Clone this repo:


  1. a76f339 final gds & drc results by Jeff DiCorpo · 4 days ago master
  2. 06274ed Merge pull request #28 from RAPcores/tb_automation by Steve Kelly · 5 weeks ago
  3. e12b462 Merge pull request #29 from RAPcores/sjk/tb_auto_docs1 by johnnyr · 5 weeks ago
  4. 91ddaab add instructions for running gate level sim by Steve Kelly · 5 weeks ago
  5. 9cf56e5 basic automated functional test by johnnyr · 5 weeks ago

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:

cd verilog/dv/caravel/rapcore/io_ports
make clean


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

Build Requirements

See for local development instructions.



ISC License.