01-overview.pdf

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Programming Embedded Systems

Lecture 1

Introduction to the course

Monday Jan 16, 2012

Philipp RümmerUppsala University

[email protected]



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e!t"re o"tline

● #rganisation

● $ea!hers

● e!t"res, e%er!ises, labs, pro&e!t● $opi!s ' (o!"s o( the !o"rse

● Re!ap o( the ) lang"age



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*bo"t mysel( +Philipp Rümmer

● *t UU sin!e 2011,resear!h assistant inembedded systems gro"p

● Main ba!-gro"nd.(ormal methods, veri(i!ation

● In this course: lectures

http://www.philipp.ruemmer.org

[email protected]



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*bo"t /ai amp-a

● *t UU sin!e 2012,le!t"rer in embeddedsystems gro"p

● In this course:lectures + exercises +labs

http://www.it.uu.se/katalog/kaila126

[email protected]



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*bo"t #thmane Reine

● Ph st"dent in veri(i!ationgro"p

●

Will take care of exercises + labs

http://www.it.uu.se/katalog/othre279

[email protected]



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Course topics



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Re!ap. Embedded Systems

● )omp"ter systemsintegrated into alarger devi!e

●

ard3are ' software tailored to a parti!"larp"rpose

● *bo"t 99% o( all

!omp"ters areembeddedPervasive:Cell phones, cameras, trains,airplanes, traffic lights,home appliances, robots,industrial machines, etc.



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Embedded systems +2

● System. hardware + software

● Often constrained in vario"s 3ays.

● $iming +real4time re5"irements● Severely limited reso"r!es.

3eight, po3er, memory,!omp"tation po3er

● ave to be !ost4e((e!tive



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Reliability

● Embedded systems are o(tencomplex and safetycritical

Millions #) 7ail"res might be (atal

● !ow to ensure reliability"+Re!"rring topi! in this !o"rse

● )onne!ted to vario"s resear!h areas.

e8g8, veri(i!ation, testing



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)o"rse lo!ation.hard3are9so(t3are !o4design

"bstract s#stemspecification/

model

Co$design

%ard&aredesign

'oft&are

design

'#stem

(mbedded s#stems re)uirehard&are and soft&areto be designed simultaneousl#*

+his course

Course coering -more co$design*Microcontroller Programming, Uwe Zimmermann



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$opi! 1. Pra!ti!al st"((

● evelopment (or embedded systems.hardware features#programming#testing# debugging#simulation

● Mainly !onsidered.

*RM )#R$E: M;● <E ' !ompiler.

/eil9*RM =>ision



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/eil9*RM =>ision

● <nstalled on ?indo3s lab !omp"ters+in 1;1;

●

<( yo" 3ant to "se yo"r o3n !omp"ter.eval"ation li!en!e (romhttp.993338-eil8!om9"vision9+s"((i!ient (or this !o"rse



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$opi! 2. #perating Systems

● #S simpli(ies development o( systems.

● M"lti4tas-ing, s!hed"ling,tas- pre4emption, deadlines

● Syn!hronisation, shared reso"r!es

● rivers (or !omm"ni!ation, periphery

● <nterr"pt handling

● arge variety o( #Ss !ommon (orembedded systems

● e8g, yn%#S, >%?or-s, ?indo3s )E, R$4in"%,7reeR$#S, E)#S, #SE, @A:, <ntegrity, B



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Main #S "sed here. 7reeR$#S

● Small ind"strial #S,open4so"r!e +CP

●

) *P<● Satis(ies hard real4time re5"irements

● Pre4emptive9!ooperative m"lti4tas-ing,

!o4ro"tines● 7i%ed4priority s!hed"ler

● Plat(orms. *RM, %D6, 7rees!ale, 888

http://www.freertos.org/



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7reeR$#S +2

● ?ill be introd"!ed in le!t"res,"sed (or assignments ' labs ' pro&e!t

● S"pporting boo-.Ri!hard arry, “Using the FreeRTOSReal Time Kernel - a Practical Guide”



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Real4time in"%

● arger, more po3er("l #S

● <ntrod"!ed to3ards end o( period ;



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Related !o"rse topi!s

● <nterr"pt handling

● *!!essing ports,

devi!es li-e sensors, a!t"ators, b"ses● Memory management

● Syn!hronisation,

inter4tas- !omm"ni!ation



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$opi! ;. programming lang8

● Which languageto write embeddedsoftware in"

● $raditional.lo34level lang"ages,)

● $rends. highle$el#

declarati$e# modelbased# componentbasedlang"ages

C

Simulink



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o34level programming

● Most o( the !o"rse 3ill be based on C

● /no3ledge o( ) programming is needed

(or the !o"rse● ?e 3ill give some re!ap and e%er!ises

in the beginning o( the !o"rse



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"stre, syn!hrono"s prog8

● ustre, Esterel, Signal

● E%e!"tion governed by a global !lo!-,

stati! s!hed"ling● eterminism is g"aranteed

+despite !on!"rren!y

●

Sometimes also"sed (ormodelling9prototyping



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igh4level imperative lang8

● &ealtime 'a$a, *da FG

● igh4level heap model

● S!oped memory+garbage !olle!tors are di((i!"lt in real4time systems

●

"ilt4in real4time primitives



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Craphi!al lang"ages

●

Matlab9Sim"lin-, S)*E9"stre● Mostly done in !o"rse

“Model-ased design o! emeddedso!t"are#” $engt %onsson



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$opi! H. !orre!tness ' reliability

