EEEZG512 Lec01

Embedded System Design (EEE ZG512)
Second semester 2006-2007 (Jan-May)
Lecture- 1 of 9
Rajiv Ranjan Singh

Lecturer, EEE Group
Birla Institute of Technology and Science, Pilani, (India)
Email: rrsingh@bits-pilani.ac.in
Home: http://discovery.bits-
pilani.ac.in/discipline/eee/rrsingh/index.htm
Embedded System Design (EEE ZG512), © 2007, Rajiv Ranjan Singh, BITS Pilani, India
Prescribed Text Books and Study Materials
T1: Raj Kamal, Embedded Systems, Tata McGraw Hill, New Delhi, 2003
T2: Jonathan W. Valvano, Embedded Microcomputer Systems, Real Time

Interfacing, Second Edition, Thomson Learning, 2006.
SM1: HC12 (CPU12) Reference Manual (Access from the CD available with
the book T2 in the directory \PDF\6812\cpu12rm.pdf)
SM2. Motorola Semiconductor MC9S12C Family Data Sheet Rev. 1.15, July
2005 (Access from the CD available with the book T2 in the
directory\PDF\6812\MC9S12C128_V1.pdf)
Reference Books:
R!: Jonathan W. Valvano, Introduction to Embedded Microcomputer Systems,
Motorola 6811 and 6812 Simulation, (International Student Edition), Thomson
Learning, 2003.
R2: Wolf, Wayne, Computers as Components: Principles of Embedded Computing
Systems Design, Elsevier, 2000.
Outline (Lecture-01)
Introduction to Embedded Systems

Characteristics of Embedded Systems
Components of Embedded Systems
Classifications of Embedded Systems
Hardware Units in Embedded Systems
Software in Embedded Systems
Acknowledgement:
The author wishes to acknowledge that these lecture slides have been prepared from the
book T1: Raj Kamal, Embedded Systems, Tata McGraw Hill, New Delhi, 2003
Prerequisite
It is expected that the students pursuing this course possess the following
knowledge:
Digital Electronics and circuit design
Microprocessors programming and interfacing
Some understanding of Microcontrollers
A little design experience (paper design or board level design)
Important Announcement:
Due to non-availability of the book T2 in the market till 15th January, the syllabus
for mid-semester examination has been limited to the contents for Week no. 1-4
as mentioned in the course handout.
For the rest of the semester students are advised to go through the online
lecture slides, textbooks (T1 and T2) and study materials as mentioned in the
handout.
Introduction to Embedded Systems
Several Definitions:
Raj Kamal: An embedded system is one that has computer-hardware with software
embedded in it as one of its most important component.
Jonathan W. Valvano: An embedded computer system includes a microcomputer
with mechanical, chemical and electrical devices attached to it,
programmed for a specific dedicated purpose, and packaged as a
complete system.
Wayne Wolf: Loosely defined, it is any device that includes a programmable
computer but is not itself intended to be a general purpose computer.
Steve Heath: An embedded system is a microprocessor-based system that is built to
control a function or range of functions and is not designed to be
programmed by the end user in the same way that a PC is.
In a nutshell:
Embedded Systems => Computers inside a product.
Characteristics of Embedded Systems
Dedicated, computer-based system for an

application or product.
Addresses the issue of the response time
constraints of various tasks of the system.
Either be an independent system or a part of a
larger system.
Software usually embedded in ROMs i.e. no need of
secondary memories.
Three main components:
1) Hardware: Processor, Program and Data Memory, Timers, Serial
Communication Devices, Interrupt controller, Parallel Ports, Input / Output
Interfacing and / or driver circuits, System Application Specific Circuits,
Power Supply, Reset and Oscillator Circuits.
2) Main application software: performs series of tasks or multiple tasks
concurrently.
3) Real Time Operating System (RTOS):
- Supervises the application software.
- Provides a mechanism to let the processor run a process as per scheduling.
- Performs context-switching between various processes (tasks).
- organizes access to a resource in sequence of the series of tasks of the system.
- Schedules their working and execution by following a plan to control the latencies
and to meet the deadlines.
- Sets the rules during the execution of the application software.
Input Devices
Interfacing / Driver Circuits
Program
Power Supply, Processor Memory and System
Data Memory
Reset Application
and Oscillator Circuits Serial Specific Circuits
Timer
Communication
Circuits
Ports
Interrupt Parallel
Controller Ports
Output Devices
Interfacing / Driver Circuits
Classification of Embedded Systems
Features Small scale Medium scale Large scale
processing Single 8-bit / 16-bit Single or few 16-bit / Scalable processors or

