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Standalone Lab Guide, Zeroth Edition, Version 0.05

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1. Your robot should navigate through an obstacle course avoiding cliffs and objects along the way a Did your Statechart require modification to work on the physical target If so what modifications did you make b How would you compare programming in Statecharts to programming in a tradi tional programming language such as C 3 Share your Feedback what did you like about this lab and what would you change 52 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 3 6 Troubleshooting 1 I receive the error Cal Climber vi loaded with errors and was closed when at tempting to run on target We are still investigating this error and are not sure of its cause If this happens you may need to revert to a previously saved version of your state chart or even the template Statechart and recreate your diagram The Statechart is loaded from an 1vsc file in the project folder An Introductory Lab in Embedded and Cyber Physical Systems 53 3 4 IROBOT HILL CLIMB IN STATECHARTS 3 4 iRobot Hill Climb in Statecharts This lab builds on the concept of model based design for cyber physical systems intro duced in 3 3 iRobot Navigation in Statecharts and focuses on feedback control Your goal in this lab is to implement a state machine that instructs the iRobot Create to navigate to the top of an incline while avoiding cliffs and obstacles 3 4 1 Suggested Reading These exercises a
2. 2 Wii Remote on Wikipedia Wikipedia 2012c 3 WiBrew WiiMote wiki WiiBrew 2011 4 Bluetooth HID Profile Bluetooth Special Interest Group 2003 Related reading 1 Lee and Seshia 2011 a Chapter 7 Embedded Processors 87 1 1 Microcontrollers b Chapter 9 Input and Output 9 3 The Analog Digital Interface An Introductory Lab in Embedded and Cyber Physical Systems 85 B 4 NINTENDO WII REMOTE Rol Z Figure B 11 Nintendo Wii Remote accelerometer axes Stoops 2008 2 Using an Accelerometer for Inclination Sensing Fisher 2010 3 Implementing a Tilt Compensated eCompass Ozyagcilar 2011 B 4 1 Wireless Interface The Bluetooth HID Human Interface Device profile defines a communication protocol used by the WiiMote Bluetooth Special Interest Group 2003 Each command begins with a 1 byte Transaction Header the first nibble of which corresponds to the Transaction Type and the second to a Parameter The header is followed by a device specific Report ID and sometimes a payload Documentation for WiiMote Report IDs has not been published but some Report IDs have been identified and documented in the WiiBrew Wiki WiiBrew 2011 As with all networked devices the WiiMote Bluetooth interface is identified by a unique MAC media access control address A MAC address is a sequence of 6 bytes usually written something like 00 1E 35 3B 7E 6D using hexadecimal notation The MAC ad 86 An Introductory
3. 87 BERI Figure 3 5 Connecting to the target An Introductory Lab in Embedded and Cyber Physical Systems 35 3 1 IROBOT NAVIGATION IN C E g calClimber Wind River VxWorks 6 3 Mew calClimber partialImage o PP C amp 03gn Hi calClimber out PPC 0Sgnu DEBLIG gt berkeleyFixedPersonality Connect tat 10 32 40 irabat project D Disconnect tgt 10 3230 IH wrmakefile 8f Connect MemScope B Wrprajeck C calClimber c g Launch Default Registry Connect ProfileScope of Cut Copy B Paste Rename 34 Delete Reset connected Target Kill Target Server Show Target Server Lag Target Tools k i3 Target Mode d Collapse All Expand All Refresh C Refresh Properties EI Kernel Objects Ba or oy E ug default localhost C Properties be Egk 10 32 40 0 Wind River VxWorks 6 Target Manager Figure 3 6 Reconnecting to the target Target Taals d Eo System Viewer Configuration ei Target Mode k a Triggering Collapse All Target Console Expand All Target Console Properties amp Refresh Run WT Connection Test E Refresh Properties 1 Host Shell Cl Target Manager X Ind E m default localhost E Properties El ie 10 32 40 124 Wind River vxWorks 6 3 Host Shell Properties al Climber solution Seyvtern startna t nal laimher ii Figure 3 7 Opening the target console 36 An Introductory Lab in Embedde
4. button is pressed on the top of the robot When an obstacle is encountered such as a cliff or an object the robot should navigate around the object and continue in its original orientation Keep in mind that an obstacle or cliff may be detected during your obstacle avoidance algorithm a Describe and sketch your obstacle avoidance algorithm b Did you follow a state machine architecture If so which states did you add to the default project 2 Share your Feedback what did you like about this lab and what would you change 38 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 1 6 Troubleshooting 1 I receive the error Object module already loaded into memory when attempting to run on target A debugging session 1s already active on the target Right click on the target in the Target Manager and select Reset connected Target to reset the controller To avoid this error ensure your task exits normally before attempting a new debug session The template code will exit when the Advance button is pressed on the top of the robot 2 I receive the error Unable to connect to remote target when attempting to con nect to the target Ensure the target is powered on and has had time to boot and connect to the wireless network Check connectivity by using the system ping tool If you are still unable to connect to the target press the reset button on the side of the sbRI
5. An Introductory Lab in Embedded and Cyber Physical Systems 63 4 1 PROJECT MANAGEMENT You will probably want to have every member set up their respective checkouts from your repository This will allow you to work on the code somewhat independently but with a central master copy You should get in the habit of committing your changes at least once a day like the CTRL S of code development Your TAs and mentors will also be using your repository to be familiar with your code 3 optional Install SVN on Another Computer This section is for your information in case you want to set this up on your own computer Windows Installation is fairly easy simply download and install TortoiseSVN from http tortoisesvn net downloads html making sure to get 32 bit or 64 bit based on what your OS is On Windows 7 there may be problems with the icons showing properly Therefore you will need to use the check for modifications item in TortiseS VN s right click menu Linux The svn command line program should be available in most package reposito ries For example on Ubuntu systems you can use sudo apt get install subversion Re fer to the man page or online documentation for information on how to use the command line program There are also frontends available such as kdesvn sudo apt get install kdesvn Mac Mac OS X 10 7 may already have Subversion installed To test this start up a Terminal window and run svn help
6. An Introductory Lab in Embedded and Cyber Physical Systems 97 C 3 LAB WORKSTATION HARDWARE 94 2 3 Ethernet Adapter Mode to configure the router for Ethernet Adapter Mode which will create a transparent link from the sbRIO to your wireless network An alternate configuration is to use the wireless router as an access point this is slightly more complicated and we refer the user to the ASUS WL 330gF User s Manual for instructions 4 Discover sbRIO using the NI Measurement and Automation Explorer MAX You may find the IP address of the sbRIO using this tool and also set it should you want a static IP address The typical application is to use DHCP which works in most networks and also when the controller is directly connected the host without a router or switch If the sbRIO does not appear on your network visit the troubleshooting page Trou bleshoot When NI CompactRIO Does Not Appear in Measurement amp Automation Ex plorer MAX 5 To verify your computer is able to communicate with sbRIO use the system ping tool to ping the IP address you discovered or set in MAX C 3 4 Build the Cal Climber The Cal Climber Jensen et al 2011 1s a cyber physical system developed at the Uni versity of California Berkeley for use in embedded and robotics courses Based on the iRobot Create consumer robotics platform it includes an embedded controller analog ac celerometer and optionally a wireless adapter A custom power a
7. FPGA fixed personality B 3 5 Exercises 1 What software tool can be used to discover an sbRIO or other National Instruments devices on a local network 2 What is the CPU clock frequency of the PowerPC processor on sbRIO 96006 3 n this exercise you will explore the electrical characteristics of the controller These are important since exceeding tolerances may damage or destroy your controller a What is the input voltage range for the controller b What is the maximum current that may be sourced from a single DIO line c What is the total maximum current that may be sourced from all DIO lines d When a DIO line is configured as a sourcing output what is its high output volt age e When a DIO line is configured as an input what 1s the maximum input voltage that should be applied 4 Can more than one ADC channel be sampled at a time 5 Consider the following line of code which maps ADC STATUS to a memory mapped register define ADC STATUS x volatile unsigned long XPAR ADC_O_BASEADDR 4 An Introductory Lab in Embedded and Cyber Physical Systems 83 B 3 NATIONAL INSTRUMENTS SINGLE BOARD RIO 9606 a What is the effect of the volatile keyword b What is the effect of the typecast volatile unsigned long c What is the effect of the outer operand 6 In this exercise you will explore the memory mapped register interface to the ADC on the Analog RMC a Which register must be
8. Use this as the default and do not ask again OK Cancel Figure 2 1 Xilinx SDK Workspace Launcher soy C C Xilii File Edit Source Refactor Navigate Search Run Project XilinxTools Window Help tir E ae x yS er Sr amp vr i vrOvrQ r X Y X E Bg C C E Project Explorer 2 TE Outli amp _ Mak E Welcome 5 IL B Nd An outline is not available ACE xilinx SDK Xilinx SDK is based on Eclipse 3 5 and CI New to SDK Watch a short SDK screencast Getting Started e Getting Started with Xilinx SDK e EDK Concepts Tools and Technic e Migrating from SDK 11 x e Frequently asked questions Known Issues e Known issues in SDK 12 1 e Xilinx Answer Record Search Questions Comments e Xilinx Forums e Xilinx Technical Support RI Problems 4 Tasks Console 32 E Properties p Terminal 3 amp E Me ie SDK Log Figure 2 2 Xilinx SDK Project Explorer view 16 An Introductory Lab in Embedded and Cyber Physical Systems 2 PROGRAMMING OF EMBEDDED SYSTEMS The Projects list will populate ensure all projects are selected and click Finish The project will now appear in the Project Explorer view and will automatically build You will see a project titled MicroBlazeHardwareSpecification and another titled MicroBlazeSoftwareSpecification MicroBlazeHardwareSpecification Is a hardware description project that contains in
9. amp Learning Technology Innovations in Circuits Signals amp Systems Education Rio de Janeiro Brazil pp 1199 1202 doi1s10 1109718 55 2011 59317784 106 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP Kodosky J J MacCrisken and G Rymar 1991 Visual programming using structured data flow In IEEE Workshop on Visual Languages IEEE Computer Society Press Kobe Japan pp 34 39 Kung S L Onken and S Large 2011 Tortoisesvn Available from http tortoisesvun ner doos release TortoisesSVN en Lee E A 2006 The problem with threads Tech Rep UCB EECS 2006 1 EECS De partment University of California Berkeley Available from http www eecs berkeley edu Pubs TechRpts 2006 EECS 2006 1 html Lee E A and S A Seshia 2010 An introductory textbook on cyber physical systems In Proc Workshop on Embedded Systems Education WESE pp 1 6 doi 10 1145 19902771930470 2011 Introduction to Embedded Systems A Cyber Physical Systems Approach LeeSeshia org Berkeley CA Available from http LeeSeshia org Lee E A S A Seshia and J C Jensen 2012 EECS 149 Introduction to Embed ded Systems course website Available from http chess eecs berkeley edu eecs149 Moore L 2006 First generation roomba Creative Commons BY SA 3 0 via Wikipedia Available from http en wikipedia org wiki File Roomba_original Jpg National Instruments 2009 MathScrip
10. errupt to the master int C IP ISR read toggle on write 2 interrupt status register Read this r which interrupts have been captured Since ADC only generates 1 interrupt ther Writing i to the corresponding bit position For example ADC IP ISR ADC IP ISR thi z IP IER read write ADC interrupt enable register Writing to the least ine ADC CTRL volatile unsigned long XPAR_ADC 0 BASEADDR ine ADC STATUS volatile unsigned long XPAR ADC 0 BASEADDR 4 ine ADC GIE volatile unsigned long XPAR ADC 0 BASEADDR Ox11C ine ADC IP ISR volatile unsigned long XPAR ADC 0 BASEADDR 0x120 ine ADC IP IER volatile unsigned long XPAR ADC 0 BASEADDR 0x1i28 Figure 2 5 Download and run FPGA has not yet been configured with a bitstream in this SDK session Would you still like to continue with current operation FPGA configured outside SDK Do not show this message again during this SDK session Le j ne Figure 2 6 A warning may occur when using the MicroBlaze fixed personality and may be dismissed 20 An Introductory Lab in Embedded and Cyber Physical Systems 2 PROGRAMMING OF EMBEDDED SYSTEMS 2 1 5 Lab Exercises An interrupt service routine ISR should contain a minimum number of instructions An ISR that 1s invoked periodically and has an execution time nearly as long as its period will starve other processes worse an ISR whose execution time is equal to or greater than its
11. iRobot 2006a and the Analog Devices ADXL 335 Datasheet Analog Devices 2010 104 An Introductory Lab in Embedded and Cyber Physical Systems Bibliography Analog Devices 2010 ADXL335 Datasheet Rev B mirrored from http LeeSeshia org lab releases 0 05 documents AnalogDevices_ 10_Adx1335Datasheet pdf Available from http www analog com static imported files data sheets ADXL335 pdf 2011 ADXL335 product page Available from http www analog com en mems sensors inertial sensors adx1335 products producr neml ASUS 2011 ASUS WL 330gE product page Available from http www asus com Networks Wireless Routers WL330gE Bluetooth Special Interest Group 2003 Bluetooth HID Profile Version 1 0 Adopted Available from https www bluetooth org Technical Specifications adopted htm Brooks C 2008 Project management instructions Mirrored from http LeeSeshia org lab releases 0 05 documents Brooks 08 ProjectManagement doc Available from http technology berkeley edu cio tpo project pmresources tools Project_ Charter Instructions doc 105 C 3 LAB WORKSTATION HARDWARE 2012 Eecs instructional public documentation svn help Available from https inst eecs berkeley edu cgi bin pub cgi file svn help Dudek G and M Jenkin 2000 Computational Principles of Mobile Robotics Cam bridge University Press Fisher C J 2010 Using an Accelerometer for Inclination Sensing Ana lo
12. the correct wiring to a JTAG device is shown in Table B 1 These connections are used by the JTAG device to program and debug MicroBlaze To download the FPGA fixed personality for the MicroBlaze core open RIO Device Setup from the Windows start menu under Programs National Instruments NI RIO RIO De vice Setup enter the IP address of your sbRIO and download the MicroBlaze fixed personality 88 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE JTAG Signal JTAG Color sbRIO Pin VREF 5V G GND MISO IO 43 MOSI DIO 42 ND TCK 104i TMS 1040 Table B 1 JTAG to sbRIO wiring diagram cpsLab drivers FPGA bitfiles microBlazeFixedPersonality lvbitx Once the bitfile has been successfully deployed switch to the Device Settings tab check the box Autoload VI on device reboot press Apply Settings and then manually reset sbRIO MicroBlaze should now be deployed and running on the FPGA An Introductory Lab in Embedded and Cyber Physical Systems 89 B 5 XILINX MICROBLAZE 90 An Introductory Lab in Embedded and Cyber Physical Systems Lab Setup Contents C 1 Software Tools cc cee cere eee nee ences 92 C 1 1 Software Recommended for a Lab Workstation 92 C 1 2 Software Tools Installation c n 92 C 2 Software Infrastructure eee 93 C 2 Single Board RIO Software Architecture 93 C 3 Lab Workstation Hardware sses esses
13. 3 I cannot see the debug console print statements in software are relayed via JTAG to your desktop computer The Xilinx XMD Console displays these messages First be sure that the Project Explorer view is active If the console is still not visible it can be launched manually From the top menu bar select Xilinx Tools XMD Console The console is then connected to your target by entering the text terminal at the XMD prompt and pressing enter Fig 2 7 2 8 A console window should appear and will display any print messages generated by software running on MicroBlaze An Introductory Lab in Embedded and Cyber Physical Systems 29 2 1 INTERFACE TO MICROBLAZE Ss Fr cp Xilinx Microprocessor Debugger XMD Engine Xilinx EDK 12 4 Build EDK M34 81d Copyright c 1995 2009 Xilinx Inc All rights reserved XMD EMD Accepted a new ICLSock connection from 127 0 0 1 on port 5 Downloading Program C temp eeldi939 aa workspace lab 2 Debhi section vectors reset Ox DO00000 0x00000003 section vectors sw exception x00000008 0xO0000000b section vectors interrupt Ox00000010 0x00000013 section vectors hw exception x00000020 0x00000023 section text Ox 0000050 0x00001077 section init O0xD00001078 0x0000109b section Section section section section section section section section gectlon section RUNNING gt fini 0x0000109c 0x000010b7 odata Ox000010bE 0x00001511 Sdataz Ox00
