1.3. Messages from the TSN Drive-on-Chip Design Example
Cyclone V SoC Development board
You can run the OPC UA PubSub application on the Cyclone V SoC Development board. You can compile the design in DS-5 environment or standalone using the Arm compiler (cross-compilation). The incoming messages can include motor commands and motor parameters. Published messages from the SoC can include measurements and parameters from the motor. Besides OPC UA PubSub, the SoC can support other applications such as OPC UA Client-Server.
TSN scheduled messages
You can implement IEEE 802.1Qbv scheduling by either:
- Using VLANs for stream differentiation and IEEE 802.1Qbv configuration in the command line using sgs and tsntool (refer to TTTech TSN IP Reference Design for DE-IP-SCV user manual).
- Using TTTech SlateXNS: a browser-based tool used to create schedules and deploy configurations to switches using Netconf over TLS
Motor commands and recorded data over TSN
You can control, within the network, certain motor parameters: rotational speed, position commands, speed limits and other parameters to adjust the control loops. The OPC UA Publisher (or client/server) controller sends these messages to the Cyclone V SoC Development board by overriding the corresponding attribute. Also, you can return parameters and performance values to the network by programming an OPC UA Publisher in the SoC and giving these message priority and schedule.