Object Oriented Programming

For EMBEDDED SYSTEMS

Emir DAMERGI
INSAT - GL3 - 2023

Emir DAMERGI – INSAT - 2023

 OOP For EMBEDDED SYSTEMS

Advantages of OOP:

1 - Transparent Programming through Encapsulation

2 - Flexibility through polymorphism

3- Reuse of code through inheritance

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 OOP For EMBEDDED SYSTEMS
Case Study: Configuring GPIO Pins as Inputs
Using SOC Firmware
(ST FWL)

Class Object Parameter(s)

Using OOP

PinAsInput button (PA_5, Floating); //or PA5

if (button == 0) {

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 OOP For EMBEDDED SYSTEMS
Case Study: Configuring GPIO Pins as Inputs

PinAsInput button (PA_5, Floating);

OOP if (button == 0) {

Wrapper
layer Wrapper Functions

HAL
(ST
FWL)

HARDWARE
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 OOP For EMBEDDED SYSTEMS

Case Study:
Configuring
GPIO Pins as
Inputs

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 OOP For EMBEDDED SYSTEMS

Case Study:
Configuring
GPIO Pins as
Inputs

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 OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

PinModeNames.h
File containig OO Pins/Modes
definitions (Platform Independent)
Pin Represention:

0xYZ

with

Y for the GPIO

0 : GPIOA
1 : GPIOB
2: GPIOC
3: ….

Z for the Pin

0 : Pin 0
1 : Pin 1
…..

F : Pin 15
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 OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

PinAsInput.h (Class definition)

 Default Constructor : without mode

specification (Floating)
In most cases, the Flotaing mode is choosen
for the pins configured as inputs.

Constructor with pin and mode

parameters

Read Pin State (IDR)

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 OOP For EMBEDDED SYSTEMS

Case Study:
Configuring
GPIO Pins as
Inputs

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OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

STM32_GPIO_Wrapper.c -1-

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 OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

STM32_GPIO_Wrapper.c -2-

gpio_init_in ( pin, Floating )

Static (function scope limited

to its object file)
}

Function to translate
PinName (OO) to GPIOX (Firmware)
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OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

STM32_GPIO_Wrapper.c -3- Adapt OO definitions to ST HAL –

PinName to GPIO_PIN

PinName pin

int gpioPIN = 1<<(pin & 0x0F);

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OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

STM32_GPIO_Wrapper.c -4- Adapt OO definitions to ST HAL –

PinName to GPIOx

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 OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

PinNames.h
STM32_GPIO_Wrapper.c -5- Adapt OO definitions to ST Library
Modes – PinName to GPIOx

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OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

STM32_GPIO_Wrapper.c -6-

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OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

STM32_GPIO_Wrapper.c -7-

APB2ENR

. 4 3 2 1 0
. C B A

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OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

ShortHand notation

To read the pin state (from IDR):

int state = ObjectName.read()
if (state = = ..)

A shorthand for read:

If (ObjectName = = ..)

Each Object Invocation -> call to read

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 OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

PinAsInput.h

Constructors

Methods

Operator (=)
ShortHand
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 OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

Main.cpp

Toggle the Led (PA5) each time the

Pushbutton (PC13) is pressed.

- Inputs are programmed using

OO (PinAsInput Class)

- Outputs are programmed using

Low Level (Register) Access.

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 OOP For EMBEDDED SYSTEMS Case Study: Configuring GPIO Pins as Inputs

Main.cpp

With PinAsOutput Class for

Pins in output mode

2
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THE MBED ECOSYSTEM

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 The MBED ECOSYSTEM for ARM processors based SOCs

mbed OS is an operating system for IoT devices : energy constraints, connectivity,

security, device management.

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 The MBED ECOSYSTEM for ARM processors based SOCs

Choosing a Hardware Platform

(hundreds available from many
SOC manufacturers).

For the developper, the HW

details are transparent.
The code portability is ensured
without changes or minor
changes.

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 The MBED ECOSYSTEM for ARM processors based SOCs
Each SOC manufacturer (ST Microelectronics, Texas Instruments, FreeScale, etc.
provides his own HAL library and the corresponding Wrapper Layer.

User Code : Objets (classes instances)

Object Oriented Library (ARM)

MBED

Wrapper Wrapper Wrapper

Layer ST Layer TI Layer ..

HAL ST HAL TI HAL …

HW ST HW TI HW …
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 The MBED ECOSYSTEM for ARM processors based SOCs

Example1: Toggle the Led connected to Pin PC9 when Button PA0 pressed.

#include "mbed.h"
Classes defining
Pins configured DigitalIn mybutton (USER_BUTTON); //USER_BUTTON = PA0
in digital input
resp outupt DigitalOut myled (LED1); //LED1 = PC9

int main() {
Objects with pin
number as while(1) {
parameter if (mybutton == 0) // Button is pressed
{
myled = !myled; // Toggle the LED state
wait(0.2); // 200 ms
}
}
}
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 The MBED ECOSYSTEM for ARM processors based SOCs

Example2: Serial Communication.

