Embedded Micro Controller Systems

Embedded Microcontroller
Systems
More interfacing and examples
Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Overview
• Performance metrics
• Synchronization methods
• I/O Devices and hardware interface issues
• Microcontroller in control systems
• Control block diagrams
• Actuators, plant, sensors
• Open loop, closed loop control
• Proportional and integral controllers
Performance Metrics
I/O Device
uC
• Latency – time delay between when I/O

device is ready for service and when uC
responds.
– input device – time between when data is ready
and when it is actually latched into uC
– output device – time between when device is
ready for new data and when it is sent.
Performance Metrics
I/O Device
uC
• Latency
– Hardware delays in uC subsystems
– Software delays

Performance Metrics
uC I/O Device
• Throughput – maximum data flow (bytes

per second) that can be processed from the
I/O device.
– can be limited by uC or by I/O device
– can be reported as long term average or short
term maximum

Performance Metrics
uC I/O Device
I/O Device
• Priority – determines the order of service when

more than two or more devices request at the same
time.
– determines if a high-priority device can suspend a low-
priority request that is currently being processed.
– may want to implement equal priority so that no device
monopolizes the uC.

Real time systems
• Hard real-time – guarantees a maximum
latency.
• Soft real-time – system supports priority.

Synchronization Methods
• I/O devices can be in one of 3 “states”
– idle – disabled or inactive, no I/O occurs
– busy – working on generating an input (input I/O) or
accepting an output (output I/O)
– done – ready for a new transaction.
• Busy to done transitions cause status flags to
become true.

Synchronization – Gadfly Loop
• Polling loop
• Gadfly loop
• Busy-waiting loop – software checks status
flag in a loop that does not exit until the
status flag is set. new data, gadfly loop completes
INPUT new input is

waiting for
DEVICE: input - busy ready - done
software reads data, asks for another

Synchronization – Gadfly Scenarios
No Buffering
Input Device:
busy done busy done
uC software: I/O bound

waiting for new read process waiting read
input data data data
Input Device:
busy done waiting busy done waiting busy
uC software: CPU bound

process read process read process
data data data data data
Synchronization – Gadfly Scenarios
Buffering
Input Device: As long as buffer

is large enough,
busy done busy done busy done busy
both software
and I/O can
operate at their
BUFFER maximum rate
process read process read process

data data data data data
uC software:

Synchronization – Blind Cycle
• Software waits a fixed amount of time and
assumes I/O will complete within the delay.
• No status flag from I/O device.
• Used for I/O that has predictable delays.
Input Device:
busy done busy done
uC software:
process waiting read process waiting read
data data data data
fixed delay
Synchronization - Interrupts
• Interrupts – hardware causes software to
execute ISR.
• Global data structures used to communicate data
between main program and ISR.
• Timer interrupts used to execute specific functions
at regular intervals.

Synchronization - Interrupts
• Use interrupts when:
– Arrival times of input is variable.
– There are other things to do in main program.
– I/O is important (alarm, hardware failure) but
infrequent.
• Buffering can also be used with interrupts to
allow for better throughput.
• Must not forget that interrupts slow the main
program loop!

Buffering – FIFO Queue
Producer Put Get Consumer
FIFO
(uC or I/O) (uC or I/O)
• Data is received (Get) in the same order that it was

transmitted (Put)
• As long as FIFO is not full or empty, both producer and
consumer operate at their own rate.
• Need a way for producer and consumer to know if FIFO is
full or empty.

Synchronization – Periodic Polling
• Periodic polling – uses a clock/timer
interrupt to periodically check the I/O
status.
– Used in cases where interrupts are desirable
(there is much to do in the main program) but
the I/O device does not support interrupts.
– Keypad is an example – will investigate in the
next exercise.

Synchronization - DMA
• Direct Memory Access – I/O transfers data
directly to/from memory.
– Requires a DMA controller between memory
and I/O device.
– Used when bandwidth and latency are
important parameters.
– Data transfer only – no processing of data.

