Embedded System Design with Arm Cortex-M Microcontrollers - Applications with C, C++

Description

This textbook introduces basic and advanced embedded system topics through ARM Cortex M microcontrollers, covering programmable microcontroller usage starting from basic to advanced concepts using the STMicroelectronics Discovery development board. Designed for use in upper-level undergraduate and graduate courses on microcontrollers, microprocessor systems, and embedded systems, the book explores fundamental and advanced topics, real-time operating systems via FreeRTOS and Mbed OS, and then offers a solid grounding in digital signal processing, digital control, and digital image processing concepts — with emphasis placed on the usage of a microcontroller for these advanced topics. The book uses C language, “the” programming language for microcontrollers, C++ language, and MicroPython (which is s.hite), which allows Python language usage on a microcontroller. Sample codes and course slides are available for readers and instructors, and a solutions manual is available to instructors. The book will also be an ideal reference for practicing engineers and electronics hobbyists who wish to become familiar with basic and advanced microcontroller concepts. Teaches the embedded system design skills needed for today’s job market; Thoroughly explains each concept and provides illustrated examples and projects; Covers fundamental and advanced embedded system topics, real-time operating systems, digital signal processing, digital control, and digital image processing on microcontrollers. Contents 1 Introduction 1.1 Embedded Systems 1.2 Microcontroller as Embedded System 1.3 About the Book References 2 Microcontroller Architecture 2.1 The STM32F4 Microcontroller 2.1.1 Central Processing Unit 2.1.1.1 Nested Vectored Interrupt Controller 2.1.1.2 Debug Access Port and Serial Wire Viewer 2.1.1.3 Memory Management Units 2.1.1.4 Embedded Trace Macrocell Module 2.1.1.5 The Bus Matrix 2.1.1.6 Registers 2.1.2 Memory 2.1.2.1 Memory Types 2.1.2.2 Memory Map 2.1.2.3 Memory Related Modules 2.1.3 General-Purpose Input and Output Ports 2.1.4 Clock and Timer Modules 2.1.5 Analog Modules 2.1.6 Digital Communication Modules 2.1.7 Other Modules 2.2 Assembly Language 2.2.1 The Arm® Cortex™-M4 Instruction Set 2.2.2 Executing Machine Language Code in the Microcontroller 2.3 The STM32F4 Board 2.3.1 General Information 2.3.2 Pin Layout 2.3.3 Powering the Board and Programming the Microcontroller on It 2.4 Summary of the Chapter Problems References 3 Software Development Platforms 3.1 The STM32CubeIDE Platform 3.1.1 Downloading and Installing STM32CubeIDE 3.1.2 Launching STM32CubeIDE 3.1.3 Creating a New Project 3.1.4 Building, Debugging, and Executing the Project 3.1.4.1 Building and Debugging the Project 3.1.4.2 Executing the Project 3.1.5 Using STM32CubeMX to Modify Hardware of the Microcontroller 3.1.5.1 Creating a New Project Using STM32CubeMX 3.1.5.2 Generating and Modifying the Code 3.1.5.3 Executing the Project 3.2 Mbed and Mbed Studio Platforms 3.2.1 Mbed on Web 3.2.2 Managing a Project in Mbed 3.2.2.1 Creating the Project 3.2.2.2 Building and Executing the Project 3.2.3 Mbed Studio on Desktop 3.2.4 Managing a Project in Mbed Studio 3.2.4.1 