Embedded system

An embedded system is a computer system with a dedicated function

within a larger mechanical or electrical system, often with real-time
computing constraints.[1][2] It is embedded as part of a complete device
often including hardware and mechanical parts. Embedded systems
control many devices in common use today.[3] Ninety-eight percent of all
microprocessors are manufactured as components of embedded systems.[4]

Examples of properties of typical embedded computers when compared

with general-purpose counterparts are low power consumption, small size,
rugged operating ranges, and low per-unit cost. This comes at the price of Picture of the interior of an ADSL
limited processing resources, which make them significantly more difficult modem/router, a modern example of
to program and to interact with. However, by building intelligence an embedded system. Labelled
mechanisms on top of the hardware, taking advantage of possible existing parts include a microprocessor (4),
RAM (6), and flash memory (7).
sensors and the existence of a network of embedded units, one can both
optimally manage available resources at the unit and network levels as well
as provide augmented functions, well beyond those available.[5] For example, intelligent techniques can be designed to
manage power consumption of embedded systems.[6]

Modern embedded systems are often based on microcontrollers (i.e. CPU's with integrated memory or peripheral
interfaces),[7] but ordinary microprocessors (using external chips for memory and peripheral interface circuits) are
also common, especially in more-complex systems. In either case, the processor(s) used may be types ranging from
general purpose to those specialized in certain class of computations, or even custom designed for the application at
hand. A common standard class of dedicated processors is the digital signal processor (DSP).

Since the embedded system is dedicated to specific tasks, design engineers can optimize it to reduce the size and cost
of the product and increase the reliability and performance. Some embedded systems are mass-produced, benefiting
from economies of scale.

Embedded systems range from portable devices such as digital watches and MP3 players, to large stationary
installations like traffic lights, factory controllers, and largely complex systems like hybrid vehicles, MRI, and avionics.
Complexity varies from low, with a single microcontroller chip, to very high with multiple units, peripherals and
networks mounted inside a large chassis or enclosure.

Contents
1 History
2 Applications
3 Characteristics
3.1 User interface
3.2 Processors in embedded systems
3.2.1 Ready-made computer boards
3.2.2 ASIC and FPGA solutions
3.3 Peripherals
3.4 Tools
4 Debugging
 4.1 Tracing
4.2 Reliability
4.3 High vs. low volume
5 Embedded software architectures
5.1 Simple control loop
5.2 Interrupt-controlled system
5.3 Cooperative multitasking
5.4 Preemptive multitasking or multi-threading
5.5 Microkernels and exokernels
5.6 Monolithic kernels
5.7 Additional software components
6 See also
7 Notes
8 References
9 Further reading
10 External links

History
One of the very first recognizably modern embedded systems was the Apollo Guidance Computer, developed by
Charles Stark Draper at the MIT Instrumentation Laboratory. At the project's inception, the Apollo guidance computer
was considered the riskiest item in the Apollo project as it employed the then newly developed monolithic integrated
circuits to reduce the size and weight. An early mass-produced embedded system was the Autonetics D-17 guidance
computer for the Minuteman missile, released in 1961. When the Minuteman II went into production in 1966, the D-17
was replaced with a new computer that was the first high-volume use of integrated circuits.

Since these early applications in the 1960s, embedded systems have come down in price and there has been a dramatic
rise in processing power and functionality. An early microprocessor for example, the Intel 4004, was designed for
calculators and other small systems but still required external memory and support chips. In 1978 National
Engineering Manufacturers Association released a "standard" for programmable microcontrollers, including almost
any computer-based controllers, such as single board computers, numerical, and event-based controllers.

As the cost of microprocessors and microcontrollers fell it became feasible to replace expensive knob-based analog
components such as potentiometers and variable capacitors with up/down buttons or knobs read out by a
microprocessor even in consumer products. By the early 1980s, memory, input and output system components had
been integrated into the same chip as the processor forming a microcontroller. Microcontrollers find applications
where a general-purpose computer would be too costly.

A comparatively low-cost microcontroller may be programmed to fulfill the same role as a large number of separate
components. Although in this context an embedded system is usually more complex than a traditional solution, most
of the complexity is contained within the microcontroller itself. Very few additional components may be needed and
most of the design effort is in the software. Software prototype and test can be quicker compared with the design and
construction of a new circuit not using an embedded processor.

Applications
Embedded systems are commonly found in consumer, cooking, industrial, automotive, medical, commercial and
military applications.
Telecommunications systems employ numerous embedded systems from
telephone switches for the network to cell phones at the end user.
Computer networking uses dedicated routers and network bridges to route
data.

