Trends in Embedded Software Engineering

Prof. Dr. Wolfgang Pree Department of Computer Science Universitt Salzburg cs.uni-salzburg.at MoDECS.cc PREEtec.com

Contents

Why focus on embedded software? Better abstractions timing & concurrency transparent distribution Modularization (component models) Further challenges

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What are we talking about?

Information processing that is tightly integrated with physical processes is called embedded computing

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Many innovations in embedded systems will result from software features

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A special breed: real-time embedded computing

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Hard versus soft real-time systems

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Sample hard RT system: engine controller

10 ms for 360 at 6000 rpm temporal accuracy of of 3 sec required up to 100 concurrent software tasks a hard real-time system is only correct if the concurrent tasks meet the strict real-time deadlines

=>

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Priority scheduling anomalies

reducing task execution times adding a processor to a distributed computing system relaxing precedence constraints

can all increase processing time.

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Priority inversion problem

low-priority process keeps high-priority process from running might cause deadlocks

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Most existing programming models are not sufficient In order to overcome the inherent problems of concurrent, real-time software development, new abstractions, methods and tools are required.

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Automotive sector: more software ...

More than 80% of innovations in the automotive industry are expected to result from embedded software over the next decade. key goal: ultra-reliable embedded software

The challenge: up to some millions (!) LOC complex distributed computing platform 20 80 computing nodes several bus systems massively concurrent software tasks
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... less tailored to hardware/OS-platforms

Dr. Hans-Georg Frischkorn (Senior Vice President Electric/Electronics, BMW Group): Whereas today, software is developed for and tailored to the delivered electronic control unit [processor], a main paradigm shift is expected: Software in cars will become much more independent of specific hardwarea similar development to that started in the computer industry 30 years ago.

Thus, radically new abstractions, methods and tools are required.

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Abstractions

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Lifting the level of abstraction for general-purpose programming

LISP Java C++ C compilation assembly language C#

Prolog

Oberon

Eiffel

HW + OS

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Abstractions for embedded systemsa missing link

mathematical modeling (eg, Simulink)

embedded software model general-purpose programming languages HW + OS

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Abstractions for embedded systemsa missing link

mathematical modeling (eg, Simulink) timing & concurrency embedded software model efficient to implement reusable components general purpose programming languages HW + OS

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Key question: What are appropriate abstractions?

Do they cover the relevant aspects of a design? Which embedded software properties do they deliver? Do they scale? Are the resulting designs understandable? Can compilers generate efficient code?

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Caveat: visual representations are often associated with good abstractions

Real-Time UML: priorities (widely misued in practice), etc.

Simulink: offers only functions for modularization

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Required embedded software properties focus: ultra-reliable embedded control

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Determinism

If a software component is called twice with the same input values at the same time instants, it should both times produce the same output values at the same time instants. Example: If a control component receives the same sensor values and the same driver input, it should always react exactly in the same way.

Consequences: Testability: each behavior can be reproduced. Minimal jitter.

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Portability (= software standardization)

The behavior of a software component should be specified independent of its implementation. Example: The hardware, operating system, or bus architecture can be changed without changing the behavior of the application components.

Consequences: Upgradability of hardware. Portability of software.

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better quality, reduced costs

deterministic timing behavior portability automatic code generation

plant A S embedded control software computing platform, for example, MPC555+OSEK

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better quality, reduced costs

deterministic timing behavior portability automatic code generation

M1

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better quality, reduced costs

deterministic timing behavior portability automatic code generation

M1

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better quality, reduced costs

deterministic timing behavior portability automatic code generation

M2 M1

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better quality, reduced costs

deterministic timing behavior portability automatic code generation

M1

M2

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Sample abstraction: Logical Execution Time (LET)

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State-of-the-art programming model leads to non-deterministic, non-portable software

only constraint: calculation finishes before a deadline

Task 1

Task 2

PROBLEM: results are available as soon as calculation is finished => NO determinism, NO portability
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Logical Execution Time (LET), an abstraction invented at UC Berkeley

results are available EXACTLY after the LET of a task

Task 1

LET1

Task 2

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LET >= WCET

LET2
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LET delivers the required software properties for ultra-reliable embedded systems

determinism compositionality

=> testability, minimal jitter => extensibility, reuse

software standardization =>portability, upgradability of HW

release logical view physical view

Logical Execution Time (LET)

terminate

task invocation

time

running

running

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platform first ...?

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LET allows Transparent Distribution

LET1

node1

M1 comm1 bus comm2

time

node2

M2
LET2

message sent according to bus schedule (TDMA)

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LET might be appropriate for the time-triggered and event-triggered programming models

xGiotto: has generalized fixed LET requires event scoping

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Towards embedded software components

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Hierarchical structuring is only a first step

A subsystem (= function) in Simulink

input parameters

output parameters

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current modularization
one embedded control system per computing node

M1

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required: domain-adequate language constructs for modularization

M2 M1

module M2 { import M1; ... start mode main [period= M1.refPeriod] { task [freq=1] sum(M1.inc.o, M1.dec.o); ... } }

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Compositionality

The behavior of a software component should be independent of the overall system load and configuration. Example: A new component can be added to a system without changing the behavior of the original components.

Consequences: Extensibility of systems. Reuse of components.

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Next-generation tools for embedded software development

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We have developed a modeling language and a set of tools based on LET www.MoDECS.cc PREEtec.com

modularization separation of concerns: timing | functionality platform | functional and temporal behavior language construct for modules

embedded software properties deterministic timing behavior portability (automatic platform code generation) compositionality

transparent distribution
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Tools for developing ultra-reliable embedded software require solid foundations

tool support development methods abstractions

visual/interactive editor, compiler, etc. Giotto/Timing Definition Language LET, module

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Timeline of beating the concepts into their shapes ...

MoDECS UC Berkeley
Giotto 1999 2000 2001 2002 2003 2004 2005
Timing Definition Language (TDL)

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LET-based tool chain MoDECS.cc PREEtec.com

starting point: LET/Giotto (UC Berkeley)

VisualTDL in Simulink

platform spec.
S A

M2
A

M1
S S A

M1

M2 M3

M3

TDL module component model

TDL compiler + schedule generator E-Code S-Code

E-/S-Machines+TDLComm
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INtime, OSEK, TTA, RT-Linux

Further embedded software challenges

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Orthogonal challenges

appropriate software abstractions as basis of model-based development support of multiple models of computation reengineering of existing systems requirements engineering process management risk analysis and error management usability security ...
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The end

Thank you for your attention!

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