From 74c9983f7e897fe753371a32dc083a1f2f484a44 Mon Sep 17 00:00:00 2001 From: Tonokip Date: Thu, 31 Dec 2020 19:06:00 -0600 Subject: [PATCH 1/2] fix shell script that runs the iverilog microstepper testbench by removing board.v --- testbench/iverilog_microstepper_tb.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/testbench/iverilog_microstepper_tb.sh b/testbench/iverilog_microstepper_tb.sh index 4b1311a7..f2d97343 100644 --- a/testbench/iverilog_microstepper_tb.sh +++ b/testbench/iverilog_microstepper_tb.sh @@ -1,2 +1,2 @@ #!/bin/sh -iverilog ./iverilog_microstepper_tb.v ../src/generated/board.v ../src/macro_params.v ../src/microstepper/*.v ../src/pwm.v && vvp ./a.out +iverilog ./iverilog_microstepper_tb.v ../src/macro_params.v ../src/microstepper/*.v ../src/pwm.v && vvp ./a.out From cf9bf5e201bf31438754b4165d92a48b60dd965b Mon Sep 17 00:00:00 2001 From: Tonokip Date: Thu, 31 Dec 2020 19:10:31 -0600 Subject: [PATCH 2/2] change quarter wave cosine table to one that is symmetrical across the quarter intervals and crossing zero --- src/microstepper/cosine.v | 112 +++++++++++++++++++------------------- 1 file changed, 56 insertions(+), 56 deletions(-) diff --git a/src/microstepper/cosine.v b/src/microstepper/cosine.v index e6fc0cde..fe5f3513 100644 --- a/src/microstepper/cosine.v +++ b/src/microstepper/cosine.v @@ -13,65 +13,65 @@ module cosine ( 6'd1: cos_r <= 8'd255; 6'd2: cos_r <= 8'd255; 6'd3: cos_r <= 8'd254; - 6'd4: cos_r <= 8'd254; + 6'd4: cos_r <= 8'd253; 6'd5: cos_r <= 8'd253; 6'd6: cos_r <= 8'd252; 6'd7: cos_r <= 8'd251; - 6'd8: cos_r <= 8'd250; - 6'd9: cos_r <= 8'd249; + 6'd8: cos_r <= 8'd249; + 6'd9: cos_r <= 8'd248; 6'd10: cos_r <= 8'd247; - 6'd11: cos_r <= 8'd246; - 6'd12: cos_r <= 8'd244; - 6'd13: cos_r <= 8'd242; - 6'd14: cos_r <= 8'd240; - 6'd15: cos_r <= 8'd238; - 6'd16: cos_r <= 8'd236; - 6'd17: cos_r <= 8'd233; - 6'd18: cos_r <= 8'd231; - 6'd19: cos_r <= 8'd228; - 6'd20: cos_r <= 8'd225; - 6'd21: cos_r <= 8'd222; - 6'd22: cos_r <= 8'd219; - 6'd23: cos_r <= 8'd215; - 6'd24: cos_r <= 8'd212; - 6'd25: cos_r <= 8'd208; - 6'd26: cos_r <= 8'd205; - 6'd27: cos_r <= 8'd201; - 6'd28: cos_r <= 8'd197; - 6'd29: cos_r <= 8'd193; - 6'd30: cos_r <= 8'd189; - 6'd31: cos_r <= 8'd185; - 6'd32: cos_r <= 8'd180; - 6'd33: cos_r <= 8'd176; - 6'd34: cos_r <= 8'd171; - 6'd35: cos_r <= 8'd167; - 6'd36: cos_r <= 8'd162; - 6'd37: cos_r <= 8'd157; - 6'd38: cos_r <= 8'd152; - 6'd39: cos_r <= 8'd147; - 6'd40: cos_r <= 8'd142; - 6'd41: cos_r <= 8'd136; - 6'd42: cos_r <= 8'd131; - 6'd43: cos_r <= 8'd126; - 6'd44: cos_r <= 8'd120; - 6'd45: cos_r <= 8'd115; - 6'd46: cos_r <= 8'd109; - 6'd47: cos_r <= 8'd103; - 6'd48: cos_r <= 8'd98; - 6'd49: cos_r <= 8'd92; - 6'd50: cos_r <= 8'd86; - 6'd51: cos_r <= 8'd80; - 6'd52: cos_r <= 8'd74; - 6'd53: cos_r <= 8'd68; - 6'd54: cos_r <= 8'd62; - 6'd55: cos_r <= 8'd56; - 6'd56: cos_r <= 8'd50; - 6'd57: cos_r <= 8'd44; - 6'd58: cos_r <= 8'd37; - 6'd59: cos_r <= 8'd31; - 6'd60: cos_r <= 8'd25; - 6'd61: cos_r <= 8'd19; - 6'd62: cos_r <= 8'd13; - default: cos_r <= 8'd6; + 6'd11: cos_r <= 8'd245; + 6'd12: cos_r <= 8'd243; + 6'd13: cos_r <= 8'd241; + 6'd14: cos_r <= 8'd239; + 6'd15: cos_r <= 8'd237; + 6'd16: cos_r <= 8'd234; + 6'd17: cos_r <= 8'd232; + 6'd18: cos_r <= 8'd229; + 6'd19: cos_r <= 8'd226; + 6'd20: cos_r <= 8'd223; + 6'd21: cos_r <= 8'd220; + 6'd22: cos_r <= 8'd217; + 6'd23: cos_r <= 8'd214; + 6'd24: cos_r <= 8'd210; + 6'd25: cos_r <= 8'd207; + 6'd26: cos_r <= 8'd203; + 6'd27: cos_r <= 8'd199; + 6'd28: cos_r <= 8'd195; + 6'd29: cos_r <= 8'd191; + 6'd30: cos_r <= 8'd187; + 6'd31: cos_r <= 8'd183; + 6'd32: cos_r <= 8'd178; + 6'd33: cos_r <= 8'd174; + 6'd34: cos_r <= 8'd169; + 6'd35: cos_r <= 8'd164; + 6'd36: cos_r <= 8'd159; + 6'd37: cos_r <= 8'd154; + 6'd38: cos_r <= 8'd149; + 6'd39: cos_r <= 8'd144; + 6'd40: cos_r <= 8'd139; + 6'd41: cos_r <= 8'd134; + 6'd42: cos_r <= 8'd128; + 6'd43: cos_r <= 8'd123; + 6'd44: cos_r <= 8'd117; + 6'd45: cos_r <= 8'd112; + 6'd46: cos_r <= 8'd106; + 6'd47: cos_r <= 8'd100; + 6'd48: cos_r <= 8'd95; + 6'd49: cos_r <= 8'd89; + 6'd50: cos_r <= 8'd83; + 6'd51: cos_r <= 8'd77; + 6'd52: cos_r <= 8'd71; + 6'd53: cos_r <= 8'd65; + 6'd54: cos_r <= 8'd59; + 6'd55: cos_r <= 8'd53; + 6'd56: cos_r <= 8'd47; + 6'd57: cos_r <= 8'd41; + 6'd58: cos_r <= 8'd34; + 6'd59: cos_r <= 8'd28; + 6'd60: cos_r <= 8'd22; + 6'd61: cos_r <= 8'd16; + 6'd62: cos_r <= 8'd9; + default: cos_r <= 8'd3; endcase endmodule