Consumer electronics include MP3 players, mobile phones, videogame

consoles, digital cameras, GPS receivers, and printers. Household
appliances, such as microwave ovens, washing machines and dishwashers,
include embedded systems to provide flexibility, efficiency and features.
Advanced HVAC systems use networked thermostats to more accurately
and efficiently control temperature that can change by time of day and
season. Home automation uses wired- and wireless-networking that can be
Embedded Computer Sub-
used to control lights, climate, security, audio/visual, surveillance, etc., all Assembly for Accupoll Electronic
of which use embedded devices for sensing and controlling. Voting Machine[8]

Transportation systems from flight to automobiles increasingly use

embedded systems. New airplanes contain advanced avionics such as inertial guidance systems and GPS receivers that
also have considerable safety requirements. Various electric motors brushless DC motors, induction motors and DC
motors use electric/electronic motor controllers. Automobiles, electric vehicles, and hybrid vehicles increasingly use
embedded systems to maximize efficiency and reduce pollution. Other automotive safety systems include anti-lock
braking system (ABS), Electronic Stability Control (ESC/ESP), traction control (TCS) and automatic four-wheel drive.

Medical equipment uses embedded systems for vital signs monitoring, electronic stethoscopes for amplifying sounds,
and various medical imaging (PET, SPECT, CT, and MRI) for non-invasive internal inspections. Embedded systems
within medical equipment are often powered by industrial computers.[9]

Embedded systems are used in transportation, fire safety, safety and security, medical applications and life critical
systems, as these systems can be isolated from hacking and thus, be more reliable. For fire safety, the systems can be
designed to have greater ability to handle higher temperatures and continue to operate. In dealing with security, the
embedded systems can be self-sufficient and be able to deal with cut electrical and communication systems.

A new class of miniature wireless devices called motes are networked wireless sensors. Wireless sensor networking,
WSN, makes use of miniaturization made possible by advanced IC design to couple full wireless subsystems to
sophisticated sensors, enabling people and companies to measure a myriad of things in the physical world and act on
this information through IT monitoring and control systems. These motes are completely self-contained, and will
typically run off a battery source for years before the batteries need to be changed or charged.

Embedded Wi-Fi modules provide a simple means of wirelessly enabling any device which communicates via a serial
port.

Characteristics
Embedded systems are designed to do some specific task, rather than be a general-purpose computer for multiple
tasks. Some also have real-time performance constraints that must be met, for reasons such as safety and usability;
others may have low or no performance requirements, allowing the system hardware to be simplified to reduce costs.

Embedded systems are not always standalone devices. Many embedded systems consist of small parts within a larger
device that serves a more general purpose. For example, the Gibson Robot Guitar features an embedded system for
tuning the strings, but the overall purpose of the Robot Guitar is, of course, to play music.[10] Similarly, an embedded
system in an automobile provides a specific function as a subsystem of the car itself.
The program instructions written for embedded systems are referred to as
firmware, and are stored in read-only memory or flash memory chips. They
run with limited computer hardware resources: little memory, small or
non-existent keyboard or screen.

User interface
Embedded systems range from no user interface at all, in systems
dedicated only to one task, to complex graphical user interfaces that
resemble modern computer desktop operating systems. Simple embedded
e-con Systems eSOM270 &
devices use buttons, LEDs, graphic or character LCDs (HD44780 LCD for
eSOM300 Computer on Modules
example) with a simple menu system.

More sophisticated devices which use a graphical screen with touch

sensing or screen-edge buttons provide flexibility while minimizing space
used: the meaning of the buttons can change with the screen, and selection
involves the natural behavior of pointing at what is desired. Handheld
systems often have a screen with a "joystick button" for a pointing device.

Some systems provide user interface remotely with the help of a serial (e.g.
RS-232, USB, IC, etc.) or network (e.g. Ethernet) connection. This
approach gives several advantages: extends the capabilities of embedded
system, avoids the cost of a display, simplifies BSP and allows one to build Embedded system text user
interface using MicroVGA[nb 1]
a rich user interface on the PC. A good example of this is the combination
of an embedded web server running on an embedded device (such as an IP
camera) or a network router. The user interface is displayed in a web browser on a PC connected to the device,
therefore needing no software to be installed.