Creating the Project 3.2.4.2 Building, Debugging, and Executing the Project 3.3 MicroPython 3.3.1 About Python 3.3.2 Python for Microcontrollers: MicroPython 3.3.3 Setting up MicroPython on the STM32F4 Microcontroller 3.3.4 MicroPython Working Principles 3.3.5 Using MicroPython on the STM32F4 Microcontroller 3.3.5.1 Read-Evaluate-Print Loop 3.3.5.2 Accessing and Modifying the Main File 3.3.5.3 Using an Available Python IDE 3.4 Application: Tools for Analyzing the Generated Code 3.4.1 Analyzing the C Code in STM32CubeIDE 3.4.1.1 The Instrumentation Trace Macrocell Usage 3.4.1.2 Measuring the Execution Time 3.4.1.3 Measuring Memory Usage 3.4.2 Analyzing the C++ Code in Mbed Studio 3.4.2.1 Measuring the Execution Time 3.4.2.2 Measuring Memory Usage 3.4.3 Analyzing the MicroPython Code 3.4.3.1 Measuring the Execution Time 3.4.3.2 Measuring Memory Usage 3.5 Summary of the Chapter Problems References 4 Digital Input and Output 4.1 Bit Values as Voltage Levels 4.2 Interfacing Voltage Levels with the Microcontroller 4.2.1 Digital Input from a Switch or Button 4.2.1.1 Setting Up the Switch or Button 4.2.1.2 Avoiding Switch Bouncing 4.2.2 Digital I/O with High Voltage Values 4.2.3 Digital Output to a Load Requiring High Current and Voltage Values 4.3 Digital I/O Setup on the STM32F4 Microcontroller 4.3.1 Circuit Diagram of a Pin and Its Setup via Associated Registers 4.3.2 GPIO Registers in Memory Map of the STM32F4 Microcontroller 4.3.3 Setting Up GPIO Registers 4.3.3.1 C Language 4.3.3.2 C++ Language 4.3.3.3 MicroPython 4.4 Digital I/O Usage on the STM32F4 Microcontroller 4.4.1 C Language Usage 4.4.2 C++ Language Usage 4.4.3 MicroPython Usage 4.5 Application: Digital Input and Output Operations in the Robot Vacuum Cleaner 4.6 Summary of the Chapter Problems References 5 Interrupts and Power Management 5.1 The Interrupt Concept in Embedded Systems 5.1.1 Interrupts in General 5.1.2 Interrupts in the STM32F4 Microcontroller 5.1.2.1 Interrupt Operations in Peripheral Units 5.1.2.2 Extended Interrupts and Events Controller 5.1.2.3 Nested Vectored Interrupt Controller 5.1.2.4 Interrupt Operations in the CPU 5.2 Interrupt Setup in the STM32F4 Microcontroller 5.2.1 Interrupt Setup via C Language 5.2.2 Interrupt Setup via C++ Language 5.2.3 Interrupt Setup via MicroPython 5.3 Interrupt Usage in the STM32F4 Microcontroller 5.3.1 Interrupt Usage via C Language 5.3.2 Interrupt Usage via C++ Language 5.3.3 Interrupt Usage via MicroPython 5.4 Power Management in Embedded Systems 5.4.1 Importance of Power Management in Embedded Applications 5.4.2 The Link Between Power Management and Interrupt Usage 5.4.3 Battery as Power Supply 5.5 Power Management in the STM32F4 Microcontroller 5.5.1 Power Management Features 5.5.2 Power Supply Options 5.5.3 Power Modes 5.5.4 STM32CubeMX for Power Usage Analysis 5.6 Usage of Power Modes in Code 5.6.1 Power Modes in C Language 5.6.1.1 Sleep Mode 5.6.1.2 Stop Mode 5.6.1.3 Standby Mode 5.6.2 Power Modes in C++ Language 5.6.3 Power Modes in MicroPython 5.7 Application: Interrupt-Based Operations and Power Management for the Robot Vacuum Cleaner 5.8 Summary of the Chapter Problems References 6 Timing Operations 6.1 Clock Signals in Embedded Systems 6.1.1 What Is a Clock Signal? 