LECTURE NOTES

ON

EMBEDDED SYSTEMS DESIGN

IV B. Tech I semester (R18)

Course Coordinator

A Laxman
Asst.Professor
ECE Dept
 VJIT ECE ESD SYLLABUS
IV Year B.Tech. ECE-I Sem

EMBEDDED SYSTEMS DESIGN

IV B.Tech I-Semester
L T P C
2 1 0 3
Course Outcomes:

At the end of the course the student should be able to

1. Expected to understand the selection procedure of Processors in the embedded domain.
2. Design Procedure for Embedded Firmware.
3. Expected to visualize the role of Real time Operating Systems in Embedded Systems
4. Expected to evaluate the Correlation between task synchronization and latency issues
5. To Enumerate the need for Task Communications in a Multiprocessor Environment

UNIT I:
Introduction to Embedded Systems:
Definition of Embedded System, Embedded Systems Vs General Computing Systems,
History of Embedded Systems, Classification, Major Application Areas, Purpose of
Embedded Systems, Characteristics and Quality Attributes of Embedded Systems.

UNIT II:
Typical Embedded System:
Core of the Embedded System: General Purpose and Domain Specific Processors, ASICs,
PLDs, Commercial Off-The-Shelf Components (COTS), Memory: ROM, RAM, Memory
according to the type of Interface, Memory Shadowing, Memory selection for Embedded
Systems, Sensors and Actuators, Communication Interface: Onboard and External
Communication Interfaces.

UNIT III:
Embedded Firmware:
Reset Circuit, Brown-out Protection Circuit, Oscillator Unit, Real Time Clock, Watchdog
Timer, Embedded Firmware Design Approaches and Development Languages.

UNIT IV:
RTOS Based Embedded System Design:
Operating System Basics, Types of Operating Systems, Tasks, Process
and Threads, Multiprocessing and Multitasking, Task Scheduling.

UNIT V:
Task Communication:
Shared Memory, Message Passing, Remote Procedure Call and Sockets, Task
Synchronization: Task Communication/Synchronization Issues, Task Synchronization
Techniques, Device Drivers, How to Choose an RTOS.

ECE Dept
 VJIT ECE ESD SYLLABUS

TEXT BOOKS:
1. Shibu K V, Introduction to Embedded Systems, McGraw-Hill Education, 2009.
2. Raj Kamal , Embedded Systems: Architecture, Programming and Design , Tata McGraw-
Hill, 2011

REFERENCE BOOKS:
1. Raj Kamal , Embedded systems architecture, programming and design, McGraw-Hill
Education, 2003
2. Frank Vahid, Tony Givargis , Embedded System Design A Unified Hardware/Software
Introduction, John Wiley, 2003
3. Lyla B. Das, Embedded Systems: An Integrated Approach, Pearson, 2012.

NPTEL Web Course:

1. http://nptel.ac.in/courses/108102045/

NPTEL Video Course: Embedded Systems

1. http://nptel.ac.in/courses/108102045/

GATE SYLLABUS: Not Applicable

IES SYLLABUS: Not Applicable

ECE Dept
 ESD UNIT-1 NOTES

EMBEDDED SYSTEM DESIGN

IV YEAR ECE

Dept of ECE
 ESD UNIT-1 NOTES

UNIT I:
Introduction to Embedded Systems:
Definition of Embedded System, Embedded Systems Vs General Computing Systems,
History of Embedded Systems, Classification, Major Application Areas, Purpose of
Embedded Systems, Characteristics and Quality Attributes of Embedded Systems.

Dept of ECE
 ESD UNIT-1 NOTES

1. Introduction to Embedded Systems

What is Embedded System? (DEC2016, March-2017.)

An Electronic/Electro mechanical system which is designed to perform a specific function

and is a combination of both hardware and firmware (Software)

E.g. Electronic Toys, Mobile Handsets, Washing Machines, Air Conditioners,

Automotive Control Units, Set Top Box, DVD Player etc…

Embedded Systems are:

 Unique in character and behavior
 With specialized hardware and software

Embedded System are becoming an inevitable part of any product or equipment in all fields including household
appliances, telecommunications, medical equipment, industrial control, consumer products etc.

Define System:

A System is a way of working, organizing or doing one or many tasks, which are performed in a system
according to a fixed plan, program or set of rules.
(or)
An arrangement in which all its units assemble and work together according to a plan or program.

EXAMPLE: A watch is a time-display system. The display system follows a set of rules-all needles move
clockwise only etc. Its components are needles, battery, beautiful dial, chasis & strap. The display system
shows time of the day every second.

Define Embedded System:

An embedded system is a system that has embedded software in a computer hardware. The system is
dedicated for either an application(s) or specific part of an application or product or a component of a
large system.

Given below is a series of definitions from different authors:

- Wayne Wolf, author of “Computers as components” – loosely defined, it is any device that includes a
programmable computer but is not itself intended to be a general purpose computer.

- Todd Morton D, author of “ Embedded Microcontrollers”- Embedded systems are electronic systems
that contains a microprocessor or microcontroller , but we do not think of them as computer is hidden
or embedded in the system.

- David E Simon, author of “An Embedded s/w Promer”- People use the term embedded system to
mean any computer system hidde in any of these products.
 ESD UNIT-1 NOTES

- Tim Wilmshurst, author of “ An Introduction to the Design of small scale Embedded system with example
from PIC 80C51”- An Embedded system is a microcontroller based, software driven , reliable, real-time
control system, autonomous, or human or network-interative, operating on diverse physical variables and in
diverse environments, and sold into a competitive and cost-conscious market.

Embedded Systems Vs General Computing Systems: (March-2017)

General Purpose Computing System Embedded System

A system which is a combination of generic A system which is a combination of special
hardware and General Purpose Operating System purpose hardware and embedded OS for
for executing a variety of applications executing a specific set of applications
Contain a General Purpose Operating System May or may not contain an operating system
(GPOS) for functioning
Applications are alterable (programmable) by The firmware of the embedded system is
user (It is possible for the end user to re-install the pre-programmed and it is non-alterable by
Operating System, and add or remove user end-user
applications)
Performance is the key deciding factor on the Application specific requirements (like
selection of the system. Always „Faster is Better‟ performance, power requirements, memory
usage etc) are the key deciding factors
Less/not at all tailored towards reduced operating Highly tailored to take advantage of the
power requirements, options for different levels power saving modes supported by hardware
of power management. and Operating System
Response requirements are not time critical For certain category of embedded systems
like mission critical systems, the response
time requirement is highly critical
Execution behavior is deterministic for
Need not be deterministic in execution behavior certain type of embedded systems like „Hard
Real Time‟ systems
Components: Components:
-Microprocessor, set of special purpose processors. Example: -It embeds h/w which includes embedded
graphic, i/p o/p and n/w processor
memory, peripheral, i/p o/p devices.
- Large memory
-I/O units Example: touch screen, modem,fax,etc -It embeds main application s/w
-Input units- Keyboard, mouse, digitizer -Software usually embeds in the ROM, flash or
-Output units- LCD screen, video monitor
media card.
-Networking units- Ethernet card, front-end processor based
sever, bus driver etc -It embeds a Ral-Time Operating
-O.S System(RTOS). The RTOS supervises the
application s/w & controls the access to the
system resources. It enables finishing the
execution of the tasks of a program within
specified time intervals
 ESD UNIT-1 NOTES

Characteristics: Characteristics:
-Program first loads in RAM & then runs general-purpose -Program is preloaded or embedded in the ROM or flash
programs, Programs of multiple users and multiple tasks. memory.
- Requires an OS -System functions in real time. The tasks execute
- Runs complex algorithms fast. according to priorities.
-Provides a complex set of graphic or touch-screen user -System controls the latencies of tasks, events and then
interfaces(GUIs) interrupts and responds
[Latency means-time interval between the instance of
need to respond & start of the actual execution]
Sophisticated Embedded System Characteristics:
-Dedicated set of functions.
-Complex dedication purpose preprogrammed h/w &
graphic & other user interface[GUIs]
-Multirate operations with different predetermined time
constraints, to finish the different operations.

Constraints: Constraints:
-The system has little constraints of memory & no time 3 Constraints
deadlines to finish the execution of the tasks of a program. -Available system memory
-Available processor speed &
-Requirement for the system to run continuously &
system needs to limit power dissipation when running

System design for an embedded system has constraints

of performance, power, size and the design &
manufacturing costs.
 ESD UNIT-1 NOTES

History of Embedded Systems:


First Recognized Modern Embedded System: Apollo Guidance Computer (AGC) developed by
Charles Stark Draper at the MIT Instrumentation Laboratory.


It has two modules

 1 Command module(CM), 2 Lunar Excersion module(LEM)

 RAM size 256, 1K, 2k words
 ROM size 4K,10K, 36K
 Clock frequency is 1.024MHz
 5000 3-input RTL NOR gates are used
 User interface is DSKY(display/Keyboard)
First Mass Produced Embedded System: Autonetics D-17 Guidance

Classification of Embedded Systems:

 Based on Generation
 Based on Complexity & Performance Requirements
 Based on deterministic behavior
 Based on Triggering

 Embedded Systems – Classification based on Generation

First Generation: The early embedded systems built around 8-bit microprocessors like
8085 and Z80 and 4-bit microcontrollers
EX. stepper motor control units, Digital Telephone Keypads etc.

Second Generation: Embedded Systems built around 16-bit microprocessors and 8 or

16-bit microcontrollers, following the first generation embedded systems
EX.SCADA, Data Acquisition Systems etc.

Third Generation: Embedded Systems built around high performance 16/32 bit
Microprocessors/controllers, Application Specific Instruction set processors like Digital
Signal Processors (DSPs), and Application Specific Integrated Circuits (ASICs).The
instruction set is complex and powerful.
EX. Robotics, industrial process control, networking etc.
 ESD UNIT-1 NOTES

Fourth Generation: Embedded Systems built around System on Chips (SoC’s), Re-
configurable processors and multicore processors. It brings high performance, tight
integration and miniaturization into the embedded device market
EX Smart phone devices, MIDs etc.

2. Embedded Systems - Classification based on Complexity & Performance


Small Scale: The embedded systems built around low performance and low cost 8 or 16
bit microprocessors/ microcontrollers. It is suitable for simple applications and where
performance is not time critical. It may or may not contain OS.


Medium Scale: Embedded Systems built around medium performance, low cost 16 or 32
bit microprocessors / microcontrollers or DSPs. These are slightly complex in hardware
and firmware. It may contain GPOS/RTOS.


Large Scale/Complex: Embedded Systems built around high performance 32 or 64 bit
RISC processors/controllers, RSoC or multi-core processors and PLD. It requires
complex hardware and software. These system may contain multiple
processors/controllers and co-units/hardware accelerators for offloading the processing
requirements from the main processor. It contains RTOS for scheduling, prioritization
and management.

3. Embedded Systems - Classification Based on deterministic behavior: It is applicable for

Real Time systems. The application/task execution behavior for an embedded system can be
either deterministic or non-deterministic

These are classified in to two types

1. Soft Real time Systems: Missing a deadline may not be critical and can be
tolerated to a certain degree

2. Hard Real time systems: Missing a program/task execution time deadline can have
catastrophic consequences (financial, human loss of life, etc.)

4. Embedded Systems - Classification Based on Triggering:

These are classified into two types

1. Event Triggered : Activities within the system (e.g., task run-times) are dynamic and
depend upon occurrence of different events .

2. Time triggered: Activities within the system follow a statically computed schedule (i.e.,
they are allocated time slots during which they can take place) and thus by nature are
predictable.
 ESD UNIT-1 NOTES

Major Application Areas of Embedded Systems:


Consumer Electronics: Camcorders, Cameras etc.


Household Appliances: Television, DVD players, washing machine, Fridge, Microwave Oven
etc.


Home Automation and Security Systems: Air conditioners, sprinklers, Intruder detection
alarms, Closed Circuit Television Cameras, Fire alarms etc.


Automotive Industry: Anti-lock breaking systems (ABS), Engine Control, Ignition Systems,
Automatic Navigation Systems etc.


Telecom: Cellular Telephones, Telephone switches, Handset Multimedia Applications etc.

Computer Peripherals: Printers, Scanners, Fax machines etc.

Computer Networking Systems: Network Routers, Switches, Hubs, Firewalls etc.

Health Care: Different Kinds of Scanners, EEG, ECG Machines etc.


Measurement & Instrumentation: Digital multi meters, Digital CROs, Logic Analyzers PLC
systems etc.


Banking & Retail: Automatic Teller Machines (ATM) and Currency counters, Point of Sales
(POS)

Card Readers: Barcode, Smart Card Readers, Hand held Devices etc.

Purpose of Embedded Systems: (DEC2016)

Each Embedded Systems is designed to serve the purpose of any one or a combination of the
following tasks.

o Data Collection/Storage/Representation

o Data Communication
o Data (Signal) Processing

o Monitoring
o Control

o Application Specific User Interface

 ESD UNIT-1 NOTES

1. Data Collection/Storage/Representation:-


Performs acquisition of data from the external
world.


The collected data can be either analog or
digital


Data collection is usually done for storage,
analysis, manipulation and transmission

 The collected data may be stored directly in the system or may be transmitted to some
other systems or it may be processed by the system or it may be deleted instantly after
giving a meaningful representation

2. Data Communication:-

Embedded Data communication systems are deployed in

applications ranging from complex satellite communication
systems to simple home networking systems

Embedded Data communication systems are dedicated for data

communication

The data communication can happen through a wired

interface (like Ethernet, RS-232C/USB/IEEE1394 etc)
or wireless interface (like Wi-Fi, GSM,/GPRS,
Bluetooth, ZigBee etc)

Network hubs, Routers, switches, Modems etc are

typical examples for dedicated data transmission embedded
systems

3. Data (Signal) Processing:-

Embedded systems with Signal processing

functionalities are employed in applications
demanding signal processing like Speech
coding, synthesis, audio video codec,
transmission applications etc

Computational intensive systems

Employs Digital Signal Processors (DSPs)

 ESD UNIT-1 NOTES

4. Monitoring:-

 Embedded systems coming under this category

are specifically designed for monitoring purpose

 They are used for determining the state of some

variables using input sensors

 They cannot impose control over variables.

 Electro Cardiogram (ECG) machine for

monitoring the heart beat of a patient is a typical
example for this

 The sensors used in ECG are the different Electrodes

connected to the patient‟s body

 Measuring instruments like Digital CRO, Digital Multi meter, Logic Analyzer etc used in
Control & Instrumentation applications are also examples of embedded systems for monitoring
purpose

5. Control:-

Embedded systems with control

functionalities are used for imposing
control over some variables according to
the changes in input variables

Embedded system with control

functionality contains both sensors and
actuators

Sensors are connected to the input port for

capturing the changes in environmental variable
or measuring variable

The actuators connected to the output port are controlled according to the changes in input
variable to put an impact on the controlling variable to bring the controlled variable to the
specified range

Air conditioner for controlling room temperature is a typical example for embedded
system with „Control‟ functionality

Air conditioner contains a room temperature sensing element (sensor) which may be a
thermistor and a handheld unit for setting up (feeding) the desired temperature

The air compressor unit acts as the actuator. The compressor is controlled according to the
current room temperature and the desired temperature set by the end user.
6. Application Specific User Interface:-

 Embedded systems which are designed for a specific application.

 Contains Application Specific User interface(rather than general standard UI) like
keyboard, Display units etc

 Aimed at a specific target group of users

 Mobile handsets, Control units in industrial applications etc are examples

Characteristics of Embedded systems: (DEC2016, March-2017)

Embedded systems possess certain specific characteristics and these are unique to each
Embedded system.

1. Application and domain specific

2. Reactive and Real Time

3. Operates in harsh environments

4. Distributed

5. Small Size and weight

6. Power concerns

7. Single-functioned

8. Complex functionality

9. Tightly-constrained

10. Safety-critical

1. Application and Domain Specific:-

• Each E.S has certain functions to perform and they are developed in such a manner to do
the intended functions only.

• They cannot be used for any other purpose.

• Ex – The embedded control units of the microwave oven cannot be replaced with AC‟S
embedded control unit because the embedded control units of microwave oven and AC
are specifically designed to perform certain specific tasks.
2. Reactive and Real Time:-

• E.S are in constant interaction with the real world through sensors and user-defined input
devices which are connected to the input port of the system.

• Any changes in the real world are captured by the sensors or input devices in real time
and the control algorithm running inside the unit reacts in a designed manner to bring the
controlled output variables to the desired level.

• E.S produce changes in output in response to the changes in the input, so they are referred
as reactive systems.

• Real Time system operation means the timing behavior of the system should be
deterministic ie the system should respond to requests in a known amount of time.

• Example – E.S which are mission critical like flight control systems, Antilock Brake
Systems (ABS) etc are Real Time systems.

3. Operates in Harsh Environment :–

• The design of E.S should take care of the operating conditions of the area where the
system is going to implement.

• Ex – If the system needs to be deployed in a high temperature zone, then all the
components used in the system should be of high temperature grade.

• Also proper shock absorption techniques should be provided to systems which are going
to be commissioned in places subject to high shock.