Processors in embedded systems

Embedded processors can be broken into two broad categories. Ordinary microprocessors (P) use separate integrated
circuits for memory and peripherals. Microcontrollers (C) have on-chip peripherals, thus reducing power
consumption, size and cost. In contrast to the personal computer market, many different basic CPU architectures are
used, since software is custom-developed for an application and is not a commodity product installed by the end user.
Both Von Neumann as well as various degrees of Harvard architectures are used. RISC as well as non-RISC processors
are found. Word lengths vary from 4-bit to 64-bits and beyond, although the most typical remain 8/16-bit. Most
architectures come in a large number of different variants and shapes, many of which are also manufactured by several
different companies.

Numerous microcontrollers have been developed for embedded systems use. General-purpose microprocessors are
also used in embedded systems, but generally require more support circuitry than microcontrollers.

Ready-made computer boards

PC/104 and PC/104+ are examples of standards for ready-made computer boards intended for small, low-volume
embedded and ruggedized systems, mostly x86-based. These are often physically small compared to a standard PC,
although still quite large compared to most simple (8/16-bit) embedded systems. They often use DOS, Linux, NetBSD,
or an embedded real-time operating system such as MicroC/OS-II, QNX or VxWorks. Sometimes these boards use
non-x86 processors.
In certain applications, where small size or power efficiency are not primary concerns, the components used may be
compatible with those used in general purpose x86 personal computers. Boards such as the VIA EPIA range help to
bridge the gap by being PC-compatible but highly integrated, physically smaller or have other attributes making them
attractive to embedded engineers. The advantage of this approach is that low-cost commodity components may be
used along with the same software development tools used for general software development. Systems built in this way
are still regarded as embedded since they are integrated into larger devices and fulfill a single role. Examples of
devices that may adopt this approach are ATMs and arcade machines, which contain code specific to the application.

However, most ready-made embedded systems boards are not PC-centered and do not use the ISA or PCI buses. When
a system-on-a-chip processor is involved, there may be little benefit to having a standarized bus connecting discrete
components, and the environment for both hardware and software tools may be very different.

One common design style uses a small system module, perhaps the size of a business card, holding high density BGA
chips such as an ARM-based system-on-a-chip processor and peripherals, external flash memory for storage, and
DRAM for runtime memory. The module vendor will usually provide boot software and make sure there is a selection
of operating systems, usually including Linux and some real time choices. These modules can be manufactured in high
volume, by organizations familiar with their specialized testing issues, and combined with much lower volume custom
mainboards with application-specific external peripherals.

Implementation of embedded systems have advanced, embedded systems can easily be implemented with already
made boards which are based on worldwide accepted platform. These platforms include, but are not limited to,
Arduino and Raspberry Pi.

ASIC and FPGA solutions

A common array for very-high-volume embedded systems is the system on a chip (SoC) which contains a complete
system consisting of multiple processors, multipliers, caches and interfaces on a single chip. SoCs can be implemented
as an application-specific integrated circuit (ASIC) or using a field-programmable gate array (FPGA).

Peripherals
Embedded systems talk with the outside world via peripherals, such as:

Serial Communication Interfaces (SCI): RS-232, RS-422, RS-485, etc.

Synchronous Serial Communication Interface: I2C, SPI, SSC and
ESSI (Enhanced Synchronous Serial Interface)
Universal Serial Bus (USB)
Multi Media Cards (SD cards, Compact Flash, etc.)
Networks: Ethernet, LonWorks, etc.
Fieldbuses: CAN-Bus, LIN-Bus, PROFIBUS, etc.
Timers: PLL(s), Capture/Compare and Time Processing Units
A close-up of the SMSC
Discrete IO: aka General Purpose Input/Output (GPIO)
LAN91C110 (SMSC 91x) chip, an
Analog to Digital/Digital to Analog (ADC/DAC)
embedded Ethernet chip
Debugging: JTAG, ISP, ICSP, BDM Port, BITP, and DB9 ports.

Tools
As with other software, embedded system designers use compilers, assemblers, and debuggers to develop embedded
system software. However, they may also use some more specific tools:

In circuit debuggers or emulators (see next section).

