Introduction To Real-Time Embedded Syste PDF

EEE446 – Spring 2016
Real-Time
Embedded Systems
by Syed Mashhood Murtaza
Department of Electrical Engineering,
COMSATS Institute of Information Technology, Abbottabad
Lecture # 2
LECTURE 2
EMBEDDED SYSTEMS’ DESIGN
EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 3

Department of Electrical Engineering, COMSATS Institute of Information Technology, Abbottabad
OUTLINE OF LECTURE 2
Part 0:
Basic Design Goals in Embedded Systems’ Design
Part-1:
The Design Metrics
Part-2:
Choices in Design & Implementation Technologies
Part-3:
The Embedded Systems’ Project Design Models & Platforms
Lecture # 2
Part 0
Basic Design Goals
in
Embedded Systems Design

BASIC DESIGN GOALS
 Obvious Design Goal:
 Construct an implementation with the

desired functionality
 Key Design Challenge:
 Simultaneously optimize numerous
Design Metrics

Lecture # 2
Part 1
The Design Metrics

OUTLINE OF PART 1
Part-1: The Design Metrics
1) Cost
2) Performance
3) Power
4) Size / Weight
5) Others
 Design Tradeoffs & Expertise
Vahid and Tony Givargis. Slides at: http://esd.cs.ucr.edu/index.html
Slide adapted from: "Embedded System Design: A Unified Hardware/Software Introduction" by Frank
Bibliographic Note:
WHAT IS A DESIGN METRIC ???
 A Design Metric is:
 A measurable feature of a system’s implementation
Optimizing design metrics is a key challenge

THE DESIGN METRICS
(1)
Cost

Bibliographic Note:
COST – THE DESIGN METRIC
 Unit cost: the monetary cost of manufacturing each copy of the

system, excluding NRE cost
 NRE cost (Non-Recurring Engineering cost): The one-time

monetary cost of designing the system
 total cost = NRE cost + unit cost * # of units
 per-product cost = total cost / # of units

= (NRE cost / # of units) + unit cost

Bibliographic Note:
 Example
– NRE = $2000, unit = $100
– For 10 units
– total cost = $2000 + 10*$100 = $3000
– per-product cost = $2000/10 + $100 = $300

Bibliographic Note:
Compare technologies by costs -- best depends on quantity

 Technology A: NRE=$2,000, unit=$100
 Technology B: NRE=$30,000, unit=$30
 Technology C: NRE=$100,000, unit=$2
 But, must also consider time-to-market

Bibliographic Note:
Calculating Losses due to delayed market entry

 Area = 1/2 * base * height
 On-time = 1/2 * 2W * W
 Delayed = 1/2 * (W-D+W)*(W-D)
 Percentage revenue loss
= (D(3W-D)/2W2)*100%
 Example
 Lifetime 2W = 52 wks,
 Delay D = 4 wks
 (4*(3*26 –4)/2*26^2) = 22%
 Lifetime 2W = 52 wks,
 delay D = 10 wks
 (10*(3*26 –10)/2*26^2) = 50%
Delays are costly!

THE DESIGN METRICS
(2)
Performance

System Design" by Wayne Wolf, Slides from: https://personal.cis.strath.ac.uk/duncan.smeed
Slide adapted from: Slides based on "Computer as Components, Principles of Embedded Computing
Bibliographic Note:
PERFORMANCE – THE DESIGN METRIC
What does “performance” mean?
 In general-purpose computing, performance often means

average-case, may not be well-defined.
 In real-time systems, performance means meeting

deadlines.
 Missing the deadline by even a little is bad.
 Finishing ahead of the deadline may not help.

