飞利浦资深工程师写的关于RTOS得书《Real Time System Design and Analysis》

haha_wu

【文件名】:0613@52RD_Real Time System Design and Analysis.rar
【简　介】:
【目　录】:Preface to the Third Edition xvii
1 Basic Real-Time Concepts 1
1.1 Terminology / 1
1.1.1 Systems Concepts / 2
1.1.2 Real-Time Definitions / 4
1.1.3 Events and Determinism / 7
1.1.4 CPU Utilization / 10
1.2 Real-Time System Design Issues / 12
1.3 Example Real-Time Systems / 13
1.4 Common Misconceptions / 15
1.5 Brief History / 16
1.5.1 Theoretical Advances / 17
1.5.2 Early Systems / 17
1.5.3 Hardware Developments / 18
1.5.4 Early Software / 18
1.5.5 Commercial Operating System Support / 19
1.6 Exercises / 20
2 Hardware Considerations 23
2.1 Basic Architecture / 23
2.2 Hardware Interfacing / 24
2.2.1 Latching / 24
2.2.2 Edge versus Level Triggered / 25
2.2.3 Tristate Logic / 25
2.2.4 Wait States / 26
2.2.5 Systems Interfaces and Buses / 26
2.3 Central Processing Unit / 29
2.3.1 Fetch and Execute Cycle / 30
2.3.2 Microcontrollers / 30
vii
viii CONTENTS
2.3.3 Instruction Forms / 31
2.3.4 Core Instructions / 33
2.3.5 Addressing Modes / 36
2.3.6 RISC versus CISC / 37
2.4 Memory / 38
2.4.1 Memory Access / 39
2.4.2 Memory Technologies / 39
2.4.3 Memory Hierarchy / 42
2.4.4 Memory Organization / 43
2.5 Input/Output / 44
2.5.1 Programmed Input/Output / 44
2.5.2 Direct Memory Access / 45
2.5.3 Memory-Mapped Input/Output / 46
2.5.4 Interrupts / 48
2.6 Enhancing Performance / 55
2.6.1 Locality of Reference / 55
2.6.2 Cache / 55
2.6.3 Pipelining / 56
2.6.4 Coprocessors / 58
2.7 Other Special Devices / 58
2.7.1 Applications-Specific Integrated Circuits / 58
2.7.2 Programmable Array Logic/Programmable Logic
Array / 59
2.7.3 Field-Programmable Gate Arrays / 59
2.7.4 Transducers / 62
2.7.5 Analog/Digital Converters / 64
2.7.6 Digital/Analog Converters / 64
2.8 Non-von-Neumann Architectures / 64
2.8.1 Parallel Systems / 65
2.8.2 Flynn’s Taxonomy for Parallelism / 65
2.9 Exercises / 70
3 Real-Time Operating Systems 73
3.1 Real-Time Kernels / 73
3.1.1 Pseudokernels / 74
3.1.2 Interrupt-Driven Systems / 79
3.1.3 Preemptive-Priority Systems / 82
3.1.4 Hybrid Systems / 83
3.1.5 The Task-Control Block Model / 86
3.2 Theoretical Foundations of Real-Time Operating Systems / 88
3.2.1 Process Scheduling / 90
3.2.2 Round-Robin Scheduling / 91
3.2.3 Cyclic Executives / 92
CONTENTS ix
3.2.4 Fixed-Priority Scheduling–Rate-Monotonic
Approach / 94
3.2.5 Dynamic-Priority Scheduling: Earliest-Deadline–First
Approach / 96
3.3 Intertask Communication and Synchronization / 98
3.3.1 Buffering Data / 99
3.3.2 Time-Relative Buffering / 99
3.3.3 Ring Buffers / 101
3.3.4 Mailboxes / 102
3.3.5 Queues / 104
3.3.6 Critical Regions / 104
3.3.7 Semaphores / 105
3.3.8 Other Synchronization Mechanisms / 111
3.3.9 Deadlock / 111
3.3.10 Priority Inversion / 117
3.4 Memory Management / 122
3.4.1 Process Stack Management / 122
3.4.2 Run-Time Ring Buffer / 126
3.4.3 Maximum Stack Size / 126
3.4.4 Multiple-Stack Arrangements / 126
3.4.5 Memory Management in the Task-Control-Block
Model / 127
3.4.6 Swapping / 128
3.4.7 Overlays / 128
3.4.8 Block or Page Management / 129
3.4.9 Replacement Algorithms / 131
3.4.10 Memory Locking / 132
3.4.11 Working Sets / 132
3.4.12 Real-Time Garbage Collection / 132
3.4.13 Contiguous File Systems / 133
3.4.14 Building versus Buying Real-Time Operating
Systems / 133
3.4.15 Selecting Real-Time Kernels / 134
3.5 Case Study: POSIX / 139
3.5.1 Threads / 139
3.5.2 POSIX Mutexes and Condition Variables / 142
3.5.3 POSIX Semaphores / 143
3.5.4 Using Semaphores and Shared Memory / 144
3.5.5 POSIX Messages / 145
3.5.6 Real-Time POSIX Signals / 148
3.5.7 Clocks and Timers / 149
3.5.8 Asynchronous Input and Output / 153
