Hardware abstraction layer for microcontrollers
Lukasz Krzak
Department od Electronics,
Faculty of Computer Science, Electronics and Telecommunications
AGH University of Science and Technology in Kraków
[Link]@[Link]
[Link]
Outline
1. How the story began.
2. Important qualities of embedded software and how to reach them.
3. How others are doing embedded software.
4. What we did and what is already done.
5. What are the results.
6. What we still want to do.
7. How YOU can participate.
2
How the story began...
3
Wireless Sensor and Control Networks Laboratory
● Wireless communications (hardware and software)
● Embedded systems
● Resonant power supply and energy harvesting
● Electromagnetic compatibility
Many of these projects were commercially deployed in industrial applications.
The developed hardware and software solutions are licensed by AGH.
4
Our initial motivation (2007)
Question: What hardware/software platform to choose ?
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Important qualities of embedded software
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Important qualities of embedded software
AKA: How to distinguish good code from bad code
A good code:
● works! (but that's obvious)
● is reliable (works every time)
● is testable (we can easily proove that it works)
● is portable (to different hardware and build tools)
● is reusable (we can use it many times)
● is simple, user-friendly, and easy to maintain
● is feature-rich
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Important qualities of embedded software
reusable
speeds up the development
(off-the shelf components)
increases reliability
(more applications, more confidence)
embedded
software
simple feature-rich
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reusable == portable
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Reusable == portable
source: [Link] / [Link] 10
Reusable == portable
source: [Link] / [Link] 11
Reusable <=> portable
because
changes
sucks!
source: [Link] / [Link] 12
How others are doing it?
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AUTOSAR (AUTomotive Open System Architecture)
“Cooperate on standards,compete on implementation”
source: [Link]
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CMSIS (Cortex Microcontroller Software Interface Standard)
source: [Link]
15
Arduino
Arduino is an open-source electronics prototyping platform, based on flexible,
easy-to-use hardware and software. It's intended for artists, designers,
hobbyists and anyone interested in creating interactive objects or environments.
Arduino programs are written
in C or C++. The Arduino IDE
comes with a software library
called "Wiring" from the
original Wiring project, which
makes many common
input/output operations much
easier.
source: [Link]
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Why reinvent the wheel? We have C stdlib!
#include <stdio.h>
Standard C library is already
portable (same with C++/STL)
It supports I/O operations
int main(void) Works in embedded world too!
{ Focused on batch processing and
text communication
printf(“Hello World!”); Lack of support for multithreaded
applications
return 0; Lack of support for real-time
Usually leads to large code
}
MISRA says: no!
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Component based software architecture
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Component-based architecture
User Interface Data processing
Graphical User Communication
Interface (GUI) Library stack
Communication
LCD driver
port driver
Hardware
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How to design reusable/portable code?
My Precious Code
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Important design choices
Applications
My Precious Code
What is the potential range of applications?
21
Important design choices
Applications
My Precious Code
Hardware
What is the potential range of hardware we need to run on?
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Important design choices
Applications
My Precious Code
RTOS
Hardware (Really Tricky
Operating System)
Will an OS be used? Which one(s)?
23
Important design choices
Applications
Other libs My Precious Code
RTOS
Hardware (Really Tricky
Operating System)
What is the level of integration with other software components?
24
Important design choices
Toolchain
Applications
(Complainer etc)
Other libs My Precious Code
RTOS
Hardware (Really Tricky
Operating System)
What programming language? What toolchains need to be supported?
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Important design choices
Toolchain
Applications
(Complainer etc)
Other libs My Precious Code Standards
RTOS
Hardware (Really Tricky
Operating System)
What standards must be obeyed?
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How to design reusable software?
Application code
Defines usability
Component code
Defines portability
Hardware RTOS
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How to design reusable software?
Application code
“egocentric” approach
Component code
HW glue OS glue
Hardware RTOS
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How to design reusable software?
Application code
“egocentric” approach
Component code Component code multiplied
HW glue OS glue HW glue OS glue
Hardware RTOS
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Towards abstraction...
Application code
Component code Component code
HW/OS
HW interface RTOS interface abstraction
layer
Hardware RTOS
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Hardware Abstraction Layer (HAL)
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Bad reputation: HAL 9000
“Open the pod bay doors, HAL.”
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Consequences of having HAL
Application-dependent code Application code
(changes with application)
Independent code = resusable Component code Component code
(does NOT change even when
hardware or OS or application changes)
HW/OS Abstraction Layer
HW/OS-dependent code
(changes with hardware or operating
system used -in ex. peripheral drivers)
Hardware RTOS
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Advantages of HAL: switching HW/OS
It is possible to more easily switch Application code
to other microcontroller or other
operating system during
development:
less risk in picking up wrong
tools Component code Component code
HW/OS Abstraction Layer
Hardware RTOS
(AT91SAM3S)
(STM32) (FreeRTOS)
(uC/OS-II)
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Advantages of HAL: cross-development
It is possible to develop Application code
component and application code in
a more convenient environment on
a PC:
speeds up the development
allows easier unit and Component code Component code
integration testing of components
allows to build large scale
simulation environments
stress tests not possible
HW/OS Abstraction Layer
Hardware RTOS
OS
(STM32)
(PC) (Windows/Linux)
(FreeRTOS)
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Advantages of HAL: less effort == less bugs
Effort ~ number of errors
coding
architecture testing
requirement
analysis
time
deadline !
Effort ~ number of errors
coding
requirement testing
architecture
analysis
time
deadline !
