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THE EXPERT’S VOICE® IN EMBEDDED SYSTEMS Building Embedded Systems Programmable Hardware — Changyi Gu Building Embedded Systems Programmable Hardware Changyi Gu Building Embedded Systems Changyi Gu San Diego California, USA ISBN-13 (pbk): 978-1-4842-1918-8 ISBN-13 (electronic): 978-1-4842-1919-5 DOI 10.1007/978-1-4842-1919-5 Library of Congress Control Number: 2016941346 Copyright © 2016 by Changyi Gu This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. 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Contents at a Glance About the Author .....................................................................................................xv About the Technical Reviewer ...............................................................................xvii Acknowledgments ..................................................................................................xix Introduction ............................................................................................................xxi ■ Chapter 1: The Whole Picture ................................................................................1 ■ Chapter 2: Power On and Bootloader ....................................................................5 ■ Chapter 3: Inside the CPU ....................................................................................27 ■ Chapter 4: RAM, DMA, and Interrupt ...................................................................47 ■ Chapter 5: Bus Architecture ................................................................................69 ■ Chapter 6: Firmware Coding in C .......................................................................103 ■ Chapter 7: Firmware Coding in the C++ and Script Languages ........................129 ■ Chapter 8: Building and Deployment .................................................................149 ■ Chapter 9: Field-Programmable Gate Arrays .....................................................191 ■ Chapter 10: System on Programmable Chip (SOPC) ..........................................233 ■ Chapter 11: De-Bounce, Power Management, and Display ................................249 ■ Chapter 12: Fixed Point Math ............................................................................271 ■ Chapter 13: Popular Ways of Console Communications: Prepare the Tools ......305 ■ Chapter 14: Work Flow ......................................................................................313 Index .....................................................................................................................317 v Contents About the Author .....................................................................................................xv About the Technical Reviewer ...............................................................................xvii Acknowledgments ..................................................................................................xix Introduction ............................................................................................................xxi ■ Chapter 1: The Whole Picture ................................................................................1 Organization of the Book ..................................................................................................3 Companion Materials for this Book ..................................................................................4 References .......................................................................................................................4 ■ Chapter 2: Power On and Bootloader ....................................................................5 What Happens After Powering On ....................................................................................5 What Does Bootloader Do? ...............................................................................................7 User Image (ROM Image)..................................................................................................8 Image of Embedded OS ..........................................................................................................................8 Image of Object File ................................................................................................................................9 Flash Image and XIP (Execute In Place) ................................................................................................14 Flash Memory .................................................................................................................20 Burn the Flash (PROM Program) ...........................................................................................................20 NOR Flash and NAND Flash ..................................................................................................................20 Pre-Loader ............................................................................................................................................22 Flash File System .................................................................................................................................23 Summary ........................................................................................................................24 References .....................................................................................................................25 vii ■ CONTENTS ■ Chapter 3: Inside the CPU ....................................................................................27 Von Neumann Architecture and Memory Barrier ............................................................27 Harvard Architecture, Modiﬁ ed Harvard Architecture .....................................................29 CISC and RISC ................................................................................................................31 SIMD/VLIW ......................................................................................................................34 CPU Debugging ...............................................................................................................34 CPU Simulator .......................................................................................................................................34 ROM Monitor .........................................................................................................................................35 Introduction to ICE (In Circuit Emulator) ...............................................................................................35 Non-JTAG ICE ........................................................................................................................................36 JTAG-Based ICE ....................................................................................................................................38 Using Breakpoints ................................................................................................................................42 Trace .....................................................................................................................................................44 Summary ........................................................................................................................46 References .....................................................................................................................46 ■ Chapter 4: RAM, DMA, and Interrupt ...................................................................47 Types of Random Access Memory ..................................................................................47 NVRAM (Non-Volatile Random Access Memory) ...................................................................................47 Traditional SRAM: Intel 8080 vs. Motorola 6800 ...................................................................................47 DDR SDRAM (Dual Date Rate Synchronous Dynamic RAM) ..................................................................50 QDR SRAM ............................................................................................................................................53 Other Types of RAM ..............................................................................................................................54 PIO and DMA ..................................................................................................................55 PIO ........................................................................................................................................................55 DMA and MMU ......................................................................................................................................56 Memory Allocation for DMA ..................................................................................................................59 Cache/Write Buffer and Memory Incoherence ......................................................................................60 Interrupt .........................................................................................................................61 Interrupt Mechanism ............................................................................................................................61 Shared Interrupt ...................................................................................................................................62 viii ■ CONTENTS VIC (Vectored Interrupt Controller) ........................................................................................................66 Interrupt from Watchdog Timer .............................................................................................................67 Message Signaled Interrupt (MSI) ........................................................................................................67 Summary ........................................................................................................................68 References .....................................................................................................................68 ■ Chapter 5: Bus Architecture ................................................................................69 Bus with System Synchronous Timing ...........................................................................69 Bus with Source Synchronous Timing ............................................................................70 From Parallel Bus to Serial Bus ......................................................................................72 The Drawbacks of Parallel Bus .............................................................................................................73 Implementation of Differential Serial Link ......................................................................77 Out-of-band Clocking ...........................................................................................................................77 Embedded Clocking ..............................................................................................................................79 8b/10b Encoding and Signal Conditioning ............................................................................................80 Bus Standards ......................................................................................................................................80 Driver for PCI Device .............................................................................................................................84 Selecting the Hardware Component .....................................................................................................88 Implementing the USB ﬁ rmware ..........................................................................................................90 Implementing the USB Device Driver (for the Host OS) ........................................................................91 Overview ...............................................................................................................................................93 Hardware Implementation ....................................................................................................................95 Summary ......................................................................................................................101 References ...................................................................................................................101 ■ Chapter 6: Firmware Coding in C .......................................................................103 Overview ......................................................................................................................103 The Confusion of Tongues ............................................................................................105 Firmware Coding in the C Language ............................................................................106 Explicit Type of Bit-Width ....................................................................................................................106 Align the Data Structure .....................................................................................................................107 ix