本书是高等院校计算机类相关专业本科生、研究生教材。本书主要介绍嵌入式系统的概念、体系结构、软硬件设计、实例开发等相关内容。主要特点包括：精选内容。既有经典概念、原理，又有最新技术，并融入思政元素；组织合理。各章节既自成体系，又相互贯通，由浅入深、层层递进；资料齐全。既有传统的教案、PPT、习题库，还有习题解答、课程视频、试题库、课外知识拓展、实验和课设指导书等；创新实践。产学研用将结合，引导学生创新项目设计、开发，培养学生的系统思维、创新思维和工程实践能力。

张胜，南昌航空大学信息工程学院教授，主要研究方向为无线传感器网络、物联网、人工智能、GPS/GIS、数据挖掘、复杂网络等。近年来，主持国家自然科学基金2项，主持航空科学基金1项，主持江西省自然科学基金1项，主持江西省博士后基金1项，主持江西省教育厅基金3项，参与国家自然科学基金2项，参与江西省自然科学基金2项，参与其他科技项目多项；申请国家发明专利2项，获得软件著作权4项；发表科研论文90余篇，其中39篇被SCI或EI检索。

第 1 章 嵌入式系统概论·················································································.1
1.1 嵌入式系统的概念 ················································································.1
1.2 嵌入式系统的历史 ················································································.2
1.3 嵌入式系统的组成 ················································································.4
1.3.1 嵌入式系统的组成结构 ······································································.4
1.3.2 嵌入式处理器 ················································································.8
1.3.3 典型的嵌入式操作系统 ······································································.9
1.4 嵌入式系统的特点 ··············································································.12
1.5 嵌入式系统的应用 ··············································································.12
1.6 嵌入式系统的发展趋势········································································.14
习题·······································································································.15
第 2 章 ARM 体系结构·················································································.16
2.1 ARM 微处理器的体系结构 ···································································.16
2.1.1 ARM 体系结构版本 ········································································.16
2.1.2 ARM 内核版本命名规则···································································.19
2.1.3 ARM Cortex-M3 内核 ······································································.19
2.2 ARM Cortex-M3 存储器组织结构 ···························································.21
2.2.1 大端格式和小端格式·······································································.21
2.2.2 I/O 引脚的访问方式········································································.21
2.2.3 内部存储器 ·················································································.22
2.3 ARM Cortex-M3 异常 ··········································································.25
2.3.1 异常的类型及向量地址 ····································································.25
2.3.2 异常的优先级 ··············································································.28
2.3.3 进入和退出异常············································································.28
2.4 通用目的输入/输出口 ··········································································.31
2.4.1 GPIO 概述及引脚命名 ·····································································.31
2.4.2 GPIO 内部结构 ·············································································.31
2.4.3 GPIO 工作模式 ·············································································.33
2.4.4 GPIO 输出速率 ·············································································.39
2.4.5 GPIO 复用功能重映射 ·····································································.39
2.4.6 GPIO 端口寄存器 ··········································································.39
2.5 嵌入式微控制器 STM32F103 ·································································.44
2.5.1 STM32F103 及片上外设简介 ······························································.45
2.5.2 STM32F103 引脚信号······································································.47
2.5.3 STM32F103 专用寄存器 ···································································.51
习题·······································································································.52
第 3 章 Thumb 模式指令系统········································································.53
3.1 Thumb-2 指令集 ·················································································.53
3.1.1 Thumb-2 指令的分类及特色 ·······························································.54
3.1.2 Thumb-2 指令寻址方式 ····································································.56
3.1.3 Thumb-2 指令列表 ·········································································.58
3.2 Thumb 汇编伪指令与伪操作··································································.66
3.2.1 常用的 Thumb 汇编伪指令 ································································.66
3.2.2 常用 Thumb 汇编伪操作 ···································································.68
3.3 Thumb 基础编程·················································································.69
3.3.1 Thumb 程序常用文件格式 ·································································.69
3.3.2 Thumb 预定义变量 ·········································································.70
3.3.3 C 语言与汇编语言混合编程 ·······························································.71
习题·······································································································.72
第 4 章 时钟及电源管理···············································································.73
4.1 STM32 的时钟结构 ·············································································.73
4.1.1 STM32 中的时钟源 ········································································.73
4.1.2 STM32 中的时钟树 ········································································.74
4.2 STM32 电源管理模式 ··········································································.75
4.3 相关特殊功能寄存器 ···········································································.77
4.4 常用单元电路的设计 ···········································································.79
4.4.1 电源电路设计 ··············································································.79
4.4.2 晶振电路设计 ··············································································.83
4.4.3 复位电路设计 ··············································································.84
习题·······································································································.85
第 5 章 存储器与人机接口原理······································································.86
5.1 存储器概述 ·······················································································.86
5.1.1 SRAM 和 DRAM ···········································································.87
5.1.2 NOR Flash 和 NAND Flash·································································.90
5.2 存储系统机制 ····················································································.94
5.2.1 内存层次结构 ··············································································.94
5.2.2 高速缓存机制 ··············································································.95
5.2.3 外部存储器接口············································································.98
5.2.4 存储器保护机制············································································.98
5.3 STM32 存储器映射 ············································································.100
5.3.1 认识 Cortex-M3 存储器 ···································································.100
5.3.2 Cortex-M3 存储器映射····································································.102
5.3.3 STM32 存储器映射 ·······································································.104
5.4 典型的人机接口 ················································································.106
5.4.1 键盘接口···················································································.106
5.4.2 LED 显示器················································································.108
5.4.3 LCD 接口 ··················································································.111
5.4.4 ADC 和触摸屏接口 ·······································································.112
习题······································································································.118
第 6 章 中断与定时技术··············································································.120
6.1 中断概述 ·························································································.120
6.1.1 中断向量···················································································.120
6.1.2 STM32 的中断优先级 ·····································································.123
6.1.3 中断屏蔽···················································································.125
6.2 STM32 中断系统 ···············································································.125
6.2.1 概述························································································.125
