<s>
CompactRIO	B-General_Concept
(	O
or	O
cRIO	B-General_Concept
)	O
is	O
a	O
real-time	B-General_Concept
embedded	B-Architecture
industrial	O
controller	O
made	O
by	O
National	O
Instruments	O
for	O
industrial	O
control	O
systems	O
.	O
</s>
<s>
The	O
CompactRIO	B-General_Concept
is	O
a	O
combination	O
of	O
a	O
real-time	B-General_Concept
controller	O
,	O
reconfigurable	O
IO	B-General_Concept
Modules	O
(	O
RIO	O
)	O
,	O
FPGA	B-Architecture
module	O
and	O
an	O
Ethernet	O
expansion	O
chassis	O
.	O
</s>
<s>
The	O
CompactRIO	B-General_Concept
system	O
is	O
a	O
combination	O
of	O
a	O
real-time	B-General_Concept
controller	O
chassis	O
,	O
reconfigurable	O
IO	B-General_Concept
Modules	O
(	O
RIO	O
)	O
,	O
an	O
FPGA	B-Architecture
module	O
and	O
an	O
Ethernet	O
expansion	O
chassis	O
.	O
</s>
<s>
CompactRIO	B-General_Concept
real-time	B-General_Concept
controllers	O
include	O
a	O
microprocessor	B-Architecture
for	O
implementing	O
control	O
algorithms	O
,	O
and	O
support	O
a	O
wide	O
range	O
of	O
clock	O
frequencies	O
.	O
</s>
<s>
Controllers	O
are	O
only	O
compatible	O
with	O
National	O
Instruments	O
C	O
Series	O
I/O	B-General_Concept
Modules	O
.	O
</s>
<s>
I/O	B-General_Concept
modules	O
are	O
hot	B-Device
swappable	I-Device
(	O
can	O
be	O
connected/disconnected	O
while	O
the	O
unit	O
is	O
powered	O
up	O
)	O
.	O
</s>
<s>
The	O
FPGA	B-Architecture
Module	O
may	O
be	O
used	O
to	O
implement	O
high-performance	O
data	O
processing	O
on	O
reconfigurable	O
fabric	O
.	O
</s>
<s>
Such	O
data	O
processing	O
may	O
be	O
performed	O
on	O
data	O
streaming	O
in	O
from	O
connected	O
I/O	B-General_Concept
Modules	O
.	O
</s>
<s>
The	O
module	O
is	O
powered	O
by	O
a	O
Xilinx	B-General_Concept
Virtex	I-General_Concept
high-performance	O
FPGA	B-Architecture
on	O
the	O
earlier	O
models	O
,	O
and	O
Kintex-7	O
,	O
Artix-7	O
or	O
Zync	O
Xilinx	O
FPGA	B-Architecture
on	O
the	O
newer	O
models	O
.	O
</s>
<s>
The	O
FPGA	B-Architecture
can	O
be	O
programmed	O
separately	O
and	O
is	O
connected	O
to	O
the	O
real-time	B-General_Concept
controller	O
using	O
an	O
internal	O
PCI	B-Protocol
bus	I-Protocol
,	O
and	O
is	O
accessible	O
over	O
a	O
LabVIEW	B-Application
interface	O
which	O
operates	O
both	O
locally	O
on	O
the	O
controller	O
as	O
well	O
as	O
over	O
a	O
LAN	O
from	O
LabVIEW	B-Application
on	O
a	O
PC	O
.	O
</s>
<s>
The	O
Ethernet	O
chassis	O
includes	O
an	O
Ethernet	O
port	O
(	O
8P8C	O
)	O
,	O
which	O
can	O
connect	O
the	O
CompactRIO	B-General_Concept
controller	O
to	O
a	O
PC	O
.	O
</s>
<s>
Newer	O
,	O
high-performance	O
CompactRIO	B-General_Concept
controllers	O
also	O
have	O
built-in	O
VGA	O
graphics	O
which	O
can	O
be	O
connected	O
to	O
a	O
monitor	O
for	O
observing	O
operation	O
.	O
</s>
<s>
CompactRIO	B-General_Concept
controllers	O
can	O
be	O
programmed	O
with	O
LabVIEW	B-Application
,	O
National	O
Instruments	O
 '	O
graphical	B-Language
programming	I-Language
language	I-Language
;	O
C	O
;	O
C++	O
;	O
or	O
Java	O
.	O
</s>
<s>
LabVIEW	B-Application
must	O
be	O
used	O
to	O
program	O
the	O
embedded	B-Architecture
FPGA	B-Architecture
,	O
although	O
VHDL	O
and	O
verilog	O
components	O
can	O
be	O
included	O
.	O
</s>
<s>
Newer	O
controllers	O
come	O
with	O
a	O
Linux	B-Application
based	O
RTOS	B-Operating_System
,	O
NI	O
Linux	B-Application
Real-Time	B-General_Concept
,	O
created	O
as	O
part	O
of	O
the	B-Operating_System
Linux	I-Operating_System
Foundation	I-Operating_System
's	O
Real-Time	B-General_Concept
