Dedicated to FPGA development for EMC2

http://en.wikipedia.org/wiki/Field-programmable_gate_array

1. How to Section

See the page http://wiki.linuxcnc.org/emcinfo.pl?JTAG_Boundary_Scan_Example_For_A_Mesanet_7i43
for information how to get the Xilinx software working.

Simulation: ghdl: http://ghdl.free.fr/ and viewer: GTKWave http://gtkwave.sourceforge.net/
attila.kinali.ch/ghdl.pdf

http://www.dossmatik.de/ghdl/ghdl_unisim.pdf (in german)

VHDL Cookbook: http://www.cs.umbc.edu/portal/help/VHDL/

2. Hardware

http://enterpoint.co.uk/products/spartan-3-development-boards/raggedstone-1/
has two versions: with xc3s400 and xc3s1500 chip.

: http://projects.varxec.net/raggedstone1Processor

: small changes to this to get it working with ISE11 and emc2 from ubuntu 8.04
: upload:vhdl-source.tar.gz upload:rs1linuxdriver-0.0.4.tar.gz
: 2011-02-04 this code (vhdl and c) works with ISE12.4 and emc2 from ubuntu 10.04
: testet on rs1-400 and rs1-1500 there is much room for emc spezific logic

The http://enterpoint.co.uk/products/modules/pci-io-header-module/
is helpful for programming the board

And if pci slot disappear Raggedstone2 may be a development platform:
http://enterpoint.co.uk/products/spartan-6-development-boards/raggedstone-2/

Digilent Spartan 3E Starter Board

: http://www.digilentinc.com/Products/Detail.cfm?Prod=S3EBOARD
: Breakout board upload:s3ebowiki.tar.gz

3. Software (HDL)

3.1. http://opencores.org/

some for emc interesting projects:

: System controller/PCI Target
: Other/PWM/Timer?/Counter? (PTC) Core
: Other/quad_decoder
: Communication controller/SPI controller core (and some other spi's)
: Arithmetic core/pid_controler
: Processor/AVR Core (and some other cpu's)

3.2. http://www.fpga4fun.com/

: http://www.fpga4fun.com/QuadratureDecoder.html
: http://www.fpga4fun.com/EPP.html
: http://www.fpga4fun.com/PCI-Express.html

4. Non-realtime communication via ethernet

4.1. Udp Rx Tx in FPGA

: http://www.mikrocontroller.net/topic/171526 (look for udpSender.rar and udpReceiver.rar)
: this is from:http://itee.uq.edu.au/~peters/xsvboard/index.html look for "VHDL IP Stack"
: grlib has 100mb mac: http://www.gaisler.com/cms/index.php?option=com_content&task=section&id=13&Itemid=125
: for info about MII interface search the internet for "802.3-2008"
: and find "Part 3: Carrier sense multiple access with Collison Detection (CSMA/CD) Access Method and Physical Layer Specifications"" 802.3-2008_section1.pdf 802.3-2008_section2.pdf

: upload:udp-tx-jf-2011-02-12.tar.gz
: this runs on a Digilent Spartan 3E Starter Board (with some startup delay)
: this is a 10Mbit design: sudo ethtool -s eth1 speed 10 duplex full autoneg off
: http://www.digilentinc.com/Products/Detail.cfm?NavPath=2,400,792&Prod=S3EBOARD

: ISE12.4: 63 warnings, but it works, occupied slices 6%

: tx_rx upload:udp_tx_rx_vhdl.tar.gz
: sudo arp -i eth1 -s 192.168.2.44 00aaaaaaaaaa
: jjf@nb8:~$ arp
: 192.168.2.44 ether 00:aa:aa:aa:aa:aa CM eth1
: 2011-02-15 today I get an answer from fpga

: upload:udp_tx_rx_c.tar.gz this is the small test program
: there is a wrong port in UDPSender.vhd line 347,348!

4.2. Microcontrollers

: The EKC-LMS8962 may be a good starting point for development (Farnell €94)
: 3ph-PWM, 2x quadrature decoder with velocity, A/D(10bit), IEEE 1588 PTP, lwIP and uIP

5. Real Time communication via ethernet

: [Latency of different CPUs]
: [Information about Real-Time Ethernet in Industry Automation]
: [Comparison of latency with networking, Linux/RTAI/Xenomai/VxWorks]
: [Ethernet as a real-time network (last page)]

5.1. Protocols

RTnet - noncommercial; open; not implemented in any FPGA yet
- Wireshark plugin and raw tcpdump sample data [are available]
- Assuming a network that consists of one computer and one FPGA, most of RTnet can be ignored; when operating full-duplex with only two devices, there is no possibility of a collision.
Ethernet POWERLINK - commercial; open; work has been done on [an FPGA implementation]
EtherCAT - proprietary; synthesizable IP can be licensed from Beckhoff

