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[/] [ssbcc/] [trunk/] [core/] [9x8/] [peripherals/] [stepper_motor.v] - Blame information for rev 10

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//
// PERIPHERAL stepper_motor:  @NAME@
// Copyright 2015, Sinclair R.F., Inc.
//
@MASTER_BEGIN@
localparam L__RATEMETHOD_MINUS_1 = @RATEMETHOD@ - 1;
localparam L__NBITS_RATEMETHOD = clog2(L__RATEMETHOD_MINUS_1);
// Assemble the byes of the control word from the input bytes.
reg [@CONTROL_WIDTH@-1:0] s__input_control_word = {(@CONTROL_WIDTH@){1'b0}};
always @ (posedge i_clk)
  if (i_rst)
    s__input_control_word <= {(@CONTROL_WIDTH@){1'b0}};
  else if (s_outport && (s_T == 8'd@IX_OUTCONTROL@))
    s__input_control_word <= { s__input_control_word[0+:@CONTROL_WIDTH@-@DW@], s_N };
  else
    s__input_control_word <= s__input_control_word;
wire [@CONTROL_WIDTH_PACKED@-1:0] s__input_control_word_packed = {
  s__input_control_word[@DW@*((@MODE_WIDTH@+@DWM1@)/@DW@)+@DW@*((@COUNT_WIDTH@+@DWM1@)/@DW@)+@DW@*((@ACCEL_WIDTH@+@DWM1@)/@DW@)+:@RATECMD_WIDTH@],
  s__input_control_word[@DW@*((@MODE_WIDTH@+@DWM1@)/@DW@)+@DW@*((@COUNT_WIDTH@+@DWM1@)/@DW@)+:@ACCEL_WIDTH@],
  s__input_control_word[@DW@*((@MODE_WIDTH@+@DWM1@)/@DW@)+:@COUNT_WIDTH@]
@OUTMODE_BEGIN@
  , s__input_control_word[0+:@MODE_WIDTH@]
@OUTMODE_END@
};
@MASTER_END@
// Instantiate the control word FIFO and operate its input side.
reg s__FIFO_wr = 1'b0;
always @ (posedge i_clk)
  if (i_rst)
    s__FIFO_wr <= 1'b0;
  else
    s__FIFO_wr <= (s_outport && (s_T == 8'd@IX_OUTRECORD@));
reg [@NBITS_FIFO_DEPTH@:0] s__FIFO_in_addr = {(@NBITS_FIFO_DEPTH@+1){1'b0}};
always @ (posedge i_clk)
  if (i_rst)
    s__FIFO_in_addr <= {(@NBITS_FIFO_DEPTH@+1){1'b0}};
  else
    s__FIFO_in_addr <= s__FIFO_in_addr + { @NBITS_FIFO_DEPTH@'d0, s__FIFO_wr };
reg [@CONTROL_WIDTH_PACKED@-1:0] s__FIFO[@FIFO_DEPTH@-1:0];
always @ (posedge i_clk)
  if (s__FIFO_wr)
    s__FIFO[s__FIFO_in_addr[0+:@NBITS_FIFO_DEPTH@]] <= @S__INPUT_CONTROL_WORD_PACKED@;
// Operate the output side of the FIFO and translate the packed controls into
// individual signals.
reg s__FIFO_rd = 1'b0;
reg [@NBITS_FIFO_DEPTH@:0] s__FIFO_out_addr = {(@NBITS_FIFO_DEPTH@+1){1'b0}};
always @ (posedge i_clk)
  if (i_rst)
    s__FIFO_out_addr <= {(@NBITS_FIFO_DEPTH@+1){1'b0}};
  else
    s__FIFO_out_addr <= s__FIFO_out_addr + { @NBITS_FIFO_DEPTH@'d0, s__FIFO_rd };
reg [@CONTROL_WIDTH_PACKED@-1:0] s__output_control_word = @CONTROL_WIDTH_PACKED@'d0;
always @ (posedge i_clk)
  s__output_control_word <= s__FIFO[s__FIFO_out_addr[0+:@NBITS_FIFO_DEPTH@]];
wire [@RATECMD_WIDTH@-1:0] s__next_rate  = s__output_control_word[@MODE_WIDTH@+@COUNT_WIDTH@+@ACCEL_WIDTH@+:@RATECMD_WIDTH@];
wire   [@ACCEL_WIDTH@-1:0] s__next_accel = s__output_control_word[@MODE_WIDTH@+@COUNT_WIDTH@+:@ACCEL_WIDTH@];
wire   [@COUNT_WIDTH@-1:0] s__next_count = s__output_control_word[@MODE_WIDTH@+:@COUNT_WIDTH@];
@OUTMODE_BEGIN@
wire [@MODE_WIDTH@-1:0] s__next_mode = s__output_control_word[0+:@MODE_WIDTH@];
@OUTMODE_END@
// Indicate whether or not the FIFO is empty.
