f-14 “tomcat” microprocessor chip set ray holt ©copyright 1998-2011 ray m. holt all rights...

F-14 “Tomcat”F-14 “Tomcat”Microprocessor Chip SetMicroprocessor Chip Set

Ray Holt

©Copyright 1998-2011 Ray M. Holt ALL RIGHTS RESERVED

Available DocumentsAvailable Documents

• FirstMicroprocessor.com First revealed in 1998 (30 year secret)

Design notebook (excerpts)

This slide show

Original design paper – 1971

(approved by IEEE Computer Design Magazine in 1970)

“Analysis” paper – 1998

Wall Street Journal article

Electronic Business article

Smithsonian Museum Air & Space Magazine

“From Dust to the Nano Age” Leo Sorge

Technology Education in Rural Mississippi

• Robotics

• Web Page Design

• Intro to Logic Design

• Intro to Computers

• PowerPoint

37 students

Ages 10 -17

Mt Olive, MS

Mississippi RuralEducation Consortium

• Started Statewide in 2010

• 28 university professors & rural educators

Robotics & Engineering Education/Research Center

• Reduce dropout rateIncrease ACT test scoresIncrease college attendanceMotivate new engineers

Forestry to Cal PolyForestry to Cal Poly

• University of Idaho Forestry Major & R.O.T.C. Army Ranger Unit

Junior ready to graduate – took

Physics of Electricity at Dean's request

Forestry to Cal PolyForestry to Cal Poly

• Cal Poly Pomona Electronic Engineering Major

Tubes to transitors

Junior year: took Switching Theory as elective

Cal Poly to F-14Cal Poly to F-14

• Garrett AiResearch Engineering Hired to design amplifiers for aircraft audio Only one in department with computer class

Special project: Mechanical – Electronic Computer

Microcomputer HistoryMicrocomputer History

2000's• Multi-core processors• Flash drives• Terabyte portable drives• USB interface everywhere• ipod/ipad type devices• Smart phones: email, internet, wifi,

hot spots, apps

Microcomputer HistoryMicrocomputer History

1990's• Embedded processors• Pentiums 100Mhz – 3Ghz+ • 486’s 30Mhz – 100Mhz• 386 10Mhz – 50Mhz• Windows• MS Office (Word, PowerPoint, etc.)

Microcomputer HistoryMicrocomputer History

1980’s• 286’s 4Mhz – 20Mhz • IBM PC introduced (1981)

Time “Man of the Year”• DOS Operating System• Wordstar Word Processor• Lotus 1-2-3 Spreadsheet

Microcomputer HistoryMicrocomputer History

1970’s• 1977 - Radio Shack TRS-80• 1977 - Commodore Pet• 1977 - Apple I / KIM / SYM• 1975 - Intel 8080 CPU• 1975 - Microsoft Basic / Altair / Jolt• 1973 - CP/M Operating System• 1972 - Intel 4004 CPU

Microcomputer HistoryMicrocomputer History

1968• Apollo 7 & 8 Launched• Intel Founded• IBM 8” Floppy Drive• Bill Gates turned 13• F-14 Microprocessor design started

Make A New

Integrated Circuit Computer

From A

ElectromechanicalComputer

The Big ChallengeThe Big Challenge

F4 Phantom CADCF4 Phantom CADC

United States NavyUnited States Navy

F-14 “Tomcat” Fighter jet

Companies InvolvedCompanies Involved

Prime Contractor:

Grumman AircraftSubContractor:

Garrett AiResearchIntegrated Circuits:

American MicroSystems

The TeamThe Team

2 – Computer Logic Designers3 – High-level Programmers

4 – Analog Designers1 – Mathematician

1 – Test / Mfg Engineer3 – Electronic Technicians

2 – Draftsmen4 – Managers

5 – Integrated Circuit Engineers(American MicroSystems)

What Did We Do?What Did We Do?

