ARM Cortex-M3与Cortex-M4处理器权威指南

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"ARM Cortex M3是ARM公司推出的一种基于ARMv7-M架构的微控制器处理器，被广泛应用于嵌入式系统设计。本书是关于ARM Cortex-M3和Cortex-M4处理器的权威指南，旨在帮助读者深入理解这些处理器的内部工作原理、编程模型以及实际应用。作者Joseph Yiu是ARM技术的专家，通过本书分享了丰富的专业知识和实践经验。书中详细介绍了Cortex-M3处理器的体系结构，包括其哈佛架构、流水线设计、中断处理机制以及节能特性。Cortex-M3处理器采用Thumb-2指令集，提供高效的16位和32位混合指令，适用于资源有限的嵌入式环境。书中还讨论了Cortex-M4处理器，它在Cortex-M3的基础上增加了浮点运算单元（FPU），增强了数字信号处理能力，更适合于音频、图像处理等应用。此外，书中涵盖了嵌入式系统的内存管理，如存储器映射、异常处理、中断服务例程(ISR)的编写以及中断向量表。对于开发者来说，理解这些内容是编写高效、可靠的嵌入式代码的关键。书中还深入讲解了调试工具的使用，如JTAG和SWD接口，以及如何使用这些工具进行软件调试和性能分析。在实际应用部分，作者介绍了如何配置和优化Cortex-M3/M4处理器的外设，如定时器、串行通信接口(SPI/I2C/UART)、GPIO等。同时，书中也涉及了实时操作系统(RTOS)的选型和移植，这对于实现多任务并发执行的复杂嵌入式系统至关重要。此外，书中的例子和练习有助于读者巩固所学知识，并将理论与实践相结合。读者可以学习到如何使用标准的开发环境，如Keil uVision或IAR Embedded Workbench，来编译、链接和调试Cortex-M3/M4的程序。 ‘ARM Cortex M3指南’是为嵌入式系统开发者和工程师准备的一本全面的参考书，无论你是初学者还是经验丰富的专业人士，都能从中受益。通过阅读本书，你将能够熟练地掌握Cortex-M3/M4处理器的设计理念和编程技巧，从而在实际项目中发挥出这些微控制器的强大性能。"

In a typical microcontroller design, the processor takes only a small part of the sil-

icon area. The other areas are taken up by memories, clock generation (e.g., PLL) and

distribution logic, system bus, and peripherals (hardware units like I/O interface units,

communication interface, timers, ADC, DAC, etc.) as shown in Figure 1.2.

Although many microcontroller vendors use ARM Cortex-M processors as their

choice of CPU, the memory system, memory map, peripherals, and operation char-

acteristics (e.g., clock speed and voltage) can be completed differently from one

product to anot her. This allows microcontroller manufacturers to add additional fea-

tures in their products and differentiate their products from others on the market.

This book is focused on the Cortex-M3 and the Cortex-M4 processors. For details

of the complete microcontroller system design, such as peripheral details, memory

map, and I/O pin assignments, you still need to read the reference manuals provided

by the microcontroller vendor.

1.1.4 ARM

and the microcontroller vendors

Currently there are more than 15 silicon vendors

using ARM

Cortex

-M3 or

Cortex-M4 processors in microcontroller products. There are also some other

FIGURE 1.2

A microcontroller contains many different blocks

Current Cortex-M3/M4 microcontroller vendors include: Analog Devices, Atmel, Cypress,

EnergyMicro, Freescale, Fujitsu, Holtek, Inﬁneon, Microsemi, Milandr, NXP, Samsung, Silicon

Laboratories, ST Microelectronics, Texas Instrument, and Toshiba.

1.1 What are the ARM

Cortex

-M processors? 5

companies that use Cortex-M3 or Cortex-M4 for SoC designs, others companies that

use only Cortex-M0 or Cortex-M0þ processors.

After a company licenses the Cortex-M processor design, ARM provides the

design source code of the processor in a language called Verilog-HDL (Hardware

Description Language). The design engineers in these companies then add their

own design blocks like peripherals and memories, and use various EDA tools to

convert the whole design from Verilog-HDL and various other forms into a transistor

level chip layout.

ARM also provides other Intellectual Property (IP) products, and some can be used

by these companies in their microcontroller products (see Figure 1.3). For example:

• Design of the cell libraries such as logic gates and memories (ARM Physical IP

products)

• Peripherals and AMBA

infrastructure components (Cortex-M System Design

Kit (CMSDK), ARM CoreLink

IP products)

• Additional debug components for linking debug systems in multi-processor

design (ARM CoreSight

IP products)

For example, ARM provides a product called the Cortex-M System Design Kit

(CMSDK), a design kit for Cortex-M processor with AMBA infrastructure compo-

nents, baseline peripherals, example systems, and example software. This allows

chip designers to start using the Cortex-M processors quickly and reduces the total

chip development effort with reusable IP.

But of course, there is still a lot of work for the microcontroller chip designers to

do. All of these microcontroller companies are working hard to develop better

peripherals, lower power memories, and adding their own secret recipes to try to

make their products better than others. In addition, they also need to develop

example software and support materials to make it easier for the embedded product

designers to use their chips.

