diff --git a/firmware/rtl/autoapproach/autoapproach.v b/firmware/rtl/autoapproach/autoapproach.v
new file mode 100644
index 0000000..30297ae
--- /dev/null
+++ b/firmware/rtl/autoapproach/autoapproach.v
@@ -0,0 +1,85 @@
+/* Autoapproach module. This module applies a waveform located in memory
+ * (and copied into Block RAM). This waveform is arbitrary but of fixed
+ * length.
+ */
+module autoapproach #(
+	parameter DAC_WID = 24
+) (
+	input clk,
+	input arm,
+	output stopped,
+	output detected,
+
+	input polarity,
+	input [`ADC_WID-1:0] setpoint,
+
+	/* BRAM memory interface. Each pulse returns the next value in
+	 * the sequence, and also informs the module if the sequence
+	 * is completed. The kernel interacts primarily with this interface.
+	 */
+	input [`DAC_DATA_WID-1:0] word,
+	output word_next,
+	input  word_last,
+	input  word_ok,
+	output word_rst,
+
+	/* DAC wires. */
+	input dac_finished,
+	output dac_arm,
+	input [`DAC_WID-1:0] dac_in,
+	output [`DAC_WID-1:0] dac_out,
+
+	input adc_finished,
+	output adc_arm,
+	input [`ADC_WID-1:0] measurement
+);
+
+
+localparam WAIT_ON_ARM = 0;
+localparam RECV_WORD = 1;
+localparam WAIT_ON_DAC = 2;
+localparam WAIT_ON_DETECTION = 3;
+localparam DETECTED = 4;
+reg [2:0] state = WAIT_ON_ARM;
+reg save_word_last = 0;
+
+always @ (posedge clk) case (state)
+WAIT_ON_ARM: if (arm) begin
+	state <= RECV_WORD;
+	word_next <= 1;
+	stopped <= 0;
+end else begin
+	stopped <= 1;
+	word_rst <= 1;
+end
+RECV_WORD: if (word_ok) begin
+	dac_out <= {4'b0001, word};
+	dac_arm <= 1;
+	save_word_last <= word_last;
+	word_next <= 0;
+	state <= WAIT_ON_DAC;
+end
+WAIT_ON_DAC: if (dac_finished) begin
+	dac_arm <= 0;
+	if (save_word_last) begin
+		state <= WAIT_ON_DETECTION;
+		adc_arm <= 0;
+	end else begin
+		state <= WAIT_ON_ARM;
+	end
+endcase
+WAIT_ON_DETECTION: if (adc_finished) begin
+	if (polarity && measurement >= setpt) begin
+		state <= DETECTED;
+		detected <= 1;
+	end else if (measurement <= setpt) begin
+		state <= WAIT_ON_ARM;
+	end
+end
+DETECTED: if (!arm) begin
+	state <= WAIT_ON_ARM;
+	detected <= 0;
+end
+endcase
+
+endmodule