36
Advantages of HAL: cross platform testing
We can reuse the software across platfroms to enable communication between them.
This is useful for both the application development and testing.
utilities (data analysis, utilities (data analysis,
visualization) visualization)
software
test case software
under test
communication communication
Embedded hardware PC
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Advantages of HAL: automated unit testing
We can run the embedded software on a PC platform, extending the concept of
continuous integration with automated unit tests.
version control automated automated
repository build test
continuous integration system
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Disadvantages of HAL – major concerns
Efficiency.
Our experiments show that handling HAL abstraction can have little or no overhead
compared to chip vendor libraries. We try to follow the “only pay for what you use”
paradigm. The efficiency depends heavily on the actual realization of HAL interfaces on
the target platform.
Limitation of functionality due to choosen abstraction.
Although HAL cannot cover 100% of all available functionality of a microcontroller, it shall
not limit the potential usage of additional functionality.
Conflicts with other frameworks / libraries / components.
Modular HAL design shall help with the integration of different libraries.
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HALFRED
Hardware Abstraction Layer For Real-time Embedded Designs
[Link]/halfred
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HALFRED wishlist
Universal layer acting as a bridge between hardware and reusable
software components
Unified interfaces covering as much microcontroller functionality as
possible
Clear line between hardware dependent and independent code,
maximizing the second one
No assumptions about the application style
Built-in support for multithreaded applications
Good support for real-time applications
Included support for in-application diagnostics
Modular, tunable architecture
Compatible between modern compilers
Good documentation
Test driven development
Written in C (C99)
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HALFRED current modules
The up-to-date documentation can be found on the project webpage:
[Link]/halfred
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Design process example
(GPIO module)
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HALFRED design process
Choose microcontroler representatives
Analyze architecture (core, peripherals, memory etc.)
Design abstractions (UML)
Generate interfaces
Write test cases
Implement code
Test
Repeat :)
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STEP1: Analyze representative microcontrolers
STM32F1
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STEP1: Analyze representative microcontrolers
EFM32LG
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STEP2: Identify abstract model
output state
register (0/1)
OD/PP
peripherals
(USART, SPI etc.)
[Link]
input state
register (0/1)
configuration
interrupts
register
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STEP3: Design and generate interfaces
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STEP4: Write test case
main.c
void testGPIO(void)
{
int i;
// initialize GPIO module
GPIO_Init();
// configure test port
GPIO_ConfigurePin(TEST_PIN, DEFAULT_CONFIG);
// do some GPIO stuff
for (i=0; i < 100; i++) {
GPIO_TogglePin(TEST_PIN);
}
// deinitialize GPIO module
GPIO_Deinit();
}
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STEP5: Implement and test
hal_config.h
#define TEST_PIN_PORT GPIOC
#define TEST_PIN_PIN 13
#define TEST_PIN_DEFAULT_CONFIG GPIO_Mode_Out_PP
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Results
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What we've done so far
● Identified the level of abstraction needed, identified key modules
● Designed a modular architecture (UML)
● Made first implementation supporting various microcontrollers
● Documented it.
● Prepared simple examples.
● Used it in several complex real-world projects
● Gathered test results, performance metrics and user remarks
● Updated architecture and implementation based on user reviews
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Supported hardware / OS / toolchain
● STM32F1, STM32F4 from STMicroelectronics
● ATSAM3S from Atmel
● EFM32LG, EFM32GG from Silicon Labs (formerly Energy Micro)
● ATmega from Atmel
● PCs
FreeRTOS
uC/OS-II
Linux (posix)
Windows (win32 api)
GNU Compiler Collection
MS Visual Studio
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Feedback from our initial project
● STM32 turned out to be fine, we didn't have to make the switch
● Designing/implementing HAL took more time that I thought it will :)
● Having HAL positively influenced the architecture of other components
● It was easy to standarize components on HAL
● Components tested on STM32 worked out-of-the-box on AVR
● The project was deployed successfully in an industrial application
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(not so) Unexpected outcomes
● Thanks to the PC port quite a lot of embedded software
was developed (coded/debugged) in a convenient PC
environment, and then just tested on the target hardware
platform. It was possible to run unit tests on a PC.
● Having ports for linux (posix) and Windows (WIN32 API)
allowed for easy writing of cross-platform utilities (for testing
purposes).
● It was easy to insert other general-purpose components into
HAL (buffer pools, heap managers, logging/diagnostic tools, data
structures)
● It was natural to incorporate build tools into HAL, which shifted
a lot of makefile horror away from application code.
HAL became more like a framework than just a bunch of drivers.
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Emulating and developing distributed systems
discrete event simulator
Application code
Component code
HALFRED
OMNeT++
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Emulating and developing distributed systems
discrete event simulator
Application code
Component code
HALFRED
EFM32
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The future
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Current design choices
Switch to C++11.
Depend on GNU tools with options to support other toolchains.
Do not depend on chip vendor libraries (efficiency, co-existence)
Make full usage of language and toolchain features (optimization, removal of
unused code sections, detection of ambigous constructs, etc.)
Gracefully degrade when there's no OS.
Follow reasonable safety guidelines, such as MISRA C++.
Consider certification options, such as IEC 61508 SIL.
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Vendor libraries independency
HALFRED now tends not to use
Application code
libraries provided by chip vendor.
This is why these libraries can be
easily used by the application!
(no version conflicts)
Component code
Vendor libraries
HALFRED
Hardware RTOS
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We need your help!
Check out how can you participate on the project webpage
(link will be available soon)
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