605.715.81 - Software Development for Real-Time Embedded Systems

Computer Science
Fall 2025

Description

This course examines the hardware and software technologies behind real-time, embedded computer systems. From smart kitchen appliances to sophisticated flight control for airliners, embedded computers play an important role in our everyday lives. Hardware topics include microcomputers and support devices (e.g., flash, ROM, DMA, timers, clocks, A/D, and D/A), as well as common applications (e.g., servo and stepper motor control, automotive sensors, and voice processing). Software topics focus on unique aspects of embedded programming and include interrupts, real-time control, communication, common design patterns, and special test considerations. The course also explores the unique tools that are used to develop and test embedded systems. Labs, beginning with using Bare Metal and Free RTOS on Arduino for simple devices and culminating with using Linux on Raspberry-Pi for Quad-Copter flight control, are developed.

Instructor

Profile photo of Doug Ferguson.

Doug Ferguson

dfergus1@jh.edu

Course Structure

The course materials are divided into modules which can be accessed by clicking Course Modules on the left menu. A module will have several sections including the overview, content, readings, discussions, and assignments. You are encouraged to preview all sections of the module before starting. Most modules run for a period of seven (7) days, exceptions are noted in the Course Outline. You should regularly check the Calendar and Announcements for assignment due dates.

Course Topics

Simon-1&2:Hardware Fundamentals
Simon-3:Advanced Hardware Fundamentals
Simon-4:Software Control with Interrupts
Simon-5:Embedded Software Architectures
Simon-6:Real Time Operating Systems
Simon-7:RTOS Services
Simon-8:Basic Design Using a Real-Time Operating System
Simon-9&10:Embedded Development Tools and Debugging Techniques
Molloy-1,2:Raspberry Pi Basics
Molloy-13:Wireless Comms
Molloy-3,4&5:Interfacing and Programming
Molloy-6&8:Interfaces, I/O, and Targeting
Molloy-11:RPi Buses and interface to Environment
Molloy-7&15:Images, Video & Audio, Cross Compilation
Molloy-12&14:IoT, Rich UI

Course Goals

The goal of this course is to provide both practical and theoretical information about the field of real-time embedded programming.

Course Learning Outcomes (CLOs)

Textbooks

Simon, David E, (1999). An Embedded Software Primer. Pearson Education Inc., ISBN: 8177581546

Molloy, Derek, (2016). Exploring Raspberry PI. Indianapolis, IN: John Wiley and Sons. ISBN 978-1-119-18868-1

Textbook information for this course is available online through the appropriate bookstore website: For online courses, search the MBS website at http://ep.jhu.edu/bookstore.

Other Materials & Online Resources

Students need to acquire the following processing hardware 

An Arduino such as an R4 or R3 with a Starter Kit but many other duins will suffice. You need a starter kit to get a small breadboard, LEDs, and some resisters. A plastic case of some kind, even a plastic soap box, would be great for flight.  Most starter kits include a Bread Board, LEDs, and Resisters. Temp Sensors and IR Emitter + Detector pairs are readily available

A Raspberry PI. The Pi 5's are the latest and most expensive, a Pi 4 Kit if fine, as long as you Bluetooth and WiFi RPI 3 B would suffice. Also, a plastic case will greatly help mounting on the QuadCopter.

A 5/64 in. long arm hex Allen key wrench is very useful for Quadcopter assembly.

Possibly a soldering kit with some solder for soldering 4 pins to the IMU, ($11 to $40 on Amazon) if your kit contains a new IMU or logic level converter which would need soldering

Project 1 requiring a Breadboard, resisters, jumpers, and LED(S) is due the end of  Mod 2

Project 2 also requiring a Temperature sensor is due the end of Mod 4

I will ship kits after the 2nd week and after receive the information needed for shipping via USPS which is your Name, preferred email, Phone, and USPS Mailing Address.  Please send me your USPS mailing info to my personal JH email which is dfergus1@jh.edu.

JHU EP will provide the parts for projects which I will personally USPS to you.  If you need any parts during the semester for any reasons such as non-working, broken, lost or whatever, send me an email with the exact parts and number of them that you need and I will USPS them to you from spares that I have.  At the end of the semester I will send you a return label and you either need to return the still operational parts back to me or pay JHU EP for the cost of the parts, which is $556.02 as of 2025-08-09. When parts are shipped, students are provided tracking numbers and USPS provides tracking updates via email.