6.1.2 Oscillator as the Clock Signal Source 6.1.3 Managing Clocks in the STM32F4 Microcontroller 6.2 Timers in Embedded Systems 6.2.1 What Is a Timer? 6.2.2 Introducing Timers in the STM32F4 Microcontroller 6.2.3 Base Timers in the STM32F4 Microcontroller 6.2.3.1 Trigger and Clock Controller Block 6.2.3.2 The Counter Block 6.2.3.3 Counting Modes 6.2.3.4 The Input Capture Block 6.2.3.5 The Output Compare Block 6.2.3.6 Summary of the STM32F4 Microcontroller Base Timers 6.2.4 System Timer in the STM32F4 Microcontroller 6.2.5 Watchdog Timers in the STM32F4 Microcontroller 6.2.6 Real-Time Clock in the STM32F4 Microcontroller 6.2.7 Advanced Base Timer Operations in the STM32F4 Microcontroller 6.3 Timer Setup in the STM32F4 Microcontroller 6.3.1 Timer Setup via C Language 6.3.1.1 Setting Up Base Timers 6.3.1.2 Setting Up the System Timer 6.3.1.3 Setting Up Watchdog Timers 6.3.1.4 Setting Up the RTC 6.3.2 Timer Setup via C++ Language 6.3.2.1 Setting Up Base Timers 6.3.2.2 Setting Up the Watchdog Timer 6.3.2.3 Setting Up the RTC 6.3.3 Timer Setup via MicroPython 6.3.3.1 Setting Up Base Timers 6.3.3.2 Setting Up the Watchdog Timer 6.3.3.3 Setting Up the RTC 6.4 Timer Usage in the STM32F4 Microcontroller 6.4.1 Timer Usage in C Language 6.4.1.1 Usage of Base Timers 6.4.1.2 Usage of the System Timer 6.4.1.3 Usage of Watchdog Timers 6.4.1.4 Usage of the RTC 6.4.1.5 Timer Usage Examples via C Language 6.4.2 Timer Usage in C++ Language 6.4.2.1 Usage of Base Timers 6.4.2.2 Usage of the Watchdog Timer 6.4.2.3 Usage of the RTC 6.4.2.4 Timer Usage Examples via C++ Language 6.4.3 Timer Usage in MicroPython 6.4.3.1 Usage of Base Timers 6.4.3.2 Usage of the Watchdog Timer 6.4.3.3 Usage of the RTC 6.4.3.4 Timer Usage Examples via MicroPython 6.5 Application: Timing Operations in the Robot Vacuum Cleaner 6.6 Summary of the Chapter Problems References 7 Conversion Between Analog and Digital Values 7.1 Analog and Digital Values 7.1.1 Analog Values in Physical Systems 7.1.2 Digital Values in Embedded Systems 7.1.3 Digital Values in Code 7.1.3.1 Data Types in C and C++ Languages 7.1.3.2 Data Types in Python 7.2 Analog to Digital Conversion in Embedded Systems 7.2.1 Sampling 7.2.2 Quantization 7.2.3 ADC Operation in the STM32F4 Microcontroller 7.2.3.1 Input Sources 7.2.3.2 Triggers 7.2.3.3 Operating Modes 7.2.3.4 ADC Interrupts 7.2.3.5 Sampling and Clocks 7.2.3.6 Obtaining the ADC Operation Result 7.3 ADC Setup in the STM32F4 Microcontroller 7.3.1 ADC Setup via C Language 7.3.1.1 Setting Up Input Sources 7.3.1.2 Setting Up Operating Modes 7.3.1.3 Setting Up ADC Interrupts 7.3.1.4 Setting Up Triggers 7.3.1.5 Setting Up Clock Options 7.3.2 ADC Setup via C++ Language 7.3.3 ADC Setup via MicroPython 7.4 ADC Usage in the STM32F4 Microcontroller 7.4.1 ADC Usage in C Language 7.4.1.1 Starting and Stopping the Conversion Operation 7.4.1.2 The Injected Conversion Operation 7.4.1.3 ADC Interrupt Usage 7.4.1.4 The ADC Module Usage Examples 7.4.2 ADC Usage in C++ Language 7.4.3 ADC Usage in MicroPython 7.5 Digital to Analog Conversion in Embedded Systems 7.5.1 Zero-Order Hold 7.5.2 Pulse Width Modulation 7.5.3 DAC Operation in the STM32F4 Microcontroller 7.5.3.1 The DAC Module 7.5.3.2 PWM Signal Generation 7.6 DAC Setup in the STM32F4 Microcontroller 7.6.1 DAC Setup via C Language 