C/C++ for Microcontrollers by t1mYG7

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									‘C’ for Microcontrollers,
  Just Being Efficient
     Lloyd Moore, President


      Lloyd@CyberData-Robotics.com
       www.CyberData-Robotics.com




       Seattle Robotics Society 9/15/2012
Agenda

  Microcontroller Resources
  Knowing Your Environment
  Memory Usage
  Code Structure
  Optimization
  Summary
Disclaimer

  Some microcontroller techniques necessarily
   need to trade one benefit for another –
   typically lower resource usage for
   maintainability
  Point of this presentation is to point out various
   techniques that can be used as needed
  Use these suggestions when necessary
  Feel free to suggest better solutions as we go
   along
Microcontroller Resources
  EVERYTHING resides on one die inside one
   package: RAM, Flash, Processor, I/O
  Cost is a MAJOR design consideration
        Typical costs are $0.25 to $25 each (1000’s)
  RAM: 16 BYTES to 256K Bytes typical
  Flash/ROM: 384 BYTES to 1M Byte
  Clock Speed: 4MHz to 175MHz typical
        Much lower for battery saving modes (32KHz)
  Bus is 8, 16, or 32 bits wide
  Have dedicated peripherals (MAC, Phys, etc)
Power Consumption

  Microcontrollers typically used in battery
   operated devices
  Power requirements can be
   EXTREMELY tight
      Energy harvesting applications
      Long term battery installations (remote
       controls, hard to reach devices, etc.)
    EVERY instruction executed consumes
     power, even if you have the time and
     memory!
Know Your Environment

  Traditionally we ignore hardware details
  Need to tailor code to hardware available
        Specialized hardware MUCH more efficient
    Compilers typically have extensions
      Interrupt – specifies code as being ISR
      Memory model – may handle banked
       memory and/or simultaneous access banks
      Multiple data pointers / address generators

    Debugger may use some resources
Memory Usage
    Put constant data into program memory (Flash/ROM)
    Alignment / padding issues
        Typically NOT an issue, non-aligned access ok
    Avoid dynamic memory allocation, even if available
        Take extra space and processing time
        Memory fragmentation a big issue
    Use and reuse static buffers
        Reduces variable passing overhead
        Allows for smaller / faster code due to reduced indirections
        Does bring back over write bugs if not done carefully
        More reliable for mission critical systems
    Use the appropriate variable type
        Don’t use int and double for everything!!
        Affects processing time as well as storage
C99 Datatypes – inttypes.h

  int8_t, int16_t, int32_t, int64_t
  uint8_t, uint16_t, uint32_t, uint_64_t


  Avoids the ambiguity of int and uint when
   moving code between processors of
   different native size
  Makes code more portable and
   upgradable over time
Char vs. Int Increment on 8051
            char cX;                          int iX;
            cX++;                             iX++;
                                   0000   900000        MOV     DPTR,#iX
 000A   900000   MOV    DPTR,#cX   0003   E4            CLR     A
 000D   E0       MOVX   A,@DPTR    0004   75F001        MOV     B,#01H
 000E   04       INC    A          0007   120000        LCALL   ?C?IILDX
 000F   F0       MOVX   @DPTR,A



                                      10 Bytes of Flash +
    6 Bytes of Flash                  subroutine overhead
    4 Instruction cycles             Many more than 4
                                       instruction cycles with a
                                       LCALL
Code Structure

    Count down instead of up
        Saves a subtraction on all processors
        Decrement-jump-not-zero style instruction on some
         processors
    Pointers vs. array notation
        Generally better using pointers
    Bit Shifting
        May not always generate what you think
        May or may not have barrel shifter hardware
        May or may not have logical vs. arithmetic shifts
Shifting Example on 8051
  cX = cX << 3;                                   cA = 3;
                                                  cX = cX << cA;
   0006   33         RLC        A
                                           000B   900000   MOV     DPTR,#cA
   0007   33         RLC        A
                                           000E   E0       MOVX    A,@DPTR
   0008   33         RLC        A
                                           000F   FE       MOV     R6,A
   0009   54F8       ANL        A,#0F8H
                                           0010   EF       MOV     A,R7
                                           0011   A806     MOV     R0,AR6
                                           0013   08       INC     R0
                                           0014   8002     SJMP    ?C0005
                                           0016            ?C0004:
      Constants turn into seperate        0016   C3       CLR     C
       statements                          0017   33       RLC     A
      Variables turn into loops           0018            ?C0005
                                           0018   D8FC     DJNZ   R0,?C0004
      Both of these can be one
       instruction with a barrel shifter
Indexed Array vs Pointer on M8C
 ucMode = g_Channels[uc_Channel].ucMode;    ucMode = pChannel->ucMode;

