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EMBEDDED CONTROL SYSTEMS
Lecture 0
INTRODUCTION
A. ASTAPKOVITCH
State University of Aerospace Instrumentation, Saint-Petersburg, 2011
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.
§ 2.
§ 3.
§ 4.
§ 5.
History of the embedded control systems
Modern car control system
Mars rover SPIRIT-OPPORTUNITY mission
Control system concept
Mechanical design
LECTURE 2. MARS ROVER CONTROL SYSTEM
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
Control system functions
Digit video system
Hardware component of the control system
Software component of the control system
Principles of the autonomous operation
LECTURE 3. SPACE CONTROL ENGINEERING STANDARTS
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
International cooperation in space projects
ECSS structure
Review of the engineering branch ECSS-E
Standard control system model
Basic definitions
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
COURSE REVIEW
System Engineering
 Control system of the modern car is distributed
 Modern car control system is the more than just one net
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
COURSE REVIEW
System Engineering
 Review of European Standards for Space- ECSS
Interaction with environment)
Control objectives
Control commands
Actuators
Controller
Controlled
Plant
Control feedback
Sensors
Control System
Controlled system
Control performance
Standard ECSS-E-60A model of control system
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.
§ 2.
§ 3.
§ 4.
§ 5.
Review of nanoWatt Technology family
Peripherals
Interrupt system realization
Fault tolerant features
Application example
LECTURE 8. DISTRIBUTED CONTROL SYSTEM
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
Car control system structure
Platform approach
Control net topology
CAN bus
LINbus and MOST
COURSE REVIEW
HARDWARE COMPONENT
 Moor law
Number of transistor is doubled every
18 month (after 96 )
24 month ( 70- 95 )
20
 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
S ( 0 N)
15
S ( 0.05 N)
S ( 0.1 N) 10
S ( 0.2 N)
5
0
0
5
10
N
15
20
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
COURSE REVIEW
CAR CONTROL NETS
 DISTRIBUTED CONTROL SYSTEMS ON THE BASE OF THE DIFFERENT NETS
CAR CONTROL SYSTEMS
CLASS
RATE
А(small)
< 10 Kb/s
Application
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
> 1 Мb/s
D
Multimedia
CAN net AND LIN net IS THE MOST POPULAR FOR CLASSES A,B,C
CLEAR THAT CLASS D WILL BE FIBER NET
NET
D2D
Domestic Digital Bus
MOST
Media Oriented Systems Transport
MML
Mobile Media Link
SAE CLASS D
Max. rate
12 Мbit/ s
fiber
25 Мbit/ s
fiber
110 Мbit/s
fiber
Company
Optical Chip Consortium
Мерседесах S-класса
Delphi Automotive Systems
AMIC (Automotive Multimedia
Interface Collaboration:
GM,FORD,TOYOTA,
DAIMLER,CRYSLER, RENAULT)
PART 3.
SOFTWARE DEVELOPING TECHNOLOGY
LECTURE 9. DEVELOPING CYCLES
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
LECTURE 10. REVIEW OF MODERN
TECHNOLOGY
Introduction
Basic definitions
V-model
System integration
Complete cycle design
LECTURE 11. RTOS BASICS
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
POSIX ,ARINC-653 standards
OSEK/VDX
POSIX threads
Time measurement in digital control systems
Real time control basic definitions
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
Developing method hierarchy
Linear coding
Component coding
RTOS and mRTOS
Application generator
COURSE REVIEW
V-MODEL
A framework to describe the software development life cycle activities
COURSE REVIEW
NESTED SW DEVELOPING TECHNOLOGY
UP DOWN
DOWN
UP
APPLICATION GENERATOR
RTOS and mRTOS technology
BASIC ELEMENTS:
 RTOS model (threads, process, message ….)
 IDE created code structure
COMPONENT CODING TECHYNOLOGY
BASIC ELEMENTS :
 functions, subroutine, macros
 object library, macros library
LINEAR CODING TECHNOLOGY
BASIC ELEMENTS :
Assembler , C, JAVA
COURSE REVIEW
MULTI LEVEL DESCRIPTION
 RTOS and mRTOS are the core of the modern developing technology
TASK LOOP
CYCLE
Tc
SYSTEM PROCESS
Tsys = Tisr+Tdisp
TIME SLOT Tk
KERNEL
PROCESS
1st PROCESS
2nd PROCESS
3rd PROCESS
CYCLE K
CYCLE K+1
CYCLE K+2
RR dispatcher processogramma
 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.
§ 2.
§ 3.
§ 4.
§ 5.
Basic principles
RTOS Neutrino
Neutrino threads
Messages, communications, interrupts
IDE QNX Momentics
LECTURE 13. PLATFORM MPLAB
(Microchip)
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
Basic principles
Project manager
Linker
Assembler, macroassembler, C
mRTOS technology
LECTURE 14. PLATFORM OSEK/VDX
LECTURE 15. TT-PARADIGM
§ 1.
§ 2.
§ 3.
§ 4.
§ 5.
§ 1. mRTOS OSEKtime
§ 2. Tasks and tt- sheduler
§ 3. Interrupt servicing
§ 4. Time synchronization
§ 5. OSEK FTCom
Basic principles and OSEK standard structure
OSEK RTOS
OSEK COM
OSEK NM
OSEK OIL
COURSE REVIEW
PLATFORM QNX6
QNX6 platform is based on RTOS Neutrino;
Core of the RTOS Neutrino : microkernel structure, thread,
message communications;
COURSE REVIEW
NEUTRINO INTERPROCESS COMMUNICATIONS
 Uniform procedure and different types
PROCESS SERVER_1
PROCESS СLIENT
Connection
ConnectAttach()
THREAD _ 1
THREAD_ 2
THREAD_ 1
THREAD_ 2
Channel
ChannelCreate()
THREAD_ M
THREAD_ K
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
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
COURSE REVIEW
OSEK/VDX mRTOS
 Event Triggered and Time Triggered mRTOS
 TT sheduling changes a classical RTOS world
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).
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 faulttolerant functionality, that includes mechanisms for message instance
management and support of message status information