Getting started with MDK Create applications with Vision(R) for ARM(R) Cortex(R)-M microcontrollers 2 Preface Information in this document is subject to change without notice and does not represent a commitment on the part of the manufacturer. The software described in this document is furnished under license agreement or nondisclosure agreement and may be used or copied only in accordance with the terms of the agreement. It is against the law to copy the software on any medium except as specifically allowed in the license or nondisclosure agreement. The purchaser may make one copy of the software for backup purposes. No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or information storage and retrieval systems, for any purpose other than for the purchaser's personal use, without written permission. Copyright (c) 1997-2017 ARM Germany GmbH All rights reserved. ARM(R), Keil(R), Vision(R), Cortex(R), TrustZone(R), CoreSightTM and ULINKTM are trademarks or registered trademarks of ARM Germany GmbH and ARM Ltd. Microsoft(R) and WindowsTM are trademarks or registered trademarks of Microsoft Corporation. PC(R) is a registered trademark of International Business Machines Corporation. NOTE We assume you are familiar with Microsoft Windows, the hardware, and the instruction set of the ARM(R) Cortex(R)-M processor. Every effort was made to ensure accuracy in this manual and to give appropriate credit to persons, companies, and trademarks referenced herein. Getting Started with MDK: Create Applications with Vision Preface Thank you for using the ARM Keil(R) MDK Microcontroller Development Kit. To provide you with the best software tools for developing ARM Cortex-M processor based embedded applications we design our tools to make software engineering easy and productive. ARM also offers complementary products such as the ULINKTM debug and trace adapters and a range of evaluation boards. MDK is expandable with various third party tools, starter kits, and debug adapters. Chapter overview The book starts with the installation of MDK and describes the software components along with complete workflow from starting a project up to debugging on hardware. It contains the following chapters: MDK Introduction provides an overview about the MDK Tools, the software packs, and describes the product installation along with the use of example projects. CMSIS is a software framework for embedded applications that run on Cortex-M based microcontrollers. It provides consistent software interfaces and hardware abstraction layers that simplify software reuse. Software Components enable retargeting of I/O functions for various standard I/O channels and add board support for a wide range of evaluation boards. Create Applications guides you towards creating and modifying projects using CMSIS and device-related software components. A hands-on tutorial shows the main configuration dialogs for setting tool options. Debug Applications describes the process of debugging applications on real hardware and explains how to connect to development boards using a wide range of debug adapters. Middleware gives further details on the middleware that is available for users of the MDK-Professional and MDK-Plus editions. Using Middleware explains how to create applications that use the middleware available with MDK-Professional and MDK-Plus and contains essential tips and tricks to get you started quickly. 3 4 Preface Contents Preface ........................................................................................................ 3 MDK Introduction .................................................................................... 7 MDK Tools ............................................................................................................. 7 Software Packs ....................................................................................................... 8 MDK Editions......................................................................................................... 8 Installation .............................................................................................................. 9 Software and hardware requirements ............................................................. 9 Install MDK-Core ........................................................................................... 9 Install Software Packs................................................................................... 10 MDK-Professional Trial License .................................................................. 11 Verify Installation using Example Projects .................................................. 12 Use Software Packs ...................................................................................... 16 Access Documentation ......................................................................................... 20 Request Assistance ............................................................................................... 20 Learning Platform ................................................................................................. 21 Quick Start Guides................................................................................................ 21 CMSIS ...................................................................................................... 22 CMSIS-CORE ...................................................................................................... 23 Using CMSIS-CORE .................................................................................... 23 CMSIS-RTOS2 ..................................................................................................... 26 Software Concepts ........................................................................................ 26 Using Keil RTX5 .......................................................................................... 27 Component Viewer for RTX RTOS ............................................................. 36 CMSIS-DSP.......................................................................................................... 37 CMSIS-Driver ...................................................................................................... 39 Configuration ................................................................................................ 40 Validation Suites for Drivers and RTOS .............................................................. 41 Software Components ............................................................................. 42 Compiler:Event Recorder ..................................................................................... 42 Compiler:I/O ......................................................................................................... 43 Board Support ....................................................................................................... 45 Create Applications ................................................................................. 46 Blinky with Keil RTX5 ........................................................................................ 46 Blinky with Infinite Loop Design ......................................................................... 54 Device Startup Variations ..................................................................................... 56 Example: STM32Cube ................................................................................. 56 Secure/non-secure programming .......................................................................... 61 Create ARMv8-M software projects............................................................. 61 Getting Started with MDK: Create Applications with Vision Debug Applications ................................................................................. 62 Debugger Connection ........................................................................................... 62 Using the Debugger .............................................................................................. 63 Debug Toolbar .............................................................................................. 64 Command Window ....................................................................................... 65 Disassembly Window ................................................................................... 65 Component Viewer ....................................................................................... 66 Event Recorder ............................................................................................. 67 Breakpoints ................................................................................................... 69 Watch Window ............................................................................................. 70 Call Stack and Locals Window..................................................................... 70 Register Window .......................................................................................... 71 Memory Window .......................................................................................... 71 Peripheral Registers ...................................................................................... 72 Trace ..................................................................................................................... 73 Trace with Serial Wire Output ...................................................................... 74 Trace Exceptions .......................................................................................... 76 Logic Analyzer ............................................................................................. 77 Debug (printf) Viewer .................................................................................. 78 Event Counters.............................................................................................. 79 Trace with 4-Pin Output ............................................................................... 80 Trace with On-Chip Trace Buffer................................................................. 80 Middleware .............................................................................................. 81 Network Component............................................................................................. 83 File System Component........................................................................................ 85 USB Component ................................................................................................... 86 Graphics Component ............................................................................................ 87 IoT Connectivity ................................................................................................... 88 Migrating to Middleware Version 7 ..................................................................... 89 FTP Server Example ............................................................................................. 90 Using Middleware ................................................................................... 92 USB Device HID Example ........................................................................... 94 Add Software Components ........................................................................... 95 Configure Middleware .................................................................................. 97 Configure Drivers ......................................................................................... 99 Implement Application Features................................................................. 100 Build and Download ................................................................................... 103 Verify and Debug ....................................................................................... 103 Index ....................................................................................................... 105 5 6 Preface NOTE This user's guide describes how to create projects for ARM Cortex-M microcontrollers using the Vision IDE/Debugger. Refer to the Getting Started with DS-MDK user's guide for information how to create applications with the Eclipse-based DS-5 IDE/Debugger for ARM Cortex-A/Cortex-M devices. Getting Started with MDK: Create Applications with Vision MDK Introduction MDK helps you to create embedded applications for ARM Cortex-M processorbased devices. MDK is a powerful, yet easy to learn and use development system. It consists of MDK-Core and software packs, which can be downloaded and installed based on the requirements of your application. MDK Tools The MDK Tools include all the components that you need to create, build, and debug an embedded application for ARM based microcontroller devices. MDK-Core consists of the genuine Keil Vision IDE and debugger with leading support for Cortex-M processor-based microcontroller devices including the new ARMv8-M architecture. DS-MDK contains the Eclipse-based DS-5 IDE and debugger and offers multi-processor support for devices based on 32-bit Cortex-A processors or hybrid systems with 32-bit Cortex-A and Cortex-M processors. MDK includes two ARM C/C++ Compilers with assembler, linker, and highly optimize run-time libraries tailored for optimum code size and performance: ARM Compiler version 5 is the reference C/C++ compiler available with a TUV certified qualification kit for safety applications, as well as long-term support and maintenance. ARM Compiler version 6 is based on the innovative LLVM technology and supports the latest C language standards including C++11 and C++14. It offers the smallest size and highest performance for Cortex-M targets. 7 8 MDK Introduction Software Packs Software packs contain device support, CMSIS libraries, middleware, board support, code templates, and example projects. They may be added any time to MDK-Core or DS-MDK, making new device support and middleware updates independent from the toolchain. The IDE manages the provided software components that are available for the application as building blocks. MDK Editions The product selector, available at www.keil.com/editions, gives an overview of the features enabled in each edition: MDK-Lite is code size restricted to 32 KByte and intended for product evaluation, small projects, and the educational market. MDK-Essential supports Cortex-M processor-based microcontrollers up to Cortex-M7 and non-secure programming of Cortex-M23 and M33 targets. MDK-Plus adds middleware libraries for IPv4 networking, USB Device, File System, and Graphics. It supports ARM Cortex-M, selected ARM Cortex-R, ARM7, and ARM9 processor based microcontrollers. It also includes DS-MDK for programming heterogeneous devices. MDK-Professional contains all features of MDK-Plus. In addition, it supports IPv4/IPv6 dual-stack networking, IoT connectivity, and a USB Host stack. It also offers secure and non-secure programming of Cortex-M23 and M33 targets as well as multicore debugging of heterogeneous devices including the Linux kernel and Streamline performance analysis. License Types With the exception of MDK-Lite, all MDK editions require activation using a license code. The following licenses types are available: Single-user license (node-locked) grants the right to use the product by one developer on two computers at the same time. Floating-user license or FlexNet license grants the right to use the product on several computers by a number of developers at the same time. For further details, refer to the Licensing User's Guide at www.keil.com/support/man/docs/license. Getting Started with MDK: Create Applications with Vision Installation Software and hardware requirements MDK has the following minimum hardware and software requirements: A PC running a current Microsoft Windows desktop operating system (32-bit or 64-bit) 4 GB RAM and 8 GB hard-disk space 1280 x 800 or higher screen resolution; a mouse or other pointing device Install MDK-Core Download MDK from www.keil.com/download - Product Downloads and run the installer. Follow the instructions to install MDK-Core on your local computer. The installation also adds the software packs for ARM CMSIS and MDK Middleware. MDK version 5 is capable of using MDK version 4 projects after installation of the legacy support from www.keil.com/mdk5/legacy. This adds support for ARM7, ARM9, and Cortex-R processor-based devices. After the MDK-Core installation is complete, the Pack Installer starts automatically, which allows you to add supplementary software packs. As a minimum, you need to install a software pack that supports your target microcontroller device. 