The increasing complexity of vehicular embedded systems has encouraged researchers and practitioners to adopt model-driven engineering in the development of these systems. In particular, several modelling languages have been introduced for representing the vehicular software architecture and its quality attributes. Current trend in the automotive domain is to shift from single-core architectures to multi-core ones in the attempt of providing the computational power required from the next generation of vehicles, particularly autonomous ones. On the one hand, multi-core architectures introduce new real-time challenges in the development of these systems like core-interdependency. On the other hand, it is pivotal that modelling languages continue to be effective in representing the new vehicular architectures together with their novel concerns, to continue to benefit from model-based methodologies. In this thesis, we present a systematic mapping study focusing i) on the real-time challenges introduced by the adoption of multi-core architectures and ii) on the extent of the modelling support for the resolution of these challenge, in the automotive domain.

Examensarbetet syftar till att undersöka möjligheten att expandera befintlig testprocess av elektroniska styrenheter. Hos Volvo Construction Equipment sker verifiering av styrenheter till stor del i riggar som består av större CAN-nätverk och innehåller många komponenter. Antalet riggar begränsas av att de är kostsamma, vilket i sin tur leder till att antalet tester som kan genomföras är begränsat. Målet med arbetet är att undersöka om det är möjligt att skapa en testmiljö som verifierar funktionalitet i en styrenhet, separerad från övriga delar av nätverket. Planen är att testmiljön ska kunna användas som komplement till de befintliga riggarna. Arbetet visar att det är möjligt genom att implementera en testmiljö som kan verifiera funktionalitet hos en separerad styrenhet. Testmiljön ger Volvo möjlighet att utföra fler tester och därmed expandera deras testprocess av elektroniska styrenheter. / The thesis aims to examine the possibility of expanding the existing test process of Electronic Control Units. At Volvo Construction Equipment, verification of control units is mostly done in rigs that include large CAN-networks and contains multiple components. The number of rigs available is limited by their cost, which leads to a limited number of tests that can be made. The thesis is investigating whether it is possible to create a test environment that verifies functionality of an Electronic Control Unit, separated from the network. The purpose of the test environment is to be used as a complement to the existing rigs. The thesis shows that it is possible by implementing a test environment that can verify functionality of a separated control unit. This test environment allows Volvo to perform more tests and thereby expand their test process of Electronic Control Units.

This thesis investigates the possibility of connecting an embedded device, STM32 B-L4S5I-IOT01A IoT discovery node, to a Eclipse Arrowhead framework local cloud.This thesis also examines the benefits of using the Eclipse Arrowhead framework compared to its competitors Amazon Web Services and Microsoft Azure. The world is entering a new industrial revolution, often referred to as Industry 4.0, moving towards a more decentralized and software-oriented means of production.This fourth industrial revolution incorporates System of Systems, Cyber-Physical Systems, and embedded software technologies. One of the internet-based industrial solutions is the Eclipse Arrowhead framework. The Eclipse Arrowhead framework contains many examples in various promgramming languages and technologies but lacks an example of a specific piece of hardware connecting to a local Eclipse Arrowhead cloud.Therefore, a project with the clear intent to showcase both the capabilities and possibilities of Cyber-Physical systems and the Eclipse Arrowhead framework is needed. The system this thesis implements consists of three major parts: the stm32 board, a Python flask app, and the Eclipse Arrowhead framework.The main objective of the Eclipse Arrowhead framework is to connect the consumer and the provider in a safe and structured way.The provider is built with C/C++ using ARMs' mbed os.  The response time of the different frameworks, Eclipse Arrowhead framework and Amazon Web Services, was measured.We made a thousand attempts to form an adequate basis for an average response time. In addition to presenting the average response time, we calculated the maximum and minimum response times to understand the different frameworks' performance further.  The thesis shows some benefits in response time when running an Eclipse Arrowhead framework local cloud instead of using a remote service such as Amazon Web Services. Average response time decreased by 17.5 times while running an Eclipse Arrowhead framework local cloud.Maximum and minimum response times decreased by 1.9 and 134 times, respectively.

