EmbeddedSystems
Jakob Engblom, PhDBusiness Development Manager,
Virtutech AB
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Computer Perspective
“A computer that doesn’t look like a computer”Interacts with worldPrimitive or no user interfacePart of other products
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Electronics Perspective
A product that contains a programmable processorSoftware programming is part of the design of the product
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"Desktop"2%
"Embedded"98%
Dominant Species
Embedded = most processors!300 million PC and server9000 million embedded
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Real-Time Systems
Embedded and Real-TimeSynonymous?
Most embedded systems are real-timeMost real-time systems are embedded
embeddedembedded
realreal--timetime
embedded embedded realreal--timetime
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Embedded Systems
Single purpose productsNot general purpose like desktop PCsDo one thing very efficiently
Computer architectureTailor for a particular application nicheSystem applications known
Can select ”optimal” device
Specialization & workload knowledge!
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Embedded Systems
Software very important:Gives character to productUsed to differentiate inside a “platform”Can be changed lateMany vendors use same HW Processor cheaper than special HW
Replace relays with small processor!
Dominates HW development cost
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Processors
4-bit:Very simple & slow1970s pocket calculators
8-bit:Simple, slow, low-powerImmensely popular (4 G/year)Early 1980s home computers
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Processors
16-bitMore power than 8-bitMid-1980s home computersVery popular: 1.5G/yearThreatened from the 32-bit processors
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Processors
32 & 64-bitOld desktop & server chipsNew desktop & server chipsEmbedded-specific designs30 to 3000 MHzAt least 2G units/year
Many more than PC & server market
ARM will sell 1.5G units in 2005!Best-selling 32-bit family ever
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Processors
DSP: Digital Signal ProcessorSpecialized for signal processing
Poor at general computing/control codePoor interrupt handling
High performance on DSP tasksLow power, Low price
• compared to regular processors of same capability
Up to 1GHz clocks
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Where is the Money?Processors:
50% of all semiconductor revenueExplains why everyonewants to do processors
32-bit dominant30% of total semiconductors
PC processors: 50% of CPU revenue15% of total semiconductorsAMD and Intel share it
32-bit16-bit
8-bit
4-bit
DSP
32-bit
16-bit8-bit4-bitDSP
0%10%20%30%40%50%60%70%80%90%
100%
Units Money
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Integration
A single chip:CPU CoreIntegrated memoryIntegrated peripheralsIntegrated services
Goal:No external HWFit application “perfectly”“System on a chip” (SoC)
CPUCore
RAM(small)
ROM(big)
UA
RT
A/D
Tim
er
LCD
D
Outside World
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Devices: I/O
Interface with the worldDigital inputs & outputs
0/1 signals, like alarms & interruptsDrive high/low outputs
Analog inputs & outputsAnalog/Digital conversionDigital/Analog conversionMake signals digital, process, convert back to analog signals
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Devices: CommunicationCommunications
NetworksHigh-end: Ethernet, ATM, SonetControl: CAN, Profibus, 1553, SpaceWire
• Built for predictability & efficiency & reliability
Radio networksWLAN, Zigbee, Bluetooth, DECT, GSM, ...
Serial portsUSB, FireWireStorage
PCMCIA, IDE, SD-Card, etc.
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Devices: Timers
TimersTrigger interruptsKeep track of real-world
Fuel injection & spark timing
Pulse-Width Modulation
WatchdogsTime out if not tickledWatch that a system is alive
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Devices: OthersGraphics
LCD driversGraphics accelerationCamera driversVideo & image codecs in hardware
BusesOn-chip between devices:
AMBA, OcEAN, CoreConnect
Off-chip: PCI, HyperTransport, RapidIO, i2c, DDR
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Trends
Software dominates developmentHardware used to dominateSoftware is now up to 85% of effortEven when product is “full custom”Especially in telecomm & datacomm
Hardware is “under control”Increasing use of standard componentsFunctionality moves to software
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Trends
Talk by Lars Philipsson, LTH, 2004What is the future of electrical engineering in Sweden?
