1 Development Tools for ARM-Powered Devices MDK-ARM Microcontroller Development Kit ULINK Adapters...

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Development Toolsfor ARM-Powered Devices

MDK-ARM Microcontroller Development KitULINK Adapters

Evaluation Boards

May 2010

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Introduction and Overview

Keil MDK-ARM Microcontroller Development Kit µVision4 Integrated Development Environment

ARM Compilation Tools

Verification and Debug

Complete device simulation

Analysis tools

CoreSight Debug & Trace

Hardware Components ULINK USB-JTAG Adapters

Evaluation Boards

Agenda

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Keil Microcontroller Tools Leading supplier of MCU development tools

ANSI C/C++ compilers, Debuggers

Device simulation

Middleware components

Extensive Device Database®

>1,870 8/16/32 bit MCUs

Established support Web support portal

User group structure

Global distribution network

Huge installed base 100K+ users world wide

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Software Development Tools

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MDK-ARM Complete software development environment

For ARM7/9 and Cortex-R4 MCU devices

Any Cortex-M embedded system

Easy to learn and easy to use

Industry leading technology ARM Compiler

Keil µVision IDE / Debugger

Complete device support Start-up code & Flash algorithms

Board support packages (BSPs)

Extensive library of example code

RTX Real-Time Kernel Full-feature RTOS Kernel for embedded systems

MDK-ARMMicrocontroller Development Kit


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µVisionDevice Database & IDE

RTX RTOS Kernel Library

ARM C/C++ Compiler

µVision Debugger & Analysis

Tools

Device Peripheral Simulation

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RL-ARM Extensive library of ready-to-use middleware components

Speed up software development

Meets Embedded Developers’ needs Solves common embedded challenges

Real-Time Systems

Embedded communication & networking

Designed for use with MCU Devices

Extensive Range of Examples Easy to begin working

Can be used as building blocks

Royalty Free Includes RTX source code.

License – single user, multi project

RL-ARMReal-Time Library

RL-ARMReal-Time Library

RTX RTOS Source Code

TCPnet Networking Suite

Flash File System

USB Device Interface

CAN Interface

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Hardware Components Range of evaluation boards and debug hardware

Verify application running on hardware target

ULINK family of USB Adapters Debug and Flash programming

JTAG and SWD support

Hi-Speed Streaming Trace

Evaluation Boards ARM7/9 and Cortex-M

Numerous MCU vendors

NXP, ST, Toshiba

Nuvoton, Triad, TI

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µVision Debugger & Analysis Tools


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µVision4 IDE Industry-leading IDE for MCU and smartcard devices

Common to ARM, C166, and 8051 platforms

Includes target device configuration and Device Database

Source code editor

High speed simulation

Project debugging

Powerful analysis tools

Flash programming

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µVision4 Ease of Use Device Database

Directory of over 670 supported ARM MCUs

Enables quick selection of device

In µVision for easy project creation

Also online, with parametric search

Device Configuration Start-up code for effortless device setup

Configuration Wizard helps to configure device parameters

Examples and Templates Fast out-of-box experience

Can be used as a base for user project

BSPs for numerous boards

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MDK-ARMCompilation Tools



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ARM Compilation Tools Best-in-class compilation tools

Architecture-specific optimisations enable applications to run faster

Small code size reduces system cost

The ARM Compilation tools contain: Highly-optimizing ISO C/C++ compiler

Supports ARM, Thumb and Thumb2 Instruction sets including FPU

Full C and C++ run-time library support

MicroLib optimized C Libraries Superset of standard ARM C Library

Optimized for embedded applications Un-used functions removed from memory footprint

Minimal overhead for un-used OS functions

Faster system bring-up Most functions initialized at point of use

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MicroLib – Optimized for Embedded Reduces system code size by 50% to 90%

Library Totals RO Totals

63% 51%

Based on Dhrystone 2.1 Benchmark

Processor Object Standard MicroLib % saving

ARM7TDMI ARM Library Total 21,352 8,980 61%

RO Total 25,608 12,816 51%

ARM7TDMI Thumb Library Total 17,156 6,244 57%

RO Total 20,129 9,348 50%

Cortex-M0 Thumb Library Total 16,452 5,996 64%

RO Total 19,472 9,016 54%

Cortex-M3 Thumb-2 Library Total 15,018 5,796 63%

RO Total 18,616 8,976 54%

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Improved Performance in MicroLib v4.1 Complete re-optimization of the floating point library

Improved performance for both Cortex-M3 and Cortex-M0

Fewer cycles required per call Single precision add/subtract are now 2x faster

Conversion functions are now 3x faster

fadd is 2x faster, i2f is 3x faster, dmul is 6x faster

3x 10x6x2x

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MDK-ARMVerification and Debug



