Williams Real-Time Systems Development

1. Auflage 2005
ISBN: 978-0-08-045640-9
Verlag: Elsevier Science & Techn.
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 320 Seiten, Web PDF

Real-Time Systems Development introduces computing students and professional programmers to the development of software for real-time applications. Based on the academic and commercial experience of the author, the book is an ideal companion to final year undergraduate options or MSc modules in the area of real-time systems design and implementation. Assuming a certain level of general systems design and programming experience, this text will extend students' knowledge and skills into an area of computing which has increasing relevance in a modern world of telecommunications and 'intelligent' equipment using embedded microcontrollers. This book takes a broad, practical approach in discussing real-time systems. It covers topics such as basic input and output; cyclic executives for bare hardware; finite state machines; task communication and synchronization; input/output interfaces; structured design for real-time systems; designing for multitasking; UML for real-time systems; object oriented approach to real-time systems; selecting languages for RTS development; Linux device drivers; and hardware/software co-design. Programming examples using GNU/Linux are included, along with a supporting website containing slides; solutions to problems; and software examples. This book will appeal to advanced undergraduate Computer Science students; MSc students; and, undergraduate software engineering and electronic engineering students.* Concise treatment delivers material in manageable sections
* Includes handy glossary, references and practical exercises based on familiar scenarios
* Supporting website contains slides, solutions to problems and software examples

Autoren/Hrsg.

Williams, Rob

Inhaltsverzeichnis

1;Cover;1
2;Real-Time Systems Development;4
3;Contents;6
4;Preface;8
5;Recommended lab sessions;10
6;Acknowledgements and thanks;12
7;1 Introduction to real-time systems;14
7.1;1.1 Chapter overview;14
7.2;1.2 Real-time systems development;14
7.3;1.3 System complexity;15
7.4;1.4 Microprocessors and real-time applications;16
7.5;1.5 Definition of a real-time system;17
7.6;1.6 Programming structures;23
7.7;1.7 Response latency;24
7.8;1.8 Relative speeds;24
7.8.1;1.8.1 Polling an input too fast;24
7.8.2;1.8.2 Polling an input too slowly;25
7.8.3;1.8.3 Light sensing;26
7.9;1.9 Software timing;27
7.10;1.10 High speed timing;28
7.11;1.11 Output timing overload;29
7.12;1.12 Debugging real-time systems;30
7.13;1.13 Access to hardware;31
7.14;1.14 Machine I/O;32
7.15;1.15 Programmed I/O;33
7.16;1.16 Hardware/software cost tradeoff;34
7.17;1.17 Hard, soft and firm;35
7.18;1.18 Software Quality Assurance (SQA);36
7.19;1.19 Experience and history;37
7.20;1.20 Futures?;38
7.21;1.21 Chapter summary;38
7.22;1.22 Problems and issues for discussion;40
7.23;1.23 Suggestions for reading;40
8;2 Implementing simple real-time systems;42
8.1;2.1 Chapter overview;42
8.2;2.2 Multi-tasking;42
8.3;2.3 Task loops;43
8.4;2.4 Code timing problems;44
8.5;2.5 Interrupt-driven tasks;45
8.6;2.6 Task swapping: How? When? Which?;46
8.7;2.7 Task re-entry;46
8.8;2.8 Causes of task swapping;47
8.9;2.9 Resource sharing;48
8.10;2.10 Using the printer port for digital I/O;48
8.11;2.11 Electric motors;51
8.12;2.12 Operational details of stepper motors;51
8.13;2.13 Lifecycle of a professional programmer;55
8.14;2.14 Chapter summary;55
8.15;2.15 Problems and issues for discussion;57
8.16;2.16 Suggestions for reading;58
9;3 Basic input and output;59
9.1;3.1 Chapter overview;59
9.2;3.2 Memory-mapped ports;59
9.3;3.3 I/O mapped ports;61
9.4;3.4 Port registers – the programmers’ view;63