Designed and Developed

A

Central Air Data Computer

(CADC)

Started: June 1968

Completed: June 1970

1st Flight: Dec 21, 1970

Design Time FrameDesign Time Frame

1st Flight1st Flight

December 21, 1970

F-14 “Tom Cat” CADCF-14 “Tom Cat” CADC

Dual Redundant

• 2 - computers

• 2 - power supplies

• 4 - quartz sensors

• 2 - sets A/D and D/A

F-14 AircraftF-14 AircraftIncentive / PenaltiesIncentive / Penalties

• $440,000 each 100 lbs overweight

• $440,000 for each second slow

• $1M for each 10 miles short escort radius

• $1M for each knot fast on carrier landing

• $450,000 for each extra maintenance hour

• $5,000 for each day late

F-14 AircraftF-14 AircraftSuccessesSuccesses

• on time• on cost• under weight - 6/10th of one percent• better performance than expected• 1st flight one month ahead of schedule• demonstrated operational in 1/2 the time• 712 F-14’s made, 478 (F-14A’s, 100-Iran)

Computer (CADC)Computer (CADC)Design ConstraintsDesign Constraints

• Size: 40 sq inches for microprocessor• Power: 10 watts• Cost: $3,000-$5,000• Temperature: -55 to +125 deg C• Provide data for control & firing of 6 Phoenix

/ Sidewinder missiles at the same time• Others: Acceleration, mechanical shock,

reliability, project schedule

F-14 In-FlightF-14 In-Flight

• Three minute YouTube Video http://www.youtube.com/watch?v=yhyprrof0JM

• Observe the various positions of the wings. They are 100% computer controlled.

• Observe the dynamic flow of air across the plane. The computer is constantly correcting for stability.

• When there is a cloud formation around the plane it is breaking the sound barrier (the Danger Zone)

What Is A C.A.D.C.?What Is A C.A.D.C.?

A Flight Computer to:

• compute and display– altitude– air speed– vertical speed– mach number– temperature

A Flight Computer to:

• compute and control

– wing speed, position, and rate

– maneuver flap position

– glove vane position

– angle of attack correction

A Flight Computer to:

• provide other critical flight information

– real-time data to other systems

(weapons and communications)

– in-flight self-diagnostics

– redundant switchover to dual system

State-of-the-ArtState-of-the-Art in 1968? in 1968?

The Technology

TTL Bipolar - high power

MOS logic modules - too many packages

LSI - new, not proven

CADC Block DiagramCADC Block Diagram

Microprocessor Arithmetic Microprocessor Arithmetic FunctionsFunctions

• Arithmetic functions

• Logical functions

• Inputs (switches, A/D’s)

• Outputs (lights, D/A’s)

• Self Test Diagnostics

MicroprocessorMicroprocessorSelf Test FunctionsSelf Test Functions

• In-Flight Diagnostics

– 100% of all connections/data paths– 100% of all ROM bits– 100% non-arithmetic circuits– 98% all arithmetic unit single failures– dual redundant system– pilot notification

RequiredRequiredArithmetic CalculationsArithmetic Calculations

6th Order Polynomials F(x) = a6x6+a5x5 +a4x4 +a3x3 +a2x2 +a1x1+a0

x = input from sensors or stored values

We implemented using Horner’s Rule

F(x) = (- - - ((a0 x + a1) x + a2) x + - - -

MicroprocessorMicroprocessorData StructureData Structure

Number System

• fractional fixed point computation

• two’s complement arithmetic

• 20 bit data length (based on flight requirements)

MicroprocessorMicroprocessorTechnologyTechnology

• high level of integration - P Channel MOS

• minimum package and lead count

• lowest possible power

• mil spec temp range -55C to +125C

MicroprocessorMicroprocessorDesign DecisionsDesign Decisions

• serial instruction and data transfer

• distributive instruction command

• ‘pipeline’ instruction and arithmetic

• ROM master/slave instructions

• ROM built-in counter and conditional jump

MicroprocessorMicroprocessorF-14 System DiagramF-14 System Diagram

MicroprocessorMicroprocessorSystem TimingSystem Timing

• 375Khz Clock, 2.66 us bit time

• One word = 20 bit times or 53.3 us

• Operation time - two words

• 512 Op times - computational Cycle

• 18.3 Cycles per second

• 9370 Op times per second for each

computational unit

MicroprocessorMicroprocessorFunctional UnitsFunctional Units

• Parallel Multiplier Unit (PMU)

