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When it is not found, a full rebuild will be done. -config: a61d5a4b0808988c06c270cf556ec6d2 +config: 5ead5f5b738485b68485d231e614c3a7 tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/kd240/build/html/_images/sw_ros2_control.png b/kd240/build/html/_images/sw_ros2_control.png deleted file mode 100644 index 3e97d7f0..00000000 Binary files a/kd240/build/html/_images/sw_ros2_control.png and /dev/null differ diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/app_deployment.md.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/app_deployment.md.txt new file mode 100644 index 00000000..80763ed9 --- /dev/null +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/app_deployment.md.txt @@ -0,0 +1,223 @@ + + + + + + + +

Kria™ KD240 Drives Starter Kit
FOC Motor Control Application Tutorial

+

Setting up the Board and Application Deployment

+ +
+ +# Board Setup and Application Deployment + +## Introduction + +This document shows how to set up the board, and run the motor control application. + +This guide is targeted for Ubuntu® 22.04 and the AMD 2023.1 toolchain. + +## Prerequisite + +### Hardware Requirements + +* [KD240 Drives Starter Kit](https://www.xilinx.com/products/som/kria/kd240-drives-starter-kit.html) + +* [KD240 Motor Accessory Kit](https://www.xilinx.com/products/som/kria/kd240-motor-accessory-pack.html) + +* KD240 power supply and adapter (included with the KD240 Drives Starter Kit) + * 12V AC adapter for the KD240 Starter Kit and 24V AC adapter for the Motor Accessory Kit + +* USB-A to micro-B cable (included with the KD240 Drives Starter Kit) + +* MicroSD card (32 GB card is included with the KD240 Drives Starter Kit) + +* CAT6 Ethernet cable + +* Host machine with display + +### Hardware Setup + +![KD240-Setup](./media/KD240.png) + +* Connect the USB cable from the host machine to the J4 UART/JTAG interface on the board. + + ![KD240-Setup](./media/Connect_USB_to_J4.jpg) + +* Connect the Ethernet cable from J24 to your local network with DHCP enabled to install the Linux packages. + + ![KD240-Setup](./media/Connect_Ethernet_to_J24.jpg) + +* Connect a 12V power supply to the J12 DC jack. + + ![KD240-Setup](./media/Connect_12V_to_J12.jpg) + +* Connect a 24V power supply to the J29 DC link connector. + + ![KD240-Setup](./media/Connect_24V_to_J29.jpg) + +* Connect the encoder header pins to the J42 QEI connector. Ensure J44 is in the "SE" selection. + + ![KD240-Setup](./media/Connect_EncoderPin_to_J42.jpg) + +* Connect the motor input to a J32 3-phase inverter connector. + + ![KD240-Setup](./media/Connect_ACpower_to_J32.jpg) + +### Tested Artifacts + +Testing was performed with the following artifacts: + +#### KD240 platform Artifacts + +| Component | Version | +|--------------------------------|----------------------------| +| Boot Firmware | K24-BootFW-01.01 | +| Linux Kernel | 5.15.0-1027-xilinx-zynqmp | +| xlnx-firmware-kd240-motor-ctrl | 0.10.1-0xlnx1 | + +To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/1641152513/Kria+K26+SOM#Boot-Firmware-Updates). + +#### Application Packages + +| Package | Version | +|--------------------------------|--------------| +| xlnx-app-kd240-foc-motor-ctrl | 0.3.1-0xlnx5 | + +### Initial Setup + +1. Go through [Booting Kria Starter Kit Linux](https://xilinx.github.io/kria-apps-docs/kd240/linux_boot.html) to complete the minimum setup required to boot Linux before continuing with instructions on this page. + +2. Get the latest motor control application and firmware package: + + * Download the firmware. + * Search package feed for packages compatible with the KD240. + + ```bash + ubuntu@kria:~$ sudo apt search xlnx-firmware-kd240 + Sorting... Done + Full Text Search... Done + xlnx-firmware-kd240-bist/jammy,now 0.10-0xlnx1 arm64 [installed] + FPGA firmware for Xilinx boards - kd240 bist application + xlnx-firmware-kd240-motor-ctrl-qei/jammy,now 0.10-0xlnx1 arm64 [installed] + FPGA firmware for Xilinx boards - kd240 motor-ctrl-qei application + ``` + + * Install the firmware binaries. + + ```bash + sudo apt install xlnx-firmware-kd240-motor-ctrl-qei + ``` + + * Install the motor control application. + + ```bash + sudo apt install xlnx-app-kd240-foc-motor-ctrl + ``` + +## Run the Motor Control Application + +* Load the firmware: + + * Show the list and status of available application firmware. + + After installing the firmware, execute xmutil listapps to verify that it is captured under the listapps function and to have dfx-mgrd rescan and register all accelerators in the firmware directory tree. + + ```bash + ubuntu@kria:~$ sudo xmutil listapps + Accelerator Accel_type Base Base_type #slots(PL+AIE) Active_slot + + kd240-motor-ctrl-qei XRT_FLAT kd240-motor-ctrl-qei XRT_FLAT (0+0) -1 + ``` + + * Load the desired application firmware. + + When there is already another accelerator/firmware loaded, unload it first, then load the kd240-foc-motor-ctrl firmware. + + ```bash + sudo xmutil unloadapp + sudo xmutil loadapp kd240-motor-ctrl-qei + ``` + +* Run the bokeh server: + + ```bash + # Run the application to launch bokeh server for the dashboard + export PATH=${PATH}:/opt/xilinx/xlnx-app-kd240-foc-motor-ctrl/bin + start_motor_dashboard + # Enter the sudo password if required and note the ip address of the board + ``` + + Sample screenshot of the terminal on launching the motor dashboard. + + ![Terminal](./media/terminal.png) + +## On the Host PC + +* Open <ip>:5006 in a web browser. + + >**NOTE:** Once the server is running, it retains its settings no matter how many times the browser is closed, opened, or refreshed. + +* The system is set to OFF mode/state on starting the dashboard, observe the blue LED DS10 is off. +* If the unit is plugged into a network with DHCP, an IP will be assigned automatically. If not on a network, then configure a static IP. For help on setting up static IP, see [Setting up a private network](https://github.com/Xilinx/vck190-base-trd/blob/2022.1/docs/source/run/run-dashboard.rst#setting-up-a-private-network). + +>**NOTE:** The open-loop mode of motor operation is a test mode intended for users with motor control knowledge and experience. Incorrect configurations of values of Vd and Vq can cause the motor to spin at speeds higher than its rating and potentially cause excessive motor heating. Use caution when using the open-loop mode. + +## Dashboard + +### Dashboard Features + +* The Mode drop-down is used to select the control system mode of operation. +* The Sample Size text box is used to indicate how many samples are collected and plotted on the graphs for each type of data. The samples are collected at 100 microsecond intervals. The maximum number of samples is limited to 3000 due to dashboard performance limitations. For a large number of samples, there might be a small delay before a dashboard command takes effect. +* The Refresh Interval text box is used to indicate how often the dashboard plots will refresh. A minimum refresh interval will be enforced based on the current sample size (a larger sample size requires a larger refresh interval). +* The gain text boxes are used to adjust the proportional and integral gains of the corresponding control loop. +* The Speed Setpoint text box is used to set the speed setpoint when running the motor in speed mode. The valid range of speed setpoints is -10000 to 10000 rpm. +* The Torque Setpoint text box is used to set the torque setpoint when running the motor in torque mode. The valid range of torque setpoints is -2.5 to 2.5 amps. +* The Open Loop - Vd text box is used to set the direct voltage (Vd). The valid range for Vd is -24 to 24 volts. + >**NOTE:** Normally this should be set to ~0V. +* The Open Loop - Vq text box is used to set the quadrature voltage (Vq). The valid range for Vq is -24 to 24 volts. +* The Fault Status indicators show if any faults have occured. When a critical fault occurs, the corresponding indicator will turn red. For a warning level faults, the corresponding indicator will turn yellow. +* The Clear Faults button is used to clear all faults and put the system into Off mode. +* The Electrical Data plot shows the currents and voltages for Phase A, B, and C. The voltage lines are hidden by default. The visibility of each current and voltage line can be toggled by clicking the legend labels. The current axis is shown on the left if any current lines are visible, and the voltage axis is shown on the right is any voltage lines are visible. +* The Mechanical Data plot shows the speed and position of the motor. The visibility of each line can be toggled by clicking on the legend labels. The speed axis is shown on the left is speed is visible and the position axis is shown on the right if position is visible. +* The Live Analysis plot shows the data that is selected for each axis using the buttons on the right. + +When the dashboard is first launched, the system will be in Off mode, and the dashboard will look similar to the following image. Observe that the electrical readings are near zero. + +![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Off.png) + +To run the application in Speed mode, select **Speed** from the Mode drop-down, and use the Speed Setpoint text box to enter a speed setpoint. The following image shows the motor running in speed mode with a speed setpoint of 2000 rpm and the load disk that is included in the Motor Accessory Kit. + +![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Speed.png) + +To run the application in Torque mode, select **Torque** from the Mode drop-down and use the Torque Setpoint text box to enter a torque setpoint. The following image shows the motor running in torque mode with a torque setpoint of 1 amp and the load disk that is included in the Motor Accessory Kit. + +![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Torque.png) + +To run the application in Open Loop mode, select **Open Loop** from the Mode drop-down, and use the Vd/Vq text boxes to set Vd/Vq. The following image shows the motor running in open loop mode with Vd set to 0, Vq set to 4 volts, and the load disk that is included in the Motor Accessory Kit. + +![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_OpenLoop.png) + +The following images show what the dashboard looks like when a larger load is applied to the motor. As the load on the motor increases, the currents will increase and the I_alpha/I_beta circle will expand. + +![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Speed_Loaded.png) +![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_Torque_Loaded.png) +![Motor-Control-Dashboard](./media/Motor_Control_Dashboard_OpenLoop_Loaded.png) + +## Next Steps + +* Go back to the [KD240 FOC Motor Control Application Start Page](../foc_motor_control_landing) + + + +

Copyright© 2023 Advanced Micro Devices, Inc

diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/hw_description.md.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/hw_description.md.txt new file mode 100644 index 00000000..62b86b9d --- /dev/null +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/hw_description.md.txt @@ -0,0 +1,305 @@ + + + + + + + +

Kria™ KD240 Motor Control Starter Kit
Motor Control Tutorial

+

Hardware Architecture of the Platform

+ +
+ +# Hardware Architecture of the Platform + +## Introduction + + This section describes the design implemented in the programmable logic (PL). The following figure shows the top-level hardware architecture of the reference design. + +![Hardware Architecture block diagram](./media/hw_arch.png) + + At a high-level, the design is comprised of a motor control system, a data monitoring system, a data processing system, and a communication system. + +* Motor Control System: These are the blocks that control the motor speed and direction. All but the Gate Driver are High-Level Synthesis (HLS) blocks from the AMD Vitis™ Motor Control Library. + + * Quadrature Encoder Interface (QEI) + * Field-Orientated Control (FOC) + * Space Vector Pulse Width Modulation (SVPWM) + * Pulse Width Modulation Generation (PWM Gen) + * Gate Driver + +* Data Monitoring System: These are the blocks that monitor data from the motor and DC power supply. + + * ADC Sample Control + * Current and Voltage Analog to Digital Controller (ADC) Interface for Motor phases A, B, C, and DC Link + * Unicode Straight Binary (USB) to Binary Two's Complement (BTC) Conversion + * Bipolar Offset Binary (BOB) to BTC Conversion + +* Data Processing System: This is the block that controls the ADC interface and decides when to sample the ADCs. It also does basic filtering, scales the data, and formats it in Q-Scale format. + + * ADC Hub + +* Time-Sensitive Networking (TSN) System: This system support transmission of Ethernet traffic based on traffic shaping protocols. The traffic can be control information to be passed between different nodes in a robotics system or between various Industrial Field devices. The requirement in these systems would be that the traffic is deterministic. + + * TSN IP + * AXI Multi Channel DMA (MCDMA) + * Time Aware DMA (TADMA) + * Test PMOD controller + +## Motor Control System + +### QEI + +The QEI module from the Vitis Motor Control Library reads the encoder on the motor and provides the data to the FOC block. + +For more information, visit [Vitis Libraries Documentation](https://docs.xilinx.com/r/en-US/Vitis_Libraries/motor_control/index.html). + +### FOC + +The FOC module from the Vitis Motor Control Library implements a sensor-based field-orientated control. The eight control modes it supports cover basic speed and torque control modes, as well as field-weakening control. + +For more information, visit [Vitis Libraries Documentation](https://docs.xilinx.com/r/en-US/Vitis_Libraries/motor_control/index.html). + +### SVPWM + +The SVPWM module from the Vitis Motor Control Library implements the front-end for Space Vector Pulse Width Modulation to calculate phase ratios for the motor. + +For more information, visit [Vitis Libraries Documentation](https://docs.xilinx.com/r/en-US/Vitis_Libraries/motor_control/index.html). + +### PWM Gen + +The PWM Gen module from the Vitis Motor Control Library implements the back-end for Space Vector Pulse Width Modulation to generate output signals based on the ratios from SVPWM. + +For more information, visit [Vitis Libraries Documentation](https://docs.xilinx.com/r/en-US/Vitis_Libraries/motor_control/index.html). + +### Motor Control + +The motor control block collects all the fault information generated from ADC Hub and uses this information along with its own phase balance calculations on the Phase A, B, and C data to decide whether to allow the gate drivers to drive the motors. + +## Data Monitoring System + +### ADC Sample Control + +This custom IP converts the motor pwm_sync pulse from the HLS module hls_pwm_gen to an update signal that initiates the ADC capture cycle at regular intervals. The ADC Sample Control module acts much like a phase-locked loop (PLL), in that it tries to align the ADC captures to the pwm_sync pulse and keep the ADC samples to an integer number of samples during the pwm_sync cycle. + +### ADC7352 Interface + +The voltage and current for DC Link and Motor Phase A, B, and C, are captured by the ADC7352 Interface IP. The IP can be configured for up to 16 channels, each with its own bit resolution. Each channel can control one ADC7352, with its own Chip Select (CS). The KD240 Motor Control Kit uses eight channels at 12 bits resolution. DC Link ADC uses one chip select, and the Phase A/B/C Motor ADCs share another chip select for simultaneous data collection. + +### ADC Encoding Conversions + +The KD240 Motor Control Kit makes use of the AD7352 which is a unipolar ADC using USB encoding. The DC link and stator voltages are measured and encoded without any analog offsets while the current measurements require direction. For current measurements, an instrumentation amplifier with an analog offset output is used to be able to make use of the unipolar ADC to encode both positive and negative measured currents. The following table outlines the expected mapping. + +| KD240 Measurement | -FS Input | -FS Code | Midpoint | Midpt Code | +FS Input | +FS Code | +| --------------------- |:---------:|:--------:|:---------:|:----------:|:---------:|:---------:| +| DC Link Voltage | 0V | b0000 | +18.432V | b1000 | +36.864V | b1111 | +| Motor Stator Voltages | 0V | b0000 | +18.432V | b1000 | +36.864V | b1111 | +| DC Link Current | 0A | b0000 | +10.24A | b1000 | +20.48A | b1111 | +| Motor Stator Current | -10.24A | b0000 | 0A | b1000 | +10.24A | b1111 | + +For DC Link voltage and current and for motor voltages, the conversion is done in USB to BTC IP. + +For motor currents, the conversion is done in BOB to BTC IP. + +## Data Processing System + +### ADC Hub + +This custom IP is the center of the processing for ADC data. It is parameterizable up to 16 channels, and each channel can be a different width. Each channel can also be treated as BTC or USB individually and can be customized to use DSP blocks or logic to implement the multipliers used for scaling the ADC data. There is also a choice for whether the channel is a Current or Voltage channel. This information is only to help the software understand what units to use for the data it reads from the ADC Hub. The KD240 Motor Control Kit uses eight channels, 12-bits, BTC encoding, and all channels are using the DSP for multipliers. + +Inside the ADC Hub are several functions, which are described in the next few sections. + +#### Simple Moving Average + +The data from the ADCs comes into the ADC Hub and goes into the Simple Moving Average (SMA) block. If there is an offset programmed by the software, first the offset is subtracted from the raw data coming in from the ADC. The offset can be positive or negative, which will result in either a smaller or larger value, respectively. + +After the offset is applied, then the data is entered into a FIFO, implemented in a block RAM. Software can program the number of taps to use for the SMA, from 1 to 128 in powers of two. The SMA function adds each new data to the sum of the previous data until the number of samples reaches the number of taps programmed by the software. At that time, the newest sample is added to the sum, and the oldest sample is read out of the block RAM and subtracted from the sum. The new sum is then shifted by the log2 of the tap count and becomes the output of the SMA module. + +There is no output from the SMA until the number of sammples has reached the number of taps. If the number of taps changes while the SMA is running, the whole datapath is reset, and the block RAM and adders are cleared. Once again, there will be no output until the new number of taps matches the number of samples received. + +#### Q-Scaler + +The ADC Hub scales the averaged data in the Q-Scaler module. Software programs the scaling factor, which is then multiplied with the averaged data. This multiplier can be implemented by a DSP or by logic in the configuration of the ADC Hub, on a per-channel basis. The scaled data is converted to Q-format, with 24 total bits. The integer portion is 7 bits, the fractional portion is 16 bits, and one sign bit. This scaled value is passed to the rest of the system as an AXI4-Stream interface, with no dependence on `tready` so that the data is always the most recent value. + +The scaling factors used in the KD240 Motor Control Kit are in the following table. + +| KD240 Measurement | ADC Scale Multiplier | ADC Scale (V/cnt) | Q-Format | +| --------------------- |:--------------------:|:-----------------:|:-----------:| +| DC Link Voltage | 1179.6480 | 0.018 | 0x00_049C | +| Motor Stator Voltages | 1179.6480 | 0.018 | 0x00_049C | +| DC Link Current | 655.3600 | 0.010 | 0x00_028F | +| Motor Stator Current | 327.6800 | 0.005 | 0x00_0148 | + +#### Motor Fault Generation + +The averaged and scaled data is compared against limits set by the software to determine whether a fault has occurred. Software can program over-limits and under-limits per channel. If such limits are enabled, and the scaled data exceeds these limits, then a fault will be generated. There are over-faults and under-faults, and if enabled and triggered will result in an error being generated. + +Errors can only be cleared by writing a specific value to the associated clear register (one for over-fault and one for under-fault). These faults are used to generate interrupts for the ADC Hub, if interrupts are enabled. They are also used by the Motor Control module to generate the gate drive enable signal to the Gate Driver. + +#### Register Map + +The AXI Interface in the ADC Hub allows the software to control and monitor the hardware. The register map is as follows: + +Address Decode + +| 31:12 | 11:08 | 07:00 | +| ------|:---------:|:---------------:| +| n/a | Channel | Register Offset | + +Channel: Up to 16 Channels supported + +Register: Up to 64 channels supported + +| Offset | Register Name | Signed | R/W | Bits Used | Reset Value | +| -------|:-------------------------------------:|:------:|:---:|:---------:|:-------------:| +| 0x00 | Over Limit Value (Q8.16 Format) | Y | R/W | 23:0 | 0x0000_0000 | +| 0x04 | Under Limit Value (Q8.16 Format) | Y | R/W | 23:0 | 0x0000_0000 | +| 0x08 | Scaling Factor (Q8.16 Format) | Y | R/W | 23:0 | 0x0000_0320 | +| 0x0C | Number of Taps for Averaging | N | R/W | 8:0 | 0x0000_0004 | +| 0x10 | Raw ADC Value | Y | R | 15:0 | 0x0000_0000 | +| 0x14 | Scaled ADC Value (Q8.16 Format) | Y | R | 1:0 | 0x0000_0000 | +| 0x18 | Error Status | N | R | 15:0 | 0x0000_0000 | +| 0x1C | Clear Over Limit Error (0x0BAD00FF) | N | R/W | 31:0 | 0x0000_0000 | +| 0x20 | Clear Under Limit Error (0x0BAD00FF) | N | R/W | 31:0 | 0x0000_0000 | +| 0x24 | Over Limit Error Enable | N | R/W | 0:0 | 0x0000_0000 | +| 0x28 | Under Limit Error Enable | N | R/W | 0:0 | 0x0000_0000 | +| 0x2C | Signed (1) or Unsigned (0) Data | N | R | 0:0 | HW Value | +| 0x30 | Voltage (1) or Current (0) Channel | N | R | 0:0 | HW Value | +| 0x34 | Total Number of Channels used in Hub | N | R | 3:0 | HW Value | +| 0x38 | IRQ Disable | N | R/W | 0:0 | 0x0000_0000 | +| 0x3C | ADC Offset | N | R/W | 31:0 | 0x0000_0000 | + +## TSN System + + The following figure shows the blocks in the TSN System. + +![TSN System block diagram](./media/TSN_kd240.png) + +### TSN IP + +The LogiCORE™ 100M/1G TSN Subsystem IP implements IEEE 802.1 Time Sensitive Networking (TSN) standards and provides a low latency bridged endpoint. The bridged endpoint solution consists of a 3-port switch, two ports connects to the network and one port connects to an internal endpoint. In this design, reduced gigabit media independent interface +(RGMII) interfaces connect to a Marvel physical-side interface (PHY) supporting a maximum bandwidth of 1 Gbps. The TSN IP is configured to support: + +* Network Time Synchronization- 1588 Precision Time Protocol (PTP) +* Scheduled and Best Effort traffic types +* Time aware scheduling (IEEE 802.1 Qbv) +* Frame replication and elimination (IEEE 802.1 CB) +* Per Stream Filtering and Policing (IEEE 802.1 Qci) + +For more information on the IP, refer to the *100M/1G TSN Subsystem IP Product Guide* ([PG275](https://www.xilinx.com/content/dam/xilinx/member/1gtsn_doc/2020_1/pg275-tsn-endpoint-ethernet-mac.pdf)). + +>***NOTE:** You will need access to [1GTSN Documentation Lounge](https://www.xilinx.com/member/1gtsn_doc.html) to view the document. + +#### MCDMA + +The AXI MCDMA provides high-bandwidth direct memory access between memory (AXI Memory Mapped) and stream (AXI4-Stream) target peripherals. It supports both Memory Mapped to Stream (MM2S) and Stream to Memory Mapped (S2MM) transfers. The AXI MCDMA core provides a Scatter Gather (SG) interface with multiple channel support with independent configuration. In this design, the MCDMA is responsible to fetch Best Effort traffic for transmission by the TSN IP. It reads frames from the DDR memory and passes the data to the TSN IP on an AXI4-Stream interface. It is also responsible for writing the Schedule traffic and Best Effort traffic frames received from the TSN IP to the memory. The IP uses the S_AXI_HP0_FPD on the AMD Zynq™ UltraScale+™ MPSoC Processing System (PS) IP to read/write from/to DDR memory. + +For more information on the IP, refer to the *AXI MCDMA LogiCORE IP Product Guide* ([PG288](https://docs.xilinx.com/v/u/en-US/pg288-axi-mcdma)). + +#### TADMA + +TADMA is aware of QBV schedule cycles, stream time slots, and by using PTP +generated time, it is capable of fetching frames for different streams/traffic classes from the system memory (DDR) at precisely required time, providing excellent time precision for TSN traffic. In this design, TADMA fetches scheduled traffic from memory, based on the Qbv programming and passed it to the TSN IP for transmission. + +For more information on the IP, refer to the *Time Aware DMA Product Guide* ([PG316](https://www.xilinx.com/content/dam/xilinx/member/1gtsn/2018_2/pg316-tadma.pdf)). + +>**NOTE:** You will need access to the [1GTSN Documentation Lounge](https://www.xilinx.com/member/1gtsn_doc.html) to view the above document. + +#### Test PMOD Controller + +The Test PMOD controller is a user IP that drives the [Digilent Test PMOD](https://digilent.com/shop/pmod-tph2-12-pin-test-point-header/) pins. The IP implements the following registers. + +| Register Offset | Register Name | Description | +| :---- | :--- | :---- | +|0x00 |slv_reg0| Bit0 is a MUX enable. If 1, then drive Qbv signals on PMOD. If 0, drive TSN publisher/subscriber 8-bit signatures| +|0x04 |slv_reg1| 8-bit signature when publisher 1 transmits a TSN frame | +|0x08 |slv_reg2| 8-bit signature when subscriber 1 receives a TSN frame | +|0x0c |slv_reg3| 8-bit signature when publisher 2 transmits a TSN frame | +|0x10 |slv_reg4| 8-bit signature when subscriber 2 receives a TSN frame | + +The TSN application can support multiple publishers and subscribers. When the publisher queues up a packet for transmission, it writes a unique 8-bit word to `slv_reg*`, which is then transmitted on the PMOD pins. Similarly when the subscriber receives a packet, it writes a unique 8-bit word to `slv_reg*` which is then transmitted on the PMOD pins. The PMOD pins of the publisher and subscriber are hooked up to a scope and are used to measure end to end application latency. The TSN pub sub application sets the MUX (`slv_reg0`) to 0 before writing the signature value. The following figure shows the mapping on the PMOD pins when MUX is set to 0 and 1. + +![Test PMOD pin mapping](./media/TSN_pmod.png) + +To view scheduled and best effort traffic, the MUX value is set to 1. If the Qbv schedule is set, for example, a time slot is programmed with 70% scheduled traffic and 30% best effort traffic, then viewing `tlast` signal of received scheduled traffic and `tlast` signal of received best effort traffic on a scope will confirm that Qbv is working as expected. `tlast` indicates the end of a packet. Transmit signals can also be monitored, but these signals are the on the outside of the TSN IP and the traffic is yet to be scheduled. + +The other signal which is monitored to see if the Transmitter and Receiver clocks are in sync is the PTP clock. + +For more information on how to use PMOD signals to check clock synchronization and to measure latency and confirm Qbv programming, refer to [application deployment page](./app_deployment.md). + +## Clocks, Resets, and Interrupts + +### Clocks + +The following table identifies the main clocks of the PL design, their source, their clock frequency, and their function. + +| Clock | Clock Source | Clock Frequency | Function | +| :--- | :----: | :---: | :----- | +| pl_clk0 | PS | 100 MHz | Clock source for clocking wizard (clk_wiz_0) | +| clk_out_100M | clk_wiz_0 | 100 MHz | Clock for data on CIPS port M_AXI_HPM0_FPD and most of the system | +| clk_out_48M | clk_wiz_0 | 48 MHz | Clock for SCLK to ADC and ADC7352 Interface Module | +| CLK_IN_gem | External Pin | 25 MHz | Clock for TSN Subsystem clocking wizard (clk_wiz_0) generating clocks | +| clk_out1 | TSN clk_wiz_0 | 200 MHz | TSN IP fifo clock, TADMA IP and MCDMA IP data transactions clock | +| clk_out2 | TSN clk_wiz_0 | 125 MHz | TSN IP and TADMA IP Real Time clock (RTC) for internal timers for time sensitivity | +| clk_out3 | TSN clk_wiz_0 | 300 MHz | reference clock for IDELAY control block for PHY operation on TSN IP | +| clk_out4 | TSN clk_wiz_0 | 100 MHz | AXI4-Lite clock to configure TSN IP, MCDMA IP, and Register interface IP | + +### Resets + +The following table summarizes the resets used in this design. + +| Reset Source | Function | +| :--- | :---- | +| pl_resetn0 | PL reset for proc_sys_reset modules and TSN Subsystem | +| proc_sys_reset_0 | Synchronous resets for clk_out_100M clock domain | +| proc_sys_reset_1 | Synchronous resets for clk_out_48M clock domain | +| TSN Phy_reset_n | Reset for External Phy (tied high) | +| TSN rst_clk_wiz_0_100M | Synchronous Reset for clk_out100M clock domain | +| TSN rst_clk_wiz_0_125M | Synchronous Reset for clk_out125M clock domain | +| TSN rst_clk_wiz_0_200M | Synchronous Reset for clk_out200M clock domain | +| TSN rst_clk_wiz_0_300M | Synchronous Reset for clk_out300M clock domain | + +### Interrupts + +The following table lists the PL-to-PS interrupts used in this design. + +| Interrupt ID | Instance | +| :--- | :---- | +|pl_ps_irq0[0]| ADC Hub IP | +|pl_ps_irq0[1]| Motor Control IP | +|pl_ps_irq0[2]| AXI Quad SPI 0 IP | +|pl_ps_irq0[3]| HLS QEI IP | +|pl_ps_irq0[4]| HLS FOC IP | +|pl_ps_irq0[5]| HLS SVPWM Duty IP | +|pl_ps_irq0[6]| HLS PWM Gen IP | +|pl_ps_irq0[7]| TSN Subsystem | + +The TSN Subsystem interrupts are itemized in the following table. + +| Interrupt ID | Instance | +| :--- | :---- | +|intr[0-7]| TSN IP | +|intr[8]| TADMA IP | +|intr[9-14]| MCDMA IP | + +## Resource Utilization + +The resource utilization numbers on this platform post implementation is reported in the following table. + +| Resource | Utilization | Available | Utilization % | +| :--- | :---- | :--- | :---- | +| LUT | 57895 | 70560 | 82.05 | +| LUTRAM | 4098 | 28800 | 14.23 | +| FF | 84715 | 141120 | 60.03 | +| BRAM | 116 | 216 | 53.70 | +| DSP | 133 | 360 | 36.94 | +| IO | 63 | 81 | 77.78 | +| BUFG | 21 | 196 | 10.71 | +| MMCM | 2 | 3 | 66.67 | +| PLL | 0 | 6 | 0.00 | + +## Next Steps + +* [Software Archicture](./sw_arch.md) +* Go back to the [KD240 FOC Motor Control Landing Page](../foc_motor_control_landing) + diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/introduction.md.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/introduction.md.txt new file mode 100644 index 00000000..5928e5f3 --- /dev/null +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/introduction.md.txt @@ -0,0 +1,67 @@ + + + + + + + + +

Kria™ KD240 Drives Starter Kit
FOC Motor Control Application Tutorial

+

Introduction

+ +
+ +# Introduction + +The KD240 Field Oriented Control (FOC) Motor Control Application is intended to capture general inverter and motor control examples using AMD-Xilinx standard IP/libraries. The IPs, libraries, and drivers serve as a design example demonstrating the K240 SOM capabilities in implementing applications that require precise control of the motor's speed and torque while minimizing energy losses and reducing system noise. The IPs, libraries, and drivers created are general in the sense they do not assume specific board level hardware for implementing the necessary cyber-physical boundaries around a given application. + +An overview of the motor field orientated control library functionality is summarized in the following three types of FOC based motor control that are to be implemented for supporting the KD240. Each focuses on either controlling the torque or speed of the motor. + +* Torque Control: Default FOC control is focused on maximizing the torque output of a motor by optimizing the quadrature (q) vector which represents the useful motor torque and minimizing the direct (d) vector component. In this mode of operation, the goal is to keep motor torque constant by adjusting motor speed. + +* Speed Control: Speed control is implemented through an additional PI control that adjusts the motor torque to the motor to maintain a constant speed. + +* Field Weakening Control: The field weakening control method trades off optimal torque to increase the speed of the motor. This is accomplished by adjusting the relationship of the q-vector and d-vector in FOC. + +## Design and Implementation + +The following provide more detailed definitions around the defined motor control modes of operation. + +### Torque Control + +Torque control implements a closed loop control focused on maintaining a specified torque value In this mode of operation, the q-vector provides the useful torque output of the motor, and the d-vector provides the force that is parallel to the rotor. The d-vector represents non-useful force, and thus any non-zero value is considered an error. + +![Torque-Control](./media/torqc.png) + +### Speed Control + +Constant speed control is achieved through a PI controller that adjusts the motor torque to maintain a specified motor speed. + +![Speed-Control](./media/speedc.png) + +## Sensored FOC Application + +The following block diagram shows the implementation of the Sensored FOC application. + +Motor Voltage and Current Feedbacks are provided by the ADC-HUB. The QEI Encoder provides the measured RPM from the BLDC motor as a feedback to the FOC control block. The generic PWM block is to provide a series of commands for each switch of a three leg inverter, with discrete on/off commands for each device. The Gate drive Pin control (GD Pin Control) and enable block is intended to implement the translation from the PWM functionality provided by the SVM PWM HLS IP to the KD240 specific gate drive circuit implementation. The gate drive enable signal is used to enable the power stage. This signal is shared across all three power bridge phases. The KD240 Motor Control block provides motor fault generation and system fault protection logic, which is used to check for gross failures in the system, such as shorted motor winding or failed phase leg. + +As seen by the block diagram in the kernel space, all the soft IPs are supported by kernel drivers using the industrial I/O framework. The drivers provide a number of features that make the hardware easier to configure and use these devices. It has support for buffers, common sysfs interface and integration with libiio framework in the user-space. A Motor Control application library is integrated with the device drivers to seamlessly operate different modes you set. You can control the various set points and gain parameters using the Dashboard GUI, as well as observe live plots of important metrics such as speed, feedback current/voltages, and torque. Instructions to test demo application are presented in the next section. + +![Sensored-FOC](./media/sensor-foc-blk.png) + +## Next Steps + +* [Application Deployment](app_deployment.md) +* Go back to the [KD240 FOC Motor Control Application Start Page](../foc_motor_control_landing) + + + +

Copyright© 2023 Advanced Micro Devices, Inc

diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/known_issues.md.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/known_issues.md.txt new file mode 100644 index 00000000..cadc1aff --- /dev/null +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/known_issues.md.txt @@ -0,0 +1,76 @@ + + + + + + + +

Kria™ KD240 Drives Starter Kit
FOC Motor Control Application Tutorial

+

Known Issues and Debug Help

+ +
+ +# Known Issues and Limitations + +* QEI reported speed is showing glitches. The QEI library computation of the speed has a known issue and will be addressed with a QEI library update. +* Motor lower speed mode control capability is approximately 250 rpms. +* Default motor tuning values are provided for the KD240 Motor Accessory Kit based the Anaheim motor with the plastic disk visual load. This load disk primarily acts as an inertial load and thus if you are connecting other loads to your motor, you should plan on conducting your own tuning process and defining custom tuning defaults based on your load testing. +* Open-loop control mode is intended as a test mode and thus does not implement any software based ramp control. You will see fault protections triggered if immediately trying to set open-loop mode control with a Vq voltage > ~10V. If using an open-loop, you are responsible for incrementally stepping up the Vq command to your desired voltage setting. Typical use cases of open-loop mode have Vd set to 0V. +* DC link current reading is limited to reading analog values > ~0.5A due to a limitation in the KD240 hardware. You should not assume the DC link current feedback is accurate until it is > ~0.5A. +* If the bokeh server is stopped while the motor is running, the motor will not stop. The motor should be stopped through the GUI by switching to Off mode before stopping the bokeh server. + +# Debugging Motor Control Application + +If the motor control application is not functioning as intended, follow these debugging steps to diagnose and resolve issues. + +1. **Check Wire Connections** + * Ensure that wire connections matches the configuration shown in the application deployment page. + * Verify that the 24V DC supply is connected and the wall power is up. + * Check DS9 LED, which represents the DC link; it should be in a high state. + * Confirm that the Quadrature Encoder Interface (QEI) encoder from the motor is properly connected to the board. + +2. **Read DC Link Voltage** + * If the application repeatedly fails to start with system faults, measure the DC link voltage by reading data from the ADC interface (ADC-HUB voltage channel 6). + * Use the command `iio_attr -c xilinx_adc_hub voltage6` to check the voltage reading and should read around 24V. + + ```bash + iio_attr -c xilinx_adc_hub voltage6 + dev 'xilinx_adc_hub', channel 'voltage6' (input), attr 'input', value '25.116806030' + ``` + + A reading significantly lower or higher than the tolerance range of the power supply could indicate a hardware failure on the board. + +3. **Debug PL Interfaces** + * If unexpected behavior occurs, start probing different blocks of the programmable logic (PL) interfaces for debugging. + * Utilize the IIO utilities or the IIO driver sysfs for the specific hardware interface. + * For detailed information on debugging hardware interfaces, refer to the [Device and Channel Attributes](./sw_arch.md#device-and-channel-attributes) section. + +4. **Gate Drive Mode** + * Ensure that the software application is set to a valid mode that turns the Gate Drive ON, except for the off mode. + * Monitor DS10 LED: it should go high in modes other than off. + +5. **Observe Errors and Messages from the Application** + * Keep an eye on the serial console for error messages or other relevant information. + * Review the `dmesg` logs, which provide valuable information from the respective hardware drivers. These logs can be a helpful source of diagnostic information. + +6. **Network Connection** + * If the application does not respond to changes from the GUI, verify the network connection by pinging the host address. + * Sometimes, a web socket disconnection message may appear, indicating a communication issue. If you encounter such disconnection issues, try killing the Bokeh server and relaunching the server and the dashboard. + + Sample Disconnection Message: + + ```bash + 2023-09-13 18:47:32,361 WebSocket connection closed: code=None, reason=None + `````` + + + +

Copyright© 2023 Advanced Micro Devices, Inc

diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/sw_arch.md.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/sw_arch.md.txt new file mode 100644 index 00000000..56d7026b --- /dev/null +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/docs/sw_arch.md.txt @@ -0,0 +1,358 @@ + + + + + + + +

