X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/84f27cb9b6de51e47a6cc1a972e3240c1b0a9ad8..fb53ad99c67e082af0deca9efdf99e287002ffeb:/pmsm-control/rpi_pmsm_control.vhdl

diff --git a/pmsm-control/rpi_pmsm_control.vhdl b/pmsm-control/rpi_pmsm_control.vhdl
index 13ffb97..177029f 100644
--- a/pmsm-control/rpi_pmsm_control.vhdl
+++ b/pmsm-control/rpi_pmsm_control.vhdl
@@ -173,6 +173,14 @@ architecture behavioral of rpi_pmsm_control is
 	);
 	end component;
 	
+	component dff3 is
+	port(
+		clk_i   : in std_logic;
+		d_i     : in std_logic;
+		q_o     : out std_logic
+	);
+	end component;
+	
 	
 	signal adc_channels: std_logic_vector(71 downto 0);
 	signal adc_m_count: std_logic_vector(8 downto 0);
@@ -217,6 +225,10 @@ architecture behavioral of rpi_pmsm_control is
 	-- irc signals processing
 	signal irc_i_prev: std_logic;
 	
+	--filetered irc signals
+	signal irc_a_dff3: std_logic;
+	signal irc_b_dff3: std_logic;
+	
 	--  attribute syn_noprune of gpio2 : signal is true;
 	--  attribute syn_preserve of gpio2 : signal is true;
 	--  attribute syn_keep of gpio2 : signal is true;
@@ -250,8 +262,8 @@ begin
 	port map (
 		clock => gpio_clk,
 		reset => '0',
-		a0 => irc_a,
-		b0 => irc_b,
+		a0 => irc_a_dff3,
+		b0 => irc_b_dff3,
 		qcount => position,
 		a_rise => open,
 		a_fall => open,
@@ -311,6 +323,20 @@ begin
 		measur_count => adc_m_count
 		
 	);
+	
+	dff3_a: dff3
+	port map(	
+		clk_i => gpio_clk,
+		d_i   => irc_a,
+		q_o   => irc_a_dff3 
+	);
+	
+	dff3_b: dff3
+	port map(	
+		clk_i => gpio_clk,
+		d_i   => irc_b,
+		q_o   => irc_b_dff3 
+	);
 
 	dummy_unused <= gpio2 and gpio3 and
 		gpio5 and gpio6 and