ARM and AVR32

Transcription

ARM and AVR32

ARM and AVR32
: Which one is better?
SAMSUNG Software Membership
Suwon
Chang-yeon, Cho. <iprinceps@ssm.samsung.com>
Copyright ⓒ 2007 by iprinceps
No parts of this document may be reproduced in any form, in an electronic
electronic
retrieval system or otherwise, without the prior written permission
permission of the publisher.
1
Outline
Abstract

Introduction
ARM
AVR32
ARM vs. AVR32
References
2
Abstract
ARM
¾ Brief history of ARM
¾ The characteristic of ARM
9 Architecture
9 Programmer’s Model
¾ Why is ARM the most popular embedded microprocessor in the market?
AVR32
¾ What is the AVR32?
¾ The characteristic of AVR32
9 Architecture
9 Programmer’s Model
¾ What are advantages when you choose AVR32?
ARM vs. AVR32
¾ Which one is better, ARM or AVR32?
3
Outline
Abstract
Introduction

ARM
AVR32
ARM vs. AVR32
References
4
Introduction
ARM
¾ The industry’s leading provider of 32-bit embedded RISC microprocessors
with almost 75% of market.
: It’s the most popular embedded microprocessor!
¾ There are many processors those implement ARM core in the Market.
9 PXA255, PXA270, S3C2440A, AT91 Series, TI TMS Series, etc.
9 Since last year, processors those implement ARM11 core have appeared.
¾ ARM has convenient develop environments and build tools.
¾ Were there any competitors?
AVR32
¾
¾
¾
¾
Introduced to the Market just last year.
Atmel’s first their own 32-bit processor.
AVR32 has really many features those are interesting.
Open-source support available.
9 Operating systems.
9 Develop Environment.
5
Outline
Abstract
Introduction
ARM
AVR32
ARM vs. AVR32
References
6
ARM
History
¾ ARM was introduced in the middle of 1980’s
9 1985. Acorn Computer Group develops the world’s first commercial RISC
processor
9 1991. the first embeddable RISC core: ARM6
9 1993. TI, Cirrus and Samsung license ARM, ARM7 core
9 1995. Thumb architecture, StrongARM
9 1996. ARM9TDMI family announced
9 2002. ARM11 family announced
¾ Architecture (Instruction set) Progression
7
ARM
The ARM Instruction Set Architecture
¾ The ARM architecture provides support for the 32-bit ARM and 16-bit Thumb
Instruction Set Architectures along with architecture extensions.
9 Extensions: Java acceleration, security, Intelligent Energy Manager, SIMD, and
NEON technologies.
9 ARMv5TE: In 1999, the ARMv5TE introduced along with ARM ‘Enhanced’ DSP
instruction set extensions.
9 ARMv5TEJ: In 2000, the ARMv5TEJ added the Jazelle extension to support Java
acceleration.
9 ARMv6: The ARMv6 architecture, announced in 2001, features improvements in
many areas covering the memory system, improved exception handling and better
support for multiprocessing environments. And the ARMv6 also includes media
instructions to support Single Instruction Multiple Data (SIMD).
9 ARMv7: the ARMv7 architecture includes Thumb-2 technology and the NEON
technology.
9 NEON: Media Acceleration Technology – designed to address the demands of
next generation mobile handheld devices.
9 Thumb-2: defining a new set of 32-bit instructions that execute alongside
traditional 16-bit instructions in Thumb state – reduce the need for balancing ARM
and Thumb codes.
8
ARM
Programmer’s Model
¾ Pipelines
9 ARM7 Pipelines
FETCH
DECODE
EXECUTE
FETCH
DECODE
EXECUTE
FETCH
DECODE
EXECUTE
9 ARM9TDMI Pipelines
– Memory: Access memory area
– Write: Store the result of processing to register
9
ARM
¾ Operating Modes
Mode
User
Description
ID
Comments
Normal program execution mode
usr
restriction
Privileged mode for operating system
sys
OS task
FIQ
When a fast interrupt
fiq
High-speed ch.
IRQ
When a normal interrupt
irq
Exception mode for operating system
svc
SWI
Abort
When data or instruction prefetch abort
abt
Vir. Mem, MPro
Undef
When an undefined instruction
und
HW Emulation
System
Supervisor
9 User and System mode share one bank of registers
9 Exception mode: use their own registers
– FIQ mode has private R8 ~ R14.
– the other modes have private R13 and R14.
10
ARM
¾ Registers – Total 37 registers exist.
11
ARM
¾ Registers (Cont’d)
9 Unbanked Registers: R0 ~ R7
– Same to all modes
9 Banked Registers: R8 ~ R14
– R8 ~ R12
: If simple interrupts Æ FIQ can be very fast using only R8 ~ R12.
– R13 ~ R14
R13: Usually used for Stack Pointer (SP)
R14: Usually used for Link Register (LR)
9 Program Counter: R15
9 Program Status Register
12
ARM
¾ Exceptions
Exception Type
Reset
Undefined Instruction
SWI
Prefetch Abort
Data Abort
Reserved
IRQ
FIQ
Priority
1
6
6
5
2
Mode
Supervisor
Undefined
Supervisor
Abort
Abort
4
3
IRQ
FIQ
When an exception occurs
High Vector
0xFFFF0000
0xFFFF0004
0xFFFF0008
0xFFFF000C
0xFFFF0010
0xFFFF0014
0xFFFF0018
0xFFFF001C
To return from exception
R14_<mode> = return address
SPSR_<mode> = CPSR
CPSR[4:0] = exception mode
number
CPSR[5] = 0
// in ARM state
If <mode> == reset or FIQ
CPSR[6] = 1
// disable FIQ
CPSR[7] = 1
// disable IRQ
PC = vector address
Vector
0x00000000
0x00000004
0x00000008
0x0000000C
0x00000010
0x00000014
0x00000018
0x0000001C
CPSR = SPSR_<mode>
PC = R14_<mode>
By
MOVS|SUBS PC, XX or
LDM with Restore CPSR
13
ARM
Why is ARM the most popular embedded microprocessor in the
market?
¾ Low power consumption
9 In the case of embedded system or handheld device, power consumption is very
important problem.
9 ARM microprocessor solutions offer the industries lowest power consumption and
MIPS per watt.
9 For example, STR7 family with ARM7TDMI: 10uA in the Stand-by mode
¾ Low cost of silicon
9 ARM processors and other IP products make efficient use of silicon and memory
to align with the economics of wireless devices.
¾ Core performance
9 1MHz to 1GHz with architectural performance
¾ Wide support
9 A wide range of OS, Middleware and tools support an extensive choice of
multimedia codec solutions optimized for ARM processors, are available from the
ARM Connected Community.
14
ARM
Develop Environments and Supports
¾ Develop Environments
9 Embedded-ICE debug
9 RVDS, ADS, Keil, IAR, etc.
9 GNU Toolchain for ARM
¾ Supports
9 Open source: Linux, eCos, etc.
Were there any competitors?
¾ Alchemy AU1200
9 iStation V43
15
Outline
Abstract
Introduction
ARM
AVR32
ARM vs. AVR32
References
16
AVR32
What is the AVR32
¾
¾
¾
¾
¾
¾
¾
¾
¾
32-bit load/store AVR32 RISC architecture
15 general-purpose 32bit registers
32-bit stack pointer, Program Counter and Link Register reside in register file
Fully orthogonal instruction set
Pipelined architecture allows one instruction per clock cycle for most
instructions
Shadowed interrupt context for INT3 and multiple interrupt priority levels
Privileged and unprivileged modes enabling efficient and secure Operating
Systems
Full MMU allows for operating systems with memory protection
Instruction and data caches
17
AVR32
AVR32
¾ Architecture
9 NOT binary compatible with earlier AVR architecture
9 In order to achieve high code density, the instruction format is flexible providing
both compact instructions with 16 bits length and extended 32-bit instructions
9 Compact and extended instruction can be FREELY mixed in the instruction
stream
9 In order to reduce code size to a minimum, some instructions have multiple
addressing modes.
9 Frequently used instructions, like add, have a compact format with two operands
as well as an extended format with three operands.
– The larger format increases performance, allowing an addition and a data move in the
same instruction in a single cycle
9 Load/Store instructions have several different formats in order to reduce code size
and speed up execution
– Load/store to an address specified by a pointer register
– Load/store to an address specified by a pointer register with postincrement,
predecrement, and displacement
– Load/store to an address specified by a small immediate (direct addressing within a
small page)
– Load/store to an address specified by a pointer register and an index register
18
AVR32
¾ Architecture (Cont’d)
9 Event handling
– The different event sources have different priority levels, ensuring a well-defined
behavior when multiple events are received simultaneously.
– Pending events of a higher priority class may preempt handling of ongoing events of a
lower priority class
– Each priority class has dedicated registers to keep the return address and status register
thereby removing the need to perform time-consuming memory operations to save
information
– 4 level external interrupts
9 Microarchitectures
– AVR32A: be targeted at cost-sensitive, lower-end applications like smaller
microcontrollers.
– Does not provide dedicated hardware registers for shadowing of register file registers in
interrupt context and hardware registers for the return registers and return status register
Æ All information are stored on the system stack
– AVR32B: be targeted at applications where interrupt latency is important.
– Implements dedicated registers to hold the status register and return address for
interrupts, exceptions and supervisor calls Æ this information does not need to be
written to the stack, and latency is therefore reduced
– The INT0 to INT3 contexts may have dedicated versions of the registers in the register
file
19
AVR32
Programmer’s Model
¾ Register file configuration
9 The AVR32B architecture specifies that the exception contexts may have a
different number of shadowed registers in different implementations. The
following shadow model is used in AVR32 AP.
20
AVR32
¾ Status register configuration
9 The Status Register (SR) is splitted into two halfwords, one upper and one lower.
The lower word contains the C, Z, N, V and Q condition code flags and the R, T
and L bits, while the upper halfword contains information about the mode and
state the processor executes in.
21
AVR32
¾ Status register configuration (Cont’d)
9 D: Debug state
– The processor is in debug state when this bit is set. The bit is cleared at reset and
should only be modified by debug hardware.
9 M2, M1, M0: Execution Mode
9 R: Java Register Remap
– When this bit is set, the addresses of the registers in the register file is dynamically
changed.
9 T: Scratch bit
– Not used by any instruction, but can be manipulated by application as a scratchpad bit.
