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• Cover image
• Title page
• Table of Contents
• Copyright
• Preface
• Acknowledgments
• Dedication
• Acronyms
• Part I: Introduction
• Chapter 1: Introduction to Embedded and Real-Time Systems
• Abstract
• 1.1 Embedded Systems
• 1.2 Real-Time Systems
• 1.3 Case Study: Radar System
• Problems
• Chapter 2: Cross-Platform Development
• Abstract
• 2.1 Cross-Platform Development Process
• 2.2 Hardware Architecture
• 2.3 Software Development
• 2.4 Build Target Images
• 2.5 Transfer Executable File Object to Target
• 2.6 Integrated Testing on Target
• 2.7 System Production
• Problems
• Chapter 3: Microprocessor Primer
• Abstract
• 3.1 Introduction to Microprocessors
• 3.2 Microchip PIC18F8720
• 3.3 Intel 8086
• 3.4 Intel Pentium
• 3.5 ARM926EJ-S
• Problems
• Chapter 4: Interrupts
• Abstract
• 4.1 Introduction to Interrupts
• 4.2 External Interrupts
• 4.3 Software Interrupts
• 4.4 Internal Interrupts
• 4.5 Design Patterns for ISRs
• 4.6 Interrupt Response Time
• 4.7 Case Study: x86
• 4.8 Case Study: ARM Processor
• Problems
• Chapter 5: Embedded System Boot Process
• Abstract
• 5.1 System Bootloader
• 5.2 System Boot Process
• 5.3 Case Study: AT91SAM9G45 Boot Process
• 5.4 Load ELF Objects Embedded Within an OS Image
• 5.5 Case Study: Boot Process of QNX-based Embedded Systems
• Problems
• Part II: Real-Time System Modeling
• Chapter 6: Fundamental UML Structural Modeling
• Abstract
• 6.1 Unified Modeling Language
• 6.2 Class Diagram and Class Modeling
• 6.3 Class Modeling Principles
• 6.4 Object Diagram
• 6.5 Package Diagram
• Problems
• Chapter 7: Architecture Modeling in UML
• Abstract
• 7.1 Levels of Architectural Abstraction
• 7.2 UML Structure Diagram
• 7.3 Modeling Components
• 7.4 Modeling Subsystems
• 7.5 Modeling a Complete System
• 7.6 Deployment Diagram
• Problems
• Chapter 8: Fundamental UML Behavioral Modeling
• Abstract
• 8.1 Use Case Diagram and Use Case Modeling
• 8.2 Sequence Diagram
• 8.3 Activity Diagram
• Problems
• Chapter 9: Modeling Stateful Behaviors in UML
• Abstract
• 9.1 Basics of a State Machine Diagram
• 9.2 Composite States
• 9.3 Inheritance of State Behavior
• 9.4 Stateful Object Timing Diagrams
• 9.5 Example: Modeling Stateful Behavior of a Radar System
• Problems
• Chapter 10: Real-Time UML: General Resource Modeling
• Abstract
• 10.1 Real-Time UML Profile
• 10.2 Resource Modeling
• 10.3 Time Modeling
• 10.4 Concurrency Modeling
• Problems
• Chapter 11: Real-Time UML: Model Analysis
• Abstract
• 11.1 Elicitation of Timing Constraints
• 11.2 RT-UML Profile Schedulability Modeling Subprofile
• 11.3 RT-UML Profile Performance Modeling Subprofile
• Problems
• Part III: Real-Time System Design
• Chapter 12: Software Architectures for Real-Time Embedded Systems
• Abstract
• 12.1 Real-Time Tasks
• 12.2 Round-Robin Architecture
• 12.3 Round Robin with Interrupts
• 12.4 Queue-Based Architecture
• Problems
• Chapter 13: POSIX and RTOS
• Abstract
• 13.1 Introduction to POSIX
• 13.2 Task Statics and Dynamics
• 13.3 Real-Time OSs
• 13.4 POSIX Real-Time Scheduling Policies
• 13.5 Other Real-Time Scheduling Policies
• Problems
• Chapter 14: Multitasking
• Abstract
• 14.1 Introduction to Multitasking
• 14.2 Multitask Design
• 14.3 Multitask Resource Sharing
• 14.4 Addressing Resource Deadlocks
• 14.5 Addressing Priority Inversion
• Problems
• Chapter 15: Real-Time Scheduling: Clock-Driven Approach
• Abstract
• 15.1 Introduction to Cyclic Scheduling
• 15.2 Ad-hoc Clock-Driven Scheduling
• 15.3 Frame-Based Scheduling
• 15.4 Scheduling Aperiodic Jobs
• 15.5 Task Splitting
• Problems
• Chapter 16: Real-Time Scheduling: Rate-Monotonic Approach
• Abstract
• 16.1 Priority Assignment
• 16.2 RMA Principle
• 16.3 Rate-Monotonic Analysis
• 16.4 Completion-Time Test
• 16.5 Period Transformation
• 16.6 Generalized Schedulability Analysis
• Problems
• Chapter 17: Real-Time Scheduling: Sporadic Server
• Abstract
• 17.1 Sporadic Tasks
• 17.2 Sporadic Server
• 17.3 A Naive Sporadic Server
• 17.4 A Fixed-Priority Sporadic Server
• 17.5 A Dynamic-Priority Sporadic Server
• Problems
• Part IV: Implementation Patterns
• Chapter 18: Resource Sharing
• Abstract
• 18.1 Shared Variables
• 18.2 Shared Memory
• 18.3 Semaphore
• 18.4 Mutex
• 18.5 Condition Variable
• Problems
• Chapter 19: Intertask Communication: Message Queue
• Abstract
• 19.1 Introduction to Message Queues
• 19.2 Message Queue Statics and Dynamics
• 19.3 Message Queue Usage Patterns
• 19.4 POSIX Functions for Message Queues
• 19.5 An Example of Using Message Queues
• Problems
• Chapter 20: Intertask Communication: Pipe
• Abstract
• 20.1 Introduction to Pipes
• 20.2 Pipe Statics and Dynamics
• 20.3 Pipe Usage Patterns
• 20.4 POSIX Functions for Pipes
• 20.5 An Example of Using Pipes
• Problems
• Chapter 21: Intertask Communication: Signaling
• Abstract
• 21.1 Introduction to POSIX Signals
• 21.2 Signal Handling
• 21.3 Signal Vector Table and Handlers
• 21.4 POSIX Signal Functions
• 21.5 QNX Implementation of POSIX Signals
• 21.6 Spinlocks and Interrupt Events from ISRs
• 21.7 QNX Pulses
• Problems
• Chapter 22: Software Timer Management
• Abstract
• 22.1 Hardware Timer and Software Timer
• 22.2 Software Timer Manager
• 22.3 Timing Wheels
• 22.4 Hierarchical Timing Wheels
• Problems
• Chapter 23: QNX Resource Management
• Abstract
• 23.1 Introduction to QNX Resource Management
• 23.2 Resource Manager Architecture
• 23.3 Example 1: Calculator as a Resource Manager
• 23.4 Example 2: Device Drivers
• Problems
• References
• Index