EMBEDDED SYSTEMS:

REAL-TIME INTERFACING TO ARM

CORTEX T M -M MICROCONTROLLERS

Volume 2
Fourth Edition,
June 2014

Jonathan W. Valvano
ii Jonathan Valvano

Fourth edition
June 2014

ARM and uVision are registered trademarks of ARM Limited.

Cortex and Keil are trademarks of ARM Limited.
Stellaris and Tiva are registered trademarks Texas Instruments.
Code Composer Studio is a trademark of Texas Instruments.
All other product or service names mentioned herein are the trademarks of their respective owners.

In order to reduce costs, this college textbook has been self-published. For more information about my
classes, my research, and my books, see http://users.ece.utexas.edu/~valvano/

For corrections and comments, please contact me at: [email protected]. Please cite this book
as: J. W. Valvano, Embedded Systems: Real-Time Interfacing to ARM CortexTM-M Microcontrollers,
http://users.ece.utexas.edu/~valvano/, ISBN: 978-1463590154, 2014.

Copyright 2014 Jonathan W. Valvano

All rights reserved. No part of this work covered by the copyright herein may be reproduced,
transmitted, stored, or used in any form or by any means graphic, electronic, or mechanical, including
but not limited to photocopying, recording, scanning, digitizing, taping, web distribution, information
networks, or information storage and retrieval, except as permitted under Section 107 or 108 of the
1976 United States Copyright Act, without the prior written permission of the publisher.
ISBN-13: 978-1463590154
ISBN-10: 1463590156
 Jonathan Valvano iii

Table of Contents

Preface to Third Edition ............................................................................ vii

Preface to Fourth Edition .......................................................................... vii
Preface ........................................................................................................ viii
Acknowledgements ................................................................................... ix
1. Introduction to Embedded Systems..................................................... 1
1.1. Computer Architecture................................................................... 2
1.2. Embedded Systems........................................................................ 10
1.3. The Design Process ....................................................................... 16
1.4. Digital Logic and Open Collector .................................................. 29
1.5. Digital Representation of Numbers ............................................... 40
1.6. Ethics ............................................................................................... 56
1.7. Exercises ......................................................................................... 58
1.8. Lab Assignments ............................................................................ 62
2. ARM Cortex-M Processor ...................................................................... 63
2.1. CortexTM-M Architecture................................................................. 64
2.2. Texas Instruments LM3S and TM4C I/O pins ............................... 71
2.3. ARM CortexTM-M Assembly Language ....................................... 87
2.4. Parallel I/O ports ............................................................................. 109
2.5. Phase-Lock-Loop............................................................................ 122
2.6. SysTick Timer ................................................................................. 125
2.7. Choosing a Microcontroller ........................................................... 126
2.8. Exercises ......................................................................................... 128
2.9. Lab Assignments ............................................................................ 129
3. Software Design ..................................................................................... 131
3.1. Attitude ............................................................................................ 132
3.2. Quality Programming ..................................................................... 134
3.3. Software Style Guidelines.............................................................. 135
iv Jonathan Valvano

3.4. Modular Software ............................................................................ 150

3.5. Finite State Machines ..................................................................... 163
3.6. Threads ............................................................................................ 174
3.7. First In First Out Queue .................................................................. 177
3.8. Memory Management and the Heap .............................................. 185
3.9. Introduction to Debugging ............................................................. 188
3.10. Exercises ....................................................................................... 200
3.11. Lab Assignments .......................................................................... 202
4. Hardware-Software Synchronization.................................................... 203
4.1. Introduction ..................................................................................... 204
4.2. Timing .............................................................................................. 209
4.3. Petri Nets ......................................................................................... 214
4.4. Kahn Process Networks ................................................................. 217
4.5. Edge-triggered Interfacing ............................................................. 219
4.6. Configuring Digital Output Pins .................................................... 222
4.7. Blind-cycle Interfacing ................................................................... 223
4.8. Busy-Wait Synchronization ........................................................... 235
4.9. UART Interface ................................................................................ 240
4.10. Keyboard Interface ....................................................................... 249
4.11. Exercises ....................................................................................... 254
4.12. Lab Assignments .......................................................................... 256
5. Interrupt Synchronization ..................................................................... 259
5.1. Multithreading ................................................................................. 260
5.2. Interthread Communication and Synchronization ....................... 263
5.3. Critical Sections.............................................................................. 271
5.4. NVIC on the ARM Cortex-M Processor ...................................... 275
5.5. Edge-triggered Interrupts............................................................... 280
5.6. Interrupt-Driven UART .................................................................... 283
5.7. Periodic Interrupts using SysTick ................................................. 287
5.8. Low-Power Design .......................................................................... 291
5.9. Debugging Profile ........................................................................... 292
 Jonathan Valvano v

