C++ in Embedded Systems: A practical transition from C to modern C++

Cover....1 FM....2 Foreword....5 Contributors....6 Table of Contents....8 Preface....18 Part I: Introduction to C++ in Embedded Development....26 Chapter 1: Debunking Common Myths about C++....28 Technical requirements....29 A short history of C++....29 C with Classes....31 Modern C++....31 Generic types....33 Ring buffer in C....33 Ring buffer in C++....40 constexpr....42 Bloat and runtime overhead....46 Constructors and destructors....46 Optimization....51 Templates....53 RTTI and exceptions....55 Summary....58 Join our community on Discord....59 Chapter 2: Challenges in Embedded Systems with Limited Resources....60 Technical requirements....61 Safety-critical and hard real-time embedded systems....61 Airbag control unit and real-time requirements....61 Measuring firmware performance and non-determinism....64 A-B timing and real-time execution....64 Sotware instrumentation with GCC....65 Determinism vs. Non-Determinism in Firmware....66 Dynamic memory management....67 Memory fragmentation....68 Safety-critical guidelines for dynamic memory management in C++....69 Dynamic memory management in the C++ standard library....70 Disabling unwanted C++ features....76 Summary....78 Chapter 3: Embedded C++ Ecosystem....80 Technical requirements....81 Compilers and development environments....81 Arm Keil MDK and Arm Compiler for Embedded....83 IAR C/C++ Compiler and IAR Embedded Workbench for Arm....84 Vendor-supported IDEs and GCC....85 GCC....85 Compiler Explorer....87 Static analyzers....89 Unit testing....93 Profiling....98 Summary....100 Join our community on Discord....100 Chapter 4: Setting Up the Development Environment for a C++ Embedded Project....102 Technical requirements....103 Requirements for a modern software development environment....103 Compiler....103 Build automation....104 Simulator....105 Code editor....105 Containerized development environment....106 Building the Hello, World! program using CMake....108 Building a firmware using CMake....111 Containerized development environment and Visual Studio Code....112 Summary....116 Part II: C++ Fundamentals....118 Chapter 5: Classes – Building Blocks of C++ Applications....120 Technical requirements....121 Encapsulation....121 Setters and getters....123 Static methods....124 Structs....125 Storage duration and initialization....126 Non-static member initialization....127 Default member initializers....127 Constructors and member initializer lists....127 Converting constructors and explicit specifiers....129 Static member initialization....131 Inheritance and dynamic polymorphism....133 Virtual functions....135 Virtual function implementation....136 UML class diagrams....138 Dynamic polymorphism....139 Summary....141 Join our community on Discord....141 Chapter 6: Beyond Classes – Fundamental C++ Concepts....142 Technical requirements....142 Namespaces....143 Unnamed namespaces....145 Nested namespaces....145 Function overloading....146 Interoperability with C....148 External and Language Linkage in C++....149 C standard library in C++....149 References....150 Value categories....150 Lvalue references....152 Rvalue references....152 Standard library containers and algorithms....154 Array....154 Container adaptors....156 Algorithms....157 std::copy and std::copy_if....157 std::sort....158 Summary....159 Chapter 7: Strengthening Firmware – Practical C++ Error Handling Methods....160 Technical requirements....161 Error codes and asserts....161 Global error handlers....164 Asserts....166 Exceptions....170 std:: optional and std::expected....174 Summary....177 Join our community on Discord....177 Part III: C++ Advanced Concepts....178 Chapter 8: Building Generic and Reusable Code with Templates....180 Technical requirements....181 Template basics....181 Making a call to the template function....182 Template specialization....184 Template metaprogramming....185 Concepts....189 Compile-time polymorphism....191 Using Class Templates for Compile-Time Polymorphism....191 Curiously recurring template pattern (CRTP)....193 Summary....195 Chapter 9: Improving Type-Safety with Strong Types....196 Technical requirements....197 Implicit conversion....197 Numeric promotions and conversions....199 Array-to-pointer conversion....203 Function-to-pointer