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RTEMS 6.1-rc6
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RTEMS 6.1-rc6
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Please reference README.booting for the boot/load process.
For the priority setting of the Interrupt Requests (IRQs), please reference README.irq
The BSP is built and tested on the 4.7.1 and 4.7.99.2 CