Chapter 1. Motors - Stuart Ball Chapter 2. Testing - Arnold S. Berger Chapter 3. System-Level Design - Keith E. Curtis Chapter 4. Some Example Sensor, Actuator and Control Applications and Circuits (Hard Tasks) - Lewin ARW Edwards Chapter 5. Installing and Using a Version Control System - Chris Keydel and Olaf Meding Chapter 6. Embedded State Machine Implementation - Martin Gomez Chapter 7. Firmware Musings - Jack Ganssle Chapter 8. Hardware Musings - Jack Ganssle Chapter 9. Closed Loop Controls, Rabbits, and Hounds - John M. Holland Chapter 10. Application Examples David J. Katz and Rick Gentile Chapter 11. Analog I/Os - Jean LaBrosse Chapter 12. Optimizing DSP Software - Robert Oshana Chapter 13. Embedded Processors - Peter Wilson

This is a book about developing the software and hardware you never think about. We're talking about the nitty-gritty behind the buttons on your microwave, inside your thermostat, inside the keyboard used to type this description, and even running the monitor on which you are reading it now. Such stuff is termed embedded systems, and this book shows how to design and develop embedded systems at a professional level. Because yes, many people quietly make a successful career doing just that. Building embedded systems can be both fun and intimidating. Putting together an embedded system requires skill sets from multiple engineering disciplines, from software and hardware in particular. Building Embedded Systems is a book about helping you do things in the right way from the beginning of your first project: Programmers who know software will learn what they need to know about hardware. Engineers with hardware knowledge likewise will learn about the software side. Whatever your background is, Building Embedded Systems is the perfect book to fill in any knowledge gaps and get you started in a career programming for everyday devices. Author Changyi Gu brings more than fifteen years of experience in working his way up the ladder in the field of embedded systems. He brings knowledge of numerous approaches to embedded systems design, including the System on Programmable Chips (SOPC) approach that is currently growing to dominate the field. His knowledge and experience make Building Embedded Systems an excellent book for anyone wanting to enter the field, or even just to do some embedded programming as a side project. What You Will Learn Program embedded systems at the hardware level Learn current industry practices in firmware development Develop practical knowledge of embedded hardware options Create tight integration between software and hardware Practice a work flow leading to successful outcomes Build from transistor level to the system level Make sound choices between performance and cost Who This Book Is For Building Embedded Systems: Programmable Hardware is for embedded-system engineers and intermediate electronics enthusiasts who are seeking tighter integration between software and hardware. Those who favor the System on a Programmable Chip (SOPC) approach will in particular benefit from this book. Students in both Electrical Engineering and Computer Science can also benefit from this book and the real-life industry practice it provides. Table of Contents Chapter 1: The Whole Picture Chapter 2: Power On and Bootloader Chapter 3: Inside the CPU Chapter 4: RAM, DMA, and Interrupt Chapter 5: Bus Architecture Chapter 6: Firmware Coding in C Chapter 7: Firmware Coding in the C++ and Script Languages Chapter 8: Building and Deployment Chapter 9: Field-Programmable Gate Arrays Chapter 10: System on Programmable Chip (SOPC) Chapter 11: De-Bounce, Power Management, and Display Chapter 12: Fixed Point Math Chapter 13: Popular Ways of Console Communications: Prepare the Tools Chapter 14: Work Flow

(2) 总线空闲 隐性电平，无长度限制（0 亦可）。 本状态下，可视为总线空闲，要发送的单元可开始访问总线。 (3) 延迟传送（发送暂时停止） 8 个位的隐性位。 只在处于被动错误状态的单元刚发送一个消息后的帧间隔中包含的段。

