ZYBO OV7670 Lub Koob Yees Duab Nrog Yias/qaij Tswj: 39 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Pib ntawm qib ib rau kom ntxaws ntawm tsuas yog tsim 2-axis servo PWM maub los.

Pib ntawm daim duab loj loj (Kauj Ruam 19) rau tag nrho txoj haujlwm.

Lub Koob Yees Duab + Pan/qaij teeb peb siv:

PmodCON3 los ntawm Digilent tau siv los txuas cov servos.

Kauj Ruam 1: Tsim PWM Module- Cov Ntaub Ntawv

Kauj Ruam 2: Tsim PWM Module- Vivado Teeb

Ua ntej, rub tawm Vivado Design Suite Los ntawm Xilinx lub vev xaib. Nruab tag nrho cov qauv tsim, suav nrog Vivado Software Development Kit (SDK). Txoj haujlwm no siv 2017.2 version.

Lub sijhawm no, Digilent Adept 2 yuav tsum tau teeb tsa ua Zybo pawg thawj coj tsav tsheb.

Kauj Ruam 3: Tsim PWM Module- Tsim Cov Ntaub Ntawv Project

Ua ntej tsim cov phiaj xwm phiaj xwm, koj yuav tsum xyuas kom meej tias koj twb tau teeb tsa Zybo cov ntaub ntawv kom raug raws li kev qhia ntawm no:

Vivado Version 2015.1 thiab Tom Qab Pawg Thawj Tswj Cov Ntaub Ntawv Txhim Kho

Qhib Vivado 2017.2. Ntawm Kev Pib Ua Ntej, nyem rau Tsim Project -> Tom ntej no -> Project Name (Npe koj lub npe project ntawm no) -> Hom Project. Ntawm Hom Haujlwm, xaiv RTL Project thiab kos rau "Tsis txhob hais qhia qhov chaw tam sim no". Tom ntej, rau Qhov Tsis Txaus Siab, xaiv "Cov laug cam" thiab "Zybo" raws li Lub Npe Tso Npe. Tom ntej no, Nyem Ua tiav kom pib txoj haujlwm.

Kauj Ruam 4: Tsim Lub PWM Module- Thaiv Tsim thiab Txwv Cov Ntaub Ntawv Teeb (Kuv)

Ntawm Flow Navigator, nyem rau "" Tsim Thaiv Tsim ", tom qab ntawd nyem OK. nyem qhov cim "+" txhawm rau ntxiv IPs tsim nyog. Ntxiv:

• Ib ZYNQ7 Txheej Txheem Txheej Txheem Ob AXI Timer
• Ob AXI Timer

Kauj Ruam 5: Tsim lub PWM Module- Thaiv Tsim thiab Txwv Cov Ntaub Ntawv Teeb (II)

Tom qab Ntxiv IPs, Khiav Thaiv Automation thiab kev siv tshuab txuas. Thaum qhov kev siv tshuab tiav, ntawm qhov thaiv "axi_timer_0", nyem rau ntawm pwm0 -> Ua Sab Nraud. Lub npe pwm0 tus pin sab nraud li pwm_Xaxis. Tsis tas li, rov ua cov txheej txheem saum toj no ntawm qhov thaiv "axi_timer_1" thiab lub npe pwm0 sab nraud pin li pwm_Zaxis.

Kauj Ruam 6: Tsim lub PWM Module- Thaiv Tsim thiab Txwv Cov Ntaub Ntawv Teeb (III)

Daim ntawv ceeb toom tias txhua lub sijhawm thaum peb ua tiav Kev Tsim Qauv hauv Vivado, peb yuav tsum tsim HDL Wrapper. Txij li nws yuav yog tus qauv qib siab tshaj plaws rau txhua qhov haujlwm.

Kauj Ruam 7: Tsim lub PWM Module- Thaiv Tsim thiab Txwv Cov Ntaub Ntawv Teeb (IV)

Tam sim no, peb yuav tsum teeb tsa peb cov ntaub ntawv txwv kom muab tus pin txuas nrog rau peb daim duab thaiv. Kaw qhov Block Design window, On Sources tab, “Add Sources”-> Add or create constraints-> add Zybo-Master.xdc as our constraint files.