4. Distributed: –

• It means that embedded systems may be a part of a larger system.

• Many numbers of such distributed embedded systems form a single large embedded
control unit.

• Ex – Automatic vending machine. It contains a card reader, a vending unit etc. Each of
them are independent embedded units but they work together to perform the overall
vending function.

5. Small Size and Weight:-

• Product aesthetics (size, weight, shape, style, etc) is an important factor in choosing a
product.

• It is convenient to handle a compact device than a bulky product.

 ESD UNIT-1 NOTES

6. Power Concerns:-

• Power management is another important factor that needs to be considered in designing

embedded systems.

• E.S should be designed in such a way as to minimize the heat dissipation by the system.

7. Single-functioned:- Dedicated to perform a single function

8. Complex functionality: - We have to run sophisticated algorithms or multiple algorithms in

some applications.

9. Tightly-constrained:-

Low cost, low power, small, fast, etc

10. Safety-critical:-

Must not endanger human life and the environment

Quality Attributes of Embedded System: Quality attributes are the non-functional

requirements that need to be documented properly in any system design.(DEC16,March-2017)

Quality attributes can be classified as

I. Operational quality attributes

II. Non-operational quality attributes.

I. Operational Quality Attributes: The operational quality attributes represent the relevant
quality attributes related to the embedded system when it is in the operational mode or online
mode.

Operational Quality Attributes are:

1. Response :-

It is the measure of quickness of the system.

It tells how fast the system is tracking the changes in input variables.

Most of the E.S demands fast response which should be almost real time.

Ex – Flight control application.

Page 15
 ESD UNIT-1 NOTES

2. Throughput :-

It deals with the efficiency of a system.

It can be defined as the rate of production or operation of a defined process over a

stated period of time.

The rates can be expressed in terms of products, batches produced or any other
meaningful measurements.

Ex – In case of card reader throughput means how many transactions the reader
can perform in a minute or in an hour or in a day.

Throughput is generally measured in terms of “Benchmark”.

A Benchmark is a reference point by which something can be measured

3. Reliability :-

• It is a measure of how much we can rely upon the proper functioning of the system.

• Mean Time Between Failure (MTBF) and Mean Time To Repair (MTTR) are the
terms used in determining system reliability.

• MTBF gives the frequency of failures in hours/weeks/months.

• MTTR specifies how long the system is allowed to be out of order following a
failure.

• For embedded system with critical application need, it should be of the order of
minutes.

4. Maintainability:-

• It deals with support and maintenance to the end user or client in case of technical issues
and product failure or on the basis of a routine system checkup.

• Reliability and maintainability are complementary to each other.

• A more reliable system means a system with less corrective maintainability requirements
and vice versa.

• Maintainability can be broadly classified into two categories

1. Scheduled or Periodic maintenance (Preventive maintenance)

2. Corrective maintenance to unexpected failures

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 ESD UNIT-1 NOTES

5. Security:-

• Confidentiality, Integrity and availability are the three major measures of information
security.

• Confidentiality deals with protection of data and application from unauthorized

disclosure.

• Integrity deals with the protection of data and application from unauthorized
modification.

• Availability deals with protection of data and application from unauthorized users.

6. Safety :-

Safety deals with the possible damages that can happen to the operator, public and the
environment due to the breakdown of an Embedded System.

The breakdown of an embedded system may occur due to a hardware failure or a

firmware failure.

Safety analysis is a must in product engineering to evaluate the anticipated damages and
determine the best course of action to bring down the consequences of damage to an
acceptable level.
II. Non-Operational Quality Attributes: The quality attributes that needs to be addressed for
the product not on the basis of operational aspects are grouped under this category.

1. Testability and Debug-ability:-

• Testability deals with how easily one can test the design, application and by which means
it can be done.

• For an E.S testability is applicable to both the embedded hardware and firmware.

• Embedded hardware testing ensures that the peripherals and total hardware functions in
the desired manner, whereas firmware testing ensures that the firmware is functioning in
the expected way.

• Debug-ability is a means of debugging the product from unexpected behavior in the

system

• Debug-ability is two level process

• 1.Hardware level 2.software level

• 1. Hardware level: It is used for finding the issues created by hardware problems.

• 2. Software level: It is employed for finding the errors created by the flaws in the software.

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 ESD UNIT-1 NOTES

2. Evolvability :-

• It is a term which is closely related to Biology.

• It is referred as the non-heritable variation.

• For an embedded system evolvability refers to the ease with which the embedded product
can be modified to take advantage of new firmware or hardware technologies.

3. Portability:-

• It is the measure of system independence.

• An embedded product is said to be portable if the product is capable of functioning in

various environments, target processors and embedded operating systems.

• „Porting‟ represents the migration of embedded firmware written for one target processor
to a different target processor.

4. Time-to-Prototype and Market:-

• It is the time elapsed between the conceptualization of a product and the time at which
the product is ready for selling.

• The commercial embedded product market is highly competitive and time to market the
product is critical factor in the success of commercial embedded product.

• There may be multiple players in embedded industry who develop products of the same
category (like mobile phone).

5. Per Unit Cost and Revenue:-

• Cost is a factor which is closely monitored by both end user and product manufacturer.

• Cost is highly sensitive factor for commercial products

• Any failure to position the cost of a commercial product at a nominal rate may lead to the
failure of the product in the market.

• Proper market study and cost benefit analysis should be carried out before taking a
decision on the per-unit cost of the embedded product.

• The ultimate aim of the product is to generate marginal profit so the budget and total cost
should be properly balanced to provide a marginal profit.

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 ESD UNIT-1 NOTES

SUMMARY
1. An embedded system is an electronic/electromechanical system designed to perform a
specific function and is a combination of both hardware and firmware (software).
2. A general purpose computing system is a combination of generic hardware and general
purpose operating system for executing a variety of applications, whereas an embedded
3. System is a combination of special purpose hardware and embedded OS/firmware for
executing a specific set of applications.
4. Apollo Guidance Computer (AGC) is the first recognized modern embedded system and
Autonetics D-17, the guidance computer for the Minuteman-I missile, was the first mass
produced embedded system.
5. Based on the complexity and performance requirements, embedded systems are classified
into small-scale, medium-scale and large-scale/complex.
6. The presences of embedded system vary from simple electronic system toys to complex
flight and missile control systems.
7. Embedded systems are designed to serve the purpose of any one or combination of data
collection/storage/representation, data processing, monitoring, control or application
specific user interface.

8. Wearable devices refer to embedded systems which are incorporated into accessories and
apparels. It envisions the bonding of embedded technology in our day to day lives.

OBJECTIVE QUESTIONS
1. Embedded systems are
(a) General Purpose (b) Special Purpose
2. Embedded system is
(a) An electronic system (b) A pure mechanical system
(c)An electro-mechanical system (d) (a) or (c)
3. Which of the following is not true about embedded systems?
(a) Built around specialized hardware (b) Always contain an operating system
(c)Execution behavior may be deterministic (d) All of these (e) none of these
4. Which of the following is not an example of small scale embedded system?
(a) Electronic Barbie doll (b) Simple calculator
(c) Cell Phone (d) Electronic toy car

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 5. The first recognized modern embedded system is
(a) Apple computer (b) Apollo Guidance Computer
(c) Calculator (d) Radio navigation system
6. The first mass produced embedded system is
(a) Minuteman-I (b) Minuteman-II
(c) Autonetics D17 (d) Apollo Guidance Computer
7. Which of the following is (are) an intended purpose of embedded systems?
(a) Data collection (b) Data processing
(c) Data communication (d) All of these (e) None of these
8. Which of the following is an example of an embedded system for data communication?
(a) USB mass storage device (b) Network router (c) Digital camera
(d)Music player (e) All of these (f) None of these
9 . A digital multimeter is an example of embedded system for
(a) Data communication (b) Monitoring (c) Control
(d) All of these (e) None of these
10. Which of the following is an example of an embedded system for signal processing?
(a) Apple iPOD (b) Sandisk USB mass storage device
(c) both a and b (d) None of these

Reference Text Books:-

1. Introduction to Embedded Systems – Shibu K.V Mc Graw Hill

2. Computers as Components –Wayne Wolf-morgan Kaufmann publications

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Page 20
 IV ECE

EMBEDDED SYSTEM DESIGN

UNIT-II
TYPICAL EMBEDDED SYSTEM

Department of ECE
UNIT II:
Typical Embedded System:
Core of the Embedded System: General Purpose and Domain Specific Processors,
ASICs, PLDs, Commercial Off-The-Shelf Components (COTS), Memory: ROM, RAM,
Memory according to the type of Interface, Memory Shadowing, Memory selection
for Embedded Systems, Sensors and Actuators, Communication Interface: Onboard
and External Communication Interfaces.
 ES UNIT-2 Notes

ELEMENTS OF EMBEDDED SYSTEMS:

An embedded system is a combination of 3 things, Hardware Software Mechanical
Components and it is supposed to do one specific task only. A typical embedded system contains
a single chip controller which acts as the master brain of the system. Diagrammatically an
embedded system can be represented as follows:

Real World

Embedded systems are basically designed to regulate a physical variable (such

Microwave Oven) or to manipulate the state of some devices by sending some signals to the
actuators or devices connected to the output port system (such as temperature in Air
Conditioner), in response to the input signal provided by the end users or sensors which are
connected to the input ports. Hence the embedded systems can be viewed as a reactive
system.

Page 1
 ES UNIT-2 Notes

The control is achieved by processing the information coming from the sensors and user
interfaces and controlling some actuators that regulate the physical variable.
Keyboards, push button, switches, etc. are Examples of common user interface input
devices and LEDs, LCDs, Piezoelectric buzzers, etc examples for common user interface
output devices for a typical embedded system.The requirement of type of user interface
changes from application to application based on domain.
Some embedded systems do not require any manual intervention for their operation.
They automatically sense the input parameters from real world through sensors which are
connected at input port. The sensor information is passed to the processor after signal
conditioning and digitization. The core of the system performs some predefined operations
on input data with the help of embedded firmware in the system and sends some actuating
signals to the actuator connect connected to the output port of the system.
The memory of the system is responsible for holding the code (control algorithm and
other important configuration details). There are two types of memories are used in any
embedded system. Fixed memory (ROM) is used for storing code or program. The user
cannot change the firmware in this type of memory. The most common types of memories
used in embedded systems for control algorithm storage are
OTP, PROM, UVEPROM, EEPROM and FLASH
An embedded system without code (i.e. the control algorithm) implemented memory has
all the peripherals but is not capable of making decisions depending on the situational as well
as real world changes.
Memory for implementing the code may be present on the processor or may be
implemented as a separate chip interfacing the processor
In a controller based embedded system, the controller may contain internal memory for
storing code such controllers are called Micro-controllers with on-chip ROM, eg. Atmel
AT89C51.

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The Core of the Embedded Systems: The core of the embedded system falls into any one
of the following categories.


General Purpose and Domain Specific Processors
o Microprocessors

o Microcontrollers

o Digital Signal Processors


Programmable Logic Devices (PLDs)

Application Specific Integrated Circuits (ASICs)


Commercial off the shelf Components (COTS)

GENERAL PURPOSE AND DOMAIN SPECIFIC PROCESSOR:

Almost 80% of the embedded systems are processor/ controller based.
The processor may be microprocessor or a microcontroller or digital signal processor,
depending on the domain and application.
Microprocessor:
A silicon chip representing a Central Processing Unit (CPU), which is capable of
performing arithmetic as well as logical operations according to a pre-defined set of
Instructions, which is specific to the manufacturer

In general the CPU contains the Arithmetic and Logic Unit (ALU), Control Unit and
Working registers

Microprocessor is a dependant unit and it requires the combination of other hardware like
Memory, Timer Unit, and Interrupt Controller etc for proper functioning.

Intel claims the credit for developing the first Microprocessor unit Intel 4004, a 4 bit
processor which was released in Nov 1971

· Developers of microprocessors.
Intel – Intel 4004 – November 1971(4-bit)
Intel – Intel 4040.
Intel – Intel 8008 – April 1972.
Intel – Intel 8080 – April 1974(8-bit).
Motorola – Motorola 6800.
Intel – Intel 8085 – 1976.
Zilog - Z80 – July 1976

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Microcontroller:

A highly integrated silicon chip containing a CPU, scratch pad RAM, Special and
General purpose Register Arrays, On Chip ROM/FLASH memory for program storage,
Timer and Interrupt control units and dedicated I/O ports

Microcontrollers can be considered as a super set of Microprocessors


Microcontroller can be general purpose (like Intel 8051, designed for generic applications
and domains) or application specific (Like Automotive AVR from Atmel Corporation.
Designed specifically for automotive applications) 

Since a microcontroller contains all the necessary functional blocks for independent working,
they found greater place in the embedded domain in place of microprocessors

Microcontrollers are cheap, cost effective and are readily available in the market

Texas Instruments TMS 1000 is considered as the world‟s first microcontroller

Microprocessor Vs Microcontroller:

Microprocessor Microcontroller
A silicon chip representing a Central Processing Unit A microcontroller is a highly integrated chip that
(CPU), which is capable of performing arithmetic as contains a CPU, scratch pad RAM, Special and
well as logical operations according to a pre-defined set General purpose Register Arrays, On Chip
of Instructions ROM/FLASH memory for program storage, Timer
and Interrupt control units and dedicated I/O ports
It is a dependent unit. It requires the combination of It is a self contained unit and it doesn’t require
other chips like Timers, Program and data memory external Interrupt Controller, Timer, UART etc for
chips, Interrupt controllers etc for functioning its functioning

Most of the time general purpose in design and Mostly application oriented or domain specific
operation
Doesn‟t contain a built in I/O port. The I/O Port Most of the processors contain multiple built-in I/O
functionality needs to be implemented with the help of ports which can be operated as a single 8 or 16 or 32
external Programmable Peripheral Interface Chips like bit Port or as individual port pins
8255
Targeted for high end market where performance is Targeted for embedded market where performance is
important not so critical (At present this demarcation is invalid)

Limited power saving options compared to Includes lot of power saving features
microcontrollers

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General Purpose Processor (GPP) Vs Application Specific Instruction Set Processor (ASIP)


General Purpose Processor or GPP is a processor designed for general computational tasks


GPPs are produced in large volumes and targeting the general market. Due to the high
volume production, the per unit cost for a chip is low compared to ASIC or other specific
ICs

A typical general purpose processor contains an Arithmetic and Logic Unit (ALU) and Control
Unit (CU)


Application Specific Instruction Set processors (ASIPs) are processors with architecture
and instruction set optimized to specific domain/application requirements like Network
processing, Automotive, Telecom, media applications, digital signal processing, control
applications etc.

ASIPs fill the architectural spectrum between General Purpose Processors and Application
Specific Integrated Circuits (ASICs)


The need for an ASIP arises when the traditional general purpose processor are unable to meet the
increasing application needs


Some Microcontrollers (like Automotive AVR, USB AVR from Atmel), System on
Chips, Digital Signal Processors etc are examples of Application Specific Instruction Set
Processors (ASIPs)

ASIPs incorporate a processor and on-chip peripherals, demanded by the application requirement,
program and data memory

Digital Signal Processors (DSPs):

Powerful special purpose 8/16/32 bit microprocessors designed specifically to meet the
computational demands and power constraints of today's embedded audio, video, and
communications applications

Digital Signal Processors are 2 to 3 times faster than the general purpose microprocessors
in signal processing applications

DSPs implement algorithms in hardware which speeds up the execution whereas general
purpose processors implement the algorithm in firmware and the speed of execution
depends primarily on the clock for the processors

DSP can be viewed as a microchip designed for performing high speed computational
operations for „addition‟, „subtraction‟, „multiplication‟ and „division‟
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A typical Digital Signal Processor incorporates the following key units


Program Memory

Data Memory


Computational Engine

I/O Unit

Audio video signal processing, telecommunication and multimedia applications are

typical examples where DSP is employed

RISC V/s CISC Processors/Controllers:

RISC CISC
Lesser no. of instructions Greater no. of Instructions
Instruction Pipelining and increased execution Generally no instruction pipelining feature
speed
Orthogonal Instruction Set (Allows each instruction Non Orthogonal Instruction Set (All instructions
to operate on any register and use any addressing are not allowed to operate on any register and
mode) use any addressing mode. It is instruction
specific)
Operations are performed on registers only, the Operations are performed on registers or
only memory operations are load and store memory depending on the instruction

Large number of registers are available Limited no. of general purpose registers
Programmer needs to write more code to execute a . A programmer can achieve the desired
task since the instructions are simpler ones functionality with a single instruction which in
turn provides the effect of using more simpler
single instructions in RISC
Single, Fixed length Instructions Variable length Instructions

Less Silicon usage and pin count More silicon usage since more additional
decoder logic is required to implement the
complex instruction decoding.
With Harvard Architecture Can be Harvard or Von-Neumann Architecture

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Harvard V/s Von-Neumann Processor/Controller Architecture

The terms Harvard and Von-Neumann refers to the processor architecture design.

