The concept of embedded system has existed for a long time.In terms of communication,Embedded system In the 1960s, it was used for electronic machineryTelephone exchangeControl, which was then called "storageProgram control system”(Stored Program Control)。
embedded computerThe real development ofmicroprocessorAfter its appearance.In November 1971, Intel successfully integrated arithmeticArithmetic unitIntegrated with the controller circuit, the first microprocessor was launchedIntel 4004Later, various manufacturers successively launched many 8-bit and 16 bit microprocessors, includingIntel 8080/8085, 8086, Motorola 6800, 68000, andZilogOfZ80, Z8000, etc.The system with these microprocessors as the core is widely used in instrumentsMedical equipment, robots, household appliances and other fields.The wide application of microprocessors has formed a broad embedded application market, and computer manufacturers have begun to provide users with a large number of plug-insOEM products, and then the user selects a set of suitable CPU boards according to their own needsstorageBoard and various I/O plug-in boards to form a dedicatedEmbedded computer systemAnd embed it into its own system equipment.
For flexible compatibility, serialized and modularizedSingle board computer。fashionableSingle board computerThere are Intel's iSBC series, Zilog's MCB, etc.Later, people don't have to choose chips to design a special embedded computer, but just choosefunctional module , you can build a dedicatedcomputer system。Both users and developers hope to purchase the most suitable OEM products from different manufacturers, and insert them into purchased or self-made chassis to form a new system. In this way, they hope that plug-ins are compatible with each other, which leads to industrial controlmicro-computer systemThe birth of bus.In 1976, Intel launched Multibus, and in 1983, it expanded to Multibus II with a bandwidth of 40MB/s.In 1978PrologThe simple STD bus designed is widely used in small embedded systems.
The 1980s can be said to be the era when various buses emerged in endlessly and all kinds of heroes rose together.With the improvement of microelectronics technology,Integrated circuitManufacturers began to integrate microprocessorsI/O interface、A/DD/A conversion, serial interface andRAM、ROMAnd other components are integrated into oneVLSITo produce a surface oriented I/O designmicro controller, also known as the single-chip microcomputerEmbedded computer systemA rising star.The subsequent development of DSP products has further improvedEmbedded computer systemAnd rapidly infiltrate intoConsumer Electronics, medical electronics, intelligent control, communication electronics, instrumentationTransportationAnd other fields.
In the 1990s, distributed controlflexible manufacturing , digital communication andInformation appliancesDriven by such huge demands, embedded systems have further accelerated their development.Real time orientedsignal processing The DSP products of algorithms are moving towards high-speed, high-precisionlow power consumptiondevelopment.The third generation launched by TexasDSP chipTMS320C30,It guides the development of microcontroller towards 32-bit high-speed intelligence.In terms of application,Pocket PCHandheld PC and set-top box technologies are relatively mature and developing rapidly.Especially handheld computers, there were only four or five brands of handheld computers in the US market in 1997, while at the end of 1998, various handheld computers sprang up like mushrooms.In addition, Nokia launchedSmart phone,Siemens?The set-top box, Wyse and NS launched intelligent terminals and WebPAD.The small computer loaded on the car can not only control various devices in the car (such as audio), but also connect withGPSConnect to automatically control the car.
The 21st century is undoubtedly a network era, and the application of embedded computer systems to various networks is also an important direction of the development of embedded systems.
characteristic
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Small system kernel
Because embedded systems are generally used in small electronic devices,system resourceRelatively limited, so the kernel is much smaller than the traditional operating system.For example, Enea'sOSEdistributed system The kernel is only 5K.
Strong specificity
Scheduling mechanism of four embedded operating systems
Embedded systems are highly personalized, among whichsoftware systemThe combination with hardware is very close. Generally, it is necessary to transplant the system for hardware. Even in the same brand and series of products, it needs to be constantly modified according to the change, increase and decrease of system hardware.At the same time, for different tasks, it is often necessary to make major changes to the system. The compilation and download of programs should be combined with the systemGeneral softwareThe "upgrade" of is completely two concepts.
