book

ARM Assembly Language, 2nd Edition

by William Hohl, Christopher Hinds

October 2014

Intermediate to advanced

453 pages

13h 3m

English

CRC Press

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Preface
Acknowledgments
Authors
Chapter 1 - An Overview of Computing Systems
1.1 Introduction1.2 History of RISC1.2.1 ARM Begins1.2.2 The Creation of ARM Ltd.1.2.3 ARM Today1.2.4 The Cortex Family1.2.4.1 The Cortex-A and Cortex-R Families1.2.4.2 The Cortex-M Family1.3 The Computing Device1.4 Number Systems1.5 Representations of Numbers and Characters1.5.1 Integer Representations1.5.2 Floating-Point Representations1.5.3 Character Representations1.6 Translating Bits to Commands1.7 The Tools1.7.1 Open Source Tools1.7.2 Keil (ARM)1.7.3 Code Composer Studio1.7.4 Useful Documentation1.8 Exercises
Chapter 2 - The Programmer’s Model
2.1 Introduction2.2 Data Types2.3 ARM7TDMI2.3.1 Processor Modes2.3.2 Registers2.3.3 The Vector Table2.4 Cortex-M42.4.1 Processor Modes2.4.2 Registers2.4.3 The Vector Table2.5 Exercises
Chapter 3 - Introduction to Instruction Sets: v4T and v7-M
3.1 Introduction3.2 ARM, Thumb, and Thumb-2 Instructions3.3 Program 1: Shifting Data3.3.1 Running the Code3.3.2 Examining Register and Memory Contents3.4 Program 2: Factorial Calculation3.5 Program 3: Swapping Register Contents3.6 Program 4: Playing with Floating-Point Numbers3.7 Program 5: Moving Values between Integer and Floating-Point Registers3.8 Programming Guidelines3.9 Exercises
Chapter 4 - Assembler Rules and Directives
4.1 Introduction4.2 Structure of Assembly Language Modules4.3 Predefined Register Names4.4 Frequently Used Directives4.4.1 Defining a Block of Data or Code4.4.1.1 Keil Tools4.4.1.2 Code Composer Studio Tools4.4.2 Register Name Definition4.4.2.1 Keil Tools4.4.2.2 Code Composer Studio4.4.3 Equating a Symbol to a Numeric Constant4.4.3.1 Keil Tools4.4.3.2 Code Composer Studio4.4.4 Declaring an Entry Point4.4.5 Allocating Memory and Specifying Contents4.4.5.1 Keil Tools4.4.5.2 Code Composer Studio4.4.6 Aligning Data or Code to Appropriate Boundaries4.4.6.1 Keil Tools4.4.6.2 Code Composer Studio4.4.7 Reserving a Block of Memory4.4.7.1 Keil Tools4.4.7.2 Code Composer Studio4.4.8 Assigning Literal Pool Origins4.4.9 Ending a Source File4.5 Macros4.6 Miscellaneous Assembler Features4.6.1 Assembler Operators4.6.2 Math Functions in CCS4.7 Exercises
Chapter 5 - Loads, Stores, and Addressing
5.1 Introduction5.2 Memory5.3 Loads and Stores: The Instructions5.4 Operand Addressing5.4.1 Pre-Indexed Addressing5.4.2 Post-Indexed Addressing5.5 Endianness5.5.1 Changing Endianness5.5.2 Defining Memory Areas5.6 Bit-Banded Memory5.7 Memory Considerations5.8 Exercises
Chapter 6 - Constants and Literal Pools
6.1 Introduction6.2 The ARM Rotation Scheme6.3 Loading Constants into Registers6.4 Loading Constants with MOVW, MOVT6.5 Loading Addresses into Registers6.6 Exercises
Chapter 7 - Integer Logic and Arithmetic
7.1 Introduction7.2 Flags and Their Use7.2.1 The N Flag7.2.2 The V Flag7.2.3 The Z Flag7.2.4 The C Flag7.3 Comparison Instructions7.4 Data Processing Operations7.4.1 Boolean Operations7.4.2 Shifts and Rotates7.4.3 Addition/Subtraction7.4.4 Saturated Math Operations7.4.5 Multiplication7.4.6 Multiplication by a Constant7.4.7 Division7.5 DSP Extensions7.6 Bit Manipulation Instructions7.7 Fractional Notation7.8 Exercises