microcontroller (µC) 32-bit µC or DSPs or configurable
RISCs processors and PLAs
H/W and S/W little Have both (medium) Enormous (large)
complexities
Design Board-level H/W S/W co-design H/W S/W co-design

methods
Programming Editor / assembler/ RTOS / Source code May not be readily

and cross-assembler / engineering tools / available.
Development development boards simulators / debugger A compiler or
Tools ( specific to a µC or and Integrated retargetable compiler
µP) Development might have to be
Environment (IDE) developed.
Classification of Embedded Systems
(Cont..)
Features Small scale Medium scale Large scale
Constraints Software should fit into the w.r.t. h/w and s/w Processing speeds of
memory available. complexities hardware units reduce
Power dissipation should be performance and speed
minimum for continuous run
Application Not needed ASSPs and IPs needed (e.g. Needed but implemented in
specific circuits bus interfacing, encrypting, hardware to maximize speed
deciphering, discrete cosine by saving time.
transformation and inverse
transformation, TCP/IP Some hardware resources in
protocol stacking and network the system are also
connecting functions) implemented by software.
Skills required by Understanding of ‘C’ and RTOS programming, Embedded sys. h/w designer:
a developer microcontrollers, computer program modeling skills, Full skills in hardware units
architecture and organization, hardware organization and and basic knowledge of ‘C’,
digital electronic design, use of APIs for a specific RTOS and other programming
software engg., data microcontroller. tools.
communication, control enng., Embedded sys. s/w designer:
motors and actuators, sensors basic knowledge in hardware,
and measurements, analog through knowledge of ‘C’,
electronics design and IC RTOS and other programming
design etc. tools.
Embedded System Processor Chip or Core
General Purpose Application Multi - Reconfigurable Systems
Processor (GPP) Specific processor
System System
Processor
(ASSP)
Microprocessor (µP) Additional GPPs + GPP core(s) or ASIP core(s) integrated into
Microcontroller (µC) Processor or ASSPs either
Embedded Processor companion to the An Application Specific Circuit (ASIC)
main processor
Digital Signal Processor (DSP) or
Processing unit
Media Processor for specific task A Very Large Scale Integrated Circuit (VLSI)
circuit
or
An Field Programmable Gate Array (FPGA)
core integrated with processor unit (s) in a
VLSI (ASIC) chip.
-General purpose instruction set e.g. image e.g. real-time Used in large embedded systems such as in
-readily available compilers for processing chip video real time video processing and multimedia
fast s/w development integrated processing and applications.
through the multimedia In a cell phone a number of tasks such as
-readily available APIs buses with the applications speech signal-compression and coding,
-H/W platform is reusable by main processor require multi- dialing, modulating and transmitting,
changing s/w processing demodulating and receiving, signal decoding
units and decompression, SMSing etc.
Microprocessor
What is a Microprocessor ?
A microprocessor is a multipurpose, clock-driven, register-based electronic device that
reads binary instructions from a storage device called memory, accept binary data as
input and processes data according to the instructions given and provides results as
output. CPU
Ex: 8085, 8086, Z80, 6800, Pentium processors etc
The typical microprocessor system consists of

