Machine Design
ES1 - Introduction
Martin Grimheden, mjg@kth.se
Jad El-Khoury, jad@kth.se
Mechatronics Lab
1
Machine Design
ES1 people
Martin Grimheden
Jad El-Khoury
Staffan Qvarnström
Per Mackegård
Magnus Persson
es1@md.kth.se (teaching team)
es1_2010@md.kth.se (all students)
Mechatronics Lab
2
1
Machine Design
Syllabus – learning
objectives
The overall aim of the course is to
provide understanding and knowledge
of the design and implementation of
embedded systems in the context of
mechatronic products, with emphasis
on basic technologies and elements of
design.
Mechatronics Lab
3
Machine Design
This means: …
Provide examples of existing embedded
systems based products and describe the
special requirements placed in developing such
systems.
Describe and explain important steps in the
design of such systems, including useful
abstractions and views, and be able to give
examples of dependencies between system
functionality and the implementation, common
faults and failures of embedded systems, and
trade-offs that the designer has to deal with.
Be able to use modern integrated development
environments for microcontroller/processor
programming and their features for testing
and debugging.
Mechatronics Lab
4
2
Machine Design
… cont.d…
Describe and be able to explain the basic operation of
microcontrollers/microprocessors, their internal features
and peripherals, and how C-language and assembly
instructions correspond to basic processor operations.
Describe and provide criteria for choosing microcontrollers
and/or FPGA based solutions.
Be able to configure and develop microcontroller programs
for mechatronic applications, including the usage of I/O
and communication peripherals.
Describe, explain and apply basic concepts of concurrent
and real-time programming including fundamental
execution strategies (e.g. foreground-background
programming) and scheduling theory, other structuring
concepts for embedded software, and their vizualisation
using selected diagramming techniques.
Describe, explain and apply some of the basic concepts of
communication protocols, in particular with reference to
the Controller Area Network (CAN).
Mechatronics Lab
5
Machine Design
…and summarized:
Give example of embedded systems
and requirements on development
Explain how these systems can be
developed
Use modern tools for development,
programming, test and debugging
Explain basic functions with a
microcontroller and/or FPGA
Mechatronics Lab
6
3
Machine Design
… cont.d…
Develop programs for mechatronics
applications
Understand, explain and apply
concurrent programming, real-time
programming, scheduling theory and
techniques of visualization
Explain and apply basic concepts for
communication, specific CAN
Mechatronics Lab
7
Machine Design
A third (and last attempt)…
Become really good at using one
advanced microcontroller
Mechatronics Lab
8
4
Machine Design
Overall course design
6 weeks, 6 modules, 6 labs
Half-time programming exam
Final written exam
Mechatronics Lab
9
Machine Design
Course design
2*2h Lectures/week: theory,
literature , overview
~1*2h Tutorial/week: ”walk
through” exercises, supervision and
help
~10h individual lab work/week
~1*2h Reporting, time for questions
etc.
Mechatronics Lab
10
5
Machine Design
Course design, 2
Every week – one Lab exercise,
deadline for reporting is Friday the
next week
After four weeks – small exam
2 hours, in the lab, with computer and
microcontroller. Individual work (one
person per set-up)
Programming tasks (flash LED with 2Hz,
create code from an UML diagram, find
error in a program, control a DC-motor
etc)
Mechatronics Lab
11
Machine Design
Course design, 3
Written exam at end of the course
4 hours, written exam (Tenta)
No books or papers, only a pen
Mechatronics Lab
12
6
Machine Design
Grading
LAB: 3 cr, grade P/F
KS: 1 cr, grade A-F
TEN: 2 cr, grade A-F
Final grade is weighted average of
KS & TEN.
Mechatronics Lab
13
Machine Design
Course structure, 6
weeks=modules
1.
2.
3.
4.
5.
6.
Mechatronics Lab
AVR32
Modelling
Communication and CAN
Distributed systems (and CAN)
Power Management
Advanced AVR32
14
7
Machine Design
Examples
AVR32: C-programming
Modelling: create state-space
diagrams, manual code generation
CAN: control a speedometer in the
lab, send messages between lab
computers
Power: maximize endurance,
minimize power competition
Arithmetics: implement complex
formulas and fast calculation
Mechatronics Lab
15
Machine Design
AT32UC3L picoPower Consumption
Mode
CPU
BUS
Peripheral
OSC &
DFLL
RTC
RC
BOD &
Bandgap
VDDCORE
Typ.