Microprocessors/controllers based on the Von-Neumann architecture shares a single

common bus for fetching both instructions and data. Program instructions and data are
stored in a common main memory

Microprocessors/controllers based on the Harvard architecture will have separate data bus and
instruction bus. This allows the data transfer and program fetching to occur simultaneously on both
buses

With Harvard architecture, the data memory can be read and written while the program memory is
being accessed. These separated data memory and code memory buses allow one instruction to
execute while the next instruction is fetched (“Pre-fetching”)

Harvard V/s Von-Neumann Processor/Controller Architecture:

Harvard Architecture Von-Neumann Architecture

Separate buses for Instruction and Data fetching Single shared bus for Instruction and Data
fetching
Easier to Pipeline, so high performance can be Low performance Compared to Harvard
achieved Architecture
Comparatively high cost Cheaper
No memory alignment problems Allows self modifying codes†
Since data memory and program memory are Since data memory and program memory
stored physically in different locations, no are stored physically in same chip, chances
chances for accidental corruption of program for accidental corruption of program
memory memory

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Big-endian V/s Little-endian processors:


Endianness specifies the order in which the data is stored in the memory by processor
operations in a multi byte system (Processors whose word size is greater than one byte).
Suppose the word length is two byte then data can be stored in memory in two different
ways

Higher order of data byte at the higher memory and lower order of data byte at
location just below the higher memory

Lower order of data byte at the higher memory and higher order of data byte at
location just below the higher memory


Little-endian means the lower-order byte of the data is stored in memory at the lowest
address, and the higher-order byte at the highest address. (The little end comes first)


Big-endian means the higher-order byte of the data is stored in memory at the lowest address,
and the lower-order byte at the highest address. (The big end comes first.)


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Load Store Operation & Instruction Pipelining:

The RISC processor instruction set is orthogonal and it operates on registers. The memory access
related operations are performed by the special instructions load and store. If the operand is
specified as memory location, the content of it is loaded to a register using the load instruction.
The instruction store stores data from a specified register to a specified memory location

Instruction
Pipelining

The conventional instruction execution by the processor follows the fetch-decode-

execute sequence

The „fetch‟ part fetches the instruction from program memory or code memory and
the decode part decodes the instruction to generate the necessary control signals

The execute stage reads the operands, perform ALU operations and stores the result.
In conventional program execution, the fetch and decode operations are performed in
sequence
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During the decode operation the memory address bus is available and if it possible to
effectively utilize it for an instruction fetch, the processing speed can be increased

In its simplest form instruction pipelining refers to the overlapped execution of

instructions

Application Specific Integrated Circuit (ASIC):

A microchip designed to perform a specific or unique application. It is used as
replacement to conventional general purpose logic chips.

ASIC integrates several functions into a single chip and thereby reduces the system
development cost

Most of the ASICs are proprietary products. As a single chip, ASIC consumes very small
area in the total system and thereby helps in the design of smaller systems with high
capabilities/functionalities.

ASICs can be pre-fabricated for a special application or it can be custom fabricated by

using the components from a re-usable „building block‟ library of components for a
particular customer application

Fabrication of ASICs requires a non-refundable initial investment (Non Recurring

Engineering (NRE) charges) for the process technology and configuration expenses

If the Non-Recurring Engineering Charges (NRE) is born by a third party and the
Application Specific Integrated Circuit (ASIC) is made openly available in the market,
the ASIC is referred as Application Specific Standard Product (ASSP)

The ASSP is marketed to multiple customers just as a general-purpose product , but to a

smaller number of customers since it is for a specific application.

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Some ASICs are proprietary products , the developers are not interested in revealing the
internal details.

Programmable Logic Devices (PLDs):


Logic devices provide specific functions, including device-to-device interfacing, data
communication, signal processing, data display, timing and control operations, and
almost every other function a system must perform.


Logic devices can be classified into two broad categories - Fixed and Programmable. The
circuits in a fixed logic device are permanent, they perform one function or set of
functions - once manufactured, they cannot be changed


Programmable logic devices (PLDs) offer customers a wide range of logic capacity,
features, speed, and voltage characteristics - and these devices can be re-configured to
perform any number of functions at any time


Designers can use inexpensive software tools to quickly develop, simulate, and test their
logic designs in PLD based design. The design can be quickly programmed into a device,
and immediately tested in a live circuit 


PLDs are based on re-writable memory technology and the device is reprogrammed to
change the design

Programmable Logic Devices (PLDs) – CPLDs and FPGA

Field Programmable Gate Arrays (FPGAs) and Complex Programmable Logic Devices
(CPLDs) are the two major types of programmable logic devices

FPGA:
FPGA is an IC designed to be configured by a designer after manufacturing.

FPGAs offer the highest amount of logic density, the most features, and the highest
performance.

Logic gate is Medium to high density ranging from 1K to 500K system gates

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These advanced FPGA devices also offer features such as built-in hardwired processors
(such as the IBM Power PC), substantial amounts of memory, clock management
systems, and support for many of the latest, very fast device-to-device signaling
technologies

Figure: FPGA Architecture

These advanced FPGA devices also offer features such as built-in hardwired processors,
substantial amounts of memory, clock management systems, and support for many of the
latest, very fast device-to-device signaling technologies.

FPGAs are used in a wide variety of applications ranging from data processing and
storage, to instrumentation, telecommunications, and digital signal processing

CPLD:

A complex programmable logic device (CPLD) is a programmable logic device with
complexity between that of PALs and FPGAs, and architectural features of both.

CPLDs, by contrast, offer much smaller amounts of logic - up to about 10,000 gates.

CPLDs offer very predictable timing characteristics and are therefore ideal for critical
control applications.

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CPLDs such as the Xilinx CoolRunner series also require extremely low amounts of
power and are very inexpensive, making them ideal for cost-sensitive, battery-operated,
portable applications such as mobile phones and digital handheld assistants.

ADVANTAGES OF PLDs:

• PLDs offer customer much more flexibility during design cycle

• PLDSs do not require long lead times for prototype or production-the PLDs are already
on a distributor‟s self and ready for shipment

• PLDs do not require customers to pay for large NRE costs and purchase expensive mask
sets

• PLDs allow customers to order just the number of parts required when they need them.
allowing them to control inventory.

• PLDs are reprogrammable even after a piece of equipment is shipped to a customer.

• The manufacturers able to add new features or upgrade the PLD based products that are
in the field by uploading new programming file

Commercial off the Shelf Component (COTS):

A Commercial off-the-shelf (COTS) product is one which is used „as-is‟

COTS products are designed in such a way to provide easy integration and
interoperability with existing system components

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Typical examples for the COTS hardware unit are Remote Controlled Toy Car control
unit including the RF Circuitry part, High performance, high frequency microwave
electronics (2 to 200 GHz), High bandwidth analog-to-digital converters, Devices and
components for operation at very high temperatures, Electro-optic IR imaging arrays,
UV/IR Detectors etc

A COTS component in turn contains a General Purpose Processor (GPP) or Application

Specific Instruction Set Processor (ASIP) or Application Specific Integrated Chip
(ASIC)/Application Specific Standard Product (ASSP) or Programmable Logic Device
(PLD)

The major advantage of using COTS is that they are readily available in the market,
cheap and a developer can cut down his/her development time to a great extend.

There is no need to design the module yourself and write the firmware.

Everything will be readily supplied by the COTs manufacturer.

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 ES UNIT-2 Notes

The major problem faced by the end-user is that there are no operational and
manufacturing standards.

The major drawback of using COTs component in embedded design is that the
manufacturer may withdraw the product or discontinue the production of the COTs at any
time if rapid change in technology

This problem adversely affect a commercial manufacturer of the embedded system which
makes use of the specific COTs

Memory:
Memory is an important part of an embedded system. The memory used in embedded
system can be either Program Storage Memory (ROM) or Data memory (RAM)

Certain Embedded processors/controllers contain built in program memory and data

memory and this memory is known as on-chip memory

Certain Embedded processors/controllers do not contain sufficient memory inside the

chip and requires external memory called off-chip memory or external memory.

Memory – Program Storage Memory:


Stores the program instructions


Retains its contents even after the power to it is turned off. It is generally known as Non
volatile storage memory


Depending on the fabrication, erasing and programming techniques they are classified into

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 ES UNIT-2 Notes

FLASH Code Memory NVRAM

(ROM)

PROM Masked ROM

EPROM EEPROM
(OTP) (MROM)

1. Masked ROM (MROM):

One-time programmable memory.

Uses hardwired technology for storing data.

The device is factory programmed by masking and metallization process according to

the data provided by the end user.

The primary advantage of MROM is low cost for high volume production.

MROM is the least expensive type of solid state memory.

Different mechanisms are used for the masking process of the ROM, like

Creation of an enhancement or depletion mode transistor through channel implant


By creating the memory cell either using a standard transistor or a high threshold
transistor.


In the high threshold mode, the supply voltage required to turn ON the transistor is
above the normal ROM IC operating voltage.


This ensures that the transistor is always off and the memory cell stores always logic
0.

The limitation with MROM based firmware storage is the inability to modify the
device firmware against firmware upgrades.

The MROM is permanent in bit storage, it is not possible to alter the bit information

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2. Programmable Read Only Memory (PROM) / (OTP) :

It is not pre-programmed by the manufacturer

The end user is responsible for Programming these devices.

PROM/OTP has nichrome or polysilicon wires arranged in a matrix, these wires can be
functionally viewed as fuses.

It is programmed by a PROM programmer which selectively burns the fuses according to

the bit pattern to be stored.

Fuses which are not blown/burned represents a logic “1” where as fuses which are
blown/burned represents a logic “0”.The default state is logic “1”.

OTP is widely used for commercial production of embedded systems whose proto-typed
versions are proven and the code is finalized.

It is a low cost solution for commercial production.

OTPs cannot be reprogrammed.

3. Erasable Programmable Read Only Memory (EPROM):

Erasable Programmable Read Only (EPROM) memory gives the flexibility to re-program
the same chip.

During development phase , code is subject to continuous changes and using an OTP is
not economical.

EPROM stores the bit information by charging the floating gate of an FET

Bit information is stored by using an EPROM Programmer, which applies high voltage to
charge the floating gate

EPROM contains a quartz crystal window for erasing the stored information. If the
window is exposed to Ultra violet rays for a fixed duration, the entire memory will be
erased

Even though the EPROM chip is flexible in terms of re-programmability, it needs to be

taken out of the circuit board and needs to be put in a UV eraser device for 20 to 30
minutes

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4. Electrically Erasable Programmable Read Only Memory (EEPROM):

Erasable Programmable Read Only (EPROM) memory gives the flexibility to re-program
the same chip using electrical signals

The information contained in the EEPROM memory can be altered by using electrical
signals at the register/Byte level

They can be erased and reprogrammed within the circuit

These chips include a chip erase mode and in this mode they can be erased in a few
milliseconds

It provides greater flexibility for system design

The only limitation is their capacity is limited when compared with the standard ROM (A
few kilobytes).

5. Program Storage Memory – FLASH

FLASH memory is a variation of EEPROM technology.

FALSH is the latest ROM technology and is the most popular ROM technology used in
today‟s embedded designs

It combines the re-programmability of EEPROM and the high capacity of standard

ROMs

FLASH memory is organized as sectors (blocks) or pages

FLASH memory stores information in an array of floating gate MOSFET transistors

The erasing of memory can be done at sector level or page level without affecting the
other sectors or pages

Each sector/page should be erased before re-programming

The typical erasable capacity of FLASH is of the order of a few 1000 cycles.

Read-Write Memory/Random Access Memory (RAM)


RAM is the data memory or working memory of the controller/processor

RAM is volatile, meaning when the power is turned off, all the contents are destroyed

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
RAM is a direct access memory, meaning we can access the desired memory location
directly without the need for traversing through the entire memory locations to reach the
desired memory position (i.e. Random Access of memory location) 

Read/Write
Memory (RAM)

SRAM DRAM NVRAM

1. Static RAM (SRAM):


Static RAM stores data in the form of Voltage.

They are made up of flip-flops


In typical implementation, an SRAM cell (bit) is realized
using 6 transistors (or 6 MOSFETs).


Four of the transistors are used for building the latch (flip-flop)
part of the memory cell and 2 for controlling the access.

Static RAM is the fastest form of RAM available. 

SRAM is fast in operation due to its resistive networking and switching capabilities

2. Dynamic RAM (DRAM)


Dynamic RAM stores data in the form of charge. They are made up of MOS transistor gates


The advantages of DRAM are its high density and low cost compared to
SRAM


The disadvantage is that since the information is stored as charge it
gets leaked off with time and to prevent this they need to be
refreshed periodically


Special circuits called DRAM controllers are used for the refreshing operation. The refresh

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 ES UNIT-2 Notes
operation is done periodically in milliseconds interval

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 ES UNIT-2 Notes

SRAM Vs DRAM:

SRAM Cell DRAM Cell

Made up of 6 CMOS transistors (MOSFET) Made up of a MOSFET and a capacitor

Doesn‟t Require refreshing Requires refreshing
Low capacity (Less dense) High Capacity (Highly dense)
More expensive Less Expensive
Fast in operation. Typical access time is 10ns Slow in operation due to refresh
requirements. Typical access time is 60ns.
Write operation is faster than read operation.

3. Non Volatile RAM (NVRAM):


Random access memory with battery backup


It contains Static RAM based memory and a minute battery for providing supply to the
memory in the absence of external power supply

The memory and battery are packed together in a single package


NVRAM is used for the non volatile storage of results of operations or for setting up of flags
etc

The life span of NVRAM is expected to be around 10 years

DS1744 from Maxim/Dallas is an example for 32KB NVRAM

Memory selection for Embedded Systems:

• Selection of suitable memory is very much essential step in high performance
applications, because the challenges and limitations of the system performance are often
decided upon the type of memory architecture.

• Systems memory requirement depend primarily on the nature of the application that is
planned to run on the system.

• Memory performance and capacity requirement for low cost systems are small, whereas
memory throughput can be the most critical requirement in a complex, high performance
system.

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• Following are the factors that are to be considered while selecting the memory devices,

Speed

Data storage size and capacity


Bus width


Power consumption


Cost

Embedded system requirements:


Program memory for holding control algorithm or embedded OS and the applications
designed to run on top of OS.

Data memory for holding variables and temporary data during task execution.

Memory for holding non-volatile data which are modifiable by the application.

The memory requirement for an embedded system in terms of RAM (SRAM/DRAM)

and ROM (EEPROM/FLASH/NVRAM) is solely dependent on the type of the embedded
system and applications for which it is designed.

There is no hard and fast rule for calculating the memory requirements.

Lot of factors need to be considered for selecting the type and size of memory for
embedded system.

Example: Design of Embedded based electronic Toy.

SOC or microcontroller can be selected based type(RAM &ROM) and size of on-chip
memory for the design of embedded system.

If on-chip memory is not sufficient then how much external memory need to be
interfaced.

If the ES design is RTOS based ,the RTOS requires certain amount of RAM for its
execution and ROM for storing RTOS Image.

The RTOS suppliers give amount of run time RAM requirements and program memory
requirements for the RTOS.

Additional memory is required for executing user tasks and user applications.

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On a safer side, always add a buffer value to the total estimated RAM and ROM
requirements.

A smart phone device with windows OS is typical example for embedded device requires
say 512MB RAM and 1GB ROM are minimum requirements for running the mobile
device.

And additional RAM &ROM memory is required for running user applications.

So estimate the memory requirements for install and run the user applications without
facing memory space.

Memory can be selected based on size of the memory ,data bus and address bus size of
the processor/controller.

Memory chips are available in standard sizes like 512 bytes,1KB,2KB ,4KB,8KB,16 KB
….1MB etc.

FLASH memory is the popular choice for ROM in embedded applications .

It is powerful and cost-effective solid state storage technology for mobile electronic
devices and other consumer applications.

Flash memory available in two major variants

1. NAND FLASH 2. NOR FLASH

NAND FLASH is a high density low cost non-volatile storage memory.

NOR FLASH is less dense and slightly expensive but supports Execute in place(XIP).

The XIP technology allows the execution of code memory from ROM itself without the
need for copying it to the RAM.

The EEPROM is available as either serial interface or parallel interface chip.

If the processor/controller of the device supports serial interface and the amount of data
to write and read to and from the device (Serial EEPROM) is less.

The serial EEPROM saves the address space of the total system.

The memory capacity of the serial EEPROM is expressed in bits or Kilobits.

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Industrial grade memory chips are used in certain embedded devices may be operated at
extreme environmental conditions like high temperature.

Sensors & Actuators:

• Embedded system is in constant interaction with the real world

• Controlling/monitoring functions executed by the embedded system is achieved in

accordance with the changes happening to the Real World.

• The changes in the system environment or variables are detected by the sensors
connected to the input port of the embedded system.

• If the embedded system is designed for any controlling purpose, the system will produce
some changes in controlling variable to bring the controlled variable to the desired value.

• It is achieved through an actuator connected to the out port of the embedded system.

