Embedded System Design with Arm Cortex-M Microcontrollers. Applications with C, C++ and MicroPython

Contents
1 Introduction
	1.1 Embedded Systems
	1.2 Microcontroller as Embedded System
	1.3 About the Book
	References
2 Microcontroller Architecture
	2.1 The STM32F4 Microcontroller
		2.1.1 Central Processing Unit
			2.1.1.1 Nested Vectored Interrupt Controller
			2.1.1.2 Debug Access Port and Serial Wire Viewer
			2.1.1.3 Memory Management Units
			2.1.1.4 Embedded Trace Macrocell Module
			2.1.1.5 The Bus Matrix
			2.1.1.6 Registers
		2.1.2 Memory
			2.1.2.1 Memory Types
			2.1.2.2 Memory Map
			2.1.2.3 Memory Related Modules
		2.1.3 General-Purpose Input and Output Ports
		2.1.4 Clock and Timer Modules
		2.1.5 Analog Modules
		2.1.6 Digital Communication Modules
		2.1.7 Other Modules
	2.2 Assembly Language
		2.2.1 The Arm® Cortex™-M4 Instruction Set
		2.2.2 Executing Machine Language Code in the Microcontroller
	2.3 The STM32F4 Board
		2.3.1 General Information
		2.3.2 Pin Layout
		2.3.3 Powering the Board and Programming the Microcontroller on It
	2.4 Summary of the Chapter
	Problems
	References
3 Software Development Platforms
	3.1 The STM32CubeIDE Platform
		3.1.1 Downloading and Installing STM32CubeIDE
		3.1.2 Launching STM32CubeIDE
		3.1.3 Creating a New Project
		3.1.4 Building, Debugging, and Executing the Project
			3.1.4.1 Building and Debugging the Project
			3.1.4.2 Executing the Project
		3.1.5 Using STM32CubeMX to Modify Hardware of the Microcontroller
			3.1.5.1 Creating a New Project Using STM32CubeMX
			3.1.5.2 Generating and Modifying the Code
			3.1.5.3 Executing the Project
	3.2 Mbed and Mbed Studio Platforms
		3.2.1 Mbed on Web
		3.2.2 Managing a Project in Mbed
			3.2.2.1 Creating the Project
			3.2.2.2 Building and Executing the Project
		3.2.3 Mbed Studio on Desktop
		3.2.4 Managing a Project in Mbed Studio
			3.2.4.1 Creating the Project
			3.2.4.2 Building, Debugging, and Executing the Project
	3.3 MicroPython
		3.3.1 About Python
		3.3.2 Python for Microcontrollers: MicroPython
		3.3.3 Setting up MicroPython on the STM32F4 Microcontroller
		3.3.4 MicroPython Working Principles
		3.3.5 Using MicroPython on the STM32F4 Microcontroller
			3.3.5.1 Read-Evaluate-Print Loop
			3.3.5.2 Accessing and Modifying the Main File
			3.3.5.3 Using an Available Python IDE
	3.4 Application: Tools for Analyzing the Generated Code
		3.4.1 Analyzing the C Code in STM32CubeIDE
			3.4.1.1 The Instrumentation Trace Macrocell Usage
			3.4.1.2 Measuring the Execution Time
			3.4.1.3 Measuring Memory Usage
		3.4.2 Analyzing the C++ Code in Mbed Studio
			3.4.2.1 Measuring the Execution Time
			3.4.2.2 Measuring Memory Usage
		3.4.3 Analyzing the MicroPython Code
			3.4.3.1 Measuring the Execution Time
			3.4.3.2 Measuring Memory Usage
	3.5 Summary of the Chapter
	Problems
	References
4 Digital Input and Output
	4.1 Bit Values as Voltage Levels
	4.2 Interfacing Voltage Levels with the Microcontroller
		4.2.1 Digital Input from a Switch or Button
			4.2.1.1 Setting Up the Switch or Button
			4.2.1.2 Avoiding Switch Bouncing
		4.2.2 Digital I/O with High Voltage Values
		4.2.3 Digital Output to a Load Requiring High Current and Voltage Values
	4.3 Digital I/O Setup on the STM32F4 Microcontroller
