source: rtems-docs/cpu-supplement/m68xxx_and_coldfire.rst @ f067ba3

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[489740f]1.. comment SPDX-License-Identifier: CC-BY-SA-4.0
2
[f233256]3.. COMMENT: Copyright (c) 2014 embedded brains GmbH.  All rights reserved.
4
[d755cbd]5M68xxx and Coldfire Specific Information
[6916004]6****************************************
[d755cbd]7
[f233256]8This chapter discusses the Freescale (formerly Motorola) MC68xxx and Coldfire
9architectural dependencies.  The MC68xxx family has a wide variety of CPU
10models within it based upon different CPU core implementations.  Ignoring the
11Coldfire parts, the part numbers for these models are generally divided into
12MC680xx and MC683xx.  The MC680xx models are more general purpose processors
13with no integrated peripherals.  The MC683xx models, on the other hand, are
14more specialized and have a variety of peripherals on chip including
15sophisticated timers and serial communications controllers.
[d755cbd]16
17**Architecture Documents**
18
[f233256]19For information on the MC68xxx and Coldfire architecture, refer to the
20following documents available from Freescale website
21(http//www.freescale.com/):
[d755cbd]22
23- *M68000 Family Reference, Motorola, FR68K/D*.
24
[d389819]25- *MC68020 User's Manual, Motorola, MC68020UM/AD*.
[d755cbd]26
[d389819]27- *MC68881/MC68882 Floating-Point Coprocessor User's Manual,
[d755cbd]28  Motorola, MC68881UM/AD*.
29
30CPU Model Dependent Features
31============================
32
[f233256]33This section presents the set of features which vary across m68k/Coldfire
34implementations that are of importance to RTEMS.  The set of CPU model feature
35macros are defined in the file :file:`cpukit/score/cpu/m68k/m68k.h` based upon
36the particular CPU model selected on the compilation command line.
[d755cbd]37
38BFFFO Instruction
39-----------------
40
[f233256]41The macro ``M68K_HAS_BFFFO`` is set to 1 to indicate that this CPU model has
42the bfffo instruction.
[d755cbd]43
44Vector Base Register
45--------------------
46
[f233256]47The macro ``M68K_HAS_VBR`` is set to 1 to indicate that this CPU model has a
48vector base register (vbr).
[d755cbd]49
50Separate Stacks
51---------------
52
[f233256]53The macro ``M68K_HAS_SEPARATE_STACKS`` is set to 1 to indicate that this CPU
54model has separate interrupt, user, and supervisor mode stacks.
[d755cbd]55
56Pre-Indexing Address Mode
57-------------------------
58
[f233256]59The macro ``M68K_HAS_PREINDEXING`` is set to 1 to indicate that this CPU model
60has the pre-indexing address mode.
[d755cbd]61
62Extend Byte to Long Instruction
63-------------------------------
64
[f233256]65The macro ``M68K_HAS_EXTB_L`` is set to 1 to indicate that this CPU model has
66the extb.l instruction.  This instruction is supposed to be available in all
67models based on the cpu32 core as well as mc68020 and up models.
[d755cbd]68
69Calling Conventions
70===================
71
[f233256]72The MC68xxx architecture supports a simple yet effective call and return
73mechanism.  A subroutine is invoked via the branch to subroutine (``bsr``) or
74the jump to subroutine (``jsr``) instructions.  These instructions push the
75return address on the current stack.  The return from subroutine (``rts``)
76instruction pops the return address off the current stack and transfers control
77to that instruction.  It is is important to note that the MC68xxx call and
78return mechanism does not automatically save or restore any registers.  It is
79the responsibility of the high-level language compiler to define the register
80preservation and usage convention.
[d755cbd]81
82Calling Mechanism
83-----------------
84
[f233256]85All RTEMS directives are invoked using either a ``bsr`` or ``jsr`` instruction
86and return to the user application via the rts instruction.
[d755cbd]87
88Register Usage
89--------------
90
[f233256]91As discussed above, the ``bsr`` and ``jsr`` instructions do not automatically
92save any registers.  RTEMS uses the registers D0, D1, A0, and A1 as scratch
93registers.  These registers are not preserved by RTEMS directives therefore,
94the contents of these registers should not be assumed upon return from any
95RTEMS directive.
[d755cbd]96
97Parameter Passing
98-----------------
99
[f233256]100RTEMS assumes that arguments are placed on the current stack before the
101directive is invoked via the bsr or jsr instruction.  The first argument is
102assumed to be closest to the return address on the stack.  This means that the
103first argument of the C calling sequence is pushed last.  The following
104pseudo-code illustrates the typical sequence used to call a RTEMS directive
105with three (3) arguments:
106
107.. code-block:: c
[d755cbd]108
109    push third argument
110    push second argument
111    push first argument
112    invoke directive
113    remove arguments from the stack
114
115The arguments to RTEMS are typically pushed onto the stack using a move
[f233256]116instruction with a pre-decremented stack pointer as the destination.  These
117arguments must be removed from the stack after control is returned to the
118caller.  This removal is typically accomplished by adding the size of the
119argument list in bytes to the current stack pointer.
