use of incremental encoder index signal for phase table alignment

[fpga/virtex2/msp_motion.git] / msp_motion.vhd

diff --git a/msp_motion.vhd b/msp_motion.vhd
index bdc15de3e89969f36e8c87a570d7284c8595559e..e5c4cc081b0ec5b877f76a224c9b4582af50ec92 100644 (file)
--- a/msp_motion.vhd
+++ b/msp_motion.vhd
@@ -84,6 +84,14 @@ architecture rtl of msp_motion is
   signal EVENT_SEL   : std_logic;
   signal event_i        : std_logic_vector (15 downto 0);
   signal event_o        : std_logic_vector (15 downto 0);
+
+  -- Edge detector
+  signal EDGE_DAT_O                    : std_logic_vector (15 downto 0);
+  signal EDGE_DETECT_SEL       : std_logic;
+  signal event_in                      : std_logic_vector (15 downto 0);
+  signal edge_detect_o         : std_logic_vector (15 downto 0);
+  signal rst_edge                      : std_logic;
+
   -- Qcounter capture
   signal CAPTURE_SEL : std_logic;
   signal CAPTURE_DAT : std_logic_vector (15 downto 0);
@@ -206,14 +214,14 @@ begin
               QCNT_DAT_O when QCNT_SEL = '1' else
               EVENT_DAT_O when EVENT_SEL = '1' else
               CAPTURE_DAT when CAPTURE_SEL = '1' else
-                         INDEX_DETECT_DAT_O when INDEX_DETECT_SEL ='1' else
+                         EDGE_DAT_O when EDGE_DETECT_SEL = '1' else
               (others => '0');          -- MUST be 0 when nothing is addressed
   
   GPIO_SEL <= '1' when per_addr(7 downto 2) = 16#0140#/2/4 else '0';
   QCNT_SEL <= '1' when per_addr(7 downto 1) = 16#0148#/2/2 else '0';
   EVENT_SEL <= '1' when per_addr(7 downto 0) = 16#014C#/2  else '0';
   CAPTURE_SEL <= '1' when per_addr(7 downto 1) = 16#0150#/2/2 else '0';
-  INDEX_DETECT_SEL <= '1' when per_addr(7 downto 1) = 16#0152#/2/2 else '0';
+  EDGE_DETECT_SEL <= '1' when per_addr(7 downto 0) = 16#0154#/2 else '0';
 
   per_wen16 <= per_wen(0) and per_wen(1);
 
@@ -280,6 +288,7 @@ begin
       count    => open,
       event_ow => MOTOR_IRQ);
 
+
   event_io_0 : entity work.event_rwc
        port map (
        -- Peripheral bus interface
@@ -299,6 +308,24 @@ begin
   IRC_INDEX_EVENT <= event_i(0);
 
 
+  edge_detector_0 : entity work.edge_detector
+         port map (
+               -- Peripheral bus interface
+               ACK_O => open,
+               CLK_I => mclk,
+               DAT_I => per_din,
+               DAT_O => EDGE_DAT_O,
+               RST_I => puc,
+               SEL_I => EDGE_DETECT_SEL,
+               STB_I => per_en,
+               WE_I  => per_wen16,
+               -- Event port pins
+               EVENT_I => event_in);
+
+
+  --rst_edge <= '0' when per_addr()
+  event_in(0) <= IRC_INDEX_DFF;        
+
   irc_index_dff_0 : entity work.dff
     port map (
       clock => mclk,