9 10 MDK Introduction Install Software Packs The Pack Installer manages software packs on the local computer. The Pack Installer runs automatically during the installation, but also can be run from Vision using the menu item Project - Manage - Pack Installer. To get access to devices and example projects, install the software pack related to your target device or evaluation board. NOTE To obtain information of published software packs the Pack Installer connects to www.keil.com/pack. The status bar, located at the bottom of the Pack Installer, shows information about the Internet connection and the installation progress. TIP: The device database at www.keil.com/dd2 lists all available devices and provides download access to the related software packs. If the Pack Installer cannot access www.keil.com/pack you can manually install software packs using the menu command File - Import or by doubleclicking *.PACK files. Getting Started with MDK: Create Applications with Vision MDK-Professional Trial License MDK has a built-in free seven-day trial license for MDK-Professional. This removes the code size limits and you can explore and test the comprehensive middleware. Start Vision with administration rights. In Vision, go to File - License Management... and click Evaluate MDK Professional On the next screen, click Start MDK Professional Evaluation for 7 Days. After the installation, the screen displays information about the expiration date and time. NOTE Activation of the 7-day MDK Professional trial version enables the option Use Flex Server in the tab FlexLM License as this license is based on FlexNet. 11 12 MDK Introduction Verify Installation using Example Projects Once you have selected, downloaded, and installed a software pack for your device, you can verify your installation using one of the examples provided in the software pack. To verify the software pack installation, we recommend using a Blinky example, which typically flashes LEDs on a target board. TIP: Review the getting started video on www.keil.com/mdk5/install that explains how to connect and work with an evaluation kit. Copy an Example Project In the Pack Installer, select the tab Examples. Use filters in the toolbar to narrow the list of examples. Click Copy and enter the Destination Folder name of your working directory. NOTE You must copy the example projects to a working directory of your choice. Enable Launch Vision to open the example project directly in the IDE. Getting Started with MDK: Create Applications with Vision Enable Use Pack Folder Structure to copy example projects into a common folder. This avoids overwriting files from other example projects. Disable Use Pack Folder Structure to reduce the complexity of the example path. Click OK to start the copy process. Use an Example Application with Vision Now Vision starts and loads the example project where you can: Build the application, which compiles and links the related source files. Download the application, typically to on-chip Flash ROM of a device. Run the application on the target hardware using a debugger. The step-by-step instructions show you how to execute these tasks. After copying the example, Vision starts and looks similar to the picture below. TIP: Most example projects contain an Abstract.txt file with essential information about the operation and hardware configuration. 13 14 MDK Introduction Build the Application Build the application using the toolbar button Rebuild. The Build Output window shows information about the build process. An errorfree build shows information about the program size. Download the Application Connect the target hardware to your computer using a debug adapter that typically connects via USB. Several evaluation boards provide an on-board debug adapter. Now, review the settings for the debug adapter. Typically, example projects are pre-configured for evaluation kits; thus, you do not need to modify these settings. Click Options for Target on the toolbar and select the Debug tab. Verify that the correct debug adapter of the evaluation board you are using is selected and enabled. For example, CMSIS-DAP Debugger is a debug adapter that is part of several starter kits. Getting Started with MDK: Create Applications with Vision Enable Load Application at Startup for loading the application into the Vision debugger whenever a debugging session is started. Enable Run to main() for executing the instructions up to the first executable statement of the main() function. The instructions are executed upon each reset. TIP: Click the button Settings to verify communication settings and diagnose problems with your target hardware. For further details, click the button Help in the dialogs. If you have any problems, refer to the user guide of the starter kit. Click Download on the toolbar to load the application to your target hardware. The Build Output window shows information about the download progress. Run the Application Click Start/Stop Debug Session on the toolbar to start debugging the application on hardware. Click Run on the debug toolbar to start executing the application. LEDs should flash on the target hardware. 15 16 MDK Introduction Use Software Packs Software packs contain information about microcontroller devices and software components that are available for the application as building blocks. The device information pre-configures development tools for you and shows only the options that are relevant for the selected device. Start Vision and use the menu Project - New Vision Project. After you have selected a project directory and specified the project name, select a target device. TIP: Only devices that are part of the installed software packs are shown. If you are missing a device, use the Pack Installer to add the related software pack. The search box helps you to narrow down the list of devices. Getting Started with MDK: Create Applications with Vision After selecting the device, the Manage Run-Time Environment window shows the related software components for this device. TIP: The links in the column Description provide access to the documentation of each software component. NOTE The notation ::<Component Class>:<Group>:<Name> is used to refer to components. For example, ::CMSIS:CORE refers to the component CMSISCORE selected in the dialog above. 17 18 MDK Introduction Software Component Overview The following table shows the software components for a typical installation. Depending on your selected device, some of these software components might not be visible in the Manage Run-Time Environment window. In case you have installed additional software packs, more software components will be available. Software Component Description Page Board Support Interfaces to the peripherals of evaluation boards. 45 CMSIS CMSIS interface components, such as CORE, DSP, and CMSIS-RTOS. 22 CMSIS Driver Unified device drivers for middleware and user applications. 39 Compiler ARM Compiler specific software components to retarget I/O operations for example for printf style debugging. Event recorder for debugging software components and user application code. 42 Device System startup and low-level device drivers. 47 File System Middleware component for file access on various storage device types. 85 Graphics Middleware component for creating graphical user interfaces. 87 Network Middleware component for TCP/IP networking using Ethernet or serial protocols. 83 USB Middleware component for USB Host and USB Device supporting standard USB Device classes. 86 Product Lifecycle Management with Software Packs MDK allows you to install multiple versions of a software pack. This enables product lifecycle management (PLM) as it is common for many projects. There are four distinct phases of PLM: Concept: Definition of major project requirements and exploration with a functional prototype. Design: Prototype testing and implementation of the product based on the final technical features and requirements. Release: The product is manufactured and brought to market. Service: Maintenance of the products including support for customers; finally phase-out or end-of-life. Getting Started with MDK: Create Applications with Vision In the concept and design phase, you normally want to use the latest software packs to be able to incorporate new features and bug fixes quickly. Before product release, you will freeze the software components to a known tested state. In the product service phase, use the fixed versions of the software components to support customers in the field. The dialog Select Software Packs helps you to manage the versions of each software pack in your project: When the project is completed, disable the option Use latest version of all installed Software Packs and specify the software packs with the settings under Selection: latest: use the latest version of a software pack. Software components are updated when a newer software pack version is installed. fixed: specify an installed version of the software pack. Software components in the project target will use these versions. excluded: no software components from this software pack are used. The colors indicate the usage of software components in the current project target: Some software components from this pack are used. Some software components from this pack are used, but the pack is excluded. No software component from this pack is used. 19 20 MDK Introduction Software Version Control Systems (SVCS) Vision carries template files for GIT, SVN, CVS, and others to support Software Version Control Systems (SVCS). Application note 279 "Using Git for Project Management with Vision" (www.keil.com/appnotes/docs/apnt_279.asp) describes how to establish a robust workflow for version control of projects using software packs. Access Documentation MDK provides online manuals and context-sensitive help. The Vision Help menu opens the main help system that includes the Vision User's Guide, getting started manuals, compiler, linker and assembler reference guides. Many dialogs have context-sensitive Help buttons that access the documentation and explain dialog options and settings. You can press F1 in the editor to access help on language elements like RTOS functions, compiler directives, or library routines. Use F1 in the command line of the Output window for help on debug commands, and some error and warning messages. The Books window may include device reference guides, data sheets, or board manuals. You can even add your own documentation and enable it in the Books window using the menu Project - Manage - Components, Environment, Books - Books. The Manage Run-Time Environment dialog offers access to documentation via links in the Description column. In the Project window, you can right-click a software component group and open the documentation of the corresponding element. You can access the Vision User's Guide on-line at www.keil.com/support/man/docs/uv4. Request Assistance If you have suggestions or you have discovered an issue with the software, please report them to us. Support and information channels are accessible at www.keil.com/support. When reporting an issue, include your license code (if you have one) and product version, available from the Vision menu Help - About. Getting Started with MDK: Create Applications with Vision Learning Platform Our www.keil.com/learn website helps you to learn more about the programming of ARM Cortex-based microcontrollers. It contains tutorials, videos, further documentation, as well as useful links to other websites. Quick Start Guides Quick start guides help you to bring up your target hardware quickly. They describe the required steps to get a development board up and running with MDK and list required software packs as well as driver requirements for integrated debug adapters. NOTE www.keil.com/mdk5/qsg explains how to download the quick start guides 21 22 CMSIS CMSIS The Cortex Microcontroller Software Interface Standard (CMSIS) provides a ground-up software framework for embedded applications that run on Cortex-M based microcontrollers. CMSIS enables consistent and simple software interfaces to the processor and the peripherals, simplifying software reuse, reducing the learning curve for microcontroller developers. CMSIS is available under an Apache 2.0 license and is publicly developed on GitHub: https://github.com/ARM-software/CMSIS_5. NOTE This chapter is a reference section. The chapter Create Applications on page 46 shows you how to use CMSIS for creating application code. CMSIS provides a common approach to interface peripherals, real-time operating systems, and middleware components. The CMSIS application software components are: CMSIS-CORE: Defines the API for the Cortex-M processor core and peripherals and includes a consistent system startup code. The software components ::CMSIS:CORE and ::Device:Startup are all you need to create and run applications on the native processor that uses exceptions, interrupts, and device peripherals. CMSIS-RTOS2: Provides a standardized real-time operating system API and enables software templates, middleware, libraries, and other components that can work across supported RTOS systems. This manual explains the usage of the Keil RTX5 implementation. CMSIS-DSP: Is a library collection for digital signal processing (DSP) with over 60 Functions for various data types: fix-point (fractional q7, q15, q31) and single precision floating-point (32-bit). CMSIS-Driver: Is a software API that describes peripheral driver interfaces for middleware stacks and user applications. The CMSIS-Driver API is designed to be generic and independent of a specific RTOS making it reusable across a wide range of supported microcontroller devices. Getting Started with MDK: Create Applications with Vision CMSIS-CORE This section explains the usage of CMSIS-CORE in applications that run natively on a Cortex-M processor. This type of operation is known as bare-metal, because it does not use a real-time operating system. Using CMSIS-CORE A native Cortex-M application with CMSIS uses the software component ::CMSIS:CORE, which should be used together with the software component ::Device:Startup. These components provide the following central files: The startup_<device>.s file with reset handler and exception vectors. The system_<device>.c configuration file for basic device setup (clock and memory bus). The <device>.h header file for user code access to the microcontroller device.This file is included in C source files and defines: Peripheral access with standardized register layout. Access to interrupts and exceptions, and the Nested Interrupt Vector Controller (NVIC). Intrinsic functions to generate special instructions, for example to activate sleep mode. Systick timer (SYSTICK) functions to configure and start a periodic timer interrupt. Debug access for printf-style I/O and ITM communication via on-chip CoreSight. The partition_<device>.h header file contains the initial setup of the TrustZone hardware in an ARMv8-M system (refer to chapter Secure/non-secure programming). NOTE In actual file names, <device> is the name of the microcontroller device. 