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--- usersguide [2021/12/24 00:32]
dpisuperadmin [What Are Software Defined Peripherals (SDP)?]
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-==== Architectures for Software Defined Peripherals ====
-Figure 1 shows the internal architecture of DPCore with some typical peripherals.  The areas in gray are built into every DPCore.  The peripherals in white can change from one DPCore to the next.  Later you will see how to build DPCore with your own selection of peripherals.  Each peripheral is assigned a slot that has four dedicated FPGA pins.  (Slot 10 has 3 pins.)  The address bus in DPCore has 12 bits.  The high 4 bits select the peripheral making the low 8 bits are available to the peripheral.  Peripheral #0 is the enumerator, a read-only memory that has a list of the peripherals in the SDP image.  At system start the host reads the enumerator to find what peripherals are available.  The host can read and write peripherals on the bus by sending a command packet to DPCore.  The command packet is decoded by the Command Parser and converted to read and write bus cycles.  Commands can read or write to sequential addresses or can read or write to one address if a FIFO.  Command packet are encapsulated using SLIP even though the packets are not IP packets.
-===== Software Defined Peripherals on the Baseboard4 =====
-==== Physical Arrangement of Cards ====
-==== Generating a DPCore Binary ====
-==== Loading and Running dpdaemon ====
-==== The dpdaemon API ====
-===== Build a Robot Using a Baseboard4 =====
-==== Mechanical Build of a SDP Based Robot ====
-=== Parts List ===
-=== Assembly and Test ===
-===== Use sdpdaemon to Control Your Robot =====
-===== Use ROS2 to Control Your Robot =====
-==== ROS2 Installation ====
-===== Use MicroROS to Control Your Robot =====
-===== How to Write a  Peripheral Driver Module =====
-===== How to Write a Verilog Peripheral =====

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