Real Time Distributed Control Systems

2007/2008 1st semester

~ Project Notes and Help Tools ~

Description of the project

• General description - scdtr_project_v2.pdf
• Details of the physical system - scdtr_project_stage3.pdf

Hardware components

• Microcontroller board general description - McCan.pdf
• Microcontroller Infineon C509L - C509L.pdf
• Power transistor MOSFET RFP12N10L - RFP12N10L.pdf
• Infrared sensor Sharp GP2D12 - GP2D12.PDF
• CAN interface IC Intel 82527 - 82527.pdf
• CAN interface board, PC bus, ECAN527 - ECAN527.pdf
• General information on the CAN bus, Bosh CAN2B - bosch.pdf

Software samples

• Sample 1: (Microcontroller) Read the infrared, read the potentiometer, generate PWM and send status through the serial port - testio.zip
• Sample 2: (Microcontroller) if message from CAN then copy it to the serial port, if current t is a sampling time then Read the potentiometer, (Dedicated PC) if message from CAN then echo it to the screen and send an ACK back through the CAN - CanSoft.zip

Developing code for the PC

In order to develop code for the PC, you will be using the Microsoft Visual C compiler. Necessary libraries:

• the windows sockets ws2_32.lib (provided by the compiler),
• the ECAN52 library and drivers

Developing code for the microcontroller

The programming for the microcontroller is done in C using the Franklin Proview32 compiler and some libraries already developed.

Libraries already available for the microcontroller (see the sample code section):

• Serial port interface SERIAL.H SERIAL.LIB
• Timer interface TIMER.H TIMER.LIB
• CAN bus interface CAN.H CAN.LIB

Flashing the microcontroller

In order to flash the microcontroller, first run the flashloader program (see next figure). Clicking on the flash icon executes all the steps listed under the "Automatic upload" section.

In order to effectively load the program, switch the microcontroller board to the programming state and reset the microcontroller board. In case the synchronisation fails, i.e. the Log messages reports the fail condition, reset again the microcontroller board. This is due to mismatched clocks of the PC and the microcontroller and thus is expected to happen sometimes.

After the flashing, switch back the microcontroller board to the run state and reset it - the program should start running immediately. Note that you can listen to the motor and fun going to a maximum operating mode right after resetting the microcontroller / program - this is expected as the program has explicitly to put a zero to the PWM output port, and that usually takes a while due to other initializations.