System simplification
Embedded systems generally have no obvious distinction between system software and application software, and are not required tofunctional design And the implementation is too complex, which is beneficial to control the system cost and also to realizesystem safety 。
Embedded software developmentIf you want to move towards standardization, you must use a multi tasking operating system.Embedded systemapplication programIt can run directly on the chip without operating system;But in order to reasonably schedule multiple tasks, use system resourcesSystem functionAnd dedicatedLibrary functionInterface, which must be selected by the userRTOS(Real-Time Operating System)Development platformIn order to ensure the real-time and reliability of program execution, reduce the development time, and ensuresoftware quality。
Need development tools and environment
Embedded system developmentNeed development tools and environment.Because it does not haveSelf developmentThe user cannot modify the program function even after the design is completed, and must have a set of development tools and environments. These tools and environments are generally based on software and hardware devices on general computers and variouslogic analyzer、Mixed signal oscilloscopeEtc.There are often hosts andTarget machineThe host is used for program development, and the target machine is used as the final execution machine. The development needs to be combined alternately.
core
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The core of embedded system isEmbedded microprocessor。Embedded microprocessor generally has the following four characteristics:
one
It has strong support ability for real-time tasks, can complete multiple tasks and has shortInterrupt response timeTo minimize the execution time of internal code and real-time core.
two
It has powerful storage area protection function.This is because the software structure of the embedded system has been modularized. In order to avoid the wrong cross action between software modules, it is necessary to design a powerful memory protection function, which is also conducive to software diagnosis.
three
Scalable processor architecture, which can quickly develop the highest performance embedded microprocessor to meet the application.
four
Embedded microprocessors must have very low power consumption, especially for battery powered embedded systems used in portable wireless and mobile computing and communication devices. For example, the power consumption required is only mW or even μ W.
classification
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Partition based on hardware and software:
Hardware based
Micro Processor Unit (MPU)
Embedded microprocessor is composed ofGeneral purpose computerCPU in.Its feature is that it has more than 32 bit processors, with high performance, of course, its price is also relatively high.But withComputer processorThe difference is that in the actual embedded application, only the functional hardware closely related to the embedded application is retained, and other functions are removedRedundancy functionIn this way, the special requirements of embedded applications can be realized with the lowest power consumption and resources.Compared with the industrial control computer, embedded microprocessor has advantages of the small size, light weight, low cost and high reliability.majorEmbedded processorThe types are Am186/88, 386EXSC-400、Power PC、68000、MIPS、ARM/StrongARMSeries, etc.
Where Arm/StrongArm is specially designed forHandsetThe developed embedded microprocessor is in the middle price range.
Microcontroller Unit (MCU)
The typical representative of embedded microcontroller is single chip microcomputer. Although it has been more than 30 years since the emergence of single chip microcomputer in the late 1970s, this 8-bitelectronic deviceIt is still widely used in embedded devices.Integrated ROM in MCU chip/EPROMRAM, bus, bus logic, timing/Counter、watchdog、I/O、Serial port、PWMOutputA/D、D/A、Flash RAM、EEPROMEtcEssential functionsAnd peripherals.Compared with the embedded microprocessor, the biggest feature of the microcontroller is that it is monolithic and its size is greatly reduced, thus reducing power consumption and cost, and improving reliability.Microcontrollers are generally rich in on-chip peripheral resources and suitable for control, so they are called microcontrollers.
becauseMCUWith low price and excellent functions, it has the most varieties and quantitiesRepresentativenessIncluding 8051MCS-251、MCS-96/196/296、P51XA、C166/167、68KSeries and MCU 8XC930/931, C540, C541, and support I2C, CAN BusLCDAnd many dedicated MCU and compatible series, MCU accounts for about 70% of embedded systemmarket shareAvr MCU produced by Atmel is integrated withFPGAAnd other devices, so it has a high cost performance ratio, which is bound to promote the development of SCM.
Embedded Digital Signal Processor (EDSP)
DSP processor is specially used for signal processingSystem structureAnd the instruction algorithm is specially designed, which has high compilation efficiency and instruction execution speed.staydigital filtering 、FFT、Spectral analysisDSP has been widely used in various instruments.
