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Open De elopmen Pla o m o
Embedded Sys ems
E. Os úa, A. Muñoz, P. Ruiz-de-Cla ijo, M.J. Bellido,
D. Gue e o and A. Millán
G upo de In es igación y Desa ollo Digi al (ID2)
Dp o. Tecnología Elec ónica, Uni e si y o Se ille
Spain
1. In oduc ion
Embedded sys ems a e hose ha implemen a specific unc ion while sa is ying a numbe
o es ic ions. These es ic ions ha e e ol ed o e ime and oday, he mos common
o his ype o sys em a e cos and low consump ion, and minimum size and weigh .
Mo eo e , he demand o embedded sys ems o di e en unc ions, and also he complexi y
o hese unc ions has inc eased significan ly in ecen yea s. Also, due o he high le el
o compe i ion, is he need o significan ly educe de elopmen imes o hese sys ems
(Sangio anni-Vincen elli, 2001).
All hese p oblems in he design o embedded sys ems ha e been gi ing ise o an e olu ion
in design me hodology, so i has passed om implemen ing hem as an applica ion specific
ha dwa e, o a me hodology whose main pa is so wa e design.
This change in me hodology has been possible hanks o ad ances in echnology ha allow
a comple e sys em o be included in a single chip (ie, Sys em on Chip, SoC). The ha dwa e
a chi ec u e o Embedded sys ems in SoC echnology consis s o a mic op ocesso as a co e,
a ound which a e he componen s o pe iphe als necessa y o ca y ou he unc ion o
he sys em. This unc ion is implemen ed h ough so wa e unning on he mic op ocesso
(Beeckle , 2007; A i allah, 2008).
Fo iews o bo h cos educ ion as well as de elopmen ime, design me hodologies o
embedded sys ems ha e consis ed o p e-buil ha dwa e pla o ms closed wi h a wide ange
o applica ions. This ange o applica ions is achie ed because hese pla o ms ha e mul iple
po s ha a e able o package di e en ypes o signals. The mos common pla o ms
o his ype a e mic ocon olle s (MCUs) and digi al signal p ocesso s (DSPs). Wi h his
ype o componen , he final applica ion design consis s p ima ily in he de elopmen o
so wa e unning on hem. In o de o educe de elopmen imes as well as being able
o use hese pla o ms in highly complex unc ions, manu ac u e s ha e made an e o in
so wa e de elopmen en i onmen s (Salewski, 2005). Thus, in ecen yea s, he new MCUs
a e cha ac e ized by suppo ing se e al ope a ing sys em because hey p o ide a con enien
way o so wa e applica ions de elopmen .
Howe e , hese ype o closed pla o ms educe he deg ee o eedom o he designe o
embedded sys ems. This is so because he designe is no able o manipula e and adap he
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ha dwa e o he specific applica ion. This could lead o an imp o ed final pe o mance o he
sys em.
An al e na i e o closed ha dwa e pla o ms is he use o FPGAs (Os ua, 2008; Muñoz,
2008; Eas man, 2005). The high capaci y o in eg a ion, low cos on sho uns, and high
pe o mance in e ms o ope a ing equency and powe consump ion in FPGAs makes i
possible o implemen an en i e mic op ocesso -based sys em in one o hese p og ammable
de ices. This ype o FPGA-based ha dwa e pla o m has se e al ad an ages o e closed
pla o ms:
• SoC design adap ed o he specific needs o embedded sys ems
• Abili y o design and adap he ha dwa e componen s o specific applica ion unc ionali y,
and include hem in he SoC
• Dynamic econfigu a ion capabili y o he SoC (Williams, 2004)
Howe e , he use o FPGAs necessa ily implies an e o o design he ha dwa e a chi ec u e
ha makes he o al de elopmen ime o he sys em can be significan ly highe han in
he case o closed pla o ms. To make he design o embedded sys ems using a FPGA as
cen al co e o he sys em easible, CAD ools a e necessa y o acili a e he cons uc ion
o he ha dwa e a chi ec u e quickly and e ficien ly. Indeed, nowadays, manu ac u e s a e
le e aging he SoC design ools on FPGAs and he e is a le el o compe i ion o he bes
solu ion ha combines bo h ease o cons uc ion o he comple e a chi ec u e as he bes
pe o mance o he final sys em implemen ed. Examples o hese ools a e, o example Xilinx
EDK (Xilinx Inc., 2009), Al e a ESD (Al e a Inc., 2009), e c.
