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the traditional embedded system and the general-purpose PC systems, this book supports the evolutionary view of embedded systems that encompasses these types of computer system designs.
Embedded systems in robotics are the framework that allows electro-mechanical systems to be implemented into modern machines. The key aspects of this framework are C programming in embedded controllers, circuits for interfacing microcontrollers with sensors and actuators, and proper filtering and control of those hardware components.
- 6MB
- 164
Jan 1, 2021 · • Provides a semester-length textbook, with comprehensive coverage of the fundamental knowledge in embedded and cyber-physical systems; • Links modeling and hardware, in order to bridge the gap...
- Peter Marwedel
This open access book aims to provide a comprehensive introduction to the fundamental knowledge in embedded systems, with applications in cyber-physical systems and the Internet of things. It also contains a selected set of optimization techniques, including software optimization techniques.
- Peter Marwedel
- SUMMARY
- void main (void )
- 2.3 FORMATTED OUTPUT
- Example 2.4
- Example 2.6
- 2.4.1 VARIABLE NAMES
- Example 2.13
- 2.4.2 TYPE CONVERSIONS
- 2.4.3 CONSTANTS
- Example 2.21
- typedef enum
- b a ⇒ b = aq
- Example 2.30
- Example 2.31
- 2.5 CONTROL FLOW
- default :
- break ;
- 2.5.5 INFINITE LOOPS
- return 0;
- 2.5.6 MISCELLANEOUS (PLEASE DON’T USE)
- 2.5.6.1 Break
- 2.5.6.2 Continue
- 2.5.6.3 Goto and Labels
- Example 2.46
- Example 2.49
- 2.7 SCOPE RULES
- Example 2.50
- int x;
- Example 2.51
- #define _FILE_B
- unsigned char i;
- Example 2.56
- Example 2.57
- Example 2.64
- 2.8.1 PASSING BY REFERENCE
- 2.8.2 DYNAMIC MEMORY ALLOCATION
- short *p;
- short *p;
- 2.10 FUNCTION POINTERS
- int *f (void );
- Example 2.77
- Example 2.83
- Example 2.85
- Example 2.86
- 2.11.1 TYPEDEF
- 2.12 UNIONS
- 2.13 BIT-FIELDS
- unsigned int flags;
- 2.14 VARIABLE-LENGTH ARGUMENT LISTS
- Example 2.92
- 3.1 BACKGROUND
- 4.1 INTRODUCTION
- 4.2 DEBUGGING THE ARDUINO TUTORIAL
- 6.1.1 INTRODUCTION
- 6.2.2 INTERNAL PULL-UP RESISTOR
- 6.3.2 MANAGING INPUTS
- Example 6.5
- 7.1.1 INTRODUCTION
- 8.1 ANALOG-TO-DIGITAL CONVERTERS
- 8.3.2 ADCSRA - ADC CONTROL AND STATUS REGISTER A
- 8.3.3.2 ADLAR = 1
- 8.3.6 ACSR - ANALOG COMPARATOR CONTROL AND STATUS REGISTER
- 9.1 INTRODUCTION
- 9.1.1 CONTEXT
- unsigned long g_timerCount;
- Example 9.2
- unsigned char shadow;
- 9.2.16 SPSR - SPI STATUS REGISTER
- 9.2.19 TWCR - TWI CONTROL REGISTER
- 9.2.20 ADCSRA - ADC CONTROL AND STATUS REGISTER A
- 10.1 INTRODUCTION
- MOSI MISO SCLK
- 10.1.5 INTERRUPT-BASED SERIAL PORT MANAGEMENT IN C
- unsigned char dataByte;
- unsigned char receiveHead;
- Example 10.6
- Example 10.8
- 10.2.2 TWCR - TWI CONTROL REGISTER
- 10.2.4 TWDR - TWI DATA REGISTER
- 11.1 INTRODUCTION
- 11.2 ARDUINO TOOL-CHAIN
- Windows: C:\arduino-0018\hardware\tools\avr\bin
- MacOSX: open /Applications/Utilities/Terminal
- Windows: {P AT H }=C:\arduino-0018\hardware\tools\avr
- Example 11.1
- return 0;
- unsigned char *portDDR; unsigned char *portData;
- 11.3 ARDUINO ASSEMBLY
- 11.4 ARDUINO INLINE ASSEMBLY
- + ci 1 −
- 12.1 INTRODUCTION
- Example 12.1
- Example 12.2
- SREG - AVR STATUS REGISTER
- INTRODUCTION
- D.1.2.1 Code
- D.1.2.2 Comments
- D.1.3.1 Layout of the Recommendations
- D.1.3.2 Recommendation Importance
- 15. Class declarations should have the following form:
- const void * itemTwo ,
In electrical and computer engineering, there are always problems that require a designed solution. Historically, each solution would be a specific hardware implementation completely unique to the application at hand. Modern day solutions involve as much intellectual reuse as possible, beginning with the system-level controlling mechanism – the mic...
