2.5.2 Exception Types .......................................................................................................... 103
2.5.3 Exception Handlers ..................................................................................................... 108
2.5.4 Vector Table ................................................................................................................ 108
2.5.5 Exception Priorities ...................................................................................................... 109
2.5.6 Interrupt Priority Grouping ............................................................................................ 110
2.5.7 Exception Entry and Return ......................................................................................... 110
2.6 Fault Handling ............................................................................................................. 113
2.6.1 Fault Types ................................................................................................................. 114
2.6.2 Fault Escalation and Hard Faults .................................................................................. 114
2.6.3 Fault Status Registers and Fault Address Registers ...................................................... 115
2.6.4 Lockup ....................................................................................................................... 115
2.7 Power Management .................................................................................................... 116
2.7.1 Entering Sleep Modes ................................................................................................. 116
2.7.2 Wake Up from Sleep Mode .......................................................................................... 116
2.8 Instruction Set Summary .............................................................................................. 117
3 Cortex-M4 Peripherals ......................................................................................... 124
3.1 Functional Description ................................................................................................. 124
3.1.1 System Timer (SysTick) ............................................................................................... 125
3.1.2 Nested Vectored Interrupt Controller (NVIC) .................................................................. 126
3.1.3 System Control Block (SCB) ........................................................................................ 127
3.1.4 Memory Protection Unit (MPU) ..................................................................................... 127
3.1.5 Floating-Point Unit (FPU) ............................................................................................. 132
3.2 Register Map .............................................................................................................. 136
3.3 System Timer (SysTick) Register Descriptions .............................................................. 139
3.4 NVIC Register Descriptions .......................................................................................... 143
3.5 System Control Block (SCB) Register Descriptions ........................................................ 158
3.6 Memory Protection Unit (MPU) Register Descriptions .................................................... 187
3.7 Floating-Point Unit (FPU) Register Descriptions ............................................................ 196
4 JTAG Interface ...................................................................................................... 202
4.1 Block Diagram ............................................................................................................ 203
4.2 Signal Description ....................................................................................................... 203
4.3 Functional Description ................................................................................................. 204
4.3.1 JTAG Interface Pins ..................................................................................................... 204
4.3.2 JTAG TAP Controller ................................................................................................... 206
4.3.3 Shift Registers ............................................................................................................ 206
4.3.4 Operational Considerations .......................................................................................... 207
4.4 Initialization and Configuration ..................................................................................... 209
4.5 Register Descriptions .................................................................................................. 210
4.5.1 Instruction Register (IR) ............................................................................................... 210
4.5.2 Data Registers ............................................................................................................ 212
5 System Control ..................................................................................................... 214
5.1 Signal Description ....................................................................................................... 214
5.2 Functional Description ................................................................................................. 214
5.2.1 Device Identification .................................................................................................... 214
5.2.2 Reset Control .............................................................................................................. 215
5.2.3 Non-Maskable Interrupt ............................................................................................... 220
5.2.4 Power Control ............................................................................................................. 220
5.2.5 Clock Control .............................................................................................................. 221
June 12, 20144
Texas Instruments-Production Data
Table of Contents
