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TheDesigner’sGuidetothe Cortex-MProcessorFamily
ThirdEdition
TrevorMartin
Hitex(UK)Ltd.,Coventry,England,UnitedKingdom
NewnesisanimprintofElsevier
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Copyright©2023ElsevierLtd.Allrightsreserved.
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ThisbookandtheindividualcontributionscontainedinitareprotectedundercopyrightbythePublisher(otherthanasmay benotedherein).
Notices
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ISBN:978-0-323-85494-8
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Exercise9.1:FloatingPointUnit
Exercise9.2:SIMDInstructions
Exercise9.3:OptimizingDSPAlgorithms
Exercise9.4:UsingtheCMSIS-DSPLibrary
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Abouttheauthor
TrevorMartinisaseniortechnicalspecialistinHitexUK,wherehehasworkedover25 years.Trevorhasworkedwithawiderangeofmicrocontrollersandassociateddevelopment tools.SincethelaunchoftheCortex-M3processorin2004,Trevorhascontributed numerousarticlesandapplicationnotesformanyoftheleadingCortex-M-based microcontrollers.HavinganextensiveknowledgeoftheCortex-Mprocessorfamily,Trevor isalsofamiliarwithmanyofthedevelopmenttechniques,applicationsoftware,and communicationprotocolsrequiredfortoday’sembeddedapplications.
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Foreword
Thisisthethirdeditionofabookthathasbecomeadearfriendtomanysoftware developersusingArmCortex-M-basedmicrocontrollers.Whenitwasfirstpublishedin 2013,thedominanceoftheArmarchitectureinallthingsembeddedwasnotinsightand theterm“IoT”wasnotaneverydayterm.
Sincethebeginningsinthemid-2000s,ArmCortex-M-basedmicrocontrollershaveevolved fromlow-power16-bitreplacementstohigh-performanceprocessorsrunningupto1GHz. ThelistofsupporteddevicesonArm’sdevicedatabaseiscloseto10,000entries—all applicationscanbecoveredwithaspecificMCUfromoneofArm’ssiliconpartners.But notonlythecomputingperformancewasincreased,alsomanyinterfaces,especiallyfor Internetconnectivity,havebeenaddedeventothetiniestdevice.Addingsafetyand securityfeatureswhilemaintainingthelow-powerheritageandlow-costadvantageisabig challengeforsoftwaredevelopers.
Arm’s“CommonMicrocontrollerSoftwareInterfaceStandard”orinshortCMSIShelpsto simplifysoftwarereuse,reducethelearningcurveformicrocontrollerdevelopers,speedup projectbuildanddebug,andthusreducethetimetomarketfornewapplications.Itplays animportantroleineveryCortex-Msoftwaredeveloper’sday-to-daywork.Fromits humblebeginningsin2009uptonow,itgrewfromavendor-independenthardware abstractionlayertoasetoftools,APIs,frameworks,andflows.
CMSISissupportedthroughoutArm’swideecosystem.ItisanintegralpartofmanySDKs andIDEsthatareavailabletodevelopers.Lotsofthird-partysoftwarevendors(including themajorcloudserviceproviders)delivertheirsoftwarestacksasOpen-CMSIS-Packs. Newdevelopmentflowsbuiltonthesepackshelpdeveloperstomaintaintheirsoftwareand enableCI/CDDevOpsflows.UsingArmVirtualHardware,thisenablesautomatedbuild andtestinthecloud.Thesenewflowsensurehighsoftwarequalitythroughoutthewhole developmentprocess.
Whileithasbecomeanimpressivetoolboxsoftwaredeveloperscanchoosefrom,itisnot alwayseasytounderstandwhichCMSIScomponentisusedandwhen.Thisbook’stutorialbasedapproachhelpsdeveloperstounderstandthevariouscomponentsandhowtouse themeffectively.
Trevorisanexperiencedprofessionalandhasheldhundredsofworkshopsonembedded development.Hisbookisacondensedversionofhisexpertiseandtakesyouthroughall stepsthatarerequiredtocreateembeddedapplicationssuccessfully.Beingveryhands-on, bothnewandexperienceddeveloperscanlearnnewapproachestoembeddedsoftware development.IhopeyouenjoyreadingitasmuchasIdid.