Utilities to add a checksum or CRC to a program, so the embedded system can check if the program is valid.
For systems using digital signal processing, developers may use a math workbench to simulate the mathematics.
 System level modeling and simulation tools help designers to construct simulation models of a system with
hardware components such as processors, memories, DMA, interfaces, buses and software behavior flow as a
state diagram or flow diagram using configurable library blocks. Simulation is conducted to select right
components by performing power vs. performance trade-off, reliability analysis and bottleneck analysis. Typical
reports that helps designer to make architecture decisions includes application latency, device throughput, device
utilization, power consumption of the full system as well as device-level power consumption.
A model-based development tool creates and simulate graphical data flow and UML state chart diagrams of
components like digital filters, motor controllers, communication protocol decoding and multi-rate tasks.
Custom compilers and linkers may be used to optimize specialized hardware.
An embedded system may have its own special language or design tool, or add enhancements to an existing
language such as Forth or Basic.
Another alternative is to add a real-time operating system or embedded operating system
Modeling and code generating tools often based on state machines
Software tools can come from several sources:

Software companies that specialize in the embedded market

Ported from the GNU software development tools
Sometimes, development tools for a personal computer can be used if the embedded processor is a close relative
to a common PC processor
As the complexity of embedded systems grows, higher level tools and operating systems are migrating into machinery
where it makes sense. For example, cellphones, personal digital assistants and other consumer computers often need
significant software that is purchased or provided by a person other than the manufacturer of the electronics. In these
systems, an open programming environment such as Linux, NetBSD, OSGi or Embedded Java is required so that the
third-party software provider can sell to a large market.

Embedded systems are commonly found in consumer, cooking, industrial, automotive, medical applications. Some
examples of embedded systems are MP3 players, mobile phones, videogame consoles, digital cameras, DVD players,
and GPS. Household appliances, such as microwave ovens, washing machines and dishwashers, include embedded
systems to provide flexibility and efficiency.

Debugging
Embedded debugging may be performed at different levels, depending on the facilities available. The different metrics
that characterize the different forms of embedded debugging are: does it slow down the main application, how close is
the debugged system or application to the actual system or application, how expressive are the triggers that I can set
for debugging (e.g., I want to inspect the memory when a particular program counter value is reached), and what can I
inspect in the debugging process (such as, only memory, or memory and registers, etc.).

From simplest to most sophisticated they can be roughly grouped into the following areas:

Interactive resident debugging, using the simple shell provided by the embedded operating system (e.g. Forth and
Basic)
External debugging using logging or serial port output to trace operation using either a monitor in flash or using a
debug server like the Remedy Debugger which even works for heterogeneous multicore systems.
An in-circuit debugger (ICD), a hardware device that connects to the microprocessor via a JTAG or Nexus
interface[11]. This allows the operation of the microprocessor to be controlled externally, but is typically restricted
to specific debugging capabilities in the processor.
An in-circuit emulator (ICE) replaces the microprocessor with a simulated equivalent, providing full control over all
aspects of the microprocessor.
A complete emulator provides a simulation of all aspects of the hardware, allowing all of it to be controlled and
modified, and allowing debugging on a normal PC. The downsides are expense and slow operation, in some
cases up to 100 times slower than the final system.
For SoC designs, the typical approach is to verify and debug the design on an FPGA prototype board. Tools such
as Certus[12] are used to insert probes in the FPGA RTL that make signals available for observation. This is used
to debug hardware, firmware and software interactions across multiple FPGA with capabilities similar to a logic
analyzer.
 Software-only debuggers have the benefit that they do not need any hardware modification but have to carefully
control what they record in order to conserve time and storage space[13].
Unless restricted to external debugging, the programmer can typically load and run software through the tools, view
the code running in the processor, and start or stop its operation. The view of the code may be as HLL source-code,
assembly code or mixture of both.

Because an embedded system is often composed of a wide variety of elements, the debugging strategy may vary. For
instance, debugging a software- (and microprocessor-) centric embedded system is different from debugging an
embedded system where most of the processing is performed by peripherals (DSP, FPGA, and co-processor). An
increasing number of embedded systems today use more than one single processor core. A common problem with
multi-core development is the proper synchronization of software execution. In such a case, the embedded system
design may wish to check the data traffic on the busses between the processor cores, which requires very low-level
debugging, at signal/bus level, with a logic analyzer, for instance.

Tracing
Real-time operating systems (RTOS) often supports tracing of operating system events. A graphical view is presented
by a host PC tool, based on a recording of the system behavior. The trace recording can be performed in software, by
the RTOS, or by special tracing hardware. RTOS tracing allows developers to understand timing and performance
issues of the software system and gives a good understanding of the high-level system behaviors. Commercial tools like
RTXC Quadros or IAR Systems exists.

Reliability
Embedded systems often reside in machines that are expected to run continuously for years without errors, and in
some cases recover by themselves if an error occurs. Therefore, the software is usually developed and tested more
carefully than that for personal computers, and unreliable mechanical moving parts such as disk drives, switches or
buttons are avoided.

