Summer Short Course on Embedded Systems Programming

本文转载至：http://rts.lab.asu.edu/web_ESP_Summer2014/ESP_Main_page.htm

The course was taught in Zhejiang University, Summer 2014. It provided the opportunities for students to learn various fundamental issues as well as practical development skill in the area of embedded systems programming. The goals of the course were to
let student

Understand the design issues of embedded software and gain an in-depth knowledge of development and execution environment on target processors.

Understand the functions and the internal structure of device interfaces, drivers, and real-time operating systems.

Acquire the skill to develop multi-threaded embedded software in target environment, including good quality and coding style for embedded programming, and testing and debugging approaches to verify embedded software operations.

Develop feasible task scheduling and carry out system performance and task schedulability analyses.

The target development environment used in the course was Intel's Galileo board. The board, with its rich architectural features, was used to investigate embedded software characteristics and IO operations, and to experience system design and development practices.

Reference material:

Intel® Quark SoC X1000 Core Developer’s Manual

Intel® Quark SoC X1000 Datasheet

Real-time Systems, by Jane Liu, Prentice Hall; ISBN: 0130996513.

The Linux Kernel Module Programming Guide, Peter Jay Salzman, Michael Burian, and Ori Pomerantz, 2007, ver 2.6.4, http://www.tldp.org/LDP/lkmpg/2.6/lkmpg.pdf.
Linux Device Drivers (3rd Edition), Jonathan Corbet, Alessandro Rubini, Greg Kroah-Hartman, 2005

Writing Linux Device Drivers: a guide with exercises, Jerry Cooperstein, ISBN: 978-1448672387

Debugging Embedded Linux, Christopher Hallinan, 2007

Prerequisites

1. Computer organization

2. Data structures

3. C/C++ programming

Note that it will be very helpful if you have some knowledge of Operating Systems and Computer architecture.

Course Schedule: (20minutes/lecture, 4 lectures/day)

Date

Classes (4 20-minutes lectures/day)

Lab and self-study (3 hours/day)

Monday, July 7

Introduction, Linux loadable modules

Exercise: data structures for Linux device drivers

Tuesday, July 8

Linux device driver

Lab: Linux loadable module

Wednesday, July 9

Quark SOC and Galileo architecture

Exercise: Galileo board design and GPIO programming

Thursday, July 10

Linux ISR and device driver

Exercise: user-level I2C programming

Friday, July 11

Thread and kernel synchronization

Lab: I2C-based EEPROM driver

Monday, July 14

Embedded programming

Exercise: setjmp and longjmp

Tuesday, July 15

Embedded programming

Lab: signal and asynchronous control

Wednesday, July 16

Real-time scheduling and analysis

Self-study: course review

Thursday, July 17

Real-time scheduling and analysis

Lab: real-time task management

Friday, July 18

Real-time scheduling and analysis

Final exam

Lecture slides and videos:

Lecture

Topic

Slide

Video

1

Introduction

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2

Trends of Embedded Systems

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3

ES Development Environment

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4

Linux Kernel Modules

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5

Linux Device Driver Basics

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6

Basic Data Structures for Device Driver

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7

Quark SOC and Galileo

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8

x86 Memory and Interrupt

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9

x86 System Architecture and PCI Bus

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10

PCI Configuration

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11

PCIe – An Introduction

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12

Quark I2C Interface

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13

Linux GPIO & I2C Drivers

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14

Interrupt Processing in Linux

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15

Linux ISR and Work Queue

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16

Work Queue and Input Processing in Linux

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17

Input Processing in Linux

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18

Task Model

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19

pthread Programming

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20

Synchronization Mechanisms (1)

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21

Synchronization Mechanisms (2)

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22

RT Task Model

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23

Overrun Management

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24

Signaling

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25

Kernel Signal Mechanism

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26

Synchronous Model

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27

Model and Cyclic Scheduling

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28

EDF

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29

Rate Monotonic Scheduling

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30

Response Time Analysis

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31

Interrupts and non-RM Tasks

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32

Priority Inversion

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33

RT Synchronization Protocol (1)

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34

RT Synchronization Protocol (2)

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35

RT Synchronization Protocol (3)

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36

Aperiodic Server

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37

A Case Study

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38

WCET Analysis (1)

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39

WCET Analysis (2)

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40

Multicore Embedded Systems

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