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 Design Patterns for
Embedded Systems in C
This page intentionally left blank
 Design Patterns for
Embedded Systems in C
An Embedded Software Engineering Toolkit

Bruce Powel Douglass, PhD

AMSTERDAM • BOSTON • HEIDELBERG • LONDON

NEW YORK • OXFORD • PARIS • SAN DIEGO
SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO
Newnes is an imprint of Elsevier Newnes
Newnes is an imprint of Elsevier
Linacre House, Jordan Hill, Oxford OX2 8DP, UK
30 Corporate Drive, Suite 400, Burlington, MA 01803, USA

First edition 2011

Copyright © 2011 Elsevier Inc. All rights reserved.

No part of this publication may be reproduced, stored in a retrieval system or transmitted in

any form or by any means electronic, mechanical, photocopying, recording or otherwise
without the prior written permission of the publisher.

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Notice:
No responsibility is assumed by the publisher for any injury and/or damage to persons
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Because of rapid advances in the medical sciences, in particular, independent verification
of diagnoses and drug dosages should be made.

Library of Congress Cataloging-in-Publication Data

Douglass, Bruce Powel.
Design patterns for embedded C: an embedded software engineering toolkit / Bruce Powel Douglass – 1st ed.
p. cm.
Includes index.
ISBN 978-1-85617-707-8
1. C (Computer program language) 2. Embedded computer systems–Programming. 3. Software patterns. I. Title.
QA76.73.C15D685 2011
005.13’3–dc22
2010027721
A catalog record for this book is available from the Library of Congress

British Library Cataloguing in Publication Data

A catalogue record for this book is available from the British Library

For information on all Newnes publications

visit our website at books.elsevier.com

ISBN: 978-1-85617-707-8

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 Dedication
This book is dedicated to my elder son Scott, who graduated with an
almost-4.0 average in physics and is going on to graduate school – nicely
done Scott!
This page intentionally left blank
 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
1.3 What Did We Learn? ........................................................................................... 33
Chapter 2 Embedded Programming with The HarmonyTM for Embedded
RealTime Process........................................................................................ 35
2.1 Basic Elements of the Harmony Process............................................................. 36
2.1.1 A Quick Overview of the Development Workflow................................. 36
2.1.2 What Is a Design Pattern? ....................................................................... 44
2.1.3 Basic Structure of Design Patterns .......................................................... 45
2.1.4 How to Read Design Patterns in This Book ........................................... 46
2.1.5 Using Design Patterns in Development................................................... 47
2.1.6 Observer Pattern....................................................................................... 66
2.2 The Approach ...................................................................................................... 77
2.3 What’s Coming Up .............................................................................................. 78
Chapter 3 Design Patterns for Accessing Hardware....................................... 79
3.1 Basic Hardware Access Concepts........................................................................ 81

vii
Contents

3.2 Hardware Proxy Pattern....................................................................................... 85

3.2.1 Abstract .................................................................................................... 85
3.2.2 Problem .................................................................................................... 86
3.2.3 Pattern Structure....................................................................................... 86
3.2.4 Collaboration Roles ................................................................................. 87
3.2.5 Consequences........................................................................................... 88
3.2.6 Implementation Strategies........................................................................ 89
3.2.7 Related Patterns........................................................................................ 89
3.2.8 Example ................................................................................................... 89
3.3 Hardware Adapter Pattern.................................................................................... 96
3.3.1 Abstract .................................................................................................... 96
3.3.2 Problem .................................................................................................... 96
3.3.3 Pattern Structure....................................................................................... 96
3.3.4 Collaboration Roles ................................................................................. 96
3.3.5 Consequences........................................................................................... 97
3.3.6 Implementation Strategies........................................................................ 98
3.3.7 Related Patterns........................................................................................ 98
3.3.8 Example ................................................................................................... 98
3.4 Mediator Pattern................................................................................................. 100
3.4.1 Abstract .................................................................................................. 100
3.4.2 Problem .................................................................................................. 100
3.4.3 Pattern Structure..................................................................................... 101
3.4.4 Collaboration Roles ............................................................................... 101
3.4.5 Consequences......................................................................................... 102
3.4.6 Implementation Strategies...................................................................... 102
3.4.7 Related Patterns...................................................................................... 102
3.4.8 Example ................................................................................................. 103
3.5 Observer Pattern..................................................................................................111
3.5.1 Abstract ...................................................................................................111
3.5.2 Problem ...................................................................................................112
3.5.3 Pattern Structure......................................................................................112
3.5.4 Collaboration Roles ................................................................................112
3.5.5 Consequences..........................................................................................114
3.5.6 Implementation Strategies.......................................................................114
3.5.7 Related Patterns.......................................................................................115
3.5.8 Example ..................................................................................................115
3.6 Debouncing Pattern............................................................................................ 122
3.6.1 Abstract .................................................................................................. 123
3.6.2 Problem .................................................................................................. 123
3.6.3 Pattern Structure..................................................................................... 123
3.6.4 Collaboration Roles ............................................................................... 123
3.6.5 Consequences......................................................................................... 125

