# motor control # port definition # position detection interface create_bd_port -dir I -from 2 -to 0 position_m1_i create_bd_port -dir I -from 2 -to 0 position_m2_i # current monitor interface # clock create_bd_port -dir O adc_clk_o # data motor 1 create_bd_port -dir I adc_m1_ia_dat_i create_bd_port -dir I adc_m1_ib_dat_i create_bd_port -dir I adc_m1_vbus_dat_i # data motor 2 create_bd_port -dir I adc_m2_ia_dat_i create_bd_port -dir I adc_m2_ib_dat_i create_bd_port -dir I adc_m2_vbus_dat_i # motor control interface create_bd_port -dir o -from 3 -to 0 gpo_o # motor 1 create_bd_port -dir O fmc_m1_en_o create_bd_port -dir O pwm_m1_al_o create_bd_port -dir O pwm_m1_ah_o create_bd_port -dir O pwm_m1_cl_o create_bd_port -dir O pwm_m1_ch_o create_bd_port -dir O pwm_m1_bl_o create_bd_port -dir O pwm_m1_bh_o # motor 2 create_bd_port -dir O fmc_m2_en_o create_bd_port -dir O pwm_m2_al_o create_bd_port -dir O pwm_m2_ah_o create_bd_port -dir O pwm_m2_cl_o create_bd_port -dir O pwm_m2_ch_o create_bd_port -dir O pwm_m2_bl_o create_bd_port -dir O pwm_m2_bh_o # Ethernet # phy 1 create_bd_intf_port -mode Master -vlnv xilinx.com:interface:rgmii_rtl:1.0 eth1_rgmii # phy 2 create_bd_intf_port -mode Master -vlnv xilinx.com:interface:rgmii_rtl:1.0 eth2_rgmii #common mdio interface create_bd_port -dir O eth_mdio_mdc create_bd_port -dir O eth_mdio_o create_bd_port -dir O eth_mdio_t create_bd_port -dir I eth_mdio_i #common reset create_bd_port -dir O eth_phy_rst_n # reference clock for the delay interface used for the gmii to rgmii conversion create_bd_port -dir o -type clk refclk create_bd_port -dir o -from 0 -to 0 -type rst refclk_rst # iic create_bd_intf_port -mode Master -vlnv xilinx.com:interface:iic_rtl:1.0 iic_ee2 # xadc interface create_bd_intf_port -mode Slave -vlnv xilinx.com:interface:diff_analog_io_rtl:1.0 vaux0 create_bd_intf_port -mode Slave -vlnv xilinx.com:interface:diff_analog_io_rtl:1.0 vaux8 create_bd_port -dir O -from 4 -to 0 muxaddr_out # core instantiation and configuration # additions to default configuration # Enable additional peripherals from the PS7 block ad_ip_parameter sys_ps7 CONFIG.PCW_USE_S_AXI_HP2 1 ad_ip_parameter sys_ps7 CONFIG.PCW_ENET0_ENET0_IO EMIO ad_ip_parameter sys_ps7 CONFIG.PCW_ENET0_GRP_MDIO_IO EMIO ad_ip_parameter sys_ps7 CONFIG.PCW_ENET1_PERIPHERAL_ENABLE 1 # Add additional clocks to be used by gmii to rgmii modules and current monitoring modules ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT2_USED true ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT3_USED true ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT4_USED true ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT5_USED true ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT2_REQUESTED_OUT_FREQ 125 ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT3_REQUESTED_OUT_FREQ 25 ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT4_REQUESTED_OUT_FREQ 20 ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT5_REQUESTED_OUT_FREQ 20 ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT2_DRIVES No_buffer ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT3_DRIVES No_buffer ad_ip_parameter sys_audio_clkgen CONFIG.CLKOUT4_DRIVES No_buffer # speed detectors # speed detector core motor 1 ad_ip_instance axi_mc_speed speed_detector_m1 # dma motor 1 ad_ip_instance axi_dmac speed_detector_m1_dma ad_ip_parameter speed_detector_m1_dma CONFIG.DMA_TYPE_SRC 2 ad_ip_parameter speed_detector_m1_dma CONFIG.DMA_TYPE_DEST 0 ad_ip_parameter speed_detector_m1_dma CONFIG.DMA_2D_TRANSFER 0 ad_ip_parameter speed_detector_m1_dma CONFIG.CYCLIC 0 ad_ip_parameter speed_detector_m1_dma CONFIG.DMA_DATA_WIDTH_DEST 64 ad_ip_parameter speed_detector_m1_dma CONFIG.DMA_DATA_WIDTH_SRC 32 ad_ip_parameter speed_detector_m1_dma CONFIG.DMA_AXI_PROTOCOL_DEST 0 # speed detector core motor 2 ad_ip_instance axi_mc_speed speed_detector_m2 # dma motor 2 ad_ip_instance axi_dmac speed_detector_m2_dma ad_ip_parameter speed_detector_m2_dma CONFIG.DMA_TYPE_SRC 2 ad_ip_parameter speed_detector_m2_dma CONFIG.DMA_TYPE_DEST 0 ad_ip_parameter speed_detector_m2_dma CONFIG.DMA_2D_TRANSFER 0 ad_ip_parameter speed_detector_m2_dma CONFIG.CYCLIC 0 ad_ip_parameter speed_detector_m2_dma CONFIG.DMA_DATA_WIDTH_DEST 64 ad_ip_parameter speed_detector_m2_dma CONFIG.DMA_DATA_WIDTH_SRC 32 ad_ip_parameter speed_detector_m2_dma CONFIG.DMA_AXI_PROTOCOL_DEST 0 # current monitor peripherals # current monitor core motor 1 ad_ip_instance axi_mc_current_monitor current_monitor_m1 # dma motor 1 ad_ip_instance axi_dmac current_monitor_m1_dma ad_ip_parameter current_monitor_m1_dma CONFIG.DMA_DATA_WIDTH_SRC 64 ad_ip_parameter current_monitor_m1_dma CONFIG.DMA_2D_TRANSFER 0 ad_ip_parameter current_monitor_m1_dma CONFIG.CYCLIC 0 ad_ip_parameter current_monitor_m1_dma CONFIG.DMA_AXI_PROTOCOL_DEST 0 # data packer motor 1 # ad_ip_instance util_cpack current_monitor_m1_pack ad_ip_parameter current_monitor_m1_pack CONFIG.NUM_OF_CHANNELS 4 ad_ip_parameter current_monitor_m1_pack CONFIG.CHANNEL_DATA_WIDTH 16 # current monitor core motor 2 ad_ip_instance axi_mc_current_monitor current_monitor_m2 # dma motor 2 ad_ip_instance axi_dmac current_monitor_m2_dma ad_ip_parameter current_monitor_m2_dma CONFIG.DMA_DATA_WIDTH_SRC 64 ad_ip_parameter current_monitor_m2_dma CONFIG.DMA_2D_TRANSFER 0 ad_ip_parameter current_monitor_m2_dma CONFIG.CYCLIC 0 ad_ip_parameter current_monitor_m2_dma CONFIG.DMA_AXI_PROTOCOL_DEST 0 # data packer motor 2 ad_ip_instance util_cpack current_monitor_m2_pack ad_ip_parameter current_monitor_m2_pack CONFIG.NUM_OF_CHANNELS 4 ad_ip_parameter current_monitor_m2_pack CONFIG.CHANNEL_DATA_WIDTH 16 #controller # controller core motor 1 ad_ip_instance axi_mc_controller controller_m1 # controller core motor 2 ad_ip_instance axi_mc_controller controller_m2 #ethernet gmii to rgmii converters # phy 1 ad_ip_instance util_gmii_to_rgmii gmii_to_rgmii_eth1 ad_ip_parameter gmii_to_rgmii_eth1 CONFIG.PHY_AD "00000" ad_ip_parameter gmii_to_rgmii_eth1 CONFIG.IODELAY_CTRL 