Real-Time C++ : efficient object-oriented and template microcontroller programming / Christopher Kormanyos

Includes bibliographical references and index

Preface to the Second Edition; Preface to the First Edition; Contents; Acronyms; Part I Language Technologies for Real-Time C++ ; 1 Getting Started with Real-Time C++; 1.1 The LED Program; 1.2 The Syntax of C++; 1.3 Class Types; 1.4 Members; 1.5 Objects and Instances; 1.6 #include; 1.7 Namespaces; 1.8 C++ Standard Library; 1.9 The main() Subroutine; 1.10 Low-Level Register Access; 1.11 Compile-Time Constant; References; 2 Working with a Real-Time C++ Program on a Board; 2.1 The Target Hardware; 2.2 Build and Flash the LED Program; 2.3 Adding Timing for Visible LED Toggling

2.4 Run and Reset the LED Program2.5 Recognizing and Handling Errors and Warnings; 2.6 Reaching the Right Efficiency; References; 3 An Easy Jump-Start in Real-Time C++; 3.1 Declare Locals When Used; 3.2 Fixed-Size Integer Types; 3.3 The bool Type; 3.4 Organization with Namespaces; 3.5 Basic Classes; 3.6 Basic Templates; 3.7 nullptr Replaces NULL; 3.8 Generalized Constant Expressions with constexpr; 3.9 static_assert; 3.10 Using ; 3.11 std::array; 3.12 Basic STL Algorithms; 3.13 ; 3.14 atomic_load() and atomic_store(); 3.15 Digit Separators; 3.16 Binary Literals

3.17 User-Defined LiteralsReference; 4 Object-Oriented Techniques for Microcontrollers; 4.1 Object Oriented Programming; 4.2 Objects and Encapsulation; 4.3 Inheritance; 4.4 Dynamic Polymorphism; 4.5 The Real Overhead of Dynamic Polymorphism; 4.6 Pure Virtual and Abstract; 4.7 Class Relationships; 4.8 Non-Copyable Classes; 4.9 Constant Methods; 4.10 Static Constant Integral Members; 4.11 Class Friends; 4.12 Virtual Is Unavailable in the Base Class Constructor; References; 5 C++ Templates for Microcontrollers; 5.1 Template Functions; 5.2 Template Scalability, Code Re-Use and Efficiency

5.3 Template Member Functions5.4 Template Class Types; 5.5 Template Default Parameters; 5.6 Template Specialization; 5.7 Static Polymorphism; 5.8 Using the STL with Microcontrollers; 5.9 Variadic Templates; 5.10 Template Metaprogramming; 5.11 Tuples and Generic Metaprogramming; 5.12 Variable Templates; References; 6 Optimized C++ Programming for Microcontrollers; 6.1 Use Compiler Optimization Settings; 6.2 Know the Microcontroller's Performance; 6.3 Know an Algorithm's Complexity; 6.4 Use Assembly Listings; 6.5 Use Map Files; 6.6 Understand Name Mangling and De-Mangling

6.7 Know When to Use Assembly and When Not to6.8 Use Comments Sparingly; 6.9 Simplify Code with typedef; 6.10 Use Native Integer Types; 6.11 Use Scaling with Powers of Two; 6.12 Potentially Replace Multiply with Shift-and-Add; 6.13 Consider Advantageous Hardware Dimensioning; 6.14 Consider ROM-Ability; 6.15 Minimize the Interrupt Frame; 6.16 Use Custom Memory Management; 6.17 Use the STL Consistently; 6.18 Use Lambda Expressions; 6.19 Use Templates and Scalability; 6.20 Use Metaprogramming to Unroll Loops; References; Part II Components for Real-Time C++

Available to OhioLINK libraries

With this book, Christopher Kormanyos delivers a highly practical guide to programming real-time embedded microcontroller systems in C++. It is divided into three parts plus several appendices. Part I provides a foundation for real-time C++ by covering language technologies, including object-oriented methods, template programming and optimization. Next, part II presents detailed descriptions of a variety of C++ components that are widely used in microcontroller programming. It details some of C++'s most powerful language elements, such as class types, templates and the STL, to develop components for microcontroller register access, low-level drivers, custom memory management, embedded containers, multitasking, etc. Finally, part III describes mathematical methods and generic utilities that can be employed to solve recurring problems in real-time C++. The appendices include a brief C++ language tutorial, information on the real-time C++ development environment and instructions for building GNU GCC cross-compilers and a microcontroller circuit. For this second edition, the most recent specification of C++14 in ISO/IEC 14882:2014 is used throughout the text. Several sections on new C++14 functionality have been added, and various others reworked to reflect changes in the standard. Also two new sample projects are introduced, and various user suggestions have been incorporated. To facilitate portability, no libraries other than those specified in the language standard itself are used. Efficiency is always in focus and numerous examples are backed up with real-time performance measurements and size analyses that quantify the true costs of the code down to the very last byte and microsecond. The target audience of this book mainly consists of students and professionals interested in real-time C++. Readers should be familiar with C or another programming language and will benefit most if they have had some previous experience with microcontroller electronics and the performance and size issues prevalent in embedded systems programming.