1 Introduction 1.1 WHAT IS AN EMBEDDED SYSTEM?
1.2 WHAT’S UNIQUE ABOUT THE DESIGN GOALS FOR EMBEDDED SOFTWARE?
1.3 What Does "Real-Time" Mean?
1.4 What Does "multithreading" mean?
1.5 HOW POWERFUL ARE EMBEDDED PROCESSORS?
1.6 WHAT PROGRAMMING LANGUAGES ARE USED?
1.7 HOW IS BUILDING AN EMBEDDED APPLICATION DIFFERENT?
1.8 HOW BIG ARE TYPICAL EMBEDDED PROGRAMS?
PROBLEMS
2 Data Representation
2.1 FIXED-PRECISION BINARY NUMBERS
2.2 POSITIONAL NUMBER SYSTEMS
2.2.1 Binary-to-Decimal Conversion
2.2.2 Decimal-to-Binary Conversion
2.2.3 Hexadecimal — A Shorthand for Binary
2.2.4 Fixed Precision, Rollover and Overflow
2.3 BINARY REPRESENTATION OF INTEGERS
2.3.1 Signed Integers
2.3.2 Positive and Negative Representations of the Same Magnitude
2.3.3 Interpreting the Value of a 2’s-Complement Number
2.3.4 Changing the Sign of Numbers with Integer and Fractional Parts
2.3.5 Binary Addition and Subtraction
2.3.6 Range and Overflow
2.4 BINARY REPRESENTATION OF REAL NUMBERS
2.4.1 Floating-Point Real Numbers
2.4.2 Fixed-Point Real Numbers
2.5 ASCII REPRESENTATION OF TEXT
2.6 BINARY-CODED DECIMAL (BCD)
PROBLEMS
3 Implementing Arithmetic
3.1 2’s Complement and hardware complexity
3.2 MULTIPLICATION AND DIVISION
3.2.1 Signed vs. Unsigned Multiplication
3.2.2 Shifting Instead of Multiplying or Dividing by Powers of 2
3.2.3 Multiplying by an Arbitrary Constant
3.2.4 Dividing by an Arbitrary Constant
3.3 ARITHMETIC FOR FIXED-POINT REALS
3.3.1 Fixed-Point Using a Universal 16.16 Format
3.3.2 Fixed-Point Using a Universal 32.32 Format
3.3.3 Multiplication of 32.32 Fixed Point Reals
3.3.4 Example: Multiplying two 4.4 Fixed Point Reals
PROBLEMS
4 Getting the Most Out of C
4.1 Integer Data Types
4.1.1 Integer Range and the Standard Header File LIMITS.H
4.2 BOOLEAN Data Types
4.3 Mixing Data Types
4.4 Manipulating Bits in Memory
4.4.1 Testing Bits
4.4.2 Setting, Clearing, and Inverting Bits
4.4.3 Extracting Bits
4.4.4 Inserting Bits
4.5 Manipulating Bits in INPUT/OUTPUT PORTS
4.5.1 Write-Only I/O Devices
4.5.2 I/O Devices Differentiated by Reads Versus Writes
4.5.3 I/O Devices Differentiated by Sequential Access
4.5.4 I/O Devices Differentiated by Bits in the Written Data
4.6 Accessing Memory-Mapped I/O Devices
4.6.1 Accessing Data Using a Pointer
4.6.2 Arrays, Pointers, and the “Address of” Operator
4.7 Structures
4.7.1 Packed Structures
4.7.2 Bit Fields
4.8 Variant Access
4.8.1 Casting the Address of an Object
4.8.2 Using Unions
Problems
5 Programming in Assembly
Part 1: Computer Organization
5.1 Memory
5.1.1 Data Alignment
5.2 The Central Processing Unit (CPU)
5.2.1 Other Registers
5.2.2 The Fetch-Execute Cycle
5.3 Input/Output (I/O)
5.4 Introduction to the ARM® CortexTM- M3 V7M Architecture
5.4.1 Internal Organization
5.4.2 Instruction Pipelining
5.4.3 Memory Model
5.4.4 Bit-Banding
5.5 ARM ASSEMBLY LANGUAGE
5.5.1 Instruction Formats and Operands
5.5.2 Translating Assembly into Binary
Problems
6 Programming in Assembly
Part 2: Data Manipulation
6.1 LOADING CONSTANTS INTO REGISTERS
6.2 LOADING MEMORY DATA INTO REGISTERS
6.3 STORING DATA FROM REGISTERS TO MEMORY
6.4 CONVERTING SIMPLE C ASSIGNMENT STATEMENTS INTO ARM ASSEMBLY
6.5 MEMORY ADDRESS CALCULATIONS
6.6 MEMORY ADDRESSING EXAMPLES
6.6.1 Translating C Pointer Expressions to Assembly
6.6.2 Translating C Subscript Expressions to Assembly
6.6.3 Translating Structure References to Assembly
6.7 STACK INSTRUCTIONS
6.8 DATA PROCESSING INSTRUCTIONS
6.8.1 Updating the Flags in the APSR
6.8.2 Arithmetic Instructions
6.8.3 Bit Manipulation Instructions
6.8.4 Shift Instructions
6.8.5 Bitfield Manipulation Instructions
6.8.6 Miscellaneous Bit, Byte and Halfword Instructions
PROBLEMS
7 Programming in Assembly
Part 3: Control Structures
7.1 INSTRUCTION SEQUENCING
7.2 IMPLEMENTING DECISIONS
7.2.1 Conditional Branch Instructions
7.2.2 If-Then and If-Then-Else Statements
7.2.3 Compound Conditionals
7.1.4 The “If-Then” (IT) Instruction
7.2 IMPLEMENTING LOOPS
7.2.1 Speeding Up Array Access
7.3 IMPLEMENTING FUNCTIONS
7.3.1 Function Call and Return
7.3.2 Register Usage
7.3.3 Parameter Passing
7.3.4 Return Values
7.3.5 Temporary Variables
7.3.6 Preserving Registers
PROBLEMS
8 Programming in Assembly
Part 4: I/O Programming
8.1 THE CORTEX-M3 I/O HARDWARE
8.1.1 Interrupts and Exceptions
8.1.2 Thread and Handler Modes
8.1.3 Entering the Exception Handler
8.1.4 Returning from the Exception Handler
8.1.5 Latency Reduction
8.1.6 Priorities and Nested Exceptions
8.2 SYNCHRONIZATION, TRANSFER RATE, AND LATENCY
8.3 BUFFERS AND QUEUES
8.3.1 Double Buffering
8.4 ESTIMATING I/O PERFORMANCE CAPABILITY
8.4.1 Polled Waiting Loops
8.4.2 Interrupt-Driven I/O
8.4.3 Direct Memory Access
8.4.4 Comparison of Methods
PROBLEMS
9 Concurrent Software
9.1 FOREGROUND/BACKGROUND SYSTEMS
9.1.1 Thread State and Serialization
9.1.2 Managing Latency
9.1.3 Interrupt Overrun
9.1.4 Moving Work into the Background
9.2 MULTI-THREADED PROGRAMMING
9.2.1 Concurrent Execution of Independent Threads
9.2.2 Context Switching
9.2.3 Non-preemptive (Cooperative) Multithreading
9.2.4 Preemptive Multithreading
9.3 SHARED RESOURCES AND CRITICAL SECTIONS
9.3.1 Disabling Interrupts
9.3.2 Disabling Task Switching
9.3.3 Spin Locks
9.3.4 Mutex Objects
9.3.5 Semaphores
PROBLEMS
10 Scheduling
10.1 THREAD STATES
10.2 PENDING THREADS
10.3 CONTEXT SWITCHING
10.4 ROUND-ROBIN SCHEDULING
10.5 PRIORITY-BASED SCHEDULING
10.5.1 Resource Starvation
10.5.2 Priority Inversion
10.5.3 The Priority Ceiling Protocol
10.5.4 The Priority Inheritance Protocol
10.6 ASSIGNING PRIORITIES
10.6.1 Deadline-Driven Scheduling
10.6.2 Rate-Monotonic Scheduling
10.7 DEADLOCK
10.8 WATCHDOG TIMERS
PROBLEMS
11 Memory Management
11.1 OBJECTS IN C
11.2 SCOPE
11.2.1 Refining Local Scope
11.2.2 Refining Global Scope
11.3 LIFETIME
11.4 AUTOMATIC ALLOCATION
11.4.1 Storage Class “Register”
11.5 STATIC ALLOCATION
11.6 THREE PROGRAMS TO DISTINGUISH STATIC FROM AUTOMATIC
11.6.1 Object Creation
11.6.2 Object Initialization
11.6.3 Object Destruction
11.7 DYNAMIC ALLOCATION
11.7.1 Fragmentation
11.7.2 Memory Allocation Pools
11.8 AUTOMATIC ALLOCATION WITH VARIABLE SIZE (alloca)
11.8.1 Variable-Size Arrays
11.9 RECURSIVE FUNCTIONS AND MEMORY ALLOCATION
PROBLEMS
12 Shared Memory
12.1 RECOGNIZING SHARED OBJECTS
12.2 REENTRANT FUNCTIONS
12.3 READ-ONLY DATA
12.3.1 Type Qualifier "const"
12.4 CODING PRACTICES TO AVOID
12.4.1 Functions That Keep Internal State in Local Static Objects
12.4.2 Functions That Return the Address of a Local Static Object
12.5 ACCESSING SHARED MEMORY
12.5.1 The Effect of Processor Architecture
12.5.2 Read-Only and Write-Only Access
12.5.3 Type Qualifier “volatile”
PROBLEMS
13 System Initialization
13.1 MEMORY LAYOUT
13.2 THE CPU AND VECTOR TABLE
13.3 C RUN-TIME ENVIRONMENT
13.3.1 Copying Initial Values from Non-Volatile Memory into the Data Region
13.3.2 Zeroing Uninitialized Statics
13.3.3 Setting Up a Heap
13.4 SYSTEM TIMER
13.5 OTHER PERIPHERAL DEVICES
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