Detta examensarbete utförs tillsammans med Ålö AB som tillverkar frontlastare under varumärket Quike och ämnar utvärdera olika möjliga lösningar för ett system som beräknar inklinationen på fordon. Systemet ska utformas med låg kostnad som prioritet och skall klara hårdvaruklassificeringar för elektronik tillämpat på fordon (AEC-Q100). Arbetet behandlar i huvudsak bestämmande- och motivation av komponentval, teori kring den signalbehandling som behövs i miljöer där en stor mängd brus förekommer samt implementationen av detta.   I arbetet valdes två sensorer som ansågs lämpliga för utvärdering. Den första var en 3-axlad accelerometer till vilken en proprietär 2D-positioneringsalgoritm används för att bestämma inklination. Den andra sensorn som valdes är en 6-axlad sensor som kombinerar accelerometer och gyroskop vilken implementeras med sensorfusion och Kalman-filter genom användning av ett mjukvarubibliotek. Systemet implementerades hårdvarumässigt i form av ett kretskort som huserar båda sensorerna.   Systemet testades och utvärderades stationärt och på fordon tillsammans med en referenssensor för att ge en bild av hur de respektive sensorerna och algoritmerna presterade i både ideala och verkliga förhållanden. Vid de stationära testerna uppvisar båda lösningarna goda egenskaper och ger inklination nära verklig vinkel. Traktortesternas tillförlitlighet kan höjas och håller inte nog hög kvalitet för att kunna leda till slutsats, vilket leder till en rekommendation om fortsatt utvecklingsarbete. / This student thesis is carried out togheter with Ålö AB which manufactures front loaders under the Quicke brand and intents to evaluate a system that calculates vehicle incline. The system should prioritize low cost and must use electronics that is classified for vehicle use (AEC-Q100). This thesis deals with selecting components, sensors and motivations of the selected components, theory of sensor signal conditioning in noisy environments and its implementation.   Two sensors where selected that was deemed suitable for evaluation. The first was a 3-axis accelerometer for which a proprietary 2D-positioning algorithm was used to calculate incline. The second sensor that was chosen was a 6-axis IMU that was implemented using sensor fusion with a Kalman filter which was realized with an available software library. The system hardware was implemented with a custom PCB.   The system was tested and evaluated stationary and, on a vehicle, along with a reference sensor to give an indication of how the sensors and their respective algorithms performed in both ideal and a real conditions. The stationary tests showed that both solutions perform well regarding outputting incline close to the actual angle. The reliability of the vehicle tests can be improved and as the results they yielded are not of high enough quality to draw conclusions from them. This leads to a recommendation of further testing and evaluation of both solutions.

As technology advances and innovation becomes a keystone in every new product, some old gadgets and applications might experience difficulty keeping up. Theymight still be as functional as they were but the impression of them might not be ascreative as they were. At Tecnau, Ljungby, the user interface for their machines is noexception. Their GUI requires an update, aesthetic-wise and in terms of the softwarein which it is developed. Earlier their application was created in Tecanu’s programming language but this project will find a new, recently developed, framework andmethod of development for an HMI which will enable easier future development andredesigning of the user interface. To achieve this, a literature study has been donealongside experimenting with the framework that was found in this very study. Theresulting framework that was found was Django for the HMI in combination withApache to keep the application up to date. While finding the procedure of developing the HMI was most sufficient, the implementation ended up in minor piecesinstead of a complete application.

Background : Embedded system consists of both hardware and software. Boththese hardware and software development teams must be worked together to complete the project successfully, which requires a lot of communication among theteams. DevOps is an evolution of agile development that bridges communicationgap between teams. Since Embedded systems are not service-based, it isn’t easy toimplement DevOps. So there is a need to study what challenges are currently facedin implementing embedded application development. Objectives: The focus of this thesis was to gather the challenges and mitigationstrategies to overcome these challenges faced during the implementation of DevOpsin Embedded application development, along with mitigation strategies followed toovercome these challenges. Methods: In this thesis, surveys, and interviews were selected as research methods to identify challenges faced while implementing DevOps in embedded systemapplication development and mitigation strategies, and the survey was considered tocollect demographic questions. Results: A survey was conducted to identify embedded developers with experienceimplementing DevOps for Embedded Application Development. Out of 19 surveyresponses, 12 respondents were further interviewed for detailed information. Datacollected from the interviews are analyzed using thematic analysis and narrativeanalysis. Conclusions: From the analysis, the research concludes that continuous testingis the most challenging phase to implement. Continuous testing and continuous integration are the phases that need to be focused on more for the future implementationof DevOps

Embedded systems are used in a wide spectrum of applications ranging from home appliances and mobile devices to medical equipment and vehicle controllers. They are typically characterized by their real-time behavior and many of them must fulfill strict requirements on reliability and correctness. In this thesis, we concentrate on aspects related to modeling and formal verification of realtime embedded systems. First, we define a formal model of computation for real-time embedded systems based on Petri nets. Our model can capture important features of such systems and allows their representations at different levels of granularity. Our modeling formalism has a welldefined semantics so that it supports a precise representation of the system, the use of formal methods to verify its correctness, and the automation of different tasks along the design process. Second, we propose an approach to the problem of formal verification of real-time embedded systems represented in our modeling formalism. We make use of model checking to prove whether certain properties, expressed as temporal logic formulas, hold with respect to the system model. We introduce a systematic procedure to translate our model into timed automata so that it is possible to use available model checking ools. Various examples, including a realistic industrial case, demonstrate the feasibility of our approach on practical applications.