Kria™ KD240 Drive Starter Kit

+

Software Architecture

+ +
+ +# Software Architecture of the Platform + +## Introduction + +This section describes software components involved in the design and their relation with each other. The application requires a hardware platform as described in [Hardware Architecture of the Platform](./hw_description.md) for the stack explained in this section to work. + +The software stack here provides a comprehensive library that can be interfaced using various user interfaces and efficiently drive the motor through the Kria Drive SOM board. + +The following diagram illustrates the top-level architecture and arrangement of various software components: + +![Software Architecture Overview](media/sw_arch.jpg) + +- Kernel: Ubuntu Linux kernel + - Drivers: + - `xilinx_adc_hub`: IIO driver for analog-to-digital converter (ADC) HUB + - `hls_qei_axi`: IIO driver for the QEI sensor + - `hsl_foc_periodic`: IIO driver for the sensor based field oriented controller + - `hls_pwm_gen`: IIO driver for PWM GEN + - `hsl_svpwm_duty`: IIO driver for SVPWM +- Middleware + - IIO Framework and libiio library + - Generic UIO framework +- Application and library + - Motor Control Library (includes UIO driver for the custom Motor Control IP) + - Bokeh dashboard + +## Kernel Drivers + +All the kernel drivers developed for the platform hardware are Industial I/O (IIO) based and adhere to the IIO kernel framework. The IIO subsystem covers many sensor and ADC devices in the industry. It provides the following features to fetch and control various parameters: + +- Divide the stream and type of data into logical channels. +- Each channel can have specific attributes along with device attributes to fine-tune the behavior. +- Efficient data collection using buffers to get deterministic data with timestamps and sync with other channels. +- Interrupt handling to provide user side event handling. + +The following drivers are added to support this app: + +- ADC Hub (`xilinx_adc_hub`): Provides an interface to monitor current, voltage, and related faults that occur during the operation of the motor. +- QEI Encoder (`hls_qei_axi`): External encoder to monitor the real-time speed and position of the motor. +- FOC (`hsl_foc_periodic`): Field oriented controller driver to support various operational modes and state of the motor. +- PWM_GEN (`hls_pwm_gen`): PWM_GEN provides PWM signal generation for motor control. +- SVPWM_GEN (`hsl_svpwm_duty`): SVPWM provides space vector PWM to calcualte phase ratio for the motor. + +There is also custom Motor control IP, which is responsible for the design specific glue logic and driving the motor's Gate Driver. The driver for this IP is a UIO based and the device will instantiate the UIO device for this IP. The userspace driver for this is implemented inside the motor control library in the control block. + +### Device and Channel Attributes + +As explained in the [next section](#userspace-access-to-iio-drivers), the attributes exposed by each drivers can be accessed through sysfs interface or through libraries like libIIO. + +Most of the attribute names are self-explanatory. If a channel attribute is named `input`, it indicates that the device requires raw data for processing, and the final processed data can be read from the `input` channel attribute. If the `input` channel attribute is not present, the raw data itself represents the final value from the device. + +A couple of common device attributes accross IIO drivers in this application are: + +- `sample_interval_us`: This parameter represents the time period in microseconds. It determines the rate at which data is sampled and stored into the buffer. Only channel data is captured within the buffer. +- `ap_ctrl`: This attribute conforms to the standard AMD HLS interface for IP, enabling the initiation of its operation. + +The device attributes applies to entire device for all the channels. The channel attributes are per channel configurations or data. Here are some of the attributes exposed by above drivers: + +#### Xilinx ADC Hub Channels + +List of available channels for the device `xilinx_adc_hub`. + +```bash +ubuntu@kria:# iio_attr -c xilinx_adc_hub +dev 'xilinx_adc_hub', channel 'voltage0' (input, index: 0, format: le:S32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'current1' (input, index: 1, format: le:S32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'voltage2' (input, index: 2, format: le:S32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'current3' (input, index: 3, format: le:S32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'voltage4' (input, index: 4, format: le:S32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'current5' (input, index: 5, format: le:S32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'voltage6' (input, index: 6, format: le:U32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'current7' (input, index: 7, format: le:U32/32>>0), found 9 channel-specific attributes +dev 'xilinx_adc_hub', channel 'timestamp' (input, index: 16, format: le:S64/64>>0), found 0 channel-specific attributes +``` + +Individual Channel Properties for Voltage0 in `xilinx_adc_hub`: + +```bash +ubuntu@kria:# iio_attr -c xilinx_adc_hub voltage0 +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'calibrate', +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'fault_clear', +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'input', value '0.865447998' +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'offset', value '0.000000000' +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'over_range_fault_status', value '0' +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'raw', value '47' +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'scale', value '0.018814086' +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'set_filter_tap', value '4' +dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'under_range_fault_status', value '0' +``` + +- `calibrate`: One-time calibration at the very start to offset any residual value in the system. +- `fault_clear`: Clears all faults on the channel. +- `input`: Final voltage value read by the ADC in volts (raw * scale factor). +- `offset`: Automatically populated after calibration. +- `over_range_fault_status`: Status indicating if an over-range fault occurred (0 - for no fault). +- `raw`: The ADC raw value. +- `scale`: The scaling factor. +- `set_filter_tap`: Number of filter taps. +- `under_range_fault_status`: Status indicating if an under-range fault occurred (0 for no fault). + +The attributes for the currentX channel would be similar to `voltage0`, but the readings are in amperes (amps). + +#### HLS PWM Generator Channels + +List of available channels for the device `hls_pwm_gen`. + +```bash +ubuntu@kria:# iio_attr -c hls_pwm_gen +dev 'hls_pwm_gen', channel 'voltage0', id 'Va_duty_ratio' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_pwm_gen', channel 'voltage1', id 'Vb_duty_ratio' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_pwm_gen', channel 'voltage2', id 'Vc_duty_ratio' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_pwm_gen', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes +``` + +Individual Channel Properties for Va_duty_ratio in the HLS PWM Generator: + +```bash +ubuntu@kria:# iio_attr -c hls_pwm_gen voltage0 +dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'label', value 'Va_duty_ratio' +dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'raw', value '0.000000000' +dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'scale', value '1' +``` + +- `label`: The label of the channel is 'Va_duty_ratio'. +- `raw`: The raw value for this channel is '0.000000000', and in this case, it represents the final reading for the channel. +- `scale`: The scaling factor for this channel is '1'. + +The attributes are similar to the other channels from the PWM-GEN driver. + +#### HLS SVPWM Duty Channels + +List of available channels for the device `hls_svpwm_duty`. + +```bash +ubuntu@kria:# iio_attr -c hls_svpwm_duty +dev 'hls_svpwm_duty', channel 'voltage0', id 'Va_cmd' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_svpwm_duty', channel 'voltage1', id 'Vb_cmd' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_svpwm_duty', channel 'voltage2', id 'Vc_cmd' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_svpwm_duty', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes +``` + +Individual Channel Properties for `Va_cmd` in HLS SVPWM Duty: + +```bash +ubuntu@kria:# iio_attr -c hls_svpwm_duty voltage0 +dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'label', value 'Va_cmd' +dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'raw', value '0.000000000' +dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'scale', value '1' +``` + +- `label`: The label of the channel is `Va_cmd`. +- `raw`: The raw value for this channel is `0.000000000`, and in this case, it represents the final reading for the channel. +- `scale`: The scaling factor for this channel is `1`. + +The attributes are similar to the other channels from the SVPWM driver. + +#### QEI Channels + +List of available channels for the device `hls_qei_axi`. + +```bash +ubuntu@kria:# iio_attr -c hls_qei_axi +dev 'hls_qei_axi', channel 'rot0', id 'rpm' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_qei_axi', channel 'rot1', id 'theta_degree' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_qei_axi', channel 'timestamp' (input, index: 2, format: le:S64/64>>0), found 0 channel-specific attributes +``` + +Individual Channel Properties for RPM in QEI: + +```bash +ubuntu@kria:# iio_attr -c hls_qei_axi rot0 +dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'label', value 'rpm' +dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'raw', value '0' +dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'scale', value '1' +``` + +- `label`: The label of the channel is 'rpm'. +- `raw`: The raw value for this channel is '0', and in this case, it represents the final reading for the channel. +- `scale`: The scaling factor for this channel is '1'. + +The attributes are similar to the other channels from the QEI driver. + +#### FOC Channels + +List of available channels for the device `hls_foc_periodic`. + +```bash +ubuntu@kria:# iio_attr -c hls_foc_periodic +dev 'hls_foc_periodic', channel 'current0', id 'Id' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'current1', id 'Iq' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'current2', id 'I_alpha' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'current3', id 'I_beta' (input, index: 3, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'current4', id 'I_homopolar' (input, index: 4, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'rot5', id 'speed_pi_out' (input, index: 5, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'rot6', id 'torque_pi_out' (input, index: 6, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'intensity7', id 'flux' (input, index: 7, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'rot8', id 'speed' (input, index: 8, format: le:U32/32>>0), found 3 channel-specific attributes +dev 'hls_foc_periodic', channel 'angl9' (input, index: 9, format: le:U32/32>>0), found 2 channel-specific attributes +dev 'hls_foc_periodic', channel 'timestamp' (input, index: 10, format: le:S64/64>>0), found 0 channel-specific attributes +``` + +Individual Channel Properties for current0 in FOC: + +```bash +ubuntu@kria:~$ iio_attr -c hls_foc_periodic current0 +dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'label', value 'Id' +dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'raw', value '0.000000000' +dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'scale', value '1' +``` + +- `label`: The label of the channel is 'Id'. +- `raw`: The raw value for this channel is '0.000000000', and in this case, it represents the final reading for the channel. +- `scale`: The scaling factor for this channel is '1'. + +The attributes are similar to the other channels from the FOC driver. + +For detailed information on other device attributes, consult the [hardware documentation](./hw_description.md). + +For more details of IIO subsystem, refer to [Analog Devices Wiki](https://wiki.analog.com/software/linux/docs/iio/iio). + +For more details on kernel drivers for IIO, refer to [Kernel Documentation](https://static.lwn.net/kerneldoc/driver-api/iio/core.html). + +## Middleware + +### Userspace Access to IIO Drivers + +The driver exposes the IIO devices through the sysfs interface. The drivers can be accessed from the path `/sys/bus/iio/devices/iio\:deviceX`, where `X` is the numeric enumeration of the IIO device. + +libIIO is the userspace library to easily access the kernel IIO subsystem. It also provides various methods and command line interfaces, packaged in libiio-utils, to access the IIO devices. There are other Python wrappers around this library, but the motor control library uses a native C/C++ library. + +For example, to list all the available IIO devices: + +``` +ubuntu@kria:~$ iio_attr -c +IIO context has 7 devices: + iio:device0, ams: found 30 channels + iio:device1, ina260-u14: found 6 channels + iio:device2, hls_foc_periodic: found 11 channels + iio:device3, hls_qei_axi: found 3 channels + iio:device4, xilinx_adc_hub: found 9 channels + iio:device5, hls_svpwm_duty: found 4 channels + iio:device6, hls_pwm_gen: found 4 channels +``` + +For more details, refer to the [libIIO Documentation](https://analogdevicesinc.github.io/libiio/v0.23/index.html). + +### Userspace Access to UIO + +The custom motor control IP is accessed from the motor control library using the UIO interface. A device tree node with compatible string as `generic-uio` is added to connect this hardware to the UIO subsystem. + +The device is now accessible in the userspace through the `/dev/uioX` device. Information about the device is obtained by scanning `/sys/class/uio/uioX`, where `X` is the UIO device id automatically assigned by the kernel. + +For more information on the UIO interface, refer to the kernel [documentation](https://www.kernel.org/doc/html/v4.18/driver-api/uio-howto.html). + +## Application and Library + +The motor control library is a C++ library that provides APIs for the front end application to control and fetch motor parameters. It also has a pybind11 wrapper to support the library APIs through python front end. The front end GUI included with this application is based on a python bokeh server, which can be accessed in a web browser in the network. + +### Motor Control Library + +The library can be divided into four blocks: + +- Communication +- State Management and Coordination +- Event/Fault Management +- Control + +![Motor Control Library](media/sw_lib_interface.jpg) + +#### Communication + +The external user interfacing exposes the supported APIs through the C++ shared library and Python module. + +The library allows the user application to fetch following values: + +- Speed +- Position +- Current (Phase A, Phase B, Phase C, DC Link) +- Voltage (Phase A, Phase B, Phase C, DC Link) +- Fault status + - Over current for A, B, C, DC + - Over and under voltage for DCLink + - RMS power fault + - Phase imbalance fault +- Intermediate FOC calculations (example: iq, id, i_alpha, etc) + +The library allows the user application to set following motor controls: + +- Clear faults +- Speed +- Torque +- Open loop parameters (vq and vd) +- Gain P/I gains (for current, speed and flux controller) + +For details list of APIs, refer to the [motor-control.hpp](https://github.com/xilinx/foc-motor-ctrl/blob/main/lib/include/motor-control/motor-control.hpp) file. + +Python binding for the application is provided using the pybind11 library. + +#### State Management and Coordination + +This is the central part of the library, which receives and processes all the request from the communication block and is responsible for: + +- Executing the initialization sequence for the motor. +- Maintaining the current state of the platform and handling the state transitions. +- Splitting, merging, and coordinating the request with various handlers in the control block. + +#### Event/Fault Management + +The Event Manager is responsible for configuring and monitoring events/faults from various hardware blocks. This block is aware of event capabilities of various control blocks and configures the events accordingly. + +It caches the event status in realtime and returns that to user when requested. The event is monitored in a separate thread which waits on epoll events for the registered events. Optionally, it also provides callback function registration in case additional action is expected when a realtime event occurs. + +#### Control + +This block is responsible for hardware access. There are interface classes which implement common interfaces for all the IIO based control handlers and all the UIO based control handlers. It also provides abstraction for the sensor interface to support more than one sensor (only one used at a given time). + +The following various handlers are for controlling the respective hardware: + +- FOC: For controlling and fetching data from the FOC hardware through the libiio framework. +- ADCHub: For controlling and fetching data from the ADCHub hardware through the libiio framework. +- Sensor: Abstraction for controlling and fetching data from the sensor hardware through the libiio framework (QEI in this case). +- PWM_Gen: For controlling the PWM_GEN hardware through the libiio framework. +- SVPWM: For controlling the SVPWM hardware through the libiio framework. +- MC_UIO: For controlling custom Motor Control IP hardware through the UIO framework. +- SW_AvgPower: Software based average power calculator to generate fault and control gate driver through MC_UIO. + +#### Additional Threads + +The following additional threads are implemented in the library: + +- Speed Ramp: When a new *speed* set point is set, the speed is ramped up or down in the FOC control handler using the constant ramp rate defined in `default_config.h`. +- Torque Ramp: When new *torque* set point is set, the speed is ramped up or down in the FOC control handler using the constant ramp rate defined in `default_config.h`. +- Event Monitor: The event manager waits on any event using epoll_wait in its own thread. + +### Bokeh Server (GUI) + +A python based bokeh server is implemented to provide a GUI interface to the application. It imports the motor control python library. The plot updates are handled by an update function which is called at the interval specified in the Refresh Interval text box. For each update, the function requests the number of samples specified in the Sample Size text box and update the plots with new data. + +For more details on the GUI usage, refer the [Application Deployment](./app_deployment.md) page for the details on the components and its usage. + +## Next Steps + +- [Application Deployment](./app_deployment.md) +- Go back to the [KD240 FOC Motor Control Landing Page](../foc_motor_control_landing) + + diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/foc_motor_control_landing.rst.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/foc_motor_control_landing.rst.txt index 7088fe1c..11eb54e0 100644 --- a/kd240/build/html/_sources/docs/foc-motor-ctrl/foc_motor_control_landing.rst.txt +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/foc_motor_control_landing.rst.txt @@ -9,7 +9,7 @@ Overview .. toctree:: :maxdepth: 1 - Introduction + Introduction Features ================================ @@ -33,7 +33,7 @@ Quick Start .. toctree:: :maxdepth: 1 - Setting Up the Board and Application deployment + Setting Up the Board and Application deployment *************************** Tutorials @@ -54,8 +54,8 @@ Architecture .. toctree:: :maxdepth: 1 - Hardware Architecture - Software Architecture + Hardware Architecture + Software Architecture ******************************* Repository @@ -73,7 +73,7 @@ Other .. toctree:: :maxdepth: 1 - Known Issues + Known Issues .. License diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/src/app_deployment.md.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/src/app_deployment.md.txt index 0dd0ce67..3b4470fe 100644 --- a/kd240/build/html/_sources/docs/foc-motor-ctrl/src/app_deployment.md.txt +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/src/app_deployment.md.txt @@ -87,8 +87,8 @@ Testing was performed with the following artifacts: | Component | Version | |--------------------------------|----------------------------| | Boot Firmware | K24-BootFW-01.01 | -| Linux Kernel | 5.15.0-1030-xilinx-zynqmp | -| xlnx-firmware-kd240-motor-ctrl | 0.12-0xlnx2 | +| Linux Kernel | 5.15.0-1027-xilinx-zynqmp | +| xlnx-firmware-kd240-motor-ctrl | 0.10.1-0xlnx1 | To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/1641152513/Kria+K26+SOM#Boot-Firmware-Updates). @@ -96,7 +96,7 @@ To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](htt | Package | Version | |--------------------------------|--------------| -| xlnx-app-kd240-foc-motor-ctrl | 0.4-0xlnx1 | +| xlnx-app-kd240-foc-motor-ctrl | 0.3.1-0xlnx5 | ### Initial Setup @@ -126,10 +126,6 @@ To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](htt * Install the motor control application. ```bash - # Add lely PPA for lely-core libraries - sudo add-apt-repository ppa:lely/ppa - sudo apt-get update - sudo apt install xlnx-app-kd240-foc-motor-ctrl ``` @@ -266,7 +262,7 @@ The following images show what the dashboard looks like when a larger load is ap to enable to PMOD-CAN interface on KR260. ```bash - sudo apt install xlnx-firmware-kr260-tsn-rs485pmod + sudo apt install kr260-tsn-rs485pmod sudo xmutil unloadapp sudo xmutil loadapp kr260-tsn-rs485pmod ``` @@ -274,17 +270,11 @@ The following images show what the dashboard looks like when a larger load is ap * Set up the CAN interface on both the KR260 and KD240. ```bash - sudo ip link set can0 up type can bitrate 100000 - sudo ip link set can0 txqueuelen 10000 + sudo ip link set can0 up type can bitrate 1000000 + sudo ip link set can0 txqueuelen 1000 sudo ip link set can0 up ``` -* Verify the CAN interface state - - ```bash - ip -d -s link show can0 - ``` - * Install can-utils on both the KR260 and KD240. ```bash @@ -313,14 +303,6 @@ The following images show what the dashboard looks like when a larger load is ap start_motor_server ``` -* To terminate the server - - If it is required to kill the server kill fmc_canopen application - - ```bash - sudo killall fmc_canopen - ``` - ### On the KR260 (master) * Download the docker image on the KR260. @@ -344,37 +326,41 @@ The following images show what the dashboard looks like when a larger load is ap --net=host \ --privileged \ --volume=/home/ubuntu/.Xauthority:/root/.Xauthority:rw \ - --name=motor_control \ - --rm \ -v /tmp:/tmp \ -v /dev:/dev \ -v /sys:/sys \ -v /etc/vart.conf:/etc/vart.conf \ -v /lib/firmware/xilinx:/lib/firmware/xilinx \ -v /run:/run \ - -it xilinx/foc-motor-ctrl-ros2-canopen-host:latest bash + -it foc-motor-ctrl-ros2-canopen-host:latest bash ``` -* Inside the container, run canopen host tests using the launch file described in the following - subsections. There are 2 tests: +* Make sure you are inside the docker container and source the ROS setup files. - * *Simple CiA402 system*: where host accesses motor directly using ros2_canopen 402 driver. - * *ROS2 Control example*: where host accesses motor over ros2_control interface. + ```bash + source /opt/ros/humble/setup.bash + source /root/ros_ws/install/setup.bash + ``` - > **Note**: Do not run both the launch files together as they will interfere in the operations. Only one test can be running at a given time. +* Start the launch file. -#### Run a simple CiA402 system host + ```bash + ros2 launch foc_motor kd240.launch.py + ``` -* In the docker run terminal start the canopen 402 host ros container using the launch file +* Open a new terminal, find the docker container id, and launch another + session connected to the same container. ```bash - ros2 launch kria_motor_control kd240.system.launch.py + docker ps # Copy container_id from output of this command + docker exec -it bash ``` -* Open a new terminal, start another session of the the same container. +* In the new docker session, source the ROS setup files. ```bash - docker exec -it motor_control bash + source /opt/ros/humble/setup.bash + source /root/ros_ws/install/setup.bash ``` * Check the available services and their types. @@ -384,7 +370,6 @@ The following images show what the dashboard looks like when a larger load is ap ``` The output should look similar to this: - ```bash ubuntu@KR260:~$ ros2 service list -t /device_container_node/change_state [lifecycle_msgs/srv/ChangeState] @@ -432,7 +417,6 @@ The following images show what the dashboard looks like when a larger load is ap ``` * To view an interface definition, use: - ```bash ros2 interface show ``` @@ -440,7 +424,6 @@ The following images show what the dashboard looks like when a larger load is ap For example, to view the interface definition for the canopen_interfaces/srv/COTargetDouble type which is used for the /kd240/target service, run the command below. This will print the input (target) and output (success). - ```bash ubuntu@KR260:~$ ros2 interface show canopen_interfaces/srv/COTargetDouble float64 target @@ -454,121 +437,43 @@ The following images show what the dashboard looks like when a larger load is ap [Cia402 Driver documentation](https://ros-industrial.github.io/ros2_canopen/manual/humble/user-guide/cia402-driver.html). Reset: - ```bash ros2 service call /kd240/nmt_reset_node std_srvs/srv/Trigger ``` Init: - ```bash ros2 service call /kd240/init std_srvs/srv/Trigger ``` Change to velocity mode: - ```bash ros2 service call /kd240/velocity_mode std_srvs/srv/Trigger ``` Change target speed: - - ```bash - ros2 service call /kd240/target canopen_interfaces/srv/COTargetDouble "target: 3000" - ``` - - > **Note**: For the Anaheim motor kit, the speed range is 250 to 10000 rpm in - both directions. If the motor does not spin at 250 rpm, try a faster speed. - The minimum speed can vary by motor. - -#### Run a ROS2 Control based example - -* In the docker run terminal start the canopen 402 control system host using the launch file - - ```bash - ros2 launch kria_motor_control kd240.ros2_control.launch.py - ``` - -* Open a new terminal, start another session of the the same container. - ```bash - docker exec -it motor_control bash + ros2 service call /kd240/target canopen_interfaces/srv/COTargetDouble "target: 800" ``` -* List the available controllers using ros2 control cli utility - + Halt: ```bash - ros2 control list_controllers + ros2 service call /kd240/halt std_srvs/srv/Trigger ``` - The output should look similar to this: - - ```bash - ubuntu@KR260:~$ ros2 control list_controllers - forward_velocity_controller[velocity_controllers/JointGroupVelocityController] active - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - ``` - -* To view the available hardware interfaces, use: - - ```bash - ros2 control list_hardware_interfaces - ``` - - The output should look similar to this: - ```bash - ubuntu@KR260:~$ ros2 control list_hardware_interfaces - command interfaces - wheel_joint/velocity [available] [claimed] - state interfaces - wheel_joint/position - wheel_joint/velocity - ``` - -* List the Ros2 Topics - - ```bash - ubuntu@KR260:~$ ros2 topic list - /dynamic_joint_states - /forward_velocity_controller/commands - /forward_velocity_controller/transition_event - /joint_state_broadcaster/transition_event - /joint_states - /kd240_wheel/joint_states - /kd240_wheel/nmt_state - /kd240_wheel/rpdo - /kd240_wheel/tpdo - /parameter_events - /robot_description - /rosout - /tf - /tf_static - ``` - -* Observe the live state of the system using dynamic_joint_states - - ```bash - ros2 topic echo /dynamic_joint_states - ``` - - This continuously updates the current state of the system and shows the position and speed of the motor. - - -* Open a new terminal, start another session of the the same container. - - ```bash - docker exec -it motor_control bash - ``` +## Run One Wire Temperature Sensor Demo -* Update the speed of the motor using velocity controller in a new terminal +### Tested Artifacts - ```bash - ros2 topic pub --once /forward_velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [5000]" - ``` +Testing was performed with the following artifacts: -![Ro2_control_demo](./media/sw_ros2_control.png) +#### KD240 platform Artifacts -## Run One Wire Temperature Sensor Demo +| Component | Version | +|--------------------------------|----------------------| +| Boot Firmware | K24-BootFW-01.00.bin | +| Linux Kernel | 5.15.0-1030 | +| xlnx-firmware-kd240-motor-ctrl | 0.12-0xlnx1 | * In this demo, the lm-sensors utility probes the One Wire Temperature sensor, reads and displays the captured temperature value on the serial terminal. diff --git a/kd240/build/html/_sources/docs/foc-motor-ctrl/src/known_issues.md.txt b/kd240/build/html/_sources/docs/foc-motor-ctrl/src/known_issues.md.txt index 660dfd7e..cadc1aff 100644 --- a/kd240/build/html/_sources/docs/foc-motor-ctrl/src/known_issues.md.txt +++ b/kd240/build/html/_sources/docs/foc-motor-ctrl/src/known_issues.md.txt @@ -58,23 +58,11 @@ If the motor control application is not functioning as intended, follow these de * Sometimes, a web socket disconnection message may appear, indicating a communication issue. If you encounter such disconnection issues, try killing the Bokeh server and relaunching the server and the dashboard. Sample Disconnection Message: - + ```bash 2023-09-13 18:47:32,361 WebSocket connection closed: code=None, reason=None `````` -# CAN bus issue - -Sometime, if the CANopen setup is left running for long time, them TX queue of the CAN interface can fillup resulting in the interface hang, especially on KR260. -There is no indication for this situation except KR260 and KD240 do not receive can message. To fix this just bring the can interface down and up again. - -```bash -sudo ip link set can0 down -sudo ip link set can0 up -``` - -If this is frequent enough then consider increasing the tx queue length on KR260 with `sudo ip link set can0 txqueuelen 10000` - @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
Kria™ KD240 +
1.0 @@ -122,8 +124,8 @@
-
-

BIST

+
+

BIST

The Built-In Self Test (BIST) application tests the interfaces on AMD Kria™ starter kits to verify functionality and/or performance. If a custom design is not working as expected, this application can be used to differentiate hardware issues from design issues.

The BIST application is based on the pytest framework and designed to be modular and configurable so that it can be used across different starter kits. The tests are grouped into modules based on the interface which allows testing individual interfaces if needed. Some tests are self-validating tests, while others require user input based on observation. Each individual test either verifies the functionality or performance of an interface.

@@ -150,11 +152,11 @@

BISTSoftware Repository

-
-

Support

+
+

Support

GitHub issues will be used for tracking requests and bugs. For questions, go to forums.xilinx.com.

-
-
+
+
@@ -170,7 +172,7 @@

Support

© Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

diff --git a/kd240/build/html/docs/bist/docs/known_issues.html b/kd240/build/html/docs/bist/docs/known_issues.html index 1a0b9545..aaa1a703 100644 --- a/kd240/build/html/docs/bist/docs/known_issues.html +++ b/kd240/build/html/docs/bist/docs/known_issues.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
Kria™ KD240 +
1.0 @@ -123,8 +125,8 @@
-
-

Known Issues

+
+

Known Issues

+
@@ -244,7 +246,7 @@

Known Issues

© Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

diff --git a/kd240/build/html/docs/bist/docs/modules/can.html b/kd240/build/html/docs/bist/docs/modules/can.html index 205376c2..e92d532a 100644 --- a/kd240/build/html/docs/bist/docs/modules/can.html +++ b/kd240/build/html/docs/bist/docs/modules/can.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
Kria™ KD240 +
1.0 @@ -147,14 +149,14 @@
-
-

BIST CAN Test Module

-
-

Overview

+
+

BIST CAN Test Module

+
+

Overview

The CAN test module verifies the functionality of CAN transceiver on the KD240 starter kit.

-
-
-

Tests

+
+
+

Tests

The module contains self-validating functional test. It uses python3-can package for transmitting and receiving CAN messages through the CAN port (CAN_L, CAN_H and GND pins). The verification is done by performing transactions between MCP25625 PMOD CAN controller @@ -177,41 +179,41 @@

Tests read_can_message() functions via can_bus.send() and can_bus.recv() instances provided by python3-can module. After the comparison of sent and received messages, the can nodes are shutdown using can_node_shutdown().

- -
-

Test Execution

+

+
+

Test Execution

The example commands for this module are provided below:

-
pytest-3 --board kd240 -m can  // Run all tests in this module
-pytest-3 --board kd240 -k can_bus_send  // Run CAN message transmitter functional test
-pytest-3 --board kd240 -k can_bus_receive  // Run CAN message receiver functional test
+
pytest-3 --board kd240 -m can  // Run all tests in this module
+pytest-3 --board kd240 -k can_bus_send  // Run CAN message transmitter functional test
+pytest-3 --board kd240 -k can_bus_receive  // Run CAN message receiver functional test
 

 

 
The CAN functional test prints the CAN node enumeration of the form canX for transmitter
 and receiver nodes along with the message transmitted and received. The test is passed based
 on message match between the sent and received CAN messages.

-
-

-
Test Debug

+
+
+

Test Debug

  • Verify the hardware connection between CAN port on the starter kit and PMOD CAN device (Connected externally to the starter kit) before performing the CAN transactions.

- -
-

Known Issues and Limitations

+
+
+

Known Issues and Limitations

  • The CAN module is limited to verifying the functionality of CAN transceiver hardware ports only.

  • Make sure that the BIST firmware is loaded before performing the CAN transaction. The PMOD CAN port is not recognized otherwise.

- -
-

Next Steps

+
+
+

Next Steps

  1. BIST Overview

-

Copyright © 2023 Advanced Micro Devices, Inc

Terms and Conditions

- +

Copyright © 2023 Advanced Micro Devices, Inc

Terms and Conditions

+
@@ -227,7 +229,7 @@

Next Steps

© Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

diff --git a/kd240/build/html/docs/bist/docs/modules/disk.html b/kd240/build/html/docs/bist/docs/modules/disk.html index 9b085107..1bc6ffda 100644 --- a/kd240/build/html/docs/bist/docs/modules/disk.html +++ b/kd240/build/html/docs/bist/docs/modules/disk.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
Kria™ KD240 +
1.0 @@ -147,15 +149,15 @@
-
-

BIST Disk Test Module

-
-

Overview

+
+

BIST Disk Test Module

+
+

Overview

The disk test module verifies the performance of USB and SD interfaces on the AMD Kria™ starter kits.

-
-
-

Tests

+
+
+

Tests

The module contains self validating performance test. It uses “dd” command-line utility to check the performance of USB and SD disk interfaces and verifies if the measured read/write speeds are greater than the specified threshold speeds. @@ -223,32 +225,32 @@

Tests Bottom - -
-

Test Execution

+

+
+

Test Execution

Example commands for this module are provided below (KV260):

-
pytest-3 --board kv260 -m disk  // Run all tests in this module
-pytest-3 --board kv260 -k usb1_read_performance  // Run read performance test for USB1 port
-pytest-3 --board kv260 -k usb1_write_performance  // Run write performance test for USB1 port
-pytest-3 --board kv260 -k sd_read_performance  // Run read performance test for SD port
-pytest-3 --board kv260 -k sd_write_performance  // Run write performance test for SD port
+
pytest-3 --board kv260 -m disk  // Run all tests in this module
+pytest-3 --board kv260 -k usb1_read_performance  // Run read performance test for USB1 port
+pytest-3 --board kv260 -k usb1_write_performance  // Run write performance test for USB1 port
+pytest-3 --board kv260 -k sd_read_performance  // Run read performance test for SD port
+pytest-3 --board kv260 -k sd_write_performance  // Run write performance test for SD port
 

 

 
For each interface, the test prints out the device path, speed standard of the device
 connected, along with minimum expected read/write speed and measured speed. The log indicates
 whether the performance test is pass or fail based on the measured and threshold speed
 comparison.

-
-

-
Test Debug

+
+
+

Test Debug

  • Make sure that the USB/SD card media is inserted correctly to the interface under test.

  • Verify that there is a minimum of 128MiB of storage space available for performing read/write transaction on the device connected to the interface.

- -
-

Known Issues and Limitations

+
+
+

Known Issues and Limitations

  • The disk test is limited to verifying the read and write performances of USB and SD ports only.

    • @@ -373,14 +375,14 @@

    Known Issues and Limitations6MBps - -
    -

    Next Steps

    +

+
+

Next Steps

  1. BIST Overview

-

Copyright © 2023 Advanced Micro Devices, Inc

Terms and Conditions

- +

Copyright © 2023 Advanced Micro Devices, Inc

Terms and Conditions

+
@@ -396,7 +398,7 @@

Next Steps

© Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

diff --git a/kd240/build/html/docs/bist/docs/modules/display.html b/kd240/build/html/docs/bist/docs/modules/display.html index fe242dd9..a7334b8d 100644 --- a/kd240/build/html/docs/bist/docs/modules/display.html +++ b/kd240/build/html/docs/bist/docs/modules/display.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
Kria™ KD240 +
1.0 @@ -147,15 +149,15 @@
-
-

BIST Display Test Module

-
-

Overview

+
+

BIST Display Test Module

+
+

Overview

This module verifies the connectivity and functionality of display device connected to the AMD Kria™ starter kits.

-
-
-

Tests

+
+
+

Tests

There are two tests for each board. One of them is a self-validating functional test and the other is a user-validating functional test. The tests use the libdrm-tests(modetest command) to test this module.

@@ -184,42 +186,42 @@

Tests

  • display_device: DP name of display device

  • fmt: Display format value(for display_modetest)

    • - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m display                // Run all tests in this module
-pytest-3 --board kv260 -k display_modetest       // Run display_modetest test
+
    pytest-3 --board kv260 -m display                // Run all tests in this module
+pytest-3 --board kv260 -k display_modetest       // Run display_modetest test
 
    
 
    
 
    Each test prints out the log messages that include the readings or a question
 and User Input(for User Validating test) and the final test result. The
 display_connectivity also logs debug level messages with additional info,
 which can be found in the automatically generated log file.
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure that the BIST firmware is loaded.

    • Make sure that the desktop is disabled before running this module.

    • Make sure that you have the correct input source selected on the Monitor.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • On KV260, EDID is read from the DP splitter on the SOM and not from Monitor. In this case, the connectivity test is still a Pass if the DP/HDMI cable is disconnected for subsequent display_connectivity test runs.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -235,7 +237,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/eeprom.html b/kd240/build/html/docs/bist/docs/modules/eeprom.html index 18cfd700..8fce2b8a 100644 --- a/kd240/build/html/docs/bist/docs/modules/eeprom.html +++ b/kd240/build/html/docs/bist/docs/modules/eeprom.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,15 +149,15 @@
    -
    -

    BIST EEPROM Test Module

    -
    -

    Overview

    +
    +

    BIST EEPROM Test Module

    +
    +

    Overview

    The EEPROM module tests the EEPROM on the SOM and the carrier card by reading its contents and verifying the data that is read.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    There are two tests for each board, one for the SOM and the other for the carrier card. Both tests are self-validating functional tests. The tests use the ipmi-fru utility to read FRU data from a given file and print it to the @@ -168,27 +170,27 @@

    Tests

  • field: The FRU field used to validate the read data

  • value: The expected value that should be in the FRU field

    • - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m eeprom		// Run all tests in this module
-pytest-3 --board kv260 -k som_eeprom		// Run som_eeprom test
-pytest-3 --board kv260 -k carrier_card_eeprom	// Run carrier_card_eeprom test
+
    pytest-3 --board kv260 -m eeprom		// Run all tests in this module
+pytest-3 --board kv260 -k som_eeprom		// Run som_eeprom test
+pytest-3 --board kv260 -k carrier_card_eeprom	// Run carrier_card_eeprom test
 
    
 
    
 
    These tests print out all the FRU Data and each test is pass if the
 “FRU Board Product Name” contains the value in the test config.
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • If one of the EEPROM tests fails, the FRU data can be verified manually using ipmi-fru.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • The EEPROM tests are limited to verifying a value in the “FRU Board Product Name” field.

      • @@ -196,14 +198,14 @@

      Known Issues and Limitations -

      Next Steps

      +

    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -219,7 +221,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/eth.html b/kd240/build/html/docs/bist/docs/modules/eth.html index 513dba8f..7203f960 100644 --- a/kd240/build/html/docs/bist/docs/modules/eth.html +++ b/kd240/build/html/docs/bist/docs/modules/eth.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,15 +149,15 @@
    -
    -

    BIST Ethernet Test Module

    -
    -

    Overview

    +
    +

    BIST Ethernet Test Module

    +
    +

    Overview

    This module tests the ethernet interface(s) on the AMD Kria™ starter kits using a host machine.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    There are two types of tests in this module: a self-validating functional test, which uses the ping3 python package, and a self-validating performance test, which uses the iperf3 utility.

    @@ -231,23 +233,23 @@

    Tests Bottom Right - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KR260):

    -
    pytest-3 --board kr260 -m eth			// Run all tests in this module
-pytest-3 --board kr260 -k ethernet1_ping	// Run ethernet1_ping test
-pytest-3 --board kr260 -k ping			// Run all ping tests
-pytest-3 --board kr260 -k perf			// Run all perf tests
+
    pytest-3 --board kr260 -m eth			// Run all tests in this module
+pytest-3 --board kr260 -k ethernet1_ping	// Run ethernet1_ping test
+pytest-3 --board kr260 -k ping			// Run all ping tests
+pytest-3 --board kr260 -k perf			// Run all perf tests
 
    
 
    
 
    For each interface, the ping test prints out the delay and the test is a
 pass if the ping is successful. The perf test prints out the measured
 bitrate and the test is a pass if it is above the threshold. The default
 threshold is 80% of the max speed for the ethernet ports.
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure that the host machine is set up as described here.

    • Make sure that the BIST_REMOTE_HOST_IP environment variable is set on the Kria @@ -260,23 +262,23 @@

      Test Debug -

      Known Issues and Limitations

      +

    +
    +

    Known Issues and Limitations

    • The tests in this module are limited to verifying a ping and a minimum performance speed for each interface.

    • The max speed for the KR260 SFP+ port is set to 0.5 Gbps based on tests performed with the BIST firmware.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -292,7 +294,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/gpio.html b/kd240/build/html/docs/bist/docs/modules/gpio.html index ab76c84b..3402e5bd 100644 --- a/kd240/build/html/docs/bist/docs/modules/gpio.html +++ b/kd240/build/html/docs/bist/docs/modules/gpio.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,14 +149,14 @@
    -
    -

    BIST GPIO Test Module

    -
    -

    Overview

    +
    +

    BIST GPIO Test Module

    +
    +

    Overview

    The GPIO module tests the GPIO pins with a loopback test between them.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The GPIO module contains one self-validating functional test. This test uses the python3-periphery package. The package sets pins as input/output, writes values on input pins, and reads the same value back on output pins. The total width of @@ -168,12 +170,12 @@

    Tests

  • width: Width of the GPIO(Total width)

  • offset: Offset number of the GPIO(starting offset)

    • - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m gpio              // Run all tests in this module
-pytest-3 --board kv260 -k pmod0             // Run individual pmod0 test
+
    pytest-3 --board kv260 -m gpio              // Run all tests in this module
+pytest-3 --board kv260 -k pmod0             // Run individual pmod0 test
 
    
 
    
 
    Each test prints out log messages that include the observations/readings
@@ -183,27 +185,27 @@ 
    Test Execution
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure that the BIST firmware is loaded.

    • Make sure that the GPIO pins are connected in loopback as mentioned in the target board’s setup page.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    The test in the GPIO module is limited to verifying the loopback between input and output pins.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -219,7 +221,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/i2c.html b/kd240/build/html/docs/bist/docs/modules/i2c.html index fe8f75d2..13f38cda 100644 --- a/kd240/build/html/docs/bist/docs/modules/i2c.html +++ b/kd240/build/html/docs/bist/docs/modules/i2c.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,15 +149,15 @@
    -
    -

    BIST I2C Test Module

    -
    -

    Overview

    +
    +

    BIST I2C Test Module

    +
    +

    Overview

    The I2C test module verifies the presence of expected devices on the i2c buses of the AMD Kria™ starter kits using python-periphery.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The module contains self-validating functional test. It uses “i2cdetect” command-line utility to check for the i2c bus number based on the controller and mux channel information. The test then performs i2c read operation on the devices expected to be present @@ -167,41 +169,41 @@

    Tests

  • mux_channel: The channel number of the mux on controller under test

  • i2c_devices: The dictionary of I2C devices and their addresses under test

    • - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m i2c  // Run all tests in this module
-pytest-3 --board kv260 -k ps_i2c_bus_main  // Run i2c device detect test for PS I2C main bus
-pytest-3 --board kv260 -k axi_i2c_bus_main  // Run i2c device detect test for AXI I2C main bus
-pytest-3 --board kv260 -k axi_i2c_bus_ch0  // Run i2c device detect test for AXI I2C bus mux channel 0
+
    pytest-3 --board kv260 -m i2c  // Run all tests in this module
+pytest-3 --board kv260 -k ps_i2c_bus_main  // Run i2c device detect test for PS I2C main bus
+pytest-3 --board kv260 -k axi_i2c_bus_main  // Run i2c device detect test for AXI I2C main bus
+pytest-3 --board kv260 -k axi_i2c_bus_ch0  // Run i2c device detect test for AXI I2C bus mux channel 0
 
    
 
    
 
    For each bus passed as label, the test prints out message indicating all i2c devices are detected
 on the bus in case of pass. Otherwise, it prints out the information about the missing devices name and
 addresses along with detected devices.
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure to load the BIST firmware before running the i2c test as some i2c devices are not detected otherwise.

    - -
    -

    Known Issues

    +
    +
    +

    Known Issues

    • The i2c test is limited to verifying the presence of i2c devices specified in the configuration file on loading the BIST firmware only.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -217,7 +219,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/iio.html b/kd240/build/html/docs/bist/docs/modules/iio.html index 4b85c8f3..05479322 100644 --- a/kd240/build/html/docs/bist/docs/modules/iio.html +++ b/kd240/build/html/docs/bist/docs/modules/iio.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,14 +149,14 @@
    -
    -

    BIST IIO Test Module

    -
    -

    Overview

    +
    +

    BIST IIO Test Module

    +
    +

    Overview

    This module verifies values read from the starter kit’s IIO devices.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The IIO module contains a single self-validating functional test. This test uses the libiio python bindings to read a value from a specified IIO device and verify that it is within the range specified in the config.

    @@ -166,38 +168,38 @@

    Tests

  • min_current: The lower limit for the reading

  • max_current: The upper limit for the reading

    • - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m iio			// Run all tests in this module
-pytest-3 --board kv260 -k ina260_current	// Run ina260_current test
+
    pytest-3 --board kv260 -m iio			// Run all tests in this module
+pytest-3 --board kv260 -k ina260_current	// Run ina260_current test
 
    
 
    
 
    This test prints out the measured value and passes if it is within the
 expected range.
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure that the BIST firmware is loaded since the readings can vary for different designs.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • The ina260_current test is limited to verifying the current value read from the INA260 while the BIST firmware is loaded.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -213,7 +215,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/motor.html b/kd240/build/html/docs/bist/docs/modules/motor.html index 401e58fe..2a7c8e96 100644 --- a/kd240/build/html/docs/bist/docs/modules/motor.html +++ b/kd240/build/html/docs/bist/docs/modules/motor.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,14 +149,14 @@
    -
    -

    BIST Motor Test Module

    -
    -

    Overview

    +
    +

    BIST Motor Test Module

    +
    +

    Overview

    The Motor test module verifies the functionality of KD240 starter kit.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The module contains seven self-validating functional tests. It uses py_foc_motor_ctrl library to create the motor control instance for calling member functions, such as getSpeed(), setOperationMode(), and so on.

    @@ -231,9 +233,9 @@

    Tests - -
    -

    Test Dependencies

    +

    +
    +

    Test Dependencies

    Some of the above tests include dependency tests that are run prior to the main test. The test dependencies are summarized in the following table. The dependency tests must pass before the main test is run to ensure the results from the main test are accurate. @@ -259,45 +261,45 @@

    Test Dependenciesdc_link_volt_adc_fb_test, qei_gate_drive_test - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KD240):

    -
    pytest-3 --board kd240 -m motor  // Run all tests in this module
-pytest-3 --board kd240 -k qei_gate_drive_test  // Run QEI interface test in 'Speed' mode
-pytest-3 --board kd240 -k volt_adc_fb_modeoff_test  // Run motor voltage ADC feedback test in 'Off' mode
-pytest-3 --board kd240 -k volt_adc_fb_modeopenloop_test  // Run motor voltage ADC feedback test in 'Open Loop' mode
-pytest-3 --board kd240 -k curr_adc_fb_modeoff_test  // Run motor current ADC feedback test in 'Off' mode
-pytest-3 --board kd240 -k curr_adc_fb_modeopenloop_test  // Run motor current ADC feedback test in 'Open Loop' mode
-pytest-3 --board kd240 -k dc_link_volt_adc_fb_test  // Run DC link voltage ADC feedback test in 'Off' mode
-pytest-3 --board kd240 -k dc_link_curr_adc_fb_test  // Run DC link current ADC feedback test in 'Off' mode
+
    pytest-3 --board kd240 -m motor  // Run all tests in this module
+pytest-3 --board kd240 -k qei_gate_drive_test  // Run QEI interface test in 'Speed' mode
+pytest-3 --board kd240 -k volt_adc_fb_modeoff_test  // Run motor voltage ADC feedback test in 'Off' mode
+pytest-3 --board kd240 -k volt_adc_fb_modeopenloop_test  // Run motor voltage ADC feedback test in 'Open Loop' mode
+pytest-3 --board kd240 -k curr_adc_fb_modeoff_test  // Run motor current ADC feedback test in 'Off' mode
+pytest-3 --board kd240 -k curr_adc_fb_modeopenloop_test  // Run motor current ADC feedback test in 'Open Loop' mode
+pytest-3 --board kd240 -k dc_link_volt_adc_fb_test  // Run DC link voltage ADC feedback test in 'Off' mode
+pytest-3 --board kd240 -k dc_link_curr_adc_fb_test  // Run DC link current ADC feedback test in 'Off' mode
 
    
 
    
 
    The test prints out the messages indicating the motor mode and readings of the motor object for each test.
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure to load the BIST firmware before running the motor tests as motor hls_foc_periodic device is not detected otherwise.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • The motor test is limited to verifying the functionalities specified in the configuration file on loading the BIST firmware only.

    • The established threshold values or ranges are based on the outputs observed during experimentation. The values might differ slightly from board to board.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -313,7 +315,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/mtd.html b/kd240/build/html/docs/bist/docs/modules/mtd.html index 6d0bea49..180a99d0 100644 --- a/kd240/build/html/docs/bist/docs/modules/mtd.html +++ b/kd240/build/html/docs/bist/docs/modules/mtd.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,15 +149,15 @@
    -
    -

    BIST MTD Test Module

    -
    -

    Overview

    +
    +

    BIST MTD Test Module

    +
    +

    Overview

    The MTD test module verifies read and write functionality of the QSPI MTD User partition along with the performance measure on the AMD Kria™ starter kits.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The module contains self-validating funcational and performance tests. For the functional test, it uses mtd-utils package to write random data to MTD User partition and reads it back to ensure that the data is same. For the performance test, it uses @@ -183,14 +185,14 @@

    Tests is greater than 1MiB. Depending on the mode of the test, read or write performance of the interfaces are verified using dd command-line utility by get_qspi_write_performance() or get_qspi_read_performance() functions and the result is logged by log_disk_performance().

    - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m mtd  // Run all tests in this module
-pytest-3 --board kv260 -k qspi_read_write  // Run QSPI read and write functional test
-pytest-3 --board kv260 -k qspi_read_performance  // Run QSPI read performance test
-pytest-3 --board kv260 -k qspi_write_performance  // Run QSPI write performance test
+
    pytest-3 --board kv260 -m mtd  // Run all tests in this module
+pytest-3 --board kv260 -k qspi_read_write  // Run QSPI read and write functional test
+pytest-3 --board kv260 -k qspi_read_performance  // Run QSPI read performance test
+pytest-3 --board kv260 -k qspi_write_performance  // Run QSPI write performance test
 
    
 
    
 
    The QSPI read and write functional test prints the MTD User partition and its size along
@@ -199,16 +201,16 @@ 
    Test Execution
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Verify that there is minimum of 1MiB of storage space available on the QSPI MTD user partition before performing read/write transaction.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • The MTD module is limited to verifying the functionality and performance on QSPI User partition only.

      • @@ -234,14 +236,14 @@

      Known Issues and Limitations285KBps - -
      -

      Next Steps

      +

    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -257,7 +259,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/pwm.html b/kd240/build/html/docs/bist/docs/modules/pwm.html index 67f2bffd..8c24760e 100644 --- a/kd240/build/html/docs/bist/docs/modules/pwm.html +++ b/kd240/build/html/docs/bist/docs/modules/pwm.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,14 +149,14 @@
    -
    -

    BIST PWM Test Module

    -
    -

    Overview

    +
    +

    BIST PWM Test Module

    +
    +

    Overview

    This test module verifies the PWM functionality on the AMD Kria™ starter kits.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The PWM module contains a single functional test, which requires user input. This test prompts you to reduce the fan speed. It then reduces the fan speed by writing a small value to the pwm device to which the fan is connected. @@ -162,36 +164,36 @@

    Tests it is, the fan is set back to the max speed by writing a value of 255 to the pwm device. You are then asked to verify that the fan is spinning at full speed and if you confirm, the test passes. If at any point in this flow, you indicate that the fan is not behaving as expected, the test fails.

    - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m pwm		// Run all tests in this module
-pytest-3 --board kv260 -k fan		// Run fan test
+
    pytest-3 --board kv260 -m pwm		// Run all tests in this module
+pytest-3 --board kv260 -k fan		// Run fan test
 
    
 
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure that the fancontrol service has been stopped before running this test.

    • Make sure that the BIST firmware is loaded.

    • Make sure that the fan is connected to the J13 connecter.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • The fan test is limited to the pwm device and channel for the fan.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -207,7 +209,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/spi.html b/kd240/build/html/docs/bist/docs/modules/spi.html index a98bf946..534f1979 100644 --- a/kd240/build/html/docs/bist/docs/modules/spi.html +++ b/kd240/build/html/docs/bist/docs/modules/spi.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,15 +149,15 @@
    -
    -

    BIST SPI Test Module

    -
    -

    Overview

    +
    +

    BIST SPI Test Module

    +
    +

    Overview

    The SPI test module verifies the presence of Torque sensor on the SPI bus of KD240 starter kit using python-periphery.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The module contains self-validating functional tests. The Torque sensor detection is done with the help of two separate tests by dynamic SPI device path lookup. The run_torque_sensor_id_test() verifies the Torque sensor AD7797 ID and run_torque_sensor_temp_test() @@ -174,13 +176,13 @@

    Tests The Torque sensor ID read command is sent with the help of spi_transfer_command() function and the response is analyzed. Similarly, for run_torque_sensor_temp_test(), once the device is initialized, the SPI command sequence for reading the inbuilt temperature raw value is sent to the SPI device and the response is analyzed.

    - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below:

    -
    pytest-3 --board kd240 -m spi  // Run all tests in this module
-pytest-3 --board kd240 -k ad7797_torque_sensor_id_read  // Run Torque sensor ID read test
-pytest-3 --board kd240 -k ad7797_torque_sensor_temperature_read  // Run Torque sensor temperature read test
+
    pytest-3 --board kd240 -m spi  // Run all tests in this module
+pytest-3 --board kd240 -k ad7797_torque_sensor_id_read  // Run Torque sensor ID read test
+pytest-3 --board kd240 -k ad7797_torque_sensor_temperature_read  // Run Torque sensor temperature read test
 
    
 
    
 
    For run_torque_sensor_id_test() functional test, the test is passed if the ID read from the SPI device response
@@ -189,26 +191,26 @@ 
    Test Execution
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure to load the BIST firmware before running the SPI test as the Torque sensor is not detected otherwise.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • The SPI test is limited to verifying the presence of Torque sensor only.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -224,7 +226,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/tpm.html b/kd240/build/html/docs/bist/docs/modules/tpm.html index dd6f67f3..ed49c7c4 100644 --- a/kd240/build/html/docs/bist/docs/modules/tpm.html +++ b/kd240/build/html/docs/bist/docs/modules/tpm.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,14 +149,14 @@
    -
    -

    BIST TPM Test Module

    -
    -

    Overview

    +
    +

    BIST TPM Test Module

    +
    +

    Overview

    This test module verifies the features provided by the TPM hardware.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The tests in this module use tpm2-tools to verify the output of various functions. All tests are self-validating functional tests. Each entry in the config contains the name of the command that is used for the test, and each @@ -173,41 +175,41 @@

    Tests

  • tpm2_pcrreset: Extends PCR register 23 then resets it and verifies the value is 0.

    • - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m tpm			// Run all tests in this module
-pytest-3 --board kv260 -k tpm2_getcap		// Run tpm2_getcap test
-pytest-3 --board kv260 -k tpm2_hash		// Run tpm2_hash test
+
    pytest-3 --board kv260 -m tpm			// Run all tests in this module
+pytest-3 --board kv260 -k tpm2_getcap		// Run tpm2_getcap test
+pytest-3 --board kv260 -k tpm2_hash		// Run tpm2_hash test
 
    
 
    
 
    Each test prints out the log messages that include the command that is run by
 the test function and the final test result. Some tests also log debug
 level messages with additional information, which can be found in the automatically
 generated log file.
    
-
-
    
-
    Test Debug
    
+
    +
    +

    Test Debug

    • If one of the tpm tests fails, the commands from the log prints can be run manually to verify the expected output.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • The tests in this module are limited to the predefined verification steps described above.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -223,7 +225,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/tty.html b/kd240/build/html/docs/bist/docs/modules/tty.html index 889ceb4b..a557fe81 100644 --- a/kd240/build/html/docs/bist/docs/modules/tty.html +++ b/kd240/build/html/docs/bist/docs/modules/tty.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,15 +149,15 @@
    -
    -

    BIST Tty Test Module

    -
    -

    Overview

    +
    +

    BIST Tty Test Module

    +
    +

    Overview

    This module tests the tty interface(s) on the AMD Kria™ starter kits.

    Note that this test is expected to fail in on KD240 with Ubuntu classic-22.04-kd05 version as the RS485 driver is in the process of being upstreamed for certified Ubuntu image. This test will still pass with Ubuntu 22.04-kd03 image on KD240, and it will also pass for KR260’s RS485 over AXI lite interface.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    The Tty module contains one self-validating test. This test uses the pymodbus python package. The package establishes a client connection with the connected RS485 temperature sensor’s tty terminal and reads the holding registers @@ -165,12 +167,12 @@

    Tests

  • label: The test label

  • controller_name: Uart controller name

    • - -
    -

    Test Execution

    +

    +
    +

    Test Execution

    The example commands for this module are provided below (KD240):

    -
    pytest-3 --board kd240 -m tty                                     // Run all tests in this module
-pytest-3 --board kd240 -k rs485_temp_humidity_sensor_read         // Run inidvidual test
+
    pytest-3 --board kd240 -m tty                                     // Run all tests in this module
+pytest-3 --board kd240 -k rs485_temp_humidity_sensor_read         // Run inidvidual test
 
    
 
    
 
    The test prints out the log messages that include the readings from the sensor
@@ -179,16 +181,16 @@ 
    Test Execution
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure that the BIST firmware is loaded.

    • Make sure that the sensor is connected correctly.

    - -
    -

    Known Issues and Limitations

    +
    +
    +

    Known Issues and Limitations

    • Occasionally, erroneous values (for example 3276.8) are reported for temperature/humidity sensor data and this is due to error in the sensor itself, @@ -196,14 +198,14 @@

      Known Issues and Limitationsnot present in PetaLinux 2023.2 KD240 BSP. Thus, this test is expected to fail in that version.

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -219,7 +221,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/modules/video.html b/kd240/build/html/docs/bist/docs/modules/video.html index 076678d0..658edfaa 100644 --- a/kd240/build/html/docs/bist/docs/modules/video.html +++ b/kd240/build/html/docs/bist/docs/modules/video.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -147,14 +149,14 @@
    -
    -

    BIST Video Test Module

    -
    -

    Overview

    +
    +

    BIST Video Test Module

    +
    +

    Overview

    This module tests the video interface(s) on the AMD Kria™ starter kits.