● Re5"irements, sa(ety properties

● )orre!tness.

sim"lation, testing, deb"gging,veri(i!ation

● 7a"lt toleran!e, red"ndan!y

●

eterminism, predi!tability● Pit(alls 3ith arithmeti! datatypes

+(loating4point, (i%ed4point



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)o"rse lo!ation.!onsidered hard3are

8$bit micro$controllers-e.g., 8!51, "0, 1i 0"

larger micro$controllers-e.g., "0, C32, 1i 0"

tailor$made hard&are,signal processors, ...

general$purpose processors-e.g,. 86, o&erC

+his course

icrocontroller

rogramming,ars (ricsson

9igital electronicsdesign &ith %9



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)o"rse lo!ation.so(t3are ar!hite!t"res

no operating s#stem,simple control loop

dedicated 0+:'

-e.g., #n:', ;or<s,;indo&s C(

generic :' etended for 0+

-e.g., 0+$inu

generic :'-e.g., =ni, ;indo&s

icrocontrollerrogramming,ars (ricsson

+his course

:perating s#stemscourses

:'> 1!!3.1b-standard for real$time :'s



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)o"rse lo!ation.programming lang"ages

assembler

C -? etensions

real$time languages-e.g., "da, 0eal$time @aa

data$flo& languages-e.g., ustre, 'imulin<, odelica

icrocontrollerrogramming,=&e Aimmermann

+his course

odel$based designof embeddedsoft&are,engt @onsson

s#nchronous languages-e.g., (sterel, ustre, 'ignal



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Organisationof the course



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Main str"!t"re o( the !o"rse

Part 1period 3, &ee< 3$11

15 lectures -B6 assignments, 1 lab -3hp

Main topics:operating s#stems, programming languages, deelopment,debugging, testing, technolog# for embedded s#stems

Part 2period 4, &ee< 12$21

Embee s!stems pro"ect -4hp

E#am: Ma! 2$t% -3hp



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e!t"res

● Aormally 2 le!t"res per 3ee-,2 ho"rs ea!h

● Sometimes t"torial4style+bla!-4board ' !omp"ter,some more theoreti! +slides

● e!t"re material +slides, e%amples3ill be available on !o"rse pagehttp://www.it.uu.se/edu/course/homepage/pins/vt12



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E%er!ises

● ?ee-ly, $h"rsdays or 7ridays+!he!- 3ebpage (or e%a!t time

●

Mostly (or dis!"ssing assignments 'general dis!"ssions

●

7irst e%er!ise.(riday 'an )*th# :,- . ,/://# ,)0-

1no exercise this week23



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*ssignments

● 6 3ee-ly assignments, sol$ed bystudents indi$idually

● Craded 3ith points. 0 4 20

● $o pass an assignment,≥ ,) points have to be rea!hed

● ≥ 0 assignments ha$e to be

handed in + passed

● *ssignment sol"tions are dis!"ssed ine%er!ises

b



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ab● 4one in groups 1) people3

● >ario"s aspe!ts o( developingan embedded system +elevatorsystem. s&eci!ication# design#

im&lementation# testing● &unning weeks - ,/

● one "sing sim"lator

no real embedded hard3are

ore infos later ? on course page



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ab +2

● ?e 3ill give lab s"pport on!e a 3ee-+starting 3ee- G

●

What you should do already now:● )hoose yo"r gro"ps

● Sign "p (or gro"ps onstudentportalen.uu.se

ore infos later ? on course page



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Pro&e!t +period H

● arger gro"ps +;4H people

● Use o( a!t"al Iembedded hard3are

●

5ro6ect results willby graded 7# 8# 0# -+ part o( overall!o"rse grade later

● More details later



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E%am

● May 2Gth

● Craded U, ;, H, G

● ?ill be short +probably 2 ho"rs● Aot all topi!s (rom the !o"rse 3ill be

relevant (or e%am +sin!e some are

tested in assignments ' pro&e!t● 5recise list of rele$ant topics will

be made a$ailable on course page

) d



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)o"rse grade

roDect grade-groups, 3, 4, 5

(am grade-indiidual, 3, 4, 5

ndiidualoerall course grade

-3, 4, 5

"erage-rounding up&ard



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What remains



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7"rther in(ormation

● )o"rse page.http.993338it8""8se9ed"9!o"rse9homepage9pins9vt12

● here is a forum for uestions on

studentportalen;se

&lwa!s c%eck t%e 'orumbe'ore sening us an email(



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7"rther reading

● <=n embedded software primer<avid E8 Simon, *ddison4?esley, 1FFF

● <!ard &eal ime Computing>ystems 5redictable >cheduling=lgorithms and =pplications<Ciorgio "ttao, Springer, 200G

● <7sing the (ree&O> &eal ime?ernel a 5ractical @uide<Ri!hard arry, generi! )#R$E: M; ed8



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Ae%t le!t"re

● ?ednesday, Jan 1D, 10.1G, PolK12HG

● <ntro to (i%ed4priority s!hed"ling

●

<ntro ' t"torial to 7reeR$#S

4SPC



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Rest o( this le!t"re

● @"estionnaire

● Re!ap o( ) programming

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