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µVision Application Verification High speed simulator

Complete of simulation of instruction set, peripherals and interfaces

Verify your application before hardware is available

Target debugger Connect target hardware to µVision debugger

BSP for evaluation boards from many vendors

Test actual behaviour of application on targeted device

Powerful analysis tools Monitor signals and variables in your application

Logic Analyzer, Code Coverage, and Execution Profiling

Quickly identify and fix bottlenecks for improved performance

Supported by simulator and target debugger

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System Viewer Windows Displays contents of device’s peripheral registers

Detailed status information is available

Change register values directly from the window

Flexible views Window can show registers

from one or multiple peripherals

Can open multiple windows during a debug session

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Kernel-Aware Debugging Analysis of RTOS tasks and events while the application runs

Enabled by tight integration of RTX Kernel with µVision

Monitoring of system resources Understand how your application interacts with the Kernel

Optimize your application to make better use of resources

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MDK-ARMCoreSight Debug and Trace



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Run-Stop Debugging has Limitations

Stopping code execution changes system behaviour Execution timing cannot be analyzed

Not servicing interrupts may have catastrophic results Buffers may overrun or connected hardware gets no service

Many practical problems result from a run-stop debugging Communications systems get into timeout state Motor controllers freeze with high current state

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CoreSight Introduction Debug and trace technology in Cortex-M devices On-the-fly debugging

Debug application while the processor is running Set breakpoints, read/write memory locations

Direct access to memory, no need to go through processor Increased number of watchpoints

Flexible trace options Integrated Data Trace Optional Instruction Trace (ETM)

Reduced pin count interface 2-pin Serial Wire Debug (SWD) 1-pin Serial Wire Viewer (SWV) Uses standard JTAG connectors

Supported in MDK-ARM and ULINK family of adapters

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CoreSight™ Debug Technology (Cortex-M)

Start, Stop, and Single-stepUser Program

8 Hardware Breakpoints in User Program

Application Trace Information:Debug printf, RTOS nfo, Unit Test,

UML Annotation

ITM, DWT, ETM Output via

4 trace data pins+ 1 clock pin

Data Trace or Access Breakpoints

for 4 Variables

Timing InformationPC Sampling,

Event Counters, Interrupt Execution

On-the-Fly (while User Program runs)read/write access to Variables and

Memory Contents

JTAG (5-pin) or Serial Wire (2-pin

+ 1 trace pin)

Instruction Stream for Code Execution Analysis,

Time Profiling, Code Coverage

ITM, DWT Output via 1 serial trace data pin

(UART or Manchester Mode)

Trace (ETM, ITM, DWT) not available on Cortex-M0

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Debug and Trace Connectors

20-pin (0.1”) ARM JTAG

10-pin (0.05”) Cortex Debug

20-pin (0.05”) Cortex Debug+ETM

More Information: www.keil.com/coresight/connectors.asp

20-pin (0.1”) or 10-pin (0.05”) Connector Identical Debugging capabilities

Support 2 Operating Modes:

Standard 5-pin JTAG mode (device chaining)

Serial CoreSight mode 2-pin Serial Wire Debug (SWD)

1-pin Serial Wire Trace Output (SWO) for Data Trace at minimum system cost

20-pin (0.05”) Debug+ETM Connector Superset of 10-pin 0.05” Connector Adds 4 (trace data) +1 (trace clock) pins

for high-speed Data + Instruction Trace in any operating mode (JTAG or SWD)

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Cortex-M CoreSight Offers Simple Solutions

#1: Direct memory access to running system Native support in the debugger interface

Values updated dynamically

In-place editing of live variables

Set breakpoints while system is running

No software overhead, no extra hardware,works with any Cortex-M device

#2: printf-style output via an ITM Channel Output details to a debug console Uses CMSIS standard interface Intrusive (the debug printf is a routine that

adds to execution time and needs memory), but can be shipped within the end product

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Trace Records (DWT + ITM)

Trace Records display program flow Capture timestamp, PC sample, and Read/Write accesses

Time delay and lost cycles are noted

Raw trace data from all trace sources Filter window to refine the view

Updated while target system is running

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Instrumented Trace (ITM)

32 ITM channels: write to memory location creates trace data Channel 0: for printf-style debug information

Channel 31: for RTX event viewer

Remaining ITM channels for user data output

// Output 32-bit variable // to ITM channel 1

ITM->PORT[1].u32 = value;

// Output 32-bit variable // to ITM channel 1

ITM->PORT[1].u32 = value;

A write operation to an ITM channel memory location

creates a trace record with output value, time stamp,

and program location.

