1 | # |
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2 | # $Id$ |
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3 | # |
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4 | |
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5 | This is a README file for the Intec SS555 of RTEMS 4.6.0 |
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6 | |
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7 | The SS555 port was sponsored by Defence Research and Development |
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8 | Canada - Suffield, and is Copyright (C) 2004, Real-Time Systems Inc. |
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9 | |
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10 | Please send any comments, improvements, or bug reports to: |
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11 | |
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12 | David Querbach |
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13 | querbach@realtime.bc.ca |
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14 | |
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15 | |
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16 | Summary |
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17 | ------- |
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18 | |
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19 | BSP NAME: ss555 |
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20 | BOARD: Intec Automation Inc. SS555 |
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21 | BUS: None |
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22 | CPU FAMILY: PowerPC |
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23 | CPU: PowerPC MPC555 |
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24 | COPROCESSORS: Built-in Motorola TPU |
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25 | MODE: 32 bit mode |
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26 | |
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27 | DEBUG MONITOR: None |
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28 | |
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29 | PERIPHERALS |
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30 | =========== |
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31 | TIMERS: PIT / Timebase |
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32 | RESOLUTION: 1 microsecond (4 MHz crystal / 4) |
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33 | SERIAL PORTS: 2 SCI |
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34 | REAL-TIME CLOCK: On-chip. |
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35 | DMA: None. |
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36 | VIDEO: None. |
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37 | SCSI: None. |
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38 | NETWORKING: None. |
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39 | |
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40 | |
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41 | DRIVER INFORMATION |
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42 | ================== |
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43 | CLOCK DRIVER: yes |
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44 | CONSOLE DRIVER: yes |
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45 | SHMSUPP: N/A |
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46 | TIMER DRIVER: yes |
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47 | NETWORK DRIVER: no |
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48 | |
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49 | NOTES |
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50 | ===== |
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51 | On-chip resources: |
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52 | SCI1 serial port |
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53 | SCI2 serial port (console) |
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54 | PIT clock |
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55 | TB timing test support |
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56 | DEC |
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57 | SWT watchdog timer -- enable in startup/iss555.c |
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58 | *CS0 external 512k 2-1-1-1 Burst SRAM |
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59 | *CS1 |
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60 | *CS2 |
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61 | *CS3 CPLD |
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62 | IRQ0 |
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63 | IRQ1 |
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64 | IRQ2 |
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65 | IRQ3 |
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66 | IRQ4 |
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67 | IRQ5 |
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68 | IRQ6 |
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69 | IRQ7 |
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70 | IRQ_LVL0 |
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71 | IRQ_LVL1 |
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72 | IRQ_LVL2 |
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73 | IRQ_LVL3 |
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74 | IRQ_LVL4 |
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75 | IRQ_LVL5 SCI |
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76 | IRQ_LVL6 PIT |
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77 | IRQ_LVL7 |
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78 | |
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79 | |
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80 | Board description |
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81 | ----------------- |
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82 | Clock rate: 40 MHz development/embeddable board |
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83 | Bus width: 32-bit on-board RAM, 16-bit off-board I/O |
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84 | FLASH: 512k on-chip |
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85 | RAM: 512k 2-1-1-1 burst SRAM |
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86 | |
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87 | |
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88 | Installation |
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89 | ------------ |
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90 | |
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91 | The ss555 port uses the Intec SS555's external RAM in two different ways, |
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92 | depending on whether or not it is built for debugging by giving the |
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93 | VARIANT=DEBUG switch to make: |
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94 | |
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95 | make VARIANT=DEBUG all |
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96 | |
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97 | 1. In the debugging case, the linker script concanttenates the .text, |
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98 | .data, and .bss sections starting at location zero, so they all can be |
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99 | loaded into the external RAM for debugging. We assume that the debugger |
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100 | disables the internal Flash ROM and enables the external RAM before loading |
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101 | the code into the external RAM. |
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102 | |
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103 | 2. In the normal (non-debugging) case, the linker script still places the |
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104 | .text section near zero, but places the start of the .data and .bss sections |
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105 | at the start location of the MPC555's internal RAM. The system startup code |
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106 | then configures the external RAM just after the internal RAM in memory, |
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107 | forming one large block from the two RAM devices. |
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108 | |
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109 | |
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110 | Console driver |
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111 | --------------- |
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112 | |
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113 | This BSP includes an termios-capable asynchronous serial line driver that |
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114 | supports SCI1 and SCI2. The RTEMS console is selected at configuration time |
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115 | with the CONSOLE_MINOR variable (see .../ss555/configure.ac). We default to |
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116 | SCI2 for the console, since SCI1 has some extra features which may be |
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117 | desired for application use. |
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118 | |
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119 | The BSP console supports three different modes of operation: |
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120 | |
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121 | 1. polled I/O done with termios support, |
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122 | 2. polled I/O done without termios support, |
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123 | 3. interrupt-driven I/O with termios support. |
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124 | |
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125 | The mode of operation of the serial driver is determined at configure time in |
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126 | part by the value of the UARTS_IO_MODE variable (see .../ss555/configure.ac). |
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127 | |
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128 | 0 - polled I/O. |
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129 | 1 - interrupt-driven I/O. |
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130 | |
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131 | Also, set the value of UARTS_USE_TERMIOS to select whether termios should be |
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132 | used to perform buffering and input/output processing. Without termios |
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133 | support, input processing is limited to the substitution of LF for a |
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134 | received CR, and output processing is limited to the transmission of a CR |
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135 | following the transmission of a LF. The choices for UARTS_USE_TERMIOS are: |
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136 | |
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137 | 0 - do not use termios |
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138 | 1 - use termios |