    -
    -
    -

    Tests

    +
    +
    +

    Tests

    There are three types of tests in this module:

    • Self-validating functional tests

      @@ -205,17 +207,17 @@

      Tests

    Pattern to be observed in ximageink tests:

    Color_Bar_Pattern

    - -
    -

    Test Execution

    +
    +
    +

    Test Execution

    The example commands for this module are provided below (KV260):

    -
    pytest-3 --board kv260 -m video                       // Run all tests in this module
-pytest-3 --board kv260 -k imx219_perf	               // Run imx219_perf test
-pytest-3 --board kv260 -k imx219_filesink             // Run imx219_filesink test
-pytest-3 --board kv260 -k ar1335_ap1302_ximagesink    // Run ar1335_ap1302_ximagesink test
-pytest-3 --board kv260 -k perf -m video               // Run all performance tests in this module
-pytest-3 --board kv260 -k filesink -m video           // Run all filesink tests in this module
-pytest-3 --board kv260 -k ximagesink -m video         // Run all ximagesink tests in this module
+
    pytest-3 --board kv260 -m video                       // Run all tests in this module
+pytest-3 --board kv260 -k imx219_perf	               // Run imx219_perf test
+pytest-3 --board kv260 -k imx219_filesink             // Run imx219_filesink test
+pytest-3 --board kv260 -k ar1335_ap1302_ximagesink    // Run ar1335_ap1302_ximagesink test
+pytest-3 --board kv260 -k perf -m video               // Run all performance tests in this module
+pytest-3 --board kv260 -k filesink -m video           // Run all filesink tests in this module
+pytest-3 --board kv260 -k ximagesink -m video         // Run all ximagesink tests in this module
 
    
 
    
 
    For the perf tests, the logs should have a comparison between actual_fps and
@@ -227,9 +229,9 @@ 
    Test Execution
-
    Test Debug
    
+
    +
    +

    Test Debug

    • Make sure that the BIST firmware is loaded.

    • If the logs consist of the message, “No media node found” or “Gstreamer command @@ -240,9 +242,9 @@

      Test Debug -

      Known Issues and Limitations

      +

    +
    +

    Known Issues and Limitations

    • Test pattern at the sensor(ar1335_tpg_ximagesink) does not produce expected result with a single write to the register. When the pipeline is running, the second @@ -251,14 +253,14 @@

      Known Issues and Limitations -

      Next Steps

      +

    +
    +

    Next Steps

    1. BIST Overview

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -274,7 +276,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/overview.html b/kd240/build/html/docs/bist/docs/overview.html index 9297c5d2..8d6a0322 100644 --- a/kd240/build/html/docs/bist/docs/overview.html +++ b/kd240/build/html/docs/bist/docs/overview.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -146,16 +148,16 @@
    -
    -

    BIST Overview

    +
    +

    BIST Overview

    The Built-In Self Test (BIST) application tests the interfaces on the AMD Kria™ starter kits to verify functionality and/or performance. If a custom design is not working as expected, this application can be used to differentiate hardware issues from design issues.

    The BIST application is based on the pytest framework and designed to be modular and configurable so that it can be used across different starter kits. The tests are grouped into modules based on the interface which allows testing individual interfaces if needed. Some tests are self-validating, while others require user input based on observation. Each individual test either verifies the functionality or performance of an interface.

    -
    -

    Framework

    +
    +

    Framework

    The Built-In Self Test (BIST) application is based on the pytest framework. Pytest allows parametrizing the test functions so that they can be reused across different boards and interfaces. The tests are enumerated based on the target board and you can choose to run all tests for the target board, selected test modules, or selected individual tests. The file structure is described in the next section.

    -
    -
    -

    File Structure

    +
    +
    +

    File Structure

    The source code for the BIST application can be found in the kria-bist repository. The tests directory contains a module directory for each interface, along with a top level conftest.py and pytest.ini.

    @@ -187,9 +189,9 @@

    File Structure -

    Test Modules

    +

    +
    +

    Test Modules

    The test modules are listed below. Refer to the individual module pages for more details.

    -
    -

    Support

    +
    +

    Support

    GitHub issues will be used for tracking requests and bugs. For questions, go to forums.xilinx.com.

    -
    -
    - +
    +
    +
    @@ -231,7 +233,7 @@

    Support

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/run.html b/kd240/build/html/docs/bist/docs/run.html index 999a37d0..cd91a6a7 100644 --- a/kd240/build/html/docs/bist/docs/run.html +++ b/kd240/build/html/docs/bist/docs/run.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -148,17 +150,17 @@
    -
    -

    Setting up the Board and Application Deployment

    -
    -

    Introduction

    +
    +

    Setting up the Board and Application Deployment

    +
    +

    Introduction

    This document shows how to set up the board and run the Built-In Self Test (BIST) application.

    This guide and its prebuilts are targeted for Ubuntu 22.04 and Xilinx 2023.1 toolchain.

    -
    -
    -

    Set up the Host Machine

    +
    +
    +

    Set up the Host Machine

    Note: Setting up the host machine is only required to test the ethernet and SFP+ interfaces. If this is skipped, the tests for these interfaces fail.

    @@ -194,9 +196,9 @@

    Set up the Host Machine - -
    -

    Set up the Board

    +

    +
    +

    Set up the Board

    Supported Starter Kits

    The BIST application requires the following hardware setup to run the full suite of hardware tests. See the board specific pages:

    @@ -205,12 +207,12 @@

    Set up the BoardKR260 Board Setup

  • KD240 Board Setup

    • - -
    -

    Tested Artifacts

    +

    +
    +

    Tested Artifacts

    Testing was performed with the following artifacts:

    -
    -

    KD240 platform artifacts

    +
    +

    KD240 platform artifacts

    @@ -232,9 +234,9 @@

    KD240 platform artifacts -

    KR260 platform artifacts

    +

    +
    +

    KR260 platform artifacts

    @@ -256,9 +258,9 @@

    KR260 platform artifacts -

    KV260 platform artifacts

    +

    +
    +

    KV260 platform artifacts

    @@ -282,9 +284,9 @@

    KV260 platform artifactsKria Wiki to obtain latest linux image and boot firmware.

    - -
    -

    Application docker image

    + +
    +

    Application docker image

    @@ -298,10 +300,10 @@

    Application docker image -

    Boot Linux

    +

    +
    +
    +

    Boot Linux

    Before continuing with the BIST application specific instructions, if not yet done so, boot Linux with instructions from:

      @@ -309,29 +311,29 @@

      Boot LinuxKria Starter Kit Linux Boot on KR260

    1. Kria Starter Kit Linux Boot on KD240

    - -
    -

    Download and Load the BIST PL Firmware

    +
    +
    +

    Download and Load the BIST PL Firmware

    - -
    -

    Setup SSH with X-forwarding

    +
    +
    +

    Setup SSH with X-forwarding

    NOTE: Setting up an SSH connection is only required to test the ximagesink tests of the video module on KV260 board. If this is skipped, those tests will fail

    @@ -377,7 +379,7 @@

    Setup SSH with X-forwarding
    ssh -X ubuntu@<Kria Starter Kit IP address>
+
    ssh -X ubuntu@<Kria Starter Kit IP address>
 
    
 
    
 
    NOTE: If all ethernet cables are plugged in, feel free to use any IP.
    
@@ -387,29 +389,29 @@ 
    Setup SSH with X-forwarding
-
    Miscellaneous Preparation
    
+
    +
    +

    Miscellaneous Preparation

    • Verify if the SSH terminal is using the correct authority file.

      • The output should look something like this.

      -
      xauth -v list
-Using authority file /home/ubuntu/.Xauthority
-kria/unix:10  MIT-MAGIC-COOKIE-1  f5212118305f75678a69daa4a6eda703
+
      xauth -v list
+Using authority file /home/ubuntu/.Xauthority
+kria/unix:10  MIT-MAGIC-COOKIE-1  f5212118305f75678a69daa4a6eda703
 
      
 
      
 
        
 
      • If incorrect or no authority file is present, do the following steps:
        • 
 
      
-
      rm -rf ~/.Xaut*
+
      rm -rf ~/.Xaut*
 
      
 
      
 
        
 
      • Reboot the target board.
        • 
 
      
-
      sudo reboot
+
      sudo reboot
 
      
 
      
 
-
-
      
-
      Download and Run the BIST Docker Image
      
+
      
+
      
+
      Download and Run the BIST Docker Image
      
 
        
 
      • Pull the docker image from dockerhub.
        
-
        docker pull xilinx/kria-bist:2023.1
+
        docker pull xilinx/kria-bist:2023.1
 
        
 
        
 
        • 
 
      • The storage volume on the SD card can be limited with multiple docker
 images inbstalled. If there are space issues, use the following command
 to remove existing docker images.
        
-
        docker rmi --force <image>
+
        docker rmi --force <image>
 
        
 
        
 
        • 
 
      • You can find the images installed with the following command:
        
-
        docker images
+
        docker images
 
        
 
        
 
        • 
 
      • Launch the docker container using the following command:
        
-
        docker run \
-    --env=DISPLAY \
-    --env=XDG_SESSION_TYPE \
-    --net=host \
-    --privileged \
-    --volume=/home/ubuntu/.Xauthority:/root/.Xauthority:rw \
-    -v /tmp:/tmp \
-    -v /dev:/dev \
-    -v /sys:/sys \
-    -v /etc/vart.conf:/etc/vart.conf \
-    -v /lib/firmware/xilinx:/lib/firmware/xilinx \
-    -v /run:/run \
-    -it xilinx/kria-bist:2023.1 bash
+
        docker run \
+    --env=DISPLAY \
+    --env=XDG_SESSION_TYPE \
+    --net=host \
+    --privileged \
+    --volume=/home/ubuntu/.Xauthority:/root/.Xauthority:rw \
+    -v /tmp:/tmp \
+    -v /dev:/dev \
+    -v /sys:/sys \
+    -v /etc/vart.conf:/etc/vart.conf \
+    -v /lib/firmware/xilinx:/lib/firmware/xilinx \
+    -v /run:/run \
+    -it xilinx/kria-bist:2023.1 bash
 
        
 
        
 
        • 
@@ -490,9 +492,9 @@ 
        Download and Run the BIST Docker Image
-
        Setup IP addresses on the Kria board
        
+
      
+
      
+
      Setup IP addresses on the Kria board
      
 
        
 
      • Set the BIST_REMOTE_HOST_IP environment variable on Kria board
        
 
        Example:
        
@@ -509,40 +511,40 @@ 
        Setup IP addresses on the Kria board
-
        Run the BIST Application
        
+
      
+
      
+
      Run the BIST Application
      
 
      The application is installed under /opt/xilinx/kria-bist. Navigate to the
 “tests” directory from where the BIST tests are to be run.
      
-
      cd /opt/xilinx/kria-bist/tests
+
      cd /opt/xilinx/kria-bist/tests
 
      
 
      
-
      
-
      Usage
      
+
      
+
      Usage
      
 
      Commonly used command line switches for BIST.
      
-
      pytest-3 [OPTIONS]
+
      pytest-3 [OPTIONS]
 
 OPTIONS:
-  --collect-only                Collect the tests
-  --board <target_board>        Specify target board
-  -k <test_name>                Run an individual test
-  -m <module_name>              Specify module name
+  --collect-only                Collect the tests
+  --board <target_board>        Specify target board
+  -k <test_name>                Run an individual test
+  -m <module_name>              Specify module name
 
      
 
      
-
      
-
      
-
      Output and Logs
      
+
      
+
      
+
      Output and Logs
      
 
      The pytest command line output has two separate sessions as follows:
      
 
-
-
      
-
      Examples
      
+
      
+
      
+
      Examples
      
 
        
 
      • Run the entire BIST test suite for a target board.
        
-
        pytest-3 --board kv260     // For KV260
-pytest-3 --board kr260     // For KR260
-pytest-3 --board kd240     // For KD240
+
        pytest-3 --board kv260     // For KV260
+pytest-3 --board kr260     // For KR260
+pytest-3 --board kd240     // For KD240
 
        
 
        
 
        • 
 
      • Run individual tests.
        
 
        The following example runs the pmod0 test on the KV260 as target board.
        
-
        pytest-3 -k pmod0 --board kv260
+
        pytest-3 -k pmod0 --board kv260
 
-============================= test session starts ==============================
-platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
-rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
-plugins: anyio-3.6.1
-collected 34 items / 33 deselected / 1 selected
+============================= test session starts ==============================
+platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
+rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
+plugins: anyio-3.6.1
+collected 34 items / 33 deselected / 1 selected
 
 gpio/test_bist_gpio.py::test_gpio[pmod0]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-Write pattern: 0001, Read pattern 0001 : Match
-Write pattern: 0010, Read pattern 0010 : Match
-Write pattern: 0100, Read pattern 0100 : Match
-Write pattern: 1000, Read pattern 1000 : Match
-Test passed
-End of test
-PASSED                                                                   [100%]
-
-======================= 1 passed, 33 deselected in 1.01s =======================
+Start of test
+Write pattern: 0001, Read pattern 0001 : Match
+Write pattern: 0010, Read pattern 0010 : Match
+Write pattern: 0100, Read pattern 0100 : Match
+Write pattern: 1000, Read pattern 1000 : Match
+Test passed
+End of test
+PASSED                                                                   [100%]
+
+======================= 1 passed, 33 deselected in 1.01s =======================
 
        
 
        
 
        • 
 
      • Collect test cases.
        
 
        Collect all the tests for a target board.
        
-
        pytest-3 --collect-only --board kv260
-
-========================== test session starts ===============================
-platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
-rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
-plugins: anyio-3.6.1
-collected 40 items
-
-<Module disk/test_bist_disk.py>
-  <Function test_disk[usb1_read_performance]>
-  <Function test_disk[usb1_write_performance]>
-  <Function test_disk[usb2_read_performance]>
-  <Function test_disk[usb2_write_performance]>
-  <Function test_disk[usb3_read_performance]>
-  <Function test_disk[usb3_write_performance]>
-  <Function test_disk[usb4_read_performance]>
-  <Function test_disk[usb4_write_performance]>
-  <Function test_disk[sd_read_performance]>
-  <Function test_disk[sd_write_performance]>
-<Module display/test_bist_display.py>
-  <Function test_display[display_connectivity]>
-  <Function test_display[display_modetest]>
-<Module eeprom/test_bist_eeprom.py>
-  <Function test_eeprom[som_eeprom]>
-  <Function test_eeprom[carrier_card_eeprom]>
-<Module eth/test_bist_eth.py>
-  <Function test_eth[ethernet1_ping]>
-  <Function test_eth[ethernet1_perf]>
-<Module gpio/test_bist_gpio.py>
-  <Function test_gpio[pmod0]>
-<Module i2c/test_bist_i2c.py>
-  <Function test_i2c[ps_i2c_bus_main]>
-  <Function test_i2c[axi_i2c_bus_main]>
-  <Function test_i2c[axi_i2c_bus_ch0]>
-<Module iio/test_bist_iio.py>
-  <Function test_iio[ina260_current]>
-<Module mtd/test_bist_mtd.py>
-  <Function test_mtd[qspi_read_write]>
-  <Function test_mtd[qspi_read_performance]>
-  <Function test_mtd[qspi_write_performance]>
-<Module pwm/test_bist_pwm.py>
-  <Function test_pwm[fan]>
-<Module tpm/test_bist_tpm.py>
-  <Function test_tpm[tpm2_getcap]>
-  <Function test_tpm[tpm2_selftest]>
-  <Function test_tpm[tpm2_getrandom]>
-  <Function test_tpm[tpm2_hash]>
-  <Function test_tpm[tpm2_pcrread]>
-  <Function test_tpm[tpm2_pcrextend]>
-  <Function test_tpm[tpm2_pcrreset]>
-<Module video/test_bist_video.py>
-  <Function test_video[ar1335_ap1302_ximagesink]>
-  <Function test_video[ar1335_ap1302_perf]>
-  <Function test_video[tpg_ap1302_ximagesink]>
-  <Function test_video[tpg_ap1302_perf]>
-  <Function test_video[imx219_filesink]>
-  <Function test_video[imx219_perf]>
-  <Function test_video[ar1335_filesink]>
-  <Function test_video[ar1335_perf]>
-
-====================== 40 tests collected in 1.02s ===========================
+
        pytest-3 --collect-only --board kv260
+
+========================== test session starts ===============================
+platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
+rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
+plugins: anyio-3.6.1
+collected 40 items
+
+<Module disk/test_bist_disk.py>
+  <Function test_disk[usb1_read_performance]>
+  <Function test_disk[usb1_write_performance]>
+  <Function test_disk[usb2_read_performance]>
+  <Function test_disk[usb2_write_performance]>
+  <Function test_disk[usb3_read_performance]>
+  <Function test_disk[usb3_write_performance]>
+  <Function test_disk[usb4_read_performance]>
+  <Function test_disk[usb4_write_performance]>
+  <Function test_disk[sd_read_performance]>
+  <Function test_disk[sd_write_performance]>
+<Module display/test_bist_display.py>
+  <Function test_display[display_connectivity]>
+  <Function test_display[display_modetest]>
+<Module eeprom/test_bist_eeprom.py>
+  <Function test_eeprom[som_eeprom]>
+  <Function test_eeprom[carrier_card_eeprom]>
+<Module eth/test_bist_eth.py>
+  <Function test_eth[ethernet1_ping]>
+  <Function test_eth[ethernet1_perf]>
+<Module gpio/test_bist_gpio.py>
+  <Function test_gpio[pmod0]>
+<Module i2c/test_bist_i2c.py>
+  <Function test_i2c[ps_i2c_bus_main]>
+  <Function test_i2c[axi_i2c_bus_main]>
+  <Function test_i2c[axi_i2c_bus_ch0]>
+<Module iio/test_bist_iio.py>
+  <Function test_iio[ina260_current]>
+<Module mtd/test_bist_mtd.py>
+  <Function test_mtd[qspi_read_write]>
+  <Function test_mtd[qspi_read_performance]>
+  <Function test_mtd[qspi_write_performance]>
+<Module pwm/test_bist_pwm.py>
+  <Function test_pwm[fan]>
+<Module tpm/test_bist_tpm.py>
+  <Function test_tpm[tpm2_getcap]>
+  <Function test_tpm[tpm2_selftest]>
+  <Function test_tpm[tpm2_getrandom]>
+  <Function test_tpm[tpm2_hash]>
+  <Function test_tpm[tpm2_pcrread]>
+  <Function test_tpm[tpm2_pcrextend]>
+  <Function test_tpm[tpm2_pcrreset]>
+<Module video/test_bist_video.py>
+  <Function test_video[ar1335_ap1302_ximagesink]>
+  <Function test_video[ar1335_ap1302_perf]>
+  <Function test_video[tpg_ap1302_ximagesink]>
+  <Function test_video[tpg_ap1302_perf]>
+  <Function test_video[imx219_filesink]>
+  <Function test_video[imx219_perf]>
+  <Function test_video[ar1335_filesink]>
+  <Function test_video[ar1335_perf]>
+
+====================== 40 tests collected in 1.02s ===========================
 
        
 
        
 
        • 
 
      • Collect all tests for a specific testmodule for a target board.
        
-
        pytest-3 --collect-only --board kv260 -m video
-
-============================= test session starts ==============================
-platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
-rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
-plugins: anyio-3.6.1
-collected 34 items / 26 deselected / 8 selected
-
-<Module video/test_bist_video.py>
-  <Function test_video[ar1335_ap1302_ximagesink]>
-  <Function test_video[ar1335_ap1302_perf]>
-  <Function test_video[tpg_ap1302_ximagesink]>
-  <Function test_video[tpg_ap1302_perf]>
-  <Function test_video[imx219_filesink]>
-  <Function test_video[imx219_perf]>
-  <Function test_video[ar1335_filesink]>
-  <Function test_video[ar1335_perf]>
-
-================ 8/34 tests collected (26 deselected) in 0.99s =================
+
        pytest-3 --collect-only --board kv260 -m video
+
+============================= test session starts ==============================
+platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
+rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
+plugins: anyio-3.6.1
+collected 34 items / 26 deselected / 8 selected
+
+<Module video/test_bist_video.py>
+  <Function test_video[ar1335_ap1302_ximagesink]>
+  <Function test_video[ar1335_ap1302_perf]>
+  <Function test_video[tpg_ap1302_ximagesink]>
+  <Function test_video[tpg_ap1302_perf]>
+  <Function test_video[imx219_filesink]>
+  <Function test_video[imx219_perf]>
+  <Function test_video[ar1335_filesink]>
+  <Function test_video[ar1335_perf]>
+
+================ 8/34 tests collected (26 deselected) in 0.99s =================
 
        
 
        
 
        • 
 
      • Run all tests for a target board and the module.
        
-
        pytest-3 --board kv260 -m video
+
        pytest-3 --board kv260 -m video
 
-============================= test session starts ==============================
-platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
-rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
-plugins: anyio-3.6.1
-collected 34 items / 26 deselected / 8 selected
+============================= test session starts ==============================
+platform linux -- Python 3.10.6, pytest-6.2.5, py-1.10.0, pluggy-0.13.0
+rootdir: /opt/xilinx/kria-bist/tests, configfile: pytest.ini
+plugins: anyio-3.6.1
+collected 34 items / 26 deselected / 8 selected
 
 video/test_bist_video.py::test_video[ar1335_ap1302_ximagesink]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-Please observe the pop-up window
-Do you see color bar test pattern in the window [Y/N]?
+Start of test
+Please observe the pop-up window
+Do you see color bar test pattern in the window [Y/N]?
 y
-User reports that pattern was observed in the window
-Test passed
-End of test
+User reports that pattern was observed in the window
+Test passed
+End of test
 PASSED
 video/test_bist_video.py::test_video[ar1335_ap1302_perf]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-Actual fps: 30.0, Target fps:30 - Actual fps within accepted range
-Test passed
-End of test
+Start of test
+Actual fps: 30.0, Target fps:30 - Actual fps within accepted range
+Test passed
+End of test
 PASSED
 video/test_bist_video.py::test_video[tpg_ap1302_ximagesink]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-Please observe the pop-up window
-Do you see color bar test pattern in the window [Y/N]?
+Start of test
+Please observe the pop-up window
+Do you see color bar test pattern in the window [Y/N]?
 y
-User reports that pattern was observed in the window
-Test passed
-End of test
+User reports that pattern was observed in the window
+Test passed
+End of test
 PASSED
 video/test_bist_video.py::test_video[tpg_ap1302_perf]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-Actual fps: 30.003, Target fps:30 - Actual fps within accepted range
-Test passed
-End of test
+Start of test
+Actual fps: 30.003, Target fps:30 - Actual fps within accepted range
+Test passed
+End of test
 PASSED
 video/test_bist_video.py::test_video[imx219_filesink]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
+Start of test
 
-(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
+(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
 
-(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
+(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
 
-(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.010: gst_structure_fixate_field_nearest_fraction: assertion 'IS_MUTABLE (structure)' failed
-Test Image and Golden Image match
-Test passed
-End of test
+(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.010: gst_structure_fixate_field_nearest_fraction: assertion 'IS_MUTABLE (structure)' failed
+Test Image and Golden Image match
+Test passed
+End of test
 PASSED
 video/test_bist_video.py::test_video[imx219_perf]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-Actual fps: 30.004, Target fps:30 - Actual fps within accepted range
-Test passed
-End of test
+Start of test
+Actual fps: 30.004, Target fps:30 - Actual fps within accepted range
+Test passed
+End of test
 PASSED
 video/test_bist_video.py::test_video[ar1335_filesink]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
+Start of test
+(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
 
-(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
+(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.009: gst_structure_fixate_field_nearest_int: assertion 'IS_MUTABLE (structure)' failed
 
-(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.010: gst_structure_fixate_field_nearest_fraction: assertion 'IS_MUTABLE (structure)' failed
-Test Image and Golden Image match
-Test passed
-End of test
+(gst-launch-1.0:89): GStreamer-CRITICAL **: 21:29:17.010: gst_structure_fixate_field_nearest_fraction: assertion 'IS_MUTABLE (structure)' failed
+Test Image and Golden Image match
+Test passed
+End of test
 PASSED
 video/test_bist_video.py::test_video[ar1335_perf]
--------------------------------- live log call ---------------------------------
+-------------------------------- live log call ---------------------------------
 ------------------------------------------
-Start of test
-Actual fps: 30.004, Target fps:30 - Actual fps within accepted range
-Test passed
-End of test
-PASSED                                                                   [100%]
+Start of test
+Actual fps: 30.004, Target fps:30 - Actual fps within accepted range
+Test passed
+End of test
+PASSED                                                                   [100%]
 
-==================== 8 passed, 26 deselected in 42.11s =======================
+==================== 8 passed, 26 deselected in 42.11s =======================
 
        
 
        
 
        • 
 
      
-
-
-
      
-
      Next Steps
      
+
      
+
      
+
      
+
      Next Steps
      
 
-
      Copyright © 2023 Advanced Micro Devices, Inc
      Terms and Conditions
      
-
+
      Copyright © 2023 Advanced Micro Devices, Inc
      Terms and Conditions
      
+
      
 
 
            
      
@@ -820,7 +822,7 @@ 
      Next Steps
     
      © Copyright 2023-2024, Advanced Micro Devices, Inc.
-      Last updated on July 09, 2024.
+      Last updated on August 19, 2024.
       
      
   
      
 
diff --git a/kd240/build/html/docs/bist/docs/setup_kd240.html b/kd240/build/html/docs/bist/docs/setup_kd240.html
index a403fb64..0d9f5644 100644
--- a/kd240/build/html/docs/bist/docs/setup_kd240.html
+++ b/kd240/build/html/docs/bist/docs/setup_kd240.html
@@ -1,8 +1,7 @@
 
 
 
-  
-
+  
   
   
 
@@ -27,9 +26,11 @@
     
   
   
-        
-        
-        
+        
+        
+        
+        
+        
     
     
      
@@ -45,6 +46,7 @@
       
      
         
      
              Kria™ KD240
+            
           
               
      
                 1.0
@@ -113,10 +115,10 @@
           
      
            
      
              
-  
      
-
      KD240 BIST Board Setup
      
-
      
-
      Hardware Requirements
      
+  
      
+
      KD240 BIST Board Setup
      
+
      
+
      Hardware Requirements
      
 
        
 
      1. KD240 Starter Kit here
        2. 
 
      2. KD240 Power Supply & Adapter
        3. 
@@ -135,9 +137,9 @@ 
        Hardware Requirements
 
      3. Two USB Flash Drives
        4. 
 
      
-
      
-
      
-
      Board Setup
      
+
      
+
      
+
      Board Setup
      
 
      This page shows how to set up the KD240 before running the BIST application.
      
 
      Refer to the KD240 Board and the Interface layout below for connector reference numbers:
      
 
      KD240-Interfaces
      
@@ -442,14 +444,14 @@ 
      Board Setup
    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +

    @@ -462,7 +464,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/setup_kr260.html b/kd240/build/html/docs/bist/docs/setup_kr260.html index 80457c1d..52947103 100644 --- a/kd240/build/html/docs/bist/docs/setup_kr260.html +++ b/kd240/build/html/docs/bist/docs/setup_kr260.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -45,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -113,10 +115,10 @@
    -
    -

    KR260 BIST Board Setup

    -
    -

    Hardware Requirements

    +
    +

    KR260 BIST Board Setup

    +
    +

    Hardware Requirements

    1. KR260 Robotics Starter Kit

    2. KR260 Power Supply & Adapter

      3. @@ -134,9 +136,9 @@

      Hardware Requirements

      Two 10G SFP+ Transceivers

    3. 10G NIC Card

    -
    -
    -

    Board Setup

    +
    +
    +

    Board Setup

    This page shows how to set up the KR260 before running the BIST application.

    Refer to the KR260 Board and the Interface layout below for connector reference numbers:

    KR260-Interfaces

    @@ -495,14 +497,14 @@

    Board Setup

    - -
    -

    Next Steps

    +

    +
    +

    Next Steps

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -515,7 +517,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/bist/docs/setup_kv260.html b/kd240/build/html/docs/bist/docs/setup_kv260.html index bc6f26dc..d2ae1205 100644 --- a/kd240/build/html/docs/bist/docs/setup_kv260.html +++ b/kd240/build/html/docs/bist/docs/setup_kv260.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -45,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -113,10 +115,10 @@
    -
    -

    KV260 BIST Board Setup

    -
    -

    Hardware Requirements

    +
    +

    KV260 BIST Board Setup

    +
    +

    Hardware Requirements

    1. KV260 Vision AI Starter Kit

    2. KV260 Power Supply & Adapter

      3. @@ -131,9 +133,9 @@

      Hardware Requirements

      1080P/4K Monitor and Power Supply

    3. DisplayPort/HDMI Cable

    -
    -
    -

    Board Setup

    +
    +
    +

    Board Setup

    This page shows how to set up the KV260 before running the BIST application.

    Refer to the KV260 Board and the Interface layout below for connector reference numbers:

    GitHub Logo

    @@ -433,14 +435,14 @@

    Board Setup

    - -
    -

    Next Steps

    +

    +
    +

    Next Steps

    -

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    - +

    Copyright © 2023 Advanced Micro Devices, Inc

    Terms and Conditions

    +
    @@ -453,7 +455,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/build_vivado_design.html b/kd240/build/html/docs/build_vivado_design.html index 48d07869..3a9a55d0 100644 --- a/kd240/build/html/docs/build_vivado_design.html +++ b/kd240/build/html/docs/build_vivado_design.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -135,14 +137,14 @@

    Using Vivado to Build the Hardware Design

    -
    -

    Using Vivado to Build the Hardware Design

    -
    -

    Introduction

    +
    +

    Using Vivado to Build the Hardware Design

    +
    +

    Introduction

    This tutorial shows how to build the hardware design for applications running on the KD240 Drives Starter Kit.

    -
    -
    -

    Prerequisites

    +
    +
    +

    Prerequisites

    • AMD Vivado Design Suite™ of the appropiate version

    • TSN Subsytem IP evaluation license when building the kd240_motor_ctrl_qei platform.

      • @@ -150,26 +152,26 @@

      Prerequisites1gtsn_eval_request@amd.com.

    -
    -

    Accessing the Tutorial Reference Files

    +
    +

    Accessing the Tutorial Reference Files

    NOTE: Skip the following steps if the design files have already been cloned and extracted to a working repository.

    1. To access the reference files, type the following into a terminal:

      -
      git clone --branch xlnx_rel_v2023.1 --recursive https://github.com/Xilinx/kria-vitis-platforms.git
+
      git clone --branch xlnx_rel_v2023.1 --recursive https://github.com/Xilinx/kria-vitis-platforms.git

    2. Navigate to the kria-vitis-platforms/kd240, which is the working directory.

    -
    - -
    -

    Generating an Extensible XSA

    +
    +
    +
    +

    Generating an Extensible XSA

    1. Go to the platform directory specific to the application.

      -
      cd $working_dir/platforms/vivado/<platform_name>
+
      cd $working_dir/platforms/vivado/<platform_name>
 
      
 
      
 
      Applications and their corresponding platform names are listed in the following table:
      
@@ -199,7 +201,7 @@ 
      Generating an Extensible XSAmain.tcl file to create a Vivado project, populate the block design, and finally build a XSA. The XSA generation can take some time depending on the system specification.
      
-
      make xsa
+
      make xsa
      2. @@ -212,17 +214,17 @@

      Generating an Extensible XSA -

      Modifying the Vivado Design and Creating a New XSA

      +

    +
    +

    Modifying the Vivado Design and Creating a New XSA

    1. Go to the directory specific to the platform design.

      -
      cd $working_dir/platforms/vivado/<platform_name>
+
      cd $working_dir/platforms/vivado/<platform_name>

    2. To open the Vivado project, open the Vivado GUI, then run the following command from the Vivado Tcl console:

      -
      open_project ./project/<platform_name>.xpr
+
      open_project ./project/<platform_name>.xpr
      3. @@ -240,22 +242,22 @@

      Modifying the Vivado Design and Creating a New XSA

    3. You can now modify the block design and validate it (toolbar at the top: Tools → Validate design). Then click Run Synthesis to complete the synthesis.

    4. To write out a new extensible platform XSA file, run the following command from the Vivado Tcl console:

      -
      write_hw_platform -force -file <platform_name>.xsa
+
      write_hw_platform -force -file <platform_name>.xsa

    The generated XSA or the modified XSA file can now be used to create a Vitis platform (optional).

    - -
    -

    Next Steps

    +
    +
    +

    Next Steps

    - -
    -

    References

    +
    +
    +

    References

    For more information on how to set up platform interfaces, refer to the AMD Vitis Unified Software Platform Documentation UG1393.

    Copyright© 2023 Advanced Micro Devices, Inc.

    - +-->

    Copyright© 2023 Advanced Micro Devices, Inc.

    +
    @@ -282,7 +284,7 @@

    References

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/building_the_design.html b/kd240/build/html/docs/building_the_design.html index d4c194f6..0c38daf6 100644 --- a/kd240/build/html/docs/building_the_design.html +++ b/kd240/build/html/docs/building_the_design.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -133,14 +135,14 @@

    Tool Flow Overview

    -
    -

    Tool Flow Overview

    -
    -

    Introduction

    +
    +

    Tool Flow Overview

    +
    +

    Introduction

    This document provides an overview of how the hardware and software components are built for an application.

    -
    -
    -

    Tool Flow

    +
    +
    +

    Tool Flow

    At a high level, the builds steps are as follows:

    1. AMD Vivado™ platform design: The Vivado design is augmented with platform parameters that describe the metadata and physical interfaces available to the AMD Vitis™ compiler for stitching in programmable logic (PL) kernels.

      2. @@ -153,18 +155,18 @@

      Tool Flow -

      Accessing the Tutorial Reference Files

      +
      +

      Accessing the Tutorial Reference Files

      1. To access the reference files, type the following into a terminal:

      -
      git clone --branch xlnx_rel_v2023.1 --recursive https://github.com/Xilinx/kria-vitis-platforms.git
+
      git clone --branch xlnx_rel_v2023.1 --recursive https://github.com/Xilinx/kria-vitis-platforms.git
 
      
 
      
-
-
-
      
-
      Directory Structure
      
+
      +
      + diff --git a/kd240/build/html/docs/foc-motor-ctrl/docs/app_deployment.html b/kd240/build/html/docs/foc-motor-ctrl/docs/app_deployment.html new file mode 100644 index 00000000..0ad10c82 --- /dev/null +++ b/kd240/build/html/docs/foc-motor-ctrl/docs/app_deployment.html @@ -0,0 +1,446 @@ + + + + + + + + + + + + + + + Board Setup and Application Deployment — Kria™ KD240 1.0 documentation + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + + + + + + + + +

      Kria™ KD240 Drives Starter Kit
      FOC Motor Control Application Tutorial

      +

      Setting up the Board and Application Deployment

      +

      Board Setup and Application Deployment

      +
      +

      Introduction

      +

      This document shows how to set up the board, and run the motor control application.

      +

      This guide is targeted for Ubuntu® 22.04 and the AMD 2023.1 toolchain.

      +
      +
      +

      Prerequisite

      +
      +

      Hardware Requirements

      +
        +

      • KD240 Drives Starter Kit

        • +

      • KD240 Motor Accessory Kit

        • +

      • KD240 power supply and adapter (included with the KD240 Drives Starter Kit)

        +
          +

        • 12V AC adapter for the KD240 Starter Kit and 24V AC adapter for the Motor Accessory Kit

          • +
        +
        • +

      • USB-A to micro-B cable (included with the KD240 Drives Starter Kit)

        • +

      • MicroSD card (32 GB card is included with the KD240 Drives Starter Kit)

        • +

      • CAT6 Ethernet cable

        • +

      • Host machine with display

        • +
      +
      +
      +

      Hardware Setup

      +

      KD240-Setup

      +
        +

      • Connect the USB cable from the host machine to the J4 UART/JTAG interface on the board.

        +

        KD240-Setup

        +
        • +

      • Connect the Ethernet cable from J24 to your local network with DHCP enabled to install the Linux packages.

        +

        KD240-Setup

        +
        • +

      • Connect a 12V power supply to the J12 DC jack.

        +

        KD240-Setup

        +
        • +

      • Connect a 24V power supply to the J29 DC link connector.

        +

        KD240-Setup

        +
        • +

      • Connect the encoder header pins to the J42 QEI connector. Ensure J44 is in the “SE” selection.

        +

        KD240-Setup

        +
        • +

      • Connect the motor input to a J32 3-phase inverter connector.

        +

        KD240-Setup

        +
        • +
      +
      +
      +

      Tested Artifacts

      +

      Testing was performed with the following artifacts:

      +
      +

      KD240 platform Artifacts

      + + + + + + + + + + + + + + + + + + + + + +
      ComponentVersion
      Boot FirmwareK24-BootFW-01.01
      Linux Kernel5.15.0-1027-xilinx-zynqmp
      xlnx-firmware-kd240-motor-ctrl0.10.1-0xlnx1

      To obtain the latest Linux image and boot firmware, refer to the Kria Wiki.

      +
      +
      +

      Application Packages

      + + + + + + + + + + + + + +
      PackageVersion
      xlnx-app-kd240-foc-motor-ctrl0.3.1-0xlnx5
      +
      +
      +

      Initial Setup

      +
        +

      1. Go through Booting Kria Starter Kit Linux to complete the minimum setup required to boot Linux before continuing with instructions on this page.

        2. +

      2. Get the latest motor control application and firmware package:

        +
          +

        • Download the firmware.

          +
            +

          • Search package feed for packages compatible with the KD240.

            +
            ubuntu@kria:~$ sudo apt search xlnx-firmware-kd240
+Sorting... Done
+Full Text Search... Done
+xlnx-firmware-kd240-bist/jammy,now 0.10-0xlnx1 arm64 [installed]
+FPGA firmware for Xilinx boards - kd240 bist application
+xlnx-firmware-kd240-motor-ctrl-qei/jammy,now 0.10-0xlnx1 arm64 [installed]
+FPGA firmware for Xilinx boards - kd240 motor-ctrl-qei application
+
            +
            +
            • +

          • Install the firmware binaries.

            +
            sudo apt install xlnx-firmware-kd240-motor-ctrl-qei
+
            +
            +
            • +
          +
          • +

        • Install the motor control application.

          +
          sudo apt install xlnx-app-kd240-foc-motor-ctrl
+
          +
          +
          • +
        +
        3. +
      +
      +
      +
      +

      Run the Motor Control Application

      +
        +

      • Load the firmware:

        +
          +

        • Show the list and status of available application firmware.

          +

          After installing the firmware, execute xmutil listapps to verify that it is captured under the listapps function and to have dfx-mgrd rescan and register all accelerators in the firmware directory tree.

          +
          ubuntu@kria:~$ sudo xmutil listapps
+       Accelerator          Accel_type                 Base           Base_type      #slots(PL+AIE)    Active_slot
+
+  kd240-motor-ctrl-qei       XRT_FLAT         kd240-motor-ctrl-qei     XRT_FLAT            (0+0)           -1
+
          +
          +
          • +

        • Load the desired application firmware.

          +

          When there is already another accelerator/firmware loaded, unload it first, then load the kd240-foc-motor-ctrl firmware.

          +
          sudo xmutil unloadapp
+sudo xmutil loadapp kd240-motor-ctrl-qei
+
          +
          +
          • +
        +
        • +

      • Run the bokeh server:

        +
        # Run the application to launch bokeh server for the dashboard
+export PATH=${PATH}:/opt/xilinx/xlnx-app-kd240-foc-motor-ctrl/bin
+start_motor_dashboard
+# Enter the sudo password if required and note the ip address of the board
+
        +
        +

        Sample screenshot of the terminal on launching the motor dashboard.

        +

        Terminal

        +
        • +
      +
      +
      +

      On the Host PC

      +
        +

      • Open <ip>:5006 in a web browser.

        +
        +

        NOTE: Once the server is running, it retains its settings no matter how many times the browser is closed, opened, or refreshed.

        +
        +
        • +

      • The system is set to OFF mode/state on starting the dashboard, observe the blue LED DS10 is off.

        • +

      • If the unit is plugged into a network with DHCP, an IP will be assigned automatically. If not on a network, then configure a static IP. For help on setting up static IP, see Setting up a private network.

        • +
      +
      +

      NOTE: The open-loop mode of motor operation is a test mode intended for users with motor control knowledge and experience. Incorrect configurations of values of Vd and Vq can cause the motor to spin at speeds higher than its rating and potentially cause excessive motor heating. Use caution when using the open-loop mode.

      +
      +
      +
      +

      Dashboard

      +
      +

      Dashboard Features

      +
        +

      • The Mode drop-down is used to select the control system mode of operation.

        • +

      • The Sample Size text box is used to indicate how many samples are collected and plotted on the graphs for each type of data. The samples are collected at 100 microsecond intervals. The maximum number of samples is limited to 3000 due to dashboard performance limitations. For a large number of samples, there might be a small delay before a dashboard command takes effect.

        • +

      • The Refresh Interval text box is used to indicate how often the dashboard plots will refresh. A minimum refresh interval will be enforced based on the current sample size (a larger sample size requires a larger refresh interval).

        • +

      • The gain text boxes are used to adjust the proportional and integral gains of the corresponding control loop.

        • +

      • The Speed Setpoint text box is used to set the speed setpoint when running the motor in speed mode. The valid range of speed setpoints is -10000 to 10000 rpm.

        • +

      • The Torque Setpoint text box is used to set the torque setpoint when running the motor in torque mode. The valid range of torque setpoints is -2.5 to 2.5 amps.

        • +

      • The Open Loop - Vd text box is used to set the direct voltage (Vd). The valid range for Vd is -24 to 24 volts.

        +
        +

        NOTE: Normally this should be set to ~0V.

        +
        +
        • +

      • The Open Loop - Vq text box is used to set the quadrature voltage (Vq). The valid range for Vq is -24 to 24 volts.

        • +

      • The Fault Status indicators show if any faults have occured. When a critical fault occurs, the corresponding indicator will turn red. For a warning level faults, the corresponding indicator will turn yellow.

        • +

      • The Clear Faults button is used to clear all faults and put the system into Off mode.

        • +

      • The Electrical Data plot shows the currents and voltages for Phase A, B, and C. The voltage lines are hidden by default. The visibility of each current and voltage line can be toggled by clicking the legend labels. The current axis is shown on the left if any current lines are visible, and the voltage axis is shown on the right is any voltage lines are visible.

        • +

      • The Mechanical Data plot shows the speed and position of the motor. The visibility of each line can be toggled by clicking on the legend labels. The speed axis is shown on the left is speed is visible and the position axis is shown on the right if position is visible.

        • +

      • The Live Analysis plot shows the data that is selected for each axis using the buttons on the right.

        • +
      +

      When the dashboard is first launched, the system will be in Off mode, and the dashboard will look similar to the following image. Observe that the electrical readings are near zero.

      +

      Motor-Control-Dashboard

      +

      To run the application in Speed mode, select Speed from the Mode drop-down, and use the Speed Setpoint text box to enter a speed setpoint. The following image shows the motor running in speed mode with a speed setpoint of 2000 rpm and the load disk that is included in the Motor Accessory Kit.

      +

      Motor-Control-Dashboard

      +

      To run the application in Torque mode, select Torque from the Mode drop-down and use the Torque Setpoint text box to enter a torque setpoint. The following image shows the motor running in torque mode with a torque setpoint of 1 amp and the load disk that is included in the Motor Accessory Kit.

      +

      Motor-Control-Dashboard

      +

      To run the application in Open Loop mode, select Open Loop from the Mode drop-down, and use the Vd/Vq text boxes to set Vd/Vq. The following image shows the motor running in open loop mode with Vd set to 0, Vq set to 4 volts, and the load disk that is included in the Motor Accessory Kit.

      +

      Motor-Control-Dashboard

      +

      The following images show what the dashboard looks like when a larger load is applied to the motor. As the load on the motor increases, the currents will increase and the I_alpha/I_beta circle will expand.

      +

      Motor-Control-Dashboard +Motor-Control-Dashboard +Motor-Control-Dashboard

      +
      +
      +
      +

      Next Steps

      + +

      Copyright© 2023 Advanced Micro Devices, Inc

      +
      + + +
      +
      + + + +
      +
      +
      +
      + + + + + + \ No newline at end of file diff --git a/kd240/build/html/docs/foc-motor-ctrl/docs/hw_description.html b/kd240/build/html/docs/foc-motor-ctrl/docs/hw_description.html new file mode 100644 index 00000000..61507644 --- /dev/null +++ b/kd240/build/html/docs/foc-motor-ctrl/docs/hw_description.html @@ -0,0 +1,906 @@ + + + + + + + + + + + + + + + Hardware Architecture of the Platform — Kria™ KD240 1.0 documentation + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + + + + + + + + +

      Kria™ KD240 Motor Control Starter Kit
      Motor Control Tutorial

      +

      Hardware Architecture of the Platform

      +

      Hardware Architecture of the Platform

      +
      +

      Introduction

      +

      This section describes the design implemented in the programmable logic (PL). The following figure shows the top-level hardware architecture of the reference design.

      +

      Hardware Architecture block diagram

      +

      At a high-level, the design is comprised of a motor control system, a data monitoring system, a data processing system, and a communication system.

      +
        +

      • Motor Control System: These are the blocks that control the motor speed and direction. All but the Gate Driver are High-Level Synthesis (HLS) blocks from the AMD Vitis™ Motor Control Library.

        +
          +

        • Quadrature Encoder Interface (QEI)

          • +

        • Field-Orientated Control (FOC)

          • +

        • Space Vector Pulse Width Modulation (SVPWM)

          • +

        • Pulse Width Modulation Generation (PWM Gen)

          • +

        • Gate Driver

          • +
        +
        • +

      • Data Monitoring System: These are the blocks that monitor data from the motor and DC power supply.

        +
          +

        • ADC Sample Control

          • +

        • Current and Voltage Analog to Digital Controller (ADC) Interface for Motor phases A, B, C, and DC Link

          • +

        • Unicode Straight Binary (USB) to Binary Two’s Complement (BTC) Conversion

          • +

        • Bipolar Offset Binary (BOB) to BTC Conversion

          • +
        +
        • +

      • Data Processing System: This is the block that controls the ADC interface and decides when to sample the ADCs. It also does basic filtering, scales the data, and formats it in Q-Scale format.

        +
          +

        • ADC Hub

          • +
        +
        • +

      • Time-Sensitive Networking (TSN) System: This system support transmission of Ethernet traffic based on traffic shaping protocols. The traffic can be control information to be passed between different nodes in a robotics system or between various Industrial Field devices. The requirement in these systems would be that the traffic is deterministic.

        +
          +

        • TSN IP

          • +

        • AXI Multi Channel DMA (MCDMA)

          • +

        • Time Aware DMA (TADMA)

          • +

        • Test PMOD controller

          • +
        +
        • +
      +
      +
      +

      Motor Control System

      +
      +

      QEI

      +

      The QEI module from the Vitis Motor Control Library reads the encoder on the motor and provides the data to the FOC block.

      +

      For more information, visit Vitis Libraries Documentation.

      +
      +
      +

      FOC

      +

      The FOC module from the Vitis Motor Control Library implements a sensor-based field-orientated control. The eight control modes it supports cover basic speed and torque control modes, as well as field-weakening control.

      +

      For more information, visit Vitis Libraries Documentation.

      +
      +
      +

      SVPWM

      +

      The SVPWM module from the Vitis Motor Control Library implements the front-end for Space Vector Pulse Width Modulation to calculate phase ratios for the motor.

