i I Embedded System Designg A Unified Hardware/Software Introduction Frank Vahid Department af Compu cine and Engineering ‘Universi of Califo, Riverside Tony Givargis Departmen of farmaton and Computer Science ‘University of California, Irvine ® John Wiley & Sons, Inc.‘To my world: Any. Eric, Kels and Maya, andi the memory of our ‘sixth member, VabidAminian, —~ FV + Tomy family: Nel, Fredric, Odet, and Edin. — 1G Copyright © 2002, 2003, 2004, 2005 Exclus. rights by John Wiley & Sons (Asia) Pte, Lid, Singapore for manufacture and export. This bock cannot be re- exported from the country to which itis consigned by Jobn Wiley & Sons. Copyright © 2002 by John Wiley & Sons, Ine. 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Lad, Kundli 131 028 | Vaid, Frank ie Embedded System Design : A Unified Hafdwarey Software } Introduction / Frank Vahid, Tony Givarsis. } wos76F Preface Purpose Embodded computing systems have grown tremendously i ecent years, not only ia their popularity, but also in their complexity. This coniplexiy demands a new type of designer, one ‘who can casily cross the tradional- border between-hardware design and software design ‘After investigating the availebility of courses and textbooks, we felt a new course and accompanying textbook were necessuy (0 intodice embedded computing system design using @ unified view of software and hardware: This textbook portrays hardware and software ‘ot as diferent domains, but rather as two iniplemenation options along. a costinaum of options varying in their design metics, like cost, performance, power, size, and fexibility ‘Three important tends have niade such a unified view possible. Fist, inegrated creuit (GC) capacities have increased tthe poin that bah software processors and custom hardware Processors now commonly coexist on single IC: Scoond, quality compilers and program size increases have led to the contmon use of processor-independent C, Cand Java compilers ‘nd integrated “design: environments (ADES) in embedded system design, significantly decreasing the importance of the focus on microprocessor intemals and assembly language Programming that domisate most existing embedded sysiem courses and textbooks. Third Syniesis technology has. advanand. tothe :poit that syathesis tools have become ‘commonplace im the design of digital hardware: Symhess tools achieve nearly the same for hardare design as compilers achieve in software design: Tey allow the designer to describe esied functionality in a high-level programming. language, and they then automatically jpenerate an efficiem cystom-haware processor implementation. The frst trend makes the Past separation of software and hardware design neary impossible. Fortunately, the secont and third tends enable their unified design, by:tumning embedded system design. at its highest level into the problem of selecting and programming (for software), designing (for hardvare), and integrating “processors. Coverage The‘ first four chaptersof tis book sve to diéve the goal ‘of preseting hardware and software in a’ unified ‘way: ‘These chaples'siess that computations are carried out by Processors’ Many’ types" processorare ‘availabe inluting general-purpose pdcessors wee rithased Sytem Design vi| | (software), custom single-purpose processors (hardware), standard single-purpose processors (penpheras). and soon. But nevertheless, hey ae all ut processors, difering in thet cost, | Tins power perormance. design time, lexi, and so on, but esentally doing the same thing | P|. taeemiet | [Coon Chapter I provides an overview of embedded systems and ther sgn challenges. We | Doon | | oe introduce ctsiom single-purpose processors in Chaper 2 emphasing a top-down technique | |) Sea to diol design amenable to synthesis picking up where may tenbooks on digial design | : 7 lease oft We nvoduce general-purpose processors and their use in Caper 3, expecting this irodeciog chaplr to be mostly review for many readers, and ending by showing bow to design a | bedded general-purpose processor using the techniques of Chaplet 2. Chaper 4 desribes numerous Spm Standard single-purpose processors (peripherals) common in embedded systems. Chapters 5 yo and induce memories and interfacing concept, respectively, 0 complete the fundamental Enteiial€] | Avance | VESVASIC] [Comal | [Dig Sizar inowiedge necessary to build basic embedded systems. Chapter 7 provides digital camera eat Tine | foigitl Design| | Design Systems example. showing how we can trade off among hardware, software, and peripherals to Systems _ | |_Gynhesis) tchiee implementations that vary in thir power, perfomance, and size These sven chapters form the coe ofthis book. freed, fom the necessity of covering. the, aitygsity details of a panicular ‘microprocessor’ internals and. assembly language programming, this book includes coverage ‘ok some additonal embedded systems topics. Chaper & describes advanced sate machine ‘imputation models that are becoming popular when describing complex embedded sytem and to the integntion of microprocessors and custom hardwie (eg."FPGAS). In othet “behavior I also introduces the concurem process model and reasime systems. Chaplet 9 catcul, anew crs on embedded systems maybe necessary; we obser ha mumerous “ives basic invoduction to contol systems, enowgh to make siden’; aware that a rich | _universiesareinoticng sich comrses, often converting a second Coun ital design to ‘theory exis for convol systems, and to enable students to determine when an embedded a course on embeded systems (as we did at UCR), The book could ls be wed in acapsion= Stsem isan example ofa contol system. Chapter 10-iodves a variety of popular IC senior design couse asa text tht brings together and organizes til of what sdents ay {Cehnoloies from which a designer may choose fr system implementation, Finally, Chapter have bes expose Io sready ~ such courses often do not‘even havea textbook The book ii P:R yes dip poeta cin oe ily ate te those courses shit sway from assembly-Level programming to the use of more modem tools 11 highights various design technologies: for. building. embedded systems, including should also be useful a tie graduate level for an introductory embedded systems coors. diseusion of hardware/sftware codesign, a user's introduction to synthesis (from behavioral | dow o logic levels) and the major rend toward design based on intellectual property (IP). Laboratory... re deal, acute sing hs bok sould have an dcoompanyig boron, The Heal ab setup ‘would include bath softwar development on an enbedded micropro microcontroller Plsfor and haidvare-deveopment on an FPGA platform (oF even it a simulation vironment ‘We incon create this book tobe independent rom ny pitlr micoproceso. ‘One reason is erase embed sjsem tools and products ae evening pi nd thas we consider the ality’ to change lab environments witht having 0 change textbooks an ‘important anie. A second reason is because the embedded system field has evolved sufficiently so warant'a took basedon principles However, course withatandean lab may suppleeit hs book with a processor specific dstabook, which is typically low cst or even fe. oF wi oe of man cron avble "een dn” pee pciie textbooks in wide use today. "Lavi, te book idpendet Of any partir Kas dein age, synthesis fool, simulator, or FPGA. Supplement that describe the’ paralar hardware environment, asin usaly avaiable for re or at fw cost, maybe wel How to Use This Book . ‘We use tis bok atthe University of California, Riverside; ia e-quarter course called ‘iroduction wo Embedded Systems. which follows our introductory coust-on logic design, and which is taken by all computer science; computer enginéring, nd electical engineering "student roughly the sophomore level. Ths erly placement of the cours in ovr curriculum -rcprsents‘out belief that an early unified view of hare sind software canbe very “beteficial o a.student’s mindset when later taking mote specialized cbutSes:"The' suggested “placement ‘of the coun 'an undergraduate urrcilum is'shown in Figue'P.1. Our one ‘uarercputse covers Chapters 17: We have a second quer eoifse-oneinbedded systems that covers Chapters $-12, supplemented with a textbook on redline systems, A ‘ne-senester course might cover Chapters 1-7 plus two of thee aditional chapters of the instructor's choice. a -We aiicipatc that in most, electrical and, computer engineerinescience.curicula, this ibgok cong. use. lace a procesor-speifctesfook in. a existing course on "inicopipessor based system desian or microprocessor interfacing, asthe la components of 4 Embeaaaa Sytem Desert ie ‘Embedded System Design