embedded system and its application
DESCRIPTION
Embedded System and its Application. School of Software Harbin Institute of Technology 2008 Spring. Instructor: Wang Ling Email:[email protected] Office: Room 209, Software School Building Tel:86418722. Course Goal. - PowerPoint PPT PresentationTRANSCRIPT
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1Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Embedded System and its Application
School of Software
Harbin Institute of Technology
2008 Spring
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2Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
• Instructor: Wang Ling • Email:[email protected]• Office: Room 209, Software School Building• Tel:86418722
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3Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Course Goal
• Develop an understanding of the design, implementation of embedded systems.
• Intent is to study issues relevant to embedded systems.
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4Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Course Content
• 1. Introduction• 2.Custom Single-purpose Processors: Hardware• 3.General-purpose Processors:Software• 4.Standard Single-Purpose Processors:Peripherals• 5.Memory• 6.Interface• 7.Digital Camera Example• 8.IC and Design Technology
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5Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
References
• Frank Vahid, Tony Givargis, Embedded system Design : A Unified Hardware/Software Introduction, 2002
• ( 中译本 ): 嵌入式系统设计—统一的硬件 / 软件设计 ,
• 北京航空航天大学出版社 , 2004
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6Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Grade:
Homework 20% (5)
Lab 40% (4)
Final Project 40%
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Embedded Systems Design: A Unified Hardware/Software Introduction
Chapter 1: Introduction
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8Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Outline
• Embedded systems overview– What are they?
• Design challenge – optimizing design metrics• Technologies
– Processor technologies
– IC technologies
– Design technologies
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9Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Embedded systems overview
• Computing systems are everywhere• Most of us think of “desktop” computers
– PC’s
– Laptops
– Mainframes
– Servers
• But there’s another type of computing system– Far more common...
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10Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
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11Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
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12Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
无线传感器网络(WSN: Wireless Sensor Network)
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13Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
– 感知节点( Sensor Nodes ):感知环境条件的物理与化学变化,采集与分析数据的装置。
– 感知网络( Sensor Nets ) :由大量的、可以相互通信与协调的感知节点组成的局部性分布式网络系统,该网络及感知节点将为完成统一的感知目标而共同工作
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14Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 节点: LiveNode
• LiveNode– 微处理器: AT91SAM7S256 ( 48MHz );
– 无线接入装置:• IEEE802.11b (WiFi) 或 IEEE802.15.4 (ZigBee) 通
过 UART1 接入;• GSM 设备通过 UART3 接入;
– 定位设备: GPS 接受器通过 UART0 接入;
– 信号调适器:连接各种不同传感器设备 : 土壤湿度, ECG 信号,温度以及光照强度等。
– 3 个 8 比特的扩展连接器:• 一个用于 SPI 总线 (8 bit) ,允许连接 3
LiveNode 节点从而形成一个容错的无线接入媒体;
• 一个用于 I²C 总线,实现模拟输入;• 一个用于通用目的的 I/O 连接。
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15Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 节点( 8 ):节点制造商
• Intel Research– Stargate2, iMote
• Crossbow (www.xbow.com)– Mica2 mote, Micaz, Dot mote and Stargate Platform
• Moteiv (www.moteiv.com)• Ember (www.ember.com)
– Integrated IEEE 802.15.4 stack and radio on a single chip• Millenial Net (www.millenial.com)
– iBean sensor nodes• Dust Inc
– Smart Dust• Cogent Computer (www.cogcomp.com)
– XYZ Node (CSB502) in collaboration with ENALAB@Yale• Sensoria Corporation (www.sensoria.com)
– WINS NG Nodes• 宁波中科集成电路设计中心无线传感器网络事业部( http://www.wsn.net.cn/)
– GAINS 系列
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16Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-军事
• 监督我方军力、装备和弹药
• 侦察敌方军力和地形• 战场监督• 战斗损伤评估• 智能导弹的制导系统• 原子、生物以及化学等大
杀伤性武器使用的检测和侦察
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17Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-军事侦察实例
• DARPA 的 SensIT 计划项目之一:无人机部署传感器网络用于车辆跟踪
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18Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-环境
• 森林火险监测• 洪水监测• 精确农耕• 环境的生物复杂性地图
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19Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-环境监测实例
• 大鸭岛海鸟栖息地监测www.greatduckisland.net
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20Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-居家
• 居家自动化– 微波炉– 冰箱– 吸尘器– 所有家电协同工作并可远程控制
• 智能居住环境(自适应用户个人喜好)– 光线强度– 音乐– 房间氛围
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21Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-智能房子实例
• Panasonic Eco & Ud House:
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22Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-健康
• 远程监控人体的生理数据(心脏心率、血压)– 采集的数据通过网络送到负责病人的主
管医生– 病人获得极大的行动自由
• 跟踪和监督医院内病人和医生• 医院的药物管理• 正确识别病人的敏感反应避免误诊
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23Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
WSN 应用-医疗看护实例
• STAR 项目
节点
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24Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
远程心脏实时监护系统
Local Patients
Remote Cardiologist
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25Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
农业环境监控
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26Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
汽车辅助靠站无线监控系统
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27Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
NASA Mars Exploration Rovers
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28Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: HunterProgrammable
DigitalThermostat.
