AN 957: Time-Sensitive Networking for Drive-on-Chip Design Example

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ID 683707
Date 10/30/2021
Public
Document Table of Contents
Document Table of Contents x
1. About the Time-Sensitive Networking for Drive-on-Chip Design Example 2. Getting Started with the TSN for Drive-on-Chip Design Example 3. Porting the Intel MAX 10 Drive-On-Chip design to the Cyclone V SoC Development Board 4. Running HPS Software for the TSN Drive-on-Chip Design 5. Connecting the Cyclone V SoC Development board to the Tandem 48 V Motion-Power board 6. Running the Program 7. TSN Configuration Example 8. Document Revision History for AN 957: Time-Sensitive Networking for Drive-on-Chip Design Example A. Example .qsf for Pin Assignments and Attributes B. Top-level Verilog HDL File Example C. YOCTO Build Patch File (cvsx_doc_tsn_2_3-rt) for the TSN Drive-on-Chip Design Example D. Script to read and change MAC addresses from Cyclone V SoC EEPROM
1. About the Time-Sensitive Networking for Drive-on-Chip Design Example x
1.1. Features of TSN for Drive-on-Chip Design Example 1.2. TSN for Drive-on-Chip Design Example General Description 1.3. Messages from the TSN Drive-on-Chip Design Example 1.4. Design Flow for the TSN Drive-on-Chip Design Example
2. Getting Started with the TSN for Drive-on-Chip Design Example x
2.1. Hardware Requirements for the TSN for Drive-on-Chip Design Example 2.2. Software Requirements for the TSN for Drive-on-Chip Design Example 2.3. Configuring the Cyclone V SoC Development Board for the TSN for Drive-on-Chip Design Example 2.4. Programming the FPGA for the TSN for Drive-on-Chip Design Example 2.5. Creating an SD Card Image for the TSN for Drive-on-Chip Design Example 2.6. Turning on the Cyclone V SoC Development Board for the TSN for Drive-on-Chip Design Example 2.7. Configuring the TSN IP
3. Porting the Intel MAX 10 Drive-On-Chip design to the Cyclone V SoC Development Board x
3.1. Changing File Names, Revision Name, and Target Device for the TSN Drive-on-Chip Design Example 3.2. Modifying the Drive-On-Chip Qsys System 3.3. Adding the TTTech TSN IP to the Qsys system 3.4. Connecting the TSN and Drive-on-Chip Subsystems 3.5. Compiling the Quartus Prime Design and Top-Level Module 3.6. Generating the Preloader 3.7. Generating a .jic file 3.8. Compiling the Drive-on-Chip Design Software in Nios II Software Build Tools 3.9. Launching a YOCTO Build 3.10. Building an SD Card Image for the TSN Drive-on-Chip Design Example 3.11. Changing MAC Addresses 3.12. Reading and Checking Physical Addresses on the Cyclone V SoC Development Board
4. Running HPS Software for the TSN Drive-on-Chip Design x
4.1. Installing the Arm Compiler for Motor Control from Linux 4.2. Creating a Basic C Program for Motor Control 4.3. OPC UA PubSub based on open62541 4.4. Getting and Building open62541 4.5. Setting up Debug Sessions in DS-5
1. About the Time-Sensitive Networking for Drive-on-Chip Design Example
2. Getting Started with the TSN for Drive-on-Chip Design Example
3. Porting the Intel MAX 10 Drive-On-Chip design to the Cyclone V SoC Development Board
4. Running HPS Software for the TSN Drive-on-Chip Design
5. Connecting the Cyclone V SoC Development board to the Tandem 48 V Motion-Power board
6. Running the Program
7. TSN Configuration Example
8. Document Revision History for AN 957: Time-Sensitive Networking for Drive-on-Chip Design Example
A. Example .qsf for Pin Assignments and Attributes
B. Top-level Verilog HDL File Example
C. YOCTO Build Patch File (cvsx_doc_tsn_2_3-rt) for the TSN Drive-on-Chip Design Example
D. Script to read and change MAC addresses from Cyclone V SoC EEPROM

4.2. Creating a Basic C Program for Motor Control

Creating a program to talk to the drive-on-chip subsystem from the Linux system uses the shared memory mechanism implemented during the Qsys system build.

  1. In the C program, set up the memory locations by using defines: 
    #define DEBUG_RAM_BASE 0xc4001000
#define DEBUG_ADDR_SPACE_PER_AXIS 64
/* Offsets into debug mem */
#define DOC_DBG_SPEED                   10
#define DOC_DBG_POSITION                12
#define DOC_DBG_I_PI_KP                 18
#define DOC_DBG_I_PI_KI                 19
#define DOC_DBG_SPEED_PI_KP             20
#define DOC_DBG_SPEED_PI_KI             21
#define DOC_DBG_SPEED_SETP0             22
#define DOC_DBG_POS_SETP0               25
#define DOC_DBG_WAVE_DEMO_MODE          29
#define DOC_DBG_POS_SPEED_LIMIT         30
#define DOC_DBG_POS_PI_KP               31
#define DOC_DBG_TRACE_DEPTH             58

    These parameters are identical to the ones described in the motor control application program (Nios II program)..

  2. Create functions to read and write to the motor control application: 
    //Read debug mem
unsigned int get_motor_param(unsigned int axis, unsigned int param) {
	return debug_base[axis * DEBUG_ADDR_SPACE_PER_AXIS + param];
}
//Write debug mem
void set_motor_param(unsigned int axis, unsigned int param, unsigned int val) {
	debug_base[axis * DEBUG_ADDR_SPACE_PER_AXIS + param] = val;
}
  3. In the main map the memory by using the following lines: 
    int _fdmem;
	const char memDevice[] = "/dev/mem";
    _fdmem = open(memDevice, O_RDWR | O_SYNC);
    if (_fdmem < 0) {
    			printf("Failed to open the /dev/mem !\n");
    			return 0;
    		}
    		else {
    				printf("open /dev/mem successful!\n");
    		}
/* mmap() debug memory */
	int debug_size = 512;
	printf("Mapping %i bytes for debug_data\n", debug_size);
	debug_base = (unsigned int *)(mmap(0, debug_size, PROT_READ | PROT_WRITE, MAP_SHARED, _fdmem, DEBUG_RAM_BASE));
	if ((void *)debug_base == MAP_FAILED) {
		printf("Failed to map debug memory\n");
		return -1;
	} else {
			printf("Debug mem base : %x\n", (unsigned int)debug_base);
	}
  4. Test the motor movement by reading and writing to the drive-on-chip subsystem, for example to set the motor to the position 100 degrees: 
    set_motor_param(0, DOC_DBG_WAVE_DEMO_MODE, 1);  //Set the axis 0 to position mode
set_motor_param(1, DOC_DBG_WAVE_DEMO_MODE, 1);  //Set the axis 1 to position mode
set_motor_param(0, DOC_DBG_SPEED_SETP0, 100);   //Set axis 0 pos to 100 degrees
set_motor_param(1, DOC_DBG_SPEED_SETP0, 100);   //Set axis 1 pos to 100 degrees
  5. In the same way use the function get_motor_param to retrieve information from the drive-on-chip subsystem such as position of the shaft, speed, motor control parameters like Kp, Ki or set the maximum speed limit..
  6. Compile the C program using the following command: 
     >> arm-linux-gnueabihf-gcc <program_name>.c -O3 -march=armv7-a
  7. Copy the program to the development board via scp and test the motor control.
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