Raffaele Cetrulo,
rcetrulo@mail.utexas.edu
Karthik Sankar,
krsankar@mail.utexas.edu
EE445L TAs:
Justin Capogna,
jcapogna@gmail.com
Arindam Goswami,
goswamiarindam@gmail.com
Jungho Jo, jungho.jo@mail.utexas.edu
Lecture notes and lab manual
http://users.ece.utexas.edu/~valvano/EE345M/
Development board: On about Feb 1, we will pass out the
TI Stellaris
LM3S8962 development kit
Each student will get one kit to keep. If you destroy
it or loose it, you will be responsible for buying a replacement costing
about $89 plus shipping.
Reference materials:
Data sheets for most of the devices used in this class are available as pdf
files on the class website. See http://users.ece.utexas.edu/~valvano/Datasheets Data sheets
for devices used in EE319K, EE345L EE345M and EE380L.6
http://www.keil.com/uvision/
Information about the compiler/debugger system
We
will use 32-k limited version of the Keil uVision4 see
http://www.keil.com/arm/mdk.asp
Download it. A large
number of software examples for the LM3S8962 will be available by installing
the
StellarisWare(R).
Old Exams
http://users.ece.utexas.edu/~valvano/EE345Moldquiz/
Other references: For programming in C, see the EE312 text, or
C
programming book
Prerequisites: EE345L or EE345S. This class is the third in a sequence
of three microcontroller laboratories. I expect you to have experiences with
assembly language, serial ports (SCI and SPI), periodic
interrupts, ADCs, edge triggered interrupts, FIFO
queues and C programming. We will be using the Arm Cortex-M3, and we
expect the prior experiences for most students would have been with a different microcontroller.
You are also expected to understand how the DFT is used to observe digitally
sampled data in the frequency domain.
Teaching philosophy
I strongly encourage
students to take an active role in this class. There will be a copious
amount of action in this class: debugging, soldering, screwing, cutting, and
testing. Questions are welcome
before, during and after class. Please feel free to email, visit or call me if
you have questions.
Specific Objectives of EE345M/EE380L.6
The primary objective of EE345M/EE380L.6 is for
the students to develop the ability to design real-time systems. This class
allows students to combine principles of microcomputer interfacing, software
development, digital logic and analog circuits into the design of
microcomputer-based systems.
ARM architecture, and C programming Minimally
intrusive debugging Performance
measures
Synchronization methods
Busy-wait,
interrupt, DMA, periodic polling, priority interrupts
Embedded Communication Systems Serial
network protocols, layered software, CAN, Ethernet, and USB
Real time operating systems
Foreground
and background thread scheduling Synchronization
using spinlock and blocking semaphores Interthread
communication
Digital Device Interfaces SD
drive interface using SPI, file systems
Diodes,
transistors, DC motors, servos, stepper motors, relays, solenoids,
Optical
sensors, IR distance sensors and contact switch sensors
Time Domain Interfaces Input
capture/output compare, frequency, period and pulse width measurements,
Pulse-width
modulation
Data Acquisition Systems Op
amp amplifiers, analog low pass filters, ADC, FIFO queues, digital filters
Control systems Open
loop and closed loop, Linear and Nonlinear, Bang-bang
control,
incremental control, PID Control
The purpose of EE345M/EE380L.6 is to
provide students an in depth understanding of real-time operating systems,
real-time debugging, and embedded systems. After the successful conclusion of
EE345M/EE380L.6 students should be able to design real-time embedded systems, such as motor
controllers, data store systems, data acquisition systems, communication
systems and robotic systems.
Attendance: Students are expected to
attend all lectures, which are at 10 o'clock in the morning. Since there is no book, fundamental material will be presented
in class, and the details can be found in data sheets and library files
provided by the manufacturer. Some lecture material will be posted on the
web, while other lecture material will only be presented in class. If
you decide that you do not want to come to every lecture, please drop this
class.
EE345M Grading: 40% Laboratory
15%
Quiz1, closed book, Friday February 25, 11-11:50am, in ACA1.104 15%
Quiz2, open book, open book, Friday April 1, 11-11:50am, in ACA1.104 30%
Final, part closed book part open book, Monday May 16, 2-5pm, regularly scheduled
Please notice
the dates for the exams; there will be no re-tests,
make-ups, or incompletes. Class
attendance will be used for deciding grades in borderline cases. I will not
use A- grades, but otherwise I plan to use +/- grading. I have no expected grade cutoffs or expected GPA for this class. You can
view the previous GPA for classes at UT at
www.MyEdu.com. This web site
reports I give a GPA in EE345M of 3.48. All professors want a
5 on their teaching evaluation, and all students want an A. However, I
feel both should only be awarded for excellence.