5.10. Exercises ....................................................................................... 292

5.11. Lab Assignments .......................................................................... 297
6. Time Interfacing ..................................................................................... 299
6.1. Input Capture or Input Edge Time Mode ....................................... 299
6.2. Output Compare or Periodic Timer ............................................... 313
6.3. Pulse Width Modulation ................................................................. 317
6.4. Frequency Measurement ............................................................... 320
6.5. Binary Actuators ............................................................................. 326
6.6. Integral Control of a DC Motor ...................................................... 339
6.7. Exercises ......................................................................................... 341
6.8. Lab Assignments ............................................................................ 343
7. Serial Interfacing .................................................................................... 345
7.1. Introduction to Serial Communication.......................................... 346
7.2. RS232 Interfacing ........................................................................... 352
7.3. RS422/USB/RS423/RS485 Balanced Differential Lines ............... 357
7.4. Logic Level Conversion ................................................................. 362
7.5. Synchronous Transmission and Receiving using the SSI .......... 363
7.6. Inter-Integrated Circuit (I2C) Interface ........................................... 374
7.7. Introduction to Universal Serial Bus (USB) .................................. 387
7.8. Exercises ......................................................................................... 394
7.9. Lab Assignments ............................................................................ 397
8. Analog Interfacing ................................................................................. 399
8.1. Resistors and Capacitors .............................................................. 399
8.2. Op Amps.......................................................................................... 402
8.3. Analog Filters .................................................................................. 418
8.4. Digital to Analog Converters ......................................................... 421
8.5. Analog to Digital Converters ......................................................... 433
8.6. Exercises ......................................................................................... 446
8.7. Lab Assignments ............................................................................ 448
9. System-Level Design ............................................................................. 449
9.1. Design for Manufacturability ......................................................... 449
vi Jonathan Valvano

9.2. Power ............................................................................................... 451

9.3 Tolerance .......................................................................................... 458
9.4. Design for Testability ..................................................................... 460
9.5. Printed Circuit Board Layout and Enclosures ............................. 461
9.6. Exercises ......................................................................................... 464
9.7. Lab Assignments ............................................................................ 464
10. Data Acquisition Systems ................................................................... 465
10.1. Introduction ................................................................................... 465
10.2. Transducers .................................................................................. 470
10.3. Discrete Calculus .......................................................................... 482
10.4. Data Acquisition System Design ................................................ 484
10.5. Analysis of Noise .......................................................................... 490
10.6. Data Acquisition Case Studies .................................................... 499
10.7. Exercises ....................................................................................... 511
10.8. Lab Assignments .......................................................................... 515
11. Introduction to Communication Systems .......................................... 517
11.1. Fundamentals ............................................................................... 517
11.2. Communication Systems Based on the UARTs ......................... 521
11.3. Wireless Communication ............................................................. 525
11.4. Internet of Things ......................................................................... 530
11.5. Exercises ....................................................................................... 544
11.6. Lab Assignments .......................................................................... 545
Appendix 1. Glossary ................................................................................ 546
Appendix 2. Solutions to Checkpoints..................................................... 563
Index ........................................................................................................... 571
Reference Material ..................................................................................... 583
 Jonathan Valvano vii

Preface to Third Edition

There are a new features added to this third edition. The new development platform based on
the TM4C123 is called Tiva LaunchPad. Material in this book on the TM4C also applies to the
LM4F because Texas Instruments rebranded the LM4F series as TM4C (same chips new
name), and rebranded StellarisWare as TivaWare. These new microcontrollers run at 80
MHz, include single-precision floating point, have two 12-bit ADCs, and support DMA and
USB. A wonderful feature of these new boards is their low cost. As of December 2013, the
boards are available on TI.com as part number EK-TM4C123GXL for $12.99. They are also
available from $13 to $24 at regular electronics retailers like arrow.com, newark.com,
mouser.com, and digikey.com. The book can be used with either a LM3S or TM4C
microcontroller. Although this edition now focuses on the M4, the concepts still apply to the
M3, and the web site associated with this book has example projects based on the LM3S811,
LM3S1968, and LM3S8962.

Preface to Fourth Edition

This fourth edition includes the new TM4C1294-based LaunchPad. Most of the code in the
book is specific for the TM4C123-based LaunchPad. However, the book website includes
corresponding example projects for the LM3S811, LM3S1968, LM4F120, and TM4C1294,
which are ARM Cortex-M microcontrollers from Texas Instruments. There are now two
lost-cost development platforms called Tiva LaunchPad. The EK-TM4C123GXL LaunchPad
retails for $12.99, and the EK-TM4C1294XL Connected LaunchPad retails for $19.99. The
various LM3S, LM4F and TM4C microcontrollers are quite similar, so this book along with the
example code on the web can be used for any of these microcontrollers. Compared to the
TM4C123, the new TM4C1294 microcontroller runs faster, has more RAM, has more ROM,
includes Ethernet, and has more I/O pins. This fourth edition switches the syntax from C to the
industry-standard C99, adds a line-tracking robot, designs an integral controller for a DC
motor, and includes an expanded section on wireless communication and Internet of Things.