Real-Time C++ Efficient Object-Oriented and Template Microcontroller Programming. Bearbeitet von Christopher Kormanyos

Transcription

1 Real-Time C++ Efficient Object-Oriented and Template Microcontroller Programming Bearbeitet von Christopher Kormanyos 1. Auflage Buch. xxiv, 360 S. Hardcover ISBN Format (B x L): 15,5 x 23,5 cm Gewicht: 736 g Weitere Fachgebiete > EDV, Informatik > Programmiersprachen: Methoden > Funktionale, logische, parallele und visuelle Programmierung schnell und portofrei erhältlich bei Die Online-Fachbuchhandlung beck-shop.de ist spezialisiert auf Fachbücher, insbesondere Recht, Steuern und Wirtschaft. Im Sortiment finden Sie alle Medien (Bücher, Zeitschriften, CDs, ebooks, etc.) aller Verlage. Ergänzt wird das Programm durch Services wie Neuerscheinungsdienst oder Zusammenstellungen von Büchern zu Sonderpreisen. Der Shop führt mehr als 8 Millionen Produkte.

2 Contents Part I Language Technologies for Real-Time C++ 1 Getting Started with Real-Time C The LED Program The Syntax of C Class Types Members Objects and Instances #include Namespaces C++ Standard Library The main() Subroutine Low-Level Register Access Compile-Time Constant References Working with a Real-Time C++ Program on a Board The Target Hardware Build and Flash the LED Program Adding Timing for Visible LED Toggling Run and Reset the LED Program Recognizing and Handling Errors and Warnings Reaching the Right Efficiency References An Easy Jump-Start in Real-Time C Declare Locals when Used Fixed-Size Integer Types The bool Type Organization with Namespaces Basic Classes Basic Templates xv

3 xvi Contents 3.7 nullptr Replaces NULL Generalized Constant Expressions with constexpr static_assert() Using <limits> std::array Basic STL Algorithms <numeric> atomic_load() and atomic_store() Object-Oriented Techniques for Microcontrollers Object Oriented Programming Objects and Encapsulation Inheritance Dynamic Polymorphism The Real Overhead of Dynamic Polymorphism Pure Virtual and Abstract Class Relationships Non-copyable Classes Constant Methods Static Constant Integral Members Class Friends Virtual Is Unavailable in the Base Class Constructor References C++ Templates for Microcontrollers Template Functions Template Scalability, Code Re-use and Efficiency Template Member Functions Template Class Types Template Default Parameters Template Specialization Static Polymorphism Using the STL with Microcontrollers Variadic Templates Template Metaprogramming Tuples and Generic Metaprogramming References Optimized C++ Programming for Microcontrollers Use Compiler Optimization Settings Know the Microcontroller s Performance Know an Algorithm s Complexity Use Assembly Listings Use Map Files Understand Name Mangling and De-mangling Know When to Use Assembly and When Not To Use Comments Sparingly

4 Contents xvii 6.9 Simplify Code with typedef Use Native Integer Types Use Scaling with Powers of Two Replace Multiply with Shift-and-Add Consider Advantageous Hardware Dimensioning Consider ROM-Ability Minimize the Interrupt Frame Use Custom Memory Management Use the STL Consistently Use Lambda Expressions Use Templates and Scalability Use Metaprogramming to Unroll Loops References Part II Components for Real-Time C++ 7 Accessing Microcontroller Registers Defining Constant Register Addresses Using Templates for Register Access Generic Templates for Register Access Bit-Mapped Structures Reference The RightStart The Startup Code Initializing RAM Initializing the Static Constructors The Connection Between the Linker and Startup Understand Static Initialization Rules Avoid Using Uninitialized Objects Jump to main() and Never return When in main(), What Comes Next? References Low-Level Hardware Drivers in C An I/O Port Pin Driver Template Class Programming Interrupts in C Implementing a System-Tick A Software PWM Template Class A Serial SPI TM Driver Class CPU-Load Monitors References Custom Memory Management Dynamic Memory Considerations Using Placement-new

5 xviii Contents 10.3 Allocators and STL Containers The Standard Allocator Writing a Specialized ring_allocator Using ring_allocator and Other Allocators Recognizing and Handling Memory Limitations References C++ Multitasking Multitasking Schedulers Task Timing The Task Control Block The Task List The Scheduler Extended Multitasking Preemptive Multitasking The C++ Thread Support Library References Part III Mathematics and Utilities for Real-Time C++ 12 Floating-Point Mathematics Floating-Point Arithmetic Mathematical Constants Elementary Functions Special Functions Complex-Valued Mathematics Compile-Time Evaluation of Functions with constexpr Generic Numeric Programming References Fixed-Point Mathematics Fixed-Point Data Types A Scalable Fixed-Point Template Class Using the fixed_point Class Fixed-Point Elementary Transcendental Functions A Specialization of std::numeric_limits References High-Performance Digital Filters A Floating-Point Order 1 Filter An Order 1 Integer Filter Order N Integer FIR Filters Some Worked-Out Filter Examples References C++ Utilities The nothing Structure The noncopyable Class

6 Contents xix 15.3 A Template timer Class Linear Interpolation A Circular Buffer Template Class The Boost Library References Extending the C++ Standard Library and the STL Defining the Custom dynamic_array Container Implementing and Using dynamic_array Writing Parts of the C++ Library if None Is Available Implementation Notes for Parts of the C++ Library and STL Providing now() for <chrono> s High-Resolution Clock Reference Additional Reading Literature List References Appendices 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 A.12 Range-Based for(:) A.13 Tuple A.14 Regular Expressions 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

7 xx Contents C.3 Building GMP C.4 Building MPFR C.5 Building MPC C.6 Building PPL C.7 Building the Binary Utilities for the Cross Compiler C.8 Building the Cross Compiler C.9 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