Kauj Ruam 8: Tsim Lub PWM Module- Thaiv Tsim thiab Txwv Cov Ntaub Ntawv Teeb (V)

Qhib qhov txwv cov ntaub ntawv Zybo-Master.xdc los ntawm Cov nplaub tshev txwv, tsis suav nrog cov chaw nres nkoj peb xav qhia kom meej raws li cov cim tso tawm thiab hloov npe "get_ports {XXXX}", uas XXXX qhia tus pin sab nraud uas muaj npe hauv Block Diagram. Qhov teeb tsa ntawm cov ntaub ntawv txwv tau qhia hauv daim duab.

Kauj Ruam 9: Tsim lub PWM Module- Kev Kho Kho Vajtse

Txuas cov servo motors mus rau Pmod CON3. TowerPro SG90 yog tus qauv servo lub cev uas peb siv hauv txoj haujlwm no. Txog rau cov kab hluav taws xob servo, cov txiv kab ntxwv liab sawv cev rau PWM teeb liab, txuas nrog SIG tus pin hauv Pmod CON3. Cov hlau liab Vcc yog lub hwj chim txuas nrog VS tus pin hauv Pmod CON3. Thaum kawg, xim av hlau Gnd yog av xaim txuas nrog GND tus pin. Tom ntej no, ntxig Pmod CON3 rau kab sab saud ntawm JD chaw nres nkoj hauv Zybo Board.

Kauj Ruam 10: Tsim PWM Module- Tsim Bitstream thiab Tshaj Tawm SDK

1. Hauv qhov Project Navigator tab, khiav Tsim BitStream.

2. Txhua khoom kho vajtse: File> Export> Export Hardware-> cim ntawm "suav nrog bitstream"-> OK 3. Lau SDK: File-> Launch SDK.

Kauj Ruam 11: Tsim PWM Module- Tsim Daim Ntawv Thov Tshiab hauv Xilinx SDK

Tsim daim ntawv thov tshiab:

Cov Ntaub Ntawv> Tshiab> Daim Ntawv Thov Txoj Haujlwm -> Sau lub npe ntawm koj qhov haujlwm -> Ua tiav

Hauv qab Project Explorer, yuav tsum muaj peb daim nplaub tshev.

Hauv qhov no, "tsim_1_wrapper_hw_platform_0" yog daim nplaub tshev yav dhau los xa los ntawm Vivado. Axis_2_PWM_SDK_bsp yog pawg thawj coj saib pob khoom txhawb nqa. Thiab Axis_2_PWM_SDK yog peb cov phiaj xwm tseem ceeb hauv SDK. Koj tuaj yeem pom "helloworld.c" cov ntaub ntawv nyob hauv "src" nplaub tshev ntawm Axis_2_PWM_SDK, qhov twg "helloworld.c" yog cov ntawv tseem ceeb.

Kauj Ruam 12: Tsim PWM Module- Txheej txheem cej luam ntawm Project Explorer (Kuv)

Cia saib qee cov ntaub ntawv hauv Project Explorer. Ua ntej, hauv daim nplaub tshev “design_1_wrapper_hw_platform_0”, qhib “system.hdf”. Cov ntaub ntawv no qhia txog daim ntawv qhia chaw nyob rau tus ua haujlwm ps7_cortex9 thiab IP thaiv tam sim no hauv peb tsim.

Kauj Ruam 13: Tsim PWM Module- Txheej txheem cej luam ntawm Project Explorer (II)

Tom qab ntawd, txheeb xyuas "suav nrog" thiab "libsrc" cov ntaub ntawv hauv qab "Axis_2_PWM_SDK_bsp" nplaub tshev. Cov ntaub ntawv hauv tsev qiv ntawv no ua rau peb cuam tshuam nrog cov khoom siv kho vajtse yam tsis muaj "ua si" cov npe.