{ printf ("Hello , World!\n"); } A C program consists of functions, i.e., methods, routines, procedures, etc., and variables. Functions contain statements that specify the computing operations to be done.Variables store values used in the computations. In Ex. 2.2, main() and printf() are both functions. Note that typically, main() is always the sta...
Often in embedded environments, we have to rely completely on printf() in order to look at variable values, which is a fundamental component in the debugging process. The fprintf() function provides formatted output conversion.
int fprintf (FILE *stream , const char *format , ...) This function converts and writes output to stream under the control of format.The return value is the number of characters written, or negative if an error occurred.The format string contains two types of objects. Ordinary characters, which are copied to the output stream, and conversion specif...
int printf (const char *format , ...) is equivalent to int fprintf (stdout , ...)
Legal variable labels are composed of alphanumeric characters and _. Additionally, the first character must be an alphabetic letter or _. Labels in C are case sensitive, so Done and done are two different variables. Also, you can not use keywords as variable names.
int g_interruptCounter1; /* valid and self -documenting */ int 2lines; /* not valid */ int _x; /* valid , but not very meaningful */ int int ; int float ; int if ; int while ; /* not valid */ /* not valid */ /* not valid */ /* not valid */ As an aside, there are varying degrees of quality regarding source-code listings. Consider the labels used to ...
C allows for assigning variables to each other even of different types. But what about the storage difference?
Several methods are available for specifying constant values in the C programming language. The first method is immediate placement of the desired value.
It is considered good coding practice to define all constants (except 0 and 1, where meaning is obvious) in a header file or at the top of the current source file.This is done by creating a macro with the preprocessor directive statement #define. Before compilation occurs, the preprocessor replaces all occurrences of the macro label with its define...
{ FALSE , TRUE } Boolean; /* skipping many lines */ void SomeFunction (void ) {
+ r. ANSI C does define an order of precedence regarding operators. But you should never rely on it; it is much better coding practice to force the precedence you intend by using parenthesis.
The following two examples result in identical results. /* This conditional expression ... */ z = (a > b) ? c : d; /* ...is the same as the following code. */ if (a > b) { z = c; }
#define MAX(a,b) ((a > b) ? a : b) /* z will be assigned the maximum of the two values. */ z = MAX(x,y);
All structural programming languages (even assembly languages) have constructs that allow for an algorithm to execute different instructions depending on various conditions.In general,an expression is executed and compared to zero providing a true or false result.These boolean conditions are one of the cornerstones of microprocessor execution. They...
/* Performed when expression != any constant expression */ statements
} The statements following the first constant expressioni label equal to expression are executed. Note that break is used to prevent the fall-through condition.That is, without the break statement, the code in the subsequent case will be executed. This is allowed by the compiler, but terrible coding practice. It is much better coding practice to “a...
Loops that repeat execution “forever” are called infinite loops. You might be wondering why such a construct exists, as once the algorithm enters an infinite loop it doesn’t exit (until execution is halted by outside force). However, an infinite loop is a very important and fundamental concept necessary to many applications. For example, consider r...
} Notice the general structure inside the main() function begins by initializing various periph-erals, memory, etc., before entering an infinite loop.
The following are a part of ANSI C but should “never” be used for the sake of maintainable code.
A break allows for the early exit from a loop. It is useful (and actually required for maintainable code) within a switch statement so the code in subsequent cases is not executed.
A continue is similar to break in that when executed the remaining code in the loop block is skipped. However, it differs from break in that the loop continues to execute.
Worst of all, goto and labels should be avoided at all costs (and can be). However, one place that is riddled with goto usage is within Linux device drivers, where a number of conditions can cause an error to occur resulting in the necessary clean-up of any previous allocations.The reality is that gotos in these situations could have been avoided, ...
return_type functionName (argument declarations) { declarations statements } Note that various parts are optional and may be absent.
/* Prototype */ return_type functionName (argument declarations); /* skip lots of code */ /* actual function */ return_type functionName (argument declarations) { /* skip code */ }
The scope of a label is the part of the program within which it can be used. Variables may be used only in the block in which they are declared. This includes any sub-blocks also declared within the block. Any block may contain variable declarations. Variables are not visible to any code outside of the defining block. Global variables are available...
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
const void * itemThree , const void * itemFour , const void * itemFive , const void * itemSix); Enhances readability. Also allows commenting each of the parameters individually if necessary.
Obtain direct hands-on experience on both hardware and software elements commonly used in embedded system design. Understand the basics of embedded system application concepts such as signal processing and feedback control. Understand, and be able to discuss and communicate intelligently about.
People also ask
What are embedded systems in robotics?
What are the components of an embedded system?
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What is the architecture of an embedded system?
Why do we use an architectural systems engineering approach to embedded systems?
Theoretical foundations and principles of the analysis and design of embedded systems. Practical aspects of embedded system design, mainly software design. The course has three components: Lecture: Communicate principles and practical aspects of embedded systems. Exercise: Use paper and pencil to deepen your understanding of analysis and
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