Required Software

Whatever software you desire to use to develop your projects.  Most students use C or C++ in an IDE, but python can also be used when you get to using the Raspberry PI

Student Coursework Requirements

It is expected that each module will take approximately 7–12 hours per week to complete. Here is an approximate breakdown: reading the assigned sections of the texts (approximately 3–4 hours per week) as well as some outside reading, listening to the audio annotated slide presentations (approximately 2–3 hours per week), and developing projects (approximately 2–5 hours per week).

This course will consist of the following basic student requirements:

Preparation and Participation

You are responsible for carefully reading all assigned material and being prepared for discussion. The majority of readings are from the course text. Additional reading may be assigned to supplement text readings.

Post your initial response to the discussion questions by the Wed evening which is day 3 for that module week. 

Just posting your response to a discussion question is not sufficient; we want you to interact with your classmates. Be detailed in your postings and in your responses to your classmates' postings. Feel free to agree or disagree with your classmates. Please ensure that your postings are civil and constructive. All discussion replies to/from other students must be complete by the end of the Module on Sunday.

I will monitor module discussions and will respond to some of the discussions as discussions are posted. In some instances, I will summarize the overall discussions and post the summary for the module.

Discussions are graded using the Discussion Rubric

Quizzes

Each module of the course content may have a quiz encompassing items in the module. The student is expected to complete these each week during the week of the associated module to gauge their mastery of the material and identify areas needing additional study and review. Quizzes can be taken up to three times and the grade is the average of all Quiz attempts.

Course Projects

Course Projects start with a simple project and build upon one another to culminate in a flying quadcopter

Each course project is evaluated by the following grading elements:

Based upon the stated project requirements, the student echoes or refines the requirements

Either a written, or graphical depiction of the design or combination of written + graphical depiction.  This does not need to be from a tool.  A hand drawn design may be all that is needed to convey your design, but generally ones from tools appear better.

Your source code for implementation of the project

A hyperLink to a video uploaded to YouTube or other site within your folder+project capturing in video a demonstration of your design meeting the requirements with your recorded voice describing how it meets the requirements.  Past experience has been that sharing of One Drive, Google Drive, dropbox, etc sometimes work and sometimes not.  Youtube when set to public or unlisted sharing has always worked. The video should be short, around 2 min in duration and definitely less than 5 min in duration and and points are deducted for videos too long.  Time is a scarce resource for many students.

If you want the grader to know why a submission is late or want to understand any other part of the submission, put a "Notes to the Grader" section at the beginning of your submission. For example, if the instructor grants you a week extension you need to state that in the Notes to the Grader section at the beginning of your submission so the grader does not deduct late points.

This class uses an Outlook Group to assist collaboration.  At the beginning of the semester, all student's JHU emails are added to the Group which allows students to send an email to the group which is sent to all other students including myself and graders.  Likewise, when a reply is sent to the Google Group, it is sent to all others in the group working as a distribution list.  

Students are encouraged to collaborate and help each other with the projects.  Early in the semester a spreadsheet will be shared containing each student’s name, email, and zip code to help students determine who they might collaborate with, if they choose to do so.  As such, students can form groups of 2 or 3 students where there is only one submission for all students in the group to Canvas where the front page CLEARLY indicates the names of all students in the group.  The one submission will be graded using the Assignment Rubric and all students in the group will receive the same grade for that project submission.  

This is an embedded software course with progressive projects culminating in a flying quadcopter which can download video, GPS, and IMU data.  It was originally based on developing a Segway, as the PID implementation was very complex was modified to use race cars, then modified to use a QuadCopter with a Flight Controller.  As it can be difficult to achieve stable flight, although flight is included in grading it is a small part of the grade and students can get a good grade without achieving stable flight.  Project 4 requires assembly and flight demonstration so full Rubric Correct 150 points are for achieving stable flight.  In the following 9 modules, 20 points of Rubric Correct are for stable flight.  So the 150 + 9 * 20 is about 6.5% of the 5100 total points.


Sharing-It is extremely beneficial for learning for students to share with each other their work on projects.  Each project's artifacts are shared between students in the respective Discussion Board for Project Sharing.  This course uses Canvas discussions to facilitate sharing where each module has a "Project Sharing" discussion for students to share their work with other students and collaborate with each other.  As a student, you decide what to share or not share with other students in your Project Sharing discussion post for each module.  It is easiest to just post the pdf you submitted to Canvas for grading, or you could submit anything else like a short video, or you could reply with comments to other students shared artifacts, but you do need to post something to get credit for sharing.  You need to share no earlier than one module after the module due and before four modules after the module due.  As projects are graded before they are shared, credit is initially giving for sharing. Four modules after the module due and definitely by the end of the semester, the credit for Sharing for students who do not share any material will be revised.  Please help each other!  For many students the material is totally new and the first time you learn new concepts is difficult so please help each other!

It facilitates learning to garner information from other sources to accomplish you own work. We are now at a point of time where you can get examples of work from the net, other students, AI like ChatGPT, and a myriad of other places all of which help you not only learn in this class but be more productive in your jobs.  JH just asks that you cite what you use from other sources and where you got it from. Never take any credit for work you did not do yourself.  Al Gore did not invent the internet.  As long as you give credit for where you get material, you can use any material you find anywhere to help you with your projects 

Assignment RubricAssignment RubricCriteriaRatingsPtsThis criterion is linked to a Learning OutcomeRequirements  
 15 ptsAllAll Requirements stated 14 ptsMostMost Requirements stated 12 ptsManyMany requirements stated 10 ptsSeveralSeveral requirements stated 8 ptsSomeSome requirements stated 7 ptsFewFew Requirements stated 0 ptsNoneNo requirements stated
15 pts
This criterion is linked to a Learning OutcomeDesign  
 60 ptsAllNo Design flaws 54 ptsMostOne Design flaw 48 ptsManyTwo Design flaws 42 ptsSeveralThree Design flaws 36 ptsSomeFour Design flaws 30 ptsFewFive Design Flaws 0 ptsNoneNo Design Submitted
60 pts
This criterion is linked to a Learning OutcomeImplementation  
 60 ptsAllNo Implementation Flaws 54 ptsMostOne Implementation Flaw 48 ptsManyTwo Implementation Flaws 42 ptsSeveralThree Implementation Flaws 36 ptsSomeFour Implementation Flaws 30 ptsFewFive Implementation Flaws 0 ptsNoneNo Implementation Submitted
60 pts
This criterion is linked to a Learning OutcomeCorrect  
 150 ptsAllAll required functions demonstrated as correct 130 ptsMostDemonstration produces mostly correct results. 110 ptsManyDemonstration produces many correct results. 90 ptsSeveralDemonstration produces several correct results. 70 ptsSomeDemonstration attempted but only some correct results. 50 ptsFewDemonstration produces few correct results 0 ptsNoneNo demonstration submitted
150 pts
This criterion is linked to a Learning OutcomeSharing  
 15 ptsAllShared in the Project Sharing Discussion Board for the Project 0 ptsSomeNot Shared in the Project Sharing Discussion Board for the Project
15 pts
Total Points: 300 


All of the artifacts for a project that you submit for grading are submitted to Blackboard in Project Submisson as a SINGLE pdf file which will graded using the Rubric. 

 

Grading Policy

Assignments are due according to the dates posted in your Canvas course site. You may check these due dates in the Course Calendar or the Assignments in the corresponding modules. We will post grades one week after assignment due dates.

We generally do not directly grade spelling and grammar. However, egregious violations of the rules of the English language will be noted without comment. Consistently poor performance in either spelling or grammar is taken as an indication of poor written communication ability that may detract from your grade.

Late submissions will be reduced by 10% for each week late with max of 30%(no exceptions without prior coordination with the instructors).

A grade of A indicates achievement of consistent excellence and distinction throughout the course—that is, conspicuous excellence in all aspects of assignments and discussion in every week.

A grade of B indicates work that meets all course requirements on a level appropriate for graduate academic work.

Score Range
Letter Grade
100-98= A+
97-94= A
93-90= A−
89-87= B+
86-83= B
82-80= B−
79-77= C+
76-73= C
72-70= C−
69-67= D+
66-63= D
<63= F

The distribution of points for Project, Quizzes, and Discussions is

1/19/2025    Points PossiblePercent
 4960 
Projects300060%
Quizzes140028%
Discussions56011%
  100%

The grade percent is determined by dividing the earned points by the points possible

There is no weighting of grades

Course Evaluation

Course Evaluation:  " data-mce-style="-webkit-tap-highlight-color: transparent; -webkit-print-color-adjust: exact; white-space: normal;">

You are responsible for carefully reading all assigned material and being prepared for discussion. The majority of readings are from the course text. Additional reading may be assigned to supplement text readings.

Post your initial response to the discussion questions by the evening of day 3 for that module week. Posting a response to the discussion question is part one of your grade for module discussions (i.e., Timeliness).

The Rubric is used to grade discussions


Discussions

Evaluation of preparation and participation is based on contribution to discussions.

Preparation and participation is graded with the following Discussion Rubric:

 
 



 
Assignments and Projects

Assignments and Projects are evaluated by the following grading Rubric:

 
 

10% (max 30%) is deducted when late and per week late.

Quizzes

Quizzes on modules may include material from the current as well as prior modules, have a one hour limit, allow up to three attempts, are scored as the average of all attempts, and must be submitted by the 11:30pm on the 7th day of the module which is a Sunday.

Submission

Submit per the “Assignment and Project Submission” document.

Requirements

Either state you are not deriving any requirements from the stated requirements, or state your derived requirements

Design

Either a written, or graphical depiction of the design or combination of written + graphical depiction.  This does not need to be from a tool.  A hand drawn design may be all that is needed to convey your design, but generally ones from tools appear better.

Implementation

Your source code for implementation of the project.

Correctness

Output from Execution demonstrating meeting requirements.

During the Open Office, you can present your submitted projects with other students and any time during any module if any student asks for help, it is strongly appreciated when other students step in and help them get their projects working.

The Assignment Rubric for grading is 

Assignment RubricAssignment RubricCriteriaRatingsPtsThis criterion is linked to a Learning OutcomeRequirements 
 
 
15 ptsAllAll Requirements stated
 
14 ptsMostMost Requirements stated
 
12 ptsManyMany requirements stated
 
10 ptsSeveralSeveral requirements stated
 
8 ptsSomeSome requirements stated
 
7 ptsFewFew Requirements stated
 
0 ptsNoneNo requirements stated
15 pts
This criterion is linked to a Learning OutcomeDesign 
 
 
60 ptsAllNo Design flaws
 
54 ptsMostOne Design flaw
 
48 ptsManyTwo Design flaws
 
42 ptsSeveralThree Design flaws
 
36 ptsSomeFour Design flaws
 
30 ptsFewFive Design Flaws
 
0 ptsNoneNo Design Submitted
60 pts
This criterion is linked to a Learning OutcomeImplementation 
 
 
60 ptsAllNo Implementation Flaws
 
54 ptsMostOne Implementation Flaw
 
48 ptsManyTwo Implementation Flaws
 
42 ptsSeveralThree Implementation Flaws
 
36 ptsSomeFour Implementation Flaws
 
30 ptsFewFive Implementation Flaws
 
0 ptsNoneNo Implementation Submitted
60 pts
This criterion is linked to a Learning OutcomeCorrect 
 
 
150 ptsAllAll required functions demonstrated as correct
 
130 ptsMostDemonstration produces mostly correct results.
 
110 ptsManyDemonstration produces many correct results.
 
90 ptsSeveralDemonstration produces several correct results.
 
70 ptsSomeDemonstration attempted but only some correct results.
 
50 ptsFewDemonstration produces few correct results
 
0 ptsNoneNo demonstration submitted
150 pts
This criterion is linked to a Learning OutcomeSharing 
 
 
15 ptsAllShared in the Project Sharing Discussion Board for the Project
 
0 ptsSomeNot Shared in the Project Sharing Discussion Board for the Project
15 pts
Total Points: 300

The Discussion Rubric used for grading is

Discussion Rubric 2025-01-19Discussion Rubric 2025-01-19CriteriaRatingsPtsThis criterion is linked to a Learning OutcomeRelevance/Understanding  
 20 ptsAllPosts are consistently in- depth and detailed, with new, insightful ideas clearly connected to the topic. Demonstrates a command of the discussion topic. 16 ptsMostPosts offer some depth and insight, and some new ideas. Shows an understanding of the discussion topic. 12 ptsManyContributes few new ideas. Postings contain some rehashing or summary of other postings. Seems to grasp discussion topic at least superficially. 8 ptsSomePostings contribute no new ideas, have minimal depth & detail. Rehashes or summarizes others. Unclear if student grasps topic. Mostly agrees or asks questions. 0 ptsNoneNo postings
20 pts
This criterion is linked to a Learning OutcomeCross-Section of Posting  
 20 ptsSubmits four or more posts  15 ptsSubmits three posts  10 ptsSubmits two posts  5 ptsSubmits one post  0 ptsNo original post submitted 
20 pts
Total Points: 40



Academic Policies

Deadlines for Adding, Dropping and Withdrawing from Courses

Students may add a course up to one week after the start of the term for that particular course. Students may drop courses according to the drop deadlines outlined in the EP academic calendar (https://ep.jhu.edu/student-services/academic-calendar/). Between the 6th week of the class and prior to the final withdrawal deadline, a student may withdraw from a course with a W on their academic record. A record of the course will remain on the academic record with a W appearing in the grade column to indicate that the student registered and withdrew from the course.

Academic Misconduct Policy

All students are required to read, know, and comply with the Johns Hopkins University Krieger School of Arts and Sciences (KSAS) / Whiting School of Engineering (WSE) Procedures for Handling Allegations of Misconduct by Full-Time and Part-Time Graduate Students. This policy prohibits academic misconduct, including but not limited to the following: cheating or facilitating cheating; plagiarism; reuse of assignments; unauthorized collaboration; alteration of graded assignments; and unfair competition. Course materials (old assignments, texts, or examinations, etc.) should not be shared unless authorized by the course instructor. Any questions related to this policy should be directed to EP’s academic integrity officer at ep-academic-integrity@jhu.edu.

Students with Disabilities - Accommodations and Accessibility

Johns Hopkins University is committed to providing welcoming, equitable, and accessible educational experiences for all students. If disability accommodations are needed for this course, students should request accommodations through Student Disability Services (SDS) as early as possible to provide time for effective communication and arrangements.  For further information about this process, please refer to the SDS Website.

Student Conduct Code

The fundamental purpose of the JHU regulation of student conduct is to promote and to protect the health, safety, welfare, property, and rights of all members of the University community as well as to promote the orderly operation of the University and to safeguard its property and facilities. As members of the University community, students accept certain responsibilities which support the educational mission and create an environment in which all students are afforded the same opportunity to succeed academically.  For a full description of the code please visit the following website: https://studentaffairs.jhu.edu/policies-guidelines/student-code/

Classroom Climate

JHU is committed to creating a classroom environment that values the diversity of experiences and perspectives that all students bring. Everyone has the right to be treated with dignity and respect. Fostering an inclusive climate is important. Research and experience show that students who interact with peers who are different from themselves learn new things and experience tangible educational outcomes. At no time in this learning process should someone be singled out or treated unequally on the basis of any seen or unseen part of their identity.    If you have concerns in this course about harassment, discrimination, or any unequal treatment, or if you seek accommodations or resources, please reach out to the course instructor directly. Reporting will never impact your course grade. You may also share concerns with your program chair, the Assistant Dean for Diversity and Inclusion, or the Office of Institutional Equity. In handling reports, people will protect your privacy as much as possible, but faculty and staff are required to officially report information for some cases (e.g. sexual harassment).

Course Auditing

When a student enrolls in an EP course with “audit” status, the student must reach an understanding with the instructor as to what is required to earn the “audit.” If the student does not meet those expectations, the instructor must notify the EP Registration Team [EP-Registration@exchange.johnshopkins.edu] in order for the student to be retroactively dropped or withdrawn from the course (depending on when the "audit" was requested and in accordance with EP registration deadlines). All lecture content will remain accessible to auditing students, but access to all other course material is left to the discretion of the instructor.