• Parallel Divider Unit (PDU)

• Special Logic Function (SLF)

• Data Steering Unit (SLU)

• Random Access Storage (RAS)

• Read-Only Memory Unit (ROM)

Computational Computational RequirementsRequirements

Req/Sec Max/CU

• Multiply (20-bit) 5490 9370• Divide (20-bit) 1922 9370• Add/Sub (20-bit) 293 9370• Limits Comparisons 1373 9370 • Square Roots 73 *• Logical And/Or 26 *• IF Transfers 72 9370• Discrete inputs/output 842 9370• A/D and D/A I/O 695 9370

Microprocessor Chip Set Microprocessor Chip Set PMU FunctionsPMU Functions

• 20-bit parallel multiplier

• three internal storage registers

• ‘pipelined’ overlap I/O and operation

• Booth’s multiply algorithm

• 53.3 μs multiply / 53.3 μs transfer

• continuous operation

PMU

Microprocessor Chip Set Microprocessor Chip Set PDU FunctionsPDU Functions

• 20-bit parallel divider

• three internal storage registers

• ‘pipelined’ overlap I/O and operation

• Non-restoring division algorithm

• 53.3 μs divide / 53.3 μs transfer

• continuous operation

PDU

Microprocessor Chip Set Microprocessor Chip Set SLF FunctionsSLF Functions

• logical and arithmetic operations

• Gray code conversions

• three internal storage registers

• ‘pipelined’ overlap I/O and operation

• 53.3 μs multiply / 53.3 μs transfer

• 4-bit instruction word

SLF

Microprocessor Chip Set Microprocessor Chip Set SLU FunctionsSLU Functions

• three channel digital data multiplexer

• 16 inputs - 3 channels out

• four inputs combined for arithmetic

operations

• 53.3 μs operation / 53.3 μs command

• 15-bit instruction word

SLU

Microprocessor Chip Set Microprocessor Chip Set RAS FunctionsRAS Functions

• sixteen 20-bit static registers

• random access read-write storage

• 53.3 μs I/O time

• 5-bit instruction word

RAS

Microprocessor Chip Set Microprocessor Chip Set ROM FunctionsROM Functions

• 2560-bit random access/sequential access

fixed memory - 128 words x 20-bits

• can parallel eight ROM’s for 1024 words

• program counter - cleared / +- increment /

hold / external

• data out / parity out

• 20-bit instruction word

ROM

Microprocessor Microprocessor Technology Spec’sTechnology Spec’s

CHIP DEVICES SIZE PKG # USED TOTAL

PMU 1063 150 x 153 24 pin 1 1063

PDU 1241 141 x 151 24 pin 1 1241

SLF 743 120 x 130 24 pin 1 743

SLU 771 128 x 133 24 pin 3 2313

RAS 2330 115 x 130 14 pin 3 6990

ROM 3268 143 x 150 14 pin 19 62092

TOTAL 28 74442

PMU

PDU

SLF

SLU

RAS

ROM

MicroprocessorMicroprocessorInstruction SetInstruction Set

• PMU - continuous - co-processor

• PDU - continuous - co-processor

• SLF - 16 instructions

• SLU - 48 instructions

• RAS - 32 instructions

• Executive ROM - 37 instructions

TOTAL = 133 instructions

MicroprocessorMicroprocessorEquations - Angle of AttackEquations - Angle of Attack

MicroprocessorMicroprocessorNumeric Scaling - Angle of AttackNumeric Scaling - Angle of Attack

