The course was taught in Zhejiang University, Summer 2014. It provided the opportunities for students to learn various fundamental issues as well as practical development skill in the area of embedded systems programming. The goals of the course were to let student


    Understand the design issues of embedded software and gain an in-depth knowledge of development and execution environment on target processors.


    Understand the functions and the internal structure of device interfaces, drivers, and real-time operating systems.


    Acquire the skill to develop multi-threaded embedded software in target environment, including good quality and coding style for embedded programming, and testing and debugging approaches to verify embedded software operations.


    Develop feasible task scheduling and carry out system performance and task schedulability analyses.


The target development environment used in the course was Intel's Galileo board. The board, with its rich architectural features, was used to investigate embedded software characteristics and IO operations, and to experience system design and development practices.


 


Reference material:


    Intel® Quark SoC X1000 Core Developer’s Manual
    Intel® Quark SoC X1000 Datasheet
    Real-time Systems, by Jane Liu, Prentice Hall; ISBN: 0130996513.
    The Linux Kernel Module Programming Guide, Peter Jay Salzman, Michael Burian, and Ori Pomerantz, 2007, ver 2.6.4, http://www.tldp.org/LDP/lkmpg/2.6/lkmpg.pdf.
    Linux Device Drivers (3rd Edition), Jonathan Corbet, Alessandro Rubini, Greg Kroah-Hartman, 2005
    Writing Linux Device Drivers: a guide with exercises, Jerry Cooperstein, ISBN: 978-1448672387
    Debugging Embedded Linux, Christopher Hallinan, 2007


Prerequisites 


1.       Computer organization


2.     Data structures


3.     C/C++ programming


Note that it will be very helpful if you have some knowledge of  Operating Systems and Computer architecture.


Course Schedule: (20minutes/lecture, 4 lectures/day)


Date



Classes (4 20-minutes lectures/day)



Lab and self-study (3 hours/day)


Monday, July 7



Introduction, Linux loadable modules



Exercise: data structures for Linux device drivers


Tuesday, July 8



Linux device driver



Lab: Linux  loadable module


Wednesday, July 9



Quark SOC and Galileo architecture



Exercise: Galileo board design and GPIO programming


Thursday, July 10



Linux ISR and device driver



Exercise: user-level I2C programming


Friday, July 11



Thread and kernel synchronization



Lab: I2C-based EEPROM driver


 



 



 


Monday, July 14



Embedded programming



Exercise: setjmp and longjmp


Tuesday, July 15



Embedded programming



Lab: signal and asynchronous control


Wednesday, July 16



Real-time scheduling and analysis



Self-study: course review


Thursday, July 17



Real-time scheduling and analysis



Lab: real-time task management


Friday, July 18



Real-time scheduling and analysis



Final exam


Lecture slides and videos:


Lecture



Topic



Slide



Video


1



Introduction



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2



Trends of Embedded Systems



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3



ES Development Environment



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4



Linux Kernel Modules



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5



Linux Device Driver Basics



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6



Basic Data Structures for Device Driver



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7



Quark SOC and Galileo



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8



x86 Memory and Interrupt



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9



x86 System Architecture and PCI Bus



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10



PCI Configuration



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11



PCIe – An Introduction



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12



Quark I2C Interface



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13



Linux GPIO & I2C Drivers



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14



Interrupt Processing in Linux



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15



Linux ISR and Work Queue



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16



Work Queue and Input Processing in Linux



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17



Input Processing in Linux



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18



Task Model



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19



pthread Programming



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20



Synchronization Mechanisms (1)



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21



Synchronization Mechanisms (2)



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22



RT Task Model



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23



Overrun Management



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24



Signaling



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25



Kernel Signal Mechanism



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26



Synchronous Model



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27



Model and Cyclic Scheduling



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28



EDF



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29



Rate Monotonic Scheduling



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30



Response Time Analysis



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31



Interrupts and non-RM Tasks



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32



Priority Inversion



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33



RT Synchronization Protocol (1)



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34



RT Synchronization Protocol (2)



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35



RT Synchronization Protocol (3)



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36



Aperiodic Server



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37



A Case Study



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38



WCET Analysis (1)



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39



WCET Analysis (2)



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40



Multicore Embedded Systems



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