Embedded control

European PhD – 2009Microprocessors, microcontrollers

and DSP´sHorácio Fernandes E

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Microprocessors,

microcontrollers and DSP´s

• Container for a number of commonly used sub-units

• ALU

• DMA

• RAM

• I/O

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“Obsolete” devices

• Due to high degree of integration, some high-tech devices can NOT be used on harsh environments

– Space (cosmic rays)

– High neutron fluency

– Radioactive (gamma rays)

• “Bit” errors

• Doping contaminants EuropeanPhD

Real-time systems

• Definition of real-time

• Definition of Human-reaction time scale

• Real-time control and controllers

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The control system

Tokamak:

Sensor(Magnetics)

Sensor(Interferometry)

WaveformGenerator #1

Actuator(Power Suplies)

Actuator(Gas Puffing)

WaveformGenerator #2

DATAACQUISITION

SYSTEM

“Trial-and-error” type operation

Hard to get similar discharges, as the plasma is a multivariable complex system

Reprogram of waveforms is normally an empiric and lengthy task•Data acquired needs to be correlated manually against control waveforms

Tokamak

Sensor(Magnetics)

Actuator(PSU)

Sensor(Pressure/

Interferometry)

Actuator(Gas Puffing)

Controller #1(PID)

Controller #2(PID)

Sensor XActuator Y Controller #(PID)

Single-Input Single-Output (SISO) ANALOG controllers

Not easily Re-configurableHard to OptimizeAllows only simple control

schemes (e.g PID)Control of Plasma

Parameters are NOT coupled!

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System Components

• Sensors

• Actuators

• Control Unit

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Processing unit

• 8 Analog channels‣ Galvanic

isolated‣ 2 MSample/s‣ 14-bit

• 512 MB SDRAM

• DSP

• FPGA

• HS Serial connections

• PCI bus

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System response

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Induced displacement

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Sensors & actuators @ JET

Magnetics

R-T Signal Server

R-T Controller

plasma

CXS Ti (R)

MSE pitch (R)

Flux surfaces EQX

Confinement

VUV impurities

Shape & Current Control (PPCC)

ECE Te (R)

q profile

Neutron X-ray etc.

Interferom/Polarim

NBI

ICRH

LHCD

GAS + Pellets

PF Coils

Vis H/D/T

Vis Da, Brem, ELM

Comms network ATM, some analogue

X-ray Ti (0)

LIDAR Ne&Te(R)

Simulink codeEQX kinetic map

TAE / EFCC

Wall Load

Coil Protection

Rob Felton - RTMC Workshop

EP2 VS

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Closed loop control

• Definitions:

– SP – Set point

– PV – Process Variable

– MQ – Manipulated quantity

– Control system frequency

– Lad and delays generate overshoots

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Closed loop control

• Type of systems

– ON – OFF (Bang-Bang)

• Ex: Frigobar

• Temporal response

• Control by a PWM – cycletime vs. latency

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PID

Strategy !

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Samples P=0.2

DEADTIME = 3, PROPORTIONAL=.2

0

10

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90

1 3 5 7 9

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CONTROLLER ITERATION

CO

NTR

OLL

ER O

UTP

UT I=.6

I=.8

I=.9

I=1

I=1.1

I=1.2

I=1.4

DEADTIME = 2, PROPORTIONAL=.2

0

10

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1 3 5 7 9

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CONTROLLER ITERATION

CO

NTR

OLL

ER O

UTP

UT I=.6

I=.8

I=.9

I=1

I=1.1

I=1.2

I=1.4

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Computer Architectures

• Harvard architecture (/von Neumann)– RISC(PIC, IBM Power PC) / CISC (80x86) – Clocking, instruction pipelining, 14 bit instruction

set

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PIC architecture

• Single chip:– CPU

– Memory• RAM

• PROM/ EEPROM

– oscillator

– timers

– watchdog

– I/O• Digital

• ADCs

• Communications

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PICs

• Code efficiency - 8 bit /Harvard– Conventional Microcontrollers -1 internal bus

(Z80)

• Safety coding– 12, 14 or 24 bit “program memory word”

– Jumps to data area impossible

• Instruction Set– 33 instruction (MID range)

– Single instruction cycle (=4 clock cycles); /CALL, GOTO, bit test (BTFSS, INCFSZ)

• Speed (2x 386 SX 33MHz) EuropeanPhD

PICs (cont.)

