`timescale 1ns/1ps

module pwm_control_demo (
    input  wire                    clk,
    input  wire                    reset_n,

    // Control command: -128 .. +127
    input  wire signed [7:0]       cmd,

    // Safety/control signals
    input  wire                    enable,
    input  wire                    fault,

    // Observable internal results
    output reg  signed [7:0]       limited_cmd,
    output reg                     direction,
    output reg  [6:0]              duty,

    // Actual PWM waveform
    output wire                    pwm_out
);

    // 0..99 PWM carrier counter
    reg [6:0] pwm_counter;

    // ---------------------------------------------------------
    // 1. Saturation limiter: command limited to -90 .. +90
    // 2. Sign -> direction
    // 3. Absolute value -> PWM duty
    // ---------------------------------------------------------
    always @(*) begin
        if (cmd > 8'sd90)
            limited_cmd = 8'sd90;
        else if (cmd < -8'sd90)
            limited_cmd = -8'sd90;
        else
            limited_cmd = cmd;

        if (limited_cmd < 0) begin
            direction = 1'b1;          // reverse
            duty = -limited_cmd;
        end else begin
            direction = 1'b0;          // forward
            duty = limited_cmd;
        end
    end

    // ---------------------------------------------------------
    // PWM carrier: 0,1,2 ... 99,0,1...
    // ---------------------------------------------------------
    always @(posedge clk or negedge reset_n) begin
        if (!reset_n)
            pwm_counter <= 7'd0;
        else if (pwm_counter == 7'd99)
            pwm_counter <= 7'd0;
        else
            pwm_counter <= pwm_counter + 1'b1;
    end

    // ---------------------------------------------------------
    // PWM output
    //
    // duty=25 -> 25 high clocks / 100 clocks = 25%
    //
    // enable=0 or fault=1 -> PWM forced OFF
    // ---------------------------------------------------------
    assign pwm_out =
        reset_n &&
        enable &&
        !fault &&
        (pwm_counter < duty);

endmodule
//CI rollout test
//automatic trigger test
// poll scm trigger test
// argo events test
// full automatic ci test
// webhook delivery test