A structured approach to embedded control systems implementation

The method presented aims at supporting the development of control software for embedded control systems. The method considers the implementation process as a stepwise refinement from physical system models and control laws to efficient control computer code, and that all phases are verified by simulation. Simulation is also used as a verification tool during physical system modeling and control law development. Data flow diagrams are used to describe the control software throughout the whole implementation process. Since we aim at heterogeneous distributed processors as target hardware, we use a link driver library based on the CSP channel concept. Communication peculiarities are encapsulated by the link drivers.