Computers As Components : Principles of Embedded Computing System Design

by Wolf, Wayne

• ISBN13: 9781558606937
• ISBN10: 1558606939
• Format: Paperback
• Copyright: 2000-09-01
• Publisher: Elsevier Science Ltd

Summary

The vast majority of existing computers are embedded in the myriad of intelligent devices and applications-not in desktop machines. We are witnessing the emergence of a new discipline with its own principles, constraints, and design processes. Computers as Components is the first book to teach this new discipline. It unravels the complexity of these systems and the tools and methods necessary for designing them. Researchers, students, and savvy professionals, schooled in hardware or software, will value the integrated engineering design approach to this fast emerging field.

Author Biography

Wayne Wolf is a professor of electrical engineering at Princeton University.

Table of Contents

Foreword	vii
List of Examples	xix
Preface	xxiii
Embedded Computing	1	(56)
Introduction	1	(1)
Complex Systems and Microprocessors	2	(8)
Embedding Computers	2	(3)
Characteristics of Embedded Computing Applications	5	(1)
Why Use Microprocessors?	6	(2)
Challenges in Embedded Computing System Design	8	(2)
The Embedded System Design Process	10	(11)
Requirements	12	(5)
Specification	17	(1)
Architecture Design	18	(2)
Designing Hardware and Software Components	20	(1)
System Integration	20	(1)
Formalisms for System Design	21	(11)
Structural Description	22	(7)
Behavioral Description	29	(3)
Design Example: Model Train Controller	32	(15)
Requirements	34	(1)
Conceptual Specification	34	(5)
Detailed Specification	39	(8)
Lessons Learned	47	(1)
A Guided Tour of This Book	47	(7)
Instruction Sets	48	(1)
CPUs	48	(1)
The Embedded Computing Platform	49	(1)
Program Design and Analysis	50	(1)
Processes and Operating Systems	51	(1)
CPU Accelerators	52	(1)
Networks	52	(1)
System Design Techniques	53	(1)
Summary	54	(3)
What We Learned	54	(1)
Further Reading	54	(1)
Questions	54	(2)
Lab Exercises	56	(1)
Instruction Sets	57	(48)
Introduction	57	(1)
Preliminaries	58	(4)
Computer Architecture Taxonomy	58	(2)
Assembly Language	60	(2)
ARM Processor	62	(20)
Processor and Memory Organization	63	(1)
Data Operations	63	(10)
Flow of Control	73	(9)
SHARC Processor	82	(17)
Memory Organization	83	(1)
Data Operations	83	(10)
Flow of Control	93	(6)
Parallelism within Instructions	99	(1)
Summary	99	(6)
What We Learned	100	(1)
Further Reading	100	(1)
Questions	100	(4)
Lab Exercises	104	(1)
CPUs	105	(72)
Introduction	105	(1)
Programming Input and Output	106	(22)
Input and Output Devices	106	(2)
Input and Output Primitives	108	(2)
Busy-Wait I/O	110	(2)
Interrupts	112	(16)
Supervisor Mode, Exceptions, and Traps	128	(2)
Supervisor Mode	128	(1)
Exceptions	129	(1)
Traps	129	(1)
Co-Processors	130	(1)
Memory System Mechanisms	131	(13)
Caches	131	(8)
Memory Management Units and Address Translation	139	(5)
CPU Performance	144	(8)
Pipelining	145	(4)
Superscalar Execution	149	(2)
Caching	151	(1)
CPU Power Consumption	152	(6)
Design Example: Data Compressor	158	(13)
Requirements and Algorithm	158	(3)
Specification	161	(2)
Program Design	163	(7)
Testing	170	(1)
Summary	171	(6)
What We Learned	172	(1)
Further Reading	172	(1)
Questions	173	(3)
Lab Exercises	176	(1)
The Embedded Computing Platform	177	(68)
Introduction	177	(1)
The CPU Bus	178	(15)
Bus Protocols	178	(8)
