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\chapter{The Holy Grail} |
\chapter{The Holy Grail} |
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\label{chgr0} |
\label{chgr0} |
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\beginchapterquote{``It seems that mathematical ideas are arranged somehow in strata, |
\beginchapterquote{``It seems that mathematical ideas are arranged somehow in strata, |
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the ideas in each stratum being linked by a complex of |
the ideas in each stratum being linked by a complex of |
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relations both among themselves and with those above and below. |
relations both among themselves and with those above and below. |
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The lower the stratum, the deeper (and in general the more difficult) |
The lower the stratum, the deeper (and in general the more difficult) |
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the idea. Thus the idea of an `irrational' is deeper than that |
the idea. Thus the idea of an `irrational' is deeper than that |
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of an integer \ldots{} Let us concentrate our attention on |
of an integer \ldots{} Let us concentrate our attention on |
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the relations between the integers, or some other group of |
the relations between the integers, or some other group of |
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objects lying in some particular stratum. |
objects lying in some particular stratum. |
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Then it may happen that one of these relations can be |
Then it may happen that one of these relations can be |
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comprehended completely, that we can recognize and prove, |
comprehended completely, that we can recognize and prove, |
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for example, some property of the integers, without any |
for example, some property of the integers, without any |
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knowledge of the contents of lower strata |
knowledge of the contents of lower strata |
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\ldots{} But there are also many theorems about integers |
\ldots{} But there are also many theorems about integers |
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which we cannot appreciate properly, and still less prove, |
which we cannot appreciate properly, and still less prove, |
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without digging deeper and considering what happens |
without digging deeper and considering what happens |
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below.''}{G. H. Hardy, A Mathematician's Apology, |
below.''}{G. H. Hardy, A Mathematician's Apology, |
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pp. 110-111\index{Hardy, G. H.}} |
pp. 110-111\index{Hardy, G. H.}} |
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\section{Introduction} |
\section{Introduction} |
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%Section tag: INT0 |
%Section tag: INT0 |
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\label{chgr0:sint0} |
\label{chgr0:sint0} |
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Engineers in general and software engineers in particular are often |
Engineers in general and software engineers in particular are often |
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contentious and arrogant. It is common for |
contentious and arrogant. It is common for |
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embedded software developers to derogate each other's work. The enabling |
embedded software developers to derogate each other's work. The enabling |
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element for this type of contention is that there is \emph{no single right way} |
element for this type of contention is that there is \emph{no single right way} |
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to construct an embedded software system, and few clear unequivocal metrics |
to construct an embedded software system, and few clear unequivocal metrics |
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of goodness. Without an unambiguous way of comparing different |
of goodness. Without an unambiguous way of comparing different |
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software solutions and deciding which is better (and why), differences of |
software solutions and deciding which is better (and why), differences of |
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opinion and and rivalries are unavoidable. |
opinion and and rivalries are unavoidable. |
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In this chapter, we concentrate on the holy grail\footnote{In this context |
In this chapter, we concentrate on the holy grail\footnote{In this context |
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we define \emph{holy grail} as an unattainable set of goals.} |
we define \emph{holy grail} as an unattainable set of goals.} |
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of embedded software development. We seek a set of unattainable |
of embedded software development. We seek a set of unattainable |
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goals to clarify our thought processes. We seek to identify what we are |
goals to clarify our thought processes. We seek to identify what we are |
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trying to achieve in embedded software systems and in embedded software development. |
trying to achieve in embedded software systems and in embedded software development. |
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There are several attributes of software in general and embedded |
There are several attributes of software in general and embedded |
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software in particular that make it difficult to devise unequivocal |
software in particular that make it difficult to devise unequivocal |
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metrics of goodness. |
metrics of goodness. |
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First, software has more degrees of freedom in its construction |
First, software has more degrees of freedom in its construction |
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than other engineering endeavors. |
than other engineering endeavors. |
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In \cite[p. 6]{bibref:b:boochoodwithapps}, Booch \index{Booch, Grady} writes: |
In \cite[p. 6]{bibref:b:boochoodwithapps}, Booch \index{Booch, Grady} writes: |
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\begin{quote} |
\begin{quote} |
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\emph{``A home-building |
\emph{``A home-building |