Bu in addi ion o acili a ing he de elopmen o he ha dwa e a chi ec u e i is also necessa y
o acili a e so wa e de elopmen . This is he poin whe e he e is g ea e di e ence be ween
he MCUs and FPGAs. The new MCUs a e cha ac e ized by suppo ing ope a ing sys ems.
The in oduc ion o he ope a ing sys em le el in an embedded sys em allows hese o be
used in applica ions o high complexi y. In con as , mic op ocesso s used in FPGAs, a e only
now beginning o suppo ope a ing sys ems (Henkel, 2004) such as he case wi h pe alinux
Mic oBlaze (Pe alogix Inc., 2010), o p ojec s o po Linux o Al e a’s Nios (Al e a Inc., 2010)
o La ice Mico32 (La ice Inc., 2010).
In his chap e , we p esen a pla o m hw / sw open in he sense ha i is echnologically
independen , and ha i is implemen able in low-cos FPGAs ha mee s bo h o he main
ea u es men ioned abo e: CAD ools ha acili a e he de elopmen o SoC ha dwa e
a chi ec u e and, abo e all, a so wa e de elopmen me hodology compa able o he me hods
used in s anda d PCs.
The pla o m is based on he LEON3 p ocesso (Gaisle , 2010) ha implemen s he SPARC 8
a chi ec u e. The main ad an age is ha on his mic op ocesso a Debian Linux dis ibu ion
(Debian, 2010) was implemen ed. Ha ing no only a Linux ope a ing sys em, bu o all
he componen s o a e y ma u e dis ibu ion as Debian, gi es ise o a g ea po en ial and
easiness when de eloping so wa e applica ions o embedded sys ems.
In wha ollows we desc ibe he pla o m, s a ing wi h he ha dwa e a chi ec u e. Then we
desc ibe he implemen a ion p ocess o he Debian dis ibu ion. In he 4 h sec ion, we de ail a
gene al de elopmen me hodology o any applica ion based on his pla o m. We show he
ad an ages o he pla o m on a specific example o embedded sys em consis ing o a e minal
uni o loca ion and posi ioning. Finally, a e summa ized he main poin s o wo k.
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Open De elopmen Pla o m o Embedded Sys ems 3
2. SoC ha dwa e le el
As we men ioned be o e, we chose LEON3 syn hesizable mic op ocesso , ha implemen s a
SPARC a chi ec u e. The main ea u es o his mic op ocesso a e desc ibed as ollows:
• The LEON3 32-bi co e implemen s he ull SPARC V8 s anda d
• I uses big-endian by e o de ing and has 32- bi in e nal egis e s
• I has 72 ins uc ions in 3 di e en o ma s and 3 di e en ins uc ion add essing modes
(immedia e, displacemen and indexed)
• Implemen s signed and unsigned mul iply, di ide and MAC ope a ions and has a 7-s age
pipeline ins uc ions
• Also implemen s Ha a d A chi ec u e wi h wo sepa a e ins uc ion and da a cache
in e aces
Wi h final pu pose in mind, Debian was chosen as he Linux dis ibu ion, since i has
been adap ed and compiled o many a chi ec u es such as x86 o SPARC 8 among o he
ea u es. The mic op ocesso we wan o use, mus ha e he abili y o un any o hese se s o
ins uc ions and should be capable o unning a Linux ke nel 2.6 e sion. Fo his pu pose,
i equi es some ex a unc ional blocks, such as a memo y managemen uni (MMU) and a
floa ing poin uni (FPU), and should be included wi hin he mic op ocesso .
Mo eo e , he whole sys em mus p o ide a minimum numbe o o he unc ional blocks ha
enable a p ope ope a ing sys em suppo . These blocks a e an in e up con olle and a
ime s uni . On he o he hand, suppo o sys em memo y and an al e na i e o connec ing
a mass s o age medium should be included. The de eloped SoC includes a mixed memo y
con ol block, which allows access o bo h FLASH memo y and SDRAM memo y. I ’s memo y
map is assigned as ollows: he lowes memo y add esses poin o he non- ola ile memo y,
while he he es o add esses co e he dynamic memo y. In his way, he s a o FLASH
memo y ma ch he mic op ocesso boo ec o , allowing one o s o e and un a boo loade in
hese posi ions.
