Real-Time C++: Efficient Object-Oriented and Template Microcontroller Programming

Preface to the Fourth Edition
	New or Significantly Modified Sections
	Improved or New Examples and Code Snippets
	Companion Code
	Further Notes on Coding Style
Updated Trademarks and Acknowledgments
Preface to the Third Edition
	New or Significantly Modified Sections
	Improved or New Examples and Code Snippets
	Companion Code
	Further Notes on Coding Style
	Updated Trademarks and Acknowledgments
Preface to the Second Edition
	Companion Code
	More Notes on Coding Style
Preface to the First Edition
	About This Book
	Companion Code, Targets, and Tools
	Notes on Coding Style
	Acknowledgments
Contents
Acronyms
	References
Part I Language Technologies for Real-Time C++
	1 Getting Started with Real-Time C++
		1.1 The LED Program
		1.2 The Syntax of C++
		1.3 Class Types
		1.4 Members
		1.5 Objects and Instances
		1.6 #include
		1.7 Namespaces
		1.8 C++ Standard Library
		1.9 The main() Subroutine
		1.10 Low-Level Register Access
		1.11 Compile-Time Constant
		References
	2 Working with a Real-Time C++ Program on a Board
		2.1 The Target Hardware
		2.2 Build and Flash the LED Program
		2.3 Adding Timing for Visible LED Toggling
		2.4 Run and Reset the LED Program
		2.5 Recognizing and Handling Errors and Warnings
		2.6 Reaching the Right Efficiency
		References
	3 An Easy Jump Start in Real-Time C++
		3.1 Declare Locals When Used
		3.2 Fixed-Size Integer Types and Prime Number Example
		3.3 The bool Type
		3.4 Organization with Namespaces
		3.5 Basic Classes
		3.6 Basic Templates
		3.7 nullptr Replaces NULL
		3.8 Generalized Constant Expressions with constexpr
		3.9 static_assert
		3.10 Using 
		3.11 std::array
		3.12 Basic STL Algorithms
		3.13 
		3.14 atomic_load() and atomic_store()
