Bai Giang He Thong Nhung

http://www.ebook.edu.
vn
Faculty of Electronics & Electrical Engineering Embedded Systems
This Document is Prepared by Dr. Bui Trung Thanh

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TRNG I HC S PHM K THUT HNG YN
KHOA IN IN T
********
CNG BI GING
H THNG NHNG
EMBEDDED SYSTEMS
Hng Yn, thng 1 nm 21
http://www.ebook.edu.vn

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CHNG 1
GII THIU CHUNG
K nguyn cng ngh d v dang tip tc pht trin khng ngng nhm thng
minh ha hin di ha h thng. C th ni s ra di v pht trin ca h nhung trc
tin phi k dn s ra di ca cc b vi x l, vi diu khin. No dc danh du bng
s ra di ca Chip vi x l du tin 4004 vao nm 1971 cho mc dich tinh toan thng
mi ca cng ty Busicom va sau do d dc chp cnh v pht trin vt bc bi
INTEL d tr thnh cc b siu x l nh cac Chip dc ng dng cho PC nh ngay
nay. Thp k 80 c th dc coi l thi dim bt du k nguyn mi ca s bng n
thng tin v pht trin cc h nhng. T do khi ngun cho lan song ra di ca hng
lot cc chng loi vi x l v gn lin cc h nhung d thm nhp rng khp trong cc
ng dng hng ngy ca cuc sng chng ta v d nh cac thit b din t s dng cho
sinh hot hng ngy nh: l vi sng, TV, t lnh, my git, diu ha v vn phng
lm vic nh: may Iax, may in, may din thoi cc b vi x l v phn mm cng
ngay cang dc s dng rng ri trong rt nhiu ng dng da dng. Trong s do vn
cn ng dng cho c chip 8 bit, 16 bit v hin nay ch yu vn l 32 bit (chim khong
75%). Gn vi s pht trin phn cng, phn mm cng d pht trin vi tc d nhanh
khng thua km thm ch s tng nhanh hn rt nhiu theo s pht trin h nhng.
1.1 Cc khi nim v h nhng
H nhng
Hnh 1: mt vi hnh nh v h nhng

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Trong th gii ca chng ta bt k mt h thng din/din t hay thit b din
c kh nng x l thng tin v diu khin du c th tim n trong do mt thit b hay
h nhng, v d nh cac thit b truyn thng, thit b do lng diu khin, c th k ra
hng lot cc thit b h thng nhung dang tn ti quanh ta, chng l h nhng. Vy
thc cht h nhng l mt phn h thng x l thng tin trong cc h thng ln, phc
hp va dc lp v d nh trong t, cc thit b do lng, diu khin, truyn thng v
thit b thng minh ni chung. Chng l nhng t hp ca phn cng v phn mm d
thc hin mt hoc mt nhm cc chc nng chuyn bit c th (trai ngc vi my
tinh PC ma chung ta thng thy dc s dng khng phi cho mt chc nng ma la
rt nhiu chc nng chc nng). PC thc cht l mt h thng ln t hp ca nhiu h
thng nhng v d nh card man hnh, m thanh, cng, ban phim. Chinh diu ny
lm chng ta d lng tng nu dc hi nn hiu th no v PC, c phi l h nhng
hay khng.
H thi gian thc
Trong bai toan diu khin v ng dng chng ta rt hay gp thut ng thi
gian thc. Real time c phi l thi gian phn nh v d trung thc ca thi gian hay
khng? Thi gian thc c phi l hin th chinh xac va dng b theo dung nh nhp
dng h thi gian hay khng? Khng hoan toan dung nh vy! Thc cht theo cch
hiu nu ni trong h thng k thut dc bit cc h thng yu cu kht khe v s rng
buc thi gian, thi gian thc dc hiu l yu cu ca h thng phi dm bo tha
mn yu cu v tnh tin dnh trong hot dng ca h thng. Tnh tin dnh ni ln
hnh vi ca h thng thc hin dung theo mt khung thi gian cho trc hon ton xc
dnh vi giy cng co th dn vi nano giy hoc nh hn na. dy chung ta phn
bit yu t thi gian gn lin vi khi nim thi gian thc. Khng phi h thng thc
hin rt nhanh s dm bo thc hin tnh thi gian thc. Hn th na nu ch nhanh
khng th cha d m phi dm bo duy tr n dnh bng mt c ch hot dng tin cy.
Chnh v th m h thng khng kim soat dc hot dng ca n (bt dnh) th khng
phi l mt h thng dm bo tnh thi gian thc mc d h thng do co th dap ng
rt nhanh, thm chi nhanh hn rt nhiu so vi yu cu dt ra. Mt v d tiu biu l
dng truyn thng d liu qua dng truyn.
Hnh 1-2:Phn b quan h gia h nhng & thi gian thc

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Chun Ethernet truyn thng, mc d ai cng bit tc d truyn l rt nhanh
nhng vn khng phi h hot dng thi gian thc v khng tha mn tnh tin dnh
trong c ch truyn d liu (c th l rt nhanh v cng co th l rt chm nu c s
cnh tranh va giao thng dng truyn b nghn).
1.2 c dim cng ngh v xu th pht trin ca h nhng
1.2.1 c dim cng ngh
Cc h thng nh vy du c chung mt s dc dim nh yu cu v kh nng
thi gian thc, d tin cy, tinh dc lp v hiu qu. Mt cu hi dt ra l ti sao h
thng nhng li pht trin va dc ph bin mt cach nhanh chong nh vy. Cu tr
li l nm trong cc cc yu cu tng cng khng ngng trong cc ng dng cng
nghip hin nay. Mt trong nhng yu cu c bn do la:
Kh nng dc lp va thng minh hoa: diu nay dc ghi r hn thng qua cac
thuc tnh yu cu c th:
- tin cy
- Kh nng bo tr v nng cp
- S ph cp v tin s dng
- an ton
Hiu qu: Yu cu nay dc th hin thng qua mt s cac dc dim ca h
thng nh sau:
- Nng lng tiu th
- Kich thc v phn cng v phn mm
- Hiu qu v thi gian thc hin
- Kich thc v khi lng
- Gi thnh
Phn hoch tc v v chc nng hoa: Cc b vi x l thc hin mt phn diu
khin cho mt chc nng thu thp, x l v hin th ca t hay h thng diu khin
qu trnh. Kh nng nay lam tng thm s chuyn bit ha v chc nng ca mt h
thng ln v d dang hn cho qua trnh xy dng, vn hnh bo tr.
Kh nng thi gian thc: Cc h thng gn lin vi vic dm nhim mt chc
nng chinh va phi dc thc hin dung theo mt khung thi gian qui dnh. Thng
thng mt chc nng ca h thng phi dc thc hin dung theo mt khung thi
gian qui dnh. Thng thng mt chc nng ca h thng phi dc thc hin v hon
thnh theo mt yu cu thi gian dnh trc d dm bo thng tin cp nht kp thi
cho phn x l ca cc chc nng khac va co th nh hng dn s hot dng dung va
chnh xc ca ton h thng. Ty thuc vo tng bi ton v yu cu ca h thng m
yu cu v kh nng thi gian thc cng rt khac nhau cang lam tng ln tinh chuyn
mn ha ca cc h thng thit b nhng m cc thit b da nng khng th cnh tranh
dc.

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1.2.2 Xu th pht trin v s tng trng ca h nhng
V s pht trin h nhng l s kt hp nhun nhuyn gia phn cng v phn
mm cng ngh gng lin vi n cng chinh l cng ngh kt hp vi cc gii php
cho phn cng v mm. V tnh chuyn bit ca cc thit b /h nhung nh d gii
thiu nn cc nn phn cng cng dc ch to d u tin dap ng cho chc nng hay
nhim v c th ca yu cu thit k da ra.
Lp h nhung u tin phat trin theo tiu ch v kich thc nh gn, tiu th
nng lng t, gi thnh thp. Cc chip x l nhng cho lp h thng ng dng do
thng yu cu v kh nng tinh toan it hoc va phi nn hu ht dc xy dng trn
c s dng b x l 8 bit- 16 bit hoc cng lm l 32 bit v khng h tr du phy
dng do s hn ch v dung lng v kh nng tinh toan.
Lp h nhung u tin thc thi cc kh nng x l tnh ton vi tc d cc
nhanh. Cc chip x l nhng cho cc h thng do cng dc h tr.

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CHNG 2
CU TRC PHN CNG H NHNG
2.1 Cc thnh phn kin trc c bn
2.1.1 n v x l trung tm
CPU (central processing unit) dong vai tr nh b no chu trch nhim thc thi
chc nng nay la dn v tnh v thc hin cc lnh. Phn chnh ca CPU dm nhim
chc nng nay la dn v logic ton hc (ALU arthimeic logic unit). Ngoai ra d h tr
cho hot dng ca ALU cn c thm mt s cc thnh phn khac nh b gii m
decoder, b tun t sequencer v thanh ghi.
- Thanh ghi con tr va ngn xp - Stack pointer
Thanh ghi nay lu tr da ch tip theo ca ngn xp. Theo nguyn l gi tr ca
da ch cha trong thanh gh con tr ngn xp s gim nu d liu dc lu thm vao
ngn xp v s tng khi d liu dc ly ra khi ngn xp.
- Thanh ghi ch s - Index register
Thanh ghi ch s dc s dng d lu da ch khi mode da ch dc s dng .
N cn dc bit ti vi tn gi l thanh ghi con tr hay thanh ghi la chn tp
Microchip.
- Thanh ghi aa ch lnh / b am chng trnh - Program Counter
Mt trong nhng thanh ghi quan trng nht CPU l thanh ghi b dm chng
trnh. Thanh ghi b dm chng trnh s tng ln mt. Chng trnh s kt thc khi
thanh ghi PC c gi tr bng da ch cui cng ca chng trnh nm trong b nh
chng trnh.
- Thanh ghi tch ly - Accumulator
Thanh ghi tch ly l mt thanh ghi giao tip trc tip vi ALU dc s dng
d lu gi cc ton t hoc kt qu ca mt php ton trong qu trnh hot dng ca
ALU.
2.1.2 Xung nhp v trng thi tn hiu
Trong VXL ni chung hot dng ca h thng dc thc hin dng b hoc d
b theo cc xung nhp chun. Cc nhp do dc ly trc tip hoc gin tip t mt
ngun xung chun thng l cc mch to xung hoc dao dng thch anh. m t
hot dng ca h thng, cc tn hiu d liu va diu khin thng dc m t trng
thi theo gin d thi gian v mc tn hiu.
Mc dich ca vic m t trng thi tn hiu theo gin d thi gian v mc tn
hiu la d phn tich va xac dnh chui s kin hot dng chi tit rong mi chu k bus.
Nh vic m t ny chng ta c th xem xt dn kh nng dap ng thi gian ca cc

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s kin thc thi trong h thng v thi gian cn thit d thc thi hot dng tun t
cng nh la kh nng tng thich khi s s phi hp gia c thit b ghp ni hay m
rng trong h thng. Thng thng thng tin v cc nhp thi gian hot dng cng
nhu dc tnh k thut chi tit dc cung cp hoc qui dinh bi cc nh ch tao.
Mt s dc trng v thi gian ca cc trng thi hot dng c bn ca cc tn hiu h
thng gm co nh sau:
+ Thi gian tng hoc gim
+ Thi gian tr lan truyn tn hiu
+ Thi gian thit lp
+ Thi gian gi
+ Tr cm hot dng v trng thi treo Tri-state
+ rng xung
+ Tn s nhp hot dng
- Thi gian tng hoc gim
Thi gian tng dc dnh ngha l khong thi gian d tn hiu tng t 20 dn
80% mc tn hiu cn thit. Thi gian gim l khong thi gian d tn hiu gim t
80 dn 20% mc tn hiu cn thit.
- Thi gian tr lan truyn
L khon thi gian tnh t khi thay di tn hiu vo cho ti khi c s thay di
tn hiu du ra. c tinh nay thng do cu to v kh nng truyn dn tn hiu vt
l trong h thng tn hiu.
- Thi gian thit lp va lu gi
Khong thi gian cn thit d tn hiu trch mu dt ti mt trng thi n dnh
trc khi xung nhp chun dng h thay dc gi l thi gian xc lp. Thi gian lu
gi l khong thi gian cn thit d duy tr tn hiu trch mu n dnh sau khi xung
nhp chun dng h thay di. Thc cht l khong thi gian thit lp v thi gian lu
gi l cn thit d dm bo tn hiu dc ghi nhn chnh xc v n dnh trong qu trnh
hot dng v chuyn mc trng thi.
Trong trng hp hot dng chuyn trng thi tn hiu khng dng b v khng
dm bo dc thi gian thit lp va lu gi s c th dn dn s mt n dnh hay
khng xac dnh mc tn hiu trong h thng. Hin tng nay dc bit ti vi tn gi
l metastability.
2.1.3 Bus da ch v d liu diu khin
Bus da ch la cac dng dn tn hiu logic mt chiu d truyn da ch tham
chiu ti cc khu vc b nh v ch ra d liu dc lu gi du trong khng gian b
nh. Trong qu trnh hot dng CPU s diu khin bus da ch d truyn d liu gia
cc khu vc b nh va CPU . Cac da ch thng thng tham chiu ti cc khu vc b
nh hoc cc khu vc vo/ra hoc ngoi vi. D liu dc lu trong cac khu vc do

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thng l 8 bit, 16 bit, hay 32 bit ty thuc vo cu trc tng loi vi x l/vi diu
khin. Hu ht cc vi diu khin thng danh da ch d liu co d rng l 16,20,24
hoc 32 bit. Nu danh da ch theo byte th mt vi x l 16 bit c th danh da ch ch
bt du t da ch 0 va tng dn dn 2N-1. Hin nay cc vi x l v vi diu khin ni
chung ch yu vn s dng ph bin cc bus d liu co d rng. Nu danh da ch theo
byte th mt vi x l 16 bit c th da ch dc 2
16
khu vc b nh tc l 65536 = 64
Kbyte. Tuy nhin mt s khu vc b nh m CPU khng th truy nhp trc tip ti tc
l phi l phi s dng nhiu nhp bus d truy cp, thng thng phi kt hp vi diu
khin phn mm. K thut ny ch yu dc s dng d m rng b nh va thng
dc bit ti khi nim danh da ch trang nh khi nhu cu danh da ch khu vc nh
vt qu phm vi c th danh da ch truy nhp trc tip.
V d: CPU co 24 bit da ch s cho php danh da ch trc tip cho 2
24
byte(16
Mbyte) nh. CPU80386 v cc loi vi x l mnh hn co khng gian da ch 32 bit s
c th danh dc ti 2
32
4 GB da ch trc tip.
Bus d liu
Bus d liu l cc knh truyn ti thng tin theo 2 chiu gia CPU. Tc d
dng truyn hay trao di d liu thng dc d tinh theo dn v byte/s. S lng
dng truyn bit d liu s cho php xac dnh dc s lng bit c th lu tr trong
mi khu vc tham chiu trc tip. Nu mt bus d liu c kh nng thc hin mt ln
truyn trong 1 ms, th bus d liu 8 bit s co bng thng la 1Mb/s, bus 16 bit s c
bng thng la 2 mb/s va bus 32 bit s co bng thng la 4 Mb/s. Trong trng hp bus
d liu 8 bit vi chu k bus l T = 1 ms tc l s truyn dc 1b/1 chu k th s truyn
dc 1 Mb trong 1s hay 2 Mb trong 2s.
Bus diu khin
Bus diu khin phc v truyn ti cc thng tin d liu d diu khin hot dng
ca h thng. Thng thng cc d liu diu khin bao gm c tn hiu chu k d
dng b cc nhp chuyn dng v hot dng ca h thng. Thng thng cc d liu
diu khin bao gm cc tn hiu chu k d dng b cc nhp chuyn dng v hot
dng ca h thng. Bus diu khin thng dc diu khin bi CPU d dng b ha
nhp hot dng v d liu trao di trn cac bus. Trong trng hp vi x l s dng dn
knh bus d liu va bus da ch tc l mt phn hoc ton b bus d liu s dc s
dng chung chia x vi bus da ch th cn mt tn hiu diu khin d phn nhp truy
nhp cho php cht lu tr thng tin da ch mi khi bt du mt chu k truyn. Mt v
d v cc chu k bus v s dng b ca chng trong hot dng ca h thng bus da
ch v d liu dn knh. y la hot dng din hnh trong h vi diu khin 8051 v
nhiu loi tng t.

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2.1.4 B nh v kin trc b nh
Kin trc b nh chia lm 2 loi chinh va dc p dng rng ri trong hu ht
cc chip vi x l nhng hin nay theo Von Newman v Havard. Trong kin trc Von
Newmann khng phn bit vng cha d liu v m chng trnh. C phng trnh v
d liu du dc truy nhp theo cng mt dng. iu nay cho php da d liu vo
vng m chng trnh ROM, v cng co th lu m chng trnh vo vng d liu
RAM v thc hin t do.
Kin trc Havard tch /phn bit vng lu m chng trnh v d liu. M
chng trnh ch c th dc lu va thc hin trong vng cha ROM v d liu cng
ch c th lu va trao di trong vng RAM. Hu ht cc vi x l nhng ngy nay s
dng kin trc b nh Havard hoc kin trc Havard m rng tc l b nh chng
trnh v d liu tch bit nhng vn cho php kh nng hn ch d ly d liu ra t
vng m chng trnh. Trong kin trc b nh Havard m rng tc l b nh chng
trnh v d liu tch bit nhng vn cho php kh nng hn ch d ly d liu ra t
vng m chng trnh. Trong kin trc b nh Havard m rng thng s dng mt
s lng nh cc con tr d ly d liu t vng m chng trnh theo cch nhng vo
trong cc lnh tc thi. Mt s chip vi diu khin nhng tiu biu hin nay s dng
cu trc Havard l 8031, PIC, Atmel AVR90S. Nu s dng chip 8031 chng ta s
nhn thy diu ny thng qua vic truy nhp ly d liu ra t vng d liu RAM hoc
t m vng chng trnh. Chng ta c mt vi con tr dc s dng d ly d liu ra
t b nh d liu ra t b nh d liu RAM, nhng ch c duy nht 1 con tr DPTR c
th dc s dng d ly d liu ra t vng m chng trnh.
u dim ni bt ca cu trc b nh Havard so vi kin trc Von newman l c
2 knh tch bit d truy nhp va vng b nh m chng trnh v d liu nh vy m
m chng trnh v d liu c th dc truy nhp dng thi va lam tng tc d lung
trao di vi b vxl.
- B nh chng trnh PROM programme read only memory
- Vung d lu tr m chng trnh. C ba loi b nh PROM thng thng dc
s dng cho h nhng v s dc gii thiu ln lt sau dy.
- EPROM
Bao gm mt mng cc trnsistor kh trnh. M chng trnh s dc ghi trc tip v
vxl c th dc ra d thc hin. EPROM c th xoa dc bng tia cc tm v c th
dc lp trnh li.
B nh FLASH
Cng ging nh EPROM dc cu to bi mt mng transistor kh trnh nhng
c th xoa dc bng din v chnh v vy c th np li chng trnh m khng cn
tch ra khi nn phn cng vxl. u dim ca b nh flash l c th lp trnh trc tip
trn mch cng ma no dang thc thi trn do.

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B nh d liu RAM
Vung d lu hoc trao di d liu trung gian trong qu trnh thc hin chng trnh
C 2 loi RAM l SRAM v DRAM.
Hnh 2-1: M t trng thi tn hiu l gic tng va gim
Hnh 2-2: Cu trc mt phn t nh DRAM
Hnh 2-3: Nguyn l ghp ni (m rng) RAM vi VXL

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2.1.5 Khng gian v phn vng da ch
2.1.6 Ngoi vi
B dnh thi gian/B dm
Hnh 2-4: B anh thi/ B am 8 bit ca AVR
Hu ht cac chip vi diu khin ngay nay du c t nht mt b dnh thi gian/b
dm c th cu hnh hot dng linh hot theo cc mode phc v nhiu mc dich trong
cc ng dng x l, diu khin. Cc b dnh thi gian cho php to ra cc chui xung
v ngt thi gian hoc dm theo cc khong thi gian c th lp trnh. Chng thng
dc ng dng ph bin trong cc nhim v dm xung, do khong thi gian cc s
kin, hoc dnh chu k thi gian thc thi cc tc v. Mt trong nhng ng dng quan
trng ca b dnh thi gian l to nhp t b to xung thch anh cho b truyn thng d
b da nng hot dng. Thc cht do la ng dng d thc hin php chia tn s. dt
dc d chnh xc, tn s thch anh thng dc chn sao cho cc php chia s
nguyn dc thc hin chinh xac dm bo cho tc d truyn thng d liu dc to ra
chnh xc. Chnh v vy h vi diu khin 80C51 thng hay s dng thch anh c tn
s dao dng l 11.059 thay v 12MHz d to ra nhp hot dng truyn thng tc d
chun 9600.
B diu khin ngt
Ngt l mt s kin xy ra lm dng hot dng chng trnh hin ti d phc v
thc thi mt tc v hay mt chng trnh khc. C ch ngt giup CPU lam tng tc d
dap ng phc v cc s kin trong chng trnh hot dng ca VXL/VK. Cac VK
khc nhau s dnh ngha cac ngun to ngt khac nhau nhng du c chung mt c ch
hot dng v d nh ngt truyn thng ni tip, ngt b dnh thi gian, ngt cng, ngt

