Embedded System Design

Contents

Preface

Importance of embedded systems

Audience for this book

Curriculum integration of embedded systems

Acknowledgments

Chapter 1 INTRODUCTION

1.1 Terms and scope

1.2 Application areas

1.3 Growing importance of embedded systems

1.4 Structure of this book

Chapter 2 SPECIFICATIONS

2.1 Requirements

2.2 Models of computation

2.3 StateCharts

2.3.1 Modeling of hierarchy

2.3.2 Timers

2.3.3 Edge labels and StateCharts semantics

2.3.4 Evaluation and extensions

2.4 General language characteristics

2.4.1 Synchronous and asynchronous languages

2.4.2 Process concepts

2.4.3 Synchronization and communication

2.4.4 Specifying timing

2.4.5 Using non-standard I/O devices

2.5 SDL

2.6 Petri nets

2.6.1 Introduction

2.6.2 Condition/event nets

2.6.3 Place/transition nets

2.6.4 Predicate/transition nets

2.6.5 Evaluation

2.7 Message Sequence Charts

2.8 UML

2.9 Process networks

2.9.1 Task graphs

2.9.2 Asynchronous message passing

2.9.3 Synchronous message passing

2.10 Java

2.11 VHDL

2.11.1 Introduction

2.11.2 Entities and architectures

2.11.3 Multi-valued logic and IEEE 1164

2.11.4 VHDL processes and simulation semantics

2.12 SystemC

2.13 Verilog and SystemVerilog

2.14 SpecC

2.15 Additional languages

2.16 Levels of hardware modeling

2.17 Language comparison

2.18 Dependability requirements

Chapter 3 EMBEDDED SYSTEM HARDWARE

3.1 Introduction

3.2 Input

3.2.1 Sensors

3.2.2 Sample-and-hold circuits

3.2.3 A/D-converters

3.3 Communication

3.3.1 Requirements

3.3.2 Electrical robustness

3.3.3 Guaranteeing real-time behavior

3.3.4 Examples

3.4 Processing Units

3.4.1 Overview

3.4.2 Application-Speci.c Circuits (ASICs)

3.4.3 Processors

3.4.4 Recon.gurable Logic

3.5 Memories

3.6 Output

3.6.1 D/A-converters

3.6.2 Actuators

Chapter 4 STANDARD SOFTWARE: EMBEDDED OPERATING SYSTEMS, MIDDLEWARE, AND SCHEDULING

4.1 Prediction of execution times

4.2 Scheduling in real-time systems

4.2.1 Classi.cation of scheduling algorithms

4.2.2 Aperiodic scheduling

4.2.3 Periodic scheduling

4.2.4 Resource access protocols

4.3 Embedded operating systems

4.3.1 General requirements

4.3.2 Real-time operating systems

4.4 Middleware

4.4.1 Real-time data bases

4.4.2 Access to remote objects

Chapter 5 IMPLEMENTING EMBEDDED SYSTEMS: HARDWARE/SOFTWARE CODESIGN

5.1 Task level concurrency management

5.2 High-level optimizations

5.2.1 Floating-point to .xed-point conversion

5.2.2 Simple loop transformations

5.2.3 Loop tiling/blocking

5.2.4 Loop splitting

5.2.5 Array folding

5.3 Hardware/software partitioning

5.3.1 Introduction

5.3.2 COOL

5.4 Compilers for embedded systems

5.4.1 Introduction

5.4.2 Energy-aware compilation

5.4.3 Compilation for digital signal processors

5.4.4 Compilation for multimedia processors

5.4.5 Compilation for VLIW processors

5.4.6 Compilation for network processors

5.4.7 Compiler generation, retargetable compilers and design space exploration

5.5 Voltage Scaling and Power Management

5.5.1 Dynamic Voltage Scaling

5.5.2 Dynamic power management (DPM)

5.6 Actual design .ows and tools

5.6.1 SpecC methodology

5.6.2 IMEC tool .ow

5.6.3 The COSYMA design .ow

5.6.4 Ptolemy II

5.6.5 The OCTOPUS design .ow

Chapter 6 VALIDATION

6.1 Introduction

6.2 Simulation

6.3 Rapid Prototyping and Emulation

6.4 Test

6.4.1 Scope

6.4.2 Design for testability

6.4.3 Self-test programs

6.5 Fault simulation

6.6 Fault injection

6.7 Risk- and dependability analysis

6.8 Formal Veri.cation

References

List of Figures

Index