EE380L.6 Project: The graduate student will attend the lectures, take
the exams, and perform the labs. In addition to all the regular EE345M
assignments, the graduate student will design, build, debug, and document an
extra lab project involving the design, implementation and testing of an
embedded system with a
real-time operating system. The complexity of this project should be
equivalent to one of the regular labs. The project should be approved in advance by
the instructor. A 1/2 page written proposal concerning the project is due by
the end of February. The project must be demonstrated to a TA by the last
class day of the semester. Project report is due to the instructor the first
Monday after classes are over. You are free to choose a project in your
field of interest. It must include an embedded system and a real-time operating
system of your design. You must write microcomputer software and/or build
microcomputer hardware. It must actually be built and tested. The report
will be typed double spaced. The minimum page count is 15 and the maximum
page count is 20 (including hardware diagrams, but not software listings.)
The grading policy for the report has four parts:
25%
English style, grammar, spelling, clarity of discussion, objectives
25%
Neatness, hardware diagrams, data flow graphs, call graphs
25%
Engineering quality, how well it works, creativity, correctness
25%
Evaluation and test procedures, how do you verify its correctness.
EE380L.6 Grading:
80%
Regular EE345M grade
20%
Project
Lab Partners: All labs should be performed
with a partner. The lab partnership must be registered with your TA (a simple
hand written note signed by both students will suffice) at least a week before
the assignment is due. Once registered, the partnership will continue. A
partnership can be dissolved only after discussion with the TA. Both partners
must be present during the demonstration. It is expected that both partners will
contribute to all aspects of each lab, and both partners are expected to be
present during the check out. The point values are the same for all labs. The TA
will sign your software listing when you demonstrate your system. All parts of
the assignment must be demonstrated to a TA by the end of your lab period the
week shown in the column labeled "Demo/Report". Any EE345M/EE380L TA is authorized to
checkout your lab. The report (hardware, software, data and plots) are due
one day after the demonstration is due. Please consult with your TA for specific
due dates for your lab section.
EE345M/EE380L Laboratories (1/15 version)
1. Real-time clock, oLED Display, ADC and serial port drivers on the LM3S8962 board running on an Arm Cortex-M3 (review of EE345L)
2.
Real-time operating system kernel (thread switching and synchronization)
3.
Blocking semaphores, priority scheduling, performance measures, dumping RTOS profile data to
the PC
4. Microphone input, digital filters, FFT, display spectrum on
the oLED
5. Solid
state disk, SPI, address translation, layered software, file system
Formula 0001 Racing Robot (teams of 3, 4 or 5)
6.
Distributed data acquisition using a controller area network (CAN) of IR
distance
sensor, Ping))) distance, wheel RPM
7A. Moving and turning, PID control
7B.
Sensor design and interfacing
7C.
Control algorithm, system performance analysis
Lab Schedule
|
Week |
First session |
Second session |
Friday 10am |
Comments |
|
1/17 |
none |
none |
no lab activities |
|
|
1/24 |
Meet the TA, |
1 PrePrep, Select partners |
Keil uVision4 demonstration |
|
|
1/31 |
1 Prep |
|
Spectrum analyzer demo |
|
|
2/7 |
1 Demo |
2 Prep |
1 Report |
|
|
2/14 |
|
|
|
|
|
2/21 |
|
2 Demo
|
2 Report |
Quiz 1 is 2/25 |
|
2/28 |
3 Prep |
|
|
|
|
3/7 |
3 Demo |
4 Prep (bonus) |
3 Report 4 Prep (on line) |
There is a hard deadline on Lab 3. If Lab 3 is not demonstrated by second session, revert to Lab 2 and complete rest of labs with Lab 2 OS. |
|
3/21 |
4 Demo |
5 Prep |
4 Report |
|
|
3/28 |
5 Demo |
6 Prep |
|
Quiz 2 is 4/1 |
|
4/4 |
5 Report |
6 Demo |
6 Report |
|
|
4/11 |
|
7A Prep |
|
|
| 4/18 | 7A Demo |
|
||
|
4/25 |
|
|
7B Demo |
|
|
5/2 |
|
7C Demo |
7C Report |
Turn in equipment by 5/6 |
No lab 1/19-21
Prep = you turn in your lab preparation
Demo = you demonstrate your lab to the TA
Report = you turn in your complete lab report to the TA
|
Week |
Topic |
|
1/19 |
Modular programming, call graphs, synchronization, data
flow graphs, show differences between busy-wait and interrupt
synchronization, uVision4 compiler, device drivers, quality software, friendly |
|
1/24 |
Arm architecture, instruction set, stack, interrupt servicing, lab environment, debugging techniques, intrusiveness, monitor, output to scope, simulator, periodic interrupts |
