嵌入式系统开发

Preface

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

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

Testing the Hardware （and Software）

Building Tests

Flash Test Example

Command and Response

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 FIow 0fActiviB~

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

Save the Context

Get the ISR from the Vector Table

Calling the ISR

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

Actuators

Displays

So Many Ways of Communicating

Serial

Parallel

Ethernet and WiFi

Putting Peripherals and Communication Together

Data Handling

Adding Robustness to the Communication

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 Chains

Pros and Cons of Globals

Memory Overlays

Speed

Profiling

Optimizing

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

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 Oft" 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

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