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rapcores

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RAPcore Caravel Flow

https://rapcores.github.io/rapcores/

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:

cd verilog/dv/caravel/rapcore/io_ports

make clean make

Features

  • Onboard stepper motor commutator with microstepping
  • Fixed Point Step-Timing Algorithm
  • High-speed Quadrature Encoder Accumulator
  • High-Speed SPI Bus

Build Requirements

See INSTALL.md for local development instructions.

Documentation

https://rapcores.github.io/rapcores/

License

ISC License.

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project layout image
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Owner

Steve Kelly

Organization URL

http://rapcores.org

Summary

RAPcore motor and motion controller on the Google sponsored Open MPW shuttles for SKY130.

Version

1.00

Category

Test Harness

Process

SKY130

Tags

Open MPW

Test Harness

Motor Control

MPW-ONE