1. Embedded Systems Programming ARM assembler

2. Creating a binary from assembler source arm=linux-as Assembler Test1.S arm-linux-ld Linker Arm-boot.o Executable binary

3. @ A simple input output program using the StrongARM uart @ ----------------------------------------------------------------------- @ Constant values used in this program.setSP1, 0x80010000@ Base of the Microcontroller I/O space.setUTDR, 0x14@ Offset to the Serial Data Register.setUTSR0, 0x1c@ Offset to SP status reg 0.setUTSR1, 0x20@ Offset to the Serial Status port.setUTSR1_TNF, 0b00000100@ Mask to check Tx FIFO Not Full.setUTSR1_RNE, 0b00000010@ Mask to check Rx FIFO Not Empty.setUTSR1_TBY, 0b00000001@ Mask to check Tx Busy @ ----------------------------------------------------------------------- @ Assembly-language preamble.text@ Executable code follows.balign 4.global_start@ "_start" is required by the linker.globalmain@ "main" is our main program _start: bmain

4. @ ----------------------------------------------------------------------- @ Start of the main program main: ldrr1, =SP1@ Use R1 as a base register for uart @ Read a character from the internal serial port 1:ldrbr0, [r1, #UTSR1]@ Read the Serial Status port tstr0, #UTSR1_TNF@ Check if a character is available beq1b@ No: wait until a character comes in ldrbr0, [r1, #UTDR]@ Read the actual character into R0 @ Send the character to the internal serial port wb1:ldrbr2, [r1, #UTSR1]@ Check the Serial Status port again tstr2, #UTSR1_TNF@ Can a character be sent out? beqwb1@ No: wait until port is ready strbr0, [r1, #UTDR]@ Send the actual character out b1b@ Do this forever (or until stopped) @ -----------------------------------------------------------------------.end

5. The example assembler program Layout is very important –Labels must come first & use a colon : –Followed by instructions –Followed by comments –Separate comments start with @ sign

6. Pseudo operands There are 2 general types of data in an assembler program –Instructions –Pseudo operands Instructions which directly generate code –mov r0, #10 Pseudo operands which don’t. –.text –.balign 4

7. Pseudo operands.ascii & asciz –Create an ascii string + 0 byte.balign n^ 2 –Align address by n^ 2 bytes.code 16|32 –Set instruction for Thumb or ARM.include.macro arg1, arg2, argn –Create a macro with args –Ended with.endm

8. Pseudo operands.section {flags} –Sections are.text,.data.bss.set var_name, value –Set variable to value – same as.equ.rept N –Repeat block N times end with.endr.word word1, word2, wordn –Insert a list of 32 bit words

9. ARM data instructions Basic format: –ADD r0,r1,r2 –Computes r1+r2, stores in r0. Immediate operand: –ADD r0,r1,#2 –Computes r1+2, stores in r0.

10. ARM data instructions ADD, ADC : add (w. carry) SUB, SBC : subtract (w. carry) RSB, RSC : reverse subtract (w. carry) MUL, MLA : multiply (and accumulate) AND, ORR, EOR BIC : bit clear LSL, LSR : logical shift left/right ASL, ASR : arithmetic shift left/right ROR : rotate right RRX : rotate right extended with C

11. Data operation varieties Logical shift: –fills with zeroes. Arithmetic shift: –fills with ones. RRX performs 33-bit rotate, including C bit from CPSR above sign bit.

12. ARM comparison instructions CMP : compare CMN : negated compare TST : bit-wise AND TEQ : bit-wise XOR These instructions set only the NZCV bits of CPSR.

