Embedded Systems and Software

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1 Embedded Systems and Software Lecture 1: Introduction Artist's concept of Mars Exploration Rover. Courtesy NASA Lecture 1-1

2 Organizational Class Website (be sure to check it often): dex.php Syllabus: see class website Reference text and development board First lab: assemble teams, purchase kit from Electronic Shop, build and test the development board. Lecture 1-2

3 Organizational There are 4 T.A.s and they will hold office hours in the lab. The labs are located in 2244 SC There are six labs, 2 3 weeks in duration Labs have a pre-lab and post-lab component Labs overlap T.A.s must sign off on labs There is also larger project with in-class demonstration at the end of the semester Labs and project will count 50% towards the course grade Students work in teams of two Let the T.A.s know ASAP who your lab partner is We can also assign a partner for you Students commonly get into trouble because they underestimate the time it takes to complete lab Lecture 1-3

4 Organizational No scheduled lab times (except Lab 1) You may use the lab any time there an open slot (24 x 7) Access via key card T.A.s will hold office hours in lab Pre-and post lab check off Students work in teams, and both must submit be present for check off Late check off are penalized by 1% per hour Lecture 1-4

5 Office Hours & Duties T.A.s will hold office hours in lab. Their responsibilities are Help students with equipment. Answer general, conceptual questions Check off labs and assign lab grades T.A.s will not/can not Will not help debug code beyond simple troubleshooting Can not reset time stamps for penalties for late lab reports My office hours and contact information are on the class website Lecture 1-5

6 No homework Exams & Grades One midterm exam (just before Spring Break) One final exam, focusing on material covered in latter part of class Grade Calculation Better of midterm exam, final exam scores: 25% Poorer of midterm exam, final exam scores: 20% Labs: 35% Project: 20% Impromptu class quiz 5% Exam details No redo exam Open book, open notes See class website for a sample exam Lecture 1-6

7 The First Lab Activities Learn how to solder Assemble development board Assemble a supplied program and load that into the development board Make small changes Write and submit the first lab report Each team: purchase a kit from CoE Electronics Shop The Electronics Shop technicians will conduct introductory sessions on Thursday and Friday afternoons. Soldering skills Tips for board assembly and testing See class website/labs/lab1 for session times You should sign up for one of these sessions Lecture 1-7

8 What is a Computer? Acknowledgement: the bulk of the material in this lecture is adapted from: Embedded System Design A Unified Hardware/Software Introducton, by Frank Vahid and Tony Givargis, John Wiley & Sons Inc., 2002 Lecture 1-8

9 What is a Computer? Acknowledgement: the bulk of the material in this lecture is adapted from: Embedded System Design A Unified Hardware/Software Introducton, by Frank Vahid and Tony Givargis, John Wiley & Sons Inc., 2002 Most of us think of desktop computers PC s, Laptops Servers, Mainframes But, there is another kind of computing system that is far more common: embedded systems Lecture 1-9

10 Embedded Systems Hard to define Embedded Computing System precisely Computing systems embedded within electronic devices Nearly any computing system other than a desktop computer, mainframe, server traditional computers Billions of units produced yearly, versus millions of desktop units Perhaps 50 per household and per automobile Computers are in here... and here and here and many other places Lecture 1-10

11 Embedded Systems are Everywhere Picture is from the cover of Embedded Systems Design, A Unified Hardware/Software Approach, by Frank Vahid and Tony Givargis Lecture 1-11

12 A Short List of Embedded Systems Anti-lock brakes Auto-focus cameras Automatic teller machines Automatic toll systems Automatic transmission Avionic systems Battery chargers Camcorders Cell phones Cell-phone base stations Cordless phones Cruise control Curbside check-in systems Digital cameras Disk drives Electronic card readers Electronic instruments Electronic toys/games Factory control Fax machines Fingerprint identifiers Home security systems Life-support systems Medical testing systems Modems MPEG decoders Network cards Network switches/routers On-board navigation Pagers Photocopiers Point-of-sale systems Portable video games Printers Satellite phones Scanners Smart ovens/dishwashers Speech recognizers Stereo systems Teleconferencing systems Televisions Temperature controllers Theft tracking systems TV set-top boxes VCR s, DVD players Video game consoles Video phones Washers and dryers Today, almost all nontrivial electronic systems at least one embedded processor Lecture 1-12

13 Embedded Systems vs. Desktop Computing Most Embedded Systems are single-functioned Executes a single program, repeatedly Generally, Embedded Systems are tightly-constrained Low cost, low power, small, fast, etc. Most Embedded Systems are reactive and real-time Continually react to changes in the system s environment Must compute results in real-time as opposed to batch or off-line Lecture 1-13