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company generally does not operate its own tree farm from which to harvest trees |
company generally does not operate its own tree farm from which to harvest trees |
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for lumber; it is highly unusual for a construction firm to build an |
for lumber; it is highly unusual for a construction firm to build an |
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on-site steel mill to forge custom girders for a new building. Yet in the |
on-site steel mill to forge custom girders for a new building. Yet in the |
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software industry such practice is common. Software offers the ultimate |
software industry such practice is common. Software offers the ultimate |
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flexibility, so it is possible for a developer to express almost any kind |
flexibility, so it is possible for a developer to express almost any kind |
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of abstraction. This flexibility turns out to be an incredibly seductive |
of abstraction. This flexibility turns out to be an incredibly seductive |
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property, however, because it also forces the developer to craft virtually |
property, however, because it also forces the developer to craft virtually |
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all the primitive building blocks upon which these higher level abstrctions |
all the primitive building blocks upon which these higher level abstrctions |
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stand. While the construction industry has uniform building codes and |
stand. While the construction industry has uniform building codes and |
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standards for the quality of raw materials, few such standards exist in the |
standards for the quality of raw materials, few such standards exist in the |
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software industry. As a result, software development remains a labor-intensive |
software industry. As a result, software development remains a labor-intensive |
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business.''} |
business.''} |
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\end{quote} |
\end{quote} |
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Additionally, Booch writes \cite[p. 51]{bibref:b:boochoodwithapps}: |
Additionally, Booch writes \cite[p. 51]{bibref:b:boochoodwithapps}: |
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\begin{quote} |
\begin{quote} |
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\emph{``Modules serve as the physical containers in which we declare the classes and |
\emph{``Modules serve as the physical containers in which we declare the classes and |
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objects of our logical design. This is no different than the situation faced |
objects of our logical design. This is no different than the situation faced |
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by the electrical engineer designing a board-level computer. NAND, NOR, and |
by the electrical engineer designing a board-level computer. NAND, NOR, and |
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NOT gates might be used to construct the necessary logic, but these gates |
NOT gates might be used to construct the necessary logic, but these gates |
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must be physically packaged in standard integrated circuits, such as a 7400, |
must be physically packaged in standard integrated circuits, such as a 7400, |
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7402, or 7404. Lacking any such standard software parts, the software engineer |
7402, or 7404. Lacking any such standard software parts, the software engineer |
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has considerably more degrees of freedom---as if the electrical engineer had |
has considerably more degrees of freedom---as if the electrical engineer had |
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a silicon foundry at his or her disposal.''} |
a silicon foundry at his or her disposal.''} |
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\end{quote} |
\end{quote} |
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Electronic hardware designers have less freedom in hardware designs than software |
Electronic hardware designers have less freedom in hardware designs than software |
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designers do in software designs. Available hardware components are |
designers do in software designs. Available hardware components are |
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naturally limited by physical phenomena, such the number of pins |
naturally limited by physical phenomena, such the number of pins |
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that can be placed on an integrated circuit package, that tend to |
that can be placed on an integrated circuit package, that tend to |
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limit the complexity of the connectivity between hardware components. |
limit the complexity of the connectivity between hardware components. |
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It is much harder |
It is much harder |
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to create a truly bad hardware design than a truly bad software design. |
to create a truly bad hardware design than a truly bad software design. |
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Second, metrics of goodness are more obvious and easier to agree |
Second, metrics of goodness are more obvious and easier to agree |
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on in other engineering disciplines than in software engineering. |
on in other engineering disciplines than in software engineering. |
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For example, in the design of electronic hardware, serious disagreements |
For example, in the design of electronic hardware, serious disagreements |
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among hardware |
among hardware |
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designers are rare because it is easier to reach agreement about the |
designers are rare because it is easier to reach agreement about the |
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measures of goodness of a hardware design. Given two [competing] hardware |
measures of goodness of a hardware design. Given two [competing] hardware |
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designs, it is almost always clear which is better, based on simple |
designs, it is almost always clear which is better, based on simple |
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critera such as cost, circuit board area, power consumption, etc. |
critera such as cost, circuit board area, power consumption, etc. |