Answer:Software work
Software replacing logic design
Some analog design workCircuit-board design, high-speed circuits
Measuring technology
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Trends
Non-stop miniaturization and integration of computers
From one processor in a fridgeTo thousands of processors on a chipSteady trend over time
One chip = one systemProcessors, memories, electronics
Can be 100s of processors
“SoC”: System-on-a-Chip
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Department of Information Technology | www.it.uu.se
Trends
32-bit processors squeezing 16-bitARM Cortex-M3, TriCoreCost more competitive over timeEasier to program, faster execution, larger programs & data sets
Multicore & multithreadingIncreased performance, lower powerHigh-end firstHuge software problem!
Examples
Some embedded systems from
real life
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Smart Beer Glass
8-bit, 8-pin PIC processor
8-bit, 8-pin PIC processor
Capacitive sensor for fluid level
Capacitive sensor for fluid level
Inductive coil for RF ID activation & powerInductive coil for RF
ID activation & power
CPU and reading coil in the table. Reports the level of fluid in the glass, alerts servers whenclose to empty
Contactlesstransmission of
power and readings
Contactlesstransmission of
power and readings
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Smart Beer Glass
Typical embedded solutionIntegrates several technologies:
Radio transmissionsSensor technologyMagnetic inductance for powerComputer used for calibration
Impossible without the computerMeaningless without the electronics
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PedometerObvious computer work:
Count stepsKeep timeAveragesetc.
Real computer task:Sensor feels motion of device, not of user feetIdentify when a step is actually taken
8-bit processor, runs forever on a single battery
8-bit processor, runs forever on a single battery
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Smart Welding MachineElectronics control voltage & speed of wire feedAdjusts to operator
kHz sample rate1000s of decisions/second
Perfect weld even for quite clumsy operatorsEasier-to-use product, but no obvious computer
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Sewing MachineUser interface
Embroidery patternsTouch-screen control
”Smart”Sets pressure of footdepending on taskRaise foot when stopped
New functions added by upgrading the software
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Mobile PhonesMultiprocessor
8/16/32-bit for UIDSP for radio32-bit ARM in IR port32-bit ARM in Bluetooth10-200 MHz main CPULocal memories
8-100 MB of memory+100s MB for media
Custom chipsPower consumption & battery life dependson software
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Phones: TI OMAP 5910Texas InstrumentsIntegrated solution for mobile phones Used by Nokia, Sony-Ericsson, etc.Dual-core chip
ARM925T 150 MhzTI C55 DSP 150 Mhz
Power 230 mWCompetition:
MotorolaInfineon
ARM shared devices
ARM private devices
System devices
DSP shared devices
DSP private devices
C55xDSP Core
24k I$
64k data SRAM
96k instrSRAM
ARM925CPU Core
16k I$
8k D$
MMU
192k Shared SRAM
MemCtrl
75 Mhz
LCD Ctrl
USB 1.1LCD controllerMMC/SDcard intfCamera interface Keyboard interfaceClockI2C8 Serial ports14 GPIO pinsExternal memory
USB 1.1USB 1.1LCD controllerLCD controllerMMC/MMC/SDcardSDcard intfintfCamera interface Camera interface Keyboard interfaceKeyboard interfaceClockClockI2CI2C8 Serial ports8 Serial ports14 GPIO pins14 GPIO pinsExternal memoryExternal memory
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Clock Speeds and Power
Clock and voltage relatedHigher operating frequency requires higher voltage
Use lower clock speedsReduce speed until app just worksDesign CPU-efficient software
Rule of thumb:1/2 speed = 1/4 power
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Low Clock = Low Power
0
200
400
600
800
1000
1200
1400
1600
180040
0
600
800
1000
1200
Voltage (mV)Power (mW)
Samsung HallaARM 1020E core6-stage pipeline0.13 um process Clock: 400 Mhz to 1.2 Ghz
(source: Microprocessor Report, Oct 16, 2002)
3x clock freq, 9x power!
3x clock freq, 9x power!
