[df49c60] | 1 | This is a README file for the MVME167 port of RTEMS 4.5.0. |
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[5d02459] | 2 | |
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| 3 | Please send any comments, improvements, or bug reports to: |
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| 4 | |
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| 5 | Charles-Antoine Gauthier |
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[df49c60] | 6 | charles.gauthier@nrc.ca |
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[8ef3818] | 7 | |
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[df49c60] | 8 | or |
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| 9 | |
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| 10 | Darlene Stewart |
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| 11 | Darlene.Stewart@nrc.ca |
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[8ef3818] | 12 | |
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[5d02459] | 13 | Software Engineering Group |
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| 14 | Institute for Information Technology |
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| 15 | National Research Council of Canada |
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| 16 | Ottawa, ON, K1A 0R6 |
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| 17 | Canada |
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| 18 | |
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[df49c60] | 19 | |
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[5d02459] | 20 | Disclaimer |
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| 21 | ---------- |
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| 22 | |
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| 23 | The National Research Council of Canada is distributing this RTEMS |
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| 24 | board support package for the Motorola MVME167 as free software; you |
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| 25 | can redistribute it and/or modify it under terms of the GNU General |
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| 26 | Public License as published by the Free Software Foundation; either |
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| 27 | version 2, or (at your option) any later version. This software is |
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| 28 | distributed in the hope that it will be useful, but WITHOUT ANY |
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| 29 | WARRANTY; without even the implied warranty of MERCHANTABILITY or |
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| 30 | FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License |
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| 31 | for more details. You should have received a copy of the GNU General |
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| 32 | Public License along with RTEMS; see file COPYING. If not, write to |
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| 33 | the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. |
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| 34 | |
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| 35 | Under no circumstances will the National Research Council of Canada |
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| 36 | nor Her Majesty the Queen in right of Canada assume any liablility |
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| 37 | for the use this software, nor any responsibility for its quality or |
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| 38 | its support. |
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| 39 | |
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| 40 | |
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| 41 | Installation |
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| 42 | ------------ |
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| 43 | |
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| 44 | Nothing unique to the MVME167. It uses the standard build process for |
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| 45 | m68k targets. You will need to edit linkcmds to put in the start address |
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| 46 | of your board. We do TFTP transfers to our target. The mvme167.cfg file |
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[df49c60] | 47 | builds only the ELF images, which we download to the target, skipping |
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| 48 | over the first 0x54 bytes; Motorola S-records are not generated. Edit |
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| 49 | this file if you want S-records. |
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[5d02459] | 50 | |
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| 51 | |
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| 52 | Port Description |
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[ed09fd77] | 53 | |
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[4e4e691] | 54 | Console driver |
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[df49c60] | 55 | --------------- |
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[5d02459] | 56 | |
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[ed09fd77] | 57 | This BSP includes an termios-capable interrupt-driven I/O console driver |
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| 58 | that supports all four serial ports on the MVME167 model. The port labelled |
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| 59 | Serial Port 1/Console on the MVME712 is normally used by 167Bug; do not open |
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| 60 | /dev/tty00 if you are debugging using 167Bug. |
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[df49c60] | 61 | |
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| 62 | Limited support is provided for polled terminal I/O. This is used when |
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[ed09fd77] | 63 | running the timing tests, and by the printk() debug output function. |
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| 64 | Polled I/O may use termios, or it may bypass those services. The printk() |
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| 65 | function does not use termios. When polled I/O is used, the terminal settings |
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| 66 | must be set through 167-Bug; trying to change the line settings through RTEMS |
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| 67 | has no effect. |
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| 68 | |
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| 69 | Three is no support for using interrupt-driven I/O without termios support. |
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| 70 | |
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| 71 | The default configuration is to use polled I/O and to bypass termios. This |
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| 72 | is done so the test can be built at the same time as the rest of the system. |
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| 73 | It is highly recommended that the defaults be changed in the mvme167.cfg file |
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| 74 | to reflect the desired defaults, or that the appropriate parameters be set up |
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| 75 | in NVRAM to select the appropriate I/O modes at boot time. |