23 24 CMSIS Adding Software Components to the Project The files for the components ::CMSIS:CORE and ::Device:Startup are added to a project using the Vision dialog Manage Run-Time Environment. Just select the software components as shown below: The Vision environment adds the related files. Source Code Example The following source code lines show the usage of the CMSIS-CORE layer. Example of using the CMSIS-CORE layer #include "stm32f4xx.h" // File name depends on device used uint32_t volatile msTicks; uint32_t volatile frequency; // Counter for millisecond Interval // Frequency for timer void SysTick_Handler (void) { msTicks++; } // SysTick Interrupt Handler // Increment Counter void WaitForTick (void) { uint32_t curTicks; curTicks = msTicks; while (msTicks == curTicks) { __WFE (); } } void TIM1_UP_IRQHandler (void) { ; // Add user code here } // Save Current SysTick Value // Wait for next SysTick Interrupt // Power-Down until next Event // Timer Interrupt Handler Getting Started with MDK: Create Applications with Vision void timer1_init(int frequency) { // Set up Timer (device specific) NVIC_SetPriority (TIM1_UP_IRQn, 1); // Set Timer priority NVIC_EnableIRQ (TIM1_UP_IRQn); // Enable Timer Interrupt } // Configure & Initialize the MCU void Device_Initialization (void) { if (SysTick_Config (SystemCoreClock / 1000)) { // SysTick 1ms : // Handle Error } timer1_init (frequency); // Setup device-specific timer } // The processor clock is initialized by CMSIS startup + system file int main (void) { // User application starts here Device_Initialization (); // Configure & Initialize MCU } while (1) { __disable_irq (); // Get_InputValues (); __enable_irq (); // Process_Values (); WaitForTick (); } // Endless Loop (the Super-Loop) // Disable all interrupts // Enable all interrupts // Synchronize to SysTick Timer For more information, right-click the group CMSIS in the Project window, and choose Open Documentation, or refer to the CMSIS-CORE documentation www.keil.com/cmsis/core. 25 26 CMSIS CMSIS-RTOS2 This section introduces the CMSIS-RTOS2 API and the Keil RTX5 real-time operating system, describes their features and advantages, and explains configuration settings of Keil RTX5. NOTE MDK is compatible with many third-party RTOS solutions. However, CMSIS-RTOS Keil RTX5 is well integrated into MDK, is feature-rich and tailored towards the requirements of deeply embedded systems. Software Concepts There are two basic design concepts for embedded applications: Infinite Loop Design: involves running the program as an endless loop. Program functions (threads) are called from within the loop, while interrupt service routines (ISRs) perform time-critical jobs including some data processing. RTOS Design: involves running several threads with a real-time operating system (RTOS). The RTOS provides inter-thread communication and time management functions. A pre-emptive RTOS reduces the complexity of interrupt functions, because high-priority threads can perform time-critical data processing. Infinite Loop Design Running an embedded program in an endless loop is an adequate solution for simple embedded applications. Time-critical functions, typically triggered by hardware interrupts, execute in an ISR that also performs any required data processing. The main loop contains only basic operations that are not time-critical and run in the background. Getting Started with MDK: Create Applications with Vision Advantages of an RTOS Kernel RTOS kernels, like the Keil RTX5, are based on the idea of parallel execution threads (tasks). As in the real world, your application will have to fulfill multiple different tasks. An RTOS-based application recreates this model in your software with various benefits: Thread priority and run-time scheduling is handled by the RTOS kernel, using a proven code base. The RTOS provides a well-defined interface for communication between threads. A pre-emptive multi-tasking concept simplifies the progressive enhancement of an application even across a larger development team. New functionality can be added without risking the response time of more critical threads. Infinite loop software concepts often poll for occurred interrupts. In contrast, RTOS kernels themselves are interrupt driven and can largely eliminate polling. This allows the CPU to sleep or process threads more often. Modern RTOS kernels are transparent to the interrupt system, which is mandatory for systems with hard real-time requirements. Communication facilities can be used for IRQ-to-task communication and allow top-half/bottomhalf handling of your interrupts. Using Keil RTX5 The Keil RTX 5 implements the CMSIS-RTOS API v2 as a native RTOS interface for Cortex-M processor-based devices. Once the execution reaches main(), there is a recommended order to initialize the hardware and start the kernel. The main() of your application should implement at least the following in the given order: Initialization and configuration of hardware including peripheral, memory, pin, clock and interrupt system. Update SystemCoreClock using the respective CMSIS-CORE function. Initialize CMSIS-RTOS kernel using osKernelInitialize. Optionally, create a new thread app_main, which is used as a main thread using osThreadNew. Alternatively, threads can be created in main directly. Start RTOS scheduler using osKernelStart. osKernelStart does not return in case of successful execution. Any application code after osKernelStart will not be executed unless osKernelStart fails. 27 28 CMSIS The software component ::CMSIS:RTOS2 (API):Keil RTX5 must be used together with the components ::CMSIS:CORE and ::Device:Startup. Selecting these components provides the following central Keil RTX5 files: The file RTX_<core>.lib is the library with RTOS functions while rtx_lib.c contains the RTX5 library configuration. The configuration files RTX_Config.c/.h define thread options, timer configurations, and RTX kernel settings. The header file cmsis_os2.h exposes the RTX functionality to the user application. Once these files are part of the project, developers can start using the CMSIS-RTOS RTX functions. The code example shows the use of CMSIS-RTOS RTX functions. NOTE In the actual file names, <device> is the name of the microcontroller device; <device core> represents the device processor family. #include "cmsis_os2.h" // CMSIS RTOS header file void app_main (void *argument) { tid_phaseA = osThreadNew(phaseA, NULL, NULL); osDelay(osWaitForever); while(1); } int main (void) { // System Initialization SystemCoreClockUpdate(); osKernelInitialize(); // osThreadNew(app_main, NULL, NULL); // if (osKernelGetState() == osKernelReady) osKernelStart(); // } while(1); } Initialize CMSIS-RTOS Create application main thread { Start thread execution Getting Started with MDK: Create Applications with Vision Header File cmsis_os2.h The file cmsis_os2.h is a standard header file that interfaces to every CMSIS-RTOS API v2 compliant RTOS. Each implementation is provided the same cmsis_os2.h that defines the interface to the CMSIS-RTOS2. Using the cmsis_os2.h along with dynamic object allocation allows to create source code or libraries that require no modifications when using on a different CMSIS-RTOS v2 implementation. All definitions in the header file are prefixed with os to give a unique name space for the CMSIS-RTOS functions. All definitions and functions that belong to a module are grouped and have a common prefix, for example, osThread for threads. Refer to section Reference: CMSIS-RTOS2 API of the online documentation available at www.keil.com/pack/doc/CMSIS/RTOS2/html/index.html, for more information. 29 30 CMSIS Keil RTX5 Configuration The file RTX_Config.h contains configuration parameters for Keil RTX5. A copy of this file is part of every project using the RTX component. You can set parameters for the thread stack, configure the Tick Timer, set RoundRobin time slice, and define user timer behaviour for threads. For more information about configuration options, open the RTX documentation from the Manage Run-Time Environment window. The section Configure RTX v5 describes all available settings. The following highlights the most important settings that need adaptation in your application. Getting Started with MDK: Create Applications with Vision System Configuration In this section, you can define the size of global dynamic memory used for all RTOS objects. Also, you can change the kernel tick frequency (if required), disable the round-robin thread switching and control the event recording if you are using the source code (refer to Compiler:Event Recorder on page 42). Thread Configuration The Keil RTX5 kernel uses a separate stack space for each thread and provides two methods for defining the stack requirements: Static allocation: when osThreadAttr_t::stack_mem and osThreadAttr_t::stack_size specify a memory area which is used for the thread stack. Dynamic allocation: when osThreadAttr_t is NULL or osThreadAttr_t::stack_mem is NULL, the system allocates the stack memory from: o Global memory pool when "Object specific Memory allocation" is disabled or osThreadAttr_t::stack_size is not 0. o Object-specific memory pools when "Object specific Memory allocation" is enabled and osThreadAttr_t::stack_size is 0 (or osThreadAttr_t is NULL). Number user Threads specifies maximum number of user threads that can be active at the same time. This applies to user threads with system provided memory for control blocks. 31 32 CMSIS Number user Threads with default Stack size specifies maximum number of user threads with default stack size. This applies to user threads with zero stack size specified. Total Stack size [bytes] for user Threads with user-provided Stack size specifies the combined stack size for user threads with user-provided stack size. It applies to user threads with user-provided stack size and system provided memory for stack. Default Thread stack size [bytes] specifies the stack size (in words) for threads with zero stack size specified. Idle Thread stack size [bytes] is the stack requirement for the idle thread. Stack overrun checking is done at each thread switch. Enabling this option slightly increases the execution time of a thread switch. Stack usage watermark initializes the thread stack with a watermark pattern at the time of the thread creation. This enables monitoring of the stack usage for each thread (not only at the time of a thread switch) and helps to find stack overflow problems within a thread. Enabling this option increases significantly the execution time of thread creation. NOTE Consider these settings carefully. If you do not allocate enough memory or you do not specify enough threads, your application will not work. Other Configuration Options Other configuration options are related to specific RTOS objects, such as timers, event flags, mutexes, semaphores, memory pools, and message queues. Please consult the documentation for detailed information about the available settings. Getting Started with MDK: Create Applications with Vision 33 CMSIS-RTOS User Code Templates MDK provides user code templates you can use to create C source code for the application. In the Project window, right click a group, select Add New Item to Group, choose User Code Template, select any template and click Add. Keil RTX5 API Functions The table below lists the various API function categories that are available with the Keil RTX5. API Category Description Kernel Information and Control Thread Management Provide system information and start the RTOS Kernel. Define, create, and control thread functions. Thread Flags Event Flags Generic Wait Functions Timer Management Synchronize threads using flags. Create events using flags. Wait for a time period or unspecified events. Create and control timer and callback functions. Mutexes Synchronize thread execution with a Mutex. Semaphores Control simultaneous access to shared resources. Memory Pool Manage thread-safe fixed-size blocks of dynamic memory. Message Queue Control, send, receive, or wait for messages. 34 CMSIS Thread Management The thread management functions allow you to define, create, and control your own thread functions in the system. CMSIS-RTOS RTX5 assumes that threads are scheduled as shown in the figure above. Thread states change as described below: A thread is created using the function osThreadNew(). This puts the thread into the READY or RUNNING state (depending on the thread priority). CMSIS-RTOS is pre-emptive. The active thread with the highest priority becomes the RUNNING thread provided it is not waiting for any event. The initial priority of a thread is defined during the creation of the thread but may be changed during execution using the function osThreadSetPriority(). The RUNNING thread transfers into the WAITING state when it is waiting for an event. Active threads can be terminated any time using the function osThreadTerminate(). Threads can also terminate by exit from the usual forever loop and just a return from the thread function. Threads that are terminated are in the INACTIVE state and typically do not consume any dynamic memory resources. Getting Started with MDK: Create Applications with Vision Single Thread Program A standard C program starts execution with the function main(). For an embedded application, this function is usually an endless loop and can be thought of as a single thread that is executed continuously. Preemptive Thread Switching Threads with the same priority need a round robin timeout or an explicit call of the osDelay() function to execute other threads. In the following example, if job2 has a higher priority than job1, execution of job2 starts instantly. job2 preempts execution of job1 (this is a very fast task switch requiring a few ms only). Simple RTX Program using Round-Robin Task Switching #include "RTE_Components.h" #include CMSIS_device_header #include "cmsis_os2.h" int counter1; int counter2; void job1 (void *argument) { while (1) { counter1++; } } void job2 (void *argument) { while (1) { counter2++; } } // Loop forever // Increment counter1 // Loop forever // Increment counter2 void app_main (void *argument) { } osThreadNew(job1, NULL, NULL); osThreadNew(job2, NULL, NULL); for (;;) {} // Create a new thread // Create a new thread int main (void) { // System Initialization SystemCoreClockUpdate(); } osKernelInitialize(); osThreadNew(app_main, NULL, NULL); osKernelStart(); for (;;) {} // Initialize CMSIS-RTOS // Create application main thread // Start thread execution 35 36 CMSIS Component Viewer for RTX RTOS Keil RTX5 comes with an SCVD file for the Component Viewer for RTOS aware debugging. In the debugger, open View - Watch Windows - RTX RTOS. This window shows system state information and the running threads. The System property shows general information about the RTOS configuration in the application. The Threads property shows details about thread execution of the application. For each thread , it shows information about priority, execution state and stack usage. If the option Stack usage watermark is enabled for Thread Configuration in the file RTX_Config.h, the field Stack shows the stack load. This allows you to: Identify stack overflows during thread execution or Optimize and reduce the stack space used for threads. NOTE The Vision debugger also provides also a view with detailed runtime information. Refer to Event Recorder on page 67 for more information. Getting Started with MDK: Create Applications with Vision 37 CMSIS-DSP The CMSIS-DSP library is a suite of common digital signal processing (DSP) functions. The library is available in several variants optimized for different ARM Cortex-M processors. When enabling the software component ::CMSIS:DSP in the Manage RunTime Environment dialog, the appropriate library for the selected device is automatically included into the project. The code example below shows the use of CMSIS-DSP library functions. Multiplication of two matrixes using DSP functions #include "arm_math.h" // ARM::CMSIS:DSP const float32_t buf_A[9] = { 1.0, 32.0, 4.0, 1.0, 32.0, 64.0, 1.0, 16.0, 4.0, }; // Matrix A buffer and values float32_t buf_AT[9]; float32_t buf_ATmA[9] ; // Buffer for A Transpose (AT) // Buffer for (AT * A) arm_matrix_instance_f32 A; arm_matrix_instance_f32 AT; arm_matrix_instance_f32 ATmA; // Matrix A // Matrix AT(A transpose) // Matrix ATmA( AT multiplied by A) uint32_t rows = 3; uint32_t cols = 3; // Matrix rows // Matrix columns int main(void) { // Initialize all matrixes with rows, columns, and data arm_mat_init_f32 (&A, rows, cols, (float32_t *)buf_A); arm_mat_init_f32 (&AT, rows, cols, buf_AT); arm_mat_init_f32 (&ATmA, rows, cols, buf_ATmA); array // Matrix A // Matrix AT // Matrix ATmA arm_mat_trans_f32 (&A, &AT); // Calculate A Transpose (AT) arm_mat_mult_f32 (&AT, &A, &ATmA); // Multiply AT with A } while (1); 38 For more information, refer to the CMSIS-DSP documentation on www.keil.com/cmsis/dsp. CMSIS Getting Started with MDK: Create Applications with Vision CMSIS-Driver Device-specific CMSIS-Drivers provide the interface between the middleware and the microcontroller peripherals. These drivers are not limited to the MDK middleware and are useful for various other middleware stacks to utilize those peripherals. The device-specific drivers are usually part of the software pack that supports the microcontroller device and comply with the CMSIS-Driver standard. The device database on www.keil.com/dd2 lists drivers included in the software pack for the device. Middleware components usually have various configuration files that connect to these drivers. For most devices, the RTE_Device.h file configures the drivers to the actual pin connection of the microcontroller device. The middleware/application code connects to a driver instance via a control struct. The name of this control struct reflects the peripheral interface of the device. Drivers for most of the communication peripherals are part of the software packs that provide device support. 