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| − | {{private}}
| + | #REDIRECT [[Kart]] |
| − | {{TOC right}}
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| − | == FPGA boards ==
| + | [[Category:Kart]] |
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| − | The FPGA modules use MicroSemi [http://www.actel.com/products/igloo/ IGLOO] low-power FPGAs.
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| − | The boards have been designed for AGL125 in a VQ100 package.
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| − | However, it is possible to mount the following devices with the same package on that board:
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| − | * AGL060: 1'536 VersaTiles, 4 4'608-bit RAMs
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| − | * AGL125: 3'072 VersaTiles, 8 4'608-bit RAMs
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| − | * AGL250: 6'144 VersaTiles, 8 4'608-bit RAMs
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| − | One VersaTile can implement a 3-input combinatorial function or an E-flipflop.
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| − | | + | |
| − | === Pin Compatibility ===
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| − | As a simple compatibility rule for these devices, one should use:
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| − | * pins 43, 60, 93 and 94 for I/Os but not as a clock inputs
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| − | * pin 99 tied to GNDQ
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| − | * pin 100 tied to VMV0 (3.3 V)
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| − | | + | |
| − | === Global Clock Networks ===
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| − | Note that pin names starting with '''GF''' and '''GC''' are associated with the chip global networks, and GA, GB, GD, and GE are used for quadrant global networks.
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| − | In case of the AGL060 - AGL250 the following pins are truly Global Clocks.
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| − | * pins 10, 11, 13, 15, 16 for Network GF
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| − | * pins 61, 62, 63, 64, 65 for Network GC
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| − | == Synthesis results ==
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| − | The device usage gives an idea if the synthesis has worked properly.
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| − | Here the results for the AGLN125V5:
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| − | * [[Kart/Bluetooth|controller]]: 40 % + 2 Block RAMs
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| − | * [[Kart/DC motor controller#FPGA design|DC motor]]: 13 %
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| − | * [[Kart/stepper motor controller#FPGA design|stepper motor]]: 25 %
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| − | * I/O board: 34 %
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| − | == Sequencer ==
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| − | The sequencer allows to store and play a special move specified by a sequence of commands.
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| − | | + | |
| − | === SmartPhone to Kart ===
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| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! Address
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| − | ! Datatype
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| − | ! Description
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| − | |-
| + | |
| − | | 7
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| − | | UINT2
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| − | | Control register
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| − | |-
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| − | | 8
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| − | | UINT16
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| − | | Sequence register
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| − | |}
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| − | | + | |
| − | ==== Control register ====
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| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! Bit
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| − | ! Meaning
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| − | ! Description
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| − | |-
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| − | | 0
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| − | | New sequence
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| − | | sets the sequence RAM address back to 0
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| − | |-
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| − | | 1
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| − | | Run / stop
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| − | | starts or stops a sequence
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| − | |}
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| − | | + | |
| − | ==== Sequence register ====
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| − | | + | |
| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! Bit
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| − | ! Meaning
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| − | ! Description
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| − | |-
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| − | | 15 ÷ 12
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| − | | Command
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| − | | 0: nop <br /> 1: set_speed(speed) <br /> 2: set_angle(angle) <br /> 3: set_LEDs(pattern) <br /> 4: run_distance(hall ticks) <br /> 5: run_for(milliseconds) <br /> 6: run_until(event) <br /> F: end
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| − | |-
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| − | | 11 ÷ 0
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| − | | Argument
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| + | |
| − | |}
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| − | | + | |
| − | === Kart to SmartPhone ===
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| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! Address
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| − | ! Datatype
| + | |
| − | ! Description
| + | |
| − | |-
| + | |
| − | | 7
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| − | | UINT16
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| − | | status
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| − | |}
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| − | | + | |
| − | ==== Status register ====
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| − | | + | |
| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! Bit
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| − | ! Meaning
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| − | ! Description
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| − | |-
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| − | | 0
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| − | | Running
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| − | | indicates that a sequence is currently running
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| − | |}
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