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| − | {{private}}
| + | #REDIRECT [[Kart]] |
| − | {{TOC right}}
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| − | == FPGA boards ==
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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, 64 % + 6 Block RAMs with the (1024 steps) sequencer
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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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| − | * [[Kart/sensor board#FPGA design|I/O board]]: 36 %
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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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| − | |-
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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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| − | | Reset sequence
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| − | | sets the sequence RAM write and read addresses 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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| − | The sequence memory is made out of 16-bit controls and the sequence can range up to 2<sup>10</sup> operations.
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| − | From the communication point of view, the sequence memory is seen as a FIFO :
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| − | the sequence operations are pushed one after the other into the sequence register,
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| − | starting at the first one of the list after the <code>reset sequence</code> bit
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| − | has been set in the [[#Control register|control register]]
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| − | The sequence operations are split into 2 parts: a 4-bit command and optional parameters.
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| − | A sequence register has been defined in order to build loops:
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| − | the <code>goto</code> operation is only carried out if the register is not zero.
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| − | The register is initialised with all bits to '1'.
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| − | {| cellpadding="4" cellspacing="0" border="1"
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| − | ! colspan = "2" | command
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| − | ! parameter
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| − | | comment
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| − | |-
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| − | | Bits
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| − | ! colspan = "2" | 15 ÷ 12
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| − | ! 11 ÷ 0
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| − | |
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| − | |-
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| − | | rowspan = "13" | || 0 || nop || ||
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| − | |-
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| − | | 1 || set speed || speed || set the propulsion motor speed
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| − | |-
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| − | | 2 || set angle || angle || set the direction motor angle
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| − | |-
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| − | | 3 || drive LEDs || pattern || specify a given pattern for turning the LEDs on or off
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| − | |-
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| − | | 4 || set LEDs || mask || set bits from '1's of mask
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| − | |-
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| − | | 5 || clear LEDs || mask || clear bits from '1's of mask
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| − | |-
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| − | | 6 || blink LEDs || period, mask || ''not implemented yet''
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| − | |-
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| − | | 8 || run distance || hall ticks || run until the Hall counter has augmented by at least a given tick number
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| − | |-
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| − | | 9 || run for || milliseconds || run for a specified time span
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| − | |-
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| − | | A || run until || event || ''not implemented yet''
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| − | |-
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| − | | D || modify register || operation, operand || bits 11÷10 : 00 = set, 10 = add, 11 = sub / bits 9÷0 : operand
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| − | |-
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| − | | E || goto nz || address || jumps to the specified sequence step as long as the register is not zero
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| − | |-
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| − | | F || end || || the sequence controller in the FPGA stops and the <code>running</code> status bit is cleared, announcing that the sequence is terminated
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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
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| − | ! Description
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| − | |-
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| − | | 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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| − | | 15 ÷ 12
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| − | | Current command
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| − | | indicates which command is currently being processed
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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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| | [[Category:Kart]] | | [[Category:Kart]] |