In o de o p o ide disk space o he ope a ing sys em, he inclusion o an IDE in e ace
con olle was a good op ion. This con olle has been connec ed o a Compac Flash ca d
and, in addi ion, his medium is also used o p o ide swap memo y o he sys em.
Finally, i is necessa y o add some pe iphe al blocks o communica ion wi h he ou side
o he SoC. I is in e es ing o p o ide some kind o In e ne access o ully exploi he
ad an ages ha he ope a ing sys em as a de elopmen pla o m p o ides. The e o e,
we ha e implemen ed bo h access me hods: modem and E he ne in e aces. I also
includes o he gene al-pu pose and debug po s, such an UART blocks ha p o ide RS232
communica ion.
In summa y, figu e 1 shows he block-le el diag am o he sys em, whe e all unc ional blocks
ha ha e been included can be app ecia ed. I s in e connec ions has been made h ough open
AMBA 2.0 Bus specifica ion.
Mos building blocks o his design a e pa o a se o lib a ies and IP co es (including
LEON3 mic op ocesso ) called G lib (Gaisle , 2010). Howe e , i is ela i ely easy o add
new logic co es o he sys em. Fo example, a 16550 UART co e ha e been added o suppo a
modem GSM / GPRS communica ions. This co e, wich is based on a model w i en in Ve ilog
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Fig. 1. SoC block-le el diag am
language, is ob ained om Openco es (OpenCo es, 2010). I was necessa y do some wo k o
adap i s na i e in e a ce o unc ion p ope ly wi h he AMBA APB bus.
The syn hesis o his design can be accomplished wi h many so wa e packages and may use
di e en FPGA amilies and e en ASIC as a ge .
G lib includes some shell sc ip s o Linux ha g ea ly acili a e his ask. In his chap e , he
Xilinx ISE package (Xilinx Inc, 2010) has been used, ob aining he esul s o compila ion and
syn hesis o Spa an3 XC1500 shown a able 1.
These esul s a e hea ily dependen on he choices made when configu ing he
mic op ocesso . Fo example, he size o da a and ins uc ions caches, and he numbe and
complexi y o he pe iphe als ha ha e been added o he sys em, will d ama ically change
hese esul s.
3. SoC pla o m ope a ing sys em
The main objec i e o his chap e is aimed a ob aining a de elopmen pla o m simila o
hose a ailable on con en ional wo ks a ions, bu his one will un on op o he SoC pla o m
i sel . To accomplish his, and based on he exclusi e use o open so wa e, we will ins all a
comple e Linux dis ibu ion, allowing he use o all de elopmen ools, compile s and lib a ies
and also ake ad an age o using open sou ce code wi hou es ic ions.
We can di ide ou campaign in o wo main goals, as he SoC pla o m should fi s be able o
boo a Linux ke nel be o e a comple e Linux dis ibu ion can be ins alled. The LEON3 co e we
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Open De elopmen Pla o m o Embedded Sys ems 5
De ice U iliza ion Summa y
Numbe o BUFGMUXs 4 ou o 8 50%
Numbe o DCMs 2 ou o 4 50%
Numbe o LOCed DCMs 2 ou o 2 100%
Numbe o Ex e nal IOBs 221 ou o 333 66%
Numbe o LOCed IOBs 192 ou o 221 86%
Numbe o MULT18X18s 1 ou o 32 3%
Numbe o RAMB16s 14 ou o 32 43%
Numbe o Slices 12809 ou o 13312 96%
Numbe o SLICEMs 391 ou o 6656 5%
O e all e o le el (-ol): High
Rou e e o le el (- l): High
Timing summa y
Timing e o s: 0
Sco e: 0
Cons ain s co e 21241138 pa hs,
0 ne s
and 106771 connec ions
Design s a is ics
Minimum pe iod: 24.822ns
Maximum equency: 40.287MHz
Minimum inpu equi ed ime be o e clock: 6.591ns
Minimum ou pu equi ed ime a e clock: 12.193ns
Table 1. Xilinx ISE compila ion and syn hesis
planned o syn hesize mee s all he equi emen s o he implemen a ion o a mode n Linux
ke nel 2.6, while a ew adap a ions a e necessa y o mee he pa icula i ies o i s a chi ec u e.