Linux	B-Application
Collaborative	O
Project	O
.	O
</s>
<s>
Programs	O
created	O
in	O
LabVIEW	B-Application
are	O
compiled	O
into	O
machine	O
code	O
for	O
NI	O
Linux	B-Application
Real-Time	B-General_Concept
and	O
hardware	O
description	O
language	O
(	O
HDL	O
)	O
for	O
the	O
Xilinx	O
FPGA	B-Architecture
toolchain	B-General_Concept
automatically	O
during	O
deployment	O
of	O
the	O
code	O
to	O
the	O
target	O
.	O
</s>
<s>
The	O
Linux	B-Application
Real-Time	B-Operating_System
OS	I-Operating_System
running	O
in	O
the	O
real-time	B-General_Concept
controller	O
supports	O
a	O
filesystem	O
and	O
hence	O
data	O
logging	O
is	O
also	O
available	O
at	O
the	O
controller	O
level	O
.	O
</s>
<s>
The	O
Full	O
Development	O
System	O
version	O
of	O
LabVIEW	B-Application
does	O
not	O
come	O
with	O
the	O
modules	O
needed	O
to	O
program	O
the	O
cRIO	B-General_Concept
.	O
</s>
<s>
The	O
Real-Time	B-General_Concept
Module	O
and	O
FPGA	B-Architecture
Modules	O
have	O
to	O
be	O
purchased	O
separately	O
and	O
installed	O
with	O
LabVIEW	B-Application
for	O
programming	O
the	O
hardware	O
.	O
</s>
<s>
The	O
programming	O
is	O
done	O
on	O
a	O
Host	O
PC	O
running	O
the	O
Windows	O
operating	B-General_Concept
system	I-General_Concept
and	O
is	O
deployed	O
on	O
the	O
cRIO	B-General_Concept
via	O
Ethernet	O
.	O
</s>
<s>
It	O
is	O
not	O
necessary	O
to	O
run	O
a	O
real-time	B-General_Concept
VI	O
on	O
the	O
controller	O
in	O
order	O
to	O
run	O
the	O
FPGA	B-Architecture
VI	O
,	O
as	O
the	O
LabVIEW	B-Application
FPGA	B-Architecture
interface	O
is	O
network	O
capable	O
,	O
supporting	O
up	O
to	O
7	O
concurrent	O
accessors	O
.	O
</s>
<s>
It	O
is	O
possible	O
to	O
have	O
a	O
local	O
real-time	B-General_Concept
VI	O
running	O
on	O
the	O
controller	O
which	O
concurrently	O
accesses	O
a	O
different	O
set	O
of	O
clusters	O
without	O
interference	O
,	O
and	O
piping	O
data	O
from	O
one	O
cluster	O
to	O
another	O
can	O
allow	O
data	O
to	O
flow	O
between	O
this	O
real-time	B-General_Concept
VI	O
and	O
a	O
PC	O
VI	O
efficiently	O
and	O
with	O
quite	O
low	O
latency	O
.	O
</s>
<s>
Data	O
can	O
also	O
be	O
piped	O
though	O
'	O
FPGA	B-Architecture
to	O
HOST	O
 '	O
and	O
'	O
HOST	O
to	O
FPGA	B-Architecture
 '	O
DMA	O
fifos	O
,	O
which	O
also	O
work	O
over	O
the	O
network	O
interface	O
.	O
</s>
<s>
Each	O
VI	O
having	O
an	O
interface	O
,	O
each	O
host	O
FIFO	O
connection	O
and	O
each	O
IRQ	O
connection	O
all	O
count	O
as	O
accessors	O
to	O
the	O
FPGA	B-Architecture
hosted	O
by	O
the	O
controller	O
.	O
</s>
<s>
The	O
LabVIEW	B-Application
FPGA	B-Architecture
interface	O
is	O
also	O
available	O
for	O
C	O
.	O
</s>
<s>
CompactRIO	B-General_Concept
systems	O
are	O
often	O
used	O
as	O
an	O
industrial	O
control	O
unit	O
,	O
where	O
a	O
small	B-Device
form	I-Device
factor	I-Device
are	O
important	O
.	O
</s>
<s>
CompactRIO	B-General_Concept
is	O
commonly	O
used	O
as	O
headless	B-Application
systems	I-Application
(	O
without	O
a	O
user	O
interface	O
)	O
which	O
are	O
designed	O
to	O
run	O
in	O
a	O
confined	O
space	O
,	O
under	O
harsh	O
conditions	O
.	O
</s>
<s>
CompactRIO	B-General_Concept
systems	O
can	O
also	O
be	O
connected	O
to	O
a	O
host	O
PC	O
which	O
can	O
be	O
used	O
for	O
supervisory	O
purposes	O
and	O
for	O
displaying	O
logged	O
data	O
.	O
</s>
<s>
The	O
CompactRIO	B-General_Concept
was	O
used	O
from	O
2009	O
until	O
2015	O
as	O
the	O
primary	O
control	O
unit	O
in	O
the	O
FIRST	O
Robotics	O
Competition	O
.	O
</s>
