测试文件：module test;
reg clock;
reg [1:0] key;
wire [1:0] led;
wire [3:0] pwm_out;
step_moto uut (
.clock(clock),
.key(key),
.led(led),
.pwm_out(pwm_out)
);
initial
begin
clock = 0;
key = 0;
#100;
key = 2;
end
always
begin
#10 clock = ~clock;
end
endmodule
源文件：
`timescale 1ns/1ps
module step_moto(
input clock,
input [1:0] key,
output [1:0] led,
output [3:0] pwm_out
);
reg[3:0] pwm_out_r;
reg[3:0] p_out_r;
reg[23:0] count; //时钟分频计数器
reg[3:0] pwm_count; //PWM内部计数器
reg[3:0]cnt4; //电机步进时序计数器
reg[15:0]duty_cycle; //PWM占空比控制
reg dir; //电机旋转方向控制
reg mode; //电机控制模式
reg[1:0]dout1,dout2,dout3,buff; //消抖寄存器
wire[1:0]key_edge; //按键消抖输出
wire pwm_clk; //PWM计数时钟
wire speed_clk; //电机转动速度控制
wire div_clk; //消抖动时钟
//时钟分频部分
always @(posedge clock)
begin
count <= count + 1'b1; //时钟分频计数器加一
end
assign pwm_clk = (count[6:0] == 7'h7f); //PWM进行7分频（2.5us）
assign div_clk = (count[15:0] == 16'hffff); //消抖动时钟16分频（1.3ms）
assign speed_clk = (count == 24'hffffff); //转速控制24分频(335ms)
//按键消抖部分
always @(posedge clock)
begin
if(div_clk)
begin
dout1 <= key; //非阻塞，并行执行
dout2 <= dout1;
dout3 <= dout2;
end
end
//按键边沿检测部分
always @(posedge clock)
begin
buff <= dout1 | dout2 | dout3;
end
assign key_edge = ~(dout1 | dout2 | dout3) & buff;
//按键操作部分
always @(posedge clock) //按键1，控制电机正反转
begin
if(key_edge[0])
dir <= ~dir;
end
always @(posedge clock) //按键2，控制电机正常运转/细分运行
begin
if(key_edge[1])
mode <= ~mode;
end
assign led = ~{mode,dir}; //输出LED指示
assign pwm_out = mode ? ~pwm_out_r : p_out_r; //输出模块选择（细分/正常）
always @(posedge clock) //电机正/反转控制
begin
if(speed_clk)
begin
if(dir == 1'b1) //按键1未按下，计数器加1，电机正转
cnt4 <= cnt4 + 1'b1;
else //按键1按下，计数器减1，电机反转
cnt4 <= cnt4 - 1'b1;
end
end
always @(posedge clock) //PWM波计数器
begin
if(pwm_clk)
pwm_count <= pwm_count + 1'b1; //PWM内部计数器加1
end
always @(posedge clock) //PWM A通道
begin
if (pwm_count[3:0] < duty_cycle[15:12]) //PWM内部计数器小于占空比的高4位的值
pwm_out_r[3] <= 1'b1;
else
pwm_out_r[3] <= 1'b0;
end
always @(posedge clock) //PWM B通道
begin
if (pwm_count[3:0] < duty_cycle[11:8]) //PWM内部计数器小于占空比的8~11位的值
pwm_out_r[2] <= 1'b1;
else
pwm_out_r[2] <= 1'b0;
end
always @(posedge clock) //PWM C通道
begin
if (pwm_count[3:0] < duty_cycle[7:4]) //PWM内部计数器小于占空比的4~7位的值
pwm_out_r[1] <= 1'b1;
else
pwm_out_r[1] <= 1'b0;
end
always @(posedge clock) //PWM D通道
begin
if (pwm_count[3:0] < duty_cycle[3:0]) //PWM内部计数器小于占空比的低4位的值
pwm_out_r[0] <= 1'b1;
else
pwm_out_r[0] <= 1'b0;
end
always @(posedge clock) //步进电机控制时序
begin
if(speed_clk)
begin
case(cnt4[1:0])
2'b00:p_out_r = 4'b1100;
2'b01:p_out_r = 4'b0110;
2'b10:p_out_r = 4'b0011;
2'b11:p_out_r = 4'b1001;
endcase
end
end
always @(cnt4) //步进电机4细分控制PWM波参数表
begin
case(cnt4)
4'h0:duty_cycle = 16'hf000;
4'h1:duty_cycle = 16'he600;
4'h2:duty_cycle = 16'hbb00;
4'h3:duty_cycle = 16'h6e00;
4'h4:duty_cycle = 16'h0f00;
4'h5:duty_cycle = 16'h0e60;
4'h6:duty_cycle = 16'h0bb0;
4'h7:duty_cycle = 16'h06e0;
4'h8:duty_cycle = 16'h00f0;
4'h9:duty_cycle = 16'h00e6;
4'ha:duty_cycle = 16'h00bb;
4'hb:duty_cycle = 16'h006e;
4'hc:duty_cycle = 16'h000f;
4'hd:duty_cycle = 16'h600e;
4'he:duty_cycle = 16'hb00b;
4'hf:duty_cycle = 16'he006;
endcase
end
endmodule
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