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| 76 | |
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| 77 | When configured for interrupt-driven I/O, the console is initialized with |
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| 78 | whatever parameters are set up in termios before it calls the firtOpen driver |
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| 79 | callback, EXCEPT THAT HARDWARE HANDSHAKING IS TURNED OFF, i.e. CLOCAL is set |
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| 80 | in the struct termios c_cflag field. We use 3-wire cables for I/O, and find |
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| 81 | hardware handshaking a pain. If you enable hardware handshaking, you must drive |
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| 82 | CTS* low on the CD2401 for output to occur. If the port is in the DTE |
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| 83 | configuration, you must drive the RS-232 CTS line to space; if the port is |
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| 84 | in the DCE configuration, you must drive the RS-232 RTS line to space. |
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| 85 | |
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| 86 | To use interrupt-driven I/O, set the CD2401_IO_MODE manifest constant to 1 in |
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| 87 | rtems/make/custom/mvme167.cfg, or configure the appropriate parameter in |
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| 88 | User Area Non-volatile RAM. See the Configuration Parameters section below |
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| 89 | for instructions on setting up NVRAM. |
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| 90 | |
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| 91 | To use termios, set the CD2401_USE_TERMIOS manifest constant to 1 in |
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| 92 | rtems/make/custom/mvme167.cfg, or configure the appropriate parameter in |
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| 93 | User Area Non-volatile RAM. See the Configuration Parameters section |
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| 94 | below for instructions on setting up NVRAM. |
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| 95 | |
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| 96 | The RTEMS console, i.e. the port used by stdin, stdout and stderr (do not |
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| 97 | confuse it with the port labelled Console on the MVME712), must be |
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| 98 | specified in the rtems/make/custom/mvme167.cfg file, or in the NVRAM |
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| 99 | parameters. Set the value of CONSOLE_MINOR appropriately. See below for a |
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| 100 | list of choices. See the Configuration Parameters section below for |
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| 101 | instructions on setting up NVRAM. |
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| 102 | |
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| 103 | The RTEMS printk port, i.e. the port where printk sends it debugging output |
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| 104 | text, must be specified in the rtems/make/custom/mvme167.cfg file, or in the |
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| 105 | NVRAM parameters. Set the value of PRINTK_MINOR appropriately. See below for a |
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| 106 | list of choices. See the Configuration Parameters section below for |
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| 107 | instructions on setting up NVRAM. |
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| 108 | |
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| 109 | Interrupt-driven and polled I/O cannot be mixed in the MVME167, except that |
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| 110 | printk always used polled I/O without termios. If interrupt-driven I/O is |
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| 111 | used and printk is used, do not open the device that printk uses from an |
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| 112 | RTEMS application. |
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| 113 | |
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| 114 | Console and printk port choices: |
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| 115 | |
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| 116 | 0 - /dev/tty0, Serial Port 1/Console on the MVME712M. |
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| 117 | 1 - /dev/tty1, Serial Port 2/TTY01 on the MVME712M. |
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| 118 | 2 - /dev/tty2, Serial Port 3 on the MVME712M. |
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| 119 | 3 - /dev/tty3, Serial Port 4 on the MVME712M. |
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| 120 | |
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| 121 | Setting the RTEMS console to port 0 when interrupt-driven I/O is specified |
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| 122 | will prevent 167-Bug from using that port. |
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| 123 | |
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| 124 | To use polled I/O on port 2 or 3, the port must be configured in 167-Bug. See |
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| 125 | the "PF" command in the "Debugging Package for Motorola 68K CISC CPUs User's |
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| 126 | Manual", part number 68KBUG. |
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[df49c60] | 127 | |
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[4e4e691] | 128 | |
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| 129 | Floating-point |
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[ed09fd77] | 130 | -------------- |
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[4e4e691] | 131 | |
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| 132 | The MC68040 has a built-in FPU. This FPU does not implement all the |
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[df49c60] | 133 | instruction of the MC68881/MC68882 floating-point coprocessors in |
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| 134 | hardware. The -m68040 compilation options instructs gcc to not generate |
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| 135 | the missing instructions. All of the RTEMS code is built this way. Some |
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| 136 | of the missing functionality must be supplied by external libraries. The |
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| 137 | required functions are part of libgcc.a. |
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[4e4e691] | 138 | |
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| 139 | The issue gets complicated because libc, libm and libgcc do not come as |
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| 140 | m68040-specific variants. The default variants of these libraries are for the |
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| 141 | MC68020 and MC68030. There are specific variants for the MC68000 (which has |
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| 142 | limited addressing modes with respect to later family members), and specific |