reg s__FIFO_empty = 1'b1;
always @ (posedge i_clk)
  if (i_rst)
    s__FIFO_empty <=1'b1;
  else
    s__FIFO_empty <= (s__FIFO_out_addr == s__FIFO_in_addr);
@MASTER_BEGIN@
// Generate the clock enable for the effective internal clock rate.
reg s__clk_en = 1'b0;
reg [L__NBITS_RATEMETHOD-1:0] s__clk_en_count = L__RATEMETHOD_MINUS_1[0+:L__NBITS_RATEMETHOD];
always @ (posedge i_clk)
  if (i_rst) begin
    s__clk_en <= 1'b0;
    s__clk_en_count <= L__RATEMETHOD_MINUS_1[0+:L__NBITS_RATEMETHOD];
  end else begin
    s__clk_en <= (s__clk_en_count == { {(L__NBITS_RATEMETHOD-1){1'b0}}, 1'b1 });
    if (s__clk_en)
      s__clk_en_count <= L__RATEMETHOD_MINUS_1[0+:L__NBITS_RATEMETHOD];
    else
      s__clk_en_count <= s__clk_en_count - { {(L__NBITS_RATEMETHOD-1){1'b0}}, 1'b1 };
  end
@MASTER_END@
// Capture the start strobe from the micro controller.
reg s__go = 1'b0;
always @ (posedge i_clk)
  if (i_rst)
    s__go <= 1'b0;
  else if (s_outport && (s_T == 8'd@IX_OUTRUN@))
    s__go <= 1'b1;
  else if (@S__CLK_EN@)
    s__go <= 1'b0;
  else
    s__go <= s__go;
// Indicate when the controller is running.
reg s__running = 1'b0;
wire s__load_next;
always @ (posedge i_clk)
  if (i_rst)
    s__running <= 1'b0;
  else if (s__go && @S__CLK_EN@)
    s__running <= 1'b1;
  else if (s__load_next && s__FIFO_empty)
    s__running <= 1'b0;
  else
    s__running <= s__running;
always @ (posedge i_clk)
  if (i_rst)
    s__done <= 1'b1;
  else if (s_outport && (s_T == 8'd@IX_OUTRUN@))
    s__done <= 1'b0;
  else
    s__done <= !s__go && !s__running;
// Operate the step count
wire s__step_pre;
reg [@COUNT_WIDTH@-1:0] s__count = @COUNT_WIDTH@'d0;
reg s__count_zero = 1'b1;
always @ (posedge i_clk)
  if (i_rst)
    s__count <= @COUNT_WIDTH@'d0;
  else if (s__load_next && !s__FIFO_empty)
    s__count <= s__next_count;
  else if (@S__CLK_EN@ && s__step_pre)
    s__count <= s__count - { {(@COUNT_WIDTH@-1){1'b0}}, !s__count_zero };
  else
    s__count <= s__count;
always @ (posedge i_clk)
  if (i_rst)
    s__count_zero <= 1'b1;
  else
    s__count_zero <= (s__count == @COUNT_WIDTH@'d0);
assign s__load_next = @S__CLK_EN@ && (s__go || s__running && s__step_pre && s__count_zero);
always @ (posedge i_clk)
  if (i_rst)
    s__FIFO_rd <= 1'b0;
  else
    s__FIFO_rd <= s__load_next && !s__FIFO_empty;
// Operate the accumulators.
