С and the Programming for Multitasking. Thomas W. Schultz. Purdue University West Lafayette, Indiana
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1 С and the 8051 Programming for Multitasking Thomas W. Schultz Purdue University West Lafayette, Indiana PTR Prentice Hall Englewood Cliffs, New Jersey 07632
2 Preface Introduction Chapter 1 WHY THE 8051? xiv PLANNING xv PROGRAMMING LANGUAGES xv PROGRAMMING xvi MODULAR PROGRAMMING xvii 8051 HARDWARE xvii MULTITASKING xvii REVIEW AND BEYOND xviii Project Planning DO YOU HAVE A PROJECT? 1 SYSTEM PLANNING 3 HARDWARE/SOFTWARE TRADEOFFS HARDWARE PLANNING 8 SOFTWARE PLANNING 8 RULES FOR TASK PARTITIONING 9 REAL-TIME DATA FLOW DIAGRAMS
3 vi DEFINING TASK INTERFACES 10 HOW BUSY IS THE PROCESSOR? 11 SYSTEM INTEGRATION 12 TESTING AND MAINTAINING?! 12 SELF-TEST ROUTINES 13 CLOSURE ON DECISION MAKING 13 REVIEW AND BEYOND 14 Chapter 2 Three Languages WHY THESE THREE? 15 WHY NOT BASIC? 16 VARIABLES 17 SHORTHAND DEFINE AND LITERALLY 19 MEMORY SPACES 19 PORTS 22 EXAMPLE: LIGHTS TO SWITCHES 23 BITWISE OPERATORS 27 ROTATE AND SHIFT 30 ASSIGNMENT OPERATORS 34 IDENTIFYING BIT CHANGES 34 ARITHMETIC OPERATORS 35 LOGICAL OPERATORS 44 PRECEDENCE 46 REVIEW AND BEYOND 49 Chapter 3 Looping and Branching DECISIONS 51 FLOWCHARTS 51 STRUCTURED LANGUAGE 52 BRANCHING CONSTRUCTS 54 IF/THEN/ELSE 54 CONDITIONAL OPERATOR 56 SWITCH/DO CASE 56 LOOPING CONSTRUCTS 58 WHILE LOOP 60 ITERATIVE LOOP 63 EXAMPLE: TIME DELAY 65 REVIEW AND BEYOND 67 Chapter 4 Pointers and Based Variables STRENGTH OF С (AND PLM) 68
4 Chapter 5 ARRAYS 68 LOOK-UP TABLES 71 STRUCTURES 73 STRUCTURE TEMPLATE 75 ARRAY OF STRUCTURES 75 ARRAYS WITHIN STRUCTURES 76 MEMORY SPACES AND EFFICIENCY 79 ADDRESSES 79 POINTERS 80 UNIVERSAL POINTERS 80 ARRAY POINTERS 82 ARRAYS OF ARRAY POINTERS 84 STRUCTURE POINTERS 86 UNIONS 87 REVIEW AND BEYOND 89 Routines SUBROUTINES, PROCEDURES, AND FUNCTIONS 90 EASE OF UNDERSTANDING 92 NESTED ROUTINES 95 PASSING PARAMETERS 96 EXAMPLE: SAY NUMBER 96 RETURNING VALUES 101 EXAMPLE: READ AN A-D CONVERTER 103 EXAMPLE: SCAN A KEYBOARD 106 IN-LINE CODE ALTERNATIVES 107 SCOPE OF VARIABLES 108 STYLE SUGGESTIONS 113 REVIEW AND BEYOND 115 Chapter 6 Modular Program Development WHY MODULAR? 116 PROGRAM PIECES 117 THE DEVELOPMENT PROCESS 117 FILE NAMING CONVENTIONS 119 ASSEMBLER 119 EXAMPLE: STEPPER DRIVER ASM HEX FILES 125 COMPILER PL/M 125 EXAMPLE: STEP DRIVER PL/M 126 COMPILER С 129 EXAMPLE: STEPPER DRIVER С 129