7.6.1.1 DAC Module Setup 7.6.1.2 PWM Signal Setup 7.6.2 DAC Setup via C++ Language 7.6.3 DAC Setup via MicroPython 7.7 DAC Usage in the STM32F4 Microcontroller 7.7.1 DAC Usage in C Language 7.7.1.1 DAC Module Usage 7.7.1.2 PWM Signal Usage 7.7.1.3 DAC Usage Examples 7.7.2 DAC Usage in C++ Language 7.7.3 DAC Usage in MicroPython 7.8 Application: ADC and DAC Operations in the Robot Vacuum Cleaner 7.9 Summary of the Chapter Problems References 8 Digital Communication 8.1 Background on Digital Communication 8.1.1 Data, Frame, and Field 8.1.2 Serial and Parallel Data Transfer 8.1.3 Synchronous and Asynchronous Data Transfer 8.1.4 Signal Representation and Line Formations 8.1.5 Data Encoding Types 8.1.5.1 Non Return to Zero 8.1.5.2 Return to Zero 8.1.5.3 Non Return to Zero Inverted 8.1.5.4 Return to Zero Inverted 8.1.5.5 Manchester Coding 8.1.5.6 Demonstrating Different Data Encoding Types 8.1.6 Simplex, Half, and Full Duplex Communication 8.1.7 Master and Slave Modes 8.1.8 Baud Rate 8.2 Universal Asynchronous Receiver/Transmitter 8.2.1 UART Working Principles 8.2.2 UART Modules in the STM32F4 Microcontroller 8.2.3 UART Setup in the STM32F4 Microcontroller 8.2.3.1 Setup via C Language 8.2.3.2 Setup via C++ Language 8.2.3.3 Setup via MicroPython 8.2.4 UART Usage in the STM32F4 Microcontroller 8.2.4.1 Usage via C Language 8.2.4.2 Usage via C++ Language 8.2.4.3 Usage via MicroPython 8.3 Serial Peripheral Interface 8.3.1 SPI Working Principles 8.3.2 SPI Modules in the STM32F4 Microcontroller 8.3.3 SPI Setup in the STM32F4 Microcontroller 8.3.3.1 Setup via C Language 8.3.3.2 Setup via C++ Language 8.3.3.3 Setup via MicroPython 8.3.4 SPI Usage in the STM32F4 Microcontroller 8.3.4.1 Usage via C Language 8.3.4.2 Usage via C++ Language 8.3.4.3 Usage via MicroPython 8.4 Inter-integrated Circuit 8.4.1 I2C Working Principles 8.4.2 I2C Modules in the STM32F4 Microcontroller 8.4.3 I2C Setup in the STM32F4 Microcontroller 8.4.3.1 Setup via C Language 8.4.3.2 Setup via C++ Language 8.4.3.3 Setup via MicroPython 8.4.4 I2C Usage in the STM32F4 Microcontroller 8.4.4.1 Usage via C Language 8.4.4.2 Usage via C++ Language 8.4.4.3 Usage via MicroPython 8.5 Controller Area Network 8.5.1 CAN Working Principles 8.5.2 CAN Modules in the STM32F4 Microcontroller 8.5.3 CAN Setup in the STM32F4 Microcontroller 8.5.3.1 Setup via C Language 8.5.3.2 Setup via C++ Language 8.5.3.3 Setup via MicroPython 8.5.4 CAN Usage in the STM32F4 Microcontroller 8.5.4.1 Usage via C Language 8.5.4.2 Usage via C++ Language 8.5.4.3 Usage via MicroPython 8.6 Universal Serial Bus 8.6.1 USB Working Principles 8.6.2 USB Modules in the STM32F4 Microcontroller 8.6.3 USB Setup in the STM32F4 Microcontroller 8.6.3.1 Setup via C Language 8.6.3.2 Setup via MicroPython 8.6.4 USB Usage in the STM32F4 Microcontroller 8.6.4.1 Usage via C Language 8.6.4.2 Usage via MicroPython 8.7 Other Digital Communication Types 8.7.1 SD Bus Interface 8.7.2 Inter-IC Sound 8.8 Application: Digital Communication for the Robot Vacuum Cleaner 8.9 Summary of the Chapter Problems References 9 Memory Operations 9.1 Memory Working Principles 9.1.1 Bus Architecture 9.1.2 Memory in General 9.1.3 RAM 9.1.4 Flash Memory 9.2 Memory Management in C and C++ Languages 9.2.1 RAM Partitioning 9.2.2 Memory Modification 