reg [@ACCUM_WIDTH@-1:0] s__angle = @ACCUM_WIDTH@'d0;
reg  [@RATE_WIDTH@-1:0] s__rate  = @RATE_WIDTH@'d0;
reg [@ACCEL_WIDTH@-1:0] s__accel = @ACCEL_WIDTH@'d0;
@OUTMODE_BEGIN@
reg  [@MODE_WIDTH@-1:0] s__mode  = @MODE_WIDTH@'d0;
@OUTMODE_END@
reg [@ACCUM_WIDTH@-1:0] s__angle_presum = @ACCUM_WIDTH@'d0;
always @ (posedge i_clk)
  if (i_rst)
    s__angle_presum <= @ACCUM_WIDTH@'d0;
  else
    s__angle_presum <= s__angle + { {(@RATE_SCALE@){s__rate[@RATE_WIDTH@-1]}}, s__rate[@RATE_WIDTH@-1:@ACCEL_RES@-@ACCUM_RES@] };
always @ (posedge i_clk)
  if (i_rst) begin
    s__angle <= @ACCUM_WIDTH@'d0;
    s__rate  <= @RATE_WIDTH@'d0;
    s__accel <= @ACCEL_WIDTH@'d0;
@OUTMODE_BEGIN@
    s__mode  <= @MODE_WIDTH@'d0;
@OUTMODE_END@
  end else if (s__load_next && !s__FIFO_empty) begin
    s__angle <= {(@ACCUM_WIDTH@){s__next_rate[@RATECMD_WIDTH@-1]}};
    s__rate  <= { s__next_rate, {(@ACCEL_RES@-@RATE_RES@){1'b0}} };
    s__accel <= s__next_accel;
@OUTMODE_BEGIN@
    s__mode  <= s__next_mode;
@OUTMODE_END@
  end else if (!s__running || (s__load_next && s__FIFO_empty)) begin
    s__angle <= @ACCUM_WIDTH@'d0;
    s__rate  <= @RATE_WIDTH@'d0;
    s__accel <= @ACCEL_WIDTH@'d0;
@OUTMODE_BEGIN@
    s__mode  <= s__mode;
@OUTMODE_END@
  end else begin
    if (@S__CLK_EN@) begin
      s__angle <= s__angle_presum;
      s__rate  <= s__rate  + { {(@ACCEL_SCALE@-@RATE_SCALE@){s__accel[@ACCEL_WIDTH@-1]}}, s__accel };
    end else begin
      s__angle <= s__angle;
      s__rate  <= s__rate;
    end
    s__accel <= s__accel;
@OUTMODE_BEGIN@
    s__mode  <= s__mode;
@OUTMODE_END@
  end
// Generate the direction and step signals.
assign s__step_pre = (s__angle[@ACCUM_WIDTH@-1] != s__angle_presum[@ACCUM_WIDTH@-1]);
always @ (posedge i_clk)
  if (i_rst) begin
    o__dir <= 1'b0;
    o__step <= 1'b0;
  end else if (@S__CLK_EN@) begin
    o__dir <= s__rate[@RATE_WIDTH@-1];
    o__step <= s__step_pre;
  end else begin
    o__dir <= o__dir;
    o__step <= o__step;
  end
@OUTMODE_BEGIN@
always @ (posedge i_clk)
  if (i_rst)
    o__mode <= @OUTMODEWIDTH@'d0;
  else if (@S__CLK_EN@)
    o__mode <= s__mode;
  else
    o__mode <= o__mode;
@OUTMODE_END@

Line No.	Rev	Author	Line
1	9	sinclairrf	`//`
2			`// PERIPHERAL stepper_motor: @NAME@`
3			`// Copyright 2015, Sinclair R.F., Inc.`
4			`//`
5			`@MASTER_BEGIN@`
6			`localparam L__RATEMETHOD_MINUS_1 = @RATEMETHOD@ - 1;`
7			`localparam L__NBITS_RATEMETHOD = clog2(L__RATEMETHOD_MINUS_1);`
8	10	sinclairrf	`// Assemble the byes of the control word from the input bytes.`
9	9	sinclairrf	`reg [@CONTROL_WIDTH@-1:0] s__input_control_word = {(@CONTROL_WIDTH@){1'b0}};`
10			`always @ (posedge i_clk)`
11			`if (i_rst)`
12			`s__input_control_word <= {(@CONTROL_WIDTH@){1'b0}};`
