GNU/Linux and FPGA in Real-time Control Applications Pavel Pisa - - PowerPoint PPT Presentation

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GNU/Linux and FPGA in Real-time Control Applications Pavel Pisa - - PowerPoint PPT Presentation

Apr 05, 2023 279 likes •741 views

Introduction BLDC/PMSM Motor Control Other Projects GNU/Linux and FPGA in Real-time Control Applications Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA Czech Technical University in Prague Faculty of Electrical Engineering Department of Control

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Introduction BLDC/PMSM Motor Control Other Projects

GNU/Linux and FPGA in Real-time Control Applications

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA

Czech Technical University in Prague Faculty of Electrical Engineering Department of Control Engineering Motion control hardware developed and provided by PiKRON s.r.o. {ppisa,porazil}@pikron.com

2017-03-05 InstallFest 2017

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Content of Presentation

1

Introduction

2

BLDC/PMSM Motor Control BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

3

Other Projects

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Parallel Hacking Task

You can find Debian based device with open root access (ssh

  • p 2222 root@147.32.87.251)

The device is Xylix Zynq-7010 running mainline 4.9 kernel with RT patches Root login password is B35APO There is 32 LEDs line peripheral mapped on the physical address 0x43c40004 More about educational peripherals at https://cw.fel.cvut.cz/wiki/courses/b35apo/documentation/mz apo Task 1: write some bit pattern on the 32 LEDs line (SPILED REG LED LINE o) Task 2: write some picture on the display (480× 320 565 RGB), you can find some example on the board at path /opt/apo/lcd/mzapo lcdtest

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Background Introduction

The motion control and precise positioning is fundamental for many of medical, laboratory and robotic instruments and controllers to which development I have contributed to and often coordinated at PiKRON company. I use GNU/Linux as my main host system for more than 20 years. We use it as the only host development platform at company. We use it sometimes in embedded applications in parallel to RTEMS and bare metal development. GNU/Linux is extensively used as core network infrastructure at Department of Control Engineering and it is the main environment for all seminaries and lab works in subjects which I teach. We use Linux, RTEMS and other real-time operating systems for applications and infrastructure development done for worldwide car-makers and industrial partners as well.

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Previous Presentations

InstallFest 2015

Is Raspberry Pi Usable for Industrial and Robotic Applications?

http://installfest.cz/if15/slides/pisa_rpi.pdf LinuxDays 2015

Linux, RPi and other HW for DC and Brushless/PMSM Motor Control

https://www.linuxdays.cz/2015/video/Pavel_ Pisa-Rizeni_stejnosmernych_motoru.pdf LinuxDays 2016

Processor Systems, GNU/Linux and Control Applications

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Related Articles

RTLWS 2014, OSADL, Sojka, M. – P´ ıˇ sa, P.

Usable Simulink Embedded Coder Target for Linux

https://rtime.felk.cvut.cz/publications/public/ert_ linux.pdf ROOT.CZ

  • 9. 5. 2016

GNU/Linux pro ˇ r´ ızen´ ı a rychlost jeho odezvy

https://www.root.cz/clanky/ gnu-linux-pro-rizeni-a-rychlost-jeho-odezvy/ ROOT.CZ

  • 3. 10. 2016

Linux pro ˇ r´ ızen´ ı: minimalistick´ e ˇ reˇ sen´ ı ˇ r´ ızen´ ı stejnosmˇ ern´ eho motoru

https://www.root.cz/clanky/ linux-pro-rizeni-minimalisticke-reseni-rizeni-stejnosmerne

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Related Thesis Works

The most recent theses I lead in motion control and FPGA area Radek Meˇ ciar: Motor control with Raspberry Pi board and Linux, 2014 (PDF) Martin Meloun: FPGA Based Robotic Motion Control System, 2014 (PDF) Martin Prudek: Brushless motor control with Raspberry Pi board and Linux, 2015 (PDF) Nepivoda Tom´ aˇ s: DC Motor Control Peripheral Module for Zynq Platform, 2016 (PDF) Martin Jeˇ r´ abek: FPGA Based CAN Bus Channels Mutual Latency Tester and Evaluation, 2016 (PDF)