3.1 SnapGea & boo -loade
Snapgea (SnapGea , 2010) is an open sou ce specific Linux dis ibu ion o embedded
sys ems. A o k o he main dis ibu ion was adap ed by Gaisle Resea ch o LEON3 sys ems,
which ha e included a ious ke nel pa ches and a ew basic de ice d i e s.
This so wa e package also includes a undamen al and indispensable elemen in o de o load
he ope a ing sys em, which is he boo loade . This small piece o so wa e is usually s o ed
a he beginning o he FLASH memo y which mus co espond o he memo y add ess $0, so
i ’s hen execu ed by LEON3 p ocesso on he s a up p ocess.
The fi s unc ion o he boo loade is o ini ialize he basic ha dwa e sys em, such as
debugging console o memo y chips. Then i p oceeds o uncomp ess he so wa e package
you wan o un o he RAM memo y sys em, bo h a 2.6 Linux ke nel and a small om s
filesys em, bo h Gzipped. On his ead-only file sys em he Linux ke nel moun s he oo
sys em, which includes all u ili ies and applica ions ha we ha e decided o include in he
so wa e applica ions compila ion.
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Fig. 2. SoC Boo Up
Ano he impo an abili y o his small piece o so wa e (boo loade ) is o pass a gumen s o
he Linux ke nel, which a oids he need o use complex boo loade s such as LILO o GRUB,
which a e necessa y in wo ks a ions.
The configu a ion o he Linux ke nel and boo loade and he p epa a ion o he om s uni
a e pe o med by a ew sc ip s. A e his p ocess, we p oceed o compile he so wa e sys em
and so a se o so wa e images (objec files) a e ob ained.
Wi h his se o objec files gene a ed we chose an image p epa ed o flash memo y ha
con ains he boo loade wi h he Linux ke nel and he small om s file sys em. Then we
can p og am he flash memo y using he Debug-Suppo Uni (DSU) wi hin LEON3 co e by
in e acing wi h a JTAG o E he ne connec ion, using he debugging applica ion g mon om
Gaisle Resea ch.
Once he p ocess is comple ed we ha e a unc ional Linux ke nel wi h e y basic co e
ligh weigh applica ions on op o ou SoC pla o m. The comple e p og amming and boo ing
p ocess o he SoC pla o m is shown in figu e 2.
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3.2 Debian
Once Snapgea Linux ope a ing sys em is unning on he sys em i ’s ime o implemen
a comple e Debian dis ibu ion, ob ained di ec ly om an o ficial Debian eposi o y. This
dis ibu ion is p ecompiled o many pla o ms, including SPARC V8, which makes i
manda o y o usage o In ege Mul iplie (MUL) and a Floa ing Poin Uni (FPU) ha dwa e
co es, which LEON3 p o ides.
The e a e a ew ways o ins all his ope a ing sys em, howe e we ha e chosen he de ac o
app oach o use a small applica ion called deboo s ap, which akes ca e o he download,
unzip and ins all all necessa y packages o ou a ge pla o m. A file sys em was c ea ed
ha includes such om s applica ion and i s dependencies o o he lib a ies and applica ions
(such as wge and binu ils) and hey we e in eg a ed in o he image we c ea ed o Snapgea
in he p e ious s ep.
A e he inclusion o he new file sys em in he om s Snapgea compila ion, i is possible o
boo he Linux sys em and o p epa e he ins alla ion p ocess o he Debian dis ibu ion. In
o de o do so, ha ing ini ialized he sys em and using he Linux shell, i p oceeds o boo and
configu e he E he ne in e ace o access he In e ne and a DNS se e .
Then comes he se up o he d i e whe e you wan o ins all he ope a ing sys em, which
in his case i ’s a po able solid s a e memo y Compac Flash Ca d connec ed h ough an
ATA Con olle IP co e, bu also could ha e op ed o a emo e uni NFS ha d disk d i e IDE
in e ace as a ne wo k boo ing solu ion.
