RAPcores

https://rapcores.org/rapcores/

Robotic Application Processing Cores.

RAPcores is a motor and motion control toolkit for FPGAs and ASIC devices. It creates a peripheral that sits between kinematics engines and motors to free up processing power, enrich dynamical models, and greatly simplify the motor driver.

Docs

• Build
• Configuration
• Releases
• Motor Control Guide
• ASIC Deployments
• SPI Interface
• Register Map
• Support Software
• C API

FPGA Support

The following FPGA architectures are supported and tested on our build configuration system:

• iCE40
• ECP5
• Gowin (Experimental)
• nexus (Experimental)

We welcome ports to other architectures.

An early pathfinder has been hardened on ASIC for the Skywater Open MPW run using OpenLANE:

• MPW-one ASIC

RAPcores RTL is written in Verilog and tested with Yosys and IVerilog.

License

ISC License