Hi,
I have build an FPGA code generator that was originally developed for LinuxCNC.
GitHub - multigcs/riocore at dev
However, it can also be used for ROS to provide all kinds of interfaces for the outside world.
the whole thing can be configured graphically and offers many plugins for all kinds of hardware such as:
PWM in/out
Highspeed-Encoder
ADC/DAC
Modbus
…
Full list: riocore/riocore/plugins at main · multigcs/riocore · GitHub
A ROS plugin is generated that automatically provides all topics.:
riocore/doc/ROS.md at dev · multigcs/riocore · GitHub
greetings,
Olli