时间触发嵌入式系统设计实战指南：RapidiTTy™Builder与应用开发

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"《时间触发嵌入式系统设计模式》是一本专门探讨单片机时间触发系统设计的专业书籍，从设计模式的角度深入剖析了此类系统的构建与优化。本书特别关注于8051系列的Time-Tigger应用，旨在提升读者在实际项目中的设计能力。 RapidiTTy™Builder是本书的核心工具，它提供了一整套库代码，涵盖了众多常见的嵌入式任务，如开关读取、液晶显示屏交互、ADC输入处理、RS-232通信、PWM输出等。这些库经过精心设计和配置，可以灵活地适应特定应用需求。例如，若需从模拟信号获取数据并进行处理后输出结果，用户只需： 1. 选择并配置ADC库。 2. 选择并配置PWM库。 3. 编写少量的代码将两者连接起来。通过这种方式，几分钟内即可创建出一个自定义的应用程序，而且易于扩展，因为大部分基础代码已经由RapidiTTy™Builder预先生成，大大节省了开发时间和精力。此外，RapidiTTy™FPGA提供了基于MIPS I™ Instruction Set Architecture的PH03核心的完整源代码，不包括专利指令。该FPGA内含丰富的功能，包括用于调试的JTAG接口，一个16位定时器，以及带缓冲的UART。这些外设均与处理器无缝集成，使得系统设计更为高效和稳定。《时间触发嵌入式系统设计模式》不仅介绍了设计模式和理论，还提供了实用的工具和技术，使得读者能够熟练地在实际项目中运用时间触发技术，实现高效、可靠的嵌入式系统设计。无论是初学者还是经验丰富的工程师，都能从中获益匪浅，提升嵌入式系统的设计和优化能力。"

Foreword

You hold in your hands a pattern language. If you could measure its distance from the

topics of my patterns, you would find a sizeable gap. In spirit, however, Michael is

right on target.

Ward Cunningham and I worked during the early days of the commercialization of

Smalltalk. Smalltalk had been designed from the beginning to be a seamless environ-

ment. You could be using a word processor written in Smalltalk, start up a debugger,

modify the program and continue typing.

Some of the first Tektronix customers for Smalltalk were pretty odd. We often

talked about Ray, an old guy from a big chemical company who latched onto

Smalltalk and really made it jump and run, presenting and manipulating experimen-

tal data. Watching one of his demos was a delight, because he was so proud of what

he had accomplished.

Reading Ray’s code was another matter entirely. He would do anything and every-

thing, no matter how hideous, to get his programs to work. The result was a mess that

was totally unmaintainable and only used a fraction of the power of Smalltalk.

We often used Ray as the personification of the audience we wanted for our software

– people who have problems to solve and have to construct software to solve them. We

could easily contrast this utilitarian attitude with our ‘no compromise engineering’ atti-

tude towards software, where the simplicity and elegance of the solution were more

important than the problem solved. We could see that if we wanted to affect the world,

we couldn’t just pursue our visions of beauty, we would have to try to help Ray at the

same time.

The resulting pattern language was a curious blend of high-minded advice (‘never

use a computer you can’t personally turn off’) and banal bookkeeping chores (‘have

the braces in your source code form rectangles’). The intent was to help Ray get more

out of Smalltalk. In this we largely failed. Looking at my career since then, I have drift-

ed more and more to giving advice to people coaching people who write programs for

people who write programs for...

That’s why I loved reading Michael’s early draft. It brought back that feeling of

opening up a field of endeavour to someone who just has a problem to solve and who

doesn’t want to be an expert in the solution. Now I’m Ray. I’d love to whip together

little microcontrollers to solve various problems (okay, so I’m a nerd). Reading this pat-

tern language gives me the confidence that I could do just that.

Far from just giving me the smell of rosin in my nose and the feel of a wire wrap gun

in my hand, these patterns stand as an example of how much more can be done with

patterns than is commonly attempted. Patterns at their best bridge the gap between

This file may be freely redistributed provided only that this footer remains intact.

Embedded software is ubiquitous. It forms a core component of an enormous range of

systems, from aircraft, passenger cars and medical equipment, to children’s toys, video

recorders and microwave ovens. This book provides a complete and coherent set of

software patterns to support the development of this type of application.

The remainder of this preface attempts to provide answers to more detailed ques-

tions which prospective readers may have about the contents.

I What are the key features of this book?

● The focus is on the rapid development of software for time-triggered, embedded sys-

tems, using software patterns. The meaning of ‘time triggered’ is explained in

Chapter 1; software patterns are introduced in Chapter 2.

● The systems are all based on microcontrollers, from the widely used 8051 family.

This vast family of 8-bit devices is manufactured by a number of companies, includ-

ing Philips, Infineon, Atmel, Dallas, Texas Instruments and Intel. The range of dif-

ferent 8051 microcontrollers available is reviewed in Chapter 3.

● Time-triggered techniques are the usual choice in safety-related applications, where

reliability is a crucial design requirement. However, the need for reliability is not

restricted to systems such as drive-by-wire passenger cars, aerospace systems or

monitoring systems for industrial robots: even at the lowest level, an alarm clock

that fails to sound on time or a video recorder that operates intermittently may not

have safety implications but, equally, will not have high sales figures. The patterns

presented here allow time-triggered techniques to be simply and cost-effectively

applied in virtually any embedded project.