14. 3 Open the Project From the extracted project files open the file Cal Climber lvproj LabVIEW Project File It may take a few minutes to load the project You may receive a warning that dependencies were loaded from a new path this is normal and may be disregarded 4 Connect to your Target In the Project Explorer you will see an sbRIO target Right click on the target select Properties and update the IP address with that of your robot An Introductory Lab in Embedded and Cyber Physical Systems 49 3 3 IROBOT NAVIGATION IN STATECHARTS 3 3 5 Lab Exercises Discrete simulations of continuous systems are approximations and are subject to numer ical error These simulations are based on ordinary differential equations or differential algebraic equations that are computationally expensive to solve and numerical accuracy is balanced against real time performance The scope of any simulator is limited one simulation tool may focus on kinematics another on electricity and magnetism another on fluid mechanics another on energy another on quantum and nuclear dynamics and so on Some tools are dedicated to modeling the behavior of computers themselves A physical model of the Cal Climber is included in the LabVIEW Robotics Simulator a tool that simulates robots their environment and obstacles Simulations are rendered in 3D and in real time iRobot sensor packets are constructed from the state of the simulation and passed into
15. Brooks 2012 4 1 2 Equipment and Software Required 1 Desktop computer 2 Word processor 3 Tortoise SVN Tortoise SVN Team 2012 An Introductory Lab in Embedded and Cyber Physical Systems 61 4 1 PROJECT MANAGEMENT 4 1 3 Prelab Exercises 62 l What are two advantages of using a version control system such as SVN 2 Alice and Bob both update their working copies at the beginning of the day They Un start editing the same plain text file Alice commits her changes in the afternoon What happens when Bob tries to commit his changes at the end of the day What should Bob do What is the SVN checkout URL for your group your group number is on the Google spreadsheet How long should a project charter be Why is it important to have a brief charter Suppose you are writing the work breakdown to design an automobile which has subsystems such as steering horn drivetrain transmission motor etc Give an example of a breakdown which would a Violate the 100 rule b Violate the Mutually Exclusive rule Make a short list of skills experience interests you think would be most relevant for your project 1 e Microcontroller coding Circuit design Project Management etc Next to each give an example project or class you took which demonstrates that skill If you know you will be using a mentored project from the website communicate with them before this lab asking for whatever details
16. If svn is not found then install XCode from http developer apple com xcode Note that XCode is roughly a 1 gigabyte download Apple is charging 5 for XCode 4 but XCode 3 will also work Unfortunately for the Mac the free GUI Subversion options are fairly limited SCPlugin seems to be the best option out there coming from the makers of subversion It can be found at http scplugin tigris org 64 An Introductory Lab in Embedded and Cyber Physical Systems 4 PROJECTS 4 1 5 Lab Exercises The exercises here guide you in the creation of a project charter Your charter serves as the lab report for these exercises Do not enumerate the questions below in your charter but instead make sure that each question is answered somewhere in your project charter 1 Team Member and Project Selection During this lab your choice before or after your charter is written discuss with your lab TA that all skills requirements for your project are satisfied by your group members If you have a large 4 or 5 group be prepared to justify why the extra manpower is needed a Who are your project members b Give a one or two sentence description of your project 2 Plan your Project Follow Project Charter Instructions Brooks 2008 to create a project charter Ensure that you are reasonable in your objectives and deliverables especially considering the experience of your group 1 e Do not make a circuit board a major deliverable if no g
17. Lab in Embedded and Cyber Physical Systems B LAB HARDWARE Figure B 12 Nintendo Wii Remote exposed WiiBrew 2011 dress is not visible on the WiiMote device itself but can be found by pairing to a desktop computer Bluetooth pairing becomes difficult when multiple devices are present as may be the case in a laboratory This issue is resolved by pairing according to the MAC address of the specific device one wishes to pair Unfortunately the MAC address is not visible on the WiiMote itself it can be found by manually pairing the WiiMote using the standard Win dows Bluetooth device paring Once paired the device properties will show the MAC address The MAC address can then be printed on the side of the device for future refer ence B 4 2 Exercises 1 This exercise requires that you read about the Bluetooth interface to the WiiMote Part of the goal of this exercise is to get familiar with how to find the required information For each question first visit the unofficial WiiBrew Wiki to locate the relevant command sequence then reference the official Bluetooth HID documentation to decode its meaning Use hexidecimal Ox__ notation for all numeric values a What is the command to enable LEDs 1 and 3 Identify the Transaction Header Transaction Type and Parameter Report ID and Payload if present b Given the sequence to enable LEDs 1 and 3 how can it be modified to also enable the rumble motor c What is the co
18. and Cyber Physical Systems vii Preface in the EECS Department at UC Berkeley most particularly Ferenc Kovac and Winthrop Williams Support with software and networking infrastructure was provided by Linda Huang and Kevin Mullally We also thank the graduate student instructors GSIs who supervised initial offerings of the course and help to develop and debug these lab exer cises particularly Dai Bui Shanna Shaye Forbes Ben Lickly Wenchao Li Isaac Liu Kevin Weekly and Michael Zimmer Vill An Introductory Lab in Embedded and Cyber Physical Systems Sensor Interfacing and Calibration Contents 1 1 Interface to and Calibrate the WiiMote 2 1 1 1 Suggested Reading 000 048 1 1 2 Equipment and Software Required 1 1 3 Prelab Exercises c 0008 1 1 4 LabExermis eSs 99 ee Ee Es 1 1 5 Troubleshooting ccn ON BW Ww The exercises in this chapter guide you in interfacing and calibrating sensors These intro ductory exercises focus on key concepts particularly on identifying bias and sensitivity explained in Lee and Seshia 2011 Draft Chapter on Sensors and Actuators 1 1 INTERFACE TO AND CALIBRATE THE WIIMOTE 1 1 Interface to and Calibrate the WiiMote This lab focuses on accelerometers We will use the Nintendo Wii remote known infor mally as a WiiMote which includes a three axis accelerometer You will interface your computer wit
19. period may cause unpredictable or unstable behavior Interrupts step outside the paradigm of sequential code and care must be taken to ensure no two processes attempt to simultaneously access shared resources It is important to document any shared resources used by an ISR including whether or not the ISR will read or write to a resource It is difficult to debug interrupts since their behavior may be intimately tied to the tim ing of the system and the occurrence of external events A common mistake is to use a costly debugging technique like printing to a console or communication port in the body of an ISR such operations are processor intensive and access shared hardware resources with the potential of contributing significant timing and logical artifacts Any debugging instructions in an ISR will affect timing but there are reasonably safe debugging mecha nisms that will have minimal impact such as toggling a digital output line or incrementing a counter both of which may be executed in a single processor cycle The framework provided for this lab uses such techniques Your sbRIO is connected to an analog accelerometer whose x y and z axes are connected to ADC channels 0 1 and 2 respectively 1 Poll the ADC From the ADCPo11 project open the file adcpoll c This is the only file you need to modify to complete this exercise Configure the main program loop to continuously poll the ADC and display the results to the debug consol
20. reside entirely in the Statechart you do not need to modify any dataflow VIs First run Cal Climber Simulator vi to see the default behavior of the robot Then in your Project Explorer navigate to My Computer Cal Climber State Machine Diagram vi This is where you will develop the solution to this exercise Program the simulated robot to drive straight when the Play button is pressed on the front panel simulation of the iRobot When an obstacle is encountered such as a cliff or an object the robot should navigate around the object and continue in its original An Introductory Lab in Embedded and Cyber Physical Systems 51 3 3 IROBOT NAVIGATION IN STATECHARTS orientation Keep in mind that an obstacle or cliff may be detected during your obstacle avoidance algorithm a Provide a description and screenshot of your obstacle avoidance algorithm 2 Navigate the iRobot The Statechart you designed in the simulator is configured to deploy on your embedded target In the Project Explorer navigate to sbRIO and open Cal Climber Target vi This is the main VI for the sbRIO and is responsible for sampling the accelerometer reading the iRobot sensors and transmitting drive commands You code should reside entirely in the Statechart you do not need to modify any dataflow VIs though you may wish to add a MathScript node to filter the accelerometer signal Run Cal Climber Target vi to deploy your Statechart to your target
21. service routine 21 iRobot Create 73 ISA 75 LabVIEW 68 LabVIEW Control Design and Simulation Module 68 LabVIEW FPGA bitfile 93 LabVIEW MathScript 69 LabVIEW Real Time 69 LabVIEW Statecharts Module 69 LED 85 light emitting diodes 85 MAC 86 media access control 86 memory mapped registers 12 MoC 68 model of computation 68 model based design 67 68 motion sensing 85 National Instruments 75 Nintendo 2 Nintendo Wii Remote 85 PowerPC 75 pulse width modulation 12 PWM 12 75 real time operating system 67 reconfigurable processor 75 RIO Mezzanine Card 76 RTOS 67 69 rumble 85 sbRIO 75 shared object 75 Single Board RIO 75 soft core processor 75 Statecharts 69 UART 93 VI 68 virtual instrument 68 Wii remote 2 WiiMote 2 WiiMote Interface vi 5 7 9 WiiMote Pair vi 5 9 Xilinx 75 An Introductory Lab in Embedded and Cyber Physical Systems INDEX 113 INDEX 114 An Introductory Lab in Embedded and Cyber Physical Systems
22. the file WiimoteLib dlltoWiimoteLib dll bak and relaunch LabVIEW 6 My VI is broken and raises the error Invalid Procedure or Function Not Found on the WriteStatusReport node This may occur if you are not using the WiiMoteLib binary distributed with the lab materials The standard library does not allow external programs to transmit arbitrary status report packets We An Introductory Lab in Embedded and Cyber Physical Systems 9 1 1 INTERFACE TO AND CALIBRATE THE WIIMOTE modified the WiiMoteLib source to add this functionality and provide the source as part of the downloadable lab materials Make sure there are no other instances of the WiiMoteLib library in the system path 10 An Introductory Lab in Embedded and Cyber Physical Systems Programming of Embedded Systems Contents 2 Interface to MicroBlaze c eevee 12 2 1 1 Suggested Reading 2 000 12 2 1 2 Equipment and Software Required Ln 13 2 1 9 Prelab Exercises coe so ecd rooe ee a EY 14 214 Lab Setup a4 os ee be eae 6 eee we X owe x3 15 2125 Lab Exercises 64 4 3 4644 SHS e owe doe EES 21 2 1 6 Troubleshooting cnn 23 The exercises in this chapter guide you in programming embedded systems 11 2 1 INTERFACE TO MICROBLAZE 2 1 Interface to MicroBlaze This lab focuses on interfacing with an embedded microcontroller in C Your software executes bare iron or in the absence of a scheduli
23. 001512 0x00001517 data 02x00001516 020000165b Ctors Ox0000165c 02x00001663 dtors 02x00001664 0x0000166b eh frame x0000166c O0x0000166f jor 02x00001670 0x00001673 bas 02x000016768 0x000016b7 heap Ox000016b6 0x0000lab7 Stack Ox0000labs Ox0000leb7 Setting PC with Program Start Address Ox00000000 Figure 2 8 Connected debug console An Introductory Lab in Embedded and Cyber Physical Systems Design of Cyber Physical Systems Contents 3 1 iRobot NavigationinC 00 0c eseese ar 3 1 1 Suggested Reading 040 27 3 1 2 Equipment and Software Required ex 3 1 3 Prelab Exercises 2i o9 o9 694448486 68646 dus 20 36 Lab SeCUP 36226686486 2 ean PCR n AU e d EORR de d 30 31 5 Lab Exercises o eoo oo ox oh Ro dhe RO s 38 3 1 6 Troubleshooting ls 39 32 iRobot Hill ClimbinC r 40 3 2 1 Suggested Reading 2 2 000 40 3 2 2 Equipment and Software Required 4 3 2 9 Prelab Exercises oe 9 oescw o om wd 6 hos a a oe e E 42 5 24 Igo SCP xao SS ASO n RE exe c E Re deuh s 43 23449 Lab Exercis S 2 4 4 es Roche ode e Ho hg Be OR a 44 32 6 Troubleshooting 45 33 iRobot Navigation in Statecharts 46 3 3 Suggested Reading ls 46 3 3 2 Equipment and Software Required 47 2 9 9 WPrelaDTXercises vex x r4 ch ewm ome Bed wed we de E 8 48 S58 Lab Se s
24. 9 A 1l 3 LabVIEW Real Time leen 69 A 1 4 LabVIEW Statecharts Module 69 This appendix describes software used in the lab exercises in this text and provides ci tations with links to detailed documentation The labs include hands on experience at three levels of abstraction At the highest level we use LabVIEW to introduce students to model based design One level down from that we use the C programming language and a real time operating system RTOS One level down from that we use C on a bare iron microprocessor a microprocessor without an operating system 67 A 1 LABVIEW A 1 LabVIEW To gain experience with model based design we use National Instruments Lab VIEW Laboratory Virtual Instrument Engineering Workbench Kodosky et al 1991 Lab VIEW is a graphical design environment for scientists and engineers LabVIEW appli cations can run on desktop computers or embedded controllers and are most commonly designed to interface with sensors actuators instruments data acquisition devices and other computers and embedded devices A LabVIEW application is called a virtual instrument VI A VI consists of a front panel and a block diagram The front panel provides an interface for setting parameters executing a VI and viewing results The block diagram defines what the VI does when it executes LabVIEW block diagrams use a particular form of a dataflow model of compu tation MoC as described in L
25. An Introductory Lab in Embedded and Cubor Phusical Systems Jeff C Jense y Edward Ashford Loo E lt 2 Sanjit Arunkumar Geshia ES ow Copyright 2012 FIXME Copyright All rights reserved Zeroth Edition Version 0 05 Please cite this book as J C Jensen E A Lee and S A Seshia An Introductory Lab in Embedded and Cyber Physical Systems http leeseshia org lab 2012 Analog Devices and iMEMS are trademarks of Analog Devices Inc Asus is a registered trademark of ASUSTeK Computer Inc Bluetooth is a trademark owned by Bluetooth Special Interest Group Inc Freescale is a trademark owned by Freescale Inc IBM and PowerPC are trademarks owned by IBM Inc iRobot Create M and Roomba are trademarks owned by iRobot Inc Microsoft Windows and Windows Vista are trademarks owned by Microsoft Inc National Instruments M and LabVIEWTM are trademarks owned by National Instruments Inc Nintendo and Wii Remote M are trademarks owned by Nintendo Inc Texas Instruments M is a trademark owned by Texas Instruments Inc Xinlinx and MicroBlaze are trademarks owned by Xilinx Inc All other trademarks service marks and trade names referenced in this text are the property of their respective owners Unless otherwise noted this text has no association with any other company product or trademark Contents Preface 1 Sensor Interfacing and Calibration 1 1 Interface to and Calibra
26. N me 2 1 2 Equipment and Software Required 1 PC computer running Microsoft Windows XP Windows Vista or Windows 7 2 Xilinx SDK 12 4 3 National Instruments Single Board RIO a sbRIO 9606 embedded microcontroller B 3 b PS 2 PS 3 or PS 15 power supply c Analog RMC C 3 2 4 Xilinx Platform Cable USB II JTAG An Introductory Lab in Embedded and Cyber Physical Systems 13 2 1 INTERFACE TO MICROBLAZE 2 1 3 Prelab Exercises l Introduction to Embedded Systems Lee and Seshia 2011 a Chapter 9 Input and Output Ex 1 3 Appendix B Lab Hardware B 3 National Instruments Single Board RIO 9606 all exercises One way to read from an ADC is to use a loop in the main function to trigger an ADC conversion wait for completion read its result and print the result to the screen a Is this concurrent or sequential software b Are processor resources well utilized by this method c Is timing explicit in this method In what ways could you attempt to achieve a fixed sampling rate A second way to read from an ADC is to use timed interrupts A periodic timer ISR triggers an ADC conversion waits for completion and stores its result in a global variable The main program loop is tasked with printing the result to the screen a Is this concurrent or sequential software b Are processor resources well utilized by this method c Is timing explicit in this method In what ways could you at
27. O Be patient when connecting it takes time to connect over wireless An Introductory Lab in Embedded and Cyber Physical Systems 39 3 2 IROBOT HILL CLIMB IN C 3 2 iRobot Hill Climb in C This lab builds on the concept of programming cyber physical systems introduced in 2 and focuses on feedback control You will program an external embedded controller to interface with the 1Robot Create robotics platform Your goal in this lab is to implement a state machine that instructs the robot to navigate to the top of an incline while avoiding cliffs and obstacles 3 2 1 Suggested Reading All suggested reading from 93 1 iRobot Navigation in C Carefully read the following content and be comfortable with the concepts covered before beginning these exercises 1 Introduction to Embedded Systems a Chapter 2 Continuous Dynamics 2 4 Feedback Control b Draft Chapter on Sensors and Actuators i 97 1 Models of Sensors and Actuators ii 97 2 2 Measuring Tilt and Acceleration Skim these documents to understand their content and layout You should be able to quickly find relevant information within them We refer you to key topics but you may need to reference other sections to complete these exercises ADXL335 Datasheet Analog Devices 2010 ADXL335 Breakout Schematic SparkFun 2009 Appendix B Lab Hardware B 2 iRobot Create iRobot Create Owner s Guide Robot 2006b iRobot Create Open Interface OI Sp
28. RMC Pinout dia grams replicated from the Analog Devices ADXL 335 Datasheet Analog Devices 2010 iRobot Create cargo bay connector Figure C 9 Wiring iRobot UART to the sbRIO Analog RMC Pinout diagrams repli cated from the iRobot Create Open Interface Ol Specification iRobot 20063 102 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP iRobot Create cargo bay connector 0 amp 9 s C2 9 9 24 ed e eD 29 12 62 G TL cl a Ss 3 a 5 O 0 0 oer TII TILLI e 9 z E Bop d ob ob A A CD c2 co L5 bo ca m Ul n DO O 3 no teoidpurzruvs Os Uu cup cq cu t v ES 999999099098 eo00 09000 o 7o E Ce Power Adapter o p o UE DE ETE Ss sbRIO Analog RMC sbRIO power Figure C 10 Cal Climber wiring diagram A custom power adapter switches power to the sbRIO and the wireless router Pinout diagrams replicated from the iRobot Create Open Interface Ol Specification iRobot 2006a and the Analog Devices ADXL 335 Datasheet Analog Devices 2010 An Introductory Lab in Embedded and Cyber Physical Systems 103 C 3 LAB WORKSTATION HARDWARE iRobot Create cargo bay connector sbRIO power sbRIO Analog RMC Figure C 11 Cal Climber wiring diagram All devices are powered directly from the iRobot or sbRIO Pinout diagrams replicated from the iRobot Create Open Interface Ol Specification
29. SCS sen eecenetus teehee eed een 4 adi 74 B 3 National Instruments Single Board RIO 9606 75 B 3 1 A Reconfigurable Architecture 73 B 3 2 Analog RMC 44 54 4 8444860 4 Baw oe Ald 76 B 33 RIO Device Setup 82 B 34 RIO Imaging Tool 83 Boo JExXCiwees pereanta Ad owe CEES ee i E E 83 B 4 Nintendo Wii Remote 000e eee eevee 85 B 4 1 Wireless Interface 86 BA BXOTOINCS uo mo 39 ea Ed Xeh Eu ss eD iR 87 BS Xilinx MicroBlaze i466 4 Gm oe ae OO 3 eo E Re we 88 B 5 1 Debugging MicroBlaze onsbRIO 88 This appendix describes hardware used in the lab exercises in this text and provides cita tions with links to detailed documentation 71 B 1 ANALOG DEVICES IMEMS ADXL 335 ACCELEROMETER B 1 Analog Devices MEMS ADXL 335 Accelerometer Useful references 1 ADXL 335 Datasheet Analog Devices 2010 2 ADXL 335 product page Analog Devices 2011 Related reading 1 Introduction to Embedded Systems Lee and Seshia 2011 a Draft Chapter on Sensors and Actuators i 97 1 Models of Sensors and Actuators ii 97 2 2 Measuring Tilt and Acceleration 2 Implementing a Tilt Compensated eCompass using Accelerometer and Magnetome ter Sensors Ozyagcilar 2011 3 Using an Accelerometer for Inclination Sensing Fisher 2010 B 1 1 Exercises Usethe linear model for digital sensors to model the interaction b
30. W Control Design and Simulation Module Help P N 371894F 01 Available from http zone ni com reference en XX help 371894F 01 2011c LabVIEW Statechart Module Help P N 372103D 01 Available from http www ni com pdf manuals 372103d zip 2011d NI sbRIO 9605 9606 OEM Operating Instructions and Specifications P N 373378A 01 mirrored from http LeeSeshia org lab releases O0 05 documents Nationallnstruments 11 sbRIO9606 pdf Available from http www ni com pdf manuals 373378a pdf 2011e NI sbRIO 9606 product page Available from http sine ni com nips cds view p lang en nid 210003 2011f NI Single Board RIO Setup and Services Available from http www ni com singleboard setup 201Ig What is the MathScript RT Module tutorial mirrored from http LeeSeshia org lab releases 0 05 documents NationallInstruments 11 WhatIsTheMathScriptRtModule pdf Available from http zone ni com devzone cda tut p id 6206 2012a LabVIEW product page Available from http ni com LabVIEW 2012b MathScript product page Available from http www ni com labview mathscript 108 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP Nintendo 2011 Controllers at Nintendo Available from http www nintendo com wii console controllers Orlando G 2010 Wii remote image Creative Commons BY SA 3 0 via Wikipedia Available from http en wikipedia org wiki File
31. Wiimote png Ozyagcilar T 2011 Implementing a tilt compensated ecompass using accelerometer and magnetometer sensors Analog Devices application note AN 4248 rev 2 mir rored from http LeeSeshia org lab releases 0 05 documents Ozyagcilar 11 ImplementingCompass pdf Available from http www freescale com files sensors doc app note AN4248 pdf SparkFun 2009 Adxl335 schematic rev 13 mirrored from http LeeSeshia org lab releases 0 05 documents SparkFun 09 Adxl1335Schematic pdf Available from http dinmh9ip v2uc cloudfront net datasheets BreakoutBoards ADXL335 v13 pdf Stoops M 2008 Wii remote uncovered Copyright c Michael Stoops GNU Free Doc umentation License 1 2 Available from http wiibrew org wiki File Wii Remote uncovered jpg Texas Instruments 2010 12 10 8 Bit Ended MicroPower 1 MSPS Serial 16 12 8 4 Channel Single Interface ADCs SLAS605A mirrored from http LeeSeshia org lab releases 0 05 documents TexasInstruments 10 ADS7953 pdf Available from ltbb54 www ti com lit ds slas605a slas605a pdf Tortoise SVN Team 2012 Tortoise SVN product page Available from http tortoisesvn net Washington C 2009 Graphical System Design with LabVIEW Statecharts National Instruments webcast Available from http zone ni com wv app doc p id wv 213 WuBrew 2011 Wiimote November 2011 mirror available from RLCD LeeSeshia org lab releases 0 05 documents W
32. a controller that outputs desired wheel speeds No simulation will be 100 accurate and you may encounter differences between the simulated and real worlds Specifically e The simulator calculates distance traveled and rotation turned by the iRobot by measuring its change in position The real robot reports distance and angle by sensing the movement of its wheels This yields the following differences between simulation and real performance In the simulator distance is always unsigned On the real robot distance is signed A simple way to ensure the same behavior in simulation and on the physical device is to use absolute values when calculating distance If the wheels on the real robot are slipping the robot still reports this as dis tance traveled and angle turned since the wheels are still moving In the simulator only actual movement of the robot is measured e The infrared range finders on the real robot indirectly measure distance to the ground actually they measure light intensity Light intensity varies significantly between different types of materials and lighting conditions The simulator does not model light intensity and instead the cliff sensor signal values are directly pro portional to distance On the real robot these values may differ based on material and lighting conditions You may need to adjust thresholds between the simulator and the real robot e The simulator wraps all angles to 1 7 the rea
33. ab Exercises 1 Appendix B Lab Hardware 8B 2 2 Exercises all 2 Review the template project provided for the lab exercises The code can be down loaded from the course website under the title Cal Climber Lab Exercises a The template code implements a state machine sketch the state machine b Does the template code use polling or interrupts to read the 1Robot sensors c A software driver for a hardware peripheral uses the xqueue data type What is this data type and for which peripheral is it used Hint review the file xqueue h d The xqueue data type encapsulates a buffer whose size must be a power of two What 1s the benefit of such a constraint Hint review the file xqueue h e When a function returns a value of type status_t what function returns true if this value represents an error An Introductory Lab in Embedded and Cyber Physical Systems 20 3 1 IROBOT NAVIGATION IN C 3 1 4 Lab Setup The following exercises reference files that may be downloaded from the Jensen Lee and Seshia website http LeeSeshia org lab releases 0 05 Be sure to completely extract all archives before opening any files or you may receive dependency errors Once extracted the exercises may be found in the folder C ocalcolimber 1 Verify the Hardware Setup Your iRobot Create is interfaced with an sbRIO an Analog RMC and a wireless bridge the combination is referred to as the Cal Climber Verify the components are corr
34. arch For existing Eclipse projects CDpacuments and Settings ee149 xx Desktop calClimberC zip Browse Iv calclimber Figure 3 3 Browse for the project archive ca1ClimberCProject zip An Introductory Lab in Embedded and Cyber Physical Systems 33 3 1 IROBOT NAVIGATION IN C wu Target Connection E x Edit the target connection Review and customize the target server options Mame sbRIC Shared Associated target platform wind River VxWoarks 6 3 Target Server Options object Path Mappings Target State Refresh Backend settings Backend wdbrpe Cpu fidefault From target Target name IP address 10 32 40 120 Thaci Port Kernel image C File path from target iF available File urtWorkspacelcalClimbertsbRIOtexWorks 9606 Browse Bypass checksum comparison Advanced target server options Iw Verbose target server output Options R LI Workspace RWw Bk 3 A Edit Command Line botsyvr Y R Ll Wwarkspace RWw Bt 3 c Us WorkspacecalClimber sbRIC yx Works 9606 4 10 32 40 120 Figure 3 4 Target Connection Settings reflecting the IP address of the target and the path to the VxWorks kernel image The name field may not be present 34 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS Connect Target sbRIUO BERR Connect Target IO Connecting Connect Target sbRIO
35. ation together with a suitably powerful and adaptable embedded controller as a platform for model based design of cyber physical systems How to Use this Book The electronic version of this book includes a number of hyperlinks to documents that are needed or helpful for completing the labs These documents are provided as downloads at http LeeSeshia org lab They are also cited in the references section at the end of the book where URLs to the original document are provided vi An Introductory Lab in Embedded and Cyber Physical Systems Preface Laboratory exercises in this text are designed to be modular so that they may be chosen according to the topics that best suit a course Dependencies between labs are explicitly stated and generally indicate two or more labs fit into a sequence Software and hardware tools used are listed at the beginning of each laboratory and are covered in Appendix A Lab Software and Appendix B Lab Hardware Setup of laboratory workstations and equipment is covered in Appendix C Lab Setup Each structured laboratory consists of a pre laboratory assignment and in laboratory ex ercises The pre laboratory exercises are critical preparation 1n advance of in laboratory exercises as they introduce documentation tools and concepts used We suggest formal laboratory sessions begin with a brief lecture that covers the instruments used their theory of operation and the overall goal of the laboratory Teams of two
36. configured for the master interrupt controller on MicroBlaze to handle ADC interrupts b Which register must be configured for ADC interrupts to be generated c To which register should an ISR write to clear the interrupt status d Which register holds the result of an ADC conversion e Write a single C statement to trigger an ADC conversion on channel 5 f Write a single C statement to block until an ADC conversion is complete g Write a single C statement to read the result of an ADC conversion into the variable adcConversionResult and another statement to read the index of the channel associated with the conversion into adcChannelIndex 84 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE Figure B 10 Nintendo Wii Remote Orlando 2010 B 4 Nintendo Wii Remote The Nintendo Wii Remote WiiMote Fig B 10 is a handheld wireless game con troller with motion sensing capability It is an embedded system composed of sensors actuators a wireless radio and a microcontroller Its sensors consist of a three axis ana log accelerometer an infrared camera and momentary buttons its actuators consist of a speaker a DC motor for rumble functionality and LEDs light emitting diodes The WiiMote is a simple popular and widely available embedded system and its wireless interface allows it to interact with a desktop computer Useful references 1 Wii Remote product page Nintendo 2011
37. could change during the course of the project as you learn and debug things 4 Set a Work Breakdown Structure Generate a Work Breakdown Structure WBS for your project being careful to satisfy the 100 and mutual exclusion rules The diagram should show dependencies between milestones and which tasks can be performed in par allel For simpler projects this could be very linear but try to divide the tasks so as much as possible can be done in parallel so work can be split between people Ensure that the WBS answers when a milestone will be finished and who is responsible for it finishing 5 Check your Charter into SVN 6 Individual Writeup In addition to the project charter each team member should write an individual report which answers the following questions a What is the critical path on your WBS How long will it take to complete b What are the amounts time you have allotted to i Design ii Development i e new stuff being written ii Debugging iv Other tasks such as writing presentations or reports c How have you designed your schedule adjust for unforeseen delays or early com J pletions d When have you regularly scheduled to meet with your mentor 66 An Introductory Lab in Embedded and Cyber Physical Systems Lab Software Contents A LabVIEW 23x 339 9 4 09 6666445 66646465443 68 A 1 1 LabVIEW Control Design amp Simulation Module 68 A 1 2 LabVIEW MathScript c n 6
38. ctory Lab in Embedded and Cyber Physical Systems 47 3 3 IROBOT NAVIGATION IN STATECHARTS 3 3 3 Prelab Exercises Complete these exercises only if you have not already done so in a previous lab 1 Appendix B Lab Hardware B 2 2 Exercises all 2 How does the Statecharts model of computation differ from finite state machines 3 In a Statechart what is the difference between a state and a region 4 In LabVIEW Statecharts what 1s represented by an arrow containing three open or closed cells What does each cell represent What does this arrow connect 48 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 3 4 Lab Setup The following exercises reference files that may be downloaded from the Jensen Lee and Seshia website http LeeSeshia org lab releases 0 05 Be sure to completely extract all archives before opening any files or you may receive dependency errors Once extracted the exercises may be found in the folder LabVIEW calClimber 1 Verify the Hardware Setup Your iRobot Create is interfaced with an sbRIO an Analog RMC and a wireless bridge the combination is referred to as the Cal Climber Verify the components are correctly wired as shown in Fig C 10 you do not need an accelerometer for this lab 2 Extract the Project Files The project files may be downloaded from the course web site http LeeSeshia org lab releases 0 05 calClimberLabVIEW zip
39. d and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS WW Debug Create manage and run configurations Configurations Name calClimber calClimber out tat 10 32 40 124 jx Attach to Target Kernel Task n z ainber CACKA EB Main s Downloads Projects to Build S Debug Options Ey Source sui Qs Process on Target Connection QB RTP on Target Connection to use tat 10 32 40 124 localhost Hide unconnected Properties Add Kernel Task to Run Connect Egt 10 32 40 124 is connected For running Kernel T Entry Point calclimber Browse Arguments Priority 100 Stack size 0x10000 Advanced Options Edit Preview New Delete Apply dee Figure 3 8 Build configuration b In the Downloads tab select the build output file and click the Edit but ton Check both Load Symbols to Debug Server and Download even when file 2 not modified then click Advanced Options In the advanced options dialog uncheck do not unload the exiting module These options make it easier to start and stop debugging sessions c In the Debug Options tab uncheck the box Break on Entry so that your code immediately begins executing when the debug button is pressed An Introductory Lab in Embedded and Cyber Physical Systems 37 3 1 IROBOT NAVIGATION IN C 3 1 5 Lab E
40. dapter can be used to power the sbRIO and wireless adapter The power adapter PCB layout build of materials and publication exports are downloadable from http LeeSeshia org lab releases 0 05 setup irobotDCadapter zip A complete wiring diagram is shown in Fig C 10 custom power adapter used and Fig C 11 no custom power adapter 1 If using the custom power adapter to switch power from the sbRIO and or wireless router Fig C 5 a Mount the adapter in the cargo bay of the iRobot Create b Connect iRobot Create cargo bay pin 12 15V switched to J1 pin 1 15V in on the power adapter 98 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP c Connect iRobot Create cargo bay pin 25 GND to J1 pin 2 GND on the power adapter 2 Mount the sbRIO in the cargo bay of the iRobot Create 3 Power the sbRIO Fig C 6 a If using the custom power adapter Fig C 6 a i Connect power adapter terminal J3 pin 1 15V out to the positive terminal of the sbRIO power connector ii Connect power adapter terminal J3 pin 2 GND to the C common terminal of the sbRIO power connector b If instead powering directly from the iRobot Create Fig C 6 b i Connect iRobot Create cargo bay pin 12 15V switched to the positive termi nal of the sbRIO power connector ii Connect iRobot Create cargo bay pin 25 GND to the C common terminal of the sbRIO power connector iii The sbRIO should now be powered wh
41. e You should not configure any interrupts for this exercise a Provide the content your main program loop b When configuring the ADC and main program loop were there any steps that set the rate at which the ADC is polled or does your code run as fast as possible 2 Use Timed Interrupts to Poll the ADC From the ADCPollwithTimer project open the file adcpolltimer c This is the only file you need to modify to complete this exercise You may reuse code from previous exercises An Introductory Lab in Embedded and Cyber Physical Systems 2 2 1 INTERFACE TO MICROBLAZE Configure a timed interrupt to poll the ADC every 5 milliseconds You should not poll the ADC in the main program loop a Provide the content your main function needed to configure the timer ISR as well as the content of the timer ISR 3 Use ADC and Timed Interrupts to Read the ADC From the ADCPollInterrupt project open the file adcinterrupt c This is the only file you need to modify to complete this exercise You may reuse code from previous exercises Configure a timed interrupt to trigger an ADC conversion every 5 milliseconds but do not poll in the timer ISR instead configure the ADC to generate an interrupt when a conversion is complete and configure the ADC ISR to read the value You should not poll the ADC in the main program loop a Provide the content your main function needed to configure the timer and ADC ISRs as well as the con
42. e Architecture The Xilinx FPGA is a reconfigurable processor comprised of logic units memory and other fundamental building blocks that may be reconfigured at the hardware level When configured appropriately an FPGA can implement hardware peripherals such as commu nication buses PWM generators quadrature encoder interfaces signal processing algo rithms video rending and decoding FPGAs can be configured to implement a micro processor and ISA that can be easily modified with new peripherals and functionality A microprocessor implemented in an FPGA is known as a soft core processor Soft core processors are usually slower than a custom silicon processor with equivalent function ality but they are nonetheless attractive because they are customizable Often multiple soft core processors may be fit onto a single FPGA to create a multicore processor An FPGA fixed personality is a configuration of an FPGA that is meant to be distributed and generally is not modified A fixed personality is a compiled binary file that can be distributed without source code much like a dynamic link library DLL or shared object An Introductory Lab in Embedded and Cyber Physical Systems 75 B 3 NATIONAL INSTRUMENTS SINGLE BOARD RIO 9606 SO library A multiplicity of fixed personalities can be used to rapidly reconfigure an FPGA allowing a single hardware device to serve a broad range of applications B 3 2 Analog RMC The sbRIO 9606 uses a high den
43. e a value of 0 to the ADC_CTRL Start Conversion field ADC GIE Global Interrupt Enable Bit Field Access Values Global Interrupt Enable Write 0 Disable Enable Figure B 6 ADC Global Interrupt Enable ADC_GIE register Writing a O to the Global Interrupt Enable field causes the master interrupt controller to ignore ADC interrupts writing a 1 causes the master interrupt controller to listen and respond to ADC interrupts 80 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE ADC_IP_ISR Ur Interrupt Status Bit Field Access Values Interrupt Status 0 Inactive 1 Active 0 No effect 1 Toggle Figure B 7 ADC Interrupt Status ADC_IP_ISR register Reading a 0 from the Interrupt Status field indicates no interrupt is active and reading a 1 indicates an interrupt is active Writing a O to the Interrupt Status Field has no effect and writing a 1 toggles interrupt status ADC IP IER nd Interrupt Enable Bit Field Access Values 3 Interrupt Enable Write 0 Disable Enable Figure B 8 ADC Interrupt Enable ADC IP IER register Writing a 1 to the Inter rupt Enable field enables interrupt output and writing a O disables it An Introductory Lab in Embedded and Cyber Physical Systems 81 B 3 NATIONAL INSTRUMENTS SINGLE BOARD RIO 9606 B 3 3 RIO Device Setup The National Instruments RIO Imaging Tool erases and reprograms the FPGA of an sbRIO or other RIO de
44. ecification Robot 2006a Appendix B Lab Hardware B 3 National Instruments Single Board RIO 9606 NW NB WN These documents go beyond the scope of the core concepts of these exercises and are provided as additional resources 1 A very straightforward treatment of differential drive robots is given in Dudek and Jenkin 2000 40 An Introductory Lab in Embedded and Cyber Physical Systems Appendix B Lab Hardware B 1 Analog Devices MEMS ADXL 335 Accelerometer 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 2 2 Equipment and Software Required 1 PC computer running Microsoft Windows XP 2 Wind River Workbench 2 5 for VxWorks Wind River Systems 2012 3 Cal Climber C 3 4 a 1Robot Create B 2 b National Instruments Single Board RIO 9606 B 3 c Analog RMC B 3 2 d Analog Devices ADXL 335 B 1 e Asus WL 330ge optional An Introductory Lab in Embedded and Cyber Physical Systems 41 3 2 IROBOT HILL CLIMB IN C 3 2 3 Prelab Exercises 42 1 Appendix B Lab Hardware B 1 1 Exercises all 2 Model physical processes Consider an accelerometer mounted according to the coordinate system in Fig C 4 Let dg a5 45 ag be the specific force of gravity as measured by an accelerometer You may assume the accelerometer has been calibrated and is in units of g a Find d when the robot is on level ground b The robot is placed on a hill with inclination 6 10 z in radians Find d when t
45. ectly wired as shown in Fig C 10 you do not need an accelerometer for this lab 2 Extract the Project Files The project files may be downloaded from the course web site http LeeSeshia org lab releases 0 05 calClimberC zip This archive includes a binary copy of the VxWorks real time OS kernel to allow your computer to debug code running on sbRIO and a project archive that will be imported into your Workbench workspace no need to extract 3 Configure a Workspace From your Start menu open Wind River Workbench 2 5 You will be prompted to select a workspace Fig 3 1 Choose a writable location with no spaces in the path Workbench will create a workspace in this location if none exists already Once the workspace has been created from the top menu bar select File Import to open the Import Wizard You will import an existing project into you workspace and browse for the file calClimberCProject zip Fig 3 2 3 3 Once imported your workspace should show the calClimber project in the Project Navi gator window 4 Build the Project Open the file calclimber c and select from the top menu bar Project Build All This will build the template code 30 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS Workspace Launcher E Select a workspace Wind River Workbench stores your projects in a Folder called a workspace Choose a workspace Folder to use For thi
46. ee and Seshia 2011 What is Missing This is a work in progress and the actual impact of laboratory exercises is difficult to measure objectively Students we have taught are generally interested and engaged cel ebrating their projects as well as those from other teams They are often proud of what they accomplish and even post project presentation videos to the internet Such anec dotes give some insight into the impact of a course but how do we know for sure whether a particular change in the course or laboratory design is actually an improvement We are pleased at least to witness through the course that students surprise both themselves and their instructors that projects demonstrate an understanding of the theoretical concepts introduced in lecture and that students have received job offers from industry mentors A kit based approach to the lab that is commercially supported and costs about the equiva lent of a traditional textbook could go a long way towards facilitating export of laboratory curriculum The iRobot Create meets these requirements and greatly influenced labora tory development We interfaced the internal microprocessor on the iRobot Create with a more advanced external controller for better or worse only because it was underpowered and difficult to reprogram though we have no reason to believe that students benefit ed ucationally from a more powerful processor We seek a kit that offers mobility sensing and actu
47. ee and Seshia 2011 Chapter 6 Concurrent Models of Computation 96 3 Dataflow Models of Computation Useful references 1 LabVIEW product page National Instruments 2012a 2 LabVIEW 2011 Help National Instruments 201 1a 3 Getting Started with LabVIEW National Instruments 2010c 4 LabVIEW Quick Reference Card National Instruments 2010d Related reading 1 Introduction to Embedded Systems Lee and Seshia 2011 a Chapter 6 Concurrent Models of Computation 6 3 4 Structured Dataflow A 1 1 LabVIEW Control Design amp Simulation Module The LabVIEW Control Design and Simulation Module adds a continuous time model of computation to LabVIEW along with tools for designing and implementing feedback control algorithms Useful references 1 LabVIEW Control Design Help National Instruments 201 1b Related reading 68 An Introductory Lab in Embedded and Cyber Physical Systems A LAB SOFTWARE 1 Lee and Seshia 2011 a Chapter 2 Continuous Dynamics 2 2 Actor Models b Chapter 6 Concurrent Models of Computation 96 4 3 Continuous Time Systems A 1 2 LabVIEW MathScript LabVIEW MathScript is an add on module for the LabVIEW that adds text based math into the graphical development environment of LabVIEW Using this native solution for text based math you can combine graphical and textual programming within Lab VIEW National Instruments 2011g Useful references 1 LabVIEW MathScript RT p
48. en the iRobot Create is turned on 4 f using wireless communication add the wireless router Fig C 7 a Mount the wireless router in the cargo bay of the iRobot Create b If using the custom power adapter use a spliced wire with red positive and black ground leads Fig C 7 a i Connect power adapter terminal J2 pin 1 45V out to the positive lead of the router ii Connect power adapter terminal J2 pin 2 GND to the ground lead of the router c If instead powering directly from the sbRIO use a USB to 45V tunnel adapter Fig C 7 b 5 Mount the accelerometer in the cargo bay of the iRobot Create A useful orientation is such that uphill orientation yields equal acceleration measurements on the x and y axes Fig C 4 6 The accelerometer can be powered from the sbRIO and its output should be wired to the sbRIO Analog RMC Fig C 8 a Wire the accelerometer Vs source power pin to the 3 3V pin on the sbRIO Analog RMC b Wire the accelerometer COM GND pin to a ground GND pin on the analog port of the sbRIO Analog RMC An Introductory Lab in Embedded and Cyber Physical Systems 99 C 3 LAB WORKSTATION HARDWARE Figure C 4 Suggested mounting of the accelerometer on the Cal Climber Moore 2006 iRobot Create cargo bay connector Power Adapter Figure C 5 Connecting the iRobot Create to the custom power adapter Pinout diagrams replicated from the iRobot Create Open Interface Ol Specif
49. ensor to the ADC so real world values are read 2 1 1 Suggested Reading Carefully read the following content and be comfortable with the concepts covered before beginning these exercises 1 Introduction to Embedded Systems Lee and Seshia 2011 a Chapter 7 Embedded Processors 87 1 1 Microcontrollers b Chapter 8 Memory Architectures 88 2 1 Memory Maps c Chapter 8 Memory Architectures 88 2 2 Register Files d Chapter 9 Input and Output 9 2 Sequential Software in a Concurrent World 2 MicroBlaze Interrupts and the EDK Hickok 2009 12 An Introductory Lab in Embedded and Cyber Physical Systems 2 PROGRAMMING OF EMBEDDED SYSTEMS Skim these documents to understand their content and layout You should be able to quickly find relevant information within them We refer you to key topics but you may need to reference other sections to complete these exercises Appendix B Lab Hardware B 3 National Instruments Single Board RIO 9606 Appendix B Lab Hardware B 3 2 Analog RMC Appendix B Lab Hardware 8B 5 Xilinx MicroBlaze Embedded System Tools Reference Guide Xilinx 2010a a Chapter 9 GNU Compiler Tools Interrupt Handlers p 133 5 LogiCORE IP XPS Interrupt Controller Xilinx 2010b a S Interrupt Controller Core p 4 b S Programming Model p 9 15 6 LogiCORE IP XPS Timer Counter Xilinx 2010c a S Functional Description p 2 5 b S Register Descriptions p 12 15 IU
50. erometer signal Accelerometers are often used to detect high fre quency signals such as noise and vibration for a game controller lower frequency move ments of the user should be isolated In particular the rumble motor will introduce a high frequency signal Implement a lowpass filter to smooth the signal of the calibrated accelerometer when the rumble motor is on Hint A simple lowpass filter is discussed in Implementing a Tilt Compensated eCom pass Ozyagcilar 2011 a Describe your filter and include an equation for its impulse response frequency response or its output as a function of input b Provide the relevant MathScript code and screenshots of changes if any to the block diagram 8 Share your Feedback what did you like about this lab and what would you change 8 An Introductory Lab in Embedded and Cyber Physical Systems 1 SENSOR INTERFACING AND CALIBRATION 1 1 5 Troubleshooting 1 I receive Error 1172 WiimoteLib WiimoteNotFoundException when run ning WiiMote Interface vi This error occurs if your desktop is not paired with a WiiMote Run WiiMote Pair vi to pair again 2 Iam able to pair the WiiMote but WiiMote Interface vi either does not show in put or returns Error 1172 WiimoteLib WiimoteNotFoundException Check the WiiMote batteries when low the device may stay powered on long enough to pair only to power off shortly thereafter When first powered on and paired the four LEDs should re
51. es reference files that may be downloaded from the Jensen Lee and Seshia website http LeeSeshia org lab releases 0 05 Be sure to completely extract all archives before opening any files or you may receive dependency errors Once extracted the exercises may be found in the folder C ecalclimber The lab setup is the same as in 3 1 Robot Navigation in C An Introductory Lab in Embedded and Cyber Physical Systems 43 3 2 IROBOT HILL CLIMB IN C 3 2 5 Lab Exercises For the exercises below begin with the solution you developed for 3 1 1Robot Naviga tion in C 1 Hill Climb Using feedback from the accelerometer your robot should differentiate between an incline and level ground On level ground the robot should drive straight When an obstacle is encountered such as a cliff or an object the robot should navigate around the object and continue in its original orientation Keep in mind that an obstacle or cliff may be detected during your obstacle avoidance algorithm On an inline the robot should navigate uphill while still avoiding obstacles You may not use cliff sensors as bumpers to hug the side of the incline instead use the accelerometer to determine uphill and employ a control algorithm to stay on heading a Describe and sketch your climbing algorithm b Did you follow a state machine architecture If so which states did you add c How did you account for movement of the robot when reading fr
