EE529 Embedded Systems

Lecture 4:
Finite State Machines (FSMs)

7-1
 Finite State Machine (FSM)
 Finite State Machines (FSMs)
 Set of inputs, outputs, states and transitions
 State graph defines input/output relationship
 What is a state?
 Description of current conditions
 What is a state graph?
 Graphical interconnection between states
 What is a controller?
 Software that inputs, outputs, changes state
 Accesses the state graph
https://www.youtube.com/playlist?list=PLyg2vmIzGxXEle4_R2VA_J5uwTWktdWTu
7-2
 Finite State Machine (FSM)

 What is a finite state machine?

 Inputs (sensors)
 Outputs (actuators)
 Controller
 State graph

Next if input is 01 or 11 00,01

00,01,
00,10 01,11 10,11 10,11 Output
goN waitN goE waitE
100001 100010 001100 010100
30 5 30 5
Wait time 00,01,10,11

7-3
 Finite State Machine (FSM)
 Moore FSM
 output value depends only on the current state,
 inputs affect the state transitions
 significance is being in a state
 Input: when to change state
 Output: definition of being in that state
Next if input is 01 or 11 00,01
00,01,
00,10 01,11 10,11 10,11 Output
goN waitN goE waitE
100001 100010 001100 010100
30 5 30 5
Wait time 00,01,10,11

7-4
 Finite State Machine (FSM)

 Moore FSM Execution Sequence

1. Perform output corresponding to the current
state
2. Wait a prescribed amount of time (optional)
3. Read inputs
4. Change state, which depends on the input and
the current state
5. Go back to 1. and repeat

7-5
 Finite State Machine (FSM)
 Mealy FSM
 output value depends
on input and current
state
 inputs affect the state
Inputs: Control
transitions. PA2 Brake
LM3S/TM4C Machine
 significance is the state PA1 Gas
PA0 Control
transition
Gas
 Input: when to change Brake
Control
0/00 0/10 Initial
Stop
state Go
1/01 1ms 1/00 1ms
 Output: how to
change state Outputs: Brake, Gas

7-6
 Finite State Machine (FSM)

 Mealy FSM Execution Sequence

1. Wait a prescribed amount of time (optional)
2. Read inputs
3. Perform output, which depends on the input
and the current state
4. Change state, which depends on the input
and the current state
5. Go back to 1. and repeat

7-7
 Finite State Machine (FSM)

Moore state 1 Mealy state 1/123 Output if

Name Fast Go input is 1
123 Name
Output 30 Next if 30 Next if
Wait time input is 1 Wait time input is 1

7-8
 FSM Implementation
 Data Structure embodies the FSM
 multiple identically-structured nodes
 statically-allocated fixed-size linked structures
 one-to-one mapping FSM state graph and
linked structure
 one structure for each state
 Linked Structure
 pointer (or link) to other nodes (define next
states)
 Table structure
 indices to other nodes (define next states)

7-9
 Example: Traffic Light Control
PE1=0, PE0=0 means no cars exist on either road
PE1=0, PE0=1 means there are cars on the East road
PE1=1, PE0=0 means there are cars on the North road
PE1=1, PE0=1 means there are cars on both roads

PE1 North
LM3S or
TM4C PE0

PB5 R
PB4 Y East
PB3 G
PB2
PB1 R Y G
PB0
goN, PB5-0 = 100001 makes it green on North and red on East
waitN, PB5-0 = 100010 makes it yellow on North and red on East
goE, PB5-0 = 001100 makes it red on North and green on East
waitE, PB5-0 = 010100 makes it red on North and yellow on East

7-10
Example: Traffic Light Control

Next if input is 01 or 11 00,01

00,01,
00,10 01,11 10,11 10,11 Output
goN waitN goE waitE
100001 100010 001100 010100
30 5 30 5
Wait time 00,01,10,11

http://youtu.be/kgABPjf9qLI
7-11
 FSM Data Structure in C
const struct State { // State data structure
uint32_t Out; // Output
uint32_t Time; // Time in 10 ms units
uint32_t Next[4]; // list of next states from
// state transition table
};
typedef const struct State STyp;

#define goN 0 // definition of FSM states

#define waitN 1
#define goE 2
#define waitE 3

STyp FSM[4] = {
{0x21, 3000, {goN,waitN,goN,waitN}},
{0x22, 500, {goE,goE,goE,goE}},
{0x0C, 3000, {goE,goE,waitE,waitE}},
{0x14, 500, {goN,goN,goN,goN}}
}; 7-12
 FSM Engine in C
void main(void) {
uint32 CS; // index of current state
uint32_t Input;

// initialize I/O ports and SysTick timer

…

CS = goN; // start state

while(1) {
LIGHT = FSM[CS].Out; // set lights according to state
SysTick_Wait10ms(FSM[CS].Time); //Timer delay
Input = SENSOR; // read input sensors
CS = FSM[CS].Next[Input]; // select next state from
// table according to input
}
} 7-13