دانلود کتاب Real-Time C++: Efficient Object-Oriented and Template Microcontroller Programming

فهرست مطالب :

Preface to the Fourth Edition
New or Significantly Modified Sections
Improved or New Examples and Code Snippets
Companion Code
Further Notes on Coding Style
Updated Trademarks and Acknowledgments
Preface to the Third Edition
New or Significantly Modified Sections
Improved or New Examples and Code Snippets
Companion Code
Further Notes on Coding Style
Updated Trademarks and Acknowledgments
Preface to the Second Edition
Companion Code
More Notes on Coding Style
Preface to the First Edition
About This Book
Companion Code, Targets, and Tools
Notes on Coding Style
Acknowledgments
Contents
Acronyms
References
Part I Language Technologies for Real-Time C++
1 Getting Started with Real-Time C++
1.1 The LED Program
1.2 The Syntax of C++
1.3 Class Types
1.4 Members
1.5 Objects and Instances
1.6 #include
1.7 Namespaces
1.8 C++ Standard Library
1.9 The main() Subroutine
1.10 Low-Level Register Access
1.11 Compile-Time Constant
References
2 Working with a Real-Time C++ Program on a Board
2.1 The Target Hardware
2.2 Build and Flash the LED Program
2.3 Adding Timing for Visible LED Toggling
2.4 Run and Reset the LED Program
2.5 Recognizing and Handling Errors and Warnings
2.6 Reaching the Right Efficiency
References
3 An Easy Jump Start in Real-Time C++
3.1 Declare Locals When Used
3.2 Fixed-Size Integer Types and Prime Number Example
3.3 The bool Type
3.4 Organization with Namespaces
3.5 Basic Classes
3.6 Basic Templates
3.7 nullptr Replaces NULL
3.8 Generalized Constant Expressions with constexpr
3.9 static_assert
3.10 Using
3.11 std::array
3.12 Basic STL Algorithms
3.13
3.14 atomic_load() and atomic_store()