5.2. Howto setup rtnet on ubuntu10.04-emc2

follow (with little changes) http://www.xenomai.org/index.php/RTnet:Installation_%26_Testing

sudo apt-get build-dep emc2

sudo rm /lib/modules/2.6.32-122-rtai/build/sources

sudo ln -s /usr/src/linux /lib/modules/2.6.32-122-rtai/build/sources

(check that /usr/src/linux is link to /usr/src/linux-2.6.32-122.35-rtai)

wget http://www.rtnet.org/download/rtnet-0.9.12.tar.bz2 and untar to /usr/src/rtnet-0.9.12

sudo ln -s /usr/src/rtnet-0.9.12 /usr/src/rtnet

cd /usr/src/rtnet

you can select from 3 choices

: ./configure --help and ./configure --enable-8139 --enable-examples --with-rtext=/usr/realtime-2.6.32-122-rtai
: make menuconfig
: make gconfig (may require sudo apt-get install glade etc.)

make and sudo make install

sudo mknod /dev/rtnet c 10 240

my setup is with 2 network cards: lspci

: 00:04.0 Ethernet controller: Silicon Integrated Systems [SiS?] SiS900? PCI Fast Ethernet (rev 91)
: 00:05.0 Ethernet controller: Realtek Semiconductor Co., Ltd. RTL-8139/8139C/8139C+ (rev 10)

unload modules for rtnet-card: sudo rmmod 8139too sudo rmmod 8139cp

load rtai-modules

: cd /usr/realtime-2.6.32-122-rtai/modules/
: sudo insmod ./rtai_hal.ko sudo insmod ./rtai_lxrt.ko sudo insmod ./rtai_sem.ko sudo insmod ./rtdm.ko

cd /usr/local/rtnet/

edit etc/rtnet.conf for single node with local loopback

sudo sbin/rtnet start

my results

: jjf@emc2-94:/usr/local/rtnet$ sudo sbin/rtping 127.0.0.1
: Real-time PING 127.0.0.1 56(84) bytes of data.
: 64 bytes from 127.0.0.1: icmp_seq=2 time=7.6 us
: 64 bytes from 127.0.0.1: icmp_seq=3 time=8.0 us
: 64 bytes from 127.0.0.1: icmp_seq=4 time=7.5 us
: 64 bytes from 127.0.0.1: icmp_seq=5 time=5.7 us
: 64 bytes from 127.0.0.1: icmp_seq=6 time=5.3 us
: 64 bytes from 127.0.0.1: icmp_seq=7 time=7.3 us
: 64 bytes from 127.0.0.1: icmp_seq=8 time=8.1 us
: 64 bytes from 127.0.0.1: icmp_seq=9 time=5.5 us

sudo sbin/rtnet stop

edit etc/rtnet.conf for 2 nodes with TDMA_CYCLE=5000 and TDMA_OFFSET=200

after sudo sbin/rtnet start on both

master node: Waiting for all slaves...

slave node

: Stage 1: searching for master...
: Stage 2: waiting for other slaves...
: Stage 3: waiting for common setup completion...

heavy blinking of switch led's

from master node

: jjf@emc2:/usr/local/rtnet$ sudo sbin/rtping 192.168.2.94
: Real-time PING 192.168.2.94 56(84) bytes of data.
: 64 bytes from 192.168.2.94: icmp_seq=1 time=1976.2 us
: 64 bytes from 192.168.2.94: icmp_seq=2 time=2196.3 us
: 64 bytes from 192.168.2.94: icmp_seq=3 time=2196.7 us

from slave node

: jjf@emc2-94:/usr/local/rtnet$ sudo sbin/rtping 192.168.2.92
: Real-time PING 192.168.2.92 56(84) bytes of data.
: 64 bytes from 192.168.2.92: icmp_seq=1 time=8956.5 us
: 64 bytes from 192.168.2.92: icmp_seq=2 time=8895.4 us
: 64 bytes from 192.168.2.92: icmp_seq=3 time=8796.1 us

with TDMA_CYCLE=2500 and TDMA_OFFSET=200

: ping times master:520祍 slave 3300祍

http://www.rtnet.org/download/Dev04_API-Tutorial.pdf

http://doc.utwente.nl/53551/kiszka05rtnet.pdf

5.3. Powerlink made Easy

: http://www.epl-me.org/wiki
: http://www.epl-me.org/browser/Release here is some hdl code

6. Links

: http://www.fpga-faq.com/
: http://en.wikibooks.org/wiki/VHDL_for_FPGA_Design
: http://members.optusnet.com.au/jekent/FPGA.htm
: http://www.fit.vutbr.cz/~meduna/work/doku.php?id=projects:vlam:pbcc:pbcc
: http://www.xilinx.com/esp/ind_sci_med/industrial-motor-control.htm

FPGA