Entwurf und Validierung paralleler Systeme (Integrierte Hard- und Softwaresysteme 2)
Graduate Course in Computer Science (Informatik) and Computer Engineering (Ingenieurinformatik)
2 + 2 (lecture and project seminar)
Andreas Mitschele-Thiel
Dieter Wuttke
TECHNISCHE UNIVERSITÄTILMENAU
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Integrated HW/SW-Systems 2Andreas Mitschele-Thiel 6-Apr-06
Motivation for the Course – Why is this important?
Any computer system consists of hardware and software!
But: HW is often hidden and not considered important by SW developers
Indicators that HW is important:
Systems where HW/SW relation is obvious:
embedded systems
real-time systems
reliable systems
safety-critical systems
capacity
responsiveness and delay
predictability
reliability
safety
power consumption
cost
...
=> Knowledge of HW/SW interaction is required!
What are ``Integrated HW/SW-Systems´´?
Integrated HW/SW-Systems 3Andreas Mitschele-Thiel 6-Apr-06
Motivation for the Course – Why is this important?
Embedded programming without knowledge of HW/SW integration
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Integrated HW/SW-Systems 4Andreas Mitschele-Thiel 6-Apr-06
Motivation for the Course – Why is this important?
According to the International Data Corporation
1997: 96% of all Internet-access devices shipped in the United States were PCs
End of 2002: less than 50% of them were PCsInstead, digital set-top boxes, cell phones, and personal digital assistants are sold
Today: the most selling Internet-access devices are mobile phones
According to the International Data Corporation
1997: 96% of all Internet-access devices shipped in the United States were PCs
End of 2002: less than 50% of them were PCsInstead, digital set-top boxes, cell phones, and personal digital assistants are sold
Today: the most selling Internet-access devices are mobile phones
Information Technology Scenario
Integrated HW/SW-Systems 5Andreas Mitschele-Thiel 6-Apr-06
Objectives
Let’s assume you are employed as a system architect with some company and
faced with the following task:
Given is some problem to be solved by some kind of computer system, e.g. an ABS system for a car, a fly-by-wire system for a new Airbus, the control of a microwave oven, a mobile phone, a corporate IP router, or the control unit of some medical x-ray equipment.
The different systems have very different requirements, including real-time constraints, reliability, cost, etc.
Your task is to select the most appropriate system design including HW and SW, as well as the selection of the most appropriate design method and tools.
The goal of the course is to provide the knowledge to make these kind of decisions.
Integrated HW/SW-Systems 6Andreas Mitschele-Thiel 6-Apr-06
Contents IHS 1 & IHS 2 (E+V)
Part I: IntroductionMotivation and overview
Development process and tasks
Part II: System Analysis, Design and Validation (top-down)Analysis and requirements
Behavioral models
FSM, NDFSM, FSM composition
PN, DFG, CFG, CDFG
Specification languages
Statecharts, SDL
VHDL, SystemC
Functional validation
Performance/temporal validation
Optimization methods
System synthesis (HW/SW codesign)
Part III: HW Synthesis (bottom-up)
Review: Boolean Algebras
Minimization
Structural descriptions
Dynamic aspects (Hasards, etc.)
Boolean automata (partial, nondeterm.)
Logic synthesis of automata
Composition/decomposition
High-level synthesis
Part IV: SW Synthesis (bottom-up)
Processing devices - review
Support functions: process management, communication, synchronisation, timer management, scheduling
Real-time operating systems
Integrated HW/SW-Systems 7Andreas Mitschele-Thiel 6-Apr-06
Working Method IHS 2 (Entwurf und Validierung)
Lecture (2 SWS) – first half of semester
acquire knowledge of relevant techniques
Project Seminar (2 SWS) – second half of semester
work on selected topics (literature study, practical work)
practice team work
documentation of results
presentation of results
Exams (Alternatives)
IN: Teil des Schwerpunkt- oder Ergänzungskomplexes oder
II: Vertiefungskomplex IHS oder
IN, II, etc.: Scheinprüfung (mündlich)
Integrated HW/SW-Systems 8Andreas Mitschele-Thiel 6-Apr-06
Fachgebiet IHS – Teaching
Vertiefung IHSSG II
StudiengangIngenieurinformatik (II)
StudiengangInformatik (IN)
ExportMedient. & W-Inf.
Integr. HW/SW-Systeme2/1/.5 (Pflicht für Inginf.
Wahl für Inf.)
1. Sem.
2. Sem.
5. Sem.
6.-9. Sem.