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| 143 | variants for systems without a floating-point unit, either a built-in FPU or |
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| 144 | a coprocessor. These latter variants will be referred to as the msoft-float |
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| 145 | variants. There is a msoft-float variant for the MC68000, and one for the |
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| 146 | other family members. |
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| 147 | |
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| 148 | The default variants of libc, libm and libgcc appear to work just fine for the |
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| 149 | MC68040, AS LONG AS NO FLOATING POINT FUNCTIONS ARE CALLED. In particular, |
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| 150 | printf() and scanf() raise unimplemented floating-point instruction exceptions |
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| 151 | at run time. Expect almost every function that must compute a floating-point |
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| 152 | result to also raise unimplemented floating-point instruction exceptions. Do |
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| 153 | not use these variants if your application does any floating-point operations, |
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| 154 | unless you use the Motorola FPSP package (described further down). |
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| 155 | |
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| 156 | The msoft-float variants do print out floating-point numbers properly, but we |
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| 157 | have not tested them extensively, so use them with caution. In particular, |
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| 158 | the Paranoia test fails when linked with the msoft-float variants of the |
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| 159 | libraries; it goes into an infinite loop after milestone 40. |
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| 160 | |
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| 161 | MSOFT_FLOAT VARIANTS MUST BE USED TOGETHER. If you use the msoft-float variant |
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| 162 | of libc and libm, you must also linked with the msoft-float variant of libgcc, |
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| 163 | otherwise calls such as printf() print out floating-point values incorrectly. |
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| 164 | |
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| 165 | RTEMS comes with the Motorola FPSP (Floating-Point Support Package) for the |
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| 166 | MC68040 (rtems/c/src/lib/libcp/m68k/m68040/fpsp). This package emulates the |
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| 167 | missing floating-point instructions. It is built automatically for the |
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| 168 | MVME167 and installed in bsp_start(). |
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| 169 | |
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| 170 | The FPSP allows the use of the default variants of libc, libm and libgcc. |
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| 171 | It also runs the paranoia test properly, and prints out the correct results. |
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| 172 | It should probably be used in preference to the msoft-float libraries, as it |
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| 173 | appears to work better. The disadvantage of the FPSP is that it increases the |
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| 174 | size of the executable by about 60KB and that it relies on run time |
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| 175 | exceptions. |
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| 176 | |
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| 177 | If your application does not do any floating-point operations at all, you |
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| 178 | should consider disabling the FPSP. In bsp_start(), emove the call to |
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| 179 | M68KFPSPInstallExceptionHandlers(), and uncomment the three lines in |
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| 180 | mvme167.cfg that redefine which variants of libc, libm and libgcc to link |
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| 181 | against. |
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| 182 | |
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| 183 | |
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[8ef3818] | 184 | Configuration Parameters |
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[ed09fd77] | 185 | ------------------------ |
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[8ef3818] | 186 | |
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| 187 | If Jumper J1-4 is installed, certain configuration parameters may be read from |
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| 188 | the first 31 bytes of User Area NVRAM starting at 0xFFFC0000. In this case, the |
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[ed09fd77] | 189 | remaining J1-[5-7] jumpers are ignored, and the user is responsible for writing |
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| 190 | the appropriate values in NVRAM (via 167-Bug) in order to alter the default |
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| 191 | behaviour. A zero value in NVRAM results in the default behaviour. The paramaters |
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| 192 | that are configurable and their default settings are described below. |
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[8ef3818] | 193 | |
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[ed09fd77] | 194 | Cache Mode (0xFFFC0000 - 1 byte) |
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| 195 | Set the following bits in the byte to set the desired cache mode: |
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| 196 | bit 0 |
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| 197 | 0 - data cache disable |
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| 198 | 1 - data cache enable |
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| 199 | bit 1 |
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| 200 | 0 - instruction cache disable |
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| 201 | 1 - instruction cache enable |
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| 202 | bits 2 & 3: |
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| 203 | 00 = cachable, write-through |
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| 204 | 01 = cachable, copyback |
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| 205 | 10 = noncachable, serialized |
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| 206 | 11 = noncachable |
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| 207 | |
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| 208 | Console driver I/O mode (0xFFFC0001 - 1 byte) |
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| 209 | Set the following bits in the byte to set the desired I/O mode: |
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| 210 | bit 0 |
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| 211 | 0 - do not use termios |
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| 212 | 1 - use termios |
