Building Embedded Systems: Programmable Hardware

337 Pages·18.542 MB·English

by  Gu Changyi.

THE EXPERT’S VOICE® IN EMBEDDED SYSTEMS
Building
Embedded
Systems
Programmable Hardware
—
Changyi Gu
Building Embedded
Systems
Programmable Hardware

Changyi Gu
Building Embedded Systems
Changyi Gu
San Diego
California, USA
ISBN-13 (pbk): 978-1-4842-1918-8 ISBN-13 (electronic): 978-1-4842-1919-5
DOI 10.1007/978-1-4842-1919-5
Library of Congress Control Number: 2016941346
Copyright © 2016 by Changyi Gu
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To those who enjoy doing things that are otherwise meaningless in the eyes of many.

Contents at a Glance
About the Author .....................................................................................................xv
About the Technical Reviewer ...............................................................................xvii
Acknowledgments ..................................................................................................xix
Introduction ............................................................................................................xxi
■ Chapter 1: The Whole Picture ................................................................................1
■ Chapter 2: Power On and Bootloader ....................................................................5
■ Chapter 3: Inside the CPU ....................................................................................27
■ Chapter 4: RAM, DMA, and Interrupt ...................................................................47
■ Chapter 5: Bus Architecture ................................................................................69
■ Chapter 6: Firmware Coding in C .......................................................................103
■ Chapter 7: Firmware Coding in the C++ and Script Languages ........................129
■ Chapter 8: Building and Deployment .................................................................149
■ Chapter 9: Field-Programmable Gate Arrays .....................................................191
■ Chapter 10: System on Programmable Chip (SOPC) ..........................................233
■ Chapter 11: De-Bounce, Power Management, and Display ................................249
■ Chapter 12: Fixed Point Math ............................................................................271
■ Chapter 13: Popular Ways of Console Communications: Prepare the Tools ......305
■ Chapter 14: Work Flow ......................................................................................313
Index .....................................................................................................................317
v

Contents
About the Author .....................................................................................................xv
About the Technical Reviewer ...............................................................................xvii
Acknowledgments ..................................................................................................xix
Introduction ............................................................................................................xxi
■ Chapter 1: The Whole Picture ................................................................................1
Organization of the Book ..................................................................................................3
Companion Materials for this Book ..................................................................................4
References .......................................................................................................................4
■ Chapter 2: Power On and Bootloader ....................................................................5
What Happens After Powering On ....................................................................................5
What Does Bootloader Do? ...............................................................................................7
User Image (ROM Image)..................................................................................................8
Image of Embedded OS ..........................................................................................................................8
Image of Object File ................................................................................................................................9
Flash Image and XIP (Execute In Place) ................................................................................................14
Flash Memory .................................................................................................................20
Burn the Flash (PROM Program) ...........................................................................................................20
NOR Flash and NAND Flash ..................................................................................................................20
Pre-Loader ............................................................................................................................................22
Flash File System .................................................................................................................................23
Summary ........................................................................................................................24
References .....................................................................................................................25
vii
■ CONTENTS
■ Chapter 3: Inside the CPU ....................................................................................27
Von Neumann Architecture and Memory Barrier ............................................................27
Harvard Architecture, Modifi ed Harvard Architecture .....................................................29
CISC and RISC ................................................................................................................31
SIMD/VLIW ......................................................................................................................34
CPU Debugging ...............................................................................................................34
CPU Simulator .......................................................................................................................................34
ROM Monitor .........................................................................................................................................35
Introduction to ICE (In Circuit Emulator) ...............................................................................................35
Non-JTAG ICE ........................................................................................................................................36
JTAG-Based ICE ....................................................................................................................................38
Using Breakpoints ................................................................................................................................42
Trace .....................................................................................................................................................44
Summary ........................................................................................................................46
References .....................................................................................................................46
■ Chapter 4: RAM, DMA, and Interrupt ...................................................................47
Types of Random Access Memory ..................................................................................47
NVRAM (Non-Volatile Random Access Memory) ...................................................................................47
Traditional SRAM: Intel 8080 vs. Motorola 6800 ...................................................................................47
DDR SDRAM (Dual Date Rate Synchronous Dynamic RAM) ..................................................................50
QDR SRAM ............................................................................................................................................53
Other Types of RAM ..............................................................................................................................54
PIO and DMA ..................................................................................................................55
PIO ........................................................................................................................................................55
DMA and MMU ......................................................................................................................................56
Memory Allocation for DMA ..................................................................................................................59
Cache/Write Buffer and Memory Incoherence ......................................................................................60
Interrupt .........................................................................................................................61
Interrupt Mechanism ............................................................................................................................61
Shared Interrupt ...................................................................................................................................62
viii
■ CONTENTS
VIC (Vectored Interrupt Controller) ........................................................................................................66
Interrupt from Watchdog Timer .............................................................................................................67
Message Signaled Interrupt (MSI) ........................................................................................................67
Summary ........................................................................................................................68
References .....................................................................................................................68
■ Chapter 5: Bus Architecture ................................................................................69
Bus with System Synchronous Timing ...........................................................................69
Bus with Source Synchronous Timing ............................................................................70
From Parallel Bus to Serial Bus ......................................................................................72
The Drawbacks of Parallel Bus .............................................................................................................73
Implementation of Differential Serial Link ......................................................................77
Out-of-band Clocking ...........................................................................................................................77
Embedded Clocking ..............................................................................................................................79
8b/10b Encoding and Signal Conditioning ............................................................................................80
Bus Standards ......................................................................................................................................80
Driver for PCI Device .............................................................................................................................84
Selecting the Hardware Component .....................................................................................................88
Implementing the USB fi rmware ..........................................................................................................90
Implementing the USB Device Driver (for the Host OS) ........................................................................91
Overview ...............................................................................................................................................93
Hardware Implementation ....................................................................................................................95
Summary ......................................................................................................................101
References ...................................................................................................................101
■ Chapter 6: Firmware Coding in C .......................................................................103
Overview ......................................................................................................................103
The Confusion of Tongues ............................................................................................105
Firmware Coding in the C Language ............................................................................106
Explicit Type of Bit-Width ....................................................................................................................106
Align the Data Structure .....................................................................................................................107
ix