02223: lundamenLals of

Modern Lmbedded SysLems

LecLure 1:
lnLroducuon
LecLure 1/2
LecLure ouLllne
- Course lnformauon
- Lxamlnauon: pro[ecL
- Modern embedded sysLems
- Lmbedded sysLems deslgn
- erformance vs. predlcLablllLy
- Lxamples
- AuLomouve elecLronlcs
- laySLauon 3, moblle phones
- Mars aLhnder
LecLure 1/3
Course lnformauon
- 1eam (see conLacL lnfo on CampusneL)
- !an Madsen, course leader
- aul op and Sven karlsson, lecLurers
- Mlchael 8elbel 8oesen and rabhaL kumar SaraswaL,
Leachlng asslsLanLs
- Webpage
- CampusneL
- http:,,ese1ab.mm.dtu.dk,cg-bn,wk.cg,IMLSCourse,uome
LecLure 1/4
Course lnformauon, conL.
LlLeraLure
- 1exLbook:
Schedullng ln 8eal-1lme SysLems
(full LexL avallable onllne)
- SelecLed chapLers
(full LexL avallable on CampusneL)
LecLure 1/3
Course lnformauon, conL.
- LecLures
- Language: Lngllsh
- 13 lecLures
- LecLure noLes: avallable on CampusneL as a ul le Lhe day before
- Lxamlnauon: pro[ecL, see CampusneL/ro[ecL
- 8eporL evaluauon and oral exam
- 7.3 LC1S polnLs
LecLure 1/6
WhaL ls an embedded sysLem?
- uenluon
- an speclal-purpose compuLer sysLem,
parL of a larger sysLem whlch lL conLrols.
- noLes
- A compuLer ls used ln such devlces prlmarlly as a means Lo
slmpllfy Lhe sysLem deslgn and Lo provlde exlblllLy.
- Cen Lhe user of Lhe devlce ls noL even aware LhaL a
compuLer ls presenL.
roducL: Sonlcare lus LooLhbrush.
Mlcroprocessor: 8-blL Zllog Z8.
Lmbedded sysLems example
roducL: nASA's Mars
So[ourner 8over.
Mlcroprocessor:
8-blL lnLel 80C83.
Lmbedded sysLems example, conL.
roducL: Carmln nuvl
333 Mhz mlcroprocessor
Lmbedded sysLems example, conL.
roducL: lod 1ouch
Mlcroprocessor:
332MPz Samsung A8M
Lmbedded sysLems example, conL.
roducL: 8CA
8C3400 uvu player.
Mlcroprocessor:
32-blL 8lSC.
Lmbedded sysLems example, conL.
roducL: Sony Albo L8S-110
8obouc uog.
Mlcroprocessor:
64-blL MlS 8lSC.
Lmbedded sysLems example, conL.
SmarL pllls - 2nd generauon llylng mlcro-lnsecLs!
uo noL have Lo be small .
Lmbedded sysLems are everywhere
o o
o o o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
o
LecLure 1/18
CharacLerlsucs of embedded sysLems
- Slngle-funcuoned
- uedlcaLed Lo perform a slngle funcuon
- Complex funcuonallLy
- Cen have Lo run sophlsucaLed algorlLhms or muluple algorlLhms.
- Cell phone, laser prlnLer.
- 1lghLly-consLralned
- Low cosL, low power, small, fasL, eLc.
- 8eacuve and real-ume
- Conunually reacLs Lo changes ln Lhe sysLem's envlronmenL
- MusL compuLe cerLaln resulLs ln real-ume wlLhouL delay
- SafeLy-crlucal
- MusL noL endanger human llfe and Lhe envlronmenL
Some sLausucs
- More Lhan humans on Lhe planeL, already
- 40 bllllon of such devlces by 2020
- 99 of Lhe processors are used ln embedded sysLems
- 4 bllllon embedded processors were sold lasL year alone
- t71 bllllon global markeL ln 2009, growLh raLes of 14
- MarkeL slze ls abouL 100 umes Lhe deskLop markeL
- Share of cosLs:
- auLomouve (36), lndusLrlal auLomauon (22), Lelecommunlcauons
(37), consumer elecLronlcs (41) and healLh/medlcal equlpmenL (33)
- Palf a mllllon more englneers needed, worldwlde
- expecLed Lo double over Lhe nexL 6 years
LecLure 1/19
L
e
v
e
l

o
f

d
e
p
e
n
d
e
n
c
y

Lxample area:
auLomouve
Lmbedded sysLems:
90 fuLure lnnovauons
40 prlce
1970 1980 1990 2000
ACC SLop&Co
8lu
ALC
kSC
42 volLage
lnLerneL orLal
C8S, uM1S
1elemaucs
Cnllne Servlces
8lue1ooLh
Car Cmce
Local Pazard Warnlng
lnLegraLed SafeLy SysLem
SLeer/8rake-8y-Wlre
l-urlve
Lane keeplng AsslsL.
ersonallzauon
Soware updaLe
lorce leedback edal
.
LlecLronlc ln[ecuons
Check ConLrol
Speed ConLrol
CenLral Locklng
.
navlgauon SysLem
Cu-Changer
ACC Adapuve Crulse
ConLrol
Alrbags
uSC uynamlc SLablllLy
ConLrol
Adapuve Cear ConLrol
xenon LlghL
8MW AsslsL
8uS/1MC
Speech 8ecognluon
Lmergency Call
.
LlecLronlc Cear ConLrol
LlecLronlc Alr Condluon
ASC Anu Sllp ConLrol
A8S
1elephone
SeaL Peaung ConLrol
AuLom. Mlrror ulmmlng
.
s
o
u
r
c
e
:

8
M
W

ulsLrlbuLed archlLecLure
Lvoluuon of PandseLs and 1echnology
LCus
Appllcauon
processor
8aseband ASlC
Mlxed-
Slgnal ASlC
Lnergy
managemenL
ASlC
osluon
sensors
312 M8
uu8
u8AM
312M8
nAnu
lLASP
2Mlx
camera
module
64M8
nC8
lLASP
64M8
Su8AM
8l
8auery
WhlLe LLu
drlver
lrame
buer ASlC
MM
C
A8M9
uMA core
keyboard
LLu llash
A8M9
uMA core
81
Module
SlM
lPl
8ack-llghL
LLus
8lock ulagram of SLaLe-of-Lhe-arL SmarLphone
Charger
1radluonal embedded soware developmenL
- ueslgn and bulld
Lhe LargeL hardware
- uevelop Lhe soware
lndependenLly
- lnLegraLe Lhem and
hope lL works
Does not work for complex projects
SysLem-level deslgn (?-charL)
Model of system
implementation
System platform
model
System-level
design tasks
Analysis
Software
synthesis
Hardware
synthesis
Application
model
Appllcauon
model
ArchlLecLure
model
Craphlcal lllusLrauon of Moore's law
1981 1984 1987 1990 1993 1996 1999 2002
Leading edge
chip in 1981
10,000
transistors
Leading edge
chip in 2002
150,000,000
transistors
- SomeLhlng LhaL doubles frequenLly grows more
qulckly Lhan mosL people reallze!
- A 2002 chlp could hold abouL 13,000 1981 chlps lnslde lLself
ueslgn crlsls
0.3S
0.2S 0.18
0.1S 0.12 0.1
L
o
q

5
c
o
/
e

Gates]cm
2

Moore's Law
(S9 CAGk)
wideninq 6ops
wi// 1riqqer
Porodiqm 5hi!
Des|gn roducnv|ty
(20-2S CAGk)
Sohware roducnv|ty
(8-10 CAGk)
1echno|ogy (m|cron)
ueslgn challenge - opumlzlng deslgn meLrlcs
- Common meLrlcs
- erformance: Lhe execuuon ume or LhroughpuL of Lhe
sysLem
- Un|t cost: Lhe moneLary cosL of manufacLurlng each copy of
Lhe sysLem, excludlng n8L cosL
- NkL cost (non-8ecurrlng Lnglneerlng cosL): 1he one-ume
moneLary cosL of deslgnlng Lhe sysLem
- S|ze: Lhe physlcal space requlred by Lhe sysLem
- ower: Lhe amounL of power consumed by Lhe sysLem
- I|ex|b|||ty: Lhe ablllLy Lo change Lhe funcuonallLy of Lhe
sysLem wlLhouL lncurrlng heavy n8L cosL
ueslgn challenge - opumlzlng deslgn meLrlcs
- Common meLrlcs (conunued)
- 1|me-to-prototype: Lhe ume needed Lo bulld a worklng
verslon of Lhe sysLem
- 1|me-to-market: Lhe ume requlred Lo develop a sysLem Lo
Lhe polnL LhaL lL can be released and sold Lo cusLomers
- Ma|nta|nab|||ty: Lhe ablllLy Lo modlfy Lhe sysLem aer lLs
lnlual release
- Correctness, safety, many more
1he performance deslgn meLrlc
- Wldely-used measure of sysLem, wldely-abused
- Clock frequency, lnsLrucuons per second - noL good measures
- Latency (response ume)
- 1lme beLween Lask sLarL and end
- e.g., ulglLal cameras A and 8 process lmages ln 0.23 seconds
- 1hroughput
- 1asks per second, e.g. Camera A processes 4 lmages per second
- 1hroughpuL can be more Lhan laLency seems Lo lmply due Lo concurrency, e.g.
Camera 8 may process 8 lmages per second (by capLurlng a new lmage whlle
prevlous lmage ls belng sLored).
- Speedup of 8 over S = 8's performance / A's performance
- 1hroughpuL speedup = 8/4 = 2
1lme-Lo-markeL: a demandlng deslgn meLrlc
- 1lme requlred Lo develop a
producL Lo Lhe polnL lL can
be sold Lo cusLomers
- MarkeL wlndow
- erlod durlng whlch Lhe
producL would have hlghesL
sales
- Average ume-Lo-markeL
consLralnL ls abouL 8 monLhs
- uelays can be cosLly
R
e
v
e
n
u
e
s

