Colorlight 5A-75E EtherCAT Slave Controller

FPGA-based EtherCAT Slave Controller for Colorlight 5A-75E (Lattice ECP5, LFE5U-25F), written in Migen/LiteX from scratch. Targets the same niche as LiteX-CNC and Mesa — open EtherCAT I/O for the LinuxCNC community.

Status

• Ethernet PHY (RGMII, RTL8211F) on both ports
• PHY auto-config over shared MDIO
• EtherCAT frame forwarding between ports
• Datagram parser (on-the-fly, single cycle)
• Register file (Type, AL Control/Status, DL Status, etc.)
• FMMU (4 channels)
• SyncManager (4 channels, 3-buffer shadow)
• SII EEPROM emulation (in progress)
• AL state machine INIT → PREOP → SAFEOP → OP
• Distributed Clocks
• Mailbox / CoE

Why

Give the LinuxCNC community another open EtherCAT slave option alongside LiteX-CNC and Mesa. Similar in spirit to what those projects do, but targeting a cheap Colorlight board.

Structure

• ethercat_pu.py — datagram parser (processing unit)
• ethercat_memory.py — unified register + DPRAM memory
• ethercat_registers.py — ESC register file
• ethercat_fmmu.py — FMMU
• ethercat_sm.py — SyncManager
• ethercat_sii.py — SII EEPROM emulation
• ethercat_dl_router.py — port router
• ethercat_soc.py — top-level SoC
• siitool/ — SII binary generation tool

License

GPL-3.0 (see LICENSE)

Current status

=== Master 0, Slave 0 === Device: Main State: INIT Flag: E Identity: Vendor Id: 0xdeadbabe Product code: 0xdeadbabe Revision number: 0x00c0ffee 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: 0x0000/0, TX: 0x1000/128 Supported protocols: (should be CoE)

Roadmap

• RGMII PHY (RTL8211F) with auto-config over shared MDIO
• EtherCAT frame forwarding between ports
• On-the-fly datagram parser
• FMMU (4 channels)
• SyncManager (4 channels, 3-buffer shadow)
• SII EEPROM interface
• AL state machine INIT → PREOP → SAFEOP → OP
• Distributed Clocks
• Mailbox / CoE
• Multi-slave bus