7I92 ETHERNET
ANYTHING I/O
MANUAL
Version 1.7
This page intentionally not blank
iii
Table of Contents
GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
HARDWARE CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
BREAKOUT POWER OPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
5V I/O TOLERANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
PRECONFIG PULL-UP ENABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
IP ADDRESS SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
CONNECTOR LOCATIONS AND DEFAULT JUMPER POSITIONS . . . . . . . . 4
7I92 I/O CONNECTOR PIN-OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
POWER CONNECTOR PIN-OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
JTAG CONNECTOR PIN-OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
FPGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
FPGA PINOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
IP ADDRESS SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
HOST COMMUNICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
UDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
LBP16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
WINDOWS ARP ISSUES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
CONFIGURATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
FALLBACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
DUAL EEPROMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
EEPROM LAYOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
BITFILE FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
iv
Table of Contents
OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MESAFLASH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
SETTING EEPROM IP ADDRESS . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
FREE EEPROM SPACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
FALLBACK INDICATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
FAILURE TO CONFIGURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
CLOCK SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
LEDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
PULLUP RESISTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
I/O LEVELS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
STARTUP I/O VOLTAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
INTERFACE CABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
v
Table of Contents
SUPPLIED CONFIGURATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
HOSTMOT2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7I76X1D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7I76_7I74D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
G540X2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7I77X2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7I77_7I76D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
7I77_7I74D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7I74X2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
7I78X2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
PROB_RFX2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
PIN FILES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
REFERENCE INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
LBP16
LBP16 COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
INFO AREA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
INFO AREA MEMSIZES FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
INFO AREA MEMRANGES FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . 20
INFO AREA ACCESS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7I92 SUPPORTED MEMORY SPACES . . . . . . . . . . . . . . . . . . . . . . . . 22
SPACE0: HOSTMOT2 REGISTERS . . . . . . . . . . . . . . . . . . . . . . . . . . 22
SPACE1: ETHERNET CHIP ACCESS . . . . . . . . . . . . . . . . . . . . . . . . . 24
SPACE2: ETHERNET EEPROM CHIP ACCESS . . . . . . . . . . . . . . . . 24
ETHERNET EEPROM LAYOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
SPACE3: FPGA FLASH EEPROM CHIP ACCESS . . . . . . . . . . . . . . . 27
FLASH MEMORY REGISTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
SPACE4: LBP TIMER/UTIL REGISTERS . . . . . . . . . . . . . . . . . . . . . . 30
SPACE6: LBP STATUS/CONTROL REGISTERS . . . . . . . . . . . . . . . . 31
MEMORY SPACE 6 LAYOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
ERROR REGISTER FORMAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
SPACE7: LBP READ ONLY INFORMATION . . . . . . . . . . . . . . . . . . . . 33
MEMORY SPACE 7 LAYOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
ELBPCOM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CARD DRAWING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7I92 1
GENERAL
DESCRIPTION
The MESA 7I92 is a low cost, general purpose, FPGA based programmable I/O card
with 100 BaseT Ethernet host connection. The 7I92 that uses standard parallel port pinouts
and connectors for compatibility with most parallel port interfaced motion control / CNC
breakout cards/ multi axis step motor drives, allowing a motion control performance boost
while retaining a reliable real time Ethernet interface. Unlike the parallel port that the 7I92
replaces, each I/O bit has individually programmable direction and function.
The 7I92 has a simplified UDP host data transfer systems that allows operation in
real time and compatibility with standard networks. The 7I92 provides 34 I/O bits (17 per
connector) All I/O bits are 5V tolerant and have pullup resistors. A power source option
allows the 7I92 to supply 5V power to breakout boards if desired. This 5V power is protected
by a PTC.
Firmware modules are provided for hardware step generation, quadrature encoder
counting, PWM generation, digital I/O, Smart Serial remote I/O, BISS, SSI, SPI, UART
interfaces and more. Configurations are available that are compatible with common
breakout cards and multi axis step motor drives like the Gecko G540 and
LeadshineMX3660/4660. All motion control firmware is open source and easily modified to
support new functions or different mixes of functions.
In addition to standard parallel port breakouts, There are currently six 7I92
compatible breakout cards available from Mesa, the 7I74 through 7I78 and 7I85. The 7I76
is a step/dir oriented breakout with 5 axis of buffered step/dir outputs, one spindle encoder
input, one isolated 0-10V analog spindle speed plus isolated direction and enable outputs,
one RS-422 expansion port, 32 isolated 5-32V inputs and 16 isolated 5-32V 300 mA
outputs. The 7I77 is a analog servo interface with 6 encoder inputs, 6 analog +-10V outputs,
one RS-422 expansion port, 32 isolated 5-32V inputs, and 16 isolated 5-32V 300 mA
outputs. The 7I92 supports two breakout cards so for example a 10 Axis step/dir
configuration or 12 axis analog servo configuration is possible with a single 7I92 and two
Mesa breakout cards.
7I92 2
HARDWARE CONFIGURATION
GENERAL
Hardware setup jumper positions assume that the 7I92 card is oriented in an upright
position, that is, with the Ethernet connector towards the left and the I/O connectors
towards the right.