Specific reliability issues may include:

The system cannot safely be shut down for repair, or it is too inaccessible to repair. Examples include space
systems, undersea cables, navigational beacons, bore-hole systems, and automobiles.
The system must be kept running for safety reasons. "Limp modes" are less tolerable. Often backups are selected
by an operator. Examples include aircraft navigation, reactor control systems, safety-critical chemical factory
controls, train signals.
The system will lose large amounts of money when shut down: Telephone switches, factory controls, bridge and
elevator controls, funds transfer and market making, automated sales and service.
A variety of techniques are used, sometimes in combination, to recover from errorsboth software bugs such as
memory leaks, and also soft errors in the hardware:

watchdog timer that resets the computer unless the software periodically notifies the watchdog subsystems with
redundant spares that can be switched over to software "limp modes" that provide partial function
Designing with a Trusted Computing Base (TCB) architecture[14] ensures a highly secure & reliable system
environment
A hypervisor designed for embedded systems, is able to provide secure encapsulation for any subsystem
component, so that a compromised software component cannot interfere with other subsystems, or privileged-
level system software. This encapsulation keeps faults from propagating from one subsystem to another,
improving reliability. This may also allow a subsystem to be automatically shut down and restarted on fault
detection.
Immunity Aware Programming

High vs. low volume

For high volume systems such as portable music players or mobile phones, minimizing cost is usually the primary
design consideration. Engineers typically select hardware that is just good enough to implement the necessary
functions.

For low-volume or prototype embedded systems, general purpose computers may be adapted by limiting the programs
or by replacing the operating system with a real-time operating system.

Embedded software architectures

There are several different types of software architecture in common use.

Simple control loop

In this design, the software simply has a loop. The loop calls subroutines, each of which manages a part of the
hardware or software. Hence it is called a simple control loop or control loop.

Interrupt-controlled system
Some embedded systems are predominantly controlled by interrupts. This means that tasks performed by the system
are triggered by different kinds of events; an interrupt could be generated, for example, by a timer in a predefined
frequency, or by a serial port controller receiving a byte.

These kinds of systems are used if event handlers need low latency, and the event handlers are short and simple.
Usually, these kinds of systems run a simple task in a main loop also, but this task is not very sensitive to unexpected
delays.

Sometimes the interrupt handler will add longer tasks to a queue structure. Later, after the interrupt handler has
finished, these tasks are executed by the main loop. This method brings the system close to a multitasking kernel with
discrete processes.

Cooperative multitasking
A nonpreemptive multitasking system is very similar to the simple control loop scheme, except that the loop is hidden
in an API. The programmer defines a series of tasks, and each task gets its own environment to run in. When a task
is idle, it calls an idle routine, usually called pause, wait, yield, nop (stands for no operation), etc.

The advantages and disadvantages are similar to that of the control loop, except that adding new software is easier, by
simply writing a new task, or adding to the queue.

Preemptive multitasking or multi-threading

In this type of system, a low-level piece of code switches between tasks or threads based on a timer (connected to an
interrupt). This is the level at which the system is generally considered to have an "operating system" kernel.
Depending on how much functionality is required, it introduces more or less of the complexities of managing multiple
tasks running conceptually in parallel.

As any code can potentially damage the data of another task (except in larger systems using an MMU) programs must
be carefully designed and tested, and access to shared data must be controlled by some synchronization strategy, such
as message queues, semaphores or a non-blocking synchronization scheme.
Because of these complexities, it is common for organizations to use a real-time operating system (RTOS), allowing the
application programmers to concentrate on device functionality rather than operating system services, at least for
large systems; smaller systems often cannot afford the overhead associated with a generic real time system, due to
limitations regarding memory size, performance, or battery life. The choice that an RTOS is required brings in its own
issues, however, as the selection must be done prior to starting to the application development process. This timing
forces developers to choose the embedded operating system for their device based upon current requirements and so
restricts future options to a large extent.[15] The restriction of future options becomes more of an issue as product life
decreases. Additionally the level of complexity is continuously growing as devices are required to manage variables
such as serial, USB, TCP/IP, Bluetooth, Wireless LAN, trunk radio, multiple channels, data and voice, enhanced
graphics, multiple states, multiple threads, numerous wait states and so on. These trends are leading to the uptake of
embedded middleware in addition to a real-time operating system.