13. ARM move instructions MOV, MVN : move (negated) MOV r0, r1 ; sets r0 to r1

14. Load store addressing Three basic forms of data transfer instructions: – Single register load/store instructions – Multiple register load/store instructions – Single register swap instructions (combined load and store) Use a value in one register (called the base register) as a memory address and either loads the data value from that address into a destination register or stores the register value to memory: –LDR r0, [r1] ; r0 := mem32[r1] –STR r0, [r1] ; mem32[r1] := r0 This is called register-indirect addressing – LDR r0, [r1] DDDDD AAAAAAA DDDDD R0 R1 memory

15. ARM load/store instructions LDR, LDRH, LDRB : load (half-word, byte) STR, STRH, STRB : store (half-word, byte) Addressing modes: –register indirect : LDR r0,[r1] –with second register : LDR r0,[r1,-r2] –with constant : LDR r0,[r1,#4]

16. Example: C assignments C: –x = (a + b) - c; Assembler: ADR r4,a; get address for a LDR r0,[r4]; get value of a ADR r4,b; get address for b, reusing r4 LDR r1,[r4]; get value of b ADD r3,r0,r1; compute a+b ADR r4,c; get address for c LDR r2,[r4]; get value of c SUB r3,r3,r2; complete computation of x ADR r4,x; get address for x STR r3,[r4]; store value of x

17. Example: C assignment C: –z = (a << 2) | (b & 15); Assembler: ADR r4,a ; get address for a LDR r0,[r4] ; get value of a MOV r0,r0,LSL 2 ; perform shift ADR r4,b ; get address for b LDR r1,[r4] ; get value of b AND r1,r1,#15 ; perform AND ORR r1,r0,r1 ; perform OR ADR r4,z ; get address for z STR r1,[r4] ; store value for z

18. Additional addressing modes Base-plus-offset addressing: –LDR r0,[r1,#16] –Loads from location r1+16 Auto-indexing increments base register: –LDR r0,[r1,#16]! Post-indexing fetches, then does offset: –LDR r0,[r1],#16 –Loads r0 from r1, then adds 16 to r1.

19. ARM flow of control All operations can be performed conditionally, testing CPSR: –EQ, NE, CS, CC, MI, PL, VS, VC, HI, LS, GE, LT, GT, LE Branch operation: –B #100 –Can be performed conditionally.

20. ARM ADR pseudo-op Cannot refer to an address directly in an instruction. Generate value by performing arithmetic on PC. ADR pseudo-op generates instruction required to calculate address: –ADR r1,FOO

21. Example: if statement C: if (a > b) { x = 5; y = c + d; } else x = c - d; Assembler: ; compute and test condition ADR r4,a ; get address for a LDR r0,[r4] ; get value of a ADR r4,b ; get address for b LDR r1,[r4] ; get value for b CMP r0,r1 ; compare a < b BLE fblock ; if a ><= b, branch to false block

22. If statement, continued ; true block MOV r0,#5 ; generate value for x ADR r4,x ; get address for x STR r0,[r4] ; store x ADR r4,c ; get address for c LDR r0,[r4] ; get value of c ADR r4,d ; get address for d LDR r1,[r4] ; get value of d ADD r0,r0,r1 ; compute y ADR r4,y ; get address for y STR r0,[r4] ; store y B after ; branch around false block

23. If statement, continued ; false block fblock ADR r4,c ; get address for c LDR r0,[r4] ; get value of c ADR r4,d ; get address for d LDR r1,[r4] ; get value for d SUB r0,r0,r1 ; compute a-b ADR r4,x ; get address for x STR r0,[r4] ; store value of x after...

24. Example: Conditional instruction implementation ; true block MOVLT r0,#5 ; generate value for x ADRLT r4,x ; get address for x STRLT r0,[r4] ; store x ADRLT r4,c ; get address for c LDRLT r0,[r4] ; get value of c ADRLT r4,d ; get address for d LDRLT r1,[r4] ; get value of d ADDLT r0,r0,r1 ; compute y ADRLT r4,y ; get address for y STRLT r0,[r4] ; store y

25. Conditional instruction implementation, continued. ; false block ADRGE r4,c ; get address for c LDRGE r0,[r4] ; get value of c ADRGE r4,d ; get address for d LDRGE r1,[r4] ; get value for d SUBGE r0,r0,r1 ; compute a-b ADRGE r4,x ; get address for x STRGE r0,[r4] ; store value of x