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