Embedded Computer Systems Chapter1: Embedded Computing Eng. Husam Y. Alzaq Islamic University of...

Embedded Computer Systems

Chapter1: Embedded ComputingEng. Husam Y. Alzaq

Islamic University of Gaza

2© 2010 Husam Alzaq

Introduction Why do we embed microprocessors in

systems? What are embedded computing systems? Challenges in embedded computing system

design. Design methodologies. System Specification

Computers as Components, 2nd ed.


Definition Embedded computing system: any device

that includes a programmable computer but is not itself a general-purpose computer.

Take advantage of application characteristics to optimize the design: don’t need all the general-purpose bells and

whistles.



Embedding a computer

CPU

mem

input

output analog

analog

embeddedcomputer



Examples Cell phone. Printer. Automobile: engine, brakes, dash, etc. Airplane: engine, flight controls, nav/comm. Digital television. Household appliances.



Early history Late 1940’s: MIT Whirlwind computer was

designed for real-time operations. Originally designed to control an aircraft simulator.

First microprocessor was Intel 4004 in early 1970’s.

HP-35 calculator used several chips to implement a microprocessor in 1972.



Early history, cont’d. Automobiles used microprocessor-based

engine controllers starting in 1970’s. Control fuel/air mixture, engine timing, etc. Multiple modes of operation: warm-up, cruise, hill

climbing, etc. Provides lower emissions, better fuel efficiency.



Microprocessor varieties Microcontroller: includes I/O devices, on-

board memory. Digital signal processor (DSP):

microprocessor optimized for digital signal processing.

Typical embedded word sizes: 8-bit, 16-bit, 32-bit.



Application examples Simple control: front panel of microwave

oven, etc. Canon EOS 3 has three microprocessors.

32-bit RISC CPU runs autofocus and eye control systems.

Digital TV: programmable CPUs + hardwired logic for video/audio decode, menus, etc.


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Application areas (1)

Aerospace Navigation systems, automatic landing systems,

flight attitude controls, engine controls, space exploration (e.g., the Mars Pathfinder).

Computers as Components, 2nd ed.© 2010 Husam Alzaq

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Automotive Fuel injection control, passenger environmental

controls, anti-lock braking, air bag controls, GPS mapping.


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Children's Toys Nintendo's "Game Boy", Mattel's "My Interactive

Pooh", Tiger Electronics’ "Furby".


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Motorcycles

Trains


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Telecommunication Satellites; network routers, switches, hubs.


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Home Dishwashers, microwave ovens, VCRs,

televisions, stereos, fire/security alarm systems, lawn sprinkler controls, thermostats, cameras, clock radios, answering machines.


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Office Automation FAX machines, copiers, telephones, and cash

registers.


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Consumerelectronics


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Personal Personal Digital Assistants (PDAs), pagers, cell

phones, wristwatches, videogames, portable MP3 players, GPS.


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Medical Imaging systems (e.g., XRAY, MRI, and

ultrasound), patient monitors, and heart pacers.


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• Smart buildings• Smart buildings

• Fabrication equipment• Fabrication equipment


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• Robotics• Robotics

„Pipe-climber“ Robot „Johnnie“ (Courtesy and ©: H.Ulbrich, F. Pfeiffer, TU München)


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Industrial Elevator controls, surveillance systems

Robotics

Robot „Johnnie“ (Courtesy and ©: H.Ulbrich, F. Pfeiffer, TU München)


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Pedometer Obvious computer work:

Count steps Keep time Averages etc.

Hard computer work: Actually identify when a step is

taken Sensor feels motion of device,

not of user feet


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Mobile phones Multiprocessor

8-bit/32-bit for UI DSP for signals 32-bit in IR port 32-bit in Bluetooth

8-100 MB of memory All custom chips Power consumption &

battery life depends on software


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Telecom Switch Rack-based

Control cards IO cards DSP cards ...