9.2.3 Pointer-Based Operations 9.2.3.1 Pointer to a Variable 9.2.3.2 Pointer to a Pointer 9.2.3.3 Reaching a Specific Memory Address by Pointers 9.2.3.4 Pointers and Arrays 9.2.3.5 Pointer to a Structure 9.2.3.6 Function Call by Reference 9.2.3.7 Function Pointers 9.2.4 Local, Global, and Static Variables 9.3 Memory Management in MicroPython 9.3.1 RAM Management During Compilation Stage 9.3.1.1 Frozen Bytecode Usage 9.3.1.2 Precompiling Scripts 9.3.2 Effective RAM Usage During Code Execution 9.3.2.1 Constant Usage 9.3.2.2 Constant Data Structures 9.3.2.3 Using Pre-allocated Buffers 9.3.2.4 Garbage Collector 9.3.3 Local and Global Variables 9.4 Direct Memory Access 9.4.1 The DMA Controller in the STM32F4Microcontroller 9.4.2 DMA Features 9.4.3 DMA Interrupts 9.4.4 DMA Setup in the STM32F4 Microcontroller 9.4.5 DMA Usage in the STM32F4 Microcontroller 9.5 Flexible Memory Controller 9.5.1 FMC Working Principles 9.5.2 FMC Setup in the STM32F4 Microcontroller 9.5.2.1 Setup via C Language 9.5.2.2 Setup via C++ Language 9.5.2.3 Setup via MicroPython 9.5.3 FMC Usage in the STM32F4 Microcontroller 9.5.3.1 Usage via C Language 9.5.3.2 Usage via C++ Language 9.5.3.3 Usage via MicroPython 9.6 Application: Memory-Based Operations in the Robot Vacuum Cleaner 9.7 Summary of the Chapter Problems References 10 Real-Time Operating Systems 10.1 Fundamentals of RTOS 10.1.1 RTOS Components 10.1.2 RTOS Working Principles 10.2 FreeRTOS and Mbed OS 10.2.1 FreeRTOS 10.2.2 FreeRTOS Project Setup in STM32CubeIDE 10.2.3 Mbed OS 10.2.4 First Mbed OS Project in Mbed Studio 10.3 Task and Thread 10.3.1 Task Working Principles 10.3.1.1 Task States 10.3.1.2 Task Priorities 10.3.1.3 Idle Task 10.3.2 Task in FreeRTOS 10.3.2.1 Task Setup and Task Functions 10.3.2.2 Task Usage Examples 10.3.3 Thread in Mbed OS 10.3.3.1 Thread Functions 10.3.3.2 Thread Usage Examples 10.4 Event 10.4.1 Event Working Principles 10.4.2 Event in FreeRTOS 10.4.2.1 Event Setup and Event Functions 10.4.2.2 Event Usage Examples 10.4.3 Event in Mbed OS 10.4.3.1 Event Functions 10.4.3.2 Event Usage Examples 10.5 Mutex and Semaphore 10.5.1 Mutex Working Principles 10.5.2 Semaphore Working Principles 10.5.3 Mutex and Semaphore in FreeRTOS 10.5.3.1 Mutex Setup and Mutex Functions 10.5.3.2 Mutex Usage Examples 10.5.3.3 Semaphore Setup and Semaphore Functions 10.5.3.4 Semaphore Usage Examples 10.5.4 Mutex and Semaphore in Mbed OS 10.5.4.1 Mutex Functions 10.5.4.2 Mutex Usage Examples 10.5.4.3 Semaphore Functions 10.5.4.4 Semaphore Usage Examples 10.6 Queue and Mail 10.6.1 Queue Working Principles 10.6.2 Mail Working Principles 10.6.3 Queue and Memory Pool in FreeRTOS 10.6.3.1 Queue Setup and Queue Functions 10.6.3.2 Queue Usage Examples 10.6.3.3 Memory Pool Setup and Memory Pool Functions 10.6.3.4 Memory Pool Usage Examples 10.6.4 Queue and Mail in Mbed OS 10.6.4.1 Queue Functions 10.6.4.2 Queue Usage Examples 10.6.4.3 Mail Functions 10.6.4.4 Mail Usage Examples 10.7 Software Timers in FreeRTOS 10.7.1 Software Timer Setup and Timer Functions 10.7.2 Software Timer Usage Examples 10.8 Memory Management in RTOS 10.8.1 Memory Management in FreeRTOS 10.8.2 Memory Management in Mbed OS 10.9 Application: RTOS-Based Implementation of the Robot Vacuum Cleaner 10.10 Summary of the