  01DC   52FC      mov A,[X-4]               01ED   5201         mov   A,[X+1]
  01DE   5300      mov [__r1],A              01EF   5300         mov   [__r1],A
  01E0   5000      mov A,0
                                             01F1   3E00         mvi   A,[__r1]
  01E2   08        push A
  01E3   5100      mov A,[__r1]              01F3   5405         mov   [X+5],A
  01E5   08        push A
  01E6   5000      mov A,0                     Does the same thing
  01E8   08        push A
                                               Saves 29 bytes of memory AND a
  01E9   5007      mov A,7
  01EB   08        push A
                                                call to a 16 bit multiplication routine!
  01EC   7C0000    xcall __mul16               Pointer version will be at least 4x
  01EF   38FC      add SP,-4                    faster to execute as well, maybe 10x
  01F1   5F0000    mov [__r1],[__rX]           Most compilers not this bad – but
  01F4   5F0000    mov [__r0],[__rY]            you do find some!
  01F7   060000    add[__r1],<_g_Channels
  01FA   0E0000    adc[__r0],>_g_Channels
  01FD   3E00      mvi A,[__r1]
  01FF   5403      mov [X+3],A
More Code Structure
    Actual parameters typically passed in registers if
     available
        Keep function parameters to less than 3
        May also be passed on stack or special parameter area
        May be more efficient to pass pointer to struct
    Global variables
        While generally frowned upon for most code can be very
         helpful here
        Typically ends up being a direct access
    Read assembly code for critical areas
    Know which optimizations are present
        Small compilers do not always have common optimizations
        Inline, loop unrolling, loop invariant, pointer conversion
Switch Statement Implementation

    Switch statements can be implemented in various
     ways
        Sequential compares
        In line table look up for case block
        Special function with look up table
    Specific implementation can also vary based case
     clauses
        Clean sequence (1, 2, 3, 4, 5)
        Gaps in sequence (1, 10, 30, 255)
        Ordering of sequence (5, 4, 1, 2, 3)
    Knowing which method gets implemented is critical to
     optimizing!
Switch Statement Example
 switch(cA)               0006   900000          MOV        DPTR,#cA
 {                        0009   E0              MOVX       A,@DPTR
                          000A   FF              MOV        R7,A
     case 0:
                          000B   EF              MOV        A,R7
               cX = 4;    000C   120000          LCALL      ?C?CCASE
               break;     000F   0000            DW         ?C0003
     case 1:              0011   00              DB         00H
               cX = 10;   0012   0000            DW         ?C0002
               break;     0014   01              DB         01H
     case 2:              0015   0000            DW         ?C0004
               cX = 30;   0017   02              DB         02H
               break;     0018   0000            DW         00H
     default:             001A   0000            DW         ?C0005
               cX = 0;
               break;     001C             ?C0002:
 }                        001C   900000        MOV          DPTR,#cX
                          001F   7404          MOV          A,#04H
                          0021   F0            MOVX         @DPTR,A
                          0022   8015          SJMP         ?C0006

                          ...More blocks follow for each case
Optimization Process

    Step 0 – Before coding anything, think about
     risk points and prototype unknowns!!!
        Use available dedicated hardware
    Step 1 – Get it working!!
        Fast but wrong is of no use to anyone
        Optimization will typically reduce readability
    Step 2 – Profile to know where to optimize
        Usually only one or two routines are critical
        You need to have specific performance metrics to
         target
Optimization Process

    Step 3 – Let the tools do as much as
     they can
      Turn off debugging!
      Select the correct memory model
      Select the correct optimization level

    Step 4 – Do it manually
      Read the generated code! Might be able to
       make a simple code or structure change.
      Last – think about assembly coding
Summary

  Microcontrollers are a resource
   constrained environment
  Be familiar with the hardware in your
   microcontroller
  Be familiar with your compiler options
   and how it translates your code
  For time or space critical code look at the
   assembly listing from time to time
Questions?

								
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