Contents Preface ............................................................................................................ xv Acknowledgements .......................................................................................... xvii About the Author ...........................................................................................xviii Chapter 1 What Is Embedded Programming? .................................................. 1 1.1 What's Special About Embedded Systems? .......................................................... 1 1.1.1 Embedded Design Constraints................................................................... 3 1.1.2 The Embedded Tool Chain ........................................................................ 4 1.1.3 OS, RTOS, or Bareback? ........................................................................... 5 1.1.4 Embedded Middleware .............................................................................. 6 1.1.5 Codevelopment with Hardware ................................................................. 7 1.1.6 Debugging and Testing .............................................................................. 8 1.2 OO or Structured ­ It's Your Choice..................................................................... 9 1.2.1 Classes...................................................................................................... 10 1.2.2 Objects ..................................................................................................... 13 1.2.3 Polymorphism and Virtual Functions ...................................................... 14 1.2.4 Subclassing............................................................................................... 15 1.2.5 Finite State Machines............................................................................... 25