|
1/31 |
|
| 2/7 |
Blocking semaphores, add cooperative
multitasking priority scheduling |
|
2/14 |
Critical sections, debugging of the RTOS |
|
2/21 |
Analog filters, Digital filers, FFT, graphics |
|
F 2/25 |
Quiz 1 in ACA 1.104, covering material in Labs 1, 2 |
|
2/28 |
|
|
3/7 |
|
|
3/21 |
|
|
3/28 |
|
| F 4/1 | Quiz 2 in ACA 1.104, covering material in Labs 1, 2, 3, 4, 5 |
|
4/4 |
|
|
4/11 |
|
|
4/18 |
MicroC/OS-II, Vxworks, effect of sampling jitter |
|
4/25 |
|
|
M 5/2 |
course review and evaluation |
|
W 5/4 |
Robot preliminary competitions 3rd floor ENS |
|
F 5/6 |
Robot final competitions 3rd floor ENS |
|
F 5/6 |
all Lab notebooks are due to the TA
|
|
F 5/6 |
Turn in Lab Equipment so that we won't bar your
registration |
|
5/16 |
Final exam, Monday, 2-6pm, Time/place
regularly scheduled |
No
lab activities occur during the week of January 19. During the week of January
24-27, please go to your scheduled lab sessions in ENS252C to get a
demonstration of the lab equipment. We will be using the TI
TI Stellaris
LM3S8962 development kit this semester. It will be extremely convenient for
both partners to have a working board. Each student will get exactly one
board on about Feb 1. If you loose it or
destroy it, you can purchase another from Keil. For more information on purchasing a replacement kit, go
to the TI web site listed above. Lab partners will be selected
in your lab the week of January 24-27. The Lab 1 preparation is due at the
beginning of your second lab session the week of February 1. The lab
preparations (hardware diagrams and syntax-free software source code
printouts) are due at the beginning of your lab period. In other words,
please type your software into the PC before lab. Attendance in lab is
required. All software for lab, and tests must include comments. All
hardware must include R&C values specifying tolerance and type (e.g., 5%
carbon), and chip numbers (be very specific e.g.,
OPA2350PA). Pin
numbers are required only for lab, not for the exams.
Students are encouraged to go to the last 1 hour of the other lab
periods, but the first priority will be to the regular students. During
the first 15 minutes of lab, the TA will collect preparations. For the
next 15 minutes, the TA will lead a lab discussion session. The
remaining lab time is available for debugging and lab checkout. At the
end of the semester please verify with the checkout counter that your
record is clear. All reports must be given to the TA by Friday May 6, 5pm.
Sections from the EE345L book that might help with the labs
1.6.
Digital Logic And Open Collector
2.11. Debugging Strategies
4.5.4. 6812 Interrupt Vectors And Priority (Review)
7.6. SCI
Interrupt Interfaces
7.7. SPI Interfaces
Lab Example SCI12.H SCI12A.C (Review)
8.4. Transistors
Used For Computer Controlled Current Switches
8.5.5. Pulse Width Modulated
DC Motors
8.5.6. Interfacing EM Relays, Solenoids, And DC Motors
Figure
8.70 (IRF540, 6N139)
6.2.1. General Concepts
6.2.2. Output Compare Details
6.2.3. Periodic Interrupt Using Output Compare (Review)
6.2.5. Pulse
Width Modulation
6.1.1 Basic Principles Of Input Capture
6.1.2. Input
Capture Details
6.1.3. Real Time Interrupt Using An Input Capture
6.1.4.
Period Measurement (Not 32-Bit)
6.4.1. Using Period Measurement To Calculate
Frequency
5. Threads
14.1., 14.3 CAN Network
15. Digital filter fundamentals,
design, implementation and analysis
Covered on the
exams, but not necessary for the labs
6.1.5. Pulse Width Measurement
6.3. Frequency Measurement
6.3.1. Frequency Measurement Concepts
6.3.2. Frequency Measurement with frequency resolution of 100Hz
6.5.
Measurements Using Both Input Capture And Output Compare
6.5.1. Period
Measurement with period resolution of 1ms
6.5.2. Frequency Measurement with
frequency resolution of 0.1Hz
11.2.7.5 Subtraction Circuits
11.2.7.6 Instrumentation Amp (AD620)
Legal Stuff: The 12th class day is February 2.
The drop policy has recently changed. See your academic advisor or the Dean of
Students for more information. Course evaluation
is conducted on the last class day in accordance with the Measurement and
Evaluation Center form. The final exam is at the time and place stated in the
course schedule. The University of Texas at Austin provides upon request
appropriate academic adjustments for qualified students with disabilities.
Students with disabilities may request appropriate academic accommodations from
the Division of Diversity and Community Engagement, For more information,
contact Services for Students with Disabilities, 471-6259,
http://www.utexas.edu/diversity/ddce/ssd/.
