The Definitive Guide to the ARM Cortex-M0
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The Definitive Guide to the ARM Cortex-M0 is a guide for users of ARM Cortex-M0 microcontrollers. It presents many examples to make it easy for novice embedded-software developers to use the full 32-bit ARM Cortex-M0 processor. It provides an overview of ARM and ARM processors and discusses the benefits of ARM Cortex-M0 over 8-bit or 16-bit devices in terms of energy efficiency, code density, and ease of use, as well as their features and applications. The book describes the architecture of the Cortex-M0 processor and the programmers model, as well as Cortex-M0 programming and instruction set and how these instructions are used to carry out various operations. Furthermore, it considers how the memory architecture of the Cortex-M0 processor affects software development; Nested Vectored Interrupt Controller (NVIC) and the features it supports, including flexible interrupt management, nested interrupt support, vectored exception entry, and interrupt masking; and Cortex-M0 features that target the embedded operating system. It also explains how to develop simple applications on the Cortex-M0, how to program the Cortex-M0 microcontrollers in assembly and mixed-assembly languages, and how the low-power features of the Cortex-M0 processor are used in programming. Finally, it describes a number of ARM Cortex-M0 products, such as microcontrollers, development boards, starter kits, and development suites. This book will be useful to both new and advanced users of ARM Cortex devices, from students and hobbyists to researchers, professional embedded- software developers, electronic enthusiasts, and even semiconductor product designers.
Key Features
- The first and definitive book on the new ARM Cortex-M0 architecture targeting the large 8-bit and 16-bit microcontroller market
- Explains the Cortex-M0 architecture and how to program it using practical examples
- Written by an engineer at ARM who was heavily involved in its development
Readership
Embedded software developers, Embedded Product Designers, Students taking an
embedded systems design course where the Arm Cortex- M0 is used, electronics
hobbyists.
Table of Contents
Foreword
Preface
Acknowledgments
Conventions
terms and Abbreviations
Chapter 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 Resources
Chapter 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 Portability
Chapter 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 Sequence
Chapter 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 CMSIS
Chapter 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 Instructions
Chapter 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 Computations
Chapter 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 Attributes
Chapter 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 Address
Chapter 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 Register
Chapter 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 Controller
Chapter 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 Lockup
Chapter 13 Debug Features
Software Development and Debug Features
Debug Features Overview
Debug Interface
Halt Mode and Debug Events
Debug System
Chapter 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 Keil
Chapter 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 CMSIS
Chapter 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 Recognitions
Chapter 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 LPC111x
Chapter 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 Example
Chapter 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 RVDS
Chapter 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 Debug
Chapter 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-M0
Chapter 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 Boards
Appendix A: Instruction Set Summary
Appendix B: Cortex-M0 Exception Type Quick Reference
Appendix C: CMSIS Quick Reference
Appendix D: NVIC, SCB, and SysTick Registers Quick Reference
Appendix E: Debug Registers Quick Reference
Appendix F: Debug Connector Arrangement
Appendix G: Linker Script for CodeSourcery G++ Lite
Appendix H: Example Code Files
Appendix I: Troubleshooting
Index
Product details
- No. of pages: 552
- Language: English
- Copyright: © Newnes 2011
- Published: February 25, 2011
- Imprint: Newnes
- eBook ISBN: 9780123854780
About the Author
Joseph Yiu
Joseph Yiu joined Arm in 2001 and has been involved in a wide range of projects including development of Arm Cortex-M processors and various on-chip system level and debug components. In addition to in-depth knowledge of the processors and microcontroller system design, Joseph also has extensive knowledge in related areas including software development for the Arm Cortex-M microcontrollers, FPGA development and System-on-Chip design technologies.
Affiliations and Expertise
Distinguished Engineer
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