CPU (Central processing unit) Alrithmatic/
- ALU (Arithmetic logic unit) Logic Unit
- Control Logic
- Registers, etc…
Memory
Input / Output interfaces Input Control Output
Interconnections between these units: Unit
- Address Bus (16 or 20 or 24 bits)
- Data Bus (8 or 16 or 32 or 64 bits)
- Control Bus
Memory
Microprocessor (Cont…)
Instruction set includes Other functional units Embedded Systems
instructions for performing besides CPU incorporated in GHz
processors
- Data Transfer Operations - cache memories - Gbps transceiver
- ALU Operations - floating point processing - Encryption engine
- Stack Operations arithmetic unit - Graphic accelerator
- Input and Output (I/O) - pipelining unit - Disk controllers
Operations - super-scaling unit - Network Interface Cards
- Program Control (NICs)
Operations
- Sequencing Operations
- Supervising Operations
A microprocessor is used when large embedded software is to be located in the

external memory chips.
RISC core microprocessors are used when intensive computations are to be
performed as it provides speedy processing of instructions (in a single clock-cycle)
Microcontroller
What is a Microcontroller?
A microcontroller is essentially an entire computer
on a single chip.
Ex: Intel’s 8051, 8096, Motorola M68HC11 XX /
M68HC12XX, PIC 16XX series etc.
Most essential component of a control or

communication unit
Commonly used microcontrollers
Small scale embedded Medium scale embedded Large scale embedded

systems systems systems
- 68HC05 / 08 - 8051 / 251 -Intel 80960CA
- PIC 16F8X - 80x86 -ARM 7
- 8051 - 68HC11XX / 12XX - Power PC MPC 604
- 80196
Microcontroller (Cont…)
Functional circuits in a chip or core of a microcontroller
- Processor Application Specific Circuits in Specific

