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Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page i 2009-10-13Model-Based Design for Embedded Systems... Nicolescu/Model-Based Design for Embedded Systems 67842_C0

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page i 2009-10-13

Model-Based Design

for Embedded Systems

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page ii 2009-10-13

Computational Analysis, Synthesis, and Design of Dynamic Models Series

Series Editor

Pieter J Mosterman

The MathWorks Natick, Massachusetts

Discrete-Event Modeling and Simulation: A Practitioner's Approach,

Gabriel A Wainer

Discrete-Event Modeling and Simulation: Theory and Applications,

edited by Gabriel A Wainer and Pieter J Mosterman

Model-Based Design for Embedded Systems,

edited by Gabriela Nicolescu and Pieter J Mosterman

Model-Based Testing for Embedded Systems,

edited by Justyna Zander, Ina Schieferdecker, and Pieter J Mosterman

Multi-Agent Systems: Simulation & Applications,

e dited by Adelinde M Uhrmacher and Danny Weyns

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page iii 2009-10-13

CRC Press is an imprint of the

Taylor & Francis Group, an informa business

Boca Raton London New York

Model-Based Design

for Embedded Systems

Gabriela Nicolescu Pieter J Mosterman

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page iv 2009-10-13

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Library of Congress Cataloging-in-Publication Data

Model-based design for embedded systems / Gabriela Nicolescu, Pieter J Mosterman.

p cm (Computational analysis, synthesis, and design of dynamic models series)

Includes bibliographical references and index.

ISBN 978-1-4200-6784-2 (hardcover : alk paper)

1 Embedded computer systems Design and construction I Nicolescu, G (Gabriela)

II Mosterman, Pieter J III Title IV Series.

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page v 2009-10-13

Contents

Preface ix Introduction xi Contributors xix

Part I Real-Time and Performance Analysis in

Heterogeneous Embedded Systems

1 Performance Prediction of Distributed Platforms 3

Lothar Thiele and Simon Perathoner

2 SystemC-Based Performance Analysis of Embedded

Systems 27

Jürgen Schnerr, Oliver Bringmann, Matthias Krause,

Alexander Viehl, and Wolfgang Rosentiel

3 Formal Performance Analysis for Real-Time Heterogeneous

Embedded Systems 57

Simon Schliecker, Jonas Rox, Rafik Henia, Razvan Racu,

Arne Hamann, and Rolf Ernst

4 Model-Based Framework for Schedulability Analysis

Using U PPAAL 4.1 93

Alexandre David, Jacob Illum, Kim G Larsen, and Arne Skou

5 Modeling and Analysis Framework for Embedded

Systems 121

Jan Madsen, Michael R Hansen, and Aske W Brekling

6 TrueTime: Simulation Tool for Performance Analysis

of Real-Time Embedded Systems 145

Anton Cervin and Karl-Erik Årzén

v

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page vi 2009-10-13

Pierre G Paulin, Olivier Benny, Michel Langevin, Youcef Bouchebaba,

Chuck Pilkington, Bruno Lavigueur, David Lo, Vincent Gagne,

and Michel Metzger

8 Retargetable, Embedded Software Design Methodology

for Multiprocessor-Embedded Systems 207

Soonhoi Ha

9 Programming Models for MPSoC 231

Katalin Popovici and Ahmed Jerraya

10 Platform-Based Design and Frameworks:

M ETROPOLIS and M ETRO II 259

Felice Balarin, Massimiliano D’Angelo, Abhijit Davare, Douglas Densmore, Trevor Meyerowitz, Roberto Passerone, Alessandro Pinto, Alberto

Sangiovanni-Vincentelli, Alena Simalatsar, Yosinori Watanabe,

Guang Yang, and Qi Zhu

11 Reconfigurable Multicore Architectures for Streaming

Applications 323

Gerard J M Smit, André B J Kokkeler, Gerard K Rauwerda,

and Jan W M Jacobs

12 FPGA Platforms for Embedded Systems 351

Stephen Neuendorffer

Part III Design Tools and Methodology for

Multidomain Embedded Systems

13 Modeling, Verification, and Testing Using Timed and

Hybrid Automata 383

Stavros Tripakis and Thao Dang

14 Semantics of Domain-Specific Modeling Languages 437

Ethan Jackson, Ryan Thibodeaux, Joseph Porter,

and Janos Sztipanovits

15 Multi-Viewpoint State Machines for Rich

Component Models 487

Albert Benveniste, Benoît Caillaud, and Roberto Passerone

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16 Generic Methodology for the Design of Continuous/Discrete