Sensor:
A transducer device which converts energy from one form to another for any
measurement or control purpose. Sensors acts as input device

Eg. Hall Effect Sensor which measures the distance between the cushion and magnet in
the Smart Running shoes from adidas

Example: IR, humidity , PIR(passive infra red) , ultrasonic , piezoelectric , smoke

sensors

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 ES UNIT-2 Notes

Actuator:

A form of transducer device (mechanical or

electrical) which converts signals to
corresponding physical action (motion).
Actuator acts as an output device

Eg. Micro motor actuator which adjusts the

position of the cushioning element in the
Smart Running shoes from adidas

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 ES UNIT-2 Notes

Communication Interface:
• Communication interface is essential for communicating with various subsystems of the
embedded system and with the external world

• The communication interface can be viewed in two different perspectives; namely;

1. Device/board level communication interface (Onboard Communication Interface)

2. Product level communication interface (External Communication Interface)

1. Device/board level communication interface (Onboard Communication Interface):

The communication channel which interconnects the various components within an
embedded product is referred as Device/board level communication interface (Onboard
Communication Interface)

 Examples: Serial interfaces like I2C, SPI, UART, 1-Wire etc and Parallel bus interface

2. Product level communication interface (External Communication Interface):

The „Product level communication interface‟ (External Communication Interface) is

responsible for data transfer between the embedded system and other devices or modules. The
external communication interface can be either wired media or wireless media and it can be a
serial or parallel interface.

 Examples for wireless communication interface: Infrared (IR), Bluetooth (BT), Wireless
LAN (Wi-Fi), Radio Frequency waves (RF), GPRS etc.
 Examples for wired interfaces: RS-232C/RS-422/RS 485, USB, Ethernet (TCP-IP), IEEE
1394 port, Parallel port etc.

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1. Device/board level or On board communication interfaces: The

Communication channel which interconnects the various components within an embedded
product is referred as Device/board level communication interface (Onboard Communication
Interface)

These are classified into

I2C (Inter Integrated Circuit) Bus

SPI (Serial Peripheral Interface) Bus

UART (Universal Asynchronous Receiver Transmitter)
1-Wires Interface
Parallel Interface

1 I2C (Inter Integrated Circuit) Bus:

Inter Integrated Circuit Bus (I2C - Pronounced „I square C‟) is a synchronous bi-directional half
duplex (one-directional communication at a given point of time) two wire serial interface
bus.The concept of I2C bus was developed by „Philips Semiconductors‟ in the early 1980‟s. The
original intention of I2C was to provide an easy way of connection between a
microprocessor/microcontroller system and the peripheral chips in Television sets.
Page 27
 ES UNIT-2 Notes

The I2C bus is comprised of two bus lines, namely; Serial Clock – SCL and Serial Data – SDA.

SCL line is responsible for generating synchronization clock pulses and SDA is
responsible for transmitting the serial data across devices.I2C bus is a shared bus system to
which many number of I2C devices can be connected. Devices connected to the I2C bus can act
as either „Master‟ device or „Slave‟ device.
The „Master‟ device is responsible for controlling the communication by
initiating/terminating data transfer, sending data and generating necessary synchronization clock
pulses.

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 ES UNIT-2 Notes

Slave devices wait for the commands from the master and respond upon receiving the
commands. Master and „Slave‟ devices can act as either transmitter or receiver. Regardless
whether a master is acting as transmitter or receiver, the synchronization clock signal is
generated by the „Master‟ device only.I2C supports multi masters on the same bus.
The sequence of operation for communicating with an I2C slave device is:
1. Master device pulls the clock line (SCL) of the bus to „HIGH‟
2. Master device pulls the data line (SDA) „LOW‟, when the SCL line is at logic
„HIGH‟ (This is the „Start‟ condition for data transfer)

3. Master sends the address (7 bit or 10 bit wide) of the „Slave‟ device to which it wants to
communicate, over the SDA line.
4. Clock pulses are generated at the SCL line for synchronizing the bit reception by the
slave device.
5. The MSB of the data is always transmitted first.
6. The data in the bus is valid during the „HIGH‟ period of the clock signal
7. In normal data transfer, the data line only changes state when the clock is low.
8. Master waits for the acknowledgement bit from the slave device whose address is sent on
the bus along with the Read/Write operation command.

Page 29
 ES UNIT-2 Notes

9. Slave devices connected to the bus compares the address received with the address
assigned to them
10. The Slave device with the address requested by the master device responds by sending an
acknowledge bit (Bit value =1) over the SDA line
11. Upon receiving the acknowledge bit, master sends the 8bit data to the slave device over
SDA line, if the requested operation is „Write to device‟.
12. If the requested operation is „Read from device‟, the slave device sends data to the
master over the SDA line.
13. Master waits for the acknowledgement bit from the device upon byte transfer complete
for a write operation and sends an acknowledge bit to the slave device for a read
operation
14. Master terminates the transfer by pulling the SDA line „HIGH‟ when the clock line SCL
is at logic „HIGH‟ (Indicating the „STOP‟ condition).

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 ES UNIT-2 Notes

Serial Peripheral Interface (SPI) Bus:

The Serial Peripheral Interface Bus (SPI) is a synchronous bi-directional full duplex four wire
serial interface bus. The concept of SPI is introduced by Motorola.SPI is a single master multi-
slave system.

It is possible to have a system where more than one SPI device can be master, provided
the condition only one master device is active at any given point of time, is satisfied.

SPI is used to send data between Microcontrollers and small peripherals such as shift
registers, sensors, and SD cards.

SPI requires four signal lines for communication. They are:

Master Out Slave In (MOSI): Signal line carrying the data from master to slave device. It is
also known as Slave Input/Slave Data In (SI/SDI)
Master In Slave Out (MISO): Signal line carrying the data from slave to master device. It is
also known as Slave Output (SO/SDO) Page 31
 ES UNIT-2 Notes

Serial Clock (SCLK): Signal line carrying the clock signals

Slave Select (SS): Signal line for slave device select. It is an active low signal.
The master device is responsible for generating the clock signal.
Master device selects the required slave device by asserting the corresponding slave devices
slave select signal „LOW‟.
 The data out line (MISO) of all the slave devices when not selected floats at high impedance
state
 The serial data transmission through SPI Bus is fully configurable.
 SPI devices contain certain set of registers for holding these configurations.
 The Serial Peripheral Control Register holds the various configuration parameters like
master/slave selection for the device, baudrate selection for communication, clock signal
control etc.
 The status register holds the status of various conditions for transmission and reception.SPI
works on the principle of „Shift Register‟.
 The master and slave devices contain a special shift register for the data to transmit or
receive.
 The size of the shift register is device dependent. Normally it is a multiple of 8.

 During transmission from the master to slave, the data in the master‟s shift register is
shifted out to the MOSI pin and it enters the shift register of the slave device through the
MOSI pin of the slave device.
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 ES UNIT-2 Notes

 At the same time the shifted out data bit from the slave device’s shift register enters the
shift register of the master device through MISO pin

I2C V/S SPI:

Page 33
 ES UNIT-2 Notes

1-wire interface (protocol)

1- Wire is a device communications bus system designed by Dallas Semiconductor Corp. that
provides low-speed data, signaling, and power over a single conductor.

1-Wire is similar in concept to I²C, but with lower data rates and longer range. It is typically used
to communicate with small inexpensive devices such as digital thermometers and weather
instruments.
One distinctive feature of the bus is the possibility of using only two wires: data and ground.
To accomplish this, 1-Wire devices include an 800 pF capacitor to store charge, and to power the
device during periods when the data line isactive
There is always one master in overall charge, which may be a PC or a microcontroller.
The master initiates activity on the bus, simplifying the avoidance of collisions on the bus.
Protocols are built into the software to detect collisions. After a collision, the master retries the
required communication.

Many devices can share the same bus. Each device on the bus has a unique 64-bit serial
number. The least significant byte of the serial number is an 8-bit number that tells the type of
the device. The most significant byte is a standard (for the 1-wire bus) 8-bit CRC.
The master starts a transmission with a reset pulse, which pulls the wire to 0 volts for at least 480
µs. This resets every slave device on the bus. After that, any slave device, if present, shows that
it exists with a "presence" pulse: it holds the bus low for at least 60 µs after the master releases
the bus.
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 ES UNIT-2 Notes

To send a "1", the bus master sends a very brief (1– 15 µs) low pulse. To send a "0", the
master sends a 60 µs low pulse.When receiving data, the master start sends a 1–15-µs 0-volt
pulse to slave each bit. If the transmitting does unit wants to send a "1", it to the nothing, and the
bus goes transmitting pulled-up voltage. If the "0", it pulls slave wants to send the data line to
ground for 60 µs.

PARALLEL COMMUNICATION:
In data transmission, parallel communication is a method of conveying multiple binary
digits (bits) simultaneously. It contrasts with communication. The communication channel is the
number of electrical conductors used at the physical layer to convey bits.
Parallel communication implies more than one such conductor. For example, an 8-bit
parallel channel will convey eight bits (or a byte) simultaneously, whereas a serial channel would
convey those same bits sequentially, one at a time. Parallel communication is and always has
been widely used within integrated circuits, in peripheral buses, and in memory devices such as
RAM.

2. Product level communication interface (External Communication

Interface): The Product level communication interface‟ (External Communication Interface) is

responsible for data transfer between the embedded system and other devices or modules

It is classified into two types

1. Wired communication interface
2. Wireless communication interface:

1. Wired communication interface: Wired communication interface is an interface used to

transfer information over a wired network.
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 ES UNIT-2 Notes

It is classified into following types.

1. RS-232C/RS-422/RS 485

2. USB

RS-232C:
 RS-232 C (Recommended Standard number 232, revision C from the Electronic Industry
Association) is a legacy, full duplex, wired, asynchronous serial communication interface
 RS-232 extends the UART communication signals for external data communication.
 UART uses the standard TTL/CMOS logic (Logic „High‟ corresponds to bit value 1 and
Logic „LOW‟ corresponds to bit value 0) for bit transmission whereas RS232 use the EIA
standard for bit transmission.
 As per EIA standard, a logic „0‟ is represented with voltage between +3 and +25V and a
logic „1‟ is represented with voltage between -3 and -25V.
 In EIA standard, logic „0‟ is known as „Space‟ and logic „1‟ as „Mark‟.

The RS232 interface define various handshaking and control signals for communication
apart from the „Transmit‟ and „Receive‟ signal lines for data communication

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 ES UNIT-2 Notes

RS-232 supports two different types of connectors, namely; DB-9: 9-Pin connector and DB-25:
25-Pin connector.

Fig: DB-25:25-Pin connector.

Fig: DB-9:9-Pin connector.

Page 37
 ES UNIT-2 Notes


RS-232 is a point-to-point communication interface and the devices involved in RS-232
communication are called „Data Terminal Equipment (DTE)‟ and „Data Communication
Equipment (DCE)‟.

If no data flow control is required, only TXD and RXD signal lines and ground line (GND)
are required for data transmission and reception.

The RXD pin of DCE should be connected to the TXD pin of DTE and vice versa for proper
data transmission. 

If hardware data flow control is required for serial transmission, various control signal lines
of the RS-232 connection are used appropriately.

The control signals are implemented mainly for modem communication and some of them
may be irrelevant for other type of devices.

The Request to Send (RTS) and Clear To Send (CTS) signals co-ordinate the communication
between DTE and DCE.

Whenever the DTE has a data to send, it activates the RTS line and if the DCE is ready to
accept the data, it activates the CTS line.

The Data Terminal Ready (DTR) signal is activated by DTE when it is ready to accept data.

The Data Set Ready (DSR) is activated by DCE when it is ready for establishing a
communication link.

DTR should be in the activated state before the activation of DSR.

The Data Carrier Detect (DCD) is used by the DCE to indicate the DTE that a good signal
Page is
38
 ES UNIT-2 Notes
being received.

Page 39
 ES UNIT-2 Notes


Ring Indicator (RI) is a modem specific signal line for indicating an incoming call on the
telephone line.

As per the EIA standard RS-232 C supports baudrates up to 20Kbps (Upper limit 19.2Kbps).

The commonly used baudrates by devices are 300bps, 1200bps, 2400bps, 9600bps,
11.52Kbps and 19.2Kbps.

The maximum operating distance supported in RS-232 communication is 50 feet at the
highest supported baudrate.

Embedded devices contain a UART for serial communication and they generate signal levels
conforming to TTL/CMOS logic.

A level translator IC like MAX 232 from Maxim Dallas semiconductor is used for converting
the signal lines from the UART to RS-232 signal lines for communication.

On the receiving side the received data is converted back to digital logic level by a converter
IC.

Converter chips contain converters for both transmitter and receiver.

RS-232 uses single ended data transfer and supports only point-to-point communication and
not suitable for multi-drop communication.

USB (UNIVERSAL SERIAL BUS):

 External Bus Standard.

 Allows connection of peripheral devices.
 Connects Devices such as keyboards, mice, scanners, printers, joysticks, audio
devices, disks.
 Facilitates transfers of data at 480 (USB 2.0 only), 12 or 1.5 Mb/s (mega-
bits/second).
 Developed by a Special Interest Group including Intel, Microsoft, Compact, DEC,
IBM, Northern Telecom and NEC originally in 1994.
 Low-Speed: 10 – 100 kb/s
 1.5 Mb/s signaling bit rate
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 ES UNIT-2 Notes
 Full-Speed: 500 kb/s – 10 Mb/s 12 Mb/s signaling bit rate
 High-Speed: 400 Mb/s

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 ES UNIT-2 Notes

 480 Mb/s signaling bit rate

 NRZI with bit stuffing used

 SYNC field present for every packet

 There exist two pre-defined connectors in any USB system - Series “A” and Series “B”
Connectors.

 Series “A” cable: Connects USB devices to a hub port.

 Series “B” cable: Connects detachable devices (hot- swappable)

Bus Topology:

 Connects computer to peripheral devices.

 Ultimately intended to replace parallel and serial ports
 Tiered Star Topology
 All devices are linked to a common point referred to as the root hub.
7


Specification allows for up to 127 (2 -1) different devices.

 Four wire cable serves as interconnect of system - power, ground and two differential
signaling lines.
 USB is a polled bus-all transactions are initiated by host.
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 ES UNIT-2 Notes

USB HOST: Device that controls entire system usually a PC of some form. Processes data
arriving to and from the USB port.

USB HUB: Tests for new devices and maintains status information of child devices.Serve as
repeaters, boosting strength of up and downstream signals. Electrically isolates devices from one
another - allowing an expanded number of devices.
2.Wireless communication interface : Wireless communication interface is an interface used to
transmission of information over a distance without help of wires, cables or any other forms of
electrical conductors.

They are basically classified into following types

1. Infrared
2. Bluetooth
3. Wi-Fi
4. Zigbee
5. GPRS

INFRARED:

 Infrared is a certain region in the light spectrum

 Ranges from .7µ to 1000µ or .1mm

 Broken into near, mid, and far infrared

 One step up on the light spectrum from visible light

 Measure of heat

Most of the thermal radiation emitted by objects near room temperature is infrared. Infrared
radiation is used in industrial, scientific, and medical applications. Night-vision devices using
active near-infrared illumination allow people or animals to be observed without the observer
being detected.
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 ES UNIT-2 Notes

IR transmission:
The transmitter of an IR LED inside its circuit, which emits infrared light for every electric pulse
given to it. This pulse is generated as a button on the remote is pressed, thus completing the
circuit, providing bias to the LED.

The LED on being biased emits light of the wavelength of 940nm as a series of pulses,
corresponding to the button pressed. However since along with the IR LED many other sources
of infrared light such as us human beings, light bulbs, sun, etc, the transmitted information can be
interfered. A solution to this problem is by modulation. The transmitted signal is modulated using
a carrier frequency of 38 KHz (or any other frequency between 36 to 46 KHz). The IR LED is
made to oscillate at this frequency for the time duration of the pulse. The information or the light
signals are pulse width modulated and are contained in the 38 KHz frequency.

IR supports data rates ranging from 9600bits/second to 16Mbps

Serial infrared: 9600bps to 115.2 kbps

Medium infrared: 0.576Mbps to 1.152 Mbps

Fast infrared: 4Mbps

BLUETOOTH:

Bluetooth is a wireless technology standard for short distances (using short-wavelength UHF
band from 2.4 to 2.485 GHz)for exchanging data over radio waves in the ISM and mobile
devices, and building personal area networks (PANs).Invented by telecom vendor Ericsson in
1994, it was originally conceived as a wireless alternative to RS- 232 data cables.

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 ES UNIT-2 Notes

Bluetooth uses a radio technology called frequency- hopping spread spectrum. Bluetooth
divides transmitted data into packets, and transmits each packet on one of 79 designated
Bluetooth channels. Each channel has a bandwidth of 1 MHz. It usually performs 800 hops per
second, with Adaptive Frequency-Hopping (AFH) enabled

Originally, Gaussian frequency-shift keying (GFSK) modulation was the only modulation
scheme available. Since the introduction of Bluetooth 2.0+EDR, π/4-DQPSK (Differential
Quadrature Phase Shift Keying) and 8DPSK modulation may also be used between compatible
devices. Bluetooth is a packet-based protocol with a master- slave structure. One master may
communicate with up to seven slaves in a piconet. All devices share the master's clock. Packet
exchange is based on the basic clock, defined by the master, which ticks at312.5 µs intervals.

