MVME167 BSP submitted by Charles Gauthier <Charles.Gauthier@iit.nrc.ca>.

1 files changed, 395 insertions, 0 deletions

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+$Id$
+
+This is a README file for the MVME167 port of RTEMS 4.0.0.
+
+Please send any comments, improvements, or bug reports to:
+
+Charles-Antoine Gauthier
+Software Engineering Group
+Institute for Information Technology
+National Research Council of Canada
+Ottawa, ON, K1A 0R6
+Canada
+
+charles.gauthier@iit.nrc.ca
+  
+
+Disclaimer
+----------
+
+The National Research Council of Canada is distributing this RTEMS
+board support package for the Motorola MVME167 as free software; you
+can redistribute it and/or modify it under terms of the GNU General
+Public License as published by the Free Software Foundation; either
+version 2, or (at your option) any later version.  This software is
+distributed in the hope that it will be useful, but WITHOUT ANY
+WARRANTY; without even the implied warranty of MERCHANTABILITY or
+FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+for more details. You should have received a copy of the GNU General
+Public License along with RTEMS; see file COPYING. If not, write to
+the Free Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
+
+Under no circumstances will the National Research Council of Canada
+nor Her Majesty the Queen in right of Canada assume any liablility
+for the use this software, nor any responsibility for its quality or
+its support.
+
+
+Installation
+------------
+
+Nothing unique to the MVME167. It uses the standard build process for
+m68k targets. You will need to edit linkcmds to put in the start address
+of your board. We do TFTP transfers to our target. The mvme167.cfg file
+builds only the coff images, which we download to the target, skipping over
+the first 0xA8 bytes; Motorola S-records are not generated. Edit this file
+if you want S-records.
+
+
+Port Description
+----------------
+
+This BSP includes an termios-capable console driver that supports all
+four serial ports on the MVME167 model. The RTEMS console, /dev/console,
+corresponds to channel 1 in the CD2401. This corresponds to Serial Port
+2/TTY01 on the MVME712M. Serial Port 1/Console is normally used by 167Bug;
+do not open /dev/tty00 if you are debugging using 167Bug.
+
+The console is initialized with whatever parameters are set up in termios
+before it calls the firtOpen driver callback, EXCEPT THAT HARDWARE HANDSHAKING
+IS TURNED OFF, i.e. CLOCAL is set in the struct termios c_cflag field. We use
+3-wire cables for I/O, and find hardware handshaking a pain. If you enable
+hardware handshaking, you must drive CTS* low on the CD2401 for output to
+occur. If the port is in the DTE configuration, you must drive the RS-232 CTS
+line to space; if the port is in the DCE configuration, you must drive the
+RS-232 RTS line to space.
+
+Limited support is provided for polled terminal I/O. This is used when running
+the timing tests. Set the CD2401_POLLED_IO manifest constant to 1 in
+rtems/c/src/lib/libbsp/m68k/mvme167/console/console.c to enable polled I/O.
+In this case, I/O is done through 167Bug, usually to the Serial Port 1/Console
+port. Interrupt-driven and polled I/O cannot be mixed in the MVME167.
+
+The timer and clock drivers were patterned after the MVME162 and MVME152
+ports.
+
+At this time, we do not have an MPCI layer for the MVME167. We are planning
+to write one.
+
+The port does not have a network driver.
+
+This port supplies its own fatal_error_handler, which attempts to print some
+error message through 167Bug (on the Serial Port 1/Console on the MVME712M).
+
+
+Host System
+-----------
+
+The port was initially developed on an RS-6000 running AIX 4.2. The following
+tools were used:
+
+    - GNU gcc 2.8.1 configured for a powerpc-ibm-aix4.2.0.0 host and
+      m68k-rtems target;
+    - GNU binutils 2.9.1 configured for a powerpc-ibm-aix4.2.0.0 host and
+      m68k-rtems target;
+    - Cygnus newlib 1.8.0 with RTEMS 4.0.0 patches.
+
+
+Known Problems
+--------------
+
+The cdtest will not run with interrupt-driven I/O. The reason is that the
+constructors for the static objects are called at boot time when the
+interrupts are still disabled. The output buffer fills up, but never empties,
+and the application goes into an infinite loop waiting for buffer space. This
+should have been documented in the rtems/c/src/tests/PROBLEMS file. The moral
+of this story is: do not do I/O from the constructors or destructors of static
+objects.
+
+The cpuuse and malloctest tests do not work properly, either with polled I/O
+or interrupt-driven I/O. They are known not to work with interrupt-driven I/O,
+but should work with polled I/O?
+
+Output stops prematurely in the termios test when the console is operating in
+interrupt-driven mode because the serial port is re-initialized before all
+characters in the last raw output buffer are sent. Adding calls to tcdrain()
+in the test task helps, but it does not solve the problem. What happens is
+that the CD2401 raises a transmit interrupt when the last character in the
+DMA buffer is written into the transmit FIFO, not when the last character
+has been transmitted. When tcdrain() returns, there might be up to 16
+characters in the output FIFO. The call to tcsetattr() causes the serial port
+to re-initialize, at which point the output FIFO is cleared. We could not find
+a way to detect whether characters are still in the FIFO and to wait for them
+to be transmitted.
