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Modeling and Integration of Peripheral Devices 81 endpoints: endpoint 0 (ep0) through which a USB host controls the UDC‚ endpoint 1 (ep1) which is the transmit FIFO and end point 2 (ep2) which is the receive FIFO. The Linux UDC (USB device controller) driver (ported to Strong-Arm SA1100) implements USB device protocol [11] (data transfer and USB connection setup) through coordination with the UDC hardware. An Ethernet device driver interface has been implemented on top of the USB data flow. To evaluate our methodology‚ we modeled UDC and synthesized a UDC Linux device driver that has an Ethernet driver interface and manages data transfer and USB connection setup. UDC ep1 is modeled as an OUT data path. Its data unit is a data packet of no more than 64 bytes transferred via DMA. Similarly UDC ep2 is modeled as an IN data path. The UDC control has 4 state machines: one state machine for each endpoint and one state machine managing the USB protocol state of the device. The state machines for data flow ep1 and ep2 are implicitly generated. Table 6-1 shows a comparison of code sizes for the original Linux driver‚ the specification in our framework and the final synthesized driver. The reduction in code size is one measure of increased productivity. More importantly‚ the format and definition of the specification enables less experienced designers to relatively easily specify the device behavior. The declarative feature of our specification also enables easy synthesis of drivers of different styles. For example‚ the original UDC character device driver interface (without comments and blank lines) has 498 lines of code while our specification only requires a few extra lines. Furthermore‚ the code synthesized is only slightly bigger than the original code. The correctness of the synthesized UDC driver is tested on a HP iPaq3600 handheld‚ a SA1100 based device. We setup a USB connection between the handheld and a 686 based desktop through a USB cradle. Familiar v0.5.3 of Linux kernel 2.4.17 is installed on the iPaq and RedHat 7.2 of Linux kernel 2.4.9 is installed on the desktop. We compiled the synthesized code to a loadable kernel module with a cross-compiler for ARM‚ loaded the newly created module on the iPaq‚ bound IP socket layer over our module and successfully tested the correctness with the standard TCP/IP command ping. 7. CONCLUSIONS Device driver development has traditionally been cumbersome and error prone. This trend is only worsening with IP based embedded system design where Table 6-1. Comparison of code size. Linux UDC driver Iris specification Driver synthesized Line count 2002 585 2157
82 Chapter 6 different devices need to be used with different platforms. The paper presents a methodology and a tool for the development of device drivers that addresses the complexity and portability issues. A platform independent specification is used to synthesize platform independent driver code‚ which is then mapped to a specific platform using platform specific library functions. The latter need to be developed only once for each component of the platform and can be heavily reused between different drivers. We believe this methodology greatly simplifies driver development as it makes it possible for developers to provide this specification and then leverage the synthesis procedures as well as the library code reuse to derive significant productivity benefits. REFERENCES 1. F. Balarin‚ M. Chiodo‚ P. Giusto‚ H. Hsieh‚ A. Jurecska‚ L. Lavagno‚ C. Passerone‚ A. Sangiovanni-Vincentelli‚ E. Sentovich‚ K. Suzuki‚ and B. Tabbara. Hardware-Software Co- Design of Embedded Systems: The Polis Approach‚ Kluwer Academic Press‚ June 1997. 2. I. Bolsen‚ H. J. De Man‚ B. Lin‚ K. van Rompaey‚ S. Vercauteren‚ and D. Verkest. “Hardware/Software Co-design of Digital Telecommunication Systems”‚ Proceeding of the IEEE‚ Vol. 85‚ No. 3‚ pp. 391–418‚ 1997. 3. F. Merillon‚ L. Reveillere‚ C. Consel‚ R. Marlet‚ and G. Muller. “Devil: An IDL for Hardware Programming.” 4th Symposium on Operating Systems Design and Implementation‚ San Diego‚ October 2000‚ pp. 17–30. 4. M. O’Bils and A. Jantsch. “Device Driver and DMA Controller Synthesis from HW/SW Communication Protocol Specifications.” Design Automation for Embedded Systems‚ Vol. 6‚ No. 2‚ pp. 177–205‚ Kluwer Academic Publishers‚ April 2001. 5. E. A. Lee. “Embedded Software‚” to appear in Advances in Computers (M. Zelkowitz‚ editor)‚ Vol. 56‚ Academic Press‚ London‚ 2002. 6. 7. 8. 9. 10. http://www.aisysinc.com‚ November 200. http://www.microsoft.com/winhec/sessions2001/DriverDev.htm‚ March 2002. http://www.intelligent-io.com‚ July 2002. http://www.projectudi.org‚ July 2002. http://www.intel.com/design/strong/manuals/27828806.pdf‚ October 2002. 11. http://www.usb.org/developers/docs.html‚ July 2002.