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Measures of software design goodness are less clear and obvious. |
Measures of software design goodness are less clear and obvious. |
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Third, software---especially small embedded software---often allows |
Third, software---especially small embedded software---often allows |
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tradeoffs between management of complexity and other desirable |
tradeoffs between management of complexity and other desirable |
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attributes, such as minimum ROM consumption or the best real-time |
attributes, such as minimum ROM consumption or the best real-time |
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characteristics. In many cases, it is easy to modify software |
characteristics. In many cases, it is easy to modify software |
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to use less ROM or RAM or to perform better in a real-time sense, |
to use less ROM or RAM or to perform better in a real-time sense, |
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but at the expense of a clear and consistent design (i.e. management of |
but at the expense of a clear and consistent design (i.e. management of |
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complexity). |
complexity). |
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Many disagreements between software developers |
Many disagreements between software developers |
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arise because developers can't agree which tradeoffs should be |
arise because developers can't agree which tradeoffs should be |
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made between |
made between |
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clear structure of the software (i.e. effective management of complexity) |
clear structure of the software (i.e. effective management of complexity) |
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and other desirable attributes. |
and other desirable attributes. |
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\section{Overview Of Desirable Attributes} |
\section{Overview Of Desirable Attributes} |
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%Section tag: ODA0 |
%Section tag: ODA0 |
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\label{chgr0:soda0} |
\label{chgr0:soda0} |
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This section briefly enumerates what we consider to be the desirable |
This section briefly enumerates what we consider to be the desirable |
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attributes of small embedded software and the product development |
attributes of small embedded software and the product development |
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process and infrastructure. Each attribute is discussed in more |
process and infrastructure. Each attribute is discussed in more |
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detail later in the chapter. Each desirable attribute below is |
detail later in the chapter. Each desirable attribute below is |
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numbered with a ``\desirablepropertyprefix'' number so that it |
numbered with a ``\desirablepropertyprefix'' number so that it |
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can be cross-referenced. |
can be cross-referenced. |
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\begin{enumerate} |
\begin{enumerate} |
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\item \textbf{Desirable Properties of Embedded Software} |
\item \textbf{Desirable Properties of Embedded Software} |
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\begin{enumerate} |
\begin{enumerate} |
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\item \textbf{Minimum Program Memory Consumption |
\item \textbf{Minimum Program Memory Consumption |
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\desirablepropertyemit\label{dp:chgr0:soda0:minpm}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:minpm}.} |
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An embedded software load |
An embedded software load |
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should use as little ROM or other program memory as possible. |
should use as little ROM or other program memory as possible. |
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Microcontrollers containing more ROM are more costly, and so |
Microcontrollers containing more ROM are more costly, and so |
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a primary goal is to minimize ROM consumption so that the |
a primary goal is to minimize ROM consumption so that the |
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least expensive microcontrollers can be used. |
least expensive microcontrollers can be used. |
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\item \textbf{Minimum RAM Consumption |
\item \textbf{Minimum RAM Consumption |
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\desirablepropertyemit\label{dp:chgr0:soda0:minram}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:minram}.} |
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Minimization of RAM |
Minimization of RAM |
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consumption is a primary goal so that the least |
consumption is a primary goal so that the least |
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expensive microcontrollers can be used. |
expensive microcontrollers can be used. |
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\item \textbf{Minimum EEPROM Consumption |
\item \textbf{Minimum EEPROM Consumption |
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\desirablepropertyemit\label{dp:chgr0:soda0:mineeprom}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:mineeprom}.} |
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Minimization of |
Minimization of |
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EEPROM consumption is a primary goal so that the least |
EEPROM consumption is a primary goal so that the least |
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expensive microcontrollers can be used. |
expensive microcontrollers can be used. |
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\item \textbf{Optimal CPU Cycle Utilization |
\item \textbf{Optimal CPU Cycle Utilization |
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\desirablepropertyemit\label{dp:chgr0:soda0:bestcpucycle}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:bestcpucycle}.} |
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We seek to design |
We seek to design |
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systems that, for a given set of requirements, can |
systems that, for a given set of requirements, can |
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meet the requirements most efficiently with respect |