MicroprocessorMicroprocessorEquation Flow - Angle of AttackEquation Flow - Angle of Attack

MicroprocessorMicroprocessorProgram Flow - Angle of AttackProgram Flow - Angle of Attack

MicroprocessorMicroprocessorTypical Binary Coding SheetTypical Binary Coding Sheet

MicroprocessorMicroprocessorInitial Programming AidsInitial Programming Aids

• No assembler

• No compiler

• No simulator

• No debugger

• No hardware prototype

MicroprocessorMicroprocessorTesting/Computer AidsTesting/Computer Aids

• Failure analysis simulation

(circuit logic level simulation) • Programming simulation

(chip level with timing)• Card deck for ROM masking• Program flow chart• Flight test software changes• Hardware prototype for real testing

Simulator/Debugger Output Values Report

ROM Binary Programming Report

Program Flowchart Report from Plotter

Hardware Prototype of F-14 CADC

Simulated Pilot Display from CADC

General Design General Design AccomplishmentsAccomplishments

1st microprocessor chip set

1st aerospace microprocessor

1st fly-by-wire flight computer

1st military microprocessor

1st production microprocessor

1st fully integrated chip set microprocessor

1st 20-bit microprocessor

Specific Design Specific Design AccomplishmentsAccomplishments

1st microprocessor with built-in programmed self- test and redundancy1st microprocessor in a digital signal (DSP) app1st with execution pipeline1st with parallel processing1st integrated math co-processors1st Read-Only Memory (ROM) with a built-in counter

1970 - 2006

F-14 “Tomcat”

F14 “TomCat” In FlightF14 “TomCat” In Flight

• Navy information film

• “Top Gun” movie

LSI Comments - The Experts

• May 1967 Jack Fischel

• Oct 1967 Joseph Earl

• Oct 1967 Saul Levy

• Nov 1968 CG Feth

• 1968 Franz Alt

MicroprocessorMicroprocessorLogical FunctionsLogical Functions

• Data Limit Comparison

Select P if U >= P >= L

Select L if P > L

Select L if P < L

MicroprocessorMicroprocessorLogical FunctionsLogical Functions

• Logical– and– or– conditional transfer– unconditional transfer

MicroprocessorMicroprocessorI/O FunctionsI/O Functions

• Input / Output– receive on/off switch information– receive A/D information– output on/off information– output D/A information

Who Did It?Who Did It?

• Garrett AiResearch– Electronic Systems, Torrance, CA

• American Micro Systems, Inc.– Santa Clara, CA

What Is A CADC?What Is A CADC?

A Flight Computer to:

• compute and display– altitude– air speed– vertical speed– mach number– temperature

A Flight Computer to:

• compute and control

– wing speed, position, and rate

– maneuver flap position

– glove vane position

– angle of attack correction

A Flight Computer to:

• provide other critical flight information

– real-time data to other systems

– in-flight self-diagnostics

– redundant switchover to dual system

MicroprocessorMicroprocessorGeneral System DiagramGeneral System Diagram

MicroprocessorMicroprocessorData FunctionsData Functions

• Data Conditioning & Scaling

A +/- B

F = -----------

C

A - B

F = -----------

A + C

What Is A CADC?What Is A CADC?

A Flight Computer to:

• Real-time computing and display

• Real-time computing and control

• Real-time flight data to other

systems: weapons &

communications

F14 Aircraft RequirementsF14 Aircraft Requirements

• two man crew

• two engines

• advanced weapon system

• internal gun

• land on aircraft carrier fully loaded

• ‘pipeline’ instruction and arithmetic

• master/slave instruction ROM’s

• ROM retain mode

• ROM external conditional jump

MicroprocessorMicroprocessorNumeric Scaling - Angle of AttackNumeric Scaling - Angle of Attack

Dual Quartz Sensors

Microprocessor Chip Prototype

Final TestFinal Test

The

Ultimate Extreme Test

of a

Computer and Aircraft

Breaking

The

Sound Barrier - Twice

MACH 2