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preface1. introduction  compile, languages, and object-oriented programming  embedded system development    debugging    more challenges    principles to confront those challenges  further reading2. creating a system architecture  creating system diagrams    the block diagram    hierarchy of control    layered view  from diagram to architecture    encapsulate modules    delegation of tasks    driver interface: open, close, read, write, ioctl    adapter pattern    getting started with other interfaces    example: a logging interface  a sandbox to play in  further reading3. getting your hands on the hardware  hardware/software integration    ideal project flow    board bring-up    reading a datasheet    datasheet sectio you need when things'go wrong    important text for software develope    evaluating components using the datasheet  your processor is a language  reading a schematic  having a debugging toolbox (and a fire extinguisher)    keep your board safe    toolbox    digital multimeter    oscilloscopes and logic analyze  testing the hardware (and software)    building tests    flash test example    command and respoe    command pattern  dealing with erro    coistent methodology    error-handling library    debugging timing erro  further reading4. outputs, inputs, and time  toggling an output    starting with registe    set the pin to be an output    turn on the led    blinking the led    troubleshooting  separating the hardware from the action    board-specific header file    i/o-handling code    main loop    facade pattern  the input in i/o    a simple interface to a button  momentary button press    interrupt on a button press    configuring the interrupt    debouncing switches  runtime uncertainty    dependency injection  using a timer    timer pieces    doing the math    a long wait between timer ticks    using the timer  using pulse-width modulation  shipping the product  further reading5. managing the fiow 0factivib~  scheduling and operating system basics    tasks    communication between tasks    avoiding race conditio    priority inveion  state machines    state machine example: stoplight controller    state-centric state machine    state-centric state machine with hidden traitio    event-centric state machine    state pattern    table-driven state machine    choosing a state machine implementation  interrupts    an irq happe    save the context    get the isr from the vector table    calling the isr    restore the context    when to use interrupts  how not to use interrupts    polling    system tick    time-based events    a very small scheduler   watchdog   further reading6. communicating with peripherals  the wide reach of peripherals    external memory    butto and key matrices    seo    actuato    displays  so many ways of communicating    serial    parallel    ethernet and wifi  putting peripherals and communication together    data handling    adding robustness to the communication    changing data    changing algorithms  further reading7. updating code  onboard bootloader  build your own updater    modifying the resident updater  brick loader    copy loader to ram    run the loader    copy new code to scratch    dangerous time: erase and program    reset to new code  security  linker scripts  summary8. doing more with less  code space    reading a map file (part 1)    process of elimination    libraries    functio and macros    cotants and strings  ram    remove malloc    reading a map file (part 2)    registe and local variables    function chai    pros and co of globals    memory overlays  speed    profiling    optimizing  summary  further reading9. math  identifying fast and slow operatio    taking an average  use an existing algorithm  designing and modifying algorithms    factor polynomials    taylor series    dividing by a cotant    scaling the input    lookup tables  fake floating-point numbe    rational numbe    precision    addition (and subtraction)    multiplication (and division)    determining the error  further reading10. reducing power coumption  undetanding power coumption  turn off the light when you leave the room    turn off peripherals    turn oft" unused i/o devices    turn off processor subsystems    slowing down to coerve energy  putting the processor to sleep    interrupt-based code flow model    a closer look at the main loop    processor watchdog    avoid frequent wake-ups    chained processo    further readingindex