meet the requirements most efficiently with respect |
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to CPU demands. Such systems enable the use of slower [less costly] |
to CPU demands. Such systems enable the use of slower [less costly] |
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microcontrollers, are less likely to conceal behavior, |
microcontrollers, are less likely to conceal behavior, |
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and are easier to modify. |
and are easier to modify. |
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\item \textbf{Minimal Possibility Of Concealed Behavior |
\item \textbf{Minimal Possibility Of Concealed Behavior |
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\desirablepropertyemit\label{dp:chgr0:soda0:minpconcealedbeh}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:minpconcealedbeh}.} |
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We seek to build |
We seek to build |
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software systems that are not likely to |
software systems that are not likely to |
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conceal behavior during product testing. Systems that have a large |
conceal behavior during product testing. Systems that have a large |
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ability to conceal behavior may pass product testing but |
ability to conceal behavior may pass product testing but |
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still exhibit defects for customers. The inability to conceal behavior |
still exhibit defects for customers. The inability to conceal behavior |
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is closely related to other desirable characteristics: |
is closely related to other desirable characteristics: |
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\begin{enumerate} |
\begin{enumerate} |
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\item \textbf{Minimization Of State Space |
\item \textbf{Minimization Of State Space |
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\desirablepropertyemit\label{dp:chgr0:soda0:minss}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:minss}.} |
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Many software defects are tied to |
Many software defects are tied to |
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software that holds more state than necessary. We seek to correctly |
software that holds more state than necessary. We seek to correctly |
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identify the minimum necessary state space of the software and to |
identify the minimum necessary state space of the software and to |
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construct software that is minimally stateful. |
construct software that is minimally stateful. |
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\item \textbf{Minimization Of Scheduling Freedom |
\item \textbf{Minimization Of Scheduling Freedom |
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\desirablepropertyemit\label{dp:chgr0:soda0:minschedfreedom}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:minschedfreedom}.} |
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We seek to minimize the way in which |
We seek to minimize the way in which |
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external events can affect the way software components are scheduled for |
external events can affect the way software components are scheduled for |
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execution. Simpler \emph{is} better. |
execution. Simpler \emph{is} better. |
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\item \textbf{Minimization Of Non-Linear Behavior |
\item \textbf{Minimization Of Non-Linear Behavior |
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\desirablepropertyemit\label{dp:chgr0:soda0:minnonlin}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:minnonlin}.} |
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Systems with |
Systems with |
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strongly non-linear or chaotic tendencies are undesirable. |
strongly non-linear or chaotic tendencies are undesirable. |
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\end{enumerate} |
\end{enumerate} |
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\item \textbf{Robustness. |
\item \textbf{Robustness. |
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\desirablepropertyemit\label{dp:chgr0:soda0:robustness}} |
\desirablepropertyemit\label{dp:chgr0:soda0:robustness}} |
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We seek to build systems that are robust with |
We seek to build systems that are robust with |
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respect to state upset of the controller, intermittent failure of |
respect to state upset of the controller, intermittent failure of |
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sensors and actuators, modeling errors, component aging, and variable |
sensors and actuators, modeling errors, component aging, and variable |
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real-time loading of the software. |
real-time loading of the software. |
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\item \textbf{Maximum Re-Usability Of Code |
\item \textbf{Maximum Re-Usability Of Code |
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\desirablepropertyemit\label{dp:chgr0:soda0:maxreusecode}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:maxreusecode}.} |
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We seek to be able to re-use |
We seek to be able to re-use |
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software components, and we seek to be able to develop |
software components, and we seek to be able to develop |
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new products with a minimum of new software component development. |
new products with a minimum of new software component development. |
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This goal related to both economy and to software quality. |
This goal related to both economy and to software quality. |
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Repeatedly reinventing the wheel is expensive, and it also introduces quality |
Repeatedly reinventing the wheel is expensive, and it also introduces quality |
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concerns---it is more reliable to reuse software components |
concerns---it is more reliable to reuse software components |
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that have had prolonged exposure in existing products. |
that have had prolonged exposure in existing products. |
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\item \textbf{Testability and Instrumentability |
\item \textbf{Testability and Instrumentability |