1 # phy 2 ad_ip_instance util_gmii_to_rgmii gmii_to_rgmii_eth2 ad_ip_parameter gmii_to_rgmii_eth2 CONFIG.PHY_AD "00001" # iic ad_ip_instance axi_iic iic_ee2 # xadc ad_ip_instance xadc_wiz xadc_core ad_ip_parameter xadc_core CONFIG.XADC_STARUP_SELECTION simultaneous_sampling ad_ip_parameter xadc_core CONFIG.ENABLE_EXTERNAL_MUX true ad_ip_parameter xadc_core CONFIG.EXTERNAL_MUX_CHANNEL VAUXP0_VAUXN0 ad_ip_parameter xadc_core CONFIG.CHANNEL_ENABLE_VP_VN false ad_ip_parameter xadc_core CONFIG.CHANNEL_ENABLE_VAUXP0_VAUXN0 true ad_ip_parameter xadc_core CONFIG.CHANNEL_ENABLE_VAUXP8_VAUXN8 true ad_ip_parameter xadc_core CONFIG.OT_ALARM false ad_ip_parameter xadc_core CONFIG.USER_TEMP_ALARM false ad_ip_parameter xadc_core CONFIG.VCCAUX_ALARM false ad_ip_parameter xadc_core CONFIG.VCCINT_ALARM false # connections # speed detector # motor 1 ad_connect sys_cpu_clk speed_detector_m1/ref_clk ad_connect sys_cpu_clk speed_detector_m1_dma/fifo_wr_clk ad_connect position_m1_i speed_detector_m1/position_i ad_connect speed_detector_m1/new_speed_o speed_detector_m1_dma/fifo_wr_en ad_connect speed_detector_m1/speed_o speed_detector_m1_dma/fifo_wr_din # motor 2 ad_connect sys_cpu_clk speed_detector_m2/ref_clk ad_connect sys_cpu_clk speed_detector_m2_dma/fifo_wr_clk ad_connect position_m2_i speed_detector_m2/position_i ad_connect speed_detector_m2/new_speed_o speed_detector_m2_dma/fifo_wr_en ad_connect speed_detector_m2/speed_o speed_detector_m2_dma/fifo_wr_din # current monitor ad_connect adc_clk_o current_monitor_m1/adc_clk_o # motor 1 ad_connect sys_cpu_clk current_monitor_m1/ref_clk ad_connect sys_cpu_clk current_monitor_m1_dma/fifo_wr_clk ad_connect current_monitor_m1/adc_clk_i sys_audio_clkgen/clk_out5 ad_connect adc_m1_ia_dat_i current_monitor_m1/adc_ia_dat_i ad_connect adc_m1_ib_dat_i current_monitor_m1/adc_ib_dat_i ad_connect adc_m1_vbus_dat_i current_monitor_m1/adc_vbus_dat_i ad_connect sys_cpu_clk current_monitor_m1_pack/adc_clk ad_connect sys_cpu_reset current_monitor_m1_pack/adc_rst ad_connect current_monitor_m1/adc_enable_ia current_monitor_m1_pack/adc_enable_0 ad_connect current_monitor_m1/adc_enable_ib current_monitor_m1_pack/adc_enable_1 ad_connect current_monitor_m1/adc_enable_vbus current_monitor_m1_pack/adc_enable_2 ad_connect current_monitor_m1_pack/adc_valid_0 current_monitor_m1/i_ready_o ad_connect current_monitor_m1_pack/adc_valid_1 current_monitor_m1/i_ready_o ad_connect current_monitor_m1_pack/adc_valid_2 current_monitor_m1/i_ready_o ad_connect current_monitor_m1/ia_o current_monitor_m1_pack/adc_data_0 ad_connect current_monitor_m1/ib_o current_monitor_m1_pack/adc_data_1 ad_connect current_monitor_m1/vbus_o current_monitor_m1_pack/adc_data_2 ad_connect current_monitor_m1_pack/adc_data current_monitor_m1_dma/fifo_wr_din ad_connect current_monitor_m1_pack/adc_valid current_monitor_m1_dma/fifo_wr_en ad_connect current_monitor_m1_pack/adc_enable_3 GND ad_connect current_monitor_m1_pack/adc_valid_3 GND ad_connect current_monitor_m1_pack/adc_data_3 