Co-Simulation Tools 519

Luiza Gheorghe, Gabriela Nicolescu, and Hanifa Boucheneb

17 Modeling and Simulation of Mixed Continuous and

Discrete Systems 559

Edward A Lee and Haiyang Zheng

18 Design Refinement of Embedded Mixed-Signal Systems 585

Jan Haase, Markus Damm, and Christoph Grimm

19 Platform for Model-Based Design of Integrated

Multi-Technology Systems 603

Ian O’Connor

20 CAD Tools for Multi-Domain Systems on Chips 643

Steven P Levitan, Donald M Chiarulli, Timothy P Kurzweg,

Jose A Martinez, Samuel J Dickerson, Michael M Bails,

David K Reed, and Jason M Boles

21 Smart Sensors Modeling Using VHDL-AMS for

Microinstrument Implementation with a Distributed

Architecture 697

Carles Ferrer, Laura Barrachina-Saralegui, and Bibiana Lorente-Alvarez

Index 719

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Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page ix 2009-10-13

Preface

The unparalleled flexibility of computation has been a key driver and ture bonanza in the development of a wide range of products across a broadand diverse spectrum of applications such as in the automotive aerospace,health care, consumer electronics, etc Consequently, the embedded micro-processors that implement computational functionality have become a part

fea-of almost every facet fea-of our world, thereby significantly improving the ity of our lives The versatility of computational features invites and endorses

qual-a degree of imqual-aginqual-ation qual-and crequal-ativity in design thqual-at hqual-as unlocked qual-an qual-almostinsatiable demand for consistently increasing both the complexity of embed-ded systems and the performance of embedded computations The quest torise to these demands has resulted in computing architectures of a heteroge-neous nature These architectures often integrate several types of processors,analog and digital electronic components, as well as mechanical and opticalcomponents, all on a single chip To efficiently design for such heterogene-ity and to maximally exploit its capabilities have become one of the mostprominent challenges that we are now faced with as a design automationcommunity

Model-Based Design is emerging as a solution to bridge the gap betweencomputational capabilities that are available but that we are yet unable toexploit Using a computational approach in the design itself allows rais-ing the level of abstraction of the system specification at which novel anddifferentiating functionalities are captured Automation can then assist inrefining this specification to an implementation For this to be successful, per-formance studies of potential implementations at a high level of abstractionare essential, combined with the necessity of traceability and parameteriza-tion throughout the refinement process

This book provides a compilation of the work of internationallyrenowned authors on Model-Based Design Each chapter contributessupreme results that have helped establish Model-Based Design and thatcontinue to expand its barriers The respective authors excel in their exper-tise on the automation of design refinement and how to relate propertiesthroughout this refinement while enabling analytic and synthetic qualities

We are delighted and honored by their participation in the effort that led tothis book, and we sincerely hope that the readers will find the indulgence ofintellectual achievement as enjoyable and stimulating as we do

In closing, we would like to express our genuine appreciation and itude for all the time and effort that each of the authors has put in Our

grat-ix

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page x 2009-10-13

pleasant collaboration has certainly helped make the completion of this

project as easy as possible Of course, none of this would have been possible

without the continuous support of the team at Taylor & Francis, especially

our publisher, Nora Konopka, and the staff involved in the verification and

production process: Amy Blalock, Ashley Gasque, and Catherine Giacari

Many thanks to each of you A special word of thanks goes out to Jeanne

Daunais for helping us with the extensive preparation of the final material

Gabriela Nicolescu Pieter J Mosterman

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Introduction

Gabriela Nicolescu and Pieter J Mosterman

The purpose of this book is to provide a comprehensive overview of thecurrent state of Model-Based Design for embedded systems, the challengesinvolved, and the latest trends To achieve this objective, the book offers acompilation of 21 outstanding contributions from industry and academia.The contributions are grouped into three main parts Part I comprises thecontributions that focus on a key dimension in the design of embedded sys-tems: the performance analysis of real-time behavior based on computationalmodels Part II is composed of contributions proposing approaches that takeinto consideration the specific characteristics and design challenges of mul-tiprocessor systems-on-chip (MPSoCs) Part III contains contributions in thefield of system-level design of multidomain systems

