嵌入式處理器架構(gòu)與程式設(shè)計課件

嵌入式處理器架構(gòu)與程式設(shè)計王建民中央研究院資訊所2008年7月嵌入式處理器架構(gòu)與程式設(shè)計王建民ContentsIntroductionComputerArchitectureARMArchitectureDevelopmentToolsGNUDevelopmentToolsARMInstructionSetARMAssemblyLanguageARMAssemblyProgrammingGNUARMToolChainInterruptsandMonitor2ContentsIntroduction2Lecture1

IntroductionLecture1

IntroductionOutlineBasicConceptsCourseInfoEmbeddedSystemsProgrammingSystems4OutlineBasicConcepts4ComputerSystemsHardwareFirmwareSoftwareApplicationsoftwareSystemsoftwareProgrammingsystemsUtilitiesOperatingsystems5ComputerSystemsHardware5ComputerSoftwareApplicationsoftwareisdesignedtosolveaspecificproblem.Systemsoftwareisintendedtosupporttheoperationanduseofthecomputeritself.Provideageneralprogrammingenvironment.Providefunctionsusedbyapplicationsoftwareandusers.Providemechanismstosharethehardwareinanorderlyfashion.6ComputerSoftwareApplicationsFoundationsofComputerSystemsUsersApplicationSoftwareProgrammingSystemHardwareOperatingSystem7FoundationsofComputerSystemEvolutionofProgramming1MachineLanguageBinaryformat

11100101100111110001000000010000 11100101100111110000000000001000 11100000100000010101000000000000 11100101100011110101000000001000Hexadecimalformat E59F1010 E59F0008 E0815000 E58F50088EvolutionofProgramming1MachiEvolutionofProgramming2AssemblyLanguageMnemoniccodes E59F1010 LDR R1,num1 E59F0008 LDR R0,num2 E0815000 ADD R5,R1,R0 E58F5008 STR R5,sumHigh-LevelLanguageClanguage sum=num1+num2;9EvolutionofProgramming2AssemHowinstructionsareexecuted?...E59F1010E59F0008E0815000E59F5008...10Howinstructionsareexecuted?Howasourceprogramiscompiled?intmain(){...

sum=num1+num2;...}...E59F1010E59F0008E0815000E59F5008...11HowasourceprogramiscompilHowtodevelopembeddedsoftware?#defineGREETING“Hello,World!\n”intmain(){printf(GREETING);}12HowtodevelopembeddedsoftwaWhatareyougoingtolearn?Howinstructionsareexecuted?ComputerArchitectureHowasourceprogramiscompiled?DevelopmenttoolsHowtodevelopembeddedsoftware?EmbeddedprocessorsAssemblylanguageandprogrammingCrossdevelopmentSoftwareinterrupts13Whatareyougoingtolearn?HoOutlineBasicConceptsCourseInfoEmbeddedSystemsProgrammingSystems14OutlineBasicConcepts14PrerequisitesandRelatedCoursesPrerequisites計算機概論C/C++程式設(shè)計資料結(jié)構(gòu)RelatedCourses計算機結(jié)構(gòu)系統(tǒng)程式作業(yè)系統(tǒng)嵌入式系統(tǒng)15PrerequisitesandRelatedCourCourseInfo1RelatedLinksSlidesanddocuments

.tw/~cmwang/arm/TheARMprocessor

/GNUsoftware

/Opensourcesoftwareforhandheldsystems

/16CourseInfo1RelatedLinks16CourseInfo2PCSoftwareLinux

/Cygwin

/GNUSoftware

/GNUARMToolChain

/17CourseInfo2PCSoftware17CourseInfo3ReferenceBooksComputerOrganizationandDesign:TheHardware/SoftwareInterface,PattersonandHennessySystemsoftware:anintroductiontosystemsprogramming,3rdedition,