3.5.9 POSIX Memory Locking / 154
3.6 Exercises / 156
x CONTENTS
4 Software Requirements Engineering 161
4.1 Requirements-Engineering process / 161
4.2 Types of Requirements / 162
4.3 Requirements Specification for Real-Time Systems / 164
4.4 Formal Methods in Software Specification / 165
4.4.1 Limitations of Formal Methods / 167
4.4.2 Z / 168
4.4.3 Finite State Machines / 168
4.4.4 Statecharts / 172
4.4.5 Petri Nets / 174
4.4.6 Requirements Analysis with Petri Nets / 177
4.5 Structured Analysis and Design / 178
4.6 Object-Oriented Analysis and the Unified Modeling
Language / 180
4.6.1 Use Cases / 181
4.6.2 Class Diagram / 182
4.6.3 Recommendations on Specification Approach for
Real-Time Systems / 182
4.7 Organizing the Requirements Document / 183
4.8 Organizing and Writing Requirements / 184
4.9 Requirements Validation and Review / 186
4.9.1 Requirements Validation Using Model Checking / 187
4.9.2 Automated Checking of Requirements / 187
4.10 Appendix: Case Study in Software Requirements Specification
for Four-Way Traffic Intersection Traffic Light Controller
System / 190
4.11 Exercises / 222
5 Software System Design 225
5.1 Properties of Software / 225
5.1.1 Reliability / 226
5.1.2 Correctness / 228
5.1.3 Performance / 228
5.1.4 Usability / 229
5.1.5 Interoperability / 229
5.1.6 Maintainability / 229
5.1.7 Portability / 230
5.1.8 Verifiability / 230
5.1.9 Summary of Software Properties and Associated
Metrics / 231
5.2 Basic Software Engineering Principles / 231
5.2.1 Rigor and Formality / 231
5.2.2 Separation of Concerns / 231
CONTENTS xi
5.2.3 Modularity / 232
5.2.4 Anticipation of Change / 234
5.2.5 Generality / 235
5.2.6 Incrementality / 235
5.2.7 Traceability / 235
5.3 The Design Activity / 236
5.4 Procedural-Oriented Design / 237
5.4.1 Parnas Partitioning / 238
5.4.2 Structured Design / 239
5.4.3 Design in Procedural Form Using Finite State
Machines / 246
5.5 Object-Oriented Design / 247
5.5.1 Benefits of Object Orientation / 248
5.5.2 Design Patterns / 249
5.5.3 Object-Oriented Design Using the Unified Modeling
Language / 250
5.6 Appendix: Case Study in Software Requirements Specification
for Four-Way Traffic Intersection Traffic Light Controller
System / 255
5.7 Exercises / 318
6 Programming Languages and the Software Production Process 321
6.1 Introduction / 321
6.2 Assembly Language / 322
6.3 Procedural Languages / 323
6.3.1 Parameter Passing Techniques / 324
6.3.2 Call-by-Value and Call-by-Reference / 324
6.3.3 Global Variables / 325
6.3.4 Recursion / 325
6.3.5 Dynamic Memory Allocation / 325
6.3.6 Typing / 326
6.3.7 Exception Handling / 327
6.3.8 Modularity / 328
6.3.9 Cardelli’s Metrics and Procedural Languages / 329
6.4 Object-Oriented Languages / 329
6.4.1 Synchronizing Objects / 330
6.4.2 Garbage Collection / 331
6.4.3 Cardelli’s Metrics and Object-Oriented Languages / 333
6.4.4 Object-Oriented versus Procedural Languages / 334
6.5 Brief Survey of Languages / 336
6.5.1 Ada 95 / 336
6.5.2 C / 337
6.5.3 C++ / 338
6.5.4 C# / 339
xii CONTENTS
6.5.5 Fortran / 340
6.5.6 Java / 341
6.5.7 Occam 2 / 345
6.5.8 Special Real-Time Languages / 346
6.5.9 Know the Compiler and Rules of Thumb / 346
6.6 Coding Standards / 347
6.7 Exercises / 349
7 Performance Analysis And Optimization 351
7.1 Theoretical Preliminaries / 351
7.1.1 NP-Completeness / 351
7.1.2 Challenges in Analyzing Real-Time Systems / 352
7.1.3 The Halting Problem / 353
7.1.4 Amdahl’s Law / 355
7.1.5 Gustafson’s Law / 356
7.2 Performance Analysis / 357
7.2.1 Code Execution Time Estimation / 357
7.2.2 Analysis of Polled Loops / 364
7.2.3 Analysis of Coroutines / 364
7.2.4 Analysis of Round-Robin Systems / 364
7.2.5 Response-Time Analysis for Fixed-Period Systems / 367
7.2.6 Response-Time Analysis: RMA Example / 368
7.2.7 Analysis of Sporadic and Aperiodic Interrupt
Systems / 368
7.2.8 Deterministic Performance / 369
7.3 Application of Queuing Theory / 370
7.3.1 The M/M/1 Queue / 370
7.3.2 Service and Production Rates / 371
7.3.3 Some Buffer-Size Calculations / 372
7.3.4 Response-Time Modeling / 372
7.3.5 Other Results from Queuing Theory / 373
7.3.6 Little’s Law / 373
7.3.7 Erlang’s Formula / 374
7.4 I/O Performance / 375
7.4.1 Basic Buffer-Size Calculation / 375
7.4.2 Variable Buffer-Size Calculation / 376
7.5 Performance Optimization / 377
7.5.1 Compute at Slowest Cycle / 377
7.5.2 Scaled Numbers / 377
7.5.3 Binary Angular Measure / 378
7.5.4 Look-Up Tables / 379
7.5.5 Imprecise Computation / 380
7.5.6 Optimizing Memory Usage / 381
7.5.7 Postintegration Software Optimization / 381
CONTENTS xiii
7.6 Results from Compiler Optimization / 381
7.6.1 Use of Arithmetic Identifies / 382
7.6.2 Reduction in Strength / 382
7.6.3 Common Subexpression Elimination / 383
7.6.4 Intrinsic Functions / 383
7.6.5 Constant Folding / 383
7.6.6 Loop Invariant Optimization / 384
7.6.7 Loop Induction Elimination / 384
7.6.8 Use of Registers and Caches / 385
7.6.9 Removal of Dead or Unreachable Code / 385
7.6.10 Flow-of-Control Optimization / 385
7.6.11 Constant Propagation / 386
7.6.12 Dead-Store Elimination / 386
7.6.13 Dead-Variable Elimination / 387
7.6.14 Short-Circuiting Boolean Code / 387
7.6.15 Loop Unrolling / 387
7.6.16 Loop Jamming / 388
7.6.17 More Optimization Techniques / 389
7.6.18 Combination Effects / 390
7.6.19 Speculative Execution / 391
7.7 Analysis of Memory Requirements / 391
7.8 Reducing Memory Utilization / 392
7.8.1 Variable Selection / 392
7.8.2 Memory Fragmentation / 393
7.9 Exercises / 393
8 Engineering Considerations 397
8.1 Metrics / 397
8.1.1 Lines of Code / 397
8.1.2 McCabe’s Metric / 398
8.1.3 Halstead’s Metrics / 399
8.1.4 Function Points / 401
8.1.5 Feature Points / 404
8.1.6 Metrics for Object-Oriented Software / 405
8.1.7 Objections to Metrics / 406
8.1.8 Best Practices / 406
8.2 Faults, Failures, and Bugs / 406
8.2.1 The Role of Testing / 407
8.2.2 Testing Techniques / 407
8.2.3 System-Level Testing / 413
8.2.4 Design of Testing Plans / 415
8.3 Fault-Tolerance / 415
8.3.1 Spatial Fault-Tolerance / 416
8.3.2 Software Black Boxes / 417
xiv CONTENTS
8.3.3 N-Version Programming / 418
8.3.4 Built-In-Test Software / 418
8.3.5 CPU Testing / 418
8.3.6 Memory Testing / 419
8.3.7 ROM / 419
8.3.8 RAM / 420
8.3.9 Other Devices / 422
8.3.10 Spurious and Missed Interrupts / 422
8.3.11 Handling Spurious and Missed Interrupts / 422
8.3.12 The Kalman Filter / 423
8.4 Systems Integration / 424
8.4.1 Goals of System Integration / 425
8.4.2 System Unification / 425
8.4.3 System Verification / 425
8.4.4 System Integration Tools / 426
8.4.5 A Simple Integration Strategy / 429
8.4.6 Patching / 430
8.4.7 The Probe Effect / 431
8.4.8 Fault-Tolerant Design: A Case Study / 432
8.5 Refactoring Real-Time Code / 436
8.5.1 Conditional Logic / 436
8.5.2 Data Clumps / 436
8.5.3 Delays as Loops / 437
8.5.4 Dubious Constraints / 437
8.5.5 Duplicated Code / 437
8.5.6 Generalizations Based on a Single Architecture / 438
8.5.7 Large Procedures / 438
8.5.8 Lazy Procedure / 438
8.5.9 Long Parameter List / 438
8.5.10 Message-Passing Overload / 438
8.5.11 Self-Modifying Code / 439
8.5.12 Speculative Generality / 439
8.5.13 Telltale Comments / 439
8.5.14 Unnecessary Use of Interrupts / 439
8.6 Cost Estimation Using COCOMO / 440
8.6.1 Basic COCOMO / 440
8.6.2 Intermediate and Detailed COCOMO / 441
8.6.3 COCOMO II / 442
8.7 Exercises / 443
CONTENTS xv
Glossary 445
Bibliography 475
Index 487
About the Author 505
【格　式】:rar
【大　小】:2515K

