| <!--[](https://opensource.org/licenses/Apache-2.0) [](https://github.com/efabless/caravel_project_example/actions/workflows/user_project_ci.yml) [](https://github.com/efabless/caravel_project_example/actions/workflows/caravel_build.yml)--> |
| |
| # License |
| |
| This is licensed under GNU General Public License v3.0 . Presently the efabless mpw_precheck tool recognizes the GPL 3.0 license file as the AGPL-3.0 license file which is prohibited. However, the GPL 3.0 is in the approved license lists (```https://github.com/efabless/mpw_precheck/tree/mpw-5c/checks/license_check/_licenses/_approved_licenses```). Thus, we have changed the LICENSE to reflect the Apache 2.0 License for the purpose of passing the mpw_precheck only. Again, the license is GPL 3.0. |
| |
| # Actuator Controller |
| |
| This design is to precisely control the timing sequence of 10 micro-motors. The SPI enterface allows a microcontroller to pass the required commands to adjust the firing order and width of the PWM pulses. |
| |
| ## Harding Design |
| ``` |
| make actuator_driver_controller |
| make user_project_wrrappper |
| ``` |
| ## RTL Simulation |
| ``` |
| make verify-spi_transfer_test-rtl # run spi passthrough |
| make verify-memory_test-rtl # run read and write to memory test |
| make verify-actuator_driver_test0-rtl # set actuator to all zeros position test |
| make verify-actuator_driver_test1-rtl # set actuator to count up and done one bit at a time |
| make verify-actuator_driver_test1-rt2 # set actuator to count up and done one bit at a time, invert output test |
| ``` |
| ## GL Simulation |
| ``` |
| make verify-spi_transfer_test-gl # run spi passthrough |
| make verify-memory_test-gl # run read and write to memory test |
| make verify-actuator_driver_test0-gl # set actuator to all zeros position test |
| make verify-actuator_driver_test1-gl # set actuator to count up and done one bit at a time |
| make verify-actuator_driver_test1-gl # set actuator to count up and done one bit at a time, invert output test |
| ``` |
| ## GL+SDF Simulation |
| ``` |
| make verify-spi_transfer_test-gl-sdf # run spi passthrough |
| make verify-memory_test-gl-sdf # run read and write to memory test |
| make verify-actuator_driver_test0-gl-sdf # set actuator to all zeros position test |
| make verify-actuator_driver_test1-gl-sdf # set actuator to count up and done one bit at a time |
| make verify-actuator_driver_test1-gl-sdf # set actuator to count up and done one bit at a time, invert output test |
| ``` |
| ## Spi Commuation Packet |
| |
| ## Memory Mapped Registers |
| |
