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Embedded Systems
Dr. Y S Rao1
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What are Embedded Systems• They are Embedded ‘in’
• They are not desktops
• Not mainframes or mini’s• -
, ,
• A heating furnace controller- Thermostat• mo e p one
• Medical device
• DSP based systems
•
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Embedded Processors
Embedded vs. Desktop
Processors
Applications
Advantages:• Lower cost
• Cell phones / pagers / PDAs
• DAQ• Optimized Instruction Set
• Lower Power consumption
• Controls (Automotive,
Industrial)• Smaller footprint
Disadvantages:
• “Smart” Media
Desktop Processors:
• ower c oc spee s• Less Processing power
• es top computers
• Notebook computers / Laptops
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Why Use Embedded Systems• ser unc ona y – portability
• User convenience, comfort - HVAC, Auto,
Appliances, GPS, TV remote, DVR, iPod
• Low power and safety – iron, coffee maker, LED
• Commercial/industrial applications
• Replace electro-mechanical systems
• os re uc on• Quality improvement
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An Embedded System
Microcontroller
(uC)OutputsInputs
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An Embedded Control System
Microcontroller
(uC)Outputs
Inputs
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Beware of the computer!
• computers + SoCs = hardware / software mix
• com lete chan e in device interaction
• ever-growing number of critical applications 7
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Embedded Systems on Chip
• Many processing units• Lar e embedded software
CPU GLU
RAM FPGAROM
H r w r r f w r ?
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Wh Com uterizin Ob ects?1. Simplicity and uniformity of digital information
ex s, mages, soun s, mov es, money, orces,...
count, store, organize, transmit, encrypt, visualize,...
2. The fabulous information engine
Moore : computers => microprocessors => SoCsprogress n e sensor e
3. Advances in numerical methods
control & information theory
algorithmics
numer ca ana ys s
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A lications and Constraintsflight-control, engines, brakes, fuel, power, climatesafety-critical => certification
trajectory, attitude, image, telecom- =
telephone, audio, TV, DVD, gamesbusiness critical => time-to market + quality
pacemakers, diabet control, robot surgeonslife-critical => TBD (!)
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Microcontroller Manufacturers• ARM – Advanced RISC Machines
• Atmel
• Cypress- programmable blocks• Freescale Semiconductor- uC, DSP
-
• Microchip
• NEC• Renasas
• Sharp
• croe ec ron cs• Texas Instruments- uC, DSP
• Man others
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Microcontrollers S ectrum• $0.15 - $0.20 Far Eastern parts
• - - .
• Musical gift card uC
• 8-bit 8K flash,1K RAM, 16-I/O
• -Bi 2 K fl h 2K RAM 4-I
• 32-Bit, 2M Flash, 64K RAM, TPU
• – GbE, USB HS
•
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•
• e- reaten ng
• 24/7/365
• Can’t reboot!
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•
• pt m ze ssem y anguage
• Limits, Inaccuracies of Fixed Precision
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Design Issues
• Design Methodology• Time To Market• oc pee• Power Consumption•• Consumer Market: Minimize Manufacturing
Cost.
• No chance for future modification.
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A Low End Microcontroller
Flash
I/O
x
Clock
RISC
Watch
Reset
RAM16 B tes
Dog
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Microcontroller Functionalit• Core processor - Voltages
• y – as , , , ,
DDR2
• – n er ace vo age
• Timers• Interrupts
• Serial Communication- SPI, I2C, UART
• USB, CAN-BUS, IR, SD-Cards
– , , ompara or, p-amp
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A Typical Microcontroller
RAM Flash EEPROM
I/OClock
CoreReset
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Power-On Reset Modules• Internal reset
• x
• Programmable threshold voltage
• Programmable duration
• Pr r mm l r im • Brown-out condition - programmable
•• Watchdog timer
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Batter Powered A lications• Sleep mode
• u w
• All kinds of modes available
• Reduced clock frequencies
• r i n• Selective peripherals sleep mode
• – c oc s, t mers, nterrupts
• Watchdog timer
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Why Worry About Power ?