Chapter 8 - Branches and Loops
8.1 Introduction8.2 Branching8.2.1 Branching (ARM7TDMI)8.2.2 Version 7-M Branches8.3 Looping8.3.1 While Loops8.3.2 For Loops8.3.3 Do-While Loops8.4 Conditional Execution8.4.1 v4T Conditional Execution8.4.2 v7-M Conditional Execution: The IT Block8.5 Straight-Line Coding8.6 Exercises
Chapter 9 - Introduction to Floating-Point: Basics, Data Types, and Data Transfer
9.1 Introduction9.2 A Brief History of Floating-Point in Computing9.3 The Contribution of Floating-Point to the Embedded Processor9.4 Floating-Point Data Types9.5 The Space of Floating-Point Representable Values9.6 Floating-Point Representable Values9.6.1 Normal Values9.6.2 Subnormal Values9.6.3 Zeros9.6.4 Infinities9.6.5 Not-a-Numbers (NaNs)9.7 The Floating-Point Register File of the Cortex-M49.8 FPU Control Registers9.8.1 The Floating-Point Status and Control Register, FPSCR9.8.1.1 The Control and Mode Bits9.8.1.2 The Exception Bits9.8.2 The Coprocessor Access Control Register, CPACR9.9 Loading Data into Floating-Point Registers9.9.1 Floating-Point Loads and Stores: The Instructions9.9.2 The VMOV instruction9.10 Conversions between Half-Precision and Single-Precision9.11 Conversions to Non-Floating-Point Formats9.11.1 Conversions between Integer and Floating-Point9.11.2 Conversions between Fixed-Point and Floating-Point9.12 Exercises
Chapter 10 - Introduction to Floating-Point: Rounding and Exceptions
10.1 Introduction10.2 Rounding10.2.1 Introduction to Rounding Modes in the IEEE 754-2008 Specification10.2.2 The roundTiesToEven (RNE) Rounding Mode10.2.3 The Directed Rounding Modes10.2.3.1 The roundTowardPositive (RP) Rounding Mode10.2.3.2 The roundTowardNegative (RM) Rounding Mode10.2.3.3 The roundTowardZero (RZ) Rounding Mode10.2.4 Rounding Mode Summary10.3 Exceptions10.3.1 Introduction to Floating-Point Exceptions10.3.2 Exception Handling10.3.3 Division by Zero10.3.4 Invalid Operation10.3.5 Overflow10.3.6 Underflow10.3.7 Inexact Result10.4 Algebraic Laws and Floating-Point10.5 Normalization and Cancelation10.6 Exercises
Chapter 11 - Floating-Point Data-Processing Instructions
11.1 Introduction11.2 Floating-Point Data-Processing Instruction Syntax11.3 Instruction Summary11.4 Flags and Their Use11.4.1 Comparison Instructions11.4.2 The N Flag11.4.3 The Z Flag11.4.4 The C Flag11.4.5 The V Flag11.4.6 Predicated Instructions, or the Use of the Flags11.4.7 A Word about the IT Instruction11.5 Two Special Modes11.5.1 Flush-to-Zero Mode11.5.2 Default NaN11.6 Non-Arithmetic Instructions11.6.1 Absolute Value11.6.2 Negate11.7 Arithmetic Instructions11.7.1 Addition/Subtraction11.7.2 Multiplication and Multiply–Accumulate11.7.2.1 Multiplication and Negate Multiplication11.7.2.2 Chained Multiply–Accumulate11.7.2.3 Fused Multiply–Accumulate11.7.3 Division and Square Root11.8 Putting It All Together: A Coding Example11.9 Exercises
Chapter 12 - Tables
12.1 Introduction12.2 Integer Lookup Tables12.3 Floating-Point Lookup Tables12.4 Binary Searches12.5 Exercises
Chapter 13 - Subroutines and Stacks
13.1 Introduction13.2 The Stack13.2.1 LDM/STM Instructions13.2.2 PUSH and POP13.2.3 Full/Empty Ascending/Descending Stacks13.3 Subroutines13.4 Passing Parameters to Subroutines13.4.1 Passing Parameters in Registers13.4.2 Passing Parameters by Reference13.4.3 Passing Parameters on the Stack13.5 The ARM APCS13.6 Exercises