DMA	186	(1)
System Bus Configurations	187	(3)
ARM Bus	190	(1)
SHARC Bus	191	(2)
Memory Devices	193	(9)
Memory Device Organization	194	(1)
Random-Access Memories	195	(6)
Read-Only Memories	201	(1)
I/O Devices	202	(7)
Timers and Counters	202	(1)
A/D and D/A Converters	203	(1)
Keyboards	204	(2)
LEDs	206	(1)
Displays	206	(2)
Touchscreens	208	(1)
Component Interfacing	209	(3)
Memory Interfacing	209	(2)
Device Interfacing	211	(1)
Designing with Microprocessors	212	(8)
System Architecture	213	(1)
Hardware Design	214	(2)
The PC as a Platform	216	(4)
Development and Debugging	220	(8)
Development Environments	220	(1)
Debugging Techniques	221	(6)
Debugging Challenges	227	(1)
Manufacturing Testing	228	(5)
Design Example: Alarm Clock	233	(8)
Requirements	233	(2)
Specification	235	(4)
System Architecture	239	(1)
Component Design and Testing	240	(1)
System Integration and Testing	241	(1)
Summary	241	(4)
What We Learned	241	(1)
Further Reading	242	(1)
Questions	242	(2)
Lab Exercises	244	(1)
Program Design and Analysis	245	(96)
Introduction	245	(1)
Program Design	246	(6)
Design Patterns	246	(2)
Design Patterns for Embedded Systems	248	(4)
Models of Programs	252	(6)
Data Flow Graphs	252	(2)
Control/Data Flow Graphs	254	(4)
Assembly and Linking	258	(7)
Assemblers	259	(5)
Linking	264	(1)
Basic Compilation Techniques	265	(25)
Statement Translation	267	(6)
Procedures	273	(1)
Data Structures	274	(1)
Expression Simplification	275	(2)
Dead Code Elimination	277	(1)
Procedure Inlining	277	(1)
Loop Transformations	278	(2)
Register Allocation	280	(5)
Scheduling	285	(2)
Instruction Selection	287	(1)
Understanding and Using Your Compiler	288	(1)
Interpreters and JIT Compilers	289	(1)
Analysis and Optimization of Execution Time	290	(15)
Elements of Program Performance	292	(4)
Trace-Driven Performance Analysis	296	(8)
Optimizing for Execution Speed	304	(1)
Analysis and Optimization of Energy and Power	305	(5)
Program Energy Consumption and Optimization	306	(4)
Analysis and Optimization of Program Size	310	(2)
Program Validation and Testing	312	(13)
Clear-Box Testing	313	(9)
Black-Box Testing	322	(1)
Evaluating Function Tests	323	(1)
Performance Testing	324	(1)
Design Example: Software Modem	325	(5)
Theory of Operation and Requirements	325	(3)
Specification	328	(1)
System Architecture	328	(1)
Component Design and Testing	329	(1)
System Integration and Testing	329	(1)
Summary	330	(11)
What We Learned	330	(1)
Further Reading	331	(1)
Questions	331	(8)
Lab Exercises	339	(2)
Processes and Operating Systems	341	(78)
Introduction	341	(2)
Multiple Tasks and Multiple Processes	343	(4)
Multirate Systems	345	(1)
Early Multitasking Technology: The Co-Routine	346	(1)
Processes	347	(4)
Context Switching	351	(7)
Cooperative Multitasking	351	(5)
Preemptive Multitasking	356	(1)
Processes and Object-Oriented Design	357	(1)
Operating Systems	358	(13)
Process State and Scheduling	358	(3)
Operating System Structure	361	(1)
Timing Requirements on Processes	362	(3)
Interprocess Communication	365	(6)
Other Operating System Functions	371	(1)
Scheduling Policies	371	(16)
Rate-Monotonic Scheduling	372	(5)
Earliest-Deadline-First Scheduling	377	(5)
RMS versus EDF	382	(1)
A Closer Look at Our Modeling Assumptions	383	(3)
Other POSIX Scheduling Policies	386	(1)
Interprocess Communication Mechanisms	387	(6)
Signals	387	(2)
Signals in UML	389	(1)