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ngoi. Khi mt s kin yu cu ngt xut hin, nu dc chp nhn CPU s lu ct
trng thi hot dng cho chng trnh hin ti dang thc hin v d ni dung b dm
chng trnh (con tr lnh) cc ni dung thanh ghi lu d liu diu kin chng trnh
ni chung d thc thi chng trnh phc v tc v cho s kin ngt. Thc cht qu
trnh ngt l CPU nhn dng tn hiu ngt, nu chp nhn s dc con tr lnh chng
trnh tr ti vng m cha chng trnh phc v tc v ngt. V vy mi mt ngt du
gn vi mt vector ngt nh mt con tr lu thng tin da ch ca vng b nh cha
m chng trinhg phc v tc v ca ngt. CPU s thc hin chng trnh phc v tc
v ngt dn khi no gp lnh quay tr v chng trnh trc thi dim s kin ngt
xy ra. C th phn chia 2 loi ngun ngt: Ngt cng v Ngt mm.
Ngt mm
Ngt mm thc cht thc hin mt li gi ham dc bit ma dc kch hot bi
cc ngun ngt l cc s kin xut hin t bn trong chng trnh v ngoi vi tch hp
trn Chp v d nh ngt thi gian, ngt chuyn di A/D,.C ch ngt ny cn dc
hiu l loi thc hin dng b vi chng trnh v n dc kch hot v thc thi ti cc
thi dim xac dnh trong chng trnh. Hm dc gi s thc thi chc nng tng ng
vi yu cu ngt. Cac ham do thng dc tr bi mt vector ngt ma d dc dnh
ngha v gn c dnh bi nh sn xut Chip. V d nh h diu hnh ca PC s dng
ngt s 21
hex
d gn cho ngt truy nhp dc d liu t da cng v xut d liu ra my
in.
Ngt cng
Ngt cng c th dc xem nh la mt li gi ham dt bit trong do ngun kch
hot l mt s kin dn t bn ngoai chng trnh thng qua mt cu trc phn cng
(thng dc kt ni vi th gii bn ngoi qua cc chn ngt). Ngt cng thng
dc hiu hot dng theo c ch d b v cc s kin ngt kch hot t cc tn hiu
ngoi vi bn ngoai va tng di dc lp vi CPU, thng la khng xac dnh dc thi
dim kch hot. Khi cc ngt cng dc kch hot CPU s nhn dng v thc hin li
gi hm thc thi chc nng phc v s kin ngt tng ng.
Trong cac c ch ngt khong thi gian t khi xut hin s kin ngt (c yu
cu phc v ngt) ti khi dch v ngt dc thc thi la xac dnh v ty thuc vo cng
ngh phn cng x l ca Chip.
B dnh thi Watchdog Timer
Thng thng khi c mt s c xy ra lm h thng b treo hoc chy qun,
CPU s khng th tip tc thc hin dung chc nng. c bit khi h thng phi lm
vic ch d vn hnh t dng v khng c s can thip trc thip thng xuyn bi
ngi vn hanh. thc hin c ch t gim st v pht hin s c phn mm, mt s
VXL/VK co thm mt b dnh thi ch canh. Bn cht do la mt b dnh thi dc
bit d dnh ngha mt khung thi gian hot dng bnh thng ca h thng. Nu c s
c phn mm xy ra s lm h thng b treo khi do b dnh thi Watchdog timer s
pht hin v gip h thng thot khi trng thai do bng cch thc hin khi to li
chng trnh. Chng trnh hot dng khi c b chng trnh phi dm bo reset n

1
trc khi khung thi gian b vi phm. Khung thi gian nay dc dnh ngha ph thuc
vo s danh gia ca ngi thc hin phn mm, thit lp khong thi gian dm bo
chc chn h thng thc hin bnh thng khng c s c phn mm. C mt s c
ch thc hin cai dt b dnh thi Watchdog d gim st hot dng ca h thng nh
sau:
Hnh 2-5. S a nguyn l hot ang ca b anh thi watchdog
B diu khin truy nhp b nh trc tip DMA
DMA (Direct Memory Access) la c ch hot dng cho php hai hay nhiu vi
x l hoc ngoi vi chia s bus chung. Thit b nao dang co quyn diu khin bus s c
th ton quyn truy nhp va trao di d liu trc tip vi cc b nh nh h thng c
mt vi x l. ng dng ph bin nht ca DMA l chia s b nh chung gia hai b vi
x l hoc cc ngoi vi d truyn d liu trc tip gia thit b ngoi vi vo/ra v b
nh d liu ca VXL.
Truy nhp b nh trc tip dc s dng d dap ng nhu cu trao di d liu
vo ra tc d cao gia ngoi vi vi b nh. Thng thng cc ngoi vi kt ni vi h
thng phi chia s bus d liu va dc diu khin bi CPU trong qu trnh trao di d
liu. iu ny lm hn ch tc d trao di, d tng cng tc d v loi b s can
thip ca CPU, dc bit trong trng hp cn truyn mt lng d liu ln. Th tc
dc bt du bng vic yu cu thc hin DMA vi CPU. Sau khi x l, nu dc
chp nhn CPU s trao quyn diu khin bus cho ngoi vi v thc hin qu trnh trao
di d liu. Sau khi thc hin xong CPU s nhn dc thng bo v nhn li quyn
diu khin bus. Trong c ch DMA, co 2 cach d truyn d liu: Kiu DMA chu k
dn, va kiu DMA chu k nhm (burst).

1
Hnh 2-6: Nguyn l hot ang ca b anh thi watchdog timer
DMA chu k dn v nhm
Trong kiu hot dng DMA chu k nhm, ngoi vi s nhn dc quyn diu
khin v truyn khi d liu ri tr li quyn diu khin cho CPU. Trong c ch DMA
chu k dn ngoi vi sau khi nhn dc quyn diu khin bus ch truyn mt t d liu
ri tr li ngay quyn kim sot b nh v bus d liu cho CPU. Trong c ch thc
hin DMA cn c mt bc x l d quyt dnh xem thit b no s dc nhn quyn
diu khin trong trng hp c nhiu hn mt thit b c nhu cu s dng DMA.
Thng thng kiu DMA chu k nhm cn t d liu thng tin diu khin (overhead)
nn c kh nng trao di vi tc d cao nhng li chim nhiu thi gian truy nhp bus
do truyn c khi d liu ln. iu ny c th nh hng ti hot dng ca c h
thng do trong sut qu trnh thc hin DMA nhm, CPU s b kha quyn truy nhp

1
b nh v khng th x l cc nhim v khc ca h thng m c nhu cu b nh, v
d nh cac dch v ngt, hoc cc tc v thi gian thc
Hnh 2 7 : Nhp hot ang DMA
Chu k ri ( Cycle Stealing)
Trong kiu ny DMA s dc thc hin trong nhng thi dim chu k bus m
CPU khng s dng bus do do khng cn thc hin th tc x l cp pht quyn truy
nhp v thc hin DMA.
Hu ht cc vi x l hin di du s dng gn nh 100 dung lng b nh v
bng thng ca bus nn s khng c nhiu thi gian dnh cho DMA thc hin. tit
kim v ti u tai nguyn th cn c mt trng ti phn x v d liu s dc truyn di
xp chng theo thi gian. Ni chung kiu DMA dng burst hiu qu nht khi khong
thi gian cn thc hin DMA tng di nh. Trong khong thi gian thc hin DMA,
ton b bng thng ca bus s dc s dng ti da va toan b khi d liu s dc
truyn di trong mt khong thi gian rt ngn. Nhng nhc dim ca n l nu d
liu cn truyn ln v cn mt khong thi gian di th s dn dn vic block CPU v
c th b qua vic x l cc s kin v tc v khac. i vi DMA chu k dn th yu
cu truy nhp b nh, truyn mt t d liu v gii phong bus. C ch ny cho php
thc hin truyn interleave va dc bit ti vi tn gi interleaved DMA. Kiu truyn
DMA chu k dn phu hp d truyn d liu trong mt khong thi gian dai ma co d
thi gian d yu cu truy nhp v gii phng bus cho mi ln truy nhp mt t d liu.
Chnh v vy s gim bng thng truy nhp bus do phi mt nhiu thi gian d yu cu
truy nhp v gii phong bus. Trong trng hp ny CPU v cc thit b khc vn c
th chia s v truyn d liu nhng trong mt di bng thng hp. Trong nhiu h

1
thng bus thc hin c ch x l v gii quyt yu cu truy nhp (Trng ti) thng qua
d liu truyn v vy cng khng nh hng nhiu ti tc d truyn DMA.
DMA dc yu cu khi kh nng diu khin ca CPU d truyn d liu thc
hin qu chm. DMA cng thc s c ngha khi CPU dang phi thc hin cc tc v
khc m khng cn nhu cu truy nhp bus.
IC chc nng chuyn dng
DAC/ADC
Hnh 2 8. S a nguyn l mch chuyn ai DAC
Hnh 2 9. S a nguyn l mch chuyn ai ADC
V d ADC 754A
c dim k thut:
9 Ch to theo cng ngh CMOS.
9 12 bit vi giao din tng thich vi cc loi VXL/VK 8, 12 va 16 bit. Co th
lp trnh d hot dng chuyn di 8 bit hoc 12 bit.

1
9 Tn hiu d liu ra tng thich vi chun TTL v ghp ni thng qua loi cng
logic 3 trng thi.
9 Di gi tr din ap du vo c th la chn nh cu hnh gi tr din tr ni du
vao d nhn cc di tn hiu ( 10 0 )V , ( 20 0 )V, ( 5 5 + )V, ( 10 10 )V.
9 C thm kh nng cung cp ngun tham chiu Vref = +10V.
9 Ngun cung cp c th l +5 V, 12 V, hoc 15 V.
9 Thi gian chuyn di cc di l 25 P s vi thi gian truy nhp bus l 150 ns.
Hnh 2 10. S a nguyn l cu trc ADC754A
Hnh 2 11. S a b tr chn ca chip ADC574A

1
Nguyn l diu khin:
ADC574 dc diu khin bi cc chn tn hiu nh m t trong bng sau:
Bng 1: Tn hiu diu khin ADC574A
K hiu nh ngha Chc nng
CE (Pin 6)
CS (Pin 3)
C R/ (Pin 5)
AO (Pin 4)
8 / 12 (Pin 2)
Chip Enable
(active high)
Chip Select
(active low)
Read/Convert
(1 = read)
(0=convert)
Byte Address
Short Cycle
Data Mode
Select
(1=12 bits)
(0=8 bits)
Must be high (1) to either initiate a conversion or
read output data 01 edge may be used to initiate a
conversion.
Must be low (0) to either initiate a conversion or
read output data 10 edge may be used to initiate a
conversion.
Must be low (0) to initiate either 8- or 12- bit
conversion. 10 edge may be used to initiate a
conversion.
Must be high (1) to read output data 01 edge may
be used to initiate a read operation.
In the start-convert mode. AO select 8-bit (AO=
1) or 12-bit (AO = 0) conversion mode.When
reading output data in two 8- bit bytes. AO= 0
accesses 8 MSBs (high byte) and AO= 1 accesses
4 LSBs and trailing 0s (low byte).
When reading output data, 12/8 = 1 enables all 12
output bits simultaneously. 12/8= 0 will enable the
MSBs or LSBs as detemined by the Aoline.
(1) Thit lp ch d hot dng: Mode chuyn di 8-bit hay 12 bit dc thit lp
bi tn hiu AO. Tn hiu ny phi dc cht trc khi nhn dc tn hiu lnh
bt du thc hin chuyn di.

1
(2) Kch hot qu trnh chuyn di: B chuyn di thc hin chuyn di khi nhn
dc tn hiu mnh lnh tch cc t chn tn hiu CE/CS, hoc R/C vi diu
kin cc tn hiu diu khin khac d dc xc lp.
(3) Trng thi chuyn di: Tn hiu du ra STATUS bo trng thi chuyn di hin
hnh ca ADC; thit lp mc cao nu dang thc hin chuyn di v mc
thp nu d hon thnh. Trong qu trnh chuyn di cc tn hiu diu khin b
kha v d liu khng th dc dc v cc dng tn hiu ra dc chuyn sang
trng thi cao tr.
(4) c d liu ra: Qu trnh dc d liu ra c th dc thc thi nu cc tn hiu
diu khin xc lp trng thai cho php dc v tn hiu STATUS trng thi
thp. Ty thuc vo mode chuyn di dc thit lp va dnh dng d liu du ra
bi t hp trng 8 / 12 v AO.
Cng song song kh trnh 82C55A
82C55A l mt giao din ngoi vi cng song song kh trnh dc ch to theo
cng ngh CMOS. N l mt thit b ngoi vi vo ra kh trnh ra mc dich va co th
dc s dng vi nhiu loi VXL/VK khac nhau. 82C55A co 24 chn vo ra on
Chip dc chia ra thnh 2 nhm, mi nhm 12 chn v c th dc s dng theo 3 ch
d hot dng khc nhau.
Hnh 2 12: Gin a khi chc nng ca chip 82C55A.
Chc nng va ngha ca cc chn on Chip ca 82C55A dc m t trong
Bng 2: Chc nng ca cc chn on Chip ca 82C55A.

2
Bng 2: Chc nng ca cc chn on Chip ca 82C55A
K hiu Kiu M t chc nng
Vcc
Vcc: The +5V power supply pin. A 0.1 F P capacitor between
Vcc and GND is recommended for decoupling.
GND GROUND
D0 D7 I/O
DATA BUS: The Data Bus lines are bidirectional three-state
pins connected to the system data bus.
RESET I
RESET: A high on this input clear the control register and all
ports (A,B,C) are set to the input mode with the Bus Hold
circuitry turned on.
CS I
CHIP SELECT: Chip select is an active low input used to
enable the 82C55A onto the Data Bus for CPU communications.
RD I
READ: Read is an active low input control signal used by the
CPU to read status information or data via the data bus.
WR I
WRITE: Write is an active low input control signal used by the
CPU to load control words and data into the 82C55A.
A0 A1 I
ADDRESS: These input signals, in conjunction with the RD
and WR inputs control the selectionof one of the three ports or
the control word register. A0 and A1 are normally connected to
the least significant bits of the Address Bus A0, A1.
PA0 PA7 I/O
PORT A: 8-bit input and output port. Both bus hold high and
bus hold low circuitry are present on this port.
PB0-PB7 I/O
PORT B:8-bit input and output port. Bus hold high circuitry is
present on this port.
PC0 PC7 I/O
PORT C:8-bit input and output port. Bus hold circuitry is
present on this port.
82C55A cung cp 3 ch d hot dng chnh v c th lp trnh d la chn
y Mode 0: Hot dng vao ra c bn.
y Mode 1: Hot dng vo ra nm bt (strobed).

2
y Mode 2: Hot dng Bus 2 chiu
Vic la chn ch d hot dng dc thc hin thng qua thanh ghi t diu khin.
Hnh 2-13: Thanh ghi t aiu khin chn ch a hot ang cho 82C55A
Khi du vao reset dc diu khin mc cao th tt c cc cng s dc thit
lp hot dng ch d cng vo vi 24 dng tn hiu v duy tr mc logic 1. Sau
khi tn hiu diu khin reset mc tch cc b loi b th 82C55A c th duy tr ch d
hot dng m khng cn thm bt k vic khi to no na. iu ny s gip loi b
dc cac din tr treo cao hoc treo thp trong cc thit k cho mch CMOS. Khi kch
hot ch d thit lp th thanh ghi t diu khin s cha gi tr 9Bh. Trong qu trnh
thc hin chng trnh vn c th thay di la chn ch d hot dng khac nhau, diu
ny cho php 82C55 hot dng mt cach da dng dap ng cho nhiu bi ton ng dng
khc nhau. Trong qu trnh thanh ghi t diu khin dang dc vit th tt c cc cng
dc thit lp hot dng ch d cng ra s dc khi to bng zero.
Mode 0 (Vao ra c bn): Cu hnh ch d hot dng ny cung cp cc hot
dng vao ra c bn cho c 3 cng A, B v C. D liu dc trao di trc tip v khng
cn phi co c ch bt tay. Ch d hot dng ny h tr cc chc nng c th nh sau:
9 Hai cng 8-bit v hai cng 4 bit.
9 Bt k cng no cng co th l cng vo hoc cng ra.
9 Cac dng d liu tn hiu ra dc cht.
9 Cac dng d liu tn hiu vao dc cht.
9 C th cu hnh 16 kiu hot dng vo ra khc nhau.
Mode 1 (Vo ra c bt tay): Ch d hot dng ny cung cp kh nng truyn d
liu ti hoc di t mt cng c th cng vi cc tn hiu bt tay. Trong ch d ny

2
cng A, B dc s dng d truyn d liu v cng C hot dng nh cng diu khin
c ch dng b bt tay. Ch d hot dng ny cung cp cc chc nng chinh sau:
9 Hai nhm cng (Nhm A v nhm B). Mi nhm bao gm mt cng 8-bit v mt
cng d liu diu khin 4-bit.
9 Cng d liu 8 bit c th hot dng nh hoc l cng vo, hoc l cng ra v c
2 chiu d liu du dc cht.
9 Cng d liu 4- bit c th dc s dng d diu khin v trng thi ca cng 8-
bit.
Mode 2 (Bus vo ra 2 chiu c bt tay): Ch d hot dng ny cung cp kh
nng truyn thng vi cc ngoi vi hoc cc bus d liu 8-bit cho vic truyn nhn d
liu. Cc tn hiu bt tay dc cung cp d duy tr dng tn hiu bus tng t nh ch
d 1. Cac c ch to ngt cng co th dc thc hin ch d ny. Mt s cc chc
nng chinh h tr trong ch d ny bao gm:
9 Ch s dng nhm A.
9 Mt cng bus 2 chiu 8-bit (Cng A) v mt cng diu khin 5-bit (Cng C).
9 C hai chiu d liu vao va ra du dc cht.
9 Cng diu khin 5- bit (Cng C) dc s dng trong mc dich diu khin v
trng thi cho cng A d trao di d liu 2 chiu 8-bit.
B dnh thi / B dm C8254
Hnh 2-14. S a cu trc chc nng 8254
y la b dm tc d cao cung cp 3 b dnh thi 16 bit dc lp v c th
dc cu hnh d hot dng nhiu ch d hot dng. Mi b dm c cc knh d liu

2
va diu khin ring bit. H tr 2 kiu m ha dm nh phn (t 0 65535) hoc BCD
(binary coded decimal) (0 9999). C 4 thanh ghi thch hp On-Chip d lu gia tr
dm v cu hnh hot dng (t diu khin). Tn s hot dng ca b dm c th lm
vic vi xung nhp tn s 10MHz v h tr 6 ch d hot dng v c th cu hnh
ring l.
2.1.7. Giao din
Giao din song song 8 bit/16 bit
Cc cng song song l mt dng giao din vao ra dn gin v ph bin nht d
kt ni thng tin vi ngoi vi. C nhiu loi cu trc giao din hp l din t t dng
cng vao ra dn gin cc Collector TTL h trong cc ng dng cng may in dn cc
loi cu trc giao din cng tc d cao nh cac chun Bus IEEE-488 hay SCSI. Hu
ht cac chip diu khin nhng c mt vi cng vo ra song song kh trnh (c th cu
hnh). Cc giao din do phu hp vi cc cng vao ra dn gin nh cac khoa chuyn.
Chng cng ph hp trong cc bi ton phc v giao din kt ni diu khin v gim
st theo cc giao din nh kiu rle ban dn.
Hnh 2 15: Cu trc nguyn l ain hnh ca mt cng I/O logic
Giao din ni tip
USART

2
Hnh 2 16: Cu truc an gin ha ca USART
Hnh 2 17: Mode hot ang truyn thng ang b
Hnh 2 18: Mode hot ang truyn thng d b

2
I
2
C ( Inter IC)
Giao thc u tin truyn thng ni tip dc pht trin bi Philips
Semiconductor va dc gi l bus I
2
C.V ngun gc no dc thit k la d diu khin
lin thng IC (Inter IC) nn no dc dt tn l I
2
C. Tt c cc chip c tch hp v
tng thich vi I
2
C du c thm mt giao din tch hp trn Chip d truyn thng trc
tip vi cc thit b tng thich I
2
C khc. Vic truyn d liu ni tip theo 2 hng
8bit dc thc thi theo 3 ch d sau:
Chun (Standard) 100 Kbits/sec.
Nhanh (Fast) 400 Kbits/sec.
Tc d cao (High- Speed) 3.4 Mbits/sec.
ng bus thc hin truyn thng ni tip I
2
C gm hai dng la dng truyn
d liu ni tip SDA va dng truyn nhp xung dng h ni tip SCL. V c ch hot
dng la dng b nn n cn c mt nhp xung tn hiu dng b. Cc thit b h tr I
2
C
du c mt da ch dnh ngha trc, trong do mt s bit da ch l thp c th cu hnh.
n v hoc thit b khi to qu trnh truyn thng la dn v Ch v cng la dn v
to xung nhp dng b, diu khin cho php kt thc qu trnh truyn. Nu dn v Ch
mun truyn thng vi cac dn v khc n s gi kem thng tin da ch m n mun
truyn trong d liu truyn. n v T du dc gan va danh da ch thng qua do dn
v Ch c th thit lp truyn thng va trao di d liu. Bus d liu dc thit k d
cho php thc hin nhiu dn v Ch v T trn cng bus.
Qu trnh truyn thng I
2
C dc bt du bng tn hiu Start to ra bi dn v
Ch. Sau do dn v Ch s truyn di d liu 7bit cha da ch ca dn v T m n
mun truyn thng, theo th t l cc bit c trng s ln nht MSB s dc truyn
trc. Bit th 8 tip theo s cha thng tin d xac dnh dn v T s thc hin vai tr
nhn (0) hay gi (1) d liu. Tip theo s l mt bit ACK xc nhn bi dn v nhn d
nhn dc mt byte trc do hay khng. n v truyn (gi) s truyn di mt byte d
liu bt du bi MSD. Ti dim cui ca byte truyn, dn v nhn s to ra mt bit xc
nhn ACK mi. Khun mu 9 bit ny (gm 8 bit d liu v 1 bit xc nhn) s dc lp
li nu cn truyn tip mt byte na. Khi dn v Ch d trao di xong d liu cn n s
quan st bit xc nhn ACK cui cng ri sau do s to ra mt tn hiu dng STOP d
kt thc qu trnh truyn thng.
I
2
C l mt giao din truyn thng dc bit thch hp cho cc ng dng truyn
thng gia cac dn v trn cng mt bo mch vi khong cch ngn v tc d thp. V
d nh truyn thng gia CPU vi cc khi chc nng trn cung mt bo mch nh
EEPROM, cm bin, dng h to thi gian thcHu ht cc thit b h tr I
2
C hot
dng tc d 400 Kbps, mt s cho php hot dng tc d cao vi Mbps. I
2
C kh
dn gin d thc thi kt ni nhiu dn v v n h tr c ch xac dnh da ch.
SPI
SPI l mt giao din cng ni tip dng b ba dy cho php kt ni truyn
thng nhiu VK dc pht trin bi Motorola. Trong cu hnh mng kt ni truyn