A master BR/EDR Bluetooth device can communicate with a maximum of seven devices
in a piconet (an ad-hoc computer network using Bluetooth technology), though not all devices
reach this maximum. The devices can switch roles, by agreement, and the slave can become the
master (for example, a headset initiating a connection to a phone necessarily begins as master—
as initiator of the connection—but may subsequently operate as slave).

Wi-Fi:
 Wi-Fi is the name of a popular wireless networking technology that uses radio waves to
provide wireless high-speed Internet and network connections
 Wi-Fi follows the IEEE 802.11 standard
 Wi-Fi is intended for network communication and it supports Internet Protocol (IP) based
communication
 Wi-Fi based communications require an intermediate agent called Wi-Fi router/Wireless
Access point to manage the communications.
 The Wi-Fi router is responsible for restricting the access to a network, assigning IP address to
devices on the network, routing data packets to the intended devices on the network.

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 ES UNIT-2 Notes

 Wi-Fi enabled devices contain a wireless adaptor for transmitting and receiving data in
the form of radio signals through an antenna.
 Wi-Fi operates at 2.4GHZ or 5GHZ of radio spectrum and they co-exist with other ISM
band devices like Bluetooth.
 A Wi-Fi network is identified with a Service Set Identifier (SSID). A Wi-Fi device can
connect to a network by selecting the SSID of the network and by providing the
credentials if the network is security enabled
 Wi-Fi networks implements different security mechanisms for authentication and data
transfer.
 Wireless Equivalency Protocol (WEP), Wireless Protected Access (WPA) etc are some of
the security mechanisms supported by Wi-Fi networks in data communication.

ZIGBEE:

Zigbee is an IEEE 802.15.4-based specification for a suite of high- level communication

protocols used to create personal area networks with small, low-power digital radios, such as for
home automation, medical device data collection, and other low-power low-bandwidth needs,
designed for small scale projects which need wireless connection.Hence, zigbee is a low-power,
low data rate, and close proximity (i.e., personal area) wireless ad hoc network.The technology
Page 46
 ES UNIT-2 Notes

defined by the zigbee specification is intended to be simpler and less expensive than other
wireless personal area networks (WPANs), such as Bluetooth or Wi-Fi . Applications include
wireless light switches, electrical meters with in-home-displays, traffic management systems, and
other consumer and industrial equipment that require short-range low- rate wireless data transfer.
Its low power consumption limits transmission distances to 10– 100 meters line-of-sight,
depending on power output and environmental characteristics. Zigbee devices can transmit data
over long distances by passing data through a mesh network of intermediate devices to reach
more distant ones.

Zigbee Coordinator: The zigbee coordinator acts as the root of the zigbee network. The ZC is
responsible for initiating the Zigbee network and it has the capability to store information about
the network.

Zigbee Router: Responsible for passing information from device to another device or to another
ZR.

Zigbee end device:End device containing zigbee functionality for data communication. It can
talk only with a ZR or ZC and doesn’t have the capability to act as a mediator for transferring
data from one device to another.

Zigbee supports an operating distance of up to 100 metres at a data rate of 20 to 250 Kbps.

Page 47
General Packet Radio Service(GPRS):

General Packet Radio Service (GPRS) is a packet oriented mobile data service on the 2G and
3G cellular communication system's global system for mobile communications (GSM).GPRS
was originally standardized by European Telecommunications Standards Institute (ETSI) GPRS
usage is typically charged based on volume of data transferred, contrasting with circuit switched
data, which is usually billed per minute of connection time. Sometimes billing time is broken
down to every third of a minute. Usage above the bundle cap is charged per megabyte, speed
limited, or disallowed.

Services offered:

 GPRS extends the GSM Packet circuit switched data capabilities and makes the
following services possible:
 SMS messaging and broadcasting
 "Always on" internet access
 Multimedia messaging service (MMS)
 Push-to-talk over cellular (PoC)
 Instant messaging and presence-wireless village Internet applications for smart devices
through wireless application protocol (WAP).
 Point-to-point (P2P) service: inter-networking with the Internet (IP).
 Point-to-multipoint (P2M) service]: point-to- multipoint multicast and point-to-multipoint
group calls.
 UNIT-3

EMBEDDED FIRMWARE
UNIT III:
Embedded Firmware:
Reset Circuit, Brown-out Protection Circuit, Oscillator Unit, Real Time Clock,
Watchdog Timer, Embedded Firmware Design Approaches and Development
Languages.
Text Book:-

1. Introduction to Embedded Systems – Shibu K.V Mc Graw Hill

 Embedded Firmware
The control algorithm (Program instructions) and or the configuration
settings that an embedded system developer dumps into the code (Program)
memory of the embedded system
It is an un-avoidable part of an embedded system.
The embedded firmware can be developed in various methods like
o Write the program in high level languages like Embedded C/C++
using an Integrated Development Environment (The IDE will contain
an editor, compiler, linker, debugger, simulator etc. IDEs are different
for different family of processors/controllers.
o Write the program in Assembly Language using the Instructions
Supported by your application’s target processor/controller

Embedded Firmware Design & Development:

The embedded firmware is responsible for controlling the various

peripherals of the embedded hardware and generating response in
accordance with the functional requirements of the product.

The embedded firmware is the master brain of the embedded system.

The embedded firmware imparts intelligence to an Embedded system.

It is a onetime process and it can happen at any stage.

The product starts functioning properly once the intelligence imparted to the
product by embedding the firmware in the hardware.

The product will continue serving the assigned task till hardware breakdown
occurs or a corruption in embedded firmware.

In case of hardware breakdown , the damaged component may need to be

replaced and for firmware corruptions the firmware should be re-loaded, to
bring back the embedded product to the normal functioning.
 The embedded firmware is usually stored in a permanent memory (ROM)
and it is non alterable by end users.

Designing Embedded firmware requires understanding of the particular

embedded product hardware, like various component interfacing, memory
map details, I/O port details, configuration and register details of various
hardware chips used and some programming language (either low level
Assembly Language or High level language like C/C++ or a combination of
the two)

The embedded firmware development process starts with the conversion of

the firmware requirements into a program model using various modeling
tools.

The firmware design approaches for embedded product is purely dependent

on the complexity of the functions to be performed and speed of operation
required.

There exist two basic approaches for the design and implementation of
embedded firmware, namely;

 The Super loop based approach

 The Embedded Operating System based approach

The decision on which approach needs to be adopted for firmware

development is purely dependent on the complexity and system
requirements

1. Embedded firmware Design Approaches – The Super loop:

The Super loop based firmware development approach is Suitable for

applications that are not time critical and where the response time is not so
important (Embedded systems where missing deadlines are acceptable).
 It is very similar to a conventional procedural programming where the code
is executed task by task

The tasks are executed in a never ending loop.

The task listed on top on the program code is executed first and the tasks just
below the top are executed after completing the first task

A typical super loop implementation will look like:

1. Configure the common parameters and perform initialization for

various hardware components memory, registers etc.
2. Start the first task and execute it
3. Execute the second task
4. Execute the next task
5. :
6. :
7. Execute the last defined task
8. Jump back to the first task and follow the same flow.
The ‘C’ program code for the super loop is given below

void main ()
{
Configurations ();
Initializations ();
while (1)
{
Task 1 ();
Task 2 ();
:
 :
Task n ();
}
}
Pros:

Doesn’t require an Operating System for task scheduling and monitoring and
free from OS related overheads
Simple and straight forward design
Reduced memory footprint
Cons:

Non Real time in execution behavior (As the number of tasks increases the
frequency at which a task gets CPU time for execution also increases)

Any issues in any task execution may affect the functioning of the product
(This can be effectively tackled by using Watch Dog Timers for task
execution monitoring)

Enhancements:
 Combine Super loop based technique with interrupts

 Execute the tasks (like keyboard handling) which require Real time attention
as Interrupt Service routines.

2. Embedded firmware Design Approaches – Embedded OS based Approach:

The embedded device contains an Embedded Operating System which can

be one of:

 A Real Time Operating System (RTOS)

 A Customized General Purpose Operating System (GPOS)

 The Embedded OS is responsible for scheduling the execution of user tasks
and the allocation of system resources among multiple tasks

It Involves lot of OS related overheads apart from managing and executing

user defined tasks

Microsoft® Windows XP Embedded is an example of GPOS for embedded

devices

Point of Sale (PoS) terminals, Gaming Stations, Tablet PCs etc are examples
of embedded devices running on embedded GPOSs

‘Windows CE’, ‘Windows Mobile’,‘QNX’, ‘VxWorks’, ‘ThreadX’,

‘MicroC/OS-II’, ‘Embedded Linux’, ‘Symbian’ etc are examples of RTOSs
employed in Embedded Product development

Mobile Phones, PDAs, Flight Control Systems etc are examples of

embedded devices that runs on RTOSs

Embedded firmware Development Languages/Options

Assembly Language

High Level Language

o Subset of C (Embedded C)
o Subset of C++ (Embedded C++)
o Any other high level language with supported Cross-compiler

Mix of Assembly & High level Language

o Mixing High Level Language (Like C) with Assembly Code

o Mixing Assembly code with High Level Language (Like C)
o Inline Assembly
 1. Embedded firmware Development Languages/Options – Assembly
Language

‘Assembly Language’ is the human readable notation of ‘machine

language’
‘Machine language’ is a processor understandable language
Machine language is a binary representation and it consists of 1s and 0s
Assembly language and machine languages are processor/controller
dependent
An Assembly language program written for one processor/controller family
will not work with others
Assembly language programming is the process of writing processor specific
machine code in mnemonic form, converting the mnemonics into actual
processor instructions (machine language) and associated data using an
assembler

The general format of an assembly language instruction is an Opcode

followed by Operands

The Opcode tells the processor/controller what to do and the Operands

provide the data and information required to perform the action specified by
the opcode

It is not necessary that all opcode should have Operands following them.
Some of the Opcode implicitly contains the operand and in such situation no
operand is required. The operand may be a single operand, dual operand or
more

The 8051 Assembly Instruction

MOV A, #30

Moves decimal value 30 to the 8051 Accumulator register. Here MOV A is the
Opcode and 30 is the operand (single operand). The same instruction when written
in machine language will look like
 01110100 00011110

The first 8 bit binary value 01110100 represents the opcode MOV A and the second
8 bit binary value 00011110 represents the operand 30.

Assembly language instructions are written one per line

A machine code program consists of a sequence of assembly language
instructions, where each statement contains a mnemonic (Opcode +
Operand)
Each line of an assembly language program is split into four fields as:

LABEL OPCODE OPERAND COMMENTS

LABEL is an optional field. A ‘LABEL’ is an identifier used extensively in

programs to reduce the reliance on programmers for remembering where
data or code is located. LABEL is commonly used for representing

A memory location, address of a program, sub-routine, code portion etc.

 The maximum length of a label differs between assemblers.

Assemblers insist strict formats for labeling. Labels are always
suffixed by a colon and begin with a valid character. Labels can
contain number from 0 to 9 and special character _ (underscore).

;###############################################################
; SUBROUTINE FOR GENERATING DELAY
; DELAY PARAMETR PASSED THROUGH REGISTER R1
; RETURN VALUE NONE,REGISTERS USED: R0, R1
;###############################################################
##### DELAY: MOV R0, #255 ; Load Register R0 with 255

DJNZ R1, DELAY; Decrement R1 and loop till R1= 0

RET ; Return to calling program

  The symbol ; represents the start of a comment. Assembler ignores the
text in a line after the ; symbol while assembling the program
 DELAY is a label for representing the start address of the memory
location where the piece of code is located in code memory
 The above piece of code can be executed by giving the label DELAY as
part of the instruction. E.g. LCALL DELAY; LMP DELAY
2. Assembly Language – Source File to Hex File Translation:
The Assembly language program written in assembly code is saved as
.asm (Assembly file) file or a .src (source) file or a format supported by
the assembler
Similar to ‘C’ and other high level language programming, it is possible
to have multiple source files called modules in assembly language
programming. Each module is represented by a ‘.asm’ or ‘.src’ file or the
assembler supported file format similar to the ‘.c’ files in C programming
The software utility called ‘Assembler’ performs the translation of
assembly code to machine code
The assemblers for different family of target machines are different. A51
Macro Assembler from Keil software is a popular assembler for the 8051
family micro controller

Figure 5: Assembly Language to machine language conversion process

 Each source file can be assembled separately to examine the syntax errors
and incorrect assembly instructions
Assembling of each source file generates a corresponding object file. The
object file does not contain the absolute address of where the generated
code needs to be placed (a re-locatable code) on the program memory
The software program called linker/locater is responsible for assigning
absolute address to object files during the linking process
The Absolute object file created from the object files corresponding to
different source code modules contain information about the address
where each instruction needs to be placed in code memory
A software utility called ‘Object to Hex file converter’ translates the
absolute object file to corresponding hex file (binary file)
Advantages:

 1.Efficient Code Memory & Data Memory Usage (Memory Optimization):

 The developer is well aware of the target processor architecture and

memory organization, so optimized code can be written for
performing operations.
 This leads to less utilization of code memory and efficient utilization
of data memory.
 2.High Performance:

 Optimized code not only improves the code memory usage but also
improves the total system performance.
 Through effective assembly coding, optimum performance can be
achieved for target processor.
 3.Low level Hardware Access:
 Most of the code for low level programming like accessing external
device specific registers from OS kernel ,device drivers, and low level
interrupt routines, etc are making use of direct assembly coding.
  4.Code Reverse Engineering:

 It is the process of understanding the technology behind a product by

extracting the information from the finished product.
 It can easily be converted into assembly code using a dis-assembler
program for the target machine.
Drawbacks:

 1.High Development time:

 The developer takes lot of time to study about architecture ,memory
organization, addressing modes and instruction set of target
processor/controller.
 More lines of assembly code is required for performing a simple
action.
 2.Developer dependency:

 There is no common written rule for developing assembly language

based applications.

 3.Non portable:

 Target applications written in assembly instructions are valid only for

that particular family of processors and cannot be re-used for another
target processors/controllers.
 If the target processor/controller changes, a complete re-writing of the
application using assembly language for new target
processor/controller is required.
2. Embedded firmware Development Languages/Options – High Level
Language

The embedded firmware is written in any high level language like C, C++

A software utility called ‘cross-compiler’ converts the high level language to

target processor specific machine code
  The cross-compilation of each module generates a corresponding object
file. The object file does not contain the absolute address of where the
generated code needs to be placed (a re-locatable code) on the program
memory
 The software program called linker/locater is responsible for assigning
absolute address to object files during the linking process
 The Absolute object file created from the object files corresponding to
different source code modules contain information about the address where
each instruction needs to be placed in code memory
 A software utility called ‘Object to Hex file converter’ translates the
absolute object file to corresponding hex file (binary file)
Embedded firmware Development Languages/Options – High Level
Language – Source File to Hex File Translation

Library Files

Source File 1
Module
(.c /.c++ etc) Object File 1
Cross-compiler
(Module-1)

Source File 2
Module
(.c /.c++ etc) Object File 2
Cross-compiler
(Module-2)

Object to Hex File Linker/

Absolute Object File
Converter Locator

Machine Code
(Hex File)

Figure 6: High level language to machine language conversion process

Advantages:

Reduced Development time: Developer requires less or little

knowledge on internal hardware details and architecture of the target
processor/Controller.

Developer independency: The syntax used by most of the high level

languages are universal and a program written high level can easily
understand by a second person knowing the syntax of the language

Portability: An Application written in high level language for

particular target processor /controller can be easily be converted to
another target processor/controller specific application with little or
less effort

Drawbacks:

• The cross compilers may not be efficient in generating the optimized

target processor specific instructions.

• Target images created by such compilers may be messy and non-

optimized in terms of performance as well as code size.

• The investment required for high level language based development

tools (IDE) is high compared to Assembly Language based firmware
development tools.

Embedded firmware Development Languages/Options – Mixing of Assembly

Language with High Level Language

Embedded firmware development may require the mixing of Assembly

Language with high level language or vice versa.

Interrupt handling, Source code is already available in high level

language\Assembly Language etc are examples
 High Level language and low level language can be mixed in three different
ways

 Mixing Assembly Language with High level language like ‘C’

 Mixing High level language like ‘C’ with Assembly Language

 In line Assembly

The passing of parameters and return values between the high level and low
level language is cross-compiler specific

1. Mixing Assembly Language with High level language like ‘C’

(Assembly Language with ‘C’):

Assembly routines are mixed with ‘C’ in situations where the entire program
is written in ‘C’ and the cross compiler in use do not have built in support
for implementing certain features like ISR.

If the programmer wants to take advantage of the speed and optimized code
offered by the machine code generated by hand written assembly rather than
cross compiler generated machine code.

For accessing certain low level hardware ,the timing specifications may be
very critical and cross compiler generated machine code may not be able to
offer the required time specifications accurately.

Writing the hardware/peripheral access routine in processor/controller

specific assembly language and invoking it from ‘C’ is the most advised
method.

Mixing ‘C’ and assembly is little complicated.

