{
    "name": "mycnc",
    "description": "TangNano9K over SPI",
    "boardcfg": "TangNano9K",
    "protocol": "SPI",
    "rpi5": true,
    "plugins": [
        {
            "type": "spi",
            "pins": {
                "mosi": {
                    "pin": "PIN:70",
                    "iostandard": "LVCMOS33"
                },
                "miso": {
                    "pin": "PIN:71",
                    "iostandard": "LVCMOS33",
                    "drive": "24",
                    "slew": "FAST"
                },
                "sclk": {
                    "pin": "PIN:72",
                    "iostandard": "LVCMOS33"
                },
                "sel": {
                    "pin": "PIN:73",
                    "iostandard": "LVCMOS33"
                }
            },
            "uid": "spi0"
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "PIN:29",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                },
                "dir": {
                    "pin": "PIN:28",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                }
            },
            "uid": "stepdir0",
            "is_joint": true,
            "axis": "X",
            "name": "stepper_0",
            "joint": {
                "scale": 30.0388,
                "max_velocity": 4000.0,
                "max_acceleration": 4000.0,
                "stepgen_maxaccel": 5000.0,
                "max_limit": 18000.0,
                "min_limit": -0.01
            },
            "pulse_len": 15.0,
            "dir_delay": 10.0
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "PIN:33",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                },
                "dir": {
                    "pin": "PIN:30",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                }
            },
            "uid": "stepdir1",
            "is_joint": true,
            "axis": "Y",
            "name": "stepper_1",
            "joint": {
                "scale": 6.0,
                "max_velocity": 4000.0,
                "max_acceleration": 4000.0,
                "stepgen_maxaccel": 5000.0,
                "max_limit": 800.0,
                "min_limit": -0.01
            },
            "pulse_len": 15.0,
            "dir_delay": 10.0
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "PIN:40",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                },
                "dir": {
                    "pin": "PIN:34",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                }
            },
            "uid": "stepdir2",
            "is_joint": true,
            "axis": "Z",
            "name": "stepper_2",
            "joint": {
                "scale": 40.0,
                "max_velocity": 4000.0,
                "max_acceleration": 4000.0,
                "stepgen_maxaccel": 5000.0,
                "max_limit": 0.1,
                "min_limit": -510.0
            },
            "pulse_len": 15.0,
            "dir_delay": 10.0
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "PIN:42",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                },
                "dir": {
                    "pin": "PIN:35",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "uid": "stepdir3",
            "is_joint": true,
            "axis": "A",
            "name": "stepper_3",
            "joint": {
                "scale": 11.1,
                "max_velocity": 4000.0,
                "max_acceleration": 4000.0,
                "stepgen_maxaccel": 5000.0,
                "max_limit": 400.0,
                "min_limit": -0.01
            },
            "pulse_len": 15.0,
            "dir_delay": 10.0
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "PIN:54",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                },
                "dir": {
                    "pin": "PIN:51",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "uid": "stepdir4",
            "is_joint": true,
            "axis": "B",
            "name": "stepper_4",
            "joint": {
                "scale": 18.0,
                "max_velocity": 4000.0,
                "max_acceleration": 4000.0,
                "stepgen_maxaccel": 5000.0,
                "max_limit": 60.0,
                "min_limit": -0.01
            },
            "pulse_len": 15.0,
            "dir_delay": 10.0
        },
        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "PIN:41",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24"
                },
                "dir": {
                    "pin": "PIN:53",
                    "iostandard": "LVCMOS33",
                    "slew": "FAST",
                    "drive": "24",
                    "modifier": [
                        {
                            "type": "invert"
                        }
                    ]
                }
            },
            "uid": "stepdir5",
            "is_joint": true,
            "axis": "C",
            "name": "stepper_5",
            "joint": {
                "scale": 113.8,
                "max_velocity": 4000.0,
                "max_acceleration": 4000.0,
                "stepgen_maxaccel": 5000.0,
                "max_limit": 190.0,
                "min_limit": -190.0
            },
            "pulse_len": 15.0,
            "dir_delay": 10.0
        }
    ],
    "toolchain": "icestorm",
    "linuxcnc": {
        "ini": {
            "KINS": {
                "KINEMATICS": "trivkins coordinates=XYZABC",
                "JOINTS": 6
            },
            "TRAJ": {
                "COORDINATES": "X Y Z A B C"
            },
            "HAL": {
                "TWOPASS": "OFF"
            }
        },
        "machinetype": "mill",
        "vcp_type": "gladevcp",
        "num_axis": 6
    }
}