This bit is not cleared by reset.
22
AVR32
¾ Status register configuration (Cont’d)
9 Q: Saturation flag
– The saturation flag indicates that a saturating arithmetic operation overflowed. The
flag is sticky and once set it has to be manually cleared by a csrf instruction after the
desired action has been taken.
9 L: Lock flag
– Used by the conditional store instruction. Used to support atomical memory access.
Automatically cleared by rete. This bit is cleared after reset.
¾ Configuration Registers
9 Configuration registers are used to inform applications and operating systems
about the setup and configuration of the processor on which it is running.
23
AVR32
¾ Pipeline
9 Overview
– AVR32 AP is pipelined processor with 7 pipeline stages. The pipeline has 3 sub pipes,
namely the Multiply pipe, the Execute pipe and the Data pipe. These pipelines may
execute different instructions in parallel. Instructions are issued in order, but may
complete out of order since the sub pipes may be stalled individually, and certain
operations may use a sub pipe for several clock cycles.
–
–
–
–
–
IF1, IF2: Instruction Fetch 1 and 2
ID: Instruction Decode, IS: Instruction Issue
A1, A2: ALU stage 1 and 2, M1, M2: Multiply stage 1 and 2
DA: Data Address calculation stage, D: Data cache access
WB: Write back
24
AVR32
¾ Pipeline
9 Prefetch Unit
– responsible for feeding instructions to the decode unit.
– fetches 32 bits at a time from the instruction cache and places them in a FIFO prefetch
buffer
9 Decode Unit
– generates the necessary signals in order for the instruction to execute correctly
– ID stage: accepts one instruction each clock cycle from the prefetch unit
If the instruction cannot be decoded, an illegal instruction or unimplemented instruction
exception is issued
– IS stage: performs register file reads and keeps track of data hazards in the pipeline
If hazards exist, pipelines are frozen as needed in order to resolve the hazard
9 ALU Pipeline
– performs most of the data manipulation instructions, like arithmetical and logical
operations
– A1 Stage: target address calculation and condition check, condition code checking for
conditional instructions, address calculation for indexed memory accesses, write back
address calculation for LS pipeline and all flag setting for arithmetical and logical
instructions.
– A2 Stage: the saturation needed by satadd and satsub and the operation and flag
setting needed by satrnds, satrndu, sats and satu.
25
AVR32
¾ Pipeline (Cont’d)
9 Multiply Pipeline
– All multiply instructions execute in the multiply pipeline.
– contains a 32 by 16 multiplier array, and 16x16 and 32x16 multiplications therefore
have an issue latency of one cycle.
– Multiplication of 32 by 32 bits require two iterations through the multiplier array, and
therefore needs several cycles to complete.
– Additional cycles may be needed if an accumulation is to be performed. This will stall
the multiply pipeline until the instruction is complete.
9 Load-store Pipeline
– can read or write up to two registers per clock cycle, if the data is 64-bit aligned.
– contains hardware for performing load and store multiple instructions decoupled from
the rest of the core.
26
AVR32
¾ Event Handling
9 An event can be either an interrupt or an exception.
9 Each pipeline stage has a pipeline register that holds the exception requests
associated with the instruction in that pipeline stage.
9 Detect
– D stage: all data-address related exceptions
– All other exceptions and interrupts are detected in the A1 stage
9 Event priority
– If several instructions trigger events, the instruction furthest down the pipeline is
serviced first, even if upstream instructions have pending events of higher priority.
– If this instruction has several pending events, the event with the highest priority is
serviced first. After this event has been serviced, all pending events are cleared and
the instruction is restarted.
9 Entry points for events
– Several different event handler entry points exists. For AVR32B, the reset routine
entry address is always fixed to 0xA000_0000. This address resides in unmapped,
uncached space in order to ensure well-defined resets.
– If several events occur on the same instruction, they are handled in a prioritized way.
The priority ordering is presented next page.
– If events occur on several instructions at different locations in the pipeline, the events
on the oldest instruction are always handled before any events on any younger
instruction, even if the younger instruction has events of higher priority than the oldest
instruction.
27
AVR32
¾ Event Handling (Cont’d)
9 Priority and handler addresses for events
28
AVR32
Develop Environments and Supports
¾ Development Environments
9 IAR Embedded Work bench
9 Atmel JTAGICEmkII
9 GNU Compiler Collection
– deb http://www.atmel.no/beta_ware/avr32/ubuntu/breezy binary/
– development environment for AVR32 standalone and AVR32 Linux
¾ Supports
9 Open source: U-Boot, Linux 2.6.18 or later, eCos, etc.
9 Development Kit
29
Outline

