FPGA入门：嵌入式系统设计实战指南 - CSDN文库

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2 Introduction to Embedded System Design Using Field Programmable Gate Arrays

• Libraries of re-usable code

• Programming tools.

Table 1.1. Embedded system design flow [1]

Design phase Design phase details

Requirements Functional requirements and non-functional requirements

(size, weight, power consumption and cost)

User specifications User interface details along with operations needed to

satisfy user request

Architecture Hardware components (processor, peripherals,

programmable logic and ASSPs), software components

(major programs and their operations)

Component design Pre-designed components, modified components and new

components

System integration

(hardware and software)

Verification scheme to uncover bugs quickly

1.2 Hypothetical Robot Control System

For understanding different digital design platforms, this text uses the design of a

digital controller for a robot as a case study. The robot is a hypothetical, vertically

articulated robot system for an automated assembly line. The process of designing

this controller will help in understanding various digital design concepts. Figure

1.1 shows the various components of an assembly line robot. Each robot consists

of five electric motors that work as actuators for different joints of the robot. A

programming pendant or workstation is used to program the movements of the

robot along with a communications network to link this robot to other robots on the

assembly line. Various sensors are interfaced to the robot control system.

Data

communications

Fig. 1.1. Vertically articulated robot system used in an assembly line environment

Introduction 5

components laid the foundation of digital design. The Intel 4004 microprocessor

became the first digital platform which was configurable using software. Table 1.4

lists the major contemporary digital designs along with their relative merit.

Table 1.4. Digital design platforms

Digital design platform Merit

Microprocessors Reconfigurable using software. Good for

computations

Microcontrollers, digital signal

controllers

Combination of peripherals and CPU

Application specific standard product

(ASSP)

A specialized peripheral with the ability

to communicate with a host processor

Field programmable gate array (FPGA) Ability to combine the strengths of

processor, controller and ASSP

1.3.1 Microprocessor-based Design

The microprocessor has changed digital design methodology like no other digital

component. It started out as a 4

2

bit programmable CPU in 1971 and still continues

to be the digital controller of choice across several application areas. The

microprocessor brought the concept of instruction set architecture (ISA), assembler

and compiler. There are many real-time applications, with fast update rates require

programming the microprocessor in its native assembly language. This is usually

done when the size of available memory is a constraint. Even though most

commercial microprocessors used today cater to data-centric applications, there are

microprocessor cores embedded in microcontrollers for real-time control

applications.

Digital control systems, like the robot application use a processor by using

interrupts for real-time processing. There are interrupts for calculation of robot arm

trajectory, encoder and sensor feedback, control of motors and networks. Each

interrupt will occur based on the update time requirement of the given task. Figure

1.3 shows the generic nature of interrupt processing, where an interrupting device

seeks CPU attention. A microprocessor-based robot controller carries out the task

of arm positioning based on the flowchart shown in Fig. 1.4.

2

The early Intel 4004 and the 8086 processor had close to 2300 and 29000 transistors. A basic 2

input NAND gate consists of 4 transistors. Effectively the early Intel processors 4004 and 8086

used only 575 and 7250 gates. This helps to put in perspective the amount of digital logic that can

be accomodated in a 500,000 gate FPGA.

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