9.5;3.5 Port polling;66
9.6;3.6 I/O access permissions;68
9.7;3.7 To block or not to block;72
9.8;3.8 Exception and interrupt processing – service on demand;74
9.9;3.9 Multiple interrupt sources;75
9.10;3.10 Powerfail detection;78
9.11;3.11 Interrupt structure on the PC;81
9.12;3.12 Deferred interrupt processing;84
9.13;3.13 Use of exceptions and interrupts;85
9.14;3.14 Interrupt unpredictability;86
9.15;3.15 Critical data protection – how to communicate with interrupts;87
9.16;3.16 Bu.ered I/O – interrupt device drivers;90
9.17;3.17 Chapter summary;92
9.18;3.18 Problems and issues for discussion;92
9.19;3.19 Suggestions for reading;93
10;4 Cyclic executives for bare hardware;94
10.1;4.1 Chapter overview;94
10.2;4.2 The basic system;94
10.3;4.3 System tick;95
10.4;4.4 Extended tasks;96
10.5;4.5 Implementation of a cyclic executive;97
10.6;4.6 Cyclic executive execution pattern;98
10.7;4.7 Demonstation cyclic executive code;99
10.8;4.8 Keypad application;100
10.9;4.9 Chapter summary;105
10.10;4.10 Problems and issues for discussion;105
10.11;4.11 Suggestions for reading;106
11;5 Finite state machines – design tool;107
11.1;5.1 Chapter overview;107
11.2;5.2 Defining the perimeter;107
11.3;5.3 Channel bandwidths;108
11.4;5.4 Finite State Diagrams (FSD);110
11.5;5.5 Auxiliary variables;112
11.6;5.6 Vehicle detection;113
11.7;5.7 Simplification techniques;114
11.8;5.8 Input data and trigger events;115
11.9;5.9 Teas-made;115
11.10;5.10 Hierarchical state charts;117
11.11;5.11 Concurrent FSMs;119
11.12;5.12 OO design patterns and state machines;120
11.13;5.13 Chapter summary;120
11.14;5.14 Problems and issues for discussion;121
11.15;5.15 Suggestions for reading;122
12;6 Finite state machines – implementation options;123
12.1;6.1 Chapter overview;123
12.2;6.2 Implementing an FSD;123
12.3;6.3 Implementation by direct sequential coding;124
12.4;6.4 THE SWITCH-CASE IMPLEMENTATION MODEL;127
12.5;6.5 The GOTO/LABEL implementation model;131
12.6;6.6 FST implementation model;134
12.7;6.7 An object-oriented approach to implementation;141
12.8;6.8 FSM scheduling issues;148
12.9;6.9 More FST;150
12.10;6.10 Run-time environment;158
12.11;6.11 Chapter summary;160
12.12;6.12 Problems and issues for discussion;160
12.13;6.13 Suggestions for reading;161
13;7 Why multi-task?;163
13.1;7.1 Chapter overview;163
13.2;7.2 Recognizing a real-time application;163
13.3;7.3 Multi-tasking and multi-threading;164
13.4;7.4 Run-time support environment;165
13.5;7.5 Run-time scheduling;167
13.6;7.6 Justifying the use of multi-tasking;168
13.7;7.7 Responsiveness;169
13.8;7.8 Intellectual simplicity of design;170
13.9;7.9 Rigour of implementation;171
13.10;7.10 Unit testing;171
13.11;7.11 System integrity;172
13.12;7.12 System integration testing;173
13.13;7.13 Exploitation of multi-processor hardware;173
13.14;7.14 Processor support for task swapping;175
13.15;7.15 Starting new tasks in Linux;178
13.16;7.16 Chapter summary;180
13.17;7.17 Problems and issues for discussion;180
13.18;7.18 Suggestions for reading;181
14;8 Task communication and synchronization;182
14.1;8.1 Chapter overview;182
14.2;8.2 Data sharing;182
14.3;8.3 Event flags;185
14.4;8.4 Semaphores;185
14.5;8.5 Lock files;186
14.6;8.6 Intercept signals;187
14.7;8.7 Shared data buffers;195
14.8;8.8 Pipes;196
14.9;8.9 Control queues;204
14.10;8.10 Sockets;204
14.11;8.11 Remote Procedure Calls (RPC);209
14.12;8.12 ADA rendezvous;210
14.13;8.13 Java synchronization;211
14.14;8.14 Chapter summary;212
14.15;8.15 Problems and issues for discussion;212
14.16;8.16 Suggestions for reading;213
15;9 Real-time executives;214
15.1;9.1 Chapter overview;214
15.2;9.2 Real-time systems implementations;214
15.3;9.4 Porting application code for RTEs;216
