Transcript What is IsoPod™?

Understanding IsoPod™
What is IsoPod™?
• Real Time Controller
– IsoMax™ for Multitasking
– DSP Core for speed, 40 MIP’s
– Motion Control features: PWM, Quadrature,
Timers, A/D, GPIO, 2 SCI, 1 SPI, etc.
– Networking features: CAN Bus V2.0A/B
• Size: 1.2” x 3.3”
• Price: $99 single qty.
IsoPod™ Overview
Hardware
Connectors
Software
Applications
Packages
Select a link to the left to
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or
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to see them all
IsoPod™ Overview
• Here is a larger view of the graphic.
1. Hardware Feature: LED’s
•
Three On Board LED’s
–
–
–
Red
Yellow
Green
2. Hardware Feature: GPIO
• 16 General Purpose Input Output lines
– PA0 - 7
– PB0 – 7
– Programmable edge sensitive inputs
3. Hardware Feature: SCI
• Serial Communication Interface (SCI) fullduplex serial channel
– One RS-232
– One RS422/485
– Programmable Baud Rates,
•
•
•
•
•
38,400
19,200
9600
4800
1200
4. Hardware Feature: SPI
• Serial Peripheral Interface (SPI)
– Full-duplex synchronous operation on fourwire interface
– Master or Slave
– Programmable # of bits
5. Hardware Feature: A/D
• 8-ch 12-bit AD
– Continuous Conversions
• 1.2us (6 ADC cycles)
– Single ended or differential inputs
– ADC can be sync’d with PWM
6. Hardware Feature: PWM
• 12-channel PWM module
– 15-bit counter with programmable resolutions
down to 25ns
– Twelve independent outputs,
– or Six complementary pairs of outputs, or
combinations
– 8 Fault Inputs
– 6 Current Status inputs
7. Hardware Feature: Timers
• Sixteen Timers (eight may be used in quadrature)
–
–
–
–
–
–
16-bit timers
Count up/down, Cascadable
Pair for simple quadrature
Pair for step and direction
Programmable as input capture or output compare
Input capture trigger rising edge, falling edge, or any
edge
– Output capture action
Set, reset or toggle
– External sync input
8. Hardware Feature: Quad.
• Two Quadrature Decoder (uses eight timers)
–
–
–
–
–
–
32-bit position counter
16-bit position difference register
16-bit revolution counter
40MHz count frequency (up to)
Logic to decoder quadrature signals
Configurable digital filter
for inputs
– Watchdog timer
to detect stalled shaft
9. Hardware Feature: CAN
• CAN 2.0 A/B module for networking
– Programmable bit rate up to 1Mbit: Multiple boards
can be networked (MSCAN)
– Ideal for harsh or noisy environments, like automotive
applications
– CAN is a serial bus system especially suited to
interconnect smart devices to build smart systems or
sub-systems.
Ref:http://www.can-cia.org/can/
10. Hardware Feature: JTAG
• JTAG port for CPU debugging
– Examine registers, memory, peripherals
– Set breakpoints
– Step or trace instructions
11. Hardware Feature: COP
• Watch Dog Timer
• COP module
• Low Voltage Detector for Reset
– S80728HN
12. Hardware Feature: PWR
Processor has special operating modes:
• Low Voltage Mode
• Stop Mode
• Wait Mode
13. Hardware Feature: DRV
On Board level translation for
• RS232: MAX3221
• RS422: MAX3483
• CAN:
TJA1050 CAN Transceiver
14. Hardware Feature: REG
On Board Voltage Regulation
• LM2937 5V
• LM3940 3.3V
Connector Overview
J1
Ser., Power, General
Purpose I/O
Serial, Power, Ports PA0 – PA7, PB0
– PB7
J2
JTAG connector
CPU Port
J3
SPI
SCLK, MISO, MOSI, SS, PD0, PD1,
PD2, PD3
J4
RS-422/485 Serial Port
-RCV, +RCV, -XMT, +XMT
J5
CAN BUS Network Port
CANL, CANH
J6
Servo Motor Outputs x 12 PWM, +V, GND
J7
Motor Encoder x 2
Quadrature, Fault0, Fault1, Fault2,
IS0, IS1, IS2
J8
A/D Various
A/D0 – A/D7, Various
Connector J1
Ser., Power, General Purpose I/O
+VIN 24
1
SOUT
GND 23
2
SIN
RST’ 22
3
ATN’
+5V 21
4
GND
PA0 20
5
PB0
PA1 19
6
PB1
PA2 18
7
PB2
PA3 17
8
PB3
PA4 16
9
PB4
PA5 15 10 PB5
PA6 14 11 PB6
PA7 13 12 PB7
Connector J2
JTAG connector
+3V
1
2 GND
TDI
3
4 GND
TDO
5
6 TMS
TCK
7
8 DE
RESET’
9
10 TRST
Connector J3
SPI
+3V
1
2 GND
PD0
3
4 SCLK
PD1
5
6 MOSI
PD2
7
8 MISO
PD3
9
10 SS’
Connector J4
RS-422/485 Serial Port
N.C.
