oplet write - HaddingtonDynamics/Dexter GitHub Wiki

The Write (w) oplet writes low level values to the FPGA / Gateware and in some cases also sets variables in the firmware. This is the lower case 'w'; the upper case 'W' is Write to Robot. The second parameter (the value) is written to the address of the FPGA specified by the first parameter. e.g. w 42 64 writes the value 64 into the address 42 in the FPGA. Some addresses are also "tracked" by the C firmware (DexRun) for example, w 5 6516872 writes a new value to FPGA register #5, ACCELERATION_MAXSPEED but the maxSpeed and coupledAcceleration variables in DexRun will also be updated. For higher level settings in the Firmware, see the 'S' oplet

Note: This represents the "virtual" address list as used by the 'w' command. The actual FPGA addresses have been changed since 2018.05.29 to use a "keyhole window" to reduce the number of mapped addresses used by the FPGA. In the keyhole system, one address in a block will select what the next address actually changes. DexRun.c still interprets 'w' commands with the original addresses when the function has not been converted to a keyhole system via the array "OldMemMapInderection". Items which have been struck out below are not available via 'w' and must be set via other commands which are linked here.