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Electric Motors

main categories:

brushed DC – motor with mechanical commutator brushless DC motor (BLDC)/Permanent magnet synchronous motor PMSM – comutator replaced by control electronics – needs position/sector sensor or position estimation stepper motor – synchronous motor, position usually enforced by direct drive induction or asynchronous motor – exact position is not strictly required for control, torque is function of slip of rotor behind rotating magnetic field

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Raspberry Pi Applications

facts

intended for education provides decent performance for video playback is really cheap

the last point is important

used for many hobby projects, strong community used even in commercial solutions due to low cost even that it is not intended for such use

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Alternatives

Many better alternatives exists for full featured GNU/Linux systems for industrial applications. There are listed few ones FreeScale i.MX53 – ARM Cortex A8, ETHERNET, CAN, USB, . . . FreeScale i.MX6 – ARM Cortex A9 TI AM335x Sitara ARM Cortex-A8 (Beagle Bone black) – adds quadrature encoder inputs, two real time coprocessor units (PRU) Ti AM437x – Cortex A9 based, 2×PRU Ti AM5728 – dual core Cortex A15, PowerVR GPU, 2× Cortex M4 cores, dual core C66x DSP, IVA (H.264), 2×PRU Xilinx Zynq-7000 – 2×Cortex A9, FPGA Other PowerPC, SPARC based solution are used for military and space.

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Outline

1

Introduction

2

BLDC/PMSM Motor Control BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

3

Other Projects

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Three Phase Circuit Transformations

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Raw Sine-wave Voltage

Angular speed ω

1 2 3 4 5 6 8 6 4 2 2 4 6 8

Phase voltages uA,uB,uC – applied directly

1 2 3 4 5 6 1.0 0.5 0.0 0.5 1.0 Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Voltage Proportional to Speed

Angular speed ω

1 2 3 4 5 6 8 6 4 2 2 4 6 8

Phase voltages uA,uB,uC – proportional to ω

1 2 3 4 5 6 1.0 0.5 0.0 0.5 1.0 Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Unipolar/Zero-based Voltage

Angular speed ω

1 2 3 4 5 6 8 6 4 2 2 4 6 8

Phase voltages uA,uB,uC – subtracted min (uA, uB, uC)

1 2 3 4 5 6 0.0 0.5 1.0 1.5 Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Hall Sensors to Sectored Position

011 010 110

100

101 001

1 2 3

346° 16° 46° 76° 105° 134° 166° 196° 225° 256° 278° 317°

(962)

(45) (128) (211) (292) (373) (461) (544) (626) (711) (798) (881)

0°

(0)

index

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Simplified PMSM Vector Control

+current limit MOSFET driver +current limit MOSFET driver

ENI

do_inp do_gen

ENG

uA uC uB

+current limit MOSFET driver

iA i B i C

PIRC, PTPER PTOFS PTSHIFT

Forward Clark A,B,C to beta alpha, Forward Park alpha, beta to D, Q

AP AS RP RS MA, MS EP, GEN_ST GEN_INFO

PMSM

IRC

HAL

Current

ADC

do_out

beta to alpha A,B,C PWM

Inv. Park to alpha beta D,Q

do_con

ENR

Speed and/or position control Q D Q compoenent controller D component controller

current D current Q

Source: PiKRON PXMC library

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Outline

1

Introduction

2

BLDC/PMSM Motor Control BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

3

Other Projects

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

PMSM Experimental Setup

Source: Martin Prudek’s Bachelor Thesis

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Motor, Boards and Interconnection

Motor Motor driver Expansion unit with FPGA Raspberry Pi + Linux 4.6. 7

  • RT

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Function Placement to the Borads

Raspberry Pi

SPI

Motor

IRC

3 phase stator windigns Hall ef ect sensors

Motor driver Half-bridges

FPGA

Expansion unit

ADC

Current measurments

CPU

CLK generator

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

FPGA Functional Blocks SPI slave

PWM

counter

mcpwm1 mcpwm2 mcpwm3

adc_reader

ADC output

Hall ef ect sensors output input of half-bridges IRC

  • utput

CLK gen.