1
2
N.C.
+RCV
3
4
-RCV
GND
5
6
GND
-XMT
7
8
+XMT
N.C.
9
10 N.C.
Connector J5
CAN BUS Network Port
N.C.
1
2 N.C.
CANL
3
4 CANH
N.C.
5
6 GND
N.C.
7
8 N.C.
N.C.
9
10 N.C.
Connector J6
Servo Motor Outputs x 12
Sig. +V GND
PWMB5
1
2
3
PWMB4
4
5
6
PWMB3
7
8
9
PWMB2
10
11
12
PWMB1
13
14
15
PWMB0 1 6
17
18
PWMA5
19
20
21
PWMA4
22
23
24
PWMA3
25
26
27
PWMA2
28
29
30
PWMA1
31
32
33
PWMA0
34
35
36
Connector J7
Motor Encoder x 2
+5V 24
1
FAULTA0
GND 23
2
FAULTA1
TA0 PHA0 22
3
FAULTA2
TA1 PHB0 21
4
ISA0
TA2 IND0 20
5
ISA1
TA3 HM0 19
6
ISA2
+5V 18
7
FAULTB0
GND 17
8
FAULTB1
TB0 PHA1 16
9
FAULTB2
TB1 PHB1 15 10 ISB0
TB2 IND1 14 11 ISB1
TB3 HM1 13 12 ISB2
Connector J8
A/D Various
ANA0 24
1
+5V
ANA1 23
2
IRQA’
ANA2 22
3
IRQB’
ANA3 21
4
FAULTB3
ANA4 20
5
FAULTA3
ANA5 19
6
PD5
ANA6 18
7
TC0
ANA7 17
8
TC1
VSSA 16
9
CLKO
VREF 15 10 RSTO’
GND 14 11 RD’
V+ 13 12 WR’
IsoPod™ comes with IsoMax™
Other Languages
•
•
•
•
•
The IsoPod™ can be programmed in
languages other than IsoMax™.
Metrowerks sells Code Warrior, a
professional level C language IDE
Max-FORTH is available now from NMI.
Small C is under development
Assembler is under development
BASIC is planned for the future
Real Time Programming
A real time program is one that waits.
Any program that does not wait on
something is not a real time program.
Any program that waits on something,
other than the program itself, is a real time
program.
Conventional Language
In an ordinary high level language,
such as C, BASIC, FORTH or JAVA,
programs are written flowing from top
to bottom. Flow charts are the
preferred diagramming tools. A
program that must wait on something,
simply loops in place. Most
conventional languages follow the
structured procedural programming
paradigm. Structured programming
enforces this style of waiting.
Program Counter Capture (PCC)
The Program Counter
Capture, is when the program
branches backwards on itself
to wait. In Structured
Programming, the Program
Counter Capture is used to
implicitly hold state (wait)
information. This information
is better kept elsewhere
(explicitly).
