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Formal Methods for Integration of Automotive Software 23 Heterogeneous distributed architectures require more complex analysis techniques‚ such as developed in [13–15]. Based on the calculated response times‚ it is possible to derive event models which can be used to couple analysis techniques for single ECUs and busses. 6. CONCLUSION In this chapter we presented a methodology for certifiable integration of automotive software components‚ which focuses on the exchange of performance information while IP is protected. After considering conventions for RTOS configuration‚ process communication and memory budgeting‚ we focused on an unsolved core integration issue‚ namely performance validation‚ in particular the validation of timing. We presented methods for performance characterization of software functions and the RTOS which also consider caches. We expect that ultimately each software component provider will have to characterize its components appropriately. Fist promising steps towards characterization of RTOS primitives have been taken by several RTOS vendors. Based on the characterization of single process and RTOS primitive timing we then showed how timing analysis of a single ECU can be performed by any integrator using appropriate scheduling analysis techniques‚ again considering caches. We presented ongoing work on performance analysis of engine control software. This work can be extended to networked ECUs using the techniques from [14‚ 15]. In order to improve tightness of analysis‚ process and system contexts can additionally be considered [7]. REFERENCES 1. 2. 3. 4. 5. 6. 7. 8. 9. G. Buttazzo. Real-Time Computing Systems – Predictable Scheduling Algorithms and Applications. Kluwer Academic Publishers‚ 2002. ETAS. ERCOSEK Automotive Real-Time Operating System. http://www.etas.info/html/ products/ec/ercosek/en_products_ec_ercosek_index.php. ETAS. ESCAPE Reference Guide. http://www.etas.info/download/ec_ercosek_rg_escape_ en.pdf. C. Ferdinand and R. Wilhelm. “Efficient and Precise Cache Behavior Prediction for Real- Time Systems.” Journal of Real-Time Systems‚ Special Issue on Timing Analysis and Validation for Real-Time Systems‚ pp. 131–181‚ November 1999. M. Hill. DINERO III Cache Simulator: Source Code‚ Libraries and Documentation. www.ece.cmu.edu/ece548/tools/dinero/src/‚ 1998. ISO. “TR 15504 Information Technology – Software Process Assessment ‘Spice’.” Technical Report‚ ISO IEC‚ 1998. M. Jersak‚ K. Richter‚ R. Henia‚ R. Ernst‚ and F. Slomka. “Transformation of SDL Specifications for System-level Timing Analysis.” In Tenth International Symposium on Hardware/Software Codesign (CODES’02)‚ Estes Park‚ Colorado‚ USA‚ May 2002. J. Lemieux. Programming in the OSEK/VDX Environment. CMP Books‚ 2001. Y. S. Li and S. Malik. Performance Analysis of Real-Time Embedded Software. Kluwer Academic Publishers‚ 1999.
24 Chapter 2 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. C. L. Liu and J. W. Layland. “Scheduling Algorithm for Multiprogramming in a Hard-Real- Time Environment.” Journal of the ACM‚ Vol. 20‚ 1973. LiveDevices Inc. Realogy Real-Time Architect Overview. http://www.livedevices.com/ realtime. shtml. OSEK/VXD. OIL: OSEK Implementation Language‚ version 2.3 edition‚ September 2001. T. Pop‚ P. Eles‚ and Z. Peng. “Holistic Scheduling and Analysis of Mixed Time/Event- Triggered Distributed Embedded Systems.” In Tenth International Symposium on Hardware/ Software Codesign (CODES’02)‚ Estes Park‚ Colorado‚ USA‚ May 2002. K. Richter and R. Ernst. “Event Model Interfaces for Heterogeneous System Analysis.” In Proceedings of Design‚ Automation and Test in Europe Conference (DATE’02)‚ Paris‚ France‚ March 2002. K. Richter‚ D. Ziegenbein‚ M. Jersak‚ and R. Ernst. “Model Composition for Scheduling Analysis in Platform Design.” In Proceedings of 39th Design Automation Conference‚ New Orleans‚ USA‚ June 2002. L. Sha‚ R. Rajkumar‚ and J. P. Lehoczky. “Priority Inheritance Protocols: An Approach to Real-Time Synchronization.” IEEE Transactions on Computers‚ Vol. 39‚ No. 9‚ September 1990. K. Tindell‚ H. Kopetz‚ F. Wolf‚ and R. Ernst. “Safe automotive Software Development.” In Proceedings of Design‚ Automation and Test in Europe (DATE’03)‚ Munich‚ Germany‚ March 2003. F. Wolf. Behavioral Intervals in Embedded Software. Kluwer Academic Publishers‚ 2002. F. Wolf‚ J. Kruse‚ and R. Ernst. “Segment-Wise Timing and Power Measurement in Software Emulation.” In Proceedings of IEEE/ACM Design‚ Automation and Test in Europe Conference (DATE’01)‚ Designers’ Forum‚ Munich‚ Germany‚ March 2001.
Page 2 and 3: EMBEDDED SOFTWARE FOR SoC
Page 4 and 5: Embedded Software for SoC Edited by
Page 6 and 7: DEDICATION This book is dedicated t
Page 8 and 9: TABLE OF CONTENTS Dedication Conten
Page 10 and 11: Table of Conents Chapter 16 EMBEDDE
Page 12 and 13: Table of Conents Chapter 33 ADAPTIV
Page 14 and 15: PREFACE The evolution of electronic
Page 16 and 17: INTRODUCTION Embedded software is b
Page 18 and 19: Introduction xvii software consists
Page 20 and 21: Introduction xix Energy-aware techn
Page 22 and 23: PART I: EMBEDDED OPERATING SYSTEMS
Page 24 and 25: Chapter 1 APPLICATION MAPPING TO A
Page 26 and 27: Application Mapping to a Hardware P
Page 32 and 33: Chapter 2 FORMAL METHODS FOR INTEGR
Page 34 and 35: Formal Methods for Integration of A
Page 46 and 47: Chapter 3 LIGHTWEIGHT IMPLEMENTATIO
Page 48 and 49: Lightweight Implementation of the P
Page 60 and 61: Chapter 4 DETECTING SOFT ERRORS BY
Page 62 and 63: Detecting Soft Errors by a Purely S
Page 74 and 75: PART II: OPERATING SYSTEM ABSTRACTI
Page 76 and 77: Chapter 5 RTOS MODELING FOR SYSTEM
Page 78 and 79: RTOS Modeling for System Level Desi
Page 90 and 91: Chapter 6 MODELING AND INTEGRATION
Page 92 and 93: Modeling and Integration of Periphe
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Modeling and Integration of Periphe
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Chapter 7 SYSTEMATIC EMBEDDED SOFTW
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Systematic Embedded Software Genera
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PART III: EMBEDDED SOFTWARE DESIGN
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Chapter 8 EXPLORING SW PERFORMANCE
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Exploring SW Performance 99 of late
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Exploring SW Performance 101 operat
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Exploring SW Performance 103 The ch
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Exploring SW Performance 105 2.2. T
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Exploring SW Performance 107 Figure
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Exploring SW Performance 109 modem
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Chapter 9 A FLEXIBLE OBJECT-ORIENTE
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A Flexible Object-Oriented Software
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Chapter 10 SCHEDULING AND TIMING AN
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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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