		4.3.1 Circuit Diagram of a Pin and Its Setup via Associated Registers
		4.3.2 GPIO Registers in Memory Map of the STM32F4 Microcontroller
		4.3.3 Setting Up GPIO Registers
			4.3.3.1 C Language
			4.3.3.2 C++ Language
			4.3.3.3 MicroPython
	4.4 Digital I/O Usage on the STM32F4 Microcontroller
		4.4.1 C Language Usage
		4.4.2 C++ Language Usage
		4.4.3 MicroPython Usage
	4.5 Application: Digital Input and Output Operations in the Robot Vacuum Cleaner
	4.6 Summary of the Chapter
	Problems
	References
5 Interrupts and Power Management
	5.1 The Interrupt Concept in Embedded Systems
		5.1.1 Interrupts in General
		5.1.2 Interrupts in the STM32F4 Microcontroller
			5.1.2.1 Interrupt Operations in Peripheral Units
			5.1.2.2 Extended Interrupts and Events Controller
			5.1.2.3 Nested Vectored Interrupt Controller
			5.1.2.4 Interrupt Operations in the CPU
	5.2 Interrupt Setup in the STM32F4 Microcontroller
		5.2.1 Interrupt Setup via C Language
		5.2.2 Interrupt Setup via C++ Language
		5.2.3 Interrupt Setup via MicroPython
	5.3 Interrupt Usage in the STM32F4 Microcontroller
		5.3.1 Interrupt Usage via C Language
		5.3.2 Interrupt Usage via C++ Language
		5.3.3 Interrupt Usage via MicroPython
	5.4 Power Management in Embedded Systems
		5.4.1 Importance of Power Management in Embedded Applications
		5.4.2 The Link Between Power Management and Interrupt Usage
		5.4.3 Battery as Power Supply
	5.5 Power Management in the STM32F4 Microcontroller
		5.5.1 Power Management Features
		5.5.2 Power Supply Options
		5.5.3 Power Modes
		5.5.4 STM32CubeMX for Power Usage Analysis
	5.6 Usage of Power Modes in Code
		5.6.1 Power Modes in C Language
			5.6.1.1 Sleep Mode
			5.6.1.2 Stop Mode
			5.6.1.3 Standby Mode
		5.6.2 Power Modes in C++ Language
		5.6.3 Power Modes in MicroPython
	5.7 Application: Interrupt-Based Operations and Power Management for the Robot Vacuum Cleaner
	5.8 Summary of the Chapter
	Problems
	References
6 Timing Operations
	6.1 Clock Signals in Embedded Systems
		6.1.1 What Is a Clock Signal?
		6.1.2 Oscillator as the Clock Signal Source
		6.1.3 Managing Clocks in the STM32F4 Microcontroller
	6.2 Timers in Embedded Systems
		6.2.1 What Is a Timer?
		6.2.2 Introducing Timers in the STM32F4 Microcontroller
		6.2.3 Base Timers in the STM32F4 Microcontroller
			6.2.3.1 Trigger and Clock Controller Block
			6.2.3.2 The Counter Block
			6.2.3.3 Counting Modes
			6.2.3.4 The Input Capture Block
			6.2.3.5 The Output Compare Block
			6.2.3.6 Summary of the STM32F4 Microcontroller Base Timers
		6.2.4 System Timer in the STM32F4 Microcontroller
		6.2.5 Watchdog Timers in the STM32F4 Microcontroller
		6.2.6 Real-Time Clock in the STM32F4 Microcontroller
		6.2.7 Advanced Base Timer Operations in the STM32F4 Microcontroller
	6.3 Timer Setup in the STM32F4 Microcontroller
		6.3.1 Timer Setup via C Language
			6.3.1.1 Setting Up Base Timers
			6.3.1.2 Setting Up the System Timer
			6.3.1.3 Setting Up Watchdog Timers
			6.3.1.4 Setting Up the RTC
		6.3.2 Timer Setup via C++ Language
			6.3.2.1 Setting Up Base Timers
			6.3.2.2 Setting Up the Watchdog Timer
			6.3.2.3 Setting Up the RTC
		6.3.3 Timer Setup via MicroPython
			6.3.3.1 Setting Up Base Timers
			6.3.3.2 Setting Up the Watchdog Timer