Conventional Multitasking
In a conventional
language getting several
things done at the same
time is tricky. Most
programmers must use a
Real Time Operating
System. A Multitasking
Operating System adds
much overhead and
complexity for switching
tasks/contexts.
Concept of Isostructure
The word, Isostructure, has two roots: Iso,
meaning equal or “on the same level,” and
structure, from the current usage in the
Computer Science. Isostructure is structure
with no backwards branches, and an
enhanced way to branch in multiple
forward directions (called polyfurcation)
similar to a case statement.
Multitasking vs. Isostructure
start
too cold?
start
no
turn on heater
too hot?
turn off heater
no
heater
a off?
yes
room a
too cold?
yes
room a
too hot?
yes
turn on
heater a
turn off
heater a
If Program Counter Capture
(PCC) Loops can be avoided,
compatible thread-like
programs can be interwoven.
Isostructure and Flow Charts
A simple structured flow chart can
sometimes be replaced by alternatively
styled Isostructured flow charts as shown
above. Complex flow charts are too
difficult. Structured program was intended
to end spaghetti code. Non Isostructure can
lead to unruly intertwines of if-then
statements. A different programming
paradigm is needed.
Finite State Machines
A better way to represent a real time
program is with a Finite State Machine.
IsoMax is a programming language based
on Finite State Machine (FSM) concepts
applied to software, with a procedural
language (derived from Forth) underneath
it. The closest description to the FSM
construction type in IsoMax™ is a “OneHot” “Mealy” type of Timer-Augmented
Finite State Machines.
New Paradigm
IsoMax™ is a new language. Why learn a new
language? Because the old languages cannot do
what IsoMax™ can. Old languages are based on,
and reinforce, structured programming.
IsoMax™ is based on Isostructured
programming. No other language has fully
interactive, high-level, real time programming.
IsoMax™ has a new programming paradigm,
simply not available any where else.
IsoMax™ Language
The breakthrough in IsoMax™ is the
language is inherently “multitasking”
without the overhead or complexity of a
multitasking operating system (no PCC’s
allowed). In IsoMax™ anyone can write
simple machines and string them together so
they work.
IsoMax™ Programming
You can draw state diagrams instead of
flow charts, and then translate the diagrams
directly into their state machine
equivalents. To program in IsoMax™ you
use text to create state machines. The state
machines machines can then run in the
Virtually Parallel Machine Architecture
(VPMA).
IsoMax™ Machines
Each machine in the program is like a hardware
component in a mechanical solution. When
satisfied with its performance, you install the
new machine in a chain of machines. The
machine becomes a background feature of the
IsoPod™ until you remove it. All tasks are
handled on the same level within the machine
chain, each running like its own separate little
machine.
Create the machine
There are five steps to creating a machine in
IsoMax™ text:
• Name the machine
• Identify the machine
• Append states to the machine
• Describe transitions between states
• Test and install
Name the machine
The first program line, tells IsoMax™ to
add a new virtual machine. (Any group of
characters without a space or a backspace
or return will do for a name. Use up to 32
characters. Here the syntax is MACHINE
followed by the chosen name.)
MACHINE <name1>
State Flowchart
Identify the machine
Second program line, identify as the
machine to append to. The syntax to do
this is to say ON-MACHINE and the name
of the machine to work on, which looks
like this:
ON-MACHINE <name1>
State Flowchart
Append states to the machine
States are the fundamental parts of our virtual
machine. A state is a place where the computer’s
outputs are stable, or static. Said another way, a
state is place where the computer waits. Add
states to the machine with a name. The syntax is
APPEND-STATE followed by another made-up
name.
APPEND-STATE <name2>
APPEND-STATE <name3>
etc.
State Flowchart
States Are Waits
A real time program is one that waits. A
state machine has states, which are explicit
places where machines wait.
States are static.
States are not where the processor “does”
something, they are where the processor
“doesn’t” do anything, but wait… except
to see if it is time to stop waiting.