39 40 CMSIS Use traditional C source code to implement missing drivers according the CMSIS-Driver standard. Refer to www.keil.com/cmsis/driver for detailed information about the API interface of these CMSIS drivers. Configuration There are multiple ways to configure a CMSIS-Driver. The classical method is using the RTE_Device.h file that comes with the device support. Other devices may be configured using third party graphical configuration tools that allow the user to configure the device pin locations and the corresponding drivers. Usually, these configuration tools automatically create the required C code for import into the Vision project. Using RTE_Device.h For most devices, the RTE_Device.h file configures the drivers to the actual pin connection of the microcontroller device: Using the Configuration Wizard view, you can configure the driver interfaces in a graphical mode without the need to edit manually the #defines in this header file. Getting Started with MDK: Create Applications with Vision Using STM32CubeMX MDK supports CMSIS-Driver configuration using STM32CubeMX. This graphical software configuration tool allows you to generate C initialization code using graphical wizards for STMicroelectronics devices. Simply select the required CMSIS-Driver in the Manage Run-Time Environment window and choose Device:STM32Cube Framework (API):STM32CubeMX. This will open STM32CubeMX for device and driver configuration. Once finished, generate the configuration code and import it into Vision. For more information, visit the online documentation at www.keil.com/pack/doc/STM32Cube/General/html/index.html. Validation Suites for Drivers and RTOS Software packs to validate user-written CMSIS-Drivers or a new implementation of a CMSIS-RTOS are available from www.keil.com/pack. They contain the source code and documentation of the validation suites along with required configuration files, and examples that show the usage on various target platforms. The CMSIS-Driver validation suite performs the following tests: Generic validation of API function calls Validation of configuration parameters Validation of communication with loopback tests Validation of communication parameters such as baudrate Validation of event functions The test results can be printed to a console, output via ITM printf, or output to a memory buffer. Refer to the section Driver Validation in the CMSIS-Driver documentation available at www.keil.com/cmsis/driver. The CMSIS-RTOS validation suite performs generic validation of various RTOS features. The test cases verify the functional behavior, test invalid parameters and call management functions from ISR. The validation output can be printed to a console, output via ITM printf, or output to a memory buffer. Refer to the section Driver Validation in the CMSIS-Driver documentation available at www.keil.com/cmsis/rtos. 41 42 Software Components Software Components Compiler:Event Recorder Modern microcontroller applications often contain middleware components, which are normally a "black box" to the application programmer. Even when comprehensive documentation and source code is provided, analyzing of potential issues is challenging. The software component Compiler:Event Recorder uses event annotations in the application code or software component libraries to provide event timing and data information while the program is executing. This event information is stored in an event buffer on the target system that is continuously read by the debug unit and displayed in the event recorder window of the Vision debugger. During program execution, the Vision debugger reads the content of the event buffer using a debug adapter that is connected via JTAG or SWD to the CoreSight Debug Access Port (DAP). The event recorder requires no trace hardware and can therefore be used on any Cortex-M processor based device. To display the data stored in the event buffer in a human readable way, you need to create a Software Component Viewer Description (SCVD) file. Refer to: www.keil.com/pack/doc/compiler/EventRecorder/html/index.html The section Event Recorder on page 67 shows how to use the event recorder in a debug session. Getting Started with MDK: Create Applications with Vision Compiler:I/O The software component Compiler:I/O allows you to retarget I/O functions of the standard C run-time library. Application code frequently uses standard I/O library functions, such as printf(), scanf(), or fgetc() to perform input/output operations. The structure of these functions in the standard ARM Compiler C run-time library is: The high-level and low-level functions are not target-dependent and use the system I/O functions to interface with hardware. The MicroLib of the ARM Compiler C run-time library interfaces with the hardware via low-level functions. The MicroLib implements a reduced set of high-level functions and therefore does not implement system I/O functions. The software component Compiler:I/O retargets the I/O functions for the various standard I/O channels: File, STDERR, STDIN, STDOUT, and TTY: 43 44 Software Components I/O Channel Description File Channel for all file related operations (fscanf, fprintf, fopen, fclose, etc.) STDERR Standard error stream of the application to output diagnostic messages. STDIN Standard input stream going into the application (scanf etc.). STDOUT Standard output stream of the application (printf etc.). TTY Teletypewriter which is the last resort for an error output. The variant selection allows you to change the hardware interface of the I/O channel. Variant Description File System Use the File System component as the interface for File related operations EVR Breakpoint Use the event recorder to display printf debug messages When the I/O channel is used, the application stops with BKPT instruction. ITM Use Instrumentation Trace Macrocell (ITM) for I/O communication via the debugger. User Retarget I/O functions to a user defined routines (such as USART, keyboard). The software component Compiler adds the file retarget_io.c that will be configured acording to the variant settings. For the User variant, user code templates are available that help you to implement your own functionality. Refer to the documentation for more information. ITM in the Cortex-M3/M4/M7 supports printf style debugging. If you choose the variant ITM, the I/O library functions perform I/O operations via the Debug (printf) Viewer window. As ITM is not available in Cortex-M0/M0+ devices, you can use the event recorder to display printf debug messages. Use the EVR variant of the STDOUT I/O channel for this purpose (works with all Cortex-M based devices). Getting Started with MDK: Create Applications with Vision Board Support There are a couple of interfaces that are frequently used on development boards, such as LEDs, push buttons, joysticks, A/D and D/A converters, LCDs, and touchscreens as well as external sensors such as thermometers, accelerometers, magnetometers, and gyroscopes. The Board Support Interface API provides standardized access to these interfaces. This enables software developers to concentrate on their application code instead of checking device manuals for register settings to toggle a particular GPIO. Many Device Family Packs (DFPs) have board support included. You can choose board support from the Manage Run-Time Environment window: Be sure to select the correct Variant to enable the correct pin configurations for your particular development board. You can add board support to your custom board by creating the required support files for your board's software pack. Refer to the API documentation available at: www.keil.com/pack/doc/mw/Board/html/index.html 45 46 Create Applications Create Applications This chapter guides you through the steps required to create and modify projects using CMSIS described in the previous chapter. NOTE The example code in this section works for the MCB1800 evaluation board (populated with LPC1857). Adapt the code for other starter kits or boards. The tutorial creates the project Blinky in these two basic design concepts: RTOS design using Keil RTX5. Infinite loop design for bare-metal systems without RTOS Kernel. Blinky with Keil RTX5 The section explains the creation of the project using the following steps: Setup the Project: create a project file and select the microcontroller device along with the relevant CMSIS components. Configure the Device Clock Frequency: configure the system clock. Create the Source Code Files: add and create the application files. Build the Application Image: compile and link the application for downloading it to an on-chip Flash memory of a microcontroller device. Using the Debugger on page 63 guides you through the steps to connect your evaluation board to the PC and to download the application to the target. For the project Blinky, you will create the following application files: main.c This file contains the main() function that initializes the RTOS kernel, the peripherals, and starts thread execution. LED.c The file contains functions to initialize and control the GPIO port and the thread function blink_LED(). The LED_Initialize() function initializes the GPIO port pin. The functions LED_On() and LED_Off() control the port pin that interfaces to the LED. LED.h The header file contains the function prototypes for the functions in LED.c and is included into the file main.c. Getting Started with MDK: Create Applications with Vision Setup the Project From the Vision menu bar, choose Project - New Vision Project. Select an empty folder and enter the project name, for example, Blinky. Click Save, which creates an empty project file with the specified name (Blinky.uvprojx). Next, the dialog Select Device for Target opens. Select the LPC1857 and click OK. The device selection defines essential tool settings such as compiler controls, the memory layout for the linker, and the Flash programming algorithms. The Manage Run-Time Environment dialog opens and shows the software components that are installed and available for the selected device. Expand ::CMSIS:RTOS2(API) and enable :Keil RTX5 (Library). Expand ::Device and enable :GPIO and :SCU. 47 48 Create Applications The Validation Output field shows dependencies to other software components. In this case, the components ARM::CMSIS:CORE and ::Device:Startup are required. TIP: A click on a message highlights the related software component. Click Resolve. This resolves all dependencies and enables other required software components (here ARM::CMSIS:Core and ::Device:Startup). Click OK. The selected software components are included into the project together with the startup file, the RTX sources and configuration files, as well as the CMSIS system files. The Project window displays the selected software components along with the related files. Double-click on a file to open it in the editor. Getting Started with MDK: Create Applications with Vision 49 Configure the Device Clock Frequency The system or core clock is defined in the system_<device>.c file. The core clock is also the input clock for the RTOS Kernel Timer and, therefore, the RTX configuration file needs to match this setting. NOTE Some devices perform the system setup as part of the main function and/or use a software framework that is configured with external utilities. Refer to Device Startup Variations on page 56 for more information. The clock configuration for an application depends on various factors such as the clock source (XTAL or on-chip oscillator), and the requirements for memory and peripherals. Silicon vendors provide the device-specific file system_<device>.c and therefore it is required to read the related documentation. TIP: Open the reference manual from the Books window for detailed information about the microcontroller clock system. The MCB1800 development kit runs with an external 12 MHz XTAL. The PLL generates a core clock frequency of 180 MHz. As this is the default, no modifications are necessary. However, you can change the settings for your custom development board in the file system_LPC18xx.c. To edit the file system_LPC18xx.c, expand the group Device in the Project window, double-click on the file name, and modify the code as shown below. Set PLL Parameters in system_LPC18xx.c : /* PLL1 #define #define #define output clock: 180MHz, Fcco: 180MHz, PLL1_NSEL 0 /* Range [0 PLL1_MSEL 14 /* Range [0 PLL1_PSEL 0 /* Range [0 #define PLL1_BYPASS 0 #define PLL1_DIRECT 1 #define PLL1_FBSEL 0 : /* /* /* /* 0: 0: 0: 1: N = 1, M = 15, P = x */ 3]: Pre-divider ratio N */ - 255]: Feedback-div ratio M */ 3]: Post-divider ratio P */ Use PLL, 1: PLL is bypassed Use PSEL, 1: Don't use PSEL FCCO is used as PLL feedback FCLKOUT is used as PLL feedback Keil RTX5 automatically detects the clock setting so that a manual adaption is not required. */ */ */ */ 50 Create Applications Create the Source Code Files Add your application code using pre-configured User Code Templates containing routines that resemble the functionality of the software component. In the Project window, right-click Source Group 1 and open the dialog Add New Item to Group. Click on User Code Template to list available code templates for the software components included in the project. Select CMSIS-RTOS2 `main' function and click Add. This adds the file main.c to the project group Source Group 1. Now you can add application specific code to this file. Getting Started with MDK: Create Applications with Vision Add the code below to create a function blink_LED() that blinks LEDs on the evaluation kit. Code for main.c /*-----------------------------------------------------------------------* CMSIS-RTOS 'main' function template *----------------------------------------------------------------------*/ #include "RTE_Components.h" #include CMSIS_device_header #include "cmsis_os2.h" #include "LED.h" #ifdef RTE_Compiler_EventRecorder #include "EventRecorder.h" #endif /*------------------------------------------------------------------------* Application main thread *------------------------------------------------------------------------*/ void app_main (void *argument) { } Init_BlinkyThread (); for (;;) {} // Start Blinky thread int main (void) { // System Initialization SystemCoreClockUpdate(); #ifdef RTE_Compiler_EventRecorder // Initialize and start Event Recorder //EventRecorderInitialize(EventRecordError, 1U); #endif // ... LED_Initialize (); // Initialize LEDs } osKernelInitialize(); osThreadNew(app_main, NULL, NULL); osKernelStart(); for (;;) {} // Initialize CMSIS-RTOS // Create application main thread // Start thread execution NOTE The file RTE_Components.h includes a define/macro specifying the name of the device header file such that you can specify the device include in a device agnostic way using #include CMSIS_device_header. 