CONNECTOR 5V POWER
The 7I92 has the option to supply 5V power from the to the breakout board. This
option is used by all Mesa breakout boards to simplify wiring. The option uses 4 parallel
cable signals that are normally used as grounds for supplying 5V to the remote breakout
board (DB25 pins 22,23,24 and 25). These pins are AC bypassed on both the 7I92 and
Mesa breakout cards so do not compromise AC signal integrity. The 5V power option is
individually selectable for each of the four I/O connectors. The breakout 5V power is
protected by per connector PTC devices so will not cause damage to the 7I92 or system
if accidentally shorted. This option should only be enabled for Mesa breakout boards or
boards specifically wired to accept 5V power on DB25 pins 22 through 25. When the option
is disabled DB25 pins 22 through 25 are grounded. Jumper W3 sets the power option on
header P1, and W4 sets the power option on DB25 connector P2.
JUMPER POS FUNCTION
W3,W4 UP BREAKOUT POWER ENABLED
W3,W4 DOWN BREAKOUT POWER DISABLED (DEFAULT)
5V I/O TOLERANCE
The FPGA used on the 7I92 has a 4V absolute maximum input voltage
specification. To allow interfacing with 5V inputs, the 7I92 has bus switches on all I/O pins.
The bus switches work by turning off when the input voltage exceeds a preset threshold.
The 5V I/O tolerance option is the default and should normally be left enabled.
For high speed applications where only 3.3V maximum signals are present and
overshoot clamping is desired, the 5V I/O tolerance option can be disabled. W1 controls
the 5V I/O tolerance option. When W1 is on the default UP position, 5V tolerance mode
is enabled. When W1 is in the DOWN position, 5V tolerance mode is disabled. Note that
W4 controls 5V tolerance on both I/O connectors.
PULLUP VOLTAGE
Jumper W1 also selects the I/O connector pull-up resistor voltage, When W1 is in
the UP position the 4.7K I/O pullup resistor common is connected to 5V, When W1 is in
the down position, The 4.7K I/O pullup resistor common is connected to 3.3V.
7I92 3
HARDWARE CONFIGURATION
IP ADDRESS SELECTION
The 7I92 has three options for selecting its IP address. These options are selected
by Jumpers W5 and W6.
W5 W6 IP ADDRESS
DOWN DOWN FIXED 192.168.1.121 (DEFAULT)
DOWN UP FIXED FROM EEPROM
UP DOWN BOOTP
UP UP INVALID
Note: that the initial EEPROM IP address is set to 10.10.10.10 at Mesa, but can be
changed to any address with the mesaflash utility.
7I92 4
CONNECTORS
CONNECTOR LOCATIONS AND DEFAULT JUMPER POSITIONS
7I92 5
CONNECTORS
I/O CONNECTORS
The 7I92 has 2 I/O connectors, P1 and P2 please see the 7I92IO.PIN file on the
7I92 distribution disk. Depending on 7I92 model P2 may be a DB25 female, DB25 male
or 26 pin header. 7I92 IO P2 connector pinouts are as follows:
P2 FIRST I/O CONNECTOR PINOUT
DB25 PIN HDR PIN FUNCTION DB25 PIN HDR PIN FUNCTION
1 1 IO0 14 2 IO1
2 3 IO2 15 4 IO3
3 5 IO4 16 6 IO5
4 7 IO6 17 8 IO7
5 9 IO8 18 10 GND
6 11 IO9 19 12 GND
7 13 IO10 20 14 GND
8 15 IO11 21 16 GND
9 17 IO12 22 18 GND or 5V
10 19 IO13 23 20 GND or 5V
11 21 IO14 24 22 GND or 5V
12 23 IO15 25 24 GND or 5V
13 25 IO16 XX 26 GND or 5V
7I92 6
CONNECTORS
I/O CONNECTORS
P1 HDR26 CONNECTOR PINOUT
HDR PIN FUNCTION HDR PIN FUNCTION
1 IO17 2 IO18
3 IO19 4 IO20
5 IO21 6 IO22
7 IO23 8 IO24
9 IO25 10 GND
11 IO26 12 GND
13 IO27 14 GND
15 IO28 16 GND
17 IO29 18 GND or 5V
19 IO30 20 GND or 5V
21 IO31 22 GND or 5V
23 IO32 24 GND or 5V
25 IO33 26 GND or 5V
Note: 26 pin header P1 will match standard parallel port pin-out if terminated with
flat cable 26 pin receptacle/DB25F cable with pin1s connected (and header pin 26 left
open)
A cable kit is available from MESA for the second port.
7I92 7
CONNECTORS
POWER CONNECTOR PINOUT
P3 is the 7I92s power connector. P3 is a 3.5MM plug-in screw terminal block. P3
pinout is as follows:
PIN FUNCTION
1 +5V TOP, SQUARE PAD
2 GND BOTTOM, ROUND PAD
JTAG CONNECTOR PINOUT
P4 is a JTAG programming connector. This is normally used only for debugging or
if both EEPROM configurations have been corrupted. In case of corrupted EEPROM
contents the EEPROM can be re-programmed using Xilinx’s Impact tool.
P4 JTAG CONNECTOR PINOUT
PIN FUNCTION
1 TMS
2 TDI
3 TDO
4 TCK
5 GND
6 +3.3V
7I92 8
OPERATION
FPGA
The 7I92 use a Xilinx Spartan6 XC6SLX9-TQ144 Spartan6 FPGA.