Kauj Ruam 14: Tsim PWM Module- Txheej txheem cej luam ntawm Project Explorer (III)

Los ntawm BSP cov ntaub ntawv, xtmrctr.h pom tau tias yog Xilinx Timer Control Library ntsig txog AXI Timer. Feem ntau, peb tuaj yeem pom qhov ua haujlwm PWM xav tau ntawm no. Txawm li cas los xij, yog tias koj nyeem cov ntaub ntawv "tmrctr_v4_3", nws qhia tau tias tus neeg tsav tsheb tam sim no tsis txhawb nqa PWM kev ua haujlwm ntawm lub cuab yeej. Vim tsis muaj peev xwm ua haujlwm PWM, peb yuav tsum qhwv peb qhov PWM ua haujlwm nrog kev pab ntawm xtmrctr.h thiab AXI Timer v2.0 LogiCORE IP Product Guide.

Kauj Ruam 15: Tsim Lub PWM Module- Sau Txog PWM Ua Haujlwm (Kuv)

Rov qab mus rau cov ntaub ntawv tseem ceeb "helloworld.c", suav nrog cov ntaub ntawv hauv qab no:

Kauj Ruam 16: Txhim Kho PWM Module- Qhwv PWM Ua Haujlwm (II)

Txheeb xyuas qhov chaw nyob ntawm ob AXI TImer los ntawm "xparameters.h".

Kauj Ruam 17: Tsim kom muaj PWM Module- Qhwv PWM Ua Haujlwm (III)

Tsim qhov xav tau PWM muaj nuj nqi.

Duty_val: hloov cov nqi kawm ntawv mus rau lub luag haujlwm voj voog. Lub sijhawm moos yuav tsum tau muab rau.

PWM_START: muab tus PWM sau npe chaw nyob thiab pib tsim PWM.

PWM_STOP: muab tus PWM sau npe chaw nyob thiab tsis tsim PWM.

Tshwm sim ntawm tus lej demo tau qhia hauv "helloworld.c" hauv qab "Axis_2_PWM_SDK"

Kauj Ruam 18: Tsim PWM Module- Ua Kom Nws Ua Haujlwm

1. Program FPGA los ntawm SDK

• Txuas Zybo Board los ntawm USB chaw nres nkoj rau PC.
• Xilinx Cov Cuab Yeej -> Txoj Haujlwm FPGA

2. Kev ua haujlwm

Nyem rau ntawm "Khiav" icon thiab poob rau hauv cov ntawv qhia zaub mov -> Khiav Raws -> Tua tawm ntawm Kho vajtse

3. SDK Terminal

• Qhib lub SDK Terminal -> Txuas rau Serial Port -> OK
• Khiav qhov kev pab cuam. Yog tias qhov chaws ua tiav ua tiav, koj yuav tsum pom "Kev pib ua tiav!" ntawm SDK Terminal.

Kauj Ruam 19: Tshaj Tawm Cov Duab Video ntawm Digilent ZYBO Nrog OV7670

Ua tiav cov ntaub ntawv xa nrog.

Kauj Ruam 20: Ua tiav Daim Duab Duab

Qhov no qhia pom daim duab tiav ntawm txhua qhov kev sib txuas thiab IP thaiv hauv txoj haujlwm

Kauj Ruam 21: Txuas OV7670 mus rau ZYBO

Tsim kev txuas mus rau xaim ov7670 tus qauv rau ZYBO Pmods

Cov ntaub ntawv Pmod yog Pmod D

Tswj Pmod yog Pmod C.

Ib qho ntxiv, txuas PmodCON3 thiab servos raws li tau hais tseg hauv thawj ib nrab ntawm qhov kev qhia no

Kauj Ruam 22: Tsim Thaiv Tsim

Hauv Flow Navigator, nyem rau ntawm "Tsim Thaiv Tsim", tom qab ntawd nyem OK.

Kauj Ruam 23: Ntxiv VHDL Cov Ntaub Ntawv rau OV7670 Lub Koob Yees Duab Tswj thiab Ntes

Ntxiv VHDL cov ntaub ntawv txuas rau cov kauj ruam no rau txoj haujlwm

Kauj Ruam 24: Ntxiv Cov Ntawv Txwv

Ntxiv cov ntaub ntawv txwv txuas rau koj qhov project.