LelandL.Beck.Compilers–Principles,Techniques,andTools,A.V.Aho,R.Sethi,andJ.D.Ullman.OperatingSystemConcepts,AbrahamSilberschatz.18CourseInfo3ReferenceBooks18OutlineBasicConceptsCourseInfoEmbeddedSystemsProgrammingSystems19OutlineBasicConcepts19Whatareembeddedsystems?Anythingthatusesamicroprocessorbutisn'tageneral-purposecomputerPDAs Set-topboxesTelevisions VideogamesRefrigerators CarsPlanes ElevatorsRemotecontrols AlarmsystemsMorethanjustacomputer;it'sacompletesystem20Whatareembeddedsystems?AnytWhatisanembeddedsystem?ComputerpurchasedaspartofsomeotherpieceofequipmentTypicallydedicatedsoftwareOftenreplacespreviouslyelectromechanicalcomponentsOftenno“real”keyboardOftenlimiteddisplayornogeneralpurposedisplaydeviceBut,everysystemisunique.Therearealwaysexceptions.21Whatisanembeddedsystem?ComWhyareembeddedsystemsimportant?EngineeringreasonsWhydoesasatelliteneedaWindowsprompt?DoestheMcDonald’sPOS(point-of-sale)terminalneedMacOS?Anydevicethatneedstobecontrolledcanbecontrolledbyamicroprocessor22WhyareembeddedsystemsimporWhyareembeddedsystemsimportant?MarketreasonsThegeneral-purposecomputingmarketisinbillionsofUS$Theembeddedsystemsmarketisalsoinbillionsof$~80MillionPCsvs.~3BillionEmbeddedCPUsannuallyEmbeddedmarketgrowing;PCmarketmostlysaturatedInyear2000,about$2,700ofeverycarwenttoelectronics23WhyareembeddedsystemsimporWhyareembeddedsystemsimportant?PedagogicalreasonsGeneral-purposesystemdesignersspecializeHWvs.SWEmbeddedsystemdesignersareoftenJackofmanytradesNeedtoknowhardware,software,andsomecombinationofnetworking,controltheoryandsignalprocessingbusinessmodels24WhyareembeddedsystemsimporEmbeddedSystems:AnIntroductionWhatmakesembeddedsystemsdifferent?Real-timeoperationManysetsofconstraintsondesignsSizeCostTimeReliabilityEnergySafetySecurity25EmbeddedSystems:AnIntroductAnEngineer’sView:AComputerMeasuredby:performance,costCompilers&OSmatters26AnEngineer’sView:AComputerAnEmbeddedComputerMeasuredby:cost,I/Oconnections,memorysize,performance27AnEmbeddedComputerMeasuredbAnEmbeddedControlSystemMeasuredby:Cost,timetomarket,performance,functionality,dependability28AnEmbeddedControlSystemMeasSomeEmbeddedSystemExamplesPocketremotecontrolRFtransmitter100KIPS,water/crushproof,fitsinpocket,5yearbatterylifeSoftwarehandcraftedforsmallsize(lessthan1KB)Industrialequipmentcontroller(e.g.,elevator;jetengine)1~10MIPSfor1to10CPUs,1~8MBmemorySafetycriticalsoftware;realtimecontrolloopsMilitarysignalprocessing(e.g.,Radar/Sonar)1GFLOPS,1GB/secI/O,32MBmemorySoftwarehandcraftedforextremelyhighperformance29SomeEmbeddedSystemExamplesPCategoriesofEmbeddedSystems1GeneralComputingApplicationssimilartodesktopcomputing,butinanembeddedpackageVideogames,settopboxes,wearablecomputers,automatictellersControlSystemsClosedloopfeedbackcontrolofrealtimesystemVehicleengines,chemicalprocesses,nuclearpower,flightcontrol30CategoriesofEmbeddedSystemsCategoriesofEmbeddedSystems2SignalProcessingComputationsinvolvinglargedatastreamsRadar,Sonar,videocompressionCommunication&NetworkingSwitchingandinformationtransmissionTelephonesystem,Internet31CategoriesofEmbeddedSystemsFunctionsofEmbeddedSystems1ControlLawsPIDcontrolFuzzylogic,