(
$
)
Time (months)
ower deslgn meLrlc: Lrends
not P/ote
Nuc/eor keoctor
386
486
ennum
ennum ro
ennum 2
ennum 3
ennum 4 (rescou)
ennum 4
LecLure 1/34
ro[ecL: Why?
- 1he course wlll focus on Lhe ana|ys|s, s|mu|anon and
des|gn of embedded sysLems.
- Coal
- undersLand and app|y slmulauon/analysls/deslgn
Lechnlques for embedded appllcauons.
- Pow: |mp|ement a soware Lool LhaL can slmulaLe/
analyze/deslgn an embedded sysLem.
- ueLalls
- see Lhese slldes and pro[ecL.pdf" on CampusneL/ro[ecL
LecLure 1/33
ro[ecL: WhaL?
- Soware Lool:
- lmplemenLauon of slmulauon, analysls and/or deslgn
Lechnlques for embedded sysLems
A1: Very S|mp|e S|mu|ator
SlmulaLe Lhe runnlng of an embedded appllcauon on a slngle
processor sysLem, uslng preempuve xed-prlorlLy schedullng
A2: kesponse-1|me Ana|ys|s
ueLermlne Lhe worsL-case response umes for Lhe embedded
sysLem slmulaLed ln A1
A3: Advanced techn|que
lree cholce of embedded sysLem and Lechnlque
(slmulauon, analysls and deslgn)
LecLure 1/36
ro[ecL: Pow?
- Soware Lool
- lnpuL
- Models for Lhe appllcauon and hardware archlLecLure (LecLure 2)
- WorsL-case execuuon ume of each process (LecLures 3)
- 1lmlng consLralnLs (deadllnes)
- Schedullng pollcy
- llxed-prlorlLy preempuve schedullng (LecLures 4-6)
- AnoLher schedullng pollcy (LecLures 7-12 and blbllography)
- CuLpuL
- ls Lhe appllcauon meeung all Lhe deadllnes?
- erformance numbers: e.g., worsL-case response umes
LecLure 1/37
ro[ecL: uellverables
- Source code wlLh commenLs
- rogrammlng language: any language ls ne
- Suggesuon: !ava, uslng Lhe !ung graph llbrary and CraphML for capLurlng
Lhe models: hup://[ung.sourceforge.neL/
- See Lhe examples on CampusneL/ro[ecL
- 8eporL
- uocumenL Lhe deslgn and lmplemenLauon
- uescrlbe Lhe resulLs obLalned
- See Lhe documenLs on CampusneL/ro[ecL
- soware_developmenL_pro[ecLs.pdf" and
SysLemauc Soware 1esL.pdf"
LecLure 1/38
ro[ecL, conL.
- MllesLones
- Sept. 9: Croup reglsLrauon
- Add your group on Lhe course home page (see Croups" llnk)
- Cct. 23: Advanced Loplc selecuon
- ueclde on Lhe advanced Lechnlque" Lo be lmplemenLed
- resenL your advanced Loplc and geL feedback
- Cct. 30: ro[ecL reporL dra
- upload dra Lo CampusneL
- lL should conLaln a descrlpuon of Lhe advanced Loplc
- Dec 11: llnal reporL submlsslon
- upload nal reporL Lo CampusneL
rellmlnary lecLure plan
L1 lnLroducuon (aul op, Sven karlsson, Mlchael 8elbel 8oesen)
L2 erformance analysls (!an Madsen) Lab: SlmpleScalar
L3 WorsL-case execuuon ume analysls (!an Madsen) Lab: al1
LS lnLroducuon Lo schedullng (aul op) Lab: ro[ecL
LS SchedulablllLy analysls (l) (aul op) Lab: 1lMLS
L6 SchedulablllLy analysls (ll) (aul op) Lab: 1lMLS
L7 Pandllng shared resources (aul op) 8eallsuc exerclse
L8 Pandllng dependencles (aul op) Lab: MAS1
L9 arallel programmlng (Sven karlsson) Lab: CpenM
L10 AspecLs of parallel programmlng (Sven karlsson) Lab: CLLL slmul.
L11 Pybrld schedullng (aul op) Lxerclse
L12 Mulu-core sysLems (aul op/!an Madsen) Lab: MAS1
L13 CuLlook
1he performance deslgn meLrlc
- Wldely-used measure of sysLem, wldely-abused
- Clock frequency, lnsLrucuons per second - noL good measures
- Latency (response ume)
- 1lme beLween Lask sLarL and end
- e.g., ulglLal cameras A and 8 process lmages ln 0.23 seconds
- 1hroughput
- 1asks per second, e.g. Camera A processes 4 lmages per second
- 1hroughpuL can be more Lhan laLency seems Lo lmply due Lo concurrency, e.g.
Camera 8 may process 8 lmages per second (by capLurlng a new lmage whlle
prevlous lmage ls belng sLored).
- Speedup of 8 over S = 8's performance / A's performance
- 1hroughpuL speedup = 8/4 = 2