Enhancing Embedded Systems Simulation (eBook)

A Chip-Hardware-in-the-Loop Simulation Framework

Christian Köhler (Autor)

eBook Download: PDF

2011 | 2011
XXII, 224 Seiten
Vieweg & Teubner (Verlag)
978-3-8348-9916-3 (ISBN)

Infos

Christian Köhler covers the connection between µC and simulation, the interface abstraction as well as the analysis and optimization of coupling systems with the Chip-Hardware-in-the-Loop Simulation (CHILS) approach. He develops the hardware to simulation coupling system with a focus on less hardware effort, the capabilities to couple with different simulation environments, and the efficiency of coupling. Furthermore, the author presents existing concepts to simulate complex systems and compares them with the new approach.

Dr. rer. nat. Christian Köhler completed his doctoral thesis under the supervision of Prof. Dr. sc. techn. Andreas Herkersdorf at the Institute for Integrated Systems, Department of Electrical Engineering and Information Technology, Technische Universität München (TUM).

Inhalt

Acknowledgment 6
Contents 8
List of Figures 11
List of Tables 14
Acronyms 16
1 Introduction 22
1.1 Motivation 22
1.2 Objective of the Thesis 23
1.3 Thesis Organization 24
2 Related Work and Work Hypothesis 26
2.1 Work Hypothesis 26
2.2 Basics 29
2.2.1 Motivation for Modelling and Simulation 30
2.2.2 Modelling Basics 32
2.2.3 Simulation Systems 33
2.2.3.1 Continuous Simulation 34
2.2.3.2 Discrete Simulation 35
2.3 Possibilities of Hardware-Simulation-Coupling 36
2.3.1 Motivation for Hardware-in-the-Loop 37
2.3.2 Commercial Hardware-in-the-Loop Solutions 38
2.3.2.1 MathWorks™ 39
2.3.2.2 dSPACE 39
2.3.2.3 Modelica/Dymola 40
2.3.2.4 National Instruments 40
2.3.2.5 Visual Solutions 41
2.3.2.6 ETAS 41
2.3.3 Non-Commercial Hardware-in-the-Loop Solutions 41
2.3.3.1 University of South Carolina – Virtual Test Bed 41
2.3.3.2 ETH Zürich – Generic Hardware-in-the-loop Framework 42
2.3.3.3 University of Twente – Borderc project 42
2.3.3.4 University of Karlsruhe – COMPASS 42
2.3.4 Coupling Concepts 42
2.4 Additional Concepts 44
2.4.1 System-Simulation 44
2.4.2 Software-in-the-Loop Simulation 44
2.4.3 Hardware-in-the-Loop Simulation 45
2.4.4 Emulation and Emulator 46
2.5 Comparison of the Concepts 47
2.6 Subproblems of Hardware-Simulation-Coupling 47
2.6.1 Connection between Hardware and Simulation 48
2.6.2 Interface Abstraction 48
2.6.3 Event Exchange Optimization 48
3 Connection between Hardware and Simulation 50
3.1 Basics 50
3.1.1 Simulator Coupling and Co-Simulation 50
3.1.2 Synchronization of Co-Simulations 52
3.2 Related Work 53
3.3 Exchange of Events between Microcontroller and Simulation 56
3.3.1 Continuous Simulation 57
3.3.1.1 Basic Coupling Principles 57
3.3.2 Event Discrete Simulation 59
3.3.2.1 Basic Coupling Principles 60
3.3.3 Conclusions 62
3.3.3.1 Levels of Simulator Coupling 63
3.4 CHILS Event Exchange Mechanism 63
3.5 E.ects Caused by Coupling 66
3.5.1 Measurement of the Timing Difference 66
3.5.1.1 System Timer (STM) 67
3.5.1.2 GPTA 67
3.5.2 Causes for the Timing Di.erence 69
3.5.2.1 Additional Instructions 69
3.5.2.2 Delayed Suspend 71
3.5.2.3 Pipelining 71
3.5.2.4 Caching 72
3.5.3 Possibilities for Compensation 72
3.6 Summary 74
4 Interfaces between Microcontroller and Environment 76
4.1 Related Work 76
4.2 Interface Modelling and Abstraction 79
4.2.1 Interface Abstraction 80
4.2.2 Interface Representation 80
4.2.2.1 Digital Interfaces 82
4.2.2.2 Analogue Interfaces 82
4.2.2.3 Communication Interfaces 83
4.3 Summary 85
5 Optimization – Coupling System Analysis 86
5.1 Related Work 87
5.2 Basics 88
5.3 Formal De.nitions 89
5.3.1 Transparency and Fidelity Deffnition 89
5.3.2 Application of the Coupling System Fidelity 95
5.4 Example 95
5.5 Comparison of Di.erent Coupling Systems 98
5.5.1 Simulation Scenario 99
5.5.2 Interpretation of Data Sheets 99
5.5.3 Scenarios 101
5.5.4 CHILS vs. DeskPOD™ 102
5.5.4.1 DeskPOD™ Hardware 102
5.5.4.2 Scenarios 103
5.5.5 CHILS vs. dSPACE 103
5.5.5.1 dSPACE Hardware 103
5.5.5.2 Scenarios 104
5.5.6 Comparison Results 104
5.6 Summary 106
6 Optimization – Analysis of the Real System and Environment 107
6.1 Analysis of Algorithms 107
6.1.1 Related Works 108
6.1.2 Numerical Basics 109
6.1.2.1 Error Propagation 109
