EMBEDDED SYSTEM DESIGN/ EEE18R423

Presented By
Mr.S.Kalimuthu Kumar
Asst. Prof./EEE

Kalasalingam Academy of Research & Education

UNIT II (Understand the network protocols-CO 3)

2
Networking for Embedded Systems
 Why we use networks.
 Network abstractions.
 Example networks.

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Network elements

distributed computing platform:

PE
PE

communication link
network

PE
PEs may be CPUs or ASICs.
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Networks in embedded systems

initial processing
more processing
PE sensor
PE

PE actuator

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Why distributed?
 Higher performance at lower cost.
 Physically distributed activities---time constants may not allow
transmission to central site.
 Improved debugging---use one CPU in network to debug others.
 May buy subsystems that have embedded processors.

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Network abstractions
 International Standards Organization (ISO) developed the Open
Systems Interconnection (OSI) model to describe networks:
 7-layer model.
 Provides a standard way to classify network components and
operations.

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OSI model

application end-use interface

presentation data format
session application dialog control
transport connections
network end-to-end service
data link reliable data transport
physical mechanical, electrical

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OSI layers
 Physical: connectors, bit formats, etc.
 Data link: error detection and control across a single link (single hop).
 Network: end-to-end multi-hop data communication.
 Transport: provides connections; may optimize network resources.
 Session: services for end-user applications: data grouping, check pointing,
etc.
 Presentation: data formats, transformation services.
 Application: interface between network and end-user programs.

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Hardware architectures

 Many different types of networks:

 topology;
 scheduling of communication;
 routing.

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Point-to-point networks

 One source, one or more destinations, no data switching

(serial port):
 Full duplex or half duplex

PE 1 PE 2 PE 3
link 1 link 2

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Bus networks
 Common physical connection:
 PE’s have unique address
 Transmitting PE divides data into packets

PE 1 PE 2 PE 3 PE 4

header address data ECC packet format

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 Bus arbitration

 Fixed: Same order of resolution every time.

 Fair: every PE has same access over long periods.
 round-robin: rotate top priority among PE’s

fixed A B C A B C
round-robin
A B C B C A
A,B,C A,B,C
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Crossbar

out4

out3

out2

out1
in1 in2 in3 in4
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Crossbar characteristics

 Reduce communication conflicts of bus based

connection
 Allows all possible input and output connection
 Cross point is a switch that connects an input to an output
 Non-blocking.
 Can handle arbitrary multi-cast combinations.
 Size proportional to n2.

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TOPOLOGIES

 Ring
 Bus
 Star
 Tree

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Multi-stage networks
 Use several stages of switching elements.
 Often blocking.
 Often smaller than crossbar.
 Critical communications

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Message-based programming
 Embedded systems communicate by passing
message
 Transport layer provides message-based
programming interface:
send_msg(adrs,data1);
 Data must be broken into packets at source,
reassembled at destination.
 Data-push programming: make things happen in
network based on data transfers.
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Data push network:

Sensors transmit data

automatically at regular interval
rather than waiting for the
controller to request it

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I2C bus
 Designed for low-cost, medium data rate
applications.
 Characteristics:
 serial;
 multiple-master;
 fixed-priority arbitration.
 Several microcontrollers come with
built-in I2C controllers.
 It is used in micro controlled based
systems
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I2C bus
 Inter integrated circuit bus is effective networks used to
interconnect peripheral devices with in small scale embedded
system
 IIC,I2C
 Two wire communication
 Bi directional communication
 Speed upto 100 Kbps in standard mode, 400 Kbps in fast mode
 SDA(serial data)
 SCL(serial data)
 Multimaster operation

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CSMA/CD
 Carrier Sensor Multiple Access/Collision Detect (CSMA/CD)
 when several stations try to access the bus simultaneously when
it is at rest, a contention message is detected. The transmission is
then halted and all the stations withdraw from the network. After
a certain period, different for each station, each station again
tries to access the network.
CSMA/CD
 data transfer cancellations decrease the carrying capacity
of the network.
 The network may even be totally blocked at peak traffic
times
 unacceptable for 'real-time' applications.
CSMA/CA
 Carrier Sensor Multiple Access/Collision Avoidance (CSMA/CA).
 This device operates with a contention procedure not at the time
of the attempt to access the bus, but at the level of the bit itself
(bitwise contention - conflict management within the duration of
the bit).
 by assigning a level of priority, the message having the highest
priority will always gain access to the bus
 I2C physical layer

master 1 master 2
data line
SDL
clock line
SCL

slave 1 slave 2

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I2C data format

SCL ... ...

