Embedded Systems Design: An Introduction to

* Hardware/Software Partitioning * Cross-Platform Development * Firmware Debugging * Performance Analysis * Testing & Integration Get into embedded systems programming with a clear understanding of the development cycle and the specialized aspects of Understand the embedded systems development cycle and the specialized aspects of writing software in this environment. You get clear explanations of how cross-development environments work, software/hardware integration techniques, and the key methods and technologies for each phase of the development process.

Preface

xi

What is this book about?

xii

Why should you buy this book?

xii

If you are one of my students

xii

If you are a student elsewhere or a recent graduate

xiii

If you are a working engineer or developer

xiii

If you are a manager

xiii

How is the book structured?

xiv

What do I expect you to know?

xiv

Acknowledgments

xv

Introduction

xvii

Why Embedded Systems Are Different

xviii

Summary

xxvi

Works Cited

xxvii

The Embedded Design Life Cycle

1

(20)

Introduction

1

(3)

Product Specification

4

(3)

Hardware/Software Partitioning

7

(3)

Iteration and Implementation

10

(1)

Detailed Hardware and Software Design

11

(1)

Hardware/Software Integration

12

(3)

Product Testing and Release

15

(2)

Who Does the Testing?

16

(1)

Maintaining and Upgrading Existing Products

17

(2)

Summary

19

(1)

Work Cited

19

(2)

The Selection Process

21

(26)

Packaging the Silicon

23

(3)

Microprocessor versus Microcontroller

24

(1)

Silicon Economics

25

(1)

Using the Core As the Basis of a Microcontroller

25

(1)

System-on-Silicon (SoS)

26

(1)

Adequate Performance

26

(6)

Performance-Measuring Tools

26

(2)

Meaningful Benchmarking

28

(3)

Running Benchmarks

31

(1)

RTOS Availability

32

(6)

Language/Microprocessor Support

32

(2)

Tool Compatibility

34

(1)

Performance

35

(1)

Device Drivers

35

(1)

Debugging Tools

36

(1)

Standards Compatibility

36

(1)

Technical Support

36

(1)

Source Code vs. Object Code

37

(1)

Services

37

(1)

Tool Chain Availability

38

(3)

Compilers

39

(1)

Hardware and Software Debugging Tools

40

(1)

Other Issues in the Selection Process

41

(3)

A Prior Commitment to a Particular Processor Family

42

(1)

A Prior Restriction on Language

42

(1)

Time to Market

42

(2)

Additional Reading

44

(1)

Summary

45

(1)

Works Cited

45

(2)

The Partitioning Decision

47

(22)

Hardware/Software Duality

48

(2)

Hardware Trends

50

(8)

``Coding'' Hardware

52

(3)

The ASIC Revolution

55

(3)

ASICs and Revision Costs

58

(8)

Managing the Risk

60

(1)

Co-Verification

61

(5)

Additional Reading

66

(1)

Summary

66

(1)

Works Cited

67

(2)

The Development Environment

69

(20)

The Execution Environment

70

(1)

Memory Organization

70

(3)

System Space

71

(1)

Code Space

71

(1)

Data Space

71

(1)

Unpopulated Memory Space

72

(1)

I/O Space

72

(1)

System Startup

73

(14)

Interrupt Response Cycle

74

(1)

Function Calls and Stack Frames

75

(2)

Run-Time Environment

77

(5)

Object Placement

82

(5)

Additional Reading

87

(1)

Summary

87

(1)

Works Cited

88

(1)

Special Software Techniques

89

(22)

Manipulating the Hardware

89

(8)

In-line Assembly

90

(1)

Memory-Mapped Access

91

(1)

Bitwise Operations

92

(1)

Using the Storage Class Modifier Volatile

93

(2)

Speed and Code Density

95

(2)

Interrupts and Interrupt Service Routines (ISRs)

97

(5)

From Polling Loop to Interrupt-Driven

97

(1)

Nested Interrupts and Reentrancy

98

(2)

Measuring Execution Time

100

(2)

Watchdog Timers

102

(2)

Watchdog Timer: Debugging the Target System

104

(1)

Flash Memory

104

(2)

Design Methodology

106

(3)

Additional Reading

109

(1)

Summary

109

(1)

Works Cited

110

(1)

A Basic Toolset

111

(38)

Host-Based Debugging

112

(3)

Word Size

112

(1)

Byte Order

112

(3)

Remote Debuggers and Debug Kernels

115

(6)

ROM Emulator

121

(8)

Limitations

123

(1)

Intrusiveness and Real-Time Debugging

124

(5)

Logic Analyzer

129

(15)

Timing Mode

129

(2)

State Mode

131

(1)

Triggers

132

(4)

State Transitions

136

(2)

Limitations

138

(1)

Physical Connections

138

(1)

Logic Analyzers and Caches

139

(3)

Compiler Optimizations

142

(1)

Cost Benefit

142

(1)

Other Uses

142

(1)

Statistical Profiling

142

(2)

Summary

144

(2)

Works Cited

146

(3)

BDM, JTAG, and Nexus

149

(16)

Background Debug Mode

150

(14)

Joint Test Action Group (JTAG)

155

(4)

Nexus

159

(5)

Summary

164

(1)

The ICE---An Integrated Solution

165

(20)

Bullet-Proof Run Control

166

(3)

Real-Time Trace

169

(4)

Hardware Breakpoints

173

(1)

Overlay Memory

174

(4)

Timing Constraints

178

(3)

Usage Issues

181

(1)

Setting the Trigger

181

(1)

Additional Reading

182

(1)

Summary

182

(1)

Work Cited

183

(2)

Testing

185

(24)

Why Test?

185

(2)

To Find the Bugs

186

(1)

To Reduce Risk

186

(1)

To Reduce Costs

187

(1)

To Improve Performance

187

(1)

When to Test?

187

(2)

Unit Testing

188

(1)

Regression Testing

188

(1)

Which Tests?

189

(1)

When to Stop?

190

(1)

Choosing Test Cases

191

(2)

Functional Tests

191

(1)

Coverage Tests

192

(1)

Testing Embedded Software

193

(8)

Real-Time Failure Modes

195

(2)

Measuring Test Coverage

197

(4)

Performance Testing

201

(5)

How to Test Performance

202

(4)

Maintenance and Testing

206

(1)

Additional Reading

207

(1)

Summary

207

(1)

Works Cited

208

(1)

The Future

209

(18)

Reconfigurable Hardware

209

(15)

Some Comments on the Tool Business

214

(6)

Tool/Chip Tension

220

(4)

Summary

224

(1)

Works Cited

225

(2)

Index

227

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Embedded Systems Design: An Introduction to Processes, Tools, and Techniques

Summary

Table of Contents

Supplemental Materials