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Gateware
"Gateware" is what we call the FPGA programming that makes Dexter stunningly responsive. It allows feedback from encoder to motor in as little as 200 nanoseconds.
Dexters gateware configures the Xilinx Inc. XC7Z010-1CLG400C FPGA from the image of the micro SD card on the microzed board.
The DexRun.c firmware communicates with the gateware by setting and reading memory mapped registers through the 'w' command oplet
| Addr | Function |
|---|---|
| 5 | ACCELERATION_MAXSPEED |
| 42 | COMMAND_REG Bits: 1:CapCalibrateBase 2:CapCalibrateEnd 3:CapCalibratePivot 4: GoMove 5: SelectMoveChange 6: EnableLoop 7: AClrLoop 8: CAL_RUN 9: ResetForce |
| 79 | PID? Timebase Divisor |
| 80 | Physics J123? Timebase Divisor |
| 81 | Physics J45? Timebase Divisor |
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