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Embedded Control System Development with

Embedded Control System Development with. Giotto. Thomas A. Henzinger, Benjamin Horowitz, Christoph Meyer Kirsch UC Berkeley. Giotto. Giotto is a time-triggered and platform independent programming language + compiler + runtime library

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Embedded Control System Development with

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  1. Embedded Control System Developmentwith Giotto Thomas A. Henzinger, Benjamin Horowitz, Christoph Meyer Kirsch UC Berkeley

  2. Giotto • Giotto is a time-triggered and platform independent programming language + compiler + runtime library • Giotto aims at hard real-time control applications on distributed platforms (safety-critical applications) • Giotto provides an abstract programming model for embedded control system development • Giotto runtime library for VxWorks (using timer services, scheduling services, TCP/IP stack)

  3. Embedded System Development Application decomposes designs simulates Control Engineer Control Design Matlab! Functionality & Timing Giotto Program decomposes implements tests Software Engineer Platform Giotto!

  4. A Giotto Task State Sensors f Actuators Frequency 10ms

  5. Semantics of a Giotto Task Task State Sensors f Actuators Frequency 10ms Don’t care Time Read @ time t Write @ time t+10ms

  6. Multiple Giotto Tasks Task P Q Q Don’t care Don’t care t t t+5ms t+5ms t+10ms t+10ms

  7. Compilation Application decomposes designs simulates Control Engineer Control Design Matlab! Functionality & Timing Giotto Program decomposes implements tests Software Engineer Platform Giotto!

  8. The Giotto Compiler Functionality & Timing Giotto Program Compilation Scheduling & Communication Giotto Executable Giotto Runtime Library VxWorks Distributed Platform

  9. The Giotto Compiler Giotto Program • Possible Answers: • Giotto Executable • Not Schedulable Giotto Compiler Giotto Executable

  10. Giotto-Platform Giotto Program Giotto-P Program Hosts, Nets, Performance Giotto Compiler Distributed Platform

  11. Giotto-Scheduler Giotto Program Giotto-P Program Hosts, Nets, Performance Giotto-PS Program Task to Host, Priority Giotto Compiler Distributed Platform

  12. Giotto-Communication Giotto Program Giotto-P Program Hosts, Nets, Performance Giotto-PS Program Task to Host, Priority Giotto-PSC Program Connection to Net, TDMA Giotto Compiler Distributed Platform

  13. The Giotto Runtime Library Functionality & Timing Giotto Program Compilation Scheduling & Communication Giotto Executable Giotto Runtime Library VxWorks Distributed Platform

  14. The Giotto Runtime Library Scheduling & Communication Giotto Runtime Library • Task, Connection Mapping • Task Scheduling Scheme • TDMA Slots Abstraction Real-Time OS Services VxWorks • Timer Service • Scheduling Service • TCP/IP Stack Distributed Platform

  15. The Giotto Runtime Library • Available on VxWorks and x86 targets • Current Experimental Robots: • credit card size x86 single board computer running VxWorks • wireless Ethernet • Lego motors, sensors • Next Experimental Platform: • unmanned Yamaha helicopters • PC 104 single board computer running VxWorks • wireless Ethernet, GPS, inertial navigation sensor, …

  16. End

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