3.15 Digit Separators
3.16 Binary Literals
3.17 User-Defined Literals
3.18 Using alignof and alignas
3.19 The Specifier final
3.20 Alias as an Alternative to typedef
3.21 Delimiting Pointer Ranges with
3.22 Generating Random Numbers with
References
4 Object-Oriented Techniques for Microcontrollers
4.1 Object Oriented Programming
4.2 Objects and Encapsulation
4.3 Inheritance
4.4 Dynamic Polymorphism and a Detailed LED Example
4.5 The Real Overhead of Dynamic Polymorphism
4.6 Pure Virtual and Abstract
4.7 Class Relationships
4.8 Non-copyable Classes
4.9 Constant Methods
4.10 Static Constant Integral Members
4.11 Class Friends
4.12 Virtual Is Unavailable in the Base Class Constructor
References
5 C++ Templates for Microcontrollers
5.1 Template Functions
5.2 Template Scalability, Code Re-Use and Efficiency
5.3 Template Member Functions
5.4 Template Class Types
5.5 Template Default Parameters
5.6 Template Specialization
5.7 Static Polymorphism
5.8 Using the STL with Microcontrollers
5.9 Variadic Templates
5.10 Template Metaprogramming
5.11 Tuples and Generic Metaprogramming
5.12 Variable Templates
5.13 Template Integer Sequences
References
6 Optimized C++ Programming for Microcontrollers
6.1 Use Compiler Optimization Settings
6.2 Know the Microcontroller\'s Performance
6.3 Know an Algorithm\'s Complexity
6.4 Use Assembly Listings
6.5 Use Map Files
6.6 Understand Name Mangling and De-mangling
6.7 Know When to Use Assembly and When Not to
6.8 Use Sensible Comments
6.9 Simplify Code with typedef and Alias
6.10 Use Native Integer Types
6.11 Use Scaling with Powers of Two
6.12 Potentially Replace Multiply with Shift-and-Add
6.13 Consider Advantageous Hardware Dimensioning
6.14 Consider ROM-ability
6.15 Minimize the Interrupt Frame
6.16 Use Custom Memory Management
6.17 Use the STL Consistently
6.18 Use Lambda Expressions
6.19 Use Templates and Scalability
6.20 Use Metaprogramming to Unroll Loops
6.21 Potential Costs of Runtime Type Information (RTTI)
References
Part II Components for Real-Time C++
7 Accessing Microcontroller Registers
7.1 Defining Constant Register Addresses
7.2 Using Templates for Register Access
7.3 Generic Templates for Register Access
7.4 Bit-Mapped Structures
Reference
8 The Right Start
8.1 The Startup Code
8.2 Initializing RAM
8.3 Initializing the Static Constructors
8.4 The Connection Between the Linker and Startup
8.5 Understand Static Initialization Rules
8.6 Avoid Using Uninitialized Objects
8.7 Jump to main() and Never return
8.8 When in main(), What Comes Next?
References
9 Low-Level Hardware Drivers in C++
9.1 An I/O Port Pin Driver Template Class
9.2 Programming Interrupts in C++
9.3 Implementing a System Tick
9.4 A Software PWM Template Class
9.5 A Serial SPI Driver Class
9.6 CPU-Load Monitors
9.7 Controlling a Seven-Segment Display
9.8 Animating an RGB LED
References
10 Custom Memory Management
10.1 Dynamic Memory Considerations
10.2 Using Placement-new
10.3 Allocators and STL Containers
10.4 The Standard Allocator
10.5 Writing a Specialized ring_allocator
10.6 Using ring_allocator and Other Allocators
10.7 Recognizing and Handling Memory Limitations
10.8 Off-Chip Memory and Computing 100,001 Digits of π
10.9 Using Ample RAM on Arm®-Based Single-Board Computer
References
11 C++ Multitasking
11.1 Multitasking Schedulers
11.2 Task Timing
11.3 The Task Control Block
11.4 The Task List
11.5 The Scheduler
11.6 Extended Multitasking
11.7 Preemptive Multitasking
11.8 The C++ Thread Support Library
References
Part III Mathematics and Utilities for Real-Time C++
12 Floating-Point Mathematics
12.1 Floating-Point Arithmetic
12.2 Mathematical Constants
12.3 Elementary Functions
12.4 Special Functions
12.5 Complex-Valued Mathematics
12.6 Compile-Time Evaluation of Functions with constexpr
12.7 Generic Numeric Programming
References
13 Fixed-Point Mathematics
13.1 Fixed-Point Data Types
13.2 A Scalable Fixed-Point Template Class
13.3 Using the fixed_point Class
13.4 Fixed-Point Elementary Transcendental Functions
13.5 A Specialization of std::numeric_limits
References
14 High-Performance Digital Filters
14.1 A Floating-Point Order-1 Filter
14.2 An Order-1 Integer Filter
14.3 Order-N Integer FIR Filters
14.4 Some Worked-Out Filter Examples
References
15 C++ Utilities
15.1 The nothing Structure
15.2 The noncopyable Class
15.3 A Template timer Class
15.4 Linear Interpolation
15.5 A circular_buffer Template Class
15.6 The Boost Library
References
16 Extending the C++ Standard Library and the STL
16.1 Defining the Custom dynamic_array Container
16.2 Implementing and Using dynamic_array
16.3 Writing Parts of the C++ Library if None Is Available
16.4 Implementation Notes for Parts of the C++ Library and STL
16.5 Providing now() for \'s High-Resolution Clock
16.6 Extended-Complex Number Templates
16.7 An Embeddable Big Integer Class
16.8 Customizing
16.9 Freestanding Implementation
References
17 Using C-Language Code in C++
17.1 Accessing C Language Code in C++
17.2 An Existing C-Language CRC Library
17.3 Wrapping the C-Based CRC Library with C++ Classes
17.4 Return to Investigations of Efficiency and Optimization
References
18 Additional Reading
18.1 Literature List
References
A A Tutorial for Real-Time C++
A.1 C++ Cast Operators
A.2 Uniform Initialization Syntax
A.3 Overloading
A.4 Compile-Time Assert
A.5 Numeric Limits
A.6 STL Containers
A.7 STL Iterators
A.8 STL Algorithms
A.9 Lambda Expressions
A.10 Initializer Lists
A.11 Type Inference and Type Declaration with auto and decltype
A.12 Range-Based for(:)
A.13 Tuple
A.14 Regular Expressions
A.15 The Library
A.16 Using std::any and std::variant
A.17 Structured Binding Declarations
A.18 Three-Way Comparison
References
B A Robust Real-Time C++ Environment
B.1 Addressing the Challenges of Real-Time C++
B.2 Software Architecture
B.3 Establishing and Adhering to Runtime Limits
References
C Building and Installing GNU GCC Cross Compilers
C.1 The GCC Prerequisites
C.2 Getting Started
C.3 Building GMP
C.4 Building MPFR
C.5 Building MPC
C.6 Building PPL
C.7 Building ISL
C.8 Building the Binary Utilities for the Cross Compiler
C.9 Building the Cross Compiler
C.10 Using the Cross Compiler
References
D Building a Microcontroller Circuit
D.1 The Circuit Schematic
D.2 Assembling the Circuit on a Breadboard
References
Glossary
Index