Chapter 14 - Exception Handling: ARM7TDMI
14.1 Introduction14.2 Interrupts14.3 Error Conditions14.4 Processor Exception Sequence14.5 The Vector Table14.6 Exception Handlers14.7 Exception Priorities14.8 Procedures for Handling Exceptions14.8.1 Reset Exceptions14.8.2 Undefined Instructions14.8.3 Interrupts14.8.3.1 Vectored Interrupt Controllers14.8.3.2 More Advanced VICs14.8.4 Aborts14.8.4.1 Prefetch Aborts14.8.4.2 Data Aborts14.8.5 SVCs14.9 Exercises
Chapter 15 - Exception Handling: v7-M
15.1 Introduction15.2 Operation Modes and Privilege Levels15.3 The Vector Table15.4 Stack Pointers15.5 Processor Exception Sequence15.5.1 Entry15.5.2 Exit15.6 Exception Types15.7 Interrupts15.8 Exercises
Chapter 16 - Memory-Mapped Peripherals
16.1 Introduction16.2 The LPC210416.2.1 The UART16.2.2 The Memory Map16.2.3 Configuring the UART16.2.4 Writing the Data to the UART16.2.5 Putting the Code Together16.2.6 Running the Code16.3 The LPC213216.3.1 The D/A Converter16.3.2 The Memory Map16.3.3 Configuring the D/A Converter16.3.4 Generating a Sine Wave16.3.5 Putting the Code Together16.3.6 Running the Code16.4 The Tiva Launchpad16.4.1 General-Purpose I/O16.4.2 The Memory Map16.4.3 Configuring the GPIO Pins16.4.4 Turning on the LEDs16.4.5 Putting the Code Together16.4.6 Running the Code16.5 Exercises
Chapter 17 - ARM, Thumb and Thumb-2 Instructions
17.1 Introduction17.2 ARM and 16-Bit Thumb Instructions17.2.1 Differences between ARM and 16-Bit Thumb17.2.2 Thumb Implementation17.3 32-Bit Thumb Instructions17.4 Switching Between ARM and Thumb States17.5 How to Compile for Thumb17.6 Exercises
Chapter 18 - Mixing C and Assembly
18.1 Introduction18.2 Inline Assembler18.2.1 Inline Assembly Syntax18.2.2 Restrictions on Inline Assembly Operations18.3 Embedded Assembler18.3.1 Embedded Assembly Syntax18.3.2 Restrictions on Embedded Assembly Operations18.4 Calling between C and Assembly18.5 Exercises
Appendix A: Running Code Composer Studio
A.1 IntroductionA.2 Running Code on the Cortex-M4A.2.1 Creating a Cortex-M4 Project and Selecting a DeviceA.2.2 Creating Application CodeA.2.3 Building the Project and Running Code
Appendix B: Running Keil Tools
B.1 IntroductionB.2 Working with an ARM7TDMIB.2.1 Creating an ARM7TDMI Project and Selecting a DeviceB.2.2 Creating Application CodeB.2.3 Building the Project and Running CodeB.3 Working with a Cortex-M4B.3.1 Creating a Cortex-M4 Project and Selecting a DeviceB.3.2 Creating Application CodeB.3.3 Building the Project and Running Code
Appendix C: ASCII Character Codes
Appendix D
Glossary
References
Internet

Overview

This edition continues to support the popular ARM7TDMI, but also addresses the latest architectures from ARM, including the Cortex-A, Cortex-R, and Cortex-M processors. Containing three brand new chapters, a new appendix, and expanded coverage of the ARM7 this volume tackles IEEE 754 floating-point arithmetic, discusses both Keil MDK-ARM and Texas Instruments Code Composer Studio and provides a resource to be used alongside a variety of hardware evaluation modules, such as TI's Tiva Launchpad, STMicroelectronics' iNemo and Discovery, and NXP Semiconductors' Xplorer boards.

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