TangNano9K

Tang Nano 9K with 5axis-BOB

https://wiki.sipeed.com/hardware/en/tang/Tang-Nano-9K/Nano-9K.html

Install: see INSTALL.md

Known-Issues:

• openFPGAloader will not work on Raspberry Pi, you have to use another host to flash the FPGA !
• sometimes i have problems with the opensource toolchain and extended configurations, like encoder value will not change
• you can also using the gowin toolchain if you have problems with the opensource one, all required files are generated

LinuxCNC-RIO mixed joint types (on TangNano9K - FPGA)

BOB-Adapter SPI-Pins:

BOB-Adapter	FUNC	FPGA-Pin	Raspberry-GPIO	Raspberry-Pin
1	5V			2
2	MOSI	48	GPIO10 (MOSI)	19
3	MISO	49	GPIO9 (MISO)	21
4	SCK	31	GPIO11 (SCLK)	23
5	CS	32	GPIO7 (CE1)	26
6	GND			6

BOB-Adapter Expansion-Pins:

BOB-Adapter	FUNC	FPGA-Pin
1	OUT	73
2	IN	72
3	CLK	71
4	LOAD	70
5	5V
6	GND

BOB-Adapter extra Input-Pins:

BOB-Adapter	FUNC	FPGA-Pin
1	5V
2	DIN5	79
3	DIN6	80
4	DIN7	81
5	DIN8	82
6	DIN9	83
7	DIN10	84
8	DIN11	85
9	DIN12	86
10	GND

Mapping: 5Axis-BOB to FPGA

BOB5X	FUNC	FPGA-Pin
P1	PWM	55
P2	STP_X	54
P3	DIR_X	53
P4	STP_Y	51
P5	DIR_Y	42
P6	STP_Z	41
P7	DIR_Z	35
P8	STP_A	40
P9	DIR_A	34
P10	DIN0	33
P11	DIN1	30
P12	DIN2	29
P13	DIN3	28
P14	EN	69
P15	DIN4	68
P16	STP_B	57
P17	DIR_B / Relais	56

Mapping: FPGA Onboard Components

Component	FUNC	FPGA-Pin
LED1	BLINK	10
LED2	ERROR	11
LED3	DOUT1	13
LED4	DOUT2	14
LED5	DOUT3	15
LED6	DOUT4	16
BTN_S1	VIN1+	4
BTN_S2	VIN1-	3