IP ADDRESS SELECTION
Initial communication with the 7I92 requires knowing its IP address. The 7I92 has
3 IP address options: Default, EEPROM, and Bootp, selected by jumpers W5 and W6.
Default IP address is always 192.168.1.121. The EEPROM IP address is set by writing
Ethernet EEPROM locations 0x20 and 0X22. BootP allows the 7I92 address to be set by
a DHCP/ BootP server. If BootP is chosen, the 7I92 will retry BootP requests at a ~1 Hz
rate if the BootP server does not respond.
HOST COMMUNICATION
The 7I92 standard firmware is designed for low overhead real time communication
with a host controller so implements a very simple set of IPV4 operations. These
operations include ARP reply, ICMP echo reply, and UDP packet receive/send for host
data communications. UDP is used so that the 7I92 can be used on a standard network
with standard tools for non-real time applications. No fragmentation is allowed so
maximum packet size is 1500 bytes.
UDP
All 7I92 data communication is done via UDP packets. The 7I92 socket number for
UDP data communication is 27181. Read data is routed to the requesters port number.
Under UDP, a simple register access protocol is used. This protocol is called LBP16.
LBP16
LBP16 allows read and write access to up to eight separate address spaces with
different sizes and characteristics. Current firmware uses seven of these spaces. For
efficiency, LBP16 allows access to blocks of registers at sequential increasing addresses.
(Block transfers)
WINDOWS ARP ISSUES
Windows TCP stack has a characteristic that causes it to drop outgoing UDP
packets when refreshing its ARP cache. Because of this you must either verify packet
transmission via echoing data from the 7I92 for every transaction (reading RXUDPCount
is suggested) and retrying failed transactions, or alternatively, setting up a static entry for
the 7I92 in the ARP table. This is done with windows ARP command.
7I92 9
OPERATION
CONFIGURATION
The 7I92 is configured at power up by a SPI FLASH memory. This flash memory
is an 16M bit chip that has space for two configuration files. Since all Ethernet logic on the
7I92 is in the FPGA, a problem with configuration means that Ethernet access will not be
possible. For this reason there is a backup method to recover from FPGA boot failures,
fallback.
FALLBACK
The 7I92 flash memory normally contains two configuration file images, A user
image and a fallback image. If the primary user configuration is corrupted, the FPGA will
load the fallback configuration so the flash memory image can be repaired remotely
without having to resort to switching memories or JTAG programming.
7I92 10
OPERATION
EEPROM LAYOUT
The EEPROM used on the 7I92 for configuration storage is the M25P16. The
M25P16 is a 16 M bit (2 M byte) EEPROM with 32 64K byte sectors. Configuration files are
stored on sector boundaries to allow individual configuration file erasing and updating.
Standard EEPROM sector layout is as follows:
The first half of M25P16 sector layout is as follows:
0x00000 BOOT BLOCK
0x10000 FALLBACK CONFIGURATION BLOCK 0
0x20000 FALLBACK CONFIGURATION BLOCK 1
0x30000 FALLBACK CONFIGURATION BLOCK 2
0x40000 FALLBACK CONFIGURATION BLOCK 3
0x50000 FALLBACK CONFIGURATION BLOCK 4
0x60000 FALLBACK CONFIGURATION BLOCK 5
0x70000 RESERVED
0x80000 UNUSED/FREE
0x90000 UNUSED/FREE
0xA0000 UNUSED/FREE
0xB0000 UNUSED/FREE
0xC0000 UNUSED/FREE
0xD0000 UNUSED/FREE
0xE0000 UNUSED/FREE
0xF0000 UNUSED/FREE
7I92 11
OPERATION
EEPROM LAYOUT
The second half of M25P16 sector layout is as follows:
0x100000 USER CONFIGURATION BLOCK 0
0x110000 USER CONFIGURATION BLOCK 1
0x120000 USER CONFIGURATION BLOCK 2
0x130000 USER CONFIGURATION BLOCK 3
0x140000 USER CONFIGURATION BLOCK 4
0x150000 USER CONFIGURATION BLOCK 5
0x160000 UNUSED/FREE
0x170000 UNUSED/FREE
0x180000 UNUSED/FREE
0x190000 UNUSED/FREE
0x1A0000 UNUSED/FREE
0x1B0000 UNUSED/FREE
0x1C0000 UNUSED/FREE
0x1D0000 UNUSED/FREE
0x1E0000 UNUSED/FREE
0x1F0000 UNUSED/FREE
7I92 12
OPERATION
BITFILE FORMAT
The configuration utilities expect standard FPGA bitfiles without any multiboot features
enabled. If multiboot FPGA files are loaded they will likely cause a configuration failure. In
addition for fallback to work, the -g next_config_register_write:disable, -g
reset_on_error:enable and -g CRC:enable bitgen options must be set.
WARNING: Never write a bitfile that is not designed for a 7I92 into the 7I92s
EEPROM as this will likely "brick" the 7I92 card and require the card to be returned
to Mesa for repair.
MESAFLASH
Linux and Windows utility programs MESAFLASH are provided to write
configuration files to the 7I92 EEPROM. These files depend on a simple SPI interface built
into both the standard user FPGA bitfiles and the fallback bitfile. The MESAFLASH utilities
expect standard FPGA bitfiles without any multiboot features enabled. If multiboot FPGA
files are loaded they will likely cause a configuration failure.
If mesaflash is run with a Bhelp command line argument it will print usage
information.
