The Definitive Guide to the ARM Cortex-M0

ForewordPrefaceAcknowledgmentsConventionsterms and AbbreviationsChapter 1 Introduction    Why Cortex-M0?         Energy Efficiency         Code Density         Ease of Use    Application of the Cortex-M0 Processors    Background of ARM and ARM processors    Cortex-M0 Processor Specification and ARM Architecture    ARM Processors and the ARM Ecosystem    Getting Started with the Cortex-M0 Processor    Organization of This Book and ResourcesChapter 2 Cortex-M0 Technical Overview    General Information on the Cortex-M0 Processor    The ARM Cortex-M0 Processor Features         System Features         Implementation Features         Debug Features         Others    Advantages of the Cortex-M0 Processor         Energy Efficiency         Limitations in 8-Bit and 16-Bit Architectures         Easy to Use, Software Portability         Wide Range of Choices    Low-Power Applications         Small Gate Count         High Efficiency         Low-Power Features         Logic Cell Enhancement    Cortex-M0 Software PortabilityChapter 3 Architecture    Overview    Programmer’s Model         Operation Modes and States         Registers and Special Registers         R0━R12         R13, Stack Pointer (SP)         R14, Link Register (LR)         R15, Program Counter (PC)         xPSR, Combined Program Status Register         Behaviors of the Application Program Status Register (APSR)         PRIMASK: Interrupt Mask Special Register         CONTROL: Special Register    Memory System Overview    Stack Memory Operations    Exceptions and Interrupts    Nested Vectored Interrupt Controller (NVIC)         Flexible Interrupt Management         Nested Interrupt Support         Vectored Exception Entry         Interrupt Masking    System Control Block (SCB)         Debug System    Program Image and Startup SequenceChapter 4 Introduction to Cortex-M0 Programming    Introduction to Embedded System Programming         What Happens When a Microcontroller Starts?         Designing Embedded Programs    Inputs and Outputs    Development Flow    C Programming and Assembly Programming    What Is in a Program Image?         Vector Table         C Startup Code         Program Code         C Library Code         Data in RAM    C Programming: Data Types    Accessing Peripherals in C    Cortex Microcontroller Software Interface Standard (CMSIS)         Introduction of CMSIS         What Is Standardized in CMSIS         Organization of the CMSIS         Using CMSIS    Benefits of CMSISChapter 5 Instruction Set    Background of ARM and Thumb Instruction Set    Assembly Basics         Quick Glance at Assembly Syntax         Use of a Suffix         Thumb Code and Unified Assembler Language (UAL)         Instruction List         Moving Data within the Processor         Memory Accesses         Stack Memory Accesses         Arithmetic Operations         Logic Operations         Shift and Rotate Operations         Extend and Reverse Ordering Operations         Program Flow Control         Memory Barrier Instructions         Exception-Related Instructions         Sleep Mode Feature━Related Instructions         Other Instructions    Pseudo InstructionsChapter 6 Instruction Usage Examples    Overview    Program Control         If-Then-Else         Loop         More on the Branch Instructions         Typical Usages of Branch Conditions         Function Calls and Function Returns         Branch Table    Data Accesses         Simple Data Accesses         Example of Using Memory Access Instruction    Data Type Conversion         Conversion of Data Size         Endian Conversion    Data Processing         64-Bit/128-Bit Add         64-Bit/128-Bit Sub         Integer Divide         Unsigned Integer Square Root         Bit and Bit Field ComputationsChapter 7 Memory System    Overview    Memory Map         Code Region (0x00000000e0x1FFFFFFF)         SRAM Region (0x20000000e0x3FFFFFFF)         Peripheral Region (0x40000000e0x5FFFFFFF)         RAM Region (0x60000000e0x9FFFFFFF)         Device Region (0xA0000000e0xDFFFFFFF)         Internal Private Peripheral Bus (PPB) (0xE0000000e0xE00FFFFF)         Reserved Memory Space (0xE0100000e0xFFFFFFFF)    Program Memory, Boot Loader, and Memory Remapping    Data Memory    Little Endian and Big Endian Support         Data Type         Effect of Hardware Behavior to Programming         Data Alignment         Access to Invalid Addresses         Use of Multiple Load and Store Instructions    Memory AttributesChapter 8 Exceptions and Interrupts    What Are Exceptions and Interrupts?    