Course

Lecture Notes

Exam Policy

Problem Sets

Solutions

Embedded Systems _{Lecture Notes}

Lecture #1, October 21, 2008

• Introduction, StateCharts
• Slides: pdf (updated)
• References:
  
  Marwedel, Chapters 1-2.4
  
  Harel (1987): StateCharts: A visual formalism for complex systems pdf

Lecture #2, October 23, 2008

• StateCharts semantics, hybrid systems
• Slides: pdf
• Reference:
  
  Harel/Naamad (1996): The STATEMATE semantics of StateCharts pdf

Lecture #3, October 28, 2008

• MATLAB, Simulink, Stateflow introduction
• Slides: pdf
• Damped harmonic oscillator Simulink model

Lecture #4, October 30, 2008

• MATLAB, Simulink, Stateflow introduction, part 2
  
  Slides: pdf
• Introduction to Petri nets
  
  Slides: pdf

Lecture #5, November 4, 2008

• Petri nets, part 2
• Slides (without annotations): pdf (updated)
• Slides (with annotations): pdf
• Reference:
  
  Marwedel, Chapter 2.6

Lecture #6, November 6, 2008

• Petri nets, part 3
• Slides (without annotations): pdf (updated)
• Slides (with annotations): pdf (updated)
• Reference:
  
  Peter H. Starke (1990): Analyse von Petri-Netz-Modellen (Teubner Verlag)
  
  (available in the Semesterapparat in the library.)

Lecture #7, November 11, 2008

• Kahn process networks, SDF
• Slides (without annotations): pdf
• Slides (with annotations): pdf
• References:
  
  Marwedel, Chapters 2.9.1, 2.9.2
  
  Kahn (1974): The semantics of a simple language for parallel programming pdf
  
  Lee/Messerschmitt (1987): Synchronous data flow pdf
  
  Visualization tool by Birgit Sirocic, Universität Dortmund.

Lecture #8, November 13, 2008

• Message Sequence Charts
• Slides (without annotations): pdf
• Slides (with annotations): pdf
• References:
  
  Marwedel, Chapter 2.7
  
  Harel/Thiagarajan (2003): Message Sequence Charts pdf

Lecture #9, November 18, 2008

• VHDL
• Slides (without annotations): pdf
• Slides (with annotations): pdf
• References:
  Marwedel, Chapter 2.11
  Peter J. Ashenden (2002): The Designer’s Guide to VHDL
  (available in the Semesterapparat in the library.)

Lecture #10, November 20, 2008

• VHDL, part 2
• Slides: pdf
• Examples: adder.vhdl, dff.vhdl
• Tools: GHDL, GTKWave

Lecture #11, November 25, 2008

• Embedded system hardware
• Slides (without annotations): pdf
• Slides (with annotations): pdf
• Simulation of a sigma-delta A/D converter: link.
• Reference:
  
  Marwedel, Chapters 3.1,3.2,3.4.1-3.4.3,3.6

Lecture #12, November 27, 2008

• Embedded system hardware, part 2
• Slides: pdf
• References:
  
  Marwedel, Chapter 3
  
  Hermann Kopetz (1997): Real-Time Systems. Design Principles for Distributed Embedded Applications, Chapter 7 – Real-Time Communication. (available in the Semesterapparat in the library.)

Lecture #13, December 2, 2008

• FlexRay
• Slides: pdf

Lecture #14, December 4, 2008

• Aperiodic scheduling
• Slides (without annotations): pdf
• Slides (with annotations): pdf
• References:
  
  Marwedel, Chapter 4.2.2
  
  Giorgio Buttazzo (2004): Hard Real-Time Computing, Chapter 3 – Aperiodic Task Scheduling (available in the Semesterapparat in the library.)

Lecture #15, December 9, 2008

• Periodic scheduling, part 1
• Slides (without annotations): pdf
• Slides (with annotations): pdf
• References:
  
  Marwedel, Chapter 4.2.3
  
  Buttazzo, Chapter 4

Lecture #16, December 11, 2008

• Periodic scheduling, part 2
• Slides (without annotations): pdf
• Slides (with annotations): pdf
• References:
  
  Marwedel, Chapter 4.2.4
  
  Buttazzo, Chapter 4.3, Chapter 7

Lecture #17, December 16, 2008

• Midterm review
• Slides: pdf

Lecture #18, January 6, 2009

• Multiprocessor scheduling
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Reference:
  
  Dertouzos/Moc (1989): Multiprocessor On-Line Scheduling of Hard-Real-Time Tasks pdf

Lecture #19, January 8, 2009

• Key Trends in Automotive System Development
• Guest lecture by Werner Damm, Carl von Ossietzky University Oldenburg
• Slides: pdf
• The lecture starts by highlighting key concepts of the Autosar approach to automotive developments. It then identifies additional needs to adress both real-time and safety aspects, and proposes solutions based on the Rich Components approach currently developed in the integrated project Speeds.

Lecture #20, January 13, 2009

• Multiprocessor scheduling, part 2
• Partitioning
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Reference:
  
  Lee/Cheng (1994): Multiprocessor Scheduling of Hard-Real-Time Tasks with Task Migration Constraints ps

Lecture #21, January 15, 2009

• Partitioning, part 2
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• References:
  
  Kernighan/Lin (1970): An Efficient Heuristic Procedure for Partitioning Graphs pdf
  
  Fiduccia/Mattheyses (1982): A Linear-Time Heuristic for Improving Network Partitions pdf

Lecture #22, January 20, 2009

• Timing Analysis
• Guest lecture by Reinhard Wilhelm
• Slides (6 slides per page): pdf
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Old version of the slides with printer-friendly white background: pdf

Lecture #23, January 22, 2009

• Real-Time Calculus
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Matlab toolbox: link
• References:
  
  Wandeler/Thiele/Verhoef/Lieverse (2006): System architecture evaluation using modular performance analysis: a case study pdf
  
  The Real-Time Calculus is also described in the new edition (2007) of Marwedel’s book (Section 6.5).

Lecture #24, January 27, 2009

• Fault Tolerance
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Reference:
  
  Lamport/Shostak/Pease (1982): The Byzantine Generals Problem pdf

Lecture #25, January 29, 2009

• Fault Tree Analysis
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Reference:
  
  Vesely (2002): Fault Tree Handbook with Aerospace Applications pdf

Lecture #26, February 3, 2009

• Testing
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Reference:
  
  Bushnell/Agrawal (2005): Essentials of Electronic Testing for Digital, Memory and Mixed-Signal VLSI Circuits link

Lecture #27, February 5, 2009

• Formal Methods
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf
• Slides (1 slide per page / printer friendly version): pdf
• References:
  
  Lecture notes on Verification link
  
  Lecture notes on Automata, Games, and Verification link

Lecture #28, February 10, 2009

• Summary
• Slides (2 slides per page): pdf
• Slides (1 slide per page): pdf

Slides include material by Martin Fränzle (Oldenburg), Peter Marwedel (Dortmund), and Christoph Scholl (Freiburg).