Real-Time Computing

Rico A.R. Picone, Joseph L. Garbini, Cameron N. Devine

MIT Press (2024) · ISBN 9780262548762

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0. Getting started

• 0.1 Real-time computing for a mechatronic system
• 0.2 The development system
• 0.3 The Eclipse workspace and hello-world
• 0.4 Programming languages: their uses and differences — preview
• 0.5 Getting started with C — preview
• 0.6 The myRIO C library
• 0.7 The T1 C library
• 0.8 Summary
• Problems
• Lab exercise 1 Programming the target computer

1. Real-time computing fundamentals and programming the high-level user interface

• 1.1 Computer architectures — preview
• 1.2 Computer realization and packaging — preview
• 1.3 A programming model for the ARM processor
• 1.4 Numeral systems — preview
• 1.5 Memory and its contents — preview
• 1.6 The Paper Computer — preview
• 1.7 Real-time computing — preview
• 1.8 Applications: feedback control and real-time measurement — preview
• 1.9 The design problem, objectives, functions, and requirements — preview
• 1.10 C characters, pointers, strings, floats, and functions — preview
• 1.11 Introducing the UI functions of the T1 library
• 1.12 Summary
• Problems
• Lab exercise 2 Programming the high-level User Interface

2. Efficient design and programming the midlevel User Interface

• 2.1 Efficiency for real-time computing — preview
• 2.2 Algorithmic efficiency — preview
• 2.3 Programmatic efficiency and efficient C programs — preview
• 2.4 C operator precedence and associativity — preview
• 2.5 The UI functions of the T1 library
• 2.6 Summary
• Problems
• Lab exercise 3 Programming the Midlevel User Interface

3. Digital communication, signals, and programming the low-level user interface

• 3.1 Information theory and digital communication fundamentals — preview
• 3.2 Digital signals — preview
• 3.3 Digital inputs and outputs and pull resistors — preview
• 3.4 Modes of digital communication — preview
• 3.5 Digital communication standards and protocols — preview
• 3.6 Universal asynchronous receivers-transmitters — preview
• 3.7 I/O communication channels for the myRIO
• 3.8 C structures — preview
• 3.9 Programming the myRIO Universal Asynchronous Receiver/Transmitters (UARTs)
• 3.10 Programming the myRIO DIO lines
• 3.11 C multidimensional arrays — preview
• 3.12 Summary
• Problems
• Lab exercise 4 Programming the low-level user interface

4. Motor control, finite-state machines, and waiting for real-time computing

• 4.1 Modeling the Electromechanical Subsystem — preview
• 4.2 Open-loop control and the step response — preview
• 4.3 Driving PMDC motors — preview
• 4.4 Measuring motor position and velocity — preview
• 4.5 Finite state machines — preview
• 4.6 Waiting for real-time computing
• 4.7 Summary
• Problems
• Lab exercise 5 Finite state machine and open-loop control

5. Real-time scheduling with threads and interrupts, digital circuits, and mechanical switches

• 5.1 Real-time and conventional operating systems and kernels — preview
• 5.2 Real-time scheduling — preview
• 5.3 Real-Time Linux and Its Application Programming Interface — preview
• 5.4 Interrupts and their handling in real-time computing — preview
• 5.5 Digital circuits and logic gates — preview
• 5.6 Transistors in digital circuits — preview
• 5.7 Mechanical switches — preview
• 5.8 Debouncing mechanical switches — preview
• 5.9 Summary
• Problems
• Lab exercise 6 Introduction to interrupts

6. Digital realization of dynamic systems

• 6.1 Analog signals — preview
• 6.2 ADC and DAC hardware — preview
• 6.3 Sampling — preview
• 6.4 Discrete-Time Systems — preview
• 6.5 Analog Input/Output of the myRIO
• 6.6 Timer interrupts and their programming
• 6.7 Summary
• Problems
• Lab exercise 7 Realizing a discrete dynamic system

7. Closed-loop motor velocity control with a digital controller

• 7.1 Continuous feedback control systems and their performance — preview
• 7.2 The root locus and proportional control — preview
• 7.3 PI controller design via the root locus — preview
• 7.4 Digital control systems — preview
• 7.5 Digital velocity control of DC motors — preview
• 7.6 The target controller design
• 7.7 Summary
• Problems
• Lab exercise 8 Motor velocity control

8. PID Motor Position Control and Path Planning

• 8.1 Derivative compensation — preview
• 8.2 PID controller design — preview
• 8.3 Motor position control with PID — preview
• 8.4 Realizing a PID Controller: Causality and PIDF Controllers — preview
• 8.5 Automatic Design of Target Motor Control
• 8.6 Path planning — preview
• 8.7 Summary
• Problems
• Lab exercise 9 Motor position control

Appendix A. Target and development systems

• A.1 Specific T1 target systems
• A.2 Specific D1 development systems

Appendix B. Laboratory components

Appendix C. Git version control

• C.1 Setting up your workspace as a Git repository
• C.2 A remote Git repository

Appendix D. Utility C Function Documentation

• D.1 Saving data from C to a MATLAB data file
• D.2 A table editor

Appendix E. MATLAB functions

• E.1 Function sos2header() for converting controllers to C

Appendix F. Code repository index

Appendix G. Additional target computer feature programming

• G.1 Programming the myRIO PWM outputs
• G.2 Programming the target computer AIO

Appendix H. Discrete approximations of some continuous controllers

Appendix I. Acronyms and Initialisms

Hardware systems

• T1 target system — parts & suppliers
• D1 development system — parts & suppliers

A partial web edition — selected sections are free to read; the rest are previews. Get the full book from the publisher (above). · Index · Errata