Software engineering for embedded systems : methods, practical techniques, and applications /: methods, practical techniques, and applications. (2013)

• Record Type: Book
• Further Information: Note: Robert Oshana, Mark Kraeling [editors].
• Editors: Oshana, Robert; Kraeling, Mark
• Contents: Machine generated contents note: Software engineering -- Embedded systems -- Embedded systems are reactive systems -- Real-time systems -- Types of real-time systems -- soft and hard -- Examples of hard real-time -- Real-time event characteristics -- Efficient execution and the execution environment -- Challenges in real-time system design -- Response time -- Recovering from failures -- The embedded system software build process -- Distributed and multi-processor architectures -- Software for embedded systems -- Super loop architecture -- Hardware abstraction layers (HAL) for embedded systems -- Summary -- Today's embedded systems -- an example -- HW/SW prototyping users -- HW/SW prototyping options -- Prototyping decision criteria -- Choosing the right prototype -- Industry design chain -- The need to change the design flow -- Different types of virtual prototypes -- A brief history of virtual prototypes -- The limits of proprietary offerings -- What makes virtual prototypes fast -- Standardization: the era of SystemC TLM-2.0 -- SystemC TLM-2 abstraction levels -- Architecture virtual prototypes -- Software virtual prototypes -- Summary -- the growing importance of virtualization -- When and why should you model your embedded system? -- Modeling -- What is a modeling language? -- Examples of modeling languages -- The V diagram promise -- So, why would you want to model your embedded system? -- When should you model your embedded system? -- Mission- and safety-critical applications -- Highly complex applications and systems -- Operational complexity -- Cost of defect versus when detected -- Large development teams require modeling -- Modeling is often the only choice -- So -- modeling is great, but aren't all models wrong? -- You have your prototype -- now what? -- Conclusion -- Next steps -- try it! -- Closed-loop control with a DC motor -- Learn more about prototyping with a downloadable kit -- Designing applications with the NI Statechart Module -- Design and simulate a brushed dc motor h-bridge circuit -- Multi-domain physical modeling with open-source Modelica models -- References -- Overview of architecture and design -- Architecture is about system-wide optimization -- Three levels of design -- What are design patterns? -- Must I use object-oriented techniques to use design patterns? -- An architectural example -- Using patterns -- Making trade-off decisions -- Software architecture categories and views -- Primary architectural views -- Secondary viewpoints -- Summary -- References -- Events and triggers -- Room temperature unit -- Event system -- Event handle -- Event methods -- Event data structure -- Reentrancy -- Disable and enable interrupts -- EnterCritical and ExitCritical -- Semaphores -- Implementation with Enter/ExitCritical -- Event processing -- Integration -- Triggers -- Blinking LED -- Design idea -- Tick timer -- Trigger interface -- Trigger descriptor -- Data allocation -- SetTrigger -- IncTicks -- Making it reentrant -- Initialization -- Blink! -- Beep! -- Real-time aspects -- Summary and source code -- Introduction -- Collaborate with the hardware team -- Proactive collaboration -- Ambassadors -- Register design tools -- Co-development activities -- System integration -- Useful hardware design aspects -- Notification of hardware events -- Launching tasks in hardware -- Bit field alignment -- Fixed bit positions -- Block version number -- Debug hooks -- Supporting multiple versions of hardware -- Compile-time switches -- Build-time switches -- Run-time switches -- Self-adapting switches -- Difficult hardware interactions -- Atomic register access -- Mixed bit types in the same register -- Edge vs. level interrupts -- Testing and troubleshooting -- Temporary hooks -- Permanent hooks -- Conclusion -- Best practices -- Introduction -- Principles of high-quality programming -- What sets embedded apart from general programming -- Starting the embedded software project -- Hardware platform input -- Project files/organization -- Team programming guidelines -- Syntax standard -- Safety requirements in source code -- Variable