Add lost changes

CHANGELOG.rst

@@ -6,6 +6,12 @@ All versions in this changelog have two entries: ``driver`` and ``firmware``. Th
 have the same version, as communication protocol might change between versions. In the firmware/driver there
 is a safeguard to prevent miscommunication.
 
+Version 1.3.3
+=============
+
+An error in ``stepgen`` related to index pulses has been resolved in this version. No need to re-compile the
+firmware, only reinstallation of the drivers is required.
+
 Version 1.3.2
 =============
 

pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "litexcnc"
-version = "1.3.2"
+version = "1.3.3"
 description = "Generic CNC firmware and driver for FPGA cards which are supported by LiteX"
 authors = [
     { name = "Peter van Tol", email = "[email protected]" },

src/litexcnc/driver/modules/litexcnc_stepgen.c

@@ -179,6 +179,7 @@ int litexcnc_stepgen_prepare_write(void *module, uint8_t **data, int period) {
     static float sign;
     static float dv;
     static float dp;
+    static uint32_t index_flag;
 
     // Check whether there are stepgen instances. If no instances, no need to write any
     // data (NOTE: when this guard is not in place, the apply_time would be written out
@@ -334,7 +335,11 @@ int litexcnc_stepgen_prepare_write(void *module, uint8_t **data, int period) {
         instance->data.fpga_time = instance->data.flt_time * (*(stepgen->data.clock_frequency));
 
         // Convert the integers used and scale it to the FPGA
-        instance_data.speed_target = htobe32(instance->data.fpga_speed & 0x7FFFFFFF + *(instance->hal.pin.index_enable) * 1 << 31);
+        index_flag = 0;
+        if (instance->memo.has_index && *(instance->hal.pin.index_enable)) {
+            index_flag = 0xF0000000;
+        }
+        instance_data.speed_target = htobe32(instance->data.fpga_speed & 0x7FFFFFFF + index_flag);
         instance_data.acceleration = htobe32(instance->data.fpga_acc);
 
         // Put the data on the data-stream and advance the pointer
@@ -415,7 +420,9 @@ int litexcnc_stepgen_process_read(void *module, uint8_t **data, int period) {
         *data += 8;  // The data read is 64 bit-wide. The buffer is 8-bit wide
         memcpy(&speed, *data, sizeof speed);
         instance->data.speed = (int64_t) (be32toh(speed) & 0x7FFFFFFF) -  0x40000000;
-        *(instance->hal.pin.index_pulse) = (be32toh(speed) & 0xF0000000) ? true : false;
+        if (instance->memo.has_index) {
+            *(instance->hal.pin.index_pulse) = (be32toh(speed) & 0xF0000000) ? true : false;
+        }
         *data += 4;  // The data read is 32 bit-wide. The buffer is 8-bit wide
         // Convert the received position to HAL pins for counts and floating-point position
         *(instance->hal.pin.counts) = instance->data.position >> instance->data.pick_off_pos;
@@ -567,6 +574,7 @@ size_t litexcnc_stepgen_init(litexcnc_module_instance_t **module, litexcnc_t *li
 
         // Create the pin for index-enable, only when the pin is defined for this instance
         if (*(*config) & 0x80) {
+            instance->memo.has_index = true;
             LITEXCNC_CREATE_HAL_PIN("index-enable", bit, HAL_IN, &(instance->hal.pin.index_enable));
             LITEXCNC_CREATE_HAL_PIN("index-pulse", bit, HAL_OUT, &(instance->hal.pin.index_pulse));
         }
@@ -579,7 +587,4 @@ size_t litexcnc_stepgen_init(litexcnc_module_instance_t **module, litexcnc_t *li
     LITEXCNC_ERR_NO_DEVICE("%d\n",  (4 - ((1 + stepgen->num_instances) & 0x03) & 0x03));
 
     return 0;
-}
-
-
-
+}

src/litexcnc/driver/modules/litexcnc_stepgen.h

@@ -98,6 +98,7 @@ typedef struct {
         hal_float_t acceleration;
         hal_float_t maxaccel;       
         hal_float_t maxvel;
+        hal_bit_t has_index;
         bool error_max_speed_printed;
     } memo;