Kauj Ruam 25: Ntxiv IP Repo rau HLS IP

Nqa cov Zip cov ntaub ntawv txuas thiab unzip nws rau hauv daim nplaub tshev tshiab uas muaj npe zoo ib yam hauv cov npe tshiab (nplaub tshev) hu ua "HLS_repo".

Ntxiv IP chaw cia khoom rau koj qhov haujlwm los ntawm kev mus rau IP phau ntawv teev npe thiab nyem txoj cai xaiv "Ntxiv Cov Chaw …"

Nkag mus rau koj cov npe "HLS_repo" thiab xaiv nws.

Yeem tau: Tsim HLS cov txheej txheem ua video rau koj tus kheej!

Kauj Ruam 26: Ntxiv Cov Qauv thiab IP

Ntxiv ov7670_axi_stream_capture, debounce thiab ov7670_controller modules rau daim duab thaiv los ntawm txoj nyem rau tom qab thiab xaiv "Ntxiv Module …"

Ib yam li ntawd, ntxiv IPs:

• HLS_Video_Track
• Video Ncej Tsis Sau
• Video Ncej Tsis Nyeem
• Video Sijhawm tswj
• AXI4-Kwj rau Video Tawm
• 3 ntawm "Slice"
• Ntev
• 2 ntawm AXI Timer

Kauj ruam 27: IP Configuration Settings

Raws li qhia hauv cov duab

Kauj Ruam 28: Ntxiv thiab Kho PS PS Block

Ntxiv ZYNQ7 Txheej Txheem Txheej Txheem rau daim duab thaiv

kho qhov teeb meem:

• PS-PL teeb tsa

  • HP

    • Pab kom S HP 0
    • Pab kom S HP 1
• Clock teeb tsa

  • PL Npuag Clocks

    • FCLK_0 ntawm 100MHz
    • FCLK_1 ntawm 25MHz (Lub Sijhawm Tso Tawm)
    • FLCK_2 ntawm 35MHz (<= 50MHz) (CameraClock)

Kauj Ruam 29: Ntu 1. Tsim PWM Module rau Servo Motors

Nqa tawm axi_timer_0 pwm0 rau qhov chaw nres nkoj tawm tshiab pwm_Xaxis

Nqa tawm axi_timer_1 pwm0 rau qhov chaw nres nkoj tawm tshiab pwm_Zaxis

Kauj Ruam 30: Kev Tawm Tswv Yim Sab Sab Sib Txuas (aclk Highlighted)

Txuas cov vis dis aus txuas sab IP thaiv kom raug

(* cov kev sib txuas no yuav tsum tsim los ntawm kev xaiv cov kev xaiv raug thaum lub sijhawm sib txuas siv tshuab) "aclk" los ntawm axi_stream_capture mus rau:

• ap_clk ntawm daim duab thav duab tsis sau
• ap_clk ntawm HLS video kwj ua ntu
• *aclk ntawm AXI smartconnect IP los ntawm Daim Duab Duab Tsis Pub Sau rau S_AXI_HP0
• *aclk sib thooj rau cov channel ntawm AXI Kev Sib Txuas IP rau S_AXI raws ntawm HLS kev ua video thaiv thiab cov duab thav duab tsis sau S_AXI_HP0_ACLK ntawm PS block

Lub vis dis aus teeb liab tau yooj yim txuas ua ntu zus los ntawm kev ntes thaiv mus rau Zynq nco interface.

• Cov vis dis aus mus los ntawm kev ntes thaiv mus rau HLS ua ntu.
• Cov txheej txheem yees duab los ntawm HLS thaiv mus rau tus ncej tsis sau sau thaiv.
• *Tus ncej tsis sau sau thaiv txuas rau HP0 interface ntawm Zynq PS block.
• Lub m_axis_tuser teeb liab los ntawm qhov tso tawm ntawm qhov thaiv thaiv yog siv tus kheej rau ob qho video_in_TUSER teeb liab ntawm HLS ua thaiv thiab ap_start teeb liab ntawm tib lub thaiv.

