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Copyright © 2014 ARM Limited or its affiliates. All rights reserved

STMicroelectronics Discovery STM32F4 Lab with ARM® Keil™ MDK toolkit www.keil.com/st

2

1. Keil Evaluation Software: 3

2. Keil Software Download and Installation: 3

3. On-board ST-Link V2 Debug Adapter: 3

4. Example Programs 3

5. Getting Started MDK 5 Manual: 3

6. µVision Software Packs Download and Install Process: 4

7. Testing the ST-Link V2 Connection: 5

8. Installing the ST-Link USB Drivers: 5

9. Blinky example using the STM32F4 Discovery board: 6

10. Hardware Breakpoints: 6

11. Call Stack & Locals window: 7

12. Watch and Memory windows and how to use them: 8

13. How to view Local Variables in Watch and Memory windows: 9

14. View Variables Graphically with the Logic Analyzer (LA): 10

15. Watchpoints: Conditional Breakpoints (Access Breakpoints) 11

16. RTX_Blinky example: Keil RTX RTOS: 12

17. RTX Kernel Awareness using RTX Viewer: 13

18. Logic Analyzer: View variables real-time in a graphical format: 14

19. ITM (Instrumentation Trace Macrocell): 15

20. Serial Wire Viewer (SWV) and how to use it: 16

1) Data Reads and Writes 16

2) Exceptions and Interrupts 17

3) PC Samples (program counter samples) 18

21. Serial Wire Viewer (SWV) Configuration: 19

22. DSP Sine Example using ARM CMSIS-DSP Libraries 20

23. Creating your own project from scratch: 24

24. Creating your own RTX RTOS project from scratch: 27

25. ETM Trace and its benefits: for reference 28

26. Configuring the ST-Link V2: 33

27. Configuring the Keil Flash Programmer: 34

28. Serial Wire Viewer and ETM summary: 35

29. Document Resources: 36

30. Keil Products and contact information: 37

Notes on using this document:

1. The latest version of this document and the necessary example source files are available here: www.keil.com/appnotes/docs/apnt_230.asp

2. MDK 5.10 was used in the exercises in this document.

3. To use MDK 4.7x, see www.keil.com/appnotes/docs/apnt_261.asp

4. The on-board ST-Link V2 is used by default in this document. All you need install is the USB driver to your PC.

5. The ST-Link V2 interfaces very well with Keil µVision and its performance is quite good including SWV.

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11) Call Stack + Locals Window: Local Variables: The Call Stack and Local windows are incorporated into one integrated window. Whenever the program is stopped, the Call Stack + Locals window will display call stack contents as well as any local variables belonging to the active function.

If possible, the values of the local variables will be displayed and if not the message <not in scope> will be displayed. The Call + Stack window presence or visibility can be toggled by selecting View/Call Stack window.

1. Run and Stop Blinky. Click on the Call Stack + Locals tab.

2. Shown is the Call Stack + Locals window.

The contents of the local variables are displayed as well as names of active functions. Each function name will be displayed as it is called from the function before it or from an interrupt or exception.

When a function exits, it is removed from the list.

The first called function is at the bottom of this table.

This table is active only when the program is stopped.

3. Click on the Step In icon or F11:

4. Note the function different functions displayed as you step through them. If you get trapped in the Delay function,

use Step Out or Ctrl-F11 to exit it faster.

5. Click numerous times on Step In and see other functions.

6. Right click on a function name and try the Show Callee Code and Show Caller Code options as shown here:

7. Click on the StepOut icon to exit all functions to return to main().

TIP: If single step (Step In) does not work, click on the Disassembly window to bring it into focus. If needed, click on a disassembly line to step through assembly instructions. If a source window is in focus, you will step through the source lines instead.

TIP: You can modify a variable value in the Call Stack & Locals window when the program is stopped.

TIP: This is standard “Stop and Go” debugging. ARM CoreSight debugging technology can do much better than this. You can display global or static variables updated in real-time while the program is running. No additions or changes to your code are required. Update while the program is running is not possible with local variables because they are usually stored in a CPU register. They must be converted to global or static variables so they always remain in scope.

If you have a ULINKpro and ETM trace, you can see a record of all the instructions executed. The Disassembly and Source windows show your code in the order it was written. The ETM trace shows it in the order it was executed. ETM additionally provides Code Coverage, Performance Analysis and Execution Profiling.

Changing a local variable to a static or global normally means it is moved from a CPU register to RAM. CoreSight can view RAM but not CPU registers when the program is running.

