Welcome to the Introduction to Embedded Systems Software and Development Environments. This course is focused on giving you real world coding experience and hands on project work with ARM based Microcontrollers. You will learn how to implement software configuration management and develop embedded software applications. Course assignments include creating a build system using the GNU Toolchain GCC, using Git version control, and developing software in Linux on a Virtual Machine. The course concludes with a project where you will create your own build system and firmware that can manipulate memory. The second course in this 2 course series , Embedded Software and Hardware Architecture, will use hardware tools to program and debug microcontrollers with bare-metal firmware. Using a Texas Instruments MSP432 Development Kit, you will configure a variety of peripherals, write numerous programs, and see your work execute on your own embedded platform!
6. The Stack
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Do curso por University of Colorado Boulder
Introduction to Embedded Systems Software and Development Environments
115 classificações
University of Colorado Boulder
115 classificações
Na lição
Memory Types, Segments and Management
Module 3 will begin to introduce important embedded concepts like the memory systems in their design. Learners will understand how the software to hardware mapping occurs for their designs including differentiating between your program code and your program data. Memory systems have many platform and architecture dependencies, and you will begin to learn about some of the fundamental concepts a software engineer needs to know to utilize all parts of an embedded system’s memory.
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Alex FosdickInstructor
Electrical, Computer, and Energy Engineering
In this video,
we will go into more detail about The Stack sub-segment of data memory.
Previously, we brushed over how data in The Stack is allocated and de-allocated.
The BSS and Data sub-segments have data that get allocated at compile time and
exist for the lifetime of a program.
The Stack region, gets reserved at compile time but
the data actually gets allocated runtime.
The stack requires some special management in order to accommodate the memory reeves.
This is done either by the compiler at the time of build, or
directly by the programmer if they're writing code in assembly.
Luckily, the compiler will allocate and
deallocate data automatically when writing in C, based on the architecture.
The stack is a place where temporary data is stored and
the memory is reused over and over as a program executes.
There are a few main characteristics you should know about how stacks are designed.
These are the use of architecture-specific instructions and
registers, the direction of stack growth, the contents that are put into the stack.
In the order of the stack contents
the stack imputation is architecture dependent.
And it is primarily used for
tracking the state of a program as routines are called and then returned.
These routines include both program functions and in sub routines.
The lifetime of data allocated on the stack will relate to the current scope of
a routine.
Therefore as functions get called and returned, these memories were used for
various routines.
All routines or application dependent, as return types,
parameter list and local data allocation can all vary.
A programmer can nest routines within one another.
And the program has the ability to enter and return from each of these routines,
without effecting the calling routine's state.
The method of describing how to pass data in and
out of a routine is referred to as a calling convention.
This can be generalized across all routines in an architecture.
And calling convention should specify architecture specific concepts
on how the CPU and the stack are used.
Calling conventions differ across architectures, as ARM architecture have
different calling conventions from other risk type processors.
This is because internal CPU registers and a stack memory management needs to be
modified to accommodate a change in normal execution flow, the stack
is used to allocate, save, and restore information for a calling convention.
Typical stack implementations store local variables, input parameters, and
return data on the stack.
The amount of this data is dependent on the implementation of the routine.
In addition to the declared function specific data,
other architecture specific items are put on the stack.
These include a copy of used registers, return addresses,
previous stack pointers, and previous special function register information.
Specialized functions called require additional information to be stored on
the stack or maybe even an entirely separate stack altogether.
Interrupt routines can happen asynchronously at any point
during your program.
Therefore, if called they need to be able to save and
return to a previous CPU state at any point in time.
When you combine these two groups of routine specific data and
CPU state information, this is referred to as a stack frame.
When more and
more sub segments are nested within one another new frames are added to the stack.
Each new frame has data that is dependent on the implementation of the function and
the current state of the CPU.
As functions return, the frame data is removed.
CPU state can be restored and
the code moves back to the previous calling function and its stack frame.
You should note that the stack is reserved to be a specific size,
this means you can potentially overflow your allocated stack region by writing
code with lots of nested functions, numerous function parameters and
local variables that might all exhibit large data types.
However you need to understand what an architecture's calling convention is,
in order to understand how large a stack frame will be given with a function.
In arm, the general purpose registers are used to store much of this information.
There are 16 CPU registers.
And the CPU uses them to not only execute instructions
accordinate the calling convention of a routine.
Registers r0 through r3 are used to hold arguments that are passed into a function.
Registers r4 through r11 are used to store local variables.
R13 holds the current stack pointer or the n location of the used stack memory.
And r14 register as the link register.
It holds the return address for a function to return to.
When a function is done, the return data is put in the r0 register.
The size of these registers is architecture dependent.
But for rr architecture, these are 32 bits each.
In addition to these general purpose registers,
ARM has some special purpose CPU registers that track and control execution state.
These include the program status registers, exception mask registers and
the control registers.
These will be covered more later in the specialization.
Since the CPU General Purpose Registers are used to hold all of the input
parameters, to find variables and return data, you might think.
Why is the stack even used?
Well if you pass in to many input variables define to many local variables
in a function or even use extremely large data text, all the extra information that
does not fit in these spots gets allocated in data memory on the stack.
In addition, routines that have sub-routine calls within their code
need to save off those registers, for the new calling routine can use them for
their parameters, and variables.
This saving of the register contents goes onto the stack.
By skipping the stack use on market textures,
we can have improved performance because we do not need to load and
store data between the CPU and data memory so frequently.
By keeping all of the data in the registers, the CPU can operate faster.
When the stack is used to hold data,
the stack pointer will move in one direction growing the stack.
When data is removed, the stack will shrink.
The growing and shrinking of the stack occurs on the same end,
with one end firmly set to a particular address.
The stack can be referred to as a LIFO.
A Last In First-Out data Buffer or container.
However, this LIFO is a specialized LIFO for an architecture's calling convention.
In addition, as the stack pointer moves, stack implementations specify it to move
upwards with addresses increasing, or downwards with addresses decreasing.
In your ARM architecture the stack is implemented as a full descending stack,
as the stack grows downwards to lower addresses.
LIFOs, are a general concept in software engineering, and
we will discuss it more detail, in our data structures lectures.
The stack has specialized registers as mentioned.
But it also has specialized instructions, to add and remove data to a stack.
These operations are referred to as a push and a pop, which act as an add or
remove instruction.
In some architectures these are single instructions that
push a single piece of information to or from the stack.
In other architectures, there may be a push or a pop specialized instruction
that can save or remove a particular set of registers to the stack.
For example ARM has loaded store structure that can move multiple pieces of data
to and from the stack with one instruction.
And better programmers should be careful to limit the number of routines that
are called in addition to how many are nested.
This is because the stack is not infinite size and
you can eventually run out of stack space.
This is called a stack overflow.
Also, with every routine call and return, all of the operations used to save and
return from a routine to manipulate stack frames result in extra execution overhead.
We want our embedded systems to be performing as much meaningful processing
as possible, not overhead associated with calling routines.
This does not mean skip routines, it just means do not use them excessively.
The stack is a vital memory segment for software developers.
Stack is automatically used by the compiler,
which in turn utilized architecture-specific processes and
instructions to call and return from a routine.
All of these operations get compiled into the function call.
There's still overhead, in order to call and return from a function, and
the memory region of the stack occupies part of data memory.
This is reserved at compile time, allocated at run time,
and the operations to interact with this region are introduced at compilation.
However, the memory itself is reused throughout the program as different
functions can get called to allocate and de-allocate data in this region.
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