GND # motor 2 ad_connect sys_cpu_clk current_monitor_m2/ref_clk ad_connect sys_cpu_clk current_monitor_m2_dma/fifo_wr_clk ad_connect current_monitor_m2/adc_clk_i sys_audio_clkgen/clk_out5 ad_connect adc_m2_ia_dat_i current_monitor_m2/adc_ia_dat_i ad_connect adc_m2_ib_dat_i current_monitor_m2/adc_ib_dat_i ad_connect adc_m2_vbus_dat_i current_monitor_m2/adc_vbus_dat_i ad_connect sys_cpu_clk current_monitor_m2_pack/adc_clk ad_connect sys_cpu_reset current_monitor_m2_pack/adc_rst ad_connect current_monitor_m2/adc_enable_ia current_monitor_m2_pack/adc_enable_0 ad_connect current_monitor_m2/adc_enable_ib current_monitor_m2_pack/adc_enable_1 ad_connect current_monitor_m2/adc_enable_vbus current_monitor_m2_pack/adc_enable_2 ad_connect current_monitor_m2_pack/adc_valid_0 current_monitor_m2/i_ready_o ad_connect current_monitor_m2_pack/adc_valid_1 current_monitor_m2/i_ready_o ad_connect current_monitor_m2_pack/adc_valid_2 current_monitor_m2/i_ready_o ad_connect current_monitor_m2/ia_o current_monitor_m2_pack/adc_data_0 ad_connect current_monitor_m2/ib_o current_monitor_m2_pack/adc_data_1 ad_connect current_monitor_m2/vbus_o current_monitor_m2_pack/adc_data_2 ad_connect current_monitor_m2_pack/adc_valid current_monitor_m2_dma/fifo_wr_en ad_connect current_monitor_m2_pack/adc_data current_monitor_m2_dma/fifo_wr_din ad_connect current_monitor_m2_pack/adc_enable_3 GND ad_connect current_monitor_m2_pack/adc_valid_3 GND ad_connect current_monitor_m2_pack/adc_data_3 GND #controller # motor 1 ad_connect sys_cpu_clk controller_m1/ref_clk ad_connect controller_m1/ctrl_data_clk sys_audio_clkgen/clk_out5 ad_connect fmc_m1_en_o controller_m1/fmc_en_o ad_connect pwm_m1_al_o controller_m1/pwm_al_o ad_connect pwm_m1_ah_o controller_m1/pwm_ah_o ad_connect pwm_m1_bl_o controller_m1/pwm_bl_o ad_connect pwm_m1_bh_o controller_m1/pwm_bh_o ad_connect pwm_m1_cl_o controller_m1/pwm_cl_o ad_connect pwm_m1_ch_o controller_m1/pwm_ch_o ad_connect controller_m1/sensors_o speed_detector_m1/hall_bemf_i ad_connect controller_m1/position_i speed_detector_m1/position_o ad_connect controller_m1/pwm_a_i GND ad_connect controller_m1/pwm_b_i GND ad_connect controller_m1/pwm_c_i GND ad_connect controller_m2/pwm_a_i GND ad_connect controller_m2/pwm_b_i GND ad_connect controller_m2/pwm_c_i GND # motor 2 ad_connect sys_cpu_clk controller_m2/ref_clk ad_connect controller_m2/ctrl_data_clk sys_audio_clkgen/clk_out5 ad_connect fmc_m2_en_o controller_m2/fmc_en_o ad_connect pwm_m2_al_o controller_m2/pwm_al_o ad_connect pwm_m2_ah_o controller_m2/pwm_ah_o ad_connect pwm_m2_bl_o controller_m2/pwm_bl_o ad_connect pwm_m2_bh_o controller_m2/pwm_bh_o ad_connect pwm_m2_cl_o controller_m2/pwm_cl_o ad_connect pwm_m2_ch_o controller_m2/pwm_ch_o ad_connect controller_m2/sensors_o speed_detector_m2/hall_bemf_i ad_connect controller_m2/position_i speed_detector_m2/position_o # ethernet ad_connect sys_200m_clk refclk ad_connect sys_cpu_resetn refclk_rst ad_connect sys_cpu_resetn eth_phy_rst_n ad_connect