structure -- Variable declarations -- Data types -- Definitions -- Foreground/background systems -- Real-time kernels -- RTOS (real-time operating system) -- Critical sections -- Task management -- Assigning task priorities -- Determining the size of a stack -- The idle task -- Priority levels -- The ready list -- Preemptive scheduling -- Scheduling points -- Round-robin scheduling -- Context switching -- Interrupt management -- Handling CPU interrupts -- Non-kernel-aware interrupt service routine (ISR) -- Processors with multiple interrupt priorities -- All interrupts vector to a common location -- Every interrupt vectors to a unique location -- The clock tick (or system tick) -- Wait lists -- Time management -- Resource management -- Resource management, disable/enable interrupts -- Resource management, semaphores -- Resource management, priority inversions -- Resource management, mutual-exclusion semaphores (mutex) -- Resource management, deadlocks (or deadly embrace) -- Synchronization -- Synchronization, semaphores -- Synchronization, credit tracking -- Bilateral rendez-vous -- Message passing -- Messages -- Message queues -- Flow control -- Clients and servers -- Memory management -- Summary -- Why does software reuse matter? -- What limits software reuse? -- Kinds of software reuse -- Implementing reuse by layers -- Going to the next level -- Introducing the component factory -- Factory hardware configuration -- Factory software configuration -- How the factory aids reusability -- RTOS agnosticism -- Arbitrary extensibility -- Conclusion -- References -- Example: latency vs. throughput in an eNodeB application -- Performance patterns and anti-patterns -- References -- The code optimization process -- Using the development tools -- Compiler optimization -- Basic compiler configuration -- Enabling optimizations -- Additional optimization configurations -- Using the profiler -- Background -- understanding the embedded architecture -- Resources -- Basic C optimization techniques -- Choosing the right data types -- Functions calling conventions -- Pointers and memory access -- Restrict and pointer aliasing -- Loops -- Additional tips and tricks -- General loop transformations -- Loop unrolling -- Multisampling -- Partial summation -- Software pipelining -- Example application of optimization techniques: cross-correlation -- Setup -- Original implementation -- Step 1: use intrinsics for fractional operations and specify loop counts -- Step 2: specify data alignment and modify for multisampling algorithm -- Step 3: assembly-language optimization -- Introduction -- Code size optimizations -- Compiler flags and flag mining -- Target ISA for size and performance tradeoffs -- Tuning the ABI for code size -- Caveat emptor: compiler optimization orthogonal to code size! -- Memory layout optimization -- Overview of memory optimization -- Focusing optimization efforts -- Vectorization and the dynamic code: compute ratio -- Pointer aliasing in C -- Data structures, arrays of data structures, and adding it all up! -- Loop optimizations for memory performance -- Data alignment's rippling effects -- Selecting data types for big payoffs -- Introduction -- Understanding power consumption -- Basics of power consumption -- Static vs. dynamic power consumption -- Maximum, average, worst-case, and typical power -- Measuring power consumption -- Measuring power using an ammeter -- Measuring power using a hall sensor type IC -- VRMs (voltage regulator module power supply ICs) -- Static power measurement -- Dynamic power measurement -- Profiling your application's power consumption -- Minimizing power consumption -- Hardware support -- Clock and voltage control -- Low-power example -- Optimizing data flow -- Reducing power consumption for memory accesses -- DDR overview -- DDR data flow optimization for power -- Optimizing power by timing -- Optimizing with interleaving -- Optimizing memory software data organization -- Optimizing general DDR configuration -- Optimizing DDR burst accesses -- SRAM and cache data flow optimization for power -- SRAM (all memory) and code size -- SRAM power consumption and parallelization -- Data transitions and power consumption -- Cache utilization and SoC memory layout -- Explanation of locality -- Explanation of set-associativity -- Memory layout for cache -- Write-back vs. write-through caches -- Cache coherency