Clone this repo:
  1. 87afcc0 Updating the shuttle_url value in `info.yaml` file. by Tim 'mithro' Ansell · 4 weeks ago main
  2. de54528 caravel_fix by Jeff DiCorpo · 1 year, 7 months ago master
  3. 5d53d74 caravel_fix by Jeff DiCorpo · 1 year, 7 months ago
  4. 4dc3c1e caravel_fix by Jeff DiCorpo · 1 year, 7 months ago
  5. e80252e caravel_fix by Jeff DiCorpo · 1 year, 8 months ago

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.