The theoretical algorithm of DSP has appeared since the 1970s, but since the special DSP processor has not yet appeared, this theoretical algorithm can only be implemented throughMPUAnd the like are realized by discrete components.Lower MPUprocessing speed Unable to meet the algorithm requirements of DSP, its application field is only limited to some cutting-edge high-tech fields.along withlarge-scale integrated circuittechnological development In 1982, the world's first DSP chip was born.hisOperation speedIt is dozens of times faster than MPUspeech synthesisandCodecHas been widely used.By the mid-1980s, with theCMOSTechnological progress and development, the second generation is based onCMOS processDSP chip ofstorage capacity And computing speed have been doubled, becomingspeech processingThe foundation of image hardware processing technology.In the late 1980s, the operation speed of DSP was further improved, and the application field was expanded from the above scope to communication and computer.After the 1990s, DSP has developed into the fifth generation product,IntegrationIt is higher and has a wider application range.
The most widely usedTITMS320C2000/C5000 series, Intel MCS-296 and Siemens TriCore also have their ownScope of application。
Embedded System On Chip
SoC pursues the most inclusive integrated device of the product system, which is the key component of the embedded application fieldhot topicone of.The biggest characteristic of SOC is that it successfully realizes the seamless combination of software and hardware, and directly embeds the code module of operating system into the processor chip.Moreover, SOC is very comprehensive, and VHDL is used inside a silicon chiphardware description language To implement a complex system.Users no longer need to be like traditionalsystem designSimilarly, drawing huge and complex circuit boards and connecting and welding them little by little only need to use accurate language, integrated timing design directly calls the standards of various general processors in the device library, and then through simulation, they can be directly delivered to the chip manufacturers for production.Since most of the system components are inside the system, the whole system is particularly simple, which not only reduces the size and power consumption of the system, but also improves theSystem reliability, improving the design and production efficiency.
Since SOC is often dedicated, most of them are unknown to users. A typical SOC product is Philips' Smart XA.A few general series, such as TriCore of Siemens, M-Core of Motorola, and some ARM series devices, are jointly developed by Echelon and MotorolaNeuron chipEtc.
It is expected that in the near future, some large chip companies will push back at one stroke by introducing mature SOC chips that can occupy most of the marketcompetitor。SOC chips will also play an important role in applications such as sound, image, film and television, network and system logic.
real timeEmbedded systemIt is designed to perform specific functions and can be strictly sequencedperforming function。Its biggest feature is that the program execution hascertainty。In a real-time system, if the system fails to achieve a certain task within the specified time, it will lead to the overall failure of the system, and the system is called a hard real-time system.In the soft real-time system, althoughresponse timeEqually important, but timeouts do not lead to fatal errors.A hard real-time system often needs to add a control chip dedicated to time and priority management on the hardware, while a soft real-time system mainly implements time limit management through programming on the software side.For example, Windows CE is aMultitaskingTime sharing system, and Ucos II is typicalreal-time operating system 。
form
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Hardware layer
The hardware layer contains embedded microprocessor and memory(SDRAM、ROM、FlashGeneral equipment interface and I/O interface (A/D, D/A, I/O, etc.).Add on the basis of an embedded processorPower circuit、Clock circuitAnd memory circuit, it constitutes an embedded core control module.The operating system and application programs can be solidified in ROM.
Embedded microprocessor
Embedded operating system
The core of embedded system hardware layer is embedded microprocessor. The biggest difference between embedded microprocessor and general CPU is that most embedded microprocessors work for specificUser groupIn the special designed system, it integrates many tasks of the general CPU completed by the board into the chip, which is conducive to the miniaturization of the embedded system in the design, and also has high efficiency and reliability.
