Table of Contents

List of figures

List of tables

1 Pluto-P

1.1 General Info

The Pluto-P is an inexpensive ($60) FPGA board featuring the ACEX1K chip from Altera.

1.1.1 Requirements

  1. A Pluto-P board
  2. An EPP-compatible parallel port, configured for EPP mode in the system BIOS

1.1.2 Connectors

1.1.3 Physical Pins

1.1.4 LED

1.1.5 Power

1.1.6 PC interface

1.1.7 Rebuilding the FPGA firmware

The src/hal/drivers/pluto_servo_firmware/ and src/hal/drivers/pluto_step_firmware/ subdirectories contain the Verilog source code plus additional files used by Quartus for the FPGA firmwares. Altera's Quartus II software is required to rebuild the FPGA firmware. To rebuild the firmware from the .hdl and other source files, open the .qpf file and press CTRL-L. Then, recompile emc2.

Like the HAL hardware driver, the FPGA firmware is licensed under the terms of the GNU General Public License.

The gratis version of Quartus II runs only on Microsoft Windows, although there is apparently a paid version that runs on Linux.

1.1.8 For more information

Some additional information about it is available from http://www.fpga4fun.com/board_pluto-P.html and from the developer's blog.

1.2 pluto-servo: Hardware PWM and quadrature counting

The pluto_servo system is suitable for control of a 4-axis CNC mill with servo motors, a 3-axis mill with PWM spindle control, a lathe with spindle encoder, etc. The large number of inputs allows a full set of limit switches.

This driver features:

1.2.1 Pinout

UPx
The "up" (up/down mode) or “pwm” (pwm+direction mode) signal from PWM generator X. May be used as a digital output if the corresponding PWM channel is unused, or the output on the channel is always negative. The corresponding digital output invert may be set to TRUE to make UPx active low rather than active high.
DNx
The "down" (up/down mode) or “direction” (pwm+direction mode) signal from PWM generator X. May be used as a digital output if the corresponding PWM channel is unused, or the output on the channel is never negative. The corresponding digital ouput invert may be set to TRUE to make DNx active low rather than active high.
QAx, QBx
The A and B signals for Quadrature counter X. May be used as a digital input if the corresponding quadrature channel is unused.
QZx
The Z (index) signal for quadrature counter X. May be used as a digital input if the index feature of the corresponding quadrature channel is unused.
INx
Dedicated digital input #x
OUTx
Dedicated digital output #x
GND
Ground
VCC
+3.3V regulated DC

Figure: Pluto-Servo Pinout

Primary function Alternate Function Behavior if both functions used
UP0 PWM0 When pwm-0-pwmdir is TRUE, this pin is the PWM output
OUT10 XOR'd with UP0 or PWM0
UP1 PWM1 When pwm-1-pwmdir is TRUE, this pin is the PWM output
OUT12 XOR'd with UP1 or PWM1
UP2 PWM2 When pwm-2-pwmdir is TRUE, this pin is the PWM output
OUT14 XOR'd with UP2 or PWM2
UP3 PWM3 When pwm-3-pwmdir is TRUE, this pin is the PWM output
OUT16 XOR'd with UP3 or PWM3
DN0 DIR0 When pwm-0-pwmdir is TRUE, this pin is the DIR output
OUT11 XOR'd with DN0 or DIR0
DN1 DIR1 When pwm-1-pwmdir is TRUE, this pin is the DIR output
OUT13 XOR'd with DN1 or DIR1
DN2 DIR2 When pwm-2-pwmdir is TRUE, this pin is the DIR output
OUT15 XOR'd with DN2 or DIR2
DN3 DIR3 When pwm-3-pwmdir is TRUE, this pin is the DIR output
OUT17 XOR'd with DN3 or DIR3
QZ0 IN8 Read same value
QZ1 IN9 Read same value
QZ2 IN10 Read same value
QZ3 IN11 Read same value
QA0 IN12 Read same value
QA1 IN13 Read same value
QA2 IN14 Read same value
QA3 IN15 Read same value
QB0 IN16 Read same value
QB1 IN17 Read same value
QB2 IN18 Read same value
QB3 IN19 Read same value
Table: Pluto-Servo Alternate Pin Functions

1.2.2 Input latching and output updating

1.2.3 HAL Functions, Pins and Parameters

A list of all 'loadrt' arguments, HAL function names, pin names and parameter names is in the manual page, pluto_servo.9.

1.2.4 Compatible driver hardware

A schematic for a 2A, 2-axis PWM servo amplifier board is available (http://emergent.unpy.net/projects/01148303608). The L298 H-Bridge (L298 H-bridge) is inexpensive and can easily be used for motors up to 4A (one motor per L298) or up to 2A (two motors per L298) with the supply voltage up to 46V. However, the L298 does not have built-in current limiting, a problem for motors with high stall currents. For higher currents and voltages, some users have reported success with International Rectifier's integrated high-side/low-side drivers. (http://www.cnczone.com/forums/showthread.php?t=25929)

1.3 Pluto-step: 300kHz Hardware Step Generator

Pluto-step is suitable for control of a 3- or 4-axis CNC mill with stepper motors. The large number of inputs allows for a full set of limit switches.

The board features:

1.3.1 Pinout

STEPx
The “step” (clock) output of stepgen channel x
DIRx
The “direction” output of stepgen channel x
INx
Dedicated digital input #x
OUTx
Dedicated digital output #x
GND
Ground
VCC
+3.3V regulated DC

While the “extended main connector” has a superset of signals usually found on a Step & Direction DB25 connector--4 step generators, 9 inputs, and 6 general-purpose outputs--the layout on this header is different than the layout of a standard 26-pin ribbon cable to DB25 connector.

Figure: Pluto-Step Pinout

1.3.2 Input latching and output updating

1.3.3 Step Waveform Timings

The firmware and driver enforce step length, space, and direction change times. Timings are rounded up to the next multiple of 1.6μs, with a maximum of 49.6μs. The timings are the same as for the software stepgen component, except that “dirhold” and “dirsetup” have been merged into a single parameter “dirtime” which should be the maximum of the two, and that the same step timings are always applied to all channels.

Figure: Pluto-Step Timings

1.3.4 HAL Functions, Pins and Parameters

A list of all 'loadrt' arguments, HAL function names, pin names and parameter names is in the manual page, pluto_step.9.

Index