Fundamentals to Embedded Software : Where C and Assembly Meet

by Lewis, Daniel W.

• ISBN13: 9780130615893
• ISBN10: 0130615897
• Edition: 1st
• Format: Paperback
• Copyright: 2001-11-13
• Publisher: Prentice Hall

Summary

Reflectingcurrentindustrial applications and programming practice, this book lays a foundation that supports the multi-threaded style of programming and high-reliability requirements of embedded software. Using a non-product specific approach and a programming (versus hardware) perspective, it focuses on the 32-bit protected mode processors and on C as the dominant programming language--with coverage of Assembly and how it can be used in conjunction with, and support of, C. Features an abundance of examples in C and an accompanying CD-ROM with software tools.Data Representation. Getting the Most Out of C. A Programmer's View of Computer Organization. Mixing C and Assembly. Input/Output Programming. Concurrent Software. Scheduling. Memory Management. Shared Memory. System Initialization.For Computer Scientists, Computer Engineers, and Electrical Engineers involved with embedded software applications.

Table of Contents

Preface	p. xiii
Introduction	p. 1
What is an Embedded System?	p. 1
What's Unique About the Design Goals for Embedded Software?	p. 3
What Does "Real-Time" Mean?	p. 5
What Does "Multitasking" Mean?	p. 6
How Powerful Are Embedded Processors?	p. 7
What Programming Languages Are Used?	p. 7
What Is a "Real-Time Kernel"?	p. 8
How Is Building an Embedded Application Unique?	p. 9
How Big Are Typical Embedded Programs?	p. 11
The Software Used in This Book	p. 12
Problems	p. 14
Data Representation	p. 15
Fixed-Precision Binary Numbers	p. 15
Positional Number Systems	p. 16
Binary-to-Decimal Conversion	p. 17
Decimal-to-Binary Conversion	p. 17
Counting	p. 19
Fixed Precision and Rollover	p. 19
Hexadecimal Representation	p. 20
Binary Representation of Integers	p. 21
Signed Integers	p. 21
Positive and Negative Representations of the Same Magnitude	p. 22
Interpreting the Value of a 2's-Complement Number	p. 23
More on Range and Overflow	p. 24
2's Complement and Hardware Complexity	p. 25
Binary Representation of Real Numbers	p. 28
Fixed-Point Representation	p. 28
Fixed-Point Using a Universal 16.16 Format	p. 30
Fixed-Point Using a Universal 32.32 Format	p. 32
Floating-Point Representation	p. 35
ASCII Representation of Text	p. 37
Binary-Coded Decimal (BCD)	p. 39
Problems	p. 40
Getting the Most Out of C	p. 43
Integer Data Types	p. 43
Mixing Data Types	p. 46
Useful Typedefs and Defines	p. 47
Manipulating Bits in Memory	p. 48
Testing Bits	p. 50
Setting, Clearing, and Inverting Bits	p. 51
Extracting Bits	p. 52
Inserting Bits	p. 52
Manipulating Bits in I/O Ports	p. 53
Write-Only I/O Ports	p. 53
Ports Differentiated by Reads Versus Writes	p. 54
Ports Differentiated by Sequential Access	p. 54
Ports Differentiated by Bits in the Written Data	p. 55
Accessing Memory-Mapped I/O Devices	p. 55
Accessing Data Through a Pointer	p. 55
Arrays, Pointers, and the "Address Of" Operator	p. 56
Structures	p. 58
Packed Structures	p. 59
Bit Fields	p. 60
Variant Access	p. 61
Casting the Address of an Object	p. 61
Using Unions	p. 63
Problems	p. 63
A Programmer's View of Computer Organization	p. 65
Memory	p. 65
The Central Processing Unit (CPU)	p. 67
The Arithmetic and Logic Unit (ALU)	p. 67
Other Registers	p. 68
The Control Unit	p. 69
Input/Output (I/O)	p. 70
Introduction to the Intel Architecture	p. 71
Instruction Formats	p. 72
Instruction Operands	p. 73
Operand Restrictions	p. 74
Registers	p. 75
The Stack	p. 77
The Intel Real Mode Architecture	p. 78
Segmented Addressing	p. 79
Addressing Modes	p. 81
The Intel Protected Mode Architecture	p. 83
Segment Registers and The Global Descriptor Table	p. 84
The Flat Memory Model	p. 85
Addressing Modes	p. 85
Operand and Address-Size Override Prefixes	p. 86
The Intel Data Manipulation Instructions	p. 86
Data Movement, Stack, and I/O Instructions	p. 87
Arithmetic Instructions	p. 89
Bitwise Instructions	p. 91
Shift Instructions	p. 91
Problems	p. 93
Mixing C and Assembly	p. 96
Programming in Assembly	p. 96
Register Usage Conventions	p. 98
Typical Use of Addressing Options	p. 98
Accessing Data Whose Address is a Constant	p. 99
Accessing Data Whose Address is a Variable	p. 100
Instruction Sequencing	p. 101
Compound Conditionals	p. 102
If-Then-Else Statements	p. 104
Building Loops	p. 105
Faster Loops with String Instructions	p. 106
Procedure Call and Return	p. 107
Parameter Passing	p. 108
Retrieving Parameters	p. 110
Everything is Pass by Value	p. 112
Temporary Variables	p. 112
Problems	p. 115
Input/Output Programming	p. 117
The Intel I/O Instructions	p. 118
Synchronization, Transfer Rate, and Latency	p. 118
Polled Waiting Loops	p. 119
Interrupt-Driven I/O	p. 121
The Hardware Response	p. 121
The Interrupt Service Routine	p. 124
Programmable Interrupt Controllers	p. 125
Buffers and Queues	p. 126
Writing Interrupt Service Routines in Assembly	p. 128
Writing Interrupt Service Routines in C	p. 129
Nonmaskable Interrupts	p. 130
Software Interrupts	p. 130
Exceptions	p. 132
Direct Memory Access	p. 132
Double Buffering	p. 133
Comparison of Methods	p. 134
Problems	p. 135
Concurrent Software	p. 138
Foreground/Background Systems	p. 138
Thread State and Serialization	p. 139
Managing Latency	p. 139
Preventing Interrupt Overrun	p. 143
Moving Work into the Background	p. 144
Multithreaded Programming	p. 145
Concurrent Execution of Independent Threads	p. 145
Context Switching	p. 146
Nonpreemptive (Cooperative) Multitasking	p. 147
Preemptive Multitasking	p. 147
Shared Resources and Critical Sections	p. 148
Disabling Interrupts	p. 150
Disabling Task Switching	p. 150
Spin Locks	p. 151
Mutex Objects	p. 152
Semaphores	p. 152
Problems	p. 153
Scheduling	p. 155
Thread States	p. 155
Pending Threads	p. 156
Context Switching	p. 157
Round-Robin Scheduling	p. 158
Priority-Based Scheduling	p. 159
Priority Inversion	p. 159
The Priority Inheritance Protocol	p. 160
The Priority Ceiling Protocol	p. 161
Assigning Priorities	p. 161
Deadline-Driven Scheduling	p. 161
Rate-Monotonic Scheduling	p. 162
Deadlock	p. 163
Watchdog Timers	p. 164
Problems	p. 166
Memory Management	p. 168
Objects in C	p. 168
Scope	p. 169
Refining Local Scope	p. 169
Refining Global Scope	p. 170
Lifetime	p. 171
Automatic Allocation	p. 172
Storage Class "Register"	p. 173
Static Allocation	p. 174
Three Programs to Distinguish Static from Automatic	p. 174
Object Creation	p. 175
Object Initialization	p. 175
Object Destruction	p. 176
Dynamic Allocation	p. 177
Fragmentation	p. 178
Memory Allocation Pools	p. 179
Automatic Allocation with Variable Size (alloca)	p. 179
Variable-Size Arrays	p. 180
Recursive Functions and Memory Allocation	p. 181
Problems	p. 182
Shared Memory	p. 189
Recognizing Shared Objects	p. 189
Shared Global Data	p. 190
Shared Private Data	p. 190
Shared Functions	p. 190
Reentrant Functions	p. 190
Read-Only Data	p. 191
Type Qualifier "const"	p. 191
Coding Practices to Avoid	p. 192
Functions That Keep Internal State in Local Static Objects	p. 192
Functions That Return the Address of a Local Static Object	p. 194
Accessing Shared Memory	p. 195
The Effect of Processor Word Size	p. 196
Read-Only and Write-Only Access	p. 197
Type Qualifier "volatile"	p. 198
Problems	p. 200
System Initialization	p. 203
Memory Layout	p. 203
The CPU	p. 204
Setting Up a Flat Memory Model	p. 204
Switching into Protected Mode	p. 207
C Run-Time Environment	p. 207
Copying from ROM to RAM	p. 208
Zeroing Uninitialized Statics	p. 208
Setting Up a Heap	p. 209
System Timer	p. 211
Timer 0: Timer Tick	p. 211
Timer 1: Memory Refresh	p. 212
Timer 2: Speaker Frequency	p. 212
Interrupt System	p. 213
Initializing the IDT	p. 213
Initializing the 8259 PICs	p. 215
Installing a New Interrupt Service Routine	p. 216
Contents of the CD-Rom	p. 219
The DJGPP C/C++ Compiler	p. 220
Installation	p. 220
Compilation	p. 221
On-Line Documentation (Info)	p. 222
The NASM Assembler	p. 223
Installation	p. 223
Running NASM	p. 223
Programming Projects	p. 225
Files Required from the CD-ROM for All Applications	p. 225
Files Required for Nonpreemptive Multithreaded Applications	p. 225
Files Required for Preemptive Multithreaded Applications	p. 226
Compiling and Assembling Your Embedded Application	p. 226
Linking Your Embedded Application	p. 226
Preparing the Boot Diskette	p. 227
Running Your Embedded Application	p. 227
Getting Started with the DJGPP Compiler Tools	p. 228
Using Fixed-Point Real Numbers	p. 230
Using Macros and Packed Operands	p. 231
Using "Makefiles"	p. 232
Coding Extended Precision Multiplication in Assembly	p. 235
Coding Extended Precision Division in Assembly	p. 237
Polled Waiting Loop and Interrupt-Driven I/O	p. 238
A Simple Nonpreemptive Multithreaded Application	p. 240
Preemptive Kernels and Shared Resources	p. 242
Avoiding Unbounded Priority Inversion	p. 245
Avoiding Deadlock	p. 246
The libepc Library	p. 247
Memory Layout and Initialization	p. 247
Display Functions (display.c)	p. 248
Window Functions (window.c)	p. 250
Keyboard Functions (keyboard.c)	p. 251
Speaker Functions (speaker.c)	p. 252
Timer Functions (timer.c, cycles.asm)	p. 252
Interrupt Vector Access Functions (init-idt.c)	p. 253
Dyamic Memory Allocation Functions (heap.c)	p. 254
Fixed Point (fixedpt.asm)	p. 254
Interfunction Jumps (setjmp.asm)	p. 255
Miscellaneous Functions (init-crt.c)	p. 256
The Boot Loader	p. 257
Index	p. 258
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