DMA
• Burst mode DMA – a block transferred while the
uC is halted
– used when uC and DMA rates are similar
• Cycle-stealing DMA – data is transferred during
cycles when the uC is not using the bus.
– used when uC rate is faster than I/O
DMA Controller
I/O
uC
device
addr
Memory
data

Slow I/O Interface
Keypad – how slow can we go?

I/O Devices and hardware interface
issues
• Overview:
• Categories of I/O
• Input and Output examples
• Output actuator examples
• DC Motor (analog and digital control)
• Stepper Motor
• Output display example
• LCD display (parallel and serial)

I/O Categories
• Input devices
– Sensors, User-input
• Output devices
– Actuators, Displays
• Complex I/O devices (printers, faxes, coprocessors, etc)
Analog I/O Digital I/O

– Voltage levels - Voltage levels
– Current draw - Synchronization
– Sampling frequency - Throughput
– Noise - Noise

Input Examples
• Sensors • User input
– light – keyboards
– force – joysticks
– sound
– mouse
– position
– keypad
– orientation
– proximity – switches
– tactile – touchpad
– temperature – dial
– pressure – slider
– humidity
– speed
– acceleration
– displacement

Output Examples
• Actuators • Displays
– motors – LED displays
– solenoids – LCD displays
– relays – CRT displays
– heaters – indicator lights
– lights – indicator gauges
– piezoelectric materials
(buzzers, linear actuator)
– speakers

Example – DC Motor
• Important in LOTS of applications
– cameras, drives, elevators, trains, robots…
• Many types, but all work similarly:
– Apply voltage across + and – leads,
electrical energy is converted to mechanical
energy.
– For some range of voltage, the torque of the
motor shaft is proportional to value of
voltage.

DC Motor
• Current required by
motor depends on
how it is loaded.
Motor current (A)

• Current is almost
led
always more than the loaded
l
sta
uC can provide.
no load
• Need an interface
circuit between uC Applied voltage (volts)
and motor.
Interfacing Motors
Digital Outputs
• Basic idea is to use a flyback diode
switch of some kind to
isolate current in uC
from motor current. External Voltage
+
• Motor is an inductor switch open current
though, so it stores
swi urren
current.
t ch
motor
c
• Flyback diode used to
cl o
sed
t
route current away from
Control
switch when switch signal from
opens to avoid damage uC
to switch.

Interfacing Motors
Digital Outputs
H-Bridge – circuit topology that allows bi-
directional control of motor.
• Each switch
controlled by an
output of the uC.
+
external
voltage motor • Switches
- implemented by
relays, solid-state
switches, or transistors
• Diodes omitted for
simplicity.
Interfacing Motors
Analog Output
• 8051 DAC can provide up to 15 mA of
current, up to 3.3V voltage.
• Must provide both voltage and current
amplification to drive a DC motor.
– Amplifiers used in the upcoming control lab
– Power MOSFETs
– Motor driver ICs
– Relays

Stepper Motors
• Inherent digital
interface
• Can easily control
both position and
velocity
• Used in disk drives,
printers, etc.
• Small, fixed rotation
per change in control
signals

Basic Operation
• Simplified stepper motor
5 “teeth”
360° ÷ 5 = 72°
-
phase 2 moves 72° per “step”
+
S5
N1
N5
+ Changing polarity of
S4 S1
phase 1
- N2 stator magnets causes
N4
step.
S3
S2
N3
rotor Typical stepper

motors have 200 steps
per revolution, with
electromagnets stator 1.8° per step.
Stepper Motor Interface
+Vmotor
VDD
4-phase
Inverting
8051 stepper
buffers motor
A
port A’
pins B
B’
1010
1.8°
1001
1.8 °
0101
1.8 °
0110
1.8 °
1010
Output Display Example:
LCD Display
• LCD – Liquid Crystal Display
– Lower power than LED display
– More flexible in size and shape
– Slower response time

LCD Operation
• AC voltage required – DC voltage damages LCD
• Control changes reflectivity of the liquid crystal
material.
• Actual light energy supplied by room light or back
light. front plane
CMOS back plane
control
60 Hz
Oscillator
liquid crystal material