Scholastic dishonesty: "Faculty in the ECE Department are committed to detecting and responding to all instances of scholastic dishonesty and will pursue cases of scholastic dishonesty in accordance with university policy. Scholastic dishonesty, in all its forms, is a blight on our entire academic community. All parties in our community -- faculty, staff, and students -- are responsible for creating an environment that educates outstanding engineers, and this goal entails excellence in technical skills, self-giving citizenry, an ethical integrity. Industry wants engineers who are competent and fully trustworthy, and both qualities must be developed day by day throughout an entire lifetime. Scholastic dishonesty includes, but is not limited to, cheating, plagiarism, collusion, falsifying academic records, or any act designed to give an unfair academic advantage to the student. The fact that you are in this class as an engineering student is testament to your abilities. Penalties for scholastic dishonesty are severe and can include, but are not limited to, a written reprimand, a zero on the assignment/exam, re-taking the exam in question, an F in the course, or expulsion from the University. Don't jeopardize your career by an act of scholastic dishonesty. Details about academic integrity and what constitutes scholastic dishonesty can be found at the website for the UT Dean of Students Office and the General Information Catalog, Section 11-802."
You are encouraged to study together and to discuss information and concepts
with other students. You can give "consulting" help to or receive "consulting"
help from such students in oral form. However, this permissible cooperation
should never involve one student having possession of a copy of all or part of
work done by someone else, in the form of an email, an email attachment file,
a portable storage device, or a hard copy. Copying of any
part of a program is cheating without explicit reference to its source. If we
find two programs that are copied, there will be a substantial penalty to both
students, e.g., failure in the course. Students who cheat on tests or in lab
will fail. Prosecution of cases is very traumatic to both the student and
instructor. It is appropriate to use software out of the book, class website as
long as all copy-pasted software is explicitly referenced. Copy-pasting software
from current or past EE345M students is scholastic dishonesty. Policies
concerning the use of other people's software in this class:
· I strongly encourage you to
study existing software.
· All applications and libraries
must be legally obtained. E.g.,
You may use
libraries that came when you bought a compiler.
You may use software obtained from the web.
You may
copy and paste from the existing source code.
· You may use any existing source
code that is clearly referenced and categorized:
original:
completely written by you,
derived:
fundamental approach is copied but it is your implementation,
modified:
source code significantly edited to serve your purpose,
copied:
source code includes minor modifications.
Many
manufacturers will send
free samples to students. There are no required parts you need to
sample in EE345M this semester, so this information is for reference only. Devices come in many
sizes and shapes. So, when requesting samples be sure to specify the
package you want: big surface mount, tiny surface mount, or DIP.
You will need register with an official University email address (e.g., YourName@mail.utexas.edu) rather than
a junk email address (e.g., aol.com or gmail.com)
Analog Devices
http://www.analog.com/en/index.html
Maxim
http://www.maxim-ic.com/
Texas Instruments
http://www.ti.com
SamTec
http://www.samtec.com/ Click
Samples, register
Cool chips, but not needed Spring 2011
AD8032ANZ
rail-to-rail dual op amp
MAX1247ACPE+ 12-bit ADC, such as the (A or B, with or without +)
MAX492CPA rail-to-rail dual op amp (any plastic DIP, with or without +)
MAX494CPD rail-to-rail quad op amp (any plastic DIP, with or without +)
MAX539ACPA single 12-bit SPI interface DAC (ACPA or BCPA)
MAX6225ACPA+ 2.500V
analog reference (with or
without
+)
(ACPA or BCPA)
MAX5154ACPE
dual 12-bit SPI interface DAC
(ACPE or BCPE)
TLC2272ACP rail-to-rail dual op amp
TLC2274ACN rail-to-rail quad op amp
INA122P rail-to-rail instrumentation amp
OPA2350PA rail-to-rail dual op amp
LM4041CILPR adjustable shunt reference
SD-115-G-2 (could use two for LM3S8962 Board)
SD-110-G-2 (could use two for LM3S2110 Board)
Places to buy prototyping boards
and other parts
In Austin
| AlTex Electronics | 832-9131 |
| Frys Electronics | 733-7000 |
| Radio Shack | multiple |
Internet sales
| BG Micro, Dallas | http://www.bgmicro.com/ | Freescale | http://www.freescale.com/ | |
| All Electronics, Los Angeles | http://www.allelectronics.com/ | Technological Arts | http://www.technologicalarts.com | |
| Digikey | http://www.digikey.com/ | Maxim | http://www.maxim-ic.com/ | |
| Mouser Electronics | Fairchild | http://www.fairchildsemi.com/ | ||
| Jameco, Belmont CA | http://www.jameco.com/ | Texas Instruments | http://www.ti.com/ |
Curious about my research?
See
http://users.ece.utexas.edu/~valvano/research