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Gateware
JamesNewton edited this page Apr 13, 2018
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"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 on the zedboard.
The DexRun.c firmware communicates with the gateware by setting and reading memory mapped registers.
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