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Software development tools synthesis

Kjeld Hjortnaes ­ TEC-SWS On-Board Software Systems Section

Software development tools

The following slides gives a synthesis of commonly used tools for the ESA space micro-processors (ERC32 & LEON's). The list is focusing mainly on tools that are target hardware dependent.

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Code generation tools

Cross compilers

C/C++ ADA GCC GNAT-PRO XGC ObjectADA JAVA OVM PERC Jamaica/ AERO Matlab/ Simulink/ stateflow

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ERC-32 LEON-II

LEON-III

Not yet

Supplier

GNU AdaCore Chris Nettleton Aonix Purdue Uni Aonix AICAS DSpace MathWorks

Targetlink Real Time workshop

Generates C-code Generates C/C++ code

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Available RTOS

RTOS

RTEMS (LGPL) V4.8.0 (Open Src) V4.6.5 V4.6.1+ VxWorks V6.5-leon V5.4-leon eCOS (GPL) ORK Ostrales V3.x Integrated with GNAT Uses GNATPro ()

ERC-32 LEON-II

LEON-III

LEON-III (MMU)

Supplier

Edisoft / OAR OAR. Astrium

(SMP)

WindRiver WindRiver

AeroflexGR UPM TAS (internal)

4

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Available RTOS for Time & Space Partitioning

TSP RTOS

AIR-II RTEMS PikeOS XTratum TRL-3(4) Being ported to LEON Being ported to LEON

ERC32

LEON-II

LEON-III

LEON-III (MMU)

Supplier

GMVSkySoft

IMA module

Common Core Processor (TSP architecture) Application 1 BSW Services Partition OS

Com's port

SYSGO

Uni of Valencia

IPC memory to memory

Application n BSW Services Partition OS

IO Application

IO driver's

BSW Services Partition OS

System Executive

IPC through Memory to Memory transfer

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Simulator / emulator support

Software emulators

TSIM Leon-SVE SimERC32/ SimLEON Sim-SCOC3 QERx (LGPL) ReSP (GPL) ESOC simulator Instruction level Instruction level Instruction level Instruction level Dynamic translation Instruction level Instruction level

(4-8 x RT)

ERC-32 LEON-II

(0.3 x RT)

LEON-III

LEON-III (MMU)

Supplier

Aeroflex-GR

Spacebel

Astrium / CNES Astrium (internal) FFQTECH SciSys Uni of Coimbra

Coming Soon

Politecnico of Milan ESOC

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Dynamic translation emulator vs. TSIM

TSIM QERx ERC32* ERC32* 1.23s 0.29s 64.20s 9.68s 1 4.2 1 6.6 TSIM QERx LEON2 LEON2 2.43s 0.30s 216.00s 9.22s 1 8.1 1 23.4

Stanford Raw Dhrystone Raw Stanford Factor Dhrystone Factor

Stanford Benchmark provided with TSIM (not recompiled) Dhrystone benchmark, 1 Million iterations (recompiled from source) *ERC32

­ TSIM ERC32 v1.3 ­ 32-bit SUSE 8.2, 2.8 GHz Intel Pentium 4 processor

LEON2

­ TSIM LEON2 v2.0.9 ­ 32-bit SUSE 10.1, 2.8 GHz Intel Pentium 4 processor ­ Simplistic cache modelling in QERx

LEON TSIM slower that ERC32 TSIM QERx LEON2 ~10% faster than QERx ERC32 ­ timer model differences?

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Simulator / emulator support

Hw-inloop emulators

SHAM6 LEON-SVF TSIM-HW µ-p in the loop

FPGA LEON-II FT IP core FPGA LEON-II IP core

ERC-32 LEON-II

LEON-III

LEON-III (MMU)

Supplier

(25 Mhz)

Chess Engineering

(100 MHz)

ESA/Astrium -sas Aeroflex-GR

(100 MHz)

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LEON emulator architecture

PIO control RAM 100 MHz LEON2 FT ROM Simulation software FCPP/ESS Clock, reset... Suspend Controller IO detection

Exclusion memory FPGA time Timed Event handler FPGA board (ADM-XRC-5T2)

PCI

Kernel driver Host PC

Key function Suspend Controller will suspend Leon while simulating I/O

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LEON emulator performance

· Emulator outperforms instruction set software simulators

Flight OBC (MHz) Example: The LeonSVF simulates a flight OBC which runs at 90MHz and produces 5000 control IO/s + 10K Bytes/s of data (realistic in ESA missions) faster than real-time.

100 MHz 93 MHz Realistic OBC: 40-90MHz

LeonSVF is faster than real-time for on-board computers in this region. A SW-simulator is slower than real-time.

LeonSVF emulator: limit

30 MHz

LeonSVF and SW-simulators are faster than real-time for OBCs in this region.

SW-based instruction set simulators: limit

3000 5000 8000 realistic

I/O per second To I/O control registers

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Worst case execution tools

ERC-32 LEON-II LEON-III LEON-III (MMU) Supplier

Ait WCET Rapitime

C and Ada Binary image C and Ada measurement by code instrumentation Binary image

()

AbsInt Rapita

Bound-T

Tidorum

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Test tools

Unit and Integration test

CANTATA++ Adatest95 VectorCAST IBM-Rational Test Real Time Klocworks Polyspace C/C++ Ada95 C/C++/Ada C/C++/ Java/Ada C/C++ C/C++/Ada

ERC-32 LEON-II

LEON-III

LEON-III (MMU)

Supplier

Src code instrumentation Src code instrumentation Src code instrumentation Src code instrumentation

IPL IPL Vector software IBM

Static analysis Static analysis

IPL Mathworks

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Information

Software synthesis

12 pages

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