2
thng ny phi c mt VK gi vai tr l Ch (Master) va cac VK cn li c th
hoc l Ch hoc l T. SPI c 4 tc d d c th lp trnh, cc v pha nhp dng h
kh trnh v kt thc ngt truyn thng. Nhp dng h khng nm trong dng gi liu
v phi dc cung cp nh mt tn hiu tach dc lp. C 3 thanh ghi SPSR, SPCR
vSPDR cho php thc hin cc chc nng diu khin, trng thai va lu tr. C 4 chn
c bn cn thit d thc thi chun giao din truyn thng ny.
D liu ra MOSI ( Master Output Slave Input)
D liu vo MISO (Master Input Slave Output)
Nhp xung chun SCLK (Serial Clock)
La chn thnh phn t SS (Slave Select)
Hnh 2 19: Kt ni nguyn l truyn thng SPI gia mt Master v mt Slave
Hnh 2 19 ch ra nguyn l kt ni gia mt dn v Ch v mt dn v T
trong truyn thng SPI. Trong do tin hiu SCLK s dc to ra bi dn v Ch v l
tn hiu vo ca dn v T. MOSI la dng truyn d liu ra t dn v Ch ti dn v
T va MISO la dng truyn d liu vao dn v Ch dn t dn v T. n v T
dc la chn khi dn v Ch kch hot tn hiu SS.
Hnh 2 20. S a kt ni truyn thng SPI ca mt an v Ch vi nhiu an v T
Nu h thng c nhiu dn v T, dn v Ch s phi to ra cc tn hiu tch
bit d chn dn v T. C ch do dc thc hin nh s d kt ni nguyn l m t
nh trong hnh 2 - 20. n v Ch s to ra tn hiu chn dn v T nh cc chn tn
hiu logic da chc nng. Cac tin hiu ny phi dc diu khin va dm bo n dnh v
thi gian d tranh trng hp tn hiu b thay di trong qu trnh dang truyn d liu
mt diu d nhn ra rng SPI khng h tr c ch xc nhn trong qu trnh thc hin

2
truyn thng. iu ny phc v vo giao thc dnh ngha hoc phi thc hin b sung
thm mt s cc m rng ph bn ngoi.
Kh nng truyn thng dng thi 2 chiu vi tc d ln dn khong vi Mbit/s
v nguyn l kh dn gin nn SPI hon ton ph hp d thc hin truyn thng gia
cc thit b yu cu truyn thng tc d chm, dc bit hiu qu trong cc ng dng
mt dn v Ch v mt dn v T. Tuy nhin trong cc ng dng vi nhiu dn v T
vic thc thi li kh phc tp v thiu c ch xac dnh da ch, v s phc tp s tng
ln khi s dn v T tng.
2.2. Mt s nn phn cng nhng thng dng
Trong phn ny gii thiu ngn gn cu trc nguyn l ca cc chip x l
nhng ng dng trong cc nn phn cng nhng hin nay.
S pht trin nhanh chng cc chng loi chip kh trnh vi mt d tch hp cao
d v dang co mt tac dng dang k dn s thay di trong vic thit k cc nn phn
cng thit b x l v diu khin s trong thp k gn dy. Mi chng loi du c
nhng dc dim v phm vi di tng ng dng v lun khng ngng pht trin d
dap ng mt cch tt nht cho cc yu cu cng ngh. Chung dang hng ti tp trung
cho mt th trng cng ngh tim nng rng ln, do la cac thit b x l v diu khin
nhng. Trong bi vit ny tc gi gii thiu ngn gn v cc chng loi chip x l,
diu khin nhung din hnh dang tn ti v pht trin v mt s dc dim va hng
phm vi ng dng ca chng.
C th k ra hng lot cc chip kh trnh c th s dng cho cc bi ton thit
k h nhung nh cac h vi x l/ vi diu khin nhng (Microprocessor/
Microcontroller), Chip DSP (Digital Signal Processing), cc Chip kh trnh trng
(FPD - Field Programmable Device). Chng ta d b chong ngp nu bt du cng
vic thit k bng vic tm kim mt chip x l diu khin ph hp cho ng dng. V
vy cn phi c mt hiu bit v s phn bit v dc dim v ng dng ca chng khi
la chn v thit k. Cac thng tin lin quan nh nha sn xut cung cp Chip, cc kin
thc v cng c pht trin km theo Mt s chng loi Chip din hnh s dc gii
thiu.
2.2.1. Chip vi x l/ vi diu khin nhng
y la mt chng loi rt din hnh v dang dc s dng rt ph bin hin
nay. Chung dc ra di v s dng theo s pht trin ca cc Chip x l ng dng cho
my tnh. V di tng ng dng l cc thit b nhng nn cu trc cng dc thay di
theo d dap ng cc ng dng. Hin nay chng ta c th thy cc h vi x l diu
khin ca rt nhiu cc nh ch to, cung cp nh: Intel, Atmel, Motorola, Ifineon. V
cu trc, chng cng tng t nh cac Chip vi x l pht trin cho PC nhng mc
d dn gin hn nhiu v cng nguyn v ti nguyn. Ph bin vn la cac Chip co d
rng bus d liu l 8 bit, 16 bit, 32bit. V bn cht cu truc, Chip vi diu khin v
Chip vi x l dc tch hp thm cc ngoi vi. Cc ngoi vi thng l cc khi chc
nng ngoi vi thng dng nh b dnh thi gian, b dm, b chuyn di A/D, giao
din song song, ni tip Mc d tch hp ngoi vi cng khac nhau ty thuc vo

2
mc dich ng dng s c th tm dc Chip ph hp. Thc t vi cc ng dng yu
cu d tch hp cao th s s dng gii php tch hp trn Chip, nu khng th hu ht
cac Chip du cung cp gii phap d m rng ngoi vi dap ng cho mt s lng ng
dng rng v mm do.
Hnh 2 21: Kin trc nguyn l ca JK vi cu trc Havard
V d v kin trc ca h VK AVR
Hnh 2 22: Kin trc ca h JK AVR

2
Hnh 2 23. S a khi chc nng kin trc PIC16F873A
2.2.2. Chip DSP
DSP vn dc bit ti nh mt loi vi diu khin dc bit vi kh nng x l
nhanh d phc v cc bi ton yu cu khi lng v tc d x l bi ton ln. Vi u
dim ni bt v d rng bng thng ca bus v thanh ghi tch ly, cho php ALU x l
song song vi tc d dc v x l lnh nhanh hn cc loi vi diu khin thng thng.
Chip DSP cho php thc hin nhiu lnh trong mt nhp nh vo kin trc b nh
Havard.
Thng thng khi phi s dng DSP tc la d dap ng cc bi ton tnh ton
ln v tc d cao v vy dnh dng biu din ton hc s l mt yu t quan trng d
phn loi va dc quan tm. Hin nay ch yu chng vn dc phn loi theo 2 kiu l
du phy dng v du phy tnh. y cng chinh l mt yu t quan trng phi quan
tm di vi ngi thit k d la chn dc mt DSP ph hp vi ng dng ca mnh.
Cc loi DSP du phy tnh thng l loi 16bit hoc 24 bit cn cc loi du phy
dng thng l 32bit. Mt v d din hnh v mt DSP 16bit du phy tnh l
TMS320C55x, lu cac s nguyn 16bit hoc cc s thc trong mt min gi tr c
dnh. Tuy nhin cc gi tr v h s trung gian c th dc lu gi vi d chnh xc l

3
32 bit trong thanh ghi tch ly 40bit nhm gim thiu li tnh ton do php lm trn
trong qu trnh tnh ton. Thng thng cc loi DSP du phy tnh co gia thnh r
hn cac loi DSP du phy dng. V yu cu s lng chn On Chip it hn va cn s
dng lng Silicon it hn.
Hnh 2-24: Gin a khi chc nng ca DSP TMS320C28xx
u dim ni bt ca cc DSP du phy dng l c th x l v biu din s
trong di phm vi gi tr rng va dng. Do do vn d v chuyn di v hn ch v
phm vi biu din s khng phi quan tm nh di vi loi DSP du phy tnh. Mt
loi DSP 32bit du phy tnh din hnh l TMS320C67x c th x l v biu din s
gm 24 bit mantissa v 8 bit exponent. Phn mantissa biu din phn s l trong phm
vi -1.0 dn +1.0 v phn exponent biu din v tr ca du phy nh phn v c th dch

3
chuyn sang tri hoc phi ty theo gi tr s m n biu din. iu nay trai ngc vi
cc thit k trn nn DSP du phy tnh, ngi pht trin chng trnh phi t quy
c, phi tnh ton v phn chia n dnh thang biu din s v phi lun lu tm ti
kh nng tran s c th xy ra trong qu trnh x l tinh toan. Chinh diu nay d gy ra
kho khn khng nh di vi ngi lp trnh. Ni chung pht trin chng trnh cho
DSP du phy dng thng dn gin hn nhng gia thanh li cao hn nhiu va nng
lng tiu th thng thng cng ln hn.
V d d chnh xc ca DSP du phy dng 32 bit l 2
-23
vi 24 bit biu din
phn mantissa. Vung dng l
38 38
10 4 . 3 10 18 . 1 s s

x
Nhng nh thit k h thng phi quyt dnh vng v d chnh xc cn
thit cho cc ng dng. Cc vi x l du phy dng thng dc s dng cho cc
ng dng yu cu v d chnh xc cao v gii biu din s ln ph hp vi h
thng c cu trc b nh ln. Hn na cc DSP du phy dng cho php pht
trin phn mm hiu qu v dn gin hn bng cc trnh bin dch ngn ng bc
cao nh C do d c th gim gi thnh v thi gian pht trin. Tuy nhin gi
thnh li cao nn cc DSP du phy dng ph hp vi cc ng dng kh dc bit
v thng l vi s lng t.
2.2.3 PAL
Ngay khi noi dn chng loi Chip kh trnh mng ta thng bit ti mt s tn
gi nh PAL, CPLD, FPGA.Mt chut lc s v s ra di v pht trin sau dy s
gip chng ta hnh dung dc dc dim v ngun gc ra di ca chng.
Lch s pht trin ca loi chip kh trnh mng PLA( Programmable Logic
Array) dc bt ngun t nguyn l b nh chng trnh PROM (Programmable
Read-Only Memory). Trong do cac du vao da ch dong vai tr nh cac dng vo
ca mch logic va cac dng d liu ra dong vai tr nh cac dng ra ca mch
logic.V PROM khng thc s ph hp cho mc dich thit k cc mch logic nn PLA
d ra di vao du thp k 70. N rt ph hp d thc hin mch logic c dng tng cc
tch ( v cu thnh bi cc phn t logic AND va OR). Nhng nhc dim l chi ph
sn xut cao v tc d hot dng thp. khc phc nhc dim ny
PAL(Programmable Array Logic) d dc pht trin. No dc cu thnh t cc phn
t AND kh trnh v phn t OR gn c dnh v c cha c phn t flip-flop du ra
nn c kh nng thc thi cc mch logic tun t. hnh 2-26 m t cu trc chung ca
PAL.

3
Hnh 2-25: Cu trc PROM v PLA

Hnh 2-26: Cu trc chung ca PAL
T khi ra di v pht trin PAL tr thanh c s cho s ra di ca hng lot cc
chng loi chip kh trnh mng vi cu trc phc tp hn nh SPLD(Simple
Programmable Logic Device), CPLD(Com-plex Programmable Logic Device), v sau
ny l FDGA( Field Pro-grammable Gate Array). SPLD cng l tn gi cho nhm cc
chng loi Chip kiu tng t nh PAL,PLA. V mt cu trc th SPLD cho php tch
hp logic vi mt d cao hn so vi PAL thng thng, nhng kich thc ca n s
tng ln rt nhanh nu tip tc m rng va tng mt d tch hp s du vao. dap
ng nhu cu m rng mt d tch hp CPLD d dc pht trin. N l s tch hp ca
nhiu khi SPLD v cung cp thm kh nng kt ni kh trnh gia cc khi SPLD
dn l vi nhau. Vi nguyn l cu trc ny CPLD c kh nng tich hp vi mt d
cao tng dng voi 50 khi SPLD thng thng.

3
Nu ch dng dn dy chung ta co th thy mt dc dim chung ca cc chng
loi chip kiu PLA hay CPLD du cho php thc hin cc mch logic trn c s t
hp logic ca cac du vo v ra bng cc phn t AND v OR. Vi nguyn l ny r
rng s gp kho khn khi thc thi cc ng dng di hi cc php ton logic phc tp
vi tc d cao. dap ng diu nay FPGA(Field Programmable Gate Array) d ra
di. N l s cu thnh ca cc khi logic kh trnh cng vi cc knh kt ni lin
thng kh trnh gia cc khi do vi nhau. Mt hnh nh tiu biu v cu trc nguyn
l ca FPGA dc m t nh trong hnh 2-27: Cu trc nguyn l ca FPGA.
Hnh 2-27: Cu trc nguyn l ca FPGA
FPGA dang tr thnh mt s la chn thay th rt cnh tranh ca cc chip x
l nhng ASICs. N h tr cac u dim v chc nng la chn ging nh ASICs
nhng cho php chnh sa v thit k li sau khi s dng v gi thnh pht trin thp
hn. FPGA cho php kh nng thit k linh hot v thch nghi d dng cho cc tin
ch thit b ti u, trong khi vn duy tr dc khng gian kich thc phn cng v
nng lng tiu th ca h thng. iu ny khng d dng nhn dc khi thit k da
trn nn cc Chip DSP.
Hnh 2-28: Cu trc CLB v LAB

3
FPGA thc s ph hp cho cc ng dng di hi lng tnh ton ln nh trong
x l tn hiu. FPGA c th dc lp trnh hot dng dng thi vi mt s cac dng
d liu song song. Chung la cac dng d liu hot dng ca t hp nhiu cc chc
nng t dn gin dn phc tp nh b cng, b nhn, b dm, b lu tr , b so snh,
b tinh tng quan.Ngy nay c th phn loi ra mt s kiu chng loi FPGA da
vo cu to ca chng.
FPGA cu to t SRAM
Vi loi ny cc mt kt ni kh trnh dc thc hin bng cc phn t SRAM,
chnh v vy cho php thc hin lp trnh lp li nhiu ln. u dim ni bt ca loi
ny l cc tng thit k mi c th dc thc thi v th nghim nhanh chong. Hn
na SRAM cng dng l mt hng pht trin rt mnh hin nay trong nn cng
nghip sn xut b nh v cng du thc thi theo cng ngh CMOS rt ph hp vi
cng ngh ch to FPGA.
Tuy nhin mt dc dim c th xem nh la nhc dim ca FPGA cu to t
cc phn t SRAM l chng phi cu hnh li mi khi ngun h thng dc cung cp.
Cng vic nay thng dc thc hin bi mt b nh ngoi chuyn dng hoc mt
b vi diu khin km theo mch. Chnh v vy cng lm gi thnh ca FPGA tng
thm.
FPGA cu to t cu ch (anti-fused)
Khng ging nh loi FPGA cu to t SRAM, FPGA vi cu t kiu cu ch
dc lp trnh offline bng mt lp trnh chuyn dng. tng ch to loi FPGA ny
xut pht t nhu cu v mt thit b kh trnh c kh nng lu cu hnh sau khi dc
s dng.. Tc l n khng phi lm cng vic cu hnh mi khi ngun h thng dc
cung cp. Khi FPGA anti-fused d dc lp trnh th n khng th b thay di hay
dc lp trnh li na. Chnh nh diu ny nn n khng cn bt k mt b nh ngoi
nao d lu tr cu hnh v c th tit kim, gim gi thnh ca thit b.
Mt u dim ni bt ca FPGA anti-fused l kiu cu trc lin kt kh bn
vng vi cc loi nhiu x. c dim ny kh quan trng khi thit b phi lm vic
trong mi trng tim nng nh qun s hoc tim nng v tr. V vy no tranh dc
trng hp ri ro c th xy ra nu s dng cng ngh SRAM l hin tng lt trng
thi(flipped). Tuy nhin hin tng ny cng co th dc khc phc bng c ch d
phng bc 3 nhng li lam tng thm chi phi ch to.
Mt u dim ni bt ca loi FPGA anti-fused l kh nng bo v cng ngh.
Tc l d liu cu hnh lp trnh cho FPGA c th dc bo v bi vic dc bt hp
php hoc khng cho php dc. Trong qu trnh x l hoc pht trin, ngi lp trnh
s s dng mt tp d liu cu hnh d lp trnh v kim tra qu trnh np cu hnh cho

3
FPGA. Cng vic ny ch thc hin mt ln v s khng th thay di dc na. Khi
thc hin xong n c th dc thit lp thm mt thuc tnh l chng dc trc tip t
FPGA d liu lin quan dn cu hnh. Ngoi ra chng ta c th bit thm rng FPGA
anti-fuse thng dc s dng it nng lng hn loi FPGA SRAM, kich thc cng
nh hn, va tc d cng nhanh hn mt cht nh khong cch kt ni cng gia cc
phn t ngn hn.
Tuy nhin nhc dim ln nht ca FPGA anti-fused l ch c th dc lp
trnh v cu hnh mt ln. V vy n ch thc s ph hp khi thc thi hon chnh sn
phm cui cng v khng ph hp vi mc dich thit k pht trin.
FPGA cu to t EEPROM/FLASH
EPROM or FLASH based FPGAs cng co nguyn l cu to tng t nh
loi FPGA-SRAM. Cc phn t cu hnh ca no dc kt ni da trn mt chui
thanh ghi dch di. Chng c th dc cu hnh offline bng cc thit b lp trnh
chuyn dng. Cng co mt s c th lp trnh online nhng thi gian lp trnh cu hnh
s gp khong 3 ln thi gian thc thi vi nn FPGA-SRAM. Khi d dc cu hnh d
lp trnh th chng c th dc duy tr v khng b mt di nh nguyn l lu gi ca
EEPROM hoc FLASH. Loi FPGA- EEPROM/FLASH c cu to nh hn so vi
loi FPGA-SRAM v vy cng co th gim dc thi gian lan truyn tn hiu kt ni
lin thng gia cc phn t logic.
bo v cng ngh khi FPGA d dc cu hnh v da ra s dng, ta c th
bo v bng c ch kha m mm( cu to khong 50 bit dn vai trm bit). Mun dc
dc thng tin cu hnh trc tip t FPGA, ngi ta cn phi c m kha do va cng
rt kh hoc khng th m dc theo nguyn l th sai. V mun vy theo c tnh
cng phi mt dn hang triu nm mi hy vng thanh cng d m ra dc.
Tuy nhin cng ngh ch to FPGA-EEPROM/FLASH di hi thc thi qua
nhiu cng don x l hn so vi loi FPGA-SRAM v vy m s pht trin ca chng
cng chm hn. Hn na nng lng tiu th ca chng cng ln hn v phi nui rt
nhiu phn t din tr ko (pull- up resistor)
FPGA cu to t t hp FLASH-SRAM
Ngay nay ngi ta cng phat trin ch to cc loi FPGA cu to t cc t hp
SRAM va FLASH d tn dng dc cc u dim ca c hai chng loi ny. Thng
thng cc phn t cu hnh FLASH s dc s dng d lu cac ni dung cu hnh d
sao chp cho cc phn t cu hnh SRAM. V cc phn t cu hnh SRAM hon ton
c th dc cu hnh li theo yu cu thit k trong khi vn duy tr mt phn thit k
cu hnh gc lu trong cac phn t FLASH.

3
Ngi ta cng thng phn loi FPGA da vo phn t kin trc ca chng
v bao gm 3 loi chnh : mn, th v trung bnh. Bn cht vic phn loi ny l da
vo kiu khi logic kh trnh cu thnh nn FPGA. Vi loi FPGA mn th kin trc
cc khi logic kh trnh thng l cc cng logic dn gin( kiu AND,OR, v cc
phn t lu gi nh TrigerD.). Kiu kin trc ny ph hp va thng s dng hiu
qu vi kin trc ASICos. Gn dy xu th pht trin ca FPGA dang tp trung vo loi
kin trc th. Tc l cc khi logic kh trnh l cc khi c kh nng x l logic ln
vi nhiu t hp lin kt v phc tp vi nhiu du vo v ra lin kt. ty theo mc d
ca khi logic kh trnh do ma ngi ta phn ra thnh cc loi trung bnh.
C hai loi cu truc c bn cu thnh nn cc khi logic kh trnh trong kin
trc FPGA th hoc trung bnh l MUX(Multiplex) v LUT( Lookup Table). Trong
loi cu trc MUX th cc phn t logic dc cu thnh theo cu trc t hp cac du
vo ra theo nguyn l MUX nh m t trong hnh 2-29: Khi logic dng MUX.
Hnh 2-29: Khi logic dng MUX
i vi loi cu trc LUT th cc du vo thc cht l cc t hp d chn ra
gi tr trong bng chn l ca hm chc nng cn thc thi.

Hnh 2-30: LUT thc hin hm t hp AND v OR

3
Hu ht cc ng dng du c nhu cu v b nh RAM on Chip v vy mt s
dng FPGA hin nay cng tich hp thm c cc phn t nh RAM va dc gi l
RAM nhng(embedded RAM). Cc phn t RAM do doc t chc thnh tng khi v
ty thuc vo kin trc ca FPGA n s dc phn b linh hot, thng l xung quanh
cc phn t ngoi vi hoc phn b du trn b mt Chip. Mt hnh nh minh ha v
phn b RAM trong kin truc FPGA dc m t nh trong hnh 2-31.

Hnh 2-31: Hnh nh ca Chip c cc ct l cc khi RAM nhng
FPGA vi ht nhn DSP

Hnh 2-46. S a nguyn l mch ghp ni JK va FPGA
Thc cht do la mt t hp nhm tng tc va kh nng tinh toan. Khai nim ny
cng tng t nh cac b dng x l ton hc trong kin trc my tnh. Nguyn l l
nhm san s v gim bt ti sang FPGA d thc thi cc chc nng tinh toan ln( thng
thng di hi thc hin trong nhiu nhp hot dng ca Chip DSP) v cho php chip

3
DSP tp trung thc hin cc chc nng dn nhp ti u. T hp FPGA v DSP l mt
kin trc rt linh hot va dc bit ci thin dc hiu sut thc hin va tng tc hon
rt nhiu so vi kin trc nhiu Chip DSP hoc AICs dng thi gi thnh li thp hn.