Describe transitions
between states
The rule for changing states along with the
action to do, if the rule is met, is called a
“Transition”. A transition contains:
- the name of the “State” the rule applies to.
- the rule, which is called the “Condition”;
this is the “when to stop waiting”
- the action; “the what to do then”State Flowchart
- the name of the “State” to go to
is “where to wait after that”.
Transition syntax
as normally used
IN-STATE
<name of state>
CONDITION
<procedural Boolean>
CAUSES
<procedural action>
THEN-STATE
<name of next state>
TO-HAPPEN
Transition syntax
with extra comments
IN-STATE
( the State the rule applies to )
<name of state>
CONDITION
( when to stop waiting )
<procedural Boolean>
CAUSES
( what action to do )
<procedural action>
THEN-STATE
( where to wait after that )
<name of next state>
TO-HAPPEN
( ends this Transition definition )
Transitions Details
A transition has four components;.
1) which state it starts in
2) the condition necessary to leave
3) the action to take when the condition
becomes true
4) the state to go to. ;.
Why are transitions so verbose? The structure makes
the transitions easy to read in human language. ;.
The constructs IN-STATE,CONDITION,CAUSES,
THEN-STATE, and TO-HAPPEN are like the five
brackets around a table of four things.
Test and install
IsoMax™ is interactive. The machine can
be defined and tested in the foreground,
and once performance is assured, it can be
installed in the machine chain to run with
all other machines in the background
scheduled machine list.
To truly understand IsoPod™ requires
understanding how interactivity speeds
development. Test the code as it runs,
where it runs, while it runs, in real time.
Sample Machine:
Thermostat
A thermostat makes a convenient example. The
machine is named, Thermostat1.
MACHINE Thermostat1
The machine is identified,
ON-MACHINE Thermostat1
The states added,
APPEND-STATE Wait-on-low-temp
APPEND-STATE Wait-on-high-temp
Sample Transitions:
Thermostat
IN-STATE
wait-on-low-temp
CONDITION
too-cold?
CAUSES
heater-on
THEN-STATE
wait-on-high-temp
TO-HAPPEN
IN-STATE
wait-on-high-temp
CONDITION
too-hot?
CAUSES
heater-off
THEN-STATE
wait-on-low-temp
TO-HAPPEN
The State Diagram
State Machine program execution can
easily be made to be multitasking.
State diagrams contain more information
with less confusion.
State Flowchart
Equivalent State Diagram
for Thermostat
too_cold?
hearter_on
wait_on
low_temp
wait_on
high_temp
too_warm?
hearter_off
Sample Comparison
Elements in all 3 Chart
1.
2.
3.
4.
5.
6.
7.
8.
Wait until too cold
Action when too cold (heater on)
Where to go next
Wait until too hot
Action when too hot (heater off)
Where to go next
Condition for leaving (too cold)
Condition for leaving (too hot)
Sample Comparison 1 of 3
State Machine vs. Flow Chart
1
to o _ c o ld ?
3
h e a r te r _ o n
2
7
w a it_ o n
w a it _ o n
lo w _ te m p
h ig h _ te m p
4
to o _ w a rm ?
6
h e a r te r _ o ff
5
8
Sample Comparison 2 of 3
Isostructured Flow Chart
s ta rt
1
h e a te r
yes
ro o m a
a o ff?
8
2
yes
3
tu rn o n
to o c o ld ?
h e a te r a
7
4
5
ro o m a
to o h o t?
yes
6
tu rn o ff
h e a te r a
Sample Comparison 3 of 3
Structured Flow Chart
start
1
too cold?
no
7
2
turn on heater
3
4
too hot?
no
8
5
turn off heater
6
Sample Comparison of Elements
State Machine vs. Flow Chart
start
1
too_cold?
3
hearter_on
7
2
wait_on
low_temp
wait_on
high_temp
4
1
8
too cold?
7
too_warm?
6
turn on heater
5
3
1
heater
a off?