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Process Technology and Supply
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Why Worry About Power ? Portability
Battery industry does not have a Gordon Moore23
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A Typical Microcontroller
RAM Flash EEPROM
I/OClock
CoreReset
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A High End Microcontroller
JTAG NEXUS
2MB Flash
3 2
3 2
6 4
64KB SRAM
32-BitMPC5554
MMU
C h T P U
( 2 )
C a c
h e
D S P
C h D MA
64-ChI/O
A/D40-Ch
CAN Bus(3)
PLL
32-Bit External Bus
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Microcontroller Selection Criterion• Speed of operation, complexity – 8/16/32 Bits
• Cost – HW/SW tradeoffs
• Power consumption - TI, Microchip, Freescale• Memory Size – Flash, RAM, EEPROM
• # of I/O
• Analog – A/D, DAC, Comparator, Op-amp• Serial Communication- SPI, I2C, USB, IR, GbE
• Product Family
• eve opmen oo s• Timers – input capture, output compare
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Embedded S stems Develo ment• System development
• Electronics•
• Software
• Mechanical
•
• DFM – design for manufacturability
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S stem Develo ment• Architecture
• - requ re
• Sub-systems interface - Master/slave
• Communication - Networking protocols
•• HW/SW tradeoffs
• u se ec on• S stem tests – regulatory agencies
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Electronics Develo ment
• Design specs
• es gn or es a y
• uC and components selection
• Worst case analyses
• Schematics – CAD tools, Design rule checks• Simulations
• Proof of concept, Prototyping
• Design validation• Product qualification
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Electronics Develo ment Tools
• Schematic capture- Orcad, PADS, Cadence, Mentor
• Analog simulation-pSpice, LTSpice
• Lo ic Simulation- Orcad Cadence Mentor
• VHDL, Verilog
• Worst case analyses- simulations
• Proof of conce t, Protot in - PALs, FPGAs
• DFMEA- UL, agencies approval
• Reliability predictions - MTBF
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ASICs & Pro rammable Lo ic
• Application Specific ICs
• , , - uCs with PLDs
• Gate Arrays
• Standard Cells
• Custom ICs• Languages- VHDL, Verilog
• Functional simulation
• Timing simulations• Floor planning
• Back-annotation31
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PCB La out
• CAD tools- Orcad, Protel, PADS, Allegro, Mentor
• # of layers•
• 3D fit
• - - -,
• Thermal considerations
• DRC
• Gerber output
• Fabrication
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Real -TimeSoftware Development
Hold on there!
What is real time software?
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Software Develo ment
• Specs
• SW Design• – ‘ ’, ,
• OS’
•• Tools – compilers, assemblers, programmers, emulators
• Real time as ects - ISRs
• SW/HW tradeoffs• S stem inte ration
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Real Time Software Develo ment
• Timers
• Interrupts
• Priorities
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Real Time Software
ExternalEvent
ExternalEvent
Timer 1 Timer n
Micro-
ControllerPrioritized
InputsI/OCore SW
Task 1
Task 2
Task n
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Real Time Software Develo ment
• Interrupts – ISRs
• ‘C’ v/s Assembly
• Tasks and priorities• RTOS’
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Programming Languages Used in
ew m e e es gns
70.0%
80.0%
90.0%
-
50.0%
60.0%1999-2000
20.0%
30.0%
.
0.0%
10.0%
Assembly C C++ Java Other
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Use of Real-Time Kernels in
New Embedded Designs.
80.0%
100.0%
60.0%
20.0%
40.0%
0.0%
4-bit 8-bit 16-bit 32-bit 64-bit Special
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•
they will respond to an external event.
• Real Time systems don’t have to be “real” “.
time”.
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guarantee they provide, real time“
time” or “hard real time”.
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•
guarantee, but missing an event is not. ,
decoding used during satellite TV
“frame time”. If this guarantee is missed, – .
but not catastrophic!
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•
missing a timing deadline will lead to. ,
missile guidance system should not miss
43
S h ft l ti
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So why use soft real time
systems at all?•
provide a real time guarantee. But if we,
guaranteed response time can be much
.• Soft real time systems would be used in
-very fast.
44
I l ti ft
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Is real time software any
different•
careful.
scheduling is done at the operating system,
systems should be used.
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•
form of an endless loop, which waits for
occur.
recovery if there is a “hang up” while
.
