X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/34de8485a125ab8edae50d0f1406462a82b56391..5e9d551775408b98dd40058d4ba5ae0603cb3752:/pmsm-control/rpi_pmsm_control.vhdl

diff --git a/pmsm-control/rpi_pmsm_control.vhdl b/pmsm-control/rpi_pmsm_control.vhdl
index c3f8416..f8e8bd5 100644
--- a/pmsm-control/rpi_pmsm_control.vhdl
+++ b/pmsm-control/rpi_pmsm_control.vhdl
@@ -193,8 +193,9 @@ architecture behavioral of rpi_pmsm_control is
 	signal income_data_valid: std_logic;
 	
 	signal clk_4M17: std_logic;
-	
-	
+
+	-- irc signals processing
+	signal irc_i_prev: std_logic;
 	
 	--  attribute syn_noprune of gpio2 : signal is true;
 	--  attribute syn_preserve of gpio2 : signal is true;
@@ -316,8 +317,11 @@ begin
 		
 	process
 	begin
-		wait until (irc_i'event and irc_i='1');
-		index_position(11 downto 0)<=position(11 downto 0);
+		wait until (gpio_clk'event and gpio_clk='1');
+		if irc_i_prev = '0' and irc_i = '1' then
+			index_position(11 downto 0)<=position(11 downto 0);
+		end if;
+		irc_i_prev<=irc_i;
 	end process;
 	
 	process