Real-Time Embedded Systems and Components W/CD-ROM

by Siewert, Sam

• ISBN13: 9781584504689
• ISBN10: 1584504684
• Edition: CD
• Format: Hardcover
• Copyright: 2006-06-27
• Publisher: Cengage Learning

Summary

Due to the rapidly expanding market for digital media services and systems, there is a growing interest in real-time systems. Real-Time Embedded Systems and Components is a much-needed resource addressing this field for practicing engineers and students, particularly engineers moving from best-effort applications to hard or soft real-time applications. The book is written to teach practicing engineers how to apply real-time theory to the design of embedded components and systems in order to successfully build a real-time embedded system. It is also intended to provide a balance of fundamental theory, review of industry practice, and hands-on experience for undergraduate seniors or first-year grad students preparing for a career in the real-time embedded system industries. Throughout the book, you'll explore hard real-time theory and soft real-time concepts, real-time scheduling, debugging components, high availability and high reliability design, system lifecycles, and the processes for hardware, firmware, and software development for systems built from components. And you'll find a balance of theory, practice, and applications to help you learn the fundamental concepts needed to build your own real-time embedded system.

Table of Contents

Preface	xv
Acknowledgments	xvii
Part I Real-Time Embedded Theory	1	(130)
Introduction to Real-Time Embedded Systems	3	(14)
Introduction	3	(1)
A Brief History of Real-Time Systems	4	(2)
A Brief History of Embedded Systems	6	(9)
Real-Time Services	6	(8)
Real-Time Standards	14	(1)
Summary	15	(1)
Exercises	16	(1)
Chapter References	16	(1)
System Resources	17	(40)
Introduction	17	(2)
Resource Analysis	19	(6)
Real-Time Service Utility	25	(7)
Scheduling Classes	32	(2)
Multiprocessor Systems	33	(1)
The Cyclic Executive	34	(1)
Scheduler Concepts	35	(5)
Preemptive Fixed Priority Scheduling Policy	40	(3)
Real-Time Operating Systems	43	(7)
Thread Safe Reentrant Functions	50	(3)
Summary	53	(1)
Exercises	53	(2)
Chapter References	55	(2)
Processing	57	(28)
Introduction	57	(1)
Preemptive Fixed-Priority Policy	58	(3)
Feasibility	61	(1)
Rate Monotonic Least Upper Bound (RUM LUB)	62	(11)
Necessary and Sufficient (N&S) Feasibility	73	(2)
Scheduling Point Test	73	(2)
Completion Time Test	75	(1)
Deadline-Monotonic Policy	75	(2)
Dynamic Priority Policies	77	(4)
Summary	81	(1)
Exercises	81	(2)
Chapter References	83	(2)
I/O Resources	85	(14)
Introduction	85	(1)
Worst-Case Execution Time	86	(3)
Intermediate I/O	89	(2)
Execution Efficiency	91	(3)
I/O Architecture	94	(2)
Summary	96	(1)
Exercises	96	(1)
Chapter References	97	(2)
Memory	99	(14)
Introduction	99	(1)
Physical Hierarchy	100	(3)
Capacity and Allocation	103	(1)
Shared Memory	104	(1)
ECC Memory	105	(4)
Flash Filesystems	109	(2)
Summary	111	(1)
Exercises	111	(1)
Chapter References	111	(2)
Multiresource Services	113	(10)
Introduction	113	(1)
Blocking	114	(1)
Deadlock and Livelock	114	(2)
Critical Sections to Protect Shared Resources	116	(1)
Priority Inversion	116	(4)
Unbounded Priority Inversion Solutions	118	(2)
Power Management and Processor Clock Modulation	120	(1)
Summary	121	(1)
Exercises	121	(1)
Chapter References	121	(2)
Soft Real-Time Services	123	(8)
Introduction	123	(1)
Missed Deadlines	124	(1)
Quality of Service	125	(1)
Alternatives to Rate Monotonic Policy	125	(3)
Mixed Hard and Soft Real-Time Services	128	(1)
Summary	129	(1)