ChristopherSeidl
Preface
ARMfirstintroducedtheCortex-Mprocessorfamilyin2004.Sincethen,theCortex-M processorfamilyhasgainedwideacceptanceasgeneral-purposeprocessorsforsmall microcontrollers.Atthetimeofwriting,thereareseveralthousandsofstandard microcontrollersthatfeaturetheCortex-Mprocessorandthepaceofdevelopmentshowsno signofslowingdown.TheCortex-Mprocessorisnowwellestablishedasanindustry standardarchitectureforembeddedsystems.Assuch,theknowledgeofhowtouseitis becomingarequisiteskillforprofessionaldevelopers.Thisbookisintendedasbothan introductiontotheCortex-Mprocessorfamilyandaguidetothetechniquesusedto developanapplicationsoftwaretorunonthem.Thebookiswrittenasatutorial,andthe chaptersareintendedtobeworkedthroughinorder.Eachchaptercontainsasetof examplesthatpresentthekeyprinciplesoutlinedinthisbookusingaminimalamountof code.EachexampleisdesignedtobebuiltwiththecommunityeditionoftheKeilMDK. Theseexamplesruninasimulatorsothatyoucanusethisbookwithoutanyadditional hardware.Thatsaidtheexamplescanalsoberunonlow-costhardwaremodulesthatare widelyavailablethroughtheInternet.
Thisbookcanbedividedintotwosections.Inthisfirstsection,wewillexaminethe Cortex-Mprocessors,andthesoftwaresupportandtoolsusedtodeveloptheapplication code.
Chapter1 providesanintroductionandfeatureoverviewofeachprocessorintheCortex-M family.
Chapter2 introducesthebasicsofbuildingaCprojectforaCortex-Mprocessor.
Chapter3 providesanarchitecturaldescriptionoftheCortex-M3anditsdifferencesfrom theotherCortex-Mprocessors.
Chapter4 introducestheCMSISprogrammingstandardforCortex-Mprocessors.
Chapter5 extends Chapter3 byintroducingthemoreadvancedfeaturesoftheCortex-M architecture.
Chapter6 coverstheCortex-M7andintroducesitsnewarchitecturalfeaturesandextended memorymodel.
Chapter7 discussesonthenextgenerationofCortex-Mprocessorsintroducedbythe Armv8-Marchitectureandthenewextensionstotheexistingprogrammer’smodel.
Chapter8 providesadescriptionoftheCoreSightdebugsystemanditsreal-timefeatures.
Chapter9 discussesthemathandDSPsupportavailableontheCortex-M4andhowto designreal-timeDSPapplications.
Inthesecondhalfofthisbook,wewilllookmorecloselyathowtoconstructasoftware programforaCortex-Mprocessor.ThissectionemphasizestheuseofanRTOS-based layeredsoftwarearchitecturethatpromotessoftwaretestingandcodereuse.
Chapter10 introducestheuseofanRTOSonaCortex-Mprocessor.Thisisakey frameworkthathelpstodesignandmanagemorecomplexcodebases.
Chapter11 examinessomereal-worldtechniquesthatcanbeusedwhendevelopingan RTOS-basedproject.
Chapter12 discussesontheCMSISDriverspecification.Itstartswithinstalling,followed byvalidatingandusingastandarddriver.WewillnextlookathowaCMSISdriveris constructedandhowtoextendtherangeofdriverswithacustomdriverprofile.
Chapter13 providesanintroductiontosoftwaretestingonaCortex-Mmicrocontrollerand introducesanimportantdesigntechniquecalledTest-DrivenDevelopment(TDD).
Chapter14 looksatdesigningreusablesoftwarecomponentswithinaTDDframework.The CMSISPackspecificationisusedtocreateadevice-independentcomponentthatcanbe installedintothetoolchain.
Chapter15 definesalayeredsoftwarearchitecturebasedonthetechniqueslearnedinthe precedingchapters.
With Chapter16 (thefinalchapter),wewilllookjustoverthehorizonatnear-future developmentsinsiliconandsoftware.
Thisbookisusefulforstudents,beginners,andadvancedandexperienceddevelopersalike. However,itisassumedthatyouhaveabasicknowledgeofhowtousemicrocontrollersand thatyouarefamiliarwiththethe‘C‘programminglanguage.Inaddition,itishelpfulto havebasicknowledgeofhowtousethe μVisiondebuggerandIDE.
TrevorMartin
Acknowledgments
IwouldliketothankTimPitts,ZsereenaRoseMampusti,andSaibabuRaoErragountaof ElsevierandJosephYuiofARMalongwithChristopherSeidlandalltheteamatKeil.
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