LCD Interfacing
• Simple parallel interface – similar to LED:
VDD 7-segment
LCD
Driver/Decoder Separate Front Planes
8051 a
b
c
A d
port B e
pins C f
D g
Common Back Plane
60 Hz
Oscillator

LCD Interfacing
• Serial driver interface
MC145000 LCD Driver
data in data out
48 bit shift register
clock
48 bit latch register

BP1 BP2 BP3 BP4 FP1 FP2 FP3 FP4 FP5 FP6 FP7 FP8 FP9 FP10 FP11 FP12
48 segment LCD display

Using Microcontrollers for Control
• Overview
– Open-loop control systems
– Simple closed-loop control systems
– Closed-loop position control
– PID controllers

Some Terminology
• Control variables – properties we want to
control (position, velocity, temperature, etc)
• Control commands – output to actuators
• Driving forces – the actuator forces that
cause the control variables to change (heat,
force, etc)
• Physical plant – the thing being controlled

Open-loop Control Systems
• No feedback path from the plant
• Note that these are all a function of time
Real
Control Driving control
commands Forces variables
Desired
U(t) V(t) Physical X(t)
control Actuators
variables uC Plant
X*(t)

Open-loop Control Example
• Stepper motor
Real
Desired
control
uC Actuators
variables Plant
X*(t)
Inverting
driving
desired buffers
shaft
uC stepper
position
motor shaft position
specified
in
program
Open-loop Control Example
• Traffic light controller
Inverting
driving
buffers
uC
desired light pattern

in software
Closed-loop Control
• Feedback from plant to controller
Real
Desired
control Actuators
variables uC Plant
X*(t)
Sensor

Closed-loop Control
“Bang-bang control”
• Bang-bang – control output can only turn something ON
or OFF. No variable control.
• Requires a “deadband” or “hysteresis” which defines a

range of acceptable values for output - otherwise the
control system components can wear out from too many
switching cycles. (Relays, for example, have a limited
lifetime).
• Works well with physical plant with a slow response

time.

Closed-loop Control Systems
• Bang-bang control – temperature control
example.
Desired temperature,
Tlow < T < Thigh “plant”
Flowchart of control algorithm
Heater
estimate T’
uC
T’ > Thigh T’ < Tlow T’
T’ Temperature
sensor
Turn off Leave Turn on

Closed-loop Position Control
• Incremental control – adds or subtracts a small
constant from the output control command, U(t),
in response to X(t) sensed.
Real
Desired
control Actuators
variables uC Plant
+1
X*t or
-1
Sensor

Incremental Control
• Rate of sampling is very important
– If sampling rate is too fast, actuators are
saturated and a bang-bang system results.
– If sampling rate is too slow, then controller will
not keep up with plant.
• Rule of thumb for rate: control execution
rate is 10x the step response of the plant.
• Must check for underflow and overflow
after increment or decrement.
Closed-loop Control
PID Controller
• Faster and more accurate than previous systems.
• Based on linear control theory.
• Three components – sometimes fewer are used.
– Proportional – output is linearly related to error signal.
– Integral – output is related to integral of the error

signal.
– Derivative – output is related to derivative of the error.

PID Controller
• To understand, must transform parts of control diagram into discrete time
domain.
• Very important to have periodic sampling and processing.
• In the figure below, n is the sample number
Real
control
Desired variables
output + e(n) uC u(n) p(t) Physical x(t)
x* PID Actuator
- Plant
controller
x’(n)
Sensor
error signal: e(n) = x*(n) - x’(n)

PID Controller
u(t) = P(t) + I(t) + D(t)
Proportional – output is proportional to error input

Continuous time: P(t) = Kp * E(t)
Discrete time: P(n) = Kp * E(n)
Actual
Desired Output
output + e(n) uC u(n) p(t) Physical x(t)
x* PID Actuator
- Plant
controller
x’(n)
Sensor
PID Controller
u(t) = P(t) + I(t) + D(t)
Integral – output is proportional to integral of error signal