14 An Embedded System Example: Digital Camera Imaging pipeline CCD Digital camera chip A2D CCD preprocessor Pixel coprocessor D2A lens JPEG codec Microcontroller Multiplier/Accum DMA controller Display ctrl Memory controller ISA bus interface UART LCD ctrl Other embedded system in digital camera: focus (motors) Lecture 1-14

15 Embedded Design Challenge: Optimizing Design Metrics Obvious design goal: Construct an implementation with desired functionality Key design challenge: Simultaneously optimize numerous design metrics Design metric A measurable feature of a system s implementation Optimizing design metrics is a key challenge Lecture 1-15

16 Embedded Systems Design Metrics NRE cost (Non-Recurring Engineering cost) One-time monetary cost of designing the system Unit cost Monetary cost of manufacturing each copy of the system, excluding NRE cost Size Physical space required by the system Performance Execution time or response time of the system Memory Amount of memory required to hold the program and data Power Amount of power consumed by the system Lecture 1-16

17 Flexibility Embedded Systems Design Metrics Ability to change functionality without incurring heavy NRE cost Time-to-prototype Time needed to build a working version of the system Time-to-market (TTM) Time required to develop a system to the point that it can be released and sold to customers Maintainability Ability to modify the system after its initial release Robustness System stability and reliability Safety Assurance that the system will not expose people to dangers Lecture 1-17

18 Design Metrics are Often at Odds CCD Digital camera chip A2D CCD preprocessor Pixel coprocessor D2A lens JPEG codec DMA controller Microcontroller Multiplier/Accum Display ctrl Memory controller ISA bus interface UART LCD ctrl Software Hardware Expertise with both software and hardware is needed to optimize design metrics Not just a hardware or software expert, as is common A designer must be comfortable with various technologies in order to choose the best for a given application and constraints Lecture 1-18

19 Time-to-Market (TTM): Critical Design Metric Time required to develop a product to the point it can be sold to customers Market window Period during which the product would have highest sales Average time-to-market constraint is about 8 months Delays can be costly Lecture 1-19

20 NRE and Unit Cost Metrics Costs: Unit cost: the monetary cost of manufacturing each copy of the system, excluding NRE cost NRE cost: one-time monetary cost of designing the system total cost = NRE cost + Unit cost # of units per-product cost = total cost / # of units = (NRE cost / # of units) + unit cost Example NRE = $2000, unit = $100 For 10 units Total cost = $2, $100 = $3,000 Per-product cost = $2,000/10 + $100 = $300 Amortizing NRE cost over the units results in an additional $200 per unit Lecture 1-20

21 NRE and Unit Cost Metrics $200,000 A $200 A $160,000 B C $160 B C total cost (x1000) $120,000 $80,000 per product cost $120 $80 $40,000 $40 $0 $ Number of units (volume) Number of units (volume) Compare technologies by costs -- best depends on quantity Technology A: NRE=$2,000, unit=$100 Technology B: NRE=$30,000, unit=$30 Technology C: NRE=$100,000, unit=$2 Must also consider Time-To-Market Lecture 1-21

22 The Performance Design Metric Widely-used performance measure, widely-abused Clock frequency, instructions per second not good measures Digital camera example a user cares about how fast it processes images, not clock speed or instructions per second Latency (response time) Time between task start and end e.g., Camera s A and B process images in 0.25 seconds Throughput Tasks per second, e.g. Camera A processes 4 images per second Throughput may involve more than just latency due to concurrency, e.g., Camera B may process 8 images per second (by capturing a new image while previous image is being stored). Speedup of B over A = B s performance / A s performance Throughput speedup = 8/4 = 2 Lecture 1-22

23 Embedded Processor Technologies General-Purpose Single-Purpose Application-Tailored Lecture 1-23

24 General-Purpose Processor Programmable device used in a variety of applications Also known as microprocessor Features Program memory General data path with large register file and general ALU User benefits Low time-to-market and NRE costs High flexibility Intel Pentium the most wellknown, but there are hundreds of others Controller Control logic and State register IR PC Program memory Assembly code for: total = 0 for i =1 to Data Path Register file General ALU Data memory Lecture 1-24

25 Single-Purpose Processor Digital circuit designed to execute exactly one program a.k.a. coprocessor, accelerator or peripheral Features Contains only the components needed to execute a single program No program memory Benefits Fast Low power Small size Controller Control logic State register Data Path index total + Data memory Lecture 1-25

26 Application-Tailored Processors Programmable processor optimized for a particular class of applications having common characteristics Compromise between generalpurpose and single-purpose processors Features Program memory Optimized data path Special functional units Benefits Some flexibility, good performance, size and power Controller Control logic and State register IR PC Program memory Assembly code for: total = 0 for i =1 to Data Path Register Custom ALU Data memory Lecture 1-26