3
CHNG 3
LP TRNH H NHNG
3.1 c dim phn mm nhng
9 Hng chc nng hoa dc th
9 Hn ch v ti nguyn b nh
9 Yu cu thi gian thc
3.2 Biu din s v d liu
n v c bn nht trong biu din thng tin ca h thng s dc gi l bt, chnh
l k hiu vit tt cu thut ng binary digit.
1964, IBM d thit k v ch to my tnh s s dng mt nhm 8 bt d danh da
ch b nh va dnh ngha ra thut ng 8 bit= 1byte.
Ngy nay s dng rng ri thut ng Word l mt t d liu dung d biu din kch
thc d liu ma dc x l mt cch hiu qu nht di vi mi loi kin trc x l s
c th. Chnh v vy mt t c th l 16 bits, 32 bits, hoc 64 bits
Mi mt byte c th dc chia ra thnh hai na 4 bit va dc gi l cc nibble.
Nibble cha cc bt trng s ln gi l nibble bc cao, v nibble cha cc bit trng s
nh dc gi l nibble bc thp.
3.2.1 Cc h thng c s
Trong cc h thng biu din s hin nay du dc biu din dng tng qut l tng
ly tha theo c s, va dc phn loi theo gi tr c s. Mt cch tng qut mt h
biu din c s b v a l mt s nguyn nm trong khong gi tr c s b dc biu
din nh sau:
A = a
n
b
n
+
a
n-1
b
n-1
+
+
a
0
=
_
=
n
o i
bi ai. (1.1)
V d nh c s binary( nh phn), c s decimal (thp phn), c s Hexaadecimal, c
s 8 Octal (bt phn)
V d v biu din cc gi tr trong cc h c s khc nhau:
243.51
10
= 210
2
+ 4 10
1
+ 310
0
+510
4
+110
-2
212
3
= 23
2
+ 13
1
+23
0
= 23
10
10110
2
= 12
4
+ 02
3
+ 12
2
+ 12
1
+ 02
0
= 22
10

4
Hai loi c s biu din thng dng nht hin nay cho cc h thng x l s la c s
thp phn va c s mi su.
3.2.2 S nguyn
Trong biu din s c du d phn bit s dng va s m ngi ta s dng bit
trng s ln nht quy c lm bit du v cc bt cn li dc s dng d biu din gi
tr d ln ca s. V d mt t 8 bit dc biu din gi tr -1 s c dng nh phn l
10000001, v gi tr +1 s c dng 00000001. Nh vy vi mt t 8 bit c th biu
din dc cc s trong phm vi t -127 dn +127. Mt cch tng qut mt t N bit s
biu din dc -2
(N-1)
-1 dn +2
(N-1)
-1.
Ch khi thc hin cng hai s c du:
9 Nu hai s cng du th thc hin php cng phn biu din gi tr v s dng
bit cng du vi hai s do.
9 Nu hai s khc du th kt qu s nhn du ca ton t ln hn, va thc hin
php tr gia tan t c gi tr ln hn vi ton t b hn.
V d 1: Cng hai s c du 01001111
2
v 00100011
2
.
1 1 1 1 1 carries
0 1 0 0 1 1 1 1 (79)
0+ 0 1 0 0 0 1 1 +(35)
0 1 1 1 0 0 1 0 (114)
V d 2: Cng hai s c du 01001111
2
v 01100011
2
Nh cui cng 1 1 1 1 1 carries
Trn 0 1 0 0 1 1 1 1 (79)
B nh 0 + 1 1 0 0 0 1 1 +(99)
0 0 1 1 0 0 1 0 (50)
V d 3 : tr hai s c du 01001111
2
v 01100011
2

0 1 1 2 borrows
0 1 1 0 0 0 1 1 (99)
0 - 1 0 0 1 1 1 1 -(79)
0 0 0 1 0 1 0 0 20

4
V d 4 : cng hai s khc du 10010011
2
v 00001101
2
(+13)
0 1 2 borrows
1 0 0 1 0 0 1 1 (-19 )
0 - 0 0 0 1 1 0 1 (+13)
1 0 0 0 0 1 1 0 (-6)
Thut ton thc hin php tnh c du:
(1) Khai bo v xa cc bin lu gia tr v du d chun b thc hin php tnh.
(2) Kim tra du ca ton t th nht d xem c phi s m khng . Nu l s m th
thc hin b du v b ton t. Nu khng th chuyn qua thc hin bc 3.
(3) Kim tra du ca ton t th 2 d xem c phi s m khng. Nu l s m th
thc hin b du v b ton t. Nu khng th chuyn sang thc hin bc 4.
(4) Thc hin php nhn hoc chia vi cc ton t va x l.
(5) Kim tra du. Nu zero th coi nh d kt thc. Nu bng -1(0ffh) th thc hin
php tnh b 2 vi kt qu thu dc v kt thc.
Hin nay ngi ta s dng hai quy c biu din s nguyn phn bit theo th t
ca byte trng s trong mt t dc biu din.
Litte edian: byte trng s nh nht dng trc thun li cho php cng hoc tr
v
Big endian: byte trng s ln nht dng trc thuwnj li cho php nhn hoc
chia.
V d xt mt s nhi phn 4- byte

Theo quy c biu din litte edian th th t da ch lu trong b nh s l:
a ch c s +0= Byte 0
a ch c s +1= Byte 1
a ch c s +2= Byte 2
a ch c s +3= Byte 3
Va theo quy c biu din s big edian s l:

4
a ch c s +0= Byte 3
a ch c s +1= Byte 2
a ch c s +2= Byte 1
a ch c s +3= Byte 0
3.2.3 S du phy tnh
Chng ta c th s dng mt k hiu du chm o d biu din mt s thc. Du chm
o dc s dng trong t d liu dung d phn bit va ngn cach gia phn biu din
gi tr nguyn ca d liu v mt phn l thp phn. V d v mt t 8 bit biu din s
du phy dng dc ch ra nh trong hnh 3.1. Vi cch biu din ny, gi tr thc ca
s dc tinh nh sau:
N = a
4
2
4
+ a
3
2
3
+ a
2
2
2
+a
1
2
1
+ a
0
2
0
+a
-1
2
-1
+a
-2
2
-2
+a
-3
2
-3
=0. 2
4
+ 1.2
3
+ 0.2
2
+ 1.2
1
+1.2
0
+1.2
-1
+0.2
-2
+ 1.2
-3
= 8+2+1+1/2+1/8
=11.625

Hnh 3.1 : nh dng biu din s du phy tnh 8 bit
Nhc dim ca phng phap biu din s du phy tnh l vng biu din s
nguyn b hn ch bi du phy tnh dc gn c dnh. iu ny d xy ra hin tng
trn s khi thc hin cc php nhn hai s ln.
3.2.4 S du phy dng
Phng phap biu din s chnh xc v linh hot dc s dng rng ri hin
nay l h thng biu din s du phy dng. y cng l mt phng phap biu din
s khoa hc bao gm 2 phn: phn biu din lu tr s mantissa v mt phn lu tr
biu din s exponent. V d trong h c s thp phn, mt s nguyn bng 5 dc
biu din hoc l 0.510
1
, 5010
-1
hoc 0.0510
-2
,trong my tnh s hoc h thng
s ni chung, cc s du phy dng nh phn thng dc biu din dng :

4
N= M.2
E
(1.2)
Trong do M la phn gi tr s mantissa, E l phn ly tha ca s N. M thng l cc
gi tr l m phn thp phn ca no thng nm trong khong 0.5_ M_ 1.
Hnh 3.2 m t biu din mt s du phy dng ca t 8 bit gm 5 bit biu din phn
s c ngha mantissa, v 3 bit biu din phn ly tha. V cc mantissa v ly tha du
c th nhn cc gi tr m v vy cac bit du tin ca cc phn gi tr do du c th
dc s dng d biu din du khi cn thit

Hnh 3.2: Biu din du phy ang 8 bit
Trong mt s VXL,VK do d rng t nh phn nh nn c th s dng 2 t d biu
din mt s du phy dng. Mt t s dung d biu din gi tr mantissa, v mt phn
biu din gi tr exponent.
Nu phn mantissa dc chun ha thnh mt s l c gi tr trong khong
0.5_ M_1 th bt du tin sau bit du thng l 1v s c mt du phy nh phn n
ngay sau bit du.
Phn biu bin exponent E s quyt dnh v tr ca du phy dng s dch sang tri
(E>0) hay sang phi (E<0) bao nhiu v tr. V d biu din mt s thp phn 6.5 bng
mt t 8 bit du phy dng nh sau:
N=1101.2
11
2
=[1/2+1/4+1/16] 2
3
=6.5
Trong trn hp ny phn mantissa gm 4 bit v phn exponent gm 3 bit. Nu ta
dich du phy sang phi 3 v tr th chng ta s c mt s nh phn du phy dng biu
din dc s l 1101
Tng qut hoa trong trng hp mt s nh phn du phy dng n bit gm m bit biu
din phn mantissa v e bit biu din phn exponent th gi tr ca s ln nht c th
biu din dc s l:

4
N
max
= (1-2
-m-1
)2
(2
1 e
-1)
V s dng nh nht c th biu din l:
N
min
= 0.5. 2
( 2
1 e
-1)
Theo tiu chun IEEE 754 va 854 co hai dnh dng chnh cho s du phy dng l s
thc di (long) v s thc ngn( short) chng khc nhau v chiu di biu din va d
ln lu tr yu cu. Theo chun ny, s thc dai dc dnh dng 8 byte bao gm 1 bt
du , 11 bit exponent va 53 bit lu gia tr s c ngha. Mt s thc ngn dc dnh
dng 4 byte bao gm 1 bit du ,8 bit ly tha va 24 bit lu gia tr s c ngha. Mt s
thc ngn c th biu din v x l dc s c gi tr nm trong di 10
38
to 10
-38
v s
thc di c th biu din v x l dc s c gi tr thuc di 10
308
to 10
-308
. biu
din mt gi tr tng dng nh vy bng s du phy tnh th cn ti 256 bit hay 32
byte d liu.
3.2.5 Mt s php tnh c bn
Thc hin php nhn
V trong cc VK nhung thng khng h tr cc php nhn nhiu byte. Cng vic
ny phi dc thc hin bi ngi pht trin chng trnh v th hin di dng mt
thut ton da trn cc php ton c sn p dng cho s nh phn l cng , tr v dch.
c mt s hiu bit r rng hn v thut ton thc hin php nhn , chng ta xt
mt v d v mt php tnh nhn hai s nh phn tng quat nh sau:
A= a
n
.2
n
++a
1
.2
1
+a
0
.2
0
B= b
n
.2
n
++b
1
.2
1
+b
0
.2
0
b
n
.(A) .2
n
++b
1
.(A).2
1
+b
0
.(A).2
0
Nguyn l thc hin php nhn cng ging nh ta thc hin php nhn hai da thc.
Trong trng hp nhn hai s nh phn th mi phn t l mt bit, byte hoc t v d
c th vi hai s nh phn 4 bit ta thu dc php nhn thc hin nh sau:
a
3
. 2
3
+ a
2
. 2
2
+a
1
. 2
1
+a
0
. 2
0
b
3
. 2
3
+ b
2
. 2
2
+b
1
. 2
1
+b
0
. 2
0
a
3
.b
0
. 2
3
+a
2
.b
0
. 2
2
+a
1
. b
0
2
1
+a
0
.b
0
. 2
0
a
3
.b
1
. 2
4
+ a
2
.b
1
. 2
3
+a
1
.b
1
2
2
+a
0
.b
1
. 2
1
a
3
.b
2
. 2
5
+ a
2
.b
2
. 2
4
+a
1
.b
2
2
3
+a
0
.b
2
. 2
2

4
a
3
.b
3
. 2
6
+ a
2
.b
3
. 2
5
+ a
1
.b
3
.2
4
+a
0
.b
3
. 2
3
Thut ton thc hin php nhn 32 bit theo trnh t sau:
(1) Cp pht vng nh d ln d lu s dc nhn 32 bit v c th thc hin php
dch tri 32 ln. t gi tr khi to cho b dm bit bng 32 v xa thanh ghi hay bin
lu gi kt qu php nhn.(Ch : S lng bit cn d lu gia tr kt qu phi bng
tng s lng bit cn d lu cac s hng php nhn)
(2) Dch s nhn sang phi mt v tr bt v kim tra c nh. Nu khng c c nh th
tip tc thc hin bc 3. Nu xut hin c nh th cng thmvo bin lu kt qu
hin ti ca php nhn mt gi tr bng gi tr ca s dc nhn.
(3) Dch s dc nhn sang tri mt v tr bit v gim b dm dch di 1. Kim tra
xem gi tr ca b dm dch c bng 0 khng? Nu bng 0 th thc hin tip bc 4,
cn khng th quay tr li thc hin bc 3.
(4) Kt qu cui cng ca php nhn dc lu trong thanh ghi bin kt qu.
V d php nhn t nh phn 4 bit 1100 1101
0. A 1100(12)
B 1101(13)
Counter 100(4)
Product 0
1. A 11000(24)
B 0110(6)
Counter 011(3)
Product 1100(12)
2. A 110000(48)
B 0011(3)
Counter 010(2)
Product 1100(12)
3. A 1100000(96)
B 0001(1)

4
Counter 001(1)
Product 111100(60)
4. A 11000000(192)
B 0001(1)
Counter 000(0)
Product 10011100(156)
Thc thi thut ton thc hin php nhn s nguyn khng du bng ngn ng C/C
++
;

Thc thi php chia
Php chia c th dc thc thi bng cch chuyn di thnh php nhn v php dch. V
d mn thc hin php chia 5 trong h thp phn chng ta c th thc hin bi mt
nhn 2 v dch du phy ca kt qu thu dc sang tri mt dn v. Mt cch tng qut
c th thc hn chuyn di mt php chia tng dng nh sau:

a
x
=
a
n
a
x
i vi php chia nh phn th n s dc chn l mt s ly tha ca 2 v phi ln hn
a. Thut ton thc hin php chia c th dc thc thi bi php dch, cng v tr nh
sau:
(1) Np bin lu gia tr thng s bng gi tr ca s b chia,s bc dch cn thc
hin bng s bit lu s b chia.
(2) Dch tri bin lu gia tr thng s vo phn bin lu gia tr d ca php chia.

4
(3) So snh s d vi s chia. Nu s d ln hn hoc bng s chia th thc hin
php tr s d di mt gi tr bng gi tr s chia. Nu khng th chuyn sang thc hin
bc tip theo.
(4) Gim bin lu gia tr s ln lp v kim tra xem no d bng 0 cha. Nu cha
bng 0 th quay tr li bc 2 thc hin tip, cn nu bng 0 th gi tr ca php chia
dc lu trong nh cha s d va thng s.
Thc thi thut ton bng ngn ng C/C
++
I=0; quotient =0 ;
If (divisior==0 goto error;
While (dividend > divisor) divisor<<=1; i++;
Divisor>>=1;
While (I !=0) {
Quotient<<=1;
If (divisor <dividend )dividend-=divisor;
Quotient ++;
Divisor>>1;
i--;
}
Trc khi thc hin php chia yu cu cn phi kim tra li chia khng c th
xy ra. Thut ton thc hin php chia ch yu da trn php dch v php tr. S b
chia s dch sang trai va lu vao mt bin, phn d s doc so snh vi s chia.Nu
phn d bng hoc ln hn s chia th phn d s dc tr di mt gi tr bng s chia
v s b chia s dc cng thm 1 v dch sang tri mt v tri bit va do chinh dc gi
la thng s. Qu trnh ny dc lp li v tip tc cho dn khi s ln dch bng dung
s bit ca t lu s b chia.
Cc bin dc s dng trong qu trnh thc hin php chia bao gm 5 bin s:
s b chia , s chia , thng s, s d va s ln dch. Trong qu trnh thc hin th s
b chia , thng s, v s d cung chia s chung mt vng nh. S d va s b chia
s thuc cng mt t ln. S b chia nm trong phn t trng s thp v s d s nm
trong phn t trng s cao. Sau khi thc hin xong php chia th s b chia s dc
dch ton b sang tri vo phn bin s d va dc thay th bng thng s. Kt qu

4
cn li thu dc ch cn l s d vsI thng s. Hnh nh v b nh lu cac bin s
thc hin trong thut toan nay dc minh ha nh trong hnh 3-3:
Hnh 3-3: Thc hin php chia
3.3 Tp lnh
3.3.1 Cu trc tp lnh CISC v RISC
Hu ht cac vi diu khin v VXL nhng c cu truc dc pht trin da theo
kin trc my tnh tp lnh phc hp CISC (Complex Instruction Set Computer). CISC

4
l mt cu trc x l cc lnh phc hp, tc l mt lnh phc hp s bao gm mt vi
lnh dn. Theo nguyn l ny c th gim bt dc thi gian dung d truy cp va dc
m chng trnh t b nh. iu ny rt c ngha vi cc kin trc thit k x l tnh
ton theo kiu tun t. L do cho s ra di ca tp lnh phc hp nhm gim thiu
dung lng b nh cn thit d lu gi chng trnh thc hin, v s gim dc gi
thnh v b nh cn cung cp cho CPU. Cc lnh cng gn v phc hp th s cn
cng t khng gian b nh chng trnh. Kin trc tp lnh phc hp s dng cc lnh
vi d di bin di ty thuc vao d phc hp ca cc lnh t dn gin dn phc tp.
Trong do s c mt s lng ln cc lnh c th truy nhp trc tip b nh. V vy vi
kin trc tp lnh phc hp chng ta s co dc mt tp lnh da dng phc hp, gn,
vi d di lnh thay di v dn dn chu k thc hin lnh cng thay di tuy theo d
phc hp trong tng lnh. Mt vi lnh phc hp, dc bit l cc lnh truy nhp b
nh cn ti vi chc chu k d thc hin. Trong mt s trng hp cc nh thit k
VXL thy rng cn phi gim chu k nhp lnh d co d thi gian cho cc lnh hon
thanh diu ny cng dn dn thi gian thc hin b ko dai hn.
Mt s VK dc pht trin theo cu trc my tnh tp lnh rt gn RISC
(Reduced Instruction Set Computer). RISC ph hp vi cc kin trc x l cc lnh
dn. Thut ng rt gn ( reduced ) di khi b hiu khng tht chnh xc theo ngha
den ca n thc cht tng gc xut pht t kh nng cung cp mt tp lnh ti thiu
d thc hin tt c cc hot dng chinh nh: chuyn d liu, cc hot dng ALU v r
nhanh diu khin chng trnh. Ch c cc lnh np (load), lu tr (store) la dc php
truy nhp trc tip b nh.
B 1: So snh dc dim ca CISC v RISC
CISC RISC
Bt k lnh no cng co th tham chiu ti
b nh
Ch c cc lnh Np (load), hoc Lu
tr (store) l c th tham chiu ti b
nh
Tn ti nhiu lnh v kiu da ch Tn ti t lnh v kiu da ch
Khun dng lnh da dng Khun dng lnh c dnh
Ch c mt tp thanh ghi C nhiu tp thanh ghi
Cc lnh thc hin trong nhiu nhp chu k Cc lnh thc hin trong mt nhp chu
k

5
C mt chng trnh nh d thng dch
lnh
Lnh dc thc hin trc tip ngay bi
phn cng
Chng trnh thng dch lnh phc tp Chng trnh bin dch m ngun
phc tp
Khng h tr c ch pipeline H tr c ch pipeline
Kich thc m chng trnh nh gn Kich thc m chng trnh ln
3.3.2 nh dng lnh
Hnh 3-4.nh dng lnh MIPS

5

Hnh 3-5: Phn loi cc php tnh thc thi lnh
3.3.3 Cc kiu truyn di ch ton t lnh
Cc kiu danh/truyn da ch cho php chng ta ch ra/truyn ton t tham gia
trong cc lnh thc thi. Kiu da ch c th ch ra l mt hng s, mt thanh ghi hoc
mt khu vc c th trong b nh. Mt s kiu danh da ch cho php s dng da ch
ngn v mt s loi th cho php chng ta xc dnh khu vc cha ton t lnh v
thng dc gi la da ch hiu dng ca ton t va thng la dng. Chng ta s xt
mt s loi hnh danh da ch c bn hin dang dc s dng rng ri trong c ch
thc hin 5 lnh.
nh da ch tc th (Immediate Addressing)
Phng phap nay cho php truyn gi tr ton t lnh mt cch tc th nh mt
phn ca cu lnh dc thc thi.V d nu s dng kiu danh da ch tc thi cho cu
lnh Load 0x0008 th gi tr 0x0008 s dc np ngay vao AC. Trng bit thng
dung d cha ton t lnh s cha gi tr thc ca ton t ch khng phi da ch ca
ton t cn truyn cho lnh thc thi. Kiu da ch tc thi cho php thc thi lnh rt
nhanh v khng phi thc hin truy xut b nh d np gi tr ton t m gi tr ton t
d dc gp nh mt phn trong cu lnh v c th thc thin gay. V ton t tham gia
nh mt phn c dnh ca chng trnh v vy kiu danh da ch ny ch ph hp vi
cc ton t hng v bit trc ti thi dim thc hin chng trnh, hay d xc dnh ti
thi dim bin dch chng trnh.
nh da ch trc tip (Direct Addressing)
Phng phap nay cho php truyn ton t lnh thng qua da ch trc tip cha
ton t do trong b nh. V d nu s dng c ch danh da ch ton t trc tip th
trong cu lnh Load 00008 s dc hiu l d liu hay ton t dc np trong cu

5
lnh ny nm trong b nh ti da ch 00008. C ch danh da ch trc tip cng
thuc loi hnh kh nhanh mc du khng nhanh dc nh c ch truyn da ch tc
thi nhng d mm do cao hn v da ch ca ton t khng nm trong phn m lnh
v gi tr c th thay di trong qu trnh thc thi chng trnh.
nh da ch thanh ghi (Register Addressing)
Trong cach danh da ch v truyn ton t ny th ton t khng nm trong b
nh nh trng hp danh da ch trc tip m nm ti chnh trong thanh ghi. Khi ton
t d dc np vo thanh ghi th vic thc hin c th rt nhanh v tc d truy xut
thanh ghi nhanh hn so vi b nh. Nhng s lng thanh ghi ch c hn v phi
dc chia s trong qu trnh thc hin v vy cc ton t phi dc np vo thanh ghi
trc khi no dc thc thi.
nh da ch gin tip (Indirect Addressing)
Trong phng phap truyn ton t nay, trng ton t trong cu lnh dc s
dng d tham chiu ti mt con tr nm trong b nh d tr ti da ch hiu dng ca
ton t. C ch truyn ny c th ni l mm do nht so vi cac c ch truyn da ch
khc trong qu trnh thc thi chng trnh. V d nu p dng c ch truyn da ch
gin tip trong cu lnh Load 00008 th s dc hiu l gi tr d liu co da ch ti
Load 00008 thc cht l cha di ch hiu dng ca ton t cn truyn cho cu lnh.
Gi thit ti v tr nh 00008 dang cha gi tr 002A0 th 002A0 chnh l gi tr
thc ca ton t s dc np vo AC. Mt bin th khc cng co th thc hin theo c
ch ny l truyn tham chiu ti con tr nm trong khu vc thanh ghi. C ch ny cn
dc bit ti vi tn gi la danh da ch gin tip thanh ghi. V d mt cu lnh Load
R1 s dng c ch truyn da ch gin tip thanh ghi th chng ta c th d dng thng
dch dc ton t truyn trong cu lnh nay co da ch hiu dng nm trong thanh ghi
R1
nh da ch c s v ch s (Index and Base Addressing)
Trong c ch nay ngi ta s dng mt thanh ghi d cha oIIset( d chnh lch
tng di) m s dc cng vi ton t d to ra mt da ch hiu dng. V d nu
ton t X ca lnh Load X dc danh da ch theo c ch da ch ch s v thanh ghiR1
l thanh ghi cha da ch s v c gi tr l 1 th da ch hiu dng ca ton t thc
cht s la X 1. C ch danh da ch c s cng ging nh vy loi tr mt diu l
thay v s dng thanh ghi da ch offset th dy s dng thanh ghi da ch c s. V
mt l thuyt s khc nhau gia hai c ch tham chiu da ch nay la chung dc s
dng th no ch khng phi cc ton t dc tnh th no. Mt thanh ghi ch s s
lu ch s m s dc s dng nh mt offset so vi da ch dc da ra trong trng
da ch ca lnh thc thi. Thanh ghi c s lu mt da ch c s va trng da ch

