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Research on real-time Java technology has been prolific over the past decade, leading to a large number of corresponding hardware and software solutions, and frameworks for distributed and embedded real-time Java systems. This book is aimed primarily at researchers in real-time embedded systems, particularly those who wish to understand the current state of the art in using Java in this domain. Much of the work in real-time distributed, embedded and real-time Java has focused on the Real-time Specification for Java (RTSJ) as the underlying base technology, and consequently many of the Chapters in this book address issues with, or solve problems using, this framework. Describes innovative techniques in: scheduling, memory management, quality of service and communication systems supporting real-time Java applications; Includes coverage of multiprocessor embedded systems and parallel programming; Discusses state-of-the-art resource management for embedded systems, including Java’s real-time garbage collection and parallel collectors; Considers hardware support for the execution of Java programs including how programs can interact with functional accelerators; Includes coverage of Safety Critical Java for development of safety critical embedded systems.
7. 6 Performance Comparison: ET versus TT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 7. 7 The Physical Layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Points to Remember . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Bibliographic Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 Review Questions and Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 Chapter 8: The Time-Triggered Protocols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 8. 1 Introduction to Time-Triggered Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 8. 2 Overview of the TTP/C Protocol Layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 8. 3 TheBasic CNI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 Internal Operation of TTP/C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 8. 4 8. 5 TTP/A for Field Bus Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Points to Remember. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Bibliographic Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 Review Questions and Problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190 Chapter 9: Input/Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 9. 1 The Dual Role of Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 9. 2 Agreement Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 9. 3 Sampling and Polling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198 9. 4 Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 9. 5 Sensors and Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 9. 6 Physical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 Points to Remember. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 Bibliographic Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Review Questions and Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209 Chapter 10: Real-Time Operating Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 10. 1 Task Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 10. 2 Interprocess Communication. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216 10. 3 Time Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 10. 4 Error Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 10. 5 A Case Study: ERCOS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221 Points to Remember. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Bibliographic Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Review Questions and Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 Chapter 11: Real-Time Scheduling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 11. 1 The Scheduling Problem. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228 11. 2 The Adversary Argument. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229 11. 3 Dynamic Scheduling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 x TABLE OF CONTENTS 11. 4 Static Scheduling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237 Points to Remember. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240 Bibliographic Notes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 Review Questions and Problems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 Chapter 12: Validation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245 12. 1 Building aConvincing Safety Case. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246 12. 2 Formal Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 12. 3 Testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
This fascinating new work comes complete with more than 100 illustrations and a detailed practical prototype. It explores the domains encountered when designing a distributed embedded computer control system as an integrated whole. Basic issues about real-time systems and their properties, especially safety, are examined first. Then, system and hardware architectures are dealt with, along with programming issues, embodying desired properties, basic language subsets, object orientation and language support for hardware and software specifications.
Design and Analysis of Distributed Embedded Systems is organized similar to the conference. Chapters 1 and 2 deal with specification methods and their analysis while Chapter 6 concentrates on timing and performance analysis. Chapter 3 describes approaches to system verification at different levels of abstraction. Chapter 4 deals with fault tolerance and detection. Middleware and software reuse aspects are treated in Chapter 5. Chapters 7 and 8 concentrate on the distribution related topics such as partitioning, scheduling and communication. The book closes with a chapter on design methods and frameworks.
A classic book for professional embedded system designers, now in an affordable paperback edition. This book distills the experience of more than 90 design reviews on real embedded systems into a set of bite-size lessons learned in the areas of software development process, requirements, architecture, design, implementation, verification & validation, and critical system properties. This is a concept book rather than a cut-and-paste the code book.Each chapter describes an area that tends to be a problem in embedded system design, symptoms that tend to indicate you need to make changes, the risks of not fixing problems in this area, and concrete ways to make your embedded system software better. Each of the 29 chapters is self-sufficient, permitting developers with a busy schedule to cherry-pick the best ideas to make their systems better right away.If you are relatively new to the area but have already learned the basics, this book will be an invaluable asset for taking your game to the next level. If you are experienced, this book provides a way to fill in any gaps. Once you have mastered this material, the book will serve as a source of reminders to make sure you haven't forgotten anything as you plan your next project. This is version 1.1 with some minor revisions from the 2010 hardcover edition. This is a paperback print-on-demand edition produced by Amazon.
Due to the decreasing production costs of IT systems, applications that had to be realised as expensive PCBs formerly, can now be realised as a system-on-chip. Furthermore, low cost broadband communication media for wide area communication as well as for the realisation of local distributed systems are available. Typically the market requires IT systems that realise a set of specific features for the end user in a given environment, so called embedded systems. Some examples for such embedded systems are control systems in cars, airplanes, houses or plants, information and communication devices like digital TV, mobile phones or autonomous systems like service- or edutainment robots. For the design of embedded systems the designer has to tackle three major aspects: The application itself including the man-machine interface, The (target) architecture of the system including all functional and non-functional constraints and, the design methodology including modelling, specification, synthesis, test and validation. The last two points are a major focus of this book. This book documents the high quality approaches and results that were presented at the International Workshop on Distributed and Parallel Embedded Systems (DIPES 2000), which was sponsored by the International Federation for Information Processing (IFIP), and organised by IFIP working groups WG10.3, WG10.4 and WG10.5. The workshop took place on October 18-19, 2000, in Schloß Eringerfeld near Paderborn, Germany. Architecture and Design of Distributed Embedded Systems is organised similar to the workshop. Chapters 1 and 4 (Methodology I and II) deal with different modelling and specification paradigms and the corresponding design methodologies. Generic system architectures for different classes of embedded systems are presented in Chapter 2. In Chapter 3 several design environments for the support of specific design methodologies are presented. Problems concerning test and validation are discussed in Chapter 5. The last two chapters include distribution and communication aspects (Chapter 6) and synthesis techniques for embedded systems (Chapter 7). This book is essential reading for computer science researchers and application developers.
