Preface Chapter 1: Introduction to Real-Time Embedded Systems 1.1 Real-Time Embedded Systems 1.2 Example: Automobile Anti-Lock Braking System 1.3 Real-Time Embedded System Characteristics 1.4 Hard and Soft of Real-Time Embedded Systems Exercises Suggestions for Reading References Chapter 2: Hardware Components 2.1 Processors 2.2 Memory and Cache 2.3 I/O Interfaces 2.4 Sensors and Actuators 2.5 Timers and Counters Exercises Suggestions for Reading References Chapter 3: Real-time Operating Systems 3.1 Main Functions of General Purpose Operating Systems 3.2 Characteristics of RTOS Kernels 3.3 RTOS Examples Exercises Suggestions for Reading References Chapter 4: Task Scheduling 4.1 Tasks 4.2 Clock-Driven Scheduling 4.3 Round-Robin Approach 4.4 Priority-Driven Scheduling Algorithms 4.5 Task Assignment Exercises Suggestions for Reading References Chapter 5: Resource Sharing and Access Control 5.1 Resource Sharing 5.2 Non-preemptive Critical Section Protocol 5.3 Priority Inheritance Protocol 5.4 Priority Ceiling Protocol 5.5 Stack-Sharing Priority-Ceiling Protocol Exercises Suggestion for Reading References Chapter 6: Concurrent Programming 6.1 Introduction 6.2 POSIX Threads 6.3 Synchronization Primitives 6.4 Communication among Tasks 6.5 Real-Time Facilities Exercises Suggestions for Reading References Chapter 7: Finite-State Machines 7.1 Finite State Machine Basics 7.2 Deterministic Finite Automation (DFA) 7.3 Non-Deterministic Finite Automation 7.4 Programming Finite State Machines Exercises Suggestions for Reading References Chapter 8: UML State Machines 8.1 States 8.2 Transitions 8.3 Events 8.4 Composite States 8.5 Pseudostates 8.6 UML State Machine of Anti-Lock Braking System Exercises Suggestions for Reading Chapter 9: Timed Petri Nets 9.1 Petri Net Definition 9.2 Petri Net Properties 9.3 Timed Petri Nets Exercises Suggestions for Reading References Chapter 10: Model Checking 10.1 Introduction to Model Checking 10.2 Temporal logic 10.3 The NuSMV Model Checking Tool 10.4 Real-Time Computation Tree Logic 10.5 Example: The Ferryman Puzzle Exercises Suggestions for Reading References Chapter 11: Practical issues 11.1 Software Reliability 11.2 Software Aging and Rejuvenation 11.3 Security 11.4 Safety 11.5 Power Conservation Suggestions for Reading References Index