			6.3.3.3 Setting Up the RTC
	6.4 Timer Usage in the STM32F4 Microcontroller
		6.4.1 Timer Usage in C Language
			6.4.1.1 Usage of Base Timers
			6.4.1.2 Usage of the System Timer
			6.4.1.3 Usage of Watchdog Timers
			6.4.1.4 Usage of the RTC
			6.4.1.5 Timer Usage Examples via C Language
		6.4.2 Timer Usage in C++ Language
			6.4.2.1 Usage of Base Timers
			6.4.2.2 Usage of the Watchdog Timer
			6.4.2.3 Usage of the RTC
			6.4.2.4 Timer Usage Examples via C++ Language
		6.4.3 Timer Usage in MicroPython
			6.4.3.1 Usage of Base Timers
			6.4.3.2 Usage of the Watchdog Timer
			6.4.3.3 Usage of the RTC
			6.4.3.4 Timer Usage Examples via MicroPython
	6.5 Application: Timing Operations in the Robot Vacuum Cleaner
	6.6 Summary of the Chapter
	Problems
	References
7 Conversion Between Analog and Digital Values
	7.1 Analog and Digital Values
		7.1.1 Analog Values in Physical Systems
		7.1.2 Digital Values in Embedded Systems
		7.1.3 Digital Values in Code
			7.1.3.1 Data Types in C and C++ Languages
			7.1.3.2 Data Types in Python
	7.2 Analog to Digital Conversion in Embedded Systems
		7.2.1 Sampling
		7.2.2 Quantization
		7.2.3 ADC Operation in the STM32F4 Microcontroller
			7.2.3.1 Input Sources
			7.2.3.2 Triggers
			7.2.3.3 Operating Modes
			7.2.3.4 ADC Interrupts
			7.2.3.5 Sampling and Clocks
			7.2.3.6 Obtaining the ADC Operation Result
	7.3 ADC Setup in the STM32F4 Microcontroller
		7.3.1 ADC Setup via C Language
			7.3.1.1 Setting Up Input Sources
			7.3.1.2 Setting Up Operating Modes
			7.3.1.3 Setting Up ADC Interrupts
			7.3.1.4 Setting Up Triggers
			7.3.1.5 Setting Up Clock Options
		7.3.2 ADC Setup via C++ Language
		7.3.3 ADC Setup via MicroPython
	7.4 ADC Usage in the STM32F4 Microcontroller
		7.4.1 ADC Usage in C Language
			7.4.1.1 Starting and Stopping the Conversion Operation
			7.4.1.2 The Injected Conversion Operation
			7.4.1.3 ADC Interrupt Usage
			7.4.1.4 The ADC Module Usage Examples
		7.4.2 ADC Usage in C++ Language
		7.4.3 ADC Usage in MicroPython
	7.5 Digital to Analog Conversion in Embedded Systems
		7.5.1 Zero-Order Hold
		7.5.2 Pulse Width Modulation
		7.5.3 DAC Operation in the STM32F4 Microcontroller
			7.5.3.1 The DAC Module
			7.5.3.2 PWM Signal Generation
	7.6 DAC Setup in the STM32F4 Microcontroller
		7.6.1 DAC Setup via C Language
			7.6.1.1 DAC Module Setup
			7.6.1.2 PWM Signal Setup
		7.6.2 DAC Setup via C++ Language
		7.6.3 DAC Setup via MicroPython
	7.7 DAC Usage in the STM32F4 Microcontroller
		7.7.1 DAC Usage in C Language
			7.7.1.1 DAC Module Usage
			7.7.1.2 PWM Signal Usage
			7.7.1.3 DAC Usage Examples
		7.7.2 DAC Usage in C++ Language
		7.7.3 DAC Usage in MicroPython
	7.8 Application: ADC and DAC Operations in the Robot Vacuum Cleaner
	7.9 Summary of the Chapter
	Problems
	References
8 Digital Communication
	8.1 Background on Digital Communication
		8.1.1 Data, Frame, and Field
		8.1.2 Serial and Parallel Data Transfer
		8.1.3 Synchronous and Asynchronous Data Transfer
		8.1.4 Signal Representation and Line Formations
		8.1.5 Data Encoding Types
			8.1.5.1 Non Return to Zero
			8.1.5.2 Return to Zero
			8.1.5.3 Non Return to Zero Inverted
			8.1.5.4 Return to Zero Inverted
			8.1.5.5 Manchester Coding