Bibliographic Note:
Widely-used measure of system, widely-abused
 Clock frequency, instructions per second – not good

measures
 Digital camera example – a user cares about how fast it

processes images, not clock speed or instructions per
second

Bibliographic Note:
 Latency (response time)
 Time between task start and end
 e.g., Camera’s A and B process images in 0.25 seconds
 Throughput
 Tasks per second, e.g. Camera A processes 4 images
per second
 Throughput can be more than latency seems to imply due to concurrency, e.g. Camera
B may process 8 images per second (by capturing a new image while previous image
is being stored).
 Speedup of B over S = B’s performance / A’s

performance
 Throughput speedup = 8/4 = 2
THE DESIGN METRICS
(3)
Power

http://www.dauniv.ac.in/downloads/EmbsysRevEd_PPTs/Chap01Lesson_9Emsys.pdf
Part of the Text taken from:"Embedded Systems", Raj Kamal,McGraw-Hill Education, 2008.
Bibliographic Note:
POWER – THE DESIGN METRIC
Power/Energy Consumed by the Embedded System

determines its feasibility as a battery-run stand alone system
Optimizing the Power Metric means:
Reducing the Power Consumed
Hardware/Architecture based Power Metric Optimization:

 Operating Voltage Reduction
 Clock Rate Reduction
 (More Operations in every clock cycle)
 Wait, Stop and Cache Disable Instructions (availability)

http://www.dauniv.ac.in/downloads/EmbsysRevEd_PPTs/Chap01Lesson_9Emsys.pdf
Part of the Text taken from:"Embedded Systems", Raj Kamal,McGraw-Hill Education, 2008.
Bibliographic Note:
POWER – THE DESIGN METRIC
Power/Energy Consumed by the Embedded System

determines its feasibility as a battery-run stand alone system
Optimizing the Power Metric means:
Reducing the Power Consumed
Software based Power Metric Optimization:

 Clever real- time programming:
 use of 'Wait' and 'Stop' instructions
 disabling or controlling certain units when not
needed during program execution

THE DESIGN METRICS
(4)
Size / Weight

SIZE / WEIGHT – THE DESIGN METRIC
Size / Weight determines the possibility / feasibility of an embedded

system for several high-end applications e.g., Spacecrafts,
biomedical engineering systems (Implants) etc
Optimizing the “Size / Weight” Design Metric:
For the system’s SoC:
 Logic Optimization (minimizing the number of components)
 Use of smallest node IC fabrication Technology

SIZE / WEIGHT – THE DESIGN METRIC
Size / Weight determines the possibility / feasibility of an embedded

system for several high-end applications e.g., Spacecrafts,
biomedical engineering systems (Implants) etc
Optimizing the “Size / Weight” Design Metric:
For the Larger System (CPS):

 Use of most compact battery technology
 Use of most miniaturized PCB manufacturing & Packaging
Technology
 Use of lightest materials (e.g., heat sink metal) in the system

THE DESIGN METRICS
(5)
Others

Bibliographic Note:
OTHER DESIGN METRICS
Several Other Metrics must also be considered while Designing

Embedded Systems:
 Flexibility: the ability to change the functionality of the system

without incurring heavy NRE cost
 Time-to-prototype: the time needed to build a working version of the

system
 Time-to-market: the time required to develop a system to the point

that it can be released and sold to customers
 Maintainability: the ability to modify the system after its initial

release
 Correctness, safety, many more

Bibliographic Note:
THE DESIGN METRICS
Design Metric Tradeoffs

improving one, may worsen others
 Expertise with both software and hardware is needed

to optimize design metrics
 A designer must be comfortable with various

technologies in order to choose the best for a given
application and constraints

Lecture # 2
Part 2
Choices in Design & Implementation Technologies

OUTLINE OF PART 2
Part-2: Choices in Design & Implementation Technologies

1) Processor Considerations
a. General Purpose
b. Single Purpose
c. Application Specific
2) IC Design & Implementation Technologies
a. Full Custom IC
b. Semi Custom IC
c. Hardware Programmable ICs

