12620.4]
assign qei_io_reg_count_we = interlink_io_qei_count_we; // @[motor_top.scala 87:29:@12621.4]
assign qei_io_reg_count_di = io_wbs_m2s_data; // @[motor_top.scala 88:29:@12622.4]
assign qei_io_reg_cfg_we = interlink_io_qei_cfg_we; // @[motor_top.scala 91:29:@12624.4]
assign qei_io_reg_cfg_di = io_wbs_m2s_data; // @[motor_top.scala 92:29:@12625.4]
assign pid_clock = clock; // @[:@12629.4]
assign pid_reset = reset; // @[:@12630.4]
assign pid_io_fb_period = qei_io_fb_period; // @[motor_top.scala 99:29:@12631.4]
assign pid_io_raw_irq = pwm_io_rawirq_out; // @[motor_top.scala 127:29:@12664.4]
assign pid_io_reg_kp_we = interlink_io_pid_kp_we; // @[motor_top.scala 102:29:@12633.4]
assign pid_io_reg_kp_di = {{8{_T_49[7]}},_T_49}; // @[motor_top.scala 103:29:@12636.4]
assign pid_io_reg_ki_we = interlink_io_pid_ki_we; // @[motor_top.scala 106:29:@12638.4]
assign pid_io_reg_ki_di = {{8{_T_49[7]}},_T_49}; // @[motor_top.scala 107:29:@12641.4]
assign pid_io_reg_kd_we = interlink_io_pid_kd_we; // @[motor_top.scala 110:29:@12643.4]
assign pid_io_reg_kd_di = {{8{_T_49[7]}},_T_49}; // @[motor_top.scala 111:29:@12646.4]
assign pid_io_reg_ref_we = interlink_io_pid_ref_we; // @[motor_top.scala 114:29:@12648.4]
assign pid_io_reg_ref_di = $signed(_T_54); // @[motor_top.scala 115:29:@12651.4]
assign pid_io_reg_fb_we = interlink_io_pid_fb_we; // @[motor_top.scala 118:29:@12653.4]
assign pid_io_reg_fb_di = $signed(_T_54); // @[motor_top.scala 119:29:@12656.4]
assign pid_io_reg_cfg_we = interlink_io_pid_cfg_we; // @[motor_top.scala 122:29:@12658.4]
assign pid_io_reg_cfg_di = $signed(_T_54); // @[motor_top.scala 123:29:@12661.4]
assign pid_io_speed_fb_in = qei_io_reg_speed_do; // @[motor_top.scala 100:29:@12632.4]
endmodule