Embedded Systems 1.

1 Introduction
Lothar Thiele

Swiss Federal Institute of Technology

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Computer Engineering and Networks Laboratory

Organization
WWW: http://www.tik.ee.ethz.ch/tik/education/lectures/ES/ Lecture: Lothar Thiele, thiele@tik.ee.ethz.ch Thiele thiele@tik ee ethz ch Coordination: Jan Beutel, beutel@tik.ee.ethz.ch References: P. Marwedel: Eingebettete Systeme (paperback), Springer Verlag, December 2007, ISBN: 978-3-540-34048-5. G C Buttazzo: Hard Real Time Computing Systems Kluwer G.C. Real-Time Systems. Academic Publishers, 1997. W. Wolf: Computers as Components Principles of Embedded p p p System Design. Morgan Kaufman Publishers, 2000. J. Teich: Digitale Hardware/Software Systeme, Springer Verlag, 1997. Verlag 1997 The slides contain material of J. Rabaey, K. Keuzer, Wayne Wolf, Peter Marwedel, Philip Koopman and from the above books of J. Teich, G C B tt T i h G.C. Buttazzo, W W lf and P M W. Wolf d P. Marwedel. d l
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Communicating Embedded Systems

Example: BTnodes
complete platform including OS especially suited for pervasive computing applications
Sensor Actuator

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BTnode Platform
Data Interfaces Communication via Bluetooth Transceiver generic platform for ad hoc ad-hoc computing complete platform including OS especially suited for pervasive computing applications

Microprocessor and M d Memory

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2nd Radio Batteries

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Communicating Embedded Systems

sensor networks (civil engineering, buildings, environmental monitoring, traffic, monitoring traffic emergency situations) smart products, wearable/ubiquitous computing
MICS

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Computer Engineering and Networks Laboratory

Communicating Embedded Systems

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Computer Engineering and Networks Laboratory

PermaSense Project
Univ. Zurich, Univ. Basel, ETH Zurich

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Computer Engineering and Networks Laboratory

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Computer Engineering and Networks Laboratory

Hardware

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Computer Engineering and Networks Laboratory

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Computer Engineering and Networks Laboratory

Real Time Real-Time Actuating and Sensing

seismic/resistivity tomography

actuation and sensing i

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Computer Engineering and Networks Laboratory

Development in ES Exercise
Linux GNU GCC AVR libc Eclipse

BTNut OS
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Contents of Course
1. Embedded Systems Introduction 2. Software Introduction 3. Real-Time Models 4. 4 Periodic/Aperiodic Tasks 5. Resource Sharing 6. Real-Time OS 12. Model Based Design 7. System Components 8. Communication 9. Low Power Design 10. Models 11. Architecture 11 Architect re Synthesis

Software and Programming

Swiss Federal Institute of Technology

Processing and Communication

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Hardware
Computer Engineering and Networks Laboratory

Contents of Course
1. Embedded Systems Introduction 2. Software Introduction 3. Real-Time Models 4. 4 Periodic/Aperiodic Tasks 5. Resource Sharing 6. Real-Time OS 12. Model Based Design 7. System Components 8. Communication 9. Low Power Design 10. Models 11. Architecture 11 Architect re Synthesis

Software and Programming

Swiss Federal Institute of Technology

Processing and Communication

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Hardware
Computer Engineering and Networks Laboratory

Embedded Systems
Embedded systems (ES) = information processing systems embedded into a larger product t b dd d i t l d t Examples: p

Main reason for buying is not information processing

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Embedded Systems
external process human interface

e bedded syste embedded system

sensors, actuators

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Examples of Embedded Systems

Car as an integrated control-, communication and information system. t
information

gear box ABS

motor control climate control

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Examples of Embedded Systems

Consumer electronics, for example MP3 Audio, digital camera, home
electronics, . l t i

user interface processor

sensors actuators
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Examples of Embedded Systems

Production systems

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Computer Engineering and Networks Laboratory

Examples of Embedded Systems

Information systems, for example wireless communication (mobile
phone, Wi l h Wireless LAN ), end-user equipment, router, LAN, ) d i t t

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Characteristics of Embedded Systems (1)

Must be dependable:
Reliability: R(t) = probability of system working correctly provided that is was working at t=0 Maintainability: M(d) = probability of system working correctly d time units after error occurred. Availability: probability of system working at time t Safety: no harm to be caused y Security: confidential and authentic communication Even perfectly designed systems can fail if the assumptions about the workload and possible errors turn out to be wrong. Making the system dependable must not be an after-thought, it must be considered from the very beginning beginning.
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Characteristics of Embedded Systems (2)

Must be efficient:
Energy efficient Code-size efficient (especially for systems on a chip) Code size Run-time efficient g Weight efficient Cost efficient

Dedicated towards a certain application: Knowledge about behavior at design time can be used to minimize resources and t maximize robustness. d to i i b t Dedicated user interface (no mouse, keyboard and screen).
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Characteristics of Embedded Systems (3)

Many ES must meet real-time constraints:
A real-time system must react to stimuli from the controlled object (or the operator) within the time interval dictated by the environment. environment For real-time systems, right answers arriving too late (or even too early) are wrong. y) g A real-time constraint is called hard, if not meeting that constraint could result in a catastrophe [Kopetz, 1997]. All other ti th time-constraints are called soft. t i t ll d ft A guaranteed system response has to be explained without statistical arguments arguments.
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Characteristics of Embedded Systems (4)

Frequently connected to physical environment through sensors and actuators, Hybrid systems (analog + digital parts). Typically, ES are reactive systems:
A reactive system is one which is in continual interaction p y with is environment and executes at a pace determined by that environment [Berg, 1995] Behavior depends on input and current state. automata model often appropriate,
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Comparison
Embedded Systems
Few applications that are known at design-time. Not programmable by end user. Fixed run-time requirements (additional computing power ( dditi l ti not useful). Criteria: cost power consumption predictability

General Purpose Computing

Broad class of applications. Programmable by end user user. Faster is better.

Criteria: cost average speed

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Typical Architecture Typical

T To Outside World W Peripheral Bus DEBUG Port Non-volatile memory EPROM, FLASH, DISK
Hybrid

Custom Devices ASIC

FPGA PAL

Microprocessor 4, 8, 16, 32, 4 bit bus

CISC, RISC, DSP Integrated peripherals D b /T t Port Debug/Test P t Caches Pipeline Multiprocessing Systems

Volatile Memory DRAM, SRAM

Hybrid

Standard Devices I/O Ports

Peripheral Controllers

Communication Devices Ethernet

RS-232 SCSI Centronics Proprietary

System Clocks Software Application Code

Driver Code / BIOS Real Time Operating System User Interface Communications Protocol Stacks C, C++, Assembly Language, ADA Legacy Code Swiss Federal Institute of Technology RTC circuitry S t System clocks l k Integrated in uC Imported/Exported

Microprocessor Bus Custom

PCI VME PC-102 Computer Engineering and Networks Laboratory

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Future of Embedded Systems

Embedded Systems overtook market of PCs. Ubiquitous and pervasive computing:
Information anytime, anywhere; building ambient intelligence into i t our environment; internet of things: i t i t t f thi
Wearable computers Smart Labels on consumer products Smart Labels Intelligent buildings Environmental Monitoring Traffic control and communicating automobiles

Embedded systems provide the basic technology technology.

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Computer Engineering and Networks Laboratory

Project Examples
wearable computer

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Computer Engineering and Networks Laboratory

Project Examples
The Obvious Choice -The Smart Home and Network Appliances

Dense network of sensor and monitor nodes

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Security Environment monitoring and control Object tagging Identification

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Trends
Higher degree of integration
Microprocessor, microcontroller memory + processor + I/O-units + (wireless) communication System-on-chip (S C) S (SoC) Multiprocessor Systems on a Chip (MPSoC)

Software increasing (amount and complexity). S ft i i ( t d l it ) Hardware/software co design gets increasing importance co-design importance. Low power constraints (portable or unattended devices). Communicating embedded systems, very often wireless.
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