+
+The first raw buffer to be transmitted after the console is re-initialized
+with tcsetattr() is garbled. At this time, it does not seem worth while to
+track this problem down.
+
+In the rtmonuse test, an unimplemented floating point instruction exception
+is raised at the end of the test when CPU_usage_Dump() is called. The faulting
+instruction is FCMP.X FP0,FP2 in cvt().
+
+In the stackchk test, an access fault exception is raised after the stack is
+blown. This is one case were overwritting the first or last 16 bytes of the
+stack does cause problems (but hey, an exception occurred, which is better
+than propagating the error).
+
+When using interrupt-driven I/O, psx08 produces all the expected output, but
+it does not return control to 167Bug. Is this test supposed to work with
+interrupt-driven console I/O?
+
+
+What's new
+----------
+
+
+Thanks
+------
+
+- to On-Line Applications Research Corporation (OAR) for developing
+RTEMS and making it available on a Technology Transfer basis;
+
+- to FSF and Cygnus Support for great free software;
+
+
+Test Configuration
+------------------
+
+Board:                Motorola MVME167
+CPU:                  Motorola MC68040
+Clock Speed:          25 MHz
+RAM:                  4 MBytes of 32-bit DRAM with parity
+Cache Configuration:  Instruction cache on; data cache on, copyback mode.
+Times Reported in:    microseconds
+Timer Source:         VMEchip2 Tick Timer 1
+GCC Flags:            -m68040 -g -O4 -fomit-frame-pointer
+Console:              Operate in polled mode. Set CD2401_POLLED_IO to 1 in
+                      rtems/c/src/lib/libbsp/m68k/mvme167/console/console.c.     
+
+
+Test Results
+------------
+
+Single processor tests:  All tests passed, except the following ones:
+  sp19 and rtmonuse failed with an unimplemented floating point instruction
+  exception (FCMP.X FP0,FP2). We do not have a floating point emulation
+  library at this time.
+  cpuuse and malloctest did not work.
+  The stackchk test got an access fault exception before the RTEMS stack
+  checker had had a chance to detect the corrupted stack.
+                         
+Multi-processort tests:  not applicable -- No MPCI layer yet.
+
+Timing tests:
+
+	Context Switch
+
+    context switch: no floating point contexts 12
+    context switch: self 3
+    context switch: to another task 3
+    fp context switch: restore 1st FP task 14
+    fp context switch: save idle, restore initialized 5
+    fp context switch: save idle, restore idle 15
+    fp context switch: save initialized, restore initialized 5
+    
+    
+  Miscellaneous
+  
+    _ISR_Disable 1
+    _ISR_Flash 0
+    _ISR_Enable 0
+    
+    _Thread_Disable_dispatch 0
+    _Thread_Enable_dispatch 3
+    _Thread_Set_state 9
+    _Thread_Disptach (NO FP) 16
+    _Thread_Resume 6
+    _Thread_Unblock 4
+    _Thread_Ready 6
+    _Thread_Get 3
+    _Thread_Get: invalid id 0
+    
+    _Semaphore_Get 2
+
+
+	Task Manager
+
+    rtems_task_create 56
+    rtems_task_ident 106
+    rtems_task_start 21
+    rtems_task_restart: calling task 24
+    rtems_task_restart: suspended task -- returns to caller 27
+    rtems_task_restart: blocked task -- returns to caller 36
+    rtems_task_restart: ready task -- returns to caller 27
+    rtems_task_restart: suspended task -- preempts caller 40
+    rtems_task_restart: blocked task -- preempts caller 51
+    rtems_task_restart: ready task -- preempts caller 52
+    rtems_task_delete: calling task 67
+    rtems_task_delete: suspended task 52
+    rtems_task_delete: blocked task 54
+    rtems_task_delete: ready task 54
+    rtems_task_suspend: calling task 23
+    rtems_task_suspend: returns to caller 12
+    rtems_task_resume: task readied -- returns to caller 13
+    rtems_task_resume: task readied -- preempts caller 22
+    rtems_task_set_priority: obtain current priority 8
+    rtems_task_set_priority: returns to caller 16
+    rtems_task_set_priority: preempts caller 34
+    rtems_task_mode: obtain current mode 4
+    rtems_task_mode: no reschedule 5
+    rtems_task_mode: reschedule -- returns to caller 12
+    rtems_task_mode: reschedule -- preempts caller 26
+    rtems_task_get_note 8
+    rtems_task_set_note 8
+    rtems_task_wake_after: yield -- returns to caller 4
+    rtems_task_wake_after: yields -- preempts caller 19
+    rtems_task_wake_when 36
+
+
+	Interrupt Manager
+
+    interrupt entry overhead: returns to nested interrupt 5