Microprocessor: 4-bit
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29Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product:Vendo VMAX720 vending
machine.
Microprocessor:8-bit Motorola
68HC11.
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30Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: Sonicare Plus toothbrush.Microprocessor: 8-bit Zilog Z8.
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31Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: Palm Vxhandheld.
Microprocessor:32-bit MotorolaDragonball EZ.
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32Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: Motorola
i1000plus iDEN Multi-Service Digital Phone.
Microprocessor: Motorola32-bit MCORE.
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33Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: Sony AiboERS-110 Robotic
Dog.
Microprocessor: 64-
bit MIPS RISC.
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34Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: Rio 800MP3 Player.
Microprocessor: 32-bit RISC.
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35Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: RCARC5400P DVD
player.
Microprocessor: 32-bit RISC.
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36Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Product: IBMResearch’s Linux
wrist watchprototype.
Microprocessor:32-bit ARM RISC.
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37Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Some common characteristics of embedded systems
• Single-functioned– Executes a single program, repeatedly
• Tightly-constrained– Low cost, low power, small, fast, etc.
• Reactive and real-time– Continually reacts to changes in the system’s environment
– Must compute certain results in real-time without delay
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38Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
An embedded system example -- a digital camera
Microcontroller
CCD preprocessor Pixel coprocessorA2D
D2A
JPEG codec
DMA controller
Memory controller ISA bus interface UART LCD ctrl
Display ctrl
Multiplier/Accum
Digital camera chip
lens
CCD
• Single-functioned -- always a digital camera• Tightly-constrained -- Low cost, low power, small, fast• Reactive and real-time -- only to a small extent
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39Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design challenge – optimizing design metrics
• Obvious design goal:– Construct an implementation with desired functionality
• Key design challenge:– Simultaneously optimize numerous design metrics
• Design metric– A measurable feature of a system’s implementation
– Optimizing design metrics is a key challenge
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40Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design challenge – optimizing design metrics
• Common metrics– Unit cost: the monetary cost of manufacturing each copy of the system,
excluding NRE cost
– NRE cost (Non-Recurring Engineering cost): The one-time monetary cost of designing the system
– Size: the physical space required by the system
– Performance: the execution time or throughput of the system
– Power: the amount of power consumed by the system
– Flexibility: the ability to change the functionality of the system without incurring heavy NRE cost
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41Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design challenge – optimizing design metrics
• Common metrics (continued)– Time-to-prototype: the time needed to build a working version of the
system
– Time-to-market: the time required to develop a system to the point that it can be released and sold to customers
– Maintainability: the ability to modify the system after its initial release
– Correctness, safety, many more
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42Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design metric competition -- improving one may worsen others
• Expertise with both software and hardware is needed to optimize design metrics– Not just a hardware or
software expert, as is common
– A designer must be comfortable with various technologies in order to choose the best for a given application and constraints
SizePerformance
Power
NRE cost
Microcontroller
CCD preprocessor Pixel coprocessorA2D
D2A
JPEG codec
DMA controller
Memory controller ISA bus interface UART LCD ctrl
Display ctrl
Multiplier/Accum
Digital camera chip
lens
CCD
Hardware
Software
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43Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Time-to-market: a demanding design metric
• Time required to develop a product to the point it can be sold to customers
• Market window– Period during which the
product would have highest sales
• Average time-to-market constraint is about 8 months