hyman

the book is good but "<TABLE fixed; WORD-BREAK: break-all" width="90%" border=0><TR><TD 10pt; LINE-HEIGHT: 18pt" width="100%"><img src="http://www.52rd.com/bbs/Skins/Discuz/topicface/none.gif"> <B>飞利浦资深工程师写的关于RTOS得书</B></TD></TR></TABLE><P>" is not right.</P><P>Please see the introduction of the author:</P><P>Dr. Phillip A. Laplante is Associate Professor of Software Engineering and a
member of the Graduate Faculty at The Pennsylvania State University. He is
also the Chief Technology Of.cer of the Eastern Technology Council, a nonpro.t
business advocacy group serving the Greater Philadelphia Metropolitan Area.
Before joining Penn State he was a professor and senior academic administrator
at several other colleges and universities.
Prior to his academic career, Dr. Laplante spent nearly eight years as a software
engineer and project manager working on avionics (including the Space Shuttle),
CAD, and software test systems. He has authored or edited 19 books and more
than 130 papers, articles, and editorials. He co-founded the journal Real-Time
Imaging, which he edited for .ve years, and he created and edits the CRC Press
book series on Image Processing.
Dr. Laplante received his B.S., M.Eng., and Ph.D. in Computer Science, Electrical
Engineering, and Computer Science, respectively, from Stevens Institute
of Technology and an MBA from the University of Colorado. He is a Senior
Member of the IEEE and a member of numerous professional societies, program
committees, and boards. He is a Licensed Professional Engineer in the state of
Pennsylvania, and has provided consulting services to Fortune 500 companies,
the U.S. DOD, and NASA on real-time systems, image processing, and software
engineering.</P>

bytexu

很不错的一本书， 谢谢楼主分享给大家。

chenyongfeng

[em15]

cn007

<P>总算找到这本好书了!</P>

tonyshanghai

<P>真知灼见！</P>

netzhang

<P>有关这类的书籍国内实在太少。谢谢楼主。</P><P>不知道有没有人有兴趣一起把它译成中文，让更多的人获益。</P>

robotone

<P>非常好的书，</P><P>难得有详尽的pdf目录树啊。</P><P>还没细看，但感觉很好。</P><P>谢谢。</P>

bobo1

[em02][em02][em02][em02][em02][em02][em02][em02][em02][em02][em02]

liuhualove

谢谢大家的资料,学习中.

sambsp

我下了看看

cisse_zhou

<P>谢谢楼主，这本书很好，不过希望能有中文版的。</P>

robbins

<P>谢谢分享！</P>

bluescorpio

怎么买不了了

lancelot

感謝樓主熱情分享...目前正在看關於RTOS的東西

红松

学习中，正希望能得到此类书籍

HeyMan

好书，多谢楼主　了[em01][em02]

dogdogdog

谢谢 正在下载了关注重

hlhlj

好书啊，仔细学习一下

zzqzzg

很喜欢，没钱呀！