Call Stack: The list of stacked functions is displayed when the program is stopped as you have seen. This is useful when you need to know which functions have been called and what return data is stored on the stack.

TIP: You can modify a local variable value when the program is stopped.

TIP: You can access the Hardware Breakpoint table by clicking on Debug/Breakpoints or Ctrl-B. This is also where Watchpoints (also called Access Points) are configured. You can temporarily disable entries in this table.

Selecting Debug/Kill All Breakpoints deletes Breakpoints but not Watchpoints.

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16

20) Serial Wire Viewer (SWV) and how to use it: 1) Data Reads and Writes: (Note: Data Writes but not Reads are enabled in the current version of µVision).

You have already configured Serial Wire Viewer (SWV) on page 13 under RTX Viewer: Configuring the Serial Wire Viewer:

Now we will examine some of the features available to you. SWV works with µVision and ST-Link V2, ULINK2/ME, ULINKpro or a Segger J-Link V6 or higher. SWV is included with MDK and no other equipment must be purchased.

Everything shown here is done without stealing any CPU cycles and is completely non-intrusive. Your program runs at full speed and needs no code stubs or instrumentation software added to your source code. Screens are shown using a ST-Link.

1. Use RTX_Blinky5 from the previous exercise. Enter Debug mode and Run the program if not already running.

2. Select View/Trace/Records or click on the Trace icon and select Records.

3. The Trace Records window will open up as shown here:

4. The ITM frames are the data from the RTX Kernel Viewer which uses Port 31 as shown under Num. here:

5. To turn this off, select Debug/Debug Settings and click on the Trace tab. Unselect ITM Stimulus Port 31. TIP: Port 0 is used for Debug printf Viewer.

6. Unselect EXCTRC and Periodic.

7. Select On Data R/W Sample.

8. Click on OK twice to return.

TIP: If the SWV trace fails to work properly after this change, exit Debug mode, cycle the power to the Discovery board and re-enter Debug mode.

If you are using the STM32F401 board see page 3.

9. Click on the RUN icon.

10. Double-click in Trace Records window to clear it.

11. Only Data Writes will appear now.

TIP: You could have right clicked on the Trace Records window to filter the ITM frames out. Unselecting a feature is better as it reduces SWO pin traffic and trace overflows.

What is happening here ?

1. When variables are entered in the Logic Analyzer (remember phasea ?), the reads and/or writes will appear in Trace Records.

2. The Address column shows where the variable is.

3. The Data column displays the data values written to phasea.

4. PC is the address of the instruction causing the writes. You activated it by selecting On Data R/W Sample in the Trace configuration window.

5. The Cycles and Time(s) columns are when these events happened.

TIP: You can have up to four variables in the Logic Analyzer and subsequently displayed in the Trace Records window. You must have all Watchpoints off.

TIP: If you select View/Symbol Window you can see where the addresses of the variables are located.

Note: You must have Browser Information selected in the Options for Target/Output tab to use the Symbol Browser.

TIP: ULINKpro and Segger J-Link adapters display the trace frames in a slightly different style trace window. The J-Link currently does not display Data writes.



17

2) Exceptions and Interrupts: The STM32 family using the Cortex-M4 processor has many interrupts and it can be difficult to determine when they are being activated and how often. Serial Wire Viewer (SWV) on the STM32 family makes this task easy.

1. Stop the RTX_Blinky example program. Be in Debug mode. Open Debug/Debug Settings and select the Trace tab.

2. Unselect On Data R/W Sample, PC Sample and ITM Ports 31 and 0. (this is to minimize overloading the SWO port)

3. Select EXCTRC as shown here:

4. Click OK twice.

5. Double click on Trace Records to clear it.

6. Click RUN to start the program.

TIP: If the SWV trace fails to work properly after this change, exit and re-enter Debug mode.

7. You will see a window similar to the one below with Exceptions frames displayed.

.What Is Happening ?

1. You can see two exceptions happening.

Entry: when the exception enters.

Exit: When it exits or returns.

Return: When all the exceptions have returned to the main program. This is useful to detect tail-chaining.

2. Num 11 is SVCall from the RTX calls.

3. Num 15 is the Systick timer.

4. In my example you can see one data write from the Logic Analyzer.

5. Note everything is timestamped.

6. The “X” in Ovf is an overflow and some data was lost. The “X” in Dly means the timestamps are delayed because too much information is being fed out the SWO pin. Always limit the SWV features to only those you really need.