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| 213 | bit 1 |
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| 214 | 0 - polled I/O |
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| 215 | 1 - interrupt-driven I/O |
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| 216 | |
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| 217 | Console driver ports (0xFFFC0002 - 1 byte) |
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| 218 | Set the following bits in the byte to select the console and printk ports: |
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| 219 | bit 0 & 1 select the RTEMS console port |
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| 220 | 00 - /dev/tty0, Serial Port 1/Console on the MVME712M. |
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| 221 | 01 - /dev/tty1, Serial Port 2/TTY01 on the MVME712M. |
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| 222 | 10 - /dev/tty2, Serial Port 3 on the MVME712M. |
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| 223 | 11 - /dev/tty3, Serial Port 4 on the MVME712M. |
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| 224 | bit 4 & 5 select the RTEMS printk port |
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| 225 | 00 - /dev/tty0, Serial Port 1/Console on the MVME712M. |
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| 226 | 01 - /dev/tty1, Serial Port 2/TTY01 on the MVME712M. |
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| 227 | 10 - /dev/tty2, Serial Port 3 on the MVME712M. |
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| 228 | 11 - /dev/tty3, Serial Port 4 on the MVME712M. |
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| 229 | If the printk port is the same as some other port that will be opened by an |
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| 230 | RTEMS application, then the driver must use polled I/O, or the printk port |
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| 231 | must not be used. |
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| 232 | |
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[8ef3818] | 233 | IP Address (0xFFFC0004 - 4 bytes) |
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[ed09fd77] | 234 | write the hexadecimal representation of the IP address of the board in this |
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| 235 | locatio, e.g. 192.168.1.2 = 0xC0A80102 |
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[8ef3818] | 236 | default: obtain the IP address from an rtems_bsdnet_ifconfig structure |
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| 237 | |
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| 238 | Netmask (0xFFFC0008 - 4 bytes) |
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[ed09fd77] | 239 | write the hexadecimal representation of the netmask in this location |
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[8ef3818] | 240 | for example, 255.255.255.0 = 0xFFFFFF00 |
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| 241 | default: obtain the netmask from an rtems_bsdnet_ifconfig structure |
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| 242 | |
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| 243 | Ethernet Address (0xFFFC000C - 6 bytes) |
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[ed09fd77] | 244 | write the Ethernet address of the board in this location |
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| 245 | default: obtain the hardware address from an rtems_bsdnet_ifconfig |
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| 246 | structure |
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[8ef3818] | 247 | |
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| 248 | Processor ID (0xFFFC0012 - 2 bytes) |
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| 249 | reserved for future use |
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| 250 | |
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| 251 | RMA start (0xFFFC0014 - 4 bytes) |
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| 252 | reserved for future use |
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| 253 | |
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| 254 | VMA start (0xFFFC0018 - 4 bytes) |
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| 255 | reserved for future use |
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| 256 | |
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| 257 | RamSize (0xFFFC001C - 4 bytes) |
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| 258 | reserved for future use |
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| 259 | |
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| 260 | |
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[df49c60] | 261 | Cache Control and Memory Mapping |
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[ed09fd77] | 262 | -------------------------------- |
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[df49c60] | 263 | |
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[8ef3818] | 264 | If configuration is not obtained from non-volatile RAM (ie. J1-4 is off), |
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| 265 | cache control is done through the remaining J1 jumpers as follows: |
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| 266 | |
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[df49c60] | 267 | If Jumper J1-7 is installed, the data cache will be turned on. If Jumper |
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[ed09fd77] | 268 | J1-6 is installed, the instruction cache will be turned on. (If a jumper |
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| 269 | is off, its corresponding cache will remain disabled). |
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[df49c60] | 270 | |
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| 271 | If Jumper J1-5 is installed, the data cache will be placed in copyback |
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| 272 | mode. If it is removed, it will be placed in writethrough mode. |
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| 273 | |
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| 274 | Currently, block address translation is set up to map the virtual |
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| 275 | 0x00000000--0x7FFFFFFF to the physical range 0x00000000--0x7FFFFFFF. The |
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| 276 | port relies on the hardware to raise exceptions when addressing |
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| 277 | non-existent memory. Caching is not controllable on a finer grain. |
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| 278 | |
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[4e4e691] | 279 | |
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[ed09fd77] | 280 | Networking |
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| 281 | ---------- |
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| 282 | |
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| 283 | If configuration is not obtained from non-volatile RAM (ie. J1-4 is off), |
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| 284 | the networking parameters shown above must be specified in an initialized |
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| 285 | rtems_bsdnet_ifconfig struct. This structure is declared and initialized to |
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| 286 | specify any network devices and includes entries for ip_address, ip_netmask |