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\desirablepropertyemit\label{dp:chgr0:soda0:testability}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:testability}.} |
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We desire to construct software systems that are testable and |
We desire to construct software systems that are testable and |
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instrumentable. This desirable attribute includes the detection of |
instrumentable. This desirable attribute includes the detection of |
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internal errors, the measurement of timing margins, and other requirements |
internal errors, the measurement of timing margins, and other requirements |
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and best practices. |
and best practices. |
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\end{enumerate} |
\end{enumerate} |
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\item \textbf{Desirable Properties of a Product Development Process} |
\item \textbf{Desirable Properties of a Product Development Process} |
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\begin{enumerate} |
\begin{enumerate} |
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\item \textbf{Minimum Development Time |
\item \textbf{Minimum Development Time |
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\desirablepropertyemit\label{dp:chgr0:soda0:mindevtime}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:mindevtime}.} |
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We seek to minimize the time to bring |
We seek to minimize the time to bring |
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product to market. |
product to market. |
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\item \textbf{Feedback Path From Defects And Near Defects To Process, Training, |
\item \textbf{Feedback Path From Defects And Near Defects To Process, Training, |
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And Tools |
And Tools |
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\desirablepropertyemit\label{dp:chgr0:soda0:feedbackpath}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:feedbackpath}.} |
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We seek to be able to record defects (that make it into |
We seek to be able to record defects (that make it into |
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production) and near defects (that nearly make it into production), |
production) and near defects (that nearly make it into production), |
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and feed these back into the product development process |
and feed these back into the product development process |
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(in the event that any process step could have prevented |
(in the event that any process step could have prevented |
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the defect or near defect), into the training for software developers, and into |
the defect or near defect), into the training for software developers, and into |
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the tool set (if the defect or near defect is automatically detectable). |
the tool set (if the defect or near defect is automatically detectable). |
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\end{enumerate} |
\end{enumerate} |
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\item \textbf{Desirable Properties of Human Environment} |
\item \textbf{Desirable Properties of Human Environment} |
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\begin{enumerate} |
\begin{enumerate} |
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\item \textbf{Self-Actualizing Experience for Employees |
\item \textbf{Self-Actualizing Experience for Employees |
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\desirablepropertyemit\label{dp:chgr0:soda0:saexperience}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:saexperience}.} |
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We seek to provide a self-actualizing |
We seek to provide a self-actualizing |
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experience for employees. Any employee should leave |
experience for employees. Any employee should leave |
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a company with far more skills |
a company with far more skills |
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than they had on their arrival. |
than they had on their arrival. |
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\item \textbf{Best Experiences for the Top 20\% of Employees |
\item \textbf{Best Experiences for the Top 20\% of Employees |
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\desirablepropertyemit\label{dp:chgr0:soda0:betop20}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:betop20}.} |
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It is common knowledge that the most |
It is common knowledge that the most |
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capable 20\% of software developers make 80\% of the competitive contribution. |
capable 20\% of software developers make 80\% of the competitive contribution. |
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It is also common knowledge that this 20\% is the most sensitive to working conditions |
It is also common knowledge that this 20\% is the most sensitive to working conditions |
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which impair productivity. |
which impair productivity. |
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We seek to make it easier for this 20\% to be the most productive.\footnote{Note that this |
We seek to make it easier for this 20\% to be the most productive.\footnote{Note that this |
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notion of protecting the most productive employees is built into the work environment |
notion of protecting the most productive employees is built into the work environment |
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so that we don't often think of this goal. For example, in a dentist's office, the |
so that we don't often think of this goal. For example, in a dentist's office, the |
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dentist certainly \emph{could} schedule appointments and follow up with insurance |
dentist certainly \emph{could} schedule appointments and follow up with insurance |
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claims, but economically it is more feasible to have an administrative staff do |
claims, but economically it is more feasible to have an administrative staff do |
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this. Similarly, when obtaining technical support for a software product, one rarely reaches |
this. Similarly, when obtaining technical support for a software product, one rarely reaches |
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the actual software developers. We also do not claim that we need to identify the |