conversion....205 Explicit conversion....206 const_cast....206 static_cast....207 dynamic_cast....210 reinterpret_cast....212 Type punning....214 Type punning – the correct way....216 Strong types....217 Summary....223 Join our community on Discord....223 Chapter 10: Writing Expressive Code with Lambdas....224 Technical requirements....225 Lambda expression basics....225 Storing lambdas using std::function....228 The command pattern....231 GPIO interrupt manager....232 std::function and dynamic memory allocation....237 Summary....239 Chapter 11: Compile-Time Computation....240 Technical requirements....240 Templates....241 constexpr specifier....243 Example 1 – MAC address parser....245 Example 2 – Generating a lookup table....248 Generating a lookup table....252 Writing a signal representing the Steinhart-Hart equation....255 Analyzing the usage example firmware code....259 consteval specifier....260 Summary....262 Join our community on Discord....262 Part IV: Applying C++ to Solving Embedded Domain Problems....264 Chapter 12: Writing C++ HAL....266 Technical requirements....267 Memory-mapped peripherals....267 CMSIS memory-mapped peripherals....267 Memory-mapped peripherals in C++....269 Type-safe memory-mapped peripherals in C++....272 Modeling HSION and HSITRIM bit fields from the RCC register....274 Generic versions of hsion and hsi_trim....277 Timers....278 Summary....283 Chapter 13: Working with C Libraries....284 Technical requirements....284 Using C HAL in C++ projects....285 UART interface for flexible software design....285 The UART interface in the Adapter pattern....289 Introducing static classes....290 Using RAII for wrapping the littlefs C library....292 LittleFS – a filesystem for microcontrollers....293 Introducing an RAII-based C++ wrapper....296 Cleaner file management with RAII....299 Summary....300 Join our community on Discord....300 Chapter 14: Enhancing Super-Loop with Sequencer....302 Technical requirements....303 Super-loop and motivation for a sequencer....303 Designing a sequencer....305 Storing a callable....308 Implementing a sequencer....312 Summary....315 Chapter 15: Practical Patterns – Building a Temperature Publisher....316 Technical requirements....317 The Observer pattern....317 Runtime implementation....319 Compile-time implementation....322 Leveraging variadic templates....323 Improving the compile-time implementation....327 Summary....329 Join our community on Discord....329 Chapter 16: Designing Scalable Finite State Machines....330 Technical requirements....331 FSM – a simple implementation....331 Describing states and events....333 Tracking current state and handling events – the FSM class....334 Using the ble_fsm class....336 Analyzing the output....337 FSM – implementation using the State pattern....338 Understanding state class interfaces....338 Refactoring the ble_fsm class....341 Implementing the State pattern....342 State design pattern....344 State pattern implementation using tag dispatching....345 Boost SML....347 Chapter 17: Libraries and Frameworks....352 Technical requirements....353 Standard library....353 Freestanding and hosted implementations in GCC....353 Numeric and math....354 ....354 ....354 ....355 Containers and algorithms....355 std::array....355 std:: priority_queue....355 std:: span....355 Iterators....356 Algorithms....357 Template metaprogramming....357 Parts of the standard library to avoid in embedded applications....358 Embedded template library....358 Fixed-size containers....359 Storing a callable with etl::delegate....359 Other utilities provided by ETL....359 Pigweed....360 Pigweed’s Sense tutorial....360 RPC and Protocol Buffers....365 Compile-time Initialization and Build....368 Using CIB in a temperature publisher example....369 Extending the temperature publisher example....371 Summary....375 Chapter 18: Cross-Platform Development....376 Technical requirements....376 Importance of writing portable code....377 SOLID design principles....377 Single Responsibility Principle (SRP)....381 Open/Closed Principle (OCP)....382 The Liskov Substitution Principle (LSP)....382 The Interface Segregation Principle (ISP)....382 The Dependency Inversion Principle (DIP)....382 Testability....383 Summary....386 Join our community on Discord....387 Why subscribe?....388 Other Books You May Enjoy....390 Index....394