			8.1.5.6 Demonstrating Different Data Encoding Types
		8.1.6 Simplex, Half, and Full Duplex Communication
		8.1.7 Master and Slave Modes
		8.1.8 Baud Rate
	8.2 Universal Asynchronous Receiver/Transmitter
		8.2.1 UART Working Principles
		8.2.2 UART Modules in the STM32F4 Microcontroller
		8.2.3 UART Setup in the STM32F4 Microcontroller
			8.2.3.1 Setup via C Language
			8.2.3.2 Setup via C++ Language
			8.2.3.3 Setup via MicroPython
		8.2.4 UART Usage in the STM32F4 Microcontroller
			8.2.4.1 Usage via C Language
			8.2.4.2 Usage via C++ Language
			8.2.4.3 Usage via MicroPython
	8.3 Serial Peripheral Interface
		8.3.1 SPI Working Principles
		8.3.2 SPI Modules in the STM32F4 Microcontroller
		8.3.3 SPI Setup in the STM32F4 Microcontroller
			8.3.3.1 Setup via C Language
			8.3.3.2 Setup via C++ Language
			8.3.3.3 Setup via MicroPython
		8.3.4 SPI Usage in the STM32F4 Microcontroller
			8.3.4.1 Usage via C Language
			8.3.4.2 Usage via C++ Language
			8.3.4.3 Usage via MicroPython
	8.4 Inter-integrated Circuit
		8.4.1 I2C Working Principles
		8.4.2 I2C Modules in the STM32F4 Microcontroller
		8.4.3 I2C Setup in the STM32F4 Microcontroller
			8.4.3.1 Setup via C Language
			8.4.3.2 Setup via C++ Language
			8.4.3.3 Setup via MicroPython
		8.4.4 I2C Usage in the STM32F4 Microcontroller
			8.4.4.1 Usage via C Language
			8.4.4.2 Usage via C++ Language
			8.4.4.3 Usage via MicroPython
	8.5 Controller Area Network
		8.5.1 CAN Working Principles
		8.5.2 CAN Modules in the STM32F4 Microcontroller
		8.5.3 CAN Setup in the STM32F4 Microcontroller
			8.5.3.1 Setup via C Language
			8.5.3.2 Setup via C++ Language
			8.5.3.3 Setup via MicroPython
		8.5.4 CAN Usage in the STM32F4 Microcontroller
			8.5.4.1 Usage via C Language
			8.5.4.2 Usage via C++ Language
			8.5.4.3 Usage via MicroPython
	8.6 Universal Serial Bus
		8.6.1 USB Working Principles
		8.6.2 USB Modules in the STM32F4 Microcontroller
		8.6.3 USB Setup in the STM32F4 Microcontroller
			8.6.3.1 Setup via C Language
			8.6.3.2 Setup via MicroPython
		8.6.4 USB Usage in the STM32F4 Microcontroller
			8.6.4.1 Usage via C Language
			8.6.4.2 Usage via MicroPython
	8.7 Other Digital Communication Types
		8.7.1 SD Bus Interface
		8.7.2 Inter-IC Sound
	8.8 Application: Digital Communication for the Robot Vacuum Cleaner
	8.9 Summary of the Chapter
	Problems
	References
9 Memory Operations
	9.1 Memory Working Principles
		9.1.1 Bus Architecture
		9.1.2 Memory in General
		9.1.3 RAM
		9.1.4 Flash Memory
	9.2 Memory Management in C and C++ Languages
		9.2.1 RAM Partitioning
		9.2.2 Memory Modification
		9.2.3 Pointer-Based Operations
			9.2.3.1 Pointer to a Variable
			9.2.3.2 Pointer to a Pointer
			9.2.3.3 Reaching a Specific Memory Address by Pointers
			9.2.3.4 Pointers and Arrays
			9.2.3.5 Pointer to a Structure
			9.2.3.6 Function Call by Reference
			9.2.3.7 Function Pointers
		9.2.4 Local, Global, and Static Variables
	9.3 Memory Management in MicroPython
		9.3.1 RAM Management During Compilation Stage
			9.3.1.1 Frozen Bytecode Usage
			9.3.1.2 Precompiling Scripts
		9.3.2 Effective RAM Usage During Code Execution
			9.3.2.1 Constant Usage
			9.3.2.2 Constant Data Structures
			9.3.2.3 Using Pre-allocated Buffers
			9.3.2.4 Garbage Collector
