ColorCNC Colorlight 5A-75E/5A-75B as FPGA controller board

romanetz wrote:

I'm not sure if I use the latest version.
Yosys 0.16+61 (git sha1 c785cb7fe, clang 10.0.0-4ubuntu1 -fPIC -Os)
nextpnr-ecp5 -- Next Generation Place and Route (Version nextpnr-0.3-14-g20cfafa1)
Project Trellis ecppack Version 1.0-496-g7454564

Info: Max frequency for clock                 '$glbnet$crg_clkout0': 43.53 MHz (PASS at 40.00 MHz)
Warning: Max frequency for clock '$glbnet$eth_clocks_rx$TRELLIS_IO_IN': 116.63 MHz (FAIL at 125.00 MHz)
 
 

osys 0.14+60 (git sha1 08c771078, clang 10.0.0-4ubuntu1 -fPIC -Os)
nextpnr-ecp5 -- Next Generation Place and Route (Version nextpnr-0.2-20-g0b4f1e2b)
Project Trellis ecppack Version 1.2.1

Info: Max frequency for clock                 '$glbnet$crg_clkout0': 42.29 MHz (PASS at 40.00 MHz)
Warning: Max frequency for clock '$glbnet$eth_clocks_rx$TRELLIS_IO_IN': 122.53 MHz (FAIL at 125.00 MHz)

•   Lcnc master
• the driver now can handle up to 4 boards, you'll need a gigabit ethernet switch. In theory many more boards could be handled, but honestly I'm not sure how useful is to increase this number, if someone wants to try just set

  #define MAX_CHAN 4 in Lcnc.c to the number you want

• the ip address and port now are parameters at hal invocation, so no need to rebuild the driver to change ip and port, added also a "debug" parameter. Example:

  loadrt Lcnc ipaddr="192.168.2.50","192.168.2.51" ipport="1234","1235" debug=1

  "debug=1" will add some verbose output and a series of pins that report the time in ns that each part of the code is taking, of these T1 and T6 correspond to two calls to eb_send function, and are the most time consuming.
• A raspberry pi 4 seem capable to handle two colorlight boards at 1ms Thread with sufficient stability.
• stepgen step and direction timings are now expressed in ns instead of us.
• In the attachment the timing I'm seeing with 2 colorlight 5a-75b boards, on the left the one with 14 outputs 11 inputs 6 stepgens 6 encoders 6 pwm, on the right the one with 26 outputs 23 inputs 6 pwm. Seem that also the fpga configuration is having an impact on timing. Some sporadic task overrun are still there.

muvideo wrote:

Hello, another inch forward for my implementation
 
Fabio, I tried your configuration. In purpose of reducing time for testing, I flashed pre-built firmware from Lcnc/prebuilt_firmwares/75e_v6_v8_30o29i9s9e8p/. The board responds to ping at desired ip 192.168.2.50
In order to run machine configuration with my r-i-p installation of Lcnc, I've built the driver without any issues. Then, an error in configuration has been found: loadrt Lcnc ipaddr="192.168.2.50" udpport (not ipport as mentioned in documentation)="1234". Well, after making some changes to match .ngc files location, i got a final error. When I jog the axis towards (say, X+ or Y+) results in decreasing of proper coordinate, therefore I get a joint following error. Looks like somewhere commanded speed is been inverted.
Upd. the reason was that acceleration limit was not set in the configuration. After adding of these llines "setp Lcnc.00.stepgen.02.acc_lim     [JOINT_0]STEPGEN_MAXACCEL" for all of corresponding axes, the configuration has run successfully.