27 Key Player in Embedded Design: Microcontroller Compromise between general-purpose and applicationtailored processor Simple processor architecture Reduced instruction set and functionality Small data path (often only 4 or 8 bits vs. 32 or 64 bits for typical general purpose processor) On-board memory (volatile and non-volatile) Multiple on-chip devices to support embedded applications Timers Digital and I/O serial I/O Support for various interfacing protocols e.g. I 2 C Available in many different configurations, performance levels, etc. Lecture 1-27

28 Processor Clock Peripherals Bus Width MIPS Power Trans. Price General Purpose Processors Intel PIII 1 GHz 2x16 K 32 ~900 97W ~7M $900 L1, 256K L2, MMX IBM 550 MHz 2x32 K 32/64 ~1300 5W ~7M $900 PowerPC 750X L1, 256K L2 MIPS 250 MHz 2x32 K 32/64 NA NA 3.6M NA R5000 StrongARM SA-110 Intel 8051 Motorola 68HC811 2 way set assoc. 233 MHz None W 2.1M NA 12 MHz 4K ROM, 128 RAM, 32 I/O, Timer, UART 3 MHz 4K ROM, 192 RAM, 32 I/O, Timer, WDT, SPI TI C MHz 128K, SRAM, 3 T1 Ports, DMA, 13 ADC, 9 DAC Lucent DSP32C Processor Comparison 80 MHz 16K Inst., 2K Data, Serial Ports, DMA Microcontrollers 8 ~1 ~0.2W ~10K $7 8 ~.5 ~0.1W ~10K $5 Digital Signal Processors 16/32 ~600 NA NA $ NA NA $75 Sources: Intel, Motorola, MIPS, ARM, TI, and IBM Website/Datasheet; Embedded Systems Programming, Nov Lecture 1-28

29 The Advantages of Microcontrollers Low cost due to high volume production Low chip count due to integrated on-board features Good development tools and environments Extensive product families allow tailoring of processor to system design metrics Short product design cycles (compared to custom hardware design). Compatible with hardware/software co-design Many microcontrollers are available as VHDL Cores for integration into a custom VLSI chip Lecture 1-29

30 Many/Most Embedded Applications Require Modest Computational Power Source: Renesas Lecture 1-30

31 A Low End Microcontroller: ATtiny25/45/85 Pinout for ATtiny25/45/85 PDIP SOIC IN-Circuit Programming Most pins have multiple uses Up to 20 MHz clock Built-in 10-bit A/D Internal Oscillator Built-in Analog Comparator $1, $2 in Large quantities I supply at 1 MHz, 1.8V: 300 μa V cc for some variants as low as 1.8 V Lecture 1-31

32 A Low End Microcontroller: ATtiny25/45/85 Block Diagram of ATtiny25/45/85 Lecture 1-32

33 A Low End Microcontroller: ATtiny25/45/85 ATtiny25/45/85 Features Lecture 1-33

34 A Low End Microcontroller: ATtiny25/45/85 ATtiny25/45/85 Features Lecture 1-34

35 A Low End Microcontroller: ATtiny25/45/85 ATtiny25/45/85 Features Lecture 1-35

36 A Low End Microcontroller: ATtiny25/45/85 ATtiny25/45/85 Features Lecture 1-36

37 A Low End Microcontroller: ATtiny25/45/85 ATxmega128A4 Features Lecture 1-37

38 A Low End Microcontroller: ATtiny25/45/85 ATxmega128A4 Features Lecture 1-38

39 A Low End Microcontroller: ATtiny25/45/85 ATxmega128A4 Features Lecture 1-39

40 A High-End Microcontroller: ATxmega128A4 Block Diagram of ATxmega128A4 Lecture 1-40

41 A High-End Microcontroller: ATxmega128A4 ATxmega128A4 Features Lecture 1-41

42 Smaller Microntroller: ATmega48P/88P/168P/328P Pinout for ATmega48P/88P/168P/328P Lecture 1-42

43 Smaller Microntroller: ATmega48P/88P/168P/328P Block Diagram for ATmega48P/88P/168P/328P Lecture 1-43

44 Some ATmega48P/88P/168P/328P Features Clock rate up to 20 MHz Up to 20 MIPS throughput at 20 MHz 4/8/16/32K Bytes of In-System Self-Programmable Flash Program Memory 512/1K/1K/2K Bytes Internal SRAM 256/512/512/1K Bytes EEPROM 35 digital I/O 4 timers 2 PWM/Capture/Compare modules UART for serial I/O 6-channel 10-bit ADC in PDIP Package Interrupt sources Cost: Approx $2.30 in quantity Lecture 1-44

45 Lecture 1-45

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