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