1. Embedded control European PhD – 2009 Microprocessors, microcontrollers and DSP´s Horácio Fernandes

2. Microprocessors, microcontrollers and DSP´s • Container for a number of commonly used sub-units • ALU • DMA • RAM • I/O

3. “Obsolete” devices • Due to high degree of integration, some high-tech devices can NOT be used on harsh environments • Space (cosmic rays) • High neutron fluency • Radioactive (gamma rays) • “Bit” errors • Doping contaminants

4. Real-time systems • Definition of real-time • Definition of Human time scale • Real-time control and controllers

5. Controller #1(PID) Sensor(Magnetics) Actuator (PSU) Sensor(Magnetics) WaveformGenerator #1 Tokamak Actuator (Power Suplies) DATAACQUISITIONSYSTEM Sensor(Pressure/Interferometry) Tokamak: Actuator (Gas Puffing) Controller #2(PID) Actuator (Gas Puffing) Actuator Y Sensor X Controller #(PID) Sensor(Interferometry) WaveformGenerator #2 The control system • “Trial-and-error” type operation • Hard to get similar discharges, as the plasma is a multivariable complex system • Reprogram of waveforms is normally an empiric and lengthy task • Data acquired needs to be correlated manually against control waveforms • Single-Input Single-Output (SISO) ANALOG controllers • Not easily Re-configurable • Hard to Optimize • Allows only simple control schemes (e.g PID) • Control of Plasma Parameters are NOT coupled!

6. Sensors Actuators Control Unit System Components Symposium on Plasma Physics and Technology

7. Processing unit • 8 Analog channels • Galvanic isolated • 2 MSample/s • 14-bit • 512 MB SDRAM • DSP • FPGA • HS Serial connections • PCI bus

8. System response

9. Induced displacement

10. EP2 VS Shape & Current Control (PPCC) PF Coils Magnetics VUV impurities GAS + Pellets Interferom/Polarim Vis Da, Brem, ELM NBI Neutron X-ray etc. Vis H/D/T plasma ICRH ECE Te (R) Confinement q profile LHCD CXS Ti (R) Flux surfaces EQX TAE / EFCC LIDAR Ne&Te(R) Wall Load MSE pitch (R) EQX kinetic map Simulink code Coil Protection X-ray Ti (0) R-T Controller Rob Felton - RTMC Workshop R-T Signal Server Comms network ATM, some analogue Sensors & actuators @ JET

11. Computer Architectures • Harvard architecture (/von Neumann) • RISC(PIC, IBM Power PC) / CISC (80x86) • Clocking, instruction pipelining, 14 bit instruction set

12. PIC architecture • Single chip: • CPU • Memory • RAM • PROM/ EEPROM • oscillator • timers • watchdog • I/O • Digital • ADCs • Communications

13. PICs • Code efficiency - 8 bit /Harvard • Conventional Microcontrollers -1 internal bus (Z80) • Safety coding • 12, 14 or 24 bit “program memory word” • Jumps to data area impossible • Instruction Set • 33 instruction (MID range) • Single instruction cycle (=4 clock cycles); /CALL, GOTO, bit test (BTFSS, INCFSZ) • Speed (2x 386 SX 33MHz)

14. PICs (cont.) • Static Operation – registers are kept valid during STOP (Sleep – 1uA sink current) • Current driver • I/O pin: sink 25mA or 100mA (total) • LEDs and triacs • Several series options • Speed, thermal • Casing (sizes) • I/O, timers, serial comms, A/D • memory

15. DSP • 40 bit ALU • 2x40 bit accumulators • 1x40 bit bidirectional shifter • Barrel shift -15 bits right, 16 bits left • Integers vs float

16. Terminology • Microcontroller (sw relevancy) • I/O (external world) • Software (information) • Bugs • Programming language (ASM, C) • Hardware • Microprocessor • Memory • Interface and signal conditional circuits • Power supply (digital, analog and programming ground and shielding)

17. PIC family

18. CPU Data Memory Program Memory DSP Engine Interrupts I/O Ports Timers Input Capture Module Output Compare Module Quadrature Encoder Interface (QEI) 10-bit A/D Converter 12-bit A/D Converter UART Module SPITM Module I2CTM Module Data Converter Interface (DCI) Module CAN Module dsPIC30F

19. Harvard • Independent Buses • Instructions are bigger than1 byte (Program memory) • Program memory: • Optimized • Single word instruction per cycle • In one jump an instruction is always executed • /von Neuman instructions with several bytes

20. Harvard Architecture • pipeline • 2 stages instruction execution • fetch and execution in a single cycle • Each instruction is autonomous • Every data included • No more program data access • 4 clock per instruction cycle

21. Instruction format • Word or byte-oriented • Bit-oriented • Literal • DSP operations • Control operations • OpCode • Variable number of bits • 2^6=64 (app. 35 instructions)

