Board Configuration

Each board should have the following three files in the name equal to the BOARD parameter sent to make:

  • [.mk] FPGA Architecture parameters

  • [.v] Verilog configuration parameters

  • [.pcf/.lpf] Pin out and pin name information

Makefile (.mk) Parameters

The following parameters are passed to place and route (nextpnr) and timing analysis tools to generate the bitstream of the RAPcores for FPGAs. These are required for bistream generation.

ARCH

ARCH = ice40

Values: ice40, ecp5

DEVICE

DEVICE = lp8k

PACKAGE

PACKAGE = cm81

FREQ

FREQ = 16

Device external clock frequency. Used to validate timings.

PLL Parameters and Setup

PWMFREQ = 275

Set the PLL frequency (Mhz) for PWM generation.

MANUALPLL = 1

Skips autogeneration of PLLs using bitstream tools (icepll, ecppll). The build system will look for both spi_pll.v and pwm_pll.v files in the boards/”myboard” location.

PROGRAMMER (Optional)

PROGRAMMER = tinyprog -p

The programming command for the device used with the make prog target.

SPI Interface

`define SPI_INTERFACE

Enables the SPI Interface.

Pin Names

  • SCK - SPI Clock

  • CS - SPI Chip Select

  • COPI - SPI Controller Out Peripheral In (RAPcores is the Peripheral)

  • CIPO - SPI Controller In Peripheral Out

PWM

For high resolution PWM signals a PLL is required. This acts as a clock multiplier, and for example given a 16mhz clock, a 200mhz signal can be used for things like accumulators and timing.

To enable declare the following in the “.v” configuration file:

`define PWMPLL

Then inside of the “.mk” aguements we will need to declare the frequency (in mhz):

PWMFREQ = 275

This will allow PWM signals to use this clock for accumulators giving higher precision and less audible noise in the case of motor drives.

Motors

In addition to device-specific counts, a motor count must be defines as so:

`define MOTOR_COUNT <N>

`define DUAL_HBRIDGE <N>

Enables control of Dual H Bridge motor drivers used for stepper control. Where <N> dual H Bridges are specified.

See: “Dual H Bridge” in Pinouts for name specification.

`define ULTIBRIDGE <N>

Enables control of the Ultibridge. Where <N> Ultibridges are specified.

See: “Ultibridge” in Pinouts for name specification.

Pin Names - Dual H Bridge

  • PHASE_A1[N]

  • PHASE_A2[N]

  • PHASE_B1[N]

  • PHASE_B2[N]

  • VREF_A[N]

  • VREF_B[N]

Pin Names ULTIBRIDGE

  • CHARGEPUMP

  • analog_cmp1

  • analog_out1

  • analog_cmp2

  • analog_out2

  • PHASE_A1[N]

  • PHASE_A2[N]

  • PHASE_B1[N]

  • PHASE_B2[N]

  • PHASE_A1_H[N]

  • PHASE_A2_H[N]

  • PHASE_B1_H[N]

  • PHASE_B2_H[N]

Defaults

`define DEFAULT_MICROSTEPS <N>

Set the default microsteps for all motor channels.

`define DEFAULT_CURRENT <N>

Set the default current for all motor channels.

Encoders

`define QUAD_ENC <N>

Enables quadrature encoder . Where <N> encoders are specified.

`define ENCODER_BITS 32

Sets the register size for encoder accumulators. Max: 32 bit.

Pin Names

  • ENC_A[N]

  • ENC_B[N]

Flow Control and Events

The following Input/Output tied to certain events can be enabled:

`define BUFFER_DTR

Type: Output

Active High when move buffer has slots available for send.

`define MOVE_DONE

Type:Output

Toggles when a move in the buffer has completed.

`define HALT

Type: Input

Immediately stops step timing and clears the buffer.

Pin Names

  • BUFFER_DTR - Output active High when move buffer has slots.

  • MOVE_DONE - Output toggles when a move in the buffer has finished.

  • HALT - Input immediately stops step timing and clears the buffer.

Move Buffer Size

`define MOVE_BUFFER_SIZE 2

Default: 2

Changes the default move buffer size. Must be a power of two.

DDA

`define DEFAULT_CLOCK_DIVISOR 40

Default: 40

Sets the default clock divisor for the DDA.

Disabling DDA

By default the DDA for step generation is used. It may be disabled in favor of a different interface by setting:

`define USE_DDA 0

Internal Register Sizes

`define MOVE_DURATION_BITS 32

Default: 32

Sets the move_duration register size used in step timing routines.

`define DEFAULT_TIMER_WIDTH 8

Default: 8

Sets the width for internal clock dividers.

LED

`define LED <N>

Type: Output

Default: none/0

Enables LED output. Currently unused, but useful for low-frequency visual debugging.

Logic Analyzer

The Logic Analyzer interface allows for observation and injection of signals within the top-level RAPcores project without patching the core project.

`define LA_OUT <N>

Type: Output

Default: none/0

`define LA_IN <N>

Type: Input

Default: none/0

Assignments can be done at the BOARD.v level by making a LOGICANALYZER_MACRO like so:

`define LOGICANALYZER_MACRO\
  assign LA_OUT[1] = dir; \
  assign LA_OUT[2] = analog_cmp2;