TIP: The SWO pin is one pin on the Cortex-M4 family processors that all SWV information is fed out. There are limitations on how much information we can feed out this one pin. These exceptions are happening at a very fast rate. µVision easily recovers gracefully from these overflows. Overflows are shown when they happen. Using a ULINKpro helps reduce overruns, especialy if the 4 bit Trace Port connection is used rather than the 1 bit SWO pin.

1. Select View/Trace/Exceptions or click on the Trace icon and select Exceptions.

2. The next window opens up and more information about the exceptions is displayed as shown below:

3. Note the number of times these have happened under Count. This is very useful information in case interrupts come too fast or slow. Click on Count to bring the most active exceptions to the top of the window.

4. ExtIRQ are the peripheral interrupts.

5. You can clear this trace window by double-clicking on it.

6. All this information is displayed in real-time and without stealing any CPU cycles or stubs in your code !

TIP: Num is the exception number: RESET is 1. External interrupts (ExtIRQ), which are normally attached to peripherals, start at Num 16. For example, Num 41 is also known as 41-16 = External IRQ 25. Num 16 = 16 – 16 = ExtIRQ 0.



18

3) PC Samples: Serial Wire Viewer can display a sampling of the program counter.

SWV can display at best every 64th instruction but usually every 16,384 is more common. It is best to keep this number as high as possible to avoid overloading the Serial Wire Output (SWO) pin. This is easily set in the Trace configuration.

1. Open Debug/Debug Settings and select the Trace tab.

2. Unselect EXCTRC, On Data R/W Sample and select Periodic in the PC Sampling area.

3. Click on OK twice to return to the main screen.

4. Close the Exception Trace window and leave Trace Records open. Double-click to clear.

5. Click on RUN and this window opens:

6. Most of the PC Samples in the example shown are 0x0800_055A which is a branch to itself in a loop forever routine. Note: the exact address you get depends on the source code and the compiler settings.

7. Stop the program and the Disassembly window will show this Branch as shown below:

8. Not all the PCs will be captured. Still, PC Samples can give you some idea of where your program is; especially if it is not caught in a tight loop like in this case.

9. Set a breakpoint in one of the tasks.

10. Run the program and when the breakpoint is hit, you might see another address at the bottom of the Trace Records window. See the screen below:

11. Scroll to the bottom of the Trace Records window and you might (probably not) see the correct PC value displayed. Usually, it will be a different PC depending on when the sampling took place.

12. To see all the instructions executed, you can use the ETM instruction trace with a ULINKpro.

13. Remove the breakpoint.

14. Stop the program.

15. Leave Debug mode.

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21

Signal Timings in Logic Analyzer (LA): 1. In the LA window, select Signal Info, Show Cycles, Amplitude and Cursor.

2. Click on STOP in the Update Screen box. You could also stop the program but leave it running in this case.

3. Click somewhere in the LA to set a reference cursor line.

4. Note as you move the cursor various timing information is displayed as shown below:

RTX Tasks and System: 5. Click on Start in the Update Screen box to resume the collection of data.

6. Open Debug/OS Support and select System and Thread Viewer. A window similar to below opens up. You probably have to click on its header and drag it into the middle of the screen.

7. Note this window does not update: nearly all the processor time is spent in the idle daemon: it shows it is Running. The processor spends relatively little time in the other threads. You will see this illustrated clearly on the next page.

8. Set a breakpoint in four of the threads in DirtyFilter.c by clicking in the left margin on a grey area.

9. Click on Run and the program will stop at each thread in turn and the Thread Viewer window will be updated accordingly. Here, I set a breakpoint in the disturb_gen thread:

10. Clearly you can see that disturb_gen was running when the breakpoint was activated.

11. Remove the breakpoints. Click on them or enter Ctrl-B and select Kill All.

TIP: You can set hardware breakpoints while the program is running.

TIP: Recall this window uses the CoreSight DAP read and write technology to update this window. Serial Wire Viewer is not used and is not required to be activated for this window to display and be updated.

The Event Viewer does use SWV and this is demonstrated on the next page.



22

Event Viewer: 1. Stop the program. Click on Setup... in the Logic Analyzer. Select Kill All to remove all variables. This is necessary

because the SWO pin will likely be overloaded when the Event Viewer is opened up. Inaccuracies might occur. If you like – you can leave the LA loaded with the four variables to see what the Event Viewer will look like.