  • utput

(50MHz)

qcounter

I/Opins

position

Hall 1 Hall2 Hall3

Ch0 Ch1 Ch2

Irc_A Irc_B phase 1 phase 3 phase 2 Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

RPi PMSM Motor Control Simulink Diagram

Raspberry Pi Permanent Magnet Synchronous Motor Control

PMSM motor is connected to 3p-motor-driver designed by PiKRON. SPI connected rpi-mi-1 FPGA interface is used for IRC, HAL and current ADC input and for PWM generation. FPGA design by Martin Prudek. The simplified control algorithm in based on PiKRON's PXMC motion control library sources by Pavel Pisa. More about DCE FEE CTU Linux ERT target and projects at

http://lintarget.sourceforge.net

Simpler version without d-componet compensation

  • 2

IRC-display IRC-scope sfPMSMonSPI PMSMonSPI int32 int32 int32 double (3) int32

  • Opt. PSD

Controller w RSTs r red I u I P Subsys PSD double Position Request double RESET double Active Output Range double

  • K-

Anti Windup double Position double Pos Trajectory double

Double Click to run model on RPi

Current 3 [1x3] PWM_VAL double (3) [1 1 1] PWM_EN double (3)

  • 38

132

  • 95

Current-display round Round1 3 double (3) [1x3] Current_offs double (3) 3 double (3) K*u Gain double (3) Manual PWM SW 3 double (3) [0.0 -0.0] PWM_VAL1 double (2) alp,bet a,b,c Inv Clarke double (3) a, b, c alp, bet Clarke 3 double (2)

  • 56

196 Current-display1 round Round 2 double (2) d,q angle rad alp,bet Inv Park double (2) Manual Alp bet 2 double (2) [0.0 0.0] PWM_VAL2 double (2) Manual D Q 2 double (2) double (2) d=0 double 1000 IRC per com uint32 irc_val irc_indx irc_occur hal irc_per_com irc_ph_shift phase rad IRC to phase single [phase_rad] phase_rad [phase_rad] phase_rad 1 single 62 Com phase deg

  • K-

Gain1 single round Rad 2 Deg single 0.011204867108941 Current-display2 alp, bet angle rad d, q Park double (2) 2 [phase_rad] phase_rad 2 single Current1 IRC-speed int32 Convert IRC int32 to Real double z 1 Unit Delay int32 55 IRC Phase Shift double

  • 860

Index Pos

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

RPi PMSM IRC Plot

2 4 6 8 10 12 14 16 18 20 −2000 −1500 −1000 −500 500 1000 1500 2000 IRC Inputs

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

RPi PMSM Current A, B, C Plot

2 4 6 8 10 12 14 16 18 20 −1500 −1000 −500 500 1000 1500 Current A, B, C

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

RPi PMSM IRC Current D, Q

2 4 6 8 10 12 14 16 18 20 −2000 −1500 −1000 −500 500 1000 1500 2000 Current DQ

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Outline

1

Introduction

2

BLDC/PMSM Motor Control BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

3

Other Projects

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

MZ APO – Kit for Education

MicroZed

Source: http://microzed.org/product/microzed Source: https://www.xilinx.com/products/silicon-devices/soc/zynq-7000.html Source: https://cw.fel.cvut.cz/wiki/courses/b35apo/start

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

The Core – MicroZed and System

The core chip: Zynq-7000 All Programmable SoC Family member: Z-7010, device XC7Z010 CPU: Dual ARM➤ Cortex➋-A9 MPCore➋ @ 866 MHz (NEON➋ & Single / Double Precision Floating Point) 2× L1 32+32 kB, L2 512 KB FPGA: 28K Logic Cells (˜430K ASIC logic gates, 35 kbit) Computational capability of FPGA DSP blocks: 100 GMACs Memory for FPGA design: 240 KB Memory on MicroZed board: 1GB Operating system: GNU/Linux

GNU LIBC (libc6) 2.19-18+deb8u7 Kernel: Linux 4.9.9-rt6-00002-ge6c7d1c Distribution: Debian Jessie