Optical & copper connections

Digital & analog signals


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Sewing Machine User interface

Embroidery patterns Touch-screen control

”Smart” Sets pressure of foot depending

on task Raise foot when stopped

New functions added by upgrading the software


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Forestry Machines

Networked computer system Controlling arms & tools Navigating the forest Recording the trees

harvested Crucial to efficient work

Processors 16-bit processors in a

network


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Operator Panel Embedded PC

Graphical display Touch panel Joystick Buttons Keyboard

But tough enough to be “out in the woods”


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Extremely Large Functions requiring

computers: Radar Weapons Damage control Navigation basically everything

Computers: Large servers 1000s of processors


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Inside your PC Custom processors

Graphics, sound 32-bit processors

IR, Bluetooth Network, WLAN Harddisk RAID controllers

8-bit processors USB Keyboard, mouse


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Cars Functions by embedded processing:

ABS: Anti-lock braking systems ESP: Electronic stability control Airbags Efficient automatic gearboxes Theft prevention with smart keys Blind-angle alert systems ... etc ...


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Cars Large diversity in processor types:

8-bit – door locks, lights, etc. 16-bit – most functions 32-bit – engine control, airbags

Form follows function Processing where the action is Sensors and actuators distributed all over the

vehicle


33Computers as Components, 2nd ed.

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© 2010 Husam Alzaq Computers as Components, 2nd ed.

Automotive embedded systems Today’s high-end automobile may have 100

microprocessors: 4-bit microcontroller checks seat belt; microcontrollers run dashboard devices; 16/32-bit microprocessor controls engine.


BMW 850i brake and stability control system Anti-lock brake system (ABS): pumps brakes

to reduce skidding. Automatic stability control (ASC+T): controls

engine to improve stability. ABS and ASC+T communicate.

ABS was introduced first---needed to interface to existing ABS module.


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BMW 850i, cont’d.

brake

sensor

brake

sensor

brake

sensor

brake

sensor

ABShydraulic

pump


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Characteristics of embedded systems Sophisticated functionality. Real-time operation. Low manufacturing cost. Low power. Designed to tight deadlines by small teams.


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© 2010 Husam Alzaq

Functional complexity Often have to run sophisticated algorithms or

multiple algorithms. Cell phone, laser printer.

Often provide sophisticated user interfaces.


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© 2010 Husam Alzaq

Real-time operation Must finish operations by deadlines.

Hard real time: missing deadline causes failure. Soft real time: missing deadline results in

degraded performance. Many systems are multi-rate: must handle

operations at widely varying rates.


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© 2010 Husam Alzaq

Non-functional requirements Many embedded systems are mass-market

items that must have low manufacturing costs. Limited memory, microprocessor power, etc.

Power consumption is critical in battery-powered devices. Excessive power consumption increases system

cost even in wall-powered devices.


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Design teams Often designed by a small team of designers. Often must meet tight deadlines.

6 month market window is common. Can’t miss back-to-school window for calculator.


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Why use microprocessors? Alternatives: field-programmable gate arrays

(FPGAs), custom logic, etc. Microprocessors are often very efficient: can

use same logic to perform many different functions.

Microprocessors simplify the design of families of products.


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The performance paradox Microprocessors use much more logic to

implement a function than does custom logic. But microprocessors are often at least as

fast: heavily pipelined; large design teams; aggressive VLSI technology.


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Power Custom logic uses less power, but CPUs have

advantages: Modern microprocessors offer features to help

control power consumption. Software design techniques can help reduce

power consumption. Heterogeneous systems: some custom logic for

well-defined functions, CPUs+software for everything else.


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Platforms Embedded computing platform: hardware

architecture + associated software. Many platforms are multiprocessors. Examples:

Single-chip multiprocessors for cell phone baseband.

Automotive network + processors.


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The physics of software Computing is a physical act.

Software doesn’t do anything without hardware. Executing software consumes energy,

requires time. To understand the dynamics of software

(time, energy), we need to characterize the platform on which the software runs.


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What does “performance” mean?

In general-purpose computing, performance often means average-case, may not be well-defined.

In real-time systems, performance means meeting deadlines. Missing the deadline by even a little is bad. Finishing ahead of the deadline may not help.