The following examples assume the target 7I92 is using the ROM IP address of
192.168.1.121.
mesaflash --device 7I92 --write FPGAFILE.BIT
Writes a standard bitfile FPGAFILE.BIT to the user area of the EEPROM.
mesaflash --device 7I92 --verify FPGAFILE.BIT
Verifies the user EEPROM configuration against the bit file FPGAFILE.BIT.
mesaflash --device 7I92 --fallback --write FALLBACK.BIT
Writes the fallback EEPROM configuration to the fallback area of the EEPROM. In
addition if the bootblock is not present in block 0 of the EEPROM, it re-writes the
bootblock.
SETTING EEPROM IP ADDRESS
MESAFLASH can also write the EEPROM IP address of the 7I92:
MESAFLASH --device 7I92 --set ip=192.168.0.100
The above examples assume the 7I92 has its default ROM IP address
(192.168.1.121). If the 7I92 is using another IP address, this must be specified on the
command line with a Baddr XX.XX.XX.XX command line argument.
7I92 13
OPERATION
FREE FLASH MEMORY SPACE
Fifteen 64K byte blocks of flash memory space are free when both user and fallback
configurations are installed. These free blocks can be used for storing user data.
FALLBACK INDICATION
Mesa’s supplied fallback configurations blink the red INIT LED on the top right hand
side of the card if the primary configuration fails and the fallback configuration loaded
successfully. If this happens it means the user configuration is corrupted or not a proper
configuration for the 7I92s FPGA. This can be fixed by running the configuration utility and
re-writing the user configuration.
FAILURE TO CONFIGURE
The 7I92 should configure its FPGA within a fraction of a second of power
application. If the FPGA card fails to configure, the red /DONE LED CR2 will remain
illuminated. If this happens the 7I92s EEPROM must be re-programmed via the JTAG
connector or (faster) JTAG FPGA load followed by Ethernet EEPROM update.
CLOCK SIGNALS
The 7I92 has a single 50 MHz clock signal from an on card crystal oscillator. The
clock a can be multiplied and divided by the FPGAs clock generator block to generate a
wide range of internal clock signals. The 50 MHz clock is also used to generate the 25MHz
clock for the Ethernet interface chip.
7I92 14
OPERATION
LEDS
The 7I92 has 4 FPGA driven user LEDs (User 0 through User 3 = Green), and 2
FPGA driven status LEDs (red) and a power LED. The user LEDs can be used for any
purpose, and can be helpful as a simple debugging feature. A low output signal from the
FPGA lights the LED. See the 7I92IO.PIN file for FPGA pin locations of the LED signals.
The status LEDs reflect the state of the FPGA’s DONE, and /INIT pins. The /DONE LED
lights until the FPGA is configured at power-up. The /INIT LED lights when the power on
reset is asserted, when there has been a CRC error during configuration. When using
Mesas configurations, the /INIT LED blinks when the fallback configuration has been
loaded.
PULLUP RESISTORS
All I/O pins are provided with pull-up resistors to allow connection to open drain,
open collector, or OPTO devices. These resistors have a value of 4.7K so have a
maximum pull-up current of ~1.07 mA (5V pull-up) or ~.7 mA (3.3V pull-up).
IO LEVELS
The Xilinx FPGAs used on the 7I92 have programmable I/O levels for interfacing
with different logic families. The 7I92 does not support use of the I/O standards that require
input reference voltages. All standard Mesa configurations use LVTTL levels.
Note that even though the 7I92 can tolerate 5V signal inputs, its outputs will not
swing to 5V. The outputs are push pull CMOS that will drive to the output supply rail of
3.3V. This is sufficient for TTL compatibility but may cause problems with some types of
loads. For example when driving an LED that has its anode connected to 5V, in such
devices as OPTO isolators and I/O module rack SSRs, the 3.3V high level may not
completely turn the LED off. To avoid this problem, either drive loads that are ground
referred, Use 3.3V as the VCC for VCC referred loads, or use open drain mode.
STARTUP I/O VOLTAGE
After power-up or system reset and before the the FPGA is configured, the pull-up
resistors will pull all I/O signals to a high level. If the FPGA is used for motion control or
controlling devices that could present a hazard when enabled, external circuitry should be
designed so that this initial state (high) results in a safe condition.
7I92 15
OPERATION
INTERFACE CABLES
Mesa daughtercards use a male to male DB25 cable to interface to the 7I92. For
noise immunity and signal fidelity it is suggested that only IEEE-1284 rated cables be
used. IEEE-1284 rated cables have a twisted pair shield wire for each signal wire and an
overall shield terminated in the metal connector shell. This results in much better
performance than flat or NON-IEEE-1284 parallel port cables For short connections of less
than 3 feet, flat cables can be used. No other type of cable should be used.
Mesa can supply IEEE-1284 cables tested with the 7I92 / daughtercard combination
in 3, 6, and 10 foot lengths.
BREAKOUT POWER OPTION
When used with Mesa breakout/daughter cards, the 7I92 can supply up to 1A of 5V
power to each of the daughter cards. This option is disabled by default to avoid possible
damage to standard breakout boards, so must be specifically enabled for Mesa
daughtercards. If you use this option you must verify that the interface cable does not tie
the eight parallel port ground wires together as some cheap printer cables do. Mesa
supplied IEEE-1284 cables are the best option for Mesa daughter cards and are
guaranteed to work with the power option. Flat cables will work as well but have poorer
noise immunity and signal fidelity.