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Multicore & Power
Multiple cores can save powerStatic design
2 CPUs @ 100 Mhz = 1 CPU @ 200 Mhz, but requires half the power
Dynamic designVarying workload (game vs sleep)Turn on & off coresVary speed of cores
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Dynamic Multicoreen
ergy
con
sum
ptio
n
performance required
More cores are started, at minimum
clock frequency
More cores are started, at minimum
clock frequency
All cores active, clock frequency
increases
All cores active, clock frequency
increases
Energy saved by shutting down
cores
Energy saved by shutting down
cores
Energy saved by varying clock frequency &
voltage
Energy saved by varying clock frequency &
voltage
Source: Microprocessor Report, May 2004
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Compact Code
ARM Thumb: fixed 16-bit sizeSaves 28% compared to 32-bit ARMRuns 20% slower than 32-bit ARM
ARM Thumb 2: mixed 16/32Saves 26% compared to 32-bit ARMRuns 2% slower than 32-bit ARM(Note that some new instructions are introduced)
Conclusion: mixed length good!Source: Microprocessor Report, June 2003
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ARM1026EJ-S Pipeline
Fetch Issue Decode
Shift/ALU Sat
Write
MAC1 MAC2
LS1 LS2 LS write
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Mobile Phone DSPsAssume very regular workloads
Zero-overhead loop instructions
Register setsAccumulators (often 40 bits)Data registers (often 16 bits)Address registers (16 to 32 bits)
Addressing modesIndex registersPost & preincrementBit-reverse addressingGoal: more parallelizable work per instruction
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DSP Instruction SetsExample instructions from C55:”Finite impulse response filter”
FIRSADD Xmem, Ymem, Cmem, ACx, ACyOperation:
ACy = ACy + (ACx * Cmem)ACx = (Xmem << #16) + (Ymem << #16)
”Conditional add or sub”ADDSUBCC Smem, ACx, TCx, ACyOperation:
If TCx = 1, then ACy = ACx + (Smem << #16)If TCx = 0, then ACy = ACx - (Smem << #16)
Cmem, Xmem, Ymem: memory accesses + address
updating
Cmem, Xmem, Ymem: memory accesses + address
updating
C55 DSP has threeindependent data
buses, X, Y, and C
C55 DSP has threeindependent data
buses, X, Y, and C
Special condition register
Special condition register
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Mobile base stationMassive signal processing
Several processing tasks per connected mobile phone1000s of independent parallel tasks = parallelizer’s dream!
Based on DSPsStandard or custom500-1000 MHz VLIW instruction sets
4/8 way wide100s of processors
Serious supercomputer!
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Telecom/DatacommCore NetworkOptical & copper connectionsDigital & analog signals
EthernetATMPacket-over-SonetSS7POTS
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Telecomm/Datacomm
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Telecomm/DatacommRack-based systems
12-20 cards per shelf1-6 shelves per rack100s of CPUs
Compute cards:Run control code32-bit processors
Processing cards:Signal processingDSP or 32-bit CPUs
Line cards:Interface to networkASICs+32-bit CPUs
Backplane: ATM or EthernetRedundant switchedSwitched over cards
Redundant powerRedundant cards
CardCardCardCard
Rack Backplane
Control
PPC
FLASHPQ
Processing
DSP DSP
Line
PPC
atmasic
DSP DSP
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Control vs DataControl plane:
Decision-making“Integer applications”Call setup, servicesGeneral-purpose processors
Data plane:Move or process dataSignal processingMedia coding/decodingFloating/fixed pointDSP & ASIC work
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MPC8560 “PowerQUICC”One on each card in a telecomm rack
