Modifying the FPGA

Again, this is a late post but I'm gonna keep documenting what we've done thus far. So, the first thing we did was survey all of the FPGA code to figure out how much space everything was taking up. See some pictures below for samples of the code base:

Based on compiler calculations:

1. Steering motor control code consumes 11.0% of slice registers and 15.1% of slice Lookup Tables (LUTs)
2. Read end stop code consumes 0.2% of slice registers and 0.4% slice LUTs
3. Throttle control code consumes 16.7% of slice registers and 24.7% of slice LUTs
4. EStop sensing code consumes 1.5% of slice registers and 2.6% of slice LUTs
5. LiDAR processing code consumes 29.6% of slice registers and 34.7% of slice LUTs
6. One copy of the tilt unit code consumes 18.5% of slice LUTs and 15.7% of slice LUTs

So that's what we have to work with. One of the main things we've noticed is that there's alot of poorly initialized code that was left by the previous teams. There is also quite a bit of mixing of data types (e.g. multiplying Int32 numbers by fixed-point numbers). So we'll be working to change those. Stay tuned!