Class defining #include "mbed.h"

Serial
Serial My_USART (PinTX, PinRX); // PinTX et PinRX are
communiction
functions // defined pins
int main() {
Object Char C;
My_USART.Baud (115200); //Baudrate property
My_USART.printf ("Hello World!\n"); // Send data with Serial Interface
while(1) {
C = My_USART.getc() ; // Receive one caracter
}
}
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THE ARDUINO ECOSYSTEM

Toute cette partie (Arduino) ne fait partie du cours

“Architectures matérielles et programmation bas niveau

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A l’origine, une marque qui couvre

des cartes matériellement libres sur lesquelles

se trouve un microcontrôleur

d'architecture Atmel AVR comme

l'Atmega328p

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L’IDE Arduino permettant de programmer les

cartes Arduino :

• Simple à programmer

• Un nombre important de librairies

• Langage C++

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D’autres constructeurs de SOCs (Microcontrôleurs) ont développé des extensions permettant de
rendre leurs produits compatibles avec Arduino IDE :

• STM32 de ST Microelectronics : à base de processeurs ARM Cortex-M)

• ESP8266 de Espressif : à base de processseurs Tensilica Xtensa LX106,

80 MHz, 64 à 96 Ko de RAM, 512K à 4M de Flash,
Wifi integré, jusqu’à 16 pins GPIO)

• ESP32 de Espressif: à base de processseurs Tensilica Xtensa LX6,

160 à 240 Mhz, 512K RAM, jusqu’à 8 M Flash,
Wifi et BlueTooth intégrés.

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Pour ajouter ces SOCs à l’ IDE Arduino (1):

http://arduino.esp8266.com/stable/package_esp8266com_index.json

https://dl.espressif.com/dl/package_esp32_index.json

https://raw.githubusercontent.com/stm32duino/BoardManagerFiles/master/STM32/package_stm_index.json

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Pour ajouter ces SOCs à l’ IDE Arduino (2):

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 Arduino
Digital Input /output

33
 Digital I/O : GPIO Pins & Ardunio Numbering

Arduino Connector
When programming SoCs Input/output operations, the
used pin(s) must be identified.
For Arduino IDE, the connector pinout identifiers can be

GPIO4
used D0..D15 (Digital) and A0..A5 (Analog)

#define GreenLed D12

For Pins that are not tied to the Arduino Connector, the
ardunio pin numbers must be known. For each installed
Example for Arduino Pin
board, a pins_arduino.h file contains the pin mapping.
numbering (ESP8266)

#define PushButton 4

It is possible to use Arduino pin Numbers for connector pins.

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Digital I/O: Arduino Programming

Pin Configuration Write a Value to Pin Read Pin Value

Arduino Connector
Example:
An application that continously :
Tests if the PushButton is pressed (Low level).
 If yes : The Led is Turned ON
GPIO4
 No: the Led is Turend OFF

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 Digital I/O: Arduino Programming
Arduino Connector

GPIO4

Example:
An application that continously :
Tests if the PushButton is pressed
(Low level).
 If yes : The Led is Turned ON
 No: the Led is Turend OFF

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 Arduino
UART Communications

3
7
 USART:

Synchronous

Asynchronous

STM32F4: USART1, USART2, USART3, UART4, UART5,Emir

USART6
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 UART Communications : Serial Object
Serial Object Creation and Communication parameters configuration:

If config is not specified, the default value is used :

SERIAL_8N1: 8 data bits, No Parity bits and 1 Stop bit

Setup() { Generally, the UART Pins are specified and

pre-configured.
Serial.begin (115200); //initialize Serial Port with 115200 bits/sec

while ( !Serial) {//wait for Serial port Initialization The default Serial object names in arduino are:
} Serial (the UART connected to the USB/Serial

} Converter)
Serial1 for the second UART, Serial2, etc…

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 UART Communications: Sending Data

The Arduino Default Total

Buffer size is 64 bytes.
If more bytes are sent, the
write operation can be blocked. Examples:
Serial.print (" HELLO !!") ;
int X=17; Example:
Serial.print (X);  17 Char Msg[ ] = " HELLO !!";
Serial.print (X,BIN);  10001 Serial.print (Msg , 7) ;
Serial.print(X,HEX);  11

Float Accel = 35,26548

Serial.print (Accel);  35,26
Serial.print (Accel,4);  35,2654

4
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UART Communications : Receiving Data

const byte numChars = 32;

char receivedChars [numChars];
Byte nbr;

while (Serial.available() > 0 && nbr < numChars) {

char rc;
rc = Serial.read();
receivedChars[nbr] = rc;
nbr++;
}

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