View
222
Download
2
Category
Tags:
Preview:
Citation preview
EMBEDDED CONTROL SYSTEMS
A. ASTAPKOVITCH
State University of Aerospace Instrumentation, Saint-Petersburg, 2011
Lecture 0
INTRODUCTION
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);
COURSE INCLUDES TOPICS
SYSTEM ENGINEERING
HARWARE COMPONENT
MODERN SOFTWARE DEVELOPING TECHNOLOGY
RTOS NEUTRINO, OSEK/VDX
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
COURSE REVIEW
System Engineering
SPUTNIK-3first satellite with digit control system
• 101 g of moon sample were received on Earth ;
History of the control systems for space research
12/09/1970 - 21/09/1970
Moon automatic research station LUNA-16
COURSE REVIEW
System Engineering Control system of the modern car is distributed
Modern car control system is the more than just one net
JPL mars rover Spirit-Opportunity control system
COURSE REVIEW
System Engineering
Autonomous operation is only possible solution Mars rover Opportunity still working on MARS Rover Spirit was discovered that water existed on Mars in past
COURSE REVIEW
System Engineering
Review of European Standards for Space- ECSS
Standard ECSS-E-60A model of control system
Controlled system
ControlledPlant
Interaction with environment)
Control performance
Control objectives
Control System
Actuators
Sensors
Controller
Control commands
Control feedback
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
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
COURSE REVIEW
HARDWARE COMPONENT
0 5 10 15 200
5
10
15
20
S 0 N( )
S 0.05 N( )
S 0.1 N( )
S 0.2 N( )
N
Moor law Number of transistor is doubled every 18 month (after 96 )24 month ( 70- 95 )
Amdahl lawThe 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
COURSE REVIEW
HARDWARE BASIC • Microprocessor - Signal processor - Microcontroller
• Architecture OMAP-L138(Texas Instruments)
COURSE REVIEW
VMEbus MODULAR SYSTEM
Form factor PC-104 90*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.)
COURSE REVIEW
VMEbus MODULAR SYSTEM
VMEbus family
Version Protocol Мbyte/s
VMEbus BLT 40
VME64 MBLT 80
VME64x 2eVME 160
VME320 2eSST 320-500
COURSE REVIEW Microcontroller PIC18 - control system on chip
CAR CONTROL SYSTEMS
CLASS RATE Application
А(small) < 10 Kb/s Configuration control: door, mirrors, climate, belts …
B (medium) 10 – 125 Kb/s Sensor, actor information exchange
C(high) 0.125- 1 Мb/s Real time времени control
D > 1 Мb/s Multimedia
SAE CLASS D
NET Max. rate Company
D2D Domestic Digital Bus
12 Мbit/ sfiber
Optical Chip ConsortiumМерседесах S-класса
MOST Media Oriented Systems Transport
25 Мbit/ sfiber
Delphi Automotive Systems
MML Mobile Media Link
110 Мbit/sfiber
AMIC (Automotive Multimedia Interface Collaboration: GM,FORD,TOYOTA, DAIMLER,CRYSLER, RENAULT)
COURSE REVIEW CAR CONTROL NETS
CLEAR THAT CLASS D WILL BE FIBER NET
CAN net AND LIN net IS THE MOST POPULAR FOR CLASSES A,B,C
DISTRIBUTED CONTROL SYSTEMS ON THE BASE OF THE DIFFERENT NETS
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
COURSE REVIEW V-MODEL
A framework to describe the software development life cycle activities
LINEAR CODING TECHNOLOGY BASIC ELEMENTS :
Assembler , C, JAVA
UP DOWN
COMPONENT CODING TECHYNOLOGY
BASIC ELEMENTS :
functions, subroutine, macros
object library, macros library
RTOS and mRTOS technology
BASIC ELEMENTS:
RTOS model (threads, process, message ….)
IDE created code structure
APPLICATION GENERATOR
DOWNUP
COURSE REVIEW NESTED SW DEVELOPING TECHNOLOGY
RR dispatcher processogramma
TASK LOOP CYCLE
Tc KERNELPROCESS
SYSTEM PROCESS
Tsys = Tisr+Tdisp
1st PROCESS
3rd PROCESS
2nd PROCESS
TIME SLOT Tk
CYCLE K CYCLE K+1 CYCLE K+2
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
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 operating system - OSEK Time time triggered operating system OSEK COM communication services OSEK FTCOM fault tolerant communication OSEK NM network management OSEK OIL Implementation Language OSEK ORTI kernel awareness for debuggers.
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
COURSE REVIEW PLATFORM QNX6
QNX6 platform is based on RTOS Neutrino;
Core of the RTOS Neutrino : microkernel structure, thread, message communications;
NEUTRINO COMMUNICATION TYPE IMPLEMENTATION LEVEL
MESSAGE-PASSING MICROCERNEL
SIGNALS MICROCERNEL
POSIX MESSAGE QUEUES EXTERNAL PROCESS
SHARED MEMORY PROCESS MENAGER
PIPES EXTERNAL PROCESS
FIFO EXTERNAL PROCESS
PROCESS СLIENT
THREAD_ 1
THREAD_ 2
THREAD_ K
PROCESS SERVER_1
THREAD _ 1
THREAD_ 2
THREAD_ M
ChannelChannelCreate()
ConnectionConnectAttach()
COURSE REVIEW NEUTRINO INTERPROCESS COMMUNICATIONS
Uniform procedure and different types
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
COURSE REVIEW OSEK/VDX
COURSE REVIEW OSEK/VDX mRTOS
Event Triggered and Time Triggered mRTOS TT sheduling changes a classical RTOS world
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).
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.
COURSE REVIEW OSEK/VDX
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
COURSE REVIEW OSEK/VDX COMMUNICATION SUBSYSTEMS
Recommended