(1)
Processor Considerations

Bibliographic Note:
PROCESSOR CONSIDERATIONS
 The architecture of the computation engine used to implement a

system’s desired functionality
 Processor does not have to be programmable
 “Processor” not equal to general-purpose processor

Bibliographic Note:
PROCESSOR CONSIDERATIONS

Bibliographic Note:
GENERAL-PURPOSE PROCESSOR
 Programmable device used in a variety of

applications
 Also known as “microprocessor”
 Features
 Program memory
 General datapath with large register file and
general ALU
 User benefits
 Low time-to-market and NRE costs
 High flexibility
“Pentium” the most well-known, but there are

hundreds of others
Bibliographic Note:
GENERAL-PURPOSE PROCESSOR
 Programmable device used in a variety of

applications
 Also known as “microprocessor”
 Features
 Program memory
 General Datapath with large register file and
general ALU
 User benefits
 Low time-to-market and NRE costs
 High flexibility
“Pentium” the most well-known, but there are

hundreds of others
Bibliographic Note:: RTES Graduate Course Lecture Slides by Dr. Jabran Khan, CIIT, Atd
GENERAL-PURPOSE PROCESSORS

Bibliographic Note:
SINGLE-PURPOSE PROCESSOR
 Digital circuit designed to execute exactly one program

 a.k.a. coprocessor, accelerator or peripheral
 Features
 Contains only the components needed to
execute a single program
 No program memory
 Benefits
 Fast
 Low power
 Small size

Bibliographic Note:
APPLICATION SPECIFIC PROCESSOR
 Programmable processor optimized for a particular class of

applications having common characteristics
 Compromise between general-purpose and

single-purpose processors
 Features
 Program memory
 Optimized datapath
 Special functional units
 Benefits
 Some flexibility, good performance, size and power

OUTLINE OF PART 2
Part-2: Choices in Design & Implementation Technologies

1) Processor Considerations
a. General Purpose
b. Single Purpose
c. Application Specific
2) IC Design & Implementation Technologies

a. Full Custom IC
b. Semi Custom IC
c. Hardware Programmable ICs

Bibliographic Note:
IC TECHNOLOGY
 The manner in which a digital (gate-level) implementation

is mapped onto an IC
 IC: Integrated circuit, or “chip”
 IC technologies differ in their customization to a design
 IC’s consist of numerous layers (perhaps 10 or more)
 IC technologies differ with respect to who builds each layer and when

Bibliographic Note:
FULL-CUSTOM IC DESIGN
 All layers are optimized for an embedded system’s

particular digital implementation
 Placing transistors
 Sizing transistors
 Routing wires
 Benefits
 Excellent performance, small size, low power
 Drawbacks
 High NRE cost (e.g., $300k), long time-to-market

Bibliographic Note:
SEMI-CUSTOM IC DESIGN
 Lower layers are fully or partially built

 Designers are left with routing of wires and maybe placing some blocks
 Benefits
 Good performance, good size, less NRE cost than a full-custom
implementation (perhaps $10k to $100k)
 Drawbacks
 Still require weeks to months to develop

Bibliographic Note:
HARDWARE PROGRAMMABLE ICS (A.K.A. PLDS)
 All layers already exist

 Designers can purchase an IC
 Connections on the IC are either created or destroyed to implement desired
functionality
 Field-Programmable Gate Array (FPGA) very popular
 Benefits
 Low NRE costs, almost instant IC availability
 Drawbacks
 Bigger
 expensive (perhaps $30 per unit), power hungry, slower

Bibliographic Note:
INDEPENDENCE OF PROCESSOR & IC TECHNOLOGIES
 With respect to processor technology or IC technology
 The two technologies are independent

Lecture # 2
Part 3
The Embedded Systems’ Project Design Models
&
Platforms

OUTLINE OF PART 3
Part3:The Embedded Systems' Design Models & Platforms
1) Software Design Models

2) Hardware Design Models
3) Software / Hardware Co-Design
4) Platform Based Design (Derived Design)

