DS1006-ProcessorBoard dSPACE Catalog 2009

Modular Hardware / DS1006 Processor Board
DS1006 Processor Board

Computing power for processing-intensive real-time models
Highlights
x86 processor technology
AMD OpteronTM Processor
Fully programmable from Simulink®
High-speed connection to all dSPACE I/O boards via
PHS bus
Multiprocessor system of several DS1006 Processor
Boards via fiber-optic connection (Gigalinks)
Key Benefits
The DS1006 is the ultimate in processor boards for very The DS1006 also has 256 MB local memory for executing
complex, large, and processing-intensive models – for real-time models, 128 MB global memory for exchanging
example, for powertrain and virtual vehicle simulations. The data with the host PC, and 2 MB on-board boot flash
board is built around the AMD Opteron™, a 64-bit server memory, plus an optional application flash memory on a
processor with 1 MB L2 cache based on AMD64, an archi- CompactFlash card for automatic, host-independent boot-
tecture that provides 64-bit technology on an x86-com- ing of real-time applications.
patible CPU.
Modular Hardware Concept Multiprocessor Setup

The DS1006 Processor Board is one of dSPACE’s processor If you need even more performance, you can build a multi-
boards that form the core of dSPACE’s modular hardware processor system by connecting several DS1006 boards via
(the other being the DS1005 PPC Board). It provides the an additional optical interface (DS911 Gigalink Module).
computing power for your real-time system and also func- Synchronization between the boards is guaranteed, since
tions as an interface to the I/O boards and the host PC. The interrupts can be sent to other processor boards via hard-
DS1006 is directly connectable to all dSPACE I/O boards via ware, with minimal latencies.
PHS bus.
350
2009
Catalog 2009 Ě dSPACE Ě Technologiepark 25 Ě 33100 Paderborn Ě Germany Ě info@dspace.de Ě www.dspace.com

Introduction
Technical Details
Success Stories
Parameter Specification
Processor AMD Opteron™, 2.6 GHz or 3.0 GHz1)
64 KB L1 data cache, 64 KB L1 instruction cache
1 MB L2 cache
Memory 256 MB DDR-400 SDRAM local memory for the application and dynamic application
Control Design
data
128 MB SDR SDRAM global memory for host data exchange
Full host access to global memory
2 MB on-board flash memory for boot firmware
Application flash memory on optional CompactFlash (CF) card
Timer 3 general-purpose timers
System Architecture
Synchronous time base unit (STBU) for multiprocessor systems
Interrupt controller Interrupt controller with up to 20 interrupt sources
Interfaces Serial interface RS232 interface with standard UART allowing transfer rates of up to 115.2 Kbaud
Connection to I/O boards PHS++ bus Interface
32-bit I/O bus for modular I/O configuration (p. 343)
Peak transfer rate 20 MB/s, up to 30 MB/s for new I/O boards
Rapid Prototyping
Up to 64 PHS bus interrupts
Host interface Installation in PX10 and PX20 Expansion Boxes only (may require Expansion Box update),
maximum one DS1006 in PX10 or two DS1006s in PX20
Requires up to two full-size 16-bit ISA slots in a PX10 Expansion Box (in combination with
DS911 Gigalink Module)
Requires four full-size 16-bit ISA slots in a PX20 Expansion Box due to processor heat sink
ECU Autocoding
(no further slots required in combination with DS911 and DS814)
Interface via eight 16-bit I/O ports (ISA bus)
Plug & Play support
Multiprocessor system Building multiprocessor systems with further DS1006 Processor Boards
Up to 20 DS1006 Processor Boards
High-speed link via one DS911 Gigalink Module on each DS1006
Possible cable length of up to 100 m
HIL Testing
Physical characteristics Physical size 340 x 125 x 45 mm (13.4 x 4.9 x 1.8 in)
Ambient temperature 0 ... 40 °C (32 ... 104 °F) (to be used in laboratories only)
Cooling Active cooling (fan)
Power supply ISA bus: +5 V ±5%, 2.0 A
ECU Calibration
+12 V ±5%, 0.5 A (without DS911 Gigalink Module)
+12 V ±5%, 0.9 A (with DS911 Gigalink Module)
CPU power connector: +5 V ±5%, 22 A
1)
Subject to AMD’s limited delivery guarantee.
Order Information Engineering
Product Order Number