functions -- Compiler cache optimizations -- Peripheral/communication utilization -- DMA of data vs. CPU -- Coprocessors -- System bus configuration -- Peripheral speed grades and bus width -- Peripheral to core communication -- Algorithmic -- Compiler optimization levels -- Instruction packing -- Loop unrolling revisited -- Software pipelining -- Eliminating recursion -- Reducing accuracy -- Low-power code sequences and data patterns -- Summary and closing remarks -- Analysis phase of user interface design -- First design iteration -- Develop a second prototype (high-fidelity tool-drawn mockup) -- Essential use cases -- Scenarios for user analysis -- Hierarchal task analysis -- Design approaches to overcome user limitations of cognition, perception, and learning -- Error messages -- Virtual windows -- Data models using entity relationship diagrams (ERD) -- Analysis of virtual windows using a CREDO matrix -- Hueristic evaluation -- Gestalts -- Designing user interfaces with Model View Controller (MVC) architecture -- Context of the MVC software architecture -- Problems and forces for the MVC software architecture -- Solution using the MVC -- Safety-critical user interfaces -- Process for designing a safer HMI -- Guidelines for safe human-machine interface design -- References -- Bibliography -- What is software test? -- Why should we test software? -- How much testing is enough? -- When should testing take place? -- Who makes the decisions? Note continued: Available techniques -- Static and dynamic analysis -- Requirements traceability -- Static analysis-adherence to a coding standard -- Essential knots & essential cyclomatic complexity -- case study -- Understanding dynamic analysis -- The legacy from high-integrity systems -- Defining unit, module and integration tests -- Defining structural coverage analysis -- Achieving code coverage with unit test and system test in tandem -- Retaining the functionality through regression test -- Unit test and test-driven development -- Automatically generating test cases -- Setting the standard -- The terminology of standards -- The evolution of a recognized process standard -- Freedom to choose adequate standards -- Dealing with the unusual -- Working with auto-generated code -- Working with legacy code -- Tracing requirements through to object code verification (OCV) -- Implementing a test solution environment -- Pragmatic considerations -- Considering the alternatives -- Summary and conclusions -- Introduction to debugging tools -- GDB debugging -- Configure the GDB debugger -- Starting GDB -- Compiling the application -- Debugging the application -- Examining data -- Using breakpoints -- Stepping -- Changing the program -- Analyzing core dumps -- Debug agent design -- Use cases -- Debug agent overview -- Starting the application -- Context switch -- Position-independent executables -- Debug event from the application -- Multicore -- Starting the debug agent -- Debugging using JTAG -- Benefits of using JTAG -- Board bring-up using JTAG -- Comparison with the debug agent -- GDB and JTAG -- Debugging tools using Eclipse and GDB -- Linux application debug with GDB -- Linux kernel debug with KGDB -- Instrumented code -- Practical example -- Analysis tools -- Strace -- Mtrace -- Vaigrind -- Hardware capabilities -- Hardware breakpoints -- Hardware watchpoints -- Debugging tips and tricks -- Part 1: Analysis and high-level design -- Analysis -- Improving serial performance -- Understand the application -- High-level design -- Parallel decomposition -- Data dependencies -- Communication and synchronization -- Load balancing -- Choice of algorithm -- Decomposition approaches -- Summary of Part 1 -- Part 2: Implementation and low-level design -- Thread-based implementations -- Kernel scheduling -- Pthreads -- Using PPthreads -- Dealing with thread safety -- Implementing synchronizations and mutual exclusion -- Mutexes, locks, nested locks -- Mutex -- Condition variables -- Granularity -- Fine-grained -- Coarse-grained -- Approach -- Implementing task parallelism -- Creation and join -- Parallel-pipeline computation -- Divide-and-conquer scheme -- Task scheduling considerations -- Thread pooling -- Affinity scheduling -- Event-based parallel programs -- Implementing loop parallelism -- Aligning computation and locality -- Message-passing implementations -- MCAPI -- MRAPI -- MCAPI and MRAPI in multicore