 Choosing an Embedded Platform

slides and textbook from Wayne Wolf, slides from: http://ece751.ece.wisc.edu/#lecture
Slide adapted from: "Embedded Computing Systems", Mikko Lipasti, adapted from M. Schulte Based on
Bibliographic Note:
THE EMBEDDED SYSTEMS’ PROJECT DESIGN MODELS
SOFTWARE DESIGN MODELS

Bibliographic Note:
HARDWARE DESIGN MODELS

Bibliographic Note:
HARDWARE-SOFTWARE CO-DESIGN

Bibliographic Note:
HARDWARE-SOFTWARE CO-DESIGN LADDER

PLATFORM BASED DESIGN (DERIVED DESIGN)

CHOOSING AN EMBEDDED PLATFORM


CHOOSING AN EMBEDDED PLATFORM (LOW-END)

CHOOSING AN EMBEDDED PLATFORM (HIGH-END)

CHOOSING AN EMBEDDED PLATFORM (HIGH-END)
http://electronicdesign.com/author/vandana-lokeshwar
SINGLE BOARD COMPUTERS

SINGLE BOARD COMPUTERS
 How many do we have ???
 https://en.wikipedia.org/wiki/Comparison_of_single-
board_computers
 https://en.wikipedia.org/wiki/Single-
board_computer#See_also

FEATURES OF SINGLE BOARD COMPUTERS

POPULAR SINGLE BOARD COMPUTERS’ COMPARISON
Bibliographic Note: http://electronicdesign.com/author/vandana-lokeshwar

POPULAR SINGLE BOARD COMPUTERS’ COMPARISON
Bibliographic Note: http://electronicdesign.com/author/vandana-lokeshwar

YOUR QUESTIONS ???


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EEE446 – Spring 2016

EMBEDDED SYSTEMS’ DESIGN

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 3

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 6

 Obvious Design Goal:

 Construct an implementation with the

 Key Design Challenge:

 Simultaneously optimize numerous

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 7

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 9

Part-1: The Design Metrics

 A Design Metric is:

 A measurable feature of a system’s implementation

Optimizing design metrics is a key challenge

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 11

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 12

 Unit cost: the monetary cost of manufacturing each copy of the

 NRE cost (Non-Recurring Engineering cost): The one-time

 total cost = NRE cost + unit cost * # of units

 per-product cost = total cost / # of units

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 13

– NRE = $2000, unit = $100

– total cost = $2000 + 10*$100 = $3000

– per-product cost = $2000/10 + $100 = $300

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 14

Compare technologies by costs -- best depends on quantity

 But, must also consider time-to-market

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 15

Calculating Losses due to delayed market entry

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 16

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 17

What does “performance” mean?

 In general-purpose computing, performance often means

 In real-time systems, performance means meeting

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 18

Widely-used measure of system, widely-abused

 Clock frequency, instructions per second – not good

 Digital camera example – a user cares about how fast it

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 19

 Speedup of B over S = B’s performance / A’s

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 21

Power/Energy Consumed by the Embedded System

Hardware/Architecture based Power Metric Optimization:

 Wait, Stop and Cache Disable Instructions (availability)

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 22

Power/Energy Consumed by the Embedded System

Software based Power Metric Optimization:

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 23

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 24

Size / Weight determines the possibility / feasibility of an embedded

Optimizing the “Size / Weight” Design Metric:

For the system’s SoC:

 Logic Optimization (minimizing the number of components)

 Use of smallest node IC fabrication Technology

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 25

Size / Weight determines the possibility / feasibility of an embedded

Optimizing the “Size / Weight” Design Metric:

For the Larger System (CPS):

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 26

EEE446 Real-Time Embedded Systems, Spring 2016, by Syed Mashhood Murtaza, 27

Several Other Metrics must also be considered while Designing

 Flexibility: the ability to change the functionality of the system