LinuxCNC-RIO
RealtimeIO for LinuxCNC based on an FPGA
WIZnet - W5500
x 1
LinuxCNC-RIO
RealtimeIO for LinuxCNC based on an FPGA
- no Soft-Core
- logic only
- no jitter
- fast and small
- communication via SPI (with Raspberry PI 4 or Ethernet-Bridge)
- generated verilog-code / setup via json files (free pin-selection)
- using free FPGA-Toolchain
- tested on ICE40UP5K, ICE40LP8K, ICE40HX8K, ECP5 and TangNano9K boards
Sample-Configs:
| Name | Description |
|---|---|
| TangNano9K | Tang Nano 9K with 5axis-BOB |
| Tango-Board | Tango-Board with Tang Nano 9K |
| Olimex-ICE40HX8K-EVB_BOB | Olimex ICE40HX8K-EVB with 5axis-BOB |
| TinyFPGA-BX_BOB | TinyFPGA-BX with 5axis-BOB |
| ICEBreakerV1.0e | ICEBreakerV1.0e tests |
| Lattice-iCE40HX8K_BOB | Lattice iCE40HX8K with custom bob |
| Colorlight5A-75E | Colorlight5A-75E tests |
| Alhambra-II | Alhambra II FPGA board with 3 Axis SPI |
Plugins:
| Type | Name | Description |
|---|---|---|
| joint | pwmdir | PWM Joint Output with DIR-Pin |
| joint | rcservo | RCSERVO Joint Output |
| joint | stepper | Stepper Joint Output with STEP/DIR/ENABLE(optional) pins |
| vin | frequency | Variable-Input for frequency measurement |
| vin | pulsecounter | Variable-Input for pulse counting with up to 3 pins (all optional) |
| vin | pwmcounter | Variable-Input for pulse width measurement |
| vin | quadencoder | Variable-Input for Quad-Encoder (int32_t) |
| vin | quadencoderz | Variable-Input for Quad-Encoder with Z-Pin (int32_t) |
| vin | sonar | Variable-Input for distance measurement via ultrasonic sonar sensor (HC-SR04) |
| vin | sonar | Variable-Input for temperature measurement via LM75 sensor |
| vout | frequency | Variable-Output for frequencys |
| vout | pwm | Variable-Output for PWM-Signals with optional DIR pin |
| vout | sinepwm | Variable-Output for Sine-Waves via PWM-Signal |
| vout | spipoti | Variable-Output using digital poti with SPI Interface (like MCP413X/415X/423X/425X) |
| vout | udpoti | Variable-Output using digital poti with UpDown/Incr. Interface (like X9C104) |
| din | bit | Digital Input Pin (1bit) |
| dout | bit | Digital Output Pin (1bit) |
| expansion | shiftreg | Expansion to add I/O's via shiftregister's |
| interface | spislave | communication interface ( RPI(Master) <-SPI-> FPGA(Slave) ) |
FPGA-Toolchain:
https://github.com/YosysHQ/oss-cad-suite-build
for the TangNano9K, you can also using the Gowin-IDE or Gowin-Shell (it's faster)
interfacing with the raspberry
Interface: SPI
Chipselect: CE_1
do not reuse the chipselect pin of your SPI-Flash !!!
interfacing via Ethernet
you can also use UDP2SPI bridge to communicate via Ethernet (UDP)
test-tool
if you want to test the connection without LinuxCNC, you can use the python test-tool:
python3 Output/BOARD_NAME/Firmware/qt_spitest.py [IP]
some hints
at the moment, you need at least configure one item of each of the following sections: vin, vout, din, dout, joints
buildtool
you can select a config via make argument:
make CONFIG=configs/TinyFPGA-BX_BOB/config.json build
Structure:
buildtool.py plugins: python scripts to generates the verilog files from a configuration
configs: here are the config files for a specific setup (Target-FPGA / Pins)
Output: the generated files per config
some demo videos
LinuxCNC-RIO with TinyFPGA-BX and 5Axis BOB - ATC-Test
linuxcnc with tinyfpga-bx
Mini Closed-Loop DC-Servo on LinuxCNC-RIO
Linuxcnc RIO with ICEBreaker FPGA
LinuxCNC-RIO mixed joint types (on TangNano9K - FPGA)
LinuxCNC-RIO with TinyFPGA-BX and 5Axis BOB
LinuxCNC with ICE40 for stepgen
Linuxcnc RIO with Tang Nano 20k FPGA with esp32 and w5500 Ethernet
Thanks to the https://github.com/scottalford75/Remora Project, i'm using a modified version of it's Linux-Component