+    interrupt entry overhead: returns to interrupted task 9
+    interrupt entry overhead: returns to preempting task 7
+    interrupt exit overhead: returns to nested interrupt 1
+    interrupt exit overhead: returns to interrupted task 2
+    interrupt exit overhead: returns to preempting task 26
+
+
+	Clock Manager
+
+    rtems_clock_set 20
+    rtems_clock_get <1
+    rtems_clock_tick 8
+
+
+	Timer Manager
+
+    rtems_timer_create 8
+  	rtems_timer_ident 104
+    rtems_timer_delete: inactive 12
+    rtems_timer_delete: active 13
+    rtems_timer_fire_after: inactive 17
+    rtems_timer_fire_after: active 18
+    rtems_timer_fire_when: inactive 23
+    rtems_timer_fire_when: active 23
+    rtems_timer_reset: inactive 16
+    rtems_timer_reset: active 17
+    rtems_timer_cancel: inactive 9
+    rtems_timer_cancel: active 10
+
+
+	Semaphore Manager
+
+    rtems_semaphore_create 22
+    rtems_semaphore_ident 119
+    rtems_semaphore_delete 24
+    rtems_semaphore_obtain: available 10
+    rtems_semaphore_obtain: not available -- NO_WAIT 10
+    rtems_semaphore_obtain: not available -- caller blocks 35
+    rtems_semaphore_release: no waiting tasks 11
+    rtems_semaphore_release: task readied -- returns to caller 17
+    rtems_semaphore_release: task readied -- preempts caller 27
+
+
+	Message Queue Manager
+
+    rtems_message_queue_create 85
+    rtems_message_queue_ident 103
+    rtems_message_queue_delete 32
+    rtems_message_queue_send: no waiting tasks 25
+    rtems_message_queue_send: task readied -- returns to caller 27
+    rtems_message_queue_send: task readied -- preempts caller 39
+    rtems_message_queue_urgent: no waiting tasks 26
+    rtems_message_queue_urgent: task readied -- returns to caller 28
+    rtems_message_queue_urgent: task readied -- preempts caller 39
+    rtems_message_queue_broadcast: no waiting tasks 13
+    rtems_message_queue_broadcast: task readied -- returns to caller 37
+    rtems_message_queue_broadcast: task readied -- preempts caller 45
+    rtems_message_queue_receive: available 21
+    rtems_message_queue_receive: not available -- NO_WAIT 11
+    rtems_message_queue_receive: not available -- caller blocks 37
+    rtems_message_queue_flush: no messages flushed 7
+    rtems_message_queue_flush: messages flushed 10
+
+
+	Event Manager
+
+    rtems_event_send: no task readied 7
+    rtems_event_send: task readied -- returns to caller 18
+    rtems_event_send: task readied -- preempts caller 29
+    rtems_event_receive: obtain current events <1
+    rtems_event_receive: available 10
+    rtems_event_receive: not available -- NO_WAIT 5
+    rtems_event_receive: not available -- caller blocks 28
+
+
+	Signal Manager
+
+    rtems_signal_catch 5
+    rtems_signal_send: returns to caller 15
+    rtems_signal_send: signal to self 24
+    exit ASR overhead: returns to calling task 20
+    exit ASR overhead: returns to preempting task 21
+
+
+	Partition Manager
+
+    rtems_partition_create 30
+    rtems_partition_ident 103
+    rtems_partition_delete 14
+    rtems_partition_get_buffer: available 14
+    rtems_partition_get_buffer: not available 9
+    rtems_partition_return_buffer 18
+
+
+	Region Manager
+
+    rtems_region_create 25
+    rtems_region_ident 105
+    rtems_region_delete 13
+    rtems_region_get_segment: available 13
+    rtems_region_get_segment: not available -- NO_WAIT 17
+    rtems_region_get_segment: not available -- caller blocks 49
+    rtems_region_return_segment: no waiting tasks 16
+    rtems_region_return_segment: task readied -- returns to caller 35
+    rtems_region_return_segment: task readied -- preempts caller 58
+
+
+	Dual-Ported Memory Manager
+
+    rtems_port_create 13
+	  rtems_port_ident 103
+    rtems_port_delete 14
+    rtems_port_external_to_internal 5
+    rtems_port_internal_to_external 5
+
+
+	IO Manager
+
+    rtems_io_initialize <1
+    rtems_io_open <1
+    rtems_io_close <1
+    rtems_io_read <1
+    rtems_io_write <1
+    rtems_io_control <1
+
+
+	Rate Monotonic Manager
+
+    rtems_rate_monotonic_create 15
+	  rtems_rate_monotonic_ident 103
+    rtems_rate_monotonic_cancel 16
+    rtems_rate_monotonic_delete: active 18
+    rtems_rate_monotonic_delete: inactive 20
+    rtems_rate_monotonic_period: initiate period -- returns to caller 23
+    rtems_rate_monotonic_period: conclude periods -- caller blocks 25
+    rtems_rate_monotonic_period: obtain status 13
+
+
+Network tests:
+       Network driver is not implemented.
+
+
+