SDL ...

start MSB ack

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I2C electrical interface
 Open collector interface: +

SDL
+

SCL

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I2C signaling
 Sender pulls down bus for 0.
 Sender listens to bus---if it tried to send a 1 and heard a 0,
someone else is simultaneously transmitting.
 Transmissions occur in 8-bit bytes.

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I2C data link layer
 Every device has an address (7 bits in standard, 10
bits in extension).
 Bit 8 of address signals read or write.
 General call address allows broadcast.

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I2C bus arbitration
 Sender listens while sending address.
 When sender hears a conflict, if its address is higher, it stops
signaling.
 Low-priority senders resign control early enough in clock cycle to
allow bit to be transmitted reliably.

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I2C transmissions

multi-byte write

S adrs 0 data data P

read from slave

S adrs 1 data P

write, then read

S adrs 0 data S adrs 1 data P

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Introduction to CANBUS

32
1. CANBUS Introduction
 What is CANBUS?
 Who uses CANBUS?
 CANBUS history
 CANBUS timeline
2. CANBUS Characteristics
 OSI Model
 Physical Layer
 Transmission Characteristics
3. Message Oriented Communication
4. Message Format
5. Bus Arbitration
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 What is CANBUS?

CANBUS or CAN bus – Controller Area Network bus

An automotive serial bus system developed to satisfy

the following requirements:

 Network multiple microcontrollers with 1 pair of wires.

 Allow microcontrollers communicate with each other.
 High speed, real-time communication.
 Provide noise immunity in an electrically noisy environment.
 Low cost

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 Who uses CANBUS?
 Designed specifically for automotive applications
 Today - industrial automation / medical equipment

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 CANBUS History

 First idea - The idea of CAN was first conceived by engineers at Robert Bosch
Gmbh in Germany in the early 1980s.
 Early focus - develop a communication system between a number of ECUs
(electronic control units).
 New standard - none of the communication protocols at that time met the
specific requirements for speed and reliability so the engineers developed
their own standard.

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 CANBUS Timeline

 1983 : First CANBUS project at Bosch

 1986 : CAN protocol introduced
 1987 : First CAN controller chips sold
 1991 : CAN 2.0A specification published
 1992 : Mercedes-Benz used CAN network
 1993 : ISO 11898 standard
 1995 : ISO 11898 amendment
 Present : The majority of vehicles use CAN bus.

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 CANBUS and the OSI Model
 CAN is a closed network
 – no need for security, sessions or logins.
 - no user interface requirements.
 Physical and Data Link layers in silicon.

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 CANBUS Physical Layer
 Physical medium – two wires terminated at both ends by resistors.
 Differential signal - better noise immunity.
 Benefits:
 Reduced weight, Reduced cost

 Fewer wires = Increased reliability

CAN bus network
Conventional multi-wire looms

vs.

http://canbuskit.com/what.php

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 Transmission Characteristics

 Up to 1 Mbit/sec.
 Common baud rates: 1 MHz, 500 KHz and 125 KHz
 All nodes – same baud rate
 Max length:120’ to 15000’ (rate dependent)

© esd electronics, Inc. • 525 Bernardston Road • Greenfield, MA 01301 40

 Message Oriented Transmission Protocol
 Each node – receiver & transmitter
 A sender of information transmits to all devices on the bus
 All nodes read message, then decide if it is relevant to them
 All nodes verify reception was error-free
 All nodes acknowledge reception

CAN bus © 2005 Microchip Technology Incorporated. All Rights Reserved.

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 Message Format
 Each message has an ID, Data and overhead.
 Data –8 bytes max
 Overhead – start, end, CRC, ACK

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Example of Message Transaction

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 Bus Arbitration
 Arbitration – needed when multiple nodes try to transmit at the same time
 Only one transmitter is allowed to transmit at a time.
 A node waits for bus to become idle
 Nodes with more important messages continue transmitting

© 2005 Microchip Technology Incorporated. All Rights Reserved.