Multimediale Syst.2/1/- (Wahlpflicht)
VertiefungMedieninformatik
SG II/IN
IHS 2 (E+V)2/2/- (Wahlpflicht)
Wireless Internet2/2/- (Wahlpflicht)
UMTS Networks2/2/- (Wahlpflicht) Vertiefung IHS
SG IN
Rechnerorganisation2/2/.5
Techn. Informatik I2/2/.5 (bisher 1/1/.5)
Praktikum
Rechnerorg.1+1
Praktikum
Schaltsysteme1/1/.5
Praktikum
Integrated HW/SW-Systems 9Andreas Mitschele-Thiel 6-Apr-06
Organisational Stuff
Course prerequisites:Basics of digital systems Basics of computer architecture and computer design
Slides and additional information will be provided at http://www.tu-ilmenau.de/ihs
Please register with the IHS mailing list (for short-term notices)
Instructor contact:Andreas Mitschele-Thiel Dieter WuttkeOffice: Blechhaus, Room 205 Office: Blechhaus, Room 203Email: [email protected] Email: [email protected]: 03677-69-2819 Phone: 03677-69-2820
Secretary: Helga Meusel, Blechhaus, Room 210, [email protected], Phone: 03677-69-2870
Integrated HW/SW-Systems 10Andreas Mitschele-Thiel 6-Apr-06
Introduction
Integrated HW/SW systems by example
Issues of HW/SW systems development
Integrated HW/SW-Systems 11Andreas Mitschele-Thiel 6-Apr-06
Some Examples of Systems with Tight HW/SW Interaction
Communication systemsGSM/UMTS network elementsIP router (QoS support)ATM switchGSM/UMTS mobile
Safety-critical systemsfly-by-wire systemABS, ASR, ESP, etc.train controlcontrol of physical and chemical processes
Embedded systems (not user-programable)every-day-appliances (microwave oven, vending machine, mobile phone, ...)ABSticket machine...
Integrated HW/SW-Systems 12Andreas Mitschele-Thiel 6-Apr-06
Example: UMTS Network
RNS
UTRAN CN
RNS
PS Domain
CS Domain
Registers
RNC
RNC
MSC/VLR GMSC
HLR/AuC/EIR
SGSN GGSN
Node B
Node B
Node B
Node BUE
User Equipment
(UE)
IuUu
Iub
Iub
Iur
Gn
Integrated HW/SW-Systems 13Andreas Mitschele-Thiel 6-Apr-06
Example: Digital Wireless Platform
AD
Analog RF
Timingrecovery
phonebook
Java VM
ARQ
Keypad,Display
Control
FiltersAdaptive AntennaAlgorithm
Equalizers MUD
Accelerators(bit level)
analog digital
DSP core
uC core(ARM)
Logic
Dedicated Logicand Memory
Source: Berkeley Wireless Research Center
Integrated HW/SW-Systems 14Andreas Mitschele-Thiel 6-Apr-06
Example: Car Electronics
• More than 30% of the cost of a car is now in electronics• 90% of all innovations will be based on electronic systems
Integrated HW/SW-Systems 15Andreas Mitschele-Thiel 6-Apr-06
Example: Modern Vehicles, an Electronic System
Electronic Toll CollectionElectronic Toll CollectionCollision AvoidanceCollision AvoidanceVehicle ID TrackingVehicle ID Tracking
SafetySafety--critical Systemcritical System
VehicleVehicleCAN BusCAN Bus
BodyBodyControlControl
ECUECU ABSABS
SuspensionSuspension TransmissionTransmission
IVHS InfrastructureIVHS Infrastructure
Wireless Communications/Wireless Communications/Data Global PositioningData Global Positioning
Info/Info/CommsComms//AV BusAV Bus
CellularCellularPhonePhone
GPSGPS DisplayDisplay
NavigationNavigation Stereo/CDStereo/CD
SW ArchitectureNetwork Design/Analysis Function/Protocol Validation
Performance Modeling
Supplier Chain Integration
IVHS: Intelligent Vehicle Highway SystemsECU: Electronic Control Unit (Bordcomputer)
Integrated HW/SW-Systems 16Andreas Mitschele-Thiel 6-Apr-06
Example: Vehicles, a Consumer Electronic System
CommsGSM/GPRS
UMTS, PagingCompression
SW ShellWindows CE,
NT, MAC, BIOS
SW AppsBrowser,
Comms, User Apps
ProcessorRISC, PowerPC
X86, Hitachi RISC
DisplayHeads Up,Flat PanelGraphics
User I/FVoice SynthesisVoice ControlStylus, ETC
Output & I/FSerial, Ethernet
Diagnostics
Info/Comms/AV Bus
CellularPhone
GPS Display
Navigation Stereo/CD
• Minimum Technology to Satisfy User Requirement
• Usability• Integrate with Other Vehicle
Systems• Add Functions Without
Adding the Cost
Challenges
Vehicle Web SiteTechnology
Integrated HW/SW-Systems 17Andreas Mitschele-Thiel 6-Apr-06
Example: When Will Dick Tracy’s Watch Be Available?