52. etween an ADXL335 analog accelerometer and an ADC a Given an input voltage Vss 3 35V what is the sensitivity and bias of the accelerom eter Be sure to include units b The accelerometer is connected to a 12 bit ADC whose input range is 0V 5V What is the sensitivity and bias of the accelerometer as seen in software that reads the ADC 12 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE B 2 iRobot Create The iRobot Create is an off the shelf platform capable of driving sensing bumps and cliffs executing simple scripts and communicating with an external embedded controller The iRobot Create is a complete robot development kit that can be controlled without con sideration of mechanical assembly or machine code An internal microcontroller samples its sensors drives its actuators and communicates with external devices over a propri etary serial interface called the iRoobt Open Interface OI standard Robot 2006a The iRobot Create OI defines the electronic and software interface for controlling the robot Useful references 1 iRobot Create Owner s Guide 1Robot 2006b 2 iRobot Create Open Interface OI Specification 1Robot 2006a Related reading 1 Lee and Seshia 2011 a Chapter 7 Embedded Processors 7 1 1 Microcontrollers b Chapter 9 Input and Output 9 1 3 Serial Interfaces B 2 1 Charging The iRobot can be finicky about its state while charging there are some
53. f Avail able from http www xilinx com support documentation ip_ documentation xps intc pdf 2010c LogiCORE IP XPS Timer Counter Version 1 02a mirrored from http LeeSeshia org lab releases 0 05 documents Xilinx 10 LogiCoreIpXpsTimerCounter pdf Available from http www xilinx com support documentation ip documentation xps timer pdf 2010d MicroBlaze Processor Reference Guide version UGO81 v11 4 mirrored from http LeeSeshia org lab releases 0 05 documents Xilinx 10 MicroBlazeProcessorReferenceGuide pdf Avail able from http www xilinx com support documentation sw_ manuals xilinx12_4 mb_ref_guide pdf 110 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP 2011 MicroBlaze Soft Processor Core Available from http www xilinx com tools microblaze htm An Introductory Lab in Embedded and Cyber Physical Systems 111 analog to digital converter 76 bare iron 67 Berkeley Fixed Personality 9606 vi vi 95 Berkeley FPGA fixed personality 93 block diagram 68 Bluetooth 2 87 Cal Climber Simulator vi 51 Cal Climber Target vi 52 dataflow 68 dynamic link library 75 feedback control 68 field programmable gate array 75 fixed personality 82 83 fixed personality 93 FPGA 75 FPGA fixed personality 75 Freescale 75 front panel 68 game controller 85 112 Index HID 86 hyperlinks vi IC 93 IBM 75 instruction set arcitecture 75 interrupt
54. formation about sbRIO and how MicroB laze should be implemented on it MicroBlazeSoftwareSpecification is a board support package which provides drivers to hardware peripherals on sbRIO You do not need to modify either of these projects but feel free to explore their content 3 Run Select the polling project in the Project Explorer and from the top menu bar se lect Project Build All Then right click on the project in the Project Explorer and select Run Run Configurations Right click on Xilinx C C ELF and select New Under the STDIO Connection tab check the box Connect STDIO to Console and change port to JTAG UART You may receive the warning FPGA not configure with a bitstream in this SDK session This warning indicates that the Xilinx SDK was not used to program the FPGA This warning may be dismissed since the fixed personality containing MicroBlaze is properly configured to interact with the Xilinx SDK Check the box FPGA configured outside SDK Do not show this message again and click Yes to continue You may also receive a warning that you do not have administrator privileges when using the XMD debug console with the SDK You may disregard this warning If the program compiles and downloads successfully you should see console output ap pear at the bottom of the Project Explorer view The template code will compile and download to the target without modification but its functionality is inco
55. g Devices application note AN 1057 rev 0 mirrored from http LeeSeshia org lab releases 0 05 documents Fisher_10_ UsingAnAccelerometerForInclinationSensing pdf Available from http www analog com static imported files application notes AN 1057 pdf Harel D 1987 Statecharts A visual formalism for complex systems Science of Com puter Programming 8 3 231 274 Hickok T 2009 MicroBlaze Interrupts and the EDK Mirrored from http LeeSeshia org lab releases 0 05 documents Hickok 09 MicroBlazeInterruptsEDK pdf Available from http courseware ee calpoly edu cpe 329 EDK_Resources th MicroBlaze interrupts pdf iRobot 2006a iRobot Create Open Interface OI Specification version 2 mirrored from http LeeSeshia org lab releases 0 05 documents iRobot 06 CreateOpenInterfaceSpecification pdf Available from http www irobot com filelibrary create Create 200pen 20Interface vZ2 pdf 2006b iRobot Create Owner s Guide version 430 06 mirrored from http LeeSeshia org lab releases 0 05 documents iRobot 06 CreateOwnersGuide pdf Available from http www irobot com filelibrary create Create 20Manual Final pdf 2011 iRobot Create product page Available from http store irobot com create Jensen J C E A Lee and S A Seshia 2011 An introductory capstone design course on embedded systems In ZEEE International Symposium on Circuits amp Sys tems ISCAS special session Design Project
56. h the WiiMote via a Bluetooth wireless link and obtain the raw data from the accelerometer The goal of the lab is to learn how to interpret this raw data by cali brating the sensor As a side benefit you will begin to get some exposure into the process of connecting a computer to external devices to read sensor data and control actuators 1 1 1 Suggested Reading Carefully read the following content and be comfortable with the concepts covered before beginning these exercises 1 Introduction to Embedded Systems Lee and Seshia 2011 a Chapter 9 Input and Output 9 3 The Analog Digital Interface b Chapter 6 Concurrent Models of Computation 86 3 4 Structured Dataflow c Draft Chapter on Sensors and Actuators i 97 1 Models of Sensors and Actuators ii 97 2 2 Measuring Tilt and Acceleration 2 Implementing a Tilt Compensated eCompass Ozyagcilar 2011 a 93 Accelerometer and Magnetometer Outputs b 4 Tilt Compensation Algorithm c 97 2 Modulo Arithmetic Low Pass Filter Skim these documents to understand their content and layout You should be able to quickly find relevant information within them We refer you to key topics but you may need to reference other sections to complete these exercises Appendix A Lab Software 3A 1 LabVIEW Appendix A Lab Software A 1 2 LabVIEW MathScript Appendix B Lab Hardware 8B 4 Nintendo Wii Remote Developing Algorithms Using LabVIEW MathScript RT Module Nati
57. he compiled bitfile that is distributed with each lab module 1 The Berkeley FPGA fixed personality source is included in the lab resource files in the folder An Introductory Lab in Embedded and Cyber Physical Systems 93 C 2 SOFTWARE INFRASTRUCTURE iRobot F Library Digital I O Analog I O PWM UART Counter Figure C 1 Software architecture for the sbRIO 94 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP cpsLab drivers LabVIEW sbRIO 2 Open the project file berkeleyFixedPersonality_9606 lvproj 3 Right click on the sbRIO target and change the IP address to the address of your con troller 4 Open Berkeley Fixed Personality 9606 vi vi This is the top level VI for the FPGA 5 Run the VI This will begin the FPGA synthesis and compilation process which can take an hour or more on some machines When the compilation is complete the VI will be programmed to the FPGA and the VI will enter interactive mode An Introductory Lab in Embedded and Cyber Physical Systems 95 C 3 LAB WORKSTATION HARDWARE C 3 Lab Workstation Hardware C 3 1 Recommended Hardware 1 National Instruments Single Board RIO National Instruments 201 1d a sbRIO 9606 embedded microcontroller b PS 2 PS 3 or PS 15 power supply c Custom analog module C 3 2 2 Asus WL 330ge ASUS 2011 wireless router optional for wireless programming and debugging of sbRIO 3 Custom power adapter opti
58. he interplay between computation and physical dynamics Our approach draws from topics in physics circuits transducers dig ital signal processing digital communications networking operating systems robotics control theory algorithms probability and logic Through structured laboratory exer cises we aim to expose the lowest levels of abstraction for programming embedded sys tems such as traditional imperative programming models through to the highest levels of abstraction such as graphical system design tools and concurrent models of computation The laboratory exercises in this text emphasize the basics of models analysis tools and design of embedded systems Exercises guide students in modeling the physical world with continuous time differential equations and modeling computations using logic and discrete models such as state machines These modeling techniques are evaluated through the use of meta modeling illuminating the interplay of practical design with formal mod els of systems that incorporate both physical dynamics and computation Formal tech niques are introduced to specify and verify desired behavior A combination of structured Preface labs and design projects solidifies these concepts when applied to the design of embedded and cyber physical systems with real time and concurrent behaviors The theoretical foundation for this text follows Lee and Seshia Introduction to Embedded Systems A Cyber Physical Approach L
59. he robot is oriented directly uphill c The robot is placed on a hill with inclination 6 0 z in radians Find d when the robot is rotated 0 radians counterclockwise from uphill orientation Verify 34 1g Explore Joint Dynamics This exercise highlights the joint dynamics between phys ical processes and embedded control For this exercise consider a robot with an accelerometer mounted as shown in Fig C 4 a An object on the surface of the Earth experiences a roughly constant grav itational force If the robot is placed at rest in two distinct positions and orientations in space will the accelerometer measurements in each position necessarily be equal b In what two ways does movement of the robot influence the accelerometer measurement Hint What does an accelerometer actually measure c One of the two components found in part 3b 1s undesirable when measuring tilt What is the undesired component and how might it be reduced or elimi nated 4 Derive a Control Algorithm The 1Robot Create uses a two wheel differential drive to move Each wheel may be actuated independently at a rate of 500mm s Design a control algorithm that will navigate your robot to the top of an incline by relating wheel speed vr vg to the measurement of gravity d a5 a5 ag An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 2 4 Lab Setup The following exercis
60. ica tion iRobot 2006a c Wire the accelerometer Xout X axis output pin to chO analog input channel 0 on the sbRIO Analog RMC d Wire the accelerometer Yout Y axis output pin to chl analog input channel 1 on the sbRIO Analog RMC 7 Connect the UART serial port Fig C 9 a Connect iRobot Create cargo bay pin 1 UART Rx to sbRIO Analog RMC pin 36 UARTO Tx b Connect iRobot Create cargo bay pin 2 UART Tx to sbRIO Analog RMC pin 37 UARTO Rx 100 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP sbRIO power Power Adapter sbRIO power a sbRIO powered by the custom power adapter b sbRIO powered directly from the iRobot Create Figure C 6 Powering sbRIO from the iRobot Create battery Pinout diagrams replicated from the iRobot Create Open Interface OI Specification Robot 2006a sbRIO USB adapter Pin 4 Pin 1 wifi wifi Power Adapter GND PWR a Router powered by the cus b Router powered by the tom power adapter sbRIO USB port Figure C 7 Powering the wireless router An Introductory Lab in Embedded and Cyber Physical Systems 101 C 3 LAB WORKSTATION HARDWARE gn AD X TOP VIEW 2 Not to Scale 1 C Oo UD a Qi A d w N e p NOB rt ou d Coq E E cC cC E rc c dc i C ce oo C C C OO C C Cf nr c O Q SbRIO Analog RMC Figure C 8 Wiring ADXL 335 accelerometer to sbRIO Analog
61. iiBrew_11_ WiiMote_112811 pdf Available from http wiibrew org wiki Wiimote Wikipedia 2012a Milestone project management Available from http en wikipedia org wiki Milestone_ project_management An Introductory Lab in Embedded and Cyber Physical Systems 109 C 3 LAB WORKSTATION HARDWARE 2012b Project charter Available from http en wikipedia org wiki Project charter 2012c Wii remote Mirrored from http LeeSeshia org lab releases 0 05 documents Wikipedia 12 WiiMote 020112 pdf Available from http en wikipedia org wiki Wii Remote 2012d Work breakdown structure Available from http en wikipedia org wiki Work breakdown structure Wind River Systems 2006 Workbench User s Guide 2 5 VxWorks version P N DOC 15745 ZD 00 Available from http LeeSeshia org lab releases 0O 05 documents WindRiver 06 Workbench2 5UserGuide pdf 2012 Workbench product page Available from http www windriver com products workbench Xilinx 2010a Embedded System Tools Reference Manual Version UG111 12 4 mir rored from http LeeSeshia org lab releases 0 05 documents Xilinx 10 EmbeddedSystemToolsReferenceManual pdf Avail able from http www xilinx com support documentation sw_ manuals xilinx12 4 est rm pdf 2010b LogiCORE IP XPS Interrupt Controller Version 2 01a mirrored from http LeeSeshia org lab releases 0 05 documents Xilinx 10 LogiCoreIpXpsInterruptController pd
62. ion to Embedded Systems Lee and Seshia 2011 a Chapter 5 Composition of State Machines b Chapter 7 Embedded Processors 7 1 1 Microcontrollers c Chapter 9 Input and Output 89 1 3 Serial Interfaces 2 Graphical System Design with LabVIEW Statecharts video Washington 2009 3 Developing Applications with the NI Statecharts Module National Instruments 2010b Skim these documents to understand their content and layout You should be able to quickly find relevant information within them We refer you to key topics but you may need to reference other sections to complete these exercises Appendix B Lab Hardware B 2 iRobot Create iRobot Create Owner s Guide Robot 2006b IRobot Create Open Interface OI Specification 1Robot 2006a Appendix B Lab Hardware B 3 National Instruments Single Board RIO 9606 LabVIEW Statecharts Module Help National Instruments 201 Ic unduutb 46 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 3 2 Equipment and Software Required 1 PC computer running Microsoft Windows XP 2 National Instruments LabVIEW 2011 National Instruments 201 2a a LabVIEW 2011 b LabVIEW Robotics Module 2011 c LabVIEW Real Time 2011 3 Cal Climber C 3 4 a 1Robot Create B 2 b National Instruments Single Board RIO 9606 B 3 c Analog RMC B 3 2 d Analog Devices ADXL 335 B 1 e Asus WL 330ge optional An Introdu
63. ior modal behavior governed by finite state machines coupled with formal analysis real time networks simulation strate gies and design methodologies for embedded systems design 4 Pair with a mentor with relevant experience who is a professor graduate student researcher or industry professional 5 Perform weekly progress checkpoints which may alternate between in class pre sentations and one page milestone reports comparing progress to the original project charter 6 At the project halfway point host live demonstrations during a department open house which facilitates functional milestones 7 Periodically submit peer evaluation forms to identify any issues with a particular team member 4 1 1 Suggested Reading Carefully read the following content and be comfortable with the concepts covered before beginning these exercises 1 Project Charter Instructions Brooks 2008 60 An Introductory Lab in Embedded and Cyber Physical Systems 4 PROJECTS 2 Tortoise SVN Kung et al 2011 Skim these documents to understand their content and layout You should be able to quickly find relevant information within them We refer you to key topics but you may need to reference other sections to complete these exercises 1 Wikipedia a Project Charter Wikipedia 2012b b Milestone Project Management Wikipedia 2012a c Work Breakdown Structure Wikipedia 2012d 2 EECS Instructional Public Documentation SVN Help