I is desi able o ha e a leas 1.5 GBy es ee on he de ice o allow easy ins alla ion o hose
so wa e packages and also in o de o make use o swap space. Nex , wo pa i ions a e
c ea ed in he disk, one o he ex 2 filesys em and one swap, wi h he commands disk, mke2 s
and mkswap, which a e hen assembled and ac i a ed by he commands moun and swapon.
We mus no e ha om s is a ead-only filesys em, so i has been necessa y o ha e an emp y
pa h o moun he uni , in ou case we ha e used he pa h /mn /debins . In his s a e, he
sys em is eady o ins all Debian Ope a ing Sys em C oss. Simply un he se up applica ion
deboo s ap like his:
# /us /sbin/deboo s ap -a ch spa c s able /mn /debins
h p:// p.es.debian.o g/debian
This command s a s downloading packages om he In e ne eposi o y. These so wa e
packages a e s o ed in he mass s o age uni , o be alida ed and hen ins alled in he sys em.
Once he p ocess ge s he basic ins alla ion o Debian on he d i e, hen i ’s necessa y o
configu e ce ain aspec s be o e i s fi s use. A his poin he use o ch oo command p o ed
qui e use ul o acili a e he en i e p ocess o design and p epa a ion. This command allows
he change o he oo en i onmen file sys em and keep unning applica ions o he new
dis ibu ion in he pa h ha has been ins alled, allowing one o con inue he se up p ocess
wi hou es a ing he whole sys em.
Fi s ly, he p ocess was necessa y o explici ly indica e he ope a ing sys em o in oke a
command line (shell) when boo ing he sys em (ini p ocess). To achie e his we simply
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modified he desc ip ion file load du ing he boo p ocess o he ope a ing sys em, he file
/e c/ini ab, by adding he ollowing line:
T0: 234: espawn:/sbin/ge y -L yS0 38400 100
Thus, he ge y applica ion launched a shell connec ed o he se ial po e e y ime he sys em
es a s.
Secondly, he ne wo k in e ace and he name se e s (DNS) ha e o be configu ed in o de o
in oduce a sui able ne wo k configu a ion, adjus ing he files /e c/ne wo k/in e aces and
/e c/ esol .con . Also i ’s need o ell whe e he moun poin s o he uni s will be, such as he
boo , oo and swap file sys ems. Like in o he s anda d dis ibu ions, one jus has o edi he
configu a ion file /e c/ s ab.
Finally he /de di ec o y is emp y in he new dis ibu ion ins alla ion and so i was necessa y
o c ea e he block and cha ac e de ices in o de o le he ke nel manage he pe iphe als, a
ask done using he mknod command.
Once he ins alla ion and configu a ion o he Debian Linux dis ibu ion is comple e, i ’s ime
o ecompile he ke nel adap ed o he LEON3 mic op ocesso . In his new compila ion he
om s pa i ion is emo ed and he ke nel will ake he pa ame e s whe e o loca e he ac ual
oo file sys em ( he d i es) by modi ying he boo loade configu a ion.
This a gumen was necessa y o p o ide he ke nel o configu e he sys em console h ough
he se ial po and o ell he ke nel whe e he oo filesys em was:
# console= yS0, 38400 oo =/de /hda1
Finally s a ed, he sys em wi h he new ke nel and he Debian Linux ins alla ion ha , a e
loading, p esen ed a console wi h all he benefi s o his ope a ing sys em.
Impo an ly, once comple e he whole p ocess o ins alla ion and configu a ion, has he
ools Debian APT package ins alla ion, such as ap -ge , which allow you o ins all many
lib a ies and applica ions, such as compile s, se e s, in e ne se ices, daemons, desk op
en i onmen s, e c., and e en ull dis ibu ion upg ades quickly and con enien ly.
4. De eloping me hodology
The p e ious sec ions ha e been de o ed o desc ibing he basic echnical cha ac e is ics
o he pla o m p oposed. This sec ion, howe e , is de o ed o discuss he de elopmen
me hodology o embedded sys ems based on his pla o m. The de eloping me hodology
o SOCs is di ided wo main pa s: ha dwa e de eloping and so wa e de eloping. Al hough
bo h a e in e laced, hey a e e y di e en . Wi h ega d o ha dwa e de elopmen , begin
iden i ying he componen s needed o he specific embedded sys em will be implemen ed.
