--- title: "LinuxCNC-RIO" url: "https://maker.wiznet.io/scarlet/projects/linuxcnc-rio/" markdown_url: "https://maker.wiznet.io/scarlet/projects/linuxcnc-rio/md" type: "UCC: User Created Content" author: "Oliver Dippel" author_url: "https://github.com/multigcs/LinuxCNC-RIO" editor: "WIZnet" editor_url: "https://maker.wiznet.io/" original_author: "Oliver Dippel" original_url: "https://github.com/multigcs/LinuxCNC-RIO" published: "2023-08-22" language: "en" hardware: ["WIZnet W5500"] likes: 0 views: 1603 comments: 0 source: "WIZnet Makers (https://maker.wiznet.io/)" --- # LinuxCNC-RIO > RealtimeIO for LinuxCNC based on an FPGA Original author: Oliver Dippel (source: https://github.com/multigcs/LinuxCNC-RIO) ## Components - **WIZnet W5500** x 1 ([docs](https://docs.wiznet.io/Product/Chip/Ethernet/W5500)) WIZnet parts: W5500 ([Datasheet](https://docs.wiznet.io/Product/Chip/Ethernet/W5500/datasheet?utm_source=maker&utm_medium=project&utm_campaign=w5500), [product hub](https://maker.wiznet.io/products/w5500/)) ## Article ## 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 [![tango](https://github.com/multigcs/LinuxCNC-RIO/raw/main/files/tango.jpg)](https://github.com/multigcs/LinuxCNC-RIO/blob/main/files/tango.jpg) ## Sample-Configs: | Name | Description | | --- | --- | | [TangNano9K](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/TangNano9K) | Tang Nano 9K with 5axis-BOB | | [Tango-Board](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/Tangoboard) | Tango-Board with Tang Nano 9K | | [Olimex-ICE40HX8K-EVB_BOB](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/Olimex-ICE40HX8K-EVB_BOB) | Olimex ICE40HX8K-EVB with 5axis-BOB | | [TinyFPGA-BX_BOB](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/TinyFPGA-BX_BOB) | TinyFPGA-BX with 5axis-BOB | | [ICEBreakerV1.0e](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/ICEBreakerV1.0e) | ICEBreakerV1.0e tests | | [Lattice-iCE40HX8K_BOB](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/Lattice-iCE40HX8K_BOB) | Lattice iCE40HX8K with custom bob | | [Colorlight5A-75E](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/Colorlight5A-75E) | Colorlight5A-75E tests | | [Alhambra-II](https://github.com/multigcs/LinuxCNC-RIO/blob/main/configs/Alhambra-II) | Alhambra II FPGA board with 3 Axis SPI | ## Plugins: | Type | Name | Description | | --- | --- | --- | | joint | [pwmdir](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/joint_pwmdir) | PWM Joint Output with DIR-Pin | | joint | [rcservo](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/joint_rcservo) | RCSERVO Joint Output | | joint | [stepper](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/joint_stepper) | Stepper Joint Output with STEP/DIR/ENABLE(optional) pins | | vin | [frequency](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vin_frequency) | Variable-Input for frequency measurement | | vin | [pulsecounter](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vin_pulsecounter) | Variable-Input for pulse counting with up to 3 pins (all optional) | | vin | [pwmcounter](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vin_pwmcounter) | Variable-Input for pulse width measurement | | vin | [quadencoder](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vin_quadencoder) | Variable-Input for Quad-Encoder (int32_t) | | vin | [quadencoderz](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vin_quadencoderz) | Variable-Input for Quad-Encoder with Z-Pin (int32_t) | | vin | [sonar](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vin_sonar) | Variable-Input for distance measurement via ultrasonic