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Exception and Interrupt Trace (DWT)

Statistical information about exceptions and interrupts

Captures detailed information Name and number of exception; number of times entered

Max and Min time spent in and out of exceptions

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Event Counters (DWT)

Display real-time values of specific event counters

Provide performance indications Extra cycles taken to execute instructions

May be due to memory contentions (Flash waitstates)

Cycles of overhead caused by handling exceptions

Cycles spent in sleep mode

Number of cycles spentperforming memory accesses

Number of folded branchinstructions

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Logic Analyzer (DWT)

Allows signals to be monitored graphically Monitor variables in the application

Accurate timing Easy, fast analysis of signal timing with access to source code

View delta changes from cursor to current location

Code analysis View instruction that

caused variable change

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Instruction Trace (ETM) Execution history of all executed instructions

Instruction Trace window displays: cycle count (timing) and assembly code synchronized to the C source code.

Instruction Trace is useful to analyze sporadic problems Data corruption by incorrect interrupt/thread protection Incorrect timing caused by interrupt/thread nesting

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Sporadic Data Problem (ETM)void Alert (void) { // Alarm Function

if (clock.min != 59 && // Validate Time

clock.hour != 12) {

debug_printf ("System Should never be there");

}

}

void CheckAlert (void) { // check for alarm at 12:59

if (clock.min == 59 && // check minute for 59

clock.hour == 12) { // check hour for 12

Alert (); // call Alarm Function

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Instruction Trace shows Interrupt Execution within the compare statement

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Code Coverage (ETM)

Complete software validation requires code coverage Product liability and industry standards (IEC61508) demand for testing

according to “State of Science and Technology” methodologies

ETM enabled devices provide complete instruction stream Non-intrusive - use final, optimized code at full speed

Feedback provided directly in the debugger window Source & disassembly view

Color-coded details for individual instructions

Summary analysis by function or module

Log File Support Coverage information can

be saved for documentation

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Execution Time Profiling and Analysis (ETM)

Instruction Trace provides timing information Identify where most time is spent in your application

Isolate problems by finding which C statements take longer than expected to execute

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Debug and Trace Units

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Debug and Trace Adapters

ULINK2: Debug + Serial Wire Trace Flash Programming + Run-Control

Memory + Breakpoint (access while running)

Serial Wire Trace Capturing up to 1Mbit/sec(UART mode)

ULINKpro: adds ETM + Streaming Trace Cortex-M processors running up to 200MHz

50MHz JTAG clock speed

Serial Wire Trace Capturing up to 100Mbit/sec(Manchester Mode)

ETM Trace Capturing up to 800Mbit/sec

Virtually un-limited Trace Buffer Streaming Trace allows contiguous

Code Coverage and Performance Analysis

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ULINKpro Debug and Trace Unit Features

Debug via JTAG interface for ARM7/9 and Cortex-M

Serial Wire Debug (SWD) for Cortex-M

Serial Wire Viewer (SWV) data trace for Cortex-M

Instruction trace (via ETM) for Cortex-M

Data streaming direct to host PC

Cortex-M processors running up to 200MHz

Connectors:

20-pin 0.10“ JTAG

10-pin 0.05“ Cortex Debug

20-pin 0.05“ Cortex Debug+ETM

Performance 50MHz JTAG clock speed

1MB/s memory read/write

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What is Streaming Trace? Trace data transferred in

real-time to debug host

Capture size only limited by host resources (hard disk)

Trace for minutes, hours, or longer

Required for full code-coverage and timing analysis

Today’s workstations can present trace data instantly

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ULINKpro Benefits Performance Analysis

Dynamic analysis of running application

Identify program bottlenecks and optimize your application

Code Coverage Easily prove complete testing of application where required

Quickly determine where to improve your testing strategy

Execution History Find bugs which cause failures long after the event

Streaming Trace No trace buffer removes risk of overflow and lost data

Analyze large sections of code and observe true behaviour

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Comparison of debug and trace unitsULINKpro ULINK2 ULINK-ME

Features

Run control debug (ARM 7/9 and Cortex-M)

Memory + Breakpoint (while running)

Data trace (Cortex-M)

ETM Instruction Trace (Cortex-M)

Performance

CPU Clock speed

JTAG Clock speed

Memory read/write

Data Trace streaming (UART mode)

Data Trace streaming (Manchester mode)

ETM Trace streaming

200MHz

50MHz

1MByte/s

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100Mbit/s

800Mbit/s

200MHz

10MHz

25KByte/s

1Mbit/s

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200MHz

10MHz

25KByte/s

1Mbit/s

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Analysis Tools

Logic Analyzer

Performance Analyzer

Execution Profiling

Code Coverage

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MDK-ARMRTX Real-Time Kernel



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Why use a Real-Time Kernel? Structured framework for embedded applications

