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