Embedded Control Using DSPEmbedded Control Using DSPINTRODUCTIONINTRODUCTION_ _ INTRODUCTIONINTRODUCTION

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ENIAC – the First Digital Computer

• ENIAC contained 17,468 vacuum tubes, 7,200 crystal diodes, 1,500 relays, 70,000 resistors, 10,000 capacitors and around 5 million hand-soldered joints. It weighed 60,000 lb, was roughly 8 feet by 3 feet byIt weighed 60,000 lb, was roughly 8 feet by 3 feet by 100 feet, took up 1800 square feet, and consumed 150 kW of power.

• It was unveiled on February 14, 1946 at Penn, having cost almost $500,000.

• Computer clock frequency = 100 kHz.• 200 microseconds for operations on the 10 digit

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• 200 microseconds for operations on the 10-digit numbers.

• 2.8 ms for a 10- by 10-digit multiplication• ENIAC's tube failures were reduced to the more

acceptable rate of one tube every two days in 1948.

ENIAC – Electronic Numerical Integrator And Calculator

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MOS 6502 Chip – Apple II

• The chip is 40-pin DIP. An 8-bit processor with a 16-bit address bus.

• It costs $25 in 1975.• Comp ter clock freq enc 1 MH• Computer clock frequency = 1 MHz.• One 8-bit accumulator register (A), two 8-bit index

registers (X and Y), an 8-bit process status register (P), an 8-bit stack pointer (S), and a 16-bit program counter (PC).

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F2812 Chip – 32-bit DSP

• The chip is 12mm x 12 mm x 1.4mm, and consumed 0.8 W of power.

• It costs $3 - $20.• Comp ter clock freq enc 150 MH• Computer clock frequency = 150 MHz.• 6.67 nanoseconds for operations on the 32-bit

numbers. • 6.67 ns for a 32-bit by 32-bit multiplication• Very reliable•• Much more functionsMuch more functions

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Much more functionsMuch more functions

F28335 Chip – 32-bit Floating-point DSP

• The chip is 12mm x 12 mm x 1.4mm, and consumed 0.8 W of power.

• It costs $3 - $20.• Comp ter clock freq enc 150 MH• Computer clock frequency = 150 MHz.• 6.67 nanoseconds for operations on the 32-bit

numbers. • 6.67 ns for a 32-bit by 32-bit multiplication• Very reliable•• Much more functionsMuch more functions

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Much more functionsMuch more functions

Challenges of Real-Time System Design

• Cost

• Low power• Low power

• Time to market

• Increased performance demand

fl ibili

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• Feature flexibility

• Development complexity

A Typical Real-Time Control System

K

Tm

1Kg K s( )

DC motorController

+ ωmωre t( )

T sm +1

Kg

g K s( )−

Tachometer

m t( )

e t( ) m t( )

88

DSPADC e t( )

DACm t( )

ADC: analog-to-digital converterDAC: digital-to-analog converter

Input Signal Conditioning

• Types of signal conditioning– Amplification– Level translation– Filtering– Buffering - impedance translation

• Typical transducers that require conditioning– Microphones– Speed & Position Sensors

T t P S

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– Temperature or Pressure Sensors– Imagers

Linear Circuits for Signal Conditioning

• Operational Amplifiers (BW<50 MHz)– General purpose building blocks– Used for low-speed applications

Key considerations are precision and DC– Key considerations are precision and DC performance

• High Speed Amplifiers (BW>50 MHz)– Used for high-speed signals such as imaging and

RF– Key considerations are: AC performance,

distortion BW

1010

distortion BW• Instrumentation Amplifiers

– Used specifically with low level signals where excellent noise rejection and precision are required

Data Converters

• Analog-to-Digital Converters (ADC)– Analog input to digital output– Output is typically interfaced directly to DSP

• Digital-to-Analog Converters (DAC)– Digital input to analog output– Input interfaces directly to DSP

• CODEC– Data converter system– Combination of ADC and DAC in single package

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Combination of ADC and DAC in single package

DSP ADC e t( )

DACm t( )

Texas Instruments DSP Microprocessor TMS320F28335

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TI DSP Microprocessor TMS320F28335• 150 MHz, 32-Bit CPU, Harvard Bus Architecture• Code-Efficient (in C/C++ and Assembly)• On-chip memory: 128K x 16 Flash, 5K x 16 ROM,

14K x 16 RAM Standard Math Tables14K x 16 RAM, Standard Math Tables• 256K x 16 Flash, 34K x 16 – 2 x 8 Channel Input

Multiplexer SARAM• 58 Peripheral Interrupts• Three 32-bit CPU Timers• 18 16-Bit PWM channels,

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18 16 Bit PWM channels, • 6 Capture Units (2 of them can be for QEP)• 16 12-Bit ADC channels• SPI, SCI, UART, eCAN, McBSP• 88 GPIO pins

Texas Instruments DSP Microprocessor TMS320F6416

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TI DSP Microprocessor TMS320F6416

• Highest-Performance Fixed-Point (DSPs)− Eight 32-Bit Instructions/Cycle− Up to 720MHz Clock Rates− Up to 28 Operations/Cycle− Up to 28 Operations/Cycle − Up to 5760 MIPS

• Advanced Very Long Instruction WordEight Highly Independent Functional Units:Six ALUs (32-/40-Bit), Each Supports Single 32-Bit, Dual 16-Bit, or Quad 8-Bit Arithmetic per Clock Cycle Two Multipliers Support Four 16 x 16-Bit Multiplies (32-Bit

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Two Multipliers Support Four 16 x 16 Bit Multiplies (32 Bit Results) per Clock Cycle or Eight 8 x 8-Bit Multiplies (16-Bit Results) per Clock Cycle64 32-Bit General-Purpose Registers

TI DSP Microprocessor TMS320F6416

• L1/L2 Memory Architecture• Two External Memory Interfaces (EMIFs)

One 64-Bit (EMIFA), One 16-Bit (EMIFB) Gl l I t f t A h M i (SRAM dGlueless Interface to Asynchronous Memories (SRAM and EPROM) and Synchronous Memories (SDRAM, SBSRAM, ZBT SRAM, and FIFO) 1280M-Byte Total Addressable External Memory Space

• Three Multichannel Buffered Serial Ports:− Serial-Peripheral-Interface (SPI)− Direct Interface to T1/E1, MVIP, SCSA Framers

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Direct Interface to T1/E1, MVIP, SCSA Framers− AC97 Interface

• 32-Bit/33-MHz, 3.3-V PCI Master/Slave Interface

Texas Instruments DSP Microprocessor TMS320F6713

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TI DSP Microprocessor TMS320F6713

• Highest-Performance Floating-Point (DSPs)− Eight 32-Bit Instructions/Cycle− 32/64-Bit Data Word− Up to 300MHz Clock Rates− Up to 300MHz Clock Rates− Up to 2400/1800 MIPS /MFLOPS− Rich Peripheral Set, Optimized for Audio− Highly Optimized C/C++ Compiler

• Advanced Very Long Instruction Word− Eight Independent Functional Units:− Two ALUs (Fixed-Point)

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− Two ALUs (Fixed-Point)− Four ALUs (Floating- and Fixed-Point)− Two Multipliers (Floating- and Fixed-Point)− Load-Store Architecture With 32 32-Bit General-Purpose

Registers

TI DSP Microprocessor TMS320F6713

• 32-Bit External Memory Interface (EMIF)− Glueless Interface to SRAM, EPROM, Flash, SBSRAM, and

SDRAM− 512M-Byte Total Addressable External Memory Space− 512M-Byte Total Addressable External Memory Space

• Two Multichannel Buffered Serial Ports:− Serial-Peripheral-Interface (SPI)− High-Speed TDM Interface− AC97 Interface

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Digital Controller Design _ 1Digital Controller Design _ 1

( )m k

T( )K z

u t( ). . .z o h

( )r k( )pG s

( )y t

cC

( )e k

y k( )

T( )( )R z

c

1( )y k

1( )Y z

( )m k( )r k ( )e k

Sampled-data feedback control system

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1( )y ky k( )

( )m k( )K z

( )r k

( )R z

( )e k

1( )Y z

( )G z

Its discrete-time equivalent

Digital Controller Design _ 2Digital Controller Design _ 2

G sp ( )TE s( )R s( ) +

−

Y s( )E z( ) M z( )

digialcontroller plant

DAC( )K z

+

−

E z( ) M z( )

digialcontroller

G z( )R z( ) Y z( )( )K z

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Find so that the closedFind so that the closed--loop system loop system has a desired performance.has a desired performance.

( )K z

Digital Controller ImplementationDigital Controller Implementation

1 20 1 2

1 21 2

( )( )( ) 1

a a z a zM zK z

E z b z b z

− −

− −

+ += =+ +

)()()()(

)()()()(2

21

1

22

110

zXzbzXzbzEzX

zXzazXzazXazM

⋅−⋅−=

⋅+⋅+=−−

−−

)2()1()()( 210 −⋅+−⋅+= kxakxakxakm

1 2( ) 1E z b z b z+ +

2222

)2()1()()()()()()(

21

210

−⋅−−⋅−= kxbkxbkekx

Speed Control _ F2812Speed Control _ F2812

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Position Control _ F2812Position Control _ F2812

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Sinusoidal Tracking _ F2812Sinusoidal Tracking _ F2812

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DeDe--spin videospin video

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Autononous Tennis Ball HopperAutononous Tennis Ball Hopper__indoorsindoors

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Autononous Tennis Ball HopperAutononous Tennis Ball Hopper__outdoorsoutdoors

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AutononousAutononous Helicopter HoverHelicopter Hover

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AutononousAutononous CoAxialCoAxial Helicopter HoverHelicopter Hover

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Inverted Pendulum:Inverted Pendulum: 180 deg swing up180 deg swing up

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Inverted Pendulum:Inverted Pendulum: 45 deg swing up45 deg swing up

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Inverted Pendulum:Inverted Pendulum: moderate disturbancemoderate disturbance

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Inverted Pendulum:Inverted Pendulum: violent disturbanceviolent disturbance

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