[d755cbd]120
121Memory Model
122============
123
[f233256]124The MC68xxx family supports a flat 32-bit address space with addresses ranging
125from 0x00000000 to 0xFFFFFFFF (4 gigabytes).  Each address is represented by a
12632-bit value and is byte addressable.  The address may be used to reference a
127single byte, word (2-bytes), or long word (4 bytes).  Memory accesses within
128this address space are performed in big endian fashion by the processors in
129this family.
130
131Some of the MC68xxx family members such as the MC68020, MC68030, and MC68040
132support virtual memory and segmentation.  The MC68020 requires external
133hardware support such as the MC68851 Paged Memory Management Unit coprocessor
134which is typically used to perform address translations for these systems.
135RTEMS does not support virtual memory or segmentation on any of the MC68xxx
136family members.
[d755cbd]137
138Interrupt Processing
139====================
140
[f233256]141Discussed in this section are the MC68xxx's interrupt response and control
142mechanisms as they pertain to RTEMS.
[d755cbd]143
144Vectoring of an Interrupt Handler
145---------------------------------
146
[f233256]147Depending on whether or not the particular CPU supports a separate interrupt
148stack, the MC68xxx family has two different interrupt handling models.
[d755cbd]149
150Models Without Separate Interrupt Stacks
151~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
152
153Upon receipt of an interrupt the MC68xxx family members without separate
[f233256]154interrupt stacks automatically use software to switch stacks.
[d755cbd]155
156Models With Separate Interrupt Stacks
157~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
158
[f233256]159Upon receipt of an interrupt the MC68xxx family members with separate interrupt
160stacks automatically perform the following actions:
[d755cbd]161
162- saves the current status register (SR),
163
[f233256]164- clears the master/interrupt (M) bit of the SR to indicate the switch from
165  master state to interrupt state,
[d755cbd]166
167- sets the privilege mode to supervisor,
168
169- suppresses tracing,
170
[f233256]171- sets the interrupt mask level equal to the level of the interrupt being
172  serviced,
[d755cbd]173
[f233256]174- pushes an interrupt stack frame (ISF), which includes the program counter
175  (PC), the status register (SR), and the format/exception vector offset (FVO)
176  word, onto the supervisor and interrupt stacks,
[d755cbd]177
[f233256]178- switches the current stack to the interrupt stack and vectors to an interrupt
179  service routine (ISR).  If the ISR was installed with the interrupt_catch
180  directive, then the RTEMS interrupt handler will begin execution.  The RTEMS
181  interrupt handler saves all registers which are not preserved according to
[d389819]182  the calling conventions and invokes the application's ISR.
[d755cbd]183
[f233256]184A nested interrupt is processed similarly by these CPU models with the
185exception that only a single ISF is placed on the interrupt stack and the
186current stack need not be switched.
[d755cbd]187
[f233256]188The FVO word in the Interrupt Stack Frame is examined by RTEMS to determine
189when an outer most interrupt is being exited. Since the FVO is used by RTEMS
190for this purpose, the user application code MUST NOT modify this field.
[d755cbd]191
[f233256]192The following shows the Interrupt Stack Frame for MC68xxx CPU models with
193separate interrupt stacks:
[d755cbd]194
195+----------------------+-----+
196|    Status Register   | 0x0 |
197+----------------------+-----+
198| Program Counter High | 0x2 |
199+----------------------+-----+
200| Program Counter Low  | 0x4 |
201+----------------------+-----+
202| Format/Vector Offset | 0x6 |
203+----------------------+-----+
204
205
206CPU Models Without VBR and RAM at 0
207-----------------------------------
208
[f233256]209This is from a post by Zoltan Kocsi <zoltan@bendor.com.au> and is a nice trick
210in certain situations.  In his words:
[d755cbd]211
[f233256]212I think somebody on this list asked about the interupt vector handling w/o VBR
213and RAM at 0.  The usual trick is to initialise the vector table (except the
214first 2 two entries, of course) to point to the same location BUT you also add
215the vector number times 0x1000000 to them. That is, bits 31-24 contain the
216vector number and 23-0 the address of the common handler.  Since the PC is 32
217bit wide but the actual address bus is only 24, the top byte will be in the PC
218but will be ignored when jumping onto your routine.
[d755cbd]219
[f233256]220Then your common interrupt routine gets this info by loading the PC into some
221register and based on that info, you can jump to a vector in a vector table
222pointed by a virtual VBR:
223
224.. code-block:: c
[d755cbd]225
226    //
227    //  Real vector table at 0
228    //
229    .long   initial_sp
230    .long   initial_pc
231    .long   myhandler+0x02000000
232    .long   myhandler+0x03000000
233    .long   myhandler+0x04000000
234    ...
235    .long   myhandler+0xff000000
236    //
237    // This handler will jump to the interrupt routine   of which
238    // the address is stored at VBR[ vector_no ]
239    // The registers and stackframe will be intact, the interrupt
240    // routine will see exactly what it would see if it was called
241    // directly from the HW vector table at 0.