      +

      For more information, visit Vitis Libraries Documentation.

      +
      +
      +

      PWM Gen

      +

      The PWM Gen module from the Vitis Motor Control Library implements the back-end for Space Vector Pulse Width Modulation to generate output signals based on the ratios from SVPWM.

      +

      For more information, visit Vitis Libraries Documentation.

      +
      +
      +

      Motor Control

      +

      The motor control block collects all the fault information generated from ADC Hub and uses this information along with its own phase balance calculations on the Phase A, B, and C data to decide whether to allow the gate drivers to drive the motors.

      +
      +
      +
      +

      Data Monitoring System

      +
      +

      ADC Sample Control

      +

      This custom IP converts the motor pwm_sync pulse from the HLS module hls_pwm_gen to an update signal that initiates the ADC capture cycle at regular intervals. The ADC Sample Control module acts much like a phase-locked loop (PLL), in that it tries to align the ADC captures to the pwm_sync pulse and keep the ADC samples to an integer number of samples during the pwm_sync cycle.

      +
      +
      +

      ADC7352 Interface

      +

      The voltage and current for DC Link and Motor Phase A, B, and C, are captured by the ADC7352 Interface IP. The IP can be configured for up to 16 channels, each with its own bit resolution. Each channel can control one ADC7352, with its own Chip Select (CS). The KD240 Motor Control Kit uses eight channels at 12 bits resolution. DC Link ADC uses one chip select, and the Phase A/B/C Motor ADCs share another chip select for simultaneous data collection.

      +
      +
      +

      ADC Encoding Conversions

      +

      The KD240 Motor Control Kit makes use of the AD7352 which is a unipolar ADC using USB encoding. The DC link and stator voltages are measured and encoded without any analog offsets while the current measurements require direction. For current measurements, an instrumentation amplifier with an analog offset output is used to be able to make use of the unipolar ADC to encode both positive and negative measured currents. The following table outlines the expected mapping.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      KD240 Measurement-FS Input-FS CodeMidpointMidpt Code+FS Input+FS Code
      DC Link Voltage0Vb0000+18.432Vb1000+36.864Vb1111
      Motor Stator Voltages0Vb0000+18.432Vb1000+36.864Vb1111
      DC Link Current0Ab0000+10.24Ab1000+20.48Ab1111
      Motor Stator Current-10.24Ab00000Ab1000+10.24Ab1111

      For DC Link voltage and current and for motor voltages, the conversion is done in USB to BTC IP.

      +

      For motor currents, the conversion is done in BOB to BTC IP.

      +
      +
      +
      +

      Data Processing System

      +
      +

      ADC Hub

      +

      This custom IP is the center of the processing for ADC data. It is parameterizable up to 16 channels, and each channel can be a different width. Each channel can also be treated as BTC or USB individually and can be customized to use DSP blocks or logic to implement the multipliers used for scaling the ADC data. There is also a choice for whether the channel is a Current or Voltage channel. This information is only to help the software understand what units to use for the data it reads from the ADC Hub. The KD240 Motor Control Kit uses eight channels, 12-bits, BTC encoding, and all channels are using the DSP for multipliers.

      +

      Inside the ADC Hub are several functions, which are described in the next few sections.

      +
      +

      Simple Moving Average

      +

      The data from the ADCs comes into the ADC Hub and goes into the Simple Moving Average (SMA) block. If there is an offset programmed by the software, first the offset is subtracted from the raw data coming in from the ADC. The offset can be positive or negative, which will result in either a smaller or larger value, respectively.

      +

      After the offset is applied, then the data is entered into a FIFO, implemented in a block RAM. Software can program the number of taps to use for the SMA, from 1 to 128 in powers of two. The SMA function adds each new data to the sum of the previous data until the number of samples reaches the number of taps programmed by the software. At that time, the newest sample is added to the sum, and the oldest sample is read out of the block RAM and subtracted from the sum. The new sum is then shifted by the log2 of the tap count and becomes the output of the SMA module.

      +

      There is no output from the SMA until the number of sammples has reached the number of taps. If the number of taps changes while the SMA is running, the whole datapath is reset, and the block RAM and adders are cleared. Once again, there will be no output until the new number of taps matches the number of samples received.

      +
      +
      +

      Q-Scaler

      +

      The ADC Hub scales the averaged data in the Q-Scaler module. Software programs the scaling factor, which is then multiplied with the averaged data. This multiplier can be implemented by a DSP or by logic in the configuration of the ADC Hub, on a per-channel basis. The scaled data is converted to Q-format, with 24 total bits. The integer portion is 7 bits, the fractional portion is 16 bits, and one sign bit. This scaled value is passed to the rest of the system as an AXI4-Stream interface, with no dependence on tready so that the data is always the most recent value.

      +

      The scaling factors used in the KD240 Motor Control Kit are in the following table.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      KD240 MeasurementADC Scale MultiplierADC Scale (V/cnt)Q-Format
      DC Link Voltage1179.64800.0180x00_049C
      Motor Stator Voltages1179.64800.0180x00_049C
      DC Link Current655.36000.0100x00_028F
      Motor Stator Current327.68000.0050x00_0148
      +
      +

      Motor Fault Generation

      +

      The averaged and scaled data is compared against limits set by the software to determine whether a fault has occurred. Software can program over-limits and under-limits per channel. If such limits are enabled, and the scaled data exceeds these limits, then a fault will be generated. There are over-faults and under-faults, and if enabled and triggered will result in an error being generated.

      +

      Errors can only be cleared by writing a specific value to the associated clear register (one for over-fault and one for under-fault). These faults are used to generate interrupts for the ADC Hub, if interrupts are enabled. They are also used by the Motor Control module to generate the gate drive enable signal to the Gate Driver.

      +
      +
      +

      Register Map

      +

      The AXI Interface in the ADC Hub allows the software to control and monitor the hardware. The register map is as follows:

      +

      Address Decode

      + + + + + + + + + + + + + + + +
      31:1211:0807:00
      n/aChannelRegister Offset

      Channel: Up to 16 Channels supported

      +

      Register: Up to 64 channels supported

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      OffsetRegister NameSignedR/WBits UsedReset Value
      0x00Over Limit Value (Q8.16 Format)YR/W23:00x0000_0000
      0x04Under Limit Value (Q8.16 Format)YR/W23:00x0000_0000
      0x08Scaling Factor (Q8.16 Format)YR/W23:00x0000_0320
      0x0CNumber of Taps for AveragingNR/W8:00x0000_0004
      0x10Raw ADC ValueYR15:00x0000_0000
      0x14Scaled ADC Value (Q8.16 Format)YR1:00x0000_0000
      0x18Error StatusNR15:00x0000_0000
      0x1CClear Over Limit Error (0x0BAD00FF)NR/W31:00x0000_0000
      0x20Clear Under Limit Error (0x0BAD00FF)NR/W31:00x0000_0000
      0x24Over Limit Error EnableNR/W0:00x0000_0000
      0x28Under Limit Error EnableNR/W0:00x0000_0000
      0x2CSigned (1) or Unsigned (0) DataNR0:0HW Value
      0x30Voltage (1) or Current (0) ChannelNR0:0HW Value
      0x34Total Number of Channels used in HubNR3:0HW Value
      0x38IRQ DisableNR/W0:00x0000_0000
      0x3CADC OffsetNR/W31:00x0000_0000
      +
      +
      +
      +

      TSN System

      +

      The following figure shows the blocks in the TSN System.

      +

      TSN System block diagram

      +
      +

      TSN IP

      +

      The LogiCORE™ 100M/1G TSN Subsystem IP implements IEEE 802.1 Time Sensitive Networking (TSN) standards and provides a low latency bridged endpoint. The bridged endpoint solution consists of a 3-port switch, two ports connects to the network and one port connects to an internal endpoint. In this design, reduced gigabit media independent interface +(RGMII) interfaces connect to a Marvel physical-side interface (PHY) supporting a maximum bandwidth of 1 Gbps. The TSN IP is configured to support:

      +
        +

      • Network Time Synchronization- 1588 Precision Time Protocol (PTP)

        • +

      • Scheduled and Best Effort traffic types

        • +

      • Time aware scheduling (IEEE 802.1 Qbv)

        • +

      • Frame replication and elimination (IEEE 802.1 CB)

        • +

      • Per Stream Filtering and Policing (IEEE 802.1 Qci)

        • +
      +

      For more information on the IP, refer to the 100M/1G TSN Subsystem IP Product Guide (PG275).

      +
      +

      *NOTE: You will need access to 1GTSN Documentation Lounge to view the document.

      +
      +
      +

      MCDMA

      +

      The AXI MCDMA provides high-bandwidth direct memory access between memory (AXI Memory Mapped) and stream (AXI4-Stream) target peripherals. It supports both Memory Mapped to Stream (MM2S) and Stream to Memory Mapped (S2MM) transfers. The AXI MCDMA core provides a Scatter Gather (SG) interface with multiple channel support with independent configuration. In this design, the MCDMA is responsible to fetch Best Effort traffic for transmission by the TSN IP. It reads frames from the DDR memory and passes the data to the TSN IP on an AXI4-Stream interface. It is also responsible for writing the Schedule traffic and Best Effort traffic frames received from the TSN IP to the memory. The IP uses the S_AXI_HP0_FPD on the AMD Zynq™ UltraScale+™ MPSoC Processing System (PS) IP to read/write from/to DDR memory.

      +

      For more information on the IP, refer to the AXI MCDMA LogiCORE IP Product Guide (PG288).

      +
      +
      +

      TADMA

      +

      TADMA is aware of QBV schedule cycles, stream time slots, and by using PTP +generated time, it is capable of fetching frames for different streams/traffic classes from the system memory (DDR) at precisely required time, providing excellent time precision for TSN traffic. In this design, TADMA fetches scheduled traffic from memory, based on the Qbv programming and passed it to the TSN IP for transmission.

      +

      For more information on the IP, refer to the Time Aware DMA Product Guide (PG316).

      +
      +

      NOTE: You will need access to the 1GTSN Documentation Lounge to view the above document.

      +
      +
      +
      +

      Test PMOD Controller

      +

      The Test PMOD controller is a user IP that drives the Digilent Test PMOD pins. The IP implements the following registers.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      Register OffsetRegister NameDescription
      0x00slv_reg0Bit0 is a MUX enable. If 1, then drive Qbv signals on PMOD. If 0, drive TSN publisher/subscriber 8-bit signatures
      0x04slv_reg18-bit signature when publisher 1 transmits a TSN frame
      0x08slv_reg28-bit signature when subscriber 1 receives a TSN frame
      0x0cslv_reg38-bit signature when publisher 2 transmits a TSN frame
      0x10slv_reg48-bit signature when subscriber 2 receives a TSN frame

      The TSN application can support multiple publishers and subscribers. When the publisher queues up a packet for transmission, it writes a unique 8-bit word to slv_reg*, which is then transmitted on the PMOD pins. Similarly when the subscriber receives a packet, it writes a unique 8-bit word to slv_reg* which is then transmitted on the PMOD pins. The PMOD pins of the publisher and subscriber are hooked up to a scope and are used to measure end to end application latency. The TSN pub sub application sets the MUX (slv_reg0) to 0 before writing the signature value. The following figure shows the mapping on the PMOD pins when MUX is set to 0 and 1.

      +

      Test PMOD pin mapping

      +

      To view scheduled and best effort traffic, the MUX value is set to 1. If the Qbv schedule is set, for example, a time slot is programmed with 70% scheduled traffic and 30% best effort traffic, then viewing tlast signal of received scheduled traffic and tlast signal of received best effort traffic on a scope will confirm that Qbv is working as expected. tlast indicates the end of a packet. Transmit signals can also be monitored, but these signals are the on the outside of the TSN IP and the traffic is yet to be scheduled.

      +

      The other signal which is monitored to see if the Transmitter and Receiver clocks are in sync is the PTP clock.

      +

      For more information on how to use PMOD signals to check clock synchronization and to measure latency and confirm Qbv programming, refer to application deployment page.

      +
      +
      +
      +
      +

      Clocks, Resets, and Interrupts

      +
      +

      Clocks

      +

      The following table identifies the main clocks of the PL design, their source, their clock frequency, and their function.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      ClockClock SourceClock FrequencyFunction
      pl_clk0PS100 MHzClock source for clocking wizard (clk_wiz_0)
      clk_out_100Mclk_wiz_0100 MHzClock for data on CIPS port M_AXI_HPM0_FPD and most of the system
      clk_out_48Mclk_wiz_048 MHzClock for SCLK to ADC and ADC7352 Interface Module
      CLK_IN_gemExternal Pin25 MHzClock for TSN Subsystem clocking wizard (clk_wiz_0) generating clocks
      clk_out1TSN clk_wiz_0200 MHzTSN IP fifo clock, TADMA IP and MCDMA IP data transactions clock
      clk_out2TSN clk_wiz_0125 MHzTSN IP and TADMA IP Real Time clock (RTC) for internal timers for time sensitivity
      clk_out3TSN clk_wiz_0300 MHzreference clock for IDELAY control block for PHY operation on TSN IP
      clk_out4TSN clk_wiz_0100 MHzAXI4-Lite clock to configure TSN IP, MCDMA IP, and Register interface IP
      +
      +

      Resets

      +

      The following table summarizes the resets used in this design.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      Reset SourceFunction
      pl_resetn0PL reset for proc_sys_reset modules and TSN Subsystem
      proc_sys_reset_0Synchronous resets for clk_out_100M clock domain
      proc_sys_reset_1Synchronous resets for clk_out_48M clock domain
      TSN Phy_reset_nReset for External Phy (tied high)
      TSN rst_clk_wiz_0_100MSynchronous Reset for clk_out100M clock domain
      TSN rst_clk_wiz_0_125MSynchronous Reset for clk_out125M clock domain
      TSN rst_clk_wiz_0_200MSynchronous Reset for clk_out200M clock domain
      TSN rst_clk_wiz_0_300MSynchronous Reset for clk_out300M clock domain
      +
      +

      Interrupts

      +

      The following table lists the PL-to-PS interrupts used in this design.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      Interrupt IDInstance
      pl_ps_irq0[0]ADC Hub IP
      pl_ps_irq0[1]Motor Control IP
      pl_ps_irq0[2]AXI Quad SPI 0 IP
      pl_ps_irq0[3]HLS QEI IP
      pl_ps_irq0[4]HLS FOC IP
      pl_ps_irq0[5]HLS SVPWM Duty IP
      pl_ps_irq0[6]HLS PWM Gen IP
      pl_ps_irq0[7]TSN Subsystem

      The TSN Subsystem interrupts are itemized in the following table.

      + + + + + + + + + + + + + + + + + + + + + +
      Interrupt IDInstance
      intr[0-7]TSN IP
      intr[8]TADMA IP
      intr[9-14]MCDMA IP
      +
      +
      +

      Resource Utilization

      +

      The resource utilization numbers on this platform post implementation is reported in the following table.

      + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
      ResourceUtilizationAvailableUtilization %
      LUT578957056082.05
      LUTRAM40982880014.23
      FF8471514112060.03
      BRAM11621653.70
      DSP13336036.94
      IO638177.78
      BUFG2119610.71
      MMCM2366.67
      PLL060.00
      + +
      + + +
      +
      + + + +
      +
      +
      +
      + + + + + + \ No newline at end of file diff --git a/kd240/build/html/docs/foc-motor-ctrl/docs/introduction.html b/kd240/build/html/docs/foc-motor-ctrl/docs/introduction.html new file mode 100644 index 00000000..615d5177 --- /dev/null +++ b/kd240/build/html/docs/foc-motor-ctrl/docs/introduction.html @@ -0,0 +1,258 @@ + + + + + + + + + + + + + + + Introduction — Kria™ KD240 1.0 documentation + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + + + + + + + + + +

      Kria™ KD240 Drives Starter Kit
      FOC Motor Control Application Tutorial

      +

      Introduction

      +

      Introduction

      +

      The KD240 Field Oriented Control (FOC) Motor Control Application is intended to capture general inverter and motor control examples using AMD-Xilinx standard IP/libraries. The IPs, libraries, and drivers serve as a design example demonstrating the K240 SOM capabilities in implementing applications that require precise control of the motor’s speed and torque while minimizing energy losses and reducing system noise. The IPs, libraries, and drivers created are general in the sense they do not assume specific board level hardware for implementing the necessary cyber-physical boundaries around a given application.

      +

      An overview of the motor field orientated control library functionality is summarized in the following three types of FOC based motor control that are to be implemented for supporting the KD240. Each focuses on either controlling the torque or speed of the motor.

      +
        +

      • Torque Control: Default FOC control is focused on maximizing the torque output of a motor by optimizing the quadrature (q) vector which represents the useful motor torque and minimizing the direct (d) vector component. In this mode of operation, the goal is to keep motor torque constant by adjusting motor speed.

        • +

      • Speed Control: Speed control is implemented through an additional PI control that adjusts the motor torque to the motor to maintain a constant speed.

        • +

      • Field Weakening Control: The field weakening control method trades off optimal torque to increase the speed of the motor. This is accomplished by adjusting the relationship of the q-vector and d-vector in FOC.

        • +
      +
      +

      Design and Implementation

      +

      The following provide more detailed definitions around the defined motor control modes of operation.

      +
      +

      Torque Control

      +

      Torque control implements a closed loop control focused on maintaining a specified torque value In this mode of operation, the q-vector provides the useful torque output of the motor, and the d-vector provides the force that is parallel to the rotor. The d-vector represents non-useful force, and thus any non-zero value is considered an error.

      +

      Torque-Control

      +
      +
      +

      Speed Control

      +

      Constant speed control is achieved through a PI controller that adjusts the motor torque to maintain a specified motor speed.

      +

      Speed-Control

      +
      +
      +
      +

      Sensored FOC Application

      +

      The following block diagram shows the implementation of the Sensored FOC application.

      +

      Motor Voltage and Current Feedbacks are provided by the ADC-HUB. The QEI Encoder provides the measured RPM from the BLDC motor as a feedback to the FOC control block. The generic PWM block is to provide a series of commands for each switch of a three leg inverter, with discrete on/off commands for each device. The Gate drive Pin control (GD Pin Control) and enable block is intended to implement the translation from the PWM functionality provided by the SVM PWM HLS IP to the KD240 specific gate drive circuit implementation. The gate drive enable signal is used to enable the power stage. This signal is shared across all three power bridge phases. The KD240 Motor Control block provides motor fault generation and system fault protection logic, which is used to check for gross failures in the system, such as shorted motor winding or failed phase leg.

      +

      As seen by the block diagram in the kernel space, all the soft IPs are supported by kernel drivers using the industrial I/O framework. The drivers provide a number of features that make the hardware easier to configure and use these devices. It has support for buffers, common sysfs interface and integration with libiio framework in the user-space. A Motor Control application library is integrated with the device drivers to seamlessly operate different modes you set. You can control the various set points and gain parameters using the Dashboard GUI, as well as observe live plots of important metrics such as speed, feedback current/voltages, and torque. Instructions to test demo application are presented in the next section.

      +

      Sensored-FOC

      +
      +
      +

      Next Steps

      + +

      Copyright© 2023 Advanced Micro Devices, Inc

      +
      + + +
      +
      + + + +
      +
      +
      +
      + + + + + + \ No newline at end of file diff --git a/kd240/build/html/docs/foc-motor-ctrl/docs/known_issues.html b/kd240/build/html/docs/foc-motor-ctrl/docs/known_issues.html new file mode 100644 index 00000000..764947b9 --- /dev/null +++ b/kd240/build/html/docs/foc-motor-ctrl/docs/known_issues.html @@ -0,0 +1,278 @@ + + + + + + + + + + + + + + + Known Issues and Limitations — Kria™ KD240 1.0 documentation + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + + + + + + + + +

      Kria™ KD240 Drives Starter Kit
      FOC Motor Control Application Tutorial

      +

      Known Issues and Debug Help

      +

      Known Issues and Limitations

      +
        +

      • QEI reported speed is showing glitches. The QEI library computation of the speed has a known issue and will be addressed with a QEI library update.

        • +

      • Motor lower speed mode control capability is approximately 250 rpms.

        • +

      • Default motor tuning values are provided for the KD240 Motor Accessory Kit based the Anaheim motor with the plastic disk visual load. This load disk primarily acts as an inertial load and thus if you are connecting other loads to your motor, you should plan on conducting your own tuning process and defining custom tuning defaults based on your load testing.

        • +

      • Open-loop control mode is intended as a test mode and thus does not implement any software based ramp control. You will see fault protections triggered if immediately trying to set open-loop mode control with a Vq voltage > ~10V. If using an open-loop, you are responsible for incrementally stepping up the Vq command to your desired voltage setting. Typical use cases of open-loop mode have Vd set to 0V.

        • +

      • DC link current reading is limited to reading analog values > ~0.5A due to a limitation in the KD240 hardware. You should not assume the DC link current feedback is accurate until it is > ~0.5A.

        • +

      • If the bokeh server is stopped while the motor is running, the motor will not stop. The motor should be stopped through the GUI by switching to Off mode before stopping the bokeh server.

        • +
      +
      +
      +

      Debugging Motor Control Application

      +

      If the motor control application is not functioning as intended, follow these debugging steps to diagnose and resolve issues.

      +
        +

      1. Check Wire Connections

        +
          +

        • Ensure that wire connections matches the configuration shown in the application deployment page.

          • +

        • Verify that the 24V DC supply is connected and the wall power is up.

          • +

        • Check DS9 LED, which represents the DC link; it should be in a high state.

          • +

        • Confirm that the Quadrature Encoder Interface (QEI) encoder from the motor is properly connected to the board.

          • +
        +
        2. +

      2. Read DC Link Voltage

        +
          +

        • If the application repeatedly fails to start with system faults, measure the DC link voltage by reading data from the ADC interface (ADC-HUB voltage channel 6).

          • +

        • Use the command iio_attr -c xilinx_adc_hub voltage6 to check the voltage reading and should read around 24V.

          +
          iio_attr -c xilinx_adc_hub voltage6
+dev 'xilinx_adc_hub', channel 'voltage6' (input), attr 'input', value '25.116806030'
+
          +
          +

          A reading significantly lower or higher than the tolerance range of the power supply could indicate a hardware failure on the board.

          +
          • +
        +
        3. +

      3. Debug PL Interfaces

        +
          +

        • If unexpected behavior occurs, start probing different blocks of the programmable logic (PL) interfaces for debugging.

          • +

        • Utilize the IIO utilities or the IIO driver sysfs for the specific hardware interface.

          • +

        • For detailed information on debugging hardware interfaces, refer to the Device and Channel Attributes section.

          • +
        +
        4. +

      4. Gate Drive Mode

        +
          +

        • Ensure that the software application is set to a valid mode that turns the Gate Drive ON, except for the off mode.

          • +

        • Monitor DS10 LED: it should go high in modes other than off.

          • +
        +
        5. +

      5. Observe Errors and Messages from the Application

        +
          +

        • Keep an eye on the serial console for error messages or other relevant information.

          • +

        • Review the dmesg logs, which provide valuable information from the respective hardware drivers. These logs can be a helpful source of diagnostic information.

          • +
        +
        6. +

      6. Network Connection

        +
          +

        • If the application does not respond to changes from the GUI, verify the network connection by pinging the host address.

          • +

        • Sometimes, a web socket disconnection message may appear, indicating a communication issue. If you encounter such disconnection issues, try killing the Bokeh server and relaunching the server and the dashboard.

          • +
        +

        Sample Disconnection Message:

        +
        2023-09-13 18:47:32,361 WebSocket connection closed: code=None, reason=None
+
        +
        +
        7. +
      +

      Copyright© 2023 Advanced Micro Devices, Inc

      + + +
      +
      + + + +
      +
      +
      +
      + + + + + + \ No newline at end of file diff --git a/kd240/build/html/docs/foc-motor-ctrl/docs/sw_arch.html b/kd240/build/html/docs/foc-motor-ctrl/docs/sw_arch.html new file mode 100644 index 00000000..69416002 --- /dev/null +++ b/kd240/build/html/docs/foc-motor-ctrl/docs/sw_arch.html @@ -0,0 +1,547 @@ + + + + + + + + + + + + + + + Software Architecture of the Platform — Kria™ KD240 1.0 documentation + + + + + + + + + + + + + + + + + + + + + + +
      + + +
      + +
      +
      +
      + +
      +
      +
      +
      + + + + + + + + +

      Kria™ KD240 Drive Starter Kit

      +

      Software Architecture

      +

      Software Architecture of the Platform

      +
      +

      Introduction

      +

      This section describes software components involved in the design and their relation with each other. The application requires a hardware platform as described in Hardware Architecture of the Platform for the stack explained in this section to work.

      +

      The software stack here provides a comprehensive library that can be interfaced using various user interfaces and efficiently drive the motor through the Kria Drive SOM board.

      +

      The following diagram illustrates the top-level architecture and arrangement of various software components:

      +

      Software Architecture Overview

      +
        +

      • Kernel: Ubuntu Linux kernel

        +
          +

        • Drivers:

          +
            +

          • xilinx_adc_hub: IIO driver for analog-to-digital converter (ADC) HUB

            • +

          • hls_qei_axi: IIO driver for the QEI sensor

            • +

          • hsl_foc_periodic: IIO driver for the sensor based field oriented controller

            • +

          • hls_pwm_gen: IIO driver for PWM GEN

            • +

          • hsl_svpwm_duty: IIO driver for SVPWM

            • +
          +
          • +
        +
        • +

      • Middleware

        +
          +

        • IIO Framework and libiio library

          • +

        • Generic UIO framework

          • +
        +
        • +

      • Application and library

        +
          +

        • Motor Control Library (includes UIO driver for the custom Motor Control IP)

          • +

        • Bokeh dashboard

          • +
        +
        • +
      +
      +
      +

      Kernel Drivers

      +

      All the kernel drivers developed for the platform hardware are Industial I/O (IIO) based and adhere to the IIO kernel framework. The IIO subsystem covers many sensor and ADC devices in the industry. It provides the following features to fetch and control various parameters:

      +
        +

      • Divide the stream and type of data into logical channels.

        • +

      • Each channel can have specific attributes along with device attributes to fine-tune the behavior.

        • +

      • Efficient data collection using buffers to get deterministic data with timestamps and sync with other channels.

        • +

      • Interrupt handling to provide user side event handling.

        • +
      +

      The following drivers are added to support this app:

      +
        +

      • ADC Hub (xilinx_adc_hub): Provides an interface to monitor current, voltage, and related faults that occur during the operation of the motor.

        • +

      • QEI Encoder (hls_qei_axi): External encoder to monitor the real-time speed and position of the motor.

        • +

      • FOC (hsl_foc_periodic): Field oriented controller driver to support various operational modes and state of the motor.

        • +

      • PWM_GEN (hls_pwm_gen): PWM_GEN provides PWM signal generation for motor control.

        • +

      • SVPWM_GEN (hsl_svpwm_duty): SVPWM provides space vector PWM to calcualte phase ratio for the motor.

        • +
      +

      There is also custom Motor control IP, which is responsible for the design specific glue logic and driving the motor’s Gate Driver. The driver for this IP is a UIO based and the device will instantiate the UIO device for this IP. The userspace driver for this is implemented inside the motor control library in the control block.

      +
      +

      Device and Channel Attributes

      +

      As explained in the next section, the attributes exposed by each drivers can be accessed through sysfs interface or through libraries like libIIO.

      +

      Most of the attribute names are self-explanatory. If a channel attribute is named input, it indicates that the device requires raw data for processing, and the final processed data can be read from the input channel attribute. If the input channel attribute is not present, the raw data itself represents the final value from the device.

      +

      A couple of common device attributes accross IIO drivers in this application are:

      +
        +

      • sample_interval_us: This parameter represents the time period in microseconds. It determines the rate at which data is sampled and stored into the buffer. Only channel data is captured within the buffer.

        • +

      • ap_ctrl: This attribute conforms to the standard AMD HLS interface for IP, enabling the initiation of its operation.

        • +
      +

      The device attributes applies to entire device for all the channels. The channel attributes are per channel configurations or data. Here are some of the attributes exposed by above drivers:

      +
      +

      Xilinx ADC Hub Channels

      +

      List of available channels for the device xilinx_adc_hub.

      +
      ubuntu@kria:# iio_attr -c xilinx_adc_hub
+dev 'xilinx_adc_hub', channel 'voltage0' (input, index: 0, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current1' (input, index: 1, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'voltage2' (input, index: 2, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current3' (input, index: 3, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'voltage4' (input, index: 4, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current5' (input, index: 5, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'voltage6' (input, index: 6, format: le:U32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current7' (input, index: 7, format: le:U32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'timestamp' (input, index: 16, format: le:S64/64>>0), found 0 channel-specific attributes
+
      +
      +

      Individual Channel Properties for Voltage0 in xilinx_adc_hub:

      +
      ubuntu@kria:# iio_attr -c xilinx_adc_hub voltage0
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'calibrate',
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'fault_clear',
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'input', value '0.865447998'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'offset', value '0.000000000'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'over_range_fault_status', value '0'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'raw', value '47'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'scale', value '0.018814086'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'set_filter_tap', value '4'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'under_range_fault_status', value '0'
+
      +
      +
        +

      • calibrate: One-time calibration at the very start to offset any residual value in the system.

        • +

      • fault_clear: Clears all faults on the channel.

        • +

      • input: Final voltage value read by the ADC in volts (raw * scale factor).

        • +

      • offset: Automatically populated after calibration.

        • +

      • over_range_fault_status: Status indicating if an over-range fault occurred (0 - for no fault).

        • +

      • raw: The ADC raw value.

        • +

      • scale: The scaling factor.

        • +

      • set_filter_tap: Number of filter taps.

        • +

      • under_range_fault_status: Status indicating if an under-range fault occurred (0 for no fault).

        • +
      +

      The attributes for the currentX channel would be similar to voltage0, but the readings are in amperes (amps).

      +
      +
      +

      HLS PWM Generator Channels

      +

      List of available channels for the device hls_pwm_gen.

      +
      ubuntu@kria:# iio_attr -c hls_pwm_gen
+dev 'hls_pwm_gen', channel 'voltage0', id 'Va_duty_ratio' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_pwm_gen', channel 'voltage1', id 'Vb_duty_ratio' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_pwm_gen', channel 'voltage2', id 'Vc_duty_ratio' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_pwm_gen', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes
+
      +
      +

      Individual Channel Properties for Va_duty_ratio in the HLS PWM Generator:

      +
      ubuntu@kria:# iio_attr -c hls_pwm_gen voltage0
+dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'label', value 'Va_duty_ratio'
+dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'raw', value '0.000000000'
+dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'scale', value '1'
+
      +
      +
        +

      • label: The label of the channel is ‘Va_duty_ratio’.

        • +

      • raw: The raw value for this channel is ‘0.000000000’, and in this case, it represents the final reading for the channel.

        • +

      • scale: The scaling factor for this channel is ‘1’.

        • +
      +

      The attributes are similar to the other channels from the PWM-GEN driver.

      +
      +
      +

      HLS SVPWM Duty Channels

      +

      List of available channels for the device hls_svpwm_duty.

      +
      ubuntu@kria:# iio_attr -c hls_svpwm_duty
+dev 'hls_svpwm_duty', channel 'voltage0', id 'Va_cmd' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_svpwm_duty', channel 'voltage1', id 'Vb_cmd' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_svpwm_duty', channel 'voltage2', id 'Vc_cmd' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_svpwm_duty', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes
+
      +
      +

      Individual Channel Properties for Va_cmd in HLS SVPWM Duty:

      +
      ubuntu@kria:# iio_attr -c hls_svpwm_duty voltage0
+dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'label', value 'Va_cmd'
+dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'raw', value '0.000000000'
+dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'scale', value '1'
+
      +
      +
        +

      • label: The label of the channel is Va_cmd.

        • +

      • raw: The raw value for this channel is 0.000000000, and in this case, it represents the final reading for the channel.

        • +

      • scale: The scaling factor for this channel is 1.

        • +
      +

      The attributes are similar to the other channels from the SVPWM driver.

      +
      +
      +

      QEI Channels

      +

      List of available channels for the device hls_qei_axi.

      +
      ubuntu@kria:# iio_attr -c hls_qei_axi
+dev 'hls_qei_axi', channel 'rot0', id 'rpm' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_qei_axi', channel 'rot1', id 'theta_degree' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_qei_axi', channel 'timestamp' (input, index: 2, format: le:S64/64>>0), found 0 channel-specific attributes
+
      +
      +

      Individual Channel Properties for RPM in QEI:

      +
      ubuntu@kria:# iio_attr -c hls_qei_axi rot0
+dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'label', value 'rpm'
+dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'raw', value '0'
+dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'scale', value '1'
+
      +
      +
        +

      • label: The label of the channel is ‘rpm’.

        • +

      • raw: The raw value for this channel is ‘0’, and in this case, it represents the final reading for the channel.

        • +

      • scale: The scaling factor for this channel is ‘1’.

        • +
      +

      The attributes are similar to the other channels from the QEI driver.

      +
      +
      +

      FOC Channels

      +

      List of available channels for the device hls_foc_periodic.

      +
      ubuntu@kria:# iio_attr -c  hls_foc_periodic
+dev 'hls_foc_periodic', channel 'current0', id 'Id' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current1', id 'Iq' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current2', id 'I_alpha' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current3', id 'I_beta' (input, index: 3, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current4', id 'I_homopolar' (input, index: 4, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'rot5', id 'speed_pi_out' (input, index: 5, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'rot6', id 'torque_pi_out' (input, index: 6, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'intensity7', id 'flux' (input, index: 7, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'rot8', id 'speed' (input, index: 8, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'angl9' (input, index: 9, format: le:U32/32>>0), found 2 channel-specific attributes
+dev 'hls_foc_periodic', channel 'timestamp' (input, index: 10, format: le:S64/64>>0), found 0 channel-specific attributes
+
      +
      +

      Individual Channel Properties for current0 in FOC:

      +
      ubuntu@kria:~$ iio_attr -c hls_foc_periodic current0
+dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'label', value 'Id'
+dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'raw', value '0.000000000'
+dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'scale', value '1'
+
      +
      +
        +

      • label: The label of the channel is ‘Id’.

        • +

      • raw: The raw value for this channel is ‘0.000000000’, and in this case, it represents the final reading for the channel.

        • +

      • scale: The scaling factor for this channel is ‘1’.

        • +
      +

      The attributes are similar to the other channels from the FOC driver.

      +

      For detailed information on other device attributes, consult the hardware documentation.

      +

      For more details of IIO subsystem, refer to Analog Devices Wiki.

      +

      For more details on kernel drivers for IIO, refer to Kernel Documentation.

      +
      +
      +
      +
      +

      Middleware

      +
      +

      Userspace Access to IIO Drivers

      +

      The driver exposes the IIO devices through the sysfs interface. The drivers can be accessed from the path /sys/bus/iio/devices/iio\:deviceX, where X is the numeric enumeration of the IIO device.

      +

      libIIO is the userspace library to easily access the kernel IIO subsystem. It also provides various methods and command line interfaces, packaged in libiio-utils, to access the IIO devices. There are other Python wrappers around this library, but the motor control library uses a native C/C++ library.

      +

      For example, to list all the available IIO devices:

      +
      ubuntu@kria:~$ iio_attr -c
+IIO context has 7 devices:
+        iio:device0, ams: found 30 channels
+        iio:device1, ina260-u14: found 6 channels
+        iio:device2, hls_foc_periodic: found 11 channels
+        iio:device3, hls_qei_axi: found 3 channels
+        iio:device4, xilinx_adc_hub: found 9 channels
+        iio:device5, hls_svpwm_duty: found 4 channels
+        iio:device6, hls_pwm_gen: found 4 channels
+
      +
      +

      For more details, refer to the libIIO Documentation.

      +
      +
      +

      Userspace Access to UIO

      +

      The custom motor control IP is accessed from the motor control library using the UIO interface. A device tree node with compatible string as generic-uio is added to connect this hardware to the UIO subsystem.

      +

      The device is now accessible in the userspace through the /dev/uioX device. Information about the device is obtained by scanning /sys/class/uio/uioX, where X is the UIO device id automatically assigned by the kernel.

      +

      For more information on the UIO interface, refer to the kernel documentation.

      +
      +
      +
      +

      Application and Library

      +

      The motor control library is a C++ library that provides APIs for the front end application to control and fetch motor parameters. It also has a pybind11 wrapper to support the library APIs through python front end. The front end GUI included with this application is based on a python bokeh server, which can be accessed in a web browser in the network.

      +
      +

      Motor Control Library

      +

      The library can be divided into four blocks:

      +
        +

      • Communication

        • +

      • State Management and Coordination

        • +

      • Event/Fault Management

        • +

      • Control

        • +
      +

      Motor Control Library

      +
      +

      Communication

      +

      The external user interfacing exposes the supported APIs through the C++ shared library and Python module.

      +

      The library allows the user application to fetch following values:

      +
        +

      • Speed

        • +

      • Position

        • +

      • Current (Phase A, Phase B, Phase C, DC Link)

        • +

      • Voltage (Phase A, Phase B, Phase C, DC Link)

        • +

      • Fault status

        +
          +

        • Over current for A, B, C, DC

          • +

        • Over and under voltage for DCLink

          • +

        • RMS power fault

          • +

        • Phase imbalance fault

          • +
        +
        • +

      • Intermediate FOC calculations (example: iq, id, i_alpha, etc)

        • +
      +

      The library allows the user application to set following motor controls:

      +
        +

      • Clear faults

        • +

      • Speed

        • +

      • Torque

        • +

      • Open loop parameters (vq and vd)

        • +

      • Gain P/I gains (for current, speed and flux controller)

        • +
      +

      For details list of APIs, refer to the motor-control.hpp file.

      +

      Python binding for the application is provided using the pybind11 library.

      +
      +
      +

      State Management and Coordination

      +

      This is the central part of the library, which receives and processes all the request from the communication block and is responsible for:

      +
        +

      • Executing the initialization sequence for the motor.

        • +

      • Maintaining the current state of the platform and handling the state transitions.

        • +

      • Splitting, merging, and coordinating the request with various handlers in the control block.

        • +
      +
      +
      +

      Event/Fault Management

      +

      The Event Manager is responsible for configuring and monitoring events/faults from various hardware blocks. This block is aware of event capabilities of various control blocks and configures the events accordingly.

      +

      It caches the event status in realtime and returns that to user when requested. The event is monitored in a separate thread which waits on epoll events for the registered events. Optionally, it also provides callback function registration in case additional action is expected when a realtime event occurs.

      +
      +
      +

      Control

      +

      This block is responsible for hardware access. There are interface classes which implement common interfaces for all the IIO based control handlers and all the UIO based control handlers. It also provides abstraction for the sensor interface to support more than one sensor (only one used at a given time).

      +

      The following various handlers are for controlling the respective hardware:

      +
        +

      • FOC: For controlling and fetching data from the FOC hardware through the libiio framework.

        • +

      • ADCHub: For controlling and fetching data from the ADCHub hardware through the libiio framework.

        • +

      • Sensor: Abstraction for controlling and fetching data from the sensor hardware through the libiio framework (QEI in this case).

        • +

      • PWM_Gen: For controlling the PWM_GEN hardware through the libiio framework.

        • +

      • SVPWM: For controlling the SVPWM hardware through the libiio framework.

        • +

      • MC_UIO: For controlling custom Motor Control IP hardware through the UIO framework.

        • +

      • SW_AvgPower: Software based average power calculator to generate fault and control gate driver through MC_UIO.

        • +
      +
      +
      +

      Additional Threads

      +

      The following additional threads are implemented in the library:

      +
        +

      • Speed Ramp: When a new speed set point is set, the speed is ramped up or down in the FOC control handler using the constant ramp rate defined in default_config.h.

        • +

      • Torque Ramp: When new torque set point is set, the speed is ramped up or down in the FOC control handler using the constant ramp rate defined in default_config.h.

        • +

      • Event Monitor: The event manager waits on any event using epoll_wait in its own thread.

        • +
      +
      +
      +
      +

      Bokeh Server (GUI)

      +

      A python based bokeh server is implemented to provide a GUI interface to the application. It imports the motor control python library. The plot updates are handled by an update function which is called at the interval specified in the Refresh Interval text box. For each update, the function requests the number of samples specified in the Sample Size text box and update the plots with new data.

      +

      For more details on the GUI usage, refer the Application Deployment page for the details on the components and its usage.

      +
      +
      + +
      + + +
      +
      + + + +
      +
      +
      +
      + + + + + + \ No newline at end of file diff --git a/kd240/build/html/docs/foc-motor-ctrl/foc_motor_control_landing.html b/kd240/build/html/docs/foc-motor-ctrl/foc_motor_control_landing.html index 60dde33b..44be7be7 100644 --- a/kd240/build/html/docs/foc-motor-ctrl/foc_motor_control_landing.html +++ b/kd240/build/html/docs/foc-motor-ctrl/foc_motor_control_landing.html @@ -1,8 +1,7 @@ - - + @@ -27,13 +26,14 @@ - - - + + + + + - @@ -47,6 +47,7 @@
      Kria™ KD240 +
      1.0 @@ -83,12 +84,10 @@
    2. ROS 2 Multi-Node Communications Via TSN
    3. FOC Motor Control Application
      4. @@ -231,14 +210,13 @@

      Other

    - - -
    -

    Load the Firmware

    +
    +
    +
    +

    Load the Firmware

    • Show the list and status of available application firmware.

      After installing the firmware, execute xmutil listapps to verify that it is captured under the listapps function and to have dfx-mgrd rescan and register all accelerators in the firmware directory tree.

      -
      ubuntu@kria:~$ sudo xmutil listapps
-       Accelerator          Accel_type                 Base           Base_type      #slots(PL+AIE)    Active_slot
+
      ubuntu@kria:~$ sudo xmutil listapps
+       Accelerator          Accel_type                 Base           Base_type      #slots(PL+AIE)    Active_slot
 
-  kd240-motor-ctrl-qei       XRT_FLAT         kd240-motor-ctrl-qei     XRT_FLAT            (0+0)           -1
+  kd240-motor-ctrl-qei       XRT_FLAT         kd240-motor-ctrl-qei     XRT_FLAT            (0+0)           -1

    • Load the desired application firmware.

      When there is already another accelerator/firmware loaded, unload it first, then load the kd240-foc-motor-ctrl firmware.

      -
      sudo xmutil unloadapp
-sudo xmutil loadapp kd240-motor-ctrl-qei
+
      sudo xmutil unloadapp
+sudo xmutil loadapp kd240-motor-ctrl-qei
    - -
    -

    Control Interfaces

    +
    +
    +

    Control Interfaces

    This application provides two interfaces to control the motor. The dashboard application allows the user to control the motor and view live plots via a web-based dashboard running on the KD240. The CANopen application allows the @@ -325,15 +298,15 @@

    Control Interfaces -

    Run the Motor Control Dashboard Application

    -
    -

    On the KD240

    +

    +
    +

    Run the Motor Control Dashboard Application

    +
    +

    On the KD240

    • Run the bokeh server:

      # Run the application to launch bokeh server for the dashboard
-export PATH=${PATH}:/opt/xilinx/xlnx-app-kd240-foc-motor-ctrl/bin
+export PATH=${PATH}:/opt/xilinx/xlnx-app-kd240-foc-motor-ctrl/bin
 start_motor_dashboard
 # Enter the sudo password if required and note the ip address of the board
      @@ -349,7 +322,7 @@

      On the KD240
      sudo bokeh serve --show --allow-websocket-origin=<ip>:5006 mc_bokeh.py --args </path/to/config/file>
+
      sudo bokeh serve --show --allow-websocket-origin=<ip>:5006 mc_bokeh.py --args </path/to/config/file>
 
      
 
      
 
      Replace  with board ip and <path/to/config/file> with the actual path to the desired configuration file.
      
@@ -358,10 +331,10 @@ 
      On the KD240
-
      On the Host PC
      
+
      +

      +
      +

      On the Host PC

      • Open <ip>:5006 in a web browser.

        @@ -374,8 +347,8 @@

        On the Host PC -

        Dashboard Features

        +
        +

        Dashboard Features

        • The Mode drop-down is used to select the control system mode of operation.

        • The Sample Size text box is used to indicate how many samples are collected and plotted on the graphs for each type of data. The samples are collected at 100 microsecond intervals. The maximum number of samples is limited to 3000 due to dashboard performance limitations. For a large number of samples, there might be a small delay before a dashboard command takes effect.

          • @@ -407,187 +380,174 @@

          Dashboard Features Motor-Control-Dashboard Motor-Control-Dashboard

          - - -
          -

          Run the Motor Control ROS2 CANopen Application

          -
          -

          Test CAN Communication

          +

        +

      +
      +

      Run the Motor Control ROS2 CANopen Application

      +
      +

      Test CAN Communication

      • On the KR260, go through Booting Kria Starter Kit Linux to complete the minimum setup required to boot Linux before continuing with instructions on this page.

      • Install and load firmware on KR260. The kr260-tsn-rs485pmod firmware is used to enable to PMOD-CAN interface on KR260.

        -
        sudo apt install xlnx-firmware-kr260-tsn-rs485pmod
-sudo xmutil unloadapp
-sudo xmutil loadapp kr260-tsn-rs485pmod
+
        sudo apt install kr260-tsn-rs485pmod
+sudo xmutil unloadapp
+sudo xmutil loadapp kr260-tsn-rs485pmod

      • Set up the CAN interface on both the KR260 and KD240.

        -
        sudo ip link set can0 up type can bitrate 100000
-sudo ip link set can0 txqueuelen 10000
-sudo ip link set can0 up
-
        -
        -
        • -

      • Verify the CAN interface state

        -
        ip -d -s link show can0
+
        sudo ip link set can0 up type can bitrate 1000000
+sudo ip link set can0 txqueuelen 1000
+sudo ip link set can0 up

      • Install can-utils on both the KR260 and KD240.

        -
        sudo apt install -y can-utils
+
        sudo apt install -y can-utils

      • On one board, run candump.

        -
        candump can0
+
        candump can0

      • On the other board, use cansend to send test data. You should see this data show up on the board running candump.

        -
        sudo cansend can0 123#1122334455667788
+
        sudo cansend can0 123#1122334455667788
      - -
      -

      On the KD240

      +
      +
      +

      On the KD240

      • Run the CANopen application.

        -
        export PATH=${PATH}:/opt/xilinx/xlnx-app-kd240-foc-motor-ctrl/bin
+
        export PATH=${PATH}:/opt/xilinx/xlnx-app-kd240-foc-motor-ctrl/bin
 start_motor_server
        • -

      • To terminate the server

        -

        If it is required to kill the server kill fmc_canopen application

        -
        sudo killall  fmc_canopen
-
        -
        -
      - -
      -

      On the KR260 (master)

      +
      +
      +

      On the KR260 (master)

      • Download the docker image on the KR260.

        -
        docker pull xilinx/foc-motor-ctrl-ros2-canopen-host:latest
+
        docker pull xilinx/foc-motor-ctrl-ros2-canopen-host:latest

      • You can find the images installed with the following command:

        -
        docker images
+
        docker images

      • Launch the docker container on the KR260.

