An ice40 Beagleg backend replacing a PRU with an FPGA.

Send bitstream

To send the generated bitstream to the usb-connected FPGA use: dfu-util -D beagle-spi.dfu.

Simulation

TODOs

[ ] Spi Protocol

Master initializes the comm. First byte is a command:

COMMANDS:

• NOOP: Receive back the number of free slots we have in fifo.
• STATUS: return as next 4 bytes the status
• FILL_FIFO: The next transaction put all the data in fifo (until channel select is up again)

Formal verification

To run symbiosis, use sby -f fifo.sby

Planning-related research papers

• An Optimal Feed Interpolator Based on G2 Continuous Bézier Curves for High-Speed Machining of Linear Tool Path
• A real-time interpolator for parametric curves
• A curvature optimal sharp corner smoothing algorithm for high-speed feed motion generation of NC systems along linear tool paths