Microkernels and exokernels

A microkernel is a logical step up from a real-time OS. The usual arrangement is that the operating system kernel
allocates memory and switches the CPU to different threads of execution. User mode processes implement major
functions such as file systems, network interfaces, etc.

In general, microkernels succeed when the task switching and intertask communication is fast and fail when they are
slow.

Exokernels communicate efficiently by normal subroutine calls. The hardware and all the software in the system are
available to and extensible by application programmers.

Monolithic kernels
In this case, a relatively large kernel with sophisticated capabilities is adapted to suit an embedded environment. This
gives programmers an environment similar to a desktop operating system like Linux or Microsoft Windows, and is
therefore very productive for development; on the downside, it requires considerably more hardware resources, is
often more expensive, and, because of the complexity of these kernels, can be less predictable and reliable.

Common examples of embedded monolithic kernels are embedded Linux and Windows CE.

Despite the increased cost in hardware, this type of embedded system is increasing in popularity, especially on the
more powerful embedded devices such as wireless routers and GPS navigation systems. Here are some of the reasons:

Ports to common embedded chip sets are available.

They permit re-use of publicly available code for device drivers, web servers, firewalls, and other code.
Development systems can start out with broad feature-sets, and then the distribution can be configured to exclude
unneeded functionality, and save the expense of the memory that it would consume.
Many engineers believe that running application code in user mode is more reliable and easier to debug, thus
making the development process easier and the code more portable.
Features requiring faster response than can be guaranteed can often be placed in hardware.

Additional software components

In addition to the core operating system, many embedded systems have additional upper-layer software components.
These components consist of networking protocol stacks like CAN, TCP/IP, FTP, HTTP, and HTTPS, and also included
storage capabilities like FAT and flash memory management systems. If the embedded device has audio and video
capabilities, then the appropriate drivers and codecs will be present in the system. In the case of the monolithic
kernels, many of these software layers are included. In the RTOS category, the availability of the additional software
components depends upon the commercial offering.
See also
Communications server
Cyber-physical system
DSP
Electronic Control Unit
Hypervisor
Embedded operating systems
Embedded software
Firmware
FPGA
Information appliance
Microprocessor
Microcontroller
Silicon compiler
Real-time operating system
Software engineering
System on a chip
System on module
Ubiquitous computing

Notes
1. For more details of MicroVGA see this PDF (http://www.microvga.com/pdf/uvga-text-ds.pdf).

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Proceedings of the 14th International Conference on Information Processing in Sensor Networks. IPSN '15. New
York, NY, USA: ACM: 286297. doi:10.1145/2737095.2737096 (https://doi.org/10.1145%2F2737095.2737096).
ISBN 9781450334754.
14. Heiser, Gernot (December 2007). "Your System is secure? Prove it!" (http://c59951.r51.cf2.rackcdn.com/5557-528
-heiser.pdf) (PDF). ;login:. 2 (6): 358.
15. "Working across Multiple Embedded Platforms" (http://www.clarinox.com/docs/whitepapers/Whitepaper_06_Cross
PlatformDiscussion.pdf) (PDF). clarinox. Retrieved 2010-08-17.

Further reading
John Catsoulis (May 2005). Designing Embedded Hardware, 2nd Edition. O'Reilly. ISBN 0-596-00755-8.
James M. Conrad; Alexander G. Dean (September 2011). Embedded Systems, An Introduction Using the
Renesas RX62N Microcontroller. Micrium. ISBN 978-1935-7729-96.
Klaus Elk (August 2016). Embedded Software Development for the Internet Of Things, The Basics, The
Technologies and Best Practices. ISBN 978-1534602533.

External links
Embedded Systems course with mbed (https://www.youtube.com/watch?v=H-OKGOMoCSI&list=PLo7bVbJhQ6q
wlDa-R6pz7tA7kPzn1s5Ae) YouTube, ongoing from 2015
Trends in Cyber Security and Embedded Systems (http://geer.tinho.net/geer.nro.6xi13.txt) Dan Geer, November
2013
Modern Embedded Systems Programming Video Course (https://www.youtube.com/playlist?list=PLPW8O6W-1ch
wyTzI3BHwBLbGQoPFxPAPM) YouTube, ongoing from 2013
Embedded Systems Week (ESWEEK) (http://www.esweek.org/) yearly event with conferences, workshops and
tutorials covering all aspects of embedded systems and software
Workshop on Embedded and Cyber-Physical Systems Education (http://www.emsig.net/conf/2015/wese/),
workshop covering educational aspects of embedded systems

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