viii
Contents

3.6.6 Implementation Strategies...................................................................... 125

3.6.7 Related Patterns...................................................................................... 126
3.6.8 Example ................................................................................................. 126
3.7 Interrupt Pattern ................................................................................................. 130
3.7.1 Abstract .................................................................................................. 130
3.7.2 Problem .................................................................................................. 130
3.7.3 Pattern Structure..................................................................................... 131
3.7.4 Collaboration Roles ............................................................................... 131
3.7.5 Consequences......................................................................................... 132
3.7.6 Implementation Strategies...................................................................... 134
3.7.7 Related Patterns...................................................................................... 135
3.7.8 Example ................................................................................................. 135
3.8 Polling Pattern.................................................................................................... 138
3.8.1 Abstract .................................................................................................. 138
3.8.2 Problem .................................................................................................. 138
3.8.3 Pattern Structure..................................................................................... 138
3.8.4 Collaboration Roles ............................................................................... 138
3.8.5 Consequences......................................................................................... 141
3.8.6 Implementation Strategies...................................................................... 141
3.8.7 Related Patterns...................................................................................... 142
3.8.8 Example ................................................................................................. 142
3.9 So, What Did We Learn?................................................................................... 147
Chapter 4 Design Patterns for Embedding Concurrency and Resource
Management ............................................................................................ 149
4.1 Basic Concurrency Concepts ............................................................................. 152
4.1.1 Identifying Tasks.................................................................................... 160
4.1.2 Concurrency in the UML....................................................................... 161
4.1.3 Real-Time Operating Systems ............................................................... 163
Scheduling Patterns............................................................................................... 164
4.2 Cyclic Executive Pattern.................................................................................... 164
4.2.1 Abstract .................................................................................................. 165
4.2.2 Problem .................................................................................................. 165
4.2.3 Pattern Structure..................................................................................... 165
4.2.4 Collaboration Roles ............................................................................... 165
4.2.5 ConcreteCEThread ................................................................................. 166
4.2.6 Consequences......................................................................................... 167
4.2.7 Implementation Strategies...................................................................... 167
4.2.8 Related Patterns...................................................................................... 167
4.2.9 Example ................................................................................................. 167
4.3 Static Priority Pattern ......................................................................................... 170
4.3.1 Abstract .................................................................................................. 170
4.3.2 Problem .................................................................................................. 171

ix
Contents

4.3.3 Pattern Structure..................................................................................... 171

4.3.4 Collaboration Roles ............................................................................... 172
4.3.5 Consequences......................................................................................... 173
4.3.6 Implementation Strategies...................................................................... 173
4.3.7 Related Patterns...................................................................................... 174
4.3.8 Example ................................................................................................. 175
Task Coordination Patterns ................................................................................... 182
4.4 Critical Region Pattern....................................................................................... 182
4.4.1 Abstract .................................................................................................. 182
4.4.2 Problem .................................................................................................. 182
4.4.3 Pattern Structure..................................................................................... 182
4.4.4 Collaboration Roles ............................................................................... 183
4.4.5 Consequences......................................................................................... 184
4.4.6 Implementation Strategies...................................................................... 184
4.4.7 Related Patterns...................................................................................... 184
4.4.8 Example ................................................................................................. 184
4.5 Guarded Call Pattern.......................................................................................... 190
4.5.1 Abstract .................................................................................................. 190
4.5.2 Problem .................................................................................................. 190
4.5.3 Pattern Structure..................................................................................... 190
4.5.4 Collaboration Roles ............................................................................... 191
4.5.5 Consequences......................................................................................... 192
4.5.6 Implementation Strategies...................................................................... 192
4.5.7 Related Patterns...................................................................................... 193
4.5.8 Example ................................................................................................. 194
4.6 Queuing Pattern ................................................................................................. 207
4.6.1 Abstract .................................................................................................. 207
4.6.2 Problem .................................................................................................. 207
4.6.3 Pattern Structure..................................................................................... 208
4.6.4 Collaboration Roles ............................................................................... 208
4.6.5 Consequences......................................................................................... 209
4.6.6 Implementation Strategies...................................................................... 210
4.6.7 Related Patterns...................................................................................... 210
4.6.8 Example ................................................................................................. 210
4.7 Rendezvous Pattern............................................................................................ 224
4.7.1 Abstract .................................................................................................. 225
4.7.2 Problem .................................................................................................. 226
4.7.3 Pattern Structure..................................................................................... 226
4.7.4 Collaboration Roles ............................................................................... 226
4.7.5 Consequences......................................................................................... 227
4.7.6 Implementation Strategies...................................................................... 228