CAN bus

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 Bus Arbitration
 Message importance is encoded in message ID.
Lower value = More important
 As a node transmits each bit, it verifies that it sees the same bit value on the bus
that it transmitted.
 A “0” on the bus wins over a “1” on the bus.
 Losing node stops transmitting, winner continues.

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 Bus arbitration
A “0” (low voltage) on the bus by 1 node wins over a “1” (high
voltage) on the bus.

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Bus Arbitration Flowchart

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Multiprocessor networks

 Multiple DSPs are often connected by high-speed

networks for signal processing:

DSP DSP

DSP DSP

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SHARC link ports

 Six per CPU.

 Four bits per link port.
 Packets have 32- or 48-bit payload.
 Can be controlled by DMA.
 Are half-duplex---must be turned around by program.

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Ethernet
 Dominant non-telephone LAN.
 Versions: 10 Mb/s, 100 Mb/s, 1 Gb/s
 Goal: reliable communication over an unreliable medium.

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Ethernet topology

 Bus-based system, several possible physical layers:

A B C

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 Ethernet’s MAC Algorithm
 Ethernet uses CSMA/CD – listens to line before/during sending
 If line is idle (no carrier sensed)
 send packet immediately
 upper bound message size of 1500 bytes
 must wait 9.6us between back-to-back frames
 If line is busy (carrier sensed)
 wait until idle and transmit packet immediately
 called 1-persistent sending
 If collision detected
 Stop sending and jam signal
 Try again later

CS 640 52
State Diagram for CSMA/CD

Packet?
No

Sense Send Detect

Carrier Collision

Yes
Discard
Packet Jam channel
attempts < 16 b=CalcBackoff();
wait(b);
attempts++;
attempts == 16

CS 640 53
CSMA/CD

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Collisions
Collisions are caused when two adaptors transmit at the same
time (adaptors sense collision based on voltage differences)
• Both found line to be idle
• Both had been waiting to for a busy line to become idle

A starts at A B
time 0
Message almost
A B
there at time T when
B starts – collision!

How can we be sure A knows about the collision?

CS 640 55
Collision Detection
 How can A know that a collision has taken place?
 There must be a mechanism to insure retransmission on collision
 A’s message reaches B at time T
 B’s message reaches A at time 2T
 So, A must still be transmitting at 2T

 Send jamming signal after collision is detected to insure all hosts see collision
 48 bit signal

CS 640 56
Collision Detection contd.
A B
time = 0

A B
time = T

A B
time = 2T

CS 640 57
Ethernet packet format

start source dest data

preamble length padding CRC
frame adrs adrs payload

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Ethernet performance

 Quality-of-service tends to non-linearly decrease at high

load levels.
 Can’t guarantee real-time deadlines. However, may
provide very good service at proper load levels.

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Myrinet

 High performance network

 Full duplex with 640 MB/S at BW 1.28 GB/S
 Parallel processing systems
 It constructed in a variety of topologies
 Frame format based on system configuration

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Internet Protocol

 Internet Protocol (IP) is basis for Internet.

 Provides an internetworking standard: between two
Ethernets, Ethernet and token ring, etc.
 Higher-level services are built on top of IP.

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IP in communication
application application
presentation presentation
session session
transport IP transport
network network network
data link data link data link
physical physical physical

node A router
node B
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IP packet

 Includes:
 version, service type, length
 time to live, protocol
 source and destination address
 data payload
 Maximum data payload is 65,535 bytes.

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IP addresses

 32 bits in early IP, 128 bits in IPv6.

 Typically written in form xxx.xx.xx.xx.
 Names (foo.baz.com) translated to IP address by domain
name server (DNS).

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Internet routing

 Best effort routing:

 doesn’t guarantee data delivery at IP layer.
 Routing can vary:
 session to session;
 packet to packet.

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Higher-level Internet services

 Transmission Control Protocol (TCP) provides connection-

oriented service.
 Quality-of-service (QoS) guaranteed services are under
development.