13			`else if (s_outport && (s_T == 8'd@IX_OUTCONTROL@))`
14			`s__input_control_word <= { s__input_control_word[0+:@CONTROL_WIDTH@-@DW@], s_N };`
15			`else`
16			`s__input_control_word <= s__input_control_word;`
17			`wire [@CONTROL_WIDTH_PACKED@-1:0] s__input_control_word_packed = {`
18			`s__input_control_word[@DW@((@MODE_WIDTH@+@DWM1@)/@DW@)+@DW@((@COUNT_WIDTH@+@DWM1@)/@DW@)+@DW@*((@ACCEL_WIDTH@+@DWM1@)/@DW@)+:@RATECMD_WIDTH@],`
19			`s__input_control_word[@DW@((@MODE_WIDTH@+@DWM1@)/@DW@)+@DW@((@COUNT_WIDTH@+@DWM1@)/@DW@)+:@ACCEL_WIDTH@],`
20			`s__input_control_word[@DW@*((@MODE_WIDTH@+@DWM1@)/@DW@)+:@COUNT_WIDTH@]`
21			`@OUTMODE_BEGIN@`
22			`, s__input_control_word[0+:@MODE_WIDTH@]`
23			`@OUTMODE_END@`
24			`};`
25	10	sinclairrf	`@MASTER_END@`
26	9	sinclairrf	`// Instantiate the control word FIFO and operate its input side.`
27			`reg s__FIFO_wr = 1'b0;`
28			`always @ (posedge i_clk)`
29			`if (i_rst)`
30			`s__FIFO_wr <= 1'b0;`
31			`else`
32			`s__FIFO_wr <= (s_outport && (s_T == 8'd@IX_OUTRECORD@));`
33			`reg [@NBITS_FIFO_DEPTH@:0] s__FIFO_in_addr = {(@NBITS_FIFO_DEPTH@+1){1'b0}};`
34			`always @ (posedge i_clk)`
35			`if (i_rst)`
36			`s__FIFO_in_addr <= {(@NBITS_FIFO_DEPTH@+1){1'b0}};`
37			`else`
38			`s__FIFO_in_addr <= s__FIFO_in_addr + { @NBITS_FIFO_DEPTH@'d0, s__FIFO_wr };`
39			`reg [@CONTROL_WIDTH_PACKED@-1:0] s__FIFO[@FIFO_DEPTH@-1:0];`
40			`always @ (posedge i_clk)`
41			`if (s__FIFO_wr)`
42	10	sinclairrf	`s__FIFO[s__FIFO_in_addr[0+:@NBITS_FIFO_DEPTH@]] <= @S__INPUT_CONTROL_WORD_PACKED@;`
43	9	sinclairrf	`// Operate the output side of the FIFO and translate the packed controls into`
44			`// individual signals.`
45			`reg s__FIFO_rd = 1'b0;`
46			`reg [@NBITS_FIFO_DEPTH@:0] s__FIFO_out_addr = {(@NBITS_FIFO_DEPTH@+1){1'b0}};`
47			`always @ (posedge i_clk)`
48			`if (i_rst)`
49			`s__FIFO_out_addr <= {(@NBITS_FIFO_DEPTH@+1){1'b0}};`
50			`else`
51			`s__FIFO_out_addr <= s__FIFO_out_addr + { @NBITS_FIFO_DEPTH@'d0, s__FIFO_rd };`
52			`reg [@CONTROL_WIDTH_PACKED@-1:0] s__output_control_word = @CONTROL_WIDTH_PACKED@'d0;`
53			`always @ (posedge i_clk)`
54			`s__output_control_word <= s__FIFO[s__FIFO_out_addr[0+:@NBITS_FIFO_DEPTH@]];`
55			`wire [@RATECMD_WIDTH@-1:0] s__next_rate = s__output_control_word[@MODE_WIDTH@+@COUNT_WIDTH@+@ACCEL_WIDTH@+:@RATECMD_WIDTH@];`
56			`wire [@ACCEL_WIDTH@-1:0] s__next_accel = s__output_control_word[@MODE_WIDTH@+@COUNT_WIDTH@+:@ACCEL_WIDTH@];`
57			`wire [@COUNT_WIDTH@-1:0] s__next_count = s__output_control_word[@MODE_WIDTH@+:@COUNT_WIDTH@];`
58			`@OUTMODE_BEGIN@`
59			`wire [@MODE_WIDTH@-1:0] s__next_mode = s__output_control_word[0+:@MODE_WIDTH@];`
60			`@OUTMODE_END@`
61			`// Indicate whether or not the FIFO is empty.`