		9.3.3 Local and Global Variables
	9.4 Direct Memory Access
		9.4.1 The DMA Controller in the STM32F4Microcontroller
		9.4.2 DMA Features
		9.4.3 DMA Interrupts
		9.4.4 DMA Setup in the STM32F4 Microcontroller
		9.4.5 DMA Usage in the STM32F4 Microcontroller
	9.5 Flexible Memory Controller
		9.5.1 FMC Working Principles
		9.5.2 FMC Setup in the STM32F4 Microcontroller
			9.5.2.1 Setup via C Language
			9.5.2.2 Setup via C++ Language
			9.5.2.3 Setup via MicroPython
		9.5.3 FMC Usage in the STM32F4 Microcontroller
			9.5.3.1 Usage via C Language
			9.5.3.2 Usage via C++ Language
			9.5.3.3 Usage via MicroPython
	9.6 Application: Memory-Based Operations in the Robot Vacuum Cleaner
	9.7 Summary of the Chapter
	Problems
	References
10 Real-Time Operating Systems
	10.1 Fundamentals of RTOS
		10.1.1 RTOS Components
		10.1.2 RTOS Working Principles
	10.2 FreeRTOS and Mbed OS
		10.2.1 FreeRTOS
		10.2.2 FreeRTOS Project Setup in STM32CubeIDE
		10.2.3 Mbed OS
		10.2.4 First Mbed OS Project in Mbed Studio
	10.3 Task and Thread
		10.3.1 Task Working Principles
			10.3.1.1 Task States
			10.3.1.2 Task Priorities
			10.3.1.3 Idle Task
		10.3.2 Task in FreeRTOS
			10.3.2.1 Task Setup and Task Functions
			10.3.2.2 Task Usage Examples
		10.3.3 Thread in Mbed OS
			10.3.3.1 Thread Functions
			10.3.3.2 Thread Usage Examples
	10.4 Event
		10.4.1 Event Working Principles
		10.4.2 Event in FreeRTOS
			10.4.2.1 Event Setup and Event Functions
			10.4.2.2 Event Usage Examples
		10.4.3 Event in Mbed OS
			10.4.3.1 Event Functions
			10.4.3.2 Event Usage Examples
	10.5 Mutex and Semaphore
		10.5.1 Mutex Working Principles
		10.5.2 Semaphore Working Principles
		10.5.3 Mutex and Semaphore in FreeRTOS
			10.5.3.1 Mutex Setup and Mutex Functions
			10.5.3.2 Mutex Usage Examples
			10.5.3.3 Semaphore Setup and Semaphore Functions
			10.5.3.4 Semaphore Usage Examples
		10.5.4 Mutex and Semaphore in Mbed OS
			10.5.4.1 Mutex Functions
			10.5.4.2 Mutex Usage Examples
			10.5.4.3 Semaphore Functions
			10.5.4.4 Semaphore Usage Examples
	10.6 Queue and Mail
		10.6.1 Queue Working Principles
		10.6.2 Mail Working Principles
		10.6.3 Queue and Memory Pool in FreeRTOS
			10.6.3.1 Queue Setup and Queue Functions
			10.6.3.2 Queue Usage Examples
			10.6.3.3 Memory Pool Setup and Memory Pool Functions
			10.6.3.4 Memory Pool Usage Examples
		10.6.4 Queue and Mail in Mbed OS
			10.6.4.1 Queue Functions
			10.6.4.2 Queue Usage Examples
			10.6.4.3 Mail Functions
			10.6.4.4 Mail Usage Examples
	10.7 Software Timers in FreeRTOS
		10.7.1 Software Timer Setup and Timer Functions
		10.7.2 Software Timer Usage Examples
	10.8 Memory Management in RTOS
		10.8.1 Memory Management in FreeRTOS
		10.8.2 Memory Management in Mbed OS
	10.9 Application: RTOS-Based Implementation of the Robot Vacuum Cleaner
	10.10 Summary of the Chapter
	Problems
	Reference
11 LCD, Touch Screen, and Graphical User Interface Formation
	11.1 LCD
		11.1.1 LCD Structure
		11.1.2 LCD Working Principles
		11.1.3 Connecting the LCD to an Image Source
		11.1.4 LCD on the STM32F4 Board
	11.2 Touch Screen
		11.2.1 Touch Screen Working Principles
		11.2.2 Touch Screen on the LCD of the STM32F4 Board
	11.3 Hardware Modules in the STM32F4 Microcontroller for LCD and Touch Screen Control