Consumption
Run
X
X
X
X
X
X
X
1.62V
280 µA/MHz
X
X
X
X
X
X
1.62V
150 µA/MHz
X
X
X
X
X
1.62V
90 µA/MHz
Idle
Frozen
Standby
X
X
X
1.62V
70 µA/MHz
Stop
X
X
X
X
1.62V
40 µA
Deep Stop
X
X
Static
Shutdown
Shutdown
Mechatronics Lab
X
1.62V
20 µA
1.62V
5 µA
0V
1.6 µA
0V
100 nA
16
8
Machine Design
Formal course prerequisites
DD1321 – Applied programming
EL1120 – Control theory
MF1016 – Electronics
(or similar)
Mechatronics Lab
17
Machine Design
Informal course prerequisites
Electronics
Enough to read circuit diagrams, make
smaller circuits
Control Theory
Can design and implement a basic
controller
Programming
C-programming, structures, pointers etc
Mechatronics Lab
18
9
Machine Design
Beneficial pre-requisities
Microcontroller
Previous experiences with
microcontrollers
Can use, program and debug on basic
level, typically 8-bit uP.
Mechatronics Lab
19
Machine Design
Accepted to study the
course?
See the list
Mechatronics Lab
20
10
Machine Design
Example of expected
previous knowledge
Mechatronics Lab
21
Machine Design
Examples
Mechatronics Lab
22
11
Machine Design
Examples
Mechatronics Lab
23
Machine Design
Examples
Mechatronics Lab
24
12
Machine Design
Examples
Mechatronics Lab
25
Machine Design
Examples (tomorrow)
AVR32_GPIO.port[1].gpers = 1 <<27;
int i=(AVR32_GPIO.port[2].pvr >> 24) & 0x01;
Mechatronics Lab
26
13
Machine Design
Examples (in two weeks)
pFlt2_5++;
CAN2515ByteWrite(Channel, RXF3SIDH,
*pFlt2_5 >> 3);
CAN2515ByteWrite(Channel, RXF2SIDL,
(*pFlt2_5 << 5) |0x08 );
Mechatronics Lab
27
Machine Design
Lab equipment
Mechatronics Lab
28
14
Machine Design
Lab equipment
HW needed: PC, EVK, debugger
PC: 15+12 in Mechatronics lab or own
computer
Evaluation kit (EVK) and debugger: you
borrow your own set from us
Special tools for special labs: use in the
lab
SW needed: Mostly free downloads
Development environment (IDE): AVR32
studio, toolchain, framework (free)
Modelling tool: Rhapsody (free on
campus)
Mechatronics Lab
29
Machine Design
Borrow equipment
When formally accepted for the
course
Sign form and receive equipment
Return after exam
Responsible for equipment (2kSEK)
Start experiment today!
Mechatronics Lab
30
15
Machine Design
Course time calculations
6+1 weeks, 6 credits = 40% of full
time
2*2h lectures + 2h tutorial/week =
15% of full time
=> individual work at least
10h/week
Mechatronics Lab
31
Machine Design
Schedule, week 1
Mechatronics Lab
32
16
Machine Design
Schedule, week 3
Mechatronics Lab
33
Machine Design
Experimental platform
Mechatronics Lab
34
17
Machine Design
The EVKs - 1100
Mechatronics Lab
35
Machine Design
EVK1101
Mechatronics Lab
36
18
Machine Design
debugger
Mechatronics Lab
37
Machine Design
Buy your own?
EVK1100
500 SEK via us (1600 SEK elsewhere)
EVK1101
300 SEK via us (1000 SEK elsewhere)
Debugger (not necessary)
1100 SEK via us (3700 SEK elsewhere)
Buy at ITM student office, close to
mechatronics lab
Mechatronics Lab
38
19
Machine Design
Modelling platform
Rhapsody
UML
Mechatronics Lab
39
Machine Design
Web platform
Kth.se/social
Platform links to resources such as
AVRfreaks
AVRTV
Wikibooks
Mechatronics Lab
40
20
Machine Design
Course literature
See web platform
All material on ”course literature”
site is covered in final exam
Mechatronics Lab
41
Machine Design
Admin questions?
Mechatronics Lab
42
21