• Static Operation – registers are kept valid during STOP (Sleep – 1uA sink current)

• Current driver– I/O pin: sink 25mA or 100mA (total)

– LEDs and triacs

• Several series options– Speed, thermal

– Casing (sizes)

– I/O, timers, serial comms, A/D

– memory

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DSP

• 40 bit ALU

• 2x40 bit accumulators

• 1x40 bit bidirectional shifter

• Barrel shift -15 bits right, 16 bits left

• Integers vs float

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Terminology

• Microcontroller (sw relevancy)

• I/O (external world)

• Software (information)– Bugs

– Programming language (ASM, C)

• Hardware– Microprocessor

– Memory

– Interface and signal conditional circuits

– Power supply (digital, analog and programming ground and shielding)

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PIC family

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dsPIC30F

• CPU

• Data Memory

• Program Memory

• DSP Engine

• Interrupts

– I/O Ports

– Timers

– Input Capture Module

– Output Compare Module

– Quadrature Encoder Interface (QEI)

– 10-bit A/D Converter

– 12-bit A/D Converter

– UART Module

– SPITM Module

– I2CTM Module

– Data Converter Interface (DCI) Module

– CAN Module

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Harvard

• Independent Buses

• Instructions are bigger than1 byte (Program memory)

• Program memory:– Optimized

– Single word instruction per cycle

• In one jump an instruction is always executed

• /von Neuman instructions with several bytes E

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Harvard Architecture

• pipeline

– 2 stages instruction execution

• fetch and execution in a single cycle

– Each instruction is autonomous

• Every data included

• No more program data access

• 4 clock per instruction cycle

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Instruction format

• Word or byte-oriented

• Bit-oriented

• Literal

• DSP operations

• Control operations

• OpCode– Variable number of bits

– 2^6=64 (app. 35 instructions)

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Instruction format

dsPIC30FMid-range PICs (14 bit)

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Memory organization

• Registers and static memory

– Work register

– Mid->dsPIC

– File registers~RAM• General Purpose Registers (GPRs)

• Special Function Registers (SPRs)

– Memory banks• Limitation due to adress bits

• Selection bits (avaiable trough STATUS)

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Special Function Registers

• Base Architecture

• Reserved names– INTCON, TMR0, STATUS

• R/W and read only– Some registers do not exist physically

• Some registers are copied among bank memory– STATUS, FSR, INDF

– Including GPR (0x70 a 0x7F)

– PORTB (Banks 0 e 2)

• Power ON/Reset

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General Purpose Registers

• User defined– Wide implementation

• Indirect adress– pointers

– Easy incrementation or decrementation

– INDF (0x00) provide adress copy of FSR• ie changing INDF data at that adress is changed

INDF(=*FSR)

• de-referencing

Address: 100 102 104 106Variable: i j k ptrContent: 3 5 -1 102

int i, j, k;int *ptr;

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Example

• STATUS

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Interruptions and I/O

• Communication between microcontroller and external world

– Multi-functional digital output

– Communication protocol

– ADCs e DACs

• Events monitoring

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I/O - Diagram port B

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I/O - Port

• TRISx: Data Direction register

• PORTx: I/O Port register

• LATx: I/O Latch register

• C options in TRISx– Quick & simple

– Slow & secure

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I/O sharing

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Change Notification (CN) Pins

• Weak pull-up (current source)

– Avoiding external resistores

• Originate interruptions

– Change in pin states

– 24 pins avaiable

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Interruptions

• vs Polling (attention)• Quick response to

events– Peripherics– Driven actions

• After taken action continues previous process

• Maskable/non-maskable• Variable saving (PC e

Stack)• Quick execution

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Interruptions (cont.)

• INT Pin Interrupt (external interrupt)

• TMR0 Overflow Interrupt

• PORTB Change Interrupt

• Comparator Change Interrupt

• Parallel Slave Port Interrupt

• USART Interrupts

• Receive and Transmit Interrupt (CAN)

• A/D Conversion Complete Interrupt

• LVD Interrupt

• Data EEPROM Write Complete Interrupt

• Timer Overflow Interrupt

• CCP Interrupt

• SSP Interrupt

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Interrupt logic

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Interrupt logic

High Priority Logic Block Diagram

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Interrupt logic

Low Priority

Logic Block

Diagram

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Communications

• Serial – Synchronous

• I2C

• SPI

– Asynchronous• RS232, RS485, RS422 (RS232 differential)

– Point to point

– Point/multi-point

• USB, SSP

• CAN

• Parallel

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• Start bits - Always 1 bit

• Stop bits – 1, 1.5 ou 2 bits

• Data bits - 7 ou 8 bits

• Parity bits

– none - no error detection

– odd or even - error detection required

• 1 bit added to give bit summing odd or even

• CheckSum: redundancy check

– CRC (cyclic redundancy check)