On the software side, ARM has various software development platforms such as

the Keil

Microcontroller Development Kit (MDK-ARM) and ARM Development

Studio 5 (DS-5

). These software development suites contain compil ers, debuggers,

and instruction set simulators. Designers can also use other third-party software

development tools if they prefer. Since all of the Cortex-M microcontrollers have

the same processor cores, the embedded product designers can use the same devel-

opment suite for a massive range of microcontrollers from different vendors.

1.1.5 Selecting Cortex

-M3 and Cortex-M4 microcontrollers

On the market there are a wide range of Cortex

-M microcontroller products. These

range from low-cost, off-the-shelf microcontroller products to high-performance

multi-processor systems on a chip. There are many factors to be considered when

selecting a microcontroller device for a product. For example:

• Peripherals and interface features

• Memory size requirements of the application

6 CHAPTER 1 Introduction to ARM

Cortex

-M Processors

• Low power requirements

• Performance and maximum frequency

• Chip package

• Operation conditions (voltage, temperature, electromagnetic interference)

• Cost and availability

• Software development tool support and development kits

• Future upgradability

• Firmware packages and ﬁrmware security

• Availability of application notes, design examples, and support

There are no golden rules on how to select the best microcontroller. All of

the factors depend on your target applications as well as your project’s situation.

Some of the factors, like cost and product availability, might vary from time

to time.

When developing projects based on off-the-shelf microcontrollers, usually the

example projects and documentation from the microcontroller vendors are the

best starting points. In addition, microcontroller vendors might also provide:

• Application notes

• Development kits

• Reference designs

You might also ﬁnd additional examples from tools vendors and from various

websites on the Internet.

When designing a Printed Circuit Board (PCB) for the Cortex-M microcontrol-

lers or any other ARM-based microcontroller, it is best to bring out the debug inter-

face with a standardize connec tor layout as documented in Appendix H. This makes

debugging much easier.

1.2 Advantages of the Cortex

-M processors

The ARM

Cortex

-M processors have many technical and non-technical advan-

tages compared to other architectures.

1.2.1 Low power

Compared to other 32-bit processor designs, Cortex

-M proc essors are rela tively

small. The Cortex-M processor designs are also optimized for low power c onsump-

tion. Currently, many Cortex-M microco ntrollers have power consumption of less

than 200 mA/MHz, with some of them well under 100 mA/MHz. In addition, the

Cortex-M processors also include support for sleep mode features and can be

used with various advanced ultra-low power design technologies. All these allow

the Cortex-M processors to be used in various ultra-low power microcontroller

products.

8 CHAPTER 1 Introduction to ARM

Cortex

-M Processors

1.2.2 Performance

The Cortex

-M3 and Cortex-M4 processors can deliver over 3 CoreMark/MHz and

1.25 DMIPS/MHz (based on the Dhrystone 2.1 benchmark). This allows Cortex-M3

and Cortex-M4 microcontrollers to handle many complex and demanding applica-

tions. Alternatively you can run the application with a much slower clock speed

to reduce power consumption.

1.2.3 Energy efﬁciency

Combining low power and high-performance characteristics, the Cortex

-M3 and

Cortex-M4 processors have excellent energy efﬁciency. This means that, you can

still do a lot of processing, with a limited supply of energy. Or you can get tasks

done quicker and allow the system to stay in sleep mode for longer durations of

time, enabling longer battery life in portable products.

1.2.4 Code density

The Thumb

ISA provides excellent code density. This means that to achieve the

same tasks, you need a smaller program size. As a result you can reduce cost and

power consumption by using a micro controller with smaller ﬂash memor y size,

and chip manufacturers can produce microcontroller chips with smaller packages.

1.2.5 Interrupts

The Cortex

-M3 and Cortex-M4 processors have a conﬁgurable interrupt controller

design, which can support up to 240 vectored interrupts and multiple levels of inter-

rupt priorities (from 8 to 256 levels). Nesting of interrupts is automatically handled

by hardware, and the interrupt latency is only 12 clock cycles for systems with zero

wait state memory. The interrupt processing capability makes the Cortex-M proces-

sors suitable for many real-time control applications.

1.2.6 Ease of use, C friendly

The Cortex

-M processors are very easy to use. In fact, they are easier than

compared to many 8-bit processors because Cortex-M processors have a simple,

linear memory map, and there are no special architectural restrictions, which you

often ﬁnd in 8-bit microcontrollers (e.g., memory banking, limited stack levels,

non-re-entrant code, etc.). You can program almost everything in C including the

interrupt handlers.

There is always great debate as to whether we can have a “real-time” system using general pro-

cessors. By deﬁnition, “real-time” means that the system can get a response within a guaranteed

period. In any processor-based system, you may or may not be able to get this response due to choice

of OS, interrupt latency, or memory latency, as well as if the CPU is running a higher priority

interrupt.

1.2 Advantages of the Cortex

-M processors 9

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