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

MZ APO Hardware Education Kit

The kit is designed to be universal for multiple couses

Computer architectures courses (B3B35APO, B4B35APO) Advanced Computer Architectures (B4M35PAP, BE4M35PAP) Real -Time Systems Programming (B3M35PSR)

Interfaces accessible directly on MicroZed module (single board computer SBC)

1G ETHERNET USB Host, connector A serial port UART1 connected to USB to serial converter soldered on the module, USB micro-B micro SD card slot

  • n-board Flash,
  • ne user controlled LED

reset switch and user switch

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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MZ APO Board Peripherals

Small 16-bit parallel bus connected LCD display (480× 320, RGB 565) 32 LEDs for direct visualization of 32-bit word (SPI connected), presented as single 32-bit register in physical memory address space 2× RGB LED (SPI connected, 8-bit PWM), 2×32-bit register 3× incremental encoder rotary knob (RGB 888, SPI connected) , presented as 3 three 8-bit fields in 32-bit word 4× RC model servo interface (5 VDC power and pulse output, resolution 10 ns) 1× 40 pin FPGA IO connector, 36 FPGA 3.3 VDC signals, jumper enables +5 VDC power, signals match Altera DE2 kits which we use in other courses 2× PMOD connectors extended by optional +5 VDC power, each provides 8 FPGA signals shared with FPGA IO connector

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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MZ APO Board Peripherals (cont.)

2× parallel camera interface, one 10-bit and one 8-bit 2× CAN bus transceivers, 5 Mbit/s capable, connected to Xilinx CAN peripheral, but FPGA CAN-FD possible in the future audio output by simple PWM modulator, on-board speaker and JACK available audio input to Xilinx integrated ADC, on-board microphone and JACK standard notebook power supply JACK 12 to 24 VDC UART0 serial port, galvanic isolated connection to FTDI serial to USB chip, robust USB A connector break signal longer than 1s resets the board Full list at https://cw.fel.cvut.cz/wiki/courses/b35apo/ documentation/mz_apo/start

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Peripherals Mapped into Physical Address Space

RAM memory Memory mapped Input/Output range

Address form CPU

Source: ČVUT FEL Computer Architectures Course https://cw.fel.cvut.cz/wiki/courses/b35apo/start

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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PMSM/BLDC Peripheral registers

Peripheral registers block at Z3PMDRV1 REG BASE PHYS 0x43c20000 Register Offset Description Z3PMDRV1 REG IRC POS o 0x08 32-bit position Z3PMDRV1 REG IRC IDX POS o 0x0C position of index Z3PMDRV1 REG PWM1 o 0x10 14-bit PWM Z3PMDRV1 REG PWM2 o 0x14 bit 30 enable Z3PMDRV1 REG PWM3 o 0x18 bit 31 shutdown Z3PMDRV1 REG ADC SQN STAT o 0x20 HAL and status bits Z3PMDRV1 REG ADC1 o 0x24 24 - bit ADC Z3PMDRV1 REG ADC2 o 0x28 cumulative Z3PMDRV1 REG ADC3 o 0x2C sums

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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HAL and Status Register Bits

Symbol Mask Description Z3PMDRV1 REG ADSQST SQN m 0x000001FF ADC cycles Z3PMDRV1 REG ADSQST HAL1 m 0x00010000 HAL1 Z3PMDRV1 REG ADSQST HAL2 m 0x00020000 HAL2 Z3PMDRV1 REG ADSQST HAL3 m 0x00040000 HAL3 Z3PMDRV1 REG ADSQST ST1 m 0x00100000 Overload/ Z3PMDRV1 REG ADSQST ST2 m 0x00200000 error signal Z3PMDRV1 REG ADSQST ST3 m 0x00400000 phase driver Z3PMDRV1 REG ADSQST PWST m 0x01000000 power present

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects BLDC Motor Basic BLDC Motor Control Realized by RPi with SPI FPGA Peripheral Xilinx Zynq-7000 FPGA and Control