systems -- Playing-card recognition and sorting example -- Using a hybrid approach -- References -- Introduction -- Which safety requirements? -- Certification killers -- Project planning strategies -- Strategy 1: determine the project certification scope early -- Strategy 2: determine feasibility of certification -- Strategy 3: select an independent assessor (if used) -- Strategy 4: understand your assessor's role (if used) -- Strategy 5: assessment communication is key -- Strategy 6: establish a basis of certification -- Strategy 7: establish a "fit and purpose" for your product -- Strategy 8: establish a certification block diagram -- Strategy 9: establish communication integrity objectives -- Strategy 10: identify all interfaces along the certification boundary -- Strategy 11: identify the key safety defensive strategies -- Strategy 12: define built in test (BIT) capability -- Strategy 13: define fault annunciation coverage -- Strategy 14: define reliance and expectation of the operator/user -- Strategy 15: define plan for developing software to appropriate integrity level -- Strategy 16: define artifacts to be used as evidence of compliance -- Strategy 17: plan for labor-intensive analyses -- Strategy 18: create user-level documentation -- Strategy 19: plan on residual activity -- Strategy 20: publish a well-defined certification plan -- Faults, failures, hazards, and risk analysis -- Faults, errors, and failures -- Availability and reliability -- Fault handling -- Hazard analysis -- Risk analysis -- Safety-critical architectures -- "Do-er"/"Check-er" -- Two processors -- "Voter" -- Software implementation strategies -- Strategy 1: have a well-defined, repeatable peer-review process -- Strategy 2: consider using existing safety coding standards -- Strategy 3: handle all combinations of input data -- Strategy 4: specific variable value checking -- Strategy 5: mark safety-critical code sections -- Strategy 6: timing execution checking -- Strategy 7: stale data -- Strategy 8: comparison of outputs -- Strategy 9: initialize data to least permissive state -- Strategy 10: order of execution -- Strategy 11: volatile data checking -- Strategy 12: non-volatile data checking -- Strategy 13: make sure the entire system can run -- Strategy 14: remove "dead" code -- Strategy 15: fill unused memory -- Strategy 16: static code analysis -- Background -- Is that software yours? -- Obtaining software -- Copyright protection -- Getting copyright -- Patents -- What is a patent? -- Why do patents exist? -- Deciding what to patent -- Applying for a patent -- What's in a patent? -- Licensing patents -- Problems -- Open-source software -- Licensing and selling software -- Getting acquired -- Discovering infringement -- Avoiding copyright infringement -- Avoiding patent infringement -- Capability maturity model integration -- The OSI model -- Software development -- V-model -- Waterfall model -- Agile model -- Organization -- Program charter -- Stakeholders and the core team -- Product life-cycle management -- Portfolio management -- Project management life-cycle -- Project life-cycle -- Problem-solving -- Communications -- Abbreviations, symbols, acronyms -- Copyright acknowledgments -- References -- Introduction -- What's special about embedded systems? -- Fits into a system whose requirements are allocated to different engineering disciplines of which software is only one -- Uses specialized hardware -- Is often co-developed with the hardware -- Constrains the selection of programming languages and tools -- Has a more challenging testing environment -- Must often be highly predictable -- Is often subject to tight timeliness constraints -- Often has severe resource constraints (such as memory) -- Must often be very highly reliable and safety-critical -- Is often subject to rigorous external regulation -- Is delivered in a shipped, stand-alone product -- Is often subject to fixed-price bids -- Agile project planning for embedded software -- Project vision -- Initial safety/reliability risk assessment -- Initial project risk assessment -- Estimating -- Scheduling -- Project governance for embedded software -- Stand up! (meetings) -- Performance metrics -- Iteration retrospective (party phase) -- Agile development practices for embedded -- Incremental development -- High-fidelity modeling -- Executable requirements -- Test-driven development (TDD) -- Continuous integration -- Change management -- Dynamic planning -- Risk management -- Scaling factors for agile -- Can agile methods help you adhere to standards? -- Summary -- References -- Bibliography -- A bit of history to set the scene -- Auto electronics: 1911-2000 -- Electronic content growth drivers -- The resultant embedded SW growth -- Automotive programming languages -- Summary of implications -- Automotive segments and how they differ -- Body -- Chassis and safety -- Driver assistance -- Powertrain and transmission -- Infotainment and telematics -- Automotive subsegment summary -- Automotive quality -- Planning for Murphy's law -- Fault-tolerant communications -- Fault-tolerant software -- Zero-defect software -- Risk management and failure modes -- Failure modes and effects analysis -- Development and test -- Subsystem interoperability -- Software specifications -- Software architecture -- Modeling -- Autocoding and drivers -- Bench testing -- Trace and debug -- Final-phase testing -- Calibration -- Maintenance/product lifetime support -- Automotive diagnostics -- MIL -- Data logger -- OBD II -- Automotive standards -- MISRA -- AUTOSAR -- AEC -- Automotive safety -- ISO 26262 -- ASIL -- Automotive security -- What it used to mean: car alarms etc -- What it means today: hacking -- What it will mean tomorrow: counterfeiting -- The near future of the automotive market -- Performance -- The emergence of multicore -- The connected vehicle -- The automated vehicle -- Conclusion -- I/O device and I/O controller -- Category of I/O devices -- I/O controller -- Memory-mapped 1/0 and DMA -- Flash, SD/SDHC and disk drive -- Network-attached storage -- I/O programming -- I/O software goals -- I/O software layer -- Case study: device driver in Linux -- Storage programming -- I/O for block devices -- Flash device programming -- SATA device driver -- Performance improvement of storage systems -- Case study 1: performance optimization on SDHC -- Case study 2: performance optimization on NAS -- Summary -- Bibliography -- Introduction -- System architecture of network devices -- Data, control, service and management planes -- Multicore SoCs for networking -- Cores -- Packet engine hardware (PEH) block -- Network programming models -- Pipeline programming model -- Run-to-completion programming -- Structure of packet-processing software -- Data-plane infrastructure (DP-Infra) -- Structure of the forwarding engine -- Packet-processing application requirements -- Network application programming techniques -- Multicore performance techniques for network application programmers. Note continued: Avoid locks while looking for flow context -- Avoid reference counting -- Safe reference mechanism -- Flow parallelization -- Reducing cache thrashing associated with updating statistics -- Statistics acceleration -- General performance techniques for network application programmers -- Use cache effectively -- Software-directed prefetching -- Use likely/unlikely compiler built-ins -- Locking critical piece of code in caches -- General coding guidelines -- Linux operating system for embedded network devices -- Translation lookaside huller (TLB) misses associated with user-space programming -- Access to hardware peripherals and hardware accelerators -- Deterministic performance -- Summary -- Introduction -- Why Linux for embedded? -- Linux distributions -- Embedded platforms suitable for Linux -- Licensing -- Getting started with Embedded Linux -- Memory management unit -- Bootstrapper -- Bootloader -- Kernel -- Applications -- Running Linux on a reference board -- Reference platforms -- Starting with BeagleBone.
• Publisher Details: Amsterdam : Newnes
• Publication Date: 2013
• Extent: 1 online resource (xlix, 1150 pages)
• Subjects: 005.1; Software engineering; Embedded computer systems -- Programming; Computer software -- Development; COMPUTERS -- Programming -- Open Source; COMPUTERS -- Software Development & Engineering -- General; COMPUTERS -- Software Development & Engineering -- Tools; Computer software -- Development; Embedded computer systems -- Programming; Software engineering; Software; Electronic books
• Languages: English
• ISBNs: 9780124159419; 0124159419
• Related ISBNs: 9780124159174; 0124159176
• Notes: Note: Includes bibliographical references and index.; Note: Print version record.
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