Embedded microprocessors have different systems, even in the same system, they may have differentclock frequencyandData bus width, or integrate different peripherals and interfaces.According to incomplete statistics, there are more than 1000 embedded microprocessors in the world, with more than 30 series of architecture, including ARM, MIPSPowerPC, X86, andSHEtc.However, unlike the global PC market, no embedded microprocessor can dominate the market. For 32-bit products alone, there are more than 100 embedded microprocessors.The choice of embedded microprocessor depends on the specific application.
storage
Embedded systems need memory to store and execute code.The memory of embedded system includes CacheMain storageandAuxiliary memory。
(1)Cache
Cache is a memory array with small capacity and high speed. It is located between the main memory and the embedded microprocessor core. When data reading operations are required, the microprocessor reads data from the Cache as much as possible, rather than from the main memory, which greatly improves the system performance and improves theData transmission rate。The main goal of Cache is to reduce the memory access bottleneck caused by memory (such as main memory and auxiliary memory) to the microprocessor core, so as to make processing faster and more real-time.
In embedded systems, caches are all integrated in embedded microprocessors, and can be divided into data caches, instruction caches, or hybrid caches. The size of caches depends on different processors.Generally, the cache is integrated into the high-end embedded microprocessor.
(2) Main storage
The main memory is an embedded microprocessorDirect accessOfregister, used to store system and user programs and data.It can be located inside or outside the microprocessor, and its capacity is 256KB~1GB, depending on the specific applicationMemorySmall storage capacity, fast speedExternal memoryLarge capacity.
NOR Flash has been widely used in the embedded field because of its advantages such as more erasable times, fast storage speed, large storage capacity and low price.
(3) Auxiliary memory
Auxiliary memory is used to store a large amount of program code or information. Its capacity is large, but its reading speed is much slower than that of main memory. It is used to store user information for a long time.The external storage commonly used in embedded systems are: hard disk, NAND FlashCF card, MMC andSD cardEtc.
General equipment interface and I/O interface
Embedded system and external interaction need some form of general equipment interface, such as A/D, D/A, I/O, etc. Peripherals realize the input/output function of the microprocessor through the connection with other devices or sensors outside the chip.Each peripheral usually has a single function, which can be outside the chip or inside the chip.There are many kinds of peripherals, which can be accessed from a simple serialCommunication equipmentTo very complexeight hundred and two point one oneWireless devices.
The middle layer is between the hardware layer and the software layer, also known asHardware abstraction layer(Hardware Abstract Layer,HAL)OrBoard level support packageBoard Support Package (BSP), which separates the upper software (application program) from the lower hardware of the systemDriverIt has nothing to do with the upper layer. The upper layer software developers do not need to care about the specific situation of the underlying hardware. They can develop according to the interface provided by the BSP layer.This layer generally includes the initialization of related underlying hardware, data input/output operations and hardware device configuration functions.BSP has the following two characteristics.
Hardwarerelevance: BecauseEmbedded real-time systemOfhardware environment It has application dependency. As the interface between the upper software and the hardware platform, BSP needs to provide the operating system with methods to operate and control specific hardware.
Operating system dependency: different operating systems have their own softwarehierarchical structureTherefore, different operating systems have specific hardwareInterfaceForm.
In fact, BSP is a software layer between the operating system and the underlying hardware, including most of the software modules in the system that are closely related to the hardware.Designing a complete BSP requires two parts:Embedded system The hardware initialization and BSP functions of theEquipment drive。
Embedded system hardware initialization
System InitializationThe process can be divided into three main links according toBottom up, from hardware to software: chip level initialization, board level initialization, andSystem levelinitialization.
completeEmbedded microprocessorInitialization of other hardware devices.In addition, it is necessary to set thedata structureAnd parameters to initialize andapplication programThe operation establishment hardware andsoftware environment。This is an initialization process that includes both hardware and software.
System Initialization
This initialization process mainly focuses on software initialization, mainly for the initialization of the operating system.BSP willEmbedded microprocessorOfcontrol powerIt is transferred to the embedded operating system, which completes the remaining initialization operations, including loading and initializing hardware independent devicesDriver, create the system memory area, load and initialize other system software modules, such asNetwork system、file systemEtc.Finally, the operating system createsapplication programEnvironment, and give control to the portal of the application.