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| 287 | and hardware_address. See the Network Device Configuration section of the |
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| 288 | RTEMS Networking Supplement. |
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| 289 | |
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| 290 | When non-default (non-zero) networking paramaters are provided in NVRAM (ie. |
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| 291 | j1-4 is on), the user MUST ensure that the corresponding entries in the |
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| 292 | ifconfig struct are NULL. Failing to do so is an error, because it causes |
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| 293 | the memory allocated for the initialized struct values to be lost. |
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| 294 | |
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| 295 | |
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[df49c60] | 296 | Miscellaneous |
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[ed09fd77] | 297 | ------------- |
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[5d02459] | 298 | |
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| 299 | The timer and clock drivers were patterned after the MVME162 and MVME152 |
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| 300 | ports. |
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| 301 | |
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| 302 | At this time, we do not have an MPCI layer for the MVME167. We are planning |
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| 303 | to write one. |
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| 304 | |
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| 305 | This port supplies its own fatal_error_handler, which attempts to print some |
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| 306 | error message through 167Bug (on the Serial Port 1/Console on the MVME712M). |
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| 307 | |
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| 308 | |
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| 309 | Host System |
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| 310 | ----------- |
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| 311 | |
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| 312 | The port was initially developed on an RS-6000 running AIX 4.2. The following |
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| 313 | tools were used: |
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| 314 | |
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| 315 | - GNU gcc 2.8.1 configured for a powerpc-ibm-aix4.2.0.0 host and |
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| 316 | m68k-rtems target; |
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| 317 | - GNU binutils 2.9.1 configured for a powerpc-ibm-aix4.2.0.0 host and |
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| 318 | m68k-rtems target; |
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[df49c60] | 319 | |
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[4e4e691] | 320 | It was also tested on a Pentium II-based PC running Windows NT Workstation 4.0 |
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[df49c60] | 321 | and the Cygnus Cygwin32 release b20.1 environment, with the following tools: |
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[4e4e691] | 322 | |
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| 323 | - EGCS 1.1.1 configured for a i586-cygwin32 host and m68k-rtems target; |
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| 324 | - GNU binutils 2.9.4 configured for a i586-cygwin32 host and m68k-rtems |
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| 325 | target; |
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| 326 | |
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| 327 | With the latter environment, be patient; builds take a very looong time... |
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| 328 | |
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[df49c60] | 329 | Current development is done on a Pentium III PC running RedHat Linux 6.1. |
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| 330 | At the time this README was composed, the latest working compiler that was |
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| 331 | used successfully was gcc version 2.96 20000213 (experimental). Both the C |
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[ed09fd77] | 332 | and C++ compilers were working. Binutils 2.10 are used. |
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[5d02459] | 333 | |
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| 334 | |
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| 335 | Known Problems |
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| 336 | -------------- |
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| 337 | |
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[ed09fd77] | 338 | Polled I/O without termios may not work very well on input. The problem |
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| 339 | is that input processing is not done: applications may get characters too |
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| 340 | early, and may get characters that they normally would not get, such as |
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| 341 | backspace or delete. Furthermore, input is not buffered at all. The latest |
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| 342 | versions of rtems seem to set the count field in the rtems_libio_rw_args_t |
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| 343 | argument to the buffer size, not to the number of characters expected on |
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| 344 | input. Rather than wait for 1024 characters on each call, the driver |
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| 345 | returns each character when it is received. |
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| 346 | |
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[5d02459] | 347 | The cdtest will not run with interrupt-driven I/O. The reason is that the |
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| 348 | constructors for the static objects are called at boot time when the |
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| 349 | interrupts are still disabled. The output buffer fills up, but never empties, |
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| 350 | and the application goes into an infinite loop waiting for buffer space. This |
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| 351 | should have been documented in the rtems/c/src/tests/PROBLEMS file. The moral |
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| 352 | of this story is: do not do I/O from the constructors or destructors of static |
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| 353 | objects. |
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| 354 | |
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| 355 | Output stops prematurely in the termios test when the console is operating in |
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| 356 | interrupt-driven mode because the serial port is re-initialized before all |
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| 357 | characters in the last raw output buffer are sent. Adding calls to tcdrain() |
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| 358 | in the test task helps, but it does not solve the problem. What happens is |
