ARM Cortex-A系列编程者指南(DEN0013C)

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"ARM DEN0013C Cortex™-A系列编程者指南" 本文档是ARM公司发布的关于Cortex-A系列处理器的程序员指南，适用于版本3.0。这份指南详细阐述了Cortex-A系列处理器的编程原理和技术，旨在帮助开发者理解和利用这些高性能处理器进行软件开发。文档涵盖了版权信息、修订历史以及使用权限等法律条款。 Cortex-A系列是ARM架构中的高端产品线，主要设计用于需要高性能计算能力的应用，如智能手机、服务器、嵌入式系统和数据中心等。此编程指南可能包括以下关键知识点： 1. **处理器架构**：Cortex-A系列的体系结构介绍，包括V7-A架构的特性，如乱序执行、超标量处理、多核心支持以及硬件多线程等。 2. **指令集**：详述ARM的Advanced RISC Machine (ARM) 和 Thumb-2 指令集，包括它们的差异、优化技巧以及向量扩展（如NEON或MVE）。 3. **内存管理**：探讨虚拟内存、物理内存、内存层次结构以及缓存管理，包括页表、内存保护单元（MPU）和缓存一致性协议。 4. **中断和异常处理**：讲解中断和异常的概念，如何处理中断和异常，以及中断向量表的组织。 5. **多核编程**：介绍在多核Cortex-A处理器上进行并行编程的方法，包括线程同步、锁、信号量和队列等概念。 6. **系统级集成**：讨论Cortex-A与外设、SoC组件（如GPU、DSP）以及其他处理器的交互。 7. **调试技术**：涵盖硬件调试接口（如JTAG和SWD）、调试工具链的使用，以及性能分析和调优方法。 8. **性能优化**：提供代码优化策略，包括循环展开、指令调度、数据对齐和减少内存访问等。 9. **电源管理和功耗**：讲解Cortex-A处理器的低功耗模式，如睡眠、休眠和深度休眠，以及如何在软件层面控制这些模式。 10. **安全性**：涵盖硬件安全特性，如TrustZone技术，以及如何实现安全的应用程序和系统设计。请注意，由于提供的内容片段仅包含文档的版权和许可信息，并未给出具体的技术细节，以上知识点是基于Cortex-A系列处理器的一般知识结构推测得出。要获取具体的技术信息，需参考完整版的Cortex-A系列编程者指南。

Preface

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SVC Supervisor Call instruction. (Previously SWI)

SWI Software Interrupt instruction. (Replaced with SVC)

SYS System Mode.

TAP Test Access Port (JTAG Interface).

TCM Tightly Coupled Memory.

TDMI

Thumb, Debug, Multiplier, ICE.

TEX Type Extension.

Thumb

An instruction set extension to ARM.

Thumb-2 A technology extending the Thumb instruction set to support both 16-bit

and 32-bit instructions.

TLB Translation Lookaside Buffer.

TLS Thread Local Storage.

TrustZone The ARM security extension.

TTB Translation Table Base.

TTBR Translation Table Base Register.

UAL Unified Assembly Language.

UART Universal Asynchronous Receiver/Transmitter.

UEFI Unified Extensible Firmware Interface.

U-Boot A Linux Bootloader.

UNK Unknown.

USR User mode, a non-privileged processor mode.

VFP The ARM floating-point instruction set. Before ARMv7, the VFP

extension was called the Vector Floating-Point architecture, and was used

for vector operations.

VIC Vectored Interrupt Controller.

VIPT Virtually Indexed, Physically Tagged.

VMID Virtual Machine ID.

VMSA Virtual Memory Systems Architecture.

XN Execute Never.

Introduction

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1.2 System-on-Chip (SoC)

Chip designers today can produce chips with many millions of transistors. Designing and

verifying such complex circuits has become an extremely difficult task. It is increasingly rare

for all of the parts of such systems to be designed by a single company. In response to this, ARM

and other semiconductor IP companies design and verify components (so-called IP blocks or

processors). These are licensed by semiconductor companies who use these blocks in their own

designs and include microprocessors, DSPs, 3D graphics and video controllers, along with

many other functions.