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The Internet service stack(IP&
higher level)

FTP HTTP SMTP telnet SNMP

User
TCP UDP Datagram
Protocol
IP

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Communication analysis

 First, understand delay for single message.

 Delay for multiple messages depends on:
 network protocol;
 devices on network.

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Message delay

 Assume:
 single message;
 no contention.
 Delay:
 tm = tx + t n + t r
 = xmtr overhead + network xmit time + rcvr overhead

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Example: I2C message delay
 Network transmission time dominates.
 Assume 100 kbits/sec, one 8-bit byte.
 Number of bits in packet:
 npacket = start + address + data + stop
 = 1 + 8 + 8 + 1 = 18 bits
 Time required to transmit: 1.8 x 10-4 sec.
 20 instructions on 8 MHz controller adds 2.5 x 10-6 delay on xmtr,
rcvr.

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Multiple messages

 If messages can interfere with each other, analysis is

more complex.
 Model total message delay:
 t y = t d + tm
 = wait time for network + message delay

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Arbitration and delay

 Fixed-priority arbitration introduces unbounded delay for

all but highest-priority device.
 Unless higher-priority devices are known to have limited rates
that allow lower devices to transmit.
 Round-robin arbitration introduces bounded delay
proportional to N.

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Further complications

 Acknowledgment time.
 Transmission errors.

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System performance analysis

 System analysis is difficult in general.

 multiprocessor performance analysis is hard;
 communication performance analysis is hard.
 Simple example: uncertainty in P1 finish time ->
uncertainty in P2 start time.

P1 P2

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Analysis challenges
 P2 and P3 can delay each
other, even though they are in P1
separate tasks.
 Delays in P1 propagate to P2, P2
then P3, then to P4. P3

P4

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Networks

 Example: elevator controller.

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Terminology

 Elevator car: holds passengers.

 Hoistway: elevator shaft.
 Car control panel: buttons in each car.
 Floor control panel: elevator request, etc. per floor.

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Elevator system

floor

floor

floor

floor

floor

Hoistway 1 Hoistway 2
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Theory of operation

 Each floor has control panel, display.

 Each car has control panel:
 one button per floor;
 emergency stop.
 Controlled by a single controller.

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Elevator position sensing

sensor

fine

coarse

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Elevator control

 Elevator control has up and down.

 To stop, disable both.
 Master controller:
 reads elevator positions;
 reads requests;
 schedules elevators;
 controls movement;
 controls doors.
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Elevator system requirements
name elevator system
inputs F floor control, N position, N car
control, 1 master
outputs F displays, N motor controllers
functions responds to requests, operates
safely
performance elevator control is time-critical
manufacturing cost electronics is small part of total

power Not important

physical size/weight cabling is important

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Elevator system class diagram
1
Coarse-sensor*
Master-control-panel*
1 1
1 N 1
Fine-sensor* Car 1
1 1
1
1 Controller
Car-control-panel* 1
1
1 Floor F N
Floor-control-panel* 1 Motor*

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 Physical interfaces
Sensor* Car-control-panel*
hit: boolean Floors[1..F]: boolean
emergency-stop:
boolean
open-door, close-door:
Coarse-sensor* Fine-sensor* boolean

Master-control-panel...
Motor* Floor-control-panel*
speed: off,slow,fast} up, down: boolean
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Car and Floor classes

Car Floor
request-lights[1..F]:
up-light, down-light:
boolean
boolean
current-floor: integer

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Controller class

Controller
car-floor[1..H]: integer
emergency-stop[1..H]:
integer
scan-cars()
scan-floors()
scan-master-panel()
operate()

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Architecture

 Computation and I/O occur at:

 floor control panels/displays;
 elevator cars;
 system controller.

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Network in the
Elevator system

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Panels and cab controller

 Panels are straightforward---no real-time requirements.

 Cab controller:
 read buttons and send events to system controller;
 read sensor inputs and send to system controller.

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System controller

 Must take inputs from many sources:

 car controllers;
 floors.
 Must control cars to hard real-time deadlines.
 User interface, scheduling are soft deadlines.

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Testing

 Build an elevator simulator using an FPGA:

 simulate multiple elevators;
 simulate real-time control demands.

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