Embedded systems design

Table of Contents

Preface.....vii

Introduction.....ix

Microprocessors in the Auto Industry.....ix

Microprocessors in the Air Travel Industry.....x

Microprocessors in the Games Market.....x

Why Embedded Systems Are Different.....x

Summary.....xix

Chapter 1:

The Embedded Design Life Cycle.....1

Introduction.....1

Product Specification.....4

Hardware/Software Partitioning.....7

Iteration and Implementation.....10

Detailed Hardware and Software Design.....11

Hardware/Software Integration.....12

Product Testing and Release.....15

Who Does the Testing?.....17

Maintaining and Upgrading Existing Products.....17

Summary.....19

Work Cited.....19

Chapter 2:

The Selection Process.....21

Packaging the Silicon.....23

Microprocessor versus Microcontroller.....24

Silicon Economics.....25

Using the Core As the Basis of a Microcontroller.....25

System-on-Silicon (SoS).....26

Adequate Performance.....26

Performance-Measuring Tools.....26

Meaningful Benchmarking.....28

Running Benchmarks.....31

RTOS Availability.....32

Language/Microprocessor Support.....32

Tool Compatibility.....34

Performance.....35

Device Drivers.....35

Debugging Tools.....36

Standards Compatibility.....36

Technical Support.....36

Source Code versus Object Code.....37

Services.....37

Tool Chain Availability.....38

Compilers.....39

Hardware and Software Debugging Tools.....40

Other Issues in the Selection Process.....41

A Prior Commitment to a Particular Processor Family.....41

A Prior Restriction on Language.....42

Time to Market.....42

Additional Reading.....44

Summary.....45

Works Cited.....45

Chapter 3:

The Partitioning Decision.....47

Hardware/Software Duality.....48

Hardware Trends.....50

"Coding" Hardware.....52

The ASIC Revolution.....55

ASICs and Revision Costs.....57

Managing the Risk.....59

Co-Verification.....61

Additional Reading.....66

Summary.....66

Works Cited.....67

Chapter 4:

The Development Environment.....69

Introduction.....69

The Execution Environment.....70

Memory Organization.....70

System Space.....71

Code Space.....71

Data Space.....71

Unpopulated Memory Space.....72

I/O Space.....73

System Startup.....73

Interrupt Response Cycle.....74

Function Calls and Stack Frames.....75

Run-Time Environment.....78

Object Placement.....82

Additional Reading.....86

Summary.....87

Works Cited.....88

Chapter 5:

Special Software Techniques.....89

Manipulating the Hardware.....89

Inline Assembly.....90

Memory-Mapped Access.....91

Bitwise Operations.....92

Using the Storage Class Modifier Volatile.....93

Speed and Code Density.....94

Interrupts and Interrupt Service Routines (ISRs).....96

From Polling Loop to Interrupt-Driven.....96

Nested Interrupts and Reentrancy.....97

Measuring Execution Time.....99

Watchdog Timers.....101

Watchdog Timer: Debugging the Target System.....102

Flash Memory.....102

Design Methodology.....104

Additional Reading.....107

Summary.....108

Works Cited.....108

Chapter 6:

A Basic Toolset.....111

Host-Based Debugging.....112

Word Size.....112

Byte Order.....112

Remote Debuggers and Debug Kernels.....116

ROM Emulator.....122

Limitations.....124

Intrusiveness and Real-Time Debugging.....125

Logic Analyzer.....130

Timing Mode.....130

State Mode.....132

Triggers.....133

State Transitions.....137

Limitations.....139

Physical Connections.....139

Logic Analyzers and Caches.....140

Compiler Optimizations.....143

Cost Benefit.....143

Other Uses.....143

Statistical Profiling.....144

Summary.....147

Works Cited.....148

Chapter 7:

BDM, JTAG, and Nexus.....149

Background Debug Mode.....150

Joint Test Action Group (JTAG).....155

Nexus.....160

Summary.....165

Chapter 8:

The ICE - An Integrated Solution.....167

Bullet-Proof Run Control.....168

Real-Time Trace.....170

Hardware Breakpoints.....174

Overlay Memory.....176

Timing Constraints.....179

Usage Issues.....182

Setting the Trigger.....183

Additional Reading.....184

Summary.....184

Work Cited.....185

Chapter 9:

Testing.....187

Introduction.....187

Why Test?.....187

To Find the Bugs.....188

To Reduce Risk.....188

To Reduce Costs.....189

To Improve Performance.....190

When to Test?.....190

Unit Testing.....190

Regression Testing......190

Which Tests?.....191

When to Stop?.....192

Choosing Test Cases.....193

Functional Tests.....193

Coverage Tests.....194

Testing Embedded Software.....196

Real-Time Failure Modes.....198

Measuring Test Coverage.....199

Performance Testing.....205

How to Test Performance.....206

Maintenance and Testing.....210

Additional Reading.....211

Summary.....211

Works Cited.....212

Chapter 10:

The Future.....213

Reconfigurable Hardware.....213

Some Comments on the Tool Business.....218

Tool/Chip Tension.....224

Summary.....228

Works Cited.....229

Index