ServoControl

Created for Vivado 2019.1 Reusable IP for controlling servo motors using a PWM output signal. This component is designed to be integrated in a BD containing a Zynq processing device, thus data transfer is using AXI4 protocol using 3 registers. The component is configurable:

• Nb of pwm channels 1 to 16
• resolution from 4 to 16 bits
• prescaler bits from 2 to 16 bits; prescaler works on all channels

Register description: Register 1: (write-only) combined channel/value. channel: upper 4 bits; value: lower part according precision chosen Register 2: (write-only) configuration and global on/off. Configuration in lower part, global on/off in bit31 Register 3: (read-only) status: bit 31 = '1' --> ready, oherwise wait Register 4: unused

Recreating the project

This should be done using the scripts in /proj subfolder:

• cd into /proj
• source ./create_project.tcl

Create recreation script

• cd into /proj
• execute: write_project_tcl -paths_relative_to . -origin_dir_override . -force create_project.tcl

create IP from it:

• cd into /proj
• rename IP is necessary, also check top module and compile order at the end of the script
• execute: source ./mkIP.tcl
• commit changes in folders src, xgui and component.xml. Subfolder "project" might be deleted.
• recreate depending projects
• ipx::* is poorly documented; best choice is to use help ipx::* to get a list of commands and then call help for each command.

Debugging with ILA at startup:

Ref: see UG908, Chapter 11, "Trigger at startup"

1. implement design and set triggers in ILA dashboard
2. cd to /proj folder
3. run_hw_ila -file ila_trig.tas [get_hw_ilas hw_ila_1]
4. open implemented design
5. apply_hw_ila_trigger ila_trig.tas
6. write_bitstream -force trig_at_startup.bit
7. reopen Hardware manager and select device (xc7c020)
8. select newly written bit file in properties window i) reprogram device which should then trace immediately