X-Git-Url: https://rtime.felk.cvut.cz/gitweb/fpga/rpi-motor-control.git/blobdiff_plain/8945272802e6d9bdd317bced4aba96d7ca442e9b..c4cdcbe5bfaecb9024e4fe41be29a4541653b8ef:/pmsm-control/rpi_pmsm_control.vhdl

diff --git a/pmsm-control/rpi_pmsm_control.vhdl b/pmsm-control/rpi_pmsm_control.vhdl
index 52e362f..45ea914 100644
--- a/pmsm-control/rpi_pmsm_control.vhdl
+++ b/pmsm-control/rpi_pmsm_control.vhdl
@@ -165,6 +165,7 @@ architecture behavioral of rpi_mc_simple_dc is
 	signal gpio_clk: std_logic;
 	signal dat_reg : STD_LOGIC_VECTOR (127 downto 0); --shift register for spi
 	signal position: std_logic_vector(31 downto 0); --pozice z qcounteru
+	signal index_position: std_logic_vector(11 downto 0);		--pozice irc_i
 	signal ce0_old: std_logic_vector(1 downto 0);
 	
 	--pwm signals
@@ -300,6 +301,11 @@ begin
 	pwm(3) <= pwm_sig(3) and dip_sw(3);
 	
 		
+	process
+	begin
+		wait until (irc_i'event and irc_i='1');
+		index_position(11 downto 0)<=position(11 downto 0);
+	end process;
 	
 	process
 	begin
@@ -345,9 +351,7 @@ begin
 			income_data_valid<='0';
 			dat_reg(127 downto 96) <= position(31 downto 0); --pozice
 			dat_reg(95 downto 93) <= hal_in(1 to 3); --halovy sondy
-			dat_reg(92 downto 90) <= pwm_en_p(1 to 3); --enable positive
-			dat_reg(89 downto 87) <= pwm_en_n(1 to 3); --shutdown
-			dat_reg(86 downto 81) <= (others=>'0');--pwm_match(1)(10 downto 5); --6 MSb of PWM1
+			dat_reg(92 downto 81) <= index_position(11 downto 0); 	--position of irc_i
 			dat_reg(80 downto 72) <=adc_m_count(8 downto 0);   	--count of measurments
 			--data order schould be: ch2 downto ch0 downto ch1
 			dat_reg(71 downto 0) <= adc_channels(71 downto 0); 	--current mesurments