62			`reg s__FIFO_empty = 1'b1;`
63			`always @ (posedge i_clk)`
64			`if (i_rst)`
65			`s__FIFO_empty <=1'b1;`
66			`else`
67			`s__FIFO_empty <= (s__FIFO_out_addr == s__FIFO_in_addr);`
68			`@MASTER_BEGIN@`
69			`// Generate the clock enable for the effective internal clock rate.`
70			`reg s__clk_en = 1'b0;`
71			`reg [L__NBITS_RATEMETHOD-1:0] s__clk_en_count = L__RATEMETHOD_MINUS_1[0+:L__NBITS_RATEMETHOD];`
72			`always @ (posedge i_clk)`
73			`if (i_rst) begin`
74			`s__clk_en <= 1'b0;`
75			`s__clk_en_count <= L__RATEMETHOD_MINUS_1[0+:L__NBITS_RATEMETHOD];`
76			`end else begin`
77			`s__clk_en <= (s__clk_en_count == { {(L__NBITS_RATEMETHOD-1){1'b0}}, 1'b1 });`
78			`if (s__clk_en)`
79			`s__clk_en_count <= L__RATEMETHOD_MINUS_1[0+:L__NBITS_RATEMETHOD];`
80			`else`
81			`s__clk_en_count <= s__clk_en_count - { {(L__NBITS_RATEMETHOD-1){1'b0}}, 1'b1 };`
82			`end`
83			`@MASTER_END@`
84			`// Capture the start strobe from the micro controller.`
85			`reg s__go = 1'b0;`
86			`always @ (posedge i_clk)`
87			`if (i_rst)`
88			`s__go <= 1'b0;`
89			`else if (s_outport && (s_T == 8'd@IX_OUTRUN@))`
90			`s__go <= 1'b1;`
91			`else if (@S__CLK_EN@)`
92			`s__go <= 1'b0;`
93			`else`
94			`s__go <= s__go;`
95			`// Indicate when the controller is running.`
96			`reg s__running = 1'b0;`
97			`wire s__load_next;`
98			`always @ (posedge i_clk)`
99			`if (i_rst)`
100			`s__running <= 1'b0;`
101			`else if (s__go && @S__CLK_EN@)`
102			`s__running <= 1'b1;`
103			`else if (s__load_next && s__FIFO_empty)`
104			`s__running <= 1'b0;`
105			`else`
106			`s__running <= s__running;`
107			`always @ (posedge i_clk)`
108			`if (i_rst)`
109			`s__done <= 1'b1;`
110			`else if (s_outport && (s_T == 8'd@IX_OUTRUN@))`
111			`s__done <= 1'b0;`
112			`else`
113			`s__done <= !s__go && !s__running;`
114			`// Operate the step count`
115			`wire s__step_pre;`
116			`reg [@COUNT_WIDTH@-1:0] s__count = @COUNT_WIDTH@'d0;`
117			`reg s__count_zero = 1'b1;`
118			`always @ (posedge i_clk)`
119			`if (i_rst)`
120			`s__count <= @COUNT_WIDTH@'d0;`
121			`else if (s__load_next && !s__FIFO_empty)`
122			`s__count <= s__next_count;`
123			`else if (@S__CLK_EN@ && s__step_pre)`
124			`s__count <= s__count - { {(@COUNT_WIDTH@-1){1'b0}}, !s__count_zero };`
125			`else`
126			`s__count <= s__count;`
127			`always @ (posedge i_clk)`
128			`if (i_rst)`
129			`s__count_zero <= 1'b1;`
130			`else`
131			`s__count_zero <= (s__count == @COUNT_WIDTH@'d0);`
132			`assign s__load_next = @S__CLK_EN@ && (s__go \|\| s__running && s__step_pre && s__count_zero);`
133			`always @ (posedge i_clk)`
134			`if (i_rst)`
135			`s__FIFO_rd <= 1'b0;`
136			`else`
137			`s__FIFO_rd <= s__load_next && !s__FIFO_empty;`
