Computers as Components Principles of Embedded Computing System Design

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1 Computers as Components Principles of Embedded Computing System Design Third Edition Marilyn Wolf ELSEVIER AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO Morgan Kaufman is an imprint of Elsevier M<

Foreword to the First Edition Preface to the First Edition Preface to the Second Edition Preface to the Third Edition xv xvii xxi xxiii CHAPTER 1 Embedded Computing 1 1.1 Introduction 1 1.

2 Foreword to the First Edition Preface to the First Edition Preface to the Second Edition Preface to the Third Edition xv xvii xxi xxiii CHAPTER 1 Embedded Computing Introduction Complex systems and microprocessors Embedding computers Characteristics of embedded computing applications Why use microprocessors? Cyber-physical systems Challenges in embedded computing system design Performance of embedded computing systems The embedded system design process Requirements Specification Architecture design Designing hardware and software components System integration Formalisms for system design Structural description Behavioral description Design example: Model train controller Requirements DCC Conceptual specification Detailed specification Lessons learned A guided tour of this book Chapter 2: Instruction sets Chapter 3: CPUs Chapter 4: Computing platforms Chapter 5: Program design and analysis Chapter 6: Processes and operating systems Chapter 7: System design techniques Chapter 8: Networks and multiprocessors 47 vii

viii Contents 1.6 Summary 47 What we learned 48 Further reading 48 Questions 48 Lab exercises 50 CHAPTER 2 Instruction Sets 51 2.1 Introduction 51 2.2 Preliminaries 51 2.2.1 Computer architecture taxonomy 52 2.

3 viii Contents 1.6 Summary 47 What we learned 48 Further reading 48 Questions 48 Lab exercises 50 CHAPTER 2 Instruction Sets Introduction Preliminaries Computer architecture taxonomy Assembly languages VLIW processors ARM processor Processor and memory organization Data operations Flow of control Advanced ARM features PICmicro mid-range family Processor and memory organization Data operations Flow of control TI C55x DSP Processor and memory organization Addressing modes Data operations Flow of control С coding guidelines TIC64x Summary 90 What we learned 90 Further reading 91 Questions 91 Lab exercises 93 CHAPTER 3 CPUs Introduction Programming input and output Input and output devices Input and output primitives Busy-wait I/O Interrupts 101

ix 3.3 Supervisor mode, exceptions, and traps 114 3.3.1 Supervisor mode 114 3.3.2 Exceptions 115 3.3.3 Traps 115 3.4 Co-processors 115 3.5 Memory system mechanisms 116 3.5.1 Caches 116 3.5.2 Memory management units and address translation.

4 ix 3.3 Supervisor mode, exceptions, and traps Supervisor mode Exceptions Traps Co-processors Memory system mechanisms Caches Memory management units and address translation CPU performance Pipelining Cache performance CPU power consumption Design example: Data compressor Requirements and algorithm Specification Program design Testing Summary 149 What we learned 149 Further reading 150 Questions 150 Lab exercises 153 CHAPTER 4 Computing Platforms Introduction Basic computing platforms Platform hardware components Platform software components The CPU bus Bus organization and protocol DMA System bus configurations Memory devices and systems Memory system organization Designing with computing platforms Example platforms Choosing a platform Intellectual property Development environments Debugging techniques Debugging challenges 183

4.6 Consumer electronics architecture 185 4.6.1 Consumer electronics use cases and requirements... 185 4.6.2 File systems 187 4.7 Platform-level performance analysis 188 4.

