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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 SD card image has multiple partitions, one is the actual hard drive image when running in the robot. Another is the FAT partition which contains UBOOT, ZIMAGE, DTS (Device Tree) and the Gateware .BIT file. Those can be updated individually.
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: ResetMotorPosition 10: ResetForce 13-14: DiffAxisEnable |
| 79 | PID? Timebase Divisor |
| 80 | Physics J123? Timebase Divisor |
| 81 | Physics J45? Timebase Divisor |
To search the Wiki, use the main search box in the black bar at the top, then select WiKi to filter the results or go to https://github.com/HaddingtonDynamics/Dexter/search?type=Wikis&q= and then add your search terms to the end of the URL.
To report errors, or request additional data, please chat with us on discord and/or raise a new issue