Hardware interface layer

Easy expansion of system software

Hardware independent

Housekeeping Process scheduling

CPU resource management

Task communication

Focus on Application Development Leave basic system management to the RTOS kernel

Avoid re-writing resource management code that already exists

Reduce porting and testing overheads

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What makes a Good RTOS? Performance

Predictable behaviour

Low latency

High number of interrupt levels

Ease of Use Flexible API and implementation

Tool-chain integration

Scheduling options Multitasking, Pre-emptive, Round Robin

System Friendly Consumes small amount of system resource

Proven kernel

Low cost

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Real-Time? Real-Time does not simply mean High Speed

Not all tasks are ‘Most Urgent’

Tasks need to complete before deadline and other tasks

Real-Time OS not to be confused with high speed requirements

Real-Time, not mission critical Varying levels of Real-Time

Hard, Firm, Soft and Non

RTOS not confined to critical systems

Deterministic behaviour is often most important

A Real-Time OS is a framework RTOS provides good multitasking environment

Reliable and scalable management of housekeeping tasks

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RTX Real-Time Kernel Full-featured real-time kernel for embedded systems

Process Management Create and delete tasks, change task priorities

Manage event flag and CPU resources

Multi-Tasking Pre-emptive context switching, scheduling, and semaphores

Real-Time Control Deterministic behaviour

Inter-task communication Mailbox management

Interface to interrupt functions

Memory allocation Thread-safe (usage even in ISR)

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RTX Specifications Provides all real-time kernel requirements

Multi-tasking: Round Robin, Pre-emptive, Cooperative

Unlimited: User Timers, Semaphores and Mailboxes

Royalty-free

Task Specifications

Priority levels 256

No. of Tasks Defined Unlimited

No. of Active Tasks 256

Context Switch < 300 Cycles

Interrupt Latency < 100 Cycles

Memory Requirements Bytes

CODE Space(depending on used functionality)

1.5K – 5K

RAM Space(each active task requires its own stack space)

< 500

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RTX Performance

Task Specifications ARM7TDMI Cortex-M3

CPU Clock Speed 60MHz 72MHz

Initialize system, start task 46.2µS 22.1µS

Create defined task, (no task switch) 17.0µS 8.1µS

Create defined task, (with task switch) 19.1µS 9.3µS

Delete Task 9.3µS 4.8µS

Task Switch 6.6µS 3.9µS

Set event (no task switch) 2.4µS 1.9µS

Send semaphore 1.7µS 1.6µS

Send message 4.5µS 2.5µS

Max Interrupt lockout for IRQ ISR’s 3.1µS -

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RTX Benefits I Commercial level RTOS at no additional cost

Full feature RTOS, included in MDK-ARM

No Royalty fees or other on-going costs

Short learning curve for increased productivity Fully integrated into µVision IDE and Debugger

RTX kernel-aware tools enable easy configuration and debug

Developed specifically for embedded systems Uses minimum system resources

Fast operation, with memory footprint as small as 5KB

Flexible scheduling Choose the best kernel scheduling option for your application

Pre-emptive, Round Robin, or Co-operative

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RTX Benefits II Deterministic behaviour

Events and interrupts handled within a pre-defined time

Reliable behaviour for time-critical applications

Source code available RL-ARM provides full source code for RTX

Useful when certification is required

Market leading RTOS Top 5 in EETimes 2010 Embedded Market OS survey

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Consistently one of the top ranked RTOS

Market Leading RTOS

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Starter Kits

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Evaluation Boards Proven hardware for quick development and debug

Designed for easy set-up

Extensive program examples

Available as starter kits

Evaluation version of MDK-ARM

ULINK-ME adapter

STMicro STM32C(Cortex-M3)

NXP LPC2929(ARM968E-S)

Nuvoton NUC1xx(Cortex-M0)

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Get More Information Customers use www.keil.com on a daily basis to obtain

Program examples

Latest technical information

Support Knowledgebase

Application Notes

Device Database

Discussion Forum

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Summary Out-of-box user experience

Easy to learn and use

Device Database and Startup code

Industry-leading tools µVision IDE

ARM Compilation tools

Advanced verification and debug Sophisticated analysis tools

Code Coverage and Profiling

Hardware components Complete the testing cycle by running on target hardware

Complete solution for developing embedded applications ARM7/9 & Cortex-R4 MCU devices, and Cortex-M systems



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1 Development Tools for ARM-Powered Devices MDK-ARM Microcontroller Development Kit ULINK Adapters...

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