LinuxCNC-RIO - RealtimeIO for LinuxCNC based on FPGA (ICE40 / ECP5)

    // PC -> FPGA (330 + FILL)
    // assign header_rx = {rx_data[327:320], rx_data[335:328], rx_data[343:336], rx_data[351:344]};
    assign VAROUT128_MODBUS0_TXDATA = {rx_data[199:192], rx_data[207:200], rx_data[215:208], rx_data[223:216], rx_data[231:224], rx_data[239:232], rx_data[247:240], rx_data[255:248], rx_data[263:256], rx_data[271:264], rx_data[279:272], rx_data[287:280], rx_data[295:288], rx_data[303:296], rx_data[311:304], rx_data[319:312]};
    assign VAROUT32_PWMOUT0_DTY = {rx_data[167:160], rx_data[175:168], rx_data[183:176], rx_data[191:184]};
    assign VAROUT32_STEPDIR0_VELOCITY = {rx_data[135:128], rx_data[143:136], rx_data[151:144], rx_data[159:152]};
    assign VAROUT32_STEPDIR1_VELOCITY = {rx_data[103:96], rx_data[111:104], rx_data[119:112], rx_data[127:120]};
    assign VAROUT32_STEPDIR2_VELOCITY = {rx_data[71:64], rx_data[79:72], rx_data[87:80], rx_data[95:88]};
    assign VAROUT32_STEPDIR3_VELOCITY = {rx_data[39:32], rx_data[47:40], rx_data[55:48], rx_data[63:56]};
    assign VAROUT1_WLED0_0_GREEN = {rx_data[31]};
    assign VAROUT1_WLED0_0_BLUE = {rx_data[30]};
    assign VAROUT1_WLED0_0_RED = {rx_data[29]};
    assign VAROUT1_BITOUT0_BIT = {rx_data[28]};
    assign VAROUT1_BITOUT1_BIT = {rx_data[27]};
    assign VAROUT1_PWMOUT0_ENABLE = {rx_data[26]};
    assign VAROUT1_STEPDIR0_ENABLE = {rx_data[25]};
    assign VAROUT1_STEPDIR1_ENABLE = {rx_data[24]};
    assign VAROUT1_STEPDIR2_ENABLE = {rx_data[23]};
    assign VAROUT1_STEPDIR3_ENABLE = {rx_data[22]};
    // assign FILL = rx_data[21:0];

    // FPGA -> PC (349 + FILL)
    assign tx_data = {
        header_tx[7:0], header_tx[15:8], header_tx[23:16], header_tx[31:24],
        timestamp[7:0], timestamp[15:8], timestamp[23:16], timestamp[31:24],
        MULTIPLEXED_INPUT_VALUE[7:0], MULTIPLEXED_INPUT_VALUE[15:8],
        MULTIPLEXED_INPUT_ID[7:0],
        VARIN128_MODBUS0_RXDATA[7:0], VARIN128_MODBUS0_RXDATA[15:8], VARIN128_MODBUS0_RXDATA[23:16], VARIN128_MODBUS0_RXDATA[31:24], VARIN128_MODBUS0_RXDATA[39:32], VARIN128_MODBUS0_RXDATA[47:40], VARIN128_MODBUS0_RXDATA[55:48], VARIN128_MODBUS0_RXDATA[63:56], VARIN128_MODBUS0_RXDATA[71:64], VARIN128_MODBUS0_RXDATA[79:72], VARIN128_MODBUS0_RXDATA[87:80], VARIN128_MODBUS0_RXDATA[95:88], VARIN128_MODBUS0_RXDATA[103:96], VARIN128_MODBUS0_RXDATA[111:104], VARIN128_MODBUS0_RXDATA[119:112], VARIN128_MODBUS0_RXDATA[127:120],
        VARIN32_STEPDIR0_POSITION[7:0], VARIN32_STEPDIR0_POSITION[15:8], VARIN32_STEPDIR0_POSITION[23:16], VARIN32_STEPDIR0_POSITION[31:24],
        VARIN32_STEPDIR1_POSITION[7:0], VARIN32_STEPDIR1_POSITION[15:8], VARIN32_STEPDIR1_POSITION[23:16], VARIN32_STEPDIR1_POSITION[31:24],
        VARIN32_STEPDIR2_POSITION[7:0], VARIN32_STEPDIR2_POSITION[15:8], VARIN32_STEPDIR2_POSITION[23:16], VARIN32_STEPDIR2_POSITION[31:24],
        VARIN32_STEPDIR3_POSITION[7:0], VARIN32_STEPDIR3_POSITION[15:8], VARIN32_STEPDIR3_POSITION[23:16], VARIN32_STEPDIR3_POSITION[31:24],
        VARIN1_BITIN0_BIT,
        VARIN1_BITIN1_BIT,
        VARIN1_BITIN2_BIT,
        VARIN1_BITIN3_BIT,
        VARIN1_BITIN4_BIT,
        3'd0
    };
    

    w5500 #(
        .MAC_ADDR({8'hAA, 8'hAF, 8'hFA, 8'hCC, 8'hE3, 8'h1C}),
        .IP_ADDR({8'd192, 8'd168, 8'd10, 8'd194}),
        .NET_MASK({8'd255, 8'd255, 8'd255, 8'd0}),
        .GW_ADDR({8'd192, 8'd168, 8'd10, 8'd1}),
        .PORT(2390),
        .BUFFER_SIZE(BUFFER_SIZE),
        .MSGID(32'h74697277),
        .DIVIDER(0)
    ) w55000 (
        .clk(sysclk),
        .mosi(PINOUT_W55000_MOSI_RAW),
        .miso(PININ_W55000_MISO),
        .sclk(PINOUT_W55000_SCLK_RAW),
        .sel(PINOUT_W55000_SEL_RAW),
        .intr(1'd0),
        .rx_data(rx_data),
        .tx_data(tx_data),
        .sync(INTERFACE_SYNC)
    );

    stepdir #(
        .PULSE_LEN(108),
        .DIR_DELAY(18)
    ) stepdir0 (
        .clk(sysclk),
        .step(PINOUT_STEPDIR0_STEP_RAW),
        .dir(PINOUT_STEPDIR0_DIR_RAW),
        .velocity(VAROUT32_STEPDIR0_VELOCITY),
        .enable(VAROUT1_STEPDIR0_ENABLE & ~ERROR),
        .position(VARIN32_STEPDIR0_POSITION)
    );