Characteristics Application and Domain Specific Reactive and Real-time ·Distributed ·Heterogeneous Operate in harsh environments Must meet high-integrity quality attribute requirements ● Small Size and Weight ·Power concerns llxx@ustc.edu.cn 16/87
Characteristics • Application and Domain Specific • Reactive and Real-time • Distributed • Heterogeneous llxx@ustc.edu.cn 16/87 • Operate in harsh environments • Must meet high-integrity quality attribute requirements • Small Size and Weight • Power concerns
嵌入式计算机系统的形态？ ·单板机Single Board computer -Z80 ·单片机Single Chip computer -8051:CPU+片上存储+/O控制(INT/DMA)+GPIO ·SOC/SOPC System-on-a-Programmable-Chip -Xilinx Zyng系列 Power LED JTAG ·GPP+DSP+FPGA+片上存储+I/O Ethernet -调试 JSB Host 一可编程、可裁减、可扩充、可升级 USB-UART R0s意t Mode Switch Jumpers
嵌入式计算机系统的形态？ • 单板机Single Board computer – Z80 • 单片机Single Chip computer – 8051：CPU+片上存储+I/O控制(INT/DMA)+GPIO • SOC/SOPC – System-on-a-Programmable-Chip – Xilinx Zynq系列 • GPP+DSP+FPGA+片上存储+I/O – 调试 – 可编程、可裁减、可扩充、可升级
嵌入式控制系统的定义 早期的典型应用领域在制造业 -1962年，美国一个乙烯厂实现工业装置中的直 接数字化控制(DDC) ·英国电机工程师协会 - "devices used to control,monitor,or assist the operation of equipment,machinery or plants" 18/87
嵌入式控制系统的定义 • 早期的典型应用领域在制造业 – 1962年，美国一个乙烯厂实现工业装置中的直 接数字化控制（DDC） • 英国电机工程师协会 – “devices used to control, monitor, or assist the llxx@ustc.edu.cn 18/87 – “devices used to control, monitor, or assist the operation of equipment, machinery or plants
嵌入式控制系统的软/硬件框架 驱动器1 传感器1 驱动器2 传感器2 机械装置 g THANAM 驱动器粼 传感器翻 被控对象 「一 丨功能层 应用程序 1 文件系统 图形用户 任务管理 软件层 接口 实时操作系统(RTOS) 中间层 BSP/HAL硬件抽象层/板极支持包 D/A 通用接口 嵌入式 A/D 硬件层 微处理器 ROM A/D Control-law Reference computation DIA I/0 SDRAH input:ro 人机交互接口 嵌入式计算机系统 Sensor Device Actuator
嵌入式控制系统的软/硬件框架 19/87
Typical ES Functional Requirements ·Control laws -e.g.PID control,fuzzy control o Sequencing control e.g.FSMs,mode changes,switching between control laws ·Signal processing -e.g.voice,video ·Fault response -e.g.detection,reconfiguration Application-specific user interface device e.g.buttons,bells,lights llxx@ustc.edu.cn 20/87
Typical ES Functional Requirements • Control laws – e.g. PID control, fuzzy control • Sequencing control – e.g. FSMs, mode changes, switching between control laws • Signal processing llxx@ustc.edu.cn 20/87 – e.g. voice, video • Fault response – e.g. detection, reconfiguration • Application-specific user interface device – e.g. buttons, bells, lights