Rules to
Optimize Code
for
Embedded Systems
Table of Contents
Table of Contents
1. Introduction
• Why Code Optimization Matters in
Embedded Systems
• Balancing Performance, Memory,
and Reliability
2. Rule 1: Minimize Memory Usage
3. Rule 2: Reduce Code Size
4. Rule 3: Use Inline Functions and
Macros Wisely
5. Rule 4: Optimize Loops
6. Rule 5: Avoid Dynamic Memory
Allocation
7. Rule 6: Leverage Compiler
Optimization Flags
8. Rule 7: Use Lookup Tables Instead of
Complex Calculations
9. Rule 8: Optimize Interrupt Service
Routines (ISRs)
9. Rule 8: Optimize Interrupt Service
RoutinesTable
(ISRs)of Contents
10.Rule 9: Profile and Benchmark Your
Code
11.Rule 10: Exploit Hardware-Specific
Features
12.Conclusion
Introduction
Introduction
In the world of Embedded Systems, code
optimization is not simply a matter of writing
“better” code—it is often a necessity.
Microcontrollers (MCUs) and embedded
processors operate under strict constraints:
limited RAM, flash memory, CPU cycles, and
power budgets. Poorly optimized firmware can
lead to sluggish performance, system instability,
or even failure in mission-critical applications
such as automotive, aerospace, and medical
devices.
Introduction
The challenge for engineers lies in striking the
right balance between speed, memory
efficiency, and system reliability. Over-
optimizing can make code harder to maintain,
while under-optimizing wastes valuable
resources. This article presents the most
important rules to optimize code for Embedded
Systems, supported by explanations and
practical code examples.
Rule 1: Minimize
Memory Usage
Rule 1: Minimize Memory
Usage
Efficient memory management is fundamental.
Embedded devices often have only a few
kilobytes of RAM, making every byte count.
Choosing smaller data types, avoiding
unnecessary arrays, and reusing buffers where
appropriate reduces memory footprint.
Rule 1: Minimize Memory
Usage
Example: Using smaller data types
Rule 2: Reduce Code
Size
Rule 2: Reduce Code
Size
Smaller binaries mean less flash usage and
often faster execution due to reduced instruction
fetch. Repeated code patterns can be factored
into functions or replaced with lookup tables.
Rule 2: Reduce Code
Size
Example: Refactoring repeated code
Rule 3: Use Inline
Functions and Macros
Wisely
Rule 3: Use Inline Functions
and Macros Wisely
Function calls in embedded systems consume
cycles. Declaring frequently used small
functions as inline removes the call overhead,
but macros should be avoided for complex logic
due to debugging difficulties.
Example: Inline optimization
Rule 4: Optimize
Loops
Rule 4: Optimize
Loops
Loops are executed repeatedly and thus heavily
impact performance. Minimizing loop
complexity, reducing nested loops, or applying
loop unrolling can yield big improvements.
Rule 4: Optimize
Loops
Example: Loop unrolling
Rule 5: Avoid Dynamic
Memory Allocation
Rule 5: Avoid Dynamic
Memory Allocation
Heap memory (malloc, free) is risky in
embedded systems due to fragmentation and
non-deterministic behavior. Prefer static or
stack allocation.
Example: Using static buffers
Rule 6: Leverage
Compiler
Optimization Flags
Rule 6: Leverage Compiler
Optimization Flags
Modern compilers provide optimization levels
(-O1, -O2, -O3, -Os). The right choice depends
on whether you prioritize speed or size.
Example (GCC compilation):
# Optimize for speed
gcc -O2 main.c -o main
# Optimize for size
gcc -Os main.c -o main
Rule 7: Use Lookup
Tables Instead of
Complex
Calculations
Rule 7: Use Lookup Tables
Instead of Complex
Calculations
Pre-computing values saves cycles during
runtime. This technique is especially useful for
trigonometric or mathematical functions.
Example: Lookup sine values
Rule 8: Optimize
Interrupt Service
Routines (ISRs)
Rule 8: Optimize Interrupt
Service Routines (ISRs)
ISRs should be minimal to avoid blocking the
system. Offload heavy work to tasks or main
loop.
Example: ISR deferring work
Rule 9: Profile and
Benchmark Your
Code
Rule 9: Profile and
Benchmark Your Code
Optimization without measurement is
guesswork. Use timers, logic analyzers, or cycle
counters to benchmark execution time.
Example: Measuring execution time
Rule 10: Exploit
Hardware-Specific
Features
Rule 10: Exploit Hardware-
Specific Features
MCUs provide features like DMA, specialized
instructions, or hardware accelerators. Using
these frees CPU cycles and improves
performance.
Example: Using DMA for data transfer
(conceptual snippet)
// Pseudocode for DMA setup
DMA_Init();
DMA_Config(src_address, dest_address, length);
DMA_Start();
// CPU remains free to handle other tasks
Conclusion
Conclusion
Optimizing code for Embedded Systems is not
optional—it is essential. From minimizing
memory usage to leveraging hardware-specific
features, each rule contributes to faster, more
reliable, and resource-efficient firmware.
The key is to balance optimization with
maintainability. Engineers should always
measure performance before and after applying
optimizations, ensuring that improvements are
both measurable and meaningful. With these
rules, you’ll be well-equipped to design
embedded software that is lean, reliable, and
production-ready.
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