the actual software developers. We also do not claim that we need to identify the |
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20\%, simply that we need to remove institutional productivity barriers.} |
20\%, simply that we need to remove institutional productivity barriers.} |
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\end{enumerate} |
\end{enumerate} |
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\item \textbf{Desirable Properties of Administrative System} |
\item \textbf{Desirable Properties of Administrative System} |
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\begin{enumerate} |
\begin{enumerate} |
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\item \textbf{A Place For Everything, And Everything In Its Place |
\item \textbf{A Place For Everything, And Everything In Its Place |
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\desirablepropertyemit\label{dp:chgr0:soda0:placeforeverything}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:placeforeverything}.} |
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We seek administrative |
We seek administrative |
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neatness and consistency. |
neatness and consistency. |
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|
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\item \textbf{Elimination Of Redundant Information |
\item \textbf{Elimination Of Redundant Information |
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\desirablepropertyemit\label{dp:chgr0:soda0:lackredinfo}.} |
\desirablepropertyemit\label{dp:chgr0:soda0:lackredinfo}.} |
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Redundant information in product |
Redundant information in product |
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development is harmful in two ways. First, it is tedious and costly to [manually] maintain |
development is harmful in two ways. First, it is tedious and costly to [manually] maintain |
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the same information in different places. Second, such an arrangement is a change |
the same information in different places. Second, such an arrangement is a change |
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risk, because the information may be updated in one place but not another. |
risk, because the information may be updated in one place but not another. |
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\end{enumerate} |
\end{enumerate} |
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\end{enumerate} |
\end{enumerate} |
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\section{Detailed Description Of Desirable Attributes} |
\section{Detailed Description Of Desirable Attributes} |
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%Section tag: DDA0 |
%Section tag: DDA0 |
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\label{chgr0:sdda0} |
\label{chgr0:sdda0} |
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\subsection[Minimum ROM, RAM, And EEPROM Consumption] |
\subsection[Minimum ROM, RAM, And EEPROM Consumption] |
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{Minimum ROM, RAM, And EEPROM Consumption |
{Minimum ROM, RAM, And EEPROM Consumption |
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(\desirablepropertycite{dp:chgr0:soda0:minpm}, |
(\desirablepropertycite{dp:chgr0:soda0:minpm}, |
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\desirablepropertycite{dp:chgr0:soda0:minram}, |
\desirablepropertycite{dp:chgr0:soda0:minram}, |
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and |
and |
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\desirablepropertycite{dp:chgr0:soda0:mineeprom})} |
\desirablepropertycite{dp:chgr0:soda0:mineeprom})} |
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%Subsection tag: MRE0 |
%Subsection tag: MRE0 |
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\label{chgr0:sdda0:mre0} |
\label{chgr0:sdda0:mre0} |
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|
|
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Typical inexpensive microcontrollers come in families of parts with |
Typical inexpensive microcontrollers come in families of parts with |
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the same CPU core but different amounts of ROM, RAM, and EEPROM; with different |
the same CPU core but different amounts of ROM, RAM, and EEPROM; with different |
313 |
numbers of I/O pins; and often with different I/O peripherals. |
numbers of I/O pins; and often with different I/O peripherals. |
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Almost invariably, members of a |
Almost invariably, members of a |
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family are priced so that the parts with more capability are more expensive. |
family are priced so that the parts with more capability are more expensive. |
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|
|
317 |
Because of the cost differential, there is often substantial pressure |
Because of the cost differential, there is often substantial pressure |
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on microcontroller software developers to create software which |
on microcontroller software developers to create software which |
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uese as little ROM, RAM, and EEPROM as possible; so that the least |
uese as little ROM, RAM, and EEPROM as possible; so that the least |
320 |
expensive parts can be used. Additionally, it often happens that |
expensive parts can be used. Additionally, it often happens that |
321 |
a software load consumes nearly all the resources of the |
a software load consumes nearly all the resources of the |
322 |
largest available part in a family, so that no options are available |
largest available part in a family, so that no options are available |
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if the software cannot be made to fit. |
if the software cannot be made to fit. |
324 |
|
|
325 |
Thus, strategies to minimize the consumption of ROM, RAM, and EEPROM |
Thus, strategies to minimize the consumption of ROM, RAM, and EEPROM |
326 |
are of great interest in embedded software development. |
are of great interest in embedded software development. |
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|
|
328 |
Somewhat counterintuitively, the rigorous application of ROM-, RAM-, and |
Somewhat counterintuitively, the rigorous application of ROM-, RAM-, and |
329 |
EEPROM-reduction strategies from the \emph{start} of a product development |
EEPROM-reduction strategies from the \emph{start} of a product development |
330 |
may actually \emph{increase} the probability of a product development |
may actually \emph{increase} the probability of a product development |
331 |
failure. If these strategies are applied from the very start of a |
failure. If these strategies are applied from the very start of a |
332 |
product development, there will be little or no ``fat'' left in software modules |
