book

Real-Time Embedded Systems

by Ivan Cibrario Bertolotti, Gabriele Manduchi

December 2017

Intermediate to advanced

534 pages

14h 57m

English

CRC Press

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Cover Page
Half title
Title Page
Copyright
Foreword
The Authors
Acknowledgments
Dedication Page
List of Figures
List of Tables
Table of Contents

1 Introduction
I Concurrent Programming Concepts
2 A Case Study: Vision Control
2.1 Input Output on Computers2.1.1 Accessing the I/O Registers2.1.2 Synchronization in I/O2.1.3 Direct Memory Access (DMA)2.2 Input/Output Operations and the Operating System2.2.1 User and Kernel Modes2.2.2 Input/Output Abstraction in Linux2.3 Acquiring Images from a Camera Device2.3.1 Synchronous Read from a Camera Device2.3.2 Virtual Memory2.3.3 Handling Data Streaming from the Camera Device2.4 Edge Detection2.4.1 Optimizing the Code2.5 Finding the Center Coordinates of a Circular Shape2.6 Summary
3 Real-Time Concurrent Programming Principles
3.1 The Role of Parallelism3.2 Definition of Process3.3 Process State3.4 Process Life Cycle and Process State Diagram3.5 Multithreading3.6 Summary
4 Deadlock
4.1 A Simple Example4.2 Formal Definition of Deadlock4.3 Reasoning about Deadlock: The Resource Allocation Graph4.4 Living with Deadlock4.5 Deadlock Prevention4.6 Deadlock Avoidance4.7 Deadlock Detection and Recovery4.8 Summary
5 Interprocess Communication Based on Shared Variables
5.1 Race Conditions and Critical Regions5.2 Hardware-Assisted Lock Variables5.3 Software-Based Mutual Exclusion5.4 From Active to Passive Wait5.5 Semaphores5.6 Monitors5.7 Summary
6 Interprocess Communication Based on Message Passing
6.1 Basics of Message Passing6.2 Naming Scheme6.3 Synchronization Model6.4 Message Buffers6.5 Message Structure and Contents6.6 Producer–Consumer Problem with Message Passing6.7 Summary
7 Interprocess Communication Primitives in POSIX/Linux
7.1 Threads and Processes7.1.1 Creating Threads7.1.2 Creating Processes7.2 Interprocess Communication among Threads7.2.1 Mutexes and Condition Variables7.3 Interprocess Communication among Processes7.3.1 Semaphores7.3.2 Message Queues7.3.3 Signals7.4 Clocks and Timers7.5 Threads or Processes?7.6 Summary
8 Interprocess Communication Primitives in FreeRTOS
8.1 FreeRTOS Threads and Processes8.2 Message Queues8.3 Counting, Binary, and Mutual Exclusion Semaphores8.4 Clocks and Timers8.5 Summary
9 Network Communication
9.1 The Ethernet Protocol9.2 TCP/IP and UDP9.3 Sockets9.3.1 TCP/IP Sockets9.4 UDP Sockets9.5 Summary
10 Lock and Wait-Free Communication
10.1 Basic Principles and Definitions10.2 Multidigit Registers10.3 Application to the Readers/Writer Problem10.4 Universal Constructions10.5 Summary
II Real-Time Scheduling Analysis
11 Real-Time Scheduling Based on the Cyclic Executive
11.1 Scheduling and Process Models11.2 The Cyclic Executive11.3 Choice of Major and Minor Cycle Length11.4 Tasks with Large Period or Execution Time11.5 Summary
12 Real-Time, Task-Based Scheduling
12.1 Fixed and Variable Task Priority12.1.1 Preemption12.1.2 Variable Priority in General Purpose Operating Systems12.2 Rate Monotonic12.2.1 Proof of Rate Monotonic Optimality12.3 The Earliest Deadline First Scheduler12.4 Summary
13 Schedulability Analysis Based on Utilization
13.1 Processor Utilization13.2 Sufficient Schedulability Test for Rate Monotonic13.2.1 Ulub for Two Tasks13.2.2 Ulub for N Tasks13.3 Schedulability Test for EDF13.4 Summary
14 Schedulability Analysis Based on Response Time Analysis
14.1 Response Time Analysis14.2 Computing the Worst-Case Execution Time14.3 Aperiodic and Sporadic Tasks14.4 Summary
15 Task Interactions and Blocking
15.1 The Priority Inversion Problem15.2 The Priority Inheritance Protocol15.3 The Priority Ceiling Protocol15.4 Schedulability Analysis and Examples15.5 Summary
16 Self-Suspension and Schedulability Analysis
16.1 Self-Suspension and the Critical Instant Theorem16.2 Self-Suspension and Task Interaction16.3 Extension of the Response Time Analysis Method16.4 Summary
III Advanced Topics
17 Internal Structure of FreeRTOS
17.1 Task Scheduler/Context Switch17.2 Synchronization Primitives17.3 Porting FreeRTOS to a New Architecture17.4 Summary
18 Internal Structures and Operating Principles of Linux Real-Time Extensions
18.1 The Linux Scheduler18.2 Kernel Preemption18.3 The PREEMPT_RT Linux Patch18.3.1 Practical Considerations18.4 The Dual-Kernel Approach18.4.1 Adeos18.4.2 Xenomai18.4.3 RTAI18.5 Summary
19 OS Abstraction Layer
19.1 An Object Oriented Interface to Threads and Other IPC Mechanisms19.1.1 Linux Implementation19.1.2 FreeRTOS Implementation19.2 A Sample Multiplatform Application19.3 Summary
20 Control Theory and Digital Signal Processing Primer
20.1 Case Study 1: Controlling the Liquid Level in a Tank20.1.1 The Use of Differential Equations to Describe the Dynamics of the System20.1.2 Introducing an Integral Gain20.1.3 Using Transfer Functions in the Laplace Domain20.1.4 Deriving System Properties from Its Transfer Function20.1.5 Implementing a Transfer Function20.1.6 What We Have Learned20.2 Case Study 2: Implementing a Digital low-pass Filter20.2.1 Harmonics and the Fourier Transform20.2.2 Low-Pass Filters20.2.3 The Choice of the Sampling Period20.2.4 Building the Digital Low-Pass Filter20.2.5 Signal to Noise Ratio (SNR)20.3 Summary
Bibliography
Index

Content preview from Real-Time Embedded Systems

A Case Study: Vision Control

2.1 Input Output on Computers

2.1.1 Accessing the I/O Registers

2.1.2 Synchronization in I/O

2.1.3 Direct Memory Access (DMA)

2.2 Input/Output Operations and the Operating System

2.2.1 User and KernelModes

2.2.2 Input/Output Abstraction in Linux

2.3 Acquiring Images froma Camera Device

2.3.1 Synchronous Read from a Camera Device

2.3.2 VirtualMemory

2.3.3 Handling Data Streaming from the Camera Device

2.4 Edge Detection

2.4.1 Optimizing the Code

2.5 Finding the Center Coordinates of a Circular Shape

2.6 Summary

This chapter describes a case study consisting of an embedded application performing online image processing. Both theoretical and practical concepts are introduced here: after an overview ...

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Real-Time Embedded Systems

by Ivan Cibrario Bertolotti, Gabriele Manduchi

2

A Case Study: Vision Control

CONTENTS

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