5
trong cu lnh thc thi s lu gia tr dch chuyn t da ch nay. Hai c ch tham chiu
da ch ny rt hu ch tng vic truy xut vi cc phn t kiu mng. Ty thuc vo
thit kt tp lnh cc thanh ghi mc dich chung thng hay dc s dng trong c ch
danh da ch ny.
nh da ch ngn xp (Stack Addressing)
Trong c ch truyn da ch ny th ton t nhn dc t dnh ngn xp. Thay
v s dng thanh ghi mc dich chung hay nh kin trc da trn ngn xp lu cac
ton t trn dnh ca ngn xp, v c th truy xut vi CPU. Kin trc ny khng ch
hiu qa trong vic lu gi cc gi tr trung gian trong cc php tnh phc tp m cn
cung cp mt phng phap hiu qu trong vic truyn cc tham s trong cc li gi
hm cng nh d lu ct cc cu trc d liu cc b va dnh ngha ra phm vi tn ti
ca cc bin v cc hm con. Trong cc cu trc lnh truyn ton t da trn ngn xp
hu ht cc lnh ch bao gm phn m, tuy nhin cng co mt s lnh dc bit ch c
mt ton t v d nh lnh ct vo(push) hoc ly ra (pop) t ngn xp. Ch c mt s
lnh yu cu hai ton t th hai gi tr cha trong hai nh trn dnh ngn xp s dc
s dng. V d nh lnh Add, CPU ly ra khi ngn xp hai phn t nm trn dnh ri
thc hin php cng va sau do lu kt qu tr li dnh ngn xp.
Cc cch dnh da ch khc
C rt nhiu bin th to bi cac c ch danh da ch gii thiu trn. o la s
t hp trong vic to ra hoc xac dnh da ch hiu dng ca ton t truyn cho lnh
thc thi. V d nh c ch danh da ch ch s gin tip s dng dng thi c hai c
ch danh da ch dng thi, tng t nh vy cng co c ch danh da ch c s
offsetCng co mt s c ch t dng tng hoc gim thanh ghi s dng trong lnh
dang thc thi nh vy m c th gim dc d ln ca m chng trnh dc bit ph
hp cho cc ng dng Nhng.
3.3.4 Nguyn l thc hin PIPELINE
Vi x l c th tc thi cc lnh vi mt tc d rt nhanh. RISC s dng k thut
pipeline d tng cng tc d x l cc lnh dng thi nh vo kh nng thc hin xp
chng cun chiu lin tc cc lnh theo cac phn don thc hin lnh. V d mt lnh
c th dc dc t b nh trong khi mt lnh khac dang dc gii m d chun b da
vo x l v mt lnh khc th dang dc thc hin. Cng co mt s VK co tn gi
l my tnh tp lnh dc bit SISC ( Specific Instruction Set Computer) v chng dc
pht trin da trn tp lnh dc thit k dc chng cho mc dich diu khin.

5

Hnh 3.6 : Nguyn l thc hin pipeline
Pipeline dc thc hin da trn nguyn l xp chng cun chiu cac phn don
trong mi mt lnh. Thng thng mi mt lnh dc chia ra lm nhiu phn don
thc hin, ph bin hin nay la 5 phn don tun t nh sau:
Hnh 3-7: qu trnh thc hin nguyn l pipeline
(1) Tr lnh (Instrution Fetch): Thc hin tr ti lnh thc hin bng cach dc da
ch lnh t thanh ghi con tr lnh (PC), dc lnh do ra t b nh chng trnh v
tnh ton ri np gi tr mi vo trong thanh ghi con tr lnh d tr ti lnh s
thc thi tip theo.

5
(2) Gii m lnh(Decode): Thc hin thng dch v chuyn di m lnh thnh dng
m d ALU c th hiu v chun b thc thi. Qu trnh ny thc cht l qu trinh
dc v chuyn di ni dung trong cac thanh ghi chng trnh.
(3) Thc thi lnh (Excute): ALU thc thi lnh va dc gii m.
(4) Truy nhp b nh d liu( Memory): c ra hoc vit vo b nh d liu nu
lnh thc hin c nhu cu ny.
(5) Vit tr li (Write back): Hon thnh v cp nht ni dung cc thanh ghi.
Chng ta cn phn bit c ch pipeline va c ch thc thi song song mc d c
hai du nhm dap ng yu cu thc thi canh tranh va tng tc d thc thi. C ch
Pipeline gii quyt vn d cnh tranh va tng tc d thc hin bng cch chia nh tnh
toan thanh cac bc nh trong khi do c ch song song s s dng nhiu ngun ti
nguyn dc lp d thc hin.
3.3.5 Harzard
Trong c ch thc hin lnh pipeline th hin r dc u dim trong vic thc
dy hiu sut thc hin lnh, tuy nhin c th xy ra hin tng thc thi sai do s thiu
dng b v ph thuc ln nhau gia cc lnh trong nhm thc thi pipeline.
Hazard d liu
Hin tng harzard xy ra khi c s ph thuc ln gia cc lnh nm trong
khong xp chng thc hin cun chiu theo nguyn l pipeline. iu ny c th d
dng hnh dung khi hai hoc nhiu lnh thc hin xp chng khi c nhu cu dc gi tr
ca cng mt ton t. Do s ph thuc nh vy nn khi vit chng trnh chng ta
phi kim soat dc th t chng trnh m cc lnh s dc thc hin nh th no.
Mc dich ca vic thc thi la lam sao d h tr dc c ch thc hin song song v
tng dc hiu sut thc thi chng trnh. Vic pht hin va tranh dc hin tng
hazard l cn thit d dm bo chng trnh dc thc thi dung.Tu theo nguyn nhn
gy ra hazard ngi ta phn ra 3 loi hnh chnh tu thuc vo th t dc hoc vit
truy nhp lnh ca cc nhm lnh ph thuc nhau trong c ch thc hin song song.
Xt hai lnh i v j trong do lnh i dc thc hin trc lnh j trong chng
trnh. Hin tng Hazard d liu c th xy ra nh sau:
RAW (read after write): c sau khi vit

5
Khi lnh i v j du cn s dng v trao di thng tin vi cng mt gi tr
nh, trong do lnh i cn phi thc hin xong v cp nht gi tr vo nh do ri
lnh j mi c th dc v s dng. Nu lnh i cha thc hin xong m lnh j d dc
gi tr nh do th s xy ra hin tng dc gi l hazard d liu. Lnh j dc
thng tin t mt nh trc khi lnh i kp vit vo v vy lnh j s ch dc dc gi
tr c ch khng phi gi tr mi cn phi s dng. Trong c ch thc hin pipeline
5 phn don s gp phi hin tng hzard d liu khi c mt lnh np (load) theo
sau mt lnh ALU s nguyn v s dng trc tip kt qu np.
WAW (write after write): Vit sau khi vit
Lnh j vit vo mt ton t trc khi lnh i vit vo. M yu cu thc thi
dung chng trnh l lnh i phi vit trc lnh j v gi tr cui cng lu trong ton
t phi do lnh j da ra ch khng phi lnh i. Hin tng ny dc gi l hazard
d liu khi c s ph thuc du ra v nhiu lnh cng c nhu cu truy nhp vit vo
cng mt bin hay mt nh.
WAR (write after read): Vit sau khi dc
j vit vo ton t dich trc khi n dc dc bi lnh i do do lnh I s nhn
dc gi tr sai. Hin tng Hazard ny xut hin khi c s ph thuc ton hng
trong cc php tnh.
Hazard do s ph thuc diu khin
Kiu ph thuc cng kh ph bin l do cu trc diu khin. S ph thuc
diu khin dc quyt dnh trnh t thc thi ca mt lnh i theo lnh r nhnh dm
bo sao cho no dc thc thi dung nh th t mong mun. Tt c cc lnh ngoi tr
khi c bn du tin ca chng trnh du dc diu khin theo cu trc lnh r
nhnh v phi dc dm bo d thc thi dung theo th t. Mt v d dn gin nht
v s ph thuc diu khin l s ph thuc diu khin theo cu trc ifthen
Phn thc thi trong phn then s ph thuc cu lnh diu kin if. V d don
m chng trnh minh ha nh sau:

5
Cu lnh dc diu khin ph thuc vo p1 v S2 dc diu khin ph thuc
p2 ch khng phi p1.
Ni chung, c 2 rng buc c th gi thit trong s ph thuc diu khin:
(1) Mt lnh thc hin ph dc quyt dnh bi mt lnh diu khin r nhnh
th khng th dc php chuyn ln trc cu lnh thc hin kim tra diu kin.
V d chng ta khng th da lnh t phn thenln trc phn if.
(2) Mt lnh thc hin dc lp v khng ph thuc vo lnh r nhnh khng th
dc chuyn vo khu vc sau phn thc hin ca nhnh thc hin ph thuc. V d
khng th da mt lnh ln trc phn lnh if v chuyn n vo trong phn then. S
ph thuc diu khin phi dc dm bo bi 2 thuc tnh trong c ch pipeline dn
gin. Th nht, cc lnh thc hin trong chng trnh phi dng theo trnh t
dc diu khin ca n. Trnh t ny phi dc dm bo rng mt lnh m phi
thc thi trc mt nhnh diu khin th phi thc hin trc nhnh do. Th hai, vic
pht hin ra s xung dt v diu khin (control hazard) s dm bo rng mt lnh
m dc diu khin ph thuc vo mt nhnh th khng dc thc hin chng no
hng thc hin ca nhnh do r rng. Bo dm dc s ph thuc diu khin l
cn thit v cng l mt cch dn gin d dm bo dung trnh t thc hin chng
trnh. S ph thuc diu khin khng phi l mt s hn ch c bn v kh nng
thc thi chng trnh. Chng ta c th sn sng thc thi thm nhng lnh m l ra
khng nn dc thc thi nu chng khng gy nh hng g dn tnh dung dn ca
chng trnh, nu khng s xung dt gy ra bi s ph thuc diu khin c th xy
ra. S ph thuc v diu khin khng phi l mt thuc tnh kch tnh bt buc phi

5
bo dm. Thay v diu do, hai thuc tnh kch tnh cho vic lp trnh mt cch dung
dn v thng dc bo dm l phi trnh dc xung dt bi c s ph thuc v d
liu v diu khin v d chnh l hnh vi ngoi l c th xy ra trong lung d liu
thc thi chng trnh.
3.4 Ngn ng v mi trng pht trin
3.4.1 Ngn ng
Mt trong nhng ngn ng lp trnh c l ph cp rng ri nht hin nay l
ngn ng C. So vi bt k ngn ng lp trnh no khc dang tn ti C thc s ph
hp v tr thnh mt ngn ng pht trin ca h nhng. iu ny khng phi l c
hu v s tn ti mi, nhng ti thi dim ny th C c l l mt ngn ng gn gi
nht d tr thnh mt chun ngn ng trong th gii h nhng. Trong phn ny
chng ta s cng tm hiu ti sao C li tr thnh mt ngn ng ph bin dn vy v
ti sao chng ta la chn n nh mt ngn ng minh ha cho vic lp trnh h nhng.
S thnh cng v pht trin phn mm thng l nh vo s la chn ngn
ng ph hp nht cho mt d n dt ra. Cn phi tm mt ngn ng d c th dp
ng dc yu cu lp trnh cho cc b x l t 8bit dn 64bit, trong cc h thng
ch c hu hn v b nh vi Kbyte hoc Mbyte. Cho ti nay, diu ny ch c C l
thc s c th tha mn v ph hp nht.
R rng C c mt s u dim ni bt tiu biu nh kh nh v d dng cho
vic hc, cc chng trnh bin dch thng kh sn cho hu ht cc b x l
dang s dng hin nay, v c rt nhiu ngi d bit v lm ch dc ngn ng
ny ri, hay ni cch khc cng d dc ph cp t lu. Hn na C c li th l
khng ph thuc vo b x l thc thi m ngun. Ngi lp trnh ch phi tp
trung ch yu vo vic xy dng thut ton, ng dng v th hin bng ngn ng
thn thin thay v phi tm hiu su v kin thc phn cng, cng nh rt nhiu cc
u dim ni bt khc ca ngn ng bc cao ni chung.
C l mt th mnh ln nht ca C l mt ngn ng bc cao mc thp
nht. Tc l vi ngn ng C chng ta vn c th diu khin v truy nhp trc tip

5
phn cng kh thun tin m khng h phi hy sinh hay danh di bt k mt th
mnh no ca ngn ng bc cao. Thc cht dy cng l mt trong nhng tiu ch
xy dng ca nhng ngi sng lp ra ngn ng C mun hng ti. Thc t diu
ny d dc d cp dn khi hai nh sng lp ra ngn ng C, Kernighan v Ritchie
d da vo trong phn gii thiu ca cun sch ca h The C Programming
Language nh sau:
C is a relatively low level language. This characterization is not
pejorative; it simply means that C deals with the same sort of objects that most
computers do. These may be combined and moved about with the arithmetic and
logical operators implemented by real machines
Tt nhin l C khng phi l ngn ng duy nht cho cc nh lp trnh
nhng. t nht hin nay ngi ta cng c th bit ti ngoi ngn ng C l Assembly,
C++, v Ada.
Trong nhng bui du pht trin h nhng th ngn ng Assembly ch yu
dc s dng cho cc vi x l dich. Vi ngn ng ny cho php ngi lp trnh
diu khin v kim sot hon ton vi x l cng nh phn cng h thng trong
vic thc thi chng trnh. Tuy nhin ngn ng Assembly c nhiu nhc dim
m cng chnh l l do ti sao hin nay n t dc ph cp v s dng. o l,
vic hc v s dng ngn ng Assembly rt kh khn v dc bit kh khn
trong vic pht trin cc chng trnh ng dng ln phc tp. Hin nay n ch
dc s dng ch yu nh dim ni gia ngn ng bc cao v bc thp v dc s
dng khi c yu cu dc bit v hiu sut thc hin v ti u v tc d m khng
th dt dc bng ngn ng khc. Ngn ng Assembly ch thc s ph hp cho
nhng ngi c kinh nghim v hiu bit tt v cu trc phn cng dch cng
nh nguyn l thc hin ca b lnh v chp x l.
C++ l mt ngn ng k tha t C d nhm vo cc lp ng dng v t
duy lp trnh hng di tng v cng bt du chim dc s lng ln quan
tm trong vic ng dng cho pht trin h nhng. Tt c cc dc dim ct li ca C

6
vn dc k tha hon ton trong ngn ng C++ v ngoi ra cn h tr kh nng
mi v tru tng ha d liu v ph hp vi t duy lp trnh hin di; hng
di tng. Tuy nhin diu ny b danh di bi hiu sut v thi gian thc thi do
do ch ph hp vi cc d n pht trin chng trnh ln v khng chu sc p
ln v thi gian thc thi.
Ada cng l mt ngn ng hng di tng mc d n khng dc ph cp
rng ri nh C++. Ada dc xy dng bi c quan quc phng M d phc v
pht trin cc phn mm qun s chuyn dng dc bit. Mc d cng d dc
chun ha quc t (Ada83 v Ada95) nhng n vn khng dc ph cp rng ri
ngoi vic ng dng ch yu trong cc lnh vc qun s v hng khng v tr. V
n cng dn dn b mt u th v s ph cp trong thi gian gn dy, dy cng l
mt diu dang tic v bn thn Ada cng l mt ngn ng c nhiu dc dim ph
hp cho vic pht trin phn mm h nhng thay v phi s dng C++.
3.4.2 Bin dch
Hnh 3-8: qu trnh pht trin v bin dch phn mm nhng

6
Qu trnh bin dch (Compiling)
Nhim v chnh ca b bin dch l chuyn di chng trnh dc vit bng
ngn ng thn thin vi con ngi v d nh C, C++,thnh tp m lnh tng
dng c th dc v hiu bi b vi x l dich. Theo cch hiu ny th bn cht mt
b hp ng cng l mt b bin dch d chuyn di mtmt t mt dng lnh
hp ng thnh mt dng m lnh tng dng cho b vi x l c th hiu v thc
thi. Chnh v vy di khi ngi ta vn nhm hiu gia khi nim b hp ng v b
bin dch. Tuy nhin vic bin dch ca b hp ng s dc thc thi dn gin hn
rt nhiu so vi cc b bin dch cho cc m ngun vit bng ngn ng bc cao
khc.
Mi mt b x l thng c ring ngn ng my v vy cn phi chn la
mt b bin dch ph hp d c th chuyn di chnh xc thnh dng m my tng
ng vi b x l dich. i vi cc h thng nhng, b bin dch l mt chng
trnh ng dng lun dc thc thi trn my ch (mi trng pht trin chng trnh)
v cn c tn gi l b bin dch cho (cross compiler). V b bin dch chy trn
mt nn phn cng d to ra m chng trnh chy trn mi trng phn cng khc.
Vic s dng b bin dch cho ny l mt thnh phn khng th thiu trong qu
trnh pht trin phn mm cho h nhng. Cc b bin dch cho thng c th cu
hnh d thc thi vic chuyn di cho nhiu nn phn cng khc nhau mt cch linh
hot. V vic la chn cu hnh bin dch tng ng vi cc nn phn cng di khi
cng kh dc lp vi chng trnh ng dng ca b bin dch.
Kt qu du tin ca qu trnh bin dch nhn dc l mt dng m lnh
dc bit ti vi tn gi l tp di tng (object file). Ni dung ca tp di tng
ny c th dc xem nh l mt cu trc d liu trung gian v thng dc dnh
ngha nh mt dnh dng chun COFF (Common Object File Format) hay dnh
dng ca b lin kt m rng ELF (Extended Linker Format) Nu s dng
nhiu b bin dch cho cc modul m ngun ca mt chng trnh ln th cn
phi dm bo rng cc tp di tng dc to ra phi c chung mt kiu dnh dng.
Hu ht ni dung ca cc tp di tng du bt du bi mt phn header d

6
m t cc phn theo sau. Mi mt phn s cha mt hoc nhiu khi m hoc d
liu nh dc s dng trong tp m ngun. Tuy nhin cc khi do dc nhm li
bi b bin dch vo trong cc phn lin quan. V d nh tt c cc khi m dc
nhm li vo trong mt phn dc gi l text, cc bin ton cc d dc khi to
(cng cc gi tr khi to ca chng) vo trong phn d liu, v cc bin ton cc
cha dc khi to vo trong phn bss.
Cng kh ph bin thng c mt bng biu tng cha trong ni dung
ca tp di tng. N cha tn v da ch ca tt c cc bin v hm dc tham
chiu trong tp m ngun. Cc phn cha trong bng ny khng phi lc no cng
dy d v c mt s bin v hm dc dnh ngha v cha trong cc tp m ngun
khc. Chnh v vy cn phi c b lin kt d thc thi x l vn d ny.
Qu trnh lin kt (Linking)
Tt c cc tp di tng nhn dc sau bc thc hin bin dch du tin
du phi dc t hp li theo mt cch dc bit trc khi n dc np v chy
trn mi trng phn cng dich. Nh d thy trn, bn thn cc tp di tng
cng c th l cha hoan thin v vy b lin kt phi x l d t hp cc tp di
tng do vi nhau v hon thin nt phn cn khuyt cho cc bin hoc hm tham
chiu lin thng gia cc tp m ngun dc bin dch dc lp.
Kt qu du ra ca b lin kt l mt tp di tng mi c cha tt c m
v d liu trong tp m ngun v cng kiu dnh dng tp. N thc thi dc diu
ny bng cch t hp mt cch tng ng cc phn text, d liu v phn bss t
cc tp du vo v to ra mt tp di tng theo dnh dng m my thng nht.
Trong qa trnh b lin kt thc hin t hp cc phn ni dung tng ng n cn
thc hin thm c vn d hon chnh cc da ch tham chiu ca cc bin v hm
cha dc dy d trong bc thc hin bin dch.
Cc b lin kt c th dc kch hot thc hin dc lp vi b bin dch v
cc tp di tng dc to ra bi b bin dch dc coi nh cc tham bin vo.
i vi cc ng dng nhng n thng cha phn m khi to d dc bin dch

6
cng phi dc gp trong danh sch tham bin vo ny.
Nu cng mt biu tng dc khai bo hn mt ln nm trong mt tp di
tng th b lin kt s khng th x l. N s kch hot c ch bo li d
ngi pht trin chng trnh xem xt li. Hoc khi mt biu tng khng th tm
dc da ch tham chiu thc trong ton b cc tp di tng th b lin kt s c
gng t gii quyt theo kh nng cho php da vo cc thng tin v d nh cha
trong phn m t ca th vin chun. iu ny cng thng hoc c th gp vi
trng hp cc hm tham chiu trong chng trnh.
Rt dang tic l cc hm th vin chun thng yu cu mt vi thay di
trc khi n c th dc s dng trong chng trnh ng dng nhng. Vn d dy
l cc th vin chun cung cp cho cc b cng c pht trin ch dng dn kh nng
dnh dng v to ra tp di tng. Hn na chng ta cng rt t khi c th truy nhp
dc vo m ngun ca cc th vin chun d c th t thay di. Hin nay cng c
mt s nh cung cp dch v phn mm h tr cng c chuyn di hay thay di th
vin C chun d ng dng cho cc ng dng nhng, v d nh Cygnus. Gi phn
mm ny dc gi l newlib v dc cung cp min ph. Chng ta c th ti v
trang web ca Cygnus. N s h tr chng ta gii quyt vn d m b lin kt c
th gp phi khi chng trnh s dng cc hm thuc th vin C chun.
Sau khi d hp nht thnh cng tt c cc thnh phn m v phn d liu
tng ng cng nh cc vn d v tham chiu ti cc biu tng cha dc thc
thi trong qu trnh bin dch dn l, b lin kt s to ra mt bn sao dc bit ca
chng trnh c kh nng dnh v li (relocatable). Hay ni cch khc, chng
trnh dc hon thin ngoi tr mt diu: Khng c da ch b nh no cha dc
gn bn trong cc phn m v d liu. Nu chng ta khng phi l dang pht trin
phn mm cho h nhng th qu trnh bin dch c th kt thc ti dy. Tuy nhin,
vi h nhng ngay c h thng nhng d bao gm c h diu hnh chng ta vn
cn phi c mt m chng trnh (image) nh phn dc dnh v tuyt di. Thc t
nu c mt h diu hnh th phn m v d liu cng thng gp c vo bn trong
chng trnh c kh nng dnh v li. Ton b ng dng nhng bao gm c h diu

6
hnh thng lin kt tnh vi nhau v thc hin nh mt m chng trnh nh phn
thng nht.
Qu trnh dnh v (Locating)
Cng c thc hin vic chuyn di mt chng trnh c kh nng dnh v li
thnh mt dng m chng trnh nh phn c th thc thi dc gi l b dnh v.
N s dm nhim vai tr ca bc dn gin nht trong cc bc thc thi bin dch
ni chung. Thc t chng ta phi t lm hu ht cng vic ca bc ny bng cch
cung cp thng tin v b nh d dc cu hnh trn nn phn cng m chng ta dang
pht trin v do chnh l tham s du vo cho vic thc thi ca b dnh v. B dnh v
s s dng thng tin ny d gn cc da ch vt l cho mi phn m lnh v d liu
bn trong chng trnh dc thc thi m c th dnh v li. Tip theo n s to ra
mt tp c cha chng trnh b nh nh phn d c th np trc tip vo b nh
chng trnh trn nn phn cng thc thi.
Trong nhiu trng hp b dnh v l mt chng trnh kh dc lp vi cc
phn cng c khc trong h thng phn mm pht trin. Tuy nhin trong cc b
cng c pht trin GNU chc nng ny dc tch hp lun trong b lin kt. Tuy
nhin khng nn nhm ln v chc nng ca chng trong qu trnh thc thi bin
dch. Thng thng chng trnh chy trn cc my tnh mc dich chung th h
diu hnh s thc hin vic chuyn di v gn chnh xc da ch thc cho cc phn
m v d liu trong chng trnh ng dng, cn vi chng trnh pht trin chy
trn h nhng th vic ny phi dc thc hin bi b dnh v. y cng chnh l
dim khc bit c bn khi thc hin bin dch mt chng trnh ng dng cho h
nhng.
Thng tin v b nh vt l ca h thng phn cng pht trin m cn phi
cung cp cho b dnh v GNU phi dc dnh dng theo kiu biu din ca b lin
kt. Thng tin ny di khi dc s dng d diu khin mt cch chnh xc th
t trong cc phn m chng trnh v d liu bn trong chng trnh c th dnh
v li. Nhng dy chng ta cn phi thc hin nhiu hn th, tc l phi thit lp
chnh xc khu vc ca mi phn trong b nh.

