嵌入式计算系统设计原理：英文版深入解析

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"《嵌入式计算系统设计原理》第二版是 Wayne Wolf 教授的一本深入探讨嵌入式计算系统的著作。这本书英文版详细介绍了嵌入式计算的基础概念、设计方法和技术。作者在该领域有深厚的学术背景，曾在斯坦福大学获得电气工程的学士、硕士和博士学位，并在普林斯顿大学和AT&T贝尔实验室工作过。他在硬件/软件协同设计、嵌入式计算、VLSI计算机辅助设计以及多媒体计算系统方面有广泛的研究，并因此获得了IEEE和ACM的会员资格。Wolf教授还创办了多个相关的国际会议，并担任多个知名期刊的创刊主编。他的研究成就包括ASEE Frederick E. Terman Award和IEEE Circuits and Society Education Award。此外，他还主持了Morgan Kaufmann Series in Systems on Silicon系列书籍的编辑工作。" 在《嵌入式计算系统设计原理》第二版中，读者可以期待学习以下关键知识点： 1. **嵌入式系统基础**：书中会详细介绍嵌入式系统的基本概念，包括它们在不同应用领域的角色，如消费电子、工业控制、医疗设备等。 2. **硬件/软件协同设计**：讨论如何优化硬件和软件之间的交互，以实现更高的性能和效率，这是现代嵌入式系统设计中的关键部分。 3. **VLSI CAD（Very Large Scale Integration Computer-Aided Design）**：介绍用于设计复杂集成电路的工具和技术，这些工具对于创建嵌入式系统的核心部件至关重要。 4. **嵌入式计算**：涵盖嵌入式系统的计算架构，包括微处理器、微控制器、嵌入式操作系统的选择和定制，以及能源管理策略。 5. **实时性和可靠性**：讨论嵌入式系统必须满足的实时性要求和可靠性标准，这对于安全关键的应用尤为重要。 6. **系统级设计**：涵盖如何从整体角度考虑嵌入式系统的组件，包括处理器、存储器、I/O接口和网络，以及如何进行有效的系统集成。 7. **嵌入式软件开发**：涉及编程语言、操作系统接口、中间件和固件更新策略，这些都是开发高效嵌入式软件的关键要素。 8. **多媒体计算系统**：可能会介绍在嵌入式系统中处理图像和音频的特定挑战和技术。 9. **功耗管理**：在资源有限的嵌入式环境中，如何平衡性能和功耗，以延长电池寿命或满足特定的能效标准。 10. **案例研究与实践**：通过实际的案例分析，帮助读者将理论知识应用于实际设计问题中。这本书是理解嵌入式计算系统设计基础和最新趋势的理想资源，适合学生、研究人员和专业工程师学习。通过深入阅读，读者能够掌握构建高效、可靠和适应性强的嵌入式系统的必备技能。

Contents xv

Summary......................................................... 392

Further Reading ................................................. 393

Questions ........................................................ 393

Lab Exercises .................................................... 395

CHAPTER 8 Networks 397

Introduction ..................................................... 397

8.1 Distributed Embedded Architectures .......................... 398

8.1.1 Why Distributed? ....................................... 399

8.1.2 Network Abstractions .................................. 399

8.1.3 Hardware and Software Architectures ................ 401

8.1.4 Message Passing Programming ........................ 404

8.2 Networks for Embedded Systems .............................. 405

8.2.1 The I

C Bus ............................................. 406

8.2.2 Ethernet ................................................. 411

8.2.3 Fieldbus ................................................. 413

8.3 Network-Based Design .......................................... 413

8.4 Internet-Enabled Systems ....................................... 416

8.4.1 Internet ................................................. 417

8.4.2 Internet Applications ................................... 419

8.4.3 Internet Security........................................ 421

8.5 Vehicles as Networks............................................ 421

8.5.1 Automotive Networks .................................. 422

8.5.2 Avionics ................................................. 425

8.6 Sensor Networks ................................................ 426

8.7 Design Example: Elevator Controller .......................... 427

8.7.1 Theory of Operation and Requirements .............. 428

8.7.2 Speciﬁcation ............................................ 430

8.7.3 Architecture ............................................. 431

8.7.4 Testing ................................................... 433

Summary......................................................... 434

Further Reading ................................................. 434

Questions ........................................................ 434

Lab Exercises .................................................... 436

CHAPTER 9 System Design Techniques 437

Introduction ..................................................... 437

9.1 Design Methodologies .......................................... 437

9.1.1 Why Design Methodologies? ........................... 437

9.1.2 Design Flows ........................................... 439

9.2 Requirements Analysis .......................................... 446

List of Examples

Application Example 1.1 BMW 850i brake and stability control system ..... 3

Example 1.1 Requirements analysis of a GPS moving map .................... 15

Example 2.1 Status bit computation in the ARM ............................... 62

Example 2.2 C assignments in ARM instructions ............................... 67

Example 2.3 Implementing an

if statement in ARM .......................... 70

Example 2.4 Implementing the C switch statement in ARM .................. 71

Application Example 2.1 FIR ﬁlters ............................................. 72

Example 2.5 An FIR ﬁlter for the ARM .......................................... 72

Example 2.6 Procedure calls in ARM ............................................ 75

Application Example 3.1 The 8251 UART ...................................... 92

Example 3.1 Memory-mapped I/O on ARM..................................... 94

Example 3.2 Busy-wait I/O programming....................................... 95

Example 3.3 Copying characters from input to output using

busy-wait I/O....................................................... 96

Example 3.4 Copying characters from input to output with basic

interrupts .......................................................... 98

Example 3.5 Copying characters from input to output with interrupts

and buffers ......................................................... 99

Example 3.6 Debugging inter rupt code ........................................ 103

