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EMBEDDED CONTROL SYSTEMS

EMBEDDED CONTROL SYSTEMS. A. ASTAPKOVITCH. Lecture 0 INTRODUCTION. State University of Aerospace Instrumentation, Saint-Petersburg, 201 1. GOALS OF THE COURSE. Understanding of the theory and the engineering concepts and principles behind embedded systems

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EMBEDDED CONTROL SYSTEMS

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  1. EMBEDDED CONTROL SYSTEMS A.ASTAPKOVITCH Lecture 0 INTRODUCTION State University of Aerospace Instrumentation, Saint-Petersburg, 2011

  2. GOALS OF THE COURSE • Understanding of the theory and the engineering • concepts and principles behind embedded systems • (multichannel real time control systems); • Knowledge of the present level : • of embedded control solutions for space and car industry; • modern hardware ( microproccessors, microcontrollers, • signal processors; single board computers, modular • systems, system on chip, distributed control systems); • software developing technology chain (OS Neutrino, • OSEK/VDX, modern IDE);

  3. COURSE INCLUDES TOPICS • SYSTEM ENGINEERING • HARWARE COMPONENT • MODERN SOFTWARE DEVELOPING • TECHNOLOGY • RTOS NEUTRINO, OSEK/VDX

  4. PART 1. SYSTEM ENGINEERING • LECTURE 1. EMBEDDED CONTROL - PAST AND PRESENT • § 1.History of the embedded control systems • § 2. Modern car control system • § 3. Mars rover SPIRIT-OPPORTUNITY mission • § 4. Control system concept • § 5. Mechanical design • LECTURE 2. MARS ROVER CONTROL SYSTEM • § 1. Control system functions • § 2. Digit video system • § 3. Hardware component of the control system • § 4. Software component of the control system • § 5. Principles of the autonomous operation • LECTURE 3. SPACE CONTROL ENGINEERING STANDARTS • § 1. International cooperation in space projects • § 2. ECSS structure • § 3. Review of the engineering branch ECSS-E • § 4. Standard control system model • § 5. Basic definitions

  5. COURSE REVIEW System Engineering • History of the control systems for space research Moon automatic research station LUNA-16 • 101 g of moon • sample were • received on • Earth ; SPUTNIK-3 first satellite with digit control system 12/09/1970 - 21/09/1970

  6. COURSE REVIEW System Engineering • Control system of the modern car is distributed • Modern car control system is the more than just one net

  7. COURSE REVIEW System Engineering • JPL mars rover Spirit-Opportunity control system • Autonomous operation is only possible solution • Mars rover Opportunity still working on MARS • Rover Spirit was discovered that water existed on Mars in past

  8. Interactionwithenvironment) Control objectives Control commands Controller Controlled Plant Actuators Control feedback Sensors Control System Controlled system Control performance COURSE REVIEW System Engineering • Review of European Standards for Space- ECSS Standard ECSS-E-60Amodel of control system

  9. PART 2. CONTROL SYSTEM HARDWARE BASICS-I LECTURE 4. COMPUTING SYSTEM STRUCTURE § 1. Architecture basic principles § 2. Microprocessor, signal processor, microcontroller § 3. Moor and Amdahl laws § 4. Control system structure § 5. Basic definitions LECTURE 5. MODULE CONTROL SYSTEM § 1. COTS and OEM solutions § 2. Standard PC-104 § 3. CompactPCI § 4. Standard VMEbus § 5. System on module LECTURE 6. DISTRIBUTED CONTROL SYSTEM § 1. Controller and ECU § 2. Control system topology basic definitions § 3. Microcontroller architecture § 4. Interrupt function basics § 5. Timer modules

  10. PART 2. CONTROL SYSTEM HARDWARE BASICS-II LECTURE 7. MICROCONTROLLERS PIC18F (Microchip) § 1. Review of nanoWatt Technology family § 2. Peripherals § 3. Interrupt system realization § 4. Fault tolerant features § 5. Application example LECTURE 8. DISTRIBUTED CONTROL SYSTEM § 1. Car control system structure § 2. Platform approach § 3. Control net topology § 4. CAN bus § 5. LINbus and MOST

  11. COURSE REVIEW HARDWARE COMPONENT • Moor law • Number of transistor is doubled every • 18 month (after 96 ) • 24 month ( 70- 95 ) • Amdahl law • The speedup S of a program using N multiple processors in parallel computing is limited by the sequential fraction of the program f.  S ≤ 1/ (f+(1-f)/N) < 1/f

  12. COURSE REVIEW HARDWARE BASIC • Microprocessor - Signal processor - Microcontroller • Architecture OMAP-L138(Texas Instruments)

  13. COURSE REVIEW VMEbusMODULAR SYSTEM • Form factor PC-10490*96 mm • ISA bus 8 Mbit • One board computer Tiger (VersaLogic) in form factor PC-104+ • PCI bus 133 Mbit • Atom Z5xx (1.11 ГГц.)

