RAPcore Caravel Flow
The Robotic Application Processing Core on the OpenMPW/Caravel Shuttle run sponsored by Google .
RAPcore is a project targeting FPGAs and ASIC devices for the next generation of motor and motion control applications. It is a peripheral that sits between firmwares and motors to free up processing on the microcontroller and greatly simplify the motor driver.
Gate Level Testing
Instructions for running gate-level validation:
Make sure submodules are correct:
git submodule init
git submodule update
Gate-level testing directory:
- Onboard stepper motor commutator with microstepping
- Fixed Point Step-Timing Algorithm
- High-speed Quadrature Encoder Accumulator
- High-Speed SPI Bus
See INSTALL.md for local development instructions.