51 52 Create Applications Create an empty C-file named LED.c using the dialog Add New Item to Group and add the code to initialize and access the GPIO port pins that control the LEDs. Code for LED.c /*-----------------------------------------------------------------------* File LED.c *----------------------------------------------------------------------*/ #include "SCU_LPC18xx.h" #include "GPIO_LPC18xx.h" #include "cmsis_os2.h" // ARM::CMSIS:RTOS:Keil RTX5 osThreadId_t tid_blink_LED; void blink_LED (void *argument); void LED_Initialize (void) { GPIO_PortClock (1); } // Thread id of thread blink_LED // Prototype function // Enable GPIO clock /* Configure pin: Output Mode with Pull-down resistors */ SCU_PinConfigure (13, 10, (SCU_CFG_MODE_FUNC4|SCU_PIN_CFG_PULLDOWN_EN)); GPIO_SetDir (6, 24, GPIO_DIR_OUTPUT); GPIO_PinWrite (6, 24, 0); void LED_On (void) { GPIO_PinWrite (6, 24, 1); } // LED on: set port void LED_Off (void) { GPIO_PinWrite (6, 24, 0); } // LED off: clear port // Blink LED function void blink_LED(void *argument) { for (;;) { LED_On (); osDelay (500); LED_Off (); osDelay (500); } } // // // // Switch LED on Delay 500 ms Switch off Delay 500 ms void Init_BlinkyThread (void) { tid_blink_LED = osThreadNew (blink_LED, NULL, NULL); } // Create thread NOTE You can also use the functions as provided by the Board Support component described on page 45Error! Bookmark not defined.. Getting Started with MDK: Create Applications with Vision Create an empty header file named LED.h using the dialog Add New Item to Group and define the function prototypes of LED.c. Code for LED.h /*-----------------------------------------------------------------------* File LED.h *----------------------------------------------------------------------*/ void LED_Initialize ( void ); // Initialize GPIO void LED_On ( void ); // Switch Pin on void LED_Off ( void ); // Switch Pin off void blink_LED ( void const *argument ); void Init_BlinkyThread ( void ); // Blink LEDs in a thread // Initialize thread Build the Application Image Build the application, which compiles and links all related source files. Build Output shows information about the build process. An error-free build displays program size information, zero errors, and zero warnings. The section Using the Debugger on page 63 guides you through the steps to connect your evaluation board to the workstation and to download the application to the target hardware. TIP: You can verify the correct clock and RTOS configuration settings of the target hardware by checking the one-second interval of the LED. 53 54 Create Applications Blinky with Infinite Loop Design Based on the previous example, we create a Blinky application with the infinite loop design and without using CMSIS-RTOS functions. The project contains the user code files: main.c This file contains the main() function, the function Systick_Init() to initialize the System Tick Timer and its handler function SysTick_Handler(). The function Delay() waits for a certain time. LED.c The file contains functions to initialize the GPIO port pin and to set the port pin on or off. The function LED_Initialize() initializes the GPIO port pin. The functions LED_On() and LED_Off() enable or disable the port pin. LED.h The header file contains the function prototypes created in LED.c and must be included into the file main.c. Open the Manage Run-Time Environment and deselect the software component ::CMSIS:RTOS (API):Keil RTX. Open the file main.c and add the code to initialize the System Tick Timer, write the System Tick Timer Interrupt Handler, and the delay function. /*-----------------------------------------------------------------------* file main.c *----------------------------------------------------------------------*/ #include "LPC18xx.h" #include "LED.h" // Device header // Initialize and set GPIO Port int32_t volatile msTicks = 0; // Interval counter in ms // Set the SysTick interrupt interval to 1ms void SysTick_Init (void) { if (SysTick_Config (SystemCoreClock / 1000)) { // handle error } } // SysTick Interrupt Handler function called automatically void SysTick_Handler (void) { msTicks++; // Increment counter } // Wait until msTick reaches 0 void Delay (void) { while (msTicks < 499); msTicks = 0; } // Wait 500ms // Reset counter Getting Started with MDK: Create Applications with Vision int main (void) { // initialize peripherals here LED_Initialize (); SystemCoreClockUpdate(); SysTick_Init (); } while (1) { LED_On (); Delay (); LED_Off (); Delay (); } // Initialize LEDs // Update SystemCoreClock to 180 MHz // Initialize SysTick Timer // // // // Switch on Delay Switch off Delay Open the file LED.c and remove unnecessary functions. The code should look like this. /*-----------------------------------------------------------------------* File LED.c *----------------------------------------------------------------------*/ #include "SCU_LPC18xx.h" #include "GPIO_LPC18xx.h" void LED_Initialize (void) { GPIO_PortClock (1); // Enable GPIO clock /* Configure pin: Output Mode with Pull-down resistors */ SCU_PinConfigure (13, 10, (SCU_CFG_MODE_FUNC4 | SCU_PIN_CFG_PULLDOWN_EN)); GPIO_SetDir (6, 24, GPIO_DIR_OUTPUT); GPIO_PinWrite (6, 24, 0); } void LED_On (void) { GPIO_PinWrite (6, 24, 1); } // LED on: set port void LED_Off (void) { GPIO_PinWrite (6, 24, 0); } // LED off: clear port Open the file LED.h and modify the code. /*-----------------------------------------------------------------------* file: LED.h *----------------------------------------------------------------------*/ void LED_Initialize (void); // Initialize LED Port Pins void LED_On (void); // Set LED on void LED_Off (void); // Set LED off 55 56 Create Applications Build the Application Image Build the application, which compiles and links all related source files. The section Using the Debugger on page 63 guides you through the steps to connect your evaluation board to the PC and to download the application to the target hardware. TIP: You can verify the correct clock configuration of the target hardware by checking the one-second interval of the LED. Device Startup Variations Some devices perform a significant part of the system setup as part of the device hardware abstraction layer (HAL) and therefore the device initialization is done from within the main function. Such devices frequently use a software framework that is configured with external utilities. The ::Device software component may contain therefore additional components that are required to startup the device. Refer to the online help system for further information. In the following section, device startup variations are exemplified. Example: STM32Cube Many STM32 devices are using the STM32Cube Framework that can be configured with a classical method using the RTE_Device.h configuration file or by using STM32CubeMX. The classic STM32Cube Framework component provides a specific user code template that implements the system setup. Using STM32CubeMX, the main.c file and other source files required for startup are copied into the project below the STM32CubeMX:Common Sources group. Getting Started with MDK: Create Applications with Vision Setup the Project using the Classic Framework This example creates a project for the STM32F746G-Discovery kit using the classical method. In the Manage Run-Time Environment window, select the following: Expand ::Device:STM32Cube Framework (API) and enable :Classic. Expand ::Device and enable :Startup. Click Resolve to enable other required software components and then OK. In the Project window, right-click Source Group 1 and open the dialog Add New Item to Group. Click on User Code Template to list available code templates for the software components included in the project. Select `main' module for STM32Cube and click Add. 57 58 Create Applications The main.c file contains the function SystemClock_Config(). Here, you need to make the settings for the clock setup: Code for main.c : static void SystemClock_Config (void) { RCC_ClkInitTypeDef RCC_ClkInitStruct; RCC_OscInitTypeDef RCC_OscInitStruct; /* Enable HSE Oscillator and activate PLL with HSE as source */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSIState = RCC_HSI_OFF; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 25; RCC_OscInitStruct.PLL.PLLN = 432; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 9; HAL_RCC_OscConfig(&RCC_OscInitStruct); /* Activate the OverDrive to reach the 216 MHz Frequency */ HAL_PWREx_EnableOverDrive(); /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2 clocks dividers */ RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2); RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_7); } : Now, you can start to write your application code using this template. Getting Started with MDK: Create Applications with Vision Setup the Project using STM32CubeMX This example creates the same project as before using STM32CubeMX. In the Manage Run-Time Environment window, select the following: Expand ::Device:STM32Cube Framework (API) and enable :STM32CubeMX. Expand ::Device and enable :Startup. Click Resolve to enable other required software components and then OK. A new window will ask you to start STM32CubeMX. 59 60 Create Applications STM32CubeMX is started with the correct device selected: Configure your device as required. When done, go to Project Generate Code to create a GPDSC file. Vision will notify you: Click Yes to import the project. The main.c and other generated files are added to a folder called STM32CubeMX:Common Sources. Getting Started with MDK: Create Applications with Vision Secure/non-secure programming Embedded system programmers face demanding product requirements that include cost sensitive hardware, deterministic real time behavior, low-power operation, and secure asset protection. Modern applications have a strong need for security. Assets that may require protection are: device communication (using cryptography and authentication methods) secret data (such as keys and personal information) firmware (against IP theft and reverse engineering) operation (to maintain service and revenue) The TrustZone(R) for ARMv8-M security extension is a System on Chip (SoC) and CPU system-wide approach to security and is optimized for ultra-low power embedded applications. It enables multiple software security domains that restrict access to secure memory and I/O to trusted software only. TrustZone for ARMv8-M: preserves low interrupt latencies for both secure and non-secure domains. does not impose code or cycle overhead. introduces efficient instructions for calls to the secure domain. Create ARMv8-M software projects The steps to create a new ARMv8-M software project in MDK are: Define the overall system and memory configuration. This has impact on: o Setup secure and non-secure projects o Reflect this configuration in the CMSIS-Core file partition_<device>.h o Add startup code and 'main' module to secure and non-secure projects. Define the API of the secure software part in a header file to allow usage from the non-secure part Create the application software for the secure and the non-secure part Application note 291 describes the necessary steps in details and contains example projects and best practices for secure and non-secure programming using ARMv8-M targets. It is available at www.keil.com/appnotes/docs/apnt_291.asp 61 62 Debug Applications Debug Applications The ARM CoreSightTM technology integrated into the ARM Cortex-M processor based devices provides powerful debug and trace capabilities. It enables runcontrol to start and stop programs, breakpoints, memory access, and Flash programming. Features like sampling, data trace, exceptions including program counter (PC) interrupts, and instrumentation trace are available in most devices. Devices offer instruction trace using ETM, ETB, or MTB to enable analysis of the program execution. Refer to www.keil.com/coresight for a complete overview of the debug and trace capabilities. Debugger Connection MDK contains the Vision Debugger that connects to various debug/trace adapters, and allows you to program the Flash memory. It supports traditional features like simple and complex breakpoints, watch windows, and execution control. Using trace, additional features like event/exception viewers, logic analyzer, execution profiler, and code coverage are supported. The ULINKplus and ULINK2 debug adapters interface to JTAG/SWD debug connectors and support trace with the Serial Wire Output (SWO). The ULINKpro debug/trace adapter also interfaces to ETM trace connectors and uses streaming trace technology to capture the complete instruction trace for code coverage and execution profiling. Refer to www.keil.com/ulink for more information. CMSIS-DAP based USB JTAG/SWD debug interfaces are typically part of an evaluation board or starter kit and offer integrated debug features. MDK also supports several proprietary interfaces that offer a similar technology. MDK connects to third-party debug solutions such as Segger J-Link or J-Trace. Some starter kit boards provide the J-Link Lite technology as an on-board solution. Getting Started with MDK: Create Applications with Vision Using the Debugger Next, you will debug the Blinky application created in the previous chapter on hardware. You need to configure the debug connection and Flash programming utility. Select the debug adapter and configure debug options. From the toolbar, choose Options for Target, click the Debug tab, enable Use, and select the applicable debug driver. The device selection already configures the Flash programming algorithm for onchip memory. Verify the configuration using the Settings button. Program the application into Flash memory. From the toolbar, choose Download. The Build Output window shows messages about the download progress. 63 64 Debug Applications Start debugging on hardware. From the toolbar, select Start/Stop Debug Session. During the start of a debugging session, Vision loads the application, executes the startup code, and stops at the main C function. Click Run on the toolbar. The LED flashes with a frequency of one second. Debug Toolbar The debug toolbar provides quick access to many debugging commands such as: Step steps through the program and into function calls. Step Over steps through the program and over function calls. Step Out steps out of the current function. Stop halts program execution. Reset performs a CPU reset. Show to the statement that executes next (current PC location). Getting Started with MDK: Create Applications with Vision Command Window You may also enter debug commands in the Command window. On the Command Line enter debug commands or press F1 to access detailed help information. Disassembly Window The Disassembly window shows the program execution in assembly code intermixed with the source code (when available). When this is the active window, then all debug stepping commands work at the assembly level. The window margin shows markers for breakpoints, bookmarks, and for the next execution statement. 