This repository is a heart pacemaker implemented on the MBED platform for the UPENN CIS541 course in Fall 2014.
The following features were modelled, implemented and tested as part of the project:
- Pacemaker - A DDD-R pacemaker using an atrial-based lower rate timing (A-A interval) modelled
in UPPAAL, and a heart model used for correctness testing. The pacemaker includes several extra
features not required by the project specification:
- PVAB timing cycle,
- PVC support,
- Dynamic AVI extension,
- Alarm buzzer,
- GUI Heart rate visualizer (over serial)
- The pacemaker was developed as an timed automata model in the UPPAAL language and verified for correctness using UPPAAL.
- Code Generation – A versatile UPPAAL to MBED C++ automatic code generator with direct support for binding UPPAAL channels to hardware. The generator accepts UPPAAL XML files directly, and supports most of the UPPAAL language. The generator was verified against several models and then used to generate code for the pacemaker and heart. The auto-generated code was used with no changes, as-is, for the final implementation of both pacemaker and heart.
- Simulator – A CMSIS OS 2 simulator for Windows was developed for rapid development and testing on a PC before deployment to the embedded environment. The simulator does not require any code changes in the MBED program, just compiling it using a PC compiler and linking with a stub library. This allows for comprehensive testing using tools available for PC and not on embedded platforms (builtin fuzzing mechanism, versatile automatic checking, code analysis tools, code coverage tools, etc’). The simulator is designed to be extensible by means of a plugin architecture, supports multiple MBED programs running concurrently, simulates multiple hardware devices/sensors, and supports interconnects between the simulated MBED platforms.
- Runtime verification and visualization tool – The pacemaker and heart programs output (through the serial port) trace logs of signals, senses and paces. A GUI tool was developed to record these traces, visualize them as graphs and perform verification on them. In addition, runtime verification was implemented by generating a version of the pacemaker with special observer templates that check for different runtime properties such as timings.
Further information is available in AEPacemaker.pdf.
Tags: Pacemaker, Verified, Code Verification, MBED, MBED simulator, MBED Windows cross compiler, CMSIS Windows cross compiler.