Autonomous Vehicle

1. Install Xilinx Vivado SDK - 2025.1

• https://www.xilinx.com/support/download.html

2. Prepare for OpenCR Development

References

• https://emanual.robotis.com/docs/en/parts/controller/opencr10_jp/
• https://qiita.com/basalte/items/e28d60ce0681c69ccee7

2.1. Import UDEV Rule

wget https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/99-opencr-cdc.rules

sudo cp ./99-opencr-cdc.rules /etc/udev/rules.d/

sudo udevadm control --reload-rules

sudo udevadm trigger

2.2. Install Arduino IDE

sudo chmod 777 /opt

mkdir /opt/arduino-ide

cd /opt/arduino-ide

wget https://downloads.arduino.cc/arduino-ide/arduino-ide_2.3.6_Linux_64bit.zip

unzip arduino-ide_2.3.6_Linux_64bit.zip

sudo dpkg --add-architecture i386

sudo apt update && sudo apt install libasound2t64 libncurses5-dev libncurses5-dev:i386 libnss3-dev

/opt/arduino-ide/arduino-ide_2.3.6_Linux_64bit/arduino-ide

• Open File > Preferences

  • Edit Additional boards manager URLs
    • https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json

• Open Tools > Board > Board Manager...

  • Type OpenCR in Filter your search box
  • Inatall OpenCR by ROBOTIS

3. Zybo Z7 HW/SW Co-Design

References

• https://phys-higashi.com/73/#toc8
• https://phys-higashi.com/114/#toc12
• https://github.com/Digilent/Zybo-Z7-20-pcam-5c
• https://fumimaker.net/entry/2020/02/06/002934
• https://marsee101.blog.fc2.com/blog-entry-4027.html
• https://xilinx.github.io/Vitis-Tutorials/master/docs-jp/docs-jp/Vitis_Platform_Creation/Design_Tutorials/02-Edge-AI-ZCU104/step1.html
• https://cellspe.matrix.jp/zerofpga/vivado_xsa.html
• https://zenn.dev/gnico/articles/2aef82b7adef44

3.1. Create New Project

• Project name: AutonomousVehicle
• Disable Create project subdirectory
• Select RTL Project
  • Enable Do not specify sources at this time
  • Disable Project is an entensible Vitis platform
• Download Board Data
  • Boards > Zybo Z7-20

3.2. Download Zybo Z7 XDC File

wget https://raw.githubusercontent.com/Digilent/digilent-xdc/refs/heads/master/Zybo-Z7-Master.xdc -O Zybo-Z7.xdc

3.3. Add Source

• Add XDC File
  • Flow Navigator > PROJECT MANAGER > Add Sources > Add or create constraints
• Add HDL Files
  • Flow Navigator > PROJECT MANAGER > Add Sources > Add or create design sources

3.4. Create Block Design

• Flow Navigator > IP GENERATOR > Create Block Design

• Add Processing System
  • BLOCK DESIGN > Diagram > + button to add IP > ZYNQ7 Processing System
  • BLOCK DESIGN > Diagram > Run Block Automation

• Right click Processing System Block > Customize Block
  • MIO Configuration
  • Set UART1 MIO 48 .. 49
  • Set disable GPIO MIO50 pull-up
  • Set disable GPIO MIO51 pull-up
  • Clock Configuration
    • Set PL Fabric Clocks > FCLK_CLK0 100
• BLOCK DESIGN > Diagram > + button to add IP > AXI GPIO
• BLOCK DESIGN > Diagram > Run Connection Automation
  • Enable S_AXI
• Processing System Block > FCLK_CLK0 > Create port
  • Set Port name to ps_clk
• Processing System Block > peripheral_aresetn[0:0] > Create port
  • Set Port name to ps_nrst
• axi_gpio_0 > Customize Block
  • Enable IP Configuration > Enable Dual Channel
• axi_gpio_0 > GPIO + > gpio_io_i[31:0] > Create Port
  • Set Port name to ps_gpio_i0
• axi_gpio_0 > GPIO + > gpio_io_o[31:0] > Create Port
  • Set Port name to ps_gpio_o0
• axi_gpio_0 > GPIO2 + > gpio2_io_i[31:0] > Create Port
  • Set Port name to ps_gpio_i1
• axi_gpio_0 > GPIO2 + > gpio2_io_o[31:0] > Create Port
  • Set Port name to ps_gpio_o1
• BLOCK DESIGN > Platform Setup > AXI Port
  • Set Enabled of M_AXI_GP1, S_AXI_ACP, S_AXI_HP0, S_AXI_HP1, S_AXI_HP2 and S_AXI_HP3
• BLOCK DESIGN > Platform Setup > Clock
  • Set Is Default of FCLK_CLK0
• Diagram > Validate Design
• Flow Navigator > IP Integrator > Generate Block Design > Generate
• Confirm Flow Navigator > Project Manager > Sources > Design Sources > Zynq_PS

3.5. Set Top-Level Entity

• PROJECT MANAGER > Sources > Dedign Sources > AutonomousVehicle(AutonomousVehicle.vhd)
  • Select Set as Top

3.6. Compilation

• Flow Navigator > Synthesis > Run Synthesis
• Flow Navigator > Implementation > Run Implementation
• Flow Navigator > Program and Debug > Generate Bitstream

3.7. Export Hardware

• File > Export > Export platform > Hardware > Include bitstream/binary
  • Select Include bitstream
  • XSA file name: system

3.8. (For baremetal use) Open Vitis IDE

• Set File > Set Workspace to C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\Vitis\

3.9. Create Platform

• File > New Component > Platform
  • Component Name: platform
  • Conponent Location: C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\Vitis\
  • Enable Select Platform Creation Flow > Hardware Design
  • Add C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\system.xsa to Hardware Design (XSA) For Implementation
  • Set linux to Operating system
  • Finish
• Flow > Component > platform > Build

3.10. Create Application

• File > New Component > Application
  • Name and Location
    • Component name: application
    • Component location: C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\Vitis\
  • Select Platform: platform
  • Sysroot: C:\Users\admin\Documents\sysroots\sysroots\x86_64-petalinux-linux\
  • Finish
• application > Sources > src
  • Create main.c
• Flow > Component > application > Build

3.11. Create Boot Image

• Select Flow > Component > application
• Vitis > Create Boot Image > Zynq
  • Enable Create a new BIF file
  • Add C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\Vitis\platform\export\platform\sw\boot\fsbl.elf as bootloader
  • Add C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\AutonomousVehicle.runs\impl_1\AutonomousVehicle.bit as datafile
  • Add C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\Vitis\application\build\application.elf as datafile
  • Set Output BIF File Path to c:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\system.bif
  • Set Outout Image to C:\Users\admin\Documents\autonomous-vehicle\Zybo-Z7\BOOT.bin
  • Create Image

4. On Petalinux

sudo apt install device-tree-compiler gpiod libgpiod-dev 

gpioinfo

gcc main.c -o main -lgpiod