242    //
[f233256]243        .comm    VBR,4,2        // This defines the 'virtual' VBR
244    // From C: extern void *VBR;
[d755cbd]245    myhandler:                  // At entry, PC contains the full vector
[f233256]246        move.%d0,-(%sp)      // Save d0
247        move.%a0,-(%sp)      // Save a0
248        lea     0(%pc),%a0      // Get the value of the PC
249        move.%a0,%d0         // Copy it to a data reg, d0 is VV??????
250        swap    %d0             // Now d0 is ????VV??
251        and.w   #0xff00,%d0     // Now d0 is ????VV00 (1)
252        lsr.w   #6,%d0          // Now d0.w contains the VBR table offset
253        move.l  VBR,%a0         // Get the address from VBR to a0
254        move.(%a0,%d0.w),%a0 // Fetch the vector
255        move.4(%sp),%d0      // Restore d0
256        move.%a0,4(%sp)      // Place target address to the stack
257        move.(%sp)+,%a0      // Restore a0, target address is on TOS
258        ret                     // This will jump to the handler and
[d755cbd]259    // restore the stack
[f233256]260
261(1) If 'myhandler' is guaranteed to be in the first 64K, e.g. just
[d755cbd]262    after the vector table then that insn is not needed.
263
[f233256]264There are probably shorter ways to do this, but it I believe is enough to
265illustrate the trick. Optimisation is left as an exercise to the reader :-)
[d755cbd]266
267Interrupt Levels
268----------------
269
[f233256]270Eight levels (0-7) of interrupt priorities are supported by MC68xxx family
271members with level seven (7) being the highest priority.  Level zero (0)
272indicates that interrupts are fully enabled.  Interrupt requests for interrupts
273with priorities less than or equal to the current interrupt mask level are
274ignored.
[d755cbd]275
[f233256]276Although RTEMS supports 256 interrupt levels, the MC68xxx family only supports
277eight.  RTEMS interrupt levels 0 through 7 directly correspond to MC68xxx
278interrupt levels.  All other RTEMS interrupt levels are undefined and their
279behavior is unpredictable.
[d755cbd]280
281Default Fatal Error Processing
282==============================
283
284The default fatal error handler for this architecture disables processor
[f233256]285interrupts to level 7, places the error code in D0, and executes a ``stop``
286instruction to simulate a halt processor instruction.
[d755cbd]287
288Symmetric Multiprocessing
289=========================
290
291SMP is not supported.
292
293Thread-Local Storage
294====================
295
296Thread-local storage is supported.
297
298Board Support Packages
299======================
300
301System Reset
302------------
303
304An RTEMS based application is initiated or re-initiated when the MC68020
[f233256]305processor is reset.  When the MC68020 is reset, the processor performs the
306following actions:
[d755cbd]307
[f233256]308- The tracing bits of the status register are cleared to disable tracing.
[d755cbd]309
[f233256]310- The supervisor interrupt state is entered by setting the supervisor (S) bit
311  and clearing the master/interrupt (M) bit of the status register.
[d755cbd]312
[f233256]313- The interrupt mask of the status register is set to level 7 to effectively
314  disable all maskable interrupts.
[d755cbd]315
316- The vector base register (VBR) is set to zero.
317
[f233256]318- The cache control register (CACR) is set to zero to disable and freeze the
319  processor cache.
[d755cbd]320
[f233256]321- The interrupt stack pointer (ISP) is set to the value stored at vector 0
322  (bytes 0-3) of the exception vector table (EVT).
[d755cbd]323
[f233256]324- The program counter (PC) is set to the value stored at vector 1 (bytes 4-7)
325  of the EVT.
[d755cbd]326
[f233256]327- The processor begins execution at the address stored in the PC.
[d755cbd]328
329Processor Initialization
330------------------------
331
[f233256]332The address of the application's initialization code should be stored in the
333first vector of the EVT which will allow the immediate vectoring to the
334application code.  If the application requires that the VBR be some value
335besides zero, then it should be set to the required value at this point.  All
336tasks share the same MC68020's VBR value.  Because interrupts are enabled
337automatically by RTEMS as part of the context switch to the first task, the VBR
338MUST be set by either RTEMS of the BSP before this occurs ensure correct
339interrupt vectoring.  If processor caching is to be utilized, then it should be
340enabled during the reset application initialization code.
341
342In addition to the requirements described in the Board Support Packages chapter
343of the Applications User's Manual for the reset code which is executed before
344the call to initialize executive, the MC68020 version has the following
[d755cbd]345specific requirements:
346
[f233256]347- Must leave the S bit of the status register set so that the MC68020 remains
348  in the supervisor state.
[d755cbd]349
[f233256]350- Must set the M bit of the status register to remove the MC68020 from the
351  interrupt state.
[d755cbd]352
[f233256]353- Must set the master stack pointer (MSP) such that a minimum stack size of
354  MINIMUM_STACK_SIZE bytes is provided for the initialize executive directive.
[d755cbd]355
[d389819]356- Must initialize the MC68020's vector table.
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