        -
        docker run \
-    --env=DISPLAY \
-    --env=XDG_SESSION_TYPE \
-    --net=host \
-    --privileged \
-    --volume=/home/ubuntu/.Xauthority:/root/.Xauthority:rw \
-    --name=motor_control \
-    --rm \
-    -v /tmp:/tmp \
-    -v /dev:/dev \
-    -v /sys:/sys \
-    -v /etc/vart.conf:/etc/vart.conf \
-    -v /lib/firmware/xilinx:/lib/firmware/xilinx \
-    -v /run:/run \
-    -it xilinx/foc-motor-ctrl-ros2-canopen-host:latest bash
-
        -
        -
        • -

      • Inside the container, run canopen host tests using the launch file described in the following -subsections. There are 2 tests:

        -
          -

        • Simple CiA402 system: where host accesses motor directly using ros2_canopen 402 driver.

          • -

        • ROS2 Control example: where host accesses motor over ros2_control interface.

          • -
        -
        -

        Note: Do not run both the launch files together as they will interfere in the operations. Only one test can be running at a given time.

        -
        +
        docker run \
+    --env=DISPLAY \
+    --env=XDG_SESSION_TYPE \
+    --net=host \
+    --privileged \
+    --volume=/home/ubuntu/.Xauthority:/root/.Xauthority:rw \
+    -v /tmp:/tmp \
+    -v /dev:/dev \
+    -v /sys:/sys \
+    -v /etc/vart.conf:/etc/vart.conf \
+    -v /lib/firmware/xilinx:/lib/firmware/xilinx \
+    -v /run:/run \
+    -it foc-motor-ctrl-ros2-canopen-host:latest bash
+
        +
        • -
      -
      -

      Run a simple CiA402 system host

      -
        -

      • In the docker run terminal start the canopen 402 host ros container using the launch file

        -
        ros2 launch kria_motor_control kd240.system.launch.py
+
      • Make sure you are inside the docker container and source the ROS setup files.
        
+
        source /opt/ros/humble/setup.bash
+source /root/ros_ws/install/setup.bash
 
        
 
        
 
        • 
-
      • Open a new terminal, start another session of the the same container.
        
-
        docker exec -it motor_control bash
+
      • Start the launch file.
        
+
        ros2 launch foc_motor kd240.launch.py
+
        
+
        
+
        • 
+
      • Open a new terminal, find the docker container id, and launch another
+session connected to the same container.
        
+
        docker ps       # Copy container_id from output of this command
+docker exec -it <container_id> bash
+
        
+
        
+
        • 
+
      • In the new docker session, source the ROS setup files.
        
+
        source /opt/ros/humble/setup.bash
+source /root/ros_ws/install/setup.bash
 
        
 
        
 
        • 
 
      • Check the available services and their types.
        
-
        ros2 service list -t
+
        ros2 service list -t
 
        
 
        
 
        The output should look similar to this:
        
-
        ubuntu@KR260:~$ ros2 service list -t
-/device_container_node/change_state [lifecycle_msgs/srv/ChangeState]
-/device_container_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]
-/device_container_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
-/device_container_node/get_parameters [rcl_interfaces/srv/GetParameters]
-/device_container_node/init_driver [canopen_interfaces/srv/CONode]
-/device_container_node/list_parameters [rcl_interfaces/srv/ListParameters]
-/device_container_node/set_parameters [rcl_interfaces/srv/SetParameters]
-/device_container_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
-/kd240/cyclic_position_mode [std_srvs/srv/Trigger]
-/kd240/cyclic_velocity_mode [std_srvs/srv/Trigger]
-/kd240/describe_parameters [rcl_interfaces/srv/DescribeParameters]
-/kd240/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
-/kd240/get_parameters [rcl_interfaces/srv/GetParameters]
-/kd240/halt [std_srvs/srv/Trigger]
-/kd240/init [std_srvs/srv/Trigger]
-/kd240/interpolated_position_mode [std_srvs/srv/Trigger]
-/kd240/list_parameters [rcl_interfaces/srv/ListParameters]
-/kd240/nmt_reset_node [std_srvs/srv/Trigger]
-/kd240/nmt_start_node [std_srvs/srv/Trigger]
-/kd240/position_mode [std_srvs/srv/Trigger]
-/kd240/recover [std_srvs/srv/Trigger]
-/kd240/sdo_read [canopen_interfaces/srv/CORead]
-/kd240/sdo_write [canopen_interfaces/srv/COWrite]
-/kd240/set_parameters [rcl_interfaces/srv/SetParameters]
-/kd240/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
-/kd240/target [canopen_interfaces/srv/COTargetDouble]
-/kd240/torque_mode [std_srvs/srv/Trigger]
-/kd240/velocity_mode [std_srvs/srv/Trigger]
-/launch_ros_33646/describe_parameters [rcl_interfaces/srv/DescribeParameters]
-/launch_ros_33646/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
-/launch_ros_33646/get_parameters [rcl_interfaces/srv/GetParameters]
-/launch_ros_33646/list_parameters [rcl_interfaces/srv/ListParameters]
-/launch_ros_33646/set_parameters [rcl_interfaces/srv/SetParameters]
-/launch_ros_33646/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
-/master/describe_parameters [rcl_interfaces/srv/DescribeParameters]
-/master/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
-/master/get_parameters [rcl_interfaces/srv/GetParameters]
-/master/list_parameters [rcl_interfaces/srv/ListParameters]
-/master/sdo_read [canopen_interfaces/srv/COReadID]
-/master/sdo_write [canopen_interfaces/srv/COWriteID]
-/master/set_parameters [rcl_interfaces/srv/SetParameters]
-/master/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
+
        ubuntu@KR260:~$ ros2 service list -t
+/device_container_node/change_state [lifecycle_msgs/srv/ChangeState]
+/device_container_node/describe_parameters [rcl_interfaces/srv/DescribeParameters]
+/device_container_node/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
+/device_container_node/get_parameters [rcl_interfaces/srv/GetParameters]
+/device_container_node/init_driver [canopen_interfaces/srv/CONode]
+/device_container_node/list_parameters [rcl_interfaces/srv/ListParameters]
+/device_container_node/set_parameters [rcl_interfaces/srv/SetParameters]
+/device_container_node/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
+/kd240/cyclic_position_mode [std_srvs/srv/Trigger]
+/kd240/cyclic_velocity_mode [std_srvs/srv/Trigger]
+/kd240/describe_parameters [rcl_interfaces/srv/DescribeParameters]
+/kd240/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
+/kd240/get_parameters [rcl_interfaces/srv/GetParameters]
+/kd240/halt [std_srvs/srv/Trigger]
+/kd240/init [std_srvs/srv/Trigger]
+/kd240/interpolated_position_mode [std_srvs/srv/Trigger]
+/kd240/list_parameters [rcl_interfaces/srv/ListParameters]
+/kd240/nmt_reset_node [std_srvs/srv/Trigger]
+/kd240/nmt_start_node [std_srvs/srv/Trigger]
+/kd240/position_mode [std_srvs/srv/Trigger]
+/kd240/recover [std_srvs/srv/Trigger]
+/kd240/sdo_read [canopen_interfaces/srv/CORead]
+/kd240/sdo_write [canopen_interfaces/srv/COWrite]
+/kd240/set_parameters [rcl_interfaces/srv/SetParameters]
+/kd240/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
+/kd240/target [canopen_interfaces/srv/COTargetDouble]
+/kd240/torque_mode [std_srvs/srv/Trigger]
+/kd240/velocity_mode [std_srvs/srv/Trigger]
+/launch_ros_33646/describe_parameters [rcl_interfaces/srv/DescribeParameters]
+/launch_ros_33646/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
+/launch_ros_33646/get_parameters [rcl_interfaces/srv/GetParameters]
+/launch_ros_33646/list_parameters [rcl_interfaces/srv/ListParameters]
+/launch_ros_33646/set_parameters [rcl_interfaces/srv/SetParameters]
+/launch_ros_33646/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
+/master/describe_parameters [rcl_interfaces/srv/DescribeParameters]
+/master/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
+/master/get_parameters [rcl_interfaces/srv/GetParameters]
+/master/list_parameters [rcl_interfaces/srv/ListParameters]
+/master/sdo_read [canopen_interfaces/srv/COReadID]
+/master/sdo_write [canopen_interfaces/srv/COWriteID]
+/master/set_parameters [rcl_interfaces/srv/SetParameters]
+/master/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
 
        
 
        
 
        • 
 
      • To view an interface definition, use:
        
-
        ros2 interface show <type>
+
        ros2 interface show <type>
 
        
 
        
 
        For example, to view the interface definition for the canopen_interfaces/srv/COTargetDouble
 type which is used for the /kd240/target service, run the command below.
 This will print the input (target) and output (success).
        
-
        ubuntu@KR260:~$ ros2 interface show canopen_interfaces/srv/COTargetDouble
-float64 target
+
        ubuntu@KR260:~$ ros2 interface show canopen_interfaces/srv/COTargetDouble
+float64 target
 ---
-bool success
+bool success
 
        
 
        
 
        • 
@@ -595,149 +555,97 @@ 
        Run a simple CiA402 system hostCia402 Driver documentation.
        
 
        Reset:
        
-
        ros2 service call /kd240/nmt_reset_node std_srvs/srv/Trigger
+
        ros2 service call /kd240/nmt_reset_node std_srvs/srv/Trigger
 
        
 
        
 
        Init:
        
-
        ros2 service call /kd240/init std_srvs/srv/Trigger
+
        ros2 service call /kd240/init std_srvs/srv/Trigger
 
        
 
        
 
        Change to velocity mode:
        
-
        ros2 service call /kd240/velocity_mode std_srvs/srv/Trigger
+
        ros2 service call /kd240/velocity_mode std_srvs/srv/Trigger
 
        
 
        
 
        Change target speed:
        
-
        ros2 service call /kd240/target canopen_interfaces/srv/COTargetDouble "target: 3000"
-
        
-
        
-
        
-
        Note: For the Anaheim motor kit, the speed range is 250 to 10000 rpm in
-both directions. If the motor does not spin at 250 rpm, try a faster speed.
-The minimum speed can vary by motor.
        
-
        
-
        • 
-
      -
      -
      -

      Run a ROS2 Control based example

      -
        -

      • In the docker run terminal start the canopen 402 control system host using the launch file

        -
        ros2 launch kria_motor_control kd240.ros2_control.launch.py
+
        ros2 service call /kd240/target canopen_interfaces/srv/COTargetDouble "target: 800"
 
        
 
        
-
        • -

      • Open a new terminal, start another session of the the same container.

        -
        docker exec -it motor_control bash
+
        Halt:
        
+
        ros2 service call /kd240/halt std_srvs/srv/Trigger
        • -

      • List the available controllers using ros2 control cli utility

        -
        ros2 control list_controllers
-
        -
        -

        The output should look similar to this:

        -
        ubuntu@KR260:~$ ros2 control list_controllers
-forward_velocity_controller[velocity_controllers/JointGroupVelocityController] active
-joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
-
        -
        -
        • -

      • To view the available hardware interfaces, use:

        -
        ros2 control list_hardware_interfaces
-
        -
        -

        The output should look similar to this:

        -
        ubuntu@KR260:~$ ros2 control list_hardware_interfaces
-command interfaces
-        wheel_joint/velocity [available] [claimed]
-state interfaces
-        wheel_joint/position
-        wheel_joint/velocity
-
        -
        -
        • -

      • List the Ros2 Topics

        -
        ubuntu@KR260:~$ ros2 topic list
-/dynamic_joint_states
-/forward_velocity_controller/commands
-/forward_velocity_controller/transition_event
-/joint_state_broadcaster/transition_event
-/joint_states
-/kd240_wheel/joint_states
-/kd240_wheel/nmt_state
-/kd240_wheel/rpdo
-/kd240_wheel/tpdo
-/parameter_events
-/robot_description
-/rosout
-/tf
-/tf_static
-
        -
        -
        • -

      • Observe the live state of the system using dynamic_joint_states

        -
        ros2 topic echo  /dynamic_joint_states
-
        -
        -

        This continuously updates the current state of the system and shows the position and speed of the motor.

        -
        • -

      • Open a new terminal, start another session of the the same container.

        -
        docker exec -it motor_control bash
-
        +
      -
      • -

    • Update the speed of the motor using velocity controller in a new terminal

      -
      ros2 topic pub --once /forward_velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [5000]"
-
      -
      • -
    -

    Ro2_control_demo

    - - - -
    -

    Run One Wire Temperature Sensor Demo

    -
    -
    -

    Next Steps

    +
    +
    +
    + +

    -
    +

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/foc-motor-ctrl/src/canopen_obj_dic.html b/kd240/build/html/docs/foc-motor-ctrl/src/canopen_obj_dic.html index dcd87761..f64fa184 100644 --- a/kd240/build/html/docs/foc-motor-ctrl/src/canopen_obj_dic.html +++ b/kd240/build/html/docs/foc-motor-ctrl/src/canopen_obj_dic.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -45,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -113,17 +115,17 @@
    -
    -

    Object Dictionary Information

    -
    -

    Electronic Datasheet Information

    +
    +

    Object Dictionary Information

    +
    +

    Electronic Datasheet Information

    Version 1, revision 1
 FOC Motor Control Device
    -
    -
    -

    Product Information

    +
    +
    +

    Product Information

    @@ -157,9 +159,9 @@

    Product Information -

    Commissioning Information

    +

    +
    +

    Commissioning Information

    @@ -197,11 +199,11 @@

    Commissioning Information -

    PDO Configuration

    -
    -

    Communication Parameters

    +

    +
    +

    PDO Configuration

    +
    +

    Communication Parameters

    @@ -279,9 +281,9 @@

    Communication Parameters -

    Mappings

    +

    +
    +

    Mappings

    @@ -347,12 +349,12 @@

    Mappings

    -
    [0x6064,0x00] Position Actual Value (Integer32)
    - -
    -

    Object Dictionary

    -
    -

    Overview

    +
    +
    +
    +

    Object Dictionary

    +
    +

    Overview

    @@ -1462,9 +1464,9 @@

    Overview

    -
    0xC
    -
    -

    Device type (0x1000)

    +
    +
    +

    Device type (0x1000)

    @@ -1494,9 +1496,9 @@

    Device type (0x1000) -

    Error register (0x1001)

    +

    +
    +

    Error register (0x1001)

    @@ -1526,9 +1528,9 @@

    Error register (0x1001)0x00

    -
    -
    -

    Pre-defined error field (0x1003)

    +
    +
    +

    Pre-defined error field (0x1003)

    @@ -2022,9 +2024,9 @@

    Pre-defined error field (0x1003) -

    COB-ID SYNC message (0x1005)

    +

    +
    +

    COB-ID SYNC message (0x1005)

    @@ -2054,9 +2056,9 @@

    COB-ID SYNC message (0x1005) -

    Communication cycle period (0x1006)

    +

    +
    +

    Communication cycle period (0x1006)

    @@ -2086,9 +2088,9 @@

    Communication cycle period (0x1006) -

    Synchronous window length (0x1007)

    +

    +
    +

    Synchronous window length (0x1007)

    @@ -2118,9 +2120,9 @@

    Synchronous window length (0x1007) -

    Manufacture Device Name (0x1008)

    +

    +
    +

    Manufacture Device Name (0x1008)

    @@ -2150,9 +2152,9 @@

    Manufacture Device Name (0x1008) -

    Manufacture hardware version (0x1009)

    +

    +
    +

    Manufacture hardware version (0x1009)

    @@ -2182,9 +2184,9 @@

    Manufacture hardware version (0x1009) -

    Manufacture software version (0x100A)

    +

    +
    +

    Manufacture software version (0x100A)

    @@ -2214,9 +2216,9 @@

    Manufacture software version (0x100A) -

    Store parameters (0x1010)

    +

    +
    +

    Store parameters (0x1010)

    @@ -2382,9 +2384,9 @@

    Store parameters (0x1010)

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/foc-motor-ctrl/src/hw_description.html b/kd240/build/html/docs/foc-motor-ctrl/src/hw_description.html index 642b3c6d..256481d9 100644 --- a/kd240/build/html/docs/foc-motor-ctrl/src/hw_description.html +++ b/kd240/build/html/docs/foc-motor-ctrl/src/hw_description.html @@ -1,8 +1,7 @@ - - + @@ -27,14 +26,14 @@ - - - + + + + + - - - + @@ -47,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -78,33 +78,10 @@
  • Kria Robotics Stack

    • KD240 Applications

    -

    -

    Hardware Architecture of the Platform

    -

    Hardware Architecture of the Platform

    -
    -

    Introduction

    +
    +

    Hardware Architecture of the Platform

    +
    +

    Introduction

    This section describes the design implemented in the programmable logic (PL). The following figure shows the top-level hardware architecture of the reference design.

    Hardware Architecture block diagram

    At a high-level, the design is comprised of a motor control system, a data monitoring system, a data processing system, and a communication system.

    @@ -187,46 +163,46 @@

    Introduction -

    Motor Control System

    -
    -

    QEI

    +

    +
    +

    Motor Control System

    +
    +

    QEI

    The QEI module from the Vitis Motor Control Library reads the encoder on the motor and provides the data to the FOC block.

    For more information, visit Vitis Libraries Documentation.

    -
    -
    -

    FOC

    +
    +
    +

    FOC

    The FOC module from the Vitis Motor Control Library implements a sensor-based field-orientated control. The eight control modes it supports cover basic speed and torque control modes, as well as field-weakening control.

    For more information, visit Vitis Libraries Documentation.

    - -
    -

    SVPWM

    +
    +
    +

    SVPWM

    The SVPWM module from the Vitis Motor Control Library implements the front-end for Space Vector Pulse Width Modulation to calculate phase ratios for the motor.

    For more information, visit Vitis Libraries Documentation.

    - -
    -

    PWM Gen

    +
    +
    +

    PWM Gen

    The PWM Gen module from the Vitis Motor Control Library implements the back-end for Space Vector Pulse Width Modulation to generate output signals based on the ratios from SVPWM.

    For more information, visit Vitis Libraries Documentation.

    - -
    -

    Motor Control

    +
    +
    +

    Motor Control

    The motor control block collects all the fault information generated from ADC Hub and uses this information along with its own phase balance calculations on the Phase A, B, and C data to decide whether to allow the gate drivers to drive the motors.

    - - -
    -

    Data Monitoring System

    -
    -

    ADC Sample Control

    +
    +
    +
    +

    Data Monitoring System

    +
    +

    ADC Sample Control

    This custom IP converts the motor pwm_sync pulse from the HLS module hls_pwm_gen to an update signal that initiates the ADC capture cycle at regular intervals. The ADC Sample Control module acts much like a phase-locked loop (PLL), in that it tries to align the ADC captures to the pwm_sync pulse and keep the ADC samples to an integer number of samples during the pwm_sync cycle.

    - -
    -

    ADC7352 Interface

    +
    +
    +

    ADC7352 Interface

    The voltage and current for DC Link and Motor Phase A, B, and C, are captured by the ADC7352 Interface IP. The IP can be configured for up to 16 channels, each with its own bit resolution. Each channel can control one ADC7352, with its own Chip Select (CS). The KD240 Motor Control Kit uses eight channels at 12 bits resolution. DC Link ADC uses one chip select, and the Phase A/B/C Motor ADCs share another chip select for simultaneous data collection.

    - -
    -

    ADC Encoding Conversions

    +
    +
    +

    ADC Encoding Conversions

    The KD240 Motor Control Kit makes use of the AD7352 which is a unipolar ADC using USB encoding. The DC link and stator voltages are measured and encoded without any analog offsets while the current measurements require direction. For current measurements, an instrumentation amplifier with an analog offset output is used to be able to make use of the unipolar ADC to encode both positive and negative measured currents. The following table outlines the expected mapping.

    @@ -280,22 +256,22 @@

    ADC Encoding Conversions -

    Data Processing System

    -
    -

    ADC Hub

    + + +
    +

    Data Processing System

    +
    +

    ADC Hub

    This custom IP is the center of the processing for ADC data. It is parameterizable up to 16 channels, and each channel can be a different width. Each channel can also be treated as BTC or USB individually and can be customized to use DSP blocks or logic to implement the multipliers used for scaling the ADC data. There is also a choice for whether the channel is a Current or Voltage channel. This information is only to help the software understand what units to use for the data it reads from the ADC Hub. The KD240 Motor Control Kit uses eight channels, 12-bits, BTC encoding, and all channels are using the DSP for multipliers.

    Inside the ADC Hub are several functions, which are described in the next few sections.

    -
    -

    Simple Moving Average

    +
    +

    Simple Moving Average

    The data from the ADCs comes into the ADC Hub and goes into the Simple Moving Average (SMA) block. If there is an offset programmed by the software, first the offset is subtracted from the raw data coming in from the ADC. The offset can be positive or negative, which will result in either a smaller or larger value, respectively.

    After the offset is applied, then the data is entered into a FIFO, implemented in a block RAM. Software can program the number of taps to use for the SMA, from 1 to 128 in powers of two. The SMA function adds each new data to the sum of the previous data until the number of samples reaches the number of taps programmed by the software. At that time, the newest sample is added to the sum, and the oldest sample is read out of the block RAM and subtracted from the sum. The new sum is then shifted by the log2 of the tap count and becomes the output of the SMA module.

    There is no output from the SMA until the number of sammples has reached the number of taps. If the number of taps changes while the SMA is running, the whole datapath is reset, and the block RAM and adders are cleared. Once again, there will be no output until the new number of taps matches the number of samples received.

    -
    -
    -

    Q-Scaler

    +
    +
    +

    Q-Scaler

    The ADC Hub scales the averaged data in the Q-Scaler module. Software programs the scaling factor, which is then multiplied with the averaged data. This multiplier can be implemented by a DSP or by logic in the configuration of the ADC Hub, on a per-channel basis. The scaled data is converted to Q-format, with 24 total bits. The integer portion is 7 bits, the fractional portion is 16 bits, and one sign bit. This scaled value is passed to the rest of the system as an AXI4-Stream interface, with no dependence on tready so that the data is always the most recent value.

    The scaling factors used in the KD240 Motor Control Kit are in the following table.

    @@ -333,14 +309,14 @@

    Q-Scaler

    -
    0x00_0148
    -
    -

    Motor Fault Generation

    +
    +
    +

    Motor Fault Generation

    The averaged and scaled data is compared against limits set by the software to determine whether a fault has occurred. Software can program over-limits and under-limits per channel. If such limits are enabled, and the scaled data exceeds these limits, then a fault will be generated. There are over-faults and under-faults, and if enabled and triggered will result in an error being generated.

    Errors can only be cleared by writing a specific value to the associated clear register (one for over-fault and one for under-fault). These faults are used to generate interrupts for the ADC Hub, if interrupts are enabled. They are also used by the Motor Control module to generate the gate drive enable signal to the Gate Driver.

    - -
    -

    Register Map

    +
    +
    +

    Register Map

    The AXI Interface in the ADC Hub allows the software to control and monitor the hardware. The register map is as follows:

    Address Decode

    @@ -501,15 +477,15 @@

    Register Map0x0000_0000 -

    - - -
    -

    TSN System

    +
    +
    +
    +
    +

    TSN System

    The following figure shows the blocks in the TSN System.

    TSN System block diagram

    -
    -

    TSN IP

    +
    +

    TSN IP

    The LogiCORE™ 100M/1G TSN Subsystem IP implements IEEE 802.1 Time Sensitive Networking (TSN) standards and provides a low latency bridged endpoint. The bridged endpoint solution consists of a 3-port switch, two ports connects to the network and one port connects to an internal endpoint. In this design, reduced gigabit media independent interface (RGMII) interfaces connect to a Marvel physical-side interface (PHY) supporting a maximum bandwidth of 1 Gbps. The TSN IP is configured to support:

      @@ -523,22 +499,22 @@

      TSN IP -
      -

      MCDMA

      +
      +

      MCDMA

      The AXI MCDMA provides high-bandwidth direct memory access between memory (AXI Memory Mapped) and stream (AXI4-Stream) target peripherals. It supports both Memory Mapped to Stream (MM2S) and Stream to Memory Mapped (S2MM) transfers. The AXI MCDMA core provides a Scatter Gather (SG) interface with multiple channel support with independent configuration. In this design, the MCDMA is responsible to fetch Best Effort traffic for transmission by the TSN IP. It reads frames from the DDR memory and passes the data to the TSN IP on an AXI4-Stream interface. It is also responsible for writing the Schedule traffic and Best Effort traffic frames received from the TSN IP to the memory. The IP uses the S_AXI_HP0_FPD on the AMD Zynq™ UltraScale+™ MPSoC Processing System (PS) IP to read/write from/to DDR memory.

      For more information on the IP, refer to the AXI MCDMA LogiCORE IP Product Guide (PG288).

      -
      -
      -

      TADMA

      +

    +
    +

    TADMA

    TADMA is aware of QBV schedule cycles, stream time slots, and by using PTP generated time, it is capable of fetching frames for different streams/traffic classes from the system memory (DDR) at precisely required time, providing excellent time precision for TSN traffic. In this design, TADMA fetches scheduled traffic from memory, based on the Qbv programming and passed it to the TSN IP for transmission.

    For more information on the IP, refer to the Time Aware DMA Product Guide (PG316).

    NOTE: You will need access to the 1GTSN Documentation Lounge to view the above document.

    -
    -
    -

    Test PMOD Controller

    +
    +
    +

    Test PMOD Controller

    The Test PMOD controller is a user IP that drives the Digilent Test PMOD pins. The IP implements the following registers.

    @@ -580,18 +556,18 @@

    Test PMOD ControllerTo view scheduled and best effort traffic, the MUX value is set to 1. If the Qbv schedule is set, for example, a time slot is programmed with 70% scheduled traffic and 30% best effort traffic, then viewing tlast signal of received scheduled traffic and tlast signal of received best effort traffic on a scope will confirm that Qbv is working as expected. tlast indicates the end of a packet. Transmit signals can also be monitored, but these signals are the on the outside of the TSN IP and the traffic is yet to be scheduled.

    The other signal which is monitored to see if the Transmitter and Receiver clocks are in sync is the PTP clock.

    For more information on how to use PMOD signals to check clock synchronization and to measure latency and confirm Qbv programming, refer to application deployment page.

    - - - -
    -

    AXI 1-wire Bus Host IP

    + + + +
    +

    AXI 1-wire Bus Host IP

    The AXI 1-Wire Host provides a 1-Wire bus controller interface to an AXI4-Lite interface. It supports the 1-Wire bus protocol with support for the essential 1-Wire bus master signals. The AXI 1-Wire Host contains a 1-Wire Host Core Controller, which guarantees protocol timing for driving off-board devices. It can be configured to generate an interrupt when the controller completes the signal instruction cycle. The AXI 1-Wire Host can be configured to bypass the 1-Wire Host Core Controller to manipulate the 1-Wire bus as a general purpose I/O (GPIO).

    Information on how to use the AXI 1-Wire IP can be found on GitHub.

    -
    -
    -

    Clocks, Resets, and Interrupts

    -
    -

    Clocks

    + +
    +

    Clocks, Resets, and Interrupts

    +
    +

    Clocks

    The following table identifies the main clocks of the PL design, their source, their clock frequency, and their function.

    @@ -652,9 +628,9 @@

    ClocksAXI4-Lite clock to configure TSN IP, MCDMA IP, and Register interface IP -

    -
    -

    Resets

    +
    +
    +

    Resets

    The following table summarizes the resets used in this design.

    @@ -697,9 +673,9 @@

    ResetsSynchronous Reset for clk_out300M clock domain -

    -
    -

    Interrupts

    +
    +
    +

    Interrupts

    The following table lists the PL-to-PS interrupts used in this design.

    @@ -768,10 +744,10 @@

    InterruptsMCDMA IP -

    - -
    -

    Resource Utilization

    +
    +
    +
    +

    Resource Utilization

    The resource utilization numbers on this platform post implementation is reported in the following table.

    @@ -838,31 +814,28 @@

    Resource Utilization0.00 -

    -
    -

    Next Steps

    +
    + +
    -
    +

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/foc-motor-ctrl/src/introduction.html b/kd240/build/html/docs/foc-motor-ctrl/src/introduction.html index aa3609a0..ad98036c 100644 --- a/kd240/build/html/docs/foc-motor-ctrl/src/introduction.html +++ b/kd240/build/html/docs/foc-motor-ctrl/src/introduction.html @@ -1,8 +1,7 @@ - - + @@ -27,14 +26,14 @@ - - - + + + + + - - - + @@ -47,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -78,27 +78,10 @@
  • Kria Robotics Stack

    • KD240 Applications

    -
      +

      KD240 Tutorials

        @@ -122,7 +105,6 @@
        • »
          • -
        • FOC Motor Control Application »
        • Introduction
        • View page source @@ -142,8 +124,8 @@

          Introduction

          -
          -

          Introduction

          +
          +

          Introduction

          The KD240 Field Oriented Control (FOC) Motor Control Application is intended to capture general inverter and motor control examples using AMD-Xilinx standard IP/libraries. The IPs, libraries, and drivers serve as a design example demonstrating the K240 SOM capabilities in implementing applications that require precise control of the motor’s speed and torque while minimizing energy losses and reducing system noise. The IPs, libraries, and drivers created are general in the sense they do not assume specific board level hardware for implementing the necessary cyber-physical boundaries around a given application.

          An overview of the motor field orientated control library functionality is summarized in the following three types of FOC based motor control that are to be implemented for supporting the KD240. Each focuses on either controlling the torque or speed of the motor.

            @@ -151,29 +133,29 @@

            Introduction -

            Design and Implementation

            +
            +

            Design and Implementation

            The following provide more detailed definitions around the defined motor control modes of operation.

            -
            -

            Torque Control

            +
            +

            Torque Control

            Torque control implements a closed loop control focused on maintaining a specified torque value In this mode of operation, the q-vector provides the useful torque output of the motor, and the d-vector provides the force that is parallel to the rotor. The d-vector represents non-useful force, and thus any non-zero value is considered an error.

            Torque-Control

            -
            -
            -

            Speed Control

            +
            +
            +

            Speed Control

            Constant speed control is achieved through a PI controller that adjusts the motor torque to maintain a specified motor speed.

            Speed-Control

            -

          - -
          -

          Sensored FOC Application

          +
        +
    +
    +

    Sensored FOC Application

    The following block diagram shows the implementation of the Sensored FOC application.

    Motor Voltage and Current Feedbacks are provided by the ADC-HUB. The QEI Encoder provides the measured RPM from the BLDC motor as a feedback to the FOC control block. The generic PWM block is to provide a series of commands for each switch of a three leg inverter, with discrete on/off commands for each device. The Gate drive Pin control (GD Pin Control) and enable block is intended to implement the translation from the PWM functionality provided by the SVM PWM HLS IP to the KD240 specific gate drive circuit implementation. The gate drive enable signal is used to enable the power stage. This signal is shared across all three power bridge phases. The KD240 Motor Control block provides motor fault generation and system fault protection logic, which is used to check for gross failures in the system, such as shorted motor winding or failed phase leg.

    As seen by the block diagram in the kernel space, all the soft IPs are supported by kernel drivers using the industrial I/O framework. The drivers provide a number of features that make the hardware easier to configure and use these devices. It has support for buffers, common sysfs interface and integration with libiio framework in the user-space. A Motor Control application library is integrated with the device drivers to seamlessly operate different modes you set. You can control the various set points and gain parameters using the Dashboard GUI, as well as observe live plots of important metrics such as speed, feedback current/voltages, and torque. Instructions to test demo application are presented in the next section.

    Sensored-FOC

    - -
    -

    Next Steps

    +
    + +
    -
    +

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/foc-motor-ctrl/src/known_issues.html b/kd240/build/html/docs/foc-motor-ctrl/src/known_issues.html index 911ada3d..d11b6567 100644 --- a/kd240/build/html/docs/foc-motor-ctrl/src/known_issues.html +++ b/kd240/build/html/docs/foc-motor-ctrl/src/known_issues.html @@ -1,8 +1,7 @@ - - + @@ -27,13 +26,14 @@ - - - + + + + + - - + @@ -46,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -77,23 +78,10 @@
  • Kria Robotics Stack

    • KD240 Applications

    -
    -
    +

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/foc-motor-ctrl/src/sw_arch.html b/kd240/build/html/docs/foc-motor-ctrl/src/sw_arch.html index 55af11b5..7f456cec 100644 --- a/kd240/build/html/docs/foc-motor-ctrl/src/sw_arch.html +++ b/kd240/build/html/docs/foc-motor-ctrl/src/sw_arch.html @@ -1,8 +1,7 @@ - - + @@ -27,14 +26,14 @@ - - - + + + + + - - - + @@ -47,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -78,30 +78,10 @@
  • Kria Robotics Stack

    • KD240 Applications

    -
      +

      KD240 Tutorials

        @@ -125,7 +105,6 @@
        • »
          • -
        • FOC Motor Control Application »
        • Software Architecture of the Platform
        • View page source @@ -144,10 +123,10 @@

          Software Architecture

          -
          -

          Software Architecture of the Platform

          -
          -

          Introduction

          +
          +

          Software Architecture of the Platform

          +
          +

          Introduction

          This section describes software components involved in the design and their relation with each other. The application requires a hardware platform as described in Hardware Architecture of the Platform for the stack explained in this section to work.

          The software stack here provides a comprehensive library that can be interfaced using various user interfaces and efficiently drive the motor through the Kria Drive SOM board.

          The following diagram illustrates the top-level architecture and arrangement of various software components:

          @@ -184,9 +163,9 @@

          Introduction -

          Kernel Drivers

          +

          +
          +

          Kernel Drivers

          All the kernel drivers developed for the platform hardware are Industial I/O (IIO) based and adhere to the IIO kernel framework. The IIO subsystem covers many sensor and ADC devices in the industry. It provides the following features to fetch and control various parameters:

          • Divide the stream and type of data into logical channels.

            • @@ -206,8 +185,8 @@

            Kernel Drivers -

            Device and Channel Attributes

            +
            +

            Device and Channel Attributes

            As explained in the next section, the attributes exposed by each drivers can be accessed through sysfs interface or through libraries like libIIO.

            Most of the attribute names are self-explanatory. If a channel attribute is named input, it indicates that the device requires raw data for processing, and the final processed data can be read from the input channel attribute. If the input channel attribute is not present, the raw data itself represents the final value from the device.

            A couple of common device attributes accross IIO drivers in this application are:

            @@ -216,32 +195,32 @@

            Device and Channel Attributesap_ctrl: This attribute conforms to the standard AMD HLS interface for IP, enabling the initiation of its operation.

          The device attributes applies to entire device for all the channels. The channel attributes are per channel configurations or data. Here are some of the attributes exposed by above drivers:

          -
          -

          Xilinx ADC Hub Channels

          +
          +

          Xilinx ADC Hub Channels

          List of available channels for the device xilinx_adc_hub.

          -
          ubuntu@kria:# iio_attr -c xilinx_adc_hub
-dev 'xilinx_adc_hub', channel 'voltage0' (input, index: 0, format: le:S32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'current1' (input, index: 1, format: le:S32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'voltage2' (input, index: 2, format: le:S32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'current3' (input, index: 3, format: le:S32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'voltage4' (input, index: 4, format: le:S32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'current5' (input, index: 5, format: le:S32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'voltage6' (input, index: 6, format: le:U32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'current7' (input, index: 7, format: le:U32/32>>0), found 9 channel-specific attributes
-dev 'xilinx_adc_hub', channel 'timestamp' (input, index: 16, format: le:S64/64>>0), found 0 channel-specific attributes
+
          ubuntu@kria:# iio_attr -c xilinx_adc_hub
+dev 'xilinx_adc_hub', channel 'voltage0' (input, index: 0, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current1' (input, index: 1, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'voltage2' (input, index: 2, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current3' (input, index: 3, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'voltage4' (input, index: 4, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current5' (input, index: 5, format: le:S32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'voltage6' (input, index: 6, format: le:U32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'current7' (input, index: 7, format: le:U32/32>>0), found 9 channel-specific attributes
+dev 'xilinx_adc_hub', channel 'timestamp' (input, index: 16, format: le:S64/64>>0), found 0 channel-specific attributes
 
          
 
          
 
          Individual Channel Properties for Voltage0 in xilinx_adc_hub:
          
-
          ubuntu@kria:# iio_attr -c xilinx_adc_hub voltage0
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'calibrate',
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'fault_clear',
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'input', value '0.865447998'
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'offset', value '0.000000000'
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'over_range_fault_status', value '0'
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'raw', value '47'
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'scale', value '0.018814086'
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'set_filter_tap', value '4'
-dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'under_range_fault_status', value '0'
+
          ubuntu@kria:# iio_attr -c xilinx_adc_hub voltage0
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'calibrate',
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'fault_clear',
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'input', value '0.865447998'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'offset', value '0.000000000'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'over_range_fault_status', value '0'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'raw', value '47'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'scale', value '0.018814086'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'set_filter_tap', value '4'
+dev 'xilinx_adc_hub', channel 'voltage0' (input), attr 'under_range_fault_status', value '0'
 
          
 
          
 
 
          The attributes for the currentX channel would be similar to voltage0, but the readings are in amperes (amps).
          
-
          -
          -

          HLS PWM Generator Channels

          +
          +
          +

          HLS PWM Generator Channels

          List of available channels for the device hls_pwm_gen.

          -
          ubuntu@kria:# iio_attr -c hls_pwm_gen
-dev 'hls_pwm_gen', channel 'voltage0', id 'Va_duty_ratio' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_pwm_gen', channel 'voltage1', id 'Vb_duty_ratio' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_pwm_gen', channel 'voltage2', id 'Vc_duty_ratio' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_pwm_gen', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes
+
          ubuntu@kria:# iio_attr -c hls_pwm_gen
+dev 'hls_pwm_gen', channel 'voltage0', id 'Va_duty_ratio' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_pwm_gen', channel 'voltage1', id 'Vb_duty_ratio' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_pwm_gen', channel 'voltage2', id 'Vc_duty_ratio' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_pwm_gen', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes
 
          
 
          
 
          Individual Channel Properties for Va_duty_ratio in the HLS PWM Generator:
          
-
          ubuntu@kria:# iio_attr -c hls_pwm_gen voltage0
-dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'label', value 'Va_duty_ratio'
-dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'raw', value '0.000000000'
-dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'scale', value '1'
+
          ubuntu@kria:# iio_attr -c hls_pwm_gen voltage0
+dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'label', value 'Va_duty_ratio'
+dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'raw', value '0.000000000'
+dev 'hls_pwm_gen', channel 'voltage0' (input), id 'Va_duty_ratio', attr 'scale', value '1'
 
          
 
          
 
 
          The attributes are similar to the other channels from the PWM-GEN driver.
          
-
          -
          -

          HLS SVPWM Duty Channels

          +
        +
        +

        HLS SVPWM Duty Channels

        List of available channels for the device hls_svpwm_duty.

        -
        ubuntu@kria:# iio_attr -c hls_svpwm_duty
-dev 'hls_svpwm_duty', channel 'voltage0', id 'Va_cmd' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_svpwm_duty', channel 'voltage1', id 'Vb_cmd' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_svpwm_duty', channel 'voltage2', id 'Vc_cmd' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_svpwm_duty', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes
+
        ubuntu@kria:# iio_attr -c hls_svpwm_duty
+dev 'hls_svpwm_duty', channel 'voltage0', id 'Va_cmd' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_svpwm_duty', channel 'voltage1', id 'Vb_cmd' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_svpwm_duty', channel 'voltage2', id 'Vc_cmd' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_svpwm_duty', channel 'timestamp' (input, index: 3, format: le:S64/64>>0), found 0 channel-specific attributes
 
        
 
        
 
        Individual Channel Properties for Va_cmd in HLS SVPWM Duty:
        
-
        ubuntu@kria:# iio_attr -c hls_svpwm_duty voltage0
-dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'label', value 'Va_cmd'
-dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'raw', value '0.000000000'
-dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'scale', value '1'
+
        ubuntu@kria:# iio_attr -c hls_svpwm_duty voltage0
+dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'label', value 'Va_cmd'
+dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'raw', value '0.000000000'
+dev 'hls_svpwm_duty', channel 'voltage0' (input), id 'Va_cmd', attr 'scale', value '1'
 
        
 
        
 
 
        The attributes are similar to the other channels from the SVPWM driver.
        
-
-
        
-
        QEI Channels
        
+
        
+
        
+
        QEI Channels
        
 
        List of available channels for the device hls_qei_axi.
        
-
        ubuntu@kria:# iio_attr -c hls_qei_axi
-dev 'hls_qei_axi', channel 'rot0', id 'rpm' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_qei_axi', channel 'rot1', id 'theta_degree' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_qei_axi', channel 'timestamp' (input, index: 2, format: le:S64/64>>0), found 0 channel-specific attributes
+
        ubuntu@kria:# iio_attr -c hls_qei_axi
+dev 'hls_qei_axi', channel 'rot0', id 'rpm' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_qei_axi', channel 'rot1', id 'theta_degree' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_qei_axi', channel 'timestamp' (input, index: 2, format: le:S64/64>>0), found 0 channel-specific attributes
 
        
 
        
 
        Individual Channel Properties for RPM in QEI:
        
-
        ubuntu@kria:# iio_attr -c hls_qei_axi rot0
-dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'label', value 'rpm'
-dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'raw', value '0'
-dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'scale', value '1'
+
        ubuntu@kria:# iio_attr -c hls_qei_axi rot0
+dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'label', value 'rpm'
+dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'raw', value '0'
+dev 'hls_qei_axi', channel 'rot0' (input), id 'rpm', attr 'scale', value '1'
 
        
 
        
 
 
        The attributes are similar to the other channels from the QEI driver.
        
-
-
        
-
        FOC Channels
        
+
        
+
        
+
        FOC Channels
        
 
        List of available channels for the device hls_foc_periodic.
        
-
        ubuntu@kria:# iio_attr -c  hls_foc_periodic
-dev 'hls_foc_periodic', channel 'current0', id 'Id' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'current1', id 'Iq' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'current2', id 'I_alpha' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'current3', id 'I_beta' (input, index: 3, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'current4', id 'I_homopolar' (input, index: 4, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'rot5', id 'speed_pi_out' (input, index: 5, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'rot6', id 'torque_pi_out' (input, index: 6, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'intensity7', id 'flux' (input, index: 7, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'rot8', id 'speed' (input, index: 8, format: le:U32/32>>0), found 3 channel-specific attributes
-dev 'hls_foc_periodic', channel 'angl9' (input, index: 9, format: le:U32/32>>0), found 2 channel-specific attributes
-dev 'hls_foc_periodic', channel 'timestamp' (input, index: 10, format: le:S64/64>>0), found 0 channel-specific attributes
+
        ubuntu@kria:# iio_attr -c  hls_foc_periodic
+dev 'hls_foc_periodic', channel 'current0', id 'Id' (input, index: 0, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current1', id 'Iq' (input, index: 1, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current2', id 'I_alpha' (input, index: 2, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current3', id 'I_beta' (input, index: 3, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'current4', id 'I_homopolar' (input, index: 4, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'rot5', id 'speed_pi_out' (input, index: 5, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'rot6', id 'torque_pi_out' (input, index: 6, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'intensity7', id 'flux' (input, index: 7, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'rot8', id 'speed' (input, index: 8, format: le:U32/32>>0), found 3 channel-specific attributes
+dev 'hls_foc_periodic', channel 'angl9' (input, index: 9, format: le:U32/32>>0), found 2 channel-specific attributes
+dev 'hls_foc_periodic', channel 'timestamp' (input, index: 10, format: le:S64/64>>0), found 0 channel-specific attributes
 
        
 
        
 
        Individual Channel Properties for current0 in FOC:
        
-
        ubuntu@kria:~$ iio_attr -c hls_foc_periodic current0
-dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'label', value 'Id'
-dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'raw', value '0.000000000'
-dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'scale', value '1'
+
        ubuntu@kria:~$ iio_attr -c hls_foc_periodic current0
+dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'label', value 'Id'
+dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'raw', value '0.000000000'
+dev 'hls_foc_periodic', channel 'current0' (input), id 'Id', attr 'scale', value '1'
 
        
 
        
 
        
+
        
+
        
+
        
+
        Middleware
        
+
        
+
        Userspace Access to IIO Drivers
        
 
        The driver exposes the IIO devices through the sysfs interface. The drivers can be accessed from the path /sys/bus/iio/devices/iio\:deviceX, where X is the numeric enumeration of the IIO device.
        
 
        libIIO is the userspace library to easily access the kernel IIO subsystem. It also provides various methods and command line interfaces, packaged in libiio-utils, to access the IIO devices. There are other Python wrappers around this library, but the motor control library uses a native C/C++ library.
        
 
        For example, to list all the available IIO devices:
        
@@ -383,15 +362,15 @@ 
        Userspace Access to IIO DriverslibIIO Documentation.
        
-
-
        
-
        Userspace Access to UIO
        
+
        
+
        
+
        Userspace Access to UIO
        
 
        The custom motor control IP is accessed from the motor control library using the UIO interface. A device tree node with compatible string as generic-uio is added to connect this hardware to the UIO subsystem.
        
 
        The device is now accessible in the userspace through the /dev/uioX device. Information about the device is obtained by scanning /sys/class/uio/uioX, where X is the UIO device id automatically assigned by the kernel.
        
 
        For more information on the UIO interface, refer to the kernel documentation.
        
-
-
        
-
        CANopen Library
        
+
        
+
        
+
        CANopen Library
        
 
        The CANopen server implementation for the drive kit is based on Lely CANopen library stack for the communication layer.
        
 
        The Lely Core CANopen library is an open-source, feature-rich, and industrial-quality CANopen implementation for both masters and slaves. It is designed to be a passive library, relying on the user to send and receive CAN frames and update the clock. The interface between the CANopen stack and the CAN bus is provided by the CAN network object from the CAN library (liblely-can).
        
 
        The library is divided into several components:
        
@@ -400,15 +379,15 @@ 
        CANopen Library
-
        Application and Library
        
+
        
+
        
+
        
+
        Application and Library
        
 
        The motor control library is a C++ library that provides APIs for the front end application to control and fetch motor parameters. It also has a pybind11 wrapper to support the library APIs through python front end.
        
 
        The front end GUI included with this application is based on a python bokeh server, which can be accessed in a web browser in the network.
        
 
        The CANopen server (slave wrapper) included with this application is implemented to access the motor control library (C++) over the CAN network using CANopen CiA 402 profile.
        
-
        
-
        Motor Control Library
        
+
        
+
        Motor Control Library
        
 
        The library can be divided into four blocks:
        
 
          
 
        • Communication
          • 
@@ -417,8 +396,8 @@ 
          Motor Control Library
          Control
          
 
        
 
        Motor Control Library
        
-
        
-
        Communication
        
+
        
+
        Communication
        
 
        The external user interfacing exposes the supported APIs through the C++ shared library and Python module.
        
 
        The library allows the user application to fetch following values:
        
 
          
@@ -446,23 +425,23 @@ 
          Communicationmotor-control.hpp file.
          
 
          Python binding for the application is provided using the pybind11 library.
          