The programmer must be aware of how to pass parameters from the ‘C’
routine to assembly and values returned from assembly routine to ‘C’ and
how Assembly routine is invoked from the ‘C’ code.
 Passing parameter to the assembly routine and returning values from the
assembly routine to the caller ‘C’ function and the method of invoking the
assembly routine from ‘C’ code is cross compiler dependent.

There is no universal written rule for purpose.

We can get this information from documentation of the cross compiler.

Different cross compilers implement these features in different ways

depending on GPRs and memory supported by target processor/controller

2. Mixing High level language like ‘C’ with Assembly Language

(‘C’ with Assembly Language)

The source code is already available in assembly language and routine

written in a high level language needs to be included to the existing code.

The entire source code is planned in Assembly code for various reasons like
optimized code, optimal performance, efficient code memory utilization and
proven expertise in handling the assembly.

The functions written in ‘C’ use parameter passing to the function and
returns values to the calling functions.

The programmer must be aware of how parameters are passed to the

function and how values returned from the function and how function is
invoked from the assembly language environment.

Passing parameter to the function and returning values from the function
using CPU registers , stack memory and fixed memory.

Its implementation is cross compiler dependent and varies across compilers.

3. In line Assembly:

• Inline assembly is another technique for inserting the target

processor/controller specific assembly instructions at any location of source
code written in high level language ‘C’

• Inline Assembly avoids the delay in calling an assembly routine from a ‘C’
code.

• Special keywords are used to indicate the start and end of Assembly
instructions

• E.g #pragma asm

Mov A,#13H

#pragma ensasm
• Keil C51 uses the keywords #pragma asm and #pragma endasm to indicate
a block of code written in assembly.

Text Books:

1. Introduction to Embedded Systems – Shibu K.V Mc Graw Hill

2. Embedded System Design-Raj Kamal TMH

EMBEDDED SYSTEM DESIGN
UNIT-IV

RTOS Based Embedded System

Design
UNIT IV:
RTOS Based Embedded System Design:
Operating System Basics, Types of Operating Systems, Tasks,
Process and Threads, Multiprocessing and Multitasking, Task
Scheduling.
Operating System Basics:
 The Operating System acts as a bridge between the user
applications/tasks and the underlying system resources
through a set of system functionalities and services

 OS manages the system resources and

makes them available to the user
applications/tasks on a need basis.

The primary functions of an Operating

system is

 Make the system convenient to use

 Organize and manage the system resources efficiently.










Kernel Services
















Figure 1: The Architecture of Operating System

The Kernel:

 The kernel is the core of the operating system

 It is responsible for managing the system resources and the communication

among the hardware and other system services

 Kernel acts as the abstraction layer between system resources and user
applications

 Kernel contains a set of system libraries and services.

 For a general purpose OS, the kernel contains different services like

 Process Management

 Primary Memory Management

 File System management

 I/O System (Device) Management

 Secondary Storage Management

 Protection

 Time management

 Interrupt Handling

Kernel Space and User Space:

 The program code corresponding to the kernel applications/services are kept

in a contiguous area (OS dependent) of primary (working) memory and is
protected from the un-authorized access by user programs/applications

 The memory space at which the kernel code is located is known as ‘Kernel
Space’
  All user applications are loaded to a specific area of primary memory and
this memory area is referred as ‘User Space’

 The partitioning of memory into kernel and user space is purely Operating
System dependent

 An operating system with virtual memory support, loads the user

applications into its corresponding virtual memory space with demand
paging technique

 Most of the operating systems keep the kernel application code in main
memory and it is not swapped out into the secondary memory

Monolithic Kernel:

 All kernel services run in the kernel space

 All kernel modules run within the same memory space under a single kernel
thread
 The tight internal integration of kernel modules in monolithic kernel
architecture allows the effective
utilization of the low-level features of
the underlying system Applications
 The major drawback of monolithic
kernel is that any error or failure in
any one of the kernel modules leads to
the crashing of the entire kernel
Monolithic kernel with all
application operating system services
running in kernel space
 LINUX, SOLARIS, MS-DOS kernels
are examples of monolithic kernel
Figure 2: The Monolithic Kernel Model
Microkernel

 The microkernel design incorporates only the essential set of Operating

System services into the kernel

 Rest of the Operating System services are implemented in programs known

as ‘Servers’ which runs in user space

 The kernel design is highly

Servers (kernel
services running Applications
modular provides OS-neutral in user space)

abstraction.

 Memory management, process

management, timer systems and Microkernel with essential
services like memory
interrupt handlers are examples of management, process
management, timer systemetc...
essential services, which forms the part
of the microkernel

Figure 3: The Microkernel Model

 QNX, Minix 3 kernels are examples for microkernel.

Benefits of Microkernel:
1. Robustness: If a problem is encountered in any services in server can
reconfigured and re-started without the need for re-starting the entire OS.
2. Configurability: Any services , which run as ‘server’ application can be
changed without need to restart the whole system.
Types of Operating Systems:
Depending on the type of kernel and kernel services, purpose and type of
computing systems where the OS is deployed and the responsiveness to
applications, Operating Systems are classified into

1. General Purpose Operating System (GPOS):

2. Real Time Purpose Operating System (RTOS):

1. General Purpose Operating System (GPOS):

 Operating Systems, which are deployed in general computing systems

 The kernel is more generalized and contains all the required services to
execute generic applications

 Need not be deterministic in execution behavior

 May inject random delays into application software and thus cause slow
responsiveness of an application at unexpected times

 Usually deployed in computing systems where deterministic behavior is not

an important criterion

 Personal Computer/Desktop system is a typical example for a system where

GPOSs are deployed.

 Windows XP/MS-DOS etc are examples of General Purpose Operating

System

2. Real Time Purpose Operating System (RTOS):

 Operating Systems, which are deployed in embedded systems demanding

real-time response

 Deterministic in execution behavior. Consumes only known amount of time

for kernel applications

 Implements scheduling policies for executing the highest priority

task/application always

 Implements policies and rules concerning time-critical allocation of a

system’s resources

 Windows CE, QNX, VxWorks , MicroC/OS-II etc are examples of Real

Time Operating Systems (RTOS)
The Real Time Kernel: The kernel of a Real Time Operating System is referred
as Real Time kernel. In complement to the conventional OS kernel, the Real Time
kernel is highly specialized and it contains only the minimal set of services
required for running the user applications/tasks. The basic functions of a Real Time
kernel are
a) Task/Process management

b) Task/Process scheduling

c) Task/Process synchronization

d) Error/Exception handling

e) Memory Management

f) Interrupt handling

g) Time management

 Real Time Kernel Task/Process Management: Deals with setting up the

memory space for the tasks, loading the task’s code into the memory space,
allocating system resources, setting up a Task Control Block (TCB) for the task
and task/process termination/deletion. A Task Control Block (TCB) is used for
holding the information corresponding to a task. TCB usually contains the
following set of information

 Task ID: Task Identification Number

 Task State: The current state of the task. (E.g. State= ‘Ready’ for a task
which is ready to execute)

 Task Type: Task type. Indicates what is the type for this task. The task can
be a hard real time or soft real time or background task.

 Task Priority: Task priority (E.g. Task priority =1 for task with priority = 1)

 Task Context Pointer: Context pointer. Pointer for context saving

  Task Memory Pointers: Pointers to the code memory, data memory and
stack memory for the task

 Task System Resource Pointers: Pointers to system resources (semaphores,

mutex etc) used by the task

 Task Pointers: Pointers to other TCBs (TCBs for preceding, next and
waiting tasks)

 Other Parameters Other relevant task parameters

The parameters and implementation of the TCB is kernel dependent. The TCB
parameters vary across different kernels, based on the task management
implementation

 Task/Process Scheduling: Deals with sharing the CPU among various

tasks/processes. A kernel application called ‘Scheduler’ handles the task
scheduling. Scheduler is nothing but an algorithm implementation, which
performs the efficient and optimal scheduling of tasks to provide a deterministic
behavior.
Task/Process Synchronization: Deals with synchronizing the concurrent
access of a resource, which is shared across multiple tasks and the
communication between various tasks.

Error/Exception handling: Deals with registering and handling the errors

occurred/exceptions raised during the execution of tasks. Insufficient memory,
timeouts, deadlocks, deadline missing, bus error, divide by zero, unknown
instruction execution etc, are examples of errors/exceptions. Errors/Exceptions
can happen at the kernel level services or at task level. Deadlock is an example
for kernel level exception, whereas timeout is an example for a task level
exception. The OS kernel gives the information about the error in the form of a
system call (API).
Memory Management:

 The memory management function of an RTOS kernel is slightly

different compared to the General Purpose Operating Systems

 The memory allocation time increases depending on the size of the block
of memory needs to be allocated and the state of the allocated memory
block (initialized memory block consumes more allocation time than un-
initialized memory block)

 Since predictable timing and deterministic behavior are the primary focus
for an RTOS, RTOS achieves this by compromising the effectiveness of
memory allocation

 RTOS generally uses ‘block’ based memory allocation technique, instead

of the usual dynamic memory allocation techniques used by the GPOS.

 RTOS kernel uses blocks of fixed size of dynamic memory and the block
is allocated for a task on a need basis. The blocks are stored in a ‘Free
buffer Queue’.

 Most of the RTOS kernels allow tasks to access any of the memory
blocks without any memory protection to achieve predictable timing and
avoid the timing overheads

 RTOS kernels assume that the whole design is proven correct and
protection is unnecessary. Some commercial RTOS kernels allow
memory protection as optional and the kernel enters a fail-safe mode
when an illegal memory access occurs

 The memory management function of an RTOS kernel is slightly

different compared to the General Purpose Operating Systems

 A few RTOS kernels implement Virtual Memory concept for memory

allocation if the system supports secondary memory storage (like HDD
and FLASH memory).
  In the ‘block’ based memory allocation, a block of fixed memory is
always allocated for tasks on need basis and it is taken as a unit. Hence,
there will not be any memory fragmentation issues.

 The memory allocation can be implemented as constant functions and

thereby it consumes fixed amount of time for memory allocation. This
leaves the deterministic behavior of the RTOS kernel untouched.

Interrupt Handling:

 Interrupts inform the processor that an external device or an associated

task requires immediate attention of the CPU.

 Interrupts can be either Synchronous or Asynchronous.

 Interrupts which occurs in sync with the currently executing task is known
as Synchronous interrupts. Usually the software interrupts fall under the
Synchronous Interrupt category. Divide by zero, memory segmentation
error etc are examples of Synchronous interrupts.

 For synchronous interrupts, the interrupt handler runs in the same context
of the interrupting task.

 Asynchronous interrupts are interrupts, which occurs at any point of

execution of any task, and are not in sync with the currently executing
task.

 The interrupts generated by external devices (by asserting the Interrupt

line of the processor/controller to which the interrupt line of the device is
connected) connected to the processor/controller, timer overflow
interrupts, serial data reception/ transmission interrupts etc are examples
for asynchronous interrupts.

 For asynchronous interrupts, the interrupt handler is usually written as

separate task (Depends on OS Kernel implementation) and it runs in a
 different context. Hence, a context switch happens while handling the
asynchronous interrupts.

 Priority levels can be assigned to the interrupts and each interrupts can be
enabled or disabled individually.

 Most of the RTOS kernel implements ‘Nested Interrupts’ architecture.

Interrupt nesting allows the pre-emption (interruption) of an Interrupt
Service Routine (ISR), servicing an interrupt, by a higher priority
interrupt.

Time Management:

 Interrupts inform the processor that an external device or an associated

task requires immediate attention of the CPU.

 Accurate time management is essential for providing precise time

reference for all applications

 The time reference to kernel is provided by a high-resolution Real Time

Clock (RTC) hardware chip (hardware timer)

 The hardware timer is programmed to interrupt the processor/controller

at a fixed rate. This timer interrupt is referred as ‘Timer tick’

 The ‘Timer tick’ is taken as the timing reference by the kernel. The
‘Timer tick’ interval may vary depending on the hardware timer. Usually
the ‘Timer tick’ varies in the microseconds range

 The time parameters for tasks are expressed as the multiples of the
‘Timer tick’

 The System time is updated based on the ‘Timer tick’

 If the System time register is 32 bits wide and the ‘Timer tick’ interval is
1microsecond, the System time register will reset in

232 * 10-6/ (24 * 60 * 60) = 49700 Days =~ 0.0497 Days = 1.19 Hours
 If the ‘Timer tick’ interval is 1 millisecond, the System time register will
reset in

232 * 10-3 / (24 * 60 * 60) = 497 Days = 49.7 Days =~ 50 Days

The ‘Timer tick’ interrupt is handled by the ‘Timer Interrupt’ handler of kernel.
The ‘Timer tick’ interrupt can be utilized for implementing the following
actions.

 Save the current context (Context of the currently executing task)

 Increment the System time register by one. Generate timing error and reset
the System time register if the timer tick count is greater than the maximum
range available for System time register

 Update the timers implemented in kernel (Increment or decrement the timer

registers for each timer depending on the count direction setting for each
register. Increment registers with count direction setting = ‘count up’ and
decrement registers with count direction setting = ‘count down’)

 Activate the periodic tasks, which are in the idle state

 Invoke the scheduler and schedule the tasks again based on the scheduling
algorithm

 Delete all the terminated tasks and their associated data structures (TCBs)

 Load the context for the first task in the ready queue. Due to the re-
scheduling, the ready task might be changed to a new one from the task,
which was pre-empted by the ‘Timer Interrupt’ task
 Hard Real-time System:

 A Real Time Operating Systems which strictly adheres to the timing

constraints for a task

 A Hard Real Time system must meet the deadlines for a task without any
slippage

 Missing any deadline may produce catastrophic results for Hard Real
Time Systems, including permanent data lose and irrecoverable damages
to the system/users

 Emphasize on the principle ‘A late answer is a wrong answer’

 Air bag control systems and Anti-lock Brake Systems (ABS) of vehicles
are typical examples of Hard Real Time Systems

 As a rule of thumb, Hard Real Time Systems does not implement the
virtual memory model for handling the memory. This eliminates the
delay in swapping in and out the code corresponding to the task to and
from the primary memory

 The presence of Human in the loop (HITL) for tasks introduces un-
expected delays in the task execution. Most of the Hard Real Time
Systems are automatic and does not contain a ‘human in the loop’

 Soft Real-time System:

Real Time Operating Systems that does not guarantee meeting deadlines,
but, offer the best effort to meet the deadline

Missing deadlines for tasks are acceptable if the frequency of deadline

missing is within the compliance limit of the Quality of Service(QoS)

A Soft Real Time system emphasizes on the principle ‘A late answer is an

acceptable answer, but it could have done bit faster’

Soft Real Time systems most often have a ‘human in the loop (HITL)’
 Automatic Teller Machine (ATM) is a typical example of Soft Real Time
System. If the ATM takes a few seconds more than the ideal operation
time, nothing fatal happens.

An audio video play back system is another example of Soft Real Time
system. No potential damage arises if a sample comes late by fraction of a
second, for play back.

Tasks, Processes & Threads :

 In the Operating System context, a task is defined as the program in
execution and the related information maintained by the Operating
system for the program
 Task is also known as ‘Job’ in the operating systemcontext
 A program or part of it in execution is also called a ‘Process’
 The terms ‘Task’, ‘job’ and ‘Process’ refer to the same entity in the
Operating System context and most often they are usedinterchangeably
 A process requires various system resources like CPU for executing the
process, memory for storing the code corresponding to the process and
associated variables, I/O devices for information exchange etc
The structure of a Processes

 The concept of ‘Process’ leads to concurrent execution (pseudo parallelism)

of tasks and thereby the efficient utilization of the CPU and other system
resources

 Concurrent execution is achieved through the sharing of CPU among the

processes.

