Chapter 12. QP-nano: How Small Can You Go?
All life on Earth is insects…
—Scientific American, July 2001
In this chapter I describe a reduced version of the event-driven infrastructure called QP-nano, which has been specifically designed to enable active object computing with UML-style hierarchical state machines on low-end 8- and 16-bit single-chip microcontrollers (MCUs). By low-end MCUs I mean devices such as 8051, PIC, AVR, MSP430, 68HC08/11/12, R8C/Tiny, and others alike, with a few hundred bytes of RAM and a few kilobytes of ROM. Embedded in myriads of products, these “invisible computers” far outnumber all other processor types in a similar way as countless species of insects far outnumber all other life forms on Earth [Turely 02].
Even though ...
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