I det här arbetet har en emulator till DeLavals inbyggda system IOM 200 utvecklats i en Linuxmiljö. Konceptet har varit att implementera en emulator i DeLavals testprocess för mjukvaran i ett inbyggt system. Syftet med emulatorimplementationen var att underlätta utvecklingen av mjukvaran genom att ta bort beroendet av hårdvaran. Baserat på studier av olika metoder, tillgängliga verktyg och tidigare arbeten skapades en emulatormodell för IOM 200 och ett koncept för hur den ska implementeras. Arbetet har även skapat en fungerande prototyp som kan exekvera ett mindre kodsegment från IOM 200 och därigenom validerar emulatormodellen. Emulatormodellen utformades på den redan befintliga FreeRTOS-simulatorn som finns tillgänglig i Linux. Anledningen är att FreeRTOS används i IOM 200, den är gratis att använda och den möter emulatorns abstraktionskrav. Utöver FreeRTOS-simulatorn implementerades stubbar och wrapper-funktioner som tillhandahöll gränssnitt som gjorde IOM 200 applikationen exekverbar i emulatorn. / In this work an emulator for DeLaval’s embedded system IOM 200 has been developed in a Linux environment. The concept was to implement the emulator in DeLaval’s software test process for embedded systems. The purpose of creating an emulator was to ease the development of the embedded software by removing the dependency on embedded hardware. An emulator model and a concept for its implementation was created through the studies of various methods, available tools, and existing works in the emulator field. Based on the model the work created a working prototype that can execute a smaller code segment from the IOM 200 application. The emulator model was designed on the already existing FreeRTOS simulator that is available forLinux. The motive being that FreeRTOS is the operating system running on IOM 200, it is open source, free to use and it has the perfect level of abstraction for the emulator. Stubs and wrappers were implemented to the emulator in addition to the FreeRTOS simulator. These stubs and wrappers provided the interfaces needed for the IOM 200 application to be executable in the emulator.

Att utveckla pålitlig och säker mjukvara är av stor vikt gällande inbyggda system, och i synnerhet mjukvara som hanterar kritiska tjänster såsom fordonsstyrning. En stor utmaning vid utveckling av inbyggda system är att hantera minnessäkerheten samtidigt som prestandan kvarhålls, ett område där äldre programspråk ofta uppvisar brister som kan leda till säkerhetsrisker och i vissa fall systemkrascher. Denna uppsats undersö- ker möjligheten att använda det relativt nya programspråket Rust i inbyggda system och jämför Rust med det väletablerade språket C. Med hjälp av en mikrokontroller (ESP32-C3-DEVKIT-RUST1), MQTT för kommunikationshantering och de angivna programspråken implementeras en prototyp av ett system för att styra fordon via WiFi. Prototyperna i Rust och C jämförs sedan kvantitativt och kvalitativt. Den kvantitativa jämförelsen fokuserar på prestanda och den kvalitativa jämförelsen på våra upplevelser kring att utveckla systemen i de två programspråken. Resultaten visar på skillnad i den kvantitativa mätningen där C var 15% snabbare samt hade en mer konsekvent exekveringstid. Trots den begränsning givet de bibliotek som finns tillgängligt för Rust anser vi att programspråket är att föredra sett till utvecklingsmiljön, kompilatorn och dokumentation. / To develop reliable and secure software is of great importance regarding embedded systems, and especially software that handles critical functionality such as control systems. A major challange for embedded systems is to manage memory security while maintai- ning performance, an area where older programming languages often show deficiencies that may lead to security risks and in some cases even system crashes. This paper explo- res the possibility to use Rust for embedded systems, and compare this programming language with the already established language C. With the help of a microcontroller (ESP32-C3-DEVKIT-RUST1), MQTT for communication management, and the spe- cified programming languages a prototype of a system for controlling vehicles via Wifi is implemented. The prototypes in Rust and C are then used in a quantitative and qualitative comparison. The quantitative comparison focuses on the performance and the qualitative comparison on the experiences from developing the system in the programming languages. The results shows differencies in the quantitative measurement where C was 15% faster while having a more consistent time of execution. Despite the limitation of available libraries for Rust, we consider the programming language preferable in the terms of environment for development, compiler and documentation.

The objective of this thesis is to design a System on Module based on the MCIMX6ULL-EVK to be used in multiple embedded system applications using Altium Designer. The long term goal is to make the design more compact, more cost effective and to make Grepit AB independent from the supply chain issues of other companies. Starting with schematics that were created prior to this project a thorough review was made, the schematics finished and the PCB Layout was designed. The result was a System on Module that was able to boot Linux and to communicate with JTAG