		3.15 Digit Separators
		3.16 Binary Literals
		3.17 User-Defined Literals
		3.18 Using alignof and alignas
		3.19 The Specifier final
		3.20 Alias as an Alternative to typedef
		3.21 Delimiting Pointer Ranges with 
		3.22 Generating Random Numbers with 
		References
	4 Object-Oriented Techniques for Microcontrollers
		4.1 Object Oriented Programming
		4.2 Objects and Encapsulation
		4.3 Inheritance
		4.4 Dynamic Polymorphism and a Detailed LED Example
		4.5 The Real Overhead of Dynamic Polymorphism
		4.6 Pure Virtual and Abstract
		4.7 Class Relationships
		4.8 Non-copyable Classes
		4.9 Constant Methods
		4.10 Static Constant Integral Members
		4.11 Class Friends
		4.12 Virtual Is Unavailable in the Base Class Constructor
		References
	5 C++ Templates for Microcontrollers
		5.1 Template Functions
		5.2 Template Scalability, Code Re-Use and Efficiency
		5.3 Template Member Functions
		5.4 Template Class Types
		5.5 Template Default Parameters
		5.6 Template Specialization
		5.7 Static Polymorphism
		5.8 Using the STL with Microcontrollers
		5.9 Variadic Templates
		5.10 Template Metaprogramming
		5.11 Tuples and Generic Metaprogramming
		5.12 Variable Templates
		5.13 Template Integer Sequences
		References
	6 Optimized C++ Programming for Microcontrollers
		6.1 Use Compiler Optimization Settings
		6.2 Know the Microcontroller\'s Performance
		6.3 Know an Algorithm\'s Complexity
		6.4 Use Assembly Listings
		6.5 Use Map Files
		6.6 Understand Name Mangling and De-mangling
		6.7 Know When to Use Assembly and When Not to
		6.8 Use Sensible Comments
		6.9 Simplify Code with typedef and Alias
		6.10 Use Native Integer Types
		6.11 Use Scaling with Powers of Two
		6.12 Potentially Replace Multiply with Shift-and-Add
		6.13 Consider Advantageous Hardware Dimensioning
		6.14 Consider ROM-ability
		6.15 Minimize the Interrupt Frame
		6.16 Use Custom Memory Management
		6.17 Use the STL Consistently
		6.18 Use Lambda Expressions
		6.19 Use Templates and Scalability
		6.20 Use Metaprogramming to Unroll Loops
		6.21 Potential Costs of Runtime Type Information (RTTI)
		References
Part II Components for Real-Time C++
	7 Accessing Microcontroller Registers
		7.1 Defining Constant Register Addresses
		7.2 Using Templates for Register Access
		7.3 Generic Templates for Register Access
		7.4 Bit-Mapped Structures
		Reference
	8 The Right Start
		8.1 The Startup Code
		8.2 Initializing RAM
		8.3 Initializing the Static Constructors
		8.4 The Connection Between the Linker and Startup
		8.5 Understand Static Initialization Rules
		8.6 Avoid Using Uninitialized Objects
		8.7 Jump to main() and Never return
		8.8 When in main(), What Comes Next?
		References
	9 Low-Level Hardware Drivers in C++
		9.1 An I/O Port Pin Driver Template Class
		9.2 Programming Interrupts in C++
		9.3 Implementing a System Tick
		9.4 A Software PWM Template Class
		9.5 A Serial SPI Driver Class
		9.6 CPU-Load Monitors
		9.7 Controlling a Seven-Segment Display
		9.8 Animating an RGB LED
		References
	10 Custom Memory Management
		10.1 Dynamic Memory Considerations
		10.2 Using Placement-new
		10.3 Allocators and STL Containers
		10.4 The Standard Allocator
		10.5 Writing a Specialized ring_allocator
		10.6 Using ring_allocator and Other Allocators
		10.7 Recognizing and Handling Memory Limitations
		10.8 Off-Chip Memory and Computing 100,001 Digits of π
		10.9 Using Ample RAM on Arm®-Based Single-Board Computer
		References
	11 C++ Multitasking
		11.1 Multitasking Schedulers
		11.2 Task Timing
		11.3 The Task Control Block
		11.4 The Task List
		11.5 The Scheduler
		11.6 Extended Multitasking
		11.7 Preemptive Multitasking
		11.8 The C++ Thread Support Library
		References
Part III Mathematics and Utilities for Real-Time C++
	12 Floating-Point Mathematics
		12.1 Floating-Point Arithmetic
		12.2 Mathematical Constants
		12.3 Elementary Functions
		12.4 Special Functions
		12.5 Complex-Valued Mathematics
		12.6 Compile-Time Evaluation of Functions with constexpr
		12.7 Generic Numeric Programming
		References
	13 Fixed-Point Mathematics
		13.1 Fixed-Point Data Types
		13.2 A Scalable Fixed-Point Template Class
		13.3 Using the fixed_point Class
		13.4 Fixed-Point Elementary Transcendental Functions
		13.5 A Specialization of std::numeric_limits
		References
	14 High-Performance Digital Filters
		14.1 A Floating-Point Order-1 Filter
		14.2 An Order-1 Integer Filter
		14.3 Order-N Integer FIR Filters
		14.4 Some Worked-Out Filter Examples
		References
	15 C++ Utilities
		15.1 The nothing Structure
		15.2 The noncopyable Class
		15.3 A Template timer Class
		15.4 Linear Interpolation
		15.5 A circular_buffer Template Class
		15.6 The Boost Library
		References
	16 Extending the C++ Standard Library and the STL
		16.1 Defining the Custom dynamic_array Container
		16.2 Implementing and Using dynamic_array
		16.3 Writing Parts of the C++ Library if None Is Available
		16.4 Implementation Notes for Parts of the C++ Library and STL
		16.5 Providing now() for \'s High-Resolution Clock
		16.6 Extended-Complex Number Templates
		16.7 An Embeddable Big Integer Class
		16.8 Customizing 
		16.9 Freestanding Implementation
		References
	17 Using C-Language Code in C++
		17.1 Accessing C Language Code in C++
		17.2 An Existing C-Language CRC Library
		17.3 Wrapping the C-Based CRC Library with C++ Classes
		17.4 Return to Investigations of Efficiency and Optimization
		References
	18 Additional Reading
		18.1 Literature List
		References
A A Tutorial for Real-Time C++
	A.1 C++ Cast Operators
	A.2 Uniform Initialization Syntax
	A.3 Overloading
	A.4 Compile-Time Assert
	A.5 Numeric Limits
	A.6 STL Containers
	A.7 STL Iterators
	A.8 STL Algorithms
	A.9 Lambda Expressions
	A.10 Initializer Lists
	A.11 Type Inference and Type Declaration with auto and decltype
	A.12 Range-Based for(:)
	A.13 Tuple
	A.14 Regular Expressions
	A.15 The  Library
	A.16 Using std::any and std::variant
	A.17 Structured Binding Declarations
	A.18 Three-Way Comparison
	References
B A Robust Real-Time C++ Environment
	B.1 Addressing the Challenges of Real-Time C++
	B.2 Software Architecture
	B.3 Establishing and Adhering to Runtime Limits
	References
C Building and Installing GNU GCC Cross Compilers
	C.1 The GCC Prerequisites
	C.2 Getting Started
	C.3 Building GMP
	C.4 Building MPFR
	C.5 Building MPC
	C.6 Building PPL
	C.7 Building ISL
	C.8 Building the Binary Utilities for the Cross Compiler
	C.9 Building the Cross Compiler
	C.10 Using the Cross Compiler
	References
D Building a Microcontroller Circuit
	D.1 The Circuit Schematic
	D.2 Assembling the Circuit on a Breadboard
	References
Glossary
Index