TUSER (tuser) teeb liab tau siv los ntawm AXI cov vis dis aus raws tu qauv txhawm rau qhia qhov pib ntawm cov kab yeeb yaj kiab. AP_Start qhia rau HLS thaiv kom pib ua haujlwm. Peb yog siv tuser ua rau HLS thaiv kom ua txhua tus ncej raws li nws Thaum nkag mus rau ib lub cim ntawm lub npav thiab faib nws tawm hauv qhov kev zam no nws yog qhov tsim nyog yuav tsum txuas nrog nws qhov kev txiav tawm ib txwm ntawm tus so ntawm lub npav. Vivado kwv yees tias yog tias koj tab tom txuas lub teeb liab los ntawm tus kheej uas koj xav txiav tawm qhov nws ib txwm txuas rau.

Kev teeb tsa teeb tsa ntawm IP thaiv:

Video thav duab tsis sau:

Cov vis dis aus tawm tswv yim: RGB8

1 tus qauv hauv ib lub moos Max kab ntawv: 1280 (> = 640) Kab ntau: 960 (> = 480) Cov ntaub ntawv dav dav: 8

Kauj Ruam 31: Kev sib txuas rau OV7670

Ntawm ov7670_axi_stream_capture block

• Ua txhua qhov kev nkag mus sab nraud (txoj nyem rau ntawm tus pin thiab xaiv los ntawm cov ntawv qhia zaub mov, lossis nyem sab laug-> ctrl+T)
• Sau cov npe raws li lawv yog

Ntawm ov7670_controller block

• Ua txhua qhov thaiv tawm sab nraud
• Hloov pauv qhov chaw nres nkoj config_finished rau led0
• txuas clk mus rau CameraClock (<= 50MHz) (FCLK_2)

Ntawm qhov debounce block

• txuas lub pob 1 nkag mus rau qhov chaw nres nkoj sab nraud hu ua btn0
• txuas tus out1 mus rau kab ntawv xa rov qab ntawm ov7670_controller IP block
• txuas lub pob 2 cov tswv yim mus rau qhov chaw nres nkoj sab nraud hu ua btn3
• txuas tus out2n mus rau ext_reset_in cov tswv yim ntawm Tus Txheej Txheem Txheej Txheem Rov Pib IP rau cov vis dis aus lub moos moos. (*Qhov no yuav tsum tau ua tom qab tus IP tau tsim*)
• txuas clk mus rau CameraClock (<= 50MHz) (FCLK_2)

Kauj Ruam 32: Kev Sib Txuas ntawm Video Tawm Sab

Kev sib txuas rau cov thaiv Kev Tswj Lub Sijhawm Yees Duab (VTC), AXI4-Kwj rau Video Tawm, thiab hlais

• Siv 25MHz moos (FCLK_1) rau vid_io_out_clk thiab VTC clk
• Siv 100MHz moos (FCLK_0) rau aclk ntawm AXI4-Stream rau Video Tawm
• vtiming_out rau vtiming_in
• Video Frame Buffer Nyeem m_axis_video mus rau AXI4-Stream rau Video Tawm video_in
• vtg_ce mus rau gen_clken
• Tie VTC clken, aclken, vid_io_out_ce mus tas li dout [0: 0]
• Nqa vid_hsync thiab vid_vsync tawm rau sab nraud cov chaw nres nkoj tso tawm vga_hs thiab vga_vs, feem. (tsis muaj duab)

Daim:

• Slices yuav tsum teeb raws li qhia hauv cov duab txuas

  • rename cov blocks rau slice_red, slice_green, thiab slice_blue
  • teeb tsa cov kab sib txawv raws li qhia hauv cov duab ib lub npe ntawm lub block
  • txuas txhua qhov hlais tawm mus rau qhov chaw nres nkoj sab nraud raws li qhia hauv duab.
• vid_data [23: 0] txuas rau cov tswv yim rau txhua daim (Din [23: 0])

Kauj Ruam 33: Khiav Thaiv thiab Kev Sib Txuas Automation

Khiav Block Automation los txuas cov khoom los ntawm ZYNQ7 PS block. Raws li qhia los ntawm daim duab.

