ColorCNC Colorlight 5A-75E/5A-75B as FPGA controller board

Update: PREOP reached, full SII EEPROM interface workingQuick update on the Colorlight 5A-75E EtherCAT slave.Since my last post, quite a bit has moved:What works now:

• SII EEPROM emulation fully implemented and verified with IgH master
• Code:

  ethercat slaves -v
  reads identity correctly:
  • Vendor Id:
    Code:

    0xDEADBABE
    , Product code:
    Code:

    0x00C0FFEE
  • All SII categories parsed: STRINGS, GENERAL, FMMU, SYNCM
• AL state machine:
  Code:

  INIT → PREOP
• IgH configures SM0/SM1 and accepts the slave in PREOP

Current limitation:
CoE mailbox is not implemented on the FPGA side yet, so IgH fails on
CoE SDO upload ( PDO assign) and never reaches SAFEOP/OP.Next steps:

• Remove CoE declaration from ESI to bypass mailbox requirement for
  Phase 1 (bring-up with LinuxCNC and quadrature encoders)
• Then decide: implement mailbox via VexRiscv + SOES (Phase 2), or
  keep CoE-free with PDO mapping from ESI

Repository:
github.com/romanetz/liteethercat Architecture and roadmap: in the repo.The project continues the same modular LiteX approach. Once the slave
is in OP and HAL pins react to encoder movement, I'll post a video.

(venv) engin@engin:~/litex-work/liteeth/bench/ESC$ ethercat slaves -v -p 0
=== Master 0, Slave 0 ===
Device: Main
State: PREOP
Flag: E
Identity:
 Vendor Id:       0xdeadbabe
 Product code:    0x00c0ffee
 Revision number: 0x00000001
 Serial number:   0x00000000
DL information:
 FMMU bit operation: no
 Distributed clocks: no
Port  Type  Link  Loop    Signal  NextSlave
  0  MII   up    open    yes             -
  1  MII   down  closed  no              -
  2  N/A   down  closed  no              -
  3  N/A   down  closed  no              -
Mailboxes:
 Bootstrap RX: 0x0000/0, TX: 0x0000/0
 Standard  RX: 0x1000/128, TX: 0x1080/128
 Supported protocols: CoE
General:
 Group: Colorlight5A75E
 Image name:  
 Order number:  
 Device name: Colorlight 5A-75E EtherCAT Device
 CoE details:
   Enable SDO: yes
   Enable SDO Info: no
   Enable PDO Assign: no
   Enable PDO Configuration: no
   Enable Upload at startup: no
   Enable SDO complete access: no
 Flags:
   Enable SafeOp: no
   Enable notLRW: no
 Current consumption: 0 mA