PLUG AND GO KITS
Motion control kits with pre-programmed 7I92, interface cable, and daughtercard(s)
are available to simplify system integration.
7I92 16
SUPPLIED CONFIGURATIONS
HOSTMOT2
All supplied configurations are part of the HostMot2 motion control firmware set. All
HostMot2 firmware is open source and easily extendible to support new interfaces or
different sets of interfaces embedded in one configuration. For detailed register level
information on Hostmot2 firmware modules, see the regmap file in the hostmot2 source
code directory.
7I76X1D
7I76X1D is a configuration intended to work with the 7I76 five axis step/dir
daughtercard. It supports a single 7I76 daughtercard
7I76_7I74D
7I76_7I74 is a configuration for a7I76 five axis step/dir daughtercard on P2 and a
7I74 eight channel RS-422 interface on P1, The 7I74 is configured with eight Smart Serial
channels.
G540X2D
G540X2 is a configuration intended to work with two Gecko G540 four axis step
motor drives. It includes eight hardware step generators, two PWM generators, four GPIO
outputs, eight GPIO inputs, two charge pump drivers and a watchdog timer.
7I77X2D
7I77X2D is a configuration intended to work with the 7I77 six axis analog servo
daughtercard. It will support two 7I77 daughtercards. It includes twelve encoder inputs, six
smart serial interfaces (four used locally on the 7I77s and two fed through for additional
remotes), a watchdog timer and GPIO.
7I77_7I76D
7I77_7I76D is a configuration intended to work with a7I77 six axis analog servo
daughtercard on P2 a 7I76 daughtercard on P1.
7I92 17
SUPPLIED CONFIGURATIONS
7I77_7I74D
7I74_7I77D is a configuration intended to work with a7I77 six axis analog servo
daughtercard on P2 and a 7I74 eight channel RS-422 interface daughtercard on P1. It
includes six encoder inputs, 14 smart serial interfaces (2 used on the 7I77 for 48 bit
isolated field I/O and analog out) , a watchdog timer and GPIO.
7I74X2D
7I74X2D is a configuration intended to work with two 7I74 RS-422 daughter cards
It include sixteen smart serial interfaces allowing real time control of up to 784 digital I/O
points, a watchdog timer and GPIO.
7I78X2D
7I78X2D is a configuration intended to work with the 7I78 four axis step/dir
daughtercard. It will support two 7I78 daughtercards, one on each of the 7I92s I/O
connectors. The configuration includes eight hardware step generators, two PWM
generators, two encoder inputs and two Smart Serial interfaces, a watchdog timer and
GPIO
PROB_RFX2D
The PROB_RFX2D configuration is a step/dir configuration intended to work with
most common parallel port breakouts. Two breakouts are supported, one on each of the
7I92s I/O connectors. The configuration includes eight hardware step generators, two
encoders with index, four PWM generators , a watchdog timer and GPIO.
PIN FILES
Each of the configurations has an associated file with file name extension .pin that
describes the FPGA functions included in the configuration and the I/O pinout. These are
plain text files that can be printed or viewed with any text editor.
7I92 18
REFERENCE INFORMATION
LBP16
LBP16 COMMANDS
LBP16 is a simple remote register access protocol to allow efficient register access
over the Ethernet link. All LBP16 commands are 16 bits in length and have the following
structure:
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
W A C M M M S S I N N N N N N N
W Is the write bit (1 means write, 0 means read)
A Is the "Includes Address" bit. If this is '1' the command is followed by a 16 bit
address and the address pointer is loaded with this address. if this is 0 the current
address pointer for the memory space is used. Each memory space has its own
address pointer.
C Indicates if memory space itself (C=’0') or associated info area for the memory will
be accessed (C= ‘1')
M Is the 3 bit memory space specifier 000b through 111b
S Is the transfer element size specifier (00b = 8 bits, 01b = 16 bits 10b = 32 bits and
11b = 64 bits)
I Is the Increment address bit. if this is '1' the address pointer is incremented by the
element transfer size (in bytes) after every transfer ('0' is useful for FIFO transfers)
N Is the transfer count in units of the selected size. 1 through 127. A transfer count
of 0 is an error.
LBP16 read commands are followed by the 16 bit address (if the A bit is set). LBP16
Write commands are followed by the address (if bit A is set) and the data to be written.
LBP16 Addresses are always byte addresses. LBP data and addresses are little endian
so must be sent LSB first.
7I92 19
REFERENCE INFORMATION
LBP16
INFO AREA
There are eight possible memory spaces in LBP16. Each memory space has an
associated read only info area. The first entry has a cookie to verify correct access. The
next two entries in the info area are the MemSizes word and the MemRanges word. Only
16 bit read access is allowed to the info area.