-
        
-
        
-
        State Management and Coordination
        
+
        
+
        
+
        State Management and Coordination
        
 
        This is the central part of the library, which receives and processes all the request from the communication block and is responsible for:
        
 
          
 
        • Executing the initialization sequence for the motor.
          • 
 
        • Maintaining the current state of the platform and handling the state transitions.
          • 
 
        • Splitting, merging, and coordinating the request with various handlers in the control block.
          • 
 
        
-
        
-
        
-
        Event/Fault Management
        
+
        
+
        
+
        Event/Fault Management
        
 
        The Event Manager is responsible for configuring and monitoring events/faults from various hardware blocks. This block is aware of event capabilities of various control blocks and configures the events accordingly.
        
 
        It caches the event status in realtime and returns that to user when requested. The event is monitored in a separate thread which waits on epoll events for the registered events. Optionally, it also provides callback function registration in case additional action is expected when a realtime event occurs.
        
-
-
        
-
        Control
        
+
        
+
        
+
        Control
        
 
        This block is responsible for hardware access. There are interface classes which implement common interfaces for all the IIO based control handlers and all the UIO based control handlers. It also provides abstraction for the sensor interface to support more than one sensor (only one used at a given time).
        
 
        The following various handlers are for controlling the respective hardware:
        
 
-
-
        
-
        Additional Threads
        
+
        
+
        
+
        Additional Threads
        
 
        The following additional threads are implemented in the library:
        
 
          
 
        • Speed Ramp: When a new speed set point is set, the speed is ramped up or down in the FOC control handler using the constant ramp rate defined in default_config.h.
          • 
 
        • Torque Ramp: When new torque set point is set, the speed is ramped up or down in the FOC control handler using the constant ramp rate defined in default_config.h.
          • 
 
        • Event Monitor: The event manager waits on any event using epoll_wait in its own thread.
          • 
 
        
-
-
-
        
-
        Bokeh Server (GUI)
        
+
        
+
        
+
        
+
        Bokeh Server (GUI)
        
 
        A python based bokeh server is implemented to provide a GUI interface to the application. It imports the motor control python library. The plot updates are handled by an update function which is called at the interval specified in the Refresh Interval text box. For each update, the function requests the number of samples specified in the Sample Size text box and update the plots with new data.
        
 
        For more details on the GUI usage, refer the Application Deployment page for the details on the components and its usage.
        
-
-
        
-
        CANopen Overview
        
+
        
+
        
+
        CANopen Overview
        
 
        The CANopen server is an another interface provided for this motor control application.
 It is based on CANopen communication protocol. This section provides a top level overview
 of the CANopen protocol & operations. Detail CANopen protocol and specifications can be found on
@@ -499,8 +478,8 @@ 
        CANopen Overview
-
        CANopen Protocol Stack
        
+
        
+
        CANopen Protocol Stack
        
 
        Conceptually, the CANopen protocol stack is structured into several layers, each responsible for different aspects of communication:
        
 
          
 
        1. Bus Layer:
          
@@ -529,195 +508,59 @@ 
          CANopen Protocol Stack
 
          2. 
 
        
-
-
        
-
        CAN Frame and COB-ID
        
+
        
+
        
+
        CAN Frame and COB-ID
        
 
        At the core of CANopen communication is the CAN frame which are transmitted on the CAN bus and the concept of Communication Object Identifier(COB-ID).
        
 
        CAN Frame:
        
 
          
-
        • A CAN frame consists of several fields that define the structure of a message. These fields include:
          • 
+
        • A CAN frame consists of several fields that define the structure of a message. These fields include:
+| Field Name | Description | Bits |
+|—|—|—|
+| Start of Frame (SOF) | Single dominant bit (0) | 1 |
+| Identifier (ID) | Unique message identifier & Priority | 11 |
+| Control  | Type of frame(RTR) and Length of Data (DLC) | 5 |
+| Data Field | Actual data content | 0-8 bytes |
+| CRC (Cyclic Redundancy Check) | Error detection code | 15 |
+| ACK (Acknowledge) | Reception confirmation (dominant 0 by successful receivers) | 1 |
+| End of Frame (EOF) | Five consecutive recessive bits (1) | 5 |
          • 
 
        
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        Field NameDescriptionBits
        Start of Frame (SOF)Single dominant bit (0)1
        Identifier (ID)Unique message identifier & Priority11
        ControlType of frame(RTR) and Length of Data (DLC)5
        Data FieldActual data content0-8 bytes
        CRC (Cyclic Redundancy Check)Error detection code15
        ACK (Acknowledge)Reception confirmation (dominant 0 by successful receivers)1
        End of Frame (EOF)Five consecutive recessive bits (1)5
        COB-ID:
        
+
        COB-ID:
        
 
          
 
        • The COB-ID is a unique identifier for each CANopen message, determining its priority and the type of communication. It consists of an 11-bit or 29-bit identifier (depending on the CAN protocol version) and is crucial for the arbitration process on the CAN bus.
          • 
 
        • The COB-ID is used to differentiate various types of CANopen messages, such as NMT commands, PDOs, SDOs, and EMCYs.
          • 
 
        • It is split in two parts: By default, the first 4 bits equal a function code and the next 7 bits contain the node ID.
          • 
-
        • Here is the list of common COB-IDs
          • 
+
        • Here is the list of common COB-IDs
+| Communication Object | Function Code(4 bit) | Node Ids (7bit) | COB-IDS (Hex) | Total Objects |
+|———————-|———————-|—————–|—————|—————|
+| NMT                  | 0000                 | 0000000         | 0             | 1             |
+| SYNC                 | 0001                 | 0000000         | 80            | 1             |
+| EMCY                 | 0001                 | 0000001-1111111 | 81 - FF       | 127           |
+| TIME                 | 0010                 | 0000000         | 100           | 1             |
+| Transmit PDO 1       | 0011                 | 0000001-1111111 | 181 - 1FF     | 127           |
+| Receive PDO 1        | 0100                 | 0000001-1111111 | 201 - 27F     | 127           |
+| Transmit PDO 2       | 0101                 | 0000001-1111111 | 281 - 2FF     | 127           |
+| Receive PDO 2        | 0110                 | 0000001-1111111 | 301 - 37F     | 127           |
+| Transmit PDO 3       | 0111                 | 0000001-1111111 | 381 - 3FF     | 127           |
+| Receive PDO 3        | 1000                 | 0000001-1111111 | 401 - 47F     | 127           |
+| Transmit PDO 4       | 1001                 | 0000001-1111111 | 481 - 4FF     | 127           |
+| Receive PDO 4        | 1010                 | 0000001-1111111 | 501 - 57F     | 127           |
+| Transmit SDO         | 1011                 | 0000001-1111111 | 581 - 5FF     | 127           |
+| Recieve  SDO         | 1100                 | 0000001-1111111 | 601 - 67F     | 127           |
+| Heartbeat            | 1110                 | 0000001-1111111 | 701 - 77F     | 127           |
          • 
 
        
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        Communication ObjectFunction Code(4 bit)Node Ids (7bit)COB-IDS (Hex)Total Objects
        NMT0000000000001
        SYNC00010000000801
        EMCY00010000001-111111181 - FF127
        TIME001000000001001
        Transmit PDO 100110000001-1111111181 - 1FF127
        Receive PDO 101000000001-1111111201 - 27F127
        Transmit PDO 201010000001-1111111281 - 2FF127
        Receive PDO 201100000001-1111111301 - 37F127
        Transmit PDO 301110000001-1111111381 - 3FF127
        Receive PDO 310000000001-1111111401 - 47F127
        Transmit PDO 410010000001-1111111481 - 4FF127
        Receive PDO 410100000001-1111111501 - 57F127
        Transmit SDO10110000001-1111111581 - 5FF127
        Receive  SDO11000000001-1111111601 - 67F127
        Heartbeat11100000001-1111111701 - 77F127
        
-
        
-
        CANopen Object Dictionary
        
+
        
+
        
+
        CANopen Object Dictionary
        
 
        The heart of the CANopen protocol is the object dictionary, which is a standardized collection of all parameters and variables that can be accessed via CANopen. The object dictionary is organized in a hierarchical structure with each object identified by a unique 16-bit index. Objects include:
        
 
          
 
        • Communication Objects: Parameters related to CANopen communication (e.g., COB IDs, transmission types).
          • 
 
        • Manufacturer-Specific Objects: Custom parameters defined by the device manufacturer.
          • 
 
        • Standardized Device Profile Objects: Parameters defined by device profiles such as CiA 402 for motion control.
          • 
 
        
-
-
        
-
        Key Operations
        
+
        
+
        
+
        Key Operations
        
 
          
 
        1. Initialization:
          
 
        
+
        
+
        
+
        CANopen server
        
 
        The CANopen server is designed to provide a robust interface that allows users to control and monitor motor operations over the CAN bus, leveraging the CiA 402 profile. This server facilitates seamless integration with motor control features, enabling commands such as start, stop, change mode, set speed, set torque, and retrieve motor position and speed.
        
 
        The CANopen server is built on top of the Lely core library, which provides a comprehensive implementation of the CiA 301 standard. The server implements the CiA 402 profile, focusing on two primary modes of operation: Profiled Velocity and Profiled Torque. The target speed or torque can be set using respective object.
        
 
        The server architecture can be divided into the following key components:
        
@@ -781,13 +624,14 @@ 
        CANopen server]
        
-
        
-
        Operational Overview
        
+
        
+
        Operational Overview
        
 
        The motor control drive device (KD240) is controlled primarily by the use of the objects Control Word and Target Values, with fault and status feedback provided via the Status Word object. The mode of the operation is controlled by Modes of Operation Object.
        
 
        The PDS FSA state machine controls the sequencing of power to the drive, and access to drive motion. It also provides the ability to react to faults and to disable the drive if so needed.
        
 
        The various configuration registers are normally configured using SDO operations. The status and command word operations are often set and read using PDO communications, but can also be managed using SDO operations. PDO operation can “be in the background”, but are not confirmed, and can also use up significant amounts of bus time if there are many units all reporting their positions continuously while moving. The SDO method allows control of bus activity as the vast majority of packets are the SDO commands and their responses.
        
 
        The default the slave node id of the KD240 is 4. It can be changed from during the application launch with argument as described in deployment section. The supported bitrates for the CAN bus are:
        
 
          
+
        • 1Mbps
          • 
 
        • 800 kbps
          • 
 
        • 500 kbps
          • 
 
        • 250 kbps
          • 
@@ -795,9 +639,9 @@ 
          Operational Overview
          50 kbps
          
 
        • 20 kbps
          • 
 
        
-
        
-
        
-
        System State Machine
        
+
        
+
        
+
        System State Machine
        
 
        Object 6040h (Control Word)  is used to request state transitions while Object 6041h (Status Word) reflects the current state of the State Machine. The below diagram reprents various state tranistions. The boxed names represent States, while the numbered arrows represent Transitions. In each case, the state reflected by Object 6041h is updated when the transition has been completed. Fault Reaction Active is the exception in that the fault is immediately reported when the fault is detected, while the fault reaction is still underway; when the reaction is completed, the state then automatically transitions to Fault.
        
 
        FSM
        
 
        The Foc Motor control drive undergoes the state through the C++ library, when in either of following states:
        
@@ -939,9 +783,9 @@ 
        System State MachineFault
 
 
-
-
        
-
        Modes of Operation
        
+
        
+
        
+
        Modes of Operation
        
 
        The power drive system’s behavior depends on the activated mode of operation. The mode of operation can be changed and controlled by 6060h (Modes of Operation) Object. The control word dictates the actual state change as described before.
        
 
        The control device writes to the modes of operation object in order to select the operation
 mode. The drive device provides the modes of operation display object to indicate the actual
@@ -949,519 +793,114 @@ 
        Modes of Operation
-
        Profile Velocity
        
+
        This server supports following modes of operations (value of 6040h object in paranthese):
        
 
          
+
        • Profile Velocity
          
+
            
 
          • Value for 6060h = 0x3
            • 
-
          • Mode specific Bit 8 of the control word represents Halt bit
            • 
-
          
-
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          BitValueDefinition
          80The motion shall be executed or continued
          81Axis shall be stopped according to the halt option code
            
-
          • Mode specific Bit 10, Bit 12 and Bit 13 of the status word represents
            • 
+
          • Mode specific Bit 8 of the control word represents Halt bit
+| Bit | Value | Definition                                              |
+|—–|——-|———————————————————|
+| 8   | 0     | The motion shall be executed or continued               |
+| 8   | 1     | Axis shall be stopped according to the halt option code |
            • 
+
          • Mode specific Bit 10, Bit 12 and Bit 13 of the status word respresents
+| Bit  | Value | Definition                                              |
+|——|——-|———————————————————|
+| 10   | 0     | Halt (Bit 8 of controlword) = 0 : Target not reached 
             Halt (Bit 8 of controlword) = 1 : Axis decelerates   |
+| 10   | 1     | Halt (bit 8 in controlword) = 0: Target reached 
             Halt (bit 8 in controlword) = 1: Velocity of axis is 0      |
+| 12   | 0     | Speed is not equal 0
+| 12   | 1     | Speed is equal 0
+| 13   | 0     | Maximum slippage not reached
+| 13   | 1     | Maximum slippage reached
            • 
 
          
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          BitValueDefinition
          100Halt (Bit 8 of controlword) = 0 : Target not reached
          Halt (Bit 8 of controlword) = 1 : Axis decelerates
          101Halt (bit 8 in controlword) = 0: Target reached
          Halt (bit 8 in controlword) = 1: Velocity of axis is 0
          120Speed is not equal to 0
          121Speed is equal to 0
          130Maximum slippage not reached
          131Maximum slippage reached
          
-
          
-
          Profile Torque
          
-
            
+
+
          • Profile Torque
            
+
              
 
            • Value for 6060h = 0x4
              • 
-
            • Mode specific Bit 8 of the control word represents Halt bit
              • 
+
            • Mode specific Bit 8 of the control word represents Halt bit
+| Bit | Value | Definition                                              |
+|—–|——-|———————————————————|
+| 8   | 0     | The motion shall be executed or continued               |
+| 8   | 1     | Axis shall be stopped according to the halt option code |
              • 
+
            • Mode specific Bit 10, Bit 12 and Bit 13 of the status word respresents
+| Bit  | Value | Definition                                              |
+|——|——-|———————————————————|
+| 10   | 0     | Halt (Bit 8 of controlword) = 0 : Target not reached 
               Halt (Bit 8 of controlword) = 1 : Axis decelerates   |
+| 10   | 1     | Halt (bit 8 in controlword) = 0: Target reached 
               Halt (bit 8 in controlword) = 1: Velocity of axis is 0      |
+| 12   | -     | Reserved
+| 12   | -     | Reserved
+| 13   | -     | Reserved
+| 13   | -     | Reserved
              • 
 
            
-
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            BitValueDefinition
            80The motion shall be executed or continued
            81Axis shall be stopped according to the halt option code
              
-
            • Mode specific Bit 10, Bit 12 and Bit 13 of the status word represents
              • 
+
 
            
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            BitValueDefinition
            100Halt (Bit 8 of controlword) = 0 : Target not reached
            Halt (Bit 8 of controlword) = 1 : Axis decelerates
            101Halt (bit 8 in controlword) = 0: Target reached
            Halt (bit 8 in controlword) = 1: Velocity of axis is 0
            12-Reserved
            12-Reserved
            13-Reserved
            13-Reserved
          
-
-
          
-
          Object Dictionary Details
          
+
        
+
        
+
        Object Dictionary Details
        
 
        The Object Dictionary is defined in the Electronic Data Sheet (EDS), which lists all supported objects, along with any sub-objects. The full object dictionary can be found in eds (electronic data sheet) file available on the github here.
        
 
        Following are the list of objects implemented for this server:
        
 
          
-
        • CiA 301 Device & Communication Objects
          • 
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        IndexSubDescriptionAccess TypePDO Mapped
        10000Device TypeConstant
        10010Error RegisterROYES
        10050COB-ID SYNC MessageRW
        10060Communication cycle periodRW
        10070SYNC Window lenghtRW
        10080Manufacture Device NameConstant
        10090Manufacture Hw VerConstant
        100A0Manufacture Hw VerConstant
        10050COB-ID SYNC MessageRW
        10120COB-ID time stamp objectRW
        10140COB-ID EMCYRW
        10150Inhibit time EMCYRW
        10160-1Consumer heartbeat time-
        10170Producer heartbeat timeRW
        10180-4Indentiy-
        10190Synchronous counter overflow valueRW
        12000-2SDO Server Parameter-
        14000-5RPDO Comunication Parameters-1-
        14010-5RPDO Comunication Parameters-2-
        14020-5RPDO Comunication Parameters-3-
        14030-5RPDO Comunication Parameters-4-
        16000-1RPDO Mapping Parameters-1-
        16010-2RPDO Mapping Parameters-2-
        16020-2RPDO Mapping Parameters-3-
        16030-2RPDO Mapping Parameters-4-
        18000-6TPDO Comunication Parameters-1-
        18010-6TPDO Comunication Parameters-2-
        18020-6TPDO Comunication Parameters-3-
        18030-6TPDO Comunication Parameters-4-
        1A000-1TPDO Mapping Parameters-1-
        1A010-2TPDO Mapping Parameters-2-
        1A020-2TPDO Mapping Parameters-3-
        1A030-2TPDO Mapping Parameters-4-
          
-
        • Cia 402 Application Profile Objects
          • 
+
        • CiA 301 Device & Communication Objects
+| Index  | Sub  |   Description                        | Access Type | PDO Mapped |
+|——–|——|————————————–|————-|————|
+| 1000   | 0    | Device Type                          | Constant    |            |
+| 1001   | 0    | Error Register                       | RO          | YES        |
+| 1005   | 0    | COB-ID SYNC Message                  | RW          |            |
+| 1006   | 0    | Communication cycle period           | RW          |            |
+| 1007   | 0    | SYNC Window lenght                   | RW          |            |
+| 1008   | 0    | Manufacture Device Name              | Constant    |            |
+| 1009   | 0    | Manufacture Hw Ver                   | Constant    |            |
+| 100A   | 0    | Manufacture Hw Ver                   | Constant    |            |
+| 1005   | 0    | COB-ID SYNC Message                  | RW          |            |
+| 1012   | 0    | COB-ID time stamp object             | RW          |            |
+| 1014   | 0    | COB-ID EMCY                          | RW          |            |
+| 1015   | 0    | Inhibit time EMCY                    | RW          |            |
+| 1016   | 0-1  | Consumer heartbeat time              | -           |            |
+| 1017   | 0    | Producer heartbeat time              | RW          |            |
+| 1018   | 0-4  | Indentiy                             | -           |            |
+| 1019   | 0    | Synchronous counter overflow value   | RW          |            |
+| 1200   | 0-2  | SDO Server Parameter                 | -           |            |
+| 1400   | 0-5  | RPDO Comunication Parameters-1       | -           |            |
+| 1401   | 0-5  | RPDO Comunication Parameters-2       | -           |            |
+| 1402   | 0-5  | RPDO Comunication Parameters-3       | -           |            |
+| 1403   | 0-5  | RPDO Comunication Parameters-4       | -           |            |
+| 1600   | 0-1  | RPDO Mapping Parameters-1            | -           |            |
+| 1601   | 0-2  | RPDO Mapping Parameters-2            | -           |            |
+| 1602   | 0-2  | RPDO Mapping Parameters-3            | -           |            |
+| 1603   | 0-2  | RPDO Mapping Parameters-4            | -           |            |
+| 1800   | 0-6  | TPDO Comunication Parameters-1       | -           |            |
+| 1801   | 0-6  | TPDO Comunication Parameters-2       | -           |            |
+| 1802   | 0-6  | TPDO Comunication Parameters-3       | -           |            |
+| 1803   | 0-6  | TPDO Comunication Parameters-4       | -           |            |
+| 1A00   | 0-1  | TPDO Mapping Parameters-1            | -           |            |
+| 1A01   | 0-2  | TPDO Mapping Parameters-2            | -           |            |
+| 1A02   | 0-2  | TPDO Mapping Parameters-3            | -           |            |
+| 1A03   | 0-2  | TPDO Mapping Parameters-4            | -           |            |
          • 
+
        • Cia 402 Application Profile Objects
+| Index  | Sub  |   Description                        | Access Type | PDO Mapped |
+|——–|——|————————————–|————-|————|
+| 603F   | 0    |   Error Code                         | RO          |            |
+| 6040   | 0    |   Control Word                       | RW          | YES        |
+| 6041   | 0    |   Status Word                        | RO          | YES        |
+| 605A   | 0    |   Quick Stop                         | RW          |            |
+| 605B   | 0    |   Shutdown                           | RO          |            |
+| 605D   | 0    |   Halt                               | RW          |            |
+| 6060   | 0    |   Modes of Operation                 | RW          | YES        |
+| 6061   | 0    |   Modes of Operation display         | RO          | YES        |
+| 6064   | 0    |   Position Actual Value              | RO          | YES        |
+| 606C   | 0    |   Velocity Actual Value              | RO          | YES        |
+| 6071   | 0    |   Target Torque                      | RW          | YES        |
+| 6077   | 0    |   Torque Actual Value                | RO          | YES        |
+| 60FF   | 0    |   Target Velocity                    | RW          | YES        |
+| 6502   | 0    |   Supported Drive Modes              | RO          |            |
          • 
 
        
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        IndexSubDescriptionAccess TypePDO Mapped
        603F0Error CodeRO
        60400Control WordRWYES
        60410Status WordROYES
        605A0Quick StopRW
        605B0ShutdownRO
        605D0HaltRW
        60600Modes of OperationRWYES
        60610Modes of Operation displayROYES
        60640Position Actual ValueROYES
        606C0Velocity Actual ValueROYES
        60710Target TorqueRWYES
        60770Torque Actual ValueROYES
        60FF0Target VelocityRWYES
        65020Supported Drive ModesRO
        Detailed configuration and values of objects are available here.
        
-
-
        
-
        Using CANopen Server
        
+
        Detailed configuration and values of objects are available here.
        
+
        
+
        
+
        Using CANopen Server
        
 
        The CANopen server can be utilized by any CiA 402 master on the CAN bus, providing a flexible and standardized interface for motor control. One of the possible usage is demonstrated in the deployment section, showing how a ROS2 based CANopen master running on KR260 can access the CANopen Server over the CAN bus.
        
 
        CanOpen Bus
        
-
        
-
        ROS2 CANopen Mater
        
+
        ROS2 CANopen Mater
        
 
        The example CANopen master used in the deployment section is based on ROS2 CANopen Stack. This stack provides:
        
 
          
 
        • Easy YAML based bus configuration: In this file you define the nodes that are connected to the bus by specifying their node id, the corresponding EDS file.
          • 
@@ -1470,12 +909,11 @@ 
          ROS2 CANopen Materhere.
          
-
        
-
-
-
-
        
-
        One Wire
        
+
        
+
        
+
        
+
        
+
        One Wire
        
 
        In addition to above motor control application, this platform also provides One Wire interface. The One Wire protocol is a communication protocol that allows for the transfer of data and power over a single wire.
        
 
        This application makes use of the One Wire Temperature sensor which is a digital thermometer that uses the 1-wire protocol to communicate with a host device.
        
 
        It measures temperature and converts it into digital signal, which can be read by microcontrollers and other devices.
        
@@ -1498,8 +936,8 @@ 
        One Wire
    -
    -

    Kernel Driver

    +
    +

    Kernel Driver

    The driver developed for the platform provides support to the AMD 1-Wire programmable logic IP block and guarantees protocol timing for driving off-board devices such as thermal sensors, proms, etc using the 1wire protocol.

    The 1-Wire master driver in the kernel controls the 1-wire bus and provides the fundamental operations for communication, such as @@ -1530,39 +968,36 @@

    Kernel Drivertemp1_input file within the hwmon3 directory.

  • This provides temperature in millidegrees Celsius.

    • -

    -
    -

    Application

    +
    +
    +

    Application

    lm_sensors (Linux monitoring sensors) is a free and open-source application that provides tools and drivers for monitoring temperatures, voltage, and fans. sensors is an application or primary command that is used to read and display sensor data.

    This sensors command gathers information from the kernel interfaces provided by hwmon subsystem, aggregates this raw data, applies scaling and calibration and presents it in a human-readable format.

    - - -
    -

    Next Steps

    +
    +
    + +
    -
    diff --git a/kd240/build/html/docs/kria_starterkit_linux_boot.html b/kd240/build/html/docs/kria_starterkit_linux_boot.html index 369c125c..39f6f7f5 100644 --- a/kd240/build/html/docs/kria_starterkit_linux_boot.html +++ b/kd240/build/html/docs/kria_starterkit_linux_boot.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -122,14 +124,14 @@
    -
    -

    Booting Kria Starter Kit Linux on KD240

    -
    -

    Introduction

    +
    +

    Booting Kria Starter Kit Linux on KD240

    +
    +

    Introduction

    This document shows how to boot the Kria Starter Kit Linux on KD240 and perform common one-time updates and installations required prior to running any AMD-released KD240 application in Linux. This targets booting Ubuntu® 22.04.

    -
    -
    -

    Boot Process

    +
    +
    +

    Boot Process

    1. Flash the Kria Starter Kit Linux image into the SD card (minimum 16 GB).

      Refer to the KD240 Getting Started Page to flash the SD card with an Ubuntu 22.04 image.

      @@ -159,11 +161,11 @@

      Boot Processthis page.

    2. If not done so yet, perform a system update to pull in the latest kernel and AMD packages. There might be some errors during installation. If you encounter issues, refer to Known Issues. In this step, we manually add the AMD-specific Ubuntu PPAs, and then perform a system update and upgrade to pull in the latest AMD libraries. The apt upgrade step might take some time.

      -
         sudo add-apt-repository ppa:xilinx-apps --yes &&
-   sudo add-apt-repository ppa:ubuntu-xilinx/sdk --yes &&
-   sudo add-apt-repository ppa:xilinx-apps/xilinx-drivers --yes &&
-   sudo apt update --yes &&
-   sudo apt upgrade --yes
+
         sudo add-apt-repository ppa:xilinx-apps --yes &&
+   sudo add-apt-repository ppa:ubuntu-xilinx/sdk --yes &&
+   sudo add-apt-repository ppa:xilinx-apps/xilinx-drivers --yes &&
+   sudo apt update --yes &&
+   sudo apt upgrade --yes
 
      
 
      
 
      
@@ -172,17 +174,17 @@ 
      Boot Processdocker.com to install Docker.
      
 
      Enable the user to properly use the Docker commands without using sudo for every Docker command.
      
-
      sudo groupadd docker
-sudo usermod -a -G docker  $USER
+
      sudo groupadd docker
+sudo usermod -a -G docker  $USER
 
      
 
      
 
      This is only needed to be done once if reusing the same SD card for running multiple applications.

    This flow is only needed to be done once if reusing the same SD card for multiple applications. However, you can choose to update and upgrade again to install newly available updates that are made available later.

    - -
    -

    Known Issues

    +
    +
    +

    Known Issues

    1. Sometimes, Ubuntu has a background process ongoing by the time it boots to command prompt and does not yet ask you to change the password. In such cases, doing a snap install might result in a message similar to the following:

      error: too early for operation, device not yet seeded or device model not acknowledged

      @@ -204,29 +206,29 @@

      Known Issues -

      Miscellaneous Information

      +

    +
    +

    Miscellaneous Information

    The ubuntu user does not have root privileges. Most commands used in the tutorials must be run using sudo, and you might be prompted to enter your password.

    For security, by default, the root user is disabled. If you want to login as a root user, perform the following steps. Use the ubuntu user’s password on the first password prompt, then set a new password for the root user. You can now login as a root user using the newly set root user password.

    -
    ubuntu@kria:\~\$ sudo -i
-sudo\] password for ubuntu:
+
    ubuntu@kria:\~\$ sudo -i
+sudo\] password for ubuntu:
 root@kria:\~#
 
    
 
    
 
    If needed, the following commands are used to set the System Timezone and locale:
    diff --git a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/ros2_multinode_communication_via_tsn_landing2.html b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/ros2_multinode_communication_via_tsn_landing2.html new file mode 100644 index 00000000..336b287c --- /dev/null +++ b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/ros2_multinode_communication_via_tsn_landing2.html @@ -0,0 +1,226 @@ + + + + + + + + + + + + + + + TSN ROS Pub Sub — Kria™ KD240 1.0 documentation + + + + + + + + + + + + + + + + + + + + + + +
    + + +
    + +
    +
    +
    + +
    +
    +
    +
    + +
    +

    TSN ROS Pub Sub

    +
    +

    Overview

    +
    + +
    +
    +

    Features

    +
      +

    • ROS application to demonstrate publisher subscriber communication over Xilinx TSN.

      • +

    • Realtime demonstration of ongoing TSN traffic (Both best effort and Scheduled) through the oscilloscope.

      +
        +

      • Demonstrate Network Time Synchronization between master and slave

        • +

      • Demonstrate software latency for TSN traffic

        • +

      • Demonstrate Network Time Shaper Function (802.1Qbv) on TSN traffic

        • +
      +
      • +

    • Demonstrate Modbus based RS485 communication over uart+pmod interface.

      • +
    +
    +
    +
    +

    Tutorials

    + +
    +
    +
    +
    +

    Repository

    +
    + +
    +
    +

    Xilinx Support

    +

    GitHub issues will be used for tracking requests and bugs. For questions, go to forums.xilinx.com.

    +
    +
    +
    + + +
    +
    + + + + +
    +
    +
    +
    + + + + + + \ No newline at end of file diff --git a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/app_deployment.html b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/app_deployment.html index 3eb920d5..96cb4cd6 100644 --- a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/app_deployment.html +++ b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/app_deployment.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -142,23 +144,23 @@

    Setting up the Board and Application Deployment

    -
    -

    Board Setup and Application Deployment

    -
    -

    Overview of updates

    +
    +

    Board Setup and Application Deployment

    +
    +

    Overview of updates

    • Optional feature to Enable Frame Packet preemption

    • Enablement to use another machine as a CNC to set QBV schedule and FDB Cam entries onto the 2 KR260/KD240 Nodes

    -
    -
    -

    Introduction

    +
    +
    +

    Introduction

    This document shows how to set up the board and run the TSN ROS application.

    - -
    -

    Pre-requisite

    -
    -

    Hardware Requirements

    +
    +
    +

    Pre-requisite

    +
    +

    Hardware Requirements

    NOTE: This tutorial can be run with one KD240 and one KR260 configuration as well

    - -
    -

    Tested Artifacts

    +
    +
    +

    Tested Artifacts

    Testing was performed with the following artifacts:

    -
    -

    KD240 platform artifacts

    +
    +

    KD240 platform artifacts

    @@ -204,9 +206,9 @@

    KD240 platform artifacts -

    KR260 platform artifacts

    +

    +
    +

    KR260 platform artifacts

    @@ -230,9 +232,9 @@

    KR260 platform artifactsKria Wiki to obtain latest linux image and boot firmware.

    - -
    -

    Application packages

    + +
    +

    Application packages

    @@ -266,10 +268,10 @@

    Application packages1.1+tsn-qbr-0ubuntu1xlnx2

    -
    - -
    -

    Initial Setup

    +
    +
    +
    +

    Initial Setup

    1. Go through the minimum setup required to boot Linux before continuing with instructions in this page:

      -
      sudo apt install -y xlnx-firmware-kr260-tsn-rs485pmod          //KR260
-sudo apt install -y xlnx-firmware-kd240-motor-ctrl-qei         //KD240
+
      sudo apt install -y xlnx-firmware-kr260-tsn-rs485pmod          //KR260
+sudo apt install -y xlnx-firmware-kd240-motor-ctrl-qei         //KD240
 
      
 
      
 
        
 
      • Install dependencies and apps.
        • 
 
      
 
      # Install TSN applications below
-sudo apt install -y xlnx-app-kr260-pmod-rs485-test
-sudo apt install -y xlnx-app-kr260-tsn-examples
+sudo apt install -y xlnx-app-kr260-pmod-rs485-test
+sudo apt install -y xlnx-app-kr260-tsn-examples
 
      
 
      
 
      Confirm with “Y” when prompted to install new or updated packages.
      
@@ -316,8 +318,8 @@ 
      Initial Setup
      export PATH=${PATH}:/opt/xilinx/pmod-rs485-test/bin/
-export PATH=${PATH}:/opt/xilinx/tsn-examples/bin/
+
      export PATH=${PATH}:/opt/xilinx/pmod-rs485-test/bin/
+export PATH=${PATH}:/opt/xilinx/tsn-examples/bin/
 
      
 
      
 
      
@@ -326,24 +328,24 @@ 
      Initial SetupROS 2 Documentation for the installation steps. Here is the snippet of what is needed for this application:
      
-
      sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-echo "deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-sudo apt update
-sudo apt upgrade
-sudo apt install -y ros-humble-ros-base
+
      sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=arm64 signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu jammy main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+sudo apt update
+sudo apt upgrade
+sudo apt install -y ros-humble-ros-base
 
      
 
      
 
      Confirm with “Y” when prompted to install new or updated packages.

    2. Install ROS 2 application.

      -
       mkdir -p ~/Downloads
- wget https://github.com/Xilinx/ros-tsn-pubsub/releases/download/v0.1/ros-humble-xlnx-pubsub_0.1.0-0jammy_arm64.deb -P ~/Downloads/
- sudo apt install -y ~/Downloads/ros-humble-xlnx-pubsub_0.1.0-0jammy_arm64.deb
+
       mkdir -p ~/Downloads
+ wget https://github.com/Xilinx/ros-tsn-pubsub/releases/download/v0.1/ros-humble-xlnx-pubsub_0.1.0-0jammy_arm64.deb -P ~/Downloads/
+ sudo apt install -y ~/Downloads/ros-humble-xlnx-pubsub_0.1.0-0jammy_arm64.deb

    3. Install network-manager related packages.

      -
       sudo apt install -y lldpad ethtool
+
       sudo apt install -y lldpad ethtool
      4. @@ -353,24 +355,24 @@

      Initial Setup
       sudo xmutil listapps
+
       sudo xmutil listapps
 
      
 
      
 
 
    4. Switch to a different platform for different Application:
      
 
      When there is already another accelerator/firmware being activated apart from xlnx-app-kr260-pmod-rs485-test, unload it first and then switch to xlnx-app-kr260-pmod-rs485-test.
      
-
       sudo xmutil unloadapp
- sudo xmutil loadapp kr260-tsn-rs485pmod            //KR260
- sudo xmutil loadapp kd240-motor-ctrl-qei           //KD240
+
       sudo xmutil unloadapp
+ sudo xmutil loadapp kr260-tsn-rs485pmod            //KR260
+ sudo xmutil loadapp kd240-motor-ctrl-qei           //KD240
 
      
 
      
 
      NOTE: Though KD240 firmware is titled motor-ctrl-qei, it has the firmware for TSN.
 KD240 Firmware load xmutil loadapp kd240-motor-ctrl-qei will print following messages
 These are safe to ignore.
      
-
      [  112.802574] net eth1: Speed other than 10, 100
-[  112.807227] net eth1: or 1Gbps is not supported
-[  112.866305] net eth2: Speed other than 10, 100
-[  112.871168] net eth2: or 1Gbps is not supported
+
      [  112.802574] net eth1: Speed other than 10, 100
+[  112.807227] net eth1: or 1Gbps is not supported
+[  112.866305] net eth2: Speed other than 10, 100
+[  112.871168] net eth2: or 1Gbps is not supported
 
      
 
      
 
      5. 
@@ -378,10 +380,10 @@ 
      Initial Setup
-
      Run Out Of Box Applications
      
+
      +

    +
    +

    Run Out Of Box Applications

    The TSN example applications demonstrate Network Time Synchronization and Network Time Shaper Function that can be achieved through TSN based network infrastructure across a distributed system, which are two key features of the FPGA based TSN capabilities.

    Two different configurations are shown below for deterministic communication. After completing the initial setup from above, you can navigate to the following subsections to evaluate the desired features:

      @@ -392,8 +394,8 @@

      Run Out Of Box Applications -

      Network Configuration 1 : Two KR260/KD240 boards

      +
      +

      Network Configuration 1 : Two KR260/KD240 boards

      NOTE: This turotial can be run with one KD240 and one KR260 configuration as well.

      This configuration requires two KR260/KD240 units; TSN subsystem is connected to form a network where one of the units is configured to be master and the other one as slave. The following figure represents this configuration:

      KR260-KR260 Setup:

      @@ -401,8 +403,8 @@

      Network Configuration 1 : Two KR260/KD240 boards

      NOTE: For KD240 J24 is PS Eth, J25B top is PL Eth. For KR260 J10D is PS Eth, J10B top is PL Eth

      -
      -

      Two KR260 boards: Board setup

      +
      +

      Two KR260 boards: Board setup

      • Connect Ethernet cable from PL ETH1 of Board1 (J10 top of KR260)/(J25B top of KD240) to PL ETH1 of Board2.

      • Connect JTAG/UART ports of both boards to your PC.

        • @@ -414,23 +416,23 @@

        Two KR260 boards: Board setup

        KD240-KD240 Setup

        2board-kd240

        -

      -
      -

      Run TSN-ROS Out of Box Applications

      +

      +
      +

      Run TSN-ROS Out of Box Applications

      • Ensure to load the TSN accelerator/firmware (refer to step-7 ‘dynamically load the application package’ from initial setup) before testing example application. If the firmware is already loaded, ignore this step and proceed.

        • KR260 firmware load command:

        -
            sudo xmutil unloadapp
-    sudo xmutil loadapp kr260-tsn-rs485pmod
+
            sudo xmutil unloadapp
+    sudo xmutil loadapp kr260-tsn-rs485pmod
 
        
 
        
 
          
 
        • KD240 firmware load command:
          • 
 
        
-
            sudo xmutil unloadapp
-    sudo xmutil loadapp kd240-motor-ctrl-qei
+
            sudo xmutil unloadapp
+    sudo xmutil loadapp kd240-motor-ctrl-qei
        • @@ -451,8 +453,8 @@

        Run TSN-ROS Out of Box Applications -
        Network Time Synchronization KR260-KR260 (PTP Demo)
        +
        +
        Network Time Synchronization KR260-KR260 (PTP Demo)

        In this demo, Board1 sets its clock as master. Board2 is the slave. Board2 clock syncs with Board1 clock after a brief synchronization period. Oscilloscope or Analog Discovery 2 Setup (optional)

          @@ -487,9 +489,9 @@
          Network Time Synchronization KR260-KR260 (PTP Demo)
        - -
        -
        ROS Publisher and Subscriber Demo
        +
        +
        +
        ROS Publisher and Subscriber Demo

        • Start the Subscriber (listener) first on Board2 so that it is ready to receive messages from the Publisher once it has begun sending messages.

          source /opt/xilinx/ros-tsn-example/bin/start_ros_test.sh -l

          @@ -505,14 +507,14 @@
          ROS Publisher and Subscriber Demo

        - -
        -
        Latency measurement Demo
        +
        +
        +
        Latency measurement Demo

        To measure latency, an oscilloscope or Analog Discovery 2 device is required. This demo measures the latency between packet transmitted from Board1 and received on Board2. It includes the latency of the software stack as well.

        - - -
        -

        Oscilloscope or Analog Discovery 2 Setup

        +
        +

      +
      +

      Oscilloscope or Analog Discovery 2 Setup

      • Connect P7 on the Test PMOD of Board1 to Channel1 of the oscilloscope - Monitors TX packet from Publisher1. Publisher1 can transmit a Scheduled Traffic (ST) packet or a Best effort (BE) packet.

      • Connect P8 on the Test PMOD of Board2 to Channel2 of the oscilloscope - Monitors RX packet from Listener1. Listener 1 receives a ST packet or BE packet.

        • @@ -543,8 +545,8 @@

        Oscilloscope or Analog Discovery 2 Setup -
        Network Time Shaper Function (802.1Qbv Demo)
        +
        +
        Network Time Shaper Function (802.1Qbv Demo)

        This demo allots a time slot for scheduled traffic and best effort and it can be visualized on an oscilloscope. For a cycle time period of 1ms, ST traffic is sent for 700us and BE traffic for 300us.

        Oscilloscope or Analog Discovery 2 Setup

          @@ -601,45 +603,45 @@
          Network Time Shaper Function (802.1Qbv Demo)

        - - - -
        -

        Network Configuration 2 : Network Manager(CNC) and Two KR260/KD240 Boards

        +
        +

      +

    +
    +

    Network Configuration 2 : Network Manager(CNC) and Two KR260/KD240 Boards

    NOTE: This tutorial can be run with one KD240 and one KR260 configuration as well. Before running this tutorial please make sure that your curl --version package on the CNC is 7.68.0. Please follow below steps if version does not match:

    -
        sudo apt-cache policy curl
-    sudo apt remove curl
-    sudo apt install -y --no-install-recommends curl=7.68.0-1ubuntu2.18
+
        sudo apt-cache policy curl
+    sudo apt remove curl
+    sudo apt install -y --no-install-recommends curl=7.68.0-1ubuntu2.18
 
    
 
    
 
    This configuration requires either two KR260/KD240 units and one KV260/KR260/KD240 unit(CNC) or two KR260/KD240 units and one Linux Running Machine(CNC). The following images represent these configurations:
    
-
    
-
    Two KR260/KD240 and one KV260/KR260/KD240(CNC):
    
+
    
+
    Two KR260/KD240 and one KV260/KR260/KD240(CNC):
    
 
    NM_Setup_1
    
-
    
-
    
-
    Two KR260/KD240 and one Linux Running Machine(CNC):
    
+
    +
    +

    Two KR260/KD240 and one Linux Running Machine(CNC):

    NM_Setup_2

    NOTE: For KD240 J24 is PS Eth, J25B top is PL Eth. For KR260 J10D is PS Eth, J10B top is PL Eth

    - -
    -

    Run TSN-ROS Out of Box Applications

    +
    +
    +

    Run TSN-ROS Out of Box Applications

    • Ensure to load the TSN accelerator/firmware (refer to step-7 ‘dynamically load the application package’ from initial setup) before testing example application. If the firmware is already loaded, ignore this step and proceed.

      • KR260 firmware load command:

      -
          sudo xmutil unloadapp
-    sudo xmutil loadapp kr260-tsn-rs485pmod
+
          sudo xmutil unloadapp
+    sudo xmutil loadapp kr260-tsn-rs485pmod
 
      
 
      
 
        
 
      • KD240 firmware load command:
        • 
 
      
-
          sudo xmutil unloadapp
-    sudo xmutil loadapp kd240-motor-ctrl-qei
+
          sudo xmutil unloadapp
+    sudo xmutil loadapp kd240-motor-ctrl-qei
      • @@ -654,15 +656,15 @@

      Run TSN-ROS Out of Box Applications -
      Run Instructions
      +
      +
      Run Instructions

      1. Run parser on the both KR260/KD240 units.

        • Setup one board as Master and one as Slave. Run the following:

        -
           source /usr/bin/network-manager/tsn-parsers/xnm.sh -m &          // on Board1/Master
-   source /usr/bin/network-manager/tsn-parsers/xnm.sh -s &          // on Board2/Slave
+
           source /usr/bin/network-manager/tsn-parsers/xnm.sh -m &          // on Board1/Master
+   source /usr/bin/network-manager/tsn-parsers/xnm.sh -s &          // on Board2/Slave
        2. @@ -670,42 +672,42 @@
        Run Instructions

      2. For CNC as KR260/KV260/KD240, install xlnx-tsn-utils package.

    -
        sudo add-apt-repository ppa:xilinx-apps
-    sudo apt update
-    sudo apt -y install xlnx-tsn-utils
+
        sudo add-apt-repository ppa:xilinx-apps
+    sudo apt update
+    sudo apt -y install xlnx-tsn-utils
 
    
 
    
     
-
        git clone https://github.com/Xilinx/tsn-utils.git
-    cd tsn-utils/tsn-networkmanager
-    sudo make install
+
        git clone https://github.com/Xilinx/tsn-utils.git
+    cd tsn-utils/tsn-networkmanager
+    sudo make install
 
    
 
    
 
      
 
    • Discover the two nodes by pinging them.
      
-
        ping -c 3 10.0.0.106                                            //Board1 or Master
+
        ping -c 3 10.0.0.106                                            //Board1 or Master
 
-  PING 10.0.0.106 (10.0.0.106) 56(84) bytes of data.
-  64 bytes from 10.0.0.106: icmp_seq=1 ttl=64 time=0.242 ms
-  64 bytes from 10.0.0.106: icmp_seq=2 ttl=64 time=0.200 ms
-  64 bytes from 10.0.0.106: icmp_seq=3 ttl=64 time=0.203 ms
+  PING 10.0.0.106 (10.0.0.106) 56(84) bytes of data.
+  64 bytes from 10.0.0.106: icmp_seq=1 ttl=64 time=0.242 ms
+  64 bytes from 10.0.0.106: icmp_seq=2 ttl=64 time=0.200 ms
+  64 bytes from 10.0.0.106: icmp_seq=3 ttl=64 time=0.203 ms
 
-  --- 10.0.0.106 ping statistics ---
-  3 packets transmitted, 3 received, 0% packet loss, time 2047ms
-  rtt min/avg/max/mdev = 0.200/0.215/0.242/0.019 ms
+  --- 10.0.0.106 ping statistics ---
+  3 packets transmitted, 3 received, 0% packet loss, time 2047ms
+  rtt min/avg/max/mdev = 0.200/0.215/0.242/0.019 ms
 
-  ping -c 3 10.0.0.208                                           //Board2 or Slave
+  ping -c 3 10.0.0.208                                           //Board2 or Slave
 
-  PING 10.0.0.208 (10.0.0.208) 56(84) bytes of data.
-  64 bytes from 10.0.0.208: icmp_seq=1 ttl=64 time=0.242 ms
-  64 bytes from 10.0.0.208: icmp_seq=2 ttl=64 time=0.200 ms
-  64 bytes from 10.0.0.208: icmp_seq=3 ttl=64 time=0.203 ms
+  PING 10.0.0.208 (10.0.0.208) 56(84) bytes of data.
+  64 bytes from 10.0.0.208: icmp_seq=1 ttl=64 time=0.242 ms
+  64 bytes from 10.0.0.208: icmp_seq=2 ttl=64 time=0.200 ms
+  64 bytes from 10.0.0.208: icmp_seq=3 ttl=64 time=0.203 ms
 
-  --- 10.0.0.208 ping statistics ---
-  3 packets transmitted, 3 received, 0% packet loss, time 2047ms
-  rtt min/avg/max/mdev = 0.200/0.215/0.242/0.019 ms
+  --- 10.0.0.208 ping statistics ---
+  3 packets transmitted, 3 received, 0% packet loss, time 2047ms
+  rtt min/avg/max/mdev = 0.200/0.215/0.242/0.019 ms
 
      
 
      
 
      • 
@@ -1130,11 +1132,11 @@ 
      Run Instructions
-
      Enable frame Preemption - Optional
      
+
    
+
    
+
    +
    +

    Enable frame Preemption - Optional

    1. Check the current status.

         ethtool --include-statistics --show-mm eth2    //KR260
@@ -1169,12 +1171,12 @@ 
      Enable frame Preemption - Optional/var/lib/lldpad/lldpad.conf to reset the configuration.
    - -
    -

    Network Configuration 3 : KR260/KD240 and PC Workstation

    +
    +
    +

    Network Configuration 3 : KR260/KD240 and PC Workstation

    A single KR260/KD240 board communicating with a PC workstation capable of TSN networking. The PC workstation is using an I210 Ethernet Controller interface card to demonstrate functionality and features of TSN.