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Characterizing performance We need to analyze the system at several

levels of abstraction to understand performance: CPU. Platform. Program. Task. Multiprocessor.


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Challenges in embedded system design How much hardware do we need?

How big is the CPU? Memory? How do we meet our deadlines?

Faster hardware or cleverer software? How do we minimize power?

Turn off unnecessary logic? Reduce memory accesses?


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Challenges, etc. Does it really work?

Is the specification correct? Does the implementation meet the spec? How do we test for real-time characteristics? How do we test on real data?

How do we work on the system? Observability, controllability? What is our development platform?


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Design methodologies A procedure for designing a system. Understanding your methodology helps you

ensure you didn’t skip anything. Compilers, software engineering tools,

computer-aided design (CAD) tools, etc., can be used to: help automate methodology steps; keep track of the methodology itself.


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Design goals Performance.

Overall speed, deadlines. Functionality and user interface. Manufacturing cost. Power consumption. Other requirements (physical size, etc.)


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Levels of abstraction

requirements

specification

architecture

componentdesign

systemintegration


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Top-down vs. bottom-up Top-down design:

start from most abstract description; work to most detailed.

Bottom-up design: work from small components to big system.

Real design uses both techniques.


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Stepwise refinement At each level of abstraction, we must:

analyze the design to determine characteristics of the current state of the design;

refine the design to add detail.


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Requirements Plain language description of what the user

wants and expects to get. May be developed in several ways:

talking directly to customers; talking to marketing representatives; providing prototypes to users for comment.


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Functional vs. non-functional requirements Functional requirements:

output as a function of input. Non-functional requirements:

time required to compute output; size, weight, etc.; power consumption; reliability; etc.


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Our requirements formnamepurposeinputsoutputsfunctionsperformancemanufacturing costpowerphysical size/weight


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Example: GPS moving map requirements Moving map

obtains position from GPS, paints map from local database.

lat: 40 13 lon: 32 19

I-78

Sco

tch

Roa

d


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GPS moving map needs Functionality: For automotive use. Show major

roads and landmarks. User interface: At least 400 x 600 pixel screen.

Three buttons max. Pop-up menu. Performance: Map should scroll smoothly. No more

than 1 sec power-up. Lock onto GPS within 15 seconds.

Cost: $120 street price = approx. $30 cost of goods sold.


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GPS moving map needs, cont’d.

Physical size/weight: Should fit in hand. Power consumption: Should run for 8 hours

on four AA batteries.


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GPS moving map requirements form

name GPS moving mappurpose consumer-grade

moving map for drivinginputs power button, two

control buttonsoutputs back-lit LCD 400 X 600functions 5-receiver GPS; three

resolutions; displayscurrent lat/lon

performance updates screen within0.25 sec of movement

manufacturing cost $100 cost-of-goods-sold

power 100 mWphysical size/weight no more than 2: X 6:,

12 oz.


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Specification A more precise description of the system:

should not imply a particular architecture; provides input to the architecture design process.

May include functional and non-functional elements.

May be executable or may be in mathematical form for proofs.


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GPS specification Should include:

What is received from GPS; map data; user interface; operations required to satisfy user requests; background operations needed to keep the

system running.


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Architecture design What major components go satisfying the

specification? Hardware components:

CPUs, peripherals, etc. Software components:

major programs and their operations. Must take into account functional and non-

functional specifications.


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GPS moving map block diagram

GPSreceiver

searchengine

renderer

userinterfacedatabase

display


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GPS moving map hardware architecture

GPSreceiver

CPU

panel I/O

display framebuffer

memory


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GPS moving map software architecture

position databasesearch

renderer

timeruser

interface

pixels


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Designing hardware and software components Must spend time architecting the system

before you start coding. Some components are ready-made, some

can be modified from existing designs, others must be designed from scratch.


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System integration Put together the components.

Many bugs appear only at this stage. Have a plan for integrating components to

uncover bugs quickly, test as much functionality as early as possible.


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Summary Embedded computers are all around us.

Many systems have complex embedded hardware and software.

Embedded systems pose many design challenges: design time, deadlines, power, etc.

Design methodologies help us manage the design process.


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