x
Contents

4.7.7 Related Patterns...................................................................................... 228

4.7.8 Example ................................................................................................. 228
Deadlock Avoidance Patterns ............................................................................... 231
4.8 Simultaneous Locking Pattern ........................................................................... 232
4.8.1 Abstract .................................................................................................. 232
4.8.2 Problem .................................................................................................. 233
4.8.3 Pattern Structure..................................................................................... 233
4.8.4 Collaboration Roles ............................................................................... 234
4.8.5 Consequences......................................................................................... 236
4.8.6 Implementation Strategies...................................................................... 236
4.8.7 Related Patterns...................................................................................... 236
4.8.8 Example ................................................................................................. 236
4.9 Ordered Locking ................................................................................................ 242
4.9.1 Abstract .................................................................................................. 242
4.9.2 Problem .................................................................................................. 243
4.9.3 Pattern Structure..................................................................................... 243
4.9.4 Collaboration Roles ............................................................................... 244
4.9.5 Consequences......................................................................................... 247
4.9.6 Implementation Strategies...................................................................... 248
4.9.7 Related Patterns...................................................................................... 248
4.9.8 Example ................................................................................................. 248
4.10 So, What Have We Learned?........................................................................... 255
Chapter 5 Design Patterns for State Machines............................................ 257
5.1 Oh Behave! ........................................................................................................ 259
5.2 Basic State Machine Concepts........................................................................... 261
5.2.1 OR-States ............................................................................................... 263
5.2.2 AND-States ............................................................................................ 265
5.2.3 Special Stuff: Timeouts, Conditionals, and More.................................. 267
5.2.4 Synchronous versus Asynchronous? ..................................................... 270
5.3 Single Event Receptor Pattern ........................................................................... 274
5.3.1 Abstract .................................................................................................. 274
5.3.2 Problem .................................................................................................. 274
5.3.3 Pattern Structure..................................................................................... 274
5.3.4 Collaboration Roles ............................................................................... 275
5.3.5 Consequences......................................................................................... 278
5.3.6 Implementation Strategies...................................................................... 278
5.3.7 Related Patterns...................................................................................... 278
5.3.8 Example ................................................................................................. 278
5.4 Multiple Event Receptor Pattern........................................................................ 287
5.4.1 Abstract .................................................................................................. 287
5.4.2 Problem .................................................................................................. 287

xi
Contents

5.4.3 Pattern Structure..................................................................................... 288

5.4.4 Collaboration Roles ............................................................................... 288
5.4.5 Consequences......................................................................................... 290
5.4.6 Implementation Strategies...................................................................... 290
5.4.7 Related Patterns...................................................................................... 290
5.4.8 Example ................................................................................................. 290
5.5 State Table Pattern ............................................................................................. 296
5.5.1 Abstract .................................................................................................. 296
5.5.2 Problem .................................................................................................. 296
5.5.3 Pattern Structure..................................................................................... 296
5.5.4 Collaboration Roles ............................................................................... 297
5.5.5 Consequences......................................................................................... 299
5.5.6 Implementation Strategies...................................................................... 299
5.5.7 Related Patterns...................................................................................... 299
5.5.8 Example ................................................................................................. 300
5.6 State Pattern ....................................................................................................... 308
5.6.1 Abstract .................................................................................................. 308
5.6.2 Problem .................................................................................................. 308
5.6.3 Pattern Structure..................................................................................... 308
5.6.4 Collaboration Roles ............................................................................... 310
5.6.5 Consequences......................................................................................... 312
5.6.6 Implementation Strategies...................................................................... 313
5.6.7 Related Patterns...................................................................................... 313
5.6.8 Example ................................................................................................. 314
5.7 AND-States ........................................................................................................ 327
5.8 Decomposed AND-State Pattern ....................................................................... 330
5.8.1 Abstract .................................................................................................. 331
5.8.2 Problem .................................................................................................. 331
5.8.3 Pattern Structure..................................................................................... 331
5.8.4 Collaboration Roles ............................................................................... 331
5.8.5 Consequences......................................................................................... 333
5.8.6 Implementation Strategies...................................................................... 333
5.8.7 Related Patterns...................................................................................... 334
5.8.8 Example ................................................................................................. 334
5.9 OK, What Have We Learned? ........................................................................... 356
Chapter 6 Safety and Reliability Patterns ................................................... 357
6.1 A Little Bit About Safety and Reliability.......................................................... 359
6.1.1 Safety and Reliability Related Faults .................................................... 360
6.1.2 Achieving Safety and Reliability ........................................................... 361
6.2 One’s Complement Pattern ................................................................................ 362
6.2.1 Abstract .................................................................................................. 362
6.2.2 Problem .................................................................................................. 362