• Delays can be costly
Revenues ($)
Time (months)
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44Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
NRE and unit cost metrics
• Costs:– Unit cost: the monetary cost of manufacturing each copy of the system,
excluding NRE cost– NRE cost (Non-Recurring Engineering cost): The one-time monetary cost of
designing the system– total cost = NRE cost + unit cost * # of units– per-product cost = total cost / # of units
= (NRE cost / # of units) + unit cost
• Example– NRE=$2000, unit=$100– For 10 units
– total cost = $2000 + 10*$100 = $3000– per-product cost = $2000/10 + $100 = $300
Amortizing NRE cost over the units results in an additional $200 per unit
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45Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
NRE and unit cost metrics
• Compare technologies by costs -- best depends on quantity– Technology A: NRE=$2,000, unit=$100
– Technology B: NRE=$30,000, unit=$30
– Technology C: NRE=$100,000, unit=$2
• But, must also consider time-to-market
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46Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
The performance design metric
• Widely-used measure of system, widely-abused– Clock frequency, instructions per second – not good measures– Digital camera example – a user cares about how fast it processes
images, not clock speed or instructions per second
• Latency (response time)– Time between task start and end– e.g., Camera’s A and B process images in 0.25 seconds
• Throughput– Tasks per second, e.g. Camera A processes 4 images per second– Throughput can be more than latency seems to imply due to
concurrency, e.g. Camera B may process 8 images per second (by capturing a new image while previous image is being stored).
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47Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Three key embedded system technologies
• Technology– A manner of accomplishing a task, especially using
technical processes, methods, or knowledge
• Three key technologies for embedded systems– Processor technology
– IC technology
– Design technology
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48Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Processor technology
• The architecture of the computation engine used to implement a system’s desired functionality
• Processor does not have to be programmable– “Processor” not equal to general-purpose processor
Application-specific
Registers
CustomALU
DatapathController
Program memory
Assembly code for:
total = 0 for i =1 to …
Control logic and State register
Datamemory
IR PC
Single-purpose (“hardware”)
DatapathController
Control logic
State register
Datamemory
index
total
+
IR PC
Registerfile
GeneralALU
DatapathController
Program memory
Assembly code for:
total = 0 for i =1 to …
Control logic and
State register
Datamemory
General-purpose (“software”)
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49Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
IC technology
• The manner in which a digital (gate-level) implementation is mapped onto an IC– IC: Integrated circuit, or “chip”
– IC technologies differ in their customization to a design
– IC’s consist of numerous layers (perhaps 10 or more)• IC technologies differ with respect to who builds each layer and
when
source drainchanneloxidegate
Silicon substrate
IC package IC
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50Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
IC Technology
• VLSI (Very-large Scale Integration)
--Full Custom• ASIC (Application-specfic IC Technology)
--Semi-Custom• PLD (Pogrammable Logic Device)
--PLA (Programmable Logic Array)
--PAL(Programmable Array Logic)
--FPGA (Field Programmable Gate Array)
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51Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Moore’s law
• The most important trend in embedded systems – Predicted in 1965 by Intel co-founder Gordon Moore
IC transistor capacity has doubled roughly every 18 months for the past several decades
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Note: logarithmic scale
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52Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Graphical illustration of Moore’s law
1981 1984 1987 1990 1993 1996 1999 2002
Leading edgechip in 1981
10,000transistors
Leading edgechip in 2002
150,000,000transistors
• Something that doubles frequently grows more quickly than most people realize!– A 2002 chip can hold about 15,000 1981 chips inside itself
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53Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design Technology
• The manner in which we convert our concept of desired system functionality into an implementation
Libraries/IP: Incorporates pre-designed implementation from lower abstraction level into higher level.
