Merge pull request #85 from Peter-van-Tol/59-module-stepgen-timing-pa…

…rameters-issue

59 module stepgen timing parameters issue

CHANGELOG.rst

@@ -6,6 +6,17 @@ 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 1.2.4
+=============
+
+Bugfix version to fix timings for stepgen.
+
+* ``driver``:
+
+  * ``stepgen``: Fix timings (#59). Thanks to *hmnijp* for testing the ``stepgen`` module with a scope.
+  * ``stepgen``: Fix check on maximum speed obeys the maximum step frequency (#59).
+
+
 Version 1.2.3
 =============
 

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "litexcnc"
-version = "1.2.3"
+version = "1.2.4"
 description = "Generic CNC firmware and driver for FPGA cards which are supported by LiteX"
 authors = ["Peter van Tol <[email protected]>"]
 license = "GPL-3.0-or-later"

src/litexcnc/driver/modules/litexcnc_stepgen.c

@@ -210,7 +210,7 @@ int litexcnc_stepgen_config(void *module, uint8_t **data, int period) {
         dirsetup_cycles = (1 << 13) - 1;
     }
     // - convert the timings to the data to be sent to the FPGA
-    config_data.timings = htobe32((steplen_cycles << 22) + (dirhold_cycles << 12) + (dirsetup_cycles << 0));
+    config_data.timings = htobe32((dirsetup_cycles << 20) + (dirhold_cycles << 10) + (steplen_cycles << 0));
 
     // Put the data on the data-stream and advance the pointer
     memcpy(*data, &config_data, required_config_buffer(stepgen));
@@ -303,10 +303,10 @@ int litexcnc_stepgen_prepare_write(void *module, uint8_t **data, int period) {
             instance->hal.param.max_velocity = 0.0;
         } else {
             // Maximum speed is positive and no zero, compare with maximum frequency
-	        if (instance->hal.param.max_velocity > (stepgen->data.max_frequency * fabs(instance->hal.param.position_scale))) {
+	        if (instance->hal.param.max_velocity > (stepgen->data.max_frequency * fabs(instance->data.scale_recip))) {
                 // Limit speed to the maximum. This will lead to joint follow error when the higher speeds are commanded
                 float max_speed_desired = instance->hal.param.max_velocity;
-                instance->hal.param.max_velocity = stepgen->data.max_frequency * fabs(instance->hal.param.position_scale);
+                instance->hal.param.max_velocity = stepgen->data.max_frequency * fabs(instance->data.scale_recip);
 		        // Maximum speed is too high, complain about it and modify the value
 		        if (!instance->memo.error_max_speed_printed) {
 		            LITEXCNC_ERR_NO_DEVICE(