6.2.2 NVIC·······················································································.126
6.2.3 NVIC 寄存器和 EXTI 寄存器·····························································.128
6.2.4 中断举例···················································································.129
6.3 定时器工作原理 ················································································.136
6.3.1 概述························································································.136
6.3.2 工作原理···················································································.136
6.4 STM32 定时器 ··················································································.137
6.4.1 认识 STM32 定时器·······································································.137
6.4.2 STM32 定时器和与定时相关的寄存器···················································.141
6.4.3 看门狗 ·····················································································.145
6.4.4 RTC ························································································.148
习题······································································································.151
第 7 章 DMA 技术······················································································.152
7.1 DMA 概述 ·······················································································.152
7.1.1 DMA 简介 ·················································································.152
7.1.2 DMA 传输 ·················································································.153
7.2 STM32F103 中 DMA 的工作原理 ··························································.153
7.2.1 STM32F103 中 DMA 的主要特性 ························································.153
7.2.2 STM32F103 中 DMA 的内部结构 ························································.154
7.2.3 STM32F103 的 DMA 通道 ································································.155
7.2.4 STM32F103 的 DMA 优先级 ·····························································.156
7.2.5 STM32F103 中 DMA 的传输模式 ························································.156
7.2.6 STM32F103 的 DMA 中断 ································································.158
7.3 DMA 相关库函数 ··············································································.158
7.3.1 1 个初始化函数 ···········································································.158
7.3.2 2 个使能函数 ··············································································.158
7.3.3 2 个传输数据量函数 ······································································.159
7.3.4 4 个状态位函数 ···········································································.159
7.3.5 8 个外设 DMA 使能函数··································································.160
习题······································································································.161
第 8 章 串行通信接口·················································································.162
8.1 串行通信基础知识 ·············································································.162
8.1.1 串行数据传输模式 ········································································.162
8.1.2 串行通信方式 ·············································································.163
8.1.3 RS-232C ···················································································.165
8.1.4 RS-422 和 RS-485 ·········································································.166
8.2 USART ···························································································.167
8.2.1 USART 简介···············································································.167
8.2.2 STM32 的 USART 硬件结构 ······························································.168
8.2.3 USART 操作···············································································.170
8.2.4 USART 寄存器 ············································································.171
8.3 串行通信举例 ···················································································.172
习题······································································································.177
第 9 章 网络接口 ·······················································································.178
9.1 网络接口技术概述 ·············································································.178
9.1.1 分布嵌入式系统结构······································································.178
9.1.2 分布嵌入式网络通信方式 ································································.180
9.2 I2
C 接口 ··························································································.180
9.2.1 I2C 总线 ···················································································.181
9.2.2 STM32F103 的 I
2
C 接口···································································.184
9.3 以太网接口 ······················································································.190
9.3.1 嵌入式以太网基础知识 ···································································.190
9.3.2 STM32F103 以太网接口 ··································································.196
9.3.3 socket 网络编程 ···········································································.197
9.3.4 嵌入式 Web 服务器程序设计 ·····························································.206
习题······································································································.212
第 10 章 ARM Linux 程序设计基础································································.213
10.1 Linux 操作系统················································································.213
10.1.1 Linux 的特性 ·············································································.213
10.1.2 Linux 内核的结构 ········································································.215
10.1.3 Linux 的设备管理 ········································································.217
10.2 Linux 操作系统的安装与使用 ·····························································.219
10.2.1 环境搭建 ·················································································.219
10.2.2 Linux 的使用 ·············································································.220
10.3 Linux 程序设计················································································.222
10.3.1 BootLoader 引导程序 ····································································.222
10.3.2 Linux 移植················································································.223
10.3.3 驱动程序开发 ············································································.224
10.3.4 应用程序开发 ············································································.226
10.4 ARM Linux 驱动程序设计实例····························································.227
10.4.1 STM32F103 上 LED 驱动开发···························································.227
10.4.2 STM32F103 上 ADC 驱动开发 ··························································.230
习题······································································································.235
第 11 章 嵌入式系统应用开发及实例 ·····························································.236
11.1 嵌入式系统的特点及开发过程·····························································.236
11.1.1 嵌入式系统的特点 ·······································································.236
11.1.2 嵌入式系统的开发过程··································································.237
11.2 软件工程及嵌入式软件工程································································.238
11.2.1 软件工程概述 ············································································.239
11.2.2 软件需求 ·················································································.241
11.2.3 软件设计 ·················································································.242
11.2.4 统一建模语言 ············································································.243
11.2.5 嵌入式软件编程··········································································.246
11.3 基于 STM32 智能手表开发实例···························································.247
11.3.1 应用实例背景 ············································································.247
11.3.2 应用系统的设计目标 ····································································.247
11.3.3 应用系统设计 ············································································.248
11.3.4 系统硬件设计与设备选型 ·······························································.248
11.3.5 系统软件的设计与实现··································································.254
习题······································································································.265
参考文献 ···································································································.266