Exercises	129	(1)
Chapter References	130	(1)
Part II Designing Real-Time Embedded Components	131	(104)
Embedded System Components	133	(32)
Introduction	133	(2)
Hardware Components	135	(17)
Sensors	135	(2)
Actuators	137	(1)
I/O Interfaces	138	(4)
Processor Complex	142	(1)
Processor and I/O Interconnection	143	(1)
Bus Interconnection	144	(3)
High-Speed Serial Interconnection	147	(2)
Low-Speed Serial Interconnection	149	(1)
Interconnection Systems	150	(1)
Memory Subsystems	151	(1)
Firmware Components	152	(2)
Boot Code	153	(1)
Device Drivers	153	(1)
Operating System Services	154	(1)
RTOS System Software Mechanisms	154	(4)
Message Queues	155	(1)
Binary Semaphores	156	(1)
Mutex Semaphores	156	(1)
Software Virtual Timers	157	(1)
Software Signals	157	(1)
Software Application Components	158	(5)
Application Services	158	(2)
Re-entrant Application Libraries	160	(1)
Communicating and Synchronized Applications	161	(2)
Summary	163	(1)
Exercises	163	(1)
Chapter References	164	(1)
Debugging Components	165	(36)
Introduction	165	(1)
Exceptions	166	(7)
Assert	173	(1)
Checking Return Codes	174	(1)
Single-Step Debugging	175	(7)
Kernel Scheduler Traces	182	(4)
Test Access Ports	186	(2)
Trace Ports	188	(1)
Power-On Self Test and Diagnostics	189	(5)
External Test Equipment	194	(4)
Application-Level Debugging	198	(1)
Summary	199	(1)
Exercises	199	(1)
Chapter References	200	(1)
Performance Tuning	201	(24)
Introduction	201	(1)
Basic Concepts of Drill-Down Tuning	202	(4)
Hardware-Supported Profiling and Tracing	206	(3)
Building Performance Monitoring into Software	209	(1)
Path Length, Efficiency, and Calling Frequency	210	(11)
Fundamental Optimizations	221	(1)
Summary	222	(1)
Exercises	223	(1)
Chapter References	223	(2)
High Availability and Reliability Design	225	(10)
Introduction	225	(1)
Reliability and Availability: Similarities and Differences	226	(1)
Reliability	227	(2)
Reliable Software	229	(1)
Available Software	229	(1)
Design Tradeoffs	230	(2)
Hierarchical Approaches for Fail-Safe Design	232	(1)
Summary	232	(1)
Exercises	233	(1)
Chapter References	233	(2)
Part III Putting It All Together	235	(80)
System Lifecycle	237	(26)
Introduction	237	(1)
Lifecycle Overview	238	(3)
Requirements	241	(1)
Risk Analysis	242	(1)
High-Level Design	242	(3)
Component Detailed Design	245	(9)
Component Unit Testing	254	(3)
System Integration and Test	257	(1)
Configuration Management and Version Control	257	(5)
Regression Testing	262	(1)
Summary	262	(1)
Exercises	262	(1)
Continuous Media Applications	263	(18)
Introduction	263	(1)
Video	264	(4)
Uncompressed Video Frame Formats	268	(1)
Video Codecs	269	(2)
Video Streaming	271	(1)
Video Stream Analysis and Debug	271	(4)
Audio Codecs and Streaming	275	(1)
Audio Stream Analysis and Debug	275	(1)
Voice Over Internet Protocol (VoIP)	276	(2)
Summary	278	(1)
Exercises	278	(1)
Chapter References	278	(3)
Robotic Applications	281	(22)
Introduction	281	(2)
Robotic Arm	283	(3)
Actuation	286	(7)
End Effector Path	293	(1)
Sensing	293	(5)
Tasking	298	(2)
Automation and Autonomy	300	(1)
Summary	301	(1)
Exercises	301	(1)
Chapter References	301	(1)
Chapter Web References	302	(1)
Computer Vision Applications	303	(12)
Introduction	303	(1)
Object Tracking	304	(2)
Image Processing for Object Recognition	306	(3)
Characterizing Cameras	309	(2)
Pixel and Servo Coordinates	311	(1)
Stereo-Vision	312	(1)
Summary	313	(1)
Exercises	314	(1)
Appendix A: Glossary	315	(32)
Appendix B: About the CD-ROM	347	(2)
Appendix C: Real-Time Linux Distributions and Resources	349	(2)
Appendix D: RTOS Resources	351	(2)
Appendix E: References	353	(6)
Index	359