64. ix to the exercises section as it underscores important differences between the simulator and the real robot 1 Hill Climb in the Simulator Using feedback from the accelerometer modify your Statechart to differentiate between an incline and level ground On level ground the simulated robot should drive straight When an obstacle is encoun tered such as a cliff or an object the robot should navigate around the object and continue in its original orientation Keep in mind that an obstacle or cliff may be detected during your obstacle avoidance algorithm On an inline the simulated robot should navigate uphill while still avoiding obstacles You may not use cliff sensors as bumpers to hug the side of the incline instead use the accelerometer to determine uphill and employ a control algorithm to stay on heading a Provide a description and screenshot of your climbing algorithm 2 Hill Climb on the iRobot Deploy your Statechart to the real target Your robot should navigate through an obstacle course and navigate to the top of an incline avoiding cliffs and objects along the way a Did your Statechart require modification to work on the physical target If so what modifications did you make 3 Share your Feedback what did you like about this lab and what would you change An Introductory Lab in Embedded and Cyber Physical Systems 57 3 4 IROBOT HILL CLIMB IN STATECHARTS 3 4 6 Troubleshooting Troubleshooting ti
65. l robot does not 50 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS e Not all iRobot sensors are updated by the simulator including charging sources available battery life battery temperature song playing etc The following sensors are modeled by the simulator Wall signal boolean and raw Cliff signals boolean and raw Bumps and wheel drops boolean Distance traveled since last sensor packet mm always unsigned Angle traveled since last sensor packet deg always signed and wrapped to T T Buttons as pressed by users on the front panel e The simulated accelerometer measures only gravity and not coordinate accelera tion On the real robot the accelerometer measures proper acceleration Your Statechart does not know if it is executing within a simulation or if it is executing on the physical device so keep these differences in mind during design To navigate within the simulated world e Click Drag to rotate view about the clicked point e Ctrl Click Drag to translate view in the plane of the screen e Shift Click Drag to zoom in out 1 Navigate the Simulator In your Project Explorer navigate to My Computer Simu lated Cal Climber and open Cal Climber Simulator vi This is the main VI for the sim ulator and is responsible for spawning the physics engine calculating sensor values and executing your Statechart Your code should
66. main flashing until the device is powered off or the LED state is explicitly changed by a Bluetooth command 3 I am able to pair the WiiMote and run WiiMote Interface vi but after a few seconds the output does not change in response to movement of the controller Check the WiiMote batteries when low the device may stay powered on long enough to pair only to power off shortly thereafter When first powered on and paired the four LEDs should remain flashing until the device is powered off or the LED state is explicitly changed by a Bluetooth command 4 I receive Error 1172 Timed out waiting for status report This may occur if you are using a WiiMote clone i e not manufactured by Nintendo and are not using the WiiMoteLib binary distributed with the lab materials In initializing the WiiMote the open source WiiMoteLib verifies a vendor ID which differs between authentic and cloned WiiMotes We modified the WiiMoteLib source to omit this call during initialization and provide the source as part of the downloadable lab materials 5 I receive Error 1172 Request for the permission of type failed This is a Microsoft NET exception indicating WiimoteLib dll could not be loaded from a network drive If possible try moving your lab files to a local i e C drive If your administrator has placed WiimoteLib dll in a system directory it is possible that the WiimoteLib dll is loading from your lab directory first try renaming
67. mmand to enable continuous reporting of the core buttons and the three axes of the accelerometer even if the device 1s at rest Identify the Transac tion Header Transaction Type and Parameter Report ID and Payload if present An Introductory Lab in Embedded and Cyber Physical Systems 87 B 5 XILINX MICROBLAZE d What is the Transaction Header transmitted by the WiiMote when sending a report of its sensors B 5 Xilinx MicroBlaze Xilinx MicroBlaze is a soft core processor implemented on an FPGA We provide the MicroBlaze processor as an FPGA fixed personality for sbRIO cpsLab drivers FPGA bitfiles microBlazeFixedPersonality lvbitx Useful references 1 MicroBlaze product page Xilinx 2011 2 MicroBlaze Processor Reference Guide Xilinx 2010d 3 MicroBlaze Interrupts and the EDK Hickok 2009 Related reading 1 Introduction to Embedded Systems Lee and Seshia 2011 a Chapter 7 Embedded Processors 7 1 1 Microcontrollers b Chapter 7 Embedded Processors 98 2 1 Memory Maps c Chapter 7 Embedded Processors 88 2 2 Register Files B 5 1 Debugging MicroBlaze on sbRIO The National Instruments sbRIO does not have an easily accessed JTAG interface but JTAG support can easily be added by implementing the protocol on the FPGA With this the Xilinx SDK can download and debug applications for MicroBlaze running on the sbRIO FPGA The JTAG interface is part of the fixed personality When using the Analog RMC
68. modes in which the robot will be connected to a charging source but will not actually charge When correctly charging the iRobot Power LED should be red slowly fading on and off Solid red or flashing red indicate a charging error Solid green is unfortunately ambiguous it may indicate charging is complete or it may indicate the robot is powered on and running You may disambiguate this by removing the charging source if the robot was powered and running the power LED will remain solid green If the robot is fully charged the power LED will turn off If you have difficulty charging your robot first unplug any charging sources power off the robot and power off any external devices such as the wireless router Then connect the charging source Charge often and be sure to verify your robot is in charging mode when you leave the lab An Introductory Lab in Embedded and Cyber Physical Systems 73 B 2 IROBOT CREATE B 2 2 Exercises For exercises asking for a sequence of bytes use hexidecimal 0xXX notation for num bers 1 How many sensors are on the bottom of the iRobot Create Does the placement of the sensors result in equal sensing capability when the robot is driving forward and back ward 2 What sequence of bytes should be sent to the iRobot Create UART port to command the robot to drive straight at a velocity of 300 mm s 3 What sequence of bytes should be sent to the iRobot Create UART port to request a single sensor packe
69. mplete An Introductory Lab in Embedded and Cyber Physical Systems 17 2 1 INTERFACE TO MICROBLAZE 18 Import Projects Select a directory to search for existing Eclipse projects Select root directory Select archive file CAeel 49 aa warks pacezip Projects ADCInterrupt ADCInterrupt ADCPoll ADCPoll MicroBlazeHardwareSpecification MicroBlazeHardwareSpecificati MicroBlazeSoftwareSpecification MicroBlazeSoftwareSpecificatioi Copy projects into workspace Working sets Add project to working sets Working sets Figure 2 3 Xilinx SDK Import Wizard browsing for a project archive An Introductory Lab in Embedded and Cyber Physical Systems 2 PROGRAMMING OF EMBEDDED SYSTEMS Import 5 EX select n J Create new projects from an archive file or directory Select an import source type filter text General GC Archive File L3 Existing Projects into Workspace L3 File System Ec Preferences 2 C C Run Debug Team lt Back Net Finish Figure 2 4 Xilinx SDK Import Wizard set to import an existing project into a workspace An Introductory Lab in Embedded and Cyber Physical Systems 19 2 1 INTERFACE TO MICROBLAZE Project Xilinx Tools Window Help G amp 9 0 Q De no launch history Run 1 Launch on Hardware e Run Configurations Organize Favorites C_GIE write Writing 1 to the most s
70. nd select New to create a new kernel task This will create the default action for running and debugging your task First select the function to call in this case calClimber by pressing the Browse button and navigating to Downloads calClimber out calClimber Fig If there are no out files in the Downloads folder your project has not yet been built Revisit the build step above and try again An Introductory Lab in Embedded and Cyber Physical Systems 3 3 1 IROBOT NAVIGATION IN C 1 aU Import Select ER Create new projects From an archive File or directory This does nat copy the project into Ehe workspace Select an import source Imi Archive File mo Build Settings E Checkout Projects From Cvs Existing Projects into Workspace zm Existing Tornado VxWorks 5 5 Project into Workspace iP Existing VxWorks 6 x Image Project into Workspace File system So Import Breakpoints A Migrate SMiFF4 Mati e Project Aa Migrate SMiFF vocWorks 5 x Project to VxWorks 6 x E Migrate Tornado VxWorks 5 5 Project E Migrate Tornado VxWorks 5 x Project to VxWorks 6 x Tp migrate WIND POWER IDE VxWoarks 5 x Project to Vx Works 6 x Cl Preferences Team Project Set Back Finish Cancel Figure 3 2 Import an existing project into your workspace 32 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS E me E Import Projects Select a directory to se
71. ng kernel or operating system and has exclusive access to the microcontroller processor memory and peripherals The goal is to configure processor interrupts to periodically sample a sensor a fundamental process in any cyber physical system Interrupts can be used to periodically sample sensors such as microphones for voice con trol or ultrasonic range finders for navigation They can be used to drive actuators by generating a pulse width modulation PWM signal for sound or motor control or to simply flash an LED to signal a device fault Software written for an embedded system may even reside almost entirely in timed interrupts These exercises will guide you in configuring timed interrupts via memory mapped reg isters on an embedded microcontroller For many the first experience programming inter rupts is challenging interrupts are documented in verbose documentation the embedded device being programmed may not have a display or debugging interface and breaking from the sequential model of traditional programming languages introduces new com plexities Lee 2006 Inherent in these exercises is the importance of navigating technical documentation to solve a problem The exercises are broken into two parts first you will configure a timed interrupt to poll an ADC Next you will configure a timed interrupt to trigger an ADC conversion and a second interrupt to fire when the ADC conversion is complete We suggest connecting an analog s
72. om the accelerom eter Describe any algorithms or filters used 2 Share your Feedback what did you like about this lab and what would you change 44 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 2 6 Troubleshooting Troubleshooting tips include those in 3 1 iRobot Navigation in C An Introductory Lab in Embedded and Cyber Physical Systems 45 3 3 IROBOT NAVIGATION IN STATECHARTS 3 3 iRobot Navigation in Statecharts Model based design emphasizes mathematical modeling to design analyze verify and validate dynamic systems Mathematical models are used to design simulate synthesize and test cyber physical systems and are based on system specifications and analysis of the physical context in which the system resides A complete model of a cyber physical system represents the coupling of its physical processes and embedded computations Design of these systems requires understanding of these joint dynamics which is the focus of this lab You will design a control algorithm using the Statecharts model of computation verify in simulation and deploy the solution to the iRobot Create The goal of this lab is to implement a Statechart that instructs the robot to maintain a basic sense of orientation while avoiding obstacles 3 3 1 Suggested Reading Carefully read the following content and be comfortable with the concepts covered before beginning these exercises 1 Introduct
73. onal Instru ments 2010a 5 Wii Remote on Wikipedia Wikipedia 2012c WiiBrew WiiMote wiki WiiBrew 2011 7 Blueooth HID Profile Bluetooth Special Interest Group 2003 Aa NO ON 2 An Introductory Lab in Embedded and Cyber Physical Systems 1 SENSOR INTERFACING AND CALIBRATION a Introduction to the HID Protocol p 18 23 b BT HID Transaction Header p 57 64 1 1 2 Equipment and Software Required 1 PC computer running Microsoft Windows XP Vista or 7 2 Nintendo Wii Remote B 4 3 Bluetooth radio on the PC computer either built in or external 4 National Instruments LabVIEW 2011 or later A 1 An Introductory Lab in Embedded and Cyber Physical Systems 3 1 1 INTERFACE TO AND CALIBRATE THE WIIMOTE 1 1 3 Prelab Exercises 1 Introduction to Embedded Systems Lee and Seshia 2011 a Draft Chapter on Sensors and Actuators all exercises 2 Appendix B Lab Hardware B 4 2 Exercises all 4 An Introductory Lab in Embedded and Cyber Physical Systems 1 SENSOR INTERFACING AND CALIBRATION 1 1 4 Lab Exercises The following exercises reference files that may be downloaded from the Jensen Lee and Seshia website http LeeSeshia org lab releases 0 05 Be sure to completely extract all archives before opening any files or you may receive dependency errors Once extracted the exercises may be found in the folder LabVIEW wiiMote 1 Pair a desktop computer with the WiiMote WiiM
74. onal for switching power to sbRIO and a wireless router C 3 4 4 1Robot Create 1Robot 2011 Nintendo Wii Remote Nintendo 2011 6 Analog Devices ADXL 335 Analog Devices 2011 analog accelerometer Un C 3 2 Connect the Analog RMC The analog RMC is documented in Appendix B Lab Hardware B 3 2 Analog RMC Refer to the NI sbRIO 9605 9606 OEM Operating Instructions and Specifications Mounting the NI sbRIO 960x for instructions on how to mate the analog RMC Fig C 2 C 3 C 3 3 Connect a Workstation to sbRIO A 5 minute video tutorial on connecting sbRIO is available from http zone ni com wv app doc p id wv 745 1 Power sbRIO according to NI sbRIO 9605 9606 OEM Operating Instructions and Specifications Powering the NI sbRIO Device 2 For wired communication connect sbRIO to your network according to NI sbRIO 9605 9606 OEM Operating Instructions and Specifications S Connecting the NI sbRIO Device to a Network 3 For wireless communication connect sbRIO directly to your wireless router The router will be used in a bridge configuration to connect the wired ethernet port on sbRIO to a wireless network Follow the instructions in the ASUS WL 330gE User s Manual 96 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP aasa TLLA oz MITIS K i ROUTE TNOUN Figure C 2 Spacers placed in preparation for the analog RMC Figure C 3 Properly mounted and mated analog RMC
75. or three may then begin working on assigned laboratory exercises in many cases solutions are not unique and we encourage teams to experiment and innovate Intended Audience The laboratory exercises in this book were designed and piloted for the course EECS 149 Introduction to Embedded Systems at the University of California Berkeley Lee and Seshia 2010 Jensen et al 2011 Lee et al 2012 The course is targeted at advanced undergraduate juniors and seniors in Electrical Engineering and Computer Science Pre requisites include an introductory course in signals and systems an introductory course in computer architecture which covers both C and assembly programming and an in troductory course in discrete mathematics While these prerequisites establish a common language for the technical aspects of embedded systems we believe that the ubiquitous and interdisciplinary nature of embedded systems requires students to investigate topics beyond computer science Acknowledgements Many people have contributed to the design and debugging of the exercises in this book Trung N Tran and Godpheray Pan from National Instruments provided critical help con figuring and adapting the versatile Single Board RIO and the software infrastructure and customizing a physics simulator and renderer for a complete model based design work flow Additional key contributions were made by the Electronics Support Group ESG An Introductory Lab in Embedded
76. osses 96 C 3 1 Recommended Hardware a a 96 C 3 2 Connect the Analog RMC 96 C 3 3 Connect a Workstation to sbRIO aoaaa aaa 96 C 3 4 Build the Cal Climber 98 This appendix describes how to configure hardware and software to support all of the laboratory exercises in this text The exercises are designed to be modular and where possible we indicate steps that may be omitted if certain modules are to be excluded We emphasize this is only a guideline and that a proper laboratory configuration is a cooperative effort between instructors and laboratory administrators 91 C 1 SOFTWARE TOOLS C 1 Software Tools C 1 1 Software Recommended for a Lab Workstation 1 National Instruments LabVIEW 2011 a LabVIEW Real Time Module b LabVIEW Robotics Module c LabVIEW Statecharts Module d NI Device Drivers NI RIO 4 0 C 1 2 Software Tools Installation LabVIEW 1 Install LabVIEW 2011 from the source DVD making sure to select the recommended modules 2 Run the NI Update Service and apply all available patches 92 An Introductory Lab in Embedded and Cyber Physical Systems C LAB SETUP C 2 Software Infrastructure A series of software libraries have been developed and are provided as a starting point for lab curriculum C 2 14 Single Board RIO Software Architecture As discussed in Chapter B Lab Hardware B 3 National Instruments Single Board RIO 9606 the sbRIO i
