Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case

The study of good practices of architectural organization software systems for real-world cyber-physical systems (CPS) is possible to conduct on solutions with open-source code, which are developed by large communities of enthusiasts. Such solutions have tested many times on real devices in various...

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Autor principal:	Sergey Staroletov
Formato:	article
Lenguaje:	EN
Publicado:	FRUCT 2021
Materias:	apm arduino scheduling aadl cps Telecommunication TK5101-6720
Acceso en línea:	https://doaj.org/article/ed59bbdf5ba64b098ee12544faeee524
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spelling	oai:doaj.org-article:ed59bbdf5ba64b098ee12544faeee5242021-11-20T15:59:33ZArchitectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case2305-72542343-073710.23919/FRUCT53335.2021.9599962https://doaj.org/article/ed59bbdf5ba64b098ee12544faeee5242021-10-01T00:00:00Zhttps://www.fruct.org/publications/fruct30/files/Sta.pdfhttps://doaj.org/toc/2305-7254https://doaj.org/toc/2343-0737The study of good practices of architectural organization software systems for real-world cyber-physical systems (CPS) is possible to conduct on solutions with open-source code, which are developed by large communities of enthusiasts. Such solutions have tested many times on real devices in various natural environments. The construction of various models using the program code allows us to understand stable architectural solutions, to present them in a graphical form and take a regard on proper organization. While UML models are suitable to represent relations between classes and show software design patters, to create reliable software for CPS one should study patterns on organization such systems that take into account both software and hardware parts. AADL (Architecture Analysis & Design Language) aims to establish a clear, generally accepted semantics to express architectural models of interconnected hardware components as well as system software structure. Using the semantics, we can easily obtain graphical representations of the models to apply in the hardware design process. Also, having a formal architectural description, we can validate some valuable system properties. In this paper, we create extended models for hardware parts and software components of a cheap reprogrammable controller for RC-based DIY systems based on the ArduPilot Mega board. The models are fully based on the actual open-source code, existing sample models and reference datasheets. We review most of the hardware and software parts, discuss the scheduler, all running tasks and their relations. Then we discuss our solution with interconnected distributed controllers using SPI and CAN bus connection.Sergey StaroletovFRUCTarticleapmarduinoschedulingaadlcpsTelecommunicationTK5101-6720ENProceedings of the XXth Conference of Open Innovations Association FRUCT, Vol 30, Iss 1, Pp 267-278 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	apm arduino scheduling aadl cps Telecommunication TK5101-6720
spellingShingle	apm arduino scheduling aadl cps Telecommunication TK5101-6720 Sergey Staroletov Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case
description	The study of good practices of architectural organization software systems for real-world cyber-physical systems (CPS) is possible to conduct on solutions with open-source code, which are developed by large communities of enthusiasts. Such solutions have tested many times on real devices in various natural environments. The construction of various models using the program code allows us to understand stable architectural solutions, to present them in a graphical form and take a regard on proper organization. While UML models are suitable to represent relations between classes and show software design patters, to create reliable software for CPS one should study patterns on organization such systems that take into account both software and hardware parts. AADL (Architecture Analysis & Design Language) aims to establish a clear, generally accepted semantics to express architectural models of interconnected hardware components as well as system software structure. Using the semantics, we can easily obtain graphical representations of the models to apply in the hardware design process. Also, having a formal architectural description, we can validate some valuable system properties. In this paper, we create extended models for hardware parts and software components of a cheap reprogrammable controller for RC-based DIY systems based on the ArduPilot Mega board. The models are fully based on the actual open-source code, existing sample models and reference datasheets. We review most of the hardware and software parts, discuss the scheduler, all running tasks and their relations. Then we discuss our solution with interconnected distributed controllers using SPI and CAN bus connection.
format	article
author	Sergey Staroletov
author_facet	Sergey Staroletov
author_sort	Sergey Staroletov
title	Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case
title_short	Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case
title_full	Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case
title_fullStr	Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case
title_full_unstemmed	Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case
title_sort	architectural software-hardware co-modeling a real-world cyber-physical system: arduino-based ardupilot case
publisher	FRUCT
publishDate	2021
url	https://doaj.org/article/ed59bbdf5ba64b098ee12544faeee524
work_keys_str_mv	AT sergeystaroletov architecturalsoftwarehardwarecomodelingarealworldcyberphysicalsystemarduinobasedardupilotcase
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Architectural Software-Hardware Co-Modeling a Real-World Cyber-Physical System: Arduino-Based ArduPilot Case

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