2. Select Debug/Debug Settings.

3. Click on the Trace tab.

4. Enable ITM Stimulus Port 31. Event Viewer uses this to collect its information.

5. Click OK twice.

6. Click on RUN.

7. Open Debug/OS Support and select Event Viewer. The window here opens up:

8. Note the main(1) thread. This screen is scrolled to the beginning after RESET. Main() runs only once.

Important TIP: If SWV trace fails to work after this change, exit Debug, cycle the board power and re-enter Debug mode.

TIP: If Event Viewer is blank or erratic, or the LA variables are not displaying or blank: this is likely because the Serial Wire Output pin is overloaded and dropping trace frames. Solutions are to delete some or all of the variables in the Logic Analyzer to free up some bandwidth.

ULINKpro is much better with SWO bandwidth issues. These have been able to display both the Event and LA windows. ULINKpro uses the faster Manchester format than the slower UART mode that ST-Link, ULINK2 and J-Link uses.

ULINKpro can also use the 4 bit Trace Port for faster operation for SWV. The Trace Port is mandatory for ETM trace.

9. Note on the Y axis each of the 5 running tasks plus the idle daemon. Each bar is an active task and shows you what task is running, when and for how long.

10. Click Stop in the Update Screen box.

11. Click on Zoom In so three or four tasks are displayed.

12. Select Cursor. Position the cursor over one set of bars and click once. A red line is set at the first arrow:

13. Move your cursor to the right over the next set (where the second arrow is) and total time and difference are displayed.

14. Note, since you enabled Show Cycles, the total cycles and difference is also shown.

The 10 msec shown is the SysTick timer value. This value is set in RTX_Conf_CM.c . The next page describes how to change this.

TIP: ITM Port 31enables sending the Event Viewer frames out the SWO port. Disabling this can save bandwidth on the SWO port if you are not using the Event Viewer.

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24

23) Creating your own MDK 5 project from scratch: All examples provided by Keil are pre-configured. All you have to do is compile them. You can use them as a template for your own projects. However, we will start an example project from the beginning to illustrate how easy this process is. Once you have the new project configured; you can build, load and run a bare Blinky example. It will have an empty main() function so it does not do much. However, the processor startup sequences are present and you can easily add your own source code and/or files. You can use this process to create any new project, including one using an RTOS.

Install the STM32 Software Pack for your processor:

1. Start µVision and leave in Edit mode. Do not be in Debug mode.

2. Pack Installer: The Pack for the STM32F4 processor must be installed. This has already been done on page 4.

3. You do not need to copy any examples over.

Create a new Directory and a New Project:

1. Click on Project/New µVision Project…

2. In the window that opens, shown below, go to the folder C:\MDK\Boards\ST\STMF32F4-Discovery\

3. Right click in this window and select New and create a new folder. I called it BlinkyNEW.

4. Double click on BlinkyNew to open it or highlight it and select Open.

5. In the File name: box, enter Blinky. Click on Save.

6. This creates the project Blinky.uvproj in C:\MDK\Boards\ST\STMF32F4-Discovery\BlinkyNEW.

7. As soon as you click on Save, the next window opens:

Select the Device you are using:

1. Expand STMicroelectronics, then STM32F4 Series, then STM32F407 and then finally select STM32F407VG:

TIP: Processor icons in green are from the Software Packs. Grey icons are from MDK 4.7x.

2. Click OK and the Manage Run Time window shown below bottom right opens.

Select the CMSIS components you want:

1. Expand all the items and select CORE and Startup as shown below. They will be highlighted in Green indicating there are no other files needed. Click OK.

2. Click on File/Save All or select the Save All icon:

3. The project Blinky.uvproj will now be changed to Blinky.uvprojx.

4. You now have a new project list as shown on the bottom left below: The appropriate CMSIS files you selected have been automatically entered and configured.

5. Note the Target Selector says Target 1. Highlight Target 1 in the Project window.

6. Click once on it and change its name to CMSIS-DAP and press Enter. The Target selector name will also change.

What has happened to this point:

You have created a blank µVision project using MDK 5 Software Packs. All you need to do now is add your own source files.

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5) Execution Profiling: For reference only… Execution Profiling is used to display how much time a C source line took to execute and how many times it was called. This information is provided by the ETM trace. It is possible to group source lines (called collapse) to get combined times and number of calls. This is called Outlining. The µVision simulator also provides Execution Profiling.

1. Enter Debug mode.

2. Select Debug/Execution Profiling/Show Time.

3. In the left margin of the disassembly and C source windows will display various time values.

4. Click on RUN.

5. The times will start to fill up as shown below right:

6. Click inside the yellow margin of Blinky.c to refresh it.

7. This is done in real-time and without stealing CPU cycles.

8. Hover the cursor over a time and ands more information appears as in the yellow box here:

9. Recall you can also select Show Calls and this information rather than the execution times will be displayed in the margin.

