Contents	5
	Preface	10
	Acknowledgments	20
	Introduction	21
	Application areas and examples	21
	Common characteristics	24
	Challenges in Embedded System Design	30
	Design Flows	32
	Structure of this book	37
	Assignments	38
	Specifications and Modeling	40
	Requirements	40
	Models of computation	47
	Early design phases	54
	Use cases	54
	(Message) Sequence Charts	55
	Communicating finite state machines (CFSMs)	58
	Timed automata	59
	StateCharts: implicit shared memory communication	61
	Synchronous languages	71
	SDL: A case of message passing	73
	Data flow	80
	Scope	80
	Kahn process networks	81
	Synchronous data flow	83
	Simulink	85
	Petri nets	86
	Introduction	86
	Condition/event nets	89
	Place/transition nets	90
	Predicate/transition nets	95
	Evaluation	97
	Discrete event based languages	97
	VHDL	99
	SystemC	115
	Verilog and SystemVerilog	117
	SpecC	119
	Von-Neumann languages	120
	CSP	121
	ADA	121
	Java	124
	Pearl and Chill	125
	Communication libraries	125
	Levels of hardware modeling	126
	Comparison of models of computation	128
	Criteria	128
	UML	132
	Ptolemy II	134
	Assignments	135
	Embedded System Hardware	138
	Introduction	138
	Input	139
	Sensors	139
	Discretization of time: Sample-and-hold circuits	142
	Discretization of values: A/D-converters	146
	Processing Units	151
	Overview	151
	Application-Specific Circuits (ASICs)	154
	Processors	154
	Reconfigurable Logic	171
	Memories	174
	Communication	176
	Requirements	177
	Electrical robustness	178
	Guaranteeing real-time behavior	179
	Examples	181
	Output	183
	D/A-converters	183
	Sampling theorem	186
	Actuators	191
	Secure hardware	192
	Assignments	192
	System Software	195
	Embedded Operating Systems	196
	General requirements	196
	Real-time operating systems	200
	Virtual machines	204
	Resource access protocols	204
	ERIKA	209
	Hardware abstraction layers	213
	Middleware	213
	OSEK/VDX COM	213
	CORBA	214
	MPI	215
	POSIX Threads (Pthreads)	216
	OpenMP	216
	UPnP, DPWS and JXTA	217
	Real-time databases	218
	Assignments	219
	Evaluation and Validation	220
	Introduction	220
	Scope	220
	Multi-objective optimization	221
	Relevant objectives	223
	Performance evaluation	224
	Early phases	224
	WCET estimation	225
	Real-time calculus	230
	Energy and power models	234
	Thermal models	235
	Risk- and dependability analysis	236
	Simulation	245
	Rapid prototyping and emulation	246
	Formal Verification	248
	Assignments	250
	Application mapping	252
	Problem definition	252
	Scheduling in real-time systems	255
	Classification of scheduling algorithms	255
	Aperiodic scheduling without precedence constraints	259
	Aperiodic scheduling with precedence constraints	265
	Periodic scheduling without precedence constraints	274
	Periodic scheduling with precedence constraints	279
	Sporadic events	280
	Hardware/software partitioning	280
	Introduction	280
	COOL	281
	Mapping to heterogeneous multi-processors	289
	Assignments	294
	Optimization	297
	Task level concurrency management	297
	High-level optimizations	301
	Floating-point to fixed-point conversion	301
	Simple loop transformations	303
	Loop tiling/blocking	305
	Loop splitting	307
	Array folding	309
	Compilers for embedded systems	311
	Introduction	311
	Energy-aware compilation	312
	Memory-architecture aware compilation	313
	Reconciling compilers and timing analysis	322
	Compilation for digital signal processors	324
	Compilation for multimedia processors	326
	Compilation for VLIW processors	327
	Compilation for network processors	328
	Compiler generation, retargetable compilers and design space exploration	329
	Power Management and Thermal Management	329
	Dynamic voltage scaling (DVS)	329
	Dynamic power management (DPM)	333
	Assignments	334
	Test	337
	Scope	337
	Test procedures	338
	Test pattern generation for gate level models	338
	Self-test programs	340
	Evaluation of test pattern sets and system robustness	340
	Fault coverage	340
	Fault simulation	341
	Fault injection	342
	Design for testability	343
	Motivation	343
	Scan design	343
	Signature analysis	345
	Pseudo-random test pattern generation	346
	The built-in logic block observer (BILBO)	347
	Assignments	348
	Integer linear programming	350
	Kirchhoff's laws and operational amplifiers	352
	References	357
	About the Author	386
	List of Figures	387
	Index	394