The car industry has created a series of standards called AutoSAR as a response to the increasing number of processors in modern vehicles. Among these specifications is one for real-time operating systems (RTOS). This RTOS standard includes requirements for memory protection. This thesis outlines the work involved in introducing the memory protection outlined in this specification in the OSEck operating system. The work consisted of updating the operating system, implementing the AutoSAR OS API, and updating the suite of toolsused to build the finished system.The AutoSAR specifications were found to be very thorough and well thoughtout. The OS API was successfully implemented, and the data-structures needed to permit its functionality. The existing software tools were updated to conformwith the new requirements from AutoSAR, and additional software was createdto ease the configuration process.Memory protection was successfully implemented in the OSEck operating system, including two implementations of the trap interface. The memory protection functionality adds yet another layer of user-configuration to the operating system. Also, additional overhead for system calls, context switches and message passing is expected. A general evaluation of how OSEck application performance is aff ected is beyond the scope of this thesis, but preliminary studies of additional instruction counts on certain system calls have been performed.

In the rapidly progressing evolution of technology, more and more emphasize is put on developing proper tools for the task of designing new and revolutionary systems. These tools are required in order to allow for a designer to fully utilize the power of new architectures and techniques. This thesis examines the current state of available scheduling tools for embedded systems, by evaluating and analyzing a number of di erent tools. An attempt is made to provide an overview of how the tools are constructed, and what types of methodology have been used.

This paper is an all-embracing introduction to HTTP performance, which encompasses all areas of importance concerning application layer performance. We highlight seven areas to consider before implementing HTTP/1.1 in an embedded web server, these were identified by a careful survey of previous research. The highlighted topics are the new request methods, persistent connections, chunked encoding, byte- range operations, content negotiation, digest authentication and caching, all new or improved features in HTTP/1.1. We explore why the old design rationale of HTTP/1.1 has become obsolete in an embedded setting. We also suggest new guidelines which are more suitable for an embedded web server. / Hannes Persson, hannes.persson@mac.com Christian Toft, mda00cto@student.bth.se

This thesis describes the design and development of both the hardware and software of an embedded, distributed control system using a LAN infrastructure for communication between nodes. The primary application of this system is for power monitoring and control at Rhodes University. Both the hardware and software have been developed to provide a modular and scalable system capable of growing and adapting to meet the changing demands placed on it. The software includes a custom written Internet Protocol stack for use in the embedded environment, with a small code footprint and low processing overheads. There is also Linux-based control software, which includes a web-based device management interface and graphical output. Problems specific to the application are discussed as well as their solutions, with particular attention to the constraints of an embedded system.

Context. The share and importance of software within automotive vehicles is growing steadily. Most functionalities in modern vehicles, especially safety related functions like advanced emergency braking, are controlled by software. A complex and common phenomenon in today’s automotive vehicles is the distribution of such software functions across several Electronic Control Units (ECUs) and consequently across several ECU system software modules. As a result, integration testing of these distributed software functions has been found to be a challenge. The automotive industry neither has infinite resources, nor has the time to carry out exhaustive testing of these functions. On the other hand, the traditional approach of implementing an ad-hoc selection of test scenarios based on the tester’s experience, can lead to test gaps and test redundancies. Hence, there is a pressing need within the automotive industry for a feasible and effective verification strategy for testing distributed software functions. Objectives. Firstly, to identify the current approach used to test the distributed automotive embedded software functions in literature and in a case company. Secondly, propose and validate a feasible and effective verification strategy for testing the distributed software functions that would help improve test coverage while reducing test redundan- cies and test gaps. Methods. To accomplish the objectives, a case study was conducted at Scania CV AB, Södertälje, Sweden. One of the data collection methods was through conducting interviews of different employees involved in the software testing activities. Based on the research objectives, an interview questionnaire with open-ended and close-ended questions has been used. Apart from interviews, data from relevant ar- tifacts in databases and archived documents has been used to achieve data triangulation. Moreover, to further strengthen the validity of the results obtained, adequate literature support has been presented throughout. Towards the end, a verification strategy has been proposed and validated using existing historical data at Scania. Conclusions. The proposed verification strategy to test distributed automotive embedded software functions has given promising results by providing means to identify test gaps and test redundancies. It helps establish an effective and feasible approach to capture function test coverage information that helps enhance the effectiveness of integration testing of the distributed software functions.

Bytecode interpreters are a common implementation strategy for scripting languages. Source code is translated to bytecode to improve time and memory performance. The Android platform includes the Dalvik virtual machine, which typically executes bytecode compiled from Java source code. This thesis describes how this virtual machine can be reused to execute bytecode compiled from a scripting language. A compiler is written for a test bed scripting language and the time and memory performance is evaluated. The Dalvik virtual machine, designed for a statically typed object-oriented language, was flexible enough to successfully host a dynamically typed scripting language that allows for objects to be transported cheaply between scripts and Java code. The compiled code executes one to two orders of magnitude faster than with a naive interpreting implemetation. Numeric performance is lacking in general, though simpler cases are optimized.