- Data and Stack in internal RAM Versions
- Timers and Watch dog timers -DMA Controllers
- External Memories Interface -- Network Driver Stack and Interface
- Non volatile PROM / ROM / EPROM -- A/D Converter
-- Interrupt controller -- LAN controller
- I/O ports control and Interface / Drivers -- PWM circuit for D/A
- Serial UART communication port -- Printer Controller
- Serial synchronous communication port -- Modem
-- DTMF circuit
A microcontroller is used when a small part of the embedded software has to be located
in internal memory and when the on-chip functional units like interrupt handler, port,
timer, ADC and PWM are needed.
Other Processors
Embedded Processor Digital Signal Processor (DSP)
(for a complex system) (Microprocessor + MAC units)
Used for Fast, precise and intensive calculations Processing of signals
Application Complex real time applications for e.g. in an Image processing, multimedia, audio, video,
area electronic warfare system’s advanced warning and HDTV, DSP modem and telecommunication
control systems (AWCS) processing systems
Also for recognizing an image pattern or a
DNA sequence fast
Features - Fast context switching (lower latencies of the - A typical DSP has 16x32 MAC unit
tasks in complex real time applications) - Provides fast, discrete-time, signal
- Atomic ALU operations (no shared data problem) processing instructions
- RISC core for fast, more precise and intensive - Very Large Instruction Word (VLIW)
calculations by the embedded s/w processing capabilities
- Single Instruction Multiple Data (SIMD)
instructions
- Discrete Cosine Transformations (DCT) and
inverse DCT (IDCT)
examples ARM family: ARM 7 and ARM 9 (available in single TMS 320Cxx (Texas Ins.)
chip as well as file version for embedding on a SHARC (Analog Devices)
VLSI chip or SOC) 5600xx (Motorola)
Intel family: i960
AMD family: 29050
Other Hardware Units in Embedded
Systems
Power Source
Clock Oscillator Circuit and Clocking Unit (s)
Real Time Clock (RTC) and Timers for Various Timing and Counting Needs of
the System
Reset Circuit, Power-up Reset and Watchdog–Timer Reset
Memories
Input, Output and I/O Ports, I/O Buses and I/O Interfaces
Interrupts Handler
DAC (Using a PWM) and ADC
LCD and LED Displays
Keypad / Keyboard
Pulse Dialer, Modem and Transceiver
GPIB (IEEE 488) Link
Linking and Interfacing Buses and Units of the Embedded System Hardware
Power Sources
Power Supply ranges: (5.0V ± 0.25V), (3.3V ± 0.3V), (2.0V ± 0.2V), (1.5V ± 0.2V)
(12V ± 0.2) supplies for flash ROM, EEPROM and RS232C serial interface.
Number of pins on the processor and other associated chips and circuits
influence the power source requirement.
More that two pins of VDD and VSS provided on a processor to reduce the
interference between different sections with the help of a bypassing capacitor.
External I/O driving ports, timers and counters are powered separately by the
power supply.
Separate interconnections for pairs of VDD and VSS pins, analog ground, analog
reference and analog input voltage lines, the ADC unit digital ground and other
analog parts in the system should be provided.
Charge Pumps consists of a diode in the series followed by a charging capacitor.
An external signal forward biases the diode and the capacitor is charged. When
needed the stored charge will supply power to some circuits with appropriate
switching.
Clock Oscillator Circuits
Controls the various clocking requirements of the CPU, of the system timers and
the CPU machine cycles.
Clock controls the time for executing an instruction.
Crystal Resonator: External to the processor. It gives the highest stability in
frequency with temperature and drift in the circuit
Ceramic Resonator: Internally associated with the processor. Saves the use of
the external crystal and gives reasonable though not very highly stable
frequency.
External Oscillator IC: Provides a higher driving capability (in multiprocessor
systems) but dissipates significant amount of power.
Real Time Clock (RTC) and Timers
System clock RTC: used for scheduling various tasks and for real-time
programming, (RTC is nothing but a suitably configured system-clock)
RTC is also used to obtain software-controlled delays and time-outs.
More than one Timer units are needed for various timing and counting functions
in a system. They use the system clock and provide flexible timing and counting
options.
Reset Circuit, Power-up Reset and
Watchdog-Timer Reset
Reset: Once activated processor starts processing of instructions from a starting
address set by default in the processor program counter (or instruction pointer
and code segment registers in x86 processors). The corresponding address in
the memory supplies program instruction for further processing.
Power-up Reset: activated on power-up when a reset switch is pressed or a low
voltage is detected than the required voltage level. Reset circuits are used for this
purpose.
Reset can be activated by (a) software instruction or (b) time-out by a
programmed timer know as watchdog timer (or COP) or (c) a clock monitor
detecting a slowdown below certain threshold frequencies due to a fault.
Watchdog Timer: a timing device that resets the system after a predefined
timeout. This time is configured by the programmer and is activated within the
first few clock cycles after power-up. It helps in rescuing the system if fault
develops and the program gets stuck
Memories
Various forms of system memory
Internal RAM RAM on SOC Internal External RAM Flash / ROM / Memory
at microcont- or External Caches at chip (s) EEEPROM PROM Addresses at
roller RAM microproc- the system
essors [hold ports
copies of
system
memory
pages]
Memory Functions
Needed
ROM or Storing application programs, codes for system booting (boot-up programs), initialization data, initial
EPROM input data and strings. Codes for RTOS. Pointers (addresses) of various service routines.
RAM (Internal Storing the variables during program run and storing the stack. Storing input or output buffers, for e.g.
and External speech or image
and RAM for
buffer
EEPROM or Storing non-volatile results of processing, copies of instructions and data in advance from external
Flash Caches memories and storing temporarily the results during fast processing.
Input, Output and I/O Ports, I/O Buses
Input Port: used to get inputs from physical device (e.g. key-buttons, sensors and
transducer circuits). The system gets the inputs by the read operation at the port
addresses.
Output Port: used to send output bytes to the real world (output devices). Examples: LED
or LCD panel, a printer, communication system or a network, alarm, actuators, furnaces or
boilers. The system sends the output by a write operation to the port addresses.
I/O Ports: used to perform both read as well as write (receive and send) operations. Ex- a
wireless communication channel in a mobile phone
I/O Buses: I/O buses are a set of lines for transferring data and are interfaced with I/O
ports. They are categorized as serial buses for serial bit transfers and parallel bus for
parallel bit transfers (byte or word). I/O buses are needed to network a number of devices
and systems such as I2C, CAN, USB, ISA, EISA and PCI.
Other Units
Interrupts Handler (Controller): controls the processor operations arising out of an
interrupt from a source. Ex- to transfer data from a keyboard or a printer (will be
discussed later)
DAC (Using a PWM) : The Pulse Width Modulator (PWM) provides a pulse of
width scaled to the analog output desired in a system. Digital to analog
conversion (DAC) is possible if PWM is integrated (will be discussed later).
ADC: Converts, as required, the analog input between + and – pins with respect
to the reference voltage (s) 8 or 10 or 12 bits.
LCD and LED Displays: used for displaying and messaging. Necessary
interfacing and software are needed.
Keypad / Keyboard: for inputting user inputs. Necessary interfacing and key-
debouncing circuits are needed
Software for Embedded Systems
Specific to a given application