65 66 Debug Applications Component Viewer The Component Viewer shows information about: Software components that are provided in static memory variables or structures. Objects that are addressed by an object handle. Component Viewer windows containing objects are listed in the menu View - Watch Windows. The picture below is an example showing static component information for a USB HID example project: Getting Started with MDK: Create Applications with Vision Event Recorder The Event Recorder shows execution status and event information, and helps to analyze the operation of software components. MDK middleware and the Keil RTX5 already offer the required description files. The event recorder: increases the visibility to the dynamic execution of an application program. provides filter capabilities for the different event types. allows unrestricted calls to event recorder functions from threads, RTOS kernel, and ISRs. implements recording functions that do not disable ISR on ARMv7-M. supplies fast time-deterministic execution of event recorder functions with minimal code and timing overhead. Thus, event annotations can remain in production code without the need to create a debug or release build. To add the event recorder to the Blinky with Keil RTX5 example from page 46, do the following: In the Manage Run-Time Environment window, select the component Compiler:Event Recorder and change the component CMSIS:RTOS2 (API):Keil RTX5 to variant Source. Change the line EventRecorderInitialize(EventRecordError, 1U); to EventRecorderInitialize(EventRecordAll, 1U); Rebuild the project, download the code to the target and start a debug session. 67 68 Debug Applications Open the event recorder window from the toolbar or the menu using View - Analysis Windows - Event Recorder. While debugging, all events issued by Keil RTX5 are displayed in this window: The documentation explains how to use Event Recorder in a user application: www.keil.com/pack/doc/compiler/EventRecorder/html/index.html Getting Started with MDK: Create Applications with Vision Breakpoints You can set breakpoints While creating or editing your program source code. Click in the grey margin of the editor or Disassembly window to set a breakpoint. Using the breakpoint buttons in the toolbar. Using the menu Debug - Breakpoints. Entering commands in the Command window. Using the context menu of the Disassembly window or editor. Breakpoints Window You can define complex breakpoints using the Breakpoints window. Open the Breakpoints window from the menu Debug. Enable or disable breakpoints using the checkbox in the field Current Breakpoints. Double-click on an existing breakpoint to modify the definition. Enter an Expression to add a new breakpoint. Depending on the expression, one of the following breakpoint types is defined: Execution Breakpoint (E): is created when the expression specifies a code address and triggers when the code address is reached. Access Breakpoint (A): is created when the expression specifies a memory access (read, write, or both) and triggers on the access to this memory address. Use a compare (==) operator to compare for a specified value. If a Command is specified for a breakpoint, Vision executes the command and resumes executing the target program. The Count value specifies the number of times the breakpoint expression is true before the breakpoint halts program execution. 69 70 Debug Applications Watch Window The Watch window allows you to observe program symbols, registers, memory areas, and expressions. Open a Watch window from the toolbar or the menu using View - Watch Windows. Add variables to the Watch window with: Click on the field <Enter expression> and double-click or press F2. In the Editor when the cursor is located on a variable, use the context menu select Add <item name> to... Drag and drop a variable into a Watch window. In the Command window, use the WATCHSET command. The window content is updated when program execution is halted, or during program execution when View - Periodic Window Update is enabled. Call Stack and Locals Window The Call Stack + Locals window shows the function nesting and variables of the current program location. Open the Call Stack + Locals window from the toolbar or the menu using View - Call Stack Window. When program execution stops, the Call Stack + Locals window automatically shows the current function nesting along with local variables. Threads are shown for applications that use the CMSIS-RTOS RTX. Getting Started with MDK: Create Applications with Vision Register Window The Register window shows the content of the microcontroller registers. Open the Registers window from the toolbar or the menu View - Registers Window. You can modify the content of a register by doubleclicking on the value of a register, or pressing F2 to edit the selected value. Currently modified registers are highlighted in blue. The window updates the values when program execution halts. Memory Window Monitor memory areas using Memory Windows. Open a Memory window from the toolbar or the menu using View - Memory Windows. Enter an expression in the Address field to monitor the memory area. To modify memory content, use the Modify Memory at ... command from context menu of the Memory window double-click on the value. The Context Menu allows you to select the output format. To update the Memory Window periodically, enable View - Periodic Window Update. Use Update Windows in the Toolbox to refresh the windows manually. Stop refreshing the Memory window by clicking the Lock button. You can use the Lock feature to compare values of the same address space by viewing the same section in a second Memory window. 71 72 Debug Applications Peripheral Registers Peripheral registers are memory mapped registers to which a processor can write to and read from to control a peripheral. The menu Peripherals provides access to Core Peripherals, such as the Nested Vector Interrupt Controller or the System Tick Timer. You can access device peripheral registers using the System Viewer. NOTE The content of the menu Peripherals changes with the selected microcontroller. System Viewer System Viewer windows display information about device peripheral registers. Open a peripheral register from the toolbar or the menu Peripherals - System Viewer. With the System Viewer, you can: View peripheral register properties and values. Values are updated periodically when View -- Periodic Window Update is enabled. Change property values while debugging. Search for specific properties using TR1 Regular Expressions in the search field. The appendix of the Vision User's Guide describes the syntax of regular expressions. For details about accessing and using peripheral registers, refer to the online documentation. Getting Started with MDK: Create Applications with Vision Trace Run/stop debugging, as described previously, has some limitations that become apparent when testing time-critical programs, such as motor control or complex communication applications. As an example, breakpoints and single stepping commands change the dynamic behavior of the system. As an alternative, use the trace features explained in this section to analyze running systems. ARM Cortex-M processors integrate CoreSight logic that is able to generate the following trace information using: Data Watchpoints record memory accesses with data value and program address and, optionally, stop program execution. Exception Trace outputs details about interrupts and exceptions. Instrumented Trace communicates program events and enables printf-style debug messages and the RTOS Event Viewer. Instruction Trace streams the complete program execution for recording and analysis. The Trace Port Interface Unit (TPIU) is available on most Cortex-M3, CortexM4, and Cortex-M7 processor-based microcontrollers and outputs above trace information via: Serial Wire Trace Output (SWO) works only in combination with the Serial Wire Debug mode (not with JTAG) and does not support Instruction Trace. 4-Pin Trace Output is available on high-end microcontrollers and has the high bandwidth required for Instruction Trace. On some microcontrollers, the trace information can be stored in an on-chip Trace Buffer that can be read using the standard debug interface. Cortex-M3, Cortex-M4, and Cortex-M7 has an optional Embedded Trace Buffer (ETB) that stores all trace data described above. Cortex-M0+ has an optional Micro Trace Buffer (MTB) that supports instruction trace only. 73 74 Debug Applications The required trace interface needs to be supported by both the microcontroller and the debug adapter. The following table shows supported trace methods of various debug adapters. Feature Serial Wire Output (SWO) Maximum SWO Clock Frequency ULINKpro ULINKplus ULINK2 200 MHz 60 MHz 3.75 MHz 4-Pin Trace Output for Streaming Trace Embedded Trace Buffer (ETB) Support Micro Trace Buffer (MTB) Support Trace with Serial Wire Output To use the serial wire trace output (SWO), use the following steps: Click Options for Target on the toolbar and select the Debug tab. Verify that you have selected and enabled the correct debug adapter. Click the Settings button. In the Debug dialog, select the debug Port: SW and set the Max Clock frequency for communicating with the debug unit of the device. Getting Started with MDK: Create Applications with Vision Click the Trace tab. Ensure the Core Clock has the right setting. Set Trace Enable and select the Trace Events you want to monitor. Enable ITM Stimulus Port 0 for printf-style debugging. Enable ITM Stimulus Port 31 to view RTOS Events. NOTE When many trace features are enabled, the Serial Wire Output communication can overflow. The Vision Status Bar displays such connection errors. The ULINKpro debug/trace adapter has high trace bandwidth and such communication overflows are rare. Enable only the trace features that are currently required to avoid overflows in the trace communication. 75 76 Debug Applications Trace Exceptions The Exception Trace window displays statistical data about exceptions and interrupts. Click on Trace Windows and select Trace Exceptions from the toolbar or use the menu View - Trace - Trace Exceptions to open the window. To retrieve data in the Trace Exceptions window: Set Trace Enable in the Debug Settings Trace dialog as described above. Enable EXCTRC: Exception Tracing. Set Timestamps Enable. NOTE The variable accesses configured in the Logic Analyzer are also shown in the Trace Data Window. Getting Started with MDK: Create Applications with Vision Logic Analyzer The Logic Analyzer window displays changes of up to four variable values over time. To add a variable to the Logic Analyzer, right click it in while in debug mode and select Add <variable> to... - Logic Analyzer. Open the Logic Analyzer window by choosing View - Analysis Windows - Logic Analyzer. To retrieve data in the Logic Analyzer window: Set Trace Enable in the Debug Settings Trace dialog as described above. Set Timestamps Enable. NOTE The variable accesses monitored in the Logic Analyzer are also shown in the Trace Data Window. Refer to the Vision User's Guide - Debugging for more information. 77 78 Debug Applications Debug (printf) Viewer The Debug (printf) Viewer window displays data streams that are transmitted sequentially through the ITM Stimulus Port 0. To enable printf() debugging, use the Compiler:I/O software component as described on page 43. This fputc() function redirects any printf() messages (as shown below) to the Debug (printf) Viewer. int seconds; : while (1) { LED_On (); delay (); LED_Off (); delay (); printf ("Seconds=%d\n", seconds++); } // Second counter // // // // // Switch on Delay Switch off Delay Debug output Click on Serial Windows and select Debug (printf) Viewer from the toolbar or use the menu View - Serial Windows - Debug (printf) Viewer to open the window. To retrieve data in the Debug (printf) Viewer window: Set Trace Enable in the Debug Settings Trace dialog as described above. Set Timestamps Enable. Enable ITM Stimulus Port 0. Alternatively, on targets that do not support ITM (such as ARM CortexM0/M0+), you can use the event recorder to display printf messages. The Compiler component documentation explains how to enable this feature: www.keil.com/pack/doc/compiler/RetargetIO/html/_retarget__examples_er.html Getting Started with MDK: Create Applications with Vision Event Counters Event Counters displays cumulative numbers, which show how often an event is triggered. From toolbar use Trace Windows - Event Counters From menu View - Trace - Event Counters To retrieve data in this window: Set Trace Enable in the Debug Settings Trace dialog as described above. Enable Event Counters as needed in the dialog. Event counters are performance indicators: CPICNT: Exception overhead cycle: indicates Flash wait states. EXCCNT: Extra Cycle per Instruction: indicates exception frequency. SLEEPCNT: Sleep Cycle: indicates the time spend in sleep mode. LSUCNT: Load Store Unit Cycle: indicates additional cycles required to execute a multi-cycle load-store instruction. FOLDCNT: Folded Instructions: indicates instructions that execute in zero cycles. 79 80 Debug Applications Trace with 4-Pin Output Using the 4-pin trace output provides all the features described in the section Trace with Serial Wire Output, but has a higher trace communication bandwidth. Instruction trace is also possible. The ULINKpro debug/trace adapter supports this parallel 4-pin trace output (also called ETM Trace) which gives detailed insight into program execution. NOTE Refer to the Vision User's Guide - Debugging for more information about the features described below. When used with ULINKpro, MDK can stream the instruction trace data for the following advanced analysis features: Code Coverage marks code that has been executed and gives statistics on code execution. This helps to identify sporadic execution errors and is frequently a requirement for software certification. The Performance Analyzer records and displays execution times for functions and program blocks. It shows the processor cycle usage and enables you to find hotspots in algorithms for optimization. The Trace Data Window shows the history of executed instructions for Cortex-M devices. Trace with On-Chip Trace Buffer In some cases, trace output pins are no available on the microcontroller or target hardware. As an alternative, an on-chip Trace Buffer can be used that supports the Trace Data Window. Getting Started with MDK: Create Applications with Vision Middleware Today's microcontroller devices offer a wide range of communication peripherals to meet many embedded design requirements. Middleware is essential to make efficient use of these complex on-chip peripherals. NOTE This chapter describes the middleware that is part of MDK-Professional and MDK-Plus. MDK also works with middleware available from several other vendors. Refer to www.keil.com/pack for a list of public software packs. The MDK-Middleware software pack includes royalty-free middleware with components for TCP/IP networking, USB Host and USB Device communication, file system for data storage, and a graphical user interface. Refer to www.keil.com/middleware for more information. This web page provides an overview of the middleware and links to: MDK Middleware User's Guide Device List along with information about device-specific drivers Information about Example Projects with usage instructions The middleware interfaces to the device peripherals using device-specific CMSIS-Drivers. Refer to CMSIS-Driver on page 39 for more information. Combining several components is common for a microcontroller application. The Manage Run-Time Environment dialog makes it easy to select and combine 81 82 Middleware MDK Middleware. It is even possible to expand the middleware component list with third-party components that are supplied as a software pack. Typical examples for the usage of MDK Middleware are: Web server with storage capabilities: Network and File System Component USB memory stick: USB Device and File System Component Industrial control unit with display and logging functionality: Graphics, USB Host, and File System Component Refer to the FTP Server Example on page 90 that exemplifies a combination of several middleware components. The following sections give an overview for each software component of the MDK Middleware. NOTE A seven days evaluation license for MDK-Professional is delivered with each installation. Refer to the Installation chapter on page 9 for more information. Getting Started with MDK: Create Applications with Vision Network Component The Network Component uses TCP/IP communication protocols and contains support for services, protocol sockets, and physical communication interfaces. It supports IPv4 and IPv6 connections. The various services provide program templates for common networking tasks. Compact Web Server stores web pages in ROM whereas the Full Web Server uses the File System component for page data storage. Both servers support dynamic page content using CGI scripting, AJAX, and SOAP technologies. FTP or TFTP support file transfer. FTP provides full file manipulation commands, whereas TFTP can boot load remote devices. Both are available for the client and server. Telnet Server provides a command line interface over an IP network. SNMP Agent reports device information to a network manager using the Simple Network Management Protocol. DNS Client resolves domain names to the respective IP address. It makes use of a freely configurable name server. SNTP Client synchronizes clocks and enables a device to get an accurate time signal over the data network. SMTP Client sends status emails using the Simple Mail Transfer Protocol. 