2007年五星书 英文版 Digital Design (Verilog): An Embedded Systems Approach Using Verilog Product Description Digital Design: An Embedded Systems Approach Using Verilog provides a foundation in digital design for students in computer engineering, electrical engineering and computer science courses. It takes an up-to-date and modern approach of presenting digital logic design as an activity in a larger systems design context. Rather than focus on aspects of digital design that have little relevance in a realistic design context, this book concentrates on modern and evolving knowledge and design skills. Hardware description language (HDL)-based design and verification is emphasized--Verilog examples are used extensively throughout. By treating digital logic as part of embedded systems design, this book provides an understanding of the hardware needed in the analysis and design of systems comprising both hardware and software components. Includes a Web site with links to vendor tools, labs and tutorials. Presents digital logic design as an activity in a larger systems design context. Features extensive use of Verilog examples to demonstrate HDL usage at the abstract behavioural level and register transfer level, as well as for low-level verification and verification environments. Includes worked examples throughout to enhance the reader's understanding and retention of the material. Companion Web site includes links to CAD tools for FPGA design from Synplicity, Mentor Graphics, and Xilinx, Verilog source code for all the examples in the book, lecture slides, laboratory projects, and solutions to exercises. Paperback: 584 pages Publisher: Morgan Kaufmann (September 14, 2007) Language: English ISBN-10: 0123695279 ISBN-13: 978-0123695277 contents c h a p t e r 1 Introduction and Methodology . . . . . . . . . . . 1 1.1 Digital Systems and Embedded Systems . . . . . . . . . . . . . . . . . 1 1.2 Binary Representation and Circuit Elements . . . . . . . . . . . . . 4 1.3 Real-World Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 1.3.1 Integrated Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.3.2 Logic Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.3.3 Static Load Levels . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.3.4 Capacitive Load and Propagation Delay . . . . . . . . . 15 1.3.5 Wire Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.3.6 Sequential Timing . . . . . . . . . . . . . . . . . . . . . . . . . . 17 1.3.7 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.3.8 Area and Packaging . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.4 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 1.5 Design Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 1.5.1 Embedded Systems Design . . . . . . . . . . . . . . . . . . . 31 1.6 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 1.7 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 c h a p t e r 2 Combinational Basics . . . . . . . . . . . . . . . . . . 39 2.1 Boolean Functions and Boolean Algebra . . . . . . . . . . . . . . . . 39 2.1.1 Boolean Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 39 2.1.2 Boolean Algebra . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 2.1.3 Verilog Models of Boolean Equations . . . . . . . . . . . 51 2.2 Binary Coding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 2.2.1 Using Vectors for Binary Codes . . . . . . . . . . . . . . . . 56 2.2.2 Bit Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 2.3 Combinational Components and Circuits . . . . . . . . . . . . . . . 62 2.3.1 Decoders and Encoders . . . . . . . . . . . . . . . . . . . . . . 62 2.3.2 Multiplexers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 2.3.3 Active-Low Logic . . . . . . . . . . . . . . . . . . . . . . . . . . 71 2.4 Verification of Combinational Circuits . . . . . . . . . . . . . . . . . . 74 2.5 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 2.6 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 c h a p t e r 3 Numeric Basics . . . . . . . . . . . . . . . . . . . . . . . 87 3.1 Unsigned Integers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 3.1.1 Coding Unsigned Integers . . . . . . . . . . . . . . . . . . . . 87 3.1.2 Operations on Unsigned Integers . . . . . . . . . . . . . . 92 3.1.3 Gray Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 3.2 Signed Integers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 3.2.1 Coding Signed Integers . . . . . . . . . . . . . . . . . . . . . . 119 3.2.2 Operations on Signed Integers . . . . . . . . . . . . . . . . . 122 3.3 Fixed-Point Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 3.3.1 Coding Fixed-Point Numbers . . . . . . . . . . . . . . . . . 131 3.3.2 Operations on Fixed-Point Numbers . . . . . . . . . . . . 136 3.4 Floating-Point Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 3.4.1 Coding Floating-Point Numbers . . . . . . . . . . . . . . . 138 3.5 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143 3.6 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 c h a p t e r 4 Sequential Basics . . . . . . . . . . . . . . . . . . . . . . 151 4.1 Storage Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 4.1.1 Flip-flops and Registers . . . . . . . . . . . . . . . . . . . . . . 151 4.1.2 Shift Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161 4.1.3 Latches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 4.2 Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 4.3 Sequential Datapaths and Control . . . . . . . . . . . . . . . . . . . . . 175 4.3.1 Finite-State Machines . . . . . . . . . . . . . . . . . . . . . . . 179 4.4 Clocked Synchronous Timing Methodology . . . . . . . . . . . . . . 187 4.4.1 Asynchronous Inputs . . . . . . . . . . . . . . . . . . . . . . . . 192 4.4.2 Verification of Sequential Circuits . . . . . . . . . . . . . . 196 4.4.3 Asynchronous Timing Methodologies . . . . . . . . . . . 200 4.5 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 4.6 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 c h a p t e r 5 Memories . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 5.1 General Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 5.2 Memory Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219 5.2.1 Asynchronous Static RAM . . . . . . . . . . . . . . . . . . . 220 5.2.2 Synchronous Static RAM . . . . . . . . . . . . . . . . . . . . . 222 5.2.3 Multiport Memories . . . . . . . . . . . . . . . . . . . . . . . . 229 5.2.4 Dynamic RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 5.2.5 Read-Only Memories . . . . . . . . . . . . . . . . . . . . . . . 235 5.3 Error Detection and Correction . . . . . . . . . . . . . . . . . . . . . . . 240 5.4 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244 5.5 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246 c h a p t e r 6 Implementation Fabrics . . . . . . . . . . . . . . . . . 249 6.1 Integrated Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249 6.1.1 Integrated Circuit Manufacture . . . . . . . . . . . . . . . . 250 6.1.2 SSI and MSI Logic Families . . . . . . . . . . . . . . . . . . . 252 6.1.3 Application-Specific Integrated Circuits (ASICs) . . . 255 6.2 Programmable Logic Devices . . . . . . . . . . . . . . . . . . . . . . . . . 258 6.2.1 Programmable Array Logic . . . . . . . . . . . . . . . . . . . 258 6.2.2 Complex PLDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 6.2.3 Field-Programmable Gate Arrays . . . . . . . . . . . . . . 263 6.3 Packaging and Circuit Boards . . . . . . . . . . . . . . . . . . . . . . . . 269 6.4 Interconnection and Signal Integrity . . . . . . . . . . . . . . . . . . . . 272 6.4.1 Differential Signaling . . . . . . . . . . . . . . . . . . . . . . . . 276 6.5 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278 6.6 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280 c h a p t e r 7 Processor Basics . . . . . . . . . . . . . . . . . . . . . . 281 7.1 Embedded Computer Organization . . . . . . . . . . . . . . . . . . . . 281 7.1.1 Microcontrollers and Processor Cores . . . . . . . . . . . 283 7.2 Instructions and Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285 7.2.1 The Gumnut Instruction Set . . . . . . . . . . . . . . . . . . 287 7.2.2 The Gumnut Assembler . . . . . . . . . . . . . . . . . . . . . . 296 7.2.3 Instruction Encoding . . . . . . . . . . . . . . . . . . . . . . . . 298 7.2.4 Other CPU Instruction Sets . . . . . . . . . . . . . . . . . . . 300 7.3 Interfacing with Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302 7.3.1 Cache Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307 7.4 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 7.5 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312 c h a p t e r 8 I/O Interfacing . . . . . . . . . . . . . . . . . . . . . . . 315 8.1 I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315 8.1.1 Input Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316 8.1.2 Output Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321 8.2 I/O Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330 8.2.1 Simple I/O Controllers . . . . . . . . . . . . . . . . . . . . . . 331 8.2.2 Autonomous I/O Controllers . . . . . . . . . . . . . . . . . 335 8.3 Parallel Buses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338 8.3.1 Multiplexed Buses . . . . . . . . . . . . . . . . . . . . . . . . . . 338 8.3.2 Tristate Buses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342 8.3.3 Open-Drain Buses . . . . . . . . . . . . . . . . . . . . . . . . . . 348 8.3.4 Bus Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349 8.4 Serial Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 8.4.1 Serial Transmission Techniques . . . . . . . . . . . . . . . . 353 8.4.2 Serial Interface Standards . . . . . . . . . . . . . . . . . . . . 357 8.5 I/O Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360 8.5.1 Polling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360 8.5.2 Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 8.5.3 Timers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366 8.6 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373 8.7 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 c h a p t e r 9 Accelerators . . . . . . . . . . . . . . . . . . . . . . . . . 379 9.1 General Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379 9.2 Case Study: Video Edge-Detection . . . . . . . . . . . . . . . . . . . . . 386 9.3 Verifying an Accelerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407 9.4 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 9.5 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420 c h a p t e r 1 0 Design Methodology . . . . . . . . . . . . . . . . . . 423 10.1 Design Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 10.1.1 Architecture Exploration . . . . . . . . . . . . . . . . . . . . . 425 10.1.2 Functional Design . . . . . . . . . . . . . . . . . . . . . . . . . . 427 10.1.3 Functional Verification . . . . . . . . . . . . . . . . . . . . . . 429 10.1.4 Synthesis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435 10.1.5 Physical Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438 10.2 Design Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441 10.2.1 Area Optimization . . . . . . . . . . . . . . . . . . . . . . . . . 442 10.2.2 Timing Optimization . . . . . . . . . . . . . . . . . . . . . . . . 443 10.2.3 Power Optimization . . . . . . . . . . . . . . . . . . . . . . . . 448 10.3 Design for Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451 10.3.1 Fault Models and Fault Simulation . . . . . . . . . . . . . 452 10.3.2 Scan Design and Boundary Scan . . . . . . . . . . . . . . . 454 10.3.3 Built-In Self Test (BIST) . . . . . . . . . . . . . . . . . . . . . 458 10.4 Nontechnical Issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462 10.5 In Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463 10.6 Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465 10.7 Further Reading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