product development, there will be little or no ``fat'' left in software modules |
333 |
that can be trimmed if ROM, RAM, or EEPROM limits are reached. |
that can be trimmed if ROM, RAM, or EEPROM limits are reached. |
334 |
The rigorous application of ROM-, RAM-, and EEPROM-reduction strategies |
The rigorous application of ROM-, RAM-, and EEPROM-reduction strategies |
335 |
must be accompanied by an increased respect for storage size limits. |
must be accompanied by an increased respect for storage size limits. |
336 |
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\subsection[Optimal CPU Cycle Utilization] |
\subsection[Optimal CPU Cycle Utilization] |
342 |
{Optimal CPU Cycle Utilization |
{Optimal CPU Cycle Utilization |
343 |
(\desirablepropertycite{dp:chgr0:soda0:bestcpucycle})} |
(\desirablepropertycite{dp:chgr0:soda0:bestcpucycle})} |
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%Subsection tag: BCC0 |
%Subsection tag: BCC0 |
345 |
\label{chgr0:sdda0:bcc0} |
\label{chgr0:sdda0:bcc0} |
346 |
|
|
347 |
In many applications, it may be advantageous to use the least-capable |
In many applications, it may be advantageous to use the least-capable |
348 |
microcontroller with the slowest clock rate that will suffice for the |
microcontroller with the slowest clock rate that will suffice for the |
349 |
application. The reasons that this may be advantageous are: |
application. The reasons that this may be advantageous are: |
350 |
|
|
351 |
\begin{enumerate} |
\begin{enumerate} |
352 |
\item More capable microcontrollers are generally more costly. |
\item More capable microcontrollers are generally more costly. |
353 |
\item It may be advantageous to operate a micrcontroller at less than |
\item It may be advantageous to operate a micrcontroller at less than |
354 |
the maximum allowable clock frequency. |
the maximum allowable clock frequency. |
355 |
\begin{enumerate} |
\begin{enumerate} |
356 |
\item A system with a higher clock rate usually consumes more power, and |
\item A system with a higher clock rate usually consumes more power, and |
357 |
the relationship is often approximately linear. |
the relationship is often approximately linear. |
358 |
\item There may be certain frequencies at which the embedded system should |
\item There may be certain frequencies at which the embedded system should |
359 |
not emit signals. (For example, in an automotive application, the |
not emit signals. (For example, in an automotive application, the |
360 |
AM and FM radio bands are to be avoided. If the clock frequency of |
AM and FM radio bands are to be avoided. If the clock frequency of |
361 |
the system is chosen so that the frequency or a harmonic is in these |
the system is chosen so that the frequency or a harmonic is in these |
362 |
bands, the system must be shielded or otherwise made more expensive.) |
bands, the system must be shielded or otherwise made more expensive.) |
363 |
\end{enumerate} |
\end{enumerate} |
364 |
\end{enumerate} |
\end{enumerate} |
365 |
|
|
366 |
The general principles that apply to optimization for CPU-cycle efficiency are: |
The general principles that apply to optimization for CPU-cycle efficiency are: |
367 |
|
|
368 |
\begin{enumerate} |
\begin{enumerate} |
369 |
\item The mechanisms that pervade the system must be examined carefully and |
\item The mechanisms that pervade the system must be examined carefully and |
370 |
optimized. Typical mechanisms that must be optimized are: |
optimized. Typical mechanisms that must be optimized are: |
371 |
|
|
372 |
\begin{enumerate} |
\begin{enumerate} |
373 |
\item \textbf{Time measurement mechanisms.} |
\item \textbf{Time measurement mechanisms.} |
374 |
The notion of \emph{time} typically pervades an |
The notion of \emph{time} typically pervades an |
375 |
embedded system. It is typical for many |
embedded system. It is typical for many |
376 |
software components to contain state-machine logic |
software components to contain state-machine logic |
377 |
with transition functions that are functions of time. |
with transition functions that are functions of time. |
378 |
Decisions about how to represent time and how to test |
Decisions about how to represent time and how to test |
379 |
elapsed time can have a \emph{profound} effect on |
elapsed time can have a \emph{profound} effect on |
380 |
the performance of the system. |
the performance of the system. |
381 |
\item \textbf{IPC mechanisms.} |
\item \textbf{IPC mechanisms.} |
382 |
The mechanisms by which |
The mechanisms by which |
383 |
\end{enumerate} |
\end{enumerate} |
384 |
\end{enumerate} |
\end{enumerate} |
385 |
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\subsection[Minimal Possibility of Concealed Behavior] |
\subsection[Minimal Possibility of Concealed Behavior] |
391 |
{Minimal Possibility of Concealed Behavior |
{Minimal Possibility of Concealed Behavior |
392 |
(\desirablepropertycite{dp:chgr0:soda0:minpconcealedbeh})} |
(\desirablepropertycite{dp:chgr0:soda0:minpconcealedbeh})} |
393 |
%Subsection tag: mpc0 |
%Subsection tag: mpc0 |
394 |
\label{chgr0:sdda0:mpc0} |
\label{chgr0:sdda0:mpc0} |
395 |
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\subsubsection[Minimization of State Space] |
\subsubsection[Minimization of State Space] |
401 |
{Minimization of State Space |
{Minimization of State Space |
402 |
(\desirablepropertycite{dp:chgr0:soda0:minss})} |
(\desirablepropertycite{dp:chgr0:soda0:minss})} |
403 |
%Subsubsection tag: mss0 |
%Subsubsection tag: mss0 |
404 |
\label{chgr0:sdda0:mpc0:mss0} |
\label{chgr0:sdda0:mpc0:mss0} |
405 |
|
|
406 |
Many embedded software defects are directly attributable to software which |
Many embedded software defects are directly attributable to software which |
407 |
holds more state than necessary. It is a common observation that |
holds more state than necessary. It is a common observation that |
408 |
novice programmers have difficulty in designing state-minimal |
novice programmers have difficulty in designing state-minimal |
409 |
embedded software components---in extreme cases, novice programmers have |
embedded software components---in extreme cases, novice programmers have |
410 |
even implemented purely combinational mappings as sequential machines. |
even implemented purely combinational mappings as sequential machines. |
411 |
|
|
412 |
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413 |
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415 |
\subsubsection[Minimization of Scheduling Freedom] |
\subsubsection[Minimization of Scheduling Freedom] |
416 |
{Minimization of Scheduling Freedom |
{Minimization of Scheduling Freedom |
417 |
(\desirablepropertycite{dp:chgr0:soda0:minschedfreedom})} |
(\desirablepropertycite{dp:chgr0:soda0:minschedfreedom})} |
418 |
%Subsubsection tag: msf0 |
%Subsubsection tag: msf0 |
419 |
\label{chgr0:sdda0:mpc0:msf0} |
\label{chgr0:sdda0:mpc0:msf0} |
420 |
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421 |
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422 |
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425 |