...SequencingLogicFinitestatemachinesSwitchingmodesbetweencontrollawsSignalProcessingMultimediadatacompressionDigitalfiltering32FunctionsofEmbeddedSystems1FunctionsofEmbeddedSystems2ApplicationSpecificInterfacingButtons,bells,lights,...HighspeedI/OFaultResponseDetection&reconfigurationDiagnosis…33FunctionsofEmbeddedSystems2DistinctiveAttributes1Reactive:computationsoccurinresponsetoexternaleventsPeriodicevents(e.g.,rotatingmachineryandcontrolloops)Aperiodicevents(e.g.,buttonclosures)34DistinctiveAttributes1ReactivDistinctiveAttributes2Real-Time:timingcorrectnessispartofsystemcorrectnessHardreal-timeAbsolutedeadline,beyondwhichanswerisuselessMayincludeminimumtimeaswellasmaximumtimeSoftreal-timeMissingadeadlineisnotcatastrophicUtilityofanswerdegradeswithtimedifferencefromdeadlineExample:atrainisenteringanurbanarea...therailwaygateinthecityallowsautomotivetraffictogooverthetrackswhenshouldtherailwaygateclose?Ingeneral,RealTime!=“RealFast”35DistinctiveAttributes2Real-TiEmbeddedSystemConstraints1SmallSize,LowWeightHandheldelectronicsTransportationapplicationsweightcostsmoneyLowPowerBatterypowerfor8+hours(laptopsoftenlastonly2hours)LimitedcoolingmaylimitpowerevenifACpoweravailable36EmbeddedSystemConstraints1SmEmbeddedSystemConstraints2HarshEnvironmentHeat,vibration,shockPowerfluctuations,RFinterference,lightningWater,corrosion,physicalabuseSafetyCriticalOperationMustfunctioncorrectlyMustnotfunctionincorrectlyExtremeCostSensitivity$.05addsupover1,000,000units37EmbeddedSystemConstraints2HaEmbeddedSystemDesignViewAcomplexsetoftradeoffs:OptimizeformorethanjustspeedConsidermorethanjustthecomputerTakeintoaccountmorethanjustinitialproductdesignMulti-Discipline?ElectronicHardware?Software?MechanicalHardware?ControlAlgorithms?Humans?Society/InstitutionsMultiObjective?Dependability?Affordability?Safety?Security?Scalability?TimelinessMultiPhase?Requirements?Design?Manufacturing?Deployment?Logistics?Retirementxx38EmbeddedSystemDesignViewAcMissionCriticalApplications1LossofArianneinauguralflightinJune,1996Losta$400millionscientificpayload(therocketwasextra)EffortstoreducesystemcostsledtothefailureReuseofInertialReferenceSystemsoftwarefromAriane464bitfloatconvertedto16bitintassumednottooverflowImproperlyhandledexceptioncausedbyvariableoverflowduringNewflightprofile(thatwasn'tsimulatedbecauseofcost/schedule)39MissionCriticalApplications1MissionCriticalApplications2Exceptioncauseddualhardwareshutdown(softwaredoesn'tfail!)Whatreallyhappened?Thenarrowview:itwasasoftwarebug;fixitThebroadview:thelosswascausedbyalackofsystemrobustnessinanexceptional(unanticipated)situationManyembeddedsystemsmustberobust40MissionCriticalApplications2SoftwareDrivesDesignsHardwareismostlyarecurringcostCostproportionaltonumberofunitsmanufacturedSoftwareisa“onetime”nonrecurringengineeringdesigncost(NRE)Paidfor''onlyonce''Butbugfixesmaybeexpensive,orimpossibleCostisrelatedtocomplexity&numberoffunctionsMarketpressuresleadtofeaturecreepSoftwareIsNOTfree!!!!!41SoftwareDrivesDesignsHardwarReviewWhatisanembeddedsystem?Morethanjustacomputerit'sacompletesystemWhatmakesembeddedsystemsdifferent?Reactiveand/orreal-timeManysetsofconstraintsondesignsWhatembeddedsystemdesignersneedtoknow?Multi-objective:cost,dependability,performance,etc.Multidiscipline:hardware,software,electromechanical,etc.Life-cycle:specification,design,prototyping,deployment,support,retirement42ReviewWhatisanembeddedsystOutlineBasicConceptsCourseInfoEmbeddedSystemsProgrammingSystems43OutlineBasicConcepts43Howasourceprogramisexecuted?#defineGREETING“Hello,World!\n”intmain(){printf(GREETING);}44HowasourceprogramisexecutSourceModelvs.RealMachineRepresentationintextArbitraryvariablenamesRulesfornamescopeEverythinginmemoryFancyoperationsModeluniformacrosscomputersBinaryrepresentationAllnumericaladdressesNoaddressscopeHierarchicalmemoryLimitedoperationsSignificantdifferencebetweenprocessors45SourceModelvs.RealMachineRApproachesMachineIndependentMachineDependentHumanReadableHigh-LevelLanguages(C,C++,Java,Pascal)AssemblyLanguagesHumanUnreadablePseudoCode(Bytecode,P-code)MachineLanguages(x86,MIPS,ARM)46ApproachesMachineIndependentMFromSourcetoExecutableSourceCodePreprocessorPreprocessedCodeCompilerAssemblyCodeAssemblerObjectCodeLinkerExecutableCodeLoaderDebuggerLibraries47FromSourcetoExecutableSourcAnExampleProgramCProgram/*hello.c,asimpleexampleprogram*/#defineGREETING“Hello,World!\n”intmain(){printf(GREETING);}48AnExampleProgramCProgram48CPreprocessorPreprocesstheCsourceStripoutcommentsPerformtextualsubstitutionPreprocessoroutput#1“hello.c”intmain(){printf(“Hello,World!\n”);}49CPreprocessorPreprocesstheCCCompilerTranslatepreprocessedCintoassembly.file"hello.c".section.rodata.LC0:.string"Hello,World!\n".text.align2.globlmain.typemain,@functionmain:pushl%ebpmovl%esp,%ebpsubl$8,%espandl$-16,%espmovl$0,%eaxsubl%eax,%espsubl$12,%esppushl$.LC0callprintfaddl$16,%espleaveret.Lfe1:.sizemain,.Lfe1-main.ident"GCC:(GNU)3.220020903(RedHatLinux8.03.2-7)"50CCompilerTranslatepreprocessAssemblyLanguageRepresentationintextArbitraryvariablenamesRulesfornamescopeHierarchicalmemoryOperationsspecifictotargetprocessorModeldependentontargetsystem51AssemblyLanguageRepresentatioAssemblerConvertassemblyintoobjectfile1.file"hello.c"2.section.rodata3.LC0:4000048656C6C.string"Hello,World!\n"46F2C205746F726C644210A005.text6.align27.globlmain8.typemain,@function9main:10000055pushl%ebp11000189E5movl%esp,%ebp12000383EC08subl$8,%esp13000683E4F0andl$-16,%esp140009B800000000movl$0,%eax15000e29C4subl%eax,%esp16001083EC0Csubl$12,%esp1700136800000000pushl$.LC0180018E8FCFFFFFFcallprintf19001d83C410addl$16,%esp200020C9leave210021C3ret52AssemblerConvertassemblyintoLinkerLinktheobjectfilesandlibrariestoformanexecutableFixunresolvedaddress(callprintf)Putinstartupcode(crt0.o)thatcallsmainfunctionintmain(argc,argv,envp)Createexecutablefile53LinkerLinktheobjectfilesanLibrariesStartupRoutine(crt0.o)RequiredasitisthefirstpieceofusercodeexecutedSetupargumentsandenvironmentforyourmainfunctionCLibrary(glibc)Requiredastheyprovidefunctionsprintf,open,read,close,etc.UserLibraries54LibrariesStartupRoutine(crt0LoaderLoadexecutablefileintomemoryforexecutionAllocatememoryspacefromoperatingsystemLoadexecutablefileintoallocatedmemoryPerformtherelocationofloadedprogramBootstrapLoaderAnsmall

programwhichenablestheloading

oflarger,morecomplexprograms,suchasthe

boot

loaderforan

operatingsystem.55LoaderLoadexecutablefileintDebuggerAllowyoutoseewhatisgoingon“inside”anotherprogramwhileitexecutes.Startyourprogram,specifyinganythingthatmightaffectitsbehavior.Makeitstoponspecifiedconditions.Examinewhathashappened,whenyourprogramhasstopped.Changethingsinyourprogram,soyoucancorrecttheeffectsofonebugandgoon.56DebuggerAllowyoutoseewhatDebuggingInformationThedebuggerneedinformationtomapmachinecodebacktooriginalprogramDebugginginformationmapsCodeaddressestolinesinsourcecodeDataaddressestovariablesRegisterstovariablesDatainmemoryintomeaningfultypes57DebuggingInformationThedebugDevelopmentToolsPreprocessorCompilerAssemblerLinkerLibrariesLoaderDebugger...,etc.58DevelopmentToolsPreprocessor5Whereisthebugreportedbycompiler?#defineGREETING“Hello,World!\n”)intmain(){printf(GREETING);}#1“hello.c”intmain(){printf(“Hello,World!\n”));}Whyaretheseimportant?59WhereisthebugreportedbycHowtodevelopembeddedsoftware?#defineGREETING“Hello,World!\n”intmain(){printf(GREETING);}60HowtodevelopembeddedsoftwaCrossDevelopmentItisusuallypreferredtodevelopsoftwareonfasterandbetterhostcomputersTargetsystemanddevelopmenthostmaybecompletelydifferentDevelopmenthost:PCTargetsystem:PDAMayrequireadifferentbreedoftoolsNativedevelopmenttoolsCrossdevelopmenttools61CrossDevelopmentItisusuallyCoreCrossDevelopmentToolsCrossCompiler/Assembler/Linker/LoaderAssembly,objectandexecutablefileformatsmightbeverydifferentfromnativesystemCrossDevelopmentLibrariesNeedspeciallowlevelcomponentstoberewrittenforeachdifferenttargetsystemCrossDebuggerItneedstorunonbothtargetandhostThetwohalvesneedtocommunicateviaRPC62CoreCrossDevelopmentToolsCrCrossDevelopmentToolsPreprocessorCompilerAssemblerLinkerLibrariesLoaderDebuggerArchiverSimulatorEmulator63CrossDevelopmentToolsPreprocArchiverArchiveAsinglefileholdingacollectionofotherfilesinastructurethatmakesitpossibletoretrievetheoriginalindividualfiles.Mostoftenusedaslibrariesholdingcommonlyneededsubroutines.ArchiverAprogramthatallowsyoutocreate,modify,andextractfromarchives.64ArchiverArchive64SimulatorSoftwaretoolallowsdesignerstoanalyzethesystembehaviorExaminesimulatedhardwareeventswhichcausesoftwaretotakeactions(e.g.,interrupts)Devicescanbemodeled(e.g.,DMA)SamesoftwareasfinalsystemDoesnotrunatfull(target)speedGoodforfindingsoftwarebugs65SimulatorSoftwaretoolallowsEmulatorHardwareandsoftwaretoolsallowdesignerstoanalyzethesystemNormallyacriticalcomponentissubstitutedbya“plug”attachedtoemulatorExecuteatfullspeedGoodforfindinghardwarebugs66EmulatorHardwareandsoftware嵌入式處理器架構(gòu)與程式設(shè)計王建民中央研究院資訊所2008年7月嵌入式處理器架構(gòu)與程式設(shè)計王建民ContentsIntroductionComputerArchitectureARMArchitectureDevelopmentToolsGNUDevelopmentToolsARMInstructionSetARMAssemblyLanguageARMAssemblyProgrammingGNUARMToolChainInterruptsandMonitor68ContentsIntroduction2Lecture1

IntroductionLecture1

IntroductionOutlineBasicConceptsCourseInfoEmbeddedSystemsProgrammingSystems70OutlineBasicConcepts4ComputerSystemsHardwareFirmwareSoftwareApplicationsoftwareSystemsoftwareProgrammingsystemsUtilitiesOperatingsystems71ComputerSystemsHardware5ComputerSoftwareApplicationsoftwareisdesignedtosolveaspecificproblem.Systemsoftwareisintendedtosupporttheoperationanduseofthecomputeritself.Provideageneralprogrammingenvironment.Providefunctionsusedbyapplicationsoftwareandusers.Providemechanismstosharethehardwareinanorderlyfashion.72ComputerSoftwareApplicationsFoundationsofComputerSystemsUsersApplicationSoftwareProgrammingSystemHardwareOperatingSystem73FoundationsofComputerSystemEvolutionofProgramming1MachineLanguageBinaryformat

11100101100111110001000000010000 11100101100111110000000000001000 11100000100000010101000000000000 11100101100011110101000000001000Hexadecimalformat E59F1010 E59F0008 E0815000 E58F500874EvolutionofProgramming1MachiEvolutionofProgramming2AssemblyLanguageMnemoniccodes E59F1010 LDR R1,num1 E59F0008 LDR R0,num2 E0815000 ADD R5,R1,R0 E58F5008 STR R5,sumHigh-LevelLanguageClanguage sum=num1+num2;75EvolutionofProgramming2AssemHowinstructionsareexecuted?...E59F1010E59F0008E0815000E59F5008...76Howinstructionsareexecuted?Howasourceprogramiscompiled?intmain(){...

