Robotic Application Processing Cores.
RAPcores is a project targeting FPGAs and ASIC devices for the next generation of motor and motion control applications. It is a peripheral that sits between firmwares and motors to free up processing on the microcontroller and greatly simplify the motor driver.
- Onboard stepper motor commutator (64x microstepping)
- High precision Fixed Point Step-Timing Algorithm
- High speed Quadrature Encoder Accumulator
- High Speed SPI Bus
- Multi-channel control with protocol support up to 56 motors
The following FPGA architectures are supported and tested:
- 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:
RAPcores uses the free and open source Yosys and nextpnr tool chains. See the dev docs for more information.