6
Sau dy l mt v d minh ha ca mt tp thng tin lin kt dc cung cp
cho mt nn phn cng nhng, gi thit l c 512 KB RAM v 512 KB ROM.
on m ny dc cung cp cho cho b dnh v ca b lin kt GNU v
thng tin b nh d dc cu hnh trn nn mch cng h nhng dich v ch ra cc

6
phn d liu v bss s dc dnh v trong RAM (bt du ti da ch 0x00000) v
phn m chng trnh s dc dnh v trong ROM (bt du ti da ch 0x80000).
Tuy nhin cc gi tr khi to trong cc don d liu s dc thc hin mt phn
trong ROM bt du t phn dnh ngha ca khu vc dnh v cui cng trong m
chng trnh.
Hnh 3-9: v d v mt lu a pht trin phn mm cho DSP TMS320CMDxx
Tt c cc tn bt du bi du gch di (_) l cc bin c th dc tham
chiu t bn trong m ngun. B lin kt s s dng cc biu tng d x l cc
tham chiu trong cc tp di tng. V d c th c mt phn chng trnh ng
dng nhng (thng l thuc phn m khi to chng trnh) sao chp cc gi tr
khi to ca cc bin d dc khi to trong ROM sang khu vc d liu trong
RAM. Cc da ch bt du v kt thc cho hot dng ny c th dc thit lp mt
cch biu tng bi tham chiu ti cc bin s nguyn _DataStart v _DataEnd.

6
Kt qu ca bc cui cng ny ca qu trnh bin dch l mt m chng
trnh nh phn c th dc np trc tip v chy dc trn nn phn cng h nhng
dich, tc la dc np vo b nh chng trnh ca h thng dich. Trong v d trn
m chng trnh nh phn dc to ra c dung lng chnh xc l 1MB. Tuy nhin
bi v cc gi tr cho phn d liu dc khi to nm trong ROM nn na phn
thp 512KB ca m chng trnh nh phn ny ch cha gi tr zero v ch c na
phn cao dc s dng l ch yu.
3.4.3 Simulator
Simulator l mt chng trnh phn mm cho php ngi pht trin m
chng trnh chy m phng mt chng trnh vit cho mt nn VXL/VK (nn
phn cng dich) trn mt mi trng phn cng khc (hay cn gi l mi trng
pht trin). Thc cht do l qu trnh m phng hot dng ca chng trnh thc thi
theo dung nh diu kin thc hin ca mi trng dich trn mi trng pht trin.
S dng b m phng m chng trnh c th dc chy th tng bc
hoc tng phn v c th dc chnh sa trc tip d th nghim cc gii php khc
nhau cho cc bi ton thc thi phn mm. Tuy nhin cc b m phng khng h tr
cc ngt thc v cc thit b ngoi v.
B m phng trc tip (b m phng phn cng) bao gm mt thit b phn
cng kt ni trc tip vi h pht trin v cho php thc thi d c dc phn ng
ging nh b x l dich. B m phng trc tip trn mch c tt c cc chc
nng ca mt b m phng phn mm dng thi h tr c cc chc nng
emulation cho cc cng vo ra ca VK.
3.4.4 Emulator
Emulator l mt thit b phn cng c kh nng thc hin nh mt nn phn
cng dch. N cn dc bit ti nh mt tn gi khc l cng c pht trin thi gian
thc bi v n cho ta phn ng vi cc s kin nh VK dich thc thi. Cc b
Emulator thng c km theo c phn chng trnh gim st (monitor program)
d cho php ngi pht trin chng trnh cho VK dich kim tra ni dung, trng

6
thi cc thanh ghi v cc khu vc b nh v thit lp cc dim dng khi thc hin
chy chng trnh.
3.4.5 Thit k h thng bng my tnh
Trong qu trnh pht trin phn mm cn phi dc th nghim vi di
tng diu khin. Tu thuc vo tng mi trng pht trin chng ta c th tin
hnh theo mt s cc phng php sau.
M phng offline
Trong h thng pht trin ny nn phn cng nhng dch dc m phng
bng m hnh chy trn PC v di tng diu khin cng l m hnh m phng
chy trn PC. V vy qu trnh pht trin thc cht l qu trnh chy m phng h
thng dc thc hin hon ton trn PC. Vi h thng ny khng th th nghim
cho cc s kin dap ng thi gian thc v thi gian ca m phng khc vi thi
gian din bin thc ca h thng.
H thng pht trin (software in the loop)

6
H thng ny m phng nn phn cng thc trn PC cho dp ng hnh vi
ging nh vi vi mch cng thc v m hnh di tng dc m hnh thc thi
trn PC. Loi h thng ny cng tng t nh h thng m phng offline tuy
nhin c u dim hn v kh nng m phng hnh vi v dap ng ca vi mch
nhng chnh xc hn v trung thc hn. V cng c mt nhc dim l khng th
nghim dc bi ton thi gian thc.
M phng thi gian thc (Hardware in the Loop)
H thng ny s dng nn phn cng nhng dch thc nhng di tng
th ch l m hnh thi gian thc khng phi di tng thc. u dim l kh
mm do v thay di cu hnh dn gin trong qu trnh pht trin d th nghim vi
cc hnh vi khc nhau ca di tng. Rt ngt v dn gin ha cng vic xy dng
di tng.
M hnh pht trin thc

7
H thng ny s dng nn phn cng nhng dch thc vi di tng thc.
Tuy nhin c s h tr ca cng c pht trin d c th ci dt v th nghim trc
tip trn nn phn cng thc. y l mt dng m hnh cho kt qu trung thc v
chnh xc nht trong cc dng h thng pht trin nu trn. Tuy nhin cc nn phn
cng ny thng dc pht trin v h tr bi cc nh cung cp d c th tng
thch vi cng c phn mm km theo.

7
CHNG 4
H IU HNH NHNG
4.1. H diu hnh
Ngun gc ra di ca h diu hnh l d dm nhim vai tr trung gian d
tng tc trc tip vi phn cng ca my tnh, phc v cho nhiu ng dng da
dng. Cc h diu hnh cung cp mt tp cc chc nng cn thit d cho php cc
gi phn mm diu khin phn cng my tnh m khng cn phi can thip trc
tip su. H diu hnh ca my tnh c th thy n bao gm cc drivers cho cc
ngoi vi tch hp vi my tnh nh card mn hnh, card m thanh... Cc cng c d
qun l ti nguyn nh b nh v cc thit b ngoi vi ni chung. iu ny to ra
mt giao din rt thun li cho cc ng dng v ngi s dng pht trin phn
mm trn cc nn phn cng d co. ng thi trnh dc yu cu v hiu bit su
sc v phn cng v c th pht trin da trn cc ngn ng bc cao.
Hnh 4-1: kin trc h aiu hnh
H thng diu hnh bn cht cng l mt loi phn mm nhng n khc vi
cc loi phn mm thng thng. S khc bit din hnh l h thng diu hnh

7
dc np v thc thi du tin khi h thng bt du khi dng v dc thc hin trc
tip bi b x l ca h thng. H thng diu hnh dc vit d phc v diu khin
b x l cng nh cc ti nguyn khc trong h thng bi v n s dm nhim chc
nng qun l v lp lch cc qu trnh s dng CPU v cng chia s ti nguyn.
Tm li, h diu hnh thc cht chnh l mt giao din quan trng, giao
tip trc tip vi tng phn cng cp thp phc v cho c ngi s dng cng
nh cc chng trnh ng dng thc thi trn nn phn cng h thng. Hn na
h diu hnh cn c vai tr quan trng trong vic dm nhim 3 tc v nguyn l
chnh: (1) Qun l qu trnh, (2) Qun l ti nguyn, (3) Bo v ti nguyn khi s
xm phm ca cc qu trnh thc thi sai.
4.2 B np khi to (Boot-loader)
Thut ng bootstrap bt ngun t cch din dt c xa c ngha l t
mnh vn ln bng chnh n lc ca bn thn pulling yourself up by your own
bootstraps. N d dc s dng nh mt thut ng rt ph bin d gi tn mt
phn mm thc thi vic khi to chng trnh thc thi trn cc nn vi din t kh
trnh ni chung. Chng trnh nay thng rt nh gn v dm nhim chc nng
tin hot dng ca h diu hnh. Cng rt ph bin hin nay ngi ta cng thng
dng thut ng bootloader (b np khi to) thay v bootstrap. B np khi
to thc cht l mt chng trnh nh thc hin trong h thng v dm nhim chc
nng cn thit d da h diu hnh vo hot dng. Trong cc h nhng, cc lnh
dc thc hin du tin thng nm trong cc vng nh ROM v thng thuc loi
chm. D do, mt trong nhng tc v ph bin ca b np khi to l sao chp
chng trnh ng dng chnh (main program) vo trong vng b nh nhanh trc
khi chng dc thc hin. B np khi to cng c nhim v khi to vng nh d
liu v cc thanh ghi h thng trc khi nhy ti chng trnh ng dng chnh.
Cng c rt nhiu dng khc nhau ca b np khi to, t dng dn gin dn phc
tp. Dng dn gin nht c th ch l mt lnh nhy ti chng trnh ng dng
chnh ngay sau khi reset m khng thc hin bt k mt tc v khi to hay np
chng trnh g. Chng trnh ng dng chnh s phi t thit lp d thc thi tc v

7
ca mnh. Cc b np khi to phc tp hn c th thc hin nhim v chun
doan b nh v khi to h thng, kim tra chng trnh v np chng trc khi
cho b x l nhy ti thc hin chng trnh ng dng chnh.
Sau dy chng ta s tm hiu v mt mi trng pht trin kh din hnh v
tho lun v mt s cc thuc tnh nguyn l c bn ca b np khi to.
Hnh 4-2: nguyn l thc hin ca b np khi to bootloader
Trong mi trng pht trin h nhng din hnh, nn phn cng dich cn
pht trin dc kt ni vi trm ch (host) thng qua mt giao din truyn thng.
Mt mi trng pht trin bao gm mt chng trnh g ri (debugger) v d nh
Code Composer Studio ca Texas Instrument, d cho php ngi pht trin chng
trnh np v thc hin th nghim cc chng trnh trn phn cng dich. Mt s
cc cng c h tr v d nh d thit lp cc dim dng (breakpoint)v cc
nhim v ph tr khc d bm st trng thi qu trnh thc thi thi gian thc ca
chng trnh th nghim. iu ny rt c ngha v to nn mt s d dng hn
trong qu trnh pht trin v g ri mt chng trnh ng dng mi cho nn phn
cng dich.
Thng thng cc ng dng dc pht trin trong mi trng ngn ng C th
chng trnh ng dng chnh dc thc thi v nm trong phm vi hm main() phn
khi to chng trnh v np tin thc hin chng trnh chnh thng khng tng

7
minh hoc b n di. Thc cht diu ny ch dung di vi nhng ngi pht trin m
chng trnh ng dng chnh bng ngn ng bc cao (dc bit cho cc ng dng
khng phi cho h nhng) m khng cn phi quan tm nhiu dn cc tc v c s
dm nhim vic khi to cc thanh ghi h thng, ngn xp v d liu.iu ny
cng rt c ngha d to ra mt cm gic v mi trng pht trin thn thin cho
ngi pht trin chng trnh v ch cn tp trung phn thc hin chc nng chnh
ca h thng. Tuy nhin trong mi trng pht trin h thng nhng vic thc thi
chng trnh thng bt du ti da ch chng trnh ni bt du tc v khi to h
thng trc khi nhy ti thc hin chng trnh chnh main(). Qu trnh ny dc
bt du thc cht l thc thi mt tc v ngt kch hot bi s kin reset.
Boot-loader cng c nhiu dng khc nhau. Hnh 4-2 m t mt b np khi
to cho mt ng dng C nhng. Trong v d ny vector RESET tr ti th tc
c_int00 thc hin tc v khi to. Ngoi vic khi to cc thanh ghi, ngn xp
cc bin C cng cn dc khi to trc khi dc thc thi. Qu trnh ny s sao chp
t phn .cinit v vit vo cac da ch d liu tng ng ca chng trong phn .bss.
Sau khi hon thnh chng trnh chnh main() mi dc gi v bt du thc thi.
Trong v d dn gin ny b np khi to t hp vector RESET cng vi hm khi
to c_int00 v gi thit rng c chng trnh b np khi to v chng trnh ng
dng chnh du nm cng trong vng nh vt l non- volatile. Trong cc trng hp
h thng phc tp hn, b np khi to c th bao hm c tc v sao chp chng
trnh chnh vo trong vng nh fast volatile trc khi n dc gi v thc thi. B
np khi to cng c th dm nhim c chc nng chun doan, g ri v nng cp
h thng nu c. Chc nng chun doan c th ch l kim tra b nh, ngoi vi v
d tng thch tch hp trong h thng. Chc nng g ri cng c th l mt giao
din gim st cung cp thng tin v trng thi thi gian thc v h thng m ngi ta
vn thng bit ti vi tn gi l chng trnh monitoring. Vic nng cp hoc thay
di chng trnh b np khi to cng c th dc thc thi nh kh nng lp trnh
FLASH in-circuit v np t b nh ngoi thng qua giao din vi trm ch hoc
chc nng tng t.

7
Hnh4-3: Cu trc b np khi to boot-loader
4.3 Cc yu cu chung
Nh chng ta d dc bit di vi cc h thng thi gian thc, yu cu thit
k mt h diu hnh kh dc bit. H nhng thi gian thc li yu cu h diu
hnh phi thc hin vi mt ngun ti nguyn thng rt hn hp. Mc d kch
thc b nh tch hp on-chip s c th tng ln trong tng lai nhng vi s pht
trin hin nay h diu hnh cho cc h nhng ch nn c khong nh hn 32 Kbytes.
H thng diu hnh dm nhim vic diu khin cc chc nng c bn ca h
thng bao gm ch yu l qun l b nh, ngoi vi v vo ra giao tip vi h
thng phn cng. Mt dim khc bit c bn nh chng ta d bit v h diu hnh
vi cc phn mm khc l n thc hin chc nng diu khin s kin thc thi trong
h thng. C ngha l n thc hin cc tc v theo mnh lnh yu cu t cc
chng trnh ng dng, thit b vo ra v cc s kin ngt.
Bn nhn t chnh tc dng trc tip ti qu trnh thit k h diu hnh l (1)
kh nng thc hin, (2) nng lng tiu th, (3) gi thnh, v (4) kh nng tng
thch. Hin nay chng ta cng c th bt gp rt nhiu h diu hnh khc nhau
dc bit cho cc h nhng cng v s tc dng ca 4 nhn t nu trn. Hu ht
chng du c kiu dng v giao din kh ging nhau nhng c ch qun l v
thc thi cc tc v bn trong rt khc nhau. Mi h diu hnh dc thit k phc
v trc tip cc chc nng dc th phn cng ca h nhng v khng d dng so
snh dc gia chng vi nhau.

7
Hai thnh phn chnh trong thit k h diu hnh l: phn ht nhn
(kernel) v cac chng trnh h thng. Ht nhn n chnh l phn li ca h diu
hnh. N dc s dng d phc v cho cc b qun l qu trnh, b lp lch b
qun l ti nguyn v b qun l vo ra. Phn ht nhn dm nhim chc nng lp
lch, dng b v bo v h thng bi vic s dng sai, x l ngtChc nng diu
khin chnh ca n l phc v diu khin phn cng bao gm ngt, cc thanh ghi
diu khin, cc t trng thi v cc b dnh thi gian. N np cc phn mm diu
khin thit b d cung cp cc tin ch chung v phi hp vi cc hot dng vo ra
vi h thng. Phn ht nhn c vai tr diu khin rt quan trng d dm bo tt c
cc phn ca h thng c th lm vic n dnh v thng nht.
Hai kin trc thit k phn ht nhn kinh din nht l kin trc vi ht nhn v
dn ht nhn (monolithic). Cc vi ht nhn cung cp cc chc nng diu hnh c bn
ct li (th) theo c ch cc module tng di dc lp dm nhim cc tc v c th
v chuyn ri rt nhiu cc dch v din hnh diu hnh h thng thc thi trong
khng gian ngi s dng. Nh c ch ny m cc dch v c th dc khi to
hoc cu hnh li m khng nht thit phi khi to li ton b h thng. Kin trc vi
ht nhn cung cp d an ton cao bi v dch v h thng chy tng ngi s dng
vi hn ch v truy nhp vo ti nguyn ca h thng v c th dc gim st. Kin
trc vi ht nhn c th dc xy dng mt cch mm do d ph hp vi cu hnh
phn cng khc nhau mt cch llinh hot hn so vi kiu kin trc ht nhn
monilithic. Tuy nhin do tnh dc lp tng di gia cc modul trong vi ht nhn nn
cn thit phi c mt c ch trao di thng tin hay truyn thng gia cc modul do v
vy c th l l do lm chm tc d v gim tnh hiu qu hot dng ca h thng.
c dim ni bt v ct li ca kin trc vi ht nhn l kch thc nh v d dng
sa di cng nh xy dng linh hot hn. Cc dch v thc thi tng trn ca ht
nhn v vy dt dc d an ton cao. Kin trc vi ht nhn dc pht trin mnh m
trong cc h thng da x l v d nh Windows 2000, Mach v QNX.
Kiu kin trc monolithic cung cp tt c chc nng/dch v chnh yu thng
qua mt qua trnh x l dn l. Chnh v vy kch thc ca chng thng ln hn

7
kiu kin trc vi ht nhn. Loi hnh kin trc ny thng dc p dng ch yu
cho cc phn cng c th m ht nhn monolithic c s tng tc trc tip vi phn
cng nh vy m kh nng ti u cng d dng hn so vi p dng kiu kin trc vi
ht nhn. Chnh v vy cng l l do ti sao kin trc monolithic khng th thay di
mm do linh hot nh kiu vi ht nhn. V d din hnh v loi hnh kin trc ht
nhn monolithic bao gm Linux, MacOS, v DOS.
V h diu hnh cng di hi v ti nguyn v kim c chc nng qun l
chng v vy ngi thit k cn phi nm dc thng tin v chng mt cch dy d.
V d nh di vi h thng diu hnh cho Sun Microsystem Solaris yu cu ti thiu
khng gian b nh trn da l 8MB; Windows 2000 yu cu khong gp hai ln nh
vy.
4.4 H diu hnh thi gian thc
QNX l mt v d din hnh v h thng thi gian thc RTOS dc thit k d
dap ng cc yu cu v lp lch rt kht khe. QNX cng cha thc s ph hp d
c th dc thc thi cho cc h thng nhng bi v n di hi dung lng b nh
khng nh v thng ph hp cho cc ng dng di hi v d an ton v d tin cy
ln.
H thng diu hnh thi gian thc l h diu hnh h tr kh nng xy dng
cc h thng thi gian thc.
Hnh 4-4: So snh kin trc RTOS v OS chun
H thng diu hnh vi phn li l ht nhn phi dm nhim cc tc v chnh
nh sau:

7
X l ngt
Lu tr ng cnh chng trnh ti thi dim xut hin ngt
Nhn dng v la chn dung b x l v phc v dch v ngt
iu khin qu trnh
To v kt thc qu trnh/tc v
Lp lch v diu phi hot dng h thng
nh thi
iu khin ngoi vi
X l ngt
Khi to giao tip vo ra
Hnh 4-5: cu trc h aiu hnh thi gian thc
Ty theo c ch thc hin v xy dng hot dng ca ht nhn ngi ta phn loi
mt s loi hnh:
(1) H thng thi gian thc nh: Vi loi ny cc phn mm dc pht trin m
khng cn c h diu hnh, ngi lp trnh phi t qun l v x l cc vn d v
diu khin h thng bao gm:

