FPGA core board connection Diagram

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Current port assignment:

• Icebus:

  • icebus0 → Neck

  • icebus1 → Shoulder left

  • icebus2 → Shoulder right

  • icebus3 → Hip

  • icebus4 →

  • icebus5 →

  • icebus6 → Wrist right

  • icebus7 → Wrist left

• I2C:

  • i2c_0 → Elbow right

  • i2c_1 → Elbow left

  • i2c_2 → (Knee right)

  • i2c_3 → (Knee left)

• Balljoint magnetic sensor interface:

  • id_0 → Shoulder left

  • id_1 → Shoulder right

  • id_2 → Neck

  • id_3 → Wrist right

  • id_4 → Wrist left

  • id_5 →

  • id_6 →

Signal network overview: