Fundamentals of Embedded Software with the

For sophomore-level courses in Assembly Language Programming in Computer Science, Embedded Systems Design, Real-Time Analysis, Computer Engineering, or Electrical Engineering curricula. Requires prior knowledge of C, C++, or Java. This text is useful for Computer Scientists, Computer Engineers, and Electrical Engineers involved with embedded software applications. This book is intended to provide a highly motivating context in which to learn procedural programming languages. The ultimate goal of this text is to lay a foundation that supports the multi-threaded style of programming and high-reliability requirements of embedded software. It presents assembly the way it is most commonly used in practice - to implement small, fast, or special-purpose routines called from a main program written in a high-level language such as C. Students not only learn that assembly still has an important role to play, but their discovery of multi-threaded programming, preemptive and non-preemptive systems, shared resources, and scheduling helps sustain their interest, feeds their curiosity, and strengthens their preparation for subsequent courses on operating systems, real-time systems, networking, and microprocessor-based design.

Dr. Daniel W. Lewis' efforts led to the creation of Santa Clara University’s Computer Engineering department in 1988, providing its leadership for the first 18 years. During his tenure, Lewis established unique co-op and study abroad options that fit within the normal undergraduate four-year plan, the first graduate-level academic certificate programs for working professionals, a new interdisciplinary major in Web Design and Engineering, and a interdisciplinary minor in Information Technology and Society. Since 2004, Lewis has focused on K-12 outreach in engineering and computing, raising more than $1.7M from NSF and private sources, and providing professional development for more than 200 K-12 teachers and summer camps for more than 2,000 K-12 students.

Prior to joining the University in 1975, Lewis worked for six years at General Electric’s Aerospace Division where he designed a fault-tolerant clocking system for one of the first triple-redundant automatic landing systems for commercial aircraft. He has consulted for a number of Bay Area companies, including the Singer-Link Company, where his design of new algorithms and a corresponding modular array of VLSI circuits became the basis of a new product line of real-time computer graphics systems.

Preface	p. xiii
Introduction	p. 1
What is an Embedded System?	p. 1
What Is Unique about the Design Goals for Embedded Software?	p. 3
What Does "Real-Time" Mean?	p. 5
What Does "Multithreading" Mean?	p. 5
How Powerful are Embedded Processors?	p. 6
What Programming Languages are Used?	p. 6
How Is Building an Embedded Application Different?	p. 7
How Big are Typical Embedded Programs?	p. 9
Problems	p. 10
Data Representation	p. 11
Fixed-Precision Binary Numbers	p. 11
Positional Number Systems	p. 13
Binary-to-Decimal Conversion	p. 14
Decimal-to-Binary Conversion	p. 14
Hexadecimal: A Shorthand for Binary	p. 17
Fixed Precision, Rollover, and Overflow	p. 18
Binary Representation of Integers	p. 19
Signed Integers	p. 20
Positive and Negative Representations of the Same Magnitude	p. 20
Interpreting the Value of a 2's-Complement Number	p. 21
Changing the Sign of Numbers with Integer and Fractional Parts	p. 22
Binary Addition and Subtraction	p. 23
Range and Overflow	p. 25
Binary Representation of Real Numbers	p. 26
Floating-Point Real Numbers	p. 26
Fixed-Point Real Numbers	p. 28
ASCII Representation of Text	p. 28
Binary-Coded Decimal (BCD)	p. 31
Problems	p. 32
Implementing Arithmetic	p. 35
2'S-Complement and Hardware Complexity	p. 35
Multiplication and Division	p. 38
Signed Versus Unsigned Multiplication	p. 38
Shifting Instead of Multiplying or Dividing by Powers of 2	p. 38
Multiplying by an Arbitrary Constant	p. 40
Dividing by an Arbitrary Constant	p. 41
Arithmetic for Fixed-Point Reals	p. 41
Fixed-Point Using a Universal 16.16 Format	p. 44
Fixed-Point Using a Universal 32.32 Format	p. 45
Multiplication of 32.32 Fixed-Point Reals	p. 46
Example: Multiplying two 4.4 Fixed-Point Reals	p. 49
Problems	p. 50
Getting the Most out of C	p. 52
Integer Data Types	p. 52
Integer Range and the Standard Header File LIMITS.H	p. 54
Boolean Data Types	p. 56
Mixing Data Types	p. 57
Manipulating Bits In Memory	p. 58
Testing Bits	p. 60
Setting, Clearing, and Inverting Bits	p. 61
Extracting Bits	p. 62
Inserting Bits	p. 62
Manipulating Bits In Input/Output Ports	p. 63
Write-Only I/O Devices	p. 63
I/O Devices Differentiated by Reads Versus Writes	p. 65
I/O Devices Differentiated by Sequential Access	p. 65
I/O Devices Differentiated by Bits in the Written Data	p. 66
Accessing Memory-Mapped I/O Devices	p. 66
Accessing Data Using a Pointer	p. 67
Arrays, Pointers, and the "Address of" Operator	p. 68
Structures	p. 69
Packed Structures	p. 70
Bit Fields	p. 71
Variant Access	p. 72
Casting the Address of an Object	p. 73
Using Unions	p. 74
Problems	p. 75
Programming in Assembly Part 1: Computer Organization	p. 80
Memory	p. 82
Data Alignment	p. 83
The Central Processing Unit (CPU)	p. 85
Other Registers	p. 86
The Fetch-Execute Cycle	p. 86
Input/Output	p. 89
Introduction to the ARM® Cortex™-M3 v7M Architecture	p. 90
Internal Organization	p. 90
Instruction Pipelining	p. 91
Memory Model	p. 93
Bit-Banding	p. 93
ARM Assembly Language	p. 96
Instruction Formats and Operands	p. 96
Translating Assembly into Binary	p. 98
Problems	p. 98
Programming in Assembly Part 2: Data Manipulation	p. 102
Loading Constants into Registers	p. 102
Loading Memory Data into Registers	p. 103
Storing Data from Registers to Memory	p. 105
Converting Simple C Assignment Statements into ARM Assembly	p. 106
Memory Address Calculations	p. 107
Memory Addressing Examples	p. 108
Translating C Pointer Expressions to Assembly	p. 109
Translating C Subscript Expressions to Assembly	p. 111
Translating Structure References to Assembly	p. 111
Stack Instructions	p. 112
Data Processing Instructions	p. 113
Updating the Flags in the APSR	p. 113
Arithmetic Instructions	p. 114
Bit Manipulation Instructions	p. 115
Shift Instructions	p. 116
Bit Field Manipulation Instructions	p. 118
Miscellaneous Bit, Byte, and Half-Word Instructions	p. 119
Problems	p. 120
Programming in Assembly Part 3: Control Structures	p. 123
Instruction Sequencing	p. 123
Implementing Decisions	p. 124
Conditional Branch Instructions	p. 124
If-Then and If-Then-Else Statements	p. 125
Compound Conditionals	p. 126
The "If-Then" (IT) Instruction	p. 128
Implementing Loops	p. 129
Speeding Up Array Access	p. 131
Implementing Functions	p. 132
Function Call and Return	p. 132
Register Usage	p. 133
Parameter Passing	p. 134
Return Values	p. 135
Temporary Variables	p. 135
Preserving Registers	p. 136
Problems	p. 138
Programming in Assembly Part 4: I/O Programming	p. 140
The Cortex-M3 I/O Hardware	p. 141
Interrupts and Exceptions	p. 141
Thread and Handler Modes	p. 142
Entering the Exception Handler	p. 142
Returning from the Exception Handler	p. 143
Latency Reduction	p. 143
Priorities and Nested Exceptions	p. 145
Synchronization, Transfer Rate, and Latency	p. 146
Buffers and Queues	p. 147
Double Buffering	p. 149
Estimating I/O Performance Capability	p. 150
Polled Waiting Loops	p. 150
Interrupt-Driven I/O	p. 152
Direct Memory Access	p. 154
Comparison of Methods	p. 155
Problems	p. 156
Concurrent Software	p. 159
Foreground/Background Systems	p. 159
Thread State and Serialization	p. 159
Managing Latency	p. 160
Interrupt Overrun	p. 163
Moving Work into the Background	p. 163
Multithreaded Programming	p. 164
Concurrent Execution of Independent Threads	p. 265
Context Switching	p. 165
Non-preemptive (Cooperative) Multithreading	p. 165
Preemptive Multithreading	p. 267
Shared Resources and Critical Sections	p. 167
Disabling Interrupts	p. 269
Disabling Task Switching	p. 169
Spin Locks	p. 170
Mutex Objects	p. 270
Semaphores	p. 272
Problems	p. 272
Scheduling	p. 174
Thread States	p. 174
Pending Threads	p. 175
Context Switching	p. 176
Round-Robin Scheduling	p. 178
Priority-Based Scheduling	p. 178
Resource Starvation	p. 178
Priority Inversion	p. 179
The Priority Ceiling Protocol	p. 180
The Priority Inheritance Protocol	p. 180
Assigning Priorities	p. 181
Deadline-Driven Scheduling	p. 181
Rate-Monotonic Scheduling	p. 182
Deadlock	p. 183
Watchdog Timers	p. 184
Problems	p. 186
Memory Management	p. 189
Objects in C	p. 189
Scope	p. 190
Refining Local Scope	p. 190
Refining Global Scope	p. 191
Lifetime	p. 192
Automatic Allocation	p. 193
Storage Class "Register"	p. 194
Static Allocation	p. 195
Three Programs to Distinguish Static from Automatic	p. 196
Object Creation	p. 196
Object Initialization	p. 196
Object Destruction	p. 197
Dynamic Allocation	p. 199
Fragmentation	p. 199
Memory Allocation Pools	p. 200
Automatic Allocation with Variable Size (alloca)	p. 200
Variable-Size Arrays	p. 201
Recursive Functions and Memory Allocation	p. 202
Problems	p. 203
Shared Memory	p. 209
Recognizing Shared Objects	p. 209
Shared Global Data	p. 210
Shared Private Data	p. 210
Shared Functions	p. 210
Reentrant Functions	p. 220
Read-Only Data	p. 211
Type Qualifier "const"	p. 211
Coding Practices to Avoid	p. 212
Functions That Keep Internal State in Local Static Objects	p. 212
Functions That Return the Address of a Local Static Object	p. 214
Accessing Shared Memory	p. 215
The Effect of Processor Architecture	p. 217
Read-Only and Write-Only Access	p. 218
Type Qualifier "volatile"	p. 219
Problems	p. 221
System Initialization	p. 224
Memory Layout	p. 224
The CPU and Vector Table	p. 225
C Run-Time Environment	p. 227
Copying Initial Values from Non-Volatile Memory into the Data Region	p. 227
Zeroing Uninitialized Statics	p. 227
Setting Up a Heap	p. 228
System Timer	p. 229
Other Peripheral Devices	p. 229
Answers to Selected Problems	p. 231
Index	p. 234
Table of Contents provided by Ingram. All Rights Reserved.

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Fundamentals of Embedded Software with the ARM Cortex-M3

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