Digital Resolver Rev01

Source

• uz_d_resolver Repository with Altium project

Interface and Functionality

The UltraZohm digital resolver adapter board features three channels of resolver interfaces, including excitation signal generation and serial interfaces. Each channel is based on the AD2S1210 integrated-circuit. The board features separated grounds for each channel of the excitation circuit (GND_EXC), which can be connected to the common logic ground via a resistor. Each resolver channel can be configured with several pull-up and pull-down resistors. Default configuration sets:

• RES0 and RES1 to HIGH - max resolution of 16 bit

• RD to HIGH - output buffer disabled as SOE to LOW - Serial Interface is selected (this adapter card is only to be operated in serial configuration)

• Excitation Ground GND_EXC[1..3] and GND connected (Remove R50[A..C] to disconnect the grounds)

• Excitation Ground GND_EXC[1..3] connecting resistors to DSUB Connectors J2[A..C] NOT connected (Place 0 Ohm at R3, R4, R5 and R51 each [A..C] to connect grounds)

• N_SAMPLE to HIGH (also see known issues section for this)

Note

The clock speed of the Clock in Rev01 is 8.192 MHz, which is relevant to the Specifications of the AD2S1210 IC

Note

As the resolver only operates with the 16 bit resolution in the board’s default configuration, the measurable rotational speed is limited to 125 rounds per second (rps) (equals \(7500\frac{1}{min}\)) with a clock speed of 8.192 MHz. For higher speeds the resolution has to be lowered. This affects RES0 and RES1 resistor configuration as well as IP core driver configuration.

With the Signals A0 and A1 the resolver`s operation mode can be configured. This is done through the IP core driver:

• A0 to LOW and A1 to LOW = Normal mode - position output

• A0 to LOW and A1 to HIGH = Normal mode - velocity output

• A0 to HIGH and A1 to LOW = Reserved (not used)

• A0 to HIGH and A1 to HIGH = Configuration Mode

In position and velocity mode the corresponding data can be obtained directly by toggling the clock line without sending the register addresses first. Further access to the devices registers and configurations is possible in the configuration mode. In this mode, changing the excitation frequency or reading back position and velocity data is possible. This is equivalent to Digital Encoder 1v00.

Fig. 256 Position Data from Resolver

Fig. 257 Velocity Data from Resolver

When communicating with the controller, attention has to be payed on the SPI mode. The correct one is MODE1 with clock polarity idle low and clock phase one meaning falling edge.

Fig. 258 Data Transmission in normal mode (position or velocity), yellow: MISO, blue: FSYNC, red: CLK

Fig. 259 Data Transmission in config mode, yellow: MISO, blue: FSYNC, red: CLK

Before first use

• Determine correct placement options for correct function (Default is 16-bit resolution) and one common GND for all channels

• Program CPLD with proper firmware, uz_d_resolver CPLD program. See Programming the CPLD for details.

Warning

There are two different CPLD programms in the cpld_lattice repository for uz_d_resolver. One for usage of the adapter board in slots D1 to D4 (sub-folder: digital_D1_to_D4). And a special one for usage in slot D5 (sub-folder: digital_D5). Due to the limited number of pins at D5 there are only two resolver channels available (Ch A/1 and Ch B/2).

Known issues

Warning

N_SAMPLE is pulled to HIGH using 5V on Rev01. It should be 3V3 to ensure safe operation of the AD2S1210 IC. This has been fixed for Rev02. Before first use of Rev01 boards, carefully check, if resistors R14[A..C] are NOT placed.

Compatibility

• This Board is compatible with slots D1-D5. In Slot D5 only CH A/1 and CH B/2 are available. Also, there is a special CPLD programm needed for D5, D1 to D4 share a common CPLD programm

Pinout

Table 81 Pinout Resolver D_Sub 9

Pin Number	Signal
1	IF CONNECTED: GND_EXC
2	COS
3	SIN
4	EXC
5	IF CONNECTED: GND_EXC
6	-COS
7	-SIN
8	IF CONNECTED: GND_EXC
9	-EXC

Implementation with Resolver Interface IP Core

• The following describes the connecting of the adapter board with the resolver interface IP cores.

• Two cases have to be distinguished here: 3 channels in slot D1 to D4, 2 channels in slot D5

In general one has to add the Resolver Interface IP core e.g. to the user hierarchy in the block design as many times as channels are needed. The port names of the IP core and at the adapterboard slightly differ. Therefore it is useful to create ports at the user hierarchy with the adapter boards’ signal names in order to avoid confusion. E.g. the picture below shows the IP core and respective ports for channel A/1. Pay attention to the signals SDI and SDO. Depending on the perspective, serial data in and out can change. In this example it is seen from the FPGA perspective, therefore, SPI_MOSI is labeled to SDO_1.

Outside the user hierarchy it then depends on the physical adapter board slot that you are using, what signal has to be connected to which pin. Again, pay attention to SDI and SDO signals. Now we connect the signals to the adapter card pins. Here, our SDO signal from the block design has to be connected to the pin number that provides the SDI signal of the adapter board and vice versa.

2 Channels in Slot D5 (Ch A/1 and Ch B/2)

The constraint file for slot D5 gives by default access to every single pin using the naming convention Dig_xx_Ch5, where xx is the I/O number [00…29]. Simply create input and output ports as shown below and connect them.

3 Channels in Slots D1 to D4

Below you’ll find an example on how to use the adapter board in slot D4. By default the constraint file for D4 is written in a vectorized (packed) manner that is not proper for accessing single pins. But there are also constraint files provided that allow access to the single pins. As shown below find the files in the sources section in Vivado. Right click on Digital_D4_packed.xdc and Disable File. Then right click on Digital_AdapterBoard_D4.xdc and Enable File.

Now we can access D4 pins with the same naming convention as above and create and connect respective ports as shown in the picture below.

Finally do not forget to connect IP core clocks (100 MHz) and AXI interfaces, as well as a proper sampling_trigger signal (e.g. trigger_conversion signal that also triggers the ADC’s). Build the bitstream and see the respective IP core driver docs for the software part.

References

• Schematic Rev01

• Datasheet AD2S1210 IC

• Digital Encoder 1v00

• Programming the CPLD

Designed by

Martin Bauer (THN), Eyke Aufderheide (TUM) in 02/2022 based on design by Thomas Effenberger (TUM)