Chapter Problems Reference 11 LCD, Touch Screen, and Graphical User Interface Formation 11.1 LCD 11.1.1 LCD Structure 11.1.2 LCD Working Principles 11.1.3 Connecting the LCD to an Image Source 11.1.4 LCD on the STM32F4 Board 11.2 Touch Screen 11.2.1 Touch Screen Working Principles 11.2.2 Touch Screen on the LCD of the STM32F4 Board 11.3 Hardware Modules in the STM32F4 Microcontroller for LCD and Touch Screen Control 11.3.1 LCD-TFT Display Controller 11.3.2 DMA2D 11.4 Setting Up the LCD on the STM32F4 Board 11.4.1 Setup for SPI-Based Usage 11.4.1.1 Setup via C Language 11.4.1.2 Setup via C++ Language 11.4.1.3 Setup via MicroPython 11.4.2 Setup for LTDC-Based Usage 11.4.2.1 Setup via C Language 11.4.2.2 Setup via C++ Language 11.5 Usage of the LCD on the STM32F4 Board 11.5.1 Usage of the LCD via SPI 11.5.1.1 Usage via C Language 11.5.1.2 Usage via C++ Language 11.5.1.3 Usage via MicroPython 11.5.2 Usage of the LCD via LTDC 11.5.2.1 Usage via C Language 11.5.2.2 Usage via C++ Language 11.6 Setting Up the Touch Screen on the LCD of STM32F4 Board 11.6.1 Setup via C Language 11.6.2 Setup via C++ Language 11.7 Usage of the Touch Screen on the LCD of STM32F4 Board 11.7.1 Usage via C Language 11.7.2 Usage via C++ Language 11.8 Graphical User Interface Formation via TouchGFX 11.8.1 Installing TouchGFX 11.8.2 Setting Up TouchGFX 11.8.3 Using TouchGFX 11.9 Application: Improving the Stand-Alone Remote Controller via GUI Formation and Touch Screen Usage 11.10 Summary of the Chapter Problems References 12 Introduction to Digital Signal Processing 12.1 About Digital Signals 12.1.1 Mathematical Definition of the Digital Signal 12.1.2 Representing the Digital Signal in an Embedded System 12.1.3 Forming an Actual Digital Signal from the STM32F4 Board 12.1.3.1 Data Acquisition via C Language 12.1.3.2 Data Acquisition via C++ Language 12.1.3.3 Data Acquisition via MicroPython 12.2 Transferring the Digital Signal Between the PC and STM32F4 Microcontroller 12.2.1 Setup in the STM32F4 Microcontroller Side 12.2.1.1 Setup via C Language 12.2.1.2 Setup via C++ Language 12.2.1.3 Setup via MicroPython 12.2.2 Setup in the PC Side 12.3 About Digital Systems 12.3.1 Mathematical Representation of the Digital System 12.3.2 Linear and Time-Invariant Systems 12.3.3 Representing the Digital System in an Embedded System 12.4 Digital Signals and LTI Systems in Complex Domain 12.4.1 The z-Transform 12.4.2 Discrete-Time Fourier Transform 12.5 Processing Analog Audio Signals on the STM32F4 Microcontroller 12.5.1 Acquiring the Audio Signal 12.5.2 Forming an Equalizer by Digital Filters 12.5.3 Feeding the Equalized Digital Signal to Output 12.5.4 Final Form of the Overall System 12.6 Summary of the Chapter Problems References 13 Introduction to Digital Control 13.1 About Digital Control 13.1.1 The Control Action 13.1.2 Representing the Digital Controller in an Embedded System 13.2 Transfer Function Based Control 13.2.1 Open-Loop Control 13.2.2 Closed-Loop Control 13.2.3 Designing a Controller 13.3 PID Controllers 13.3.1 General Structure 13.3.1.1 P Controller 13.3.1.2 PI Controller 13.3.1.3 PID Controller 13.3.2 PID Controller Design 13.3.3 Implementing the PID Controller on the STM32F4 Microcontroller 13.3.3.1 Implementation in C Language 13.3.3.2 Implementation