sum=num1+num2;...}...E59F1010E59F0008E0815000E59F5008...77HowasourceprogramiscompilHowtodevelopembeddedsoftware?#defineGREETING“Hello,World!\n”intmain(){printf(GREETING);}78HowtodevelopembeddedsoftwaWhatareyougoingtolearn?Howinstructionsareexecuted?ComputerArchitectureHowasourceprogramiscompiled?DevelopmenttoolsHowtodevelopembeddedsoftware?EmbeddedprocessorsAssemblylanguageandprogrammingCrossdevelopmentSoftwareinterrupts79Whatareyougoingtolearn?HoOutlineBasicConceptsCourseInfoEmbeddedSystemsProgrammingSystems80OutlineBasicConcepts14PrerequisitesandRelatedCoursesPrerequisites計算機概論C/C++程式設(shè)計資料結(jié)構(gòu)RelatedCourses計算機結(jié)構(gòu)系統(tǒng)程式作業(yè)系統(tǒng)嵌入式系統(tǒng)81PrerequisitesandRelatedCourCourseInfo1RelatedLinksSlidesanddocuments

.tw/~cmwang/arm/TheARMprocessor

/GNUsoftware

/Opensourcesoftwareforhandheldsystems

/82CourseInfo1RelatedLinks16CourseInfo2PCSoftwareLinux

/Cygwin

/GNUSoftware

/GNUARMToolChain

/83CourseInfo2PCSoftware17CourseInfo3ReferenceBooksComputerOrganizationandDesign:TheHardware/SoftwareInterface,PattersonandHennessySystemsoftware:anintroductiontosystemsprogramming,3rdedition,

