openreroc_pwm

OpenReroc (Open Reconfigurable Robot Component) is a project to build an open source platform of reconfigurable (i.e. FPGA) devices for robot components.

This package supports a motor control by PWM using an FPGA board (ZedBoard Xilinx). The duty ratio of the mortor can be inputted from openreroc_pwm.

Git: https://github.com/Kumikomi/openreroc_pwm.git
Author: Kazushi Yamashina (Utsunomiya University)
Copyright: 2015, Kazushi Yamashina, Utsunomiya University
License: new BSD License
Latest Version: 0.1.0

Directry tree

openreroc_pwm 
|-include/ 
|-msg/ 
|-hardware
	|-src/
    |-image/
|-src/ 
|-CMakeLists.txt 
|-package.xml  
|-LICENSE.txt

Requirements

##Platform for ROS system

• ZedBoard
• xillinux-1.3c
• Xillinux is used to communicate between FPGA logic and ARM processor. Xillinux is a platform for Zynq that is released by Xillybus Ltd. Linux (Ubuntu) OS runs on the ARM processor. Xillinux can access to FPGA logic through a specific device file.
• ROS (hydro or groovy) please install on xillinux!
• ssh server

##Software

• ISE 14.7 (for hardware synthesis)

How to build software

Please replace catkin_ws to your work space name.

cd ~/catkin_ws/src
git clone https://github.com/Kumikomi/openreroc_pwm.git 
cd ..
catkin_make 

Test Run

1. Xillinux installation
   • http://xillybus.com/xillinux

2. Hardware bitstream installation Please replace xillydemo.bit on the SD card with openreroc_pwm/hardware/image/openreroc_pwm.bit

3. Insert SD card & boot system

4. Run sample nodes

terminal 1

cd ~/catkin_ws/
source devel/setup.bash
roscore &
rosrun openreroc_pwm openreroc_pwm

terminal 2

cd ~/catkin_ws/
source devel/setup.bash
rosrun openreroc_pwm sample_input

How to build hardware

It’s too complex to describe all the necessary procedure to build hardware, so some hints are shown below. 1 : Place of Soruce code hardware/src
2 : Pin assignment: add the code below to xillydemo.ucf

# Pmod JB
NET  dir_out_r  LOC = W12 | IOSTANDARD = LVCMOS33;
NET  en_out_r 	LOC = W11 | IOSTANDARD = LVCMOS33;
NET  dir_out_l LOC = V12 | IOSTANDARD = LVCMOS33;
NET  en_out_l  LOC = W10 | IOSTANDARD = LVCMOS33;
NET sub_port[0] LOC = V10 | IOSTANDARD = LVCMOS33;
NET sub_port[1] LOC = W8 | IOSTANDARD = LVCMOS33;
NET sub_port[2] LOC = V9 | IOSTANDARD = LVCMOS33;
NET sub_port[3] LOC = V8 | IOSTANDARD = LVCMOS33;


NET PS_GPIO[32] LOC = M20  | IOSTANDARD=LVCMOS33;  # "FMC-LA00_CC_N"
NET PS_GPIO[33] LOC = M19  | IOSTANDARD=LVCMOS33;  # "FMC-LA00_CC_P"
NET PS_GPIO[34] LOC = N20  | IOSTANDARD=LVCMOS33;  # "FMC-LA01_CC_N"
NET PS_GPIO[35] LOC = N19  | IOSTANDARD=LVCMOS33;  # "FMC-LA01_CC_P"
NET PS_GPIO[36] LOC = P18  | IOSTANDARD=LVCMOS33;  # "FMC-LA02_N"
NET PS_GPIO[37] LOC = P17  | IOSTANDARD=LVCMOS33;  # "FMC-LA02_P"
NET PS_GPIO[38] LOC = P22  | IOSTANDARD=LVCMOS33;  # "FMC-LA03_N"
NET PS_GPIO[39] LOC = N22  | IOSTANDARD=LVCMOS33;  # "FMC-LA03_P"

3 : Add the ports to Top module xillydemo.v

output dir_out_r,
output dir_out_l,
output en_out_r,
output en_out_l,
input [3:0] sub_port

4 : Add the FIFO connection to Top module xillydemo.v

// 32-bit loopback
//   fifo_32x512 fifo_32
//     (
//      .clk(bus_clk),
//      .srst(!user_w_write_32_open && !user_r_read_32_open),
//      .din(user_w_write_32_data),
//      .wr_en(user_w_write_32_wren),
//      .rd_en(user_r_read_32_rden),
//      .dout(user_r_read_32_data),
//      .full(user_w_write_32_full),
//      .empty(user_r_read_32_empty)
//      );

motor_ctl motor_ctl
(
.clk(bus_clk),
.rst_32(!user_w_write_32_open && !user_r_read_32_open),
.din_32(user_w_write_32_data),
.wr_en_32(user_w_write_32_wren),
.rd_en_32(user_r_read_32_rden),
.dout_32(user_r_read_32_data),
.full_32(user_w_write_32_full),
.empty_32(user_r_read_32_empty),

.dir_out_r(dir_out_r),
.dir_out_l(dir_out_l),
.en_out_r(en_out_r),
.en_out_l(en_out_l)
);

# Acknowledgements This R&D project is done by Takeshi Ohkawa, Utsunomiya University.

• https://sites.google.com/site/ohkawatakeshi/profile_en
• http://www.is.utsunomiya-u.ac.jp/pearlab/openreroc/en/

This research and development work was supported by MIC/SCOPE #152103014.