Hardware related device drivers
Another main function of BSP is hardware related device drivers.Initialization of hardware related device drivers is usually a process from high to low.Although BSP contains hardware related device drivers, these device drivers are not usually used by BSP directly. Instead, BSP associates them with the common device drivers in the operating system during system initialization, and they are called by the common device drivers in subsequent applications to operate the hardware devices.The hardware related driver is BSPDesign and developmentAnother key link in.
Embedded Operation System (EOS) is a widely used system software, which was mainly used in industrial control andDefense SystemsDomain.EOS is responsible forEmbedded systemAllocation of all software and hardware resourcestask scheduling , control and coordinate concurrent activities.It must reflect the characteristics of its system and be able to achieve the functions required by the system by loading and unloading some modules.Some successful EOS applications have been launchedProduct line。With the development of Internet technology, the popularization and application of information appliances and the miniaturization and specialization of EOS, EOS began to develop from a single weak function to a highly specialized strong function.Real time efficiency of embedded operating system in the system and hardware correlationdependence、Software solidificationAnd application specificity.Compared with general operating systems, EOS not only has the most basic functions of general operating systems, but also has the following functions: task schedulingSynchronization mechanism、Interrupt processing, file processing, etc.
application
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Industrial control
Embedded chip basedIndustrial automation equipmentIt will achieve considerable development, and there are already a large number of 8, 16, and 32 bitsEmbedded microcontrollerIn application, networking is to improveproduction efficiencyandproduct qualityMain ways to reduce human resources, such as industrial process control, digital machine toolsPower systemPower grid security, power grid equipment monitoringpetrochemical industrySystem.TraditionalIndustrial controlAs far as products are concerned, the low-end type usually adopts 8-bit MCU.But with the development of technology, 32-bit and 64 bit processors have gradually become industrialcontrol equipment In the next few years, it will certainly achieve considerable development.
traffic control
In vehicle navigationflow control, information monitoring andAutomobile serviceAspect, embeddedSystem technologyIt has been widely used, embeddedGPS module,GSM moduleMovement ofPositioning terminalIt has been successfully used in various transportation industries.GPS deviceIt has entered the families of ordinary people from cutting-edge products, and you can find your position anytime and anywhere with only a few thousand yuan.
Information appliances
This will become the largest embedded systemapplication area The networked and intelligent refrigerators and air conditioners will lead people's lives into a new space.Even if you are not at home, you can passTelephone line, networkRemote control。In these devices,Embedded system It will be of great use.
Home intelligent management
Water, electricityGas meterRemote forAutomatic meter reading, safe fire preventionAnti theft systemThe embedded special control chip will replace the traditional manual inspection and achieve higher, more accurate and safer performance.In the field of services, such as remote order serversEmbedded system Advantages.
POS network
Public transportationContactless Smartcard (CSC) distribution system, publicphonecardDistribution system,vending machineAll kinds of intelligent ATM terminals will come into people's lives in an all-round way, and you can walk around the world with one card.
Environmental Engineering and Nature
Hydrological dataReal time monitoring, flood control system and water and soil quality monitoring, dam safety, earthquakeMonitoring network, real-time meteorological information network, water source and air pollution monitoring.In many areas with harsh environment and complex terrain,Embedded system Unmanned monitoring will be realized.
robot
The development of embedded chips will make robots have more obvious advantages in miniaturization and high intelligence. At the same time, it will significantly reduce the price of robots and make them more widely used in industrial and service fields.
In these applications, we can focus on the application of control.As far as remote home appliance control is concerned, in addition to developing TCP/IPEmbedded system In addition, household appliancescontrol protocol It also needs to be formulated and unified, which needs household appliance manufacturers to do.In the same way, all network-based remoteControl deviceBoth needEmbedded system And then the embedded system can control it through the network.Therefore, develop and exploreEmbedded system It is of great significance.
Application of electromechanical products
Compared with other fields, electromechanical products can be said to beEmbedded system applicationOne of the most typical and extensive fields.Microcontroller, industrial personal computer and SOC have a huge market in various electromechanical products.
