Twipe Robot SOC Technology Stack

This article breaks down the technology at the heart (or rather brain) of the Twipe robot design.

User Layer

• Twipe robot
• Operator Console
• OTA, MQTT, Websockets, Web server HTTP

Application Layer

• Firmware via C++ and Arduino core & libraries

Operating System/Compiler Layer

• FreeRTOS
• Espressif RV32IMC Instruction Set Architecture (ISA) Tensilica Extended RiskV
  • Cadance Xtensa GCC compiler

Chip Architecture Layer

• Tensilica Lx6 32 bit architecture
  • 40 nm
  • 240MHz CPU
  • 600 DMIPS
  • 82 instructions
  • 32bit Arithmetic Logic Unit (ALU)
    • Espressif extended Register Transfer Level (RTL)

Silicon Layer

• WROOM32 module
  • ESP32-S family
  • Dual core Espressif ESP32-D0WDQ6 fabless design
  • 4Mb flash (SPI)
  • USB to serial converter
  • WiFi (20% CPU of core 0)
    • 802.11n (2.4 GHz up to 150 Mbps)
  • Bluetooth classic LE
  • Taiwan Semiconductor Manufacturing Company (TSMC) foundry