		11.3.1 LCD-TFT Display Controller
		11.3.2 DMA2D
	11.4 Setting Up the LCD on the STM32F4 Board
		11.4.1 Setup for SPI-Based Usage
			11.4.1.1 Setup via C Language
			11.4.1.2 Setup via C++ Language
			11.4.1.3 Setup via MicroPython
		11.4.2 Setup for LTDC-Based Usage
			11.4.2.1 Setup via C Language
			11.4.2.2 Setup via C++ Language
	11.5 Usage of the LCD on the STM32F4 Board
		11.5.1 Usage of the LCD via SPI
			11.5.1.1 Usage via C Language
			11.5.1.2 Usage via C++ Language
			11.5.1.3 Usage via MicroPython
		11.5.2 Usage of the LCD via LTDC
			11.5.2.1 Usage via C Language
			11.5.2.2 Usage via C++ Language
	11.6 Setting Up the Touch Screen on the LCD of STM32F4 Board
		11.6.1 Setup via C Language
		11.6.2 Setup via C++ Language
	11.7 Usage of the Touch Screen on the LCD of STM32F4 Board
		11.7.1 Usage via C Language
		11.7.2 Usage via C++ Language
	11.8 Graphical User Interface Formation via TouchGFX
		11.8.1 Installing TouchGFX
		11.8.2 Setting Up TouchGFX
		11.8.3 Using TouchGFX
	11.9 Application: Improving the Stand-Alone Remote Controller via GUI Formation and Touch Screen Usage
	11.10 Summary of the Chapter
	Problems
	References
12 Introduction to Digital Signal Processing
	12.1 About Digital Signals
		12.1.1 Mathematical Definition of the Digital Signal
		12.1.2 Representing the Digital Signal in an Embedded System
		12.1.3 Forming an Actual Digital Signal from the STM32F4 Board
			12.1.3.1 Data Acquisition via C Language
			12.1.3.2 Data Acquisition via C++ Language
			12.1.3.3 Data Acquisition via MicroPython
	12.2 Transferring the Digital Signal Between the PC and STM32F4 Microcontroller
		12.2.1 Setup in the STM32F4 Microcontroller Side
			12.2.1.1 Setup via C Language
			12.2.1.2 Setup via C++ Language
			12.2.1.3 Setup via MicroPython
		12.2.2 Setup in the PC Side
	12.3 About Digital Systems
		12.3.1 Mathematical Representation of the Digital System
		12.3.2 Linear and Time-Invariant Systems
		12.3.3 Representing the Digital System in an Embedded System
	12.4 Digital Signals and LTI Systems in Complex Domain
		12.4.1 The z-Transform
		12.4.2 Discrete-Time Fourier Transform
	12.5 Processing Analog Audio Signals on the STM32F4 Microcontroller
		12.5.1 Acquiring the Audio Signal
		12.5.2 Forming an Equalizer by Digital Filters
		12.5.3 Feeding the Equalized Digital Signal to Output
		12.5.4 Final Form of the Overall System
	12.6 Summary of the Chapter
	Problems
	References
13 Introduction to Digital Control
	13.1 About Digital Control
		13.1.1 The Control Action
		13.1.2 Representing the Digital Controller in an Embedded System
	13.2 Transfer Function Based Control
		13.2.1 Open-Loop Control
		13.2.2 Closed-Loop Control
		13.2.3 Designing a Controller
	13.3 PID Controllers
		13.3.1 General Structure
			13.3.1.1 P Controller
			13.3.1.2 PI Controller
			13.3.1.3 PID Controller
		13.3.2 PID Controller Design
		13.3.3 Implementing the PID Controller on the STM32F4 Microcontroller
			13.3.3.1 Implementation in C Language
			13.3.3.2 Implementation in C++ Language
			13.3.3.3 Implementation in MicroPython
	13.4 PID Control of a DC Motor by the STM32F4 Microcontroller
		13.4.1 DC Motor as the System to Be Controlled
		13.4.2 Encoder as the Sensor
		13.4.3 Speed Control of the DC Motor
