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Commit 66b1b71a authored by Pascal Engeler's avatar Pascal Engeler
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Fixed boolean bug, fixed number of states

parent 4fa925a0
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1 merge request!2Resolve "Distance wrapping invalidates lock sum"
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stitch_project/stitch/DistanceUnwrapper.vhd
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...@@ -33,7 +33,7 @@ end DistanceUnwrapper; ...@@ -33,7 +33,7 @@ end DistanceUnwrapper;
architecture Behavioral of DistanceUnwrapper is architecture Behavioral of DistanceUnwrapper is
type STATE_T is (IDLE_S, STATE1, STATE2, STATE3, STATE4, STATE5, STATE6); type STATE_T is (IDLE_S, STATE1, STATE2, STATE3);
signal current_state : STATE_T := IDLE_S; signal current_state : STATE_T := IDLE_S;
...@@ -102,7 +102,7 @@ begin ...@@ -102,7 +102,7 @@ begin
--calculate change to offset here --calculate change to offset here
if calcDelta > maxDelta then if calcDelta > maxDelta then
--we have wrapped around --we have wrapped around
if newIsLarger then if newIsLarger = '1' then
--went negative --went negative
currentOffset <= currentOffset + corrDeltaN; currentOffset <= currentOffset + corrDeltaN;
else else
...@@ -116,7 +116,7 @@ begin ...@@ -116,7 +116,7 @@ begin
newIsLarger <= newIsLarger; newIsLarger <= newIsLarger;
calcDelta <= calcDelta; calcDelta <= calcDelta;
currentDistance <= currentDistance; currentDistance <= currentDistance;
dr_out <= dr_out; dr_out <= '0';
prevDistance <= prevDistance; prevDistance <= prevDistance;
when STATE2 => when STATE2 =>
...@@ -127,7 +127,7 @@ begin ...@@ -127,7 +127,7 @@ begin
newIsLarger <= newIsLarger; newIsLarger <= newIsLarger;
calcDelta <= calcDelta; calcDelta <= calcDelta;
currentOffset <= currentOffset; currentOffset <= currentOffset;
dr_out <= dr_out; dr_out <= '0';
prevDistance <= latchedDistance; prevDistance <= latchedDistance;
when STATE3 => when STATE3 =>
......
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