  14. COURSE REVIEW VMEbusMODULAR SYSTEM

  15. COURSE REVIEW Microcontroller PIC18 - control system on chip

  16. COURSE REVIEW CAR CONTROL NETS • DISTRIBUTED CONTROL SYSTEMS ON THE BASE OF THE DIFFERENT NETS • CAN net AND LIN net IS THE MOST POPULAR FOR CLASSES A,B,C • CLEAR THAT CLASS D WILL BE FIBER NET

  17. PART 3. SOFTWARE DEVELOPING TECHNOLOGY LECTURE 9. DEVELOPING CYCLES § 1. Introduction § 2. Basic definitions § 3. V-model § 4. System integration § 5. Complete cycle design LECTURE 10. REVIEW OF MODERN TECHNOLOGY § 1. Developing method hierarchy § 2. Linear coding § 3. Component coding § 4. RTOS and mRTOS § 5. Application generator LECTURE 11. RTOS BASICS § 1. POSIX ,ARINC-653 standards § 2. OSEK/VDX § 3. POSIX threads § 4. Time measurement in digital control systems § 5. Real time control basic definitions

  18. COURSE REVIEW V-MODEL • A framework to describe the software development life cycle activities

  19. DOWN UP APPLICATION GENERATOR • RTOS and mRTOS technology • BASIC ELEMENTS: • RTOS model (threads, process, message ….) • IDE created code structure UP DOWN • COMPONENT CODING TECHYNOLOGY • BASIC ELEMENTS : • functions, subroutine, macros • object library, macros library • LINEAR CODING TECHNOLOGY • BASIC ELEMENTS : • Assembler , C, JAVA COURSE REVIEW NESTED SW DEVELOPING TECHNOLOGY

  20. TASK LOOP CYCLE Tc SYSTEM PROCESS Tsys = Tisr+Tdisp KERNEL PROCESS TIME SLOT Tk 1st PROCESS 2nd PROCESS 3rd PROCESS CYCLE K CYCLE K+1 CYCLE K+2 RR dispatcher processogramma COURSE REVIEW MULTI LEVEL DESCRIPTION • RTOS and mRTOS are the core of the modern developing technology • BASIC ELEMENTS: scheduling, interrupt servicing, inter process communications • It is necessary to use multilevel algorithm description

  21. COURSE REVIEW RTOS STANDARDS • POSIX • 1003.1a ( OS Definition ) • 1003.1b ( Realtime Extensions ) • 1003.1c (Threads) • ARINC-653 (Avionics Application Software Standard Interface) • OSEK/VDX • OSEK OS operatingsystem - • OSEK Time time triggered operating system • OSEK COM communicationservices • OSEK FTCOM faulttolerantcommunication • OSEK NM networkmanagement • OSEK OIL ImplementationLanguage • OSEK ORTI kernel awareness for debuggers.

  22. PART 4. MODERN SOFTWARE DEVELOPING PLATFORMS LECTURE 12. PLATFORM QNX6 § 1. Basic principles § 2. RTOS Neutrino § 3. Neutrino threads § 4. Messages, communications, interrupts § 5. IDE QNX Momentics LECTURE 13. PLATFORM MPLAB (Microchip) § 1. Basic principles § 2. Project manager § 3. Linker § 4. Assembler, macroassembler, C § 5. mRTOS technology LECTURE 14. PLATFORM OSEK/VDX § 1. Basic principles and OSEK standard structure § 2. OSEK RTOS § 3. OSEK COM § 4. OSEK NM § 5. OSEK OIL LECTURE 15. TT-PARADIGM § 1. mRTOS OSEKtime § 2. Tasks and tt- sheduler § 3. Interrupt servicing § 4. Time synchronization § 5. OSEK FTCom

  23. COURSE REVIEW PLATFORM QNX6 • QNX6 platform is based on RTOS Neutrino; • Core of the RTOS Neutrino : microkernel structure, thread, • message communications;

  24. Connection ConnectAttach() Channel ChannelCreate() PROCESS SERVER_1 PROCESS СLIENT THREAD _ 1 THREAD_ 1 THREAD_ 2 THREAD_ 2 THREAD_ M THREAD_ K COURSE REVIEW NEUTRINO INTERPROCESS COMMUNICATIONS • Uniform procedure and different types

  25. COURSE REVIEW OSEK/VDX Motivation • High, recurring expenses in the development and variant management of non-application related aspects of control unit software • Incompatibility of control units made by different manufacturers due to different interfaces and protocols Goal Support of the portability and reusability of the application software by: • Specification of interfaces which are abstract and as application-independent as possible, in the following areas: real-time operating system, communication and network management • Specification of a user interface independent of hardware and network • Efficient design of architecture: The functionality shall be configurable and scalable, to enable optimal adjustment of the architecture to the application in question • Verification of functionality and implementation of prototypes in selected pilot projects

  26. COURSE REVIEW OSEK/VDX mRTOS • Event Triggered and Time Triggered mRTOS • TT sheduling changes a classical RTOS world

  27. COURSE REVIEW OSEK/VDX • OSEK/VDX - Event Triggered mRTOS) • The specification of the OSEK/VDX OS provides a pool of services and processing mechanisms. • The operating system serves as a basis for the controlled real-time execution of concurrent application and provides their environment on a processor. • The architecture of the OSEK/VDX OS distinguishes three processing levels: interrupt level, a logical level for operating systems activities and task level. • The interrupt level is assigned higher priorities than the task level. In addition to the management of the processing levels, operating system services are provided for functionality like task management, event management, resource management, counter, alarm and error treatment. • OSEK/VDX OSEKtime – Time Triggered mRTOS • The OSEKtime operating system provides the necessary services to support distributed fault-tolerant highly dependable real-time applications (e.g., start-up of the system, message handling, state message interface, interrupt processing, synchronization and error handling).

  28. COURSE REVIEW OSEK/VDX COMMUNICATION SUBSYSTEMS • OSEK/VDX communication (COM) • The communication specification provides interfaces for the transfer • of data within vehicle networks systems. This communication takes • place between and within network stations (ECU’s). • OSEK/VDX Fault-Tolerant Communication FTCom • FTCom is divided into the layers: Application, Message Filtering, Fault • Tolerant, and Interaction • The Application layer provides the Application Programming Interface • The Message Filtering layer provides mechanisms for message filtering • The Fault Tolerant layer provides services required to support the fault- • tolerant functionality, that includes mechanisms for message instance • management and support of message status information

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