sys_ps7/ENET0_MDIO_MDC eth_mdio_mdc ad_connect sys_ps7/ENET0_MDIO_O eth_mdio_o ad_connect sys_ps7/ENET0_MDIO_T eth_mdio_t ad_connect sys_ps7/ENET0_MDIO_I eth_mdio_i # phy 1 ad_connect sys_200m_clk gmii_to_rgmii_eth1/idelayctrl_clk ad_connect gmii_to_rgmii_eth1/gmii sys_ps7/GMII_ETHERNET_0 ad_connect eth1_rgmii gmii_to_rgmii_eth1/rgmii ad_connect gmii_to_rgmii_eth1/reset sys_rstgen/peripheral_reset ad_connect gmii_to_rgmii_eth1/clk_20m sys_audio_clkgen/clk_out4 ad_connect gmii_to_rgmii_eth1/clk_25m sys_audio_clkgen/clk_out3 ad_connect gmii_to_rgmii_eth1/clk_125m sys_audio_clkgen/clk_out2 ad_connect eth_mdio_mdc gmii_to_rgmii_eth1/mdio_mdc ad_connect eth_mdio_o gmii_to_rgmii_eth1/mdio_in_w ad_connect eth_mdio_i gmii_to_rgmii_eth1/mdio_in_r # phy 2 ad_connect gmii_to_rgmii_eth2/gmii sys_ps7/GMII_ETHERNET_1 ad_connect eth2_rgmii gmii_to_rgmii_eth2/rgmii ad_connect gmii_to_rgmii_eth2/reset sys_rstgen/peripheral_reset ad_connect gmii_to_rgmii_eth2/clk_20m sys_audio_clkgen/clk_out4 ad_connect gmii_to_rgmii_eth2/clk_25m sys_audio_clkgen/clk_out3 ad_connect gmii_to_rgmii_eth2/clk_125m sys_audio_clkgen/clk_out2 ad_connect eth_mdio_mdc gmii_to_rgmii_eth2/mdio_mdc ad_connect eth_mdio_o gmii_to_rgmii_eth2/mdio_in_w ad_connect eth_mdio_i gmii_to_rgmii_eth2/mdio_in_r # xadc ad_connect xadc_core/Vaux0 vaux0 ad_connect xadc_core/Vaux8 vaux8 ad_connect muxaddr_out xadc_core/muxaddr_out # iic ad_connect iic_ee2/IIC iic_ee2 ad_connect sys_cpu_resetn speed_detector_m1_dma/m_dest_axi_aresetn ad_connect sys_cpu_resetn speed_detector_m2_dma/m_dest_axi_aresetn ad_connect sys_cpu_resetn current_monitor_m1_dma/m_dest_axi_aresetn ad_connect sys_cpu_resetn current_monitor_m2_dma/m_dest_axi_aresetn ad_connect sys_cpu_resetn xadc_core/s_axi_aresetn # address map ad_cpu_interconnect 0x40410000 speed_detector_m1 ad_cpu_interconnect 0x40420000 current_monitor_m1 ad_cpu_interconnect 0x40430000 controller_m1 ad_cpu_interconnect 0x40440000 speed_detector_m2 ad_cpu_interconnect 0x40450000 current_monitor_m2 ad_cpu_interconnect 0x40460000 controller_m2 ad_cpu_interconnect 0x40510000 speed_detector_m1_dma ad_cpu_interconnect 0x40520000 current_monitor_m1_dma ad_cpu_interconnect 0x40540000 speed_detector_m2_dma ad_cpu_interconnect 0x40550000 current_monitor_m2_dma ad_cpu_interconnect 0x43200000 xadc_core ad_cpu_interconnect 0x41510000 iic_ee2 ad_mem_hp2_interconnect sys_cpu_clk sys_ps7/S_AXI_HP2 ad_mem_hp2_interconnect sys_cpu_clk speed_detector_m1_dma/m_dest_axi ad_mem_hp2_interconnect sys_cpu_clk speed_detector_m2_dma/m_dest_axi ad_mem_hp2_interconnect sys_cpu_clk current_monitor_m1_dma/m_dest_axi ad_mem_hp2_interconnect sys_cpu_clk current_monitor_m2_dma/m_dest_axi ad_cpu_interrupt ps-7 mb-7 xadc_core/ip2intc_irpt ad_cpu_interrupt ps-8 mb-8 current_monitor_m2_dma/irq ad_cpu_interrupt ps-9 mb-9 speed_detector_m2_dma/irq ad_cpu_interrupt ps-10 mb-10 current_monitor_m1_dma/irq ad_cpu_interrupt ps-12 mb-12 iic_ee2/iic2intc_irpt ad_cpu_interrupt ps-13 mb-13 speed_detector_m1_dma/irq