    -
    -

    KR260/KD240 and PC Workstation: Board Setup

    +
    +

    KR260/KD240 and PC Workstation: Board Setup

    • Insert the microSD card containing the boot image into the microSD card slot (J11) on the Starter Kit.

    • Connect JTAG/UART port (J4) of the KR260 carrier board to the development PC.

      • @@ -1187,15 +1189,15 @@

      KR260/KD240 and PC Workstation: Board Setup

    • KR260 firmware load command:

    -
        sudo xmutil unloadapp
-    sudo xmutil loadapp kr260-tsn-rs485pmod
+
        sudo xmutil unloadapp
+    sudo xmutil loadapp kr260-tsn-rs485pmod
 
    
 
    
 
      
 
    • KD240 firmware load command:
      • 
 
    
-
        sudo xmutil unloadapp
-    sudo xmutil loadapp kd240-motor-ctrl-qei
+
        sudo xmutil unloadapp
+    sudo xmutil loadapp kd240-motor-ctrl-qei
 
    
 
    
 
@@ -1212,9 +1214,9 @@ 
    KR260/KD240 and PC Workstation: Board Setupsudo apt install -y linuxptp
    
 
 
-
    -
    -

    Network Time Synchronization Workstation-KR260/KD240 (PTP Demo)

    +
    +
    +

    Network Time Synchronization Workstation-KR260/KD240 (PTP Demo)

    In this demo, KR260/KD240 sets its clock as slave and the Linux host workstation serves as the clock master. The KR260/KD240 clock syncs with the Linux host workstation clock after a brief synchronization period.

    Using a text editor on the Linux TSN host workstation, create a new ptp4l configuration file with the following settings needed to launch ptp4l as the network clock master.

        [global]
@@ -1261,9 +1263,9 @@ 
    Network Time Synchronization Workstation-KR260/KD240 (PTP Demo)tail -f .local/log/ptplog
    
 
 
-
-
    
-
    Network Time Shaper Function (other 802.1Qbv Demo)
    
+
    +
    +

    Network Time Shaper Function (other 802.1Qbv Demo)

    This demo allots a time slot for Scheduled Traffic (ST) and Best Effort (BE) traffic and it can be visualized on an oscilloscope. For a cycle time period of 1ms, ST traffic is sent for 700us and BE traffic for 300us. Wireshark on the Linux host workstation listens for packets. On the KR260 board, the application sets up time slots for the traffic classes. Packets are generated in continuous mode for both traffic types. Wireshark monitors the incoming packets for scheduled and best-effort traffic exposed by the TSN IP.

    An oscilloscope or Analog Discovery 2 device can also be used to monitor Tlast Tx ST (P7) and Tlast Tx EP (P9) on KR260/KD240 board to view the distribution. Oscilloscope Setup (optional)

    @@ -1305,14 +1307,14 @@

    Network Time Shaper Function (other 802.1Qbv Demo)Wireshark trace shows a traffic distribution of 70% Scheduled traffic and 30% Best Effort traffic.

    - - -
    -

    Communication using RS485

    +

    +
    +
    +

    Communication using RS485

    The K26 SOM has the capability to perform as an advanced and highly integrated gateway for legacy industrial networking protocols (those using RS485/Modbus) to more modern industrial networking infrastructure (such as TSN) and this application serves as an example of how to interface to a remote temperature sensor for capturing data. This is analogous to integrating in legacy, but still functional, capital equipment to reduce total replacement costs within factory retrofits and technology upgrades.

    NOTE: This test is not applicable for KD240 via PMOD-RS485

    -
    -

    RS485: Board Setup

    +
    +

    RS485: Board Setup

    KR260:

    • Connect the Pmod RS485 to the PMOD1 expansion connector (J2) of the KR260 carrier board. Be sure to connect this to the bottom row of pins (ones labeled 2,4,6,8,10, and 12) since the module is a 1x6 header connecting to a 2x6 connector on KR260.

      • @@ -1338,25 +1340,25 @@

      RS485: Board Setup

      -

    - -
    -

    RS485 Temperature/Humidity Sensor Demo

    +
    +
    +
    +

    RS485 Temperature/Humidity Sensor Demo

    In this demo, the pmod-test application probes the temperature sensor connected and displays the captured values on the serial terminal.

    • Ensure to load the TSN accelerator/firmware (refer to step-7 ‘dynamically load the application package’ from initial setup) before testing example application. If the firmware is already loaded, ignore this step and proceed.

      • KR260 firmware load command:

      -
          sudo xmutil unloadapp
-    sudo xmutil loadapp kr260-tsn-rs485pmod
+
          sudo xmutil unloadapp
+    sudo xmutil loadapp kr260-tsn-rs485pmod
 
      
 
      
 
        
 
      • KD240 firmware load command:
        • 
 
      
-
          sudo xmutil unloadapp
-    sudo xmutil loadapp kd240-motor-ctrl-qei
+
          sudo xmutil unloadapp
+    sudo xmutil loadapp kd240-motor-ctrl-qei
      • @@ -1382,15 +1384,15 @@

      RS485 Temperature/Humidity Sensor Demo

    - -
    -

    CAN Communication Setup and Demonstration

    +
    +
    +

    CAN Communication Setup and Demonstration

    The application extends its functionality to support CAN communication by interfacing with PMOD CAN devices. This additional feature allows seamless communication between devices through the CAN interface, enabling efficient data exchange for various applications.

    -
    -

    CAN: Board Setup

    +
    +

    CAN: Board Setup

    The configuration requires a setup involving two Kria boards, either for communication between two KR260 boards or between a KR260 board and a KD240 board.

      @@ -1416,9 +1418,9 @@

      CAN: Board Setup

      -

    -
    -

    CAN Communication Demo

    +
    +
    +

    CAN Communication Demo

    This tutorial provides a step-by-step guide to run a demo of CAN communication between two Kria boards using the CAN interface. It details the necessary packages and commands to establish communication, send, and receive messages. Note that this feature is an additional @@ -1426,8 +1428,8 @@

    CAN Communication Demo

  • Required Packages Install the necessary packages on both devices:

    -
    sudo apt update
-sudo apt install can-utils   
+
    sudo apt update
+sudo apt install can-utils
    • @@ -1437,71 +1439,71 @@

    CAN Communication Demo

  • KR260 firmware load command:

    • -
        sudo xmutil unloadapp
-    sudo xmutil loadapp kr260-tsn-rs485pmod
+
        sudo xmutil unloadapp
+    sudo xmutil loadapp kr260-tsn-rs485pmod
 
    
 
    
 
      
 
    • KD240 firmware load command:
      • 
 
    
-
        sudo xmutil unloadapp
-    sudo xmutil loadapp kd240-motor-ctrl-qei
+
        sudo xmutil unloadapp
+    sudo xmutil loadapp kd240-motor-ctrl-qei
 
    
 
    
 
 
  • Verify CAN device enumeration on both the boards:
    
-
    ip link show
+
    ip link show
 
    
 
    
 
    Ensure that ‘can0’ node is listed to confirm that the CAN device is recognized.
 An example output when run on KR260:
    
-
    ubuntu@kria:~$ ip link show
-1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN mode DEFAULT group default qlen 1000
-	link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
-11: eth0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc mq state DOWN mode DEFAULT group default qlen 1000
-	link/ether 00:0a:35:10:38:7d brd ff:ff:ff:ff:ff:ff
-12: eth1: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP mode DEFAULT group default qlen 1000
-	link/ether 00:0a:35:10:38:7e brd ff:ff:ff:ff:ff:ff
-13: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN mode DEFAULT group default
-	link/ether 02:42:ba:13:d1:63 brd ff:ff:ff:ff:ff:ff
-14: ep: <BROADCAST,UP,LOWER_UP> mtu 1500 qdisc mq state UNKNOWN mode DEFAULT group default qlen 1000
-	link/ether 00:0a:35:00:01:05 brd ff:ff:ff:ff:ff:ff
-15: eth2: <NO-CARRIER,BROADCAST,UP> mtu 1500 qdisc mq state DOWN mode DEFAULT group default qlen 1000
-	link/ether 00:0a:35:00:01:0e brd ff:ff:ff:ff:ff:ff
-16: eth3: <NO-CARRIER,BROADCAST,UP> mtu 1500 qdisc mq state DOWN mode DEFAULT group default qlen 1000
-	link/ether 00:0a:35:00:01:0f brd ff:ff:ff:ff:ff:ff
-17: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
-	link/can
+
    ubuntu@kria:~$ ip link show
+1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN mode DEFAULT group default qlen 1000
+	link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00
+11: eth0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc mq state DOWN mode DEFAULT group default qlen 1000
+	link/ether 00:0a:35:10:38:7d brd ff:ff:ff:ff:ff:ff
+12: eth1: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP mode DEFAULT group default qlen 1000
+	link/ether 00:0a:35:10:38:7e brd ff:ff:ff:ff:ff:ff
+13: docker0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc noqueue state DOWN mode DEFAULT group default
+	link/ether 02:42:ba:13:d1:63 brd ff:ff:ff:ff:ff:ff
+14: ep: <BROADCAST,UP,LOWER_UP> mtu 1500 qdisc mq state UNKNOWN mode DEFAULT group default qlen 1000
+	link/ether 00:0a:35:00:01:05 brd ff:ff:ff:ff:ff:ff
+15: eth2: <NO-CARRIER,BROADCAST,UP> mtu 1500 qdisc mq state DOWN mode DEFAULT group default qlen 1000
+	link/ether 00:0a:35:00:01:0e brd ff:ff:ff:ff:ff:ff
+16: eth3: <NO-CARRIER,BROADCAST,UP> mtu 1500 qdisc mq state DOWN mode DEFAULT group default qlen 1000
+	link/ether 00:0a:35:00:01:0f brd ff:ff:ff:ff:ff:ff
+17: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
+	link/can
 
    
 
    
 
    • 
 
  • Setup the CAN interface on both the boards:
    
-
    sudo ip link set can0 type can bitrate 100000
-sudo ip link set can0 txqueuelen 1000
-sudo ip link set can0 up
+
    sudo ip link set can0 type can bitrate 100000
+sudo ip link set can0 txqueuelen 1000
+sudo ip link set can0 up
 
    
 
    
 
    • 
 
  • Verify CAN communication:
    
 
    Start monitoring messages on board 2
    
-
    sudo candump can0
+
    sudo candump can0
 
    
 
    
 
    Send CAN message from board 1
    
-
    sudo cansend can0 123#1122334455667788
+
    sudo cansend can0 123#1122334455667788
 
    
 
    
 
    An example output on receiving the message on board 2 is shown below:
    
-
    ubuntu@kria:~$ sudo candump can0
+
    ubuntu@kria:~$ sudo candump can0
 
-can0  123   [8]  11 22 33 44 55 66 77 88
+can0  123   [8]  11 22 33 44 55 66 77 88
 
    
 
    
 
    Similarly, repeat the above steps by sending the message on board 2 and monitoring on board 1.
 This ensures that both sending and receiving functionality is verified on both devices.
    
 
    • 
 
  • Bring down the CAN interfaces on both boards after testing:
    
-
     sudo ip link set can0 down
+
     sudo ip link set can0 down
 
    
 
    
 
    • 
@@ -1509,20 +1511,20 @@ 
    CAN Communication DemoThe demo provides users with a foundation to explore and develop CAN-based applications, leveraging
 the communication capability provided by the platform. Integrating this with ROS applications allows
 for efficient and reliable real-time data exchange, enhancing performance and communication.
    
-
-
-
-
    
-
    Known issues
    
+
    
+
    
+
    +
    +

    Known issues

    Following known issues and their remedies that can be encountered and implemented while testing the above application.

    • Repeated broadcast on ping

    • PTP timeouts with heavy traffic

    For the above two issues, refer to the documentation provided under the section “Known issues and troubleshooting” from the AMD TSN solution wiki page here.

    - -
    -

    Next Steps

    +
    + +

    @@ -1553,7 +1555,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/hw_arch_platform.html b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/hw_arch_platform.html index 4fea90bf..df6ef445 100644 --- a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/hw_arch_platform.html +++ b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/hw_arch_platform.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -140,10 +142,10 @@
    -
    -

    Hardware Architecture of the Platform

    -
    -

    Introduction

    +
    +

    Hardware Architecture of the Platform

    +
    +

    Introduction

    This section describes the design implemented in the Programmable Logic (PL).

    The PL design provides a platform to support transmission of Ethernet traffic based on traffic shaping protocols. The traffic can be control information to be passed between different nodes in a Robotics system or between various Industrial Field devices. The requirement in these systems would be that the traffic is deterministic.

    It has an RS485 interface, which can be used to connect to RS485 peripherals such as actuators, sensors, and so on. These could be components in a Robotics system or part of a Field device.

    @@ -157,9 +159,9 @@

    Introduction

    -

    -
    -

    TSN IP

    +
    +
    +

    TSN IP

    The main block in the PL design is the AMD LogiCORE™100M/1G TSN Subsystem IP, which implements IEEE 802.1 Time Sensitive Networking (TSN) Standards and provides a low latency Bridged Endpoint. The bridged endpoint solution consists of a 3-port switch, two ports connects to the network and one port connects to an internal Endpoint. In this design, RGMII interfaces connect to a Marvel physical-side interface (PHY) supporting a maximum bandwidth of 1 Gbps. The TSN IP is configured to support:

    @@ -172,26 +174,26 @@

    TSN IP

    For more information on the IP, refer to PG275.

    Note: You will need access to 1GTSN Documentation Lounge to view the above document.

    - -
    -

    Time Aware DMA (TADMA)

    +

    +
    +

    Time Aware DMA (TADMA)

    TADMA is aware of the QBV schedule cycles and stream time slots. By using PTP generated time, it is capable of fetching frames for different streams/traffic classes from system memory (DDR) at precisely required time, providing excellent time precision for TSN traffic. In this design, TADMA fetches scheduled traffic from memory, based on the Qbv programming and passed it to the TSN IP for transmission.

    For more information on the IP, refer to PG316.

    Note: You will need access to 1GTSN Documentation Lounge to view the above document.

    - -
    -

    AXI Multichannel DMA (MCDMA)

    +
    +
    +

    AXI Multichannel DMA (MCDMA)

    The AXI MCDMA provides high-bandwidth direct memory access between memory (AXI Memory Mapped) and stream (AXI Stream) target peripherals. It supports both Memory Mapped to Stream (MM2S) and Stream to Memory Mapped (S2MM) transfers. The AXI MCDMA core provides Scatter Gather (SG) interface with multiple channel support with independent configuration. In this design, the MCDMA is responsible to fetch the Best Effort traffic for transmission by TSN IP. It reads frames from the DDR memory and passes data to the TSN IP on the AXI Stream interface. It is also responsible for writing the Schedule traffic and Best Effort traffic frames received from the TSN IP to the memory. The IP uses the S_AXI_HP0_FPD on the AMD Zynq™ UltraScale+™ MPSoC Processing System (PS) IP to read/write from/to the DDR memory.

    For more information on the IP, refer to PG288.

    - -
    -

    AXI Stream Switch

    +
    +
    +

    AXI Stream Switch

    The AXI4-Stream Switch provides configurable routing between masters and slaves. In this design, it is configured with two slaves and one master. The switch arbitrates when an end of a frame (tlast) is received, either on the received scheduled traffic (rx_st) stream or received best effort traffic (rx_be) stream.

    For more information on the IP, refer to PG085.

    - -
    -

    Test PMOD controller

    +
    +
    +

    Test PMOD controller

    The Test PMOD controller is a user IP that drives the Digilent Test PMOD pins. The IP implements registers are detailed below.

    @@ -251,9 +253,9 @@

    Test PMOD controllerTo view scheduled and best effort traffic, the MUX value is set to 1. If Qbv schedule is set, for example, a time slot is programmed with 70% scheduled traffic and 30% best effort traffic, then viewing tlast signal of received scheduled traffic and tlast signal of received best effort traffic on a scope confirms that Qbv is working as expected. Tlast indicates the end of a packet. Transmit signals can also be monitored, but note these signals are on the outside of the TSN IP and the traffic is yet to be scheduled.

    The other signal that is monitored to see if the Transmitter and Receiver clocks are in sync is the PTP clock.

    For more information on how to use PMOD signals to check clock synchronization, to measure latency and confirm Qbv programming, refer to the application deployment page.

    - -
    -

    RS485

    + +
    +

    RS485

    • KR260:

      The LogiCORE IP AXI UART Lite core converts AXI4 Lite register transactions to RS232 signaling. To support RS485, signaling a patch needs to be applied to the IP core. The AXI Uartlite IP patch is located at the following location and adds a Drive Enable signal to the IP.

      @@ -269,19 +271,19 @@

      RS485

      For information on how to test the RS485 interface, refer to the application deployment page.

    -
    -
    -

    CAN

    + +
    +

    CAN

    • KR260:

      The LogiCORE IP AXI Quad Serial Peripheral Interface (SPI) core connects the AXI4 interface to SPI slave devices that support the Standard, Dual, or Quad SPI protocol instruction set. The Digilent PMOD CAN is controlled by AXI Quad SPI through the 12-bit PMOD interface. The Digilent PMOD also has an embedded Microchip MCP25625 that allows for communication with external CAN devices.

    -
    -
    -

    Clocks, Resets and Interrupts

    -
    -

    Clocks

    + +
    +

    Clocks, Resets and Interrupts

    +
    +

    Clocks

    The following table identifies the main clocks of the PL design, their source, clock frequency, and function.

    @@ -325,9 +327,9 @@

    Clocks

    *Clocks exposed as a Platform interface and can be used by an accelerator.

    - -
    -

    Resets

    +
    +
    +

    Resets

    The following table summarizes the resets used in this design.

    @@ -370,9 +372,9 @@

    ResetsSynchronous Reset for clk_out300M clock domain -

    -
    -

    Interrupts

    +
    +
    +

    Interrupts

    The following table lists the PL-to-PS interrupts used in this design. The AXI Interrupt controller IP connects the PL interrupts to the pl_ps_irq0 signal on the PS.

    @@ -419,10 +421,10 @@

    Interrupts -

    Resource Utilization

    +

    +
    +
    +

    Resource Utilization

    The resource utilization numbers on this platform post implementation is reported in the following table.

    + +
    @@ -483,7 +485,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/introduction.html b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/introduction.html index 46daa0e3..a976305a 100644 --- a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/introduction.html +++ b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/introduction.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -140,10 +142,10 @@

    Introduction

    -
    -

    Introduction

    -
    -

    Design Overview

    +
    +

    Introduction

    +
    +

    Design Overview

    ROS 2 Multi-Node Communications via Time-Sensitive Networking (TSN) application built on Kria SOM Starter Kits provides a framework for building deterministic interaction between devices.

    Supported starter kits:

    @@ -181,9 +183,9 @@

    Design Overview -

    Next Steps

    +

    +
    -
    +-->

    Copyright© 2023 Advanced Micro Devices, Inc.

    +
    @@ -214,7 +216,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_arch_platform.html b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_arch_platform.html index 2554eaeb..473634c2 100644 --- a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_arch_platform.html +++ b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_arch_platform.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -135,10 +137,10 @@
    -
    -

    Software Architecture of the Platform

    -
    -

    Introduction

    +
    +

    Software Architecture of the Platform

    +
    +

    Introduction

    This section describes software components involved in the design and their relation with each other. The application requires hw platform as described in Hardware Architecture of the Platform for the stack explained in this section to work.

    Following diagram illustrates the top-level architecture and arrangement of various software components:

    Software Architecture Overview

    @@ -179,19 +181,19 @@

    Introduction -

    TSN

    +

    +
    +

    TSN

    Time-Sensitive Networking (TSN) is a set of standards under development by the Time-Sensitive Networking task group of the IEEE 802.1 working group. This standards allows low latency transmission and time-guaranteed packet delivery.

    -
    -

    Driver

    +
    +

    Driver

    Set of drivers used for the TSN solution is enabled in the staging area under linux-xlnx/drivers/staging/xilinx-tsn. These set of drivers provides TSN capability such as vlan,scheduled traffic, best effort traffic, ptp, QBV shaper, and so on using standard ethernet framework and IP route tools.

    The details of the device tree for the driver can be found in the kernel documentation at linux-xlnx/Documentation/devicetree/bindings/net/xilinx*tsn*.txt.

    Refer to Xilinx TSN Solution for details of various features supported by Xilinx TSN drivers.

    -
    -
    -
    -

    ROS2

    +
    +
    +
    +

    ROS2

    Robot Operating System (ROS) is a set of open source algorithms, hardware driver, software, and tools for developing robot control software. Contrary to its name, ROS is not an operating system but a library.

    In a full-fledged ROS environment sensors in robots, motion controllers, detection, and navigation algorithms, and so on are all components of this distributed ROS architecture. Each individual component is referred as Node. ROS nodes (and applications) typically communicate through interfaces of one of three types: messages, services, and actions. ROS 2 uses a simplified description language, the interface definition language (IDL), to describe these interfaces. This description makes it easy for ROS tools to automatically generate the source code for the interface type in several target languages.

    Topics are the elements of ROS2 that act as bus for nodes to exchange messages. In the simplest use case, the message is published by a node on a given topic. Anyone subscribed to that topic can receive the message.

    @@ -199,8 +201,8 @@

    ROS2A node may publish data to any number of topics and simultaneously have subscriptions to any number of topics.

    TopicMultiNodes

    These nodes can be on the same system or distributed across systems. The biggest improvement ROS2 provides over ROS1 is how the communication is handled across various systems. ROS2 adopts the decentralized (as opposed to centralized in ROS1) DDS middleware. Instead of implementing its own DDS layer, ROS2 provides a middleware abstraction layer (rmw), which can be plugged on any standard DDS implementation.

    -
    -

    DDS

    +
    +

    DDS

    ROS 2 is built on top of DDS/RTPS as its middleware, which provides discovery, serialization, and transportation. DDS is an end-to-end middleware that provides features that are relevant to ROS systems, such as distributed discovery (not centralized like in ROS 1) and control over different “Quality of Service” options for the transportation. There are many independent DDS implementation by various vendors. ROS2’s rmw abstraction allows to easily switch or adapt different implementations.

    Following are supported DDS implementation for ROS2 humble release:

      @@ -210,36 +212,36 @@

      DDS

      GurumNetworks GurumDDS

    For this application, two separate nodes, one running as publisher and the other as subscriber on separate KR260 communicate over the TSN network. The underlying middleware is default to FastDDS.

    -
    -

    DDS configuration

    +
    +

    DDS configuration

    For demonstration, the message is sent as a scheduled traffic. The DDS is configured allow the message only from the whitelisted interface, which is set to have vlan qos mapping for all the outgoing traffic to be set as Scheduled Traffic (PCP=4).

    For example,

    -
    ip link add link ep name ep.40 type vlan id 40 egress-qos-map 0:4
-ip addr add 111.222.0.10/24 broadcast + dev ep.40
+
    ip link add link ep name ep.40 type vlan id 40 egress-qos-map 0:4
+ip addr add 111.222.0.10/24 broadcast + dev ep.40
 
    
 
    
 
    Now this new interface can be added to whitelist of the DDS configuration for the required topic through the xml configuration.
    
 
    <transport_descriptor>
-    <transport_id>UdpVLANTransport</transport_id>
-    <type>UDPv4</type>
-    <interfaceWhiteList>
-        <address>111.222.0.10</address>
-    </interfaceWhiteList>
+    <transport_id>UdpVLANTransport</transport_id>
+    <type>UDPv4</type>
+    <interfaceWhiteList>
+        <address>111.222.0.10</address>
+    </interfaceWhiteList>
 </transport_descriptor>
 
    
 
    
 
    For more information various possible configuration, refer to fast dds configuration.
    
-
    -
    - -
    -

    Modbus and RS485

    +

    +
    +
    +
    +

    Modbus and RS485

    Modbus is an open-source, client/server communication protocol widely used in remote monitoring, control, and robotic applications. Because of its simple message structure, it is easy to deploy. It supports multiple devices to be connected on the same bus and uses polling mechanism to acquire the status of each device on the bus.

    Modbus data can be carried over serial ports or ethernet interface.

    Modbus RTU (remote terminal unit), used in serial communication, is the most common implementation for modbus supporting devices. Modbus RTU makes use of a compact, binary representation of the data for protocol communication. The RTU format follows the commands/data with a cyclic redundancy check checksum as an error check mechanism to ensure the reliability of data.

    RS485 is a widely used serial communication standard, especially between the devices communicating over Modbus RTU protocol.

    -
    -

    Modbus RTU frame format

    +
    +

    Modbus RTU frame format

    @@ -280,9 +282,9 @@

    Modbus RTU frame formatAt least 3+1⁄2 character times (28 bits) of silence (mark condition) between frames

    -
    -
    -

    Linux driver

    +
    +
    +

    Linux driver

    • In KR260, uartlite IP in PL is patched to support RS485, by enabling/connect the DE line. To support this, there is a uartlite-rs485 driver in the staging area. This driver is copy of original uartlite driver with additional advertised capability of RS485 support. No additional changes are required for the given IP patch.

      This new driver requires different compatibility string and hence, the original device tree node’s compatible string needs to be overwritten as below.

      @@ -303,14 +305,14 @@

      Linux driver -

      Modbus Library

      +

    +
    +

    Modbus Library

    libmodbus is a free software library to send/receive data according to the Modbus protocol. This library is written in C and supports RTU (serial) and TCP (Ethernet) communications. It is available on most of the platforms (OS) include Linux, FreeBSD, Mac, and Windows.

    Once the required communication channel is established, the library takes care of converting the regular message in the modbus format.

    - -
    -

    Application

    +
    +
    +

    Application

    To demonstrate Modbus and RS485 capability an example C application, pmdo-rs485-test is provided. The target device is modbus capable temperature sensor, connected over the pmod interface. See connection and hardware details in Deployment and Hardware Arch sections.

    pmod-rs485-test is the application that uses libmodbus to:

    +
    +
    +

    CAN Interface and Demonstration

    The platform includes support for the mcp25625 microcontroller in the Digilent PMOD CAN device, enabled through the quad SPI interface implemented in the PL. Controller Area Network (CAN) is a robust communication protocol designed to allow devices to communicate with each other. It is widely used in industrial applications due to its reliability and efficiency in data transmission. Integrating CAN with ROS environment enhances the ability to manage real-time data exchange in robotics and automation systems.

    -
    -

    Driver

    +
    +

    Driver

    • The AXI QSPI driver facilitates high-speed communication with the Quad SPI interface, which is used to initialize and configure the mcp25625 CAN controller.

      • @@ -355,10 +357,10 @@

      Driver< The CAN demonstration section includes instructions to initialize the CAN interface, establish communication, basic examples of sending and receiving CAN messages.

      -

    - -
    -

    References

    +
    +
    + +
    +
    @@ -402,7 +404,7 @@

    Next Steps

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_build_instructions.html b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_build_instructions.html index 595f41db..502341eb 100644 --- a/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_build_instructions.html +++ b/kd240/build/html/docs/ros2_multinode_communication_via_tsn/src/sw_build_instructions.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -47,6 +48,7 @@
    Kria™ KD240 +
    1.0 @@ -130,15 +132,15 @@
    @@ -154,7 +156,7 @@

    Build and Instructions

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/docs/yocto_port_example.html b/kd240/build/html/docs/yocto_port_example.html new file mode 100644 index 00000000..853a5426 --- /dev/null +++ b/kd240/build/html/docs/yocto_port_example.html @@ -0,0 +1,517 @@ + + + + + + + + + + + + + + + Porting an Application to PetaLinux - Smartcam — Yocto Support 1.0 documentation + + + + + + + + + + + + + + + + + + + + + + +
    + + +
    + +
    +
    +
    + +
    +
    +
    +
    + +
    +

    Porting an Application to PetaLinux - Smartcam

    +

    This page documents a step by step example that ports Smartcam application to run on PetaLinux OS. Developers can use this as a guide to port their own applications onto PetaLinux. Note that starting from 2022.1 and newer, example applications are supported on Ubuntu and not PetaLinux, giving an opportunity to show porting process for one of the example applications.

    +

    The example here was tested using smartcam and tool version 2022.1. It assumes that you have already familiar with the smartcam application either using Ubuntu with tool version 2022.1 or PetaLinux 2021.1.

    +

    There are 3 ways to port smartcam onto PetaLinux OS:

    +

    Without having to use PetaLinux toolchain:

    +
      +

    • Build on target

      • +
    +

    Using PetaLinux toolchain, the following two methods has some overlap steps with eachother, therefore they are documented under the same section:

    +
      +

    • Build a new PetaLinux wic image with smartcam baked in using recipes

      • +

    • Generate an RPM using PetaLinux and recipes, and move to target

      • +
    +
    +

    Build on Target

    +

    This section outlines how to build smartcam on KV260 target running released 2022.1 wic image. First, download and boot with 2022.1 PetaLinux Starter Kit Linux pre-built SD card image. Once booted, download git, and repositories required for building smartcam - the FPGA firmware, AP1302 firmware, and smartcam application software:

    +
    sudo dnf install -y git
+git clone --branch xlnx-rel-v2022.1_update4 https://github.com/Xilinx/kria-apps-firmware.git
+git clone --branch xlnx_rel_v2022.1 https://github.com/Xilinx/ap1302-firmware.git
+git clone --branch xlnx_rel_v2022.1 https://github.com/Xilinx/smartcam.git
+
    +
    +

    Next, copy the smartcam FPGA Firmware and AP1302 firmware to the correct location:

    +
    cd kria-apps-firmware/boards/kv260/smartcam/
+dtc -@ -O dtb -o kv260-smartcam.dtbo kv260-smartcam.dtsi # generate binary for device tree from .dtsi - errors can be ignored
+cd /home/petalinux/
+sudo cp kria-apps-firmware/boards/kv260/smartcam/ /lib/firmware/xilinx/kv260-smartcam -r
+sudo cp ap1302-firmware/ap1302_ar1335_single_fw.bin /lib/firmware/
+
    +
    +

    Next, install runtime and build dependencies. Note that 2022.1 smartcam is compatible only with specific versions of zcol and xrt. Therefore install them first with the compatible versions to prevent latest version to be installed when other dependencies are installed. (Tip: copy below section to a .sh file on target and source the .sh file to save time.)

    +

    Note that the example applications are verified with specific versions of XRT, VVAS and Vitis-AI libraries, which may not be backward compatible. So you will need to first install specific versions per instructions below. Find more information in library dependency page.

    +
    # install specific versions of zocl, xrt, VVAS, and Vitis-AI:
+# zocl needs to be installed before xrt - otherwise xrt will install latest zocl as dependency
+sudo dnf install -y zocl-202210.2.13.479
+sudo dnf install -y xrt-202210.2.13.479
+sudo dnf install -y vitis-ai-library-2.5
+sudo dnf install -y vvas-accel-libs-2.0
+sudo dnf install -y vitis-ai-library-dev-2.5
+sudo dnf install -y vvas-accel-libs-dev-2.0
+
+# Install the rest of runtime dependencies
+sudo dnf install -y glog
+sudo dnf install -y gstreamer1.0-rtsp-server
+sudo dnf install -y opencv
+
+# Install the rest of build time dependencies
+sudo dnf install -y packagegroup-petalinux-self-hosted
+sudo dnf install -y gst-perf-dev gstreamer1.0-omx-dev gstreamer1.0-python-dev
+sudo dnf install -y gstreamer1.0-rtsp-server-dev v4l-utils-dev
+sudo dnf install -y alsa-utils-dev opencv-dev
+sudo dnf install -y gst-perf gstreamer1.0-omx gstreamer1.0-plugins-bad-faac
+sudo dnf install -y gstreamer1.0-plugins-bad-mpegtsmux gstreamer1.0-plugins-good-rtp
+sudo dnf install -y gstreamer1.0-plugins-bad-kms gstreamer1.0-plugins-bad-mediasrcbin
+sudo dnf install -y gstreamer1.0-plugins-bad-videoparsersbad gstreamer1.0-plugins-good-multifile
+sudo dnf install -y gstreamer1.0-plugins-good-rtpmanager gstreamer1.0-plugins-good-udp
+sudo dnf install -y gstreamer1.0-plugins-good-video4linux2 gstreamer1.0-python
+sudo dnf install -y libdrm-tests v4l-utils alsa-utils python3-core
+
    +
    +

    Lastly, build the smartcam application:

    +
    # build smartcam
+cd smartcam
+mkdir build
+cd build
+cmake -DCMAKE_INSTALL_PREFIX=/ ../
+make -j
+sudo make install
+# smartcam binary will be available at  /opt/xilinx/kv260-smartcam/bin/smartcam
+
    +
    +

    Finally, test the smartcam on target:

    +
    sudo xmutil listapps                            # kv260-smartcam should show up in the list
+sudo xmutil unloadapp                           # unload existing firmware
+sudo xmutil loadapp kv260-smartcam              # Load smartcam firmware
+sudo /opt/xilinx/kv260-smartcam/bin/smartcam -m
+
    +
    +
    +
    +

    Building a WIC image or RPM packages

    +

    You need PetaLinux 2022.1 with eSDK update 1 or later, as vvas library is released asynchronously and not included in the main 2022.1 petalinux tools release. Download PetaLinux Tools Installer 2022.1 from PetaLinux Download page.

    +

    To install PetaLinux, extract the petalinux installer, accept the license and source the tool’s settings script.

    +
    petalinux-v2021.1-final-installer.run
+source settings.sh
+
    +
    +

    The eSDK can be used to update the petalinux tool for creating new images or SDKs. The eSDK updates are +published here +Upgrade the tool with new eSDK for ‘2022.1 update1’ release and source the tool’s settings script.

    +
    petalinux-upgrade -u 'http://petalinux.xilinx.com/sswreleases/rel-v2022/sdkupdate/2022.1_update1/' -p 'aarch64'
+source settings.sh
+
    +
    +

    The petalinux tool is now updated with ‘2022.1 update1’ Yocto eSDK.

    +
    +

    Step 1: Create PetaLinux Project

    +

    First, download the KV260 2022.1 BSP from Kria SOM Wiki. Using PetaLinux tool version 2022.1, create a project:

    +
    petalinux-create -t project -s xilinx-kv260-starterkit-v2022.1-<timestamp>.bsp
+cd xilinx-kv260-starterkit-2022.1/
+
    +
    +

    Note that we will be now adding 4 recipes for smartcam FPGA firmware, AP1302 firmware, smartcam software, and a packagegroup to bring them together. The recipes will be added to the project-spec/meta-user folder, which is a meta-layer thats already included in the project, which you can confirm by looking at build/conf/bblayers.conf after a petalinux-build. If you choose to add the recipes to other meta-layer folders, be sure to add the layer first.

    +
    +
    +

    Step 2: Add Recipe for Smartcam FPGA firmware

    +

    FPGA Firmware for Smartcam 2022.1 is released on github. It includes the bitstream, and its associated .xclbin, .dtsi and shell.json files. First make the folder example_firmware to keep the recipe file:

    +
    mkdir -p project-spec/meta-user/recipes-firmware/example_firmware
+
    +
    +

    Below is the content for project-spec/meta-user/recipes-firmware/example_firmware/kv260-smartcam.bb. Note the latest commit ID correspond to the tag xlnx-rel-v2022.1_update4 when creating the recipe.

    +
    
+SUMMARY = "Firmware for Example design"
+
+LICENSE = "Proprietary & GPL-2.0"
+LIC_FILES_CHKSUM = " \
+        file://${WORKDIR}/git/LICENSE-BINARIES;md5=fa9b03ada9ffccf51dd60899bf28c702 \
+        file://${WORKDIR}/git/LICENSE-GPLv2;md5=9afdcd1be3f71bd3791fa5961075d776 \
+        "
+
+# Specify the source of firmware
+BRANCH = "xlnx_rel_v2022.1"
+SRC_URI = "git://github.com/Xilinx/kria-apps-firmware.git;protocol=https;branch=${BRANCH}"
+SRCREV = "9d7d92d8a89f911ae8c1b0a25316c924c1a4ff3f" # this specifies the commit ID of the version of repo to use
+
+inherit fpgamanager_custom
+
+PACKAGE_ARCH = "${MACHINE_ARCH}"
+
+FW_DIR = "boards/kv260/smartcam" #specifies which folder of the repo to use
+
+COMPATIBLE_MACHINE:k26-kv = "${MACHINE}"
+
    +
    +
    +
    +

    Step 3: Add Recipe for AP1302 Firmware

    +

    Smartcam uses AR1335 MIPI sensor, which requires AP1302 firmware. AP1302 is released on github. We will first create a folder called “ap1302-firmware” to keep the AP1302 recipes ap1302-firmware.inc and ap1302-ar1335-single-firmware.bb.

    +
    mkdir -p project-spec/meta-user/recipes-firmware/ap1302-firmware/
+
    +
    +

    Below is the content for project-spec/meta-user/recipes-firmware/ap1302-firmware/ap1302-ar1335-single-firmware.bb:

    +
    SUMMARY = "ap1302 ar1335-single firmware binary"
+
+include ap1302-firmware.inc
+
+FW_NAME = "ap1302_ar1335_single_fw.bin"
+
    +
    +

    Below is the content for project-spec/meta-user/recipes-firmware/ap1302-firmware/ap1302-firmware.inc, which the above recipe included:

    +
    LICENSE = "Proprietary"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=9c13aad1aab42f76326f1beceafc40c4"
+
+BRANCH ?= "xlnx_rel_v2022.1"
+SRC_URI = "git://github.com/Xilinx/ap1302-firmware.git;protocol=https;branch=${BRANCH}"
+SRCREV ?= "63e20752dc8b1e91fc6d6d518ebeb76f65e9f738"
+
+S = "${WORKDIR}/git"
+
+FW_NAME ?= ""
+
+do_configure[noexec] = "1"
+do_compile[noexec] = "1"
+
+do_install() {
+	install -d ${D}/lib/firmware  # create /lib/firmware
+	install -m 0644 ${FW_NAME} ${D}/lib/firmware/${FW_NAME} # copy firmware binary to /lib/firmware
+}
+
+FILES:${PN} = "/lib/firmware/${FW_NAME}"
+
    +
    +
    +
    +

    Step 4: Add Recipe for Smartcam Software

    +

    Next, we add the recipe for smartcam software, which is released at github for 2022.1. We first create a folder for application recipe:

    +
    mkdir -p project-spec/meta-user/recipes-apps/smartcam/
+
    +
    +

    Then we create the following content in file project-spec/meta-user/recipes-apps/smartcam/smartcam.bb, Note the commit ID - move to the latest commit ID if needed.

    +
    SUMMARY = "Example Smartcam application"
+
+LICENSE = "Apache-2.0"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=a9c5ded2ac97b4ce01aa0ace8f3a1755"
+
+BRANCH = "xlnx_rel_v2022.1"
+SRC_URI = "git://github.com/Xilinx/smartcam.git;protocol=https;branch=${BRANCH}"
+SRCREV = "ad9523ee5f002141334698eb6ddc9a14679ac8d2"
+
+inherit cmake
+
+# DEPENDS specifies runtime dependencies
+DEPENDS = "vvas-accel-libs glog gstreamer1.0-rtsp-server opencv"
+#RDEPENDS specifies build-time dependencies
+RDEPENDS:${PN} = " \
+    gst-perf \
+    gstreamer1.0-omx \
+    gstreamer1.0-plugins-bad-faac \
+    gstreamer1.0-plugins-bad-mpegtsmux \
+    gstreamer1.0-plugins-good-rtp \
+    gstreamer1.0-plugins-bad-kms \
+    gstreamer1.0-plugins-bad-mediasrcbin \
+    gstreamer1.0-plugins-bad-videoparsersbad \
+    gstreamer1.0-plugins-good-multifile \
+    gstreamer1.0-plugins-good-rtpmanager \
+    gstreamer1.0-plugins-good-udp \
+    gstreamer1.0-plugins-good-video4linux2 \
+    gstreamer1.0-python \
+    gstreamer1.0-rtsp-server \
+    vvas-accel-libs \
+    libdrm-tests \
+    v4l-utils \
+    alsa-utils \
+    python3-core \
+    "
+
+SOMAPP_INSTALL_PATH = "/"
+EXTRA_OECMAKE += "-DCMAKE_BUILD_TYPE=Release -DCMAKE_SYSROOT=${STAGING_DIR_HOST} -DCMAKE_INSTALL_PREFIX=${SOMAPP_INSTALL_PATH} "
+
+S = "${WORKDIR}/git"
+
+FILES:${PN} += " \
+    /opt/xilinx \
+    "
+
    +
    +
    +
    +

    Step 5: Create Packagegroup

    +

    Next, we want to create the package group to include both the firmware and software, as well as the AR1335 driver that is needed for this application. UG1144 also details this step.

    +
    mkdir -p project-spec/meta-user/recipes-core/packagegroups/
+
    +
    +

    Then create project-spec/meta-user/recipes-core/packagegroups/packagegroup-kv260-smartcam.bb with the following content:

    +
    DESCRIPTION = "Example Smartcam related Packages"
+
+inherit packagegroup
+
+EXAMPLE_PACKAGES = " \
+    ap1302-ar1335-single-firmware \
+    kv260-smartcam \
+    smartcam \
+    "
+
+RDEPENDS:${PN} = "${EXAMPLE_PACKAGES}"
+
+COMPATIBLE_MACHINE = "^$"
+COMPATIBLE_MACHINE:k26-kv = "${MACHINE}"
+PACKAGE_ARCH = "${MACHINE_ARCH}"
+
    +
    +

    Add below line to project-spec/meta-user/conf/user-rootfsconfig:

    +
    CONFIG_packagegroup-kv260-smartcam
+
    +
    +

    Enable the package group by using below command to get to configuration gui:

    +
    petalinux-config -c rootfs
+
    +
    +

    Go to user packages to enable packagegroup-kv260-smartcam

    +
    +
    +

    Step 6: Build

    +
    +

    Option 1 - baking into WIC image

    +

    Now that all the meta layers are in place, build the image:

    +
    petalinux-build
+petalinux-package --wic --bootfiles "ramdisk.cpio.gz.u-boot boot.scr Image system.dtb"
+
    +
    +

    Flash the generated image in ``images/linux/petalinux-sdimage.wic``` onto SD card and boot on a KV260.

    +
    +
    +

    Option 2 - generate RPM and install on released wic image

    +
    petalinux-build -c smartcam
+petalinux-build -c kv260-smartcam
+petalinux-build -c ap1302-ar1335-single-firmware
+
    +
    +

    resulting rmp can be found in:

    +
    $TMP/deploy/rpm/xilinx_k26_kv/kv260-smartcam-1.0-r0.0.xilinx_k26_kv.rpm
+$TMP/deploy/rpm/cortexa72_cortexa53/smartcam-1.0-r0.0.cortexa72_cortexa53.rpm
+$TMP/deploy/rpm/cortexa72_cortexa53/ap1302-ar1335-single-firmware-1.0-r0.0.cortexa72_cortexa53.rpm
+
    +
    +

    $TMP location can be found at project-spec/configs/config CONFIG_TMP_DIR_LOCATION=$TMP

    +

    Then move the .rpm files to target (that is booted in released 22.1 .wic image) and install using dnf, so they will install dependencies as well. However, note that for 2022.1 version of Smartcam, you need specific, compatible versions of zocl and xrt which is not the latest - therefore we need to first install the specific versions to prevent a later, incompatible version to be installed automatically.

    +
    sudo dnf install -y zocl-202210.2.13.479-r0.0 
+sudo dnf install -y xrt-202210.2.13.479-r0.0
+sudo dnf install -y kv260-smartcam-1.0-r0.0.xilinx_k26_kv.rpm
+sudo dnf install -y smartcam-1.0-r0.0.cortexa72_cortexa53.rpm
+sudo dnf install -y ap1302-ar1335-single-firmware-1.0-r0.0.cortexa72_cortexa53.rpm
+
    +
    +
    +
    +
    +

    Step 7: Test

    +

    Test that firmware and applications have loaded correctly:

    +
    sudo xmutil listapps                            # kv260-smartcam should show up in the list
+sudo xmutil unloadapp                           # unload existing firmware
+sudo xmutil loadapp kv260-smartcam              # Load smartcam firmware
+sudo /opt/xilinx/kv260-smartcam/bin/smartcam -m # Execute smartcam application using a MIPI sensor
+
    +
    +

    You should see the application displaying image from MIPI sensor to the screen.

    +
    +
    +
    +

    License

    +

    Licensed under the Apache License, Version 2.0 (the “License”); you may not use this file except in compliance with the License.

    +

    You may obtain a copy of the License at +http://www.apache.org/licenses/LICENSE-2.0

    +

    Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

    +

    Copyright© 2021 Xilinx

    +
    + + +
    +
    + + + + +
    +
    +
    +
    + + + + + + \ No newline at end of file diff --git a/kd240/build/html/genindex.html b/kd240/build/html/genindex.html index 7d6d7cd4..b168b72c 100644 --- a/kd240/build/html/genindex.html +++ b/kd240/build/html/genindex.html @@ -26,9 +26,11 @@ - - - + + + + + @@ -44,6 +46,7 @@
    Kria™ KD240 +
    1.0 @@ -129,7 +132,7 @@

    Index

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/index.html b/kd240/build/html/index.html index 55002788..a9b07487 100644 --- a/kd240/build/html/index.html +++ b/kd240/build/html/index.html @@ -1,8 +1,7 @@ - - + @@ -27,9 +26,11 @@ - - - + + + + + @@ -46,6 +47,7 @@
    Kria™ KD240 +
    1.0 @@ -114,8 +116,8 @@
    -
    -

    Kria KD240 Drives Starter Kit

    +
    +
    @@ -148,7 +150,7 @@

    Kria KD240 Drives Starter Kit

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

    diff --git a/kd240/build/html/objects.inv b/kd240/build/html/objects.inv index c02f8f4d..5668fbec 100644 Binary files a/kd240/build/html/objects.inv and b/kd240/build/html/objects.inv differ diff --git a/kd240/build/html/search.html b/kd240/build/html/search.html index 28110b77..e19a596a 100644 --- a/kd240/build/html/search.html +++ b/kd240/build/html/search.html @@ -27,9 +27,11 @@ - - - + + + + + @@ -47,6 +49,7 @@
    Kria™ KD240 +
    1.0 @@ -137,7 +140,7 @@

    © Copyright 2023-2024, Advanced Micro Devices, Inc. - Last updated on July 09, 2024. + Last updated on August 19, 2024.