22. Instruction format dsPIC30F Mid-range PICs (14 bit)

23. Memory organization • Registers and static memory • Work register • Mid->dsPIC • File registers~RAM • General Purpose Registers (GPRs) • Special Function Registers (SPRs) • Memory banks • Limitation due to adress bits • Selection bits (avaiable trough STATUS)

24. Special Function Registers • Base Architecture • Reserved names • INTCON, TMR0, STATUS • R/W and read only • Some registers do not exist physically • Some registers are copied among bank memory • STATUS, FSR, INDF • Including GPR (0x70 a 0x7F) • PORTB (Banks 0 e 2) • Power ON/Reset

25. General Purpose Registers • User defined • Wide implementation • Indirect adress • pointers • Easy incrementation or decrementation • INDF (0x00) provide adress copy of FSR • ie changing INDF data at that adress is changed INDF(=*FSR) • de-referencing • Address: 100 102 104 106 • Variable: i j k ptr • Content: 3 5 -1 102 • int i, j, k; • int *ptr;

26. Example • STATUS

27. Interruptions and I/O • Communication between microcontroller and external world • Multi-functional digital output • Communication protocol • ADCs e DACs • Events monitoring

28. I/O - Diagram port B

29. I/O - Port • TRISx: Data Direction register • PORTx: I/O Port register • LATx: I/O Latch register • C options in TRISx • Quick & simple • Slow & secure

30. I/O sharing

31. Change Notification (CN) Pins • Weak pull-up (current source) • Avoiding external resistores • Originate interruptions • Change in pin states • 24 pins avaiable

32. Interruptions • vs Polling (attention) • Quick response to events • Peripherics • Driven actions • After taken action continues previous process • Maskable/non-maskable • Variable saving (PC e Stack) • Quick execution

33. INT Pin Interrupt (external interrupt) TMR0 Overflow Interrupt PORTB Change Interrupt Comparator Change Interrupt Parallel Slave Port Interrupt USART Interrupts Receive and Transmit Interrupt (CAN) A/D Conversion Complete Interrupt LVD Interrupt Data EEPROM Write Complete Interrupt Timer Overflow Interrupt CCP Interrupt SSP Interrupt Interruptions (cont.)

34. Interrupt logic

35. Interrupt logicHigh Priority Logic Block Diagram

36. Interrupt logicLow Priority Logic Block Diagram

37. Communications • Serial • Synchronous • I2C • SPI • Asynchronous • RS232, RS485, RS422 (RS232 differential) • Point to point • Point/multi-point • USB, SSP • CAN • Parallel

38. Serial Communications • Start bits - Always 1 bit • Stop bits – 1, 1.5 ou 2 bits • Data bits - 7 ou 8 bits • Parity bits • none - no error detection • odd or even - error detection required • 1 bit added to give bit summing odd or even • CheckSum: redundancy check • CRC (cyclic redundancy check)

39. HandShaking • Data Terminal Ready • Data Set Ready • Clear to Send • Request To Send • Transmit Data • Receive Data • Ring • Data Carriage Detected • Ground RTS Data Terminal Equipment - Data Comunication Equipment

40. USART/UART • Universal Synchronous/Asynchronous Receiver Transmiter • Shift register • SYN (0b01000010)

41. I2C • Two bidirectional “open-drain lines” • Serial Data (SDA) • Clock (SCL) • “Pull-up” – resistor ~k • Multi-master • Master node — clock controller • Slave node — all others

42. I2C – typical circuit

43. I2C • 7-bit address space (10-bit addressing) • 16 reserved addresses (max 112 nodes) • Vel. • Normal - 100 kbit/s (standard mode) • Low-speed mode - 10 kbit/s (até DC) • Fast - 400 kbit/s (Fast mode) or 1 Mbit/s (Fast mode plus or Fm+), 3.4 Mbit/s High Speed mode • Max. bus capacity - 400 pF.

44. SPI • Operation modes • 8-bit and 16-bit Data Transmission/Reception • Master e Slave • Framed SPI Modes • Operation: 8-bit vs. 16-bit

45. SPI • Ideal for single-master/single-slave • Single-master bus • Do not have slave acknowledgment ! • Full duplex • 1-10Mbit • Dual-Shift register

46. Oscillator • Oscillator modes ( default clock source) • EC External Clock • ECIO External Clock with IO pin enabled • LP Low Frequency (Power) Crystal • XT Crystal/Resonator • HS High Speed Crystal/Resonator • RC External Resistor/Capacitor • RCIO External Resistor/Capacitor with IO pin enabled • HS4 High Speed Crystal/Resonator with 4x frequency PLL multiplier enabled

47. Oscillator modes

48. Inverter gain (mode) Frequency (power) Crystal (precision) Wake-up (frequency, noise, sleep wake-up) Oscillator Modes

49. PLL • Advantages PLL • EMI • SW program. • Structure • VCO • Divider • Comparator

50. Timers (dsPIC) • Timer 1