15.4;9.5 Hardware support for an RTE;216
15.5;9.6 RTE facilities;218
15.6;9.7 Linux;219
15.7;9.8 POSIX facilities;221
15.8;9.9 Scheduling;227
15.9;9.10 Unix Filesystem Hierarchy Standard (FHS);228
15.10;9.11 Configuring and building the Linux kernel;229
15.11;9.12 Linux for embedded applications;230
15.12;9.13 Booting embedded Linux;230
15.13;9.14 Language support;230
15.14;9.15 Licensing issues;232
15.15;9.16 Chapter summary;234
15.16;9.17 Problems and issues for discussion;234
15.17;9.18 Suggestions for reading;235
16;10 Using input/output interfaces;237
16.1;10.1 Chapter overview;237
16.2;10.2 Input and output operations;237
16.3;10.3 Categories;238
16.4;10.4 Operating system support;239
16.5;10.5 Raw I/O;241
16.6;10.6 I/O with Linux;242
16.7;10.7 Direct device driver;245
16.8;10.8 Device drivers under interrupt;246
16.9;10.9 Queuing theory;248
16.10;10.10 Chapter summary;252
16.11;10.11 Problems and issues for discussion;252
16.12;10.12 Suggestions for reading;253
17;11 Structured design for real-time systems;254
17.1;11.1 Chapter overview;254
17.2;11.2 Design methods;254
17.3;11.3 Incremental functional decomposition;256
17.4;11.4 Use of diagrams in design;257
17.5;11.5 Data Flow Diagrams (DFD);258
17.6;11.6 Implementing a DFD;259
17.7;11.7 Reading structure charts;266
17.8;11.8 Yourdon structured analysis and design for real-time systems;268
17.9;11.9 Implementing an event-based DFD;269
17.10;11.10 Stored data modelling – EAR modelling;273
17.11;11.11 Transforming ERD to DFD;276
17.12;11.12 Normalizing stored data;277
17.13;11.13 Chapter summary;278
17.14;11.14 Problems and issues for discussion;278
17.15;11.15 Suggestions for reading;278
18;12 Designing for multi-tasking;280
18.1;12.1 Chapter overview;280
18.2;12.2 SA/SD for multi-tasking;280
18.3;12.3 Partitioning into tasks;281
18.4;12.4 Cohesion and coupling;283
18.5;12.5 Designing for intertask communication;284
18.6;12.6 Device interfacing;286
18.7;12.7 Task diagrams;287
18.8;12.8 The CODARTS method;291
18.9;12.9 Re-entrant code;292
18.10;12.10 Setting task priorities;293
18.11;12.11 Execution timing;294
18.12;12.12 Run-time support;295
18.13;12.13 Chapter summary;295
18.14;12.14 Problems and issues for discussion;296
18.15;12.15 Suggestions for reading;296
19;13 UML for real-time systems;298
19.1;13.1 Chapter overview;298
19.2;13.2 A Unified Modelling Language;298
19.3;13.3 Use-cases;299
19.4;13.4 Objects and classes;300
19.5;13.5 Object collaboration diagrams;301
19.6;13.6 Class diagrams;302
19.7;13.7 Interobject messaging;304
19.8;13.8 Interaction diagrams;305
19.9;13.9 Activity diagrams;307
19.10;13.10 Chapter summary;308
19.11;13.11 Problems and issues for discussion;308
19.12;13.12 Suggestions for reading;309
20;14 Object-oriented approach for real-time systems;310
20.1;14.1 Chapter overview;310
20.2;14.2 Real-time object-oriented design and development;310
20.3;14.3 Designing for real-time;311
20.4;14.4 Objects, objects;312
20.5;14.5 Finding the objects;313
20.6;14.6 Analysis class stereotypes;314
20.7;14.7 Tasking;315
20.8;14.8 Multi-threading with Java;316
20.9;14.9 Design patterns;318
20.10;14.10 Chapter summary;321
20.11;14.11 Problems and issues for discussion;322
20.12;14.12 Suggestions for reading;322
21;15 System integrity;324
21.1;15.1 Chapter overview;324
21.2;15.2 Software crisis;324
21.3;15.3 Fault tolerance;326
21.4;15.4 System requirements;327
21.5;15.5 Requirements analysis techniques;328
21.6;15.6 Verification and validation;329
21.7;15.7 Good design;329
21.8;15.8 Simulation studies;330
21.9;15.9 Petri nets;331
21.10;15.10 Design for security – source code checking: lint;334
21.11;15.11 Code reuse;334
21.12;15.12 Compile-time checking;335
21.13;15.13 Code testing;335
21.14;15.14 System integration testing;336
21.15;15.15 Run-time error trapping;337
