The FPGA code for the cobras
There are two parts to this:
-
the C + FPGA code for the Kintex controller board. I believe it is something like the https://www.xilinx.com/products/boards-and-kits/ek-k7-kc705-g.html#hardware . These have embeddable CPUs, hence the C code for the protocol parsing. Nice and simple. This is in
pfs_ctrlr -
the FPGA code for the motor boards. This is in
driver_board_em2. Also nice and simple.