Encoder

LinuxCNC-RIO - rewrite

RIO

Realtime-IO for Motion-Control

Table of Contents

• About
• Disclaimer
• Help
• Boards
• Plugins/Drivers
• supported Toolchains
• Getting Started
• Usage
• Flow

About [blocked]

RIO is a cost-effective and flexible alternative to traditional hardware setups like Mesa boards, it's a code generator for using FPGA boards as Realtime-IO for LinuxCNC and other Motion-Control systems.

Furthermore, the complete configuration and hal is generated. a json configuration file serves as the basis

• operates without a soft-core processor, relying solely on FPGA logic, which eliminates jitter and ensures fast, reliable performance
• It supports communication via SPI (e.g., with Raspberry Pi 4) or Ethernet, providing flexibility for different hardware setups
• Configuration is managed via JSON files, enabling easy customization of pin selection and other parameters. The tool automatically generates LinuxCNC configuration files (HAL/INI), saving significant setup time
• using free FPGA-Toolchain or commercial (depends on the FPGA)
• Compatible with a wide range of FPGA boards, including ICE40, ECP5, MAX10, Artix7, Gowin, CycloneIV, and TangNano9K, allowing users to choose hardware that fits their needs and budget
• Supports open and closed-loop control for multiple motor types (e.g., stepper motors, DC servos), as well as mixed joint configurations
• Primarily intended for LinuxCNC but also suitable for other systems such as ROS (Robot Operating System)

These features make RIO an attractive solution for hobbyists and professionals seeking a customizable, cost-effective Realtime-IO interface for Motion-Control systems

DISCLAIMER [blocked]

THE AUTHORS OF THIS SOFTWARE ACCEPT ABSOLUTELY NO LIABILITY FOR ANY HARM OR LOSS RESULTING FROM ITS USE. IT IS EXTREMELY UNWISE TO RELY ON SOFTWARE ALONE FOR SAFETY. Any machinery capable of harming persons must have provisions for completely removing power from all motors, etc, before persons enter any danger area. All machinery must be designed to comply with local and national safety codes, and the authors of this software can not, and do not, take any responsibility for such compliance

Help [blocked]

• LinuxCNC-Forum (en)
• cnc-aus-holz (de)

Boards [blocked]

list of all boards: BOARDS

Plugins/Drivers [blocked]

list of all plugins: PLUGINS

supported Toolchains [blocked]

list of all toolchains: TOOLCHAINS

Getting Started [blocked]

There are multiple ways of getting started.

1. Installer-Script (tested on debian bookworm and trixie) installer.
2. Install riocore on the linux host.
3. Use docker.

Installer-Script (debian-bookworm only) [blocked]

if you have a Debian-Bookworm installation (e.g. from the LinuxCNC ISO or the LinuxCNC raspberry image) you can simply use this script to install all depends and the icestorm and gowin toolchain (gowin only on Intel/AMD)

wget -O- https://www.multixmedia.org/riocore-installer.sh | bash

Install ricore on the host [blocked]

• installing via git:

git clone https://github.com/multigcs/riocore.git
cd riocore

• installing dependencies via apt:

apt-get update
apt-get -y install python3 python3-pip python3-yaml python3-graphviz python3-pyqtgraph python3-pyqt5 python3-pyqt5.qtsvg python3-lxml python3-psutil python3-spidev

make sure that the toolchain matching your fpga is in the path:

export PATH=$PATH:/opt/oss-cad-suite/bin/
export PATH=$PATH:/opt/Xilinx/Vivado/2023.1/bin/
export PATH=$PATH:/opt/gowin/IDE/bin/
export PATH=$PATH:/opt/intelFPGA_lite/22.1std/quartus/bin/
export PATH=$PATH:/opt/Xilinx/14.7/ISE_DS/ISE/bin/lin64/

than copy a config file that is near to your setup:

cp riocore/configs/Tangoboard/config-spi.json my_config.json

DOCKER (alternative)

Using a TangNano9k or other board supported by the open-cad-suite? Check out the docker setup for an easy to use all in one way to run the riocore ui and generator, including flashing: DOCKER

Usage [blocked]

you can edit your configuration file by hand (text-editor) or using the config tool (rio-flow):

bin/rio-flow  riocore/configs/Tangbob/config.json

after setup, you can save your configuration and generate the output-files in the setup-tool via buttons:

• Generate : generates the output-files and write it into the './Output/' folder
• Compile: compiles the Bitfile for your FPGA
• Flash: writes the new bitfile onto the FPGA

you can also do this things on your console:

generate:

bin/rio-generator my_config.json

loading: my_config.json
loading board setup: TangNano9K
writing gateware to: Output/Tangoboard/Gateware
!!! gateware changed: needs to be built and flashed |||
loading toolchain gowin
writing linuxcnc files to: Output/Tangoboard/LinuxCNC

compile:

(
cd Output/BOARD_NAME/Gateware/
make clean all
)

flash:

(
cd Output/BOARD_NAME/Gateware/
make load
)

You can find all the LinuxCNC related files in 'Output/BOARD_NAME/LinuxCNC/',

to start LinuxCNC, you have to install the rio component first:

sudo halcompile --install riocore/files/rio.c

then you can start LinuxCNC with your new .ini file:

linuxcnc Output/BOARD_NAME/LinuxCNC/rio.ini

[!WARNING] all files will be overwritte by the generator tool

if you change the .ini file by hand, for example, you should make a copy of it

if you need an additional .hal file, you can incude it in the postgui_call_list.hal

rio will not overwrite this entry's

Prerequisites

you need the toolchain for your FPGA or in some cases the https://github.com/YosysHQ/oss-cad-suite-build

Flow [blocked]

Generator

graph LR;
    BOARD.JSON--rio-flow-->CONFIG.JSON;
    CONFIG.JSON--rio-generator-->/Output;
    /Output-->/Gateware;
    /Gateware-->Makefile;
    /Gateware-->verilog-files;
    /Gateware-->pins.*;
    Makefile--make-->Bitfile;
    Bitfile--make load-->FPGA;
    /Output-->/LinuxCNC;
    /LinuxCNC-->riocomp.c;
    /LinuxCNC-->rio.ini
    /LinuxCNC-->rio-gui.xml
    /LinuxCNC-->*.hal;
    /Output-->/ROS;
    /Output-->/MQTT;
    /Output-->/Simulator;

LinuxCNC

graph LR;
    LinuxCNC<-->rio.c;
    rio.c<-->riocomp.c;
    riocomp.c<--UDP/SPI-->FPGA;
    FPGA<--RS422/RS485-->SUB_FPGA;

ROS

graph LR;
    ROS-Plugin-1<--TCP-->ROS-core
    ROS-Plugin-2<--TCP-->ROS-core
    ROS-Plugin-N<--TCP-->ROS-core
    ROS-core<--TCP-->rosbridge;
    rosbridge<--UDP/SPI-->FPGA;
    FPGA<--RS422/RS485-->SUB_FPGA;

MQTT

graph LR;
    HTML+JS<--Websockets-->MQTT-Broker
    MQTT-Client-1<--MQTT-->MQTT-Broker
    MQTT-Client-2<--MQTT-->MQTT-Broker
    MQTT-Client-N<--MQTT-->MQTT-Broker
    MQTT-Broker<--MQTT-->mqttbridge;
    mqttbridge<--UDP/SPI-->FPGA;
    FPGA<--RS422/RS485-->SUB_FPGA;

JSLIB

graph LR;
    nodejs<-->JSLIB
    JSLIB<--UDP-->FPGA;
    FPGA<--RS422/RS485-->SUB_FPGA;

Directory Structure

Source

riocore
├── bin ················ user tools / gui's
├── doc ················ documentation
├── dockerfiles ········ files to run the docker container
├┬─ ricore ············· main directory 
|├── configs ··········· some demo configurations
|├── gui ··············· widgets and functions for the gui tools
|├── files ············· helper scripts and files
|├── generator ········ the generator for the LinuxCNC configuration
|├── plugins ··········· location of the plugins
├── tests ·············· unit tests

Generated Output

Output
├┬─ BOARD_NAME ········· for each board
|├── Gateware ·········· Gateware-Files for the FPGA
|├── LinuxCNC ·········· LinuxCNC configuration (hal/ini/component)
|├── PYLIB ············· C and Python lib with testgui.py
|├── MQTT ·············· MQTT-Bridge
|├── ROS ··············· ROS-Bridge
|├── Simulator ········· Simulator-Sources
|├── JSLIB ············· Javascrit lib
|├── DOC ··············· some Documentation files