in C++ Language 13.3.3.3 Implementation in MicroPython 13.4 PID Control of a DC Motor by the STM32F4 Microcontroller 13.4.1 DC Motor as the System to Be Controlled 13.4.2 Encoder as the Sensor 13.4.3 Speed Control of the DC Motor 13.5 Summary of the Chapter Problems Reference 14 Introduction to Digital Image Processing 14.1 About Digital Images 14.1.1 Mathematical Representation of the Digital Image 14.1.2 Grayscale and Color Images 14.1.3 Representing the Digital Image in the STM32F4 Microcontroller 14.1.3.1 Image Representation in C Language 14.1.3.2 Image Representation in C++ Language 14.1.3.3 Image Representation in MicroPython 14.2 Image Transfer Between the PC and STM32F4Microcontroller 14.2.1 Setup in the PC Side 14.2.2 Setup and Display in the STM32F4 Microcontroller Side 14.2.2.1 Setup and Display via C Language 14.2.2.2 Setup and Display via C++ Language 14.2.2.3 Setup and Display via MicroPython 14.3 Digital Camera as the Image Sensor 14.3.1 Working Principles of a Digital Camera 14.3.1.1 Optics and Image Sensor 14.3.1.2 Preprocessing 14.3.1.3 Camera Interface 14.3.1.4 Timing and Synchronization 14.3.1.5 Control Interface and Registers 14.3.2 Image Data Representation in Digital Cameras 14.3.2.1 Raw Form 14.3.2.2 Processed Form 14.3.2.3 Compressed Form 14.3.3 The OV7670 Camera Module 14.3.4 Setting Up the OV7670 Camera Module 14.3.4.1 Setup via C Language 14.3.4.2 Setup via C++ Language 14.3.4.3 Setup via MicroPython 14.4 Digital Camera Interface Module in the STM32F4 Microcontroller 14.4.1 Working Principles of the DCMI Module 14.4.2 Setting Up the DCMI Module 14.4.2.1 Setup via C Language 14.4.2.2 Setup via C++ Language 14.4.2.3 Setup via MicroPython 14.5 Image Acquisition via Digital Camera 14.5.1 Acquiring the Image 14.5.1.1 Image Acquisition via C Language 14.5.1.2 Image Acquisition via C++ Language 14.5.1.3 Image Acquisition via MicroPython 14.5.2 Displaying the Acquired Image on LCD 14.5.2.1 Display via C Language 14.5.2.2 Display via C++ Language 14.5.2.3 Display via MicroPython 14.5.3 Transferring the Acquired Image to PC 14.5.3.1 Image Transfer via C Language 14.5.3.2 Image Transfer via C++ Language 14.5.3.3 Image Transfer via MicroPython 14.5.4 Format Conversions 14.5.4.1 Format Conversion in C Language 14.5.4.2 Format Conversion in C++ Language 14.5.4.3 Format Conversion in MicroPython 14.6 Pixel-Based Digital Image Processing Operations 14.6.1 Obtaining the Negative Image 14.6.1.1 C Language 14.6.1.2 C++ Language 14.6.1.3 MicroPython 14.6.2 Intensity Transformation Applied to the Image 14.6.2.1 C Language 14.6.2.2 C++ Language 14.6.2.3 MicroPython 14.6.3 Thresholding the Image 14.6.3.1 C Language 14.6.3.2 C++ Language 14.6.3.3 MicroPython 14.7 Summary of the Chapter Problems References 15 Advanced Topics 15.1 Assembly Language Programming 15.1.1 Forming a Complete Assembly Code 15.1.2 Creating an Assembly Project in STM32CubeIDE 15.1.3 Inline Assembly in C Language 15.1.4 Inline Assembly in C++ Language 15.1.5 Inline Assembly in MicroPython 15.2 Customizing the MicroPython Firmware 15.2.1 Necessary Settings to Modify the MicroPython Firmware 15.2.2 Precompiling Scripts Usage 15.2.3 Frozen Bytecode Usage 15.2.4 Adding C Functions to MicroPython 15.3 Mbed Simulator References Index