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37], "send": [2, 13, 22, 25, 30, 34, 37], "sent": [2, 13, 34, 37], "comparison": [2, 3, 11, 16], "similarli": [2, 13, 27, 31, 34, 35], "config": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 25, 32, 34], "paramet": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15, 16, 17, 23, 24, 25, 28, 30, 37], "describ": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 20, 21, 23, 25, 27, 30, 35, 37], "below": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 19, 20, 21, 25, 30, 34, 35, 37], "label": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15, 16, 17, 25, 30, 34], "transmitt": [2, 27, 32, 35, 36], "transmiss": [2, 26, 27, 30, 35, 37], "obtain": [2, 3, 10, 11, 13, 18, 19, 23, 25, 30, 31, 32, 34, 37], "inform": [2, 8, 14, 16, 22, 23, 25, 27, 29, 30, 31, 35, 37], "initi": [2, 13, 27, 30, 37, 39], "baudrat": 2, "buffer": [2, 24, 28, 30], "length": [2, 17, 29, 30, 34, 37], "etc": [2, 18, 25, 30, 32, 34], "commun": [2, 27, 29, 35, 36, 37], "read": [2, 3, 4, 5, 7, 8, 9, 10, 11, 13, 14, 15, 18, 22, 25, 27, 29, 30, 34, 35, 37], "recv": 2, "instanc": [2, 10, 27, 30, 35], "provid": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 23, 25, 27, 28, 29, 30, 31, 34, 35, 36, 37], "shutdown": [2, 26, 30], "exampl": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 27, 28, 30, 31, 32, 34, 35, 37], "3": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 25, 26, 27, 30, 35, 37], "m": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 26, 34], "all": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 23, 25, 26, 27, 28, 30, 31, 32, 34, 37, 39], "k": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18], "can_bus_send": [2, 19], "can_bus_rec": [2, 19], "print": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 25, 34], "enumer": [2, 3, 17, 30, 34], "form": [2, 23, 31, 34], "canx": 2, "along": [2, 3, 8, 11, 17, 27, 30, 36], "match": [2, 3, 7, 11, 13, 14, 16, 18, 27, 29, 30, 34], "devic": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 25, 27, 28, 29, 31, 32, 34, 35, 36, 37], "extern": [2, 19, 20, 21, 27, 30, 35], "befor": [2, 4, 8, 10, 11, 12, 13, 18, 19, 20, 21, 25, 27, 29, 30, 34, 35], "onli": [2, 3, 6, 8, 10, 11, 13, 17, 18, 22, 25, 27, 30, 32, 37], "make": [2, 3, 4, 6, 7, 8, 9, 10, 12, 13, 15, 16, 18, 19, 22, 27, 28, 30, 31, 32, 34, 37], "sure": [2, 3, 4, 6, 7, 8, 9, 10, 12, 13, 15, 16, 18, 19, 32, 34], "recogn": [2, 34], "otherwis": [2, 8, 10, 13], "copyright": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 25, 28, 29, 31, 32, 34, 35, 36, 37], "2023": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 25, 28, 29, 31, 32, 34, 35, 36, 37], "advanc": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 25, 26, 28, 29, 31, 32, 34, 35, 36, 37], "micro": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 25, 26, 28, 29, 31, 32, 34, 35, 36, 37], "inc": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23, 25, 26, 28, 29, 31, 32, 34, 35, 36, 37], "condit": [2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 30, 34, 37], "usb": [3, 19, 20, 21, 25, 27, 32, 34, 39], "sd": [3, 18, 32, 34], "dd": [3, 11, 34, 36], "line": [3, 8, 11, 16, 17, 18, 25, 30, 37], "util": [3, 5, 6, 8, 11, 16, 18, 23, 25, 29, 30, 34, 37, 38], "check": [3, 4, 5, 6, 8, 11, 14, 16, 18, 25, 27, 28, 29, 30, 34, 35, 36, 37, 39], "measur": [3, 6, 9, 10, 11, 25, 27, 28, 29, 30, 35, 36], "write": [3, 7, 11, 12, 16, 18, 22, 27, 30, 35], "speed": [3, 6, 10, 11, 12, 18, 24, 25, 27, 29, 30, 34, 37], "greater": [3, 11], "than": [3, 11, 18, 25, 29, 30, 34], "specifi": [3, 6, 8, 9, 10, 11, 17, 18, 22, 25, 28, 30, 34, 37], "threshold": [3, 6, 10, 11], "mode": [3, 10, 11, 13, 24, 25, 26, 27, 28, 29, 34, 37], "option": [3, 6, 11, 17, 18, 22, 23, 30, 31, 37], "suit": [3, 11, 18, 19, 20, 21, 22], "hw": [3, 27, 30, 37], "path": [3, 13, 25, 30, 34], "number": [3, 7, 8, 17, 18, 19, 20, 21, 25, 26, 27, 28, 30, 34, 35, 37], "retriev": [3, 30], "partit": [3, 11], "standard": [3, 26, 27, 28, 30, 35, 37], "dev": [3, 18, 25, 29, 30, 34, 35, 37], "avail": [3, 7, 11, 18, 23, 25, 27, 30, 31, 32, 34, 35, 37, 39], "space": [3, 11, 18, 27, 28, 30, 32], "128mib": 3, "mount": 3, "depend": [3, 7, 11, 15, 22, 27, 30, 34, 37], "result": [3, 4, 5, 7, 10, 11, 14, 15, 16, 18, 27, 29, 32, 34], "log": [3, 4, 7, 11, 14, 15, 16, 17, 29, 34], "unmount": 3, "four": [3, 6, 17, 20, 21, 30], "one": [3, 5, 6, 7, 14, 15, 19, 20, 25, 27, 30, 32, 35, 37], "card": [3, 4, 5, 18, 19, 20, 21, 25, 32, 34, 36, 39], "map": [3, 6, 17, 19, 20, 21, 22, 30, 34, 35, 37], "given": [3, 5, 6, 11, 17, 25, 28, 30, 37], "usb1_": 3, "top": [3, 6, 17, 19, 20, 21, 22, 27, 30, 34, 35, 36, 37], "left": [3, 6, 22, 25, 29, 34], "usb2_": 3, "bottom": [3, 6, 19, 20, 21, 34], "usb3_": 3, "right": [3, 6, 25], "usb4_": 3, "two": [3, 4, 5, 6, 7, 13, 18, 19, 20, 21, 25, 27, 30, 32, 35, 36, 37], "usb1_read_perform": [3, 18, 19, 20, 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37], "class": [3, 17, 25, 27, 30, 34, 35, 36], "uh": 3, "6mbp": 3, "12mbp": 3, "9mbp": [3, 11], "80mbp": 3, "2mbp": 3, "8mbp": 3, "establish": [3, 10, 15, 34, 37], "experiment": [3, 10], "conduct": [3, 29], "shown": [3, 18, 19, 25, 29, 34], "averag": [3, 10, 30, 34], "multipl": [3, 6, 18, 25, 27, 30, 32, 34, 35, 36, 37], "iter": 3, "20": [3, 10, 25, 27, 30, 34, 35], "margin": [3, 10], "sandisk": 3, "cruzer": 3, "sdcz600": 3, "016g": 3, "100mbp": 3, "ultra": [3, 39], "sdcz48": 3, "102mbp": 3, "fair": 3, "sdcz73": 3, "032g": 3, "120mbp": 3, "eco": 3, "sdcz96": 3, "064g": 3, "sdcz36": 3, "004g": 3, "blade": 3, "sdcz50": 3, "24mbp": 3, "7mbp": 3, "datatravel": 3, "101": 3, "g2": 3, "dt101g2": 3, "18mbp": 3, "microsd": [3, 19, 20, 21, 25, 32, 34], "variant": 3, "same": [3, 6, 7, 11, 18, 25, 32, 34, 37], "both": [3, 5, 14, 15, 20, 25, 27, 30, 33, 34, 35, 39], "theoret": 3, "16gb": [3, 34], "hc": 3, "10": [3, 10, 14, 18, 19, 25, 27, 30, 34, 35, 37], "white": [3, 19, 25, 34], "grei": 3, "red": [3, 25], "One": [4, 19, 21], "them": [4, 7, 29, 34], "other": [4, 5, 7, 17, 18, 19, 20, 22, 25, 27, 29, 30, 35, 37, 39], "libdrm": 4, "modetest": 4, "cabl": [4, 18, 19, 20, 21, 25, 32, 34], "edid": 4, "valu": [4, 5, 7, 9, 10, 11, 12, 13, 14, 15, 16, 17, 25, 26, 27, 28, 29, 30, 34, 35, 37], "successfulli": [4, 25], "els": 4, "mark": [4, 37], "dp": 4, "splitter": 4, "kv": 4, "carrier": [4, 5, 19, 20, 21, 34, 39], "monitor": [4, 18, 20, 21, 24, 29, 30, 34, 35, 37], "still": [4, 15, 30, 34], "hdmi": [4, 21], "disconnect": [4, 29], "subsequ": [4, 34], "decid": [4, 27], "": [4, 6, 7, 9, 15, 16, 17, 18, 19, 22, 25, 27, 28, 30, 32, 34, 35, 37], "exist": [4, 18, 31, 32, 34], "drive": [4, 10, 19, 20, 21, 22, 23, 25, 26, 27, 28, 29, 30, 31, 34, 35, 36], "pattern": [4, 16, 18, 36], "wa": [4, 7, 16, 18, 25, 32, 34], "you": [4, 6, 12, 16, 17, 18, 22, 25, 27, 28, 29, 30, 32, 34, 35], "ask": [4, 12, 16, 32], "y": [4, 16, 18, 25, 27, 34], "n": [4, 16, 18, 27, 34, 37], "output": [4, 5, 7, 10, 14, 16, 17, 25, 27, 28, 31, 34], "consol": [4, 18, 22, 29], "your": [4, 16, 25, 29, 32, 34, 39], "fmt": [4, 16], "format": [4, 16, 25, 27, 30, 36], "display_modetest": [4, 18, 20, 21], "includ": [4, 7, 10, 14, 15, 25, 30, 34, 37, 39], "final": [4, 7, 14, 15, 22, 30], "also": [4, 7, 14, 15, 17, 18, 25, 27, 30, 34, 35, 36, 39], "found": [4, 7, 14, 16, 17, 25, 27, 30, 34, 37], "automat": [4, 7, 14, 16, 18, 25, 30, 34, 37], "gener": [4, 7, 14, 16, 17, 23, 24, 25, 28, 33, 34, 35, 37, 39], "file": [4, 5, 7, 8, 10, 11, 14, 16, 18, 25, 30, 31, 34], "desktop": [4, 18], "disabl": [4, 18, 27, 30, 32], "have": [4, 6, 7, 15, 16, 18, 19, 22, 25, 29, 30, 32, 34, 37], "correct": [4, 18, 31], "sourc": [4, 17, 22, 27, 29, 30, 34, 35, 37], "select": [4, 13, 17, 18, 25, 27, 30, 34, 36], "On": [4, 6, 13, 18, 23, 31, 34, 36], "som": [4, 5, 19, 20, 21, 22, 23, 26, 28, 30, 31, 32, 33, 34, 35, 36, 39], "its": [5, 6, 11, 18, 25, 27, 30, 34, 36, 37], "content": [5, 30], "ipmi": 5, "fru": 5, "termin": [5, 15, 16, 17, 18, 22, 23, 25, 34, 35, 37], "product": [5, 27, 31, 39], "field": [5, 27, 28, 30, 35, 36], "determin": [5, 6, 17, 27, 30], "addr": [5, 6, 37], "v": [5, 18, 25, 27, 34], "should": [5, 6, 16, 17, 18, 25, 29, 32, 34], "som_eeprom": [5, 18, 19, 20, 21], "carrier_card_eeprom": [5, 18, 19, 20, 21], "These": [5, 16, 18, 25, 27, 29, 30, 34, 35, 37], "record": [5, 15], "multirecord": 5, "area": [5, 30, 35, 37], "checksum": [5, 37], "host": [6, 19, 20, 21, 29, 30, 34, 39], "machin": [6, 19, 20, 21, 25], "type": [6, 16, 22, 23, 25, 27, 28, 30, 34, 35, 37, 39], "ping3": 6, "python": [6, 8, 9, 13, 15, 18, 24, 30], "iperf3": [6, 18], "wai": [6, 18, 30], "assign": [6, 18, 25, 30], "ip": [6, 22, 23, 24, 25, 28, 29, 30, 34, 36, 37], "dhcp": [6, 18, 25, 32], "static": [6, 18, 25, 34], "bist_remote_host_sfp_ip": 6, "bist_remote_host_ip": [6, 18], "environ": [6, 18, 34, 37, 39], "variabl": [6, 18, 30, 34], "ha": [6, 12, 14, 17, 18, 22, 25, 27, 28, 29, 30, 31, 32, 34, 35], "subnet": [6, 18], "eth": [6, 18, 34], "switch": [6, 18, 19, 20, 27, 28, 29, 30, 34, 37], "must": [6, 10, 32, 34], "singl": [6, 9, 12, 16, 19, 22, 30, 34], "abov": [6, 10, 11, 14, 27, 30, 31, 32, 34, 35], "sfp": [6, 18, 20], "remot": [6, 18, 34, 37], "thei": [6, 14, 17, 22, 25, 27, 28], "192": 6, "168": 6, "correspond": [6, 17, 22, 23, 25, 30, 31], "eth0": [6, 34], "eth1": [6, 18, 34], "eth3": [6, 34], "eth4": 6, "pl": [6, 19, 20, 22, 23, 25, 27, 29, 31, 34, 35, 37, 39], "eth2": [6, 18, 34], "phy": [6, 27, 35, 36, 37], "none": [6, 19, 20, 21, 29], "sinc": [6, 9, 32, 34, 35], "setup": [6, 7, 22, 29], "up": [6, 16, 19, 20, 21, 22, 24, 25, 27, 29, 30, 32, 33, 34, 35, 39], "fix": [6, 14, 29], "assumpt": 6, "without": [6, 22, 27, 30, 32], "ping": [6, 29, 34], "specif": [6, 17, 18, 22, 25, 27, 28, 29, 30, 32, 39], "success": [6, 15, 25, 30], "perf": [6, 16], "bind": [6, 9, 30, 37], "ethernet1_": 6, "ethernet2_": 6, "ethernet3_": 6, "ethernet4_": 6, "ethernet1_p": [6, 18, 19, 20, 21], "delai": [6, 16, 25], "bitrat": [6, 25, 26, 30, 34], "default": [6, 17, 25, 26, 28, 29, 30, 32, 34, 35, 36, 37], "80": [6, 25, 27, 30, 34, 35], "here": [6, 17, 19, 30, 31, 34, 35], "server": [6, 18, 25, 26, 29, 37], "gbp": [6, 27, 35], "loopback": [7, 19, 34], "peripheri": [7, 8, 13], "back": [7, 10, 11, 12, 16, 22, 23, 25, 27, 28, 30, 31, 34, 35, 36, 37], "total": [7, 27, 30, 34], "width": [7, 16, 27], "split": [7, 30], "part": [7, 30, 35], "half": 7, "would": [7, 16, 27, 30, 35], "written": [7, 11, 37], "offset": [7, 11, 27, 30, 35], "basic": [7, 27, 37], "start": [7, 18, 22, 23, 25, 26, 28, 29, 30, 31, 32, 34, 35, 36, 37], "pmod0": [7, 18, 20, 21], "live": [7, 16, 18, 24, 25, 28], "mismatch": [7, 13], "typic": [7, 15, 29, 37], "when": [7, 10, 15, 16, 17, 18, 22, 23, 25, 27, 30, 31, 34, 35], "mean": [7, 16, 34], "improp": [7, 15], "mention": 7, "target": [7, 16, 17, 18, 25, 26, 27, 30, 31, 32, 34, 35, 37], "presenc": [8, 13, 30], "buse": 8, "i2cdetect": 8, "channel": [8, 9, 10, 12, 13, 20, 21, 27, 29, 34, 35, 37], "oper": [8, 25, 26, 27, 28, 32, 35, 36, 37], "identifi": [8, 27, 30, 35], "dictionari": [8, 17], "ps_i2c_bus_main": [8, 18, 19, 20, 21], "detect": [8, 10, 13, 30, 34, 37], "main": [8, 10, 19, 20, 21, 22, 23, 27, 34, 35], "axi_i2c_bus_main": [8, 18, 21], "axi_i2c_bus_ch0": [8, 18, 21], "about": [8, 23, 30, 34], "miss": 8, "limit": [8, 18, 24, 25, 27, 32], "libiio": [9, 28, 30], "within": [9, 10, 16, 18, 30, 34, 39], "rang": [9, 10, 16, 18, 25, 29, 30, 34], "min": [9, 34], "lower": [9, 29], "upper": 9, "ina260_curr": [9, 18, 19, 20, 21], "ina260": [9, 19, 20, 21, 30], "seven": [10, 34], "py": [10, 17, 18, 25], "foc": [10, 22, 25, 26, 29], "ctrl": [10, 22, 25, 30, 34, 37], "librari": [10, 24, 25, 27, 28, 29, 32, 36], "creat": [10, 18, 23, 28, 30, 31, 34, 37], "member": 10, "getspe": 10, "setoperationmod": 10, "qei": [10, 19, 22, 25, 28, 29, 34], "gate": [10, 27, 28, 29, 30, 34], "spun": 10, "rpm": [10, 25, 28, 29, 30], "1000": [10, 18, 26, 30, 34], "compar": [10, 11, 16, 27], "vlt": 10, "adc": [10, 28, 29], "fb": 10, "modeoff": 10, "voltag": [10, 25, 27, 28, 29, 30], "0v": [10, 25, 27, 29], "off": [10, 25, 27, 28, 29, 30, 34], "feedback": [10, 28, 29, 30], "phasea": 10, "phaseb": 10, "phasec": 10, "getvoltag": 10, "predefin": [10, 14], "1v": 10, "modeopenloop": 10, "open": [10, 16, 22, 24, 25, 29, 30, 34, 37], "loop": [10, 24, 25, 27, 28, 29, 30], "100": [10, 18, 25, 27, 30, 34, 35], "sampl": [10, 24, 25, 29, 30], "8v": 10, "15v": 10, "curr": 10, "0a": [10, 27, 34], "getcurr": 10, "05a": 10, "01a": 10, "5a": [10, 29], "dc": [10, 19, 25, 27, 29, 30, 34], "volt": [10, 25, 30], "24v": [10, 19, 25, 29], "power": [10, 16, 19, 20, 21, 25, 27, 28, 29, 30, 32, 34], "suppli": [10, 19, 20, 21, 25, 27, 29, 34], "plug": [10, 18, 25, 37, 39], "25": [10, 25, 27, 29, 35], "2v": 10, "6a": 10, "prior": [10, 32], "summar": [10, 27, 28, 35], "ensur": [10, 11, 25, 29, 30, 32, 34, 37], "accur": [10, 29], "qei_gate_drive_test": [10, 19], "dc_link_volt_adc_fb_test": [10, 19], "volt_adc_fb_modeopenloop_test": [10, 19], "curr_adc_fb_modeopenloop_test": [10, 19], "volt_adc_fb_modeoff_test": [10, 19], "curr_adc_fb_modeoff_test": [10, 19], "dc_link_curr_adc_fb_test": [10, 19], "object": [10, 23, 31], "hl": [10, 23, 24, 27, 28], "period": [10, 30, 34], "dure": [10, 13, 27, 30, 32, 39], "might": [10, 25, 30, 32, 34], "qspi": [11, 19, 20, 21, 32, 37], "funcat": 11, "random": [11, 14], "size": [11, 24, 25, 30, 34, 39], "1mib": 11, "disk": [11, 17, 18, 19, 20, 21, 25, 29], "qspi_read_writ": [11, 18, 19, 20, 21], "qspi_read_perform": [11, 18, 19, 20, 21], "qspi_write_perform": [11, 18, 19, 20, 21], "statu": [11, 18, 25, 27, 30, 34, 37], "196608": 11, "byte": [11, 30, 34], "due": [11, 15, 25, 29, 34, 36, 37], "sector": 11, "lock": [11, 27], "285kbp": 11, "prompt": [12, 32, 34], "reduc": [12, 27, 28, 34], "fan": [12, 18, 19, 20, 21, 30], "small": [12, 25], "spin": [12, 25], "slower": 12, "255": [12, 26], "confirm": [12, 27, 29, 30, 34, 35], "ani": [12, 18, 25, 27, 28, 29, 30, 32, 37, 39], "point": [12, 15, 19, 20, 21, 25, 28, 30, 34], "flow": [12, 22, 32], "behav": 12, "fancontrol": [12, 18], "servic": [12, 18, 25, 30, 34, 37], "been": [12, 22, 25, 30, 31], "stop": [12, 18, 26, 29, 30], "j13": [12, 19, 20, 21], "torqu": [13, 24, 25, 26, 27, 39], "help": [13, 25, 27, 29], "separ": [13, 14, 18, 19, 30, 34, 36, 37], "lookup": 13, "id": [13, 25, 27, 34, 35, 37], "ad7797": 13, "temp": [13, 25], "raw": [13, 16, 25, 27, 30, 34, 37], "inbuilt": 13, "temperatur": [13, 15, 19, 27, 30, 35, 37], "spidev": 13, "clock": [13, 22, 30, 34, 36, 37], "sequenc": [13, 30], "transfer": [13, 23, 27, 30, 35], "respons": [13, 27, 29, 30, 35, 37], "analyz": [13, 34], "onc": [13, 17, 18, 25, 27, 32, 34, 37], "ad7797_torque_sensor_id_read": [13, 19], "ad7797_torque_sensor_temperature_read": [13, 19], "hex": [13, 30], "featur": [14, 28, 30, 34, 37, 39], "tpm2": 14, "tool": [14, 22, 30, 34, 36, 37], "variou": [14, 25, 27, 28, 30, 34, 35, 36, 37], "getcap": 14, "list": [14, 17, 18, 22, 25, 27, 30, 32, 34, 35, 37], "capabl": [14, 27, 28, 29, 30, 34, 35, 37], "selftest": 14, "getrandom": 14, "hash": 14, "kei": [14, 17, 34], "uniqu": [14, 27, 30, 35], "pcrread": 14, "pcr": 14, "regist": [14, 15, 16, 18, 23, 25, 30, 34, 35], "16": [14, 27, 30, 32, 34, 35, 37], "algorithm": [14, 36, 37], "pcrextend": 14, "extend": [14, 34], "23": [14, 27], "three": [14, 16, 19, 24, 28, 37, 39], "time": [14, 16, 17, 22, 25, 26, 27, 29, 30, 32, 33, 36, 37, 39], "chang": [14, 22, 25, 27, 29, 30, 32, 37], "pcrreset": 14, "tpm2_getcap": [14, 18, 19, 20, 21], "tpm2_hash": [14, 18, 19, 20, 21], "classic": 15, "certifi": 15, "pymodbu": 15, "client": [15, 26, 37], "hold": 15, "humid": [15, 19, 37], "rs485_temp_humidity_sensor_read": [15, 19], "inidvidu": 15, "serial": [15, 25, 26, 29, 34, 35, 37], "could": [15, 29, 31, 34, 35], "were": [15, 32], "occasion": [15, 34], "erron": [15, 30, 34], "3276": [15, 34], "8": [15, 18, 26, 27, 30, 32, 34, 35, 37], "report": [15, 18, 27, 29, 30, 34, 35], "itself": [15, 30, 34], "ignor": [15, 18, 34], "rerun": [15, 32, 34], "clear": [15, 25, 27, 30, 34], "petalinux": 15, "bsp": 15, "imx219": 16, "filesink": 16, "v4l2": 16, "gstreamer": [16, 18], "piplein": 16, "pipelin": 16, "save": [16, 26, 34], "captur": [16, 18, 25, 27, 28, 30, 34], "frame": [16, 27, 35], "against": [16, 27, 34], "pre": [16, 30], "defin": [16, 17, 28, 29, 30], "golden": [16, 18], "declar": [16, 18], "tpg": 16, "percentag": 16, "fp": [16, 18], "accept": [16, 18], "ximagesink": [16, 18], "certain": [16, 23], "new": [16, 18, 23, 25, 27, 30, 32, 34, 37], "window": [16, 18, 19, 21, 22, 24, 30, 34, 37], "displai": [16, 17, 18, 20, 21, 25, 26, 30, 34], "wait": [16, 30], "respond": [16, 29], "resolut": [16, 25, 27], "height": 16, "per": [16, 27, 30, 35], "ximageink": 16, "imx219_perf": [16, 18, 21], "imx219_filesink": [16, 18, 21], "ar1335_ap1302_ximagesink": [16, 18, 21], "pop": [16, 18], "30": [16, 18, 20, 27, 30, 34, 35], "answer": 16, "consist": [16, 18, 27, 30, 34, 35, 39], "No": [16, 26, 34, 37], "faulti": 16, "cycl": [16, 27, 30, 32, 34, 35], "again": [16, 18, 27, 29, 32], "sesnor": 16, "try": [16, 25, 29, 32], "ssh": 16, "forward": 16, "enabl": [16, 18, 22, 25, 27, 28, 30, 32, 35, 36, 37, 39], "mandatori": 16, "produc": [16, 26, 30], "mayb": 16, "around": [16, 28, 29, 30], "percent": 16, "rel": 16, "parametr": 17, "reus": [17, 32], "choos": [17, 32, 34], "next": 17, "section": [17, 27, 28, 29, 30, 34, 35, 37], "repositori": [17, 22, 23, 25, 31, 32, 34], "conftest": 17, "ini": [17, 18], "implement": [17, 23, 27, 29, 30, 34, 35, 36, 37], "helper": 17, "add": [17, 25, 27, 30, 32, 34, 35, 37, 39], "marker": 17, "By": [17, 25, 30, 35], "higher": [17, 25, 29, 34], "debug": [17, 24], "everi": [17, 22, 32, 34], "bist_modul": 17, "bist_module_config": 17, "test_bist_modul": 17, "where": [17, 18, 25, 30, 34], "item": [17, 18, 27], "true": [17, 32], "fals": 17, "assert": [17, 18], "refer": [17, 18, 19, 20, 21, 25, 27, 29, 30, 31, 32, 34, 35], "more": [17, 19, 22, 25, 27, 28, 30, 31, 32, 34, 35, 37], "detail": [17, 19, 25, 28, 29, 32, 34, 35, 37], "eeprom": [17, 18, 19, 20, 21], "ethernet": [17, 18, 19, 20, 21, 25, 27, 32, 34, 35, 36, 37, 39], "gpio": [17, 18, 19, 20, 21, 27, 37], "iio": [17, 18, 19, 20, 21, 24, 29], "motor": [17, 19, 22, 26, 28, 34], "mtd": [17, 18, 19, 20, 21], "pwm": [17, 18, 19, 20, 21, 25, 28], "tpm": [17, 18, 19, 20, 21], "video": [17, 18, 20, 21], "document": [18, 22, 23, 25, 27, 30, 32, 34, 35, 37], "show": [18, 19, 20, 21, 22, 25, 27, 28, 29, 30, 32, 34, 35, 36], "how": [18, 19, 20, 21, 22, 23, 25, 27, 30, 32, 34, 35, 37], "guid": [18, 25, 27, 34], "prebuilt": [18, 34], "toolchain": [18, 25], "skip": [18, 22, 32], "nic": [18, 20, 34], "export": [18, 25, 32, 34], "ip_address": 18, "apt": [18, 25, 32, 34], "appropri": [18, 30], "5201": 18, "support": [18, 26, 27, 28, 30, 34, 35, 36, 37], "see": [18, 25, 26, 27, 29, 32, 34, 35, 37], "compon": [18, 23, 24, 25, 28, 30, 33, 34, 35, 37], "fiwmar": 18, "k24": [18, 25, 34, 39], "bootfw": [18, 25, 34], "01": [18, 25, 27, 34, 35], "00": [18, 25, 27, 32, 34, 37], "bin": [18, 23, 25, 31, 32, 34], "9002": [18, 34], "xlnx": [18, 25, 32, 34, 37], "0xlnx1": [18, 25, 34], "boot_xilinx": [18, 34], "starterkit": [18, 34], "v2022": [18, 34], "09152304_update3": [18, 34], "1023": [18, 34], "pleas": [18, 34], "wiki": [18, 25, 30, 32, 34], "latest": [18, 25, 32, 34, 39], "continu": [18, 25, 30, 32, 34], "instruct": [18, 25, 27, 28, 31, 32, 33, 35, 37], "yet": [18, 19, 27, 32, 34, 35], "search": [18, 25, 34], "feed": [18, 25, 34], "sort": [18, 25], "text": [18, 25, 30, 34], "jammi": [18, 25, 34], "arm64": [18, 25, 34], "bitstream": [18, 23, 31, 34], "tree": [18, 23, 25, 30, 31, 34, 37], "dtbo": [18, 23, 31, 34], "fulli": [18, 34], "purpos": [18, 27, 34, 39], "fw": [18, 32, 34], "execut": [18, 25, 30, 34], "listapp": [18, 25, 34], "dfx": [18, 25, 34], "mgrd": [18, 25, 34], "re": [18, 34], "scan": [18, 30, 34], "acceler": [18, 22, 23, 25, 34, 35, 39], "anoth": [18, 25, 27, 30, 34, 35], "activ": [18, 25, 30, 32, 34], "desir": [18, 25, 29, 34], "safe": [18, 34], "112": [18, 34], "802574": [18, 34], "net": [18, 25, 34, 37], "807227": [18, 34], "1gbp": [18, 34], "866305": [18, 34], "871168": [18, 34], "those": [18, 34], "feel": 18, "free": [18, 30, 37], "mobaxterm": 18, "author": 18, "look": [18, 25], "someth": 18, "like": [18, 25, 27, 30, 37], "xauth": 18, "home": [18, 25], "xauthor": [18, 25], "unix": 18, "mit": 18, "magic": 18, "cooki": 18, "f5212118305f75678a69daa4a6eda703": 18, "incorrect": [18, 25], "do": [18, 25, 28, 29, 31, 32, 34], "rm": [18, 25, 30, 34], "rf": 18, "xaut": 18, "reboot": [18, 32, 34], "therefor": 18, "intend": [18, 25, 28, 29], "systemctl": [18, 34], "we": [18, 32, 34], "headless": 18, "desktop_dis": 18, "caus": [18, 25], "blank": 18, "rememb": 18, "exit": [18, 32, 34], "desktop_en": 18, "pull": [18, 25, 32], "dockerhub": 18, "volum": [18, 25, 32, 39], "inbstal": 18, "rmi": [18, 32], "forc": [18, 22, 28, 32], "find": [18, 25, 34], "launch": [18, 25, 30, 34], "env": [18, 25, 34, 37], "xdg_session_typ": [18, 25], "privileg": [18, 25, 32], "root": [18, 25, 32], "rw": [18, 25, 26, 30], "tmp": [18, 25], "sy": [18, 25, 30], "vart": [18, 25], "conf": [18, 25, 34], "lib": [18, 25, 31, 34], "bash": [18, 25], "drop": [18, 25, 34], "shell": [18, 31, 34], "opt": [18, 25, 34], "navig": [18, 22, 34, 37], "cd": [18, 22, 31, 34], "commonli": [18, 33, 36], "collect": [18, 24, 25, 27, 30], "target_board": 18, "test_nam": 18, "module_nam": 18, "session": [18, 25, 30], "deselect": 18, "6": [18, 25, 26, 27, 29, 30, 34, 35], "pluggi": 18, "13": [18, 29, 30, 34, 35], "rootdir": 18, "configfil": 18, "plugin": 18, "anyio": 18, "34": 18, "33": [18, 34], "test_bist_gpio": 18, "test_gpio": 18, "0001": [18, 30], "0010": [18, 30], "0100": [18, 30], "02": [18, 34], "kria_bist_pytest": 18, "entir": [18, 24, 30], "40": [18, 27, 35, 37], "test_bist_disk": 18, "test_disk": 18, "usb2_read_perform": [18, 19, 20, 21], "usb2_write_perform": [18, 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"next-steps"], [36, "next-steps"], [37, "next-steps"]], "BIST Disk Test Module": [[3, "bist-disk-test-module"]], "BIST Display Test Module": [[4, "bist-display-test-module"]], "BIST EEPROM Test Module": [[5, "bist-eeprom-test-module"]], "BIST Ethernet Test Module": [[6, "bist-ethernet-test-module"]], "BIST GPIO Test Module": [[7, "bist-gpio-test-module"]], "BIST I2C Test Module": [[8, "bist-i2c-test-module"]], "BIST IIO Test Module": [[9, "bist-iio-test-module"]], "BIST Motor Test Module": [[10, "bist-motor-test-module"]], "Test Dependencies": [[10, "test-dependencies"]], "BIST MTD Test Module": [[11, "bist-mtd-test-module"]], "BIST PWM Test Module": [[12, "bist-pwm-test-module"]], "BIST SPI Test Module": [[13, "bist-spi-test-module"]], "BIST TPM Test Module": [[14, "bist-tpm-test-module"]], "BIST Tty Test Module": [[15, "bist-tty-test-module"]], "BIST Video Test Module": [[16, "bist-video-test-module"]], "BIST Overview": [[17, "bist-overview"]], "Framework": [[17, "framework"]], "File 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"application-docker-image"]], "Boot Linux": [[18, "boot-linux"]], "Download and Load the BIST PL Firmware": [[18, "download-and-load-the-bist-pl-firmware"]], "Setup SSH with X-forwarding": [[18, "setup-ssh-with-x-forwarding"]], "Miscellaneous Preparation": [[18, "miscellaneous-preparation"]], "Download and Run the BIST Docker Image": [[18, "download-and-run-the-bist-docker-image"]], "Setup IP addresses on the Kria board": [[18, "setup-ip-addresses-on-the-kria-board"]], "Run the BIST Application": [[18, "run-the-bist-application"]], "Usage": [[18, "usage"]], "Output and Logs": [[18, "output-and-logs"]], "Examples": [[18, "examples"]], "KD240 BIST Board Setup": [[19, "kd240-bist-board-setup"]], "Hardware Requirements": [[19, "hardware-requirements"], [20, "hardware-requirements"], [21, "hardware-requirements"], [25, "hardware-requirements"], [34, "hardware-requirements"]], "Board Setup": [[19, "board-setup"], [20, "board-setup"], [21, "board-setup"]], "KR260 BIST Board Setup": [[20, 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Page Redirection - - - Redirecting to the page. - + + + + + + + Redirecting... + + + If you are not redirected automatically, please click here. + \ No newline at end of file diff --git a/kd240/foc_motor_ctrl.html b/kd240/foc_motor_ctrl.html index fec4793a..bcefebd0 100644 --- a/kd240/foc_motor_ctrl.html +++ b/kd240/foc_motor_ctrl.html @@ -1,20 +1,14 @@ - -KD260 Documentation - -Redirecting to the main page. - + + + + Redirecting... + + + If you are not redirected automatically, please click here. \ No newline at end of file diff --git a/kd240/generating_custom_firmware.html b/kd240/generating_custom_firmware.html index 71d47e21..1f0c18d7 100644 --- a/kd240/generating_custom_firmware.html +++ b/kd240/generating_custom_firmware.html @@ -1,14 +1,14 @@ - - - - - - - Page Redirection - - - Redirecting to the page. - + + + + + + + Redirecting... + + + If you are not redirected automatically, please click here. + \ No newline at end of file diff --git a/kd240/library_dependency.html b/kd240/library_dependency.html index f3da5fe8..ab3f3c1f 100644 --- a/kd240/library_dependency.html +++ b/kd240/library_dependency.html @@ -1,14 +1,14 @@ - - - - - - - Page Redirection - - - Redirecting to the page. - + + + + + + + Redirecting... + + + If you are not redirected automatically, please click here. + \ No newline at end of file diff --git a/kd240/linux_boot.html b/kd240/linux_boot.html index cd6b2755..dd433267 100644 --- a/kd240/linux_boot.html +++ b/kd240/linux_boot.html @@ -1,14 +1,14 @@ - - - - - - - Page Redirection - - - Redirecting to the page. - + + + + + + + Redirecting... + + + If you are not redirected automatically, please click here. + \ No newline at end of file diff --git a/kd240/ros2_multinode_communication_via_tsn.html b/kd240/ros2_multinode_communication_via_tsn.html index 233048c5..49547043 100644 --- a/kd240/ros2_multinode_communication_via_tsn.html +++ b/kd240/ros2_multinode_communication_via_tsn.html @@ -1,20 +1,14 @@ - -KR260 Documentation - -Redirecting to the main page. - + + + + Redirecting... + + + If you are not redirected automatically, please click here. \ No newline at end of file diff --git a/kd240/source/docs/foc-motor-ctrl/foc_motor_control_landing.rst b/kd240/source/docs/foc-motor-ctrl/foc_motor_control_landing.rst index 7088fe1c..11eb54e0 100644 --- a/kd240/source/docs/foc-motor-ctrl/foc_motor_control_landing.rst +++ b/kd240/source/docs/foc-motor-ctrl/foc_motor_control_landing.rst @@ -9,7 +9,7 @@ Overview .. toctree:: :maxdepth: 1 - Introduction + Introduction Features ================================ @@ -33,7 +33,7 @@ Quick Start .. toctree:: :maxdepth: 1 - Setting Up the Board and Application deployment + Setting Up the Board and Application deployment *************************** Tutorials @@ -54,8 +54,8 @@ Architecture .. toctree:: :maxdepth: 1 - Hardware Architecture - Software Architecture + Hardware Architecture + Software Architecture ******************************* Repository @@ -73,7 +73,7 @@ Other .. toctree:: :maxdepth: 1 - Known Issues + Known Issues .. License diff --git a/kd240/source/docs/foc-motor-ctrl/src/app_deployment.md b/kd240/source/docs/foc-motor-ctrl/src/app_deployment.md index 0dd0ce67..3b4470fe 100644 --- a/kd240/source/docs/foc-motor-ctrl/src/app_deployment.md +++ b/kd240/source/docs/foc-motor-ctrl/src/app_deployment.md @@ -87,8 +87,8 @@ Testing was performed with the following artifacts: | Component | Version | |--------------------------------|----------------------------| | Boot Firmware | K24-BootFW-01.01 | -| Linux Kernel | 5.15.0-1030-xilinx-zynqmp | -| xlnx-firmware-kd240-motor-ctrl | 0.12-0xlnx2 | +| Linux Kernel | 5.15.0-1027-xilinx-zynqmp | +| xlnx-firmware-kd240-motor-ctrl | 0.10.1-0xlnx1 | To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](https://xilinx-wiki.atlassian.net/wiki/spaces/A/pages/1641152513/Kria+K26+SOM#Boot-Firmware-Updates). @@ -96,7 +96,7 @@ To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](htt | Package | Version | |--------------------------------|--------------| -| xlnx-app-kd240-foc-motor-ctrl | 0.4-0xlnx1 | +| xlnx-app-kd240-foc-motor-ctrl | 0.3.1-0xlnx5 | ### Initial Setup @@ -126,10 +126,6 @@ To obtain the latest Linux image and boot firmware, refer to the [Kria Wiki](htt * Install the motor control application. ```bash - # Add lely PPA for lely-core libraries - sudo add-apt-repository ppa:lely/ppa - sudo apt-get update - sudo apt install xlnx-app-kd240-foc-motor-ctrl ``` @@ -266,7 +262,7 @@ The following images show what the dashboard looks like when a larger load is ap to enable to PMOD-CAN interface on KR260. ```bash - sudo apt install xlnx-firmware-kr260-tsn-rs485pmod + sudo apt install kr260-tsn-rs485pmod sudo xmutil unloadapp sudo xmutil loadapp kr260-tsn-rs485pmod ``` @@ -274,17 +270,11 @@ The following images show what the dashboard looks like when a larger load is ap * Set up the CAN interface on both the KR260 and KD240. ```bash - sudo ip link set can0 up type can bitrate 100000 - sudo ip link set can0 txqueuelen 10000 + sudo ip link set can0 up type can bitrate 1000000 + sudo ip link set can0 txqueuelen 1000 sudo ip link set can0 up ``` -* Verify the CAN interface state - - ```bash - ip -d -s link show can0 - ``` - * Install can-utils on both the KR260 and KD240. ```bash @@ -313,14 +303,6 @@ The following images show what the dashboard looks like when a larger load is ap start_motor_server ``` -* To terminate the server - - If it is required to kill the server kill fmc_canopen application - - ```bash - sudo killall fmc_canopen - ``` - ### On the KR260 (master) * Download the docker image on the KR260. @@ -344,37 +326,41 @@ The following images show what the dashboard looks like when a larger load is ap --net=host \ --privileged \ --volume=/home/ubuntu/.Xauthority:/root/.Xauthority:rw \ - --name=motor_control \ - --rm \ -v /tmp:/tmp \ -v /dev:/dev \ -v /sys:/sys \ -v /etc/vart.conf:/etc/vart.conf \ -v /lib/firmware/xilinx:/lib/firmware/xilinx \ -v /run:/run \ - -it xilinx/foc-motor-ctrl-ros2-canopen-host:latest bash + -it foc-motor-ctrl-ros2-canopen-host:latest bash ``` -* Inside the container, run canopen host tests using the launch file described in the following - subsections. There are 2 tests: +* Make sure you are inside the docker container and source the ROS setup files. - * *Simple CiA402 system*: where host accesses motor directly using ros2_canopen 402 driver. - * *ROS2 Control example*: where host accesses motor over ros2_control interface. + ```bash + source /opt/ros/humble/setup.bash + source /root/ros_ws/install/setup.bash + ``` - > **Note**: Do not run both the launch files together as they will interfere in the operations. Only one test can be running at a given time. +* Start the launch file. -#### Run a simple CiA402 system host + ```bash + ros2 launch foc_motor kd240.launch.py + ``` -* In the docker run terminal start the canopen 402 host ros container using the launch file +* Open a new terminal, find the docker container id, and launch another + session connected to the same container. ```bash - ros2 launch kria_motor_control kd240.system.launch.py + docker ps # Copy container_id from output of this command + docker exec -it bash ``` -* Open a new terminal, start another session of the the same container. +* In the new docker session, source the ROS setup files. ```bash - docker exec -it motor_control bash + source /opt/ros/humble/setup.bash + source /root/ros_ws/install/setup.bash ``` * Check the available services and their types. @@ -384,7 +370,6 @@ The following images show what the dashboard looks like when a larger load is ap ``` The output should look similar to this: - ```bash ubuntu@KR260:~$ ros2 service list -t /device_container_node/change_state [lifecycle_msgs/srv/ChangeState] @@ -432,7 +417,6 @@ The following images show what the dashboard looks like when a larger load is ap ``` * To view an interface definition, use: - ```bash ros2 interface show ``` @@ -440,7 +424,6 @@ The following images show what the dashboard looks like when a larger load is ap For example, to view the interface definition for the canopen_interfaces/srv/COTargetDouble type which is used for the /kd240/target service, run the command below. This will print the input (target) and output (success). - ```bash ubuntu@KR260:~$ ros2 interface show canopen_interfaces/srv/COTargetDouble float64 target @@ -454,121 +437,43 @@ The following images show what the dashboard looks like when a larger load is ap [Cia402 Driver documentation](https://ros-industrial.github.io/ros2_canopen/manual/humble/user-guide/cia402-driver.html). Reset: - ```bash ros2 service call /kd240/nmt_reset_node std_srvs/srv/Trigger ``` Init: - ```bash ros2 service call /kd240/init std_srvs/srv/Trigger ``` Change to velocity mode: - ```bash ros2 service call /kd240/velocity_mode std_srvs/srv/Trigger ``` Change target speed: - - ```bash - ros2 service call /kd240/target canopen_interfaces/srv/COTargetDouble "target: 3000" - ``` - - > **Note**: For the Anaheim motor kit, the speed range is 250 to 10000 rpm in - both directions. If the motor does not spin at 250 rpm, try a faster speed. - The minimum speed can vary by motor. - -#### Run a ROS2 Control based example - -* In the docker run terminal start the canopen 402 control system host using the launch file - - ```bash - ros2 launch kria_motor_control kd240.ros2_control.launch.py - ``` - -* Open a new terminal, start another session of the the same container. - ```bash - docker exec -it motor_control bash + ros2 service call /kd240/target canopen_interfaces/srv/COTargetDouble "target: 800" ``` -* List the available controllers using ros2 control cli utility - + Halt: ```bash - ros2 control list_controllers + ros2 service call /kd240/halt std_srvs/srv/Trigger ``` - The output should look similar to this: - - ```bash - ubuntu@KR260:~$ ros2 control list_controllers - forward_velocity_controller[velocity_controllers/JointGroupVelocityController] active - joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active - ``` - -* To view the available hardware interfaces, use: - - ```bash - ros2 control list_hardware_interfaces - ``` - - The output should look similar to this: - ```bash - ubuntu@KR260:~$ ros2 control list_hardware_interfaces - command interfaces - wheel_joint/velocity [available] [claimed] - state interfaces - wheel_joint/position - wheel_joint/velocity - ``` - -* List the Ros2 Topics - - ```bash - ubuntu@KR260:~$ ros2 topic list - /dynamic_joint_states - /forward_velocity_controller/commands - /forward_velocity_controller/transition_event - /joint_state_broadcaster/transition_event - /joint_states - /kd240_wheel/joint_states - /kd240_wheel/nmt_state - /kd240_wheel/rpdo - /kd240_wheel/tpdo - /parameter_events - /robot_description - /rosout - /tf - /tf_static - ``` - -* Observe the live state of the system using dynamic_joint_states - - ```bash - ros2 topic echo /dynamic_joint_states - ``` - - This continuously updates the current state of the system and shows the position and speed of the motor. - - -* Open a new terminal, start another session of the the same container. - - ```bash - docker exec -it motor_control bash - ``` +## Run One Wire Temperature Sensor Demo -* Update the speed of the motor using velocity controller in a new terminal +### Tested Artifacts - ```bash - ros2 topic pub --once /forward_velocity_controller/commands std_msgs/msg/Float64MultiArray "data: [5000]" - ``` +Testing was performed with the following artifacts: -![Ro2_control_demo](./media/sw_ros2_control.png) +#### KD240 platform Artifacts -## Run One Wire Temperature Sensor Demo +| Component | Version | +|--------------------------------|----------------------| +| Boot Firmware | K24-BootFW-01.00.bin | +| Linux Kernel | 5.15.0-1030 | +| xlnx-firmware-kd240-motor-ctrl | 0.12-0xlnx1 | * In this demo, the lm-sensors utility probes the One Wire Temperature sensor, reads and displays the captured temperature value on the serial terminal. diff --git a/kd240/source/docs/foc-motor-ctrl/src/known_issues.md b/kd240/source/docs/foc-motor-ctrl/src/known_issues.md index 660dfd7e..cadc1aff 100644 --- a/kd240/source/docs/foc-motor-ctrl/src/known_issues.md +++ b/kd240/source/docs/foc-motor-ctrl/src/known_issues.md @@ -58,23 +58,11 @@ If the motor control application is not functioning as intended, follow these de * Sometimes, a web socket disconnection message may appear, indicating a communication issue. If you encounter such disconnection issues, try killing the Bokeh server and relaunching the server and the dashboard. Sample Disconnection Message: - + ```bash 2023-09-13 18:47:32,361 WebSocket connection closed: code=None, reason=None `````` -# CAN bus issue - -Sometime, if the CANopen setup is left running for long time, them TX queue of the CAN interface can fillup resulting in the interface hang, especially on KR260. -There is no indication for this situation except KR260 and KD240 do not receive can message. To fix this just bring the can interface down and up again. - -```bash -sudo ip link set can0 down -sudo ip link set can0 up -``` - -If this is frequent enough then consider increasing the tx queue length on KR260 with `sudo ip link set can0 txqueuelen 10000` -