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| 359 | that the CD2401 raises a transmit interrupt when the last character in the |
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| 360 | DMA buffer is written into the transmit FIFO, not when the last character |
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| 361 | has been transmitted. When tcdrain() returns, there might be up to 16 |
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| 362 | characters in the output FIFO. The call to tcsetattr() causes the serial port |
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| 363 | to re-initialize, at which point the output FIFO is cleared. We could not find |
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| 364 | a way to detect whether characters are still in the FIFO and to wait for them |
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| 365 | to be transmitted. |
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| 366 | |
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| 367 | The first raw buffer to be transmitted after the console is re-initialized |
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| 368 | with tcsetattr() is garbled. At this time, it does not seem worth while to |
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| 369 | track this problem down. |
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| 370 | |
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| 371 | In the stackchk test, an access fault exception is raised after the stack is |
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| 372 | blown. This is one case were overwritting the first or last 16 bytes of the |
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| 373 | stack does cause problems (but hey, an exception occurred, which is better |
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| 374 | than propagating the error). |
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| 375 | |
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[df49c60] | 376 | In the stackchk test, an access fault exception is raised after the stack is |
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| 377 | blown. This is one case were overwritting the first or last 16 bytes of the |
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| 378 | stack does cause problems (but hey, an exception occurred, which is better |
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| 379 | than propagating the error). |
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| 380 | |
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[5d02459] | 381 | When using interrupt-driven I/O, psx08 produces all the expected output, but |
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| 382 | it does not return control to 167Bug. Is this test supposed to work with |
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| 383 | interrupt-driven console I/O? |
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| 384 | |
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| 385 | |
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[ed09fd77] | 386 | What is new |
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| 387 | ----------- |
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[5d02459] | 388 | |
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[df49c60] | 389 | Support for Java is being actively worked on. |
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| 390 | |
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[5d02459] | 391 | |
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| 392 | Thanks |
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| 393 | ------ |
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| 394 | |
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| 395 | - to On-Line Applications Research Corporation (OAR) for developing |
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| 396 | RTEMS and making it available on a Technology Transfer basis; |
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| 397 | |
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| 398 | - to FSF and Cygnus Support for great free software; |
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| 399 | |
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| 400 | |
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| 401 | Test Configuration |
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| 402 | ------------------ |
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| 403 | |
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| 404 | Board: Motorola MVME167 |
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| 405 | CPU: Motorola MC68040 |
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| 406 | Clock Speed: 25 MHz |
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| 407 | RAM: 4 MBytes of 32-bit DRAM with parity |
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| 408 | Cache Configuration: Instruction cache on; data cache on, copyback mode. |
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| 409 | Times Reported in: microseconds |
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| 410 | Timer Source: VMEchip2 Tick Timer 1 |
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| 411 | GCC Flags: -m68040 -g -O4 -fomit-frame-pointer |
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| 412 | Console: Operate in polled mode. Set CD2401_POLLED_IO to 1 in |
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| 413 | rtems/c/src/lib/libbsp/m68k/mvme167/console/console.c. |
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| 414 | |
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| 415 | |
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| 416 | Test Results |
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| 417 | ------------ |
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| 418 | |
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| 419 | Single processor tests: All tests passed, except the following ones: |
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[4e4e691] | 420 | |
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| 421 | - paranoia required the FPSP and the default variants of libm (and libc and |
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| 422 | libgcc) for us. It may work with the msoft-float variants for you, but it |
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| 423 | does require the FPSP. |
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| 424 | |
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| 425 | - cpuuse and malloctest did not work. |
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| 426 | |
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| 427 | - The stackchk test got an access fault exception before the RTEMS stack |
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| 428 | checker had had a chance to detect the corrupted stack. |
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| 429 | |
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[5d02459] | 430 | |
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| 431 | Multi-processort tests: not applicable -- No MPCI layer yet. |
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| 432 | |
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[4e4e691] | 433 | |
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[ed09fd77] | 434 | Timing tests: See rtems/c/src/lib/libbsp/m68k/mvme167/times |
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[5d02459] | 435 | |
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