Making Embedded Systems. Design Patterns for Great Software

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• Making Embedded Systems
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• Preface
  • About This Book
    • About the Author
    • Acknowledgments
  • Organization of This Book
  • Conventions Used in This Book
    • Typography
    • Terminology
  • Using Code Examples
  • Safari Books Online
  • How to Contact Us
• 1. Introduction
  • Compilers, Languages, and Object-Oriented Programming
  • Embedded System Development
    • Debugging
    • More Challenges
    • Principles to Confront Those Challenges
  • Further Reading
• 2. Creating a System Architecture
  • Creating System Diagrams
    • The Block Diagram
    • Hierarchy of Control
    • Layered View
  • From Diagram to Architecture
    • Encapsulate Modules
    • Delegation of Tasks
    • Driver Interface: Open, Close, Read, Write, IOCTL
    • Adapter Pattern
    • Getting Started with Other Interfaces
    • Example: A Logging Interface
      • Typical calls needed for logging
      • State of logging
      • Pattern: Singleton
      • Sharing private globals
  • A Sandbox to Play In
  • Further Reading
• 3. Getting Your Hands on the Hardware
  • Hardware/Software Integration
    • Ideal Project Flow
    • Board Bring-Up
  • Reading a Datasheet
    • Datasheet Sections You Need When Things Go Wrong
    • Important Text for Software Developers
    • Evaluating Components Using the Datasheet
  • Your Processor Is a Language
  • Reading a Schematic
  • Having a Debugging Toolbox (and a Fire Extinguisher)
    • Keep Your Board Safe
    • Toolbox
    • Digital Multimeter
    • Oscilloscopes and Logic Analyzers
      • Setting up a scope
  • Testing the Hardware (and Software)
    • Building Tests
    • Flash Test Example
      • Test 1: Read existing data
      • Test 2: Byte access
      • Test 3: Block access
      • Test wrap-up
    • Command and Response
      • Creating a command
      • Invoking a command
    • Command Pattern
  • Dealing with Errors
    • Consistent Methodology
    • Error-Handling Library
    • Debugging Timing Errors
  • Further Reading
• 4. Outputs, Inputs, and Timers
  • Toggling an Output
    • Starting with Registers
    • Set the Pin to Be an Output
    • Turn On the LED
    • Blinking the LED
    • Troubleshooting
  • Separating the Hardware from the Action
    • Board-Specific Header File
    • I/O-Handling Code
    • Main Loop
    • Facade Pattern
  • The Input in I/O
    • A Simple Interface to a Button
  • Momentary Button Press
    • Interrupt on a Button Press
    • Configuring the Interrupt
    • Debouncing Switches
  • Runtime Uncertainty
    • Dependency Injection
  • Using a Timer
    • Timer Pieces
    • Doing the Math
    • A Long Wait Between Timer Ticks
    • Using the Timer
  • Using Pulse-Width Modulation
  • Shipping the Product
  • Further Reading
• 5. Managing the Flow of Activity
  • Scheduling and Operating System Basics
    • Tasks
    • Communication Between Tasks
    • Avoiding Race Conditions
    • Priority Inversion
  • State Machines
    • State Machine Example: Stoplight Controller
    • State-Centric State Machine
    • State-Centric State Machine with Hidden Transitions
    • Event-Centric State Machine
    • State Pattern
    • Table-Driven State Machine
    • Choosing a State Machine Implementation
  • Interrupts
    • An IRQ Happens
      • Multiple sources for one interrupt
      • Interrupt priority
      • Nested interrupts
      • Nonmaskable interrupts
    • Save the Context
      • Calculating system latency
      • Reentrant functions
    • Get the ISR from the Vector Table
      • Initializing the vector table
      • Looking up the ISR
    • Calling the ISR
      • Disabling interrupts
      • Critical sections
    • Restore the Context
    • When to Use Interrupts
  • How Not to Use Interrupts
    • Polling
    • System Tick
    • Time-Based Events
    • A Very Small Scheduler
  • Watchdog
  • Further Reading
• 6. Communicating with Peripherals
  • The Wide Reach of Peripherals
    • External Memory
    • Buttons and Key Matrices
    • Sensors
      • Analog sensors
      • Digital sensors
    • Actuators
      • Motors
      • Position encoding
      • PID control
    • Displays
      • Segmented displays
      • Pixel displays
  • So Many Ways of Communicating
    • Serial
      • RS-232 and TTL
      • SPI
      • I2C
      • 1-wire
      • USB
      • Miscellaneous other protocols
    • Parallel
    • Ethernet and WiFi
  • Putting Peripherals and Communication Together
    • Data Handling
      • Circular buffers
      • Hardware FIFOs
      • Direct memory access
      • Comparison of buffering schemes
    • Adding Robustness to the Communication
      • Version everything and then checksum it
      • Authentication and encryption
    • Changing Data
    • Changing Algorithms
  • Further Reading
• 7. Updating Code
  • Onboard Bootloader
  • Build Your Own Updater
    • Modifying the Resident Updater
  • Brick Loader
    • Copy Loader to RAM
    • Run the Loader
    • Copy New Code to Scratch
    • Dangerous Time: Erase and Program
    • Reset to New Code
  • Security
  • Linker Scripts
  • Summary
• 8. Doing More with Less
  • Code Space
    • Reading a Map File (Part 1)
    • Process of Elimination
    • Libraries
    • Functions and Macros
    • Constants and Strings
  • RAM
    • Remove malloc
    • Reading a Map File (Part 2)
    • Registers and Local Variables
      • Function parameters
      • Minimize scope
      • Look at the assembly
    • Function Chains
    • Pros and Cons of Globals
    • Memory Overlays
  • Speed
    • Profiling
      • I/O lines and an O-scope
      • Timer profiler 1 (function timer)
      • Timer profiler 2 (response timer)
      • Sampling profiler
    • Optimizing
      • Memory timing
      • Variable size
      • One last look at function chains
      • Consider the instructions
      • Reduce math in loops
      • Loop unrolling
      • Lookup tables
      • Coding in assembly language
  • Summary
  • Further Reading
• 9. Math
  • Identifying Fast and Slow Operations
    • Taking an Average
  • Use an Existing Algorithm
  • Designing and Modifying Algorithms
    • Factor Polynomials
    • Taylor Series
    • Dividing by a Constant
    • Scaling the Input
    • Lookup Tables
      • Implicit input
      • Linear interpolation
      • Explicit input in the table
  • Fake Floating-Point Numbers
    • Rational Numbers
    • Precision
    • Addition (and Subtraction)
    • Multiplication (and Division)
    • Determining the Error
  • Further Reading
• 10. Reducing Power Consumption
  • Understanding Power Consumption
  • Turn Off the Light When You Leave the Room
    • Turn Off Peripherals
    • Turn Off Unused I/O devices
    • Turn Off Processor Subsystems
    • Slowing Down to Conserve Energy
  • Putting the Processor to Sleep
    • Interrupt-Based Code Flow Model
    • A Closer Look at the Main Loop
    • Processor Watchdog
    • Avoid Frequent Wake-Ups
    • Chained Processors
  • Further Reading
• Index
• About the Author
• Colophon
• SPECIAL OFFER: Upgrade this ebook with OReilly
• Copyright

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