EECS 461
Embedded Control Systems
Fall 2009

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SPECIAL ANNOUNCEMENT

Please read the following document: H1N1 Alert for information regarding H1N1 (Swine Flu).


ANNOUNCEMENTS

• August 27th: Welcome to EECS 461 Embedded Control Systems. This webpage will contain important announcements related to the course and will also have course-related material for you to download. Not everything handed out in lecture will be posted here, so it is still important that you attend class.
• August 27th: First Lecture is on Tuesday Sept. 8th.
• September 3rd: Syllabus is posted.
• September 9th: Lab 1 and all lectures are posted. Information regarding H1N1 is posted.
• September 15th: Open lab hours are posted.
• September 30th: A special C programming reference is posted under HW 2.
• November 6th: Lab 8 lab manual has been updated. It won't affect anything on Pre-lab. However, please be sure to bring an updated copy to your lab.

LECTURE NOTES

• Lecture 0 – Introduction
• Lecture 1 – What is an Embedded System?
• Lecture 2 – Interfacing a Microprocessor to the Analog World
• Lecture 3 – Position and Velocity Measurements
• Lecture 4 – The World of Sensors
• Lecture 5 – Actuators
• Lecture 6 – Motor Control
• Lecture 7 – Feedback Systems
• Lecture 8 – Haptic Interfaces and Virtual Environments
  • Notes on the virtual spring mass system
  • Notes on wall chatter
• CAN handout
• Embedded Software Architecture
• Simulink Models for Autocode Generation

RELATED ARTICLES & DOCUMENTS

• MPC5553 User's Manual
• Freescale MPC 5553 Memory Map and Pad Map
• Information on the Freescale MPC 5553 processor
• Trends in Advanced Chassis Control
• Trends in Engine Control
• Technologies for the Twenty First Century Model T
  By J.A. Cook, Kolmanovsky, McNamara, Nelson and Prasad
• Haptic devices from Immersion (TouchSense)
• The Virtual Surgeon
• Doc at a Distance
• Hardware_in_the_Loop_Simulation

HOMEWORK

• Please follow the Homework Policy before working on the homework.



• Problem Set 1 (issued 9/15, due 9/24)
  • Files for Problem Set 1 (ProblemSet1_F09_files.zip)
  
  
• Problem Set 2 (issued 9/24, due 10/1)
  • Files for Problem Set 2 (ProblemSet2_F09_files.zip)
  • eTPU Reference Manual (ETPURM.pdf)
  • C Programming Topic: Integral Promotion (integral_promotion.pdf)
  • C Programming Topic: Unions and Typedefs (union_command.pdf)
  
  
• Problem Set 3 (issued 10/1, due 10/8)
  • Files for Problem Set 3 (ProblemSet3_F09_files.zip)
  
  
• Problem Set 4 (issued 10/8, due 10/15)
  • Files for Problem Set 4 (ProblemSet4_F09_files.zip)
  
  
• Problem Set 5 (issued 10/15, due 10/27)
  • Files for Problem Set 5 (ProblemSet5_F09_files.zip)
  
  
• Problem Set 6 (issued 11/3, due 11/10)
  
  
• Problem Set 7 (issued 11/12, due 11/19)
  • Files for Problem Set 7 (ProblemSet7_F09_files.zip)
  
  
• Problem Set 8 (issued 11/19, due 12/1)
  • Files for Problem Set 8 (ProblemSet8_F09_files.zip)
  
  

PROJECT

Files for the first week of the project:

• Adaptive Cruise Control Project Handout (.pdf).
  
• Project Work Breakdown and Due Dates (.pdf).
  
• Information on the new Simulink blocks (.pdf).
  
• Required files for the project projfiles_F09.zip.
  
• A quick tutorial on writing S-Functions, to help you with the project: Introduction to S Functions.pdf

Files for the second week of the project:

• The driving simulator binary: DrivingSim5.zip
• How to transmit serial data:
  • Top-level model (.jpg)
  • For-iterator subsystem details (.jpg)
  • Serial Port Test (.jpg)
• How to test the pick lead logic:
  • Pick Lead Logic Test (.jpg)
  • PLL Outputs (.jpg)
• QADC/CAN example (do a "save target as" then open in matlab):
  • Receive model (.mdl)
  • Transmit model (.mdl)

LABS

• You will often need to reference the MPC5553 User's Manual (9 Megs). Please follow the Lab Collaboration Policy before working on the labs.
  