5 viii LIBRARIES 133 LINKER/LOCATER 133 OVERLAYING 134 SHARING VARIABLES 134 SHARING SUBROUTINES/PROCEDURES/ FUNCTIONS 137 MIXING LANGUAGES 137 PARAMETER-PASSING CONVENTIONS 138 COMPATIBILITY BY TEST 139 EXAMPLE: ASSEMBLY LINKED TO PL/M OR С 140 CODE EFFICIENCY 141 REVIEW AND BEYOND 155 Chapter Family Hardware 156 TIMERS AND COUNTERS 157 EXAMPLE: A 1MSEC TIMER 158 OTHER MODES 160 TIMER2 160 INTERRUPTS 162 MORE OR LESS INTERRUPT SOURCES 163 REGISTER BANKS CONTEXT SWITCHING 164 THE 8051 UART 165 EXAMPLE: SERIAL BUFFERING 167 SHIFT REGISTER MODE 172 NINTH-BIT MODE 172 MEMORY EXPANSION FOR THE COMMERCIAL BOARDS 177 THE 8051 FAMILY MEMBERS 178 SPECIAL TIMER FEATURES IN THE 8051 EXPANDED FAMILY 178 REVIEW AND BEYOND 181 Chapter 8 Real-Time Ideas 182 BEYOND SINGLE-PROGRAM THINKING 182 WHAT IS "REAL TIME?" 182 TASKS 183 MULTITASKING 184 REAL-TIME HAND WARE REQUIREMENTS 185
6 IX WHY AN OPERATING SYSTEM FOR MULTITASKING? 185 HOW DO OPERATING SYSTEMS REALLY WORK? 186 DCX DCE RTXTINY 189 TWO BASIC GROUPS OF RTOS 190 USX 190 CMX 191 BYTE-BOS 191 OBSERVATIONS ON USX, CMX, BYTE-BOS, AND RTXC 192 REVIEW AND BEYOND 193 Chapter 9 Timing and Scheduling 194 KEEPING TRACK OF TIME 194 EXAMPLE: SOLENOID CYCLER 195 EXAMPLE: PULSE GENERATOR 200 EXAMPLE: SOLENOID CYCLER WITH RTOS 202 EXAMPLE: PULSE TASK WITH RTOS 209 EXAMPLE: REVIEW AND BEYOND 218 Chapter 10 Communication and Synchronization 219 TASK COMMUNICATION 219 SHARED VARIABLES FOR COMMUNICATION 219 SEMAPHORES AND SIGNALING 220 MESSAGES 221 COMPARING COMMUNICATION RESOURCES 221 RESOURCES, POOLS, AND LISTS 224 EXAMPLE: SOLENOID SEQUENCER II (KEY ENTRY) 225 SOLENOID SEQUENCER II WITH RTOS 236 REVIEW AND BEYOND 266 Chapter 11 Interrupt, Priority, and Context 267 INTERRUPT EVENTS 267 CONTEXT SWITCHING 267
7 X BUILT-IN INTERRUPT EVENTS 269 INTERRUPT HANDLERS 270 INTERRUPTS USING THE OPERATING SYSTEM 270 SETTING PRIORITY 271 EXAMPLE: ENVELOPE DETECTOR 273 EXAMPLE: MOTOR SPEED CONTROL SYSTEM 274 EXAMPLE: SPEED CONTROL WITHRTOS 287 REVIEW AND BEYOND 301 Chapter 12 Distributed Systems 302 USING SEVERAL CONTROLLERS 302 DIRECT PARALLEL 303 PARALLEL BUFFERED WITH HANDSHAKING 303 SERIAL INTERCONNECTION 303 SERIAL RING 304 NINTH-BIT TREE 304 RS I 2 C BUS 305 BITBUS AS A NETWORK PROTOCOL 306 BITBUS AS A SYSTEM 306 IF YOU HATE TO PROGRAM! 307 PARTITIONING FOR DISTRIBUTED CONTROL 307 REVIEW AND BEYOND 308 Chapter 13 Multitasking in Review 309 BENEFITS OF RTOS 309 COSTS OF RTOS 310 Appendix A 8051 Assembly Instructions 312 A WORD ABOUT ACCESS AND ADDRESSES 312 DATA MOVING INSTRUCTIONS 313 BRANCHING INSTRUCTIONS 315 ARITHMETIC OPERATIONS 317 LOGICAL OPERATORS 319 DECIMAL INSTRUCTIONS 321
8 XI Appendix В Language Details 322 LANGUAGE SWITCHING HINTS 322 С COMPILER INFORMATION 325 Appendix С Hardware Information 336 Appendix D CONVENTIONAL 8051 FAMILY BOARDS 336 BITBUS CARDS 348 DEVELOPMENT RESOURCES 348 Vendors Addresses, Phones, and Products 351 COMPILERS AND ASSEMBLERS 352 REAL-TIME OPERATING SYSTEMS 352 CHIPS 353 COMMERCIAL BOARDS 354 BITBUS BOARDS 355 DEVELOPMENT HARDWARE 355 Appendix E RTOS Systems Calls 356 Index 361
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