83 84 Middleware All Services rely on a communication socket that can be either TCP (a connection-oriented, reliable full-duplex protocol), UDP (transaction-oriented protocol for data streaming), or BSD (Berkeley Sockets interface). The physical interface can be either Ethernet (for LAN connections) or a serial connection such as PPP (for a direct connection between two devices) or SLIP (Internet Protocol over a serial connection). Depending on the interface, the Network Component relies on a CMSIS-Driver to be present for providing the device-specific hardware interface. Ethernet requires an Ethernet MAC and PHY driver, whereas serial connections (PPP/SLIP) require a UART or a Modem driver. The Network Core is available in a Debug variant with extensive diagnostic messages and a Release variant that omits these diagnostics. It supports IP communication using IPv4 and IPv6. To see events coming from the network component in the event recorder, you need to enable a debug variant. Getting Started with MDK: Create Applications with Vision File System Component The File System Component allows your embedded applications to create, save, read, and modify files in storage devices such as RAM, NAND or NOR Flash, memory cards, or USB memory sticks. Each storage device is accessed and referenced as a Drive. The File System Component supports multiple drives of the same type. For example, you might have more than one memory card in your system. The File System Core is thread-safe, supports simultaneous access to multiple drives, and uses a FAT system available in two file name variants: short 8.3 file names and long file names with up to 255 characters. It also provides a Debug variant with extensive diagnostic messages and a Release variant that omits these diagnostics. To see events coming from the file system component in the event recorder, you need to enable a debug variant. To access the physical media, for example NAND and NOR Flash chips, or memory cards using MCI or SPI, CMSIS-Driver have to be present. 85 86 Middleware USB Component The USB Device component implements USB Host and Device functionality and uses standard device driver classes that are available on most computer systems, avoiding host driver development. Human Interface Device Class (HID) implements a keyboard, joystick or mouse. However, HID can also be used for simple data exchange. Use the Mass Storage Class (MSC) for file exchange (for example a USB memory stick). Communication Device Class (CDC) implements a virtual serial port (using the sub-class ACM) or a network connection (using the sub-class NCM). Audio Device Class (ADC) performs audio streaming. Use the Custom Class for new or unsupported USB classes. The USB Component supports Composite USB devices that implement multiple device classes. This component requires a USB CMSIS-Driver to be present. Depending on the application, it has to comply with the USB 1.1 (Full-Speed USB) and/or the USB 2.0 (High-Speed USB) specification. The USB Core is available in a Debug variant with extensive diagnostic messages and a Release variant that omits these diagnostics. To see events coming from the USB component in the event recorder, you need to enable the debug variant. Getting Started with MDK: Create Applications with Vision Graphics Component The Graphics Component is a comprehensive library that includes everything you need to build graphical user interfaces. Core functions include: A Window Manager to manipulate any number of windows or dialogs. Ready-to-use Fonts and window elements, called Widgets, and Dialogs. Bitmap Support including JPEG and other common formats. Anti-Aliasing for smooth display. Flexible, configurable Display and User Interface parameters. The user interface can be controlled using input devices like a Touch Screen or a Joystick. The Graphics Component interfaces to a wide range of display controllers using preconfigured interfaces for popular displays. Adapt the interface template to add support for new displays. The VNC Server allows remote control of your graphical user interface via TCP/IP using the Network Component. Demo shows all main features and is a rich source of code snippets for the GUI. 87 88 Middleware IoT Connectivity The middleware in MDK-Professional provides interfaces to mbed software components that enable secure communication and Internet of Things (IoT) connectivity. mbed TLS adds cryptographic and SSL/TLS capabilities with a library collection optimized for embedded systems. mbed Client implements the OMA Lightweight M2M protocol (from Open Mobile Alliance http://openmobilealliance.org) and interfaces to the mbed Device Server that connects IoT devices to web applications. Getting Started with MDK: Create Applications with Vision Migrating to Middleware Version 7 MDK has built-in features that help you to migrate your Vision projects to the new Middleware Version 7. Most components only require a configuration file update (see below). However, the Network Component requires more migration work as it has changed from IPv4-only to dual-stack support for IPv4/IPv6. Network Component Changes Core Changes The Network Component's Core was previously available in a Release or Debug variant. In Middleware Version 7 this is changed to IPv4/IPv6 Release or IPv4/IPv6 Debug. When you open a project with the old component, you will see an error in the Build Output window. Please change to the corresponding new variant. Configuration File Update Special icons in the Project window of Vision highlight configuration files that require an update. You have the option either to overwrite the old configuration file or to update and merge the contents: Go to Tools Configure Merge Tool to specify the merge tool of your choice. API Changes The Network Component's documentation offers sections on how to migrate projects from the old to the new API. It offers general recommendations on the migration of services, sockets, and interfaces, as well as a side-by-side comparison of the API whether you are migrating from Middleware v5/v6 or even RL-TCPnet. 89 90 Middleware FTP Server Example The FTP server example is a reference application that shows a combination of several middleware components. Refer to Verify Installation using Example Projects on page 12 for more information on the various example projects that are available. When using an FTP Server, you can exchange and manipulate files over a TCP/IP network. The middleware documentation has more details about the FTP Server and the reference application: Getting Started with MDK: Create Applications with Vision Several middleware components are the building blocks of this FTP server. A File System is required to handle the file manipulation. Various parts of the Network component build up the networking interface. The following software components from the MDK Middleware are required to create the FTP Server example: As explained before, CMSIS-Driver provides the interface between the microcontroller peripherals and the MDK Middleware. The Manage Run-Time Environment dialog shows the software components selected for the FTP Server example: 91 92 Using Middleware Using Middleware Create your own applications using MDK Middleware components. For more information, refer to the MDK Middleware User's Guide that has sections for every component describing: Example projects outline key product features of software components. The examples are tested, implemented, and proven on several evaluation boards. Resource Requirements describe the thread and stack resources for CMSISRTOS and the memory footprint. Create an Application contains the required steps for using the components in an embedded application. Reference contains the API and file documentation. The learning platform www.keil.com/learn offers several tutorials and videos that exemplify typical use cases of the middleware. Refer also to these application notes: USB Host Application with File System and Graphical User Interface: www.keil.com/appnotes/docs/apnt_268.asp Web-Enabled MEMS Sensor Platform: www.keil.com/appnotes/docs/apnt_271.asp Web-Enabled Voice Recorder: www.keil.com/appnotes/docs/apnt_272.asp Analog/Digital Data Logger with USB Device Interface: www.keil.com/appnotes/docs/apnt_273.asp Getting Started with MDK: Create Applications with Vision The generic steps to use the various middleware components are: Add Software Components (page 95): In the Manage Run-Time Environment dialog select the software components that are required for your application. Configure Middleware (page 97): Adjust the parameters of the software components in the related configuration files. Configure Drivers (page 99): Identify and configure the peripheral interfaces that connect the middleware components to physical I/O pins of the microcontroller. Implement Application Features (page 100): Use the API functions of the selected components to implement the application specific behaviour. Code templates help you to create the related source code. Build and Download (page 103): After compiling and linking of the application use the steps described in the chapter Using the Debugger on page 63 to download the image to your target hardware. Verify and Debug (page 103): Test utilities along with debug and trace features are described in the chapter Create Applications (page 46). 93 94 Using Middleware USB Device HID Example While above steps are generic and apply to all components of the MDK Middleware, the following USB Device HID example shows these steps in practice. This example creates a USB HID Device application that connects a microcontroller to a host computer via USB. On the PC the utility program HIDClient.exe is used to control LEDs on the development board. This USB Device HID example uses the MCB1800 development board populated with a LPC1857 microcontroller. It is based on the project Blinky with Keil RTX on page 46 along with the source files main.c, LED.c, LED.h, and the configuration files. NOTE You must adapt the code and pin configurations when using this example on other starter kits or evaluation boards. This example is available as a pre-built project in Pack Installer for many microcontroller device families supporting CMSIS_Driver. Getting Started with MDK: Create Applications with Vision Add Software Components To create the USB Device HID example, start with the project Blinky with Keil RTX described on page 46. Use the Manage Run-Time Environment dialog to add specific software components. From USB Component (described on page 86): Select ::USB:CORE to include the basic functionality required for USB communication. Set ::USB:Device to '1' to create one USB Device instance. Set ::USB:Device:HID to '1' to create a HID Device Class instance. If you select multiple instances of the same class or include other device classes, you will create a Composite USB Device. From CMSIS-Driver (described on page 39): Select from ::CMSIS Driver:USB Device (API) an appropriate driver suitable for your application. Some devices may have specific drivers for USB full-speed and high-speed whereas other microcontrollers may have a combined driver. Here, select USB0. TIP: Click on the hyperlinks in the Description column to view detailed documentation for each software component. NOTE For MDK Middleware < version 7.4.0, you also need to add the Keil RTX5 compatibility layer. Please select ::CMSIS:RTOS (API):Keil RTX5 95 96 Using Middleware The picture below shows the Manage Run-Time Environment dialog after adding these components. Getting Started with MDK: Create Applications with Vision Configure Middleware Every MDK Middleware component has a set of configuration files that adjusts application specific parameters and determines the driver interfaces. Access these configuration files from the Project window in the component class group. They usually have names like <Component>_Config_0.c or <Component>_Config_0.h. Some of the settings in these files require corresponding settings in the driver and device configuration file (RTE_Device.h) that is subject of the next section. For the USB HID Device example, there are two configuration files available: USBD_Config_0.c and USBD_Config_HID_0.h. 97 98 Using Middleware The file USBD_Config_0.c contains a number of important settings for the specific USB Device: The setting Connect to Hardware via Driver_USBD# specifies the control struct that reflects the peripheral interface, in this case, the USB controller used as device interface. For microcontrollers with only one USB controller the number is `0'. Refer to CMSIS-Driver on page 39 for more information. Select High-Speed if supported by the USB controller. Using this setting requires a driver that supports USB high-speed communication. Set the Max Endpoint 0 Packet Size to 64. Set the Vendor ID (VID) to a private VID. The USB Implementer's Forum www.usb.org/developers/vendor provides more information on how to apply for a valid vendor ID. Every device needs a unique Product ID. The host computer's operating system uses it together with the VID to find a suitable driver for your device. Set the Manufacturer and the Product String to identify the USB device in PC operating systems. The file USBD_Config_HID_0.h contains device class specific Endpoint settings. For this example, no changes are required. Getting Started with MDK: Create Applications with Vision Configure Drivers Drivers have certain properties that define attributes such as I/O pin assignments, clock configuration, or usage of DMA channels. For many devices, the RTE_Device.h configuration file contains these driver properties. It typically requires configuration of the actual peripheral interfaces used by the application. Depending on the microcontroller device, you can enable different hardware peripherals, specify pin settings, or change the clock settings for your implementation. The USB HID Device example requires the following settings: Enable USB0 Controller and expand this section. Change the Pin Configuration as depicted below. Enable Device:High-speed. 