138			`// Operate the accumulators.`
139			`reg [@ACCUM_WIDTH@-1:0] s__angle = @ACCUM_WIDTH@'d0;`
140			`reg [@RATE_WIDTH@-1:0] s__rate = @RATE_WIDTH@'d0;`
141			`reg [@ACCEL_WIDTH@-1:0] s__accel = @ACCEL_WIDTH@'d0;`
142			`@OUTMODE_BEGIN@`
143			`reg [@MODE_WIDTH@-1:0] s__mode = @MODE_WIDTH@'d0;`
144			`@OUTMODE_END@`
145			`reg [@ACCUM_WIDTH@-1:0] s__angle_presum = @ACCUM_WIDTH@'d0;`
146			`always @ (posedge i_clk)`
147			`if (i_rst)`
148			`s__angle_presum <= @ACCUM_WIDTH@'d0;`
149			`else`
150			`s__angle_presum <= s__angle + { {(@RATE_SCALE@){s__rate[@RATE_WIDTH@-1]}}, s__rate[@RATE_WIDTH@-1:@ACCEL_RES@-@ACCUM_RES@] };`
151			`always @ (posedge i_clk)`
152			`if (i_rst) begin`
153			`s__angle <= @ACCUM_WIDTH@'d0;`
154			`s__rate <= @RATE_WIDTH@'d0;`
155			`s__accel <= @ACCEL_WIDTH@'d0;`
156			`@OUTMODE_BEGIN@`
157			`s__mode <= @MODE_WIDTH@'d0;`
158			`@OUTMODE_END@`
159			`end else if (s__load_next && !s__FIFO_empty) begin`
160			`s__angle <= {(@ACCUM_WIDTH@){s__next_rate[@RATECMD_WIDTH@-1]}};`
161			`s__rate <= { s__next_rate, {(@ACCEL_RES@-@RATE_RES@){1'b0}} };`
162			`s__accel <= s__next_accel;`
163			`@OUTMODE_BEGIN@`
164			`s__mode <= s__next_mode;`
165			`@OUTMODE_END@`
166			`end else if (!s__running \|\| (s__load_next && s__FIFO_empty)) begin`
167			`s__angle <= @ACCUM_WIDTH@'d0;`
168			`s__rate <= @RATE_WIDTH@'d0;`
169			`s__accel <= @ACCEL_WIDTH@'d0;`
170			`@OUTMODE_BEGIN@`
171			`s__mode <= s__mode;`
172			`@OUTMODE_END@`
173			`end else begin`
174			`if (@S__CLK_EN@) begin`
175			`s__angle <= s__angle_presum;`
176			`s__rate <= s__rate + { {(@ACCEL_SCALE@-@RATE_SCALE@){s__accel[@ACCEL_WIDTH@-1]}}, s__accel };`
177			`end else begin`
178			`s__angle <= s__angle;`
179			`s__rate <= s__rate;`
180			`end`
181			`s__accel <= s__accel;`
182			`@OUTMODE_BEGIN@`
183			`s__mode <= s__mode;`
184			`@OUTMODE_END@`
185			`end`
186			`// Generate the direction and step signals.`
187			`assign s__step_pre = (s__angle[@ACCUM_WIDTH@-1] != s__angle_presum[@ACCUM_WIDTH@-1]);`
188			`always @ (posedge i_clk)`
189			`if (i_rst) begin`
190			`o__dir <= 1'b0;`
191			`o__step <= 1'b0;`
192			`end else if (@S__CLK_EN@) begin`
193			`o__dir <= s__rate[@RATE_WIDTH@-1];`
194			`o__step <= s__step_pre;`
195			`end else begin`
196			`o__dir <= o__dir;`
197			`o__step <= o__step;`
198			`end`
199			`@OUTMODE_BEGIN@`
200			`always @ (posedge i_clk)`
201			`if (i_rst)`
202			`o__mode <= @OUTMODEWIDTH@'d0;`
203			`else if (@S__CLK_EN@)`
204			`o__mode <= s__mode;`
205			`else`
206			`o__mode <= o__mode;`
207			`@OUTMODE_END@`

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[/] [ssbcc/] [trunk/] [core/] [9x8/] [peripherals/] [stepper_motor.v] - Blame information for rev 10