An “embedded system” is a system designed to perform a dedicatedfunction, typically with tight real-time constraints, limited dimensions, andlow cost and low-power requirements It is a combination of computer hard-ware and software and additional mechanical, optical, or other parts thatare typically used in the specific role of actuators, sensors, and transduc-ers, in general In some cases, embedded systems are part of a larger sys-tem or product, for example, an antilock braking system in a car Examples

of embedded systems are cell phones, digital cameras, GPS receivers, faxmachines, printers, debit/credit card readers, heart rate monitors, blood gasmonitors, etc [Gan03]

The evolution of embedded systems parallels Moore’s law, which statesthat the number of transistors on an integrated circuit doubles every 18months This technological progress enabled the integration of complex elec-tronic systems on a single chip and the emergence of MPSoCs An MPSoC is

a system-on-chip that contains multiple interconnected instruction-set

pro-cessors (CPUs) The typical MPSoC is a heterogeneous multiprocessor [Jer04]:

it is composed of several different types of processing elements Moreover,the memory architecture and the interconnection network may be heteroge-neous as well MPSoCs can be found in many products such as digital tele-visions, set-top boxes, telecommunication networks, cell phones, and videogames

In response to the challenges of further miniaturization, the tional Technology Roadmap for Semiconductors (ITRS) emphasizes theMore Than Moore’s Law movement [ITR07] This movement focuses on

Interna-xi

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system integration rather than an increase in transistor density and leads

to a functional diversification in integrated systems This diversificationallows for nondigital functionality such as radio-frequency (RF) circuitry;power control, optical, and/or mechanical components; sensors; and actu-ators to migrate from the system board level into the so-called system-in-package (SiP) level or system-on-chip (SoC) level implementation [TUM06]

These multidomain heterogeneous systems enable new applications and create

new markets System applications are in key fields such as transportation,mobility, security, health, energy, communication, education, and entertain-ment [ZHA06] Some examples of applications of these systems are devicesfor nonintrusive surgery, sensors for harsh environments (e.g., chemicallyaggressive, extreme temperature, excessive vibration, and high shock), carsurround sensors, precrash detection, energy autonomous systems, tire pres-sure monitoring, car-to-car communication and navigation, and ultrasonicdevices (e.g., for distance measurement and three-dimensional imaging).The heterogeneity of modern embedded systems is responsible for acomplexity that is exceptionally challenging to their design Moreover,these systems have particularly tight performance, time-to-market, and costconstraints To meet these constraints, engineers must find solutions toefficiently design systems including complex electronic components thatintegrate several cores, RF circuitry, digital and analog hardware compo-

nents, as well as mechanical and optical components Model-Based Design

addresses this issue by focusing on computational models as the core designartifact The model enables a hierarchical design process where the entiresystem is first represented at an abstract level while model elaboration itera-tively refines this design and includes details as necessary to implement therequired functionality Thus, different models that may be playing differentroles are required for the main stages of the design: the specification, thetest and validation, and the consecutive refinement The ability to efficientlyconstruct models combined with associated tools and systematic methodolo-gies primes Model-Based Design for success by providing a complete solu-tion that enables concurrent engineering, performance analysis, automatictest generation, building efficient specifications and execution models, codegeneration and optimization, and automatic refinement through differentabstraction levels

This book provides a comprehensive survey and overview of the benefits

of Model-Based Design in the field of heterogeneous embedded systems Theselected contributions present successful approaches where models, tools,and methodologies result in important cost reduction and performance gain

of heterogeneous embedded systems while decreasing their time-to-market

Organization

This book is divided into three parts: Part I—Real-Time and PerformanceAnalysis in Heterogeneous Embedded Systems, Part II—Design Tools andMethodology for Multiprocessor System-on-Chip, and Part III—Design

Nicolescu/Model-Based Design for Embedded Systems 67842_C000 Finals Page xiii 2009-10-13