  
• Lab 1 – Familiarization and Digital I/O (.pdf)
  
  • Special Topics for Embedded Programming F09 - more references included.
    
  • Lab 1 Files (lab1files_F09.zip)
  
  
• Lab 2 – Quadrature Decoding Using the eTPU (.pdf)
  
  • Freescale Semiconductor Application Note AN2842 (.pdf)
  • Static Variable Reference
  • Lab2_Notes_2009 (.pdf)
  • Lab 2 Files (lab2files_F09.zip)
  
  
• Lab 3 – Queued Analog to Digital Conversion (.pdf)
  • Freescale Semiconductor Application Note AN2989 (.pdf)
  • Lab3_Notes_2009 (.pdf)
  • Lab 3 Files (lab3files_F09.zip)
  
  
• Lab 4 – Pulse Width Modulation (.pdf)
  
  • Lab4_Notes_2009 (.pdf)
  • Lab 4 Files (lab4files_F09.zip)
  
  
• Lab 5 – Interrupt Timing and Frequency Analysis of PWM Signals (.pdf)
  • Freescale e200z6 PowerPC Core Reference Manual (.pdf)
  • Lab5_Notes_2009 (.pdf)
  • Lab 5 Files (lab5files_F09.zip)
  
  
• Lab 6 – Virtual Worlds with Haptic Feedback (.pdf)
  • Lab6_Notes_2009 (.pdf)
  • Lab 6 Files (lab6files_F09.zip)
  
  
• Lab 7 – Controller Area Networking (.pdf)
  • Lab7_Notes_2009 (.pdf)
  • Note: This is a very long 1-week lab. It is vital that you have your pre-lab code finished before you come to your lab section. You will not be able to leave the lab until everyone in the lab completes their code, so please try to work ahead so that none of your classmates need to wait for you.
  • Lab 7 Files (lab7files_F09.zip)
  
  
• Lab 8 – Introduction to Rapid-Prototyping (.pdf)
  
  • Note: There are multiple parts to the pre-lab, in-lab and post-lab. Be sure to read through the entire lab before submitting your pre-lab.
  • lab 8 files (lab8files_F09.zip)
  
  
• Introduction to OSEKturbo Real Time Operating System (.pdf)
  
  • OSEK Files (OSEKRESOURCE.zip)
  • OSEKturbo Technical Reference (OSEKturbo Manual)

INSTRUCTORS

• Course instructor:
  • Professor James S. Freudenberg (jfr@eecs.umich.edu)
  
  
• Lab instructors:
  • Zhaori Cong (zcong@umich.edu)
  • Jessica Szemraj (jszemraj@umich.edu)

CLASS TIMES

• Lectures are held Tuedays and Thursdays from 12:00 pm - 1:30 pm in 1005 DOW.

• Professor Freudenberg's Office Hours are held in 4425 EECS:
  • Monday 2:00 - 3:00 pm
  • Wednesday 2:00 - 3:00 pm

• Lab sections are held in 4342 EECS; the times are:
  • Monday (011) 2:00-5:00 pm (Jessica)
  • Tuesday (012) 3:00-6:00 pm (Zhaori)
  • Wednesday (013) 9:30 am -12:30 pm (Jessica)
  • Thursday (014) 3:00-6:00 pm (Zhaori)

• Open lab hours are:
  • Monday 1:00-2:00 pm (Jessica)
  • Tuesday 2:30-3:00 pm and 6:30-7:00 pm (Zhaori)
  • Wednesday 12:30-1:30 pm (Jessica)
  • Thursday 2:30-3:00 pm and 6:30-7:00 pm (Zhaori)
  • Friday 9:30 am-12:30 pm (Zhaori)
  • Friday 12:30-3:30 pm (Jessica)

SYLLABUS

• The class syllabus is available for download.