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| Preface | |
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| Introduction | |
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| What is an Embedded System? | |
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| What Is Unique about the Design Goals for Embedded Software? | |
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| What Does "Real-Time" Mean? | |
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| What Does "Multithreading" Mean? | |
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| How Powerful are Embedded Processors? | |
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| What Programming Languages are Used? | |
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| How Is Building an Embedded Application Different? | |
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| How Big are Typical Embedded Programs? | |
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| Problems | |
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| Data Representation | |
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| Fixed-Precision Binary Numbers | |
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| Positional Number Systems | |
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| Binary-to-Decimal Conversion | |
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| Decimal-to-Binary Conversion | |
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| Hexadecimal: A Shorthand for Binary | |
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| Fixed Precision, Rollover, and Overflow | |
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| Binary Representation of Integers | |
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| Signed Integers | |
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| Positive and Negative Representations of the Same Magnitude | |
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| Interpreting the Value of a 2's-Complement Number | |
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| Changing the Sign of Numbers with Integer and Fractional Parts | |
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| Binary Addition and Subtraction | |
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| Range and Overflow | |
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| Binary Representation of Real Numbers | |
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| Floating-Point Real Numbers | |
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| Fixed-Point Real Numbers | |
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| ASCII Representation of Text | |
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| Binary-Coded Decimal (BCD) | |
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| Problems | |
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| Implementing Arithmetic | |
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| 2'S-Complement and Hardware Complexity | |
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| Multiplication and Division | |
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| Signed Versus Unsigned Multiplication | |
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| Shifting Instead of Multiplying or Dividing by Powers of 2 | |
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| Multiplying by an Arbitrary Constant | |
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| Dividing by an Arbitrary Constant | |
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| Arithmetic for Fixed-Point Reals | |
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| Fixed-Point Using a Universal 16.16 Format | |
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| Fixed-Point Using a Universal 32.32 Format | |
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| Multiplication of 32.32 Fixed-Point Reals | |
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| Example: Multiplying two 4.4 Fixed-Point Reals | |
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| Problems | |
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| Getting the Most out of C | |
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| Integer Data Types | |
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| Integer Range and the Standard Header File LIMITS.H | |
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| Boolean Data Types | |
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| Mixing Data Types | |
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| Manipulating Bits In Memory | |
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| Testing Bits | |
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| Setting, Clearing, and Inverting Bits | |
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| Extracting Bits | |
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| Inserting Bits | |
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| Manipulating Bits In Input/Output Ports | |
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| Write-Only I/O Devices | |
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| I/O Devices Differentiated by Reads Versus Writes | |
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| I/O Devices Differentiated by Sequential Access | |
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| I/O Devices Differentiated by Bits in the Written Data | |
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| Accessing Memory-Mapped I/O Devices | |
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| Accessing Data Using a Pointer | |
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| Arrays, Pointers, and the "Address of" Operator | |
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| Structures | |
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| Packed Structures | |
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| Bit Fields | |
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| Variant Access | |
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| Casting the Address of an Object | |
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| Using Unions | |
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| Problems | |
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| Programming in Assembly Part 1: Computer Organization | |
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| Memory | |
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| Data Alignment | |
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| The Central Processing Unit (CPU) | |
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| Other Registers | |
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| The Fetch-Execute Cycle | |
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| Input/Output | |
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| Introduction to the ARM� Cortex™-M3 v7M Architecture | |
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| Internal Organization | |
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| Instruction Pipelining | |
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| Memory Model | |
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| Bit-Banding | |
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| ARM Assembly Language | |
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| Instruction Formats and Operands | |
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| Translating Assembly into Binary | |
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| Problems | |
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| Programming in Assembly Part 2: Data Manipulation | |
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| Loading Constants into Registers | |
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| Loading Memory Data into Registers | |
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| Storing Data from Registers to Memory | |
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| Converting Simple C Assignment Statements into ARM Assembly | |
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| Memory Address Calculations | |
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| Memory Addressing Examples | |
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| Translating C Pointer Expressions to Assembly | |
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| Translating C Subscript Expressions to Assembly | |
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| Translating Structure References to Assembly | |
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| Stack Instructions | |
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| Data Processing Instructions | |
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| Updating the Flags in the APSR | |
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| Arithmetic Instructions | |
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| Bit Manipulation Instructions | |
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| Shift Instructions | |
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| Bit Field Manipulation Instructions | |
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| Miscellaneous Bit, Byte, and Half-Word Instructions | |
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| Problems | |
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| Programming in Assembly Part 3: Control Structures | |