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139 | |
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140 | In most real-time applications, the driver should be configured to use |
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141 | termios and interrupt-driven I/O. Special requirements may dictate otherwise. |
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142 | |
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143 | Polled I/O must be used when running the timing tests. It must also be used |
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144 | to run some other tests and some samples, such as the cdtest. Some tests |
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145 | change the interrupt mask and will hang interrupt-driven I/O indefinitely. |
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146 | Others, such as cdtest, perform console output from the static constructors |
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147 | before the console is opened, causing the test to hang. Still other tests |
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148 | produce output that is supposed to be in some specific order. For these |
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149 | tests, termios should not be used, as termios buffers output and the |
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150 | transmission of the buffers occur at somewhat unpredictable times. |
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151 | |
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152 | The real solution is to fix the tests so that they work with interrupt-driven |
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153 | I/O and termios. |
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154 | |
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155 | |
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156 | printk() and debug output |
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157 | ----------------------- |
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158 | |
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159 | The implementation of printk() in RTEMS is mostly independent of most system |
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160 | services. The printk() function can therefore be used to print messages to a |
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161 | debug console, particularly when debugging startup code or device drivers, |
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162 | i.e. code that runs before the console driver is opened or that runs with |
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163 | interrupts disabled. |
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164 | |
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165 | Support is provided to send printk output to either port. Specify the |
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166 | desired port at configure time by setting the value of PRINTK_MINOR to one |
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167 | of SCI1_MINOR or SCI2_MINOR. |
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168 | |
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169 | printk() always uses polled I/O, and never uses termios. |
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170 | |
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171 | If the printk() port is opened by RTEMS, then UARTS_IO_MODE must be set for |
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172 | polled I/O, otherwise the I/O functions will be in conflict. Using printk() |
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173 | before the port is initialized is, of course, not possible. This |
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174 | initialization occurs in console_initialize(), which is called by |
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175 | rtems_initialize_executive_early(). |
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176 | |
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177 | |
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178 | Watchdog Timer |
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179 | -------------- |
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180 | |
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181 | The MPC555 watchdog timer can be enabled at configuration time by defining |
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182 | the WATCHDOG_TIMEOUT variable. This variable sets the watchdog timeout |
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183 | period in steps of |
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184 | |
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185 | 2048 2048 |
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186 | --------- = --------- = 51.2 usec |
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187 | Fsystem 40 MHz |
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188 | |
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189 | or about 1/20 msec. When WATCHDOG_TIMEOUT is left undefined, the watchdog |
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190 | timer is disabled. |
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191 | |
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192 | |
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193 | Miscellaneous |
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194 | ------------- |
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195 | |
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196 | Most code came from the mbx8xx port, except for the floating-point handling |
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197 | which came from the mpc8260ads. |
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198 | |
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199 | |
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200 | Host System |
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201 | ----------- |
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202 | |
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203 | The port was developed on an x86 box running Debian 3.0. The toolchain was |
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204 | built from the sources at rtems.org, except for the autotools which came |
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205 | from the Debian distribution. |
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206 | |
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207 | |
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208 | Test Configuration |
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209 | ------------------ |
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210 | |
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211 | Board: Intec SS555 v1.1 |
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212 | CPU: Motorola MPC555LFMZP40, mask 1K83H |
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213 | Clock Speed: Crystal 4.0 MHz, CPU 40.0 MHz |
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214 | RAM: 512K bytes of 2-1-1-1 Burst SRAM |
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215 | Times Reported in: Microseconds |
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216 | Timer Source: Timebase clock |
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217 | GCC Flags: -O4 -fno-keep-inline-functions -mcpu=(821/860) |
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218 | Console: Operates in polled mode on SMC2. No I/O through EPPC-Bug. |
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219 | |
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220 | |
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221 | Test Results |
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222 | ------------ |
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223 | |
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224 | Single processor tests: |
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225 | All tests passed, except that: |
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226 | - sp09 aborts due to memory shortage |
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227 | - sp20 needs to be run with output buffering enabled (see |
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228 | buffer_test_io.h) |
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229 | |
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230 | Multi-processor tests: |
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231 | Not applicable. |
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232 | |
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233 | Library tests: |
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234 | All tests passed. Note that the termios test only works if the system is |
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235 | rebuilt with termios enabled. |
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236 | |
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237 | Posix tests: |
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238 | All tests passed, except that: |
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239 | - the message queue test failed with "errno (91 - File or path name too |
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240 | long)" |
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241 | |
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242 | Timing tests: |
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243 | Due to memory limitations, many of the tests will not run unless you set |
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244 | OPERATION_COUNT=20 at configuration time. |
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245 | |
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246 | To run tm27 (the interrupt latency timer test), short CN5-48 to CN5-50 on |
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247 | the SS555 board. |
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248 | |
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249 | All tests run cleanly, except for tm26, which gives a "PANIC 12" after it |
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250 | exits. This doesn't seem to cause a problem otherwise. |
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251 | |
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252 | See the times file for the results of the timing tests. |
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253 | |
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254 | Network tests: |
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255 | Not applicable. |
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256 | |
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257 | Sample programs: |
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258 | These run correctly, except that: |
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259 | - The "minimum" sample is not designed to run properly on any system. |
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260 | - The loopback, fileio, unilimited, and pppd tests fail due to memory |
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261 | limitations. |
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262 | - The paranoia program dies on a floating-point assist exception. |
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