Serial Communications

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HandShaking

• Data Terminal Ready

• Data Set Ready• Clear to Send• Request To Send• Transmit Data• Receive Data• Ring• Data Carriage

Detected• Ground

Data Terminal Equipment - Data Comunication Equipment

RTS

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USART/UART

• Universal Synchronous/Asynchronous Receiver Transmiter

– Shift register

– SYN (0b01000010)

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I2C

• Two bidirectional “open-drain lines”– Serial Data (SDA)

– Clock (SCL)• “Pull-up” – resistor ~k

• Multi-master– Master node — clock controller

– Slave node — all others

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I2C – typical circuit

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I2C

• 7-bit address space (10-bit addressing)

• 16 reserved addresses (max 112 nodes)

• Vel.

– Normal - 100 kbit/s (standard mode)

– Low-speed mode - 10 kbit/s (até DC)

– Fast - 400 kbit/s (Fast mode) or 1 Mbit/s (Fast mode plus or Fm+), 3.4 Mbit/s High Speed mode

• Max. bus capacity - 400 pF.

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SPI

• Operation modes

– 8-bit and 16-bit Data Transmission/Reception

– Master e Slave

– Framed SPI Modes

• Operation: 8-bit vs. 16-bit

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SPI

• Ideal for single-master/single-slave

• Single-master bus

• Do not have slave acknowledgment !

• Full duplex

• 1-10Mbit

• Dual-Shift register

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Oscillator

• Oscillator modes ( default clock source)– EC External Clock

– ECIO External Clock with IO pin enabled

– LP Low Frequency (Power) Crystal

– XT Crystal/Resonator

– HS High Speed Crystal/Resonator

– RC External Resistor/Capacitor

– RCIO External Resistor/Capacitor with IO pin enabled

– HS4 High Speed Crystal/Resonator with 4x frequency PLL multiplier enabled

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Oscillator modes

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Oscillator Modes

• Inverter gain (mode)

• Frequency (power)

• Crystal (precision)

• Wake-up (frequency, noise, sleep wake-up)

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PLL

• Advantages PLL

– EMI

– SW program.

• Structure

– VCO

– Divider

– Comparator

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Timers (dsPIC)

• Timer 1

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Timers (cont.)

• Timer 1– 16 bit (32 kHz – Real-time)

– 16-bit Synchronous Counter

– 16-bit Asynchronous Counter

• Timer 2/3– 32 bit (ou 2 de 16 bit)

– Input Capture

– Output Compare/Simple PWM

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Capture/Compare/PWM

• Capture– Measurements:

• Frequency, • Periods or• Time intervals (var)

• Compare– Internal lap (time)

• PWM– Motor Control– DACs (c/filtro)– Modulated signals (Tones)

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Capture mode

• Logic Diagram

– Prescaler: Low resolution with high accuracy (Tcy).

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Comparator mode

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PWM

• CCPx pin, PWM up to 10-bit resolution

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PWM (dwell time)

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Analog to Digital conversion

• Successive approximations

– Bubble sort (0..1023)

• Interactive method

– Conversion speed undetermined

– Clock dependent

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ADC dsPIC30x

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Configuring ADCs

• Configure: Analog pin, reference voltage and digital I/O

• Input channel selection (A/D), clock source and trigger

• Activate A/D module• Configure A/D interrupt (if necessary):

– Clear ADIF bit, Select A/D interrupt priority and Set ADIE bit (use ISR)

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Sampling (ADCs)

• 1. Configure the A/D module:– Configure analog pins, voltage reference and digital I/O– Select A/D input channels– Select A/D conversion clock– Select A/D conversion trigger– Turn on A/D module

• 2. Configure A/D interrupt (if required):– Clear ADIF bit– Select A/D interrupt priority– Set ADIE bit (for ISR processing)

• 3. Start sampling.• 4. Wait the required acquisition time.• 5. Trigger acquisition end, start conversion:• 6. Wait for A/D conversion to complete, by either:

– Waiting for the A/D interrupt, or– Waiting for the DONE bit to get set.

• 7. Read A/D result buffer, clear ADIF if required

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ADCs

• Sample rate

– Fixed intervals (Period ajustment)• Timers w/int.

• Maximum SR = (polling)

• Jitter

– clock accuracy• Interrupt cycles

– Trade-off: precision EuropeanPhD

Unions - ADC manipulation

Union Sample

{

Unsigned char bytes [2]

Signed short word

}

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Good practices

• Excessive time due to interruptions

• timers to generate sample rate

• Check timing with scope or frequency-meter

• SLEEP mode use for ADC Clock (T_OSC)>1MHz

• UNIONs to read ADCs 12bit -> int.