Real-Time C++

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

The C++ language has powerful object-oriented and template features that can improve software design and portability while simultaneously reducing code complexity and the risk of error. Furthermore, C++ compiles highly efficient native code. This unique and effective combination makes C++ well-suited for programming microcontroller systems that require compact size, high performance and safety-critical reliability.

With this book, Chris Kormanyos delivers a highly practical guide to programming real-time embedded microcontroller systems in C++. It is divided into three parts plus several appendices. Part I provides a foundation for real-time C++ by covering language technologies, including object-oriented methods, template programming and optimization. Next, part II presents detailed descriptions of a variety of C++ components that are widely used in microcontroller programming. It details some of C++’s most powerful language elements, such as class types, templates and the STL, to develop components for microcontroller register access, low-level drivers, custom memory management, embedded containers, multitasking, etc.  Finally, part III describes mathematical methods and generic utilities that can be employed to solve recurring problems in real-time C++. The appendices include a brief C++ language tutorial, information on the real-time C++ development environment and instructions for building GNU GCC cross-compilers and a microcontroller circuit.

The most recent specification of C++11 in ISO/IEC 14882:2011 is used throughout the text. To facilitate portability, no libraries other than those specified in the language standard itself are used. Efficiency is always in focus and numerous examples are backed up with real-time performance measurements and size analyses that quantify the true costs of the code down to the very last byte and microsecond.

The target audience of this book mainly consists of students and professionals interested in real-time C++. Readers should be familiar with C or another programming language and will benefit most if they have had some previous experience with microcontroller electronics and the performance and size issues prevalent in embedded systems programming.

Table of Contents

Part I Language Technologies for Real-Time C++
1 Getting Started with Real-Time C++
2 Working with a Real-Time C++ Program on a Board
3 An Easy Jump-Start in Real-Time C++
4 Object-Oriented Techniques for Microcontrollers
5 C++ Templates for Microcontrollers
6 Optimized C++ Programming for Microcontrollers

Part II Components for Real-Time C++
7 Accessing Microcontroller Registers
8 The Right Start
9 Low-Level Hardware Drivers in C++
10 Custom Memory Management
11 C++ Multitasking

Part III Mathematics and Utilities for Real-Time C++
12 Floating-Point Mathematics
13 Fixed-Point Mathematics
14 High-Performance Digital Filters
15 C++ Utilities
16 Extending the C++ Standard Library and the STL
17 Additional Reading

Appendices
A A Tutorial for Real-Time C++
B A Robust Real-Time C++ Environment
C Building and Installing GNU GCC Cross Compilers
D Building a Microcontroller Circuit