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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](https://en.wikipedia.org/wiki/ISC_license).