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Advancing Embedded Control System Development with Giotto: A Comprehensive Overview

Giotto is a robust time-triggered, platform-independent programming language designed for hard real-time control applications, particularly in safety-critical environments. This tool simplifies the development of embedded control systems through its abstract programming model, enabling efficient design, simulation, and testing. With a runtime library compatible with VxWorks, Giotto supports essential services like scheduling and communication. Explore how Giotto facilitates the decomposition of tasks, enhances timing functionality, and integrates seamlessly with distributed platforms for various applications, from experimental robots to unmanned aerial vehicles.

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Advancing Embedded Control System Development with Giotto: A Comprehensive Overview

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  1. Embedded Control System Developmentwith Giotto Thomas A. Henzinger, Benjamin Horowitz, Christoph Meyer Kirsch UC Berkeley

  2. Giotto • Giotto is a time-triggered and platform independent programming language + compiler + runtime library • Giotto aims at hard real-time control applications on distributed platforms (safety-critical applications) • Giotto provides an abstract programming model for embedded control system development • Giotto runtime library for VxWorks (using timer services, scheduling services, TCP/IP stack)

  3. Embedded System Development Application decomposes designs simulates Control Engineer Control Design Matlab! Functionality & Timing Giotto Program decomposes implements tests Software Engineer Platform Giotto!

  4. A Giotto Task State Sensors f Actuators Frequency 10ms

  5. Semantics of a Giotto Task Task State Sensors f Actuators Frequency 10ms Don’t care Time Read @ time t Write @ time t+10ms

  6. Multiple Giotto Tasks Task P Q Q Don’t care Don’t care t t t+5ms t+5ms t+10ms t+10ms

  7. Compilation Application decomposes designs simulates Control Engineer Control Design Matlab! Functionality & Timing Giotto Program decomposes implements tests Software Engineer Platform Giotto!

  8. The Giotto Compiler Functionality & Timing Giotto Program Compilation Scheduling & Communication Giotto Executable Giotto Runtime Library VxWorks Distributed Platform

  9. The Giotto Compiler Giotto Program • Possible Answers: • Giotto Executable • Not Schedulable Giotto Compiler Giotto Executable

  10. Giotto-Platform Giotto Program Giotto-P Program Hosts, Nets, Performance Giotto Compiler Distributed Platform

  11. Giotto-Scheduler Giotto Program Giotto-P Program Hosts, Nets, Performance Giotto-PS Program Task to Host, Priority Giotto Compiler Distributed Platform

  12. Giotto-Communication Giotto Program Giotto-P Program Hosts, Nets, Performance Giotto-PS Program Task to Host, Priority Giotto-PSC Program Connection to Net, TDMA Giotto Compiler Distributed Platform

  13. The Giotto Runtime Library Functionality & Timing Giotto Program Compilation Scheduling & Communication Giotto Executable Giotto Runtime Library VxWorks Distributed Platform

  14. The Giotto Runtime Library Scheduling & Communication Giotto Runtime Library • Task, Connection Mapping • Task Scheduling Scheme • TDMA Slots Abstraction Real-Time OS Services VxWorks • Timer Service • Scheduling Service • TCP/IP Stack Distributed Platform

  15. The Giotto Runtime Library • Available on VxWorks and x86 targets • Current Experimental Robots: • credit card size x86 single board computer running VxWorks • wireless Ethernet • Lego motors, sensors • Next Experimental Platform: • unmanned Yamaha helicopters • PC 104 single board computer running VxWorks • wireless Ethernet, GPS, inertial navigation sensor, …

  16. End

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