The Ultimate Nomadic Toolin the Broadband Age
Two-way Communication
Language Translation & InterpretationE-SecretaryCameraMusicElectronic Money…
Integrated HW/SW-Systems 18Andreas Mitschele-Thiel 6-Apr-06
Example: Smart Buildings
• Task: ambient conditioning systems allow thermal conditioning in small, localized zones, to be individually controlled by building occupants, creating “micro-climates within a building”
• Other functions: security, identification and personalization, object tagging, seismic monitoring
Dense wireless network of sensor, monitor, and actuator nodes
• Disaster mitigation, traffic management and control• Integrated patient monitoring, diagnostics, and drug administration• Automated manufacturing and intelligent assembly• Toys, Interactive Musea
Dense wireless network of sensor, Dense wireless network of sensor, monitor, and actuator nodesmonitor, and actuator nodes
• Disaster mitigation, traffic management and control• Integrated patient monitoring, diagnostics, and drug administration• Automated manufacturing and intelligent assembly• Toys, Interactive Musea
Integrated HW/SW-Systems 19Andreas Mitschele-Thiel 6-Apr-06
PC/DataBased
PC-1laptop
InternetAccess
PC-2
Printer
TelecomBased
VideoPhone
VoicePhone
PDA
Intercom
ApplianceBased
Sprinklers
Toasters
Ovens
Clocks
ClimateControl
UtilityCustomization
SecurityBased
DoorSensorsMotion
Detectors WindowSensors
LightControl
AudioAlarms
Video surveillance
SmokeDetectors
EntertainmentBased
StereoTV
Cam Corder
StillCamera
VideoGame
VCR
DVDPlayer
Web-TVSTB
Example: Home Networking Application (Subnet) Clusters
Integrated HW/SW-Systems 20Andreas Mitschele-Thiel 6-Apr-06
Example: Smart Dust Components
Laser diodeIII-V process
Passive CCR comm.MEMS/polysilicon
Active beam steering laser comm.MEMS/optical quality polysilicon
SensorMEMS/bulk, surface, ...
Analog I/O, DSP, ControlCOTS CMOS
Solar cellCMOS or III-V
Thick film batterySol/gel V2O5
Power capacitorMulti-layer ceramic
1-2 mm
Integrated HW/SW-Systems 21Andreas Mitschele-Thiel 6-Apr-06
Example: Airborne Dust
Mapleseed solar cellMEMS/Hexsil/SOI
1-5 cm
Controlled auto-rotatorMEMS/Hexsil/SOIRocket dust
MEMS/Hexsil/SOI
Integrated HW/SW-Systems 22Andreas Mitschele-Thiel 6-Apr-06
Example: Synthetic Insects
Source: R. Yeh, K. Pister, UCB/BSAC
Integrated HW/SW-Systems 23Andreas Mitschele-Thiel 6-Apr-06
Definition of Embedded SystemsAn embedded system
employs a combination of hardware & software (a “computational engine”) to perform a specific functionis part of a larger system that may not be a “computer”works in a reactive and time-constrained environment
Software is used for providing features and flexibilityHardware = {Processors, ASICs, Memory,...} is used for performance (& sometimes security)
=> Integrated HW/SW system
Typical characteristics:perform a small set of highly specific functions (not "general purpose”)increasingly high-performance & real-time constrainedpower, cost and reliability are often important issues
Integrated HW/SW-Systems 24Andreas Mitschele-Thiel 6-Apr-06
What is a System Anyway?
Environment to environmentEnvironment to environment
Sensors + Information Processing + ActuatorsSensors + Information Processing + Actuators
Computer is a systemComputer is a system
Microprocessor (ASCI, memory) is notMicroprocessor (ASCI, memory) is not
environment
sensorsensor
sensorsensor
sensor
processing
actor
Integrated HW/SW-Systems 25Andreas Mitschele-Thiel 6-Apr-06
Design Process: Behavior vs. Structure
MappingMapping
Flow To ImplementationFlow To Implementation
CommunicationRefinement
BehaviorBehaviorSimulationSimulation
Performance models: emb. SW, comm. and
comp. resources
HW/SW partitioning,scheduling
SynthesisSW
estimation
Requirements
SystemSystemBehaviorBehavior
Models of computation
SystemSystemArchitectureArchitecture
PerformancePerformanceSimulationSimulation
Integrated HW/SW-Systems 26Andreas Mitschele-Thiel 6-Apr-06
Will the system solution match the original system spec?
Concept
• Limited synergies between HW & SW teams
• Long complex flows in which teams do not reconcile efforts until the end
• High degree of risk that devices will be fully functional
• Limited synergies between HW & SW teams
• Long complex flows in which teams do not reconcile efforts until the end
• High degree of risk that devices will be fully functional
Software Hardware? • HW or IP Selection
• Design• Verification• System Test
TxOptics
Synth/MUX
CDR/DeMUX
RxOptics
VCXO
mP
ClockSelect
LineI/F OHP
STSPP
STSXC SPE
MapData
Framer
Cell/Packet
I/F
STMI/F
Integrated HW/SW-Systems 27Andreas Mitschele-Thiel 6-Apr-06
Important Lessons
Communication is everywhere
Embedded systems market surpasses PC market
Systems differ in many aspects (functionality, time constraints,
reliability, safety, cost, …)
Design methodologies are important to handle complexity
(behavioural and structural descriptions and verification)
Methods for HW design align with modern SW design
but: HW knowledge is essential to optimize solutions
(cost, capacity, response time, reliability, safety, ...)