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EMBEDDED SOFTWARE FOR SoC
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Embedded Software for SoC Edited by
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DEDICATION This book is dedicated t
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TABLE OF CONTENTS Dedication Conten
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Table of Conents Chapter 16 EMBEDDE
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Table of Conents Chapter 33 ADAPTIV
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PREFACE The evolution of electronic
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INTRODUCTION Embedded software is b
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Introduction xvii software consists
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Introduction xix Energy-aware techn
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PART I: EMBEDDED OPERATING SYSTEMS
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Chapter 1 APPLICATION MAPPING TO A
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Application Mapping to a Hardware P
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Chapter 2 FORMAL METHODS FOR INTEGR
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Formal Methods for Integration of A
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Chapter 3 LIGHTWEIGHT IMPLEMENTATIO
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Lightweight Implementation of the P
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Lightweight Implementation of the P
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Analysis of HW/SW On-Chip Communica
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Chapter 11 EVALUATION OF APPLYING S
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Evaluation of Applying SpecC to the
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Chapter 12 INTERACTIVE RAY TRACING
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Interactive Ray Tracing on Reconfig
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Chapter 13 PORTING A NETWORK CRYPTO
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Porting a Network Cryptographic Ser
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PART IV: EMBEDDED OPERATING SYSTEMS
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Chapter 14 INTRODUCTION TO HARDWARE
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Introduction to Hardware Abstractio
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Chapter 15 HARDWARE/SOFTWARE PARTIT
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Hardware and Software Partitioning
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Chapter 16 EMBEDDED SW IN DIGITAL A
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Embedded SW in Digital AM-FM Chipse
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Embedded SW in Digital AM-FM Chipse
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PART V: SOFTWARE OPTIMISATION FOR E
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Chapter 17 CONTROL FLOW DRIVEN SPLI
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Control Flow Driven Splitting of Lo
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Chapter 18 DATA SPACE ORIENTED SCHE
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Data Space Oriented Scheduling 233
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Chapter 19 COMPILER-DIRECTED ILP EX
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Compiler-Directed ILP Extraction 24
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Chapter 20 STATE SPACE COMPRESSION
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State Space Compression in History
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Chapter 21 SIMULATION TRACE VERIFIC
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Simulation Trace Verification for Q
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PART VI: ENERGY AWARE SOFTWARE TECH
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Chapter 22 EFFICIENT POWER/PERFORMA
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Efficient Power/Performance Analysi
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Chapter 23 DYNAMIC PARALLELIZATION
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Dynamic Parallelization of Array 30
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Chapter 24 SDRAM-ENERGY-AWARE MEMOR
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SDRAM-Energy-Aware Memory Allocatio
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PART VII: SAFE AUTOMOTIVE SOFTWARE
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Chapter 25 SAFE AUTOMOTIVE SOFTWARE
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Safe Automotive Software Developmen
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PART VIII: EMBEDDED SYSTEM ARCHITEC
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Chapter 26 EXPLORING HIGH BANDWIDTH
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Exploring High Bandwidth Pipelined
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Chapter 27 ENHANCING SPEEDUP IN NET
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Enhancing Speedup in Network Proces
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Chapter 28 ON-CHIP STOCHASTIC COMMU
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On-Chip Stochastic Communication 37
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Chapter 29 HARDWARE/SOFTWARE TECHNI
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HW/SW are Techniques for Improving
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Chapter 30 RAPID CONFIGURATION & IN
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Rapid Configuration & Instruction S
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PART IX: TRANSFORMATIONS FOR REAL-T
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Chapter 31 GENERALIZED DATA TRANSFO
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Generalized Data Transformations 42
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Chapter 32 SOFTWARE STREAMING VIA B
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Software Streaming Via Block Stream
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Chapter 33 ADAPTIVE CHECKPOINTING W
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Adaptive Checkpointing with Dynamic
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PART X: LO POWER SOFTWARE
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Chapter 34 SOFTWARE ARCHITECTURAL T
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Software Architectural Transformati
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Chapter 35 DYNAMIC FUNCTIONAL UNIT
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Dynamic Functional Unit Assignment
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Chapter 36 ENERGY-AWARE PARAMETER P
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Energy-Aware Parameter Passing 501
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Chapter 37 LOW ENERGY ASSOCIATIVE D
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Low Energy Associative Data Caches
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INDEX abstract communication access
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Index 529 packet flows parameter pa
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