Processor processes instructions and data and in the final stage these are placed in the
memory (ROM) for all the tasks that have to be executed.
Final stage software is called ROM image.
Bytes at each address must be defined for creating the ROM image. By changing the
image the same hardware platform will work differently and can be used for entirely
different applications or for new upgrades of the same system.
The ROM image consists of the boot-up program, stack (s) address pointer (s), program
counter address pointer (s), application tasks, Interrupt Service Routines (ISRs), input data
and vector addresses.
Assembly Language: specific to a processor or its family. A thorough understanding of
processor’s instruction set is required and is cumbersome when large programs are to be
written.
Software for Embedded Systems (Cont..)
Instructions: A binary pattern designed inside a microprocessor to perform a
specific function.
. Instruction Set: An entire group of instructions.
Assembly Language Program: A set of instructions written in mnemonics of a
given microprocessor / microcontroller or its family such as 8085, 8086 etc.
Mnemonic: A combination of letters to suggest the operation of an instructions
(Mnemonic = mindful)
Machine Language: The binary medium communication with a computer
through a designed set of instructions.
Software for Embedded Systems (Cont..)
Low-Level Language:
A medium of communication with a computer in which programs are written in mnemonics.
An assembly language is specific to a given computer.
.
High-Level Language:
A medium of communication that is independent of a given computer. Programs are written
in English-like words and they can be executed on machine using a translator (a compiler or
Interpreter).
Compiler:
This is a program that translates English-like words, of a high-level language in the machine
language of a computer.
Interpreter:
An interpreter is a program that translates the English-like statements of a high-level
language into the machine language of a computer.
Assembler:
A computer program that translates an assembly language program from mnemonics to the
binary machine code of a computer.
Linker: links the machine codes generated by assembler with the other required assembled
codes. Generates a file known as linked file or executable ‘.exe’ file to run on a computer.
Loader: reallocates the codes after finding the physical RAM addresses available at a given
instant. It is a part of the OS and places codes into the memory after reading the ‘.exe’ file.
Locater: reallocates the linked file and creates a file for permanent location of codes.
From ALP to ROM Image
.
Machine
Specific Re-allocating Addresses
Machine Codes Machine Codes
Assembler
Assembly for the Programs ready for
Language at Various Loading at
Program Addresses various
Addresses
Needed Device
machine Linker (ROM)
Bytes for
codes from Linked Programmer
library Program Loader (Burner)
Embedded System ROM

Data Bytes
Memory
Software in High Level Language
C Compiler Machine
. Program Codes in
Object File
Functions
Code
Needed Bytes for Optimizer
Machine Linked
Codes from Linker Programs
Library
Different Program Layers in the