The semiconductor companies take these blocks and integrate many other parts of a particular

system onto the chip, to form a System-on-Chip (SoC). The architects of such devices must

select the appropriate processor(s), memory controllers, on-chip memory, peripherals, bus

interconnect and other logic (perhaps including analog or radio frequency components), in order

to produce a system.

The term Application Specific Integrated Circuit (ASIC) is one that we will also use in the book.

This is an Integrated Circuit design that is specific to a particular application. An individual

ASIC might well contain an ARM processor, memory and other components. Clearly there is a

large overlap with devices which can be termed SoCs. The term SoC usually refers to a device

with a higher degree of integration, including many of the parts of the system in a single device,

possibly including analog, mixed-signal or radio frequency circuits.

The large semiconductor companies investing tens of millions of dollars to create these devices

will typically also make a large investment in software to run on their platform. It would be

uncommon to produce a complex system with a powerful processor without at least having

ported one or more operating systems to it and written device drivers for peripherals.

Of course, powerful operating systems like Linux require significant amounts of memory to run,

more than is usually possible on a single silicon device. The term System-on-Chip is therefore

not always named entirely accurately, as the device does not always contain the whole system.

Apart from the issue of silicon area, it is also often the case that many useful parts of a system

require specialist silicon manufacturing processes that preclude them from being placed on the

same die. An extension of the SoC that addresses this to some extent is the concept of

System-in-Package (SiP) that combines a number of individual chips within a single physical

package. Also widely seen is package-on-package stacking. The package used for the SoC chip

contains connections on both the bottom (for connection to a PCB) and top (for connection to a

separate package that might contain a flash memory or a large SDRAM device).

Introduction

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1.3 Embedded systems

An embedded system is conventionally defined as a piece of computer hardware running

software designed to perform a specific task. Examples of such systems might be TV set-top

boxes, smartcards, routers, disk drives, printers, automobile engine management systems, MP3

players or photocopiers. These contrast with what is generally considered a computer system,

that is, one that runs a wide range of general purpose software and possesses input and output

devices such as a keyboard, and a graphical display of some kind.

This distinction is becoming increasingly blurred. Consider the cellular or mobile phone. A

basic model might just perform the task of making phone calls, but modern smartphones can run

a complex operating system to which many thousands of applications are available for

download.

Embedded systems can contain very simple 8-bit microprocessors, such as an Intel 8051 or PIC

micro-controllers, or some of the more complex 32 or 64-bit processors, such as the ARM

family that form the subject matter for this book. They need some RAM and some form of

non-volatile storage to hold the program(s) to be executed by the system. Systems will almost

always have additional peripherals, relating to the actual function of the device – typically

including UARTs, interrupt controllers, timers, GPIO controllers, but also potentially quite

complex blocks such as DSPs, GPUs, or DMA controllers.

Software running on such systems is typically grouped into two separate parts: the Operating

System (OS) and applications that run on top of the OS. A wide range of operating systems are

in use, ranging from simple kernels, through complex Real-Time Operating Systems (RTOS), to

full-featured complex operating systems, of the kind that might be found on a desktop computer.

Microsoft Windows or Linux are familiar examples of the latter. In this book, we will

concentrate mainly on examples from Linux. The source code for Linux is readily available for

inspection by the reader and is likely to be familiar to many programmers. Nevertheless, lessons

learned from Linux are equally applicable to other operating systems.

There are many constraints on embedded systems that can make programming them more of a

challenge than writing an application for a general-purpose PC.

Memory Footprint

In many systems, to minimize cost (and power), memory size can be limited. The

programmer could be forced to consider the size of the program and how to

reduce memory usage while it runs.

Real-time behavior

A feature of certain systems is that there are deadlines to respond to external

events. This might be a “hard” requirement (a car braking system must respond

within a certain time) or “soft” requirement (audio processing must complete

within a certain time-frame to avoid a poor user experience – but failure to do so

under rare circumstances may not render the system worthless).

Power In many embedded systems the power source is a battery, and programmers and

hardware designers must take great care to minimize the total energy usage of the

system. This can be done, for example, by slowing the clock, reducing supply

voltage or switching off the processor when there is no work to be done.

Cost Reducing the bill of materials can be a significant constraint on system design.

Time to market

In competitive markets, the time to develop a working product can significantly

impact the success of that product.

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