Continuous time: I(t) = Ki E(t) dt
Discrete time: I(n) = Ki ∑ E(n) ∆ t = Ki ∆ t ∑ E(n)
e(t) I(n)
Ki large
t n
Ki small
I(t) I(n) I(n)
∆t
t 1 2 3 4 5 n n
∆ t is sampling period
Equation for Integral Component
Discrete time: I(n) = Ki ∆ t ∑ E(n)
integral += errorsig; //integral = integral + errorsig

//integral is sum of errorsignals
//integral includes: M_MEAS samples of error
//multiplied by GAIN_PRECISION
...
output = Kp*errorsig / M_MEAS/GAIN_PRECISION +
Ki * integral / M_MEAS / SAMPLERATE /GAIN_PRECISION
= 1/∆ t

PID Controller
u(t) = P(t) + I(t) + D(t)
Derivative – output is proportional to derivative of error signal

dE
Continuous: D(t) = Kd* dt
Discrete: D(n) = Kd * E(n) – E(n-1)
∆t
∆ t is sampling period

PI Controller for Position Control
(we will not use the derivative term, which can cause instability)
Desired Actual
position position
θ 1* uC θ 2(t)
(potentiometer)
uf(n) Servo p(t) DC
PI
θ 2(n) Amplifier Motor
controller ub(n)
potentiometer

PI Controller Hardware Setup
8051
Microcontroller
setpoint ADC0.0
Input
multiplexor
potentiometer -15 to +15V
0 - 2.45V
voltage
conversio ADC0
ADC0.1 to SA1SOD
output n DAC0 Output Input 1
potentiometer -15 to +15V interface 0 - 2.45V DAC0
0 - 2.45V voltage
conversion to SA1SOD
DAC1 interface Input 2
DAC1
0 - 2.45V

Circuit Schematics for Interface Circuits
Input voltage conversion interface Output voltage conversion
interface

PI Control Algorithm
• Controller must execute the following tasks:
– Sample inputs
– Compute error value
– Compute integral value
– Compute output signal from error value,
integral value and preset Kp and Ki.
– Send computed output signals to amplifier

Controller Performance Metrics
• Stability – a requirement
• Response time – how fast the output responds
to the input.
• Steady state error – how much the output
differs from the input after it has settled.
• For position controller – DEADBAND is a
measure of the steady state error.

Total DeadBand Measurements
input position output position
θ 1 θ 2
DB (θ 1) = θ 1- θ 2
repeat for a negative angle, - θ 1 DB (-θ 1) = θ 2- θ 1
TDB(θ 1) = |DB(θ 1)| + | DB(-θ 1)|

Control your position!
Prelab – software only

Embedded Micro Controller Systems

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Embedded Micro Controller Systems

Uploaded by

Copyright:

Available Formats

Embedded Microcontroller

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

• Latency – time delay between when I/O

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

• Throughput – maximum data flow (bytes

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

• Priority – determines the order of service when

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

INPUT new input is

software reads data, asks for another

uC software: I/O bound

uC software: CPU bound

Input Device: As long as buffer

process read process read process

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

• Data is received (Get) in the same order that it was

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Keypad – how slow can we go?

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Analog I/O Digital I/O

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Motor current (A)

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

rotor Typical stepper

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

48 bit latch register

48 segment LCD display

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

desired light pattern

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

• Requires a “deadband” or “hysteresis” which defines a

• Works well with physical plant with a slow response

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Turn off Leave Turn on

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

– Proportional – output is linearly related to error signal.

– Integral – output is related to integral of the error

– Derivative – output is related to derivative of the error.

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

error signal: e(n) = x*(n) - x’(n)

Proportional – output is proportional to error input

Integral – output is proportional to integral of error signal

integral += errorsig; //integral = integral + errorsig

Prof. Cherrice Traver EE/CS-152: Microprocessors and Microcontrollers

Derivative – output is proportional to derivative of error signal