Notes

module DroneController (
input wire clk, // System Clock
input wire rst, // Reset
input wire [11:0] gyro_x, accelerometer_x, magnetometer_x, // Sensor inputs
output reg [3:0] motor_speed1, motor_speed2, motor_speed3, motor_speed4 // Motor speed outputs
);

// Define your parameters and constants
parameter MAX_SPEED = 12'b111111111111; // Maximum motor speed
parameter Kp = 12'b000000010000; // Placeholder for PID proportional gain
parameter Ki = 12'b000000000001; // Placeholder for PID integral gain
parameter Kd = 12'b000000000010; // Placeholder for PID derivative gain
parameter PID_PERIOD = 10; // PID control period in clock cycles

// Internal signals
reg [11:0] error_x;
reg [11:0] integral;
reg [11:0] derivative;
reg [11:0] prev_error;

// State machine states
reg [1:0] state;
reg [3:0] pid_counter;

// Motor speed registers
reg [3:0] motor1, motor2, motor3, motor4;

// Implement your PID controller logic here
always @(posedge clk or posedge rst) begin
if (rst) begin
// Reset logic
state <= 2'b00;
error_x <= 12'b0;
integral <= 12'b0;
derivative <= 12'b0;
prev_error <= 12'b0;
pid_counter <= 4'b0;
// Initialize other signals and variables
motor1 <= 4'b0;
motor2 <= 4'b0;
motor3 <= 4'b0;
motor4 <= 4'b0;
end else begin
// State machine logic
case (state)
2'b00: begin
// State 0: Read sensor inputs
// Perform sensor fusion and calculations
error_x <= gyro_x - accelerometer_x; // Example calculation (replace with your logic)
state <= 2'b01;
end
2'b01: begin
// State 1: PID control
if (pid_counter == PID_PERIOD) begin
integral <= integral + error_x;
derivative <= error_x - prev_error;
motor1 <= MAX_SPEED - Kp * error_x - Ki * integral - Kd * derivative; // Adjust motor speed based on PID output (example)
// Repeat for other motors
pid_counter <= 4'b0;
end else begin
pid_counter <= pid_counter + 1;
end
state <= 2'b00;
end
endcase
prev_error <= error_x;
end
end

// Procedural assignments for motor speeds
always @(posedge clk) begin
motor_speed1 <= motor1;
motor_speed2 <= motor2;
motor_speed3 <= motor3;
motor_speed4 <= motor4;
end

endmodule



//test bench

module DroneController_tb;

// Parameters
parameter SIM_TIME = 1000; // Simulation time in ns

// Signals
reg clk;
reg rst;
reg [11:0] gyro_x, accelerometer_x, magnetometer_x;
reg [3:0] motor_speed1, motor_speed2, motor_speed3, motor_speed4;

// Instantiate the DroneController module
DroneController dut (
.clk(clk),
.rst(rst),
.gyro_x(gyro_x),
.accelerometer_x(accelerometer_x),
.magnetometer_x(magnetometer_x),
.motor_speed1(motor_speed1),
.motor_speed2(motor_speed2),
.motor_speed3(motor_speed3),
.motor_speed4(motor_speed4)
);

// Clock generation
initial begin
clk = 0;
forever #5 clk = ~clk;
end

// Reset generation
initial begin
rst = 1;
#10 rst = 0; // Release reset after 10 time units
end

// Stimulus generation
initial begin
// Test case 1: Basic functionality with some sensor input
gyro_x = 12'b110000000000; // Example sensor values
accelerometer_x = 12'b001100000000;
magnetometer_x = 12'b000011000000;

// Add more test cases and stimulus as needed

#SIM_TIME $finish; // Terminate simulation after SIM_TIME
end

// Display outputs
always @(posedge clk) begin
$display("Time=%t | Motor Speeds: %b %b %b %b", $time, motor_speed1, motor_speed2, motor_speed3, motor_speed4);
end

endmodule