Exception Types on the Cortex-M0 Processor         Nonmaskable Interrupt (NMI)         Hard Fault         SVCall (SuperVisor Call)         PendSV (Pendable Service Call)         SysTick         Interrupts    Exception Priority Definition    Vector Table    Exception Sequence Overview         Acceptance of Exception Request         Stacking and Unstacking         Exception Return Instruction         Tail Chaining         Late Arrival    EXC_RETURN    Details of Exception Entry Sequence         Stacking         Vector Fetch and Update PC         Registers Update    Details of Exception Exit Sequence         Unstacking of Registers         Fetch and Execute from Return AddressChapter 9 Interrupt Control and System Control    Overview of the NVIC and System Control Block Features    Interrupt Enable and Clear Enable    Interrupt Pending and Clear Pending    Interrupt Priority Level    Generic Assembly Code for Interrupt Control         Enable and Disable Interrupts         Set and Clear Interrupt Pending Status         Setting up Interrupt Priority Level    Exception Masking Register (PRIMASK)    Interrupt Inputs and Pending Behavior         Simple Interrupt Process    Interrupt Latency    Control Registers for System Exceptions    System Control Registers         CPU ID Base Register         Application Interrupt and Reset Control Register         Configuration and Control RegisterChapter 10 Operating System Support Features    Overview of the OS Support Features         Why Use an Embedded OS?    The SysTick Timer    SysTick Registers         Setting up SysTick         Using SysTick Timer for Timing Measurement    Process Stack and Process Stack Pointer    SVC    PendSV Chapter 11 Low-Power Features    Low-Power Embedded System Overview    Low-Power Advantages of the Cortex-M0 Processor    Overview of the Low-Power Features    Sleep Modes    Wait-for-Event (WFE) and Wait-for-Interrupt (WFI)         Wait for Event (WFE)         Wait for Interrupt (WFI)         Wakeup Conditions    Sleep-on-Exit Feature    Wakeup Interrupt ControllerChapter 12 Fault Handling    Fault Exception Overview         What Can Cause a Fault?    Analyze a Fault    Accidental Switching to ARM State    Error Handling in Real Applications    Lockup         Causes of Lockup         What Happens during a Lockup?    Preventing LockupChapter 13 Debug Features    Software Development and Debug Features    Debug Features Overview    Debug Interface    Halt Mode and Debug Events    Debug SystemChapter 14 Getting Started with Keil MDK    Introduction to Keil MDK    First Step of Using Keil MDK         Create the Blinky Project         Create the Project Code         Project Settings         Compile and Build the Program         Using the Debugger    Other Project Configurations         Target, Source Groups         Compiler and Code-Generation Options         Simulator         Execution in RAM    Customizing the Startup Code in Keil    Using the Scatter Loading Feature in KeilChapter 15 Simple Application Programming    Using CMSIS    Using the SysTick Timer as a Single Shot Timer    UART Examples         Simple Input/Output         Retargeting         Developing Your Own Input and Output Functions    Simple Interrupt Programming         General Overview of Interrupt Programming         Dial Control Interface Example         Interrupt Control Functions    Different Versions of CMSISChapter 16 Assembly Projects and Mixed-Assembly and C Projects    Project Development in Assembly    Recommended Practice in Assembly Programming    Structure of an Assembly Function    Simple Assembly Project Example    Allocating Data Space for