These componen s will be he in e ace o he SoC wi h he po s needed by he sys em.
Once iden ified, we mus make he comple e design o SoC (as shown in Figu e 1) including
all necessa y componen s. As men ioned in sec ion 2, his p ocess will be done wi h GRLIB
lib a y ha comes wi h he de elopmen sys em LEON3 p ocesso . GRLIB includes a la ge
numbe o componen s common in embedded sys ems. One o he ad an ages o his
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Open De elopmen Pla o m o Embedded Sys ems 9
pla o m is he possibili y o designing a con olle o pe iphe al specific o a pa icula
applica ion, which can be included in he SoC. I is also possible o euse IP co es a ailable o
o he sys ems. In hese cases, i will make a design in e ace wi h he AMBA bus, which is he
main bus ha uses he ha dwa e pla o m.
The mos impo an imp o emen on his pla o m is unde so wa e de eloping since, he
bigges e o in SOCs de eloping alls on he so wa e and specifically in he in e ac ion wi h
pe iphe als. Ou pla o m includes a ope a ing sys em ins alled ha sol es he pe iphe al
managemen h ough he de ice d i e s. E en i a gi en d i e is no a aliable o a new
ha dwa e, using Debian dis ibu ion we ha e ools o makes easy he de eloping. While wi h
a con en ional so wa e de eloping me hodology, some ex e nal ools a e equi ed: c oss
compile s, emula o s, debug connec ion ools, e c., once ins alled he Debian dis ibu ion
some ad an ages a e achie ed e sus con en ional so wa e de elopmen me hodologies o
embedded sys ems.
We ha e achi ed significan imp o emen s in he so wa e asks such as ins alling, compiling
and de eloping, also, in he manage o de ices d i es o in high le el applica ions. All his
due some ad an ages o he using Debian as base so wa e, i can be summa ized as ollowing:
• The Debian eposi o ies has a la ge se o p ecompiled so wa e ha can be easily ins alled
using he dis ibu ion ools. All is done inside o he pla o m wi hou ex e nal ools.
• The dis ibu ion p o ides a he de elopmen en i onmen and in eg a ed debug ools ha
may be ins alled inside he pla o m. Also, wi hou he need o ex e nal ools.
• Se e al imp o emen s in he p ocess o upda e fi mwa e/so wa e. The dis ibu ion adds
ools o upda e all so wa e ins alled inside in an au oma ed mode.
Usually, is no an easy ask o ins all any p ecompiled so wa e in a SoC. Mos medium-high
complex so wa e applica ions depend o o he so wa e as sha ed lib a ies o ex e nal ools.
So wa e dis ibu ions gi e ools o sol e applica ions dependences. Specifically, he main
ea u e o Debian so wa e dis ibu ion is he Debian package machine y. This esol es he
so wa e dependencies and c ea es a minimal configu a ion o each ins alled so wa e. This
minimal configu a ion allows he pu ing se ices on jus a e ins all p ocesses and also, can
be used as example o end so wa e configu a ion.
Using p ecompiled so wa e a oids he hea y ask o compile so wa e. Compile so wa e
o embeded sys ems is a hea y ask due some o ollowing easons: one, is he dependence
be ween applica ions and sha ed lib a ies making he compila ion p ocess complex. Usually
one applica ion needs an exac e sion o each equi ed sha ed lib a y. I he e a e se e al
applica ions ins alled a he same ime, he same lib a y could appea se e al imes, bu wi h
a di e en e sion numbe . In his si ua ion ins all, upg ade and main ain he so wa e is a
edious ask.
O he easons ha make he ask o compile so wa e o SoCs complex is he use o c oss
compile s o gene a e so wa e. Once compiled so wa e, o es i , all necessa y files mus
be ans e ed and ins alled: execu able files, sha ed lib a ies, config files, e c. The s eps o
compiling and ans e ence a e epea ed as many imes as necessa y o achie e he so wa e
o be eady. This p ocess is imp o ed when he Debian dis ibu ion is ins alled. I is possible
o ins all all compile ools in he pla o m and make he compila ion p ocess inside o
pla o m. Also, his ask is assis ed by Debian ools since, i de ec s all dependencies be ween
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