CPU Model-Based Hardware/Software Co-design, Co-simulation and Analysis Technology for Real-Time Embedded Control Systems
CPU Model-Based Hardware/Software Co-design, Co-simulation and Analysis Technology for Real-Time Embedded Control Systems
复制标题
基于CPU模型的实时嵌入式控制系统软硬件协同设计、协同仿真与分析技术
DOI：
10.1109/rtas.2007.9
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Oho
中科院分区：
文献类型：
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作者：
M. Ishikawa;D. J. McCune;G. Saikalis;S. Oho
提出了一种基于CPU模型的软硬件协同仿真开发高可靠实时嵌入式控制系统的新方法。我们采用了一种方法，允许对包括机电一体化工厂、微控制器硬件和目标代码级软件在内的虚拟机械控制系统进行完全模拟。这种完整的虚拟系统仿真揭示了控制系统的行为，特别是在微控制器的硬件和软件方面。它能够实现微体系结构设计空间的探索、控制设计验证、系统的健壮性评估、组件设计之前的软件优化，并防止潜在的问题。这项工作的一个新方面是，所提出的虚拟控制系统包含了典型控制系统中的所有组件，因此它能够从不同领域分析影响，例如控制软件错误导致的行为的机械分析。为了帮助设计、评估和分析，我们在开发环境中开发了一个集成的行为分析器。这可以在不影响仿真结果的情况下，图形化地显示仿真过程中处理器的行为，如任务级CPU负载、中断统计和软件变量转换图。该分析器提供有关行为的有用信息。该虚拟系统分析不需要修改软件，并且该分析不改变控制时序，并且不需要目标微控制器上的任何处理能力。因此该方法适用于实时嵌入式控制系统设计，特别是对可靠性、健壮性、质量和安全性要求较高的汽车控制系统设计。本文在Vavast Systems Technology的CoMETtrade平台上开发了瑞萨SH-2A微控制器模型。选择ETC(电子节气门控制)系统作为被控对象来验证这一概念。对Synopsysreg公司SABERREG模拟器上的ETB(电子节气门)模型与SH-2A模型进行了联合仿真。在本项目期间，SH-2A芯片正在开发中，但我们可以利用虚拟系统完成OSEK操作系统的开发、控制软件的设计和验证。在本工作后期发布了工作样片后，我们确认该软件无需修改即可在实际的ETC硬件系统上运行。这表明我们的模型和仿真环境是足够可信和可信的
This paper proposes a new development method for highly reliable real-time embedded control systems using a CPU model-based hardware/software co-simulation. We take an approach that allows the full simulation of the virtual mechanical control system including the mechatronics plant, microcontroller hardware and object code level software. This full virtual system simulation reveals the control system behavior, especially in microcontroller hardware and software. It enables microarchitecture design space exploration, control design validation, robustness evaluation of the system, software optimization before components design, and prevents potential problems. A novel aspect of this work is that the proposed virtual control system comprises all the components in a typical control system, therefore it enables the analysis of the effects from the different domains, for example the mechanical analysis of behavior due to a control software bug. To help the design, evaluation and analysis, we developed an integrated behavior analyzer into the development environment. This can display the processor behavior graphically during the simulation without affecting the simulation results, such as task level CPU load, interrupt statistics and software variable transition chart. This analyzer provides useful information on the behavior. No software modification is necessary for this virtual system analysis, and this analysis does not change the control timing and does not require any processing power on the target microcontroller. Therefore this method is suitable for real-time embedded control system design, in particular automotive control system design which requires high level reliability, robustness, quality and safety. In this paper, a Renesas SH-2A microcontroller model was developed on a CoMETtrade platform from VaST Systems Technology. An ETC (electronic throttle control) system is chosen as the plant to prove this concept. The ETB (electronic throttle body) model on Saberreg simulator from Synopsysreg was co-simulated with the SH-2A model. The SH-2A chip was under development during this project, nevertheless we could complete the OSEK OS development, control software design and verification using the virtual system. We confirmed that such software could run on an actual ETC hardware system without modification after a working sample chip was released at a later stage in the course of this work. This demonstrates that our models and simulation environment are sufficiently credible and trustful