Add FPGA steppers peripheral

firmware/firmware-makerpnpcontrolcore/fpga-pac/README.md

@@ -63,11 +63,15 @@ OctoSPI transaction that writes to 2 adjacent registers.
 This is currently a manual process.
 
 * rebase on a commit before the patches were applied
-* move patch comments to the end of commit history
+* COPY patch commits to the end of commit history
 * add a break before the commits are applied
 * disable patches in rebuild.sh, commit
 * rebuild, commit unpatched svd.
-* continue rebasing, updating patches.
-* run git format patch HEAD~n for the patch commits
-* revert the disable patches commit
-* run rebuild, commit updated patches.
+* continue rebasing, updating patch commits, resolve merge conflicts if they don't apply cleanly to the generated code. do not modify the patch files themselves.
+* run git format-patch HEAD~n for the patch commits
+* move the updated patch files to the patches directory.
+* run git add on the updated patch files.
+* run git rm on any unused patch files.
+* add the patches back to rebuild.sh, run rebuild.sh, when it applies cleanly commit updated patches and rebuild.sh as one commit.
+* if any new patches are required, create commits that modify the generated code. then as a separate commit, use format-patch again and add them to the repo.
+* rebase if required to clean up the history.

firmware/firmware-makerpnpcontrolcore/fpga-pac/patches/0001-delete-interrupt-block.patch

@@ -1,14 +1,14 @@
-From b4fa5bd97d767d5fc472c04f407012602f916eb4 Mon Sep 17 00:00:00 2001
+From cc69b3a804fdc73da51e8892d88a3b778e8bb4cd Mon Sep 17 00:00:00 2001
 From: Dominic Clifton <me@dominicclifton.name>
 Date: Sun, 28 Jun 2026 15:50:00 +0200
-Subject: [PATCH 1/4] delete-interrupt-block
+Subject: [PATCH 1/3] delete-interrupt-block
 
 ---
  .../fpga-pac/src/lib.rs                             | 13 -------------
  1 file changed, 13 deletions(-)
 
 diff --git a/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs b/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
-index 35f226f..a723787 100644
+index 93aa9cf..ae90b98 100644
 --- a/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
 +++ b/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
 @@ -3,15 +3,6 @@
@@ -27,8 +27,8 @@ index 35f226f..a723787 100644
  #[cfg(feature = "rt")]
  mod _vectors {
      unsafe extern "C" {}
-@@ -39,10 +30,6 @@ pub const ENCODERS: encoders::encoders =
-     unsafe { encoders::encoders::from_ptr(0x9000_0c00usize as _) };
+@@ -45,10 +36,6 @@ pub const STEPPERS: steppers::steppers =
+     unsafe { steppers::steppers::from_ptr(0x9000_0d00usize as _) };
  #[doc = "system block 1"]
  pub const SYSTEM1: system1::system1 = unsafe { system1::system1::from_ptr(0x9000_ff00usize as _) };
 -#[cfg(feature = "rt")]

firmware/firmware-makerpnpcontrolcore/fpga-pac/patches/0002-delete-rt-block.patch

@@ -1,14 +1,14 @@
-From e91fc7b6296553ffdca529a117dee27f396522cb Mon Sep 17 00:00:00 2001
+From 8dc618fc00d1e068053b50eaed89a3274e8ff0b9 Mon Sep 17 00:00:00 2001
 From: Dominic Clifton <me@dominicclifton.name>
 Date: Thu, 18 Jun 2026 12:19:11 +0200
-Subject: [PATCH 2/4] delete-rt-block
+Subject: [PATCH 2/3] delete-rt-block
 
 ---
  .../firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs  | 11 -----------
  1 file changed, 11 deletions(-)
 
 diff --git a/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs b/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
-index a723787..f087c24 100644
+index ae90b98..c20d45f 100644
 --- a/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
 +++ b/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
 @@ -3,17 +3,6 @@

firmware/firmware-makerpnpcontrolcore/fpga-pac/patches/0003-octospi-fifo-bypass.patch

@@ -1,17 +1,17 @@
-From 161ac28ee2590e5d6a16f1cec31ef55f88bd2a83 Mon Sep 17 00:00:00 2001
+From 4bad8de36ab42e6fa5799e6598e75802843ca5cb Mon Sep 17 00:00:00 2001
 From: Dominic Clifton <me@dominicclifton.name>
 Date: Thu, 18 Jun 2026 12:08:08 +0200
-Subject: [PATCH 3/4] octospi-fifo-bypass
+Subject: [PATCH 3/3] octospi-fifo-bypass
 
 ---
  .../fpga-pac/src/lib.rs                       | 56 +++++++++++++++++++
  1 file changed, 56 insertions(+)
 
 diff --git a/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs b/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
-index f087c24..8d2c6ac 100644
+index c20d45f..1a98bf6 100644
 --- a/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
 +++ b/firmware/firmware-makerpnpcontrolcore/fpga-pac/src/lib.rs
-@@ -102,7 +102,47 @@ pub mod buzzer {
+@@ -108,7 +108,47 @@ pub mod buzzer {
      }
  }
  pub mod common {
@@ -59,7 +59,7 @@ index f087c24..8d2c6ac 100644
      #[derive(Copy, Clone, PartialEq, Eq)]
      pub struct RW;
      #[derive(Copy, Clone, PartialEq, Eq)]
-@@ -147,12 +187,28 @@ pub mod common {
+@@ -153,12 +193,28 @@ pub mod common {
              self.ptr as _
          }
      }

firmware/firmware-makerpnpcontrolcore/fpga-pac/rebuild.sh

@@ -5,5 +5,4 @@ rustfmt src/lib.rs
 git apply < patches/0001-delete-interrupt-block.patch
 git apply < patches/0002-delete-rt-block.patch
 git apply < patches/0003-octospi-fifo-bypass.patch
-git apply < patches/0004-add-ws2812_1.patch
 rm src/device.x