xii
Contents

6.2.3 Pattern Structure..................................................................................... 362

6.2.4 Collaboration Roles ............................................................................... 362
6.2.5 Consequences......................................................................................... 363
6.2.6 Implementation Strategies...................................................................... 363
6.2.7 Related Patterns...................................................................................... 363
6.2.8 Example ................................................................................................. 363
6.3 CRC Pattern ....................................................................................................... 367
6.3.1 Abstract .................................................................................................. 367
6.3.2 Problem .................................................................................................. 367
6.3.3 Pattern Structure..................................................................................... 368
6.3.4 Collaboration Roles ............................................................................... 368
6.3.5 Consequences......................................................................................... 369
6.3.6 Implementation Strategies...................................................................... 369
6.3.7 Related Patterns...................................................................................... 369
6.3.8 Example ................................................................................................. 369
6.4 Smart Data Pattern ............................................................................................. 380
6.4.1 Abstract .................................................................................................. 380
6.4.2 Problem .................................................................................................. 381
6.4.3 Pattern Structure..................................................................................... 381
6.4.4 Collaboration Roles ............................................................................... 382
6.4.5 Consequences......................................................................................... 382
6.4.6 Implementation Strategies...................................................................... 383
6.4.7 Related Patterns...................................................................................... 383
6.4.8 Example ................................................................................................. 383
6.5 Channel Pattern.................................................................................................. 395
6.5.1 Abstract .................................................................................................. 395
6.5.2 Problem .................................................................................................. 395
6.5.3 Pattern Structure..................................................................................... 395
6.5.4 Collaboration Roles ............................................................................... 395
6.5.5 Consequences......................................................................................... 396
6.5.6 Implementation Strategies...................................................................... 397
6.5.7 Related Patterns...................................................................................... 397
6.5.8 Example ................................................................................................. 397
6.6 Protected Single Channel Pattern ...................................................................... 402
6.6.1 Abstract .................................................................................................. 402
6.6.2 Problem .................................................................................................. 402
6.6.3 Pattern Structure..................................................................................... 403
6.6.4 Collaboration Roles ............................................................................... 404
6.6.5 Implementation Strategies...................................................................... 405
6.6.6 Related Patterns...................................................................................... 405
6.6.7 Example ................................................................................................. 405

xiii
Contents

6.7 Dual Channel Pattern ......................................................................................... 413

6.7.1 Abstract .................................................................................................. 413
6.7.2 Problem .................................................................................................. 414
6.7.3 Pattern Structure..................................................................................... 414
6.7.4 Collaboration Roles ............................................................................... 414
6.7.5 Consequences......................................................................................... 417
6.7.6 Implementation Strategies...................................................................... 417
6.7.7 Related Patterns...................................................................................... 417
6.7.8 Example ................................................................................................. 421
6.8 Summary ............................................................................................................ 422
Appendix A UML Notation ........................................................................ 425
1.1 Class Diagram .................................................................................................... 425
1.1.1 Semantic Elements ................................................................................. 425
1.2 Sequence Diagram ............................................................................................. 429
1.2.1 Semantic Elements ................................................................................. 429
1.3 State Diagram..................................................................................................... 430
1.3.1 Semantic Elements ................................................................................. 430
Index ....................................................................................................... 437