 A process mimics a processor in properties and holds a set of registers,

process status, a Program Counter (PC) to point to the next executable
instruction of the process, a stack for holding the local variables associated
with the process and the code corresponding to the process
 Process
 A process, which inherits all
Stack
the properties of the CPU, (Stack Pointer)

can be considered as a Working Registers

virtual processor, awaiting

Status Registers
its turn to have its properties
Program Counter (PC)
switched into the physical
processor
Code Mem ory
corresponding to the
Process
Figure: 4 Structure of a Process

 When the process gets its turn, its registers and Program counter register
becomes mapped to the physical registers of the CPU

Memory organization of Processes:

 The memory occupied by the process is
segregated into three regions namely; Stack Stack Memory
memory, Data memory and Code memory
Stack memory grows
 The ‘Stack’ memory holds all temporary downwards
data such as variables local to the process
Data memory grows
 Data memory holds all global data for the upwards
process

 The code memory contains the program

Data Memory
code (instructions) corresponding to the
process

Code Memory
Fig: 5 Memory organization of a Process
 On loading a process into the main memory, a specific area of memory is
allocated for the process

 The stack memory usually starts at the highest memory address from the
memory area allocated for the process (Depending on the OS kernel
implementation)

Process States & State Transition

 The creation of a process to its termination is not a single step operation

 The process traverses through a series of states during its transition from the
newly created state to the terminated state

 The cycle through which a process changes its state from ‘newly created’ to
‘execution completed’ is known as ‘Process Life Cycle’. The various states
through which a process traverses through during a Process Life Cycle
indicates the current status of the process with respect to time and also
provides information on what it is allowed to do next

Process States & State Transition:

 Created State: The state at which a process is being created is referred as

‘Created State’. The Operating System recognizes a process in the ‘Created
State’ but no resources are allocated to the process

 Ready State: The state, where a process is incepted into the memory and
awaiting the processor time for execution, is known as ‘Ready State’. At
this stage, the process is placed in the ‘Ready list’ queue maintained by the
OS

 Running State: The state where in the source code instructions

corresponding to the process is being executed is called ‘Running State’.
Running state is the state at which the process execution happens
 Created
 . Blocked State/Wait State: Refers
to a state where a running process is Incepted into memory

temporarily suspended from

execution and does not have Ready

immediate access to resources. The

Scheduled for
Interrupted or
blocked state might have invoked by

Preempted

Execution
Blocked
various conditions like- the process
enters a wait state for an event to
occur (E.g. Waiting for user inputs Running
such as keyboard input) or waiting
for getting access to a shared Execution Completion

resource like semaphore, mutex etc

Completed

Figure 6.Process states and State transition

 Completed State: A state where the process completes its execution

 The transition of a process from one state to another is

known as ‘Statetransition’

 When a process changes its state from Ready to running

or from running toblocked or terminated or from blocked to running, the
CPU allocation for the process may alsochange

Threads

 A thread is the primitive that can execute code

 A thread is a single sequential flow of control within a process

 ‘Thread’ is also known as lightweight process

 A process can have many threads of execution

 Different threads, which are part of a
process, share the same address space;
meaning they share the data memory,
code memory and heap memory area

 Threads maintain their own thread status

(CPU register values), Program Counter
(PC) and stack

Figure 7 Memory organization of process and its associated Threads

The Concept of multithreading

Use of multiple threads to execute a process brings the following advantage.

 Better memory utilization.

Multiple threads of the same Task/Process

process share the address space Code Memory

for data memory. This also Data Memory

reduces the complexity of inter Stack Stack Stack

Registers Registers Registers

thread communication since Thread 1 Thread 2 Thread 3

variables can be shared across the void main (void)

{
//Create child
int ChildThread1
(void)
{
int ChildThread2
(void)
{
//Do something
thread 1 //Do something
CreateThread(NULL,
threads. 1000,(LPTHREAD_STA
RT_ROUTINE)
ChildThread1,NULL,
} }

0, &dwThreadID);
//Create child
thread 2

 Since the process is split into

CreateThread(NULL,
1000,(LPTHREAD_STA
RT_ROUTINE)
ChildThread2,NULL,
0, &dwThreadID);

different threads, when one }

thread enters a wait state, the

CPU can be utilized by other

Figure 8 Process with multi-threads

 threads of the process that do not require the event, which the other thread is
waiting, for processing. This speeds up the execution of the process.

 Efficient CPU utilization. The CPU is engaged all time.

 Thread V/s Process

Thread Process
Thread is a single unit of execution and is part Process is a program in execution and contains
of process. one or more threads.

A thread does not have its own data memory Process has its own code memory, data memory
and heap memory. It shares the data memory and stack memory.
and heap memory with other threads of the
same process.

A thread cannot live independently; it lives A process contains at least one thread.
within the process.

There can be multiple threads in a process. Threads within a process share the code, data
The first thread (main thread) calls the main and heap memory. Each thread holds separate
function and occupies the start of the stack memory area for stack (shares the total stack
memory of the process. memory of the process).

Threads are very inexpensive to create Processes are very expensive to create. Involves
many OS overhead.

Context switching is inexpensive and fast Context switching is complex and involves lot of
OS overhead and is comparatively slower.

If a thread expires, its stack is reclaimed by the If a process dies, the resources allocated to it are
process. reclaimed by the OS and all the associated
threads of the process also dies.

Advantages of Threads:

1. Better memory utilization: Multiple threads of the same process share the
address space for data memory. This also reduces the complexity of inter
thread communication since variables can be shared across the threads.

2. Efficient CPU utilization: The CPU is engaged all time.

 3. Speeds up the execution of the process: The process is split into different
threads, when one thread enters a wait state, the CPU can be utilized by
other threads of the process that do not require the event, which the other
thread is waiting, for processing.

Multiprocessing & Multitasking

 The ability to execute multiple processes simultaneously is referred as
Multiprocessing
 Systems which are capable of performing multiprocessing are known as
Multiprocessor systems

 Multiprocessor systems possess multiple CPUs and can execute multiple

processes simultaneously

 The ability of the Operating System to have multiple programs in memory,

which are ready for execution, is referred as multiprogramming

 Multitasking refers to the ability of an operating system to hold multiple

processes in memory and switch the processor (CPU) from executing one
process to another process

 Multitasking involves ‘Context switching’, ‘Context saving’ and ‘Context

retrieval’

 Context switching refers to the switching of execution context from task to

other

 When a task/process switching happens, the current context of execution

should be saved to (Context saving) retrieve it at a later point of time when
the CPU executes the process, which is interrupted currently due to
execution switching

 During context switching, the context of the task to be executed is retrieved

from the saved context list. This is known as Context retrieval
 


Process 1
Process 2


Processes

Execution switches to Process 2

(Interrupt or System Call)

1. Save Current context into PCB0

2. Perform other OS operations related to

Types of Multitasking:
‘Context Switching’
3. Reload Context for Process 2 from PCB1

multitasking can is classified into

Multitasking – Context Switching:

Execution switches to Process 1

(Interrupt or System Call)

1. Save Current context into PCB1

2. Perform other OS operations related to
‘Context Switching’
3. Reload Context for Process 1 from PCB0

Depending on how the task/process execution switching act is implemented,

• Co-operative Multitasking: Co-operative multitasking is the most primitive
form of multitasking in which a task/process gets a chance to execute only
when the currently executing task/process voluntarily relinquishes the CPU.
In this method, any task/process can avail the CPU as much time as it wants.
Since this type of implementation involves the mercy of the tasks each other
for getting the CPU time for execution, it is known as co-operative
multitasking. If the currently executing task is non-cooperative, the other
tasks may have to wait for a long time to get the CPU

• Preemptive Multitasking: Preemptive multitasking ensures that every

task/process gets a chance to execute. When and how much time a process
gets is dependent on the implementation of the preemptive scheduling. As
the name indicates, in preemptive multitasking, the currently running
task/process is preempted to give a chance to other tasks/process to execute.
The preemption of task may be based on time slots or task/processpriority

• Non-preemptive Multitasking: The process/task, which is currently given the

CPU time, is allowed to execute until it terminates (enters the ‘Completed’
state) or enters the ‘Blocked/Wait’ state, waiting for an I/O. The co-
operative and non-preemptive multitasking differs in their behavior when
they are in the ‘Blocked/Wait’ state. In co-operative multitasking, the
currently executing process/task need not relinquish the CPU when it enters
the ‘Blocked/Wait’ sate, waiting for an I/O, or a shared resource access or an
event to occur whereas in non-preemptive multitasking the currently
executing task relinquishes the CPU when it waits for an I/O.

Task Scheduling:
 In a multitasking system, there should be some mechanism in place to share
the CPU among the different tasks and to decide which process/task is to be
executed at a given point of time

 Determining which task/process is to be executed at a given point of time is

known as task/process scheduling
  Task scheduling forms the basis of multitasking

 Scheduling policies forms the guidelines for determining which task is to be

executed when

 The scheduling policies are implemented in an algorithm and it is run by the

kernel as a service

 The kernel service/application, which implements the scheduling algorithm,

is known as ‘Scheduler’

 The task scheduling policy can be pre-emptive, non-preemptive or co-

operative

 Depending on the scheduling policy the process scheduling decision may

take place when a process switches its state to

 ‘Ready’ state from ‘Running’ state

 ‘Blocked/Wait’ state from ‘Running’ state
 ‘Ready’ state from ‘Blocked/Wait’ state
 ‘Completed’ state
Task Scheduling - Scheduler Selection:
The selection of a scheduling criteria/algorithm should consider
• CPU Utilization: The scheduling algorithm should always make the CPU
utilization high. CPU utilization is a direct measure of how much percentage
of the CPU is being utilized.
• Throughput: This gives an indication of the number of processes executed
per unit of time. The throughput for a good scheduler should always be
higher.
• Turnaround Time: It is the amount of time taken by a process for
completing its execution. It includes the time spent by the process for
waiting for the main memory, time spent in the ready queue, time spent on
completing the I/O operations, and the time spent in execution. The
turnaround time should be a minimum for a good schedulingalgorithm.
 • Waiting Time: It is the amount of time spent by a process in the ‘Ready’
queue waiting to get the CPU time for execution. The waiting time should be
minimal for a good scheduling algorithm.
• Response Time: It is the time elapsed between the submission of a process
and the first response. For a good scheduling algorithm, the response time
should be as least as possible.

To summarize, a good scheduling algorithm has high CPU utilization, minimum

Turn Around Time (TAT), maximum throughput and least response time.

Task Scheduling - Queues

The various queues maintained by OS in association with CPU scheduling are
• Job Queue: Job queue contains all the processes in the system
• Ready Queue: Contains all the processes, which are ready for execution and
waiting for CPU to get their turn for execution. The Ready queue is empty
when there is no process ready for running.
• Device Queue: Contains the set of processes, which are waiting for an I/O
device
Task Scheduling – Task transition through various Queues

Process 1

Scheduler

Job Queue

Admitted Process 1
Move Process to ‘Device Queue ’

Process
Run Process
to Completion

Process n
to ‘Ready’ queue
Ready Queue Process
Resource Request

Move preempted process CPU

By Process

Move I/O C ompleted

Process to ‘R eady’ queue

Device
Manager

Process
Process 1
Process 2

Figure 10. Process TranDesviicteiQouneuethrough various queues

Non-preemptive scheduling – First Come First Served (FCFS)/First In
First Out (FIFO) Scheduling:

 Allocates CPU time to the processes based on the order in which they enters
the ‘Ready’ queue
 The first entered process is serviced first
 It is same as any real world application where queue systems are used; E.g.
Ticketing
Drawbacks:

 Favors monopoly of process. A process, which does not contain any I/O
operation, continues its execution until it finishes its task
 In general, FCFS favors CPU bound processes and I/O bound processes may
have to wait until the completion of CPU bound process, if the currently
executing process is a CPU bound process. This leads to poor device
utilization.
 The average waiting time is not minimal for FCFS scheduling algorithm

EXAMPLE: Three processes with process IDs P1, P2, P3 with estimated
completion time 10, 5, 7 milliseconds respectively enters the ready queue together
in the order P1, P2, P3. Calculate the waiting time and Turn Around Time (TAT)
for each process and the Average waiting time and Turn Around Time (Assuming
there is no I/O waiting for the processes).

Solution: The sequence of execution of the processes by the CPU is represented as

P1 P2 P3

0 10 15 22
10 5 7
 Assuming the CPU is readily available at the time of arrival of P1, P1 starts
executing without any waiting in the ‘Ready’ queue. Hence the waiting time for P1
is zero.

Waiting Time for P1 = 0 ms (P1 starts executing first)

Waiting Time for P2 = 10 ms (P2 starts executing after completing P1)

Waiting Time for P3 = 15 ms (P3 starts executing after completing P1 and P2)

Average waiting time = (Waiting time for all processes) / No. of Processes

= (Waiting time for (P1+P2+P3)) / 3

= (0+10+15)/3 = 25/3 = 8.33 milliseconds

Turn Around Time (TAT) for P1 = 10 ms (Time spent in Ready Queue +

Execution Time)

Turn Around Time (TAT) for P2 = 15 ms (-Do-)

Turn Around Time (TAT) for P3 = 22 ms (-Do-)

Average Turn Around Time= (Turn Around Time for all processes) / No. of
Processes

= (Turn Around Time for (P1+P2+P3)) / 3

= (10+15+22)/3 = 47/3

= 15.66 milliseconds

Non-preemptive scheduling – Last Come First Served (LCFS)/Last In

First Out (LIFO) Scheduling:

 Allocates CPU time to the processes based on the order in which they are
entered in the ‘Ready’ queue

 The last entered process is serviced first

  LCFS scheduling is also known as Last In First Out (LIFO) where the
process, which is put last into the ‘Ready’ queue, is serviced first

Drawbacks:

 Favors monopoly of process. A process, which does not contain any I/O
operation, continues its execution until it finishes its task

 In general, LCFS favors CPU bound processes and I/O bound processes may
have to wait until the completion of CPU bound process, if the currently
executing process is a CPU bound process. This leads to poor device
utilization.

 The average waiting time is not minimal for LCFS scheduling algorithm

EXAMPLE: Three processes with process IDs P1, P2, P3 with estimated
completion time 10, 5, 7 milliseconds respectively enters the ready queue together
in the order P1, P2, P3 (Assume only P1 is present in the ‘Ready’ queue when the
scheduler picks up it and P2, P3 entered ‘Ready’ queue after that). Now a new
process P4 with estimated completion time 6ms enters the ‘Ready’ queue after 5ms
of scheduling P1. Calculate the waiting time and Turn Around Time (TAT) for
each process and the Average waiting time and Turn Around Time (Assuming
there is no I/O waiting for the processes).Assume all the processes contain only
CPU operation and no I/O operations are involved.

Solution: Initially there is only P1 available in the Ready queue and the scheduling
sequence will be P1, P3, P2. P4 enters the queue during the execution of P1 and
becomes the last process entered the ‘Ready’ queue. Now the order of execution
changes to P1, P4, P3, and P2 as given below.
 P1 P4 P3 P2

0 10 16 23 28

10 6 7 5

The waiting time for all the processes are given as

Waiting Time for P1 = 0 ms (P1 starts executing first)

Waiting Time for P4 = 5 ms (P4 starts executing after completing P1. But P4
arrived after 5ms of execution of P1. Hence its waiting time = Execution start time
– Arrival Time = 10-5 = 5)

Waiting Time for P3 = 16 ms (P3 starts executing after completing P1 and P4)

Waiting Time for P2 = 23 ms (P2 starts executing after completing P1, P4 and P3)

Average waiting time = (Waiting time for all processes) / No. of Processes
= (Waiting time for (P1+P4+P3+P2)) / 4

= (0 + 5 + 16 + 23)/4 = 44/4

= 11 milliseconds

Turn Around Time (TAT) for P1 = 10 ms (Time spent in Ready Queue + Execution Time)

Turn Around Time (TAT) for P4 = 11 ms (Time spent in Ready Queue +

Execution Time = (Execution Start Time – Arrival
Time) + Estimated Execution Time = (10-5) + 6 = 5 + 6)

Turn Around Time (TAT) for P3 = 23 ms (Time spent in Ready Queue + Execution Time)
Turn Around Time (TAT) for P2 = 28 ms (Time spent in Ready Queue + Execution Time)
Average Turn Around Time = (Turn Around Time for all processes) / No. of Processes
= (Turn Around Time for (P1+P4+P3+P2)) / 4

= (10+11+23+28)/4 = 72/4

= 18 milliseconds
Non-preemptive scheduling – Shortest Job First (SJF) Scheduling.
 Allocates CPU time to the processes based on the execution completion time
for tasks

 The average waiting time for a given set of processes is minimal in SJF
scheduling

 Optimal compared to other non-preemptive scheduling like FCFS

Drawbacks:

 A process whose estimated execution completion time is high may not get a
chance to execute if more and more processes with least estimated execution
time enters the ‘Ready’ queue before the process with longest estimated
execution time starts its execution

 May lead to the ‘Starvation’ of processes with high estimated completion

time

 Difficult to know in advance the next shortest process in the ‘Ready’ queue
for scheduling since new processes with different estimated execution time
keep entering the ‘Ready’ queue at any point of time.

Non-preemptive scheduling – Priority based Scheduling

 A priority, which is unique or same is associated with each task

 The priority of a task is expressed in different ways, like a priority number,

the time required to complete the execution etc.

 In number based priority assignment the priority is a number ranging from 0

to the maximum priority supported by the OS. The maximum level of
priority is OS dependent.

 Windows CE supports 256 levels of priority (0 to 255 priority numbers, with

0 being the highest priority)
  The priority is assigned to the task on creating it. It can also be changed
dynamically (If the Operating System supports this feature)

 The non-preemptive priority based scheduler sorts the ‘Ready’ queue based
on the priority and picks the process with the highest level of priority for
execution

EXAMPLE: Three processes with process IDs P1, P2, P3 with estimated
completion time 10, 5, 7 milliseconds and priorities 0, 3, 2 (0- highest priority, 3
lowest priority) respectively enters the ready queue together. Calculate the waiting
time and Turn Around Time (TAT) for each process and the Average waiting time
and Turn Around Time (Assuming there is no I/O waiting for the processes) in
priority based scheduling algorithm.

