CONTENIDO: COMPUTER ARCHITECTURE
Introduction to Real-Time Operating Systems
Real-time operating systems
Embedded Systems
Computer Architecture
Computers, processors, and microcontrollers
Memory
Cortex-M Processor Architecture
Registers
Stack
Operating modes
Reset
Clock system
Texas Instruments Cortex-M Microcontrollers
Introduction to I/O
Texas Instruments TM4C123 LaunchPad I/O pins
Texas Instruments TM4C1294 Connected LaunchPad I/O pins
Texas Instruments MSP432 LaunchPad I/O pins
Interfacing to a LaunchPad
ARM Cortex-M Assembly Language
Syntax
Addressing modes and operands
List of twelve instructions
Accessing memory
Functions
ARM Cortex Microcontroller Software Interface Standard
Conditional execution
Stack usage
Floating-point math
Keil assembler directives
Pointers in C
Pointers
Arrays
Linked lists
Memory Management
Use of the heap
Simple fixed-size heap
Memory manager: malloc and free
Introduction to debugging
Exercises
MICROCONTROLLER INPUT/OUTPUT
Parallel I/O
TM4C I/O programming
MSP432 I/O programming
Interrupt
NVIC
SysTick periodic interrupts
Periodic timer interrupts
Critical sections
Executing periodic tasks
Software interrupts
First in First Out (FIFO) Queues
Edge-triggered Interrupts
Edge-triggered interrupts on the TM4C123
Edge-triggered Interrupts on the MSP432
UART Interface
Transmitting in asynchronous mode
Receiving in asynchronous mode
Interrupt-driven UART on the TM4C123
Interrupt-driven UART on the MSP432
Synchronous Transmission and Receiving using the SSI
Input Capture or Input Edge Time Mode
Basic principles
Period measurement on the TM4C123
Period measurement on the MSP432
Pulse width measurement
Ultrasonic distance measurement
Pulse Width Modulation
Pulse width modulation on the TM4C123
Pulse width modulation on the MSP432
Analog Output
Analog Input
ADC Parameters
Internal ADC on TM4C Internal ADC on MSP432
IR distance measurement
OS Considerations for I/O Devices
Board Support Package
Path Expression
Debugging
Functional Debugging
Performance Debugging (FFT analysis
Debugging heartbeat
Profiling
Exercises
THREAD MANAGEMENT
Introduction to RTOS
Motivation
Parallel, distributed and concurrent programming
Introduction to threads
States of a main thread
Real-time systems
Producer/Consumer problem using a mailbox
Scheduler
Function pointers
Thread Management
Two types of threads
Thread Control Block (TCB)
Creation of threads
Launching the OS
Switching threads
Profiling the OS
Linking assembly to C
Periodic tasks
Semaphores
Thread Synchronization
Resource sharing, nonreentrant code or mutual exclusion
Condition variable
Thread communication between two threads using a mailbox
Process Management
Dynamic loading and linking
Exercises
TIME MANAGEMENT
Cooperation
Spin-lock semaphore implementation with cooperation
Cooperative Scheduler
Blocking semaphores
The need for blocking
The blocked state
Implementation
Thread rendezvous
First In First Out Queue
Producer/Consumer problem using a FIFO
Little’s Theorem
FIFO implementation
Three-semaphore FIFO implementation
Two-semaphore FIFO implementation
One-semaphore FIFO implementation
Kahn Process Networks
Thread sleeping
Deadlocks
Monitors
Fixed Scheduling
Exercises
REAL-TIME SYSTEMS
Data Acquisition Systems
Approach
Performance Metrics
Audio Input/Output
Priority scheduler
Implementation
Multi-level Feedback Queue
Priority inversion and inheritance on Mars Pathfinder
Debouncing a switch
Approach to debouncing
Debouncing a switch on TM4C123
Debouncing a switch on MSP432
Running event threads as high priority main threads
Available RTOS
Micrium uC/OS-II
Texas Instruments RTOS
ARM RTX Real-Time Operating System
FreeRTOS Other Real Time Operating Systems
Exercises
DIGITAL SIGNAL PROCESSING
Basic Principles
Multiple Access Circular Queue
Using the Z-Transform to Derive Filter Response
IIR Filter Design Using the Pole-Zero Plot
Discrete Fourier Transform
FIR Filter Design
Direct-Form Implementations
Exercises
HIGH-SPEED INTERFACING
The Need for Speed
TIME MANAGEMENT
High-Speed I/O Applications
General Approaches to High-Speed Interfaces
Hardware FIFO
Dual Port Memory
Bank-Switched Memory
Fundamental Approach to DMA
DMA Cycles
DMA Initiation
Burst versus Single Cycle DMA
Single Address versus Dual Address DMA
DMA programming on the TM4C123
Exercises
FILE SYSTEM MANAGEMENT
Performance Metrics
Usage
Specifications
Fragmentation
File System Allocation
Contiguous allocation
Linked allocation
Indexed allocation
File allocation table (FAT)
Solid State Disk
Flash memory
Flash device driver
eDisk device driver
Secure digital card interface
Simple File System
Directory
Allocation
Free space management
Write-once File System
Usage
Allocation
Directory
Append
Free space management
Readers-Writers Problem
Exercises
COMMUNICATION SYSTEMS
Fundamentals
The network
Physical Channel
Wireless Communication
Radio
Controller Area Network (CAN)
The Fundamentals of CAN
Texas Instruments TM4C CAN
Embedded Internet
Abstraction
Message Protocols
Ethernet Physical Layer
Ethernet on the TM4C1294
Internet of Things
Basic Concepts
UDP and TCP Packets
Web server
UDP communication over WiFi
Other CC3100 Applications
Bluetooth Fundamentals
Bluetooth Protocol Stack
Client-server Paradigm
CC2650 Solutions
CC2650 Microcontroller
Single Chip Solution, CC2650 LaunchPad
Network Processor Interface (NPI)
Overview
Services and Characteristics
Advertising
Read and Write Indications
Application Layer Protocols for Embedded Systems
CoAP
MQTT
Exercises ROBOTIC SYSTEMS
Introduction to Digital Control Systems
Binary Actuators
Electrical Interface
DC Motor Interface with PWM
Sensors
Odometry
Simple Closed-Loop Control Systems
PID Controllers
General Approach to a PID Controller
Design Process for a PID Controller
Fuzzy Logic Control
Exercises