6.1.3 Arithmetic Basic Operations 110
6.1.3.1 Combination of Arithmetic Basic Operations 111
6.1.4 Algorithm Analysis Process 112
6.1.4.1 CFG-DFG Analysis 113
6.1.4.2 Training Set 117
6.1.4.3 Complexity of Subgraph Training Set Calculation 118
6.2 Classi.cation of Algorithms 118
6.2.1 Related Work 119
6.2.2 Classi.cation Process 120
6.2.2.1 Graph Matching 120
6.2.2.2 Recombination 122
6.2.2.3 Experimental Results 123
6.3 Analysis and Classi.cation of Systems 124
6.3.1 Stability of Linear Time Invariant Systems 126
6.3.2 Stability of Nonlinear Time Invariant Systems 127
6.4 General Analysis 129
6.4.1 Stability of Control Loops 129
6.4.2 Example 130
6.4.3 Control Path Analysis 131
6.4.4 Control Analysis – Analytical 131
6.4.5 Control Loop Analysis 131
6.4.6 Control Analysis – Numerical 132
6.5 Summary 134
7 Optimization – Runtime Analysis 137
7.1 Metric Basics 137
7.1.1 Events 137
7.1.2 Simulation Coupling 138
7.2 Metric De.nitions 138
7.2.1 Execution Time Accuracy 138
7.2.2 Event Distribution Accuracy 139
7.2.3 Event Occurrence Accuracy 141
7.3 Example 142
7.4 Summary 144
8 CHILS Framework – Concept 146
8.1 Functionality – CHILS Basics 146
8.1.1 Data Exchange and Synchronization 146
8.1.2 Interface Abstraction 148
8.2 Microcontroller Requirements 149
8.2.1 Microcontroller Adaptations for Future Versions 149
8.2.1.1 Microcontroller Peripherals 149
8.2.1.2 Monitor Context 150
8.3 Range of Applications 151
8.3.1 CHILS and the V-Model 151
8.3.2 Rapid Control Prototyping 151
8.3.3 Test Applications 152
8.3.4 Estimation of the Real-Time Capability of Software with CHILS 153
8.4 Features 153
8.4.1 Simulation Coupling – CHILS-API 153
8.4.2 Device Coupling – DAS Architecture 155
8.4.3 Debugger Support – MCD-API 155
8.4.4 Tools for Coupling Optimization 155
8.4.4.1 Coupling System Analysis 155
8.4.4.2 Algorithm Analysis 156
8.4.4.3 CHILS Runtime Pro.ling 157
8.4.4.4 CHILS Simulation Step Size Calculation 158
8.5 Optimization Flow 158
8.6 Summary 160
9 CHILS Framework – Classi.cation 161
9.1 Software Models on Di.erent Levels of Abstraction 161
9.1.1 Functional Simulation 163
9.1.2 Instruction Accurate Simulation 163
9.1.3 Transactional Level with/without Time 164
9.1.4 Cycle Accurate Models 164
9.1.5 Register Transfer Level 164
9.1.6 Physical Level 165
9.2 Embedding of Hardware in Simulations 165
9.2.1 Original Microcontroller 165
9.2.1.1 Pin-Based Connection 165
9.2.1.2 Embedding via Communication Interface 167
9.2.2 Emulation 169
9.3 Comparison 170
9.4 CHILS Performance and Accuracy 177
9.4.1 CHILS Accuracy 177
9.4.2 CHILS Performance 177
9.5 Summary 180
10 CHILS Framework – Applications 181
10.1 SystemC-Coupling 181
10.1.1 Virtual Peripheral Extension 184
10.2 Matlab/Simulink-Coupling 186
10.2.1 CHILS-Demonstration Platform 188
10.2.1.1 Results 189
11 Summary and Outlook 192
11.1 Summary 192
11.1.1 Connection between Hardware and Simulation 192
11.1.2 Interface Abstraction 193
11.1.3 Event Exchange Optimization 193
11.1.4 CHILS Framework 194
11.1.5 Conclusion 195
11.2 Outlook and Future Work 195
11.2.1 Driver Support 195
11.2.2 Hardware Support 196
11.2.3 Microcontroller Extensions 196
11.2.4 Integration into Commercial Solutions 197
11.2.5 Coupling System Analysis 197
11.2.6 Algorithm Analysis 197
A Formulas 198
A.1 Chapter 5 198
A.1.1 Fidelity Functions of System Comparison 198
B Tables 199
B.1 Chapter 3 199
B.1.1 Time Di.erence Measurement 199
B.1.2 Time Di.erence Measurement – dsync/isync 200
B.2 Chapter 5 201
B.2.1 Result Tables of System Comparison 201
B.3 Chapter 9 203
B.3.1 Synthetic Simulation Performance 203
C Listings 205
C.1 Chapter 8 205
C.1.1 CHILS-API 205
C.2 Chapter 10 208
C.2.1 MATLAB®/Simulink® s-function 208
C.2.2 SystemC 213
D Datasheets 217
D.1 Chapter 2 217
D.2 Chapter 5 218
D.2.1 DeskPOD™ Datasheet 218
D.2.2 dSpace Datasheets 218
Bibliography 220
Glossary 231

Produkt-Details

• Erscheint lt. Verlag: 29.3.2011
• Zusatzinfo: XXII, 224 p. 65 illus.
• Verlagsort: Wiesbaden
• Sprache: englisch
• Themenwelt: Mathematik / Informatik ► Informatik
• Themenwelt: Technik ► Elektrotechnik / Energietechnik
• Schlagworte: CHILS Framework • Coupling System Analysis • Microcontroller • Runtime Analysis • Simulation
• ISBN-10: 3-8348-9916-X / 383489916X
• ISBN-13: 978-3-8348-9916-3 / 9783834899163