Actual Code Sources

VHDL sources of SPI connected PMSM peripheral for Raspberry Pi https://rtime.felk.cvut.cz/gitweb/fpga/ rpi-motor-control.git/tree/HEAD:/pmsm-control Repository with experimental sources with C based motion control code port, only for testing, locking and synchronization not complete for SMP systems https://rtime.felk.cvut.cz/gitweb/fpga/ rpi-motor-control-pxmc.git/blob/HEAD: /src/app/rpi-pmsm-test1/zynq_3pmdrv1_mc.c Matlab/Simulink Lintaget pages http://lintarget.sourceforge.net/ Matlab/Simulink model for Raspberry Pi and Xilinx Zynq https://github.com/ppisa/rpi-rt-control/tree/ master/simulink

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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SocketCAN Simulink Blockset

The blockset is quick proof port of the CAN Autosar API based blocks developed at DCE initially for own automotive grade ARM Cortex-R4 based embedded platform The code is generated under designed control of TLC (Target Language Compiler) blocks description which allows to

  • ptimize blocks code for used data-types and interconnection

For more information about embedded systems rapid prototyping support developed in our group look at http://rtime.felk.cvut.cz/rpp-tms570/ Notices about more Linux and embedded hardware used, tested and even some designed look at https://rtime.felk.cvut.cz/hw/

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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x86 Linux ERT and Parallel Kinematic Robot Control

4 DC motors, 4 incremental encoders, other I/Os Presented at Embedded world 2014 Sampling period 1 ms but complex computations More reliable that previously used Windows target

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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LX ROCON – DC, BLDC/PMSM and Stepper Controller

Source: PiKRON

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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LX ROCON – Features

Industry-proven Electric Motor Control libraries and system FPGA-based Based on Cortex-4 MCU and Xilinx Spartan 6 FPGA Fully configurable, 16 power outputs can be assigned up to 4Ö BLDC/PMSM, stepper motors and or up to 8Ö DC motor FPGA design with inferred blocks only Portable to MicroSemi FPGAs, does not use vendor-specific blocks CAN, ETHERNET, Serial, RS-485 and USB communication RTEMS, Nuttx and mbed supported

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Cortex-R4 Automotive Platform and Test Board

TMS570LS3137 (EP) N2HET, no IRC specific peripheral

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

TMS570 Motion Control for Safety Applications

TMS570LC4357 / RM57L843 ARM Cortex-R5F, two cores in lockstep, 4 MB Flash, 512 kB SRAM, 3 kB I, 3 kB D Cache, all memory with ECC, 2Ö QEP, N2HET 64 TMS570LS1224 / RM46L840 ARM Cortex-R4F, lockstep, 1280 kB Flash, 192 kB SRAM, no cache, all memory with ECC, 2Ö QEP, N2HET 44 No MMU, not reasonable target for Linux, when SDRAM used then it is without ECC and SDRAM is not well suitable for critical applications Freescale/NXP alternative PowerPC based systems MPC57xx (eTPU) Ti tools with FreeRTOS, more or less demo for proprietary SAFERTOS, other uC/OS-II, CoDeSys, SCIOPTA RTEMS BSP development started in GSoC frame, support includes chip initialization and lwIP based networking (not fully integrated yet)

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Industrial Motion Control Options

DSP Ti C2000, Freescale/NXP MC56F84XXX, MC56F82xxx MCUs Ti TM4C ARM Cortex-M4F, STM32 Nucleo+IHM02A1, Freescale/NXP Kinetis V ARM Cortex-M0+/M4/M7 GNU/Linux capable systems Ti AM335x, Ti AM437x

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control

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Introduction BLDC/PMSM Motor Control Other Projects

Conclusion

More ready to be uses open-source building blocks for control applications have been presented and are available online We are looking for students who has interest in real-time,

  • perating systems and control/embedded hardware

We cooperate with more industrial partners on many projects and students can gain experience and valuable knowledge during their work on the project in frame of thesis We offer control related courses Real-Time systems programming and participate on generic computer architectures courses at CTU FEE

Thanks for attention and questions

Pavel Pisa pisa@cmp.felk.cvut.cz CC BY-SA GNU/Linux and FPGA in Control