1. Evolution of Microcontroller Firmware Development David Benjamin

2. Overview  Traditional microcontroller firmware Polling Interrupts  Real-time Operating Systems  Demonstration

3. Polling  Polling is when a process continually evaluates the status of a register in an effort to synchronize program execution.  Polling is not widely used because it is an inefficient use of microcontroller resources.

4. Polling Example void main ( void ) { while(1) { while (!button1_pressed); turn_on_led; while (!button1_pressed); turn_off_led; }

5. Interrupts  Interrupt as defined by Merriam Webster to break in upon an action  Interrupt An event that causes the Program Counter (PC) to change. These events can be internal or external.  Interrupt Service Routine (ISR) Set of instructions that is executed when an interrupt occurs  Interrupt Vector Memory address of the first instruction in the ISR.

6. Interrupts  Why should one use interrupts? Provides more efficient use of microcontroller resources. Provides a means to create firmware that can “multi-task”.

7. Interrupts  Interrupts are often prioritized within the system and are associated with a variety of on-chip and off-chip peripherals Timers, A/D D/A converters, UART, GP I/O  A majority of the  C interrupts can be enabled or disabled. Globally Individually Those interrupts that cannot be disabled are called Non- Maskable Interrupts (NMI).  Interrupts can be nested.  Interrupts can occur at anyplace, at anytime. ISRs should be kept short and fast.

9. What happens when an interrupt occurs?

10. Interrupts  The current program instruction completes execution. Main() { … some code turn_on_led1;0x08A2 turn_off_led1;0x08A3 … } __interrupt void port1_ISR(void) { disable_interrupts0x0FE0... reti }  The PC and status register values are placed on the stack.  The interrupt vector is loaded into the PC and SR is updated.  Program execution resumes with the first step of the ISR.  When the ISR has completed execution, the values of the PC and status registers are restored.  Program execution resumes with next instruction that would have occurred had the interrupt not taken place. PC = 0x08A2 SR = 0xFE PC = 0x0FE0 SR = 0x7E PC = 0x8A3 SR = 0xFE XXX 0x08A3 0xFE STACK

11. Interrupts vs. Polling  Allowed for more efficient use of the microcontroller. Faster program execution Multi-tasking  Facilitated the development of complex firmware. Supports a modular approach to firmware design.

12. Real-time Operating Systems

13. Real-time Operating System  A real-time operating system (RTOS) is a multi-tasking operating system intended for real-time applications. Mainly used in embedded applications. Facilitates the creation of a real-time system. Tool for the real-time software developer. Provides a layer abstraction between the hardware and software.

14. Real-time Operating System  State A unique operating condition of the system.  Task A single thread of execution through a group of related states.  Task Manager Responsible for maintaining the current state of each task. Responsible for providing each task with execution time.

15. Real-time Operating System Collection of Tasks… Single Task

16. Real-time Operating System  A more detailed explanation state A function void idleState ( void ); Should be kept short and fast Should represent a logical step in the task  i.e. Evaluating different parts of an incoming message.

17. Real-time Operating System void idleState( void ) { if (rx_buffer_full) { read_rxBuffer; if (syncByte_received) { transition_to_workState1; } else { stay_in_idleState; } else { stay_in_idleState; }

18. Real-time Operating System  Event-driven Tasks are granted execution time, based on an event (interrupt). Tasks of higher priority are executed first (interrupt priorities).  Time sharing Each task is granted a given amount of time to execute. Tasks may also be granted execution time based on events. “Round-robin” approach Creates a more deterministic multi-tasking system.

19. Real-time Operating Systems void main ( void ) { initSystem(); while (1) { work(); sleep(); } void work (void) { doTask(RecieveMsg); doTask(Process); doTask(TransmittResponse); } __interrupt void Timer_A (void) { wakeUp(); }

20. Real-time Operating System  Available commercially TinyOS -an open source component-based operating system and platform targeting wireless sensor networks (WSNs). Salvo - an RTOS developed by Pumpkin Inc. FreeRTOS - free RTOS that runs on several architectures. DrRTOS - works with ARM 7  Implement a custom RTOS Can be highly optimized to suit your application

21. Real-time Operating Systems  A tool for real-time software developers.  Allows increasingly complex systems to be developed in less time.  Provides a level abstraction between software and hardware.  Continues the evolution microcontroller system design.

22. Application Example Implementation  Example of RTOS application that requires wireless communication. CC1100 HAL Radio Operation Layer Protocol Application  Hardware abstraction layer for the radio. Performs low-level interaction between  C and radio.  Groups low-level interactions from the HAL into higher-level functions. Sending a packet  Middle-ware that provides a gateway between the application and RTOS.  Application

23. Demonstration

24. Questions?