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35

28) Serial Wire Viewer and ETM Trace Summary:

Serial Wire Viewer can see: Global variables.

Static variables.

Structures.

Peripheral registers – just read or write to them.

Can’t see local variables. (just make them global or static).

Can’t see DMA transfers – DMA bypasses CPU and SWV by definition.

Serial Wire Viewer displays in various ways: PC Samples.

Data reads and writes.

Exception and interrupt events.

CPU counters.

Timestamps.

ETM Trace is good for: Trace adds significant power to debugging efforts. Tells where the program has been.

A recorded history of the program execution in the order it happened.

Trace can often find nasty problems very quickly. Weeks or months can be replaced by minutes.

Especially where the bug occurs a long time before the consequences are seen.

Or where the state of the system disappears with a change in scope(s).

Plus - don’t have to stop the program. Crucial to some projects.

These are the types of problems that can be found with a quality ETM trace: Pointer problems. Illegal instructions and data aborts (such as misaligned writes).

Code overwrites – writes to Flash, unexpected writes to peripheral registers (SFRs), a corrupted stack. How did I get here ?

Out of bounds data. Uninitialized variables and arrays.

Stack overflows. What causes the stack to grow bigger than it should ?

Runaway programs: your program has gone off into the weeds and you need to know what instruction caused this. Is very tough to find these problems without a trace. ETM trace is best for this.

Communication protocol and timing issues. System timing problems.

ETM facilitates Code Coverage, Performance Analysis and program flow debugging and analysis.

For information on Instruction Trace (ETM) pleas e visit www.keil.com/st for other labs discussing ETM.



36

29) Document Resources: See www.keil.com/st Books:

1. NEW! Getting Started MDK 5: Obtain this free book here: www.keil.com/mdk5/.

2. There is a good selection of books available on ARM processors. A good list of books on ARM processors is found at www.arm.com/university by selecting “Teaching Resources”. You can also select ARM Related Books but make sure to also select the “Books suited for Academia” tab to see the full selection.

3. µVision contains a window titled Books. Many documents including data sheets are located there.

4. A list of resources is located at: www.arm.com/products/processors/cortex-m/index.php Click on the Resources tab. Or search for “Cortex-M3” on www.arm.com and click on the Resources tab.

5. The Definitive Guide to the ARM Cortex-M0/M0+ by Joseph Yiu. Search the web for retailers.

6. The Definitive Guide to the ARM Cortex-M3/M4 by Joseph Yiu. Search the web for retailers.

7. Embedded Systems: Introduction to Arm Cortex-M Microcontrollers (3 volumes) by Jonathan Valvano.

Application Notes: 8. Using Cortex-M3 and Cortex-M4 Fault Exceptions www.keil.com/appnotes/files/apnt209.pdf

9. Segger emWin GUIBuilder with µVision™ www.keil.com/appnotes/files/apnt_234.pdf

10. Porting mbed Project to Keil MDK™ www.keil.com/appnotes/docs/apnt_207.asp

11. MDK-ARM™ Compiler Optimizations www.keil.com/appnotes/docs/apnt_202.asp

12. Using µVision with CodeSourcery GNU www.keil.com/appnotes/docs/apnt_199.asp

13. RTX CMSIS-RTOS in MDK 5 C:\Keil_v5\ARM\Pack\ARM\CMSIS\3.20.4\CMSIS_RTXDownload

14. RTX CMSIS-RTX www.keil.com/demo/eval/rtx.htm and www.arm.com/cmsis

15. Barrier Instructions http://infocenter.arm.com/help/topic/com.arm.doc.dai0321a/index.html

16. Lazy Stacking on the Cortex-M4: www.arm.com and search for DAI0298A

17. Cortex Debug Connectors: www.arm.com and search for cortex_debug_connectors.pdf

18. Sending ITM printf to external Windows applications: www.keil.com/appnotes/docs/apnt_240.asp

Keil Tutorials for STMicroelectronics Boards: see www.keil.com/st

Community Forums: www.keil.com/forum and http://community.arm.com/groups/tools/content

ARM University program: www.arm.com/university. Email: [email protected]

ARM Accredited Engineer Program: www.arm.com/aae

mbed: http://mbed.org

For comments or corrections on this document please email [email protected].

For more information on the ARM CMSIS standard: www.arm.com/cmsis,

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