Abstract
Introduction
ARM
AVR32
ARM vs. AVR32
References
30
ARM vs. AVR32
ARM vs. AVR32
¾ AVR32 Block Diagram
31
ARM vs. AVR32
¾ AVR32 AP multimedia Benchmarks
9 QVGA@30fps MPEG4 Decode: 75MHz CPU frequency
9 MP3 Audio: 15MHz CPU frequency
9 Outperforms ARM9 3 times
– video decode
32
ARM vs. AVR32
¾ EEMBC – Generic Benchmarks
9 Embedded Microcontroller Benchmarks Consortium
9 Benchmark of architectures, not devices
33
ARM vs. AVR32
¾ EEMBC – Generic Benchmarks (Cont’d)
9 Code density
– Lower power consumption
– Lower RAM requirement
34
ARM vs. AVR32
¾ AP7000 ARM9 Competitive Overview
35
ARM vs. AVR32
¾ ARM11?
9 Microsoft ZUNE
9 iMx.31 needs 0.65mm via it cannot be made by drill.
9 Cost increase
¾ Which one is better, ARM or AVR32?
36
Outline

Abstract
Introduction
ARM
AVR32
ARM vs. AVR32
References
37
References
Documents
¾ From Atmel website (http://www.atmel.com)
9
9
9
9
9
AVR32 AP Technical Reference Manual
AVR32 Architecture Document
AP32AP7000 Datasheet
ATSTK1000 User’s Guide
AVR32 ASIA 2006 DRAFT
¾ From CD included in STK1000
9 AVR32 BSP User’s Guide
9 Linux
9 Tool-chain
38