Variables    UART Example in Assembly    Additional Text Output Functions         Complex Branch Handling    Mixed-Language Projects         Calling a C Function from Assembly         Calling an Assembly Function from C Code    Embedded Assembly    Accessing Special Instructions    Idiom RecognitionsChapter 17 Using Low-Power Features in Programming    Overview    Review of Sleep Modes in the Cortex-M0 Processor    Using WFE and WFI in Programming    Using the Send-Event-on-Pend Feature    Using the Sleep-on-Exit Feature    Wakeup Interrupt Controller (WIC) Feature    Event Communication Interface    Developing Low-Power Applications    Example of Using Low-Power Features on the LPC111xChapter 18 Using SVC, PendSV, and Keil RTX Kernel    Introduction    Using the SVC Exception    Using the PendSV Exception    Using an Embedded OS    Keil RTX Real-Time Kernel         Features Overview    OS Startup Sequence         Simple OS Example         Intertask Communications         Event Communications         Mutual Exclusive         Semaphore         Mailbox Messages         Periodic Time interval         Other RTX Features         Application ExampleChapter 19 Getting Started with the ARM RealView Development Suite    Overview    Simple Application Example    Using the Scatter Loading File    Example with Vector Table in C    Using MicroLIB in RVDS    Using Assembly for Application Development in RVDS    Flash Programming    Debugging Using RealView Debugger    Using Serial Wire Debug with the RealView Debugger    Retargeting in RVDSChapter 20 Getting Started with the GNU C Compiler    Overview    Typical Development Flow    Simple C Application Development    CodeSourcery Common Startup Code Sequence (CS3)    Using a User-Defined Vector Table    Using Printf in gcc    Inline Assembler    SVC Example in gcc    Hard Fault Handler Example    Flash Programming and DebugChapter 21 Software Porting    Overview    ARM Processors    Differences between the ARM7TDMI and the Cortex-M0         Operation Mode         Registers         Instruction Set         Interrupts    Porting Software from the ARM7TDMI to the Cortex-M0         Startup Code and Vector Table         Interrupt         C Program Code         Assembly Code         Atomic Access         Optimizations    Differences between the Cortex-M1 and the Cortex-M0         Instruction Set         NVIC         System-Level Features    Porting Software between the Cortex-M0 and the Cortex-M1    Differences between the Cortex-M3 and the Cortex-M0         Programmer’s Model         NVIC and Exceptions         Instruction Set         System-Level Features         Debug Features    Porting Software between the Cortex-M0 and the Cortex-M3    Porting Software between the Cortex-M0 and the Cortex-M4 Processor    Porting Software from 8-Bit/16-Bit Microcontrollers to the Cortex-M0         Common Modifications         Memory Requirements         Nonapplicable Optimizations for 8-Bit or 16-Bit Microcontrollers         Example: Migrate from the 8051 to the ARM Cortex-M0Chapter 22 Cortex-M0 Products    Overview    Microcontroller Products and Application-Specific Standard Products (ASSPs)         NXP Cortex-M0 Microcontrollers         NuMicro™ Microcontroller Family         Mocha-1 ARM Cortex-M0 Configurable Array         Melfas MCS™-7000 Series Touch Screen Controllers    Compilers and Software Development Suites         Keil Microcontroller Development Kit (MDK)         TASKING VX-Toolset for ARM         IAR Embedded Workbench for ARM         CrossWorks for ARM         Red Suite         LabView C Code Generator    Development Boards         LPCXpresso         IAR KickStart Kit for LPC1114         LPC1114 Cortex-M0 Stamp Module         Keil Cortex-M0 BoardsAppendix A: Instruction Set SummaryAppendix B: Cortex-M0 Exception Type Quick ReferenceAppendix C: CMSIS Quick ReferenceAppendix D: NVIC, SCB, and SysTick Registers Quick ReferenceAppendix E: Debug Registers Quick ReferenceAppendix F: Debug Connector ArrangementAppendix G: Linker Script for CodeSourcery G++ LiteAppendix H: Example Code FilesAppendix I: TroubleshootingIndex