77. ote Pair vi pairs your desktop com puter with your WiiMote enabling communication Given the MAC address of your Wi iMote the VI searches available Bluetooth devices and will pair your device if its MAC address is found Though the Windows operating system provides an interface to pair Bluetooth devices using this VI to pair by MAC address eliminates confusion that arises when multiple WiiMotes are available Open WiiMote Pair vi You do not need to modify or view the block diagram for this exercise Key in the MAC address of your WiiMote and run the VI to pair When pairing the WiiMote you must repeatedly and simultaneously press the 1 and 2 user buttons for the entire pairing process Continue to press and let go until the after VI has completed Fig 1 1 When correctly paired you should see a Windows notification that a Bluetooth HID driver was installed and the WiiMote should flash all four user LEDs continuously If the LEDs do not flash continuously run the pair VI again a What 1s the MAC address of your WiiMote 2 Plot the uncalibrated accelerometer signal from the WiiMote after pairing open and run WiiMote Interface vi Fig 1 2 You do not need to modify this VI for this exercise a What are the values of the x and y axes when the WiiMote is at rest on level ground b What is the value of the z axis when the WiiMote is at rest on level ground What quantity is being measured An Introductory Lab in Embedded and C
78. ps include those in 3 3 iRobot Navigation in Statecharts 58 An Introductory Lab in Embedded and Cyber Physical Systems Projects Contents 4 1 Project Management ccrrr nsn 60 4 1 1 Suggested Reading ccnl rn 60 4 1 2 Equipment and Software Required Ls 61 4 1 3 Prelab Exercises cll nn 62 41 4 LabSetup 0 0 0002 eee ee 63 4 1 5 Lab Exercises eo ed moe ox m dedos ow E oe A eH es 65 The exercises in this chapter guide you through basic skills in project management a critical component of any successful capstone design project Additionally a series of open ended projects are proposed as starting points for a significant design project 59 4 1 PROJECT MANAGEMENT Contributor Christopher X Brooks University of California Berkeley 4 1 Project Management A capstone design project is a significant team undertaking and can benefit from some simple project management Well managed projects are less stressful and ultimately more successful Some useful project management tasks include 1 Specify the project by submitting a one page charter 2 Once a project charter has been reviewed and approved submit a project plan of action a timeline for milestones and a division of responsibilities for team mem bers 3 Indicate core concepts addressed by the project such as concurrency modeling of physical dynamics reliable real time behav
79. py is out of date Right click on the folder and select SVN Commit Enter a message such as Added project charter amp schedule Al though not strictly enforced it is good practice to always provide a commit message for other users and for remembering what you did in the future The folder should now turn green again Go back into the directory Your project charter and schedule should now have green checkmarks indicating they are up to date Try changing one of them you should get a red exclamation point indicating local changes are out of date You can commit these changes in the same way as before but suppose you made a mistake and you want to undo your changes Right click on the file and select Tortoise SVN Revert If you press OK the latest version in the repository will overwrite your copy You can also revert to several versions behind if you want Note that because your files are probably in MS Word or some other binary format then you cannot diff them easily The diff feature works on plain text files such as C source files and highlights the changes line by line that you changed between two revisions This is essential for finding out which lines of code broke your program For plain text files you can also handle merges which happen if two people tried to change the same lines you will have to pick which one is used For binary files to merge you must simply pick one entire file or the other
80. roduct page National Instruments 2012b 2 What is the LabVIEW MathScript RT Module National Instruments 2011g 3 Developing Algorithms Using LabVIEW MathScript RT Module National Instru ments 2010a 4 MathScript RT Module Functions National Instruments 2009 A 1 3 LabVIEW Real Time LabVIEW Real Time Module is an add on to LabVIEW that enables applications to be deployed to embedded targets running a real time operating system RTOS A 1 4 LabVIEW Statecharts Module The LabVIEW Statecharts Module adds the Statecharts Harel 1987 model of com putation to LabVIEW Useful references 1 Graphical System Design with LabVIEW Statecharts Washington 2009 2 Developing Applications with the NI Statecharts Module National Instruments 2010b 3 LabVIEW Statecharts Module Help National Instruments 201 Ic An Introductory Lab in Embedded and Cyber Physical Systems 69 A 1 LABVIEW Related reading 1 Lee and Seshia 2011 a Chapter 3 Discrete Dynamics 3 3 Finite State Machines b Chapter 3 Discrete Dynamics 3 4 Extended State Machines c Chapter 5 Composition of State Machines 70 An Introductory Lab in Embedded and Cyber Physical Systems Lab Hardware Contents B 1 Analog Devices IMEMS ADXL 335 Accelerometer 72 BREL EKOS 2 ea ee apes ee epee een eee eee as T4 B 2 iRobot Create 25 2 o9 3 39 304 ER ROC oo o9 6 Rs 73 B 2 1 Charging 73 B22 EPXCIG
81. roup member has any circuit design experience On the same token the scope of the project should match the size of the group and the goal be to produce an interesting and impressive product Your charter should include a Overview b Approach c Objectives d Major Deliverables e Constraints f Risk and Feasibility Your charter should be one 1 page The point is succinctly summarize your project for a busy manager Each group should submit one charter An Introductory Lab in Embedded and Cyber Physical Systems 65 4 1 PROJECT MANAGEMENT 3 Set Milestones and a Schedule Working backwards from the completion due date determine when tasks need to be done to complete the project on time Ensure you are allowing adequate time for debugging integrating disjoint components from several people can take a week or more Be sure to consider events such as Spring Break Finals Week etc Milestones should indicate which team member is responsible and be no more than one week apart Be sure to include non technical tasks such as practicing the presentation or writing the report Also include a plan to meet with your mentor preferably once a week you may want to organize your milestones to land on these dates Be sure to include vacations like Spring Break Do not hesitate to be painfully specific Through the duration of this project you should submit milestone reports to track your progress Certainly the milestones
82. s X o5 469 o3 o9 4 o3 oAo3 4 Xo 4 4x He 49 26 3 4 3 9 5 Lab XerCISPS s doom eo Ba he eae eee REE RHE RS 50 3 36 Troubleshooting 0 00000 53 iRobot Hill Climb in Statecharts 54 3 4 1 Suggested Reading 20040 54 3 4 2 Equipment and Software Required 54 3 4 58 PrelabExercises o 55 344 Lab Setup 24 4408 45 o9 4 do O9 dow OX oes EUR sod 56 3 4 5 Lab Exercises 2x o oec o9 x mo RPG 9 ROSEO o3 37 3 4 6 Troubleshooting onoo 0 00000 58 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 1 iRobot Navigation in C This lab focuses on programming of cyber physical systems You will program an exter nal embedded controller to control and interface with the iRobot Create robotics platform The goal of this lab is to implement a state machine that instructs the robot to maintain a basic sense of orientation while avoiding obstacles 3 1 1 Suggested Reading Carefully read the following content and be comfortable with the concepts covered before beginning these exercises 1 Introduction to Embedded Systems Lee and Seshia 2011 a Chapter 3 Discrete Dynamics 3 3 Finite State Machines b Chapter 7 Embedded Processors 97 1 1 Microcontrollers c Chapter 7 Embedded Processors Circular Buffers sidebar p 185 d Chapter 9 Input and Output 9 1 3 Serial Interfaces Skim these documents
83. s a heterogenous reconfigurable architecture For many labs the sbRIO is configured to perform as a traditional microcontroller with fixed hardware peripherals and a programmatic interface The hardware peripherals are implemented as a fixed personality on the FPGA and user programs interact with these peripherals through a programming interface shown in Fig C 1 The Berkeley FPGA fixed personality used in this lab is named for its development at the University of California Berkeley The Berkeley FPGA personality is written in LabVIEW FPGA and the source code 1s downloadable from the Jensen Lee and Seshia website The FPGA source is compiled into a LabVIEW FPGA bitfile a binary file that may be used to reconfigure the FPGA It 1s generally easier to redistribute the bitfile since FPGA compile times can be lengthy and the binary is completely self contained Complex peripherals such as UART and IC communication ports have an additional software interface implemented in both LabVIEW G code and C code that accompanies the Berkeley FPGA fixed personality Additional software libraries include an interface to the iRobot Create which builds on the Real Time API To run a user library you must have either the source code or compiled bitfile for the Berkeley FPGA fixed personality the Real Time API and the user library itself Compiling and Running the Berkeley FPGA Fixed Personality This is an optional step it is generally easier to use t
84. s session Workspace PAWMI E Browse Use this as the default and do not ask again ce Figure 3 1 Selecting a workspace The location must not have spaces in the path a limitation of Workbench 5 Connect to your Target From the top menu bar open Target New Connection to launch the Target Connection Wizard You will connect to a Wind River VxWorks 6 x Target Server a service running on sbRIO In the Target Server Options dialog enter the IP address of your target Then browse for the VxWorks kernel image which should ex tract to C calClimber vxWorks 9606 Your target options dialog should look similar to Fig 3 4 Click next until the Connection Summary dialog and change the connec tion name to sbRIO Click finish to attempt to connect to your target and wait until the connection is 10096 complete before continuing to the next step If you lose connection to your target you can attempt to reconnect by right clicking on the sbRIO target in the Target Manager pane and selecting Connect Fig 3 6 6 Open the Target Console VxWorks includes a console that displays printf state ments in software To open the Target Console first confirm you are connected to the target then from the Target Manager pane right click on the target and select Target Tools Target Console Fig 3 8 7 Create a Debug Run Configuration a From the top menu bar select Run Debug Right click on Kernel Task a
85. sity mezzanine interface to expose digital IO An add on modules with this interface is referred to as a RIO Mezzanine Card RMC We have created a custom RMC for this lab that adds analog input capabilities We document its use here and provide detailed schematics and layout on the course website http LeeSeshia org lab releases 0 05 setup sbrio9606AnalogModule zip The analog RMC exposes 48 pins of digital I O DIO and 16 pins of analog input AI Fig B 1 DIO lines connect directly to the FPGA on the sbRIO analog lines are sam pled by an analog to digital converter ADC which communicates with the FPGA on the sbRIO over a serial protocol The ADC has 16 input channels with 12 bits of resolution per channel and is made by Texas Instruments Texas Instruments 2010 The ADC can only sample one channel at a time so multiplexing should be used to sample multiple the channels A conversion for a single channel samples and quantizes the input voltage range of OV 5V into 12 bits Each conversion takes 16 microseconds to complete Interface to C and LabVIEW on the PowerPC The Berkeley fixed personality C 2 1 provides a hardware interface to the ADC on the Analog RMC and a software interface for both C and LabVIEW code running on the PowerPC as well as the MicroBlaze processor core Interface to MicroBlaze The MicroBlaze fixed personality B 5 provides a hardware interface to the ADC on the Analog RMC Fig B 2 and a software in
86. ssume familiarity with suggested reading in 3 4 iRobot Hill Climb in Statecharts 3 4 2 Equipment and Software Required 1 PC computer running Microsoft Windows XP 2 National Instruments LabVIEW 2011 National Instruments 2012a a LabVIEW 2011 b LabVIEW Robotics Module 2011 c LabVIEW Real Time 2011 3 Cal Climber C 3 4 a 1Robot Create B 2 b National Instruments Single Board RIO 9606 B 3 c Analog RMC B 3 2 d Analog Devices ADXL 335 B 1 e Asus WL 330ge optional 54 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 4 3 Prelab Exercises There are no prelab exercises for this lab An Introductory Lab in Embedded and Cyber Physical Systems 55 3 4 IROBOT HILL CLIMB IN STATECHARTS 3 4 4 Lab Setup The following exercises reference files that may be downloaded from the Jensen Lee and Seshia website http LeeSeshia org lab releases 0 05 Be sure to completely extract all archives before opening any files or you may receive dependency errors Once extracted the exercises may be found in the folder LabVIEW calClimber The lab setup is the same as in 3 3 1Robot Navigation in Statecharts 56 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 4 5 Lab Exercises For the exercises below begin with the solution you developed for 3 3 iRobot Naviga tion in Statecharts be sure to review the pref
87. t RT Module Functions P N 371361F Ol Available from http zone ni com reference en XX help 371361F 0l lvtextmath msfunc classes 2010a Developing Algorithms Using LabVIEW MathScript RT Module Part 1 The LabVIEW MathScript Node Mirrored from http LeeSeshia org lab releases 0 05 documents NationallInstruments 10 DevelopingAlgorithmsUsingLabVIEWMathScriptRtModulel pdf Available from http zone ni com devzone cda tut p id 3256 2010b Developing Applications with the NI LabVIEW State chart Module Mirrored from http LeeSeshia org lab releases 0 05 documents Nationallnstruments 10 _ DevelopingApplicationsWithNILabVIEWStatechartModule pdf Available from http zone ni com devzone cda tut p id 6194 An Introductory Lab in Embedded and Cyber Physical Systems 107 C 3 LAB WORKSTATION HARDWARE 2010c Getting Started with LabVIEW P N 373427G 01 mirrored from http LeeSeshia org lab releases 0 05 documents Nationallnstruments 10 GettingStartedWithLabVIEW pdf Avail able from http www ni com pdf manuals 373427g pdf 2010d LabVIEW Quick Reference Card P N 373353D 01 mirrored from http LeeSeshia org lab releases 0 05 documents Nationallnstruments 10 LabVIEWQuickReferenceCard pdf Avail able from http www ni com pdf manuals 373353d pdf 2011a LabVIEW 2011 Help P N 371361H 01 Available from http zone ni com reference en XX help 371361H 01 2011b LabVIE
88. t containing all sensors 4 What sequence of bytes should be sent to the 1Robot Create to enable a continuous stream of a single packet containing all sensors 5 After the iRobot Create has received the sequence of bytes found in Exercise 4 what sequence of bytes will the robot transmit periodically You may represent a sensor packet as Packet Name N where N is the length of the packet and checksum as Checksum 74 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE B 3 National Instruments Single Board RIO 9606 The National Instruments Single Board RIO sbRIO 9606 is an embedded microcon troller with a multiprocessor architecture It consists of a Freescale PowerPC processor and a Xilinx field programmable gate array FPGA The PowerPC is a single chip pro cessor with a fixed set of peripherals it executes software according to a fixed instruction set arcitecture ISA developed by IBM Useful references 1 NI sbRIO 9605 9606 OEM Operating Instructions and Specifications National Instruments 201 1d 2 NI sbRIO 9606 Product Page National Instruments 201 le 3 NI Single Board RIO Setup and Services National Instruments 201 1f Related reading 1 Lee and Seshia 2011 a Chapter 7 Embedded Processors 97 1 1 Microcontrollers b Chapter 7 Embedded Processors 87 2 4 Multicore Architectures c Chapter 9 Input and Output 9 3 The Analog Digital Interface B 3 1 A Reconfigurabl