LelandL.Beck.Compilers–Principles,Techniques,andTools,A.V.Aho,R.Sethi,andJ.D.Ullman.OperatingSystemConcepts,AbrahamSilberschatz.84CourseInfo3ReferenceBooks18OutlineBasicConceptsCourseInfoEmbeddedSystemsProgrammingSystems85OutlineBasicConcepts19Whatareembeddedsystems?Anythingthatusesamicroprocessorbutisn'tageneral-purposecomputerPDAs Set-topboxesTelevisions VideogamesRefrigerators CarsPlanes ElevatorsRemotecontrols AlarmsystemsMorethanjustacomputer;it'sacompletesystem86Whatareembeddedsystems?AnytWhatisanembeddedsystem?ComputerpurchasedaspartofsomeotherpieceofequipmentTypicallydedicatedsoftwareOftenreplacespreviouslyelectromechanicalcomponentsOftenno“real”keyboardOftenlimiteddisplayornogeneralpurposedisplaydeviceBut,everysystemisunique.Therearealwaysexceptions.87Whatisanembeddedsystem?ComWhyareembeddedsystemsimportant?EngineeringreasonsWhydoesasatelliteneedaWindowsprompt?DoestheMcDonald’sPOS(point-of-sale)terminalneedMacOS?Anydevicethatneedstobecontrolledcanbecontrolledbyamicroprocessor88WhyareembeddedsystemsimporWhyareembeddedsystemsimportant?MarketreasonsThegeneral-purposecomputingmarketisinbillionsofUS$Theembeddedsystemsmarketisalsoinbillionsof$~80MillionPCsvs.~3BillionEmbeddedCPUsannuallyEmbeddedmarketgrowing;PCmarketmostlysaturatedInyear2000,about$2,700ofeverycarwenttoelectronics89WhyareembeddedsystemsimporWhyareembeddedsystemsimportant?PedagogicalreasonsGeneral-purposesystemdesignersspecializeHWvs.SWEmbeddedsystemdesignersareoftenJackofmanytradesNeedtoknowhardware,software,andsomecombinationofnetworking,controltheoryandsignalprocessingbusinessmodels90WhyareembeddedsystemsimporEmbeddedSystems:AnIntroductionWhatmakesembeddedsystemsdifferent?Real-timeoperationManysetsofconstraintsondesignsSizeCostTimeReliabilityEnergySafetySecurity91EmbeddedSystems:AnIntroductAnEngineer’sView:AComputerMeasuredby:performance,costCompilers&OSmatters92AnEngineer’sView:AComputerAnEmbeddedComputerMeasuredby:cost,I/Oconnections,memorysize,performance93AnEmbeddedComputerMeasuredbAnEmbeddedControlSystemMeasuredby:Cost,timetomarket,performance,functionality,dependability94AnEmbeddedControlSystemMeasSomeEmbeddedSystemExamplesPocketremotecontrolRFtransmitter100KIPS,water/crushproof,fitsinpocket,5yearbatterylifeSoftwarehandcraftedforsmallsize(lessthan1KB)Industrialequipmentcontroller(e.g.,elevator;jetengine)1~10MIPSfor1to10CPUs,1~8MBmemorySafetycriticalsoftware;realtimecontrolloopsMilitarysignalprocessing(e.g.,Radar/Sonar)1GFLOPS,1GB/secI/O,32MBmemorySoftwarehandcraftedforextremelyhighperformance95SomeEmbeddedSystemExamplesPCategoriesofEmbeddedSystems1GeneralComputingApplicationssimilartodesktopcomputing,butinanembeddedpackageVideogames,settopboxes,wearablecomputers,automatictellersControlSystemsClosedloopfeedbackcontrolofrealtimesystemVehicleengines,chemicalprocesses,nuclearpower,flightcontrol96CategoriesofEmbeddedSystemsCategoriesofEmbeddedSystems2SignalProcessingComputationsinvolvinglargedatastreamsRadar,Sonar,videocompressionCommunication&NetworkingSwitchingandinformationtransmissionTelephonesystem,Internet97CategoriesofEmbeddedSystemsFunctionsofEmbeddedSystems1ControlLawsPIDcontrolFuzzylogic,...SequencingLogicFinitestatemachinesSwitchingmodesbetweencontrollawsSignalProcessingMultimediadatacompressionDigitalfiltering98FunctionsofEmbeddedSystems1FunctionsofEmbeddedSystems2ApplicationSpecificInterfacingButtons,bells,lights,...HighspeedI/OFaultResponseDetection&reconfigurationDiagnosis…99FunctionsofEmbeddedSystems2DistinctiveAttributes1Reactive:computationsoccurinresponsetoexternaleventsPeriodicevents(e.g.,rotatingmachineryandcontrolloops)Aperiodicevents(e.g.,buttonclosures)100DistinctiveAttributes1ReactivDistinctiveAttributes2Real-Time:timingcorrectnessispartofsystemcorrectnessHardreal-timeAbsolutedeadline,beyondwhichanswerisuselessMayincludeminimumtimeaswellasmaximumtimeSoftreal-timeMissingadeadlineisnotcatastrophicUtilityofanswerdegradeswithtimedifferencefromdeadlineExample:atrainisenteringanurbanarea...therailwaygateinthecityallowsautomotivetraffictogooverthetrackswhenshouldtherailwaygateclose?Ingeneral,RealTime!=“RealFast”101DistinctiveAttributes2Real-TiEmbeddedSystemConstraints1SmallSize,LowWeightHandheldelectronicsTransportationapplicationsweightcostsmoneyLowPowerBatterypowerfor8+hours(laptopsoftenlastonly2hours)LimitedcoolingmaylimitpowerevenifACpoweravailable102EmbeddedSystemConstraints1SmEmbeddedSystemConstraints2HarshEnvironmentHeat,vibration,shockPowerfluctuations,RFinterference,lightningWater,corrosion,physicalabuseSafetyCriticalOperationMustfunctioncorrectlyMustnotfunctionincorrectlyExtremeCostSensitivity$.05addsupover1,000,000units103EmbeddedSystemConstraints2HaEmbeddedSystemDesignViewAcomplexsetoftradeoffs:OptimizeformorethanjustspeedConsidermorethanjustthecomputerTakeintoaccountmorethanjustinitialproductdesignMulti-Discipline?ElectronicHardware?Software?MechanicalHardware?ControlAlgorithms?Humans?Society/InstitutionsMultiObjective?Dependability?Affordability?Safety?Security?Scalability?TimelinessMultiPhase?Requirements?Design?Manufacturing?Deployment?Logistics?Retirementxx104EmbeddedSystemDesignViewAcMissionCriticalApplications1LossofArianneinauguralflightinJu