21.16;15.16 Run-time checking: assert;338
21.17;15.17 Run-time checking: exceptions and hardware watchdog;339
21.18;15.18 Run-time checking: stack length checking;340
21.19;15.19 Visual assistance;340
21.20;15.20 A wet Monday morning;341
21.21;15.21 Concurrent version control system (CVS);342
21.22;15.22 Setting up a CVS repository;344
21.23;15.23 Conducting design and code reviews;345
21.24;15.24 Extreme Programming;346
21.25;15.25 Software standards;347
21.26;15.26 MISRA;349
21.27;15.28 Chapter summary;351
21.28;15.29 Problems and issues for discussion;351
21.29;15.30 Suggestions for Reading;352
22;16 Languages for RTS development – C, Ada and Java;354
22.1;16.1 Chapter overview;354
22.2;16.2 The choice;354
22.3;16.3 General criteria for programming languages;355
22.4;16.4 Special criteria for real-time compilers;357
22.5;16.5 Compiler optimization;360
22.6;16.6 C for real-time;363
22.7;16.7 Ada;364
22.8;16.8 Java;365
22.9;16.9 Cross-compilers;369
22.10;16.10 Chapter summary;369
22.11;16.11 Problems and issues for discussion;369
22.12;16.12 Suggestions for reading;370
23;17 Cross-development techniques;371
23.1;17.1 Chapter overview;371
23.2;17.2 Host–target development;371
23.3;17.3 Cross-compilers and linkers;372
23.4;17.4 The gcc compilation process;373
23.5;17.5 Startup code;374
23.6;17.6 GNU linker, ld and linker script file;377
23.7;17.7 Entry point;380
23.8;17.8 Building a gcc cross-compiler;380
23.9;17.9 Tips!;385
23.10;17.10 Executable and Linking Format (ELF);386
23.11;17.11 C++ global constructors and destructors in ELF;390
23.12;17.12 Debugging techniques;390
23.13;17.13 Program memory options;399
23.14;17.14 Flash memory;399
23.15;17.15 Installing target code;401
23.16;17.16 Chapter summary;403
23.17;17.17 Problems and issues for discussion;404
23.18;17.18 Suggestions for reading;404
24;18 Microcontroller embedded systems;406
24.1;18.1 Chapter overview;406
24.2;18.2 Microprocessors and microcontrollers;406
24.3;18.3 Intel 8051 8 bit family;407
24.4;18.4 Automatic vending technology;410
24.5;18.5 ARM 32 bit family;412
24.6;18.6 StrongARM processor;412
24.7;18.7 Puppeteer StrongARM microcomputer;415
24.8;18.8 Application;417
24.9;18.9 FPGA usage;419
24.10;18.10 Serial access memory;419
24.11;18.11 Chapter summary;420
24.12;18.12 Problems and issues for discussion;420
24.13;18.13 Suggestions for reading;421
25;19 Linux device drivers;423
25.1;19.1 Chapter overview;423
25.2;19.2 Embedded Linux;423
25.3;19.3 Porting Linux;424
25.4;19.4 The role of device drivers;428
25.5;19.5 Major and minor numbers;429
25.6;19.6 Index blocks, the Unix inode;431
25.7;19.7 Types of Linux device drivers;437
25.8;19.8 The new devfs;445
25.9;19.9 Chapter summary;445
25.10;19.10 Problems and issues for discussion;446
25.11;19.11 Suggestions for reading;446
26;20 Hardware/software co-design;448
26.1;20.1 Chapter overview;448
26.2;20.2 Systems-on-chip;448
26.3;20.3 Intellectual property;449
26.4;20.4 Reconfigurable hardware;450
26.5;20.5 Software support;452
26.6;20.6 Altera APEX/Excalibur device;453
26.7;20.7 Processor cores;456
26.8;20.8 Chapter summary;456
26.9;20.9 Problems and issues for discussion;456
26.10;20.10 Suggestions for reading;457
27;Appendix A: Using an oscilloscope for software debugging;458
27.1;A1.1 Overview;458
27.2;A1.2 Using an oscilloscope;458
27.3;A1.3 Turning on an analogue CRT scope;458
27.4;A1.4 Introduction to the oscilloscope;460
27.5;A1.5 Digital storage scopes;461
28;Index;464
28.1;A;464
28.2;B;464
28.3;C;464
28.4;D;465
28.5;E;465
28.6;F;465
28.7;G;465
28.8;H;465
28.9;I;465
28.10;J;466
28.11;K;466
28.12;L;466
28.13;M;466
28.14;N;466
28.15;O;466
28.16;P;466
28.17;Q;467
28.18;R;467
28.19;S;467
28.20;T;467
28.21;U;467
28.22;V;468
28.23;W;468
28.24;X;468
28.25;Y;468