0000 COOKIE = 0X5A0N WHERE N = ADDRESS SPACE 0..7
0002 MEMSIZES
0004 MEMRANGES
0006 ADDRESS POINTER
0008 SPACENAME 0,1
000A SPACENAME 2,3
000C SPACENAME 4,5
000E SPACENAME 6,7
INFO AREA MEMSIZES FORMAT
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
W T T T T T T T X X X X A A A A
W Memory space is Writeable
T Is type: 01 = Register, 02 = Memory, 0E = EEPROM, 0F = Flash
A Is access types (bit 0 = 8 bit, bit 1 = 16 bit etc)so for example 0x06 means 16 bit
and 32 bit operations allowed
7I92 20
REFERENCE INFORMATION
LBP16
INFO AREA MEMRANGES FORMAT
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
E E E E E P P P P P S S S S S S
E Is erase block size
P Is Page size
S Ps address range
Ranges are 2^E, 2^P, 2^S. All sizes and ranges are in bytes. E and P are 0 for non-flash
memory
7I92 21
REFERENCE INFORMATION
LBP16
INFO_AREA ACCESS
As discussed above, all memory spaces have an associated information area that
describes the memory space. Information area data is all 16 bits and read-only.The hex
command examples below are written in LSB first order for convenience. In the hex
command examples, the NN is the count/increment field of the LBP16 command and the
LLHH is the low and high bytes of the address.
Ispace 0 read with address NN61LLHH HostMot2 space
Ispace 0 read NN21
Ispace 1 read with address NN65LLHH Ethernet chip space
Ispace 1 read NN25
Ispace 2 read with address NN69LLHH Ethernet EEPROM space
Ispace 2 read NN29
Ispace 3 read with address NN6DLLHH FPGA flash space
Ispace 3 read NN2D
Ispace 6 read with address NN79LLHH LBP16 R/W space
Ispace 6 read NN39
Ispace 7 read with address NN7DLLHH LBP16 R/O space
Ispace 7 read NN3D
7I92 22
REFERENCE INFORMATION
LBP16
7I92 SUPPORTED MEMORY SPACES
The 7I92 firmware supports 6 address spaces. These will be described individually
with example hexadecimal commands. The hex command examples below are written in
LSB first order for convenience. In the hex command examples, the NN is the
count/increment field of the LBP16 command and the LLHH is the low and high bytes of
the address.
SPACE 0: HOSTMOT2 REGISTERS
This address space is the most important as it gives access to the FPGA I/O. This
is a 64K byte address range space with 32 bit R/W access.
Space 0 read with address NN42LLHH
Space 0 write with address NNC2LLHH
Space 0 read NN02
Space 0 write NN82
7I92 23
REFERENCE INFORMATION
LBP16
SPACE 0: HOSTMOT2 REGISTERS
Example: read first 5 entries in hostmot2 IDROM:
85420004
85 ; 85 == NN = 5 | Inc bit (0x80) so address is incremented after each
access
42 ; Read from space 0 with address included after command
00 ; LSB of address (IDROM starts at 0x0400)
04 ; MSB of address (IDROM starts at 0x0400)
Example: write 4 GPIO ports starting at 0x1000:
84C20010AAAAAAAABBBBBBBBCCCCCCCCDDDDDDDD
84 ; 84 == NN = 4 | Inc bit so address is incremented after each access
C2 ; Write to space 0 with address included after command
00 ; LSB of address (GPIO starts at 0x1000)
10 ; MSB of address (GPIO starts at 0x1000)
AAAAAAAA ; 32 bit data for GPIO port 0 at 0x1000
BBBBBBBB ; 32 bit data for GPIO port 0 at 0x1004
CCCCCCCC ; 32 bit data for GPIO port 0 at 0x1008
DDDDDDDD ; 32 bit data for GPIO port 0 at 0x100C
Note like all LBP16 data, write data is LS byte first
7I92 24
REFERENCE INFORMATION
LBP16
SPACE 1: ETHERNET CHIP ACCESS
Space 1 allows access to the KSZ8851-16 registers for debug purposes. All
accesses are 16 bit.
Space 1 read with address NN45LLHH
Space 1 write with address NNC5LLHH
Space 1 read NN05
Space 1 write NN85
Example: read Ethernet chip CIDER register: 0145C000
01 ; = NN = read 1 16 bit value
45 ; read space 1 with address included
C0 ; LSB of CIDER address
00 ; MSB of CIDER address
SPACE 2: ETHERNET EEPROM CHIP ACCESS
This space is used to store the Ethernet MAC address, card name, and EEPROM
settable IP address. The Ethernet EEPROM space is accessed as 16 bit data. The first
0x20 bytes are read only and the remaining 0x60 bytes are read/write.
Space 2 read with address NN49LLHH
Space 2 write with address NNC9LLHH
Space 2 read NN09
Space 2 write NN89
7I92 25
REFERENCE INFORMATION
LBP16
SPACE2: ETHERNET EEPROM CHIP ACCESS
Writes and erases require that the EEPROMWEna be set to 5A02. Note that
EEPROMWEna is cleared at the end of every LPB packet so the write EEPROMWEna
command needs to prepended to all EEPROM write and erase packets. For EEPROM
write operations a LBP16 read operation should follow the write(s) for host synchronization.