Embedded operating system will be an indispensable component in the future embedded systemDevelopment trendinclude[1]:
1. Customization: the embedded operating system will provide simplified models for specific applicationssystem callInterface, specifically supporting one or a class of embedded applications.The embedded operating system will also haveScalability, reducibleSystem architecture, providing a multi-level system architecture.Embedded operating system will include variousPlug and PlayOfEquipment driveInterface;
2. Energy saving: embedded operating system continues to be adoptedMicrokernel technology, realizing small size, low power consumption and low cost to support small sizeElectronic equipment。At the same time, improve the reliability andMaintainability。The embedded operating system will form the smallest kernel processing set, reducingSystem overhead, improveoperating efficiency , and can be used for various non computer equipment;
3. Humanization: the embedded operating system will provide sophisticated multimediainterfaceTo meet the needs ofuser demand ;
4. Security: embedded operating system should be able to provide securitySafeguard mechanism, the reliability of source code is getting higher and higher;
5. Networking: network oriented, specific application oriented, embedded operating system requires standard networkcommunication interface。The development of embedded operating system will be easier to transplant and network.The embedded operating system will haveNetwork accessFunction, providingTCP/UDP/IP/PPPProtocol support and unifiedMACAccess layer interface, for variousmobile computing Reserved interface of equipment;
6. Standardization: With the development of embedded operating systems,information switching、resource sharingThe emergence of problems such as increasing opportunities needs to establish corresponding standards to regulate its application.
Embedded operating systems have certainReal time, easy to cut and scale, suitable for various ARM from ARM7 to XscaleCPUEmbedded operating system can use widely popular ARMdevelopment tool, such as ARM's SDT/ADS and RealView, can also use development software, such as GCC/GDBKDEOr Eclipedevelopment environment There are also special development tools in the market, such asTornado, μ C/View, μ C/KA, CODE/Lab, Metroworks, etc.[2]
New products of Microsoft
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MicrosoftPlanned to be launched in March 2013Windows Embedded 8Embedded operating system, i.eWindows 8Windows Embedded 8 Standard operating system is a modular version of Windows, which runs likeLinuxIt allows manufacturers to modify and customize it, and new touch and gesture based interfaces will be applied on this embedded operating system.
People are already familiar with VOIP phones, DVD playersGPS receiverAnd printers with embedded operating systems.As more and more devices are addedComputer chipUsing embedded operating systems and managing these devices through software has become a growing demand.in the past,Quasi systemVersion LINUX is an option for embedded operating systems, which is due to its low requirements for the system and easy customization.More and more household goods begin to enter the intelligent andDigital field, arousing people's concern about“Internet of Things”This network can connect all the computerized items in your home, make their owners easy to control, and search things as simple as looking for files on the computer.
Windows Embedded 8 may just be a step in Microsoft's rejuvenation plan. This plan will transform Microsoft from a software company into a "device and service" company.Microsoft is seeking to release an embeddedroad map, most likely to show shareholders that they are not heavy dinosaurs that will be destroyed by the upcoming mobile tide.In fact, the Windows embedded operating system has existed for some time. The earliest version of Win3. x has an embedded version that can run on POS terminals.But real WindowsEmbedded deviceIt was built in 1999 and calledWindows NTEmbedded。Windows XPThe code of was used to create "XP embedded" at that time.The Windows Embedded compact model is closely followed. Some people are unfamiliar with this name, but you must have heard of another well-known nameWindows CE。This product is more used for set-top boxes, especially for Sega ill fedDreamcastConsoleLater, it was widely known.
In 2009,Windows XP EmbeddedUpgrade to Windows Embedded Standard, which provides a completeWin32 API, but unlike Windows CEARM、MIPSandSuperHWindows Embedded Standard can only run on multiple processorsx86Run above.It is fully compatible with "standard" projects, such as the NET framework,IE7、Windowsmedia player , Silverlight, etc.Windows Embedded Standard allows manufacturers to customize the system, delete unnecessary parts, and retain the core functions of the system.This feature has been used by some smart people in the past for the production of CDS on the Windows scene, such asBartPE。