xiv
 Preface

The predominate language for the development of embedded systems is clearly C. Other
languages certainly have their allure, but over 80% of all embedded systems are developed
in this classic language. Many of the advances in the industry assume the use of object-oriented
languages, web clients, and technologies that are either unavailable in the bare-metal develop-
ment environment of embedded systems, or are too memory or resource intensive to be
effectively deployed.
Design patterns are one of these profitable areas of advancement. A design pattern is a
generalized solution to a recurring problem. Design patterns allow several advantages. First,
they allow users to reason about solutions in a more abstract way and to codify their important
properties. Since all design patterns are about optimization of some set of design criteria at the
expense of others, different design patterns might address the same operational context but
provide different benefits and costs. By reifying design patterns as a basic concept, we can
reason about the best ways to optimize our systems and the technologies and approaches to
accomplish that.
Secondly, design patterns allow us to reuse solutions that have proven themselves to be
effective in other, similar circumstances. This is certainly a larger scope of reuse than reusing
lines of code or individual functions. Because design patterns can be analyzed for their
performance and optimization properties, we can select the best patterns for our particular
problems.
Additionally, design patterns give us a larger set of reusable building blocks with which to
describe our system. If you say the system uses a “symmetric deployment pattern with RMS
multitasking scheduling and a triple modular redundancy approach” that sums up a significant
portion of the architectural optimization decisions about your system. Design patterns make our
vocabulary larger and more expressive.
Lastly, design patterns provide a unit of reference. If you Google “design patterns” you get
over 3,000,000 hits. If you search the Amazon book department online, you get a list of 793
books. There is a great deal of work that goes on in the area of defining and using design
patterns, so we are exposed to an enormous wealth of reusable and proven solutions from which
we can select, mix, and bring to bear appropriate solutions.

xv
Preface

This book brings the power of design patterns to the embedded C developer. Where
appropriate, we use an object-based implementation policy with code examples to see how
the patterns are implemented and used. The patterns are divided up into different areas of
relevance to the embedded developer, including:
• Hardware access
• Concurrency
• State machine implementation
• Safety and reliability
In each area, different patterns are provided that address common concerns.

Audience
The book is oriented toward the practicing professional software developer and the computer
science major, in the junior or senior year. It focuses on practical experience by solving posed
problems from the context of the examples. The book assumes a reasonable proficiency in the
C programming language. UML is used to graphically represent the structure and behavior of
the patterns, but code examples are given to clearly show the design and implementation
concepts.

Goals
The goal of this book is to provide a toolbox for the embedded C developer and to train him
or her on the appropriate use of those tools. An agile development workflow, called the
Harmony Process™ (developed by the author) is discussed in Chapter 2 to provide a process
framework in which patterns have a definite role. However, the use of patterns transcends any
individual process, no matter how coolly named.
By the time you’ve reached the end of the book, you will hopefully have the expertise to
tackle the real design issues that you face in your life as a professional developer of embedded
systems.

Bruce Powel Douglass, Ph.D.

xvi
 Acknowledgements

I want to thank my wife Sarah for being supportive even though I work too much, and my great
kids – Scott, Blake, and Tamera – for being awesome even though I work too much.

xvii
 About the Author

Bruce Powel Douglass was raised by wolves in the Oregon wilderness. He taught himself to
read at age 3 and learned calculus before age 12. He dropped out of school when he was 14 and
traveled around the U.S. for a few years before entering the University of Oregon as a
mathematics major. He eventually received his M.S. in exercise physiology from the University
of Oregon and his Ph.D. in neurophysiology from the USD Medical School, where he
developed a branch of mathematics called autocorrelative factor analysis for studying informa-
tion processing in multicellular biological neural systems.
Bruce has worked as a software developer in real-time systems for over 30 years and is a
well-known speaker, author, and consultant in the area of real-time embedded systems and
systems engineering. He is on the Advisory Board of the Embedded Systems conference and
has taught courses in software estimation and scheduling, project management, object-
oriented analysis and design, communications protocols, finite state machines, design
patterns, and safety-critical systems design. He develops and teaches courses and consults
in real-time object-oriented analysis and design and project management and has done so for
many years. He has authored articles for a many journals and periodicals, especially in the
real-time domain.
He is the Chief Evangelist1 for IBM Rational, a leading producer of tools for real-time
systems development, including the widely-used Rhapsody modeling tool. Bruce worked with
other UML partners on the specification of the UML. He is a former co-chair of the Object
Management Group’s Real-Time Analysis and Design Working Group. He is the author of
several other books on software, including

• Doing Hard Time: Developing Real-Time Systems with UML, Objects, Frameworks, and
Patterns (Addison-Wesley, 1999)
• Real-Time Design Patterns: Robust Scalable Architecture for Real-Time Systems (Addison-
Wesley, 2002)
• Real-Time UML Third Edition: Advances in the UML for Real-Time Systems (Addison-
Wesley, 2004)

1
Being a Chief Evangelist is much like being a Chief Scientist, except for the burning bushes and stone tablets.

xviii
About the Author

• Real-Time UML Workshop for Embedded Systems (Elsevier, 2007)

• Real-Time Agility (Addison-Wesley, 2009)
and several others, including a short textbook on table tennis.
Bruce enjoys classical music and has played classical guitar professionally. He has competed
in several sports, including table tennis, bicycle racing, running, triathlons, and full-contact Tae
Kwon Do, although he currently only fights inanimate objects that don’t hit back.

xix
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