\subsubsection[Minimization of Non-Linear Behavior] |
\subsubsection[Minimization of Non-Linear Behavior] |
426 |
{Minimization of Non-Linear Behavior |
{Minimization of Non-Linear Behavior |
427 |
(\desirablepropertycite{dp:chgr0:soda0:minnonlin})} |
(\desirablepropertycite{dp:chgr0:soda0:minnonlin})} |
428 |
%Subsubsection tag: mnl0 |
%Subsubsection tag: mnl0 |
429 |
\label{chgr0:sdda0:mpc0:mnl0} |
\label{chgr0:sdda0:mpc0:mnl0} |
430 |
|
|
431 |
|
|
432 |
\subsection{Freedom From Redundant Information} |
\subsection{Freedom From Redundant Information} |
433 |
|
|
434 |
|
|
435 |
\subsection{Robustness} |
\subsection{Robustness} |
436 |
\label{chgr0:sdda0:srob0} |
\label{chgr0:sdda0:srob0} |
437 |
|
|
438 |
|
|
439 |
\subsection{Maximum Re-Usability Of Source Code} |
\subsection{Maximum Re-Usability Of Source Code} |
440 |
|
|
441 |
|
|
442 |
\subsection{Minimum Development Time} |
\subsection{Minimum Development Time} |
443 |
|
|
444 |
|
|
445 |
\subsection{Feedback Path From Defects To Product Development Process, Training, And Tools} |
\subsection{Feedback Path From Defects To Product Development Process, Training, And Tools} |
446 |
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|
447 |
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|
448 |
%\subsection{Self-Actualizing Experience For Employees} |
%\subsection{Self-Actualizing Experience For Employees} |
449 |
|
|
450 |
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|
451 |
%\subsection{Best Experiences For The Top 20\% Of Employees} |
%\subsection{Best Experiences For The Top 20\% Of Employees} |
452 |
|
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453 |
|
|
454 |
%\subsection{Administrative Neatness} |
%\subsection{Administrative Neatness} |
455 |
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|
456 |
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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457 |
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\noindent\begin{figure}[!b] |
\noindent\begin{figure}[!b] |
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\noindent\rule[-0.25in]{\textwidth}{1pt} |
\noindent\rule[-0.25in]{\textwidth}{1pt} |
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\begin{tiny} |
\begin{tiny} |
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\begin{verbatim} |
\begin{verbatim} |
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$RCSfile: c_hgr0.tex,v $ |
$RCSfile: c_hgr0.tex,v $ |
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$Source: /home/dashley/cvsrep/e3ft_gpl01/e3ft_gpl01/dtaipubs/esrgubka/c_hgr0/c_hgr0.tex,v $ |
$Source: /home/dashley/cvsrep/e3ft_gpl01/e3ft_gpl01/dtaipubs/esrgubka/c_hgr0/c_hgr0.tex,v $ |
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$Revision: 1.7 $ |
$Revision: 1.7 $ |
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$Author: dtashley $ |
$Author: dtashley $ |
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$Date: 2004/03/17 01:37:52 $ |
$Date: 2004/03/17 01:37:52 $ |
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\end{verbatim} |
\end{verbatim} |
468 |
\end{tiny} |
\end{tiny} |
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\noindent\rule[0.25in]{\textwidth}{1pt} |
\noindent\rule[0.25in]{\textwidth}{1pt} |
470 |
\end{figure} |
\end{figure} |
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% $Log: c_hgr0.tex,v $ |
% $Log: c_hgr0.tex,v $ |
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% Revision 1.7 2004/03/17 01:37:52 dtashley |
% Revision 1.7 2004/03/17 01:37:52 dtashley |
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% Edits. |
% Edits. |
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% |
% |
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% Revision 1.6 2004/03/12 11:24:07 dtashley |
% Revision 1.6 2004/03/12 11:24:07 dtashley |
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% General edits and changes. |
% General edits and changes. |
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% |
% |
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% Revision 1.5 2004/02/22 19:27:47 dtashley |
% Revision 1.5 2004/02/22 19:27:47 dtashley |
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% Edits. |
% Edits. |
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% |
% |
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% Revision 1.4 2003/03/18 06:20:34 dtashley |
% Revision 1.4 2003/03/18 06:20:34 dtashley |
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% Section on "robustness" labeled so could be referred to from rational counting |
% Section on "robustness" labeled so could be referred to from rational counting |
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% algorithm section. |
% algorithm section. |
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% |
% |
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% Revision 1.3 2002/08/22 03:56:55 dtashley |
% Revision 1.3 2002/08/22 03:56:55 dtashley |
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% Aesthetic changes. |
% Aesthetic changes. |
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% |
% |
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% Revision 1.2 2001/07/01 19:28:00 dtashley |
% Revision 1.2 2001/07/01 19:28:00 dtashley |
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% Move out of binary mode for use with CVS. |
% Move out of binary mode for use with CVS. |
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% |
% |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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% $History: c_hgr0.tex $ |
% $History: c_hgr0.tex $ |
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% |
% |
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% ***************** Version 3 ***************** |
% ***************** Version 3 ***************** |
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% User: Dashley1 Date: 3/07/01 Time: 12:17a |
% User: Dashley1 Date: 3/07/01 Time: 12:17a |
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% Updated in $/uC Software Multi-Volume Book (A)/Chapter, HGR0, Holy Grail |
% Updated in $/uC Software Multi-Volume Book (A)/Chapter, HGR0, Holy Grail |
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% Edits. |
% Edits. |
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% |
% |
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% ***************** Version 2 ***************** |
% ***************** Version 2 ***************** |
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% User: Dashley1 Date: 6/13/00 Time: 7:49p |
% User: Dashley1 Date: 6/13/00 Time: 7:49p |
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% Updated in $/uC Software Multi-Volume Book (A)/Chapter, HGR0, Holy Grail |
% Updated in $/uC Software Multi-Volume Book (A)/Chapter, HGR0, Holy Grail |
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% Initial check-in. |
% Initial check-in. |
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% |
% |
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%End of file C_HGR0.TEX |
%End of file C_HGR0.TEX |