7
X l ngt
iu khin qu trnh/ tc v
Qun l b nh
(2) Cng ngh da nhim
Mi qu trnh c mt khng gian b nh ring
Cc qu trnh phi dc chia nh thnh cc Thread cng chia s khng gian
b nh.
(3) Cc dch v cung cp bi ht nhn
To v kt thc qu trnh/ tc v
Truyn thng gia cc qu trnh
Cc dch v v dnh thi gian
Mt s cc dch v cung cp h tr vic thc thi lin quan dn diu khin h
thng
c dim c bn ca ht nhn thi gian thc din hnh:
Kch thc nh (lu tr ton b trong ROM)
H thng ngt
Khng nht thit phi c cc c ch bo v
9 Ch h tr phn kim tra chng trnh ng dng
9 Tng tc d chuyn ng cnh v truyn thng gia cc qu trnh
9 Khi cc qu trnh ng dng dang thc hin th cc yu cu h thng
diu hnh c th dc thc hin thng qua cc li gi hm thay v s
dng c ch ngt mm
Vi ht nhn (Micro - kernel): Bao gm mt tp nh cc dch v h tr
9 Qun l qu trnh

8
9 Cc dch v truyn thng gia cc qu trnh nu cn
9 Cc phn mm diu khin thit b l cc qu trnh ng dng
Ht nhn din hnh c bn
Loi ht nhn dn gin nht l mt vng lp v hn thm d cc s kin xut
hin trong h thng v phn ng li theo s thay di nu c.
Vi mt b x l cu hnh nh nht, khng phi lc no n cng c th lu
ct ng cnh v khng th thay di con tr ngn xp hoc vng ngn xp rt
hn ch.
Thay v s dng cc thanh ghi thit b, vng lp thm d c th gim st cc
bin m chu s thay di cp nht bi cc b x l ngt.
Ht nhn c th dc xy dng sao cho tt c cc tn hiu logic dc diu
khin bi vng lp v nhp dc diu khin bi cc ngt.
Cc tc v ln cn nhiu thi gian thc hin c th dc chia nh thnh cc
tc v nh v dc thc hin ti cc thi dim khc nhau nh vo c ch
chuyn v s dng b dm.
Cc ht nhn thc thi theo c ch ngt rt ging vi loi ht nhn thc hin
theo c ch vng lp thm d. N x l tt c cc tc v thng qua cc dch
v ngt.
Cc ht nhn ln v phc tp hn s bao gm mt s cc dch v ph phc v
cho vic truyn thng gia cc qu trnh. V nu dc b sung dy d n s
tr thnh mt h diu hnh dy d.
Cc kiu loi ht nhn c bn
Ht nhn thc hin vng lp thm d
Ht nhn thc hin theo c ch ngt
Ht nhn qu trnh vn hnh qu trnh
Vic la chn loi ht nhn no hon ton ty thuc vo cc b x l v

8
kch thc phn mm, tuy nhin ring loi ht nhn vn hnh theo qu trnh khng
ph hp vi cc b x l nh.
Ht nhn qu trnh
Cc ht nhn qu trnh r rng l phc tp hn cc ht nhn thc hin theo c
ch thm d v diu khin ngt. Cc dng truyn tn hiu logic bn trong cc qu
trnh v cc dch v ngt dc tch hp v thc hin thng qua vic truyn d liu.
Hnh 4-6: m hnh trng thi ca qu trnh
Ht nhn s phi dm nhim chc nng lp lch cho cc qu trnh theo dng
m hnh trng thi.
RUN: qu trnh dc thc hin
WAIT: cc qu trnh ch mt s kin hoc tn hiu vo ra kch hot qu trnh
READY: cc qu trnh sn sng dc thc hin
Cc phn t thuc tnh ca mt qu trnh: Cc phn t ny cn thit d
phc v cho vic lp lch. V d di vi c ch lp lch theo mc d u tin s yu
cu thng tin sau vi mi qu trnh:
9 Tn (da ch b nh ca phn t qu trnh)
9 Trng thi: RUN, WAIT, READY
9 Mc d u tin
9 Ng cnh (dng con tr d qun l lu ct thng tin trong ngn xp)

8
CHNG 5
K THUT LP TRNH NHNG
5.1 Tc v v qu trnh (process)
Tc v (task)? L mt cng vic cn thc thi tham gia trong h thng
Qu trnh (process) l mt din bin thc thi mt tc v ca h thng.
i khi ngi ta vn dng ln hai khi nim ny v khng phn bit.
Tc v chu k (period) v khng chu k (aperiod).
Cc tc v phi thc hin lp li mt cch du dn theo nhng khong thi
gian p dc gi l cc tc v c chu k v p dc gi l chu k ca tc v. Cc loi
tc v khc th dc gi l tc v khng chu k.
5.2 Lp lch (Scheduling)
Ti sao phi lp lch?
dm bo dc c ch thc thi chia s ti nguyn hu hn v tho mn yu
cu thi gian thc. Lp lch phi nhm tho mn hay dt ti dc s tho hip gia
cc rng buc v ti nguyn, s ph thuc ln nhau hay thi gian thc hin.
5.2.1 Cc khi nim
Lp lch l mt php thc hin phn b v gn quy trnh thc thi cc tc v
cho b x l sao cho mi tc v dc thc hin hon ton.
Lp lch = tm kim mt gin d phn b thi gian thc hin da nhim hp
l vi cc diu kin rng buc cho trc. Hay ni cch khc l b lp lch phi x l
d quyt dnh v diu phi qu trnh/tc v thc hin.
C mt s thng tin v tc v lun phi quan tm di vi bt k b lp lch
thi gian thc no, bao gm:
- Thi gian xut hin a
i
(arrival time): Khi s kin xy ra v tc v tng ng
dc kch hot.

8
- Thi dim bt du thc thi r
i
(release time): Thi dim sm nht khi vic x
l d
- sn sng v c th bt du.
- Thi dim bt du thc hin s
i
(starting time): L thi dim m ti do tc v
bt du vic thc hin ca mnh.
- Thi gian tnh ton/thc thi c
i
(Computation time): L khong thi gian cn
thit d b x l thc hin xong nhim v ca mnh m khng b ngt.
- Thi dim hon thnh f
i
(finishing time): L thi dim m ti do tc v hon
thnh vic thc hin ca mnh.
- Thi gian ri ro/ xu nht w
i
(worst case time): khong thi gian thc hin lu
nht
- c th xy ra.
- Thi dim kt thc d
i
(due time): Thi dim m tc v phi hon thnh.
Hnh 5-1: gin a thc hin ca mt tc v Ti
Trn c s do b lp lch s phi thc hin bi ton ti u v:
Thi gian dp ng (response time)
Hiu sut thc hin (s lng cng vic thc hin xong trong mt dn v
thi gian)
S cng bng v thi gian ch di (cc tc v khng phi ch di qu lu)
V d v mt lch thc hin 2 tc v dc m t nh trong Hnh 5-2.

8
Hnh 5-2: gin a lp lch thc hin 2 tc v
Trong trng hp ca v d ny cc thng s v thi gian thc hin ca cc
tc v tinh dc nh sau:
Thi gian tnh ton C
1
= 9 v C
2
= 12 .
Thi gian bt du thc hin s
1
= 0; s
2
= 6
Thi dim hon thnh: f
1 =
18 , f
2 =
28 .
Khong thi gian chnh lch thi dim kt thc v deadline (Lateness) L
i =
f
i
d
i
:
L
1 =
4 , L
2 =
1 .
Khong thi gian ri/d tha gia thi gian cho php thc hin v thi gian
cn d thc hin tc v (Laxity) X
I =
d
i
a
i
C
i
: X
1 =
13 , X
2 =
11 .
5.2.2 Cc phng php lp lch ph bin
Hnh 5-3: phn loi cc phng phap lp lch

8
Tu thuc vo loi hnh tc v, ngi ta ra hai phng php lp lch l c
chu k v khng c chu k.
Lp lch non-preemptive: Phng php ny dm bo cc tc v dc thc
hin hon thnh mi khi thc thi, v vy thi gian dp ng cho cc s kin khc c
th lu.
Lp lch preemptive: Phng php ny khc phc nhc dim ca lp
lch non- preemptive khi thi gian thc thi cc tc v lu. Cc tc v s dc thc
hin v c th b ngt gia chng d phc v thc thi cc tc v khc. C ch lp
lch ny cho php dm bo thi gian dap ng cho cc s kin v tc v ngn v nhanh
hn.
Lp lch offline/tnh: Vic lp lch dc thc hin da trn cc hiu bit hoc
d bo v cc s kin tc v thc hin trong h thng (thi dim xut hin, thi
gian thc hin, deadline) v dc quyt dnh ti thi dim thit k v dc p
dng c dnh trong sut qu trnh hot dng ca h thng. Vic lp lch trc c mt
s cc u dim sau:
- Tc v tip theo c th dc la chn thc thi trong khong thi gian l hng
s
- Kh nng dap ng yu cu thi gian thc c th dc bit trc v dc
dm bo
Nhc dim:
o Khng th thay di lch trnh thc hin ca h thng trong qu trnh thc
hin
o i hi phi c thng tin thi gian chnh xc v cc tc v d tnh ton lp
lch
Mt thut ton lp lch tnh dc gi l ti u nu n lun lun c th tm
dc mt lch diu phi tho mn cc rng buc d cho trong khi mt thut ton
tnh khc cng tm dc mt li gii.

8
Lp lch online/dng: B x l thc hin vic lp lch trong qu trnh thc thi
da trn c s cc thng tin hot dng hin hnh ca h thng. S d lp lch l
khng xc dnh trc v thay di dng theo qu trnh thc hin.
Cc thut ton lp lch tnh ti u khng phi l ti u trong h thng
dng.
Khng tn ti mt li gii ti u cho vic lp lch trong h thng nhiu b
x l nu thi dim xut hin yu cu thc thi ca cc tc v khng dc bit trc.
Cc ht nhn dc diu khin theo c ch ngt thng thc thi c ch lp
lch non- preemtive dng trong khi loi ht nhn vn hnh theo qu trnh li thc
thi theo c ch preemptive dng.
Mt thut ton lp lch dng dc gi l ti u nu n c th tm ra dc mt
lch diu phi diu khin h thng tho mn cc rng buc thi gian d cho bt k
khi no m thut ton tnh khng tm ra dc.
Lp lch tp trung hoc phn tn: Vic lp lch dc thc hin p dng cho
cc tc v thc thi bi mt (tp trung) hoc nhiu b x l (phn tn).
Lp lch Mono hay Multi- processor: Nhim v lp lch v thc thi dc
dm nhim bi mt (mono) hoc nhiu b vi x l (multi). Tu thuc vo d phc
tp v thut ton cn x l khi lp lch m ngi ta quyt dnh phi s dng phng
php lp lch mono hay multi- processor.
Tnh kh lp lch: Mt h thng vi mt tp cc tc v v cc diu kin rng
buc dc gi l kh lp lch nu tn ti t nht mt c ch lch trnh thc hin tho
mn cc tc v v diu kin rng buc do.
V d v lp lch cho h thng da nhim vi 2 tc v. Tc v 1 thc hin theo
chu k v tc v 2 thc hin khng theo chu k vi thi gian thc thi ln hn thi
gian chu k lp li ca tc v 1.

8
Hnh 5-4: gin a thi gian thc hin lch ca tc v
5.2.3 K thut lp lch
FCFS
Trong c ch lp lch dn trc dc ph v trc th cc qu tnh dc x l
theo th t m n xut hin yu cu v cho dn khi hon thnh. C ch lp lch ny
thuc loi khng ngt dc v c u dim l d dng thc thi. Tuy nhin, n khng
ph hp cho cc h thng m h tr nhiu ngi s dng v c mt s bin di
ln v thi gian trung bnh m mt qu trnh hay tc v phi ch di d dc x
l. Hn na do vic x l khng ngt dc nn c hin tng chim hu dc quyn
b x l trong thi gian di v c th gy ra s tr bt thng trong qu trnh thc
hin ca cc tc v phi ch di khc.
Shortest Job First - SJF
Trong c ch lp lch ny tc v c thi gian thc thi ngn nht s c quyn
u tin cao nht v s dc phc v trc. Vn d chnh gp phi trong c ch
lp lch ny l khng bit trc dc thi gian thc thi ca cc tc v tham gia
trong chng trnh v thng thng phi p dng c ch tin don v dnh gi da
vo kinh nghim v cc tc v thc thi trong h thng. iu ny chc chn rt kh
d lun dm bo dc d chnh xc. C ch lp lch ny c th p dng cho c loi

8
ngt dc v khng ngt dc.
Rate monotonic (RM):
Phng php lp lich RM c l hin ny l thut ton dc bit ti nhiu nht
p dng cho cc tc v hay qu trnh dc lp. Phng php ny da trn mt s gi
thit sau:
(1) Tt c cc tc v tham gia h thng phi c deadline kiu chu k
(2) Tt c cc tc v dc lp vi nhau
(3) Thi gian thc hin ca cc tc v bit trc v khng di
(4) Thi gian chuyn di ng cnh thc hin l rt nh v c th b qua
Thut ton RM dc thc thi theo nguyn l gn mc u tin cho cc tc
v da trn chu k ca chng. Tc v no c chu k nh th s c dc gn mc
u tin cao. Theo nguyn l ny vi cc tc v chu k khng thay di th RM s l
phng php lp lch cho php ngt v mc u tin c dnh. Tuy nhin RM h tr
yu cu h thng khng tt.
Earliest-deadline-first (EDF)
Nh dung tn gi ca phng php, thut ton lp lich theo phng php ny
s dng deadline ca tc v hay nh diu kin u tin d x l diu phi hot dng.
Tc v c deadline gn nht s c mc u tin cao nht v cc tc v c deadline
xa nht s nhn mc u tin thp nht. u dim ni bt ca phng php ny l gii
hn c th lp lch dap ng dc 100% cho tt c cc tp tc v. Hn na mc u
tin gn cho mi tc v trong qu trnh hot dng l dng v vy chu k ca tc v
c th thay di bt k lc no theo thi gian.
EDF c th dc p dng cho cc tp tc v chu k v cng c th m rng
d dap ng cho cc trng hp cc deadline thay di khc nhau theo chu k.
Vn d chnh ca thut ton lp lich EDF l khng th dm bo dc tc v
no trong h thng c th khng dc thc thi trong tnh hung qu d h thng b

8
qu ti. Trong nhiu trng hp mc d mc d s dng trung bnh nh hn 100%
nhng vn c th trong mt tnh hung no do vn vt qua kh nng dp ng ca
h thng tc l s c tc v khng dc dm bo thc thi dung. Trong nhng
trng hp nh vy cn phi diu khin d bit tc v no b li khng thc hin
thnh cng hoc tc v no dc thc hin thnh cng trong qu trnh qu d.
Minimum Laxity first (MLF)
C ch lp lch ny s u tin tc v no cn t thi gian cn li d thc hin
nht trc khi n phi kt thc d dm bo yu cu thc thi dung. y dc xem l
c ch lp lch gn quyn u tin dng v d dt dc s ti u v hiu sut thc
hin v s cng bng trong h thng.
Round Robin
y l mt c ch lp lch phn b du dn, ngt dc v dn gin. Mi
mt tc v dc x l/phc v trong mt khong thi gian nht dnh v lp li theo
mt chu trnh xuyn sut ton b cc tc v tham gia trong h thng. Khong thi
gian phc v cho mi tc v trong qu trnh l mt s tho hip gia thi gian
thc hin ca cc tc v v thi gian thc hin mt chu trnh. C th chn khong
thi gian do rt nh v di lc chng ta khng nhn dc ra rng dang c s phn
b thc hin trong h thng.
Tuy nhin nu thi gian do qu nh c th lm mt tnh hiu qu thc hin
ton h thng v cn nhiu thi gian trong vic chuyn di ng cnh cho mi tc
v sau mi chu trnh thc hin.

9
5.3 Truyn thng v dng b
5.3.1 Semaphore
Hnh 5-5: truyn thng qu trnh
Semaphores l mt cu trc d liu dc dnh ngha d loi tr kh nng xung
dt trong qu trnh chia s ti nguyn ca cc tc v trong hot dng ca h thng.
Semaphores h tr hai hot dng chnh nh sau:
wait(semaphore): gim v kho cho ti khi semaphore dc m
signal(semaphore): tng v cho php thm mt lung mi dc tham gia
hot dng
Trong hot dng phi hp cng vi semaphore c mt hng di gm cc tc v cn
dc thc thi s c mt s tnh hung hot dng c bn nh sau:
Khi mt lung (thread) gi wait():
- Nu semaphore dc m th lung do s dc gia nhp v tip tc thc
thi
- Nu semaphore dang b dong th nhnh do s b kho v phi nm
ch trong hng di cho ti khi no semaphore dc m

9
signal() s m semaphore:
- nu mt lung dang nm trong hng di v khng b kho
- nu khng c lung no trong hng di v tn hiu signal s dc nh
v dnh cho lung tip theo
Cc loi Semaphore
Mutex semaphore
9 Cho php diu khin hot dng truy nhp dn l vo ti nguyn chia s
ca h thng.
9 m bo loi tr xung dt trong hot dng truy nhp dng thi ca nhiu
tc v, v ch c mt tc v dc thc thi ti mi thi dim.
Counting semaphore
9 iu khin ti nguyn m c th phc v cng mt lc nhiu tc v hoc
mt ngun ti nguyn cho php phc v mt s nht dnh cc tc v
khng dng b v hot dng dng thi.
9 Nhiu lung c th truyn Semaphore
9 S lng lung dc quyt dnh bi bin dm N ca Semaphore
Thc cht mutex semaphore l mt dng dc bit ca counting semaphore vi
bin dm N=1.
Thc thi Semaphore

9
S dng Semaphore trong vic dng b hai qu trnh to v s dng hng mc
thng qua b dm trung gian.
Nhn xt:
9 Semaphores c th dc s dng d gii quyt bt k mt bi ton hay vn
d dng b truyn thng no
9 Tuy nhin chng c mt s nhc dim
o Chng ch yu s dng cc bin ton cc trong vic diu khin hot

9
dng dng b nn c th truy nhp bt k du trong h thng kh
kim sot
o Khng c s lin kt cht ch gia semaphore v d liu m dc n
diu khin.
o c s dng dng thi cho c vic loi tr xung dt (mutual
exclusion) v hot dng dng b cho cc tc v (scheduling)
5.3.2 Monitor
Monitor l mt ngn ng lp trnh dc xy dng d diu khin vic truy
nhp vo vng d liu chia s trong hot dng ca h thng. M chng trnh dng
b dc b sung vo trong b bin dch v thc thi khi chy chng trnh.
9 Monitor l mt modul dong gi
- Cc cu trc d liu dc chia s
- Cc th tc hot dng thao tc trn cc cu trc d liu chia s
- ng b cc lung thc thi dng thi m c th kch hot cc th tc
trong hot dng h thng
9 Monitor c th bo v d liu khi s truy nhp khng c cu trc. N dm
bo rng cc lung truy nhp vo d liu thng qua cc th tc tng tc theo
nhng cch hp php v c kim sot.
9 Monitor dm bo loi tr xung dt
- Ch c mt lung c th thc thi bt k th tc no ti mi mt thi
dim (lung trong monitor)
- Nu c mt lung dang thc thi bn trong mt monitor n s kho cc
lung khc mun vo, do do monitor cng phi c mt hng di.

9
5.4 X l ngt
Tn hiu diu khin b VXL kch hot bi mt s kin tham gia trong qu
trnh hot dng ca h thng lm h thng ngng v chuyn hng thc thi dc
gi l tn hiu ngt. N s ngt b VXL khi hot dng m n dang thc thi v
chuyn sang thc hin mt cng vic khc phc v cho s kin kch hot ngt tng
ng. V d nh trong qu trnh thu thp d liu, VXL lun phi ch di thi dim
don nhn d liu v s kch hot s kin ngt CPU mi khi c d liu xut hin d
kp thi ghi d liu vo b nh. Sau khi hon thnh, CPU phc hi li trng thi
ca h thng v tr li tip tc thc hin chng trnh t thi dim m n b ngt.
i vi b x l ngt, n s phi thc hin hai nhim v chnh do l: (1) Xc dnh
c s kin ngt v (2) nhn dng s kin ngt trc khi tc v phc v ngt tng
ng dc kch hot. Hnh 56 m t mt chu trnh c bn thc hin ngt trong cc
h VXL/VK.