Shared Memory Communication	389	(3)
Message-Based Communication	392	(1)
Evaluating Operating System Performance	393	(3)
Power Optimization Strategies for Processes	396	(4)
Design Example: Telephone Answering Machine	400	(9)
Theory of Operation and Requirements	400	(4)
Specification	404	(2)
System Architecture	406	(2)
Component Design and Testing	408	(1)
System Integration and Testing	409	(1)
Summary	409	(10)
What We Learned	410	(1)
Further Reading	410	(1)
Questions	410	(7)
Lab Exercises	417	(2)
Hardware Accelerators	419	(30)
Introduction	419	(1)
CPUs and Accelerators	420	(4)
Why Accelerators?	421	(2)
Accelerator Design	423	(1)
Accelerated System Design	424	(13)
Performance Analysis	424	(5)
System Architecture Framework	429	(3)
Partitioning	432	(2)
Scheduling and Allocation	434	(3)
System Integration and Debugging	437	(1)
Design Example: Video Accelerator	437	(8)
Algorithm and Requirements	437	(4)
Specification	441	(1)
Architecture	441	(2)
Component Design	443	(1)
System Testing	444	(1)
Summary	445	(4)
What We Learned	446	(1)
Further Reading	446	(1)
Questions	446	(1)
Lab Exercises	447	(2)
Networks	449	(48)
Introduction	449	(1)
Distributed Embedded Architectures	450	(8)
Why Distributed?	451	(1)
Network Abstractions	452	(1)
Hardware and Software Architectures	453	(4)
Message Passing Programming	457	(1)
Networks for Embedded Systems	458	(17)
The I2C Bus	459	(5)
The CAN Bus	464	(3)
SHARC Link Ports	467	(3)
Ethernet	470	(2)
Myrinet	472	(1)
Internet	473	(2)
Network-Based Design	475	(9)
Communication Analysis	475	(6)
System Performance Analysis	481	(1)
Hardware Platform Design, Allocation, and Scheduling	482	(2)
Internet-Enabled Systems	484	(2)
Design Example: Elevator Controller	486	(7)
Theory of Operation and Requirements	487	(2)
Specification	489	(2)
Architecture	491	(1)
Testing	492	(1)
Summary	493	(4)
What We Learned	493	(1)
Further Reading	493	(1)
Questions	494	(2)
Lab Exercises	496	(1)
System Design Techniques	497	(64)
Introduction	497	(1)
Design Methodologies	498	(9)
Why Design Methodologies?	498	(2)
Design Flows	500	(7)
Requirements Analysis	507	(2)
Specifications	509	(6)
Control-Oriented Specification Languages	509	(3)
Advanced Specifications	512	(3)
System Analysis and Architecture Design	515	(5)
CRC Cards	516	(4)
Quality Assurance	520	(14)
Quality Assurance Techniques	523	(2)
Verifying the Specification	525	(2)
Design Reviews	527	(3)
Measurement-Driven Quality Assurance	530	(4)
Design Example: Telephone PBX	534	(5)
Theory of Operation	535	(2)
System Architecture	537	(2)
Design Example: Ink Jet Printer	539	(9)
Hardware Design	542	(4)
Software Design	546	(2)
Design Example: Personal Digital Assistants	548	(3)
Design Example: Set-Top Boxes	551	(4)
Systems-on-Silicon	555	(2)
Summary	557	(4)
What We Learned	557	(1)
Further Reading	558	(1)
Questions	558	(1)
Lab Exercises	559	(2)
Appendix A UML Notations	561	(6)
A.1 Introduction	561	(1)
A.2 Primitive Elements	561	(1)
A.3 Diagram Types	562	(5)
A.3.1 Class Diagram	563	(1)
A.3.2 State Diagram	564	(1)
A.3.3 Sequence and Collaboration Diagrams	565	(2)
Appendix B Notes on Hardware Design	567	(12)
B.1 Introduction	567	(1)
B.2 Combinational Logic	567	(4)
B.3 Sequential Logic	571	(6)
B.3.1 Memory Elements	571	(2)
B.3.2 Synchronous Machines	573	(3)
B.3.3 Asynchronous Machines	576	(1)
B.4 Implementation Media	577	(2)
Glossary	579	(22)
References	601	(12)
Index	613	(44)
About the CDs	657