In several types of embedded systems the applications are deployed both as software and as hardware components. For such systems, the partitioning decision is highly important since the implementation in software or hardware heavily influences the system properties. In the industry, it is rather common practice to take deployment decisions in an early stage of the design phase and based on a limited number of aspects. Often such decisions are taken based on hardware and software designers‟ expertise and do not account the requirements of the entire system and the project and business development constraints. This approach leads to several disadvantages such as redesign, interruption, etc. In this scenario, we see the need of approaching the partitioning process from a multiple decision perspective. As a consequence, we start by presenting an analysis of the most important and popular Multiple Criteria Decision Analysis (MCDA) methods and tools. We also identify the key requirements on the partitioning process. Subsequently, we evaluate all of the MCDA methods and tools with respect to the key partitioning requirements. By using the key partitioning requirements the methods and tools that the best suits the partitioning are selected. Finally, we propose two MCDA-based partitioning processes and validate their feasibility thorough an industrial case study.

The enormous increase in device connectivity for data and telecom devices places significant challenges on the packet processing techniques used in embedded systems such as IP stacks. Therefore, the traditional packet processing software cannot handle the line rate packet flow even for the most cutting edge devices. A solution to this problem is to allow applications to directly receive packets without passing through the normal kernel stack and drivers i.e. interface directly with the hardware. Two such open source libraries for Linux are PF_RING and Netmap. In addition Freescale has a similar technology called USDPAA. In order to satisfy the first goal of this project, a detailed analysis and evaluation of PF_RING, Netmap and USDPAA has been conducted in order to determine how they compare in relation to a number of criteria such as functionality, support, performance, ease of use, software/ hardware dependencies and project stability etc. Secondly based on the earlier work, a design is proposed that can be used to build and port an application to run on Freescale DPAA based hardware (P4080) on top of USDPAA.

Syftet med examensarbetet är att minska avdriften hos en robotgräsklippare med hjälp av en enkel GPS. En avdrift sker då robotgräsklipparen faller av från den riktning som ska följas. Vilket sker på grund av externa krafter. I rapporten är definitionen på avdrift avvikelsen från en rät linje mellan robotgräsklipparens start och stopp position. Rapporten besvarar följande frågeställningar: Vilka olika mått finns för att mäta avdrift och vilken eller vilka av dessa är att föredra i det genomförda experimentet? Hur kan robotgräsklipparens avdrift minskas med mjukvara som använder data från endast en enkel GPS? Utveckling av mjukvara har skett iterativt där varje iteration resulterar i en konfiguration som minskar avdrift. För att besvara den andra frågeställningen har experiment utförts på vardera konfiguration. Resultatet från experimentet har sedan kunnat analyseras med de mått som framkom från den första frågeställningen. Studiens resultat visar att det går att minska avdriften hos en robotgräsklippare med en enkel GPS. / The purpose of this study is to reduce the drift of a robot lawnmower using a simple GPS. A drift occurs when the robot lawnmower falls off the direction that should be followed. This happens due to external forces. In this report the definition of drift is the deviation from a straight line between the robot lawnmower’s start and stop position. The thesis answers the following research questions: What different measurements are available to measure drift and what or which of these are preferred in the experiment done in this study? How can the drift from the robot lawnmower be reduced by software that uses data from only a simple GPS? The development of software has been done iteratively where each iteration results in a configuration that reduces drift. To answer the second research question, experiments have been performed on each configuration. The result of the experiment could then be analyzed with the measurements that emerged from the first research question. The study's results show that it is possible to reduce the drift of a robotic lawnmower with a simple GPS.

Abstract Building an embedded system from an idea to a product is a slow and expensive process requiring a lot of expertise. Depending on the developer’s expertise, the required quantity and price level of the final product, and the time and money available for development, the developer can build a device from different granularity of components, ranging from ready-made platforms, kits, and modules to individual components. Generally, solutions requiring less expertise, time and money produce products with higher production costs. The main contribution of this thesis is the EOC (Embedded Object Concept) and Atomi II Framework. EOC utilizes common object-oriented methods used in software by applying them to small electronic modules, which create complete functional entities. The conceptual idea of the embedded objects is implemented with the Atomi II framework, which contains several techniques for making the EOC a commercially feasible implementation. The EOC and the Atomi II Framework decreases the difficulty level of making embedded systems by enabling a use of ready-made modules to build systems. It enables automatic conversion of a device made from such modules into an integrated PCB, lowering production costs compared to other modular approaches. Furthermore, it also enables an automatic production tester generation due to its modularity. These properties lower the number of skills required for building an embedded system and quicken the path from an idea to a commercially applicable device. A developer can also build custom modules of his own if he possesses the required expertise. The test cases demonstrate the Atomi II Framework techniques in real world applications, and demonstrate the capabilities of Atomi objects. According to our test cases and estimations, an Atomi based device becomes approximately 10% more expensive than a device built from individual components, but saves up to 50% time, making it feasible to manufacture up to 10-50k quantities with this approach.