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The Definitive Guide to
ARM
Ò
Cortex
Ò
-M3 and
Cortex-M4 Processors
Third Edition
Joseph Yiu
ARM Ltd., Cambridge, UK
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Foreword
There is a revol ution on the embedded market: Most new microcontrollers are nowa-
days based on
the ARM architecture and specifically on the popul ar Cortex-M3 and
Cortex-M4 processors. Recently we also saw the launch of several new ARM
processors. At the low-end of the spectrum, the Cortex-M0+ processor has been
introduced for applications that were previously dominated by 8-bit and 16-bit
microcontrollers. The new 64-bit Cortex-A50 series processors address the high-
end market such as servers. Along with the demand for standardized systems and
energy efficient computing performance, the Internet-of-Things (IoT) is one driver
for this revolution. In the year 2020, analysts are forecasting 50 billion devices that
are connected to the IoT, and the ARM processors will span the whole application
range from sensors to servers. Many devices will be based on Cortex-M3 and
Cortex-M4 microcontrollers and may just use a small battery or even energy harvest-
ing as power source.
Using ARM Cortex-M3 and Cortex-M4 processors based devices today is
straightforward since a wide range of development tools, debug utilities, and
many example projects are available. However, writing efficient applications could
require in-depth knowledge about the hardware architecture and the software model.
This book provides essential information for system architects and software engi-
neers: It gives insight into popular software development tools along with extensive
programming examples that are based on the Cortex Microcontroller Software Inter-
face Standard (CMSIS). It also covers the Digital Signal Processing (DSP) features
of the Cortex-M4 processor and the CMSIS-DSP library for interfacing with the
analog world. And with many embedded applications becoming more complex
and the wider availability of more capable microcontrollers, using of real-time
operating systems is becoming common practice. All these topics are covered
with easy-to-understand application examples.
I recommend this book to all type of users:From students that start with a
small Cortex-M microcontroller project to system experts that need an in-depth
understanding of processor features.
Reinhard Keil
Director of MCU Tools, ARM
xxi

Preface
The last few years has seen the ARM
Ò
Cortex
Ò
-M3 processor continue to expand its
market coverage and the adoption of the Cortex-M4 processor gaining momentum.
At the same time the software development tools and various technologies surround-
ing the Cortex-M processors have also evolved. For example, the CMSIS-Core is
now being used in almost all Cortex-M device driver libraries and the CMSIS project
has expanded into areas such as the DSP library software.
In this edition, I have restructured my original book to enable beginners to
quickly understand the M3 & M4 processor architecture, enabling them in the pro-
cess to quickly develop software applications. I have also covered a number of
advanced topics that numerous users have asked me to cover and which were
missing from the previous editions e and were not covered in othe r books or in
documentation created by ARM. In this edition I have also added a great deal of
new information on the Cortex-M4 processor, for example, the detail uses of the
floating point unit and the DSP instructions, and have extended the coverage of a
number of topics. For example, this edition includes more microcontroller software
development suites than previous editions, including a chapter on Real-Time Oper-
ating Systems (RTOS) based on the CMSIS-RTOS API, and additional information
on a number of advanced topics.
Also included in this edition are two chapters on DSP written by Paul Beckmann,
CEO of DSP Concepts, a company that has developed the CM SIS-DSP library for
ARM. I am extremely pleased to have his contribution, since his in-depth knowledge
of DSP applications and the CMSIS-DSP library make this book a worthwhile
investment for any ARM- embedded software developer.
This book is for both embedded hardware system designers and software engi-
neers. Because it has a wide range of chapters covering topics from “Getting
Started” e to those detailing advanced information, it is suitable for a wide range
of readers including program mers, embedded product designers, electronic enthusi-
asts, academic researchers, and even System-on-a-Chip (SoC) engineers. A chapter
on software porting is also included to help readers who are porting software from
other architectures or from ARM7TDMI
Ô
, a classic ARM processor, to Cortex-M
microcontrollers.
Hopefully you will find this book useful and well worth reading.
Joseph Yiu
xxiii

Synopsis
This is the third edition of the Definitive Guide to the ARM
Ò
Cortex
Ò
-M3. The book
name has been changed to reflect the addition of the details for the ARM Cortex-M4
processor. This third edition has been fully revised and updated, and now includes
extensive information on the ARM Cortex-M4 processor, providing a complete
up-to-date guide to both Cortex-M3 and Cortex-M4 processor but which also en-
ables migration from various processor architectures to the exciting world of the
Cortex-M3 and M4.
The book presents the background of the ARM architecture and outlines the fea-
tures of the processors such as the instruction set and interrupt-handling and also
demonstrates how to program and utilize various advanced features available such
as the floating point unit.
Chapters on Getting Started with Keil
Ô
MDK-ARM, IAR EWARM, gcc, and
CooCox CoIDE tools are available to enable beginners to start developing program
codes. The book then covers several important areas of software development such
as input/outp ut of information, using embedded OSs (CMSIS-RTOS), and mixed
language projects with assembly and C.
Two chapt ers on DSP features and CMSIS-DSP libraries are contributed by Paul
Beckmann, PhD, the founder and CEO of DSP Concepts. DSP Concepts is the com-
pany that developed the CMSIS-DSP library for ARM. These two chapters cover
DSP fundamentals and how to write DSP software for the Cortex-M4 processor,
including examples of using the CMSIS-DSP library, as well as useful information
about the DSP capability of the Cortex-M4 processor.
Various debugging techniques are also covered in various chapters of the book, as
well as topics on software porting from other architectures. This is the most compre-
hensive guide to the ARM Cortex-M3 and Cortex-M4 processors, written by an
ARM engineer who helped to develop the core. It includes a full range of easy-
to-understand examples, diagrams, quick reference appendices such as instruction
sets, and CMSIS-Core APIs.
ARM, CORTEX, CORESIGHT, CORELINK, THUMB, AMBA, AHB, APB,
Keil, ARM7TDMI, ARM7, ARM9, ARM1156T2(F)-S, Mali, DS-5, Embedded
Trace Macrocell, and PrimeCell are registered trademarks of ARM Limited in the
EU and/or elsewhere. All rights reserved. Other names may be trademarks of their
respective owners.
xxv
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