Practical Statecharts in C C++ Quantum Programming for Embedded Systems（嵌入式系统的微模块化程序设计-实用状态图C\C++实现）英文原版PDF，以及随书光盘。内附书籍源码和配套的软件和资源工具等。

(Douglass 2014) Real Time UML Workshop for Embedded Systems 2nd.part2

(Douglass 2014) Real Time UML Workshop for Embedded Systems 2nd.part1

Automotive Embedded Systems Handbook

Table of Contents Chapter 1 Software Engineering of Embedded and Real-Time Systems Chapter 2 Embedded Systems Hardware/Software Co-Development Chapter 3 Software Modeling for Embedded Systems Chapter 4 Software Design Architecture and Patterns for Embedded Systems Chapter 5 Real-Time Building Blocks: Events and Triggers Chapter 6 Hardware’s Interface to Embedded Software Chapter 7 Embedded Software Programming and Implementation Guidelines Chapter 8 Embedded Operating Systems Chapter 9 Software Reuse By Design in Embedded Systems Chapter 10 Software Performance Engineering for Embedded Systems Chapter 11 Optimizing Embedded Software for Performance Chapter 12 Optimizing Embedded Software for Memory Chapter 13 Optimizing Embedded Software for Power Chapter 14 Human Factors and User Interface Design for Embedded Systems Chapter 15 Embedded Software Quality, Integration and Testing Techniques Chapter 16 Software Development Tools for Embedded Systems Chapter 17 Multicore Software Development for Embedded Systems Chapter 18 Safety-Critical Software Development Chapter 19 Intellectual Property Chapter 20 Managing Embedded Software Development Chapter 21 Agile Development for Embedded Systems Chapter 22 Embedded Software for Automotive Applications Chapter 23 Programming for I/O and Storage Chapter 24 Embedded Software for Networking Applications Chapter 25 Linux for Embedded Systems

Software Engineering for Embedded Systems Methods, Practical Techniques, and Applications，一本非常好的书