Design of Embedded Systems
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1 Design of Embedded Systems An Introduction Krzysztof Kuchcinski Department of Computer Science Lund Institute of Technology Sweden March 7, 2016 Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Outline 1 Introduction 2 Course Organization 3 General introduction, definition of the field 4 Embedded Systems Examples 5 Embedded Systems Design Methodologies Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Examples of Embedded Systems Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
2 Examples of Embedded Systems (cont d) 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 Source: Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Course Organization Twelve lectures. Four lab assignments plus an introductory lab. carried out in groups of two students use special software and hardware (lab Neptunus) require preparation deadline for lab reports (last lab assignment) Sunday, May 22, 2016, 23:59. Group day time room 1 Wed Neptunus 2 Wed Neptunus Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Course Organization (cont d) Seminars 3/05, 8:15 and 10:15 in E: /05, 13:15 and 15:15 in E:2116 Obligatory examinations 2 June 2016 at 14-19, Sparat:D 26 August 2016 at 8-13, E:2116 Books: Peter Marwedel, Embedded System Design, 2nd Edition, Springer, 2011 (ISBN: ). Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
3 Lectures Preliminary Schedule Date Content Introduction, motivation, etc Design methodology (HW/SW co-design, etc) Specification and programming of Embedded Systems Computational models Design representations System partitioning Allocation, assignment and scheduling Communication synthesis Testability Low-power design Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Embedded Systems A device that includes a programmable computer but is not itself a general-purpose computer Execution deadlines, Power consumption constraints, : Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Embedded Systems (cont d) Computing systems embedded within electronic devices Hard to define. Nearly any computing system other than a desktop computer Billions of units produced yearly, versus millions of desktop units Perhaps 50 per household and per automobile Source: Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
4 Embedded Systems (cont d) Non User-Programmable. Based on programmable components (e.g., Micro-controllers, DSP s...) but often contain application specific hardware (IC s, ASIC s). Reactive Real-Time Systems: React to external environment, Maintain permanent interaction, Ideally never terminate, Are subject to external timing constraints (real-time). Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Characteristics Embedded Systems Sophisticated functionality. Real-time operation. Low manufacturing cost. Low power. Designed to tight deadlines by small teams. "Resource conscious" vs. "Unlimited resources" programming Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 A Single Processor Embedded System Source: W. Wolf, Computers as Components: Principles of Embedded Computing Systems Design Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
5 SoC Embedded System Assembly of "prefabricated component" often purchased from external vendors ("IP") "black box" hierarchy Design & Verification at the System level rather than the logic level Interface and communication Great Importance of Software Source: Alberto Sangiovanni-Vincentelli, 35th DAC Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 A Digital Camera Example Source: F. Vahid and T. Givargis, Embedded System Design: AUnified Hardware Software Approach Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Real-time gas turbine testing system MI-2 helicopter engine "Minicomputer" 8kB RAM cassette tape Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
6 TELEX-I and TELEX-II systems PDP-11 PDP-11 Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 WITAS project Autonomous system. Real-time system. Image processing. Mission planning. Incorporation of GIS systems. Interface with ground operator Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Typical Hardware Components of DSP System Component class Implements Compiler Specification DSP processor Low data-rate DSP (Retargetable) Assembly Slow control loops code generator C Appl. Spec. alg. High level synth. Microcontroller User interface C compiler C Slow control loops Hardware accelerator High data-rate DSP High level synth. C, VHDL RT level synth. Verilog Communication Internal & external Memory mgmt. Data-sheets blocks and communication (A)synchronous memory Storage & buffering interface synth. Others Usually FSMD s RT level synth. VHDL - clock generators Asynchronous - DMA blocks synth. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
7 Importance of Embedded System Design Methodologies Hardware complexity. Heterogeneous systems containing hardware (both digital and analog) and software. Heterogeneous components (CPU s, DSP s, ASIC s, buses, point-to-point links, etc.). Heterogeneous requirements - performance, cost, power consumption, etc. System-on-chip. Shorter design cycles required by time-to-market constraints.... Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Design Complexity and Designer Productivity Gap Source: Bryan Preas, Xerox PARC, 35th DAC Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Flexibility and Energy Efficiency Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
8 Flexibility and Energy Efficiency Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Flexibility and Energy Efficiency Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Design Domains and Abstraction Levels Behavioural Domain System level Structural Domain RTL Algorithm CPU, memory, bus Logic level RT specification ALU, reg., MUX Circuit level Boolean eq. Gate, flip-flop Transistor Transistor function Transistor layout Standard cell/subcell Macrocell, chip Board Physical Domain Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
9 Design Domains behavioral representations - describe only circuit s function, for example if clock=high then counter:= counter+1 structural representations - describe the components and their interconnections, for example a b NAND NAND c d e NAND My Cell Out physical representations - it can describe either a geometrical layout or a topological constraint. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Software vs. Hardware Design short summary Software flexibility, reconfigurability, easy update, etc., complex functionality, cost,... Hardware speed, power consumption, cost in large volumes,... Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Design of Embedded Systems Need to be done using high-level specification, programming and hardware description languages - not assembly languages and gate/transistor level design. Requires efficient design space exploration and synthesis/compilation tools. Different design requirements has to be taken into account, e.g., cost, performance, testability, quality of service, power consumption. Multi-language design framework. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
10 Importance of High-Level Design Methods System Verification Processing Speeds System implementation Processing time (s/frame) Behavioral model (20 min/frame) RTL model (1.6 days/frame) Gate model (2.6 days/frame) Gate model on hardware accelerator Rapid prototype 0.5 Target hardware 0.05 Source: Paul Clemente, Ron Crevier, Peter Runstadler "RTL and Behavioral Synthesis, A Case Study", VHDL Times, vol. 5, no. 1. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 General Design Flow Specify-Explore-Refine Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Specification and Programming Specification languages, such as UML, SDL. Programming languages, such as C, C++, Java, Esterel, assembly languages. Hardware description languages, such as VHDL, Verilog, SystemC. Example: combining SystemC and C++ gives a unified simulation environment for hardware and software. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
11 Hardware Description Languages Cover several levels of design abstraction as well as behavioral and structural description domain. Contain typical features of programming languages, such as data types and program statements. Special features: time concept, structure description, parallelism. VHDL (IEEE standard), Verilog, SystemC. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Design Representations (Computational Model) Used to represent/model digital systems under design. Generated by a compiler from system specification or coded directly in the model. Represent the semantics, structure and timing of the system. Usually based on some kind of annotated graph representation. Used internally by design automation systems or by the modeler/designer. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Design Synthesis Software is translated into target code for a processor. Real-time operating system might be used. Hardware synthesis translation of a behavioral representation of a design into a structural one. Communication synthesis generates hardware and software which interconnects system components. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
12 Hardware Synthesis Levels System level accepts as an input specification in a form of communicating concurrent processes. The synthesis task is to generate the general system structure defined by processors, ASIC s, buses, etc. High level the input specification is given as a behavioral level description of an algorithm describing the functionality of a design and generates implementation at RT-level. Basic synthesis steps are scheduling, allocation and binding. Logic level it can be divided into combinational and sequential logic synthesis. Physical design it accepts a gate-level netlist and produces final implementation of the design in a given technology. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Hardware/Software Co-design enabling technologies Source: F. Vahid and T. Givargis, Embedded System Design: AUnified Hardware Software Approach Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Discrete Cosine Transform Partial Design Space 4 0 Cloc k st e ps M ul 1 M ul 2 M ul 3 M ul 4 Add 4 Add 2 Add 4 Add 3 Add 2 Add 1 Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
13 Design Space Exploration Speed Power Cost Design time CPU CPU DSP ASI C Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Time-to-market constraint need time for new product development, the biggest profit is in the market window time, missing the market window can be costly Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37 Summary Embedded systems are important class of electronic systems which can be found everywhere, Combine hardware and software solutions, Cover several engineering and research areas: microelectronics, real-time systems, software development, etc. Need careful design which optimizes different design parameters. Kris Kuchcinski (LTH) Design of Embedded Systems March 7, / 37
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