Tools and Methodology for Multidomain Embedded Systems The followingtext presents an overview of each of the parts along with a brief introduction

to the contents of each of the chapters

Part I Real-Time and Performance Analysis in Heterogeneous

Embedded Systems

Part I highlights the importance of considering the real-time aspects of erogeneous embedded systems along with analyses of their performance.This part comprises six chapters that focus on capturing the aspects of tim-ing in models for embedded systems, and on defining tools that exploit thesemodels in order to provide accurate performance prediction and analysis inthe early stages of design These aspects are illustrated by means of applica-tions in the fields of signal and image processing, automotive, robotics, andwireless communications

het-Chapter 1 provides a clear introduction to system-level performance diction and analysis It highlights its role in design and provides an overview

pre-of the two main approaches currently employed in this field: the analyticaland the simulation-based approaches The introduction to the performanceprediction and analysis stage is realized by means of a concrete video-processing application scenario Finally, this chapter describes a modularframework that enables the analysis of the flow of event streams through

a network of computation and communication resources

Chapter 2 discusses a hybrid approach that resolves performance sis issues by combining the advantages of simulation-based and analyticalapproaches A methodology is presented based on a cycle-accurate sim-ulation approach for embedded software that also allows the integration

analy-of abstract SystemC models The methodology is illustrated by an processing application

audio-Chapter 3 provides a comprehensive overview of a generic and modularframework for formal performance analysis After an introduction to hierar-chical communications and MPSoC architectures and their implications onperformance, this chapter presents a methodology to systematically investi-gate the sensitivity of a given system configuration and to explore the designspace for optimal configurations Finally, this chapter illustrates the tim-ing bottlenecks in an illustrative heterogeneous automotive architecture, andshows how to improve the performance guided by sensitivity analysis andsystem exploration

Chapter 4 proposes a modeling framework that may be instantiated tosuit a variety of scheduling scenarios and can be easily extended This chap-ter first introduces the formalism underlying the approach by means of anexample The framework that is used and the types of schedulability prob-lems that can be analyzed using this framework are then presented Theframework is then applied to the analysis of an example system

Chapter 5 presents the MOVeS analysis framework that can be used

to provide schedulability analyses for multicore embedded systems Thisframework is based on an embedded system model that consists of an

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application model, an execution platform model, and a system model, which

is a particular mapping of the application onto the execution platform Themodel is represented using timed automata Finally, this chapter shows howthe framework can be used to verify properties of an embedded system bymeans of a number of examples including that of a smart phone, showingthe ability to handle systems of realistic size

Chapter 6 introduces a MATLAB R/Simulink R-based simulation ach It provides models of multitasking real-time kernels and networks thatcan be used in simulation models for network-embedded control systems.The application of this tool is illustrated by means of a simulation of mobilerobots in a sensor network

appro-Part II Design Tools and Methodology for Multiprocessor

System-on-Chip

Part II addresses the Model-Based Design of MPSoCs This part provides

a comprehensive overview of current design practices, the MPSoC systemsapplications, as well as the theory behind the current and future tools andmethodologies for MPSoC design It consists of six chapters presentingsolutions for the main challenges of MPSoC design Tools and methodolo-gies are proposed for modeling and programming complex applications forMPSoCs, mapping these applications manually and/or automatically ontoparallel MPSoC platforms; defining programming models for abstracting thehardware/software interfaces; and exploiting novel, efficient platforms anddeveloping unified methodologies for MPSoC platform-based designs Tointroduce these concepts and to illustrate the efficiency of the proposed solu-tions, the chapters illustrate several case studies in the fields of multimedia,wireless communications, telecommunications, and control

Chapter 7 starts with an overview of the market trends and the key roleplayed by MPSoC systems in contemporary industrial practice It introducesthe programming models used for MPSoCs and the main characteristics ofthe MPSoC platforms This chapter also presents the MultiFlex technologythat supports the mapping of user-defined parallel applications, expressed

in one or more programming models, onto an MPSoC platform Finally, thischapter illustrates the application of the proposed technology to the design

of a wireless system, a 3G WCDMA/FDD base-station

Chapter 8 presents a novel methodology for embedded software designbased on a parallel programming model, called common intermediate code(CIC) In a CIC, the function and data parallelisms of application tasks arespecified independently of the target architecture and design constraints.Information on the target architecture and the design constraints is sepa-rately described in an architecture information file Based on this informa-tion, the programmer maps tasks to processing components, either manually

or automatically The efficiency of the proposed methodology is illustratedusing a multimedia application, the H.263 decoder