flink can be read as fast link or as the German “flink” meaning fast. It enables any processors to communicate with an external FPGA over a parallel interface (e.g. PCI, EIM, LPB) or serial interface (e.g. SPI). The FPGA may contain several blocks such as counters or pulse-width modulation. Such blocks are extensively used in robotics for control applications.
flink was developed at and is maintained by the Institute of Computer Science at OST.
An external FPGA contains hardware modules, which provide certain functions such as a pwm generator or an analog input channel. Such an external FPGA is represented by a flink device. Every flink device contains one or more subdevices. A subdevice represents a function. At last every subdevice has one or more channels.
device: An external FPGA, group of subdevices.
subdevice: Modul with a specific function, such as digital IO or analog input.
channel: Single channel of a subdevice, corresponds to a single pin of a digital IO subdevice.
System architecture for an example system with a motor drive. The drive controlled by an analog output signal. The motor position is determined with a counter module.
Every subdevice which is specified in a device offers a standardised memory interface towards the driver library. The first 16 bytes comprise the header information which is read-only.
function, which this subdevice implements
total memory size of this device, including header, subheader and subdevice specific information
number of channels of this subdevice
id identifying this subdevice
The field function has the following meaning:
All the available functions can be found in Available Subdevices. Next comes a subheader. It contains a configuration and status register. The meaning of the single bits of these registers can vary according to the function of the subdevice.
status of subdevice
configuration word for subdevice
Header and subheader is followed by a subdevice specific part. The content varies according to the function and is listed in Available Subdevices
start.txt · Last modified: 2022/03/29 15:10 by ditaranto