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Software Develo ment - Tools
• Programmers- development, in-circuit, field
• mu a ors- JTAG
• Simulators
• Assemblers
• Compilers• Linkers
• Loaders
• CASE tools• V r i n n r l
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Architecture componentsdimensioning
Word, Excel, Visio
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dimensioning
communicationSystem C
Micro-Architectureconcurrencypipeline
resource sharin
Word, Visio
RTL design VHDL, Veriloggates, clocksregisters, RAMs
circuits cells, clock treesarea, speed
Verilog + ...
DFT (test)testabilityscan insertion
Place&Route
Chips
, ,
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Translation of Code on Host : Compiling
C Source File (s)
C Compiler
C Header File (s)Preprocessing
Compiling
C Object File (s)
Linker C System Libraries
Embedded System
ost omputer
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Th b ild d l d f
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The build and load process fordesktop application programs.
Compiler
O ject Fi es
Executable
AssemblerL i n k
e r
L o a d e
Read-Write
Memory (RAM)
Run-Time Library:
r
Operating System Image: Boot
Process
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The build and load process for
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The build and load process for
em e e app cat on programs.Object Executable Files Image File
Image
File Compiler
Read-Write
Memory(RAM)
L
L o c a t o
r
Assembler
Program
Re-Entrant Library:
i n k e r
Read-Only
Initialization
Real-Time Kernel: ROM"Burner"
Memory(ROM)
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What is ISP?• In-System Programmable
(ISP) means :
– The ability toreconfigure the logican unct ona ty o adevice, board orcomplete electronic
.
– This can be donebefore, during and
and shipment to theend user.
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Mobile Phone User Interface
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Mobile Phone User Interface
TouchScreen
Freescale
68HC05Radio
Freescale
Dragonball
LCD
DriverKeypad Graphics
LCD
Battery
68328Micro-
Phone
Speaker
55
Postal Mail Sorting Device
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Postal Mail Sorting Device
PowerSu l
FreescalePostal Optical FlashOptical
68HCxxPiecesnco er
PLDso at on
RS232
PCApplication
56
eBook
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eBook
Battery
PC/104
Pentium
Processor
PCMCIAGraphics
LCDVideoXilinxFPGA
TouchScreen
57
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Product:Vendo V
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Product:Vendo V-
MAX 720 vendingmachine.
Microprocessor:
8-bit Motorola68HC11.
59
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Sonicare Plus toothbrush.
- .
60
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Pro uct: M e edishwashers.
Microprocessor:- o oro a
68HC05.
61
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Product: NASA's
Mars Sojourner
Rover.
Microprocessor:
8-bit Intel 80C85.
62
P d t C i C
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Product: CoinCo
USQ-712 coin
chan er.
Microprocessor:
8-bit Motorola68HC912.
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Product: Garmin
StreetPilot GPS
Receiver.
Microprocessor:16-bit.
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Product: Palm Vx
handheld.
Microprocessor:
32-bit MotorolaDragonball EZ.
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i1000plus iDEN Multi-
.
Microprocessor:
- .
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MP3 Player.
Micro rocessor:32-bit RISC.
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Product: RCARC5400P DVD
player.
Microprocessor:
32-bit RISC.
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Product: Sony Aibo
Dog.
64-bit MIPS RISC.
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Web Servers… get smaller
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-
* ,
PIC 12c508
,RAM,
,
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Classification
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. u onomous
. ea - me
. e wor e
. o e a egor es 78
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.•
standalone mode.
process control in manufacturing units
.• Ex: Air-conditioner, CD players
79
-
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• ea – me em e e sys ems are
required to carry out specific tasks ina spec e amoun o me.
• These systems are extensively usedto carry out time critical tasks inprocess control
• Ex: Boiler Plant
80
3. Networked Embedded
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Systems• Monitor plant parameters, such as
temperature, pressure, andhumidity, and the data over thenetwork to a centralized system foronline monitoring.
• Ex: Web camera monitoring the
plant floor transmits its video outputto a remote controlling organization.
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4. Mobile``````
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• Mobile gadgets need to store data
• These gadgets imbibe powerful
com utin and communicationcapabilities to perform real-time tasksand handle multimedia applications.
• The gadgets embed powerfulprocessor and OS, and a lot of memoryw t m n ma power consumpt on.
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