Example: write EEPROM IP address with 192:168.0.32 (C0:A8:0:20 in hex)
01D91A00025A Enable EEPROM area writes
82C920002000A8C0 Write 2 words to 0020 : C0A80020 (with inc). Note this
must be in the same packet and the EEPROMWEna
write
ETHERNET EEPROM LAYOUT
ADDRESS DATA
0000 Reserved RO
0002 MAC address LS Word RO
0004 MAC address Mid Word RO
0006 MAC address MS Word RO
0008 Reserved RO
000A Reserved RO
000C Reserved RO
000E Unused RO
7I92 26
REFERENCE INFORMATION
LBP16
ETHERNET EEPROM LAYOUT
ADDRESS DATA
0010 CardNameChar-0,1 RO
0012 CardNameChar-2,3 RO
0014 CardNameChar-4,5 RO
0016 CardNameChar-6,7 RO
0018 CardNameChar-8,9 RO
001A CardNameChar-10,11 RO
001C CardNameChar-12,13 RO
001E CardNameChar-14,15 RO
0020 EEPROM IP address LS word RW
0022 EEPROM IP address MS word RW
0024 EEPROM Netmask LS word RW (V16 and > firmware)
0026 EEPROM Netmask MS word RW (V16 and > firmware)
0028 DEBUG LED Mode (LS bit determines HostMot2 (0) or debug(1)) RW
002A Reserved RW
002C Reserved RW
002E Reserved RW
0030..007E Unused RW
7I92 27
REFERENCE INFORMATION
LBP16
SPACE 3: FPGA FLASH EEPROM CHIP ACCESS
Space 3 allows access to the FPGAs configuration flash memory. All flash memory
access is 32 bit. Flash memory access is different from other memory spaces in that it is
done indirectly via a 32 bit address pointer and 32 bit data port.
Space 3 read with address NN4ELLHH
Space 3 write with address NNCELLHHDDDDDDDD
Space 3 read NN0E
Space 3 write NN8E
FLASH MEMORY REGISTERS
Flash memory spaces have only 4 accessible registers:
ADDRESS DATA
0000 FL_ADDR 32 bit flash address register
0004 FL_DATA 32 bit flash data register
0008 FL_ID 32 bit read only flash ID register
000C SEC_ERASE 32 bit write only sector erase register
Unlike other memory spaces, flash memory space is accessed indirectly by writing
the address register (FL_ADDR) and then reading or writing the data (FL_DATA). The flash
byte address is automatically incremented by 4 each data access.
Note that reads can read all of flash memory with consecutive read operations but
write operations can only write a flash page worth of data before the page write must be
started. Also unless you are doing partial page writes, page write should always start on
a page boundary.
The page write is started by writing the flash address, reading the flash address,
reading flash data, reading flash ID or issuing a erase sector command. For host
synchronization, a read operation should follow every sector erase or page write.
7I92 28
REFERENCE INFORMATION
LBP16
SPACE 3: FPGA FLASH EEPROM CHIP ACCESS
Example: read 1024 bytes (0100h doublewords) of flash space at address
00123456:
01CE000056341200 Write FL_ADDR (0000) with pointer (0x00123456)
404E0400 Issue read command (FL_DATA = 0004) With count of 0x40
double words (256 bytes). Note do not use LBP16 increment
bit! Flash address always autoincremented
400E Next 0x40 doublewords = 256 bytes
400E Next 0x40 doublewords = 256 bytes
400E Next 0x40 doublewords = 256 bytes
Note that this is close to the maximum reads allowed in a single LBP packet (~1450
bytes)
Writes and erases require that the EEPROMWEna be set to 5A03. Note that
EEPROMWEna is cleared at the end of every LPB packet so the write EEPROMWEna
command needs to prepended to all flash write and erase packets. The following is written
on separate lines for clarity but must all be in one packet for correct operation.
Example: Write a 256 byte page of flash memory starting at 0xC000:
01D91A00035A Write EEPROMWEna with 0x5A03
01CE000000C00000 Write flash address
40CE0400 Issue write flash data command with count
12345678 Doubleword 0
ABCD8888 Doubleword 1 ................
FFFFFFFF Doubleword 63 (= 256 bytes)
014E0000 Read new address to commit write and so some data is
returned for host synchronization (so host waits for write to
complete)
7I92 29
REFERENCE INFORMATION
LBP16
SPACE 3: FPGA FLASH EEPROM CHIP ACCESS
Example: Erase flash sector 0x00010000:
01D91A00035A Write EEPROMWEna with 0x5A03
01CE000000000100 Write flash address with 0x 00010000
01CE0C0000000000 Write sector erase command (with dummy 32 bit data = 0)
014E0000 Read flash address for host synchronization (this will echo the
address _after_ the sector is erased)
7I92 30
REFERENCE INFORMATION
LBP16
SPACE 4 LBP TIMER/UTILITY AREA
Address space 4 is for read/write access to LBP specific timing registers. All
memory space 4 access is 16 bit.
Space 4 read with address NN51LLHH
Space 4 write with address NND1LLHHDDDD
Space 4 read NN11
Space 4 write NN91DDDD
MEMORY SPACE 4 LAYOUT:
ADDRESS DATA
0000 uSTimeStampReg
0002 WaituSReg
0004 HM2Timeout
0006 WaitForHM2RefTime
0008 WaitForHM2Timer1
000A WaitForHM2Timer2
000C WaitForHM2Timer3
000E WaitForHM2Timer4
0010..001E Scratch registers for any use
The uSTimeStamp register reads the free running hardware microsecond timer. It
is useful for timing internal 7I92 operations. Writes to the uSTimeStamp register are a noop. The WaituS register delays processing for the specified number of microseconds when
written, (0 to 65535 uS) reads return the last wait time written. The HM2TimeOut register
sets the timeout value for all WaitForHM2 times (0 to 65536 uS).
