The Definitive Guide to the ARM Cortex-M0

518 Pages·2011·18.91 MB·English

by  Yiu Joseph

The Definitive Guide to the
ARM Cortex-M0
Joseph Yiu
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Foreword
Itisanexcitingtimetobeamicrocontrolleruser.AgrowingrangeofARMCortex-Mdevices
are available from many vendors, spanning a broad range of applications. Users who are
familiar with 8-bit and 16-bit microcontrollers and are moving to ARM Cortex-Mebased
devices are surprised at just how easy they are to use and, with the introduction of ARM
Cortex-M0 devices, how low-cost and efficient 32-bit microcontrollers have become.
So I was delighted that Joseph Yiu chose to write a guide for the users of these ARM
Cortex-M0 devices. As a technical authority on the ARM Cortex-M family and a formative
8-bit user, Joseph is uniquely placed to guide users new to ARM Cortex microcontrollers on
their first transition steps, and to impart detailed knowledge about the Cortex-M0 to the
advanced user.
Dr Dominic Pajak
ARM Cortex-M0 Product Manager
xiii
Preface
IstartedlearningaboutmicrocontrollerswhenIwasstudyingatuniversity.Atthattime,some
ofthesingleboardcomputersIwasusinghadan8-bitmicrocontroller,andmyprogramswere
storedinexternalEraseableProgrammableReadOnlyMemory(EPROM)chips.TheEPROM
chips were in relatively large dual in line (DIP) packages and could be erased by shining
ultravioletlightthroughtheglasswindow.Sincethen,microcontrollertechnologyhaschanged
a lot: external EPROMs have been replaced by on-chip flash memories, DIP packages have
been replaced by surface mountpackages, and mostmicrocontrollers havebecome in-system
reprogrammable. More and more peripherals have been added to microcontrollers, and the
complexity of the software has increased dramatically.
Since 2004, the microcontroller market has made some dramatic changes. Previously, the
microcontrollersonthemarketweremostly8-bitand16-bittypes,and32-bitmicrocontroller
applicationswerelimitedtohigh-endproducts,mainlybecauseof thecost.Althoughmostof
the 8-bit and 16-bit microcontrollers could be programmed in C, trying to squeeze all the
required functionalities into a small microcontroller was becoming more and more difficult.
You might spend one day writing a program in C, and then find that you needed to spend
anothertwodaysrewritingpartoftheprograminassemblybecausetheprocessingspeedofthe
microcontroller was too slow for all the required processing tasks.
Even if you are developing simple applications and do not require high processing power in
the microcontrollers, occasionally you might need to switch to a different microcontroller
architecture because of project requirements, and this can take a tremendous effort. Not only
will you need to spend the money to buy new tools, but it can take weeks to learn to use the
tools and months to become familiar with a new architecture.
In October 2004, the price of an ARM7 microcontroller dropped to below 3 US dollars. This
wasverygoodnewsformanydeveloperswhoneededtodevelopcomplexembeddedsoftware.
Since then, with the availability of the Cortex-M3, the price of ARM microcontrollers has
dropped much further and you can get an ARM microcontroller for less than 1 US dollar. As
a result, the use of ARM microcontrollers is gaining acceptance. In addition to providing
excellentperformance,themodernARMmicrocontrollersrequireverylittlepower.Theuseof
ARM microcontrollers is no longer limited to high-end products.
xv
xvi Preface
Like many good ideas, the concept for the Cortex-M0 started life as a conversation between
engineers in a bar. A small and growing number of ARM partners were looking for a 32-bit
processor that was small, really small. The concept quickly became a full-blown engineering
project (codenamed “Swift”). In 2009, the Cortex-M0 design was completed, and it quickly
became one of the most successful ARM processor products.
Throughtheexamplesinthisbook,youwillfindthattheCortex-M0microcontrollersareeasy
touse.Insomeaspects,theyareeveneasiertousethansome8-bitmicrocontrollersbecauseof
the simplicityof thelinear memory architecture,an uncomplicatedand yetflexible exception
model, comprehensive debug features, and the software infrastructures provided by ARM,
microcontroller vendors, and software solution providers.
Because the Cortex-M processors are extremely C friendly, there is no need to optimize the
applicationswithassembly.ThereisnoneedtolearnlotsofspecialCdirectivesjusttogetthe
interrupt handlers working. For some embedded developers, the switch to ARM micro-
controllers also means it is much easier to switch between different microcontroller products
without the need to buy new tools and learn a new architecture. On the Internet you can find
that many people are already using Cortex-M0 microcontrollers on a number of interesting
projects.
