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Embedded systems are everywhere, from home appliances to critical systemssuch as medical devices. They usually have associated timing constraints thatneed to be verified for the implementation. Here, we use an untimed boundedmodel checker to verify timing properties of embedded C programs. We propose anapproach to specify discrete time timing constraints using code annotations.The annotated code is then automatically translated to code that manipulatesauxiliary timer variables and is thus suitable as input to conventional,untimed software model checker such as ESBMC. Thus, we can check timingconstraints in the same way and at the same time as untimed systemrequirements, and even allow for interaction between them. We applied theproposed method in a case study, and verified timing constraints of a pulseoximeter, a noninvasive medical device that measures the oxygen saturation ofarterial blood.

Verifying Embedded C Software with Timing Constraints using an Untimed Model Checker