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This paper proposes a new development method for highly reliable real-time embedded control systems using a CPU model-based hardware/software co-simulation. We take an approach that allows the full simulation of the virtual mechanical control system including CPU and object code level software. In this paper, Renesas SH-2A microcontroller model was developed on CoMET™ platform from VaST Systems Technology. A ETC (Electronic Throttle Control) system and engine control system were chosen to prove this concept. The ETB (Electronic Throttle Body) model on Saber® simulator from Synopsys® or engine model on MATLAB®/Simulink® simulator from MathWorks can be simulated with the SH-2A model. To help the system design, debug and evaluation, we developed an integrated behavior analyzer, which can display CPU behavior graphically during the simulation without affecting the simulation result, such as task level CPU load, interrupt statistics, software variable transition chart, and so on.

In the past few years, the demands for more complex system development and the ever-increasing requirement for hardware and software improvements have increased the need for a virtual embedded system where the hardware, microcontroller and software co-exist at the simulation level. This paper discusses the implementation of an approach that allows the full simulation of the embedded system. In the scope of this paper the definition of an embedded system refers to the electro-mechanical plant, the microcontroller, the peripherals and the software. The sensors and actuators are developed with a conservative type simulator such as Saber from Synopsys. The microcontroller and the attached peripherals are developed and modeled with the Comet environment from VaST. The microcontroller simulator is instruction cycle accurate. We are describing an innovative concept that will allow co-simulation between the two simulators.