├── .gitignore ├── .vscode ├── launch.json └── tasks.json ├── Documentation ├── API Backend │ ├── Getting started │ │ └── Core mechanics.md │ ├── Motion │ │ ├── Configuration APIs.md │ │ └── Motion APIs.md │ └── Project goals and discussion.md └── API.md ├── LICENSE ├── README.md ├── controller-firmware ├── README.md ├── Vivado │ ├── .gitignore │ ├── autogen_sources │ │ └── controller.v │ ├── build.tcl │ ├── constraints │ │ └── system.xdc │ ├── controller_firmware.tcl │ ├── controller_firmware │ │ └── controller_firmware_top.xsa │ ├── controller_firmware_top.sv │ ├── controller_firmware_top.xsa │ ├── convert.bif │ ├── create_project.tcl │ ├── export bit.bin.tcl │ └── save_project.tcl └── python │ ├── .gitignore │ ├── config │ └── hardware configs │ │ └── hardware_config.yaml │ ├── generators │ └── dma_instruction_compiler.py │ ├── requirements.txt │ └── src │ ├── axi.py │ ├── biquad.py │ ├── cascaded_PI_controller.py │ ├── controller.py │ ├── convergent_round.py │ ├── dma.py │ ├── drive_serial_port.py │ ├── em_serial_controller.py │ ├── em_serial_port.py │ ├── example_module.py │ ├── fanuc_encoder.py │ ├── global_timer.py │ ├── gpio_node.py │ ├── i2c.py │ ├── interface_cards │ └── serial_interface.py │ ├── main.py │ ├── registers.py │ ├── registers2.py │ ├── sandbox │ ├── 6d_mouse_visualizer.py │ ├── biquad test.py │ ├── crc_finder.py │ ├── current_control.py │ ├── fanuc_encoder_rs422.csv │ ├── fanuc_encoder_sim.py │ ├── instructions.py │ ├── motion_planner_1.py │ ├── motion_planner_2.py │ ├── motion_planner_3.py │ ├── node_converter.py │ ├── shift_dma_compiler.py │ ├── spline_paths_1.py │ ├── test.py │ ├── test1.py │ ├── test_config.json │ ├── test_config_out.json │ ├── yaskawa_decoding.py │ ├── yaskawa_encoder_testing.py │ └── yaskawa_encoder_vis.py │ ├── scope.py │ ├── serial_controller.py │ ├── shift_dma.py │ ├── sin_cos_lookup.py │ ├── testing_block.py │ └── yaskawa_encoders.py ├── controller-software ├── config │ └── electrical │ │ ├── connectors.py │ │ ├── motor_drives │ │ └── em_hvsd.py │ │ ├── motors │ │ ├── motor_linear.py │ │ └── motor_rotary.py │ │ ├── parameters.py │ │ ├── power │ │ ├── line_reactor.py │ │ └── power_sources.py │ │ ├── test.py │ │ └── user_params.py ├── core │ ├── .gitignore │ ├── .vscode │ │ ├── controller-software-core.code-workspace │ │ ├── launch.json │ │ └── tasks.json │ ├── CMakeLists.txt │ ├── CMakePresets.json │ ├── cmake │ │ └── zynq_debug.cmake │ ├── controller │ │ ├── api_drivers │ │ │ ├── calls │ │ │ │ ├── inc │ │ │ │ │ ├── base_call.h │ │ │ │ │ ├── configure_node.h │ │ │ │ │ ├── machine_state.h │ │ │ │ │ ├── print_float.h │ │ │ │ │ └── print_uint32.h │ │ │ │ └── src │ │ │ │ │ ├── base_call.cpp │ │ │ │ │ ├── configure_node.cpp │ │ │ │ │ ├── machine_state.cpp │ │ │ │ │ ├── print_float.cpp │ │ │ │ │ └── print_uint32_t.cpp │ │ │ ├── inc │ │ │ │ ├── api_objects.h │ │ │ │ ├── controller_api.h │ │ │ │ └── shared_mem.h │ │ │ ├── src │ │ │ │ ├── api_objects.cpp │ │ │ │ ├── controller_api.cpp │ │ │ │ └── shared_mem.cpp │ │ │ ├── test_api.cpp │ │ │ ├── test_controller.cpp │ │ │ └── web_api.h │ │ ├── fpga_module_drivers │ │ │ ├── inc │ │ │ │ ├── em_serial_controller.h │ │ │ │ ├── fanuc_encoders.h │ │ │ │ ├── global_timers.h.old │ │ │ │ ├── serial_interface_card.h │ │ │ │ └── yaskawa_encoders.h │ │ │ └── src │ │ │ │ ├── em_serial_controller.cpp │ │ │ │ ├── fanuc_encoders.cpp │ │ │ │ ├── global_timers.cpp.old │ │ │ │ ├── serial_interface_card.cpp │ │ │ │ └── yaskawa_encoders.cpp │ │ ├── inc │ │ │ ├── controller.h │ │ │ ├── fpga_instructions.h │ │ │ ├── fpga_interface.h │ │ │ ├── fpga_module_driver_factory.h │ │ │ ├── fpga_module_manager.h │ │ │ ├── json.hpp │ │ │ └── register_helper.h │ │ ├── nodes │ │ │ ├── generic_nodes │ │ │ │ ├── inc │ │ │ │ │ ├── api_input.h │ │ │ │ │ ├── api_output.h │ │ │ │ │ ├── bitwise_join.h │ │ │ │ │ ├── bitwise_split.h │ │ │ │ │ ├── comparator.h │ │ │ │ │ ├── constant.h │ │ │ │ │ ├── converter.h │ │ │ │ │ ├── cycle_delay.h │ │ │ │ │ ├── edge_delay.h │ │ │ │ │ ├── edge_detect.h │ │ │ │ │ ├── em_serial_device.h │ │ │ │ │ ├── get_global_variable.h │ │ │ │ │ ├── kins.h │ │ │ │ │ ├── logic_gate.h │ │ │ │ │ ├── math_operation.h │ │ │ │ │ ├── mouse.h │ │ │ │ │ ├── multiplexer.h │ │ │ │ │ ├── pi_controller.h │ │ │ │ │ ├── print.h │ │ │ │ │ ├── set_global_variable.h │ │ │ │ │ └── vel_estimator.h │ │ │ │ └── src │ │ │ │ │ ├── api_input.cpp │ │ │ │ │ ├── api_output.cpp │ │ │ │ │ ├── bitwise_join.cpp │ │ │ │ │ ├── bitwise_split.cpp │ │ │ │ │ ├── comparator.cpp │ │ │ │ │ ├── constant.cpp │ │ │ │ │ ├── converter.cpp │ │ │ │ │ ├── cycle_delay.cpp │ │ │ │ │ ├── edge_delay.cpp │ │ │ │ │ ├── edge_detect.cpp │ │ │ │ │ ├── em_serial_device.cpp │ │ │ │ │ ├── get_global_variable.cpp │ │ │ │ │ ├── kins.cpp │ │ │ │ │ ├── logic_gate.cpp │ │ │ │ │ ├── math_operation.cpp │ │ │ │ │ ├── mouse.cpp │ │ │ │ │ ├── multiplexer.cpp │ │ │ │ │ ├── pi_controller.cpp │ │ │ │ │ ├── print.cpp │ │ │ │ │ ├── set_global_variable.cpp │ │ │ │ │ └── vel_estimator.cpp │ │ │ ├── global_variables │ │ │ │ └── inc │ │ │ │ │ └── base_global_variable.h │ │ │ ├── inc │ │ │ │ ├── base_node.h │ │ │ │ ├── node_core.h │ │ │ │ ├── node_factory.h │ │ │ │ ├── node_io.h │ │ │ │ └── node_network.h │ │ │ ├── solvers │ │ │ │ ├── inc │ │ │ │ │ └── kins_6_axis.h │ │ │ │ └── src │ │ │ │ │ └── kins_6_axis.cpp │ │ │ └── src │ │ │ │ ├── base_node.cpp │ │ │ │ ├── node_core.cpp │ │ │ │ ├── node_io.cpp │ │ │ │ └── node_network.cpp │ │ └── src │ │ │ ├── controller.cpp │ │ │ ├── fpga_instructions.cpp │ │ │ ├── fpga_interface.cpp │ │ │ ├── fpga_module_driver_factory.cpp │ │ │ ├── fpga_module_manager.cpp │ │ │ ├── main.cpp │ │ │ └── register_helper.cpp │ ├── devices │ │ └── em_hvsd │ │ │ └── config.yaml │ ├── readme.md │ └── zynq_files │ │ └── controller │ │ └── config │ │ ├── em_devices │ │ ├── application.bin │ │ ├── device_0_0.json │ │ ├── device_1_0.json │ │ ├── device_H0_0_F1.json │ │ ├── device_H1_0_F0.json │ │ └── device_H2_0_F0.json │ │ ├── fpga_configs │ │ └── test │ │ │ ├── bitfile.bit.bin │ │ │ └── fpga_config.json │ │ └── user │ │ ├── config.json │ │ ├── fpga_driver_config.json │ │ ├── fpga_instructions.json │ │ ├── new_node_config.json │ │ ├── node_config.json │ │ └── test_instructions.json └── web │ └── web-interface │ ├── .vscode │ └── launch.json │ ├── client │ ├── login │ │ └── login.html │ └── spa_1 │ │ └── spa.html │ ├── package-lock.json │ ├── package.json │ └── server │ ├── app.js │ └── wsServer.js ├── em-os ├── .gitignore ├── .petalinux │ └── metadata ├── build_pack_image.sh ├── build_run_qemu.sh ├── fixes.sh ├── patch-6.1.12-rt6.patch ├── patch-6.1.12-rt6.patch.gz ├── patch-6.1.54-rt15.patch ├── patch-6.1.54-rt15.patch.gz ├── project-spec │ ├── attributes │ ├── configs │ │ ├── .statistics │ │ ├── busybox │ │ │ └── inetd.conf │ │ ├── config │ │ ├── configs │ │ │ ├── Kconfig │ │ │ └── Kconfig.syshw │ │ ├── flash_parts.txt │ │ ├── gen-machineconf.log.old │ │ ├── init-ifupdown │ │ │ └── interfaces │ │ ├── plnx_syshw_data │ │ ├── plnxtool.conf │ │ ├── rootfs.wks │ │ ├── rootfs_config │ │ ├── rootfsconfigs │ │ │ ├── Kconfig │ │ │ ├── Kconfig.part │ │ │ ├── Kconfig.user │ │ │ └── user-rootfsconfig │ │ ├── systemd-conf │ │ │ └── wired.network │ │ └── zynq-generic-7z020.conf │ ├── hw-description │ │ ├── metadata │ │ └── system.xsa │ └── meta-user │ │ ├── COPYING.MIT │ │ ├── README │ │ ├── conf │ │ ├── layer.conf │ │ ├── petalinuxbsp.conf │ │ └── user-rootfsconfig │ │ ├── meta-xilinx-tools │ │ └── recipes-bsp │ │ │ └── uboot-device-tree │ │ │ ├── files │ │ │ └── system-user.dtsi │ │ │ └── uboot-device-tree.bbappend │ │ ├── recipes-bsp │ │ ├── device-tree │ │ │ ├── device-tree-sdt.inc │ │ │ ├── device-tree.bbappend │ │ │ └── files │ │ │ │ └── system-user.dtsi │ │ └── u-boot │ │ │ ├── files │ │ │ ├── bsp.cfg │ │ │ ├── platform-top.h │ │ │ ├── user_2024-10-27-00-48-00.cfg │ │ │ └── user_2024-11-11-00-54-00.cfg │ │ │ └── u-boot-xlnx_%.bbappend │ │ └── recipes-kernel │ │ └── linux │ │ ├── linux-xlnx │ │ ├── bsp.cfg │ │ ├── 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