All the WaitForHM2Timer registers wait for the rising edge of the specified timer or
reference output when read or written, write data is don’t care, and reads return the wait
time in uS. The HM2TimeOut register places an upper bound on how long the WaitForHM2
operations will wait. HM2Timeouts set the HM2TImeout error bit in the error register.
7I92 31
REFERENCE INFORMATION
LBP16
SPACE 6 LBP STATUS/CONTROL AREA
Address space 6 is for read/write access to LBP specific control, status, and error
registers. All memory space 6 access is 16 bit. The RXUDPCount and TXUDPCount can
be used as sequence numbers to verify packet reception and transmission.
Space 6 read with address NN59LLHH
Space 6 write with address NND9LLHHDDDD
Space 6 read NN19
Space 6 write NN99DDDD
MEMORY SPACE 6 LAYOUT:
ADDRESS DATA
0000 ErrorReg
0002 LBPParseErrors
0004 LBPMemErrors
0006 LBPWriteErrors
0008 RXPktCount
000A RXUDPCount
000C RXBadCount
000E TXPktCount
00010 TXUDPCount
00012 TXBadCount
7I92 32
REFERENCE INFORMATION
LBP16
MEMORY SPACE 6 LAYOUT:
ADDRESS DATA
0014 LEDMode If LSb is 0, LEDs are "owned" by HostMot2,
otherwise LEDs are local debug LEDs
0016 DebugLEDPtr What variable in space 6 local debug LEDs show
(default is RXPktCount).
0018 Scratch Can be used for sequence numbers
001A EEPROMWEna Must be set to 5A0N to enable EEPROM or flash
writes or erases (N is memory space of
EEPROM or flash) Note that this is cleared at
the end of every packet.
001C LBPReset Setting this to a non-zero value will do a full
reset of the LBP16 firmware. The 7I92 will read
its IP address jumpers and re-assign its IP
address. The 7I92 will be unresponsive for as
much as ½ of a second after this command.
001E FPGAICAP FPGA ICAP-16 register to allow remote FPGA
reload and other low level FPGA access.
ERROR REGISTER FORMAT
BIT ERROR
0 LBPParseError
1 LBPMemError
2 LBPWriteError
3 RXPacketErr
4 TXPacketErr
5 HM2TimeOutError
6..15 Reserved
7I92 33
REFERENCE INFORMATION
LBP16
SPACE 7: LBP READ ONLY AREA
Memory space 7 is used for read only card information. Memory space 7 is
accessed as 16 bit data.
Space 7 read with address NN5DLLHH
Space 7 read NN1D
MEMORY SPACE 7 LAYOUT:
ADDRESS DATA
0000 CardNameChar-0,1
0002 CardNameChar-2,3
0004 CardNameChar-4,5
0006 CardNameChar-6,7
0008 CardNameChar-8,9
000A CardNameChar-10,11
000C CardNameChar-12.13
000E CardNameChar-14,15
0010 LBPVersion
0012 FirmwareVersion
0014 Option Jumpers
0016 Reserved
0018 RecvStartTS 1 uSec timestamps
001A RecvDoneTS For performance monitoring
001C SendStartTS Send timestamps are
001E SendDoneTS from previous packet
7I92 34
REFERENCE INFORMATION
LBP16
ELBPCOM
ELBPCOM is a very simple demo program in Python (2.x) to allow simple checking
of LBP16 host communication to the 7I92. ELBPCOM accepts hexadecimal LBP16
commands and data and returns hexadecimal results. Note that the timeout value will need
to be increased to about 2 seconds to try flash sector erase commands.
import socket
s = socket.socket(socket.AF_INET,socket.SOCK_DGRAM,0)
sip = "192.168.1.121"
sport = 27181
s.settimeout(.2)
while(2 >0):
sdata = raw_input ('>')
sdata = sdata.decode('hex')
s.sendto(sdata,(sip,sport))
try:
data,addr = s.recvfrom(1280)
print ('>'),data.encode('hex')
except socket.timeout:
print ('No answer')
Sample run:
>01420001 ; read hostmot2 cookie at 0x100
> fecaaa55 ; 7I92 returns 0x55AACAFE
>82492000 ; read EEPROM IP address at 0x0020
> 450a5863 ; 63:58:0A:45 = 99.88.10.69
;(for example)
>01D91A00025A82C920000100a8C0 ; write EEPROM IP address
;(at 0x0020) with
; C0:A8:0:1 = 192.168.0.1
7I92 35
REFERENCE
SPECIFICATIONS
POWER MIN MAX NOTES:
5V POWER SUPPLY 4.5V 5.5V P3 supplied 5V
5V POWER CONSUMPTION: ---- 2A P3 Connector limit,
actu al current
depends on external
5V load.
5V POWER CONSUMPTION: ---- 250 mA No external load
MAX 5V CURRENT TO I/O CONNS ---- 1000 mA Each (PTC Limit)
TEMPERATURE RANGE -C version 0 oC +70 oC
TEMPERATURE RANGE -I version -40 oC +85 oC
INPUT VOLTAGE 5V TOL MODE -0.3V 7V
INPUT VOLTAGE 3.3V TOL MODE -0.3V 4V
OUTPUT VOLTAGE 24 MA SINK ---- 0.6V FPGA outputs set
for 24 MA drive
OUTPUT VOLTAGE 24 MA SOURCE 2.4V ---- FPGA outputs set
for 24 MA drive
7I92 36
REFERENCE INFORMATION
CARD DRAWING
Loading...