sonar sensor (HC-SR04) | | vin | [sonar](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vin_lm75) | Variable-Input for temperature measurement via LM75 sensor | | vout | [frequency](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vout_frequency) | Variable-Output for frequencys | | vout | [pwm](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vout_pwm) | Variable-Output for PWM-Signals with optional DIR pin | | vout | [sinepwm](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vout_sinepwm) | Variable-Output for Sine-Waves via PWM-Signal | | vout | [spipoti](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vout_spipoti) | Variable-Output using digital poti with SPI Interface (like MCP413X/415X/423X/425X) | | vout | [udpoti](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/vout_udpoti) | Variable-Output using digital poti with UpDown/Incr. Interface (like X9C104) | | din | [bit](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/din_bit) | Digital Input Pin (1bit) | | dout | [bit](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/dout_bit) | Digital Output Pin (1bit) | | expansion | [shiftreg](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/expansion_shiftreg) | Expansion to add I/O's via shiftregister's | | interface | [spislave](https://github.com/multigcs/LinuxCNC-RIO/blob/main/plugins/interface_spislave) | communication interface ( RPI(Master) <-SPI-> FPGA(Slave) ) | ## FPGA-Toolchain: 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) - [WT32-ETH01](https://github.com/multigcs/LinuxCNC-RIO/blob/main/UDP2SPI-Bridge/WT32-ETH01) - [ESP32-PoE-ISO](https://github.com/multigcs/LinuxCNC-RIO/blob/main/UDP2SPI-Bridge/ESP32-PoE-ISO) - [ESP32_W5500](https://github.com/multigcs/LinuxCNC-RIO/blob/main/UDP2SPI-Bridge/ESP32_W5500) ## test-tool if you want to test the connection without LinuxCNC, you can use the python test-tool: ```plaintext 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: ```plaintext 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-RIO with TinyFPGA-BX and 5Axis BOB - ATC-Test](https://img.youtube.com/vi/G5V5OM_ORsk/0.jpg)](https://www.youtube.com/shorts/G5V5OM_ORsk) ### linuxcnc with tinyfpga-bx [![linuxcnc with tinyfpga-bx](https://img.youtube.com/vi/0nTmo4afwWs/0.jpg)](https://www.youtube.com/shorts/0nTmo4afwWs) ### Mini Closed-Loop DC-Servo on LinuxCNC-RIO [![Mini Closed-Loop DC-Servo on LinuxCNC-RIO](https://img.youtube.com/vi/0cOvUS33U_s/0.jpg)](https://www.youtube.com/shorts/0cOvUS33U_s) ### Linuxcnc RIO with ICEBreaker FPGA [![Linuxcnc RIO with ICEBreaker FPGA](https://img.youtube.com/vi/58RNJSGD0qs/0.jpg)](https://www.youtube.com/watch?v=58RNJSGD0qs) ### LinuxCNC-RIO mixed joint types (on TangNano9K - FPGA) [![LinuxCNC-RIO mixed joint types (on TangNano9K - FPGA)](https://img.youtube.com/vi/ZfTr1BNUK_0/0.jpg)](https://www.youtube.com/shorts/ZfTr1BNUK_0) ### LinuxCNC-RIO with TinyFPGA-BX and 5Axis BOB [![LinuxCNC-RIO with TinyFPGA-BX and 5Axis BOB](https://img.youtube.com/vi/urRHtw4bcsI/0.jpg)](https://www.youtube.com/watch?v=urRHtw4bcsI) ### LinuxCNC with ICE40 for stepgen [![LinuxCNC with ICE40 for stepgen](https://img.youtube.com/vi/m4zXuHERiFU/0.jpg)](https://www.youtube.com/shorts/m4zXuHERiFU) ### Linuxcnc RIO with Tang Nano 20k FPGA with esp32 and w5500 Ethernet [![Linuxcnc RIO with Tang Nano 20k FPGA with esp32 and w5500 Ethernet](https://img.youtube.com/vi/inAFxSs9Hak/0.jpg)](https://www.youtube.com/watch?v=inAFxSs9Hak) --- Thanks to the Project, i'm using a modified version of it's Linux-Component --- Source: https://maker.wiznet.io/scarlet/projects/linuxcnc-rio/