9
Hnh 5-6 : chu trnh thc hin ngt
Hnh 5-7 : v d v cu trc phn cng x l ngt
Hnh 5-8 . c ch thc hin th tc ngt

9
Th tc kch hot mt tc v phc v s kin ngt dc m t nh trong
Hnh 5-8. Thng thng ngi ta hay quan tm nhiu dn dap ng ca CPU vi s
kin ngt v thi gian thc hin tc v ngt. dy thi gian dap ng ph thuc v
quyt dnh bi tc d v kh nng x l ca phn cng cn thi gian thc hin tc
v ngt ch yu quyt dnh bi tc v ngt do di hay ngn v do chng trnh quyt
dnh.
Hnh 5-9 : v d v ngun ngt DSP
Cc ngun ngt ngoi/cng c th dc nhn dng theo kiu tn hiu ngt
- Theo sn xung (ngt dc kch hot khi xut hin sn xung dng ti
chn
- tn hiu ngt)
- Theo mc (ngt dc kch hot khi xut hin mt tn hiu xung mc tch cc
ti chn nhn tn hiu ngt)
Mt s kin ngt cng c th dc kch hot ch bi mt hot dng dc hoc

9
vit vo mt thanh ghi thit b ngoi vi hoc cc thanh ghi diu khin hoc trng thi.
S xung dt tranh chp gia cc ngun ngt cng xut hin ti mt thi
dim c th c gii quyt bng mc d u tin hoc kt ni cng vi b x l.
Cc ngun ngt goi c th dc ti gin vic x l bng s kt hp vi phn mm
v cng chia s cac ng tn hiu ngt. C ch thc hin ngt c s tranh chp v
gii quyt bng mc d u tin dc m t nh trong Hnh 5-10.
Hnh 5-10 . c ch thc hin ngt theo mc a u tin

9
CHNG 6
THIT K H NHNG: T HP PHN CNG V MM
6.1 Qui trnh pht trin
Qu trnh pht trin phn mm nhng thc hin theo chu trnh sau:
(1) Problem specification
(2) Tool/chip selection
(3) Software plan
(4) Device plan
(5) Code/debug
(6) Test
(7) Integrate
6.2M hnh ho s kin v tc v
6.2.1 Phng php m hnh Petrinet
Nm 1962 Carl Adam Petri d cng b phng php m hnh hnh ho tc

9
v hay qu trnh theo s ph thuc nhn qu d dc ph cp rng ri v dc bit
ti nh ngy ny vi tn gi l mng Petri.
Mng Petri dc s dng ph bin d biu din m hnh v phn tch cc h
thng c s cnh tranh trong qu trnh hot dng. Mt h thng c th hiu l mt
t hp ca nhiu thnh phn v mi thnh phn th du c cc thuc tnh. Cc thuc
tnh do c th thay di v dc dc trng bi cc bin trng thi. Mt chui cc
trng thi s m t qu trnh dng ca mt h thng.
Mng Petri thc s l mt gii php m t h thng dng vi cc s kin
ri rc tac dng lm thay di trng thi ca cc di tng trong h thng theo tng
diu kin c th trng thi ca h thng.
Mng Petri dc thit lp da trn 3 thnh phn chnh: (1) Cc diu kin,
(2) cc s kin, v (3) quan h lung. Cc diu kin c th l tho mn hoc khng
tho mn. Cc s kin l c th xy ra hoc khng. V quan h lung m t diu
kin ca h trc khi s kin xy ra.
Cc diu kin di hi phi tho mn d mt s kin xy ra hoc chuyn trng
thi thc hin th dc gi l diu kin trc (precondition). Cc diu kin m dc
tho mn khi mt s kin no do xy ra th dc gi l diu kin sau (postcondition).
6.2.2 Qui c biu din m hnh Petrinet
Trong qui c biu din hnh ho th mng Petri s dng cc vng trn d
biu din cac diu kin, cc hp d biu din cc s kin, v mi tn biu din quan
h lung. Mt v d minh ho v mng Petri dc m t trong Hnh 6-1, trong do:
- P = { p
1
, p
2
, ..., p
np
} l tp gm np v tr dc biu din trong m hnh
(dc m t bi cc vng trn);
- T = {t
1
, t
2
, ..., t
nt
} l tp gm nt chuyn di trong tp chuyn di biu din
trong m hnh (dc m t bi cc hnh ch nht);
- I biu din quan h di vo chuyn di v dc k hiu bi dng mi tn
theo

1
- hng t cc v tr ti cc chuyn di;
- biu din quan h di ra khi chuyn di v dc k hiu bi cc dng mi
- tn theo hng t cc chuyn di ti cc v tr;
- M ={m
1
, m
2
, ...m
np
} l du trng thi ca cc chuyn di trong h thng.
Cc gi tr m
i
l s cc th bi (dc k hiu nh cc chm trn den) cha
bn trong cc v tr p
i
trong tp du M.
Hnh 6-1: v d v mt mng petri
H thng dng c th dc m t bi mng Petri nh s chuyn dch cc th
bi trong cc v tr ca h thng m hnh v tun th theo lut sau:
- Mt chuyn di dc php thc thi nu tt c cc v tr di vo chuyn di
do cha t nht mt th bi.
- Khi mt chuyn di d dc thc thi xong (hon thnh) th mt th bi s b
loi ra khi v tr di vo chuyn di do dng thi b sung thm mt th bi vo
cc v tr du ra tng ng ca chuyn di do.
Cc trng thi dng ca h thng dc m t bi tp R(M ) danh du bi cc

1
du trong tp M. Trong v d trn c 5 phn t du trong tp R ln lt l M
1
, M
2
, M
3
, M
4
, M
5
. Tng ng ln lt nh sau:
M
1 =
(1, 0, 0, 0,0) :
M
2 =
(0,1,1, 0, 0) :
M
3 =
(0,1, 0, 0,1) :
M
4 =
(0, 0, 0,1,1) :
M
5 =
(0, 0,1,1,0) :
6.2.3 M t cc tnh hung hot dng c bn vi Petrinet
ng hnh (Song song) v dng b
Trong m hnh PN m t nh trong Hnh 62 (a), cc chuyn di t1 v t2
dc php thc hin dng thi; hot dng ca chng khng nh hng dn nhau.
Cc hot dng dc m hnh bi hai chuyn di thc hin song song. Trong h
thng d phng vi d tin cy cao, m hnh ny dc s dng d biu din hai
thnh phn C1 v C2 song song d dm bo hot dng d phng; trong trng hp
ny cc v tr p1 v p3 biu din diu kin lm vic, cc v tr p2 v p4 biu din
diu kin li, t1 v t2 l cc s kin li trong cc tc v C1 v C2 mt cch tng
ng.
Hnh 6-2: m hnh petrinet hot ang song song a) ac lp b) ang b

1
Trong hot dng song song, cc tc v hon ton dc lp, tuy nhin nu cc s kin
d cn phi kt thc v l diu kin d cho mt chuyn di khc th hot dng dng
b c th dc thc hin nh b sung mt chuyn di t3 nh m t trong Hnh 6-2
(b). Khi do chuyn di t3 cn th bi dng thi ca c p2 v p4.
Chia s dng b
Mt yu t dc trng trong hot dng ca h thng phn tn l thng phi
chia s mt s ti nguyn hu hn. S thiu thn v ti nguyn lm hn ch hot
dng ca h thng trong qu trnh x l thm ch lm tc nghn h thng. Vic m
hnh v phn tch cc h thng c hin tng tc nghn l mt tc v kh khn
trong hu ht cc qu trnh m hnh c th gp phi.
Hnh 6-3: hot ang ca b am vi aung lng hu hn
minh ho tnh hung ny, biu din hot dng ca b dm vi dung lng
hu hn dc m t bi PN trong Hnh 6-3. V tr p3 m hnh s cc v tr b dm
cn trng v v tr p2 m hnh s v tr d dc din dy; ch rng tng cc th bi
cha trong cc v tr p2 v p3 lun l hng s (trong v d ny l 3). Chuyn di t2
m hnh qu trnh din dy mt v tr b dm v hon thnh nu c t nht mt v tr
b dm cn trng cng vi th bi cha trong v tr p1 v p3. Chuyn di t3 dc
php thc hin nu c t nht mt v tr b dm d dc din dy. Khi hon thnh
chuyn di t3, mt th bi s dc chuyn t v tr p2 sang v tr p3.

1
Tun t
Hot dng tun t s dc m t v minh ho bi hot dng ca b to v b
s dng thng qua mt b dm. B to s sinh ra cc di tng d da vo trong mt
b dm v s dc ly ra bi b s dng. Qu trnh s dng s phi dc thc hin
mt cch tun t theo qu trnh to ra di tng. M hnh cho hot dng ny dc
din t bi PN nh trong Hnh 6-4 (a). Th bi cha trong v tr p1 c ngha l b
to d sn sng thc hin.
Khi cc chuyn di t1 v t2 hon thnh th mt di tng dc to ra (mt
th bi tng ng cng s dc chuyn vo trong b dm m hnh bi v tr p5) v
b to li sn sng tr li. Nu b s dng c nhu cu tiu th (dc m hnh bi th
bi cha trong v tr p3 ) v dang c t nht mt di tng trong b dm th mt th
bi cha trong v tr p5 s dc ly di v chuyn di t3 s hon thnh.
a) b)
Hnh 6-4: hot ang ca b am s dng vi aung lng a)v hn v b) hu hn
Trong cch m t trong Hnh 6-4 (a) th vic to v s dng dc thc hin
thng qua mt b dm vi gi thit l c dung lng v hn. Trong thc t th cc
b dm l hu hn, d m t hot dng vi b dm loi ny Hnh 6-4 (b) dc s
dng. V tr p6 m hnh cc v tr b dm cn trng v v tr p5 m hnh cc v tr b
dm d dc din dy. Tng s lng cc th bi cha trong cc v tr p5 v p6
phi lun l hng s. Nu mt th bi dc gn cho v tr p5 trong du khi to th
b to s khng th to thm di tng chng no b s dng vn cha tiu th di
tng trong b dm.

1
Loi tr xung dt
Hai tc v C1 v C2 dc php lm vic song song v cng chia s ti
nguyn CS, nhng khng dc truy nhp vo ti nguyn dng thi. Gin d PN cho
hot dng ny dc m t nh trong Hnh 6-5. Cc v tr p1 v p5 biu din cc tc
v C1 v C2 lm vic dc lp; v tr p2 v p6 biu din cc yu cu ca cc tc v
C1 v C2 mt cch tng ng khi mun truy nhp vo ti nguyn chia s CS; p3 v
p7 biu din CS dang b chim dng bi cc tc v C1 v C2 mt cch tng ng.
V tr p4 m t quyt dnh xem tc v no c th truy nhp ti nguyn Cs v trnh
cc v tr p3 v p7 b danh du dng thi. Thc t khi p2 v p6 dc danh du th
cc chuyn di t2 v t5 xung dt. Vic hon thnh mt trong hai tc v s kho/cm
ln nhau. Vic hon thnh chuyn di t3 hoc t6 s m hnh vic gii phng ngun
ti nguyn chung (chuyn th bi tr li v tr p4) v tr v diu kin lm vic bnh
thng.
Hnh 6-5: hot ang loi tr hai tc v song song chia s chung ti nguyn
bt du lm quen vi nguyn l biu din m hnh ha bng mng Petri
chng ta xt hot dng ca mt h thng dng b gia hot dng to v s dng
mt hng mc (item) thng qua b dm nh dc mt t trong hnh di.
B to - Producer:
9To ra hng mc v

1
9b sung vo b dm
B s dng (tiu th) - Consumer:
9Ly hng mc ra khi b dm v
9S dng hng mc
Hnh 6-6: hot ang ca h thng gm 1 b to v 1 b s dng
Trong trng hp c nhiu hn mt b s dng th h thng dc biu din nh sau:
Hnh 6-7: hot ang ca h thng goomg 1 b to v 2 b s dng
H thng c 2 b dm

1
H thng va xt dc m hnh ha bi diu kin v s kin. Cc diu kin
dc m t bi cc vng trn v nu diu kin tha mn th khi d vng trn s dc
biu din vi mt chm trn nm trong tng ng vi mt th bi (token).
S kin dc k hiu bi cc hp hnh ch nht. Vi mi mt s kin th s tn ti
- mt tp cc diu kin trc v dc nhn bit bi cc mi tn di vo cc s
kin t cc diu kin do v
- mt tp cc diu kin sau dc nhn bit bi cc mi tn di ra khi cc s
kin v di vo cc diu kin do.
Mt s kin c th xy ra (dc thc thi) khi v ch khi
9 tt c cc diu kin trc tng ng dc tha mn (nhn dc th bi) v
9 tt c cc diu kin sau tng ng cha dc tha mn.
Nu mt s kin xy ra th
9 tt c cc diu kin trc tng ng s b xa b (reset) v
9 tt c cc diu kin sau tng ng s dc thit lp (set).
Vi loi mng biu din nh trn ngi ta gi l mng Petri c bn
(Elementary Net) v k hiu tt l EN.
thun tin v dn gin ha trong vic biu din ngi ta c th s dng
cc mi tn c thm trng s nguyn d m t h thng c chung nhiu diu kin
trc v sau tng ng cng vi mt s kin hoc diu kin. c bit khi s hng

1
mc trao di gia b to v b s dng ln hn 1. Vi loi mng nh vy ngi ta
phn loi v gi l mng Petri Chuyn di/V tr (Transitions/Places) k hiu tt l
P/T-net.
- Cng tng t nh EN, P/T-net bao gm:
- Cc v tr dc k hiu v m t bi cc vng trn: Cc v tr c th cha mt
s nguyn dng cc th bi.
- Cc chuyn di dc m t bi cc hnh ch nht: Cc chuyn di s ly di
hoc thm vo s th bi t hoc ti mt v tr.
- Cc mi tn kt ni trc tip gia cc v tr v chuyn di: Cc mi tn c
km theo cc trng s tng ng vi s lng th bi m n c th dc ly
ra hoc thm vo trong cc v tr.
Qui c: Mt tp v tr kt ni vi chuyn di thng qua mt mi tn trc
tip theo chiu t v tr ti chuyn di dc gi l tp cc tin chuyn di. Ngc
li, mt tp v tr kt ni vi chuyn di thng qua mt mi tn trc tip theo chiu
ngc t v tr ti chuyn di th dc gi l tp cc hu chuyn di.
Mt chuyn di c th xy ra (thc hin) khi v ch khi tt c cc v tr trong
tp tin v tr cha mt s lng ti thiu th bi nh dc dnh ngha bi cc
trng s ca cc mi tn tng ng.
Khi mt chuyn di dc thc thi n s
9 loi b bt s th bi t tp tin v tr bng dung s lng d dc dnh
ngha cho cc trng s ca cc mi tn tng ng v
9 cng thm vo s lng cc th bi vo tp hu v tr dung bng vi trng s
ca cc mi tn tng ng.
V d biu din m t mt hot dng h thng vi 2 hng mc cn dng b
gia b to v b s dng.

1
Hnh 6-8 : hot ang ang b vi 2 hng mc
c th biu din h thng mt cch khoa hc v logic cn c mt dnh
ngha dy d m t bi mng Petri.
Mng diu kin/ s kin
nh ngha: N = (C, E, F ) dc gi l mt mng nu v ch nu n tho
mn cc thuc tnh sau:
C v E l cc tp dc lp v C E = u.
F _(E x C) (C x E) l quan h nh phn v dc gi l quan h lung.
C dc gi l cc diu kin v E dc gi l cc s kin.
nh ngha: Cho mt mng N v x e (C E) . x := { y | yFx}dc gi l tp
cc diu kin trc ca x v x := {y | xFy} dc gi l diu kin sau ca x.
Hay ni cch khc l mt diu kin cn phi dc tho mn d mt s kin
no do xy ra th dc gi l diu kin trc v mt diu kin dc tho mn sau
khi mt s kin no do xy ra th dc gi l diu kin sau ca s kin d.
nh ngha: Cho mt tp (c, e) e C x E
(c, e) dc gi l mt vng lp nu cFe . eFc

1
Mng N dc gi l thun nht nu F khng cha bt k mt vng lp no.
nh ngha : Mt mng dc gi l dn gin nu khng c bt k hai chuyn
di t1, t2 no c cng tp cc diu kin trc v cc diu kin sau.
Cc mng m khng cha bt k phn t tch bit no cng nh khng c
thm bt k mt hn ch no th dc gi l mng diu kin /s kin.
Mng chuyn di/v tr
Trong cc mng diu kin/s kin ch cha nhiu nht l mt token cho mi
mt diu kin. hn ch diu ny tc l mt diu kin c th cha nhiu token v
ngi ta gi l mng chuyn di/v tr. Cc v tr tng ng vi cc diu kin v
cc chuyn di tng ng vi cc s kin trong mng diu kin/s kin.
S lng token cho mi mt diu kin dc gi l Marking. V mt ton
hc, Marking chnh l mt nh x ton hc cho php chuyn mt tp cc v tr vo
mt tp cc s t nhin dc m rng bi cc biu tng dc bit .
V d : M t chng trnh diu khin lung tu din bng mng Petrinet
diu kin/s kin d trnh trng hp xung dt trn mt dng ray theo hai hng
tu chy.
Cc s kin :
- Tu mun vo dng ray theo chiu sang phi.
- Tu dang chuyn dng trn dng ray theo chiu phi.

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- Tu thot ra khi dng ray theo chiu phi.
- Tu mun vo dng ray theo chiu sang tri.
- Tu dang chuyn dng trn dng ray theo chiu tri.
- Tu thot ra khi dng ray theo chiu tri.
Cc diu kin :
- Tu vo dng ray t chiu bn tri
- Tu ri khi dng ray theo chiu phi
- Tu ri dng ray
- Tu vo dng ray t chiu bn phi
- Tu ri khi dng ray theo chiu tri
Token : ng ray sn sng cho tu vo theo mt trong hai chiu
6.2.4 Ngn ng m t phn cng (VHDL)
VHDL (Very High Speed Integrated Circuit Hardware Description Lanuage)
l mt ngn ng chung d m t cc thit k phn cng mc phn t logic c bn
cu thnh nn h thng v d dc pht trin bi t chc quc phng M. Mc
dich chnh l d thun tin cho vic trao di d liu thit k phn cng theo mt
dnh dng chun m mi ngi c th hiu v thng dch, to diu kin thun li
trong vic phi hp hay hp tc trong cc d n thit k. c bit n rt thun tin
trong vic chuyn di hay tng hp bin dch thnh mt dng ngn ng thc thi

1
phn cng thc. iu ny rt kh thc hin bng cc ngn ng bc cao nh C
nhng vi VHDL diu ny chnh l u dim ni bt v l th mnh trong vic m
hnh ho h thng, m t mt cch chi tit cc phn t cng cu thnh tham gia trong
h thng.
VHDL l mt chun IEEE (Std-1076) d dc s h tr bi rt nhiu nh
cung cp pht trin phn cng. ng dng mt cch chuyn nghip ngn ng ny l
phc v cho vic m t cc mch ASICs phc hp, ch to thc thi cc mch
FPGA...
Ngn ng VHDL c th dc hiu kh d dng vi cu trc c php r rng
gn ging nh ngn ng Visual Basic v Pascal. N c th pht huy dc th mnh
v c php d dnh ngha xy dng kiu d liu mi v h tr cho vic lp trnh
theo nhm. Vi xu th hin nay cc nhm pht trin c th thc thi vi diu kin
cch xa nhau v khong cch da l, v vy vic phi hp v thit k theo nhm l rt
cn thit.
mainstream applications (More Flash, Less Cash, Circuit Cellar, 178, May
2005). I agree with Tom, but Ill go further and predict that VHDL will become
the premier technology used to define FPGA content either as output from
design tools or with direct programming. In combination with VHDL, FPGAs
provide a lowcost approach to defining complex hardware designs that were
inconceivable only a few decades ago. Perhaps most importantly, using VHDL to
define hardware is fun

1
6.3 Thit k phn mm diu khin
6.3.1 M hnh thc thi b diu khin nhng
Hnh 6-9: h thng aiu khin s
thc thi mt b diu khin s trn thit b vt l thc phi di hi xt
xem b diu khin vi m hnh hm truyn d cho c th hin thc ha dc khng.
iu kin phi xt thc ra l d dm bo rng khng c du ra no ca h thng li
xut hin trc khi c tn hiu vo. Hay ni cch khc h thng xy dng phi tun
th tnh nhn qu.
Nu khai trin hm truyn ca b diu khin s dc m t dng tng qut
thnh chui ly tha theo z th n phi khng dc php cha bt k phn t no
cha ly tha dng ca z. Hay ni cch khc l b diu khin dc m t nh (1.5)
phi c bc _ 0 tc l bc ca t s phi nh hn hoc bng bc ca mu s ( n _ m ).
Sau khi d thit k dc b diu khin s th vic cn li l lp trnh v np
vo cc b diu khin vt l kh trnh. Thc cht qu trnh ny l thc thi hm
truyn ca b diu khin s bng lp trnh s trn cc b diu khin vt l d c.
dy chng ta s ch yu quan tm dn vic trin khai d chun b cho bc lp trnh
cc hm truyn ca b diu khin s. Xut pht t m t hm truyn dng tng qut
ca b diu khin s

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trong do, a
0
= 0 nu b
0
= 0 ; m v n l cc s nguyn dng.
C th trin khai d thc thi mt hm truyn ca b diu khin s theo 3 cch
nh sau:
Trin khai lp trnh s trc tip
trin khai lp theo phng php lp trnh trc tip th hm truyn b diu
khin d cho biu din trong min z phi dc chuyn di v dng hm truyn ri
rc
T dng thc (1.7) d dng tnh ra dc gi tr ca du ra u
*
(t ) ca b diu
khin s d cho theo cc gi tr hin ti v qu kh ca du vo e
*
(t ) cng nh cc
gi tr qu kh ca chnh n
thc hin b diu khin ny yu cu phi lu tr cc gi tr qu kh ca
du vo va du ra ca b diu khin. Vi b diu khin d cho yu cu phi c n -
m gi tr cn phi lu tr hay ni cch khc cn phi c n - m phn t lu tr.
Mt phng php khc d trin khai lp trnh trc tip l s dng c ch tch
trc tip du vo v du ra ca b diu khin theo mt bin trung gian X(z). Khng
mt tnh tng qut nu chng ta nhn c t v mu ca hm truyn b diu khin s
d cho vi mt bin X(z). T do rt ra dc hm truyn ca du vo E(z) theo X(z)
v hm truyn ca du ra U(z) theo X(z). Phng php ny thc hin nh sau:

1
Theo phng php ny yu cu s phn t lu tr chnh bng gi tr n, bng
bc ca da thc mu s trong hm truyn b diu khin s d cho. T cc dng thc
(1.9) v (1.10) ta cng d dng xy dng dc gin d trng thi m t hm truyn
ca b diu khin s (gi thit m = n = 3 ).
Hnh 6-10: gin a trng thi ca h thng s
Trin khi lp trnh s ghp tng
Cch trin khai ny yu cu chuyn di b diu khin v dng tch ca cc
hm truyn dn gin d c th d dng thc hin bng cc chng trnh dn gin.
Hay ni cch khc b diu khin s d cho l kt qu ghp tng ca nhiu b diu
khin nh.
Trin khai lp trnh s song song
B diu khin d cho s dc tch ra thnh tng ca cc b diu khin dn
gin v c th thc hin lp trnh song song cho cc b diu khin do.
6.3.2 V d trin khai b diu khin PID s
Xp x ho thnh phn vi tch phn
C 3 phng php xp x gin don ph bin p dng cho cc thnh phn
tch phn: vt trc (forward), vt sau (backward), v trapezoidal

1
Xp x sai phn vt trc
p dng chuyn di z cho (1.11) ta thu dc
D do xp x ho tch phn s l:
Hnh 6-11: xp x sai phan vt trc
Xp x sai phn vt sau
Tng t nh sai phn vt trc ta c xp x tch phn nh sau:
Hnh 6-12: xp x sai phan vt sau

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Xp x Trapezoidal
Php xp x tch phn thu dc s l:
Hnh 6-13: xp x trapezoidan
ng thc l tng m t b diu khin PID
trong do, K l h s khuch di, T
I
l hng s thi gian tch phn, T
D
l hng s
thi gian vi phn.
Trong trng hp chu k trch mu nh, dng thc (1.16) c th dc
chuyn sang dng dng thc sai phn bng phng php ri rc ho. Trong do,
thnh phn vi phn c th dc xp x nh php tnh sai phn bc nht v thnh
phn tch phn dc xp x dng vt trc. Bng php ri rc ny ta thu dc
dng thc m t b diu khin PID s nh sau:
T dng thc (1.17) ta d dng nhn thy rng d thc thi b diu khin PID

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cn thng tin ca tt c cc sai lch e trong qu kh. thun tin cho vic thc
hin lp trnh, dng d qui s ph hp hn v c th rt ra t (1.17) nh sau:
T (1.17) v (1.18) ta rt ra dc algorithm diu khin ca PID s:
M hnh b diu khin dng hm truyn ta c:
trong do, thnh phn tch phn c th xp x theo mt trong ba cch nh m t
trong phn 6.1, thnh phn vi phn c th dc xp x nh sau:
t (1.21) c th xp x hm truyn thnh phn vi phn
Nh vy hm truyn ca b diu khin PID s c th dc xp x theo mt
trong 3 dng nh sau:

1

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TI LIU THAM KHO

Bai Giang He Thong Nhung

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