● The applications discussed in detail must carry out tasks or respond to events over

time intervals measured in milliseconds. This level of response can be economical-

ly and reliably achieved, even with an 8-bit microcontroller, using the approaches

discussed in this book.

● The software is implemented entirely in ‘C’. All of the examples in the book appear,

in full, on the enclosed CD.

● The book is supported by a WWW site which includes, among other features, a wide

range of detailed case studies, additional technical information and links to sources

of further information

(http://www.engg.le.ac.uk/books/Pont).

Preface

This file may be freely redistributed provided only that this footer remains intact.

PREFACE

xvii

II How do you build time-triggered embedded systems?

● The time-triggered systems in this book are created using schedulers. Briefly, a

scheduler is a very simple ‘operating system’ suitable for use in embedded applica-

tions (see Chapter 13 for a detailed introduction to this topic).

● A range of complete scheduler architectures for applications involving a single

microcontroller is described and illustrated (Chapters 14 to 17). Complete source

code for a number of different schedulers is included on the CD.

● Like an increasing number of applications, many of the systems presented here

involve the use of more than one microcontroller: a range of shared-clock

scheduler architectures that can support this type of application is described

(Chapters 25 to 29). Many of these systems make use of popular serial standards,

including the CAN bus and RS-485.

● A selection of more specialized scheduler architectures is also presented (in Part H).

This includes a ‘stable’ scheduler that can provide very precise timing over long

periods, a scheduler optimized to run a single task and general-purpose schedulers

designed for low-power and/or low-memory applications (see Chapters 36 and 37).

III What other topics are discussed in the book?

● All embedded systems involve some hardware design and suitable hardware foun-

dations are presented. These include designs for oscillator and reset circuits and

techniques for connecting external ROM and RAM memory (see Chapters 4, 5 and

6). These also include interface circuits suitable for use with low- and high-voltage

DC and AC loads (see Chapters 7 and 8).

● Suitable software foundations are also presented, including a simple architecture for

embedded applications (Chapter 9), techniques for controlling port pins (Chapter

10), techniques for generating delays (Chapter 11) and techniques for using watch-

dog timers (Chapter 12).

● A key part of the user interface of some embedded applications is an RS-232 link to

a desktop or notebook PC, while many other embedded systems have a user inter-

face created using an LCD or LED display along with a small collection of switches

and/or a keypad. Techniques for working with these different interface components

are presented in Chapters 18 to 22.

● Many modern different peripheral devices (LCDs, LED displays, EEPROMs, A-D and

D-A devices and so on) now have a serial interface, with the result that these devices

can be connected to a microcontroller without consuming large numbers of port

pins. Complete software libraries for the two main serial communication protocols

C and SPI) are presented in Chapters 23 and 24.

● Techniques suitable for use in condition monitoring and control applications are

presented in Part G. This includes a discussion of ‘PID control’. Again, detailed code

libraries are provided (Chapter 30 to Chapter 35).

For further information about time-triggered systems, please visit: www.tte-systems.com

IV Who should read this book?

I had three main groups of people in mind as I wrote this book:

● Software engineers with previous experience of desktop systems now beginning to

work with embedded systems.

● Hardware engineers who wish to understand more about the software issues

involved in the development of embedded systems.

● University and college students on ‘electronic and software engineering’, ‘software

engineering’, ‘computer science’, ‘electronic engineering’ or similar programmes

who are taking advanced modules in embedded systems.

It must be emphasized that this book is not intended for those requiring an introduc-

tion to programming and it is expected that readers will have previously developed

‘desktop’ software applications, using C, C++ or a similar high-level language. Readers

with less experience in this area may find it useful to have a copy of an introductory

book on ‘C’, such as Herbert Schildt’s Teach Yourself C (Schildt, 1997)

by their side as

they read this book.

Similarly, some familiarity with the principles of software design is assumed. Here,

some experience with ‘object-oriented’ design, and ‘process-oriented’ design (‘struc-

tured analysis’) will be useful. Readers with less experience in this area may find it use-

ful to have a copy of my previous introductory book on software design (Pont, 1996)

by their side.

Finally, some very basic electronics knowledge is also useful. Readers without hard-

ware design experience may find it useful to have available a copy of The Art of

Electronics (Horowitz and Hill, 1989).

V What type of microcontroller hardware is used?

The market for microcontrollers is vast. Most current estimates suggest that, for every

processor sold for a desktop PC, 100 microcontrollers are sold for embedded systems.

As the sub-title suggests, this book focuses on the 8051 family of microcontrollers,

which was originally developed by Intel, but is now produced, in more than 300 dif-

ferent forms, by a wide range of companies, including Philips, Infineon, Atmel and

Dallas. The use of the 8051 family is no accident. Together, sales of this vast family are

estimated to account for more than 50% of the 8-bit microcontroller market and to

have the largest share (around 30%) of the microcontroller market as a whole.

PREFACE

xviii

In most cases, readers with previous desktop programming experience, some familiarity

with ‘dataflow diagrams’ or ‘UML’ and some rudimentary hardware knowledge will have

little difficulty with the material presented here. Please note that no knowledge of soft-

ware patterns is assumed.

1. Details of sources referred to in the text are given in Chapter 39

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