Data planeBackplaneVery commonSold by Freescale
ProcessorPowerPC e500666-1000 Mhz256 kB L2 cache
NetworkingCPM module
9 Ethernet lines!
Features
Capabilities
256Multichannel HDLC (from MCC2)
2Utopia II ATM (from FCC)
2Ethernet 10/100/1000
3Ethernet, 10/100 (from FCC)
4Ethernet, 10 (from SCC)
2Ethernet 10/100/1000 controller
1RapidIO controller
1PCI-X/PCI controller
1DDR Memory controller
1I2C controller
1Serial Peripheral Interface (SPI)
2Serial Management Controller (SMC)
2Multi-Channel Controller (MCC2)
3Fast Communications Controller (FCC)
4Serial Communications Controller (SCC)
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Cisco Toaster38 clusters of 2
processors each8 clusters of 2
processors each
Each TMC is a VLIW machine with 74 bit
instructions, 2k instructions in local
memory
Each TMC is a VLIW machine with 74 bit
instructions, 2k instructions in local
memory
Total capacity: about 5 GOps, at 160 Mhz
Total capacity: about 5 GOps, at 160 Mhz
Two 32-bit ALUs and three control/data
movement units per TMC
Two 32-bit ALUs and three control/data
movement units per TMC
Image from Microprocessor Report, Oct 2002
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Cisco Toaster3
Massive multiprocessing
16 cores on a chip4 chips in serialRouting:
10 Gbps@ 20 Mpackets/s1000 ops per packet passing through
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Problem: Multicore
Telecomm & datacomm tradition: Distributed multiprocessingNo shared memorySoftware assumes single processor
Especially operating systems
Today: end-of-the-roadFuture performance gains: MPEverybody has to use shared memory
They need parallel programmers!
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Future System Template
Multicore node
CPU
L1$
CPU
L1$
CPU
L1$
L2$
RAM
Devices
Networketc.
Timer Serial
One shared memory space
Multicore node
CPU
L1$
CPU
L1$
CPU
L1$
L2$
RAM
Devices
etc.Network
Timer Serial
Network with local memory in each node
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Cars – DistributionMultiple networks
Body, engine, telematics, media, safety
Multiple processorsNetworkedUp to 100
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Cars
Functions by embedded processing:ABS: Anti-lock braking systemsESP: Electronic stability controlAirbagsEfficient automatic gearboxesTheft prevention with smart keysBlind-angle alert systems... etc ...
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Cars
Large diversity in processor types:8-bit – door locks, lights, etc. 16-bit – most functions32-bit – engine control, airbags
Form follows functionProcessing where the action isSensors and actuators distributedMassive distributed system
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Forestry Machines
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Forestry MachinesNetworked computer system
Controlling arms & toolsNavigating the forestRecording the trees harvestedCrucial to efficient work
Computer16-bit C167 processors in a CAN network
Tough environment-40°C at startup, +100°C when runningNetwork cables in bends – wireless useful!
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C167CSInfineonTarget Market
Automotive control
Processing16-bit C16x core4-stage simple pipeline40 Mhz operation16 MB memory space, including ROM, RAM, devices
144 pin packageTolerates -40 to +125 C
About 25 USD
1Synchronous Serial Comms (SSC)
8 kBExtension Internal RAM (XRAM)
3 kBFast General Internal RAM (IRAM)
Devices
External Ports
32 kBROM
Memory116-bit ports from devices
88-bit ports from devices
2CAN interfaces
2x16Capture/Compare Channels
1USART
24+8Analog-Digital Converter Channels
1Pulse-Width Modulator (PWM)
1Watch-Dog Timer (WDT)
5General-Purpose Timers (GPT)
2CAN 2.0b controllers
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Operator PanelEmbedded PC
Graphical display Touch panelJoystickButtonsKeyboard
Regular PC archBut tough enough to be “out in the woods”
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Extremely LargeFunctions requiringcomputers:
RadarWeaponsDamage controlNavigationbasically everything
Computers:Large servers1000s of processors
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Inside your PCCustom processors
Graphics, sound
32-bit processorsIR, BluetoothNetwork, WLANHarddiskRAID controllers
8-bit processorsUSBKeyboard, mouse
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If you want to playLego mindstormsrobotics kit
Standard controller8-bit processor64 kB of memory
Electronics to interface to motors and sensors
Good way to learnembeddedsystems
Swedish Business Perspective
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Very very important
All advanced products containembedded systems todaySoftware is the key driver for new functions & special characteristics
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End-Product CompaniesCore Swedish industryVery large companiesBuilds end-user products
EricssonABBVolvoVolvo CarsSaabScaniaSonyEricssonSKFSilvaHuskvarna
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SuppliersTool providers
IAR SystemsTelelogicNohauVirtutechVolcanoArcticusEnea
Solution providersCC-SystemsConnectBlue
Component companies
XeleratedSwitchcore
ConsultantsTietoEnatorTelecaÅFSaab Combitech+ many manymore
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