---------------------------------------------
--Project Gump
--Marc Binette
--Ralph Nevins
--Lambert Lo
----------------------------------------------
--servo_controller
--This is the top level of the servo controller.
--It connects all the components together.
--input=>clock(1bit), load(4bit), data(8bit), reset(1bit)
--output=>servo_L_thigh(1bit),servo_L_knee(1bit)
--			servo_R_thigh(1bit),servo_R_knee(1bit)

LIBRARY ieee;
USE ieee.std_logic_1164.ALL;
LIBRARY work;
USE work.servo_controller_package.ALL;

--entity declaration for the controller
ENTITY servo_controller IS
	PORT(clock, rst : IN std_logic;
		load : IN std_logic_vector(3 DOWNTO 0);
		data : IN std_logic_vector(7 DOWNTO 0);
		sixteen_ms, eight_ms, four_ms, two_ms : BUFFER std_logic;
		servo_L_thigh, servo_L_knee, servo_R_thigh, servo_R_knee 
					: BUFFER std_logic);
END servo_controller;

--structural discription of how the components are connected
ARCHITECTURE structural OF servo_controller IS

--signals used to connect the differ components
SIGNAL sig_invreset : std_logic;
SIGNAL sig_topfour_counter : std_logic_vector(3 DOWNTO 0);
SIGNAL sig_count_out : std_logic_vector(11 DOWNTO 0);
SIGNAL sig_count_overflow : std_logic;
SIGNAL sig_Lthigh_hold, sig_Lknee_hold, sig_Rthigh_hold, sig_Rknee_hold
			 : std_logic_vector(7 DOWNTO 0);
SIGNAL sig_Lthigh_reg, sig_Lknee_reg, sig_Rthigh_reg, sig_Rknee_reg 
			 : std_logic_vector(7 DOWNTO 0);
SIGNAL sig_Lthigh_comp, sig_Lknee_comp, sig_Rthigh_comp, sig_Rknee_comp
			 : std_logic;

BEGIN

sig_invreset <= NOT(rst);
sixteen_ms <= sig_topfour_counter(3);
eight_ms <= sig_topfour_counter(2);
four_ms <= sig_topfour_counter(1);
two_ms <= sig_topfour_counter(0);

--counter 
counter : servo_controller_counter
	PORT MAP(
			clock => clock,
			overflow => sig_count_overflow,
			topfourbits => sig_topfour_counter,
			count_out => sig_count_out);


--components used for controlling the left thigh servo
L_thigh_hold : servo_controller_8bithold
	PORT MAP(
			reset => sig_invreset,
			load => load(3),
			data => data,
			hold_out => sig_Lthigh_hold);

L_thigh_reg : servo_controller_register8bit
	PORT MAP(
			reset => sig_invreset,
			load => sig_count_overflow,
			data_in => sig_Lthigh_hold,
			register_out => sig_Lthigh_reg);

L_thigh_compare : servo_controller_comparator
	PORT MAP(
			reg_in => sig_Lthigh_reg,
			cnt_in => sig_count_out,
			compare_out => sig_Lthigh_comp);

L_thigh_dflip : servo_controller_dflip
	PORT MAP(
			load => clock,
			datain => sig_Lthigh_comp,
			dataout =>servo_L_thigh); 

--components used for controlling the left knee servo
L_knee_hold : servo_controller_8bithold
	PORT MAP(
			reset => sig_invreset,
			load => load(2),
			data => data,
			hold_out => sig_Lknee_hold);

L_knee_reg : servo_controller_register8bit
	PORT MAP(
			reset => sig_invreset,
			load => sig_count_overflow,
			data_in => sig_Lknee_hold,
			register_out => sig_Lknee_reg);

L_knee_compare : servo_controller_comparator
	PORT MAP(
			reg_in => sig_Lknee_reg,
			cnt_in => sig_count_out,
			compare_out => sig_Lknee_comp);

L_knee_dflip : servo_controller_dflip
	PORT MAP(
			load => clock,
			datain => sig_Lknee_comp,
			dataout =>servo_L_knee); 


--components used for controlling the right thigh servo
R_thigh_hold : servo_controller_8bithold
	PORT MAP(
			reset => sig_invreset,
			load => load(1),
			data => data,
			hold_out => sig_Rthigh_hold);

R_thigh_reg : servo_controller_register8bit
	PORT MAP(
			reset => sig_invreset,
			load => sig_count_overflow,
			data_in => sig_Rthigh_hold,
			register_out => sig_Rthigh_reg);

R_thigh_compare : servo_controller_comparator
	PORT MAP(
			reg_in => sig_Rthigh_reg,
			cnt_in => sig_count_out,
			compare_out => sig_Rthigh_comp);

R_thigh_dflip : servo_controller_dflip
	PORT MAP(
			load => clock,
			datain => sig_Rthigh_comp,
			dataout =>servo_R_thigh); 

--components used for controlling the left knee servo
R_knee_hold : servo_controller_8bithold
	PORT MAP(
			reset => sig_invreset,
			load => load(0),
			data => data,
			hold_out => sig_Rknee_hold);

R_knee_reg : servo_controller_register8bit
	PORT MAP(
			reset => sig_invreset,
			load => sig_count_overflow,
			data_in => sig_Rknee_hold,
			register_out => sig_Rknee_reg);

R_knee_compare : servo_controller_comparator
	PORT MAP(
			reg_in => sig_Rknee_reg,
			cnt_in => sig_count_out,
			compare_out => sig_Rknee_comp);
	
R_knee_dflip : servo_controller_dflip
	PORT MAP(
			load => clock,
			datain => sig_Rknee_comp,
			dataout =>servo_R_knee); 

END structural;