9780201615692

#xA0;"I sincerely wish (this book) had been available when I had to learn all this stuff the hard way." --Steve Vinoski "An excellent job of introducing and defining the jargon associated with embedded systems. This makes the text extremely easy to read." --David Cuka An Embedded Software Primeris a clearly written, insightful manual for engineers interested in writing embedded-system software. The example-driven approach puts you on a fast track to understanding embedded-system programming and applying what you learn to your projects. This book will give you the necessary foundation to work confidently in this field. Building on a basic knowledge of computer programming concepts, this book will help you to: Learn core principles and advanced techniques of embedded-system software. Find out what a real-time operating system (RTOS) does and how to use one effectively. Experiment with sample code and the #xB5;C/OS RTOS version 1.11 (on the accompanying CD). Apply what you learn, no matter which microprocessor or RTOS you use. After reading this book, you will be able to tackle the challenges of embedded system programming and quickly reap the benefits of your new skills.

David E. Simon is a partner in Probitas Corporation, a software development consulting firm. Much of his work at Probitas is in embedded systems for firms such as Apple, Adobe, Hewlett-Packard, and Symbol Technologies. David has 20 years of experience in software development, and is the author of three previous books. He regularly teaches a class on embedded systems for the University of California at Berkeley Extension Program.

020161569XAB04062001

Preface

xi

Acknowledgments

xiii

About This Book and the Accompanying CD-ROM

xv

A First Look at Embedded Systems

1

(12)

Examples of Embedded Systems

1

(7)

Typical Hardware

8

(5)

Chapter Summary

10

(3)

Hardware Fundamentals for the Software Engineer

13

(32)

Terminology

13

(3)

Gates

16

(4)

A Few Other Basic Considerations

20

(8)

Timing Diagrams

28

(5)

Memory

33

(12)

Chapter Summary

40

(1)

Problems

41

(4)

Advanced Hardware Fundamentals

45

(36)

Microprocessors

45

(2)

Buses

47

(10)

Direct Memory Access

57

(4)

Interrupts

61

(1)

Other Common Parts

62

(10)

Built-Ins on the Microprocessor

72

(3)

Conventions Used on Schematics

75

(1)

A Sample Schematic

75

(2)

A Last Word about Hardware

77

(4)

Chapter Summary

78

(1)

Problems

79

(2)

Interrupts

81

(34)

Microprocessor Architecture

81

(4)

Interrupt Basics

85

(7)

The Shared-Data Problem

92

(11)

Interrupt Latency

103

(12)

Chapter Summary

111

(1)

Problems

112

(3)

Survey of Software Architectures

115

(22)

Round-Robin

115

(4)

Round-Robin with Interrupts

119

(8)

Function-Queue-Scheduling Architecture

127

(2)

Real-Time Operating System Architecture

129

(3)

Selecting an Architecture

132

(5)

Chapter Summary

133

(1)

Problems

134

(3)

Introduction to Real-Time Operating Systems

137

(36)

Tasks and Task States

139

(5)

Tasks and Data

144

(9)

Semaphores and Shared Data

153

(20)

Chapter Summary

168

(1)

Problems

169

(4)

More Operating System Services

173

(42)

Message Queues, Mailboxes, and Pipes

173

(11)

Timer Functions

184

(7)

Events

191

(4)

Memory Management

195

(4)

Interrupt Routines in an RTOS Environment

199

(16)

Chapter Summary

206

(1)

Problems

207

(8)

Basic Design Using a Real-Time Operating System

215

(46)

Overview

215

(2)

Principles

217

(16)

An Example

233

(11)

Encapsulating Semaphores and Queues

244

(9)

Hard Real-Time Scheduling Considerations

253

(1)

Saving Memory Space

254

(3)

Saving Power

257

(4)

Chapter Summary

259

(1)

Problems

260

(1)

Embedded Software Development Tools

261

(22)

Host and Target Machines

261

(2)

Linker/Locators for Embedded Software

263

(13)

Getting Embedded Software into the Target System

276

(7)

Chapter Summary

280

(3)

Debugging Techniques

283

(46)

Testing on Your Host Machine

284

(18)

Instruction Set Simulators

302

(2)

The assert Macro

304

(3)

Using Laboratory Tools

307

(22)

Chapter Summary

326

(1)

Problems

327

(2)

An Example System

329

(76)

What the Program Does

330

(3)

Environment in Which the Program Operates

333

(3)

A Guide to the Source Code

336

(3)

Source Code

339

(66)

Summary

402

(1)

Problems

403

(2)

Afterword

405

(2)

Further Reading

407

(2)

Index

409

What is included with this book?

The New copy of this book will include any supplemental materials advertised. Please check the title of the book to determine if it should include any access cards, study guides, lab manuals, CDs, etc.

The Used, Rental and eBook copies of this book are not guaranteed to include any supplemental materials. Typically, only the book itself is included. This is true even if the title states it includes any access cards, study guides, lab manuals, CDs, etc.

This book is to help you learn the basic principles of writing software for embedded systems. It surveys the issues and discusses the various techniques for dealing with them. In particular, it discusses approaches to the appropriate use of the real-time operating systems upon which much embedded software is based. In addition to explaining what these systems do, this book points out how you can use them most effectively. You need know nothing about embedded-systems software and its problems to read this book; we'll discuss everything from the very beginning. You should be familiar with basic computer programming concepts: you might be a software engineer with a year or more of experience, or perhaps a student with a few programming courses under your belt. You should understand the problems involved in writing application programs. This book requires a reading knowledge of the C programming language; since C is the lingua franca of embedded systems, you will have to learn it sooner or later if you hope to get into the field. A little knowledge of assembly language will also be helpful. You have no doubt seen many books about software that are 800 or 900 or even 1000 pages long. Presumably you have noticed by now that this book is much smaller than that. This is intentional--the idea is that you might actually want to read all the way through it. This book is not entitled Everything There Is to Know about Embedded Systems Software. Nobody could write that book, and if someone could and did, you wouldn't want to read it anyway. This book is more like What You Need to Know to Get Started in Embedded Systems Software, telling you enough that you'll understand the issues you will face and getting you started on finding the information about your particular system so that you can resolve those issues. This book is not specific to any microprocessor or real-time operating system nor is it oriented towards any particular software design methodology. The principles are the same, regardless of which microprocessor and which realtime operating system and which software design methodology you use. We will concentrate on the principles--principles that you can apply to almost any embedded system project. When you need to know the specifics of your microprocessor and your real-time operating system, look in the voluminous manuals that hardware and software vendors provide with their products. This book will help you know what information to look for. This book is not academic or theoretical; it offers engineering information and engineering advice. In short, this book is the cornerstone of the knowledge that you'll need for writing embedded-systems software. David E. Simon 020161569XP04062001

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An Embedded Software Primer

An Embedded Software Primer

020161569X

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