5 4.6 Consumer electronics architecture Consumer electronics use cases and requirements File systems Platform-level performance analysis Design example: Alarm clock Requirements Specification System architecture Component design and testing System integration and testing Design example: Audio player Theory of operation and requirements Specification System architecture Component design and testing System integration and debugging Summary 207 What we learned 207 Further reading 207 Questions 207 Lab exercises 210 CHAPTER 5 Program Design and Analysis Introduction Components for embedded programs State machines Circular buffers and stream-oriented programming Queues and producer/consumer systems Models of programs Data flow graphs Control/data flow graphs Assembly, linking, and loading Assemblers Linking Object code design Compilation techniques The compilation process Basic compilation methods Compiler optimizations Program-level performance analysis Elements of program performance Measurement-driven performance analysis 259

xi 5.7 Software performance optimization 262 5.7.1 Loop optimizations 262 5.7.2 Cache optimizations 264 5.7.3 Performance optimization strategies 265 5.

6 xi 5.7 Software performance optimization Loop optimizations Cache optimizations Performance optimization strategies Program-level energy and power analysis and optimization Analysis and optimization of program size Program validation and testing Clear-box testing Black-box testing Evaluating functional tests Design example: Software modem Theory of operation and requirements Specification System architecture Component design and testing System integration and testing Design example: Digital still camera Theory of operation and requirements Specification System architecture Component design and testing System integration and testing Summary 296 What we learned 296 Further reading 297 Questions 297 Lab exercises 305 CHAPTER 6 Processes and Operating Systems Introduction Multiple tasks and multiple processes Tasks and processes Multirate systems Timing requirements on processes CPU usage metrics Process state and scheduling Running periodic processes Preemptive real-time operating systems Two basic concepts Processes and context Processes and object-oriented design 324

xii Contents 6.5 Priority-based scheduling 325 6.5.1 Rate-monotonic scheduling 326 6.5.2 Shared resources 330 6.5.3 Priority inversion 332 6.5.4 Earliest-deadline-first scheduling 333 6.5.5 RMS versus EDF 337 6.

7 xii Contents 6.5 Priority-based scheduling Rate-monotonic scheduling Shared resources Priority inversion Earliest-deadline-first scheduling RMS versus EDF A closer look at our modeling assumptions Interprocess communication mechanisms Shared memory communication Message passing Signals Mailboxes Evaluating operating system performance Power optimization strategies for processes Example real-time operating systems POSIX Windows CE Design example: Telephone answering machine Theory of operation and requirements Specification System architecture Component design and testing System integration and testing Design example: Engine control unit Theory of operation and requirements Specification System architecture Component design and testing System integration and testing Summary 374 What we learned 374 Further reading 374 Questions 375 Lab exercises 380 CHAPTER 7 System Design Techniques Introduction Design methodologies Why design methodologies? Design flows 383

xiii 7.3 Requirements analysis 389 7.4 Specifications 390 7.4.1 Control-oriented specification languages 391 7.4.2 Advanced specifications 394 7.5 System analysis and architecture design 396 7.5.1 CRC cards 396 7.

8 xiii 7.3 Requirements analysis Specifications Control-oriented specification languages Advanced specifications System analysis and architecture design CRC cards Quality assurance Quality assurance techniques Verifying the specification Design reviews Summary 407 What we learned 407 Further reading 408 Questions 408 Lab exercises 408 CHAPTER 8 Networks and Multiprocessors Introduction Why networks and multiprocessors? Categories of multiprocessors Distributed embedded systems Network abstractions CAN bus Distributed computing in cars and airplanes PC bus Ethernet Internet MPSoCs and shared memory multiprocessors Heterogeneous shared memory multiprocessors Accelerators Accelerator performance analysis Scheduling and allocation Design example: Video accelerator Video compression Algorithm and requirements Specification Architecture Component design System testing Application example: Compact disc 449

9 xiv Contents 8.8 Summary 454 What we learned 454 Further reading 454 Questions 455 Lab exercises 456 Glossary 459 References 477 Index 487

Embedded Systems Architecture

Embedded Systems Architecture A Comprehensive Guide for Engineers and Programmers By Tammy Noergaard ELSEVIER AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD PARIS SAN DIEGO SAN FRANCISCO SINGAPORE