ARM Cortex-M3与Cortex-M4处理器完全指南

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"The Definitive Guide to Arm Cortex-M3 and Cortex-M4 Processors" 是一本全面介绍ARM Cortex-M系列处理器的权威指南，特别是针对Cortex-M3和Cortex-M4两个版本。这本书的第三版由Joseph Yiu撰写，他是ARM Ltd.的专家。全书共1015页，清晰无扫描版，确保了阅读的舒适度。 ARM Cortex-M3和Cortex-M4是ARM公司设计的微控制器核心，广泛应用于嵌入式系统、物联网(IoT)设备和低功耗应用。Cortex-M3是面向低成本、高性能的微控制器市场，而Cortex-M4则在M3的基础上增加了浮点运算单元(FPU)，更适合需要进行复杂数学计算的场景。本书详细阐述了以下几个方面的内容： 1. **处理器架构**：涵盖Cortex-M3和Cortex-M4的核心结构，包括指令集体系结构(ISA)、寄存器布局、中断处理机制以及它们与传统微控制器的区别。 2. **开发环境**：介绍如何设置和使用开发工具链，如GNU Compiler Collection (GCC)、Integrated Development Environments (IDEs)以及调试器，以进行程序编写和调试。 3. **内存管理**：讨论内存组织、存储模型和内存访问权限，包括闪存和SRAM的使用。 4. **中断和异常处理**：深入解析中断和异常的处理流程，包括中断向量表、优先级和中断嵌套。 5. **实时操作系统(RTOS)**：介绍如何在Cortex-M处理器上使用RTOS，包括任务调度、信号量、互斥锁等概念。 6. **节能技术**：探讨低功耗模式、动态电压频率调整(DVFS)和睡眠状态，以优化能源效率。 7. **硬件接口**：讲解如何与各种外设通信，如串行端口、USB、SPI、I2C和GPIO等。 8. **实例和应用**：提供实际项目案例，帮助读者理解如何将理论知识应用到实际工程中。 9. **调试技巧**：分享调试策略和工具，帮助开发者解决在开发过程中遇到的问题。此外，书中还涵盖了版权信息和使用许可规定，强调未经许可不得复制或传播书中的内容。对于希望深入理解和利用ARM Cortex-M3和Cortex-M4处理器的工程师和学生来说，这是一本不可或缺的参考书籍。通过这本书，读者可以获取全面的知识，从基础到高级，以便于设计和优化基于这些处理器的系统。

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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ARM Cortex-M3与Cortex-M4处理器完全指南

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ARM Cortex-M3与Cortex-M4权威指南第三版