99 100 Using Middleware Implement Application Features Now, create the code that implements the application specific features. This includes modifications to the files main.c, LED.c, and LED.h that were created initially for the project Blinky with Keil RTX on page 46. The middleware provides User Code Templates as starting point for the application software. In the Project window, right-click Source Group 1 and open the dialog Add New Item to Group. Select the user code template from ::USB:Device:HID - USB Device HID (Human Interface Device) and click Add. To connect the PC USB application to the microcontroller device, modify the function USBD_HID0_SetReport(), which handles data coming from the USB Host. For this example, the data is created with the utility HIDClient.exe. Getting Started with MDK: Create Applications with Vision Open the file USBD_User_HID_0.c in the editor and modify the code as shown below. This will control the LEDs on the evaluation board. #include "LED.h" // access functions to LEDs : bool USBD_HID0_SetReport (uint8_t rtype, uint8_t req, uint8_t rid, const uint8_t *buf, int32_t len) { uint8_t i; switch (rtype) { case HID_REPORT_OUTPUT: for (i = 0; i < 4; i++) { if (*buf & (1 << i)) LED_On (i); else LED_Off (i); } break; case HID_REPORT_FEATURE: break; } } return true; Expand the functions in the file LED.c to control several LEDs on the board and remove the thread that blinks the LED, as it is no longer required. Open the file LED.c in the editor and modify the code as shown below. /*-----------------------------------------------------------------------* File LED.c *----------------------------------------------------------------------*/ #include "SCU_LPC18xx.h" #include "GPIO_LPC18xx.h" #include "cmsis_os.h" // ARM::CMSIS:RTOS:Keil RTX const GPIO_ID LED_GPIO[] = { { 6, 24 }, { 6, 25 }, { 6, 26 }, { 6, 27 } }; void LED_Initialize (void) { GPIO_PortClock (1); // LED GPIO definitions // Enable GPIO clock /* Configure pin: Output Mode with Pull-down resistors */ SCU_PinConfigure (13, 10, (SCU_CFG_MODE_FUNC4|SCU_PIN_CFG_PULLDOWN_EN)); GPIO_SetDir (6, 24, GPIO_DIR_OUTPUT); GPIO_PinWrite (6, 24, 0); SCU_PinConfigure (13, 11, (SCU_CFG_MODE_FUNC4|SCU_PIN_CFG_PULLDOWN_EN)); GPIO_SetDir (6, 25, GPIO_DIR_OUTPUT); GPIO_PinWrite (6, 25, 0); SCU_PinConfigure (13, 12, (SCU_CFG_MODE_FUNC4|SCU_PIN_CFG_PULLDOWN_EN)); GPIO_SetDir (6, 26, GPIO_DIR_OUTPUT); GPIO_PinWrite (6, 26, 0); SCU_PinConfigure (13, 13, (SCU_CFG_MODE_FUNC4|SCU_PIN_CFG_PULLDOWN_EN)); GPIO_SetDir (6, 27, GPIO_DIR_OUTPUT); 101 102 } Using Middleware GPIO_PinWrite (6, 27, 0); void LED_On (uint32_t num) { GPIO_PinWrite (LED_GPIO[num].port, LED_GPIO[num].num, 1); } void LED_Off (uint32_t num) { GPIO_PinWrite (LED_GPIO[num].port, LED_GPIO [num].num, 0); } Open the file LED.h in the editor and modify it to coincide with the changes to LED.c. The functions LED_On() and LED_Off() now have a parameter. /*-----------------------------------------------------------------------* File LED.h *----------------------------------------------------------------------*/ void LED_Initialize ( void ); void LED_On ( uint32_t num ); void LED_Off ( uint32_t num ); Change the file main.c as shown below. Instead of starting the thread that blinks the LED, add code to initialize and start the USB Device Component. Refer to the Middleware User's Guide for further details. /*------------------------------------------------------------------------* CMSIS-RTOS 'main' function template *------------------------------------------------------------------------*/ #include #include #include #include #include "RTE_Components.h" CMSIS_device_header "cmsis_os2.h" "LED.h" "rl_usb.h" // Keil.MDK-Pro::USB:CORE #ifdef RTE_Compiler_EventRecorder #include "EventRecorder.h" #endif /*------------------------------------------------------------------------* Application main thread *------------------------------------------------------------------------*/ void app_main (void *argument) { USBD_Initialize (0); USBD_Connect (0); } // USB Device 0 Initialization // USB Device 0 Connect for (;;) {} int main (void) { // System Initialization SystemCoreClockUpdate(); #ifdef RTE_Compiler_EventRecorder // Initialize and start Event Recorder EventRecorderInitialize(EventRecordAll, 1U); #endif // ... Getting Started with MDK: Create Applications with Vision LED_Initialize(); } osKernelInitialize(); osThreadNew(app_main, NULL, NULL); osKernelStart(); for (;;) {} // Initialize CMSIS-RTOS // Create application main thread // Start thread execution Build and Download Build the project and download it to the target as explained in chapters Create Applications on page 46 and Using the Debugger on page 63. Verify and Debug Connect the development board to your PC using another USB cable. This provides the connection to the USB device peripheral of the microcontroller. Once the board is connected, a notification appears that indicates the installation of the device driver for the USB HID Device. The utility program HIDClient.exe that is part of MDK enables testing of the connection between the PC and the development board. This utility is located the MDK installation folder .\Keil\ARM\Utilities\HID_Client\Release. To test the functionality of the USB HID device run the HIDClient.exe utility and follow these steps: Select the Device to establish the communication channel. In our example, it is "Keil USB Device 0". Test the application by changing the Outputs (LEDs) checkboxes. The respective LEDs will switch accordingly on the development board. If you are having problems connecting to the development board, you can use the debugger to find the root cause. From the toolbar, select Start/Stop Debug Session. 103 104 Using Middleware Use debug windows to narrow down the problem. Breakpoints help you to stop at certain lines of code so that you can examine the variable contents. NOTE Debugging of communication protocols can be difficult. When starting the debugger or using breakpoints, communication protocol timeouts may exceed making it hard to debug the application. Therefore, use breakpoints carefully. In case that the USB communication fails, disconnect USB, reset your target hardware, run the application, and reconnect it to the PC. Getting Started with MDK: Create Applications with Vision 105 Index A Add New Item to Group .......................... 100 Applications Add Source Code ................................. 50 Blinky with Keil RTX5 .................. 46, 67 Build ..................................................... 53 Configure Device Clock Frequency ..... 49 Create ................................................... 46 Debug ................................................... 62 Manage Run-Time Environment .......... 47 Setup the Project................................... 47 User Code Templates ........................... 50 B Board Support ..................................... 42, 45 Breakpoints Access .................................................. 69 Command ............................................. 69 Execution.............................................. 69 Build Output............................ 14, 15, 53, 63 C CMSIS....................................................... 22 CORE ................................................... 23 DSP ...................................................... 37 Software Components .......................... 22 RTOS ................................................... 26 User code template ............................... 33 CMSIS-DAP ............................................. 62 Code Coverage .......................................... 80 Compare memory areas ............................. 71 CoreSight .................................................. 73 D Debug Breakpoints .......................................... 69 Breakpoints Window ............................ 69 Command Window .............................. 65 Component Viewer............................... 66 Connection ........................................... 62 Disassembly Window ........................... 65 Event Recorder ..................................... 67 Memory Window ................................. 71 Peripheral Registers.............................. 72 Register Window .................................. 71 Stack and Locals Window .................... 70 Start Session ......................................... 64 System Viewer Window....................... 72 Toolbar ................................................. 64 Using Debugger ................................... 63 Watch Window .................................... 70 Debug (printf) Viewer ......................... 44, 78 Debug tab ............................................ 14, 63 Device Database........................................ 10 Device Startup Variations Setup the Project ............................ 57, 59 STM32Cube ......................................... 56 Documentation .......................................... 20 E Example Code Clock setup for STM32Cube................ 58 Example Code CMSIS-CORE layer ............................. 24 CMSIS-DSP library functions .............. 37 Blinky............................................. 54, 55 Blinky....................................... 51, 52, 53 Set PLL parameters .............................. 49 Example Projects ................................ 12, 81 F File cmsis_os.h ...................................... 28, 29 device.h ................................................ 23 RTE_Device.h .............. 39, 40, 56, 97, 99 RTX_<core>.lib ................................... 28 RTX_Conf_CM.c ..................... 28, 30, 36 startup_<device>.s ............................... 23 system_<device>.c ......................... 23, 49 File System FAT ...................................................... 85 Flash ..................................................... 85 G Graphics Component Anti-Aliasing ........................................ 87 Bitmap Support .................................... 87 Demo .................................................... 87 Dialogs ................................................. 87 Display ................................................. 87 Fonts..................................................... 87 Joystick ................................................ 87 Touch Screen........................................ 87 User Interface ....................................... 87 VNC Server .......................................... 87 106 Index Widgets ................................................ 87 Window Manager ................................. 87 SNTP Client ......................................... 83 TCP ...................................................... 84 Telnet Server ........................................ 83 TFTP .................................................... 83 UART................................................... 84 UDP ..................................................... 84 Web Server ........................................... 83 H HIDClient.exe ......................................... 103 L Learning Platform ..................................... 21 Legacy Support ........................................... 9 M MDK Core Install ............................................. 9 Editions .................................................. 8 Installation Requirements ....................... 9 Introduction ............................................ 7 License Types ......................................... 8 Tools....................................................... 7 Trial license .......................................... 11 Middleware ............................................... 81 Add Software Components................... 95 Adding Software Components.............. 24 Configure........................................ 93, 97 Configure Drivers ........................... 93, 99 Create an Application ........................... 92 Debug ........................................... 93, 103 Example projects .................................. 92 File System Component ....................... 85 FTP Server Example ............................ 90 Graphics Component ............................ 87 Implement Application Features .. 93, 100 IoT Connectivity .................................. 88 Migrating to Version 7 ......................... 89 Network Component ............................ 83 Resource Requirements ........................ 92 USB Device Component ...................... 86 USB HID Example ............................... 94 Using .................................................... 92 Using Components ............................... 93 N Network Component BSD ...................................................... 84 DNS Client ........................................... 83 Ethernet ................................................ 84 FTP ....................................................... 83 Modem ................................................. 84 PPP ....................................................... 84 SLIP ..................................................... 84 SMTP Client......................................... 83 SNMP Agent ........................................ 83 O Options for Target ............................... 14, 63 P Pack Installer............................................. 10 Performance Analyzer............................... 80 Q Quick Start Guides .................................... 21 R Retargeting I/O output .............................. 43 RTOS Preemptive Thread Switching .............. 35 Single Thread Program......................... 35 System and Thread Viewer .................. 36 Thread Management............................. 34 RTX API functions ....................................... 33 Concepts............................................... 26 Configuration ....................................... 30 RTOS Kernel advantages ..................... 27 Tread stack configuration ............... 31, 32 Using RTX ........................................... 27 S Selecting Software Packs .......................... 19 Software Component Compiler .............................................. 43 Software Components Overview .............................................. 18 Software Packs ............................................ 8 Install.................................................... 10 Install manually .................................... 10 Manage versions................................... 19 Product Lifecycle ................................. 18 Select .................................................... 19 Use ....................................................... 16 Verify Installation ................................ 12 Start/Stop Debug Session ............ 15, 64, 103 Support...................................................... 20 Getting Started with MDK: Create Applications with Vision T Trace ......................................................... 73 4-Pin Trace Output ......................... 73, 80 Data Watchpoints ................................. 73 Debug (printf) Viewer .......................... 78 ETB ...................................................... 73 Event Counters ..................................... 79 Exception Trace.................................... 73 Instruction Trace .................................. 73 Instrumented Trace ............................... 73 ITM Stimulus ................................. 75, 78 Logic Analyzer ..................................... 77 MTB ..................................................... 74 SWO ............................................... 73, 74 TPIU ..................................................... 73 Trace Buffer ......................................... 73 Trace Buffer ......................................... 80 107 Trace Data Window ............................. 80 Trace Exceptions .................................. 76 U ULINK ...................................................... 62 ULINKpro ........................................... 75, 80 USB Device ADC ..................................................... 86 CDC ..................................................... 86 Composite Device ................................ 86 HID ...................................................... 86 MSC ..................................................... 86 User Code Templates ........................ 33, 100 V Version Control ......................................... 20 Versioning Software Packs ....................... 19 Mouser Electronics Authorized Distributor Click to View Pricing, Inventory, Delivery & Lifecycle Information: Keil Tools: MDK-PRO MDK-PRO-T MDK-PRO-LC MDK-PRO-T-LC MDK-PRO-FLEX-LC MDK-PRO-F-LC MDK-PRO-SMF MDKCM-RD-40000 MDK-PRO-SMF-LC MDKPR-RT-40000 MDK-PRO-SM MDKST-RD-40000 MDK-PRO-SM-LC MDKST-RT-40000 MDKPR-RD-40000 MDKCM-RT-40000 MDK-PRO-UGC MDK-PRO-UGSF MDK-PRO (EDELIVERED) MDK-PRO-UGB-LC MDK-PRO-UD MDK-PRO-UGB MDK-PRO-UF-LC MDK-PRO-UF MDK-PROUGR-DL MDK-PRO-F MDK-PRO-UGC-LC MDK-PRO-UGSF-LC MDK-PRO-UD-LC MDK-PRO-UGS-DL