Embedded Software (e.g. ‘C’)
Preprocessor Commands Machine codes ready for
loading at various addresses +
Main Function ROM Programmer
Interrupt Service Routines
Tasks 1…….N Embedded System
ROM Memory
Kernel and Scheduler
Standard Library Functions Including
Network Protocol Functions for
Sending Stack and Receiving Stack
Software for Device Drivers
Virtual devices are used for programming (file, pipe etc.). They are programmed for
. opening and closing and for reading and writing, such as a program for attaching and
detaching a physical device and for input and output.
File: A data structure which sends the records (characters or words) to a data sink (for e.g.
a program structure) and which stores the data from the data source (for e.g. a program
structure). A file in computer may also be stored at the hard disk.
Pipe: A data structure which is sent as byte stream from a data source (for e.g. a program
structure) and which delivers the byte stream to the data sink (for e.g. a program structure).
Control registers, input data buffers, output data buffers and status registers form part of
the device hardware.
Device Driver: a software for controlling, receiving and sending a byte or a stream of bytes
from or to a device. Drivers control three functions (i) Initializing that is activated by placing
appropriate bits at the control register or word. (ii) Calling an ISR on interrupt or on setting a
status flag in the status register and run (drive) the ISR. (iii) Resetting the status flag after
interrupt service. (e.g. device drivers for accessing a serial port, keyboard, mouse etc.)
Device Management Software: manages multiple devices and drivers.
OS and RTOS
Operating System (OS) allocate resources in the computing system among programs that
. request them. It also schedules processes to meet performance requirements and provide
services beyond CPU scheduling.
Multitasking: Processing codes for the different tasks as directed by the scheduler.
Kernel: A program with functions for memory allocation and de-allocation, task scheduling,
inter-process communication, effective management of shared memory access by using
the signals, exception (error) handling signals, semaphores, queues, mailboxes, pipes and
sockets, I/O management, interrupts control, device drivers and device management.
Real Time Operating Systems (RTOS): An OS for real-time programming and scheduling,
process and memory manager, device drivers, device management and multitasking.
RTOS has to be scalable in embedded systems.
Scalable OS is one in which memory is optimized by having only that part of features that
are needed and is associated with the final software.
Exemplary Embedded Systems
Variety of applications
Telecom (mobile computing, wireless, networking)
.
Smart Cards (banking, telephone, security)
Automotive (motor control system, cruise control, engine/body safety, robotics in assembly
line, car entertainment etc.)
Missiles and Satellites (defense, aerospace, communication)
Computer Networking (networking systems, image processing, printers, network cards,
monitors and displays)
Consumer Electronics
System on Chip (SOC): A system on a VLSI chip that has all of needed analog as well as
digital circuits. E.g mobile phone.
FPGA: These are Field Programmable Gate Arrays on a chip. The chip has a large number of
arrays with each element having fusable links. Each element of array consists of several XOR,
AND, OR, multiplexer, demultiplexer and tristate gates. By appropriate programming of the
fusable links, a design of a complex digital circuit is created on the chip. An exemplary latest
SOC design is on XC2VP125 system which has 125136 logic cells in the FPGA core with four
IBM Power PCs.
The 1st lecture focused on the Introduction of Embedded Systems.
The next lecture will cover chapters 2-4 of Raj Kamal’s Book.
The topics covered in lecture first will enable you to understand the concepts covered in
.
chapters 2-4. Therefore students are requested to go through the topics covered in chapters 2-
4 for better understanding.
These slides will also be kept on my home page on the following link.
http://discovery.bits-pilani.ac.in/discipline/eee/rrsingh/ESD-Home.htm
You may contact me at rrsingh@bits-pilani.ac.in for any course related query
Thank You!
© These lecture slides have been prepared for the benefits of the registered DLPD students (course no.: EEE ZG512)
of BITS Pilani. Anybody who may wish to use these slides for educational purpose could use it without any explicit
permission. Any kind of redistribution, alteration, and commercial use of this material is strictly prohibited.

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Embedded System Design (EEE ZG512)

Second semester 2006-2007 (Jan-May)

Rajiv Ranjan Singh

T2: Jonathan W. Valvano, Embedded Microcomputer Systems, Real Time

Introduction to Embedded Systems

Dedicated, computer-based system for an

Features Small scale Medium scale Large scale

processing Single 8-bit / 16-bit Single or few 16-bit / Scalable processors or

Design Board-level H/W S/W co-design H/W S/W co-design

Programming Editor / assembler/ RTOS / Source code May not be readily

The typical microprocessor system consists of

A microprocessor is used when large embedded software is to be located in the

Most essential component of a control or

Commonly used microcontrollers

Small scale embedded Medium scale embedded Large scale embedded

- Processor Application Specific Circuits in Specific

- Non volatile PROM / ROM / EPROM -- A/D Converter

-- Interrupt controller -- LAN controller

- Serial UART communication port -- Printer Controller

- Serial synchronous communication port -- Modem

Specific to a given application

Embedded System ROM

Different Program Layers in the

You may contact me at rrsingh@bits-pilani.ac.in for any course related query

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