This year, the IFIP Working Conference on Distributed and Parallel Embedded Sys tems (DIPES 2008) is held as part of the IFIP World Computer Congress, held in Milan on September 7 10, 2008. The embedded systems world has a great deal of experience with parallel and distributed computing. Many embedded computing systems require the high performance that can be delivered by parallel computing. Parallel and distributed computing are often the only ways to deliver adequate real time performance at low power levels. This year’s conference attracted 30 submissions, of which 21 were accepted. Prof. Jor ̈ g Henkel of the University of Karlsruhe graciously contributed a keynote address on embedded computing and reliability. We would like to thank all of the program committee members for their diligence. Wayne Wolf, Bernd Kleinjohann, and Lisa Kleinjohann Acknowledgements We would like to thank all people involved in the organization of the IFIP World Computer Congress 2008, especially the IPC Co Chairs Judith Bishop and Ivo De Lotto, the Organization Chair Giulio Occhini, as well as the Publications Chair John Impagliazzo. Further thanks go to the authors for their valuable contributions to DIPES 2008. Last but not least we would like to acknowledge the considerable amount of work and enthusiasm spent by our colleague Claudius Stern in preparing theproceedingsofDIPES2008. Hemadeitpossibletoproducethemintheircurrent professional and homogeneous style.
This book offers readers broad coverage of techniques to model, verify and validate the behavior and performance of complex distributed embedded systems. The authors attempt to bridge the gap between the three disciplines of model-based design, real-time analysis and model-driven development, for a better understanding of the ways in which new development flows can be constructed, going from system-level modeling to the correct and predictable generation of a distributed implementation, leveraging current and future research results.
An introduction to the engineering principles of embedded systems, with a focus on modeling, design, and analysis of cyber-physical systems. The most visible use of computers and software is processing information for human consumption. The vast majority of computers in use, however, are much less visible. They run the engine, brakes, seatbelts, airbag, and audio system in your car. They digitally encode your voice and construct a radio signal to send it from your cell phone to a base station. They command robots on a factory floor, power generation in a power plant, processes in a chemical plant, and traffic lights in a city. These less visible computers are called embedded systems, and the software they run is called embedded software. The principal challenges in designing and analyzing embedded systems stem from their interaction with physical processes. This book takes a cyber-physical approach to embedded systems, introducing the engineering concepts underlying embedded systems as a technology and as a subject of study. The focus is on modeling, design, and analysis of cyber-physical systems, which integrate computation, networking, and physical processes. The second edition offers two new chapters, several new exercises, and other improvements. The book can be used as a textbook at the advanced undergraduate or introductory graduate level and as a professional reference for practicing engineers and computer scientists. Readers should have some familiarity with machine structures, computer programming, basic discrete mathematics and algorithms, and signals and systems.
Embedded systems are becoming one of the major driving forces in computer science. Furthermore, it is the impact of embedded information technology that dictates the pace in most engineering domains. Nearly all technical products above a certain level of complexity are not only controlled but increasingly even dominated by their embedded computer systems. Traditionally, such embedded control systems have been implemented in a monolithic, centralized way. Recently, distributed solutions are gaining increasing importance. In this approach, the control task is carried out by a number of controllers distributed over the entire system and connected by some interconnect network, like fieldbuses. Such a distributed embedded system may consist of a few controllers up to several hundred, as in today's top-range automobiles. Distribution and parallelism in embedded systems design increase the engineering challenges and require new development methods and tools. This book is the result of the International Workshop on Distributed and Parallel Embedded Systems (DIPES'98), organized by the International Federation for Information Processing (IFIP) Working Groups 10.3 (Concurrent Systems) and 10.5 (Design and Engineering of Electronic Systems). The workshop took place in October 1998 in Schloss Eringerfeld, near Paderborn, Germany, and the resulting book reflects the most recent points of view of experts from Brazil, Finland, France, Germany, Italy, Portugal, and the USA. The book is organized in six chapters: `Formalisms for Embedded System Design': IP-based system design and various approaches to multi-language formalisms. `Synthesis from Synchronous/Asynchronous Specification': Synthesis techniques based on Message Sequence Charts (MSC), StateCharts, and Predicate/Transition Nets. `Partitioning and Load-Balancing': Application in simulation models and target systems. `Verification and Validation': Formal techniques for precise verification and more pragmatic approaches to validation. `Design Environments' for distributed embedded systems and their impact on the industrial state of the art. `Object Oriented Approaches': Impact of OO-techniques on distributed embedded systems. £/LIST£ This volume will be essential reading for computer science researchers and application developers.