89. te the WuMote 2 Programming of Embedded Systems 2 1 Interface to MicroBlaze a a 3 Design of Cyber Physical Systems 3 1 iRobot NavigationinC lle 32 iRobot HillClimbinC 4s 3 3 iRobot Navigation in Statecharts lll 3 4 iRobot Hill Climb in Statecharts 4 Projects 4 1 Project Management 000 eee ees A Lab Software A l LabVIEW 0 0 00 eee ee ee 11 12 59 60 67 68 iii B Lab Hardware 71 B 1 Analog Devices iMEMS ADXL 335 Accelerometer 72 B 2 iR oD t Create s sses eb ee we RU RR Rd REGS ERS RAS 73 B 3 National Instruments Single Board RIO 9606 75 B 4 Nintendo Wii Remote aa a a 85 B 5 Xilinx MicroBlaze 1 ee 88 C Lab Setup 91 C Software Tools 2 2 2 2 2 2 2 2 2252 5 92 C 2 Software Infrastructure 2 2 0 0 0 eee ee 93 C 3 Lab Workstation Hardware 2 2 a ll 96 Bibliography 105 Index 112 IV An Introductory Lab in Embedded and Cyber Physical Systems Preface What this Book is About The theme of this book is the characterization of embedded and cyber physical systems not by resource constraints but rather by interactions with the physical world While resource constraints are an important aspect of design such constraints are part of every engineering discipline and give little insight into t
90. tempt to achieve a fixed sampling rate A third way to read from an ADC is to use timed interrupts and ADC interrupts A periodic timer ISR triggers an ADC conversion and returns When the ADC conversion is complete an ADC interrupt ISR reads the result and returns The main program loop is tasked with printing the result to the screen a Is this concurrent or sequential software b Are processor resources well utilized by this method c Is timing explicit in this method In what ways could you attempt to achieve a fixed sampling rate 6 What are some of the major differences between using polling and using interrupts to read from an ADC 7 What is the meaning of the interrupt_handler compiler attribute 14 An Introductory Lab in Embedded and Cyber Physical Systems 2 PROGRAMMING OF EMBEDDED SYSTEMS 2 1 4 Lab Setup The following exercises reference files that may be downloaded from the Jensen Lee and Seshia website http LeeSeshia org lab releases 0 05 Be sure to completely extract all archives before opening any files or you may receive dependency errors Once extracted the exercises may be found in the folder C users eel49 XX microblazeInterface0 05 zip Note Xilinx SDK 12 4 seems to be unable to compile from a network location When prompted to create or open a workspace be sure to point to the C Nusers drive Be sure to backup your solutions to your user drive U 1 Verify the Hardware Set
91. tent of the timer and ADC ISRs 4 Share your Feedback what did you like about this lab and what would you change 22 An Introductory Lab in Embedded and Cyber Physical Systems 2 PROGRAMMING OF EMBEDDED SYSTEMS Run Project Xilinx Tools Window Help 33 Gi G fa Generate linker script d Az Ci fh Board Support Package Settings x Repositories Lains the channel that f Program FPGA hdicates ADC is being A G upt enab Writin j ADC GIE Program Flash ey PRENIE Writing F WC output interrupt ta ADC IP I 3 XMD Console hterrupt status regist umm interrupts have been c z Mois uim only generates 1 i Fi u Configure JTAG Settings Bb 1 to the correspondi f at System Generator Co Debug Settings pople ADC IP ISR ADC ADC IP ERC 3 rrr rm TrrmrerrmeEPtEMmSble register Writin define ADC CTRL volatile unsigned long XPAR ADC 0 BASEADDR define ADC STATUS volatile unsigned long XPAR ADC 0 BASEADD Figure 2 7 Opening the debug console 2 1 6 Troubleshooting 1 I receive the error Failed to Open JTAG Cable when attempting to run on target Check that the JTAG cable is connected to your computer and double check the connection to the target shown in Table B 1 2 I receive the error ERROR Cannot perform the Debug Command Current Processor State is Running This is a Xilinx SDK bug and is resolved by restarting the SDK and rebooting the sbRIO
92. terface for C code running on MicroBlaze The software interface uses memory mapped registers to communicate with the ADC shown in Fig B 3 B 8 76 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE amp 3 3V1 e e e e e e e e e e e e e e e e Vbat P de sv e le el ose eoo 408 Piond 1 le elc 4s e Gc 2 le e 44e prd 3 le e 438 jond 4 ls4 co 42 9 e 5 le 9 4n ep e e 4019 bnd 7 leo 391 pnd o e 9 09 38 0 O0 0 9 9 99 e 37 0 ep 10 e e c o e 36 0 11 le e 35 e e j 12 9 34le elo e 40 413 0 31 ln eager in L Z 9 E ut oue dE We o ES O oO o o oO 9 o zr 14 I e 94 1S B 6 6 tdm ec LA oO 0 0 0 0 0 O O O OO O O O 8 15 0 O evo00000900000000090 O o O O O0 O CO O O D gt p O TT O 000000005 00905555 55 Figure B 1 Pinouts of the Analog RMC An Introductory Lab in Embedded and Cyber Physical Systems TI B 3 NATIONAL INSTRUMENTS SINGLE BOARD RIO 9606 TIMER BRAMs MicroBlaze ADC subsystem Core MicroBlaze Debug Module MDM OUl JdNs49 U T Interrupt controller Figure B 2 Conceptual block diagram of the ADC interface to MicroBlaze 78 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE 32 bit register Figure B 3 Standard diagram for an ADC register on MicroBlaze MicroBlaze is a 32 bit big endian architecture MicroBlaze documentation uses reverse bit n
93. the calibration raw control You may assume the sensitivity 6 An Introductory Lab in Embedded and Cyber Physical Systems 1 SENSOR INTERFACING AND CALIBRATION Acceleration uncalibrated Acceleration calibrated dis x calibrated g AM y calibrated g iW z calibrated g WI 255 N o o e in un e l y O Acceleration raw 2 lt z e t P E I w v t x ere e e e e Z 0 00 magnitude g l E ay 1 E Orientation calibrated 120 tilt deg az bias 0 C B 100 inclination deg v sensitivity 1 C B MEUM AEN t j z tilt 0 00 2 0 E inclination p 99 E o 100 180 Sample Figure 1 2 WiiMote Interface vi Front Panel and bias are approximately the same for all three axes You do not need to create new buttons or events for this exercise Hint To retain your calibration parameters after LabVIEW is closed right click on the calibration raw control on the front panel and select Data Operations Make Cur rent Values Default a Where are these measurements stored b What bias did you record c What sensitivity did you record d Provide screenshots of changes to the block diagram code 5 Calibrate the accelerometer modify MathScript Node in WiiMote Interface vi so that the Accelerometer calibrated chart plots acceleration of
94. the x y and z axes and the magnitude indicator displays the magnitude of acceleration all in units of g a What equations did you use to calibrate the accelerometer and to calculate the mag nitude of the acceleration it measures An Introductory Lab in Embedded and Cyber Physical Systems 7 1 1 INTERFACE TO AND CALIBRATE THE WIIMOTE b Based on your calibration parameters and the number of bits of resolution of the WiiMote ADC and an affine model of the WiiMote accelerometer what is your estimate of the maximum acceleration that the WiiMote can measure c When the WiiMote is at rest what should be the value of the magnitude indicator d Why is it better to perform calibration at runtime rather than hard coding values for the sensitivity and bias of the sensor e Provide the relevant MathScript code and screenshots of changes if any to the block diagram 6 Measure Pitch and Roll modify the MathScript Node in WiiMote Interface vi so that the Orientation calibrated chart plots pitch and roll of the WiiMote in units of degrees Hint The coordinate system used in Implementing a Tilt Compensated eCompass Ozyag cilar 2011 and the coordinate system used by the WiiMote Fig b 11 are related by swapping the x and y axes a What equations did you use to calculate pitch and roll b Provide the relevant MathScript code and screenshots of changes 1f any to the block diagram 7 Filter the accel
95. to understand their content and layout You should be able to quickly find relevant information within them We refer you to key topics but you may need to reference other sections to complete these exercises Appendix B Lab Hardware B 2 iRobot Create iRobot Create Owner s Guide Robot 2006b iRobot Create Open Interface OI Specification Robot 2006a Appendix B Lab Hardware B 3 National Instruments Single Board RIO 9606 Wind River Workbench User s Guide Wind River Systems 2006 a Chapter 1 Introduction 1 4 Understanding Cross Developing Concepts b Chapter 19 Connecting to Targets 819 5 Establishing a Connection c Chapter 19 Connecting to Targets 19 6 Connect to the Target d Chapter 23 Launching Programs 23 2 8 Using Your Launch Configuraiton e Chapter 25 Debugging Projects f Chapter 26 Troubleshooting 26 4 3 Target Manager Errors Mm BWN Re 3 1 2 Equipment and Software Required 1 PC computer running Microsoft Windows XP An Introductory Lab in Embedded and Cyber Physical Systems 27 3 1 IROBOT NAVIGATION IN C 2 Wind River Workbench 2 5 for VxWorks Wind River Systems 2012 3 Cal Climber C 3 4 a 1Robot Create B 2 b National Instruments Single Board RIO 9606 B 3 c Analog RMC B 3 2 d Analog Devices ADXL 335 B 1 e Asus WL 330ge optional 28 An Introductory Lab in Embedded and Cyber Physical Systems 3 DESIGN OF CYBER PHYSICAL SYSTEMS 3 1 3 Prel
96. umbering an artifact from IBM PLB technology with the least significant bit LSB at bit 31 and the most significant bit MSB at bit 0 The LSB can be isolated with the mask 0x0000 0001 and the MSB can be isolated with the mast 0x8000 0000 ADC CTRL 3 i12 13 14 15 LS 8 d Bs dus E dei Poem 3 312413 25172 HE an E Pin A oX Channel Index Start Conversion Bit Field Access Values 12 15 Channel Index Channel 0 15 31 Start Conversion Write 0 Reset Start conversion Figure B 4 ADC_CTRL register When the Start Conversion bit changes from O to 1 a rising edge transition the ADC begins a conversion on the channel specified in the Channel Index field When the ADC STATUS register is read a 0 is written to the Start Conversion field An Introductory Lab in Embedded and Cyber Physical Systems 79 B 3 NATIONAL INSTRUMENTS SINGLE BOARD RIO 9606 ADC_STATUS T E E d Conversion Value Channel Index Busy Bit Field Access Values 0 4095 6 19 Channel Index 31 ADC Busy Read 0 Inactive Conversion in progress Figure B 5 ADC Status ADC STATUS register When an ADC conversion is in progress the ADC Busy field is set to 1 When an ADC conversion is com plete the ADC Busy field is set to 0 Channel Index field holds the index of the ADC channel sampled and Conversion Result field holds the result of the con version Reading from this register will writ
97. up Your sbRIO should be powered and your Xilinx JTAG device should be connected to your desktop computer via USB The other end of the JTAG device should match the configuration in Table B 1 2 Configure a Workspace Open Xilinx SDK The SDK will prompt you to select a workspace as shown in Fig 2 1 Select a folder on a local drive to use as your workspace The path must not contain any spaces This is a limitation of the Xilinx software and selecting a folder whose path contains spaces will result in problems compiling After creating or selecting a workspace the Xilinx SDK environment will open From the top menu bar select Window Show View Project Explorer to change to a default window configuration Fig 2 2 You will now import project templates into you workspace Right click in an empty part of the Project Explorer and select Import to launch the Import Wizard The type of project you will import is General Existing Project into Workspace Fig 2 4 Select Next to browse for the project to import Choose Select archive file press the Browse button and navigate to microblazeInterface0 05 zip An Introductory Lab in Embedded and Cyber Physical Systems 15 2 1 INTERFACE TO MICROBLAZE d Workspace Launcher Fa Select a workspace slins SDE shores your projects in a Folder called a workspace Choose a workspace Folder to use Far this session Workspace CillisersTee149 aa workspace
98. vice The tool downloads a bitfile directly to the flash mem ory of the FPGA and optionally configures it to load on startup This is the simplest way of deploying an FPGA fixed personality The RIO Device Setup tool is installed with the NI RIO device drivers and may be launched from the Windows Start menu under All Programs National Instruments NI RIO RIO Device Setup E RIO Device Setup a Resource e g RIOD ria Jremokesystem RIOQ T rio 10 0 35 194 RIO0 Download Bitfile to Flash Device Settings BitFile to Download Download BitFile Advanced Erase Bitfile an Flash Figure B 9 RIO Device Setup Note that RIO Device Setup does not program the flash memory of the PowerPC 82 An Introductory Lab in Embedded and Cyber Physical Systems B LAB HARDWARE B 3 4 RIO Imaging Tool The RIO Imaging Tool erases and reprograms the filesystem on sbRIO or other RIO de vice restoring the device to a known state This is especially helpful in a lab environment where multiple teams may use the same hardware and potentially leave it in an unknown state The tool downloads a binary image directly to the flash memory of the controller RIO Imaging Tool is included in the laboratory files cpsLab tools RIO Imaging Tool rioimage exe If an image deployed to the filesystem of sbRIO includes an FPGA bitfile configured to load at startup this will have the same effect as using the RIO Device Setup to deploy an
99. xercises Workbench spawns your application as a task on the embedded controller and connects this task with the debugger Workbench is a sophisticated tool which can attach to multi ple tasks simultaneously If your application is running and you press the debug button to start a new process you will receive the error Object module already loaded into mem ory indicating your code has already been downloaded to the target and there already an active or suspended debugging session The best way to avoid this error is for your task to terminate normally meaning the calClimber function completed and returned a status Terminating the task from the debugger will stop the execution of the code but will leave a debugging task remaining which may prevent you from connecting to the de bugger again If this happens simply right click on the target in the Target Manager and select Reset connected Target or alternatively press the reset button the sbRIO itself The easiest way to revise code and restart debugging is for the original task to com plete The template code in your project is designed to finish execution when the Ad vance button is pressed on the iRobot When you finish with a debugging session press the Advance button on the robot to terminate the task and end the debug session If you are unable to reconnect the debugger restart the device 1 Navigate the iRobot Program the robot to drive straight when the Play
100. yber Physical Systems 5 1 1 INTERFACE TO AND CALIBRATE THE WIIMOTE MAC address to pair 00 19 1d 2f 20 54 Log Discovering Devices Found 1 old and new devices Found 1 new devices Getting name Device found Nintendo RVL CNT 01 Installing Wii Remote 00191D2F2054 5 second delay Figure 1 1 WiiMote Pair vi showing successful pairing with the WiiMote 3 Control the WiiMote actuators In the Front Panel of WiiMote Interface vi modify the values for Report ID and Payload to toggle user LEDs and to toggle the rumble motor Note After an instruction has been sent to the WiiMote to turn off all four user LEDs the device appears to be powered off even though it is still running To preserve battery life hold down the power button for three seconds when the device is no longer in use a What is the Report ID and Payload to turn WiiMote LEDs 2 and 4 on and LEDs 1 and 3 off b How can you modify the above sequence to also enable the rumble motor 4 Measure sensitivity and bias of the accelerometer The buttons on the front panel are associated with panes in the Event Structure To view the subdiagrams for each event handled by the event structure use the scroll arrows next to the name of the event han dled Modify the subdiagrams of the Event Structure so that when the measure bias or measure sensitivity button is pressed on the front panel the corresponding measurement recorded and displayed in
101. you need to know to complete the charter amp schedule i e you will need to know what components need to be designed whether there is hardware tasks involved if there are deadlines outside of this class and other considerations You should also schedule regular meetings with them for them to track your progress List all such components tasks and deadlines An Introductory Lab in Embedded and Cyber Physical Systems 4 PROJECTS 4 1 4 Lab Setup TortoiseSVN is a frontend for the program SVN a version control system TortoiseSVN provides handy right click menus for updating committing and reviewing your files 1 Check out a Repository To checkout your repository create a new directory where you want the files preferably one on a network drive Right click on the new directory and select SVN Checkout In URL Repository enter the URL of your repository When a module is checked out notice a check mark appears next to the folder indicating your local copy is up to date 2 Add Files to your Repository Copy or move the files from your project charter and schedule into this newly created folder Select both and right click on them Select Tor toise SVN Add Notice there are now plus signs next to the files This means that this file 1s to be added to the repository on the next commit Go up a directory The folder containing your local copy should now have a red exclama tion point indicating your local co

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