Solution: The scheduler sorts the ‘Ready’ queue based on the priority and
schedules the process with the highest priority (P1 with priority number 0) first and
the next high priority process (P3 with priority number 2) as second and so on. The
order in which the processes are scheduled for execution is represented as

P1 P3 P2

0 10 17 22
10 7 5

The waiting time for all the processes are given as

Waiting Time for P1 = 0 ms (P1 starts executing first)

Waiting Time for P3 = 10 ms (P3 starts executing after completing P1)

Waiting Time for P2 = 17 ms (P2 starts executing after completing P1 and P3)

Average waiting time = (Waiting time for all processes) / No. of Processes

= (Waiting time for (P1+P3+P2)) / 3

 = (0+10+17)/3 = 27/3

= 9 milliseconds

Turn Around Time (TAT) for P1 = 10 ms ( Time spent in Ready Queue + Execution Time)

Turn Around Time (TAT) for P3 = 17 ms (-Do-)

Turn Around Time (TAT) for P2 = 22 ms (-Do-)

Average Turn Around Time= (Turn Around Time for all processes) / No. of Processes

= (Turn Around Time for (P1+P3+P2)) / 3

= (10+17+22)/3 = 49/3

= 16.33 milliseconds

Drawbacks:

 Similar to SJF scheduling algorithm, non-preemptive priority based

algorithm also possess the drawback of ‘Starvation’ where a process whose
priority is low may not get a chance to execute if more and more processes
with higher priorities enter the ‘Ready’ queue before the process with lower
priority starts its execution.

 ‘Starvation’ can be effectively tackled in priority based non-preemptive

scheduling by dynamically raising the priority of the low priority
task/process which is under starvation (waiting in the ready queue for a
longer time for getting the CPU time)

 The technique of gradually raising the priority of processes which are

waiting in the ‘Ready’ queue as time progresses, for preventing ‘Starvation’,
is known as ‘Aging’.
Preemptive scheduling:
 Employed in systems, which implements preemptive multitasking model

 Every task in the ‘Ready’ queue gets a chance to execute. When and how
often each process gets a chance to execute (gets the CPU time) is dependent
on the type of preemptive scheduling algorithm used for scheduling the
processes

 The scheduler can preempt (stop temporarily) the currently executing

task/process and select another task from the ‘Ready’ queue for execution

 When to pre-empt a task and which task is to be picked up from the ‘Ready’
queue for execution after preempting the current task is purely dependent on
the scheduling algorithm

 A task which is preempted by the scheduler is moved to the ‘Ready’ queue.

The act of moving a ‘Running’ process/task into the ‘Ready’ queue by the
scheduler, without the processes requesting for it is known as‘Preemption’

 Time-based preemption and priority-based preemption are the two important

approaches adopted in preemptive scheduling

Preemptive scheduling – Preemptive SJF Scheduling/ Shortest Remaining

Time (SRT):

 The non preemptive SJF scheduling algorithm sorts the ‘Ready’ queue only
after the current process completes execution or enters wait state, whereas
the preemptive SJF scheduling algorithm sorts the ‘Ready’ queue when a
new process enters the ‘Ready’ queue and checks whether the execution
time of the new process is shorter than the remaining of the total estimated
execution time of the currently executing process

 If the execution time of the new process is less, the currently executing
process is preempted and the new process is scheduled for execution
  Always compares the execution completion time (ie the remaining execution
time for the new process) of a new process entered the ‘Ready’ queue with
the remaining time for completion of the currently executing process and
schedules the process with shortest remaining time for execution.

EXAMPLE: Three processes with process IDs P1, P2, P3 with estimated
completion time 10, 5, 7 milliseconds respectively enters the ready queue together.
A new process P4 with estimated completion time 2ms enters the ‘Ready’ queue
after 2ms. Assume all the processes contain only CPU operation and no I/O
operations are involved.

Solution: At the beginning, there are only three processes (P1, P2 and P3)
available in the ‘Ready’ queue and the SRT scheduler picks up the process with the
Shortest remaining time for execution completion (In this example P2 with
remaining time 5ms) for scheduling. Now process P4 with estimated execution
completion time 2ms enters the ‘Ready’ queue after 2ms of start of execution of
P2. The processes are re-scheduled for execution in the following order

P2 P4 P2 P3 P1

0 2 4 7 14 24
2 2 3 7 10

The waiting time for all the processes are given as

Waiting Time for P2 = 0 ms + (4 -2) ms = 2ms (P2 starts executing first and is
interrupted by P4 and has to wait till the completion of
P4 to get the next CPU slot)
Waiting Time for P4 = 0 ms (P4 starts executing by preempting P2 since the
execution time for completion of P4 (2ms) is less
than that of the Remaining time for execution
completion of P2 (Here it is 3ms))
Waiting Time for P3 = 7 ms (P3 starts executing after completing P4 and P2)
Waiting Time for P1 = 14 ms (P1 starts executing after completing P4, P2 and P3)
Average waiting time = (Waiting time for all the processes) / No. of Processes
= (Waiting time for (P4+P2+P3+P1)) / 4
= (0 + 2 + 7 + 14)/4 = 23/4
= 5.75 milliseconds
Turn Around Time (TAT) for P2 = 7 ms (Time spent in Ready Queue + Execution Time)
Turn Around Time (TAT) for P4 = 2 ms
(Time spent in Ready Queue + Execution Time = (Execution Start Time – Arrival
Time) + Estimated Execution Time = (2-2) + 2)

Turn Around Time (TAT) for P3 = 14 ms (Time spent in Ready Queue +

Execution Time)
Turn Around Time (TAT) for P1 = 24 ms (Time spent in Ready Queue +
Execution Time)
Average Turn Around Time = (Turn Around Time for all the processes) / No. of Processes
= (Turn Around Time for (P2+P4+P3+P1)) / 4
= (7+2+14+24)/4 = 47/4
= 11.75 milliseconds Process 1

Preemptive scheduling – Round Robin (RR) Execution Switch

Execution Switch

Scheduling:

 Each process in the ‘Ready’ queue is Process 4 Process 2

executed for a pre-defined time slot.

 The execution starts with picking up the first Execution Switch

Execution Switch

process in the ‘Ready’ queue. It is executed for a

Process 3
pre-defined time

Figure 11 Round Robin Scheduling

  When the pre-defined time elapses or the process completes (before the pre-
defined time slice), the next process in the ‘Ready’ queue is selected for
execution.

 This is repeated for all the processes in the ‘Ready’ queue

 Once each process in the ‘Ready’ queue is executed for the pre-defined time
period, the scheduler comes back and picks the first process in the ‘Ready’
queue again for execution.

 Round Robin scheduling is similar to the FCFS scheduling and the only
difference is that a time slice based preemption is added to switch the
execution between the processes in the ‘Ready’ queue

EXAMPLE: Three processes with process IDs P1, P2, P3 with estimated
completion time 6, 4, 2 milliseconds respectively, enters the ready queue together
in the order P1, P2, P3. Calculate the waiting time and Turn Around Time (TAT)
for each process and the Average waiting time and Turn Around Time (Assuming
there is no I/O waiting for the processes) in RR algorithm with Time slice= 2ms.

Solution: The scheduler sorts the ‘Ready’ queue based on the FCFS policy and
picks up the first process P1 from the ‘Ready’ queue and executes it for the time
slice 2ms. When the time slice is expired, P1 is preempted and P2 is scheduled for
execution. The Time slice expires after 2ms of execution of P2. Now P2 is
preempted and P3 is picked up for execution. P3 completes its execution within the
time slice and the scheduler picks P1 again for execution for the next time slice.
This procedure is repeated till all the processes are serviced. The order in which the
processes are scheduled for execution is represented as

P1 P2 P3 P1 P2 P1

0 2 4 6 8 10 12
2 2 2 2 2 2
The waiting time for all the processes are given as

Waiting Time for P1 = 0 + (6-2) + (10-8) = 0+4+2= 6ms (P1 starts executing first
and waits for two time slices to get execution back and
again 1 time slice for getting CPU time)
Waiting Time for P2 = (2-0) + (8-4) = 2+4 = 6ms (P2 starts executing after P1
executes for 1 time slice and waits for two time
slices to get the CPU time)

Waiting Time for P3 = (4 -0) = 4ms (P3 starts executing after completing the first
time slices for P1 and P2 and completes its execution in a single time slice.)

Average waiting time = (Waiting time for all the processes) / No. of Processes

= (Waiting time for (P1+P2+P3)) / 3

= (6+6+4)/3 = 16/3

= 5.33 milliseconds

Turn Around Time (TAT) for P1 = 12 ms (Time spent in Ready Queue + Execution Time)

Turn Around Time (TAT) for P2 = 10 ms (-Do-)

Turn Around Time (TAT) for P3 = 6 ms (-Do-)

Average Turn Around Time = (Turn Around Time for all the processes) / No. of Processes

= (Turn Around Time for (P1+P2+P3)) / 3

= (12+10+6)/3 = 28/3

= 9.33 milliseconds.
Preemptive scheduling – Priority based Scheduling
 Same as that of the non-preemptive priority based scheduling except for the
switching of execution between tasks

 In preemptive priority based scheduling, any high priority process entering

the ‘Ready’ queue is immediately scheduled for execution whereas in the
non-preemptive scheduling any high priority process entering the ‘Ready’
queue is scheduled only after the currently executing process completes its
execution or only when it voluntarily releases the CPU

 The priority of a task/process in preemptive priority based scheduling is

indicated in the same way as that of the mechanisms adopted for non-
preemptive multitasking.

EXAMPLE: Three processes with process IDs P1, P2, P3 with estimated
completion time 10, 5, 7 milliseconds and priorities 1, 3, 2 (0- highest priority, 3
lowest priority) respectively enters the ready queue together. A new process P4
with estimated completion time 6ms and priority 0 enters the ‘Ready’ queue after
5ms of start of execution of P1. Assume all the processes contain only CPU
operation and no I/O operations are involved.

Solution: At the beginning, there are only three processes (P1, P2 and P3)
available in the ‘Ready’ queue and the scheduler picks up the process with the
highest priority (In this example P1 with priority 1) for scheduling. Now process
P4 with estimated execution completion time 6ms and priority 0 enters the ‘Ready’
queue after 5ms of start of execution of P1. The processes are re-scheduled for
execution in the following order

P1 P4 P1 P3 P2

0 5 11 16 23 28
5 6 5 7 5
The waiting time for all the processes are given as

Waiting Time for P1 = 0 + (11-5) = 0+6 =6 ms (P1 starts executing first and gets
Preempted by P4 after 5ms and again gets the CPU time
after completion of P4)

Waiting Time for P4 = 0 ms (P4 starts executing immediately on entering the

‘Ready’ queue, by preempting P1)

Waiting Time for P3 = 16 ms (P3 starts executing after completing P1 and P4)

Waiting Time for P2 = 23 ms (P2 starts executing after completing P1, P4 and P3)

Average waiting time = (Waiting time for all the processes) / No. of Processes

= (Waiting time for (P1+P4+P3+P2)) / 4

= (6 + 0 + 16 + 23)/4 = 45/4

= 11.25 milliseconds

Turn Around Time (TAT) for P1 = 16 ms (Time spent in Ready Queue + Execution Time)

Turn Around Time (TAT) for P4 = 6ms (Time spent in Ready Queue + Execution Time
= (Execution Start Time – Arrival Time) + Estimated Execution Time = (5-5) + 6 = 0 + 6)

Turn Around Time (TAT) for P3 = 23 ms ( Time spent in Ready Queue + Execution Time)

Turn Around Time (TAT) for P2 = 28 ms ( Time spent in Ready Queue + Execution Time)

Average Turn Around Time= (Turn Around Time for all the processes) / No. of Processes

= (Turn Around Time for (P2+P4+P3+P1)) / 4

= (16+6+23+28)/4 = 73/4

= 18.25 milliseconds
EMBEDDED SYSTEM DESIGN
UNIT-V

TASK COMMUNICATION
How to choose RTOS:
The decision of an RTOS for an embedded design is very critical.

A lot of factors need to be analyzed carefully before making a decision on

the selection of an RTOS.

These factors can be either

1. Functional

2. Non-functional requirements.

1. Functional Requirements:

1. Processor support:
It is not necessary that all RTOS’s support all kinds of processor
architectures.

It is essential to ensure the processor support by the RTOS

2. Memory Requirements:

• The RTOS requires ROM memory for holding the OS files and it is
normally stored in a non-volatile memory like FLASH.

OS also requires working memory RAM for loading the OS service.

Since embedded systems are memory constrained, it is essential to evaluate

the minimal RAM and ROM requirements for the OS under consideration.

3. Real-Time Capabilities:

It is not mandatory that the OS for all embedded systems need to be Real-
Time and all embedded OS’s are ‘Real-Time’ in behavior.

The Task/process scheduling policies plays an important role in the Real-

Time behavior of an OS.
 3. Kernel and Interrupt Latency:

The kernel of the OS may disable interrupts while executing certain services
and it may lead to interrupt latency.

For an embedded system whose response requirements are high, this latency
should be minimal.

5. Inter process Communication (IPC) and Task Synchronization: The

implementation of IPC and Synchronization is OS kernel dependent.

6. Modularization Support:

Most of the OS’s provide a bunch of features.

It is very useful if the OS supports modularization where in which the

developer can choose the essential modules and re-compile the OS image for
functioning.

7. Support for Networking and Communication:

The OS kernel may provide stack implementation and driver support for a
bunch of communication interfaces and networking.

Ensure that the OS under consideration provides support for all the
interfaces required by the embedded product.

8. Development Language Support:

Certain OS’s include the run time libraries required for running applications
written in languages like JAVA and C++.

The OS may include these components as built-in component, if not , check

the availability of the same from a third party.
2. Non-Functional Requirements:

1. Custom Developed or Off the Shelf:

It is possible to go for the complete development of an OS suiting the

embedded system needs or use an off the shelf, readily availableOS.

It may be possible to build the required features by customizing an open

source OS.

The decision on which to select is purely dependent on the development

cost, licensing fees for the OS, development time and availability of skilled
resources.

2. Cost:

The total cost for developing or buying the OS and maintaining it in terms of
commercial product and custom build needs to be evaluated before taking a
decision on the selection of OS.

3. Development and Debugging tools Availability:

The availability of development and debugging tools is a critical decision

making factor in the selection of an OS for embedded design.

Certain OS’s may be superior in performance, but the availability of tools

for supporting the development may be limited.

4. Ease of Use:

How easy it is to use a commercial RTOS is another important feature that

needs to be considered in the RTOS selection.

5. After Sales:

For a commercial embedded RTOS, after sales in the form of e-mail, on-call
services etc. for bug fixes, critical patch updates and support for production
issues etc. should be analyzed thoroughly.
Device Drivers:
• Device driver is a piece of software that acts as a bridge between the
operating system and the hardware

• The user applications talk to the OS kernel for all necessary information
exchange including communication with the hardware peripherals

• The architecture of the OS kernel will not allow direct device access from
the user application

• All the device related access should flow through the OS kernel and the OS
kernel routes it to the concerned hardware peripheral

• OS Provides interfaces in the form of Application Programming Interfaces

(APIs) for accessing the hardware

• The device driver abstracts the hardware from user applications

• Device drivers are responsible for initiating and managing the
communication with the hardware peripherals

• Drivers which comes as part of the Operating system image is known as

‘built-in drivers’ or ‘onboard’ drivers. Eg. NAND FLASH driver

• Drivers which needs to be installed on the fly for communicating with add-
on devices are known as ‘Installable drivers’

• For installable drivers, the driver is loaded on a need basis when the device
is present and it is unloaded when the device is removed/detached

• The ‘Device Manager service of the OS kernel is responsible for loading

and unloading the driver, managing the driver etc.

• The underlying implementation of device driver is OS kernel dependent

• The driver communicates with the kernel is dependent on the OS structure

and implementation.

• Device drivers can run on either user space or kernel space

• Device drivers which run in user space are known as user mode drivers and
the drivers which run in kernel space are known as kernel modedrivers

• User mode drivers are safer than kernel mode drivers

• If an error or exception occurs in a user mode driver, it won’t affect the

services of the kernel

• If an exception occurs in the kernel mode driver, it may lead to the kernel
crash

• The way how a device driver is written and how the interrupts are handled in
it are Operating system and target hardware specific.

• The device driver implements the following:

• Device (Hardware) Initialization and Interrupt configuration

 • Interrupt handling and processing

• Client interfacing (Interfacing with user applications)

• The basic Interrupt configuration involves the following.

• Set the interrupt type (Edge Triggered (Rising/Falling) or Level Triggered

(Low or High)), enable the interrupts and set the interrupt priorities.

• The processor identifies an interrupt through IRQ.

• IRQs are generated by the Interrupt Controller.

• Register an Interrupt Service Routine (ISR) with an Interrupt Request (IRQ).

• When an interrupt occurs, depending on its priority, it is serviced and the

corresponding ISR is invoked

• The processing part of an interrupt is handled in an ISR

• The whole interrupt processing can be done by the ISR itself or by invoking
an Interrupt Service Thread (IST)

• The IST performs interrupt processing on behalf of the ISR

• It is always advised to use an IST for interrupt processing, to make the ISR
compact and short

Reference Books:

1. Introduction to Embedded Systems – Shibu K.V Mc Graw Hill

2. Embedded System Design-Raj Kamal TMH