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| Instruction Sequencing | |
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| Implementing Decisions | |
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| Conditional Branch Instructions | |
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| If-Then and If-Then-Else Statements | |
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| Compound Conditionals | |
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| The "If-Then" (IT) Instruction | |
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| Implementing Loops | |
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| Speeding Up Array Access | |
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| Implementing Functions | |
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| Function Call and Return | |
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| Register Usage | |
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| Parameter Passing | |
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| Return Values | |
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| Temporary Variables | |
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| Preserving Registers | |
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| Problems | |
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| Programming in Assembly Part 4: I/O Programming | |
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| The Cortex-M3 I/O Hardware | |
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| Interrupts and Exceptions | |
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| Thread and Handler Modes | |
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| Entering the Exception Handler | |
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| Returning from the Exception Handler | |
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| Latency Reduction | |
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| Priorities and Nested Exceptions | |
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| Synchronization, Transfer Rate, and Latency | |
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| Buffers and Queues | |
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| Double Buffering | |
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| Estimating I/O Performance Capability | |
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| Polled Waiting Loops | |
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| Interrupt-Driven I/O | |
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| Direct Memory Access | |
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| Comparison of Methods | |
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| Problems | |
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| Concurrent Software | |
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| Foreground/Background Systems | |
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| Thread State and Serialization | |
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| Managing Latency | |
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| Interrupt Overrun | |
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| Moving Work into the Background | |
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| Multithreaded Programming | |
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| Concurrent Execution of Independent Threads | |
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| Context Switching | |
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| Non-preemptive (Cooperative) Multithreading | |
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| Preemptive Multithreading | |
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| Shared Resources and Critical Sections | |
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| Disabling Interrupts | |
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| Disabling Task Switching | |
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| Spin Locks | |
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| Mutex Objects | |
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| Semaphores | |
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| Problems | |
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| Scheduling | |
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| Thread States | |
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| Pending Threads | |
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| Context Switching | |
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| Round-Robin Scheduling | |
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| Priority-Based Scheduling | |
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| Resource Starvation | |
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| Priority Inversion | |
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| The Priority Ceiling Protocol | |
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| The Priority Inheritance Protocol | |
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| Assigning Priorities | |
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| Deadline-Driven Scheduling | |
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| Rate-Monotonic Scheduling | |
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| Deadlock | |
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| Watchdog Timers | |
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| Problems | |
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| Memory Management | |
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| Objects in C | |
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| Scope | |
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| Refining Local Scope | |
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| Refining Global Scope | |
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| Lifetime | |
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| Automatic Allocation | |
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| Storage Class "Register" | |
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| Static Allocation | |
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| Three Programs to Distinguish Static from Automatic | |
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| Object Creation | |
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| Object Initialization | |
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| Object Destruction | |
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| Dynamic Allocation | |
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| Fragmentation | |
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| Memory Allocation Pools | |
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| Automatic Allocation with Variable Size (alloca) | |
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| Variable-Size Arrays | |
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| Recursive Functions and Memory Allocation | |
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| Problems | |
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| Shared Memory | |
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| Recognizing Shared Objects | |
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| Shared Global Data | |
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| Shared Private Data | |
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| Shared Functions | |
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| Reentrant Functions | |
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| Read-Only Data | |
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| Type Qualifier "const" | |
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| Coding Practices to Avoid | |
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| Functions That Keep Internal State in Local Static Objects | |
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| Functions That Return the Address of a Local Static Object | |
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| Accessing Shared Memory | |
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| The Effect of Processor Architecture | |
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| Read-Only and Write-Only Access | |
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| Type Qualifier "volatile" | |
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| Problems | |
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| System Initialization | |
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| Memory Layout | |
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| The CPU and Vector Table | |
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| C Run-Time Environment | |
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| Copying Initial Values from Non-Volatile Memory into the Data Region | |
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| Zeroing Uninitialized Statics | |
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| Setting Up a Heap | |
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| System Timer | |
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| Other Peripheral Devices | |
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| Answers to Selected Problems | |
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| Index | |