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In most of the situations we would consider, most of the parameters would affect one another. They would be described as being interactive. Some would provide positive feedback, and some negative. In such situations, the management of the controlling functions can get quite complicated. Parallel processing is exquisitely suited to such control situations. Of course, as beginners we are not about to start programming the system for a modern factory with 2,500 interactive feedback loops, but the simple systems we will be looking at do represent the kind of situations we can expect to see in our workplaces on a regular basis. Understating these simple systems will prepare us to understand more complicated systems down the road.
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The running of a stepper motor represents a simple-but-difficult-to-manage system that needs constant attention in real time if we are to attain and maintain the high speeds that are often needed. The problem is especially interesting because there is nothing about the system that we do not understand, meaning that we know exactly what has to be done. The question is, how do we get it done The running of a bipolar stepper motor is covered in detail in Part III of this book. In most of the applications we have in mind for our simple parallel systems, we need to display, read, set, and manipulate any number of variables. We will assign the cogs to tasks such as the following:
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Managing the LCD display Reading one or two potentiometers for input Making simple calculations and comparisons Reading information from various system components Setting high and low limits for the controllers Reading a keyboard Communicating with a computer Managing and annunciating alarms
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As a general rule, in our experiments we will always use the LCD both to show us what is going within the system and to display the results of our efforts. We always read one or two potentiometers to provide the input variables we need. We will use one cog just to manage the device we are experimenting with, and other cogs will be added as needed.
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The preceding being the case, we need a solid understanding of what each cog is capable of doing. The eight cogs are identical in every way, and if we understand one cog, we will understand them all.
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Each cog has the following exclusive and common (shared) memory resources available to it:
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Two kilobytes of RAM organized as 512 32-bit longs Access to 32KB of common RAM, addressable as bytes, words, or longs Access to 32KB of common ROM Access to clocks, locks, and other devices that make the system work Access to a system counter Individually, each of the cogs in turn has the following capabilities:
Counter A Counter B
The counters can each execute a task independent of all other processes. A total of 16 counters are available for this. (Two each in eight cogs.)
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Other features include the following:
Mutual access to certain memories Exclusive access to certain memories Access to the 32 I/O lines by all the cogs at all times Settable oscillator/clock speeds I/O output register I/O direction register
I/O input register can be read to determine the current state of all I/O pins. The external I2C EEPROM mentioned in the first paragraph of the previous chapter is not available to individual cogs. It downloads into hub memory (the main memory), and only at startup. This happens only if no PC is attached to the Propeller. If a PC is present, the system looks to the PC to receive its program. When downloading a program from a PC to the Propeller system, you have the choice of downloading the program to the attached external EEPROM or to the onchip main hub RAM in the system. The program and subprograms you create are targeted to available cogs, one after another. Because all cogs are identical, it does not matter what code is assigned to which cog. The programs in the various cogs can interact with one another via the shared memory. The system is completely flexible which unfortunately means there are a lot of ways to get it wrong. It takes a formal and disciplined approach to get everything right. In this book, we will develop some of the techniques needed to assign cogs their responsibilities in an orderly way.
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