- •List of Figures
- •List of Tables
- •Preface
- •1 Requirements
- •1.1 General Requirements
- •1.2 Memory Requirements
- •1.3 Performance
- •1.4 Portability
- •2 Concepts
- •2.1.1 Compiling and Linking
- •2.2 Loading and Execution of Programs
- •2.3 Preemptive Multitasking
- •2.3.1 Duplication of Hardware
- •2.3.2 Task Switch
- •2.3.3 Task Control Blocks
- •2.3.4 De-Scheduling
- •2.4 Semaphores
- •2.5 Queues
- •2.5.1 Ring Buffers
- •2.5.2 Ring Buffer with Get Semaphore
- •2.5.3 Ring Buffer with Put Semaphore
- •2.5.4 Ring Buffer with Get and Put Semaphores
- •3 Kernel Implementation
- •3.1 Kernel Architecture
- •3.2 Hardware Model
- •3.2.1 Processor
- •3.2.2 Memory Map
- •3.2.3 Peripherals
- •3.2.4 Interrupt Assignment
- •3.2.5 Data Bus Usage
- •3.3 Task Switching
- •3.4 Semaphores
- •3.4.1 Semaphore Constructors
- •3.4.2 Semaphore Destructor
- •3.4.3 Semaphore P()
- •3.4.4 Semaphore Poll()
- •3.4.5 Semaphore V()
- •3.5 Queues
- •3.5.1 Ring Buffer Constructor and Destructor
- •3.5.2 RingBuffer Member Functions
- •3.5.3 Queue Put and Get Functions
- •3.5.4 Queue Put and Get Without Disabling Interrupts
- •3.6 Interprocess Communication
- •3.7 Serial Input and Output
- •3.7.1 Channel Numbers
- •3.7.2 SerialIn and SerialOut Classes and Constructors/Destructors
- •3.7.3 Public SerialOut Member Functions
- •3.7.4 Public SerialIn Member Functions
- •3.8 Interrupt Processing
- •3.8.1 Hardware Initialization
- •3.8.2 Interrupt Service Routine
- •3.9 Memory Management
- •3.10 Miscellaneous Functions
- •4 Bootstrap
- •4.1 Introduction
- •4.3.1 Task Parameters
- •4.3.2 Task Creation
- •4.3.3 Task Activation
- •4.3.4 Task Deletion
- •5 An Application
- •5.1 Introduction
- •5.2 Using the Monitor
- •5.3 A Monitor Session
- •5.4 Monitor Implementation
- •6 Development Environment
- •6.1 General
- •6.2 Terminology
- •6.3 Prerequisites
- •6.3.1 Scenario 1: UNIX or Linux Host
- •6.3.2 Scenario 2: DOS Host
- •6.3.3 Scenario 3: Other Host or Scenarios 1 and 2 Failed
- •6.4 Building the Cross-Environment
- •6.4.1 Building the GNU cross-binutils package
- •6.4.2 Building the GNU cross-gcc package
- •6.4.3 The libgcc.a library
- •6.5 The Target Environment
- •6.5.2 The skip_aout Utility
- •7 Miscellaneous
- •7.1 General
- •7.2 Porting to different Processors
- •7.2.1 Porting to MC68000 or MC68008 Processors
- •7.2.2 Porting to Other Processor families
- •7.3 Saving Registers in Interrupt Service Routines
- •A Appendices
- •A.1 Startup Code (crt0.S)
- •A.3 Task.cc
- •A.6 Semaphore.hh
- •A.7 Queue.hh
- •A.8 Queue.cc
- •A.9 Message.hh
- •A.10 Channels.hh
- •A.11 SerialOut.hh
- •A.12 SerialOut.cc
- •A.13 SerialIn.hh
- •A.14 SerialIn.cc
- •A.15 TaskId.hh
- •A.18 ApplicationStart.cc
- •A.19 Monitor.hh
- •A.20 Monitor.cc
- •A.22 SRcat.cc
- •Index
2. Concepts |
11 |
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2.2Loading and Execution of Programs
After a program has been compiled and linked, it can be executed. While compilation and linking is basically identical for embedded systems and general purpose computers, there are some differences regarding the execution of programs. Table 2.1 lists the steps performed during program execution and shows the differences between general purpose computers and embedded systems:
|
General Purpose Computer |
Embedded System |
|
|
|
1 |
The TEXT section of the program |
The TEXT section is already |
|
is loaded into the program memory |
existing in the program memory |
|
(part of the computer’s RAM). |
(EEPROM) of the embedded |
|
|
system. |
|
|
|
2 |
Depending on the object format |
The addresses are computed by the |
|
generated by the linker, the |
linker. |
|
addresses of the TEXT section may |
|
|
need to be relocated. If the compiler |
|
|
produced position independent |
|
|
code (PIC), this step is omitted. |
|
|
|
|
3 |
The DATA section of the program |
The DATA section is already in the |
|
is loaded into program memory |
EEPROM of the embedded system. |
|
(part of the computer’s RAM). |
|
|
|
|
4 |
Depending of the object format |
The DATA section is copied as a |
|
generated by the linker, the |
whole to its final address in RAM. |
|
addresses of the TEXT section may |
|
|
need to be relocated. |
|
|
|
|
TABLE 2.1 Execution of a program
Obviously, the execution of a program in an embedded system is much easier than in a general purpose computer.