AfterworkingonanumberofARMprocessorprojects,Igainedalotofexperienceintheuse
oftheCortex-Mprocessors(andpossiblysomegrayhairsaswell).Withencouragementfrom
some friends and help from lots of people, I decided to put those experiences into a book to
share with numerous embedded developers who are interested in using the ARM Cortex-M
processors.Ilearnedalotwhilewritingmyfirstbook,whichisabouttheCortex-M3processor.
Manythankstothosepeoplewhogavemeusefulfeedbackwhenthefirstbookwaspublished,
bothinsideandoutsideARM.Iknowitwasn’tperfect,butatleastitisencouragingtofindthat
manyreadersfoundmyCortex-M3bookuseful.Ihopethisbook,TheDefinitiveGuidetothe
ARM Cortex-M0, will be even better.
This book targets a wide range of audiences: from students, hobbyists, and electronic enthu-
siasts, to professional embedded software developers, researchers, and even semiconductor
productdesigners.Asaresult,itcoversawiderangeofinformation,includingmanyadvanced
technical details that most embedded developers might never need. At the same time, it
contains many examples, making it easy for novice embedded software developers to use.
I hope that you find this book helpful and that you enjoy using the Cortex-M0 in your next
embedded project.
Acknowledgments
A number of people have assisted me in researching for and writing this book.
Firstofall,abigthankyoutomycolleaguesinARMfortheirhelpinreviewingandsuggesting
improvements, especiallyEdmundPlayer,NickSampays,and DominicPajak, and alsoDrew
Barbier, Colin Jones, Simon Craske, Jon Marsh, and Robert Boys.
Iwouldalsoliketothankanumberofexternalreviewerswhoseinputintermsoffeedbackhas
enabledmetohoneandimprovethequalityofthebook’stechnicalinformation.TheyareJoe
Yu and Kenneth Dwyer from NXP, John Davies from Glasgow University, and Jeffrey S.
MuellerfromTriadSemiconductor.Inadditiontothosewhoreviewedtheprepublicationbook,
I would also thank the following who assisted me while I was writing it by answering my
technical inquiries and by providing product information. They are Kenneth Dwyer, David
Donley, and Amit Bhojraj from NXP; Drew Barbier from ARM; Milorad Cvjetkovic from
Keil;JeffreyS.Mueller,WilliamFarlow,andJimKemerlingfromTriadSemiconductor;Jamie
BrettlefromNationalInstruments;DerekMorrisfromCodeRedTechnologies;BrianBarrera
fromCodeSourcery;andthesalesteamsfromRowleyAssociates,SteinertTechnologies,IAR
Systems, and TASKING.
I would also thank the staff from Elsevier for their professional work in getting this book
published.
And finally, a big thank you to all my friends within and outside of my work environment
whose unstinting encouragement enthused and enabled me (though the odd cup of coffee
helped too) to start and then complete the book.
xvii
Conventions
Various typographical conventions have been used in this book, as follows:
(cid:129) Normal assembly program codes:
MOV R0; R1; Move data from Register R1 to Register R0
(cid:129) Assemblycodeingeneralizedsyntax;itemsinside“<>”mustbereplacedbyrealregister
names:
MRS <reg>; <special reg>;
(cid:129) C program codes:
for ði ¼ 0;i < 3;iþþÞ f func1ðÞ; g
(cid:129) Pseudo code:
if ða > bÞ f.
(cid:129) Values:
1. 4’hC, 0x123 are both hexadecimal values.
2. #3 indicates item number 3 (e.g., IRQ #3 means IRQ number 3).
3. #immed_12 refers to 12-bit immediate data.
4. Registerbitsaretypicallyusedtoillustrateapartofavaluebasedonbitposition.For
example, bit[15:12] means bit number 15 down to 12.
(cid:129) Register access types:
1. R is Read only.
2. Wis Write only.
3. R/Wis Read or Write accessible.
4. R/Wc is Readable and cleared by a Write access.
xix
Terms and Abbreviations
Abbreviations Meaning
AAPCS ARM Architecture Procedure Call Standard
AHB Advanced High-Performance Bus
ALU Arithmetic Logic Unit
AMBA Advanced Microcontroller Bus Architecture
APB Advanced Peripheral Bus
ARM ARM ARM Architecture Reference Manual
BE8 Byte Invariant Big Endian mode
BPU Break Point Unit
CMOS Complementary Metal Oxide Semiconductor
CMSIS Cortex Microcontroller Software Interface Standard
DWT Data Watchpoint and Trace Unit (unit)
EXC_RETURN Exception Return
FPGA Field Programmable Gate Array
gcc GNU C Compiler
ICE In-Circuit Emulator
IDE Integrated Development Environment
ISA Instruction Set Architecture
ISR Interrupt Service Routine
JTAG JointTestActionGroup(astandardtestanddebuginterface)
LR Link Register
LSB Least Significant Bit
MCU Microcontroller Unit
MDK/MDK-ARM ARM Keil Microcontroller Development Kit
xxi
xxii Terms and Abbreviations
Abbreviations Meaning
MSB Most Significant Bit
MSP Main Stack Pointer
NMI Non-Maskable Interrupt
NVIC Nested Vectored Interrupt Controller
OS Operating System
PC Program Counter
PSP Process Stack Pointer
PSR/xPSR Program Status Register
RVDS ARM RealView Development Suite
RTOS Real Time Operating System
RTX Keil Real-Time eXecutive kernel
SCB System Control Block
SCS System Control Space
TAP Test Access Port
TRM Technical Reference Manual
WIC Wakeup Interrupt Controller
Reference
The following documents are referenced in this book:
Document Tile ARM Document number
1 Cortex-M0 Devices Generic User Guide ARM DUI 0497A
2 Cortex-M0 r0p0 Technical Reference Manual ARM DDI 0432C
3 ARMv6-M Architecture Reference Manual ARM DDI 0419B
4 Procedure Call Standard for ARM Architecture ARM IHI 0042D
5 ARM Workbench IDE User Guide ARM DUI 0330E
6 CoreSight Technology System Design Guide ARM DGI 0012B
7 ARM Debug Interface v5 ARM IHI 0031A
8 Keil MDK-ARM Compiler Optimization: Getting Keil Application Note 202
the Best Optimized Code for Your Embedded
Application
9 RealView Compilation Tools Developer Guide ARM DUI 0203I
CHAPTER 1
Introduction
Why Cortex-M0?
TheARMCortex-M0processorisdesignedtomeettheneedsofmodernultra-low-power
microcontrollerunits(MCUs)andmixed-signaldevices.Itisintendedtosatisfythedemandfor
ever-lower-costapplicationswithincreasingconnectivity(e.g.,Ethernet,USB,low-power
wireless)andusesofanalogsensors(e.g.,touchsensorsandaccelerometers).Theseapplications
requiretightintegrationofanaloganddigitalfunctionalitytopreprocessandcommunicatedata.
Existing8-bitand16-bitdevicesoftencan’tsupporttheseapplicationswithoutsignificant
increasesincodesizeandclockfrequency,thereforeincreasingpower.TheCortex-M0addresses
theneedforincreasedperformanceefficiencywhileremaininglowcostandextendingbatterylife.
Itisunsurprising,therefore,thattheCortex-M0processorisnowavailableinarapidlygrowing
rangeofsiliconproducts,withtheprocessorbeingthefastestlicensingARMdesigntodate.
TheideabehindARMCortex-M0wastocreatethesmallest,lowestpowerprocessorpossible,
while remaining upward compatible with the higher-performance ARM Cortex-M3. ARM
announcedtheCortex-M0processorinFebruary2009,anditachieveditsgoals.Theresulting
design is just 12,000 logic gates in minimum configuration, as small as an 8-bit or 16-bit
processor, but it is a full 32-bit processor that incorporates advanced technologies with many
compelling benefits over 8-bit or 16-bit devices.
Energy Efficiency
TheperformanceefficiencyoftheCortex-M0(0.9DMIPS/MHz)meansitcangetataskdonein
fewercycles(evena32-bitmultiplycanbecompletedinonecycle).ThismeansCortex-M0
devicescanspendmoretimeinalow-powersleepstate,offeringbetterenergyefficiency.
Alternately,theycangetthesamejobdoneinfewerMHz,meaningloweractivepowerand
electromagneticinterference(EMI).ThelowgatecountoftheCortex-M0meansthatthe
leakage,andsleepcurrent,isminimized.Thehighlyefficientinterruptcontroller(NVIC)means
thatinterruptoverheadislow,evenwhenhandlingnestedinterruptsofdifferentpriorities.
Code Density
The code size offered by the Thumb-2-based instruction set is smaller than 8-bit or 16-bit
architectures for many applications. This means users can choose devices with smaller flash
TheDefinitiveGuidetotheARMCortex-M0.DOI:10.1016/B978-0-12-385477-3.10001-1
Copyright(cid:1)2011ManCheungJosephYiu.PublishedbyElsevierInc.Allrightsreserved.
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