The TASTE MBE development toolchain - update & case-studies
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1 The TASTE MBE development toolchain - update & case-studies Julien Delange 18/10/2010
2 Agenda 1. Overview of the TASTE environment 2. Latest improvements 3. Ongoing projects, conclusion TASTE update & case-studies Julien Delange 18/10/2010 Slide 2
3 Agenda 1. Overview of the TASTE environment 2. Latest improvements 3. Ongoing projects, conclusion TASTE update & case-studies Julien Delange 18/10/2010 Slide 3
4 TASTE development approach 1. Capture functional & deployment aspects a. Functional view: System interfaces & data b. Deployment view: functions distribution c. Rely on AADL files System specification Modelling & Verification 2. Use established standards a. Application-level: Simulink, SDL, etc. b. Architecture-level: AADL Implementation, code production Integration 3. Automate the development process a. Early system validation b. Code generation & integration of application aspects c. Automatic configuration and deployment Tests, validation & certification TASTE update & case-studies Julien Delange 18/10/2010 Slide 4
5 System example 10 Hz AOCS Control law Mode Management State Machine to FDIR start FBY status process ABB1 stop 1 false idle wait_abb2 sensor data actuators Deadline: 3 ms WCET: 1 ms Simulink LEON2 PI1 RI1 (mydata) wait_abb2 PI2 idle SDL LEON2 FDIR-command ::= ENUMERATED { safe-mode, switch-to-redundant,... } AADL and ASN.1 are combined to provide a formal, precise, and complete description of the system architecture and data. AOCS-tm ::= SEQUENCE { attitude Attitude-ty, orbit Orbit-ty,... } TASTE update & case-studies Julien Delange 18/10/2010 Slide 5
6 Model processing, outline TASTE Models interface + deployment views in terms of AADL models asn1 toolsuite, buildsupport & TASTE orchestrator Application skeletons Buildsupport & vendor-specific tools Glue code Real-Time runtime Ocarina TASTE update & case-studies Julien Delange 18/10/2010 Slide 6
7 TASTE consortium, tools provider 1. Ellidiss: TASTE editor 2. European Space Agency: buildsupport, tastegui 3. Institut Supérieur de l Aéronautique et de l Espace: Ocarina,PolyORB-HI 4. Semantix: ASN1SCC, orchestrator TASTE update & case-studies Julien Delange 18/10/2010 Slide 7
8 Agenda 1. Overview of the TASTE environment 2. Latest improvements 3. Ongoing projects, conclusion TASTE update & case-studies Julien Delange 18/10/2010 Slide 8
9 TASTE new tools 1. Toolset update a. New interface and deployment editors : TASTE-IV & TASTE-DV b. Update of ASN1 toolchain c. TASTEGUI: development studio for the TASTE platform 2. Interface with analysis & simulation tools a. TASTE-CV: Cheddar and Marzhin b. MAST 3. Device drivers integration a. Automatic configuration of device concerns in generated systems b. Provide predefined drivers library for well-known devices TASTE update & case-studies Julien Delange 18/10/2010 Slide 9
10 Interface and Deployment view editors 1. TASTE-IV for functional aspects definition a. Describe components interfaces b. Specify data types 2. TASTE-DV for functions distribution specification a. Specification of runtime aspects (CPU, OS, ) b. Description of driver configuration 3. Compliance with AADLv2 a. New interface and deployment view formats b. Compatible with existing AADLv2 tools TASTE update & case-studies Julien Delange 18/10/2010 Slide 10
11 TASTEGUI 1. Ability for development process management a. Invoke TASTE tools b. Interface with third-party tools 2. Automatic implementation functions a. Transform specs into binaries b. Binaries analysis (gprof) 3. Provided within the TASTE VM a. Release as free software b. Try it, bugreports are welcome! TASTE update & case-studies Julien Delange 18/10/2010 Slide 11
12 System analysis 1. TASTE-CV: Cheddar & Marzhin a. Scheduling feasability tests (Cheddar) b. Scheduling simulation (Marzhin) 2. MAST a. Specific MAST model generation b. Ability to describe distribution concerns TASTE update & case-studies Julien Delange 18/10/2010 Slide 12
13 Achieved projects (1): RASTA/FPGA 1. Integration of functions over heterogeneous architectures a. Generic (x86) and space-related (LEON) processors b. General-purpose (serial) and domain-specific buses (spacewire) 2. Abstraction of data concerns a. Rely on ASN1 for data distribution b. Automatically generate marshallers functions 3. Automatic configuration & deployment a. Driver integration b. OS and hardware integration Command receiver X86 serial bus Command sender serial bus Command transmitter spw bus Command transmitter X86 LEON LEON TASTE update & case-studies Julien Delange 18/10/2010 Slide 13
14 Achieved projects (2): exoarm case-study 1. Acquire and reproduce human movements a. Data acquisition through specific device over PCI bus b. Data processing using Simulink models c. Movement reproduction with dedicated hardware (mechanical arm) 2. Smooth integration of application and hardware concerns a. Automatic integration of acquisition device driver b. Generation of code interface with control algorithms c. Automatic management of UDP protocol with mechanical ARM 3. Collaboration with the ESA robotics section Movement acquisition (dedicated device) PCI bus Computer 1 Control algorithms UDP bus Mechanical arm Computer 2 TASTE update & case-studies Julien Delange 18/10/2010 Slide 14
15 Agenda 1. Overview of the TASTE environment 2. Latest improvements 3. Ongoing projects, conclusion TASTE update & case-studies Julien Delange 18/10/2010 Slide 15
16 Ongoing improvements 1. Early system validation with AADL analysis tools 2. Automatic implementation validation/certification 3. Improve support of embedded devices and standards TASTE update & case-studies Julien Delange 18/10/2010 Slide 16
17 Conclusion 1. Development for real-time systems, deal with embedded concerns a. Smooth driver integration 2. Use well-known and established technologies in the industry a. Functional aspects: Simulink, SDL b. Architectural concerns: AADL, ASN1 3. Assessment for different specific domains: space, automotive, robotics a. Industrial projects (Astrium, M3 systems, ) b. Joint projects with other ESA sections TASTE update & case-studies Julien Delange 18/10/2010 Slide 17
18 Thanks for your attention Questions?
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