DS1006 Processor Board DS1006
Software
Hardware
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2009

Relevant Software and Hardware
Software Order Number

Included C Real-Time Library –
Experiment and Platform Manager –
Required Real-Time Interface (p. 166) RTI
GNU C compiler for AMD Opteron™ DS1006_COMP
Optional Real-Time Interface for multiprocessor systems extension RTI_MP
(p. 172)
CLIB C libraries (p. 231) CLIB
Hardware Order Number

Required For safety reasons DS1006 Processor Boards must be used For detailed information about Expansion Boxes,
only in PX10 and PX20 Expansion Boxes with hardware please contact dSPACE.
revisions certified for DS1006 Processor Boards. (May
require an Expansion Box update.)
Optional PHS bus cable (with x connectors and terminator) PHS-CABx
DS911 Gigalink Module DS911
Block Diagram
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2009

Introduction
Graphical Programming
Success Stories
Programming from
MATLAB®/Simulink®/Stateflow®
You can easily program the DS1006 Processor Board from
Simulink via Real-Time Interface (RTI). Simulink blocks pro-
Control Design
vide access to the entire range of dSPACE I/O boards. Even
setting up multiprocessor systems is simple thanks to dedi-
cated RTI blocks (RTI-MP, p. 172).
Dialogs for altering simulation parameters (such as solver
options or the simulation time) and for generating C code,
System Architecture
are directly accessible from the Simulink environment.
Rapid Prototyping
ECU Autocoding
HIL Testing
ECU Calibration
Engineering
Software
Hardware
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2009

Speed Information
Execution Times for Complex Models
Systems used for passenger car HIL simulation typically handling of I/O signals and CAN restbus simulation is in-
require sampling times of 1 ms. With the Automotive cluded in both examples. Thus in both cases, up to the
Simulation Models (ASM), dSPACE offers open, modular, limit of 1 ms, the DS1006 board still has more than 80%
and flexible Simulink models for the real-time simulation of of its processing power in reserve for future, more complex
gasoline engines, turbocharged diesel engines, vehicle dy- models. Computation of an ASM gasoline engine model
namics, and brake hydraulics (p. 304). With the ASM Engine without I/O requires only 0.024 ms. Such low turnaround
Simulation Package, it is possible to achieve cycle times of times allow very short simulation step sizes, like those gen-
under 0.15 ms for the real-time simulation of a 6-cylinder erally required in Formula One applications, where the
gasoline engine model on the DS1006 (with 2.6 GHz). With dynamic model of a car (including engine and vehicle
the ASM Vehicle Dynamics Simulation Package, an ESP demo dynamics simulations usually has to be performed with
can be simulated with cycle times of under 0.18 ms. The sample times of 0.5 or 0.25 ms.
"

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"

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2009

Introduction
Multiprocessor Setup via DS911 Gigalink Module
Success Stories
Expanding Processor Power Gigalink Modules
With modular hardware based on the DS1006 Processor The DS1006 Processor Boards are connected via optional
Board, you can reach any performance you need simply by Gigalink modules, which allow high-speed serial data trans-
expanding your hardware with further DS1006 boards. Tasks mission via fiber-optic cable and 1.25 Gbit/s technology.
Control Design
can be shared between the processor boards to attain You can connect up to 20 processor boards in a system, and
optimum response times and performance. And what is over distances up to 100 meters, in this way.
more, you automatically increase the I/O capacity of your
system.
System Architecture
Technical Details – DS911 Gigalink Module
Rapid Prototyping
Parameter Specification
General Hardware extension to DS1006 Processor Board for building multiprocessor systems
Requires several DS1006 Processor Boards, each with a DS911 Gigalink Module
Gross transfer rate: 1.25 Gbit/s
Distance up to 100 m
Hardware details 4 optical, high-speed communication ports (Gigalinks), each providing 16 bidirectional interrupt lines and
ECU Autocoding
16 bidirectional data channels (2 kilowords width on each channel)
I/O access speed of send operations adapted to Gigalink’s capabilities: Data is sent directly without
a FIFO buffer
32-bit or 64-bit read/write operations allowed: 32-bit access for single 32-bit (or shorter) data words,
fast 64-bit access for block transfer functions wherever possible
Real-time interrupt dispatching
Passive cooling
HIL Testing
ECU Calibration
Engineering
Software
Hardware
355
2009

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