	13.5 Summary of the Chapter
	Problems
	Reference
14 Introduction to Digital Image Processing
	14.1 About Digital Images
		14.1.1 Mathematical Representation of the Digital Image
		14.1.2 Grayscale and Color Images
		14.1.3 Representing the Digital Image in the STM32F4 Microcontroller
			14.1.3.1 Image Representation in C Language
			14.1.3.2 Image Representation in C++ Language
			14.1.3.3 Image Representation in MicroPython
	14.2 Image Transfer Between the PC and STM32F4Microcontroller
		14.2.1 Setup in the PC Side
		14.2.2 Setup and Display in the STM32F4 Microcontroller Side
			14.2.2.1 Setup and Display via C Language
			14.2.2.2 Setup and Display via C++ Language
			14.2.2.3 Setup and Display via MicroPython
	14.3 Digital Camera as the Image Sensor
		14.3.1 Working Principles of a Digital Camera
			14.3.1.1 Optics and Image Sensor
			14.3.1.2 Preprocessing
			14.3.1.3 Camera Interface
			14.3.1.4 Timing and Synchronization
			14.3.1.5 Control Interface and Registers
		14.3.2 Image Data Representation in Digital Cameras
			14.3.2.1 Raw Form
			14.3.2.2 Processed Form
			14.3.2.3 Compressed Form
		14.3.3 The OV7670 Camera Module
		14.3.4 Setting Up the OV7670 Camera Module
			14.3.4.1 Setup via C Language
			14.3.4.2 Setup via C++ Language
			14.3.4.3 Setup via MicroPython
	14.4 Digital Camera Interface Module in the STM32F4 Microcontroller
		14.4.1 Working Principles of the DCMI Module
		14.4.2 Setting Up the DCMI Module
			14.4.2.1 Setup via C Language
			14.4.2.2 Setup via C++ Language
			14.4.2.3 Setup via MicroPython
	14.5 Image Acquisition via Digital Camera
		14.5.1 Acquiring the Image
			14.5.1.1 Image Acquisition via C Language
			14.5.1.2 Image Acquisition via C++ Language
			14.5.1.3 Image Acquisition via MicroPython
		14.5.2 Displaying the Acquired Image on LCD
			14.5.2.1 Display via C Language
			14.5.2.2 Display via C++ Language
			14.5.2.3 Display via MicroPython
		14.5.3 Transferring the Acquired Image to PC
			14.5.3.1 Image Transfer via C Language
			14.5.3.2 Image Transfer via C++ Language
			14.5.3.3 Image Transfer via MicroPython
		14.5.4 Format Conversions
			14.5.4.1 Format Conversion in C Language
			14.5.4.2 Format Conversion in C++ Language
			14.5.4.3 Format Conversion in MicroPython
	14.6 Pixel-Based Digital Image Processing Operations
		14.6.1 Obtaining the Negative Image
			14.6.1.1 C Language
			14.6.1.2 C++ Language
			14.6.1.3 MicroPython
		14.6.2 Intensity Transformation Applied to the Image
			14.6.2.1 C Language
			14.6.2.2 C++ Language
			14.6.2.3 MicroPython
		14.6.3 Thresholding the Image
			14.6.3.1 C Language
			14.6.3.2 C++ Language
			14.6.3.3 MicroPython
	14.7 Summary of the Chapter
	Problems
	References
15 Advanced Topics
	15.1 Assembly Language Programming
		15.1.1 Forming a Complete Assembly Code
		15.1.2 Creating an Assembly Project in STM32CubeIDE
		15.1.3 Inline Assembly in C Language
		15.1.4 Inline Assembly in C++ Language
		15.1.5 Inline Assembly in MicroPython
	15.2 Customizing the MicroPython Firmware
		15.2.1 Necessary Settings to Modify the MicroPython Firmware
		15.2.2 Precompiling Scripts Usage
		15.2.3 Frozen Bytecode Usage
		15.2.4 Adding C Functions to MicroPython
	15.3 Mbed Simulator
	References
Index