Real-Time Embedded Systems

320 Pages·2017·7.82 MB·English

by  Jiacun Wang

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Real-TimeEmbeddedSystems
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QuantitativeSoftwareEngineeringSeries
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The Quantitative Software Engineering Series focuses on the convergence
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Real-TimeEmbeddedSystems
byJiacunWang
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Real-Time Embedded Systems
JiacunWang
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Thiseditionfirstpublished2017
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LibraryofCongressCataloguing-in-PublicationData
Names:Wang,Jiacun,1963-author.
Title:Real-timeembeddedsystems/byJiacunWang.
Description:Hoboken,NJ,USA:Wiley,2017.|Series:Quantitativesoftwareengineeringseries|
Includesbibliographicalreferencesandindex.|Identifiers:LCCN2017015038(print)|
LCCN2017030269(ebook)|ISBN9781119420705(pdf)|ISBN9781119420682(epub)|
ISBN9781118116173(hardback)
Subjects:LCSH:Embeddedcomputersystems.|Real-timedataprocessing.|
BISAC:TECHNOLOGY&ENGINEERING/Electronics/Microelectronics.
Classification:LCCTK7895.E42(ebook)|LCCTK7895.E42W362017(print)|
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Contents
Preface xiii
BookLayout xv
Acknowledgments xvii
1 IntroductiontoReal-TimeEmbeddedSystems 1
1.1 Real-TimeEmbeddedSystems 1
1.2 Example:AutomobileAntilockBrakingSystem 3
1.2.1 SlipRateandBrakeForce 3
(cid:2) 1.2.2 ABSComponents 4 (cid:2)
1.2.2.1 Sensors 4
1.2.2.2 ValvesandPumps 5
1.2.2.3 ElectricalControlUnit 7
1.2.3 ABSControl 8
1.3 Real-TimeEmbeddedSystemCharacteristics 10
1.3.1 SystemStructure 10
1.3.2 Real-TimeResponse 10
1.3.3 HighlyConstrainedEnvironments 11
1.3.4 Concurrency 12
1.3.5 Predictability 12
1.3.6 SafetyandReliability 13
1.4 HardandSoftReal-TimeEmbeddedSystems 13
Exercises 14
SuggestionsforReading 15
References 15
2 HardwareComponents 17
2.1 Processors 17
2.1.1 Microprocessors 17
2.1.2 Microcontrollers 19
2.1.3 Application-SpecificIntegratedCircuits(ASICs) 19
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2.1.4 Field-ProgrammableGateArrays(FPGAs) 19
2.1.5 DigitalSignalProcessors(DSPs) 20
2.1.6 Application-SpecificInstructionSetProcessors(ASIPs) 20
2.1.7 MulticoreProcessors 20
2.1.8 VonNeumannArchitectureandHarvardArchitecture 21
2.1.9 ComplexInstructionSetComputingandReducedInstructionSet
Computing 22
2.2 MemoryandCache 23
2.2.1 Read-OnlyMemory(ROM) 23
2.2.2 Random-AccessMemory(RAM) 24
2.2.3 CacheMemory 24
2.3 I/OInterfaces 26
2.4 SensorsandActuators 27
2.5 TimersandCounters 29
Exercises 30
SuggestionsforReading 31
References 31
3 Real-TimeOperatingSystems 33
3.1 MainFunctionsofGeneral-PurposeOperatingSystems 33
(cid:2) 3.1.1 ProcessManagement 34 (cid:2)
3.1.2 MemoryManagement 36
3.1.3 InterruptsManagement 39
3.1.4 Multitasking 39
3.1.5 FileSystemManagement 39
3.1.6 I/OManagement 41
3.2 CharacteristicsofRTOSKernels 42
3.2.1 ClocksandTimers 42
3.2.2 PriorityScheduling 44
3.2.3 IntertaskCommunicationandResourceSharing 45
3.2.3.1 Real-TimeSignals 45
3.2.3.2 Semaphores 46
3.2.3.3 MessagePassing 46
3.2.3.4 SharedMemory 46
3.2.4 AsynchronousI/O 47
3.2.5 MemoryLocking 47
3.3 RTOSExamples 48
3.3.1 LynxOS 48
3.3.2 OSE 49
3.3.3 QNX 49
3.3.4 VxWorks 49
3.3.5 WindowsEmbeddedCompact 50
Exercises 50
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Contents vii
SuggestionsforReading 52
References 52
4 TaskScheduling 53
4.1 Tasks 53
4.1.1 TaskSpecification 54
4.1.2 TaskStates 56
4.1.3 PrecedenceConstraints 58
4.1.4 TaskAssignmentandScheduling 59
4.2 Clock-DrivenScheduling 59
4.2.1 StructuredClock-DrivenScheduling 62