Systemspecification
Behavioralspecification
RTspecification
Logicspecification
To final implementation
Compilation/Synthesis: Automates exploration and insertion of implementation details for lower level.
Test/Verification: Ensures correct functionality at each level, thus reducing costly iterations between levels.
Compilation/Synthesis
Libraries/IP
Test/Verification
Systemsynthesis
Behaviorsynthesis
RTsynthesis
Logicsynthesis
Hw/Sw/OS
Cores
RTcomponents
Gates/Cells
Model simulat./checkers
Hw-Swcosimulators
HDL simulators
Gate simulators
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54Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design productivity exponential increase
• Exponential increase over the past few decades
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19831981 1987 1989 1991 19931985 1995 1997 1999 2001 2003 2005 2007 2009
Productivity(K) Trans./Staff – Mo.
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55Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
The co-design ladder
• In the past:– Hardware and software
design technologies were very different
– Recent maturation of synthesis enables a unified view of hardware and software
• Hardware/software “codesign”
Implementation
Assembly instructions
Machine instructions
Register transfers
Compilers(1960's,1970's)
Assemblers, linkers(1950's, 1960's)
Behavioral synthesis(1990's)
RT synthesis(1980's, 1990's)
Logic synthesis(1970's, 1980's)
Microprocessor plus program bits: “software”
VLSI, ASIC, or PLD implementation: “hardware”
Logic gates
Logic equations / FSM's
Sequential program code (e.g., C, VHDL)
The choice of hardware versus software for a particular function is simply a tradeoff among various design metrics, like performance, power, size, NRE cost, and especially flexibility; there is no
fundamental difference between what hardware or software can implement.
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56Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Independence of processor and IC technologies
• Basic tradeoff– General vs. custom
– With respect to processor technology or IC technology
– The two technologies are independent
General-purpose
processor
ASIPSingle-purpose
processor
Semi-customPLD Full-custom
General,providing improved:
Customized, providing improved:
Power efficiencyPerformance
SizeCost (high volume)
FlexibilityMaintainability
NRE costTime- to-prototype
Time-to-marketCost (low volume)
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57Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design productivity gap
• While designer productivity has grown at an impressive rate over the past decades, the rate of improvement has not kept pace with chip capacity
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1981 1983 1985 1987 1989 1991 1993 1995 1997 1999 2001 2003 2005 2007 2009
IC capacity
productivity
Gap
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58Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Design productivity gap
• 1981 leading edge chip required 100 designer months– 10,000 transistors / 100 transistors/month
• 2002 leading edge chip requires 30,000 designer months– 150,000,000 / 5000 transistors/month
• Designer cost increase from $1M to $300M
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ic tr
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Pro
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1981 1983 1985 1987 1989 1991 1993 1995 1997 1999 2001 2003 2005 2007 2009
IC capacity
productivity
Gap
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59Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
The mythical man-month
• The situation is even worse than the productivity gap indicates• In theory, adding designers to team reduces project completion time
• In reality, productivity per designer decreases due to complexities of team management and communication
• In the software community, known as “the mythical man-month” (Brooks 1975)
• At some point, can actually lengthen project completion time! (“Too many cooks”)
10 20 30 400
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30000
40000
50000
60000
43
24
1916 15 16
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Team
Individual
Months until completion
Number of designers
• 1M transistors, 1 designer=5000 trans/month
• Each additional designer reduces for 100 trans/month
• So 2 designers produce 4900 trans/month each
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60Embedded Systems Design: A Unified Hardware/Software Introduction, (c) 2000 Vahid/Givargis
Summary
• Embedded systems are everywhere
• Key challenge: optimization of design metrics– Design metrics compete with one another
• A unified view of hardware and software is necessary to improve productivity
• Three key technologies– Processor: general-purpose, application-specific, single-purpose
– IC: Full-custom, semi-custom, PLD
– Design: Compilation/synthesis, libraries/IP, test/verification