Example 3.7 I/O with prioritized interrupts ................................... 106

Example 3.8 Direct-mapped vs. set-associative caches ........................ 117

Example 3.9 Execution time of a for loop on the ARM ........................ 127

Application Example 3.2 Energy efﬁciency features in the PowerPC 603.... 130

Application Example 3.3 Power-saving modes of the StrongARM SA-1100 .. 132

Application Example 3.4 Huffman coding for text compression ............. 134

Example 4.1 A glue logic interface .............................................. 176

Application Example 4.1 System organization of the Intel StrongARM

SA-1100 and SA-1111 ................................ 182

Programming Example 4.1 Breakpoints ........................................ 185

Example 4.2 A timing error in real-time code .................................. 187

Example 4.3 Performance bottlenecks in a bus-based system................. 193

Programming Example 5.1 A software state machine .......................... 210

Programming Example 5.2 A circular buffer implementation of an FIR

ﬁlter ................................................. 213

Programming Example 5.3 A buffer-based queue .............................. 214

Example 5.1 Generating a symbol table ........................................ 223

Example 5.2 Compiling an arithmetic expression ............................. 229

Example 5.3 Generating code for a conditional ................................ 231

Example 5.4 Loop unrolling ..................................................... 238

Example 5.5 Register allocation ................................................. 240

xvii

xviii List of Examples

Example 5.6 Operator scheduling for register allocation ...................... 243

Example 5.7 Data-dependent paths in

if statements .......................... 251

Example 5.8 Paths in a loop ..................................................... 252

Example 5.9 Cycle-accurate simulation ......................................... 256

Example 5.10 Data realignment and array padding ............................. 260

Example 5.11 Controlling and observing programs ............................. 268

Example 5.12 Choosing the paths to test ........................................ 270

Example 5.13 Condition testing with the branch testing strategy.............. 273

Application Example 6.1 Automotive engine control .......................... 296

Application Example 6.2 A space shuttle software error ...................... 300

Example 6.1 Utilization of a set of processes ................................... 304

Example 6.2 Priority-driven scheduling......................................... 309

Example 6.3 Rate-monotonic scheduling ....................................... 317

Example 6.4 Earliest-deadline-ﬁrst scheduling.................................. 320

Example 6.5 Priority inversion .................................................. 324

Example 6.6 Data dependencies and scheduling .............................. 325

Example 6.7 Elastic buf fers as shared memory ................................. 326

Programming Example 6.1 Test-and-set operations ............................ 328

Example 6.8 Scheduling and context switching overhead .................... 330

Example 6.9 Effects of scheduling on the cache ............................... 332

Example 7.1 Performance effects of scheduling and allocation ............... 365

Example 7.2 Overlapping computation and communication ................. 366

Example 7.3 Buffers and latency ................................................ 368

Example 8.1 Data-push network architectures ................................. 405

Example 8.2 Simple message delay for an I

C message........................ 414

Application Example 8.1 An Internet video camera ........................... 420

Application Example 9.1 Loss of the Mars Climate Observer ................. 439

Example 9.1 Concurrent engineering applied to telephone systems ......... 444

Application Example 9.2 The TCAS II speciﬁcation ............................ 451

Example 9.2 CRC card analysis .................................................. 456

Application Example 9.3 The Therac-25 medical imaging system............. 458

Preface to The Second Edition

Embedded computing is more important today than it was in 2000, when the ﬁrst

edition of this book appeared. Embedded processors are in even more products,

ranging from toys to airplanes. Systems-on-chips now use up to hundreds of CPUs.

The cell phone is on its way to becoming the new standard computing platform.

As my column in IEEE Computer in September 2006 indicated, there are at least a

half-million embedded systems programmers in the world today, probably closer to

800,000.

In this edition I have tried to both update and revamp. One major change is

that the book now uses the TI TMS320C55x™ (C55x) DSP. I seriously rewrote the

discussion of real-time scheduling. I have tried to expand on performance analysis

as a theme at as many levels of abstraction as possible. Given the importance of

multiprocessors in even the most mundane embedded systems, this edition also

talks more generally about hardware/software co-design and multiprocessors.

One of the changes in the ﬁeld is that this material is taught at lower and lower

levels of the curriculum. What used to be graduate material is now upper-division

undergraduate; some of this material will percolate down to the sophomore level

in the foreseeable future. I think that you can use subsets of this book to cover

both more advanced and more basic cour ses. Some advanced students may not

need the background material of the earlier chapters and you can spend more time

on software performance analysis,scheduling, and multiprocessors. When teaching

introductory courses,software performance analysis is an alternative path to explor-

ing microprocessor architectures as well as software;such courses can concentrate

on the ﬁrst few chapters.

The new Web site for this book and my other books is http://www.

waynewolf.us. On this site, you can ﬁnd overheads for the material in this book,

suggestions for labs, and links to more information on embedded systems.

ACKNOWLEDGMENTS

I would like to thank a number of people who helped me with this second edition.

Cathy Wicks and Naser Salameh of Texas Instruments gave me invaluable help in

ﬁguring out the C55x. Richard Barry of freeRTOS.org not only graciously allowed

me to quote from the source code of his operating system but he also helped clarify

the explanation of that code. My editor at Morgan Kaufmann, Chuck Glaser, knew

when to be patient, when to be encouraging, and when to be cajoling. (He also

has great taste in sushi restaurants.) And of course, Nancy and Alec patiently let me

type away. Any problems, small or large, with this book are, of course, solely my

responsibility.

Wayne Wolf

Atlanta, GA, USA

xix

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