Khiav Kev Txuas Hluav Taws Xob kom tsim txhua qhov kev sib txuas IP. Ua tib zoo mloog rau txhua qhov kev xaiv hauv txhua daim duab.

Ntawm qhov debounce thaiv, txuas out2n rau lub vis dis aus ntes moos sau Processor System Reset ext_reset_in input.

Kauj Ruam 34: Tsim HDL Wrapper

Tsim HDL Wrapper rau koj tus qauv tsim.

Teem nws ua tus qauv saum toj kawg nkaus.

Kauj Ruam 35: Tsim Bitstream, Xa Khoom Kho Mob rau SDK, Tua SDK Los Ntawm Vivado

Nco ntsoov suav nrog bitstream hauv kev xa tawm.

Kev tsim ntawm bitstream yuav siv sijhawm ntev heev.

Tom qab ntawd qhib SDK

Kauj Ruam 36: SDK (tsis muaj FreeRTOS)

Cov ntawv no ua txhua yam yam tsis tau siv FreeRTOS, ua kom yooj yim rau txoj cai.

Tsim tus kheej BSP raws li kev tsim kho vajtse. Cov kev xaiv ua ntej yuav tsum zoo. Nco ntsoov tias BSP cov peev txheej tau tsim.

Tsim App raws li qhia hauv Duab. (daim ntawv thov khoob)

Rho tawm lub autogenerated lub ntsiab thiab import cov ntawv txuas nrog.

Kauj Ruam 37: Siv FreeRTOS

Cov ntawv no siv FreeRTOS. Create FreeRTOS901 BSP raws li kev tsim kho vajtse. Cov kev xaiv ua ntej yuav tsum zoo. Nco ntsoov tias BSP cov peev txheej tau tsim.

Tsim App raws li qhia hauv Duab. (daim ntawv thov khoob)

Rho tawm lub autogenerated lub ntsiab thiab import cov ntawv txuas nrog.

Kauj Ruam 38: Cov Lus Qhia Siv

Txoj haujlwm no nyuaj me ntsis kom tau khiav. Ua raws cov theem hauv kev txiav txim.

Nco ntsoov tias koj ZYBO tsis yog tus kheej thauj khoom ib yam dab tsi thaum nws tau txais lub zog. Qhov no txhais tau tias Done LED yuav tsum tsis txhob taws. Ib txoj hauv kev los ua qhov no yog teeb tsa lub hauv paus khau raj rau JTAG.

Qhib qhov haujlwm (FreeRTOS lossis tsis yog) koj xav tau program los ntawm SDK

1. Qhib koj ZYBO. Ua tiav LED yuav tsum tsis txhob teeb.
2. Program FPGA nrog cov ntawv me ntsis. Ua tiav LED yuav tsum teeb. Led0 yuav tsum tsis txhob teeb.
3. Khiav cov cai (nco ntsoov hla dhau qhov pib tawg yog tias koj ua qhov ntawd).

Txij ntawm no koj yuav tsum tau txais qhov tso tawm ntawm koj lub VGA zaub.

Txhawm rau rov pib dua (yog tias nws yoov lossis ib yam dab tsi): coj mus rhaub khawm PS-SRST lossis tig ZYBO tawm thiab rov qab qhib dua. Txuas ntxiv los ntawm kauj ruam 2.

Kev kaw lub processor nrog lub debugger yuav ua rau Lub Koob Yees Duab tuav txoj haujlwm tsis txhob txav mus. Cov vis dis aus tseem yuav txuas ntxiv mus li cas los xij.

Kauj Ruam 39: Cov Lus Qhia thiab Cov Txuas

Xilinx cov lus qhia thiab cov ntaub ntawv:

• PG044 - AXI -Stream rau Video Tawm
• PG278 - Video Ncej Tsis Nyeem/Sau

Lwm qhov txuas:

• Lauri's blog - VDMA cov tswv yim
• Lauri's blog - OV7670 rau VGA tso tawm siv BRAM
• Hamsterworks wiki, los ntawm Mike Fields, thawj qhov chaw ntawm OV7670 code
• Cov ntaub ntawv qhia qhia txog lub sijhawm tshwj xeeb