4.2.1.1 Frames 62
4.2.1.2 TaskSlicing 65
4.2.2 SchedulingAperiodicTasks 66
4.2.3 SchedulingSporadicTasks 68
4.3 Round-RobinApproach 69
4.4 Priority-DrivenSchedulingAlgorithms 70
4.4.1 Fixed-PriorityAlgorithms 70
4.4.1.1 SchedulabilityTestBasedonTimeDemandAnalysis 72
4.4.1.2 Deadline-MonotonicAlgorithm 76
(cid:2) 4.4.2 Dynamic-PriorityAlgorithms 76 (cid:2)
4.4.2.1 Earliest-Deadline-First(EDF)Algorithm 76
4.4.2.2 OptimalityofEDF 78
4.4.3 Priority-DrivenSchedulingofAperiodicandSporadicTasks 82
4.4.3.1 SchedulingofAperiodicTasks 82
4.4.3.2 SchedulingofSporadicTasks 85
4.4.4 PracticalFactors 85
4.4.4.1 Nonpreemptivity 85
4.4.4.2 Self-Suspension 86
4.4.4.3 ContextSwitches 87
4.4.4.4 SchedulabilityTest 87
4.5 TaskAssignment 89
4.5.1 Bin-PackingAlgorithms 89
4.5.1.1 First-FitAlgorithm 90
4.5.1.2 First-FitDecreasingAlgorithm 91
4.5.1.3 Rate-MonotonicFirst-Fit(RMFF)Algorithm 91
4.5.2 AssignmentwithCommunicationCost 92
Exercises 94
SuggestionsforReading 97
References 97
5 ResourceSharingandAccessControl 99
5.1 ResourceSharing 99
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5.1.1 ResourceOperation 100
5.1.2 ResourceRequirementSpecification 100
5.1.3 PriorityInversionandDeadlocks 101
5.1.4 ResourceAccessControl 103
5.2 NonpreemptiveCriticalSectionProtocol 103
5.3 PriorityInheritanceProtocol 106
5.3.1 RulesofPriorityInheritanceProtocol 106
5.3.2 PropertiesofPriorityInheritanceProtocol 109
5.4 PriorityCeilingProtocol 111
5.4.1 RulesofPriorityCeilingProtocol 112
5.4.2 PropertiesofPriorityCeilingProtocol 114
5.4.3 Worst-CaseBlockingTime 116
5.5 Stack-SharingPriorityCeilingProtocol 119
5.5.1 RulesofStack-SharingPriorityCeilingProtocol 119
5.5.2 PropertiesofStack-SharingPriorityCeilingProtocol 121
Exercises 122
SuggestionforReading 125
References 125
6 ConcurrentProgramming 127
(cid:2) 6.1 Introduction 127 (cid:2)
6.2 POSIXThreads 128
6.3 SynchronizationPrimitives 133
6.3.1 RaceConditionsandCriticalSections 133
6.3.2 Mutex 134
6.3.3 ConditionVariables 137
6.3.4 Semaphores 142
6.4 CommunicationamongTasks 148
6.4.1 MessageQueues 149
6.4.2 SharedMemory 155
6.4.3 SharedMemoryProtection 157
6.5 Real-TimeFacilities 162
6.5.1 Real-TimeSignals 162
6.5.1.1 BlockingSignals 163
6.5.1.2 DealingwithSignals 164
6.5.2 Timers 165
6.5.3 ImplementPeriodicTasks 169
6.5.3.1 Usingsleep()Function 169
6.5.3.2 UsingTimers 172
6.5.4 ImplementanApplicationwithMultiplePeriodicTasks 173
Exercises 173
SuggestionsforReading 177
References 177
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Contents ix
7 Finite-StateMachines 179
7.1 FiniteStateMachineBasics 179
7.2 DeterministicFiniteAutomation(DFA) 181
7.2.1 MooreMachines 182
7.2.2 MealyMachines 184
7.3 NondeterministicFiniteAutomation 188
7.4 ProgrammingFinite-StateMachines 188
Exercises 191
SuggestionsforReading 194
References 195
8 UMLStateMachines 197
8.1 States 198
8.2 Transitions 200
8.3 Events 201
8.4 CompositeStates 202
8.4.1 Hierarchy 203
8.4.2 Orthogonality 205
8.4.3 SubmachineStates 206
8.5 Pseudostates 206
(cid:2) 8.5.1 HistoryPseudostates 206 (cid:2)
8.5.2 EntryandExitPoints 208
8.5.3 ForkandJoinPseudostates 210
8.5.4 TerminatePseudostates 210
8.6 UMLStateMachineofAntilockBrakingSystem 211
Exercises 215
SuggestionsforReading 217
References 217
9 TimedPetriNets 219
9.1 PetriNetDefinition 219
9.1.1 TransitionFiring 221
9.1.2 ModelingPower 222
9.2 PetriNetProperties 225
9.2.1 BehavioralProperties 225
9.2.1.1 Reachability 225
9.2.1.2 𝜔Markings 226
9.2.1.3 ReachabilityAnalysisAlgorithm 227
9.2.1.4 BoundednessandSafeness 229
9.2.1.5 Liveness 229
9.2.2 StructuralProperties 230
9.2.2.1 T-InvariantsandS-Invariants 230
9.2.2.2 SiphonsandTraps 233
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