8
2
hearter_off
start
yes
no
room a
too cold?
yes
2
turn on
heater a
3
4
too hot?
no
8
7
4
room a
too hot?
yes
5
turn off
heater a
6
5
turn off heater
6
Typical IsoPod™ Applications
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•
•
•
•
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Real Time control
Embedded DSP
Instrumentation
Process Control
Network Control
SCADA
Motion Control
Robotics!
Typical Mobile Robot 1:
Hexapod: 6 legged walker
• Locomotion: 18 RC Servos
– 12 Hardware PWM 4 Timer PWM
• Ranging: 2 RC Servos Pan and Tilt
– 2 Timer PWM
– 1 Timer pulse measurement
• Foot sensors
– 6 A/D channels: Pressure
Typical Mobile Robot 2:
Roller: RC Servo
• Locomotion: 2 RC Servos
– 2 Hardware PWM
• Ranging and Sensing
– up to 10 sensors on RC Servos
– 13 Timers for pulse measurement
– 8 A/D channels
Typical Mobile Robot 3:
Roller: DC Servo
• Locomotion: 2 DC Servos
– 8 Hardware PWM
– 2 Quadrature feedback (4 Timer lines)
• Ranging: up to 4 sensors on RC Servos
– 5 Timers for pulse measurement
– 8 A/D channels
T.B.D.
Simple connection
Hook up for development and programming.
IsoMax™ Communications
Programming and interaction with
Isomax™ software is text based via the
serial channel. A simple terminal program
on PC makes efficient development
system. Text can be hand entered via
terminal, copied from a text editor, or
downloaded from a file (*.txt). It’s easy!
MaxTerm program available for download,
from NewMicros.
Sample of
Maxterm Screen
Sample of Words on
Maxterm Screen
Sample of Programming on
Maxterm Screen
Sample of
Maxterm Help Screen
IsoPod™
Board by itself
w/IsoMax™ installed.
(without cable or
transformer)
• Price $99
Order Page
Quick Kit
Quick Kit provides
IsoPod™, custom
made serial cable
and DC wall
transformer with
special connector.
Price: $114
Order Page
Development Kit
Development Kit
provides IsoPod™,
Controller interface
board with 2.4" x
3.6" breakable
prototype area,
serial cable and wall
transformer
• Price: $149
Order Page
END
“One Hot”
• "One Hot" is a description of an
optimization of a state machine in
hardware that has an output per state.
So rather than the state number being
a combination of bits, like a counter,
which points to a state, there is one
unique output per state.
more on web more on web
BACK
“One Hot” continued
• IsoMax™’s software equivalent is the
state number. IsoMax™ uses
precomputed GOTO’s. When the
scheduler executes a machine, it
doesn't have to test the state number to
find which state it is in, but vectors
directly to it. It is the only “hot” state.
BACK
“George H. Mealy”
• "Mealy" was a pioneer in state machine
descriptions (1955). Usually a machine is
described as either “Mealy” or “Moore”
machine, depending on how outputs are
done. Moore thought the states themselves
do the output (more suitable to a hardware
implementation). Mealy thought the
transitions do the output (more appropriate
for software).
BACK
“Mealy” continued 1
For IsoMax™ the Mealy machine
design is preferred on principle. If a
state is a wait, and static as its name
implies, it shouldn't be doing anything
active (no outputs). Doing something
active (making or changing outputs)
should be limited to the transition
between states (Mealy, not Moore).
BACK
“Mealy” continued 2
In a Mealy machine, the transitions do
the output. So the state number wasn't
necessarily the output. Consequently,
a Mealy machine can have two states
with identical outputs, but a different
state number. A Moore machine
cannot.
more on web
BACK
Timer-Augmented
Rodney Brooks of MIT AI Lab fame
prefers Finite State Machines for
modeling robot behavior. But he likes
to augment the FSM’s with timers. He
calls these Timer-Augmented Finite
State Machines. Timers in the
IsoPod™ and LOOPVAR’s in
IsoMax™ can be used to augment the
FSM’s in this way.
BACK