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IN2305-II Embedded Programming

Jan 01, 2016

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IN2305-II Embedded Programming. prof.dr.ir. Arjan J.C. van Gemund Embedded Software Lab Software Technology Dept. Arjan van Gemund?. BS Physics Engineering MS, PhD Computer Science DSM (Embedded Systems HW + SW) TNO (High-Performance Computing) TUD (EE, Computer Architecture) - PowerPoint PPT Presentation

  • IN2305-IIEmbedded Programmingprof.dr.ir. Arjan J.C. van Gemund

    Embedded Software LabSoftware Technology Dept.

  • Arjan van Gemund?BS Physics EngineeringMS, PhD Computer Science

    DSM (Embedded Systems HW + SW)TNO (High-Performance Computing)TUD (EE, Computer Architecture)TUD (CS, Software Technology, 0.4 fte Prof Emb SW)

    2 kids, dog, cat, living in Ravenswoud (Fr)http://www.st.ewi.tudelft.nl/~gemund/

  • In2305-ii? Info: via http://www.st.ewi.tudelft.nl/~gemund/

  • Embedded Systems?ES =computer system (HW+SW) embedded within another system largely determining its functionality

  • Telegraphout-of-order datanegotiate with multiple clients (print jobs)service status requestsadapt to different printersresponse time to certain requestsdata throughput / buffering

    Telegraphnetworkprinter

  • Underground Tank Monitoring Systemguard levels, detect leaksextremely low-cost design (proc)simple arithmetic - CPU hog - response time problem

    tank 1tank NEmb SysbuttonsLCDdispprinter. . .level CHlevel H2Otemperature

  • Cruise Control System (Lab Project)stabilize car speed when engagedextremely low processor cycle budgetsmall control loop jitter due to other activitiesreliable operationEmb Sys

  • Embedded Systems Boomprovides functionality (intelligence) of almost everythingannual growth 25-60% (Emb Linux > 60%)100 x PC marketaccounts for 25-40% costs in automotivevery large societal dependencevery high performance demands

  • Embedded Software Crisisfunctionality migrates from HW to SWexisting cores combined with FPGAs, rather than ASICsprogramming-centered design (incl. HDLs)TV, mobile, car, .. 10+ MLOC code, expon. growth!despite SW engineering: 1 10 bug / KLOC100 G$ / yr on bugs (Mars Polar Lander, Mars Climate Orbiter, Ariane 5, Patriot, USS Yorktown, Therac-25, ... )

  • Embedded Programmingmore difficult than classical programming interaction with hardware real-time issues (timing)concurrency (multiple threads, scheduling, deadlock)need to understand underlying RTOS principlesevent-driven programming (interrupts)

    lots of (novice) errors (hence the crisis)so thats why we have this course already in 2nd year

  • Examplenave automatic door task (thread):

    for (;;) { while (inp(sensor) != 1) ; // wait to open out(door,OPEN); while (inp(sensor) == 0) ; // wait to close sleep(1000); out(door,CLOSE); // close after timeout}what are the (many) issues? (discussed on the next slides)

  • Specification: FSM (Moore)0: door, timer_enable1: door, timer_enable2: door, timer_enable

    s = sensor, t = timeoutred transition absent in example code-> door can slam into your face!tmretclk

  • How to Program?VHDL: FSM in entity door_controllerpros: separate hardware: no problems sharing a processor with other tasks (scheduling, priorities)fast and synchronous programming model: high frequency clocked process with simple polling for s and tcons: VHDL to cumbersome / prohibitive for large applicationslots of legacy code written in, e.g., C

  • A VHDL Solutionprocess -- fsmbegin wait until rising_edge(clk); case state is when S0 => if (s = 1) then state if (s = 0) then state if (s = 1) then red arc in FSM state
  • What if C?C: FSM in a task door_controllerpros: simple (sequential) programming modelcons: cant be invoked periodically by a high-frequency clock (timer) because of polling overheadbusy waiting (polling) is not an option (see above) -> concurrent (event) programming (e.g., using interrupts and semaphores)

    so the while loops in the example code are wrongonly use a delay which is not based on busy waitergo: interrupt programming, using an RTOS

  • A C Solutionvoid isr_sensor(void) // process sensor IRQ{ OS_Post(semaphore_event_on_s); // signal s changed}

    void task_door_controller(void) { for (;;) { OS_Pend(semaphore_event_on_s); // wait for s = 1 out(door,OPEN); do { OS_Pend(semaphore_event_on_s); // wait for s = 0 OS_Delay(1000); } while (inp(sensor) != 0); // timeout out(door,CLOSE); }}

  • Issuesefficient, no busy waiting any more (OS_Pend, OS_Delay)still, code is not correct: interrupts (entering/leaving persons within delay period are not properly handled, and are only accumulated in semaphore (wrong)cannot afford to just sit in a delay, need control flow flexibility of a real FSM, i.e., to jump, AND ..the ability to simultaneously wait for two events (s or t):void isr_sensor_and_timer(void) { // handle both IRQs OS_Post(s_or_t); // either s or t changed}

  • Alternative C Solutionvoid task_door_controller(void) { for (;;) { switch (state) { STDBY: OS_Pend(s_or_t); // wait for 0-1 out(door,OPEN); state = OPEN; OPEN: OS_Pend(s_or_t); // wait for 1-0 timer_enable(); state = TIMING; TIMING: OS_Pend(s_or_t); // wait for 0-1 or t if (inp(sensor) == 0) { // timeout out(door,CLOSE); timer_disable(); state = STDBY; } else state = OPEN;}}}

  • ConclusionEmbedded programming is not so easyNor in C nor VHDLC: Concurrency needed (seq. prog. model): RTOS supportEvent programming needed: interrupts + RTOS support

    Learn the basics of interrupt programming and using an RTOS (in C)Learning is (lots of) programming!Lab: simple Cruise Control subsystemHardware: FPGA board with 32 bit soft core + C tools

    In2305 via: http://www.st.ewi.tudelft.nl/~gemund/

  • Lab Assignment: Cruise Controlhttp://auto.howstuffworks.com/cruise-control.htmengage button: engage cruise controlinc button: increment throttle or cruising speeddec button: decrement throttle or cruising speedspeed and throttle on SSDmonitor link to PC terminal (status, logging, ..)

  • Cruise Control Setupm(speed)(vehicle)Embed. Syst.(FPGA board)ab(throttle)PC host(Linux)encoderDC motor

  • ES SetupincengagedecPWMdecodermabsetpointspeedcountthrottlemab

  • Demo

    Demo ..

  • Finally ..Grade = f (MC exam, Quiz, Lab)Without lab NO gradeLab: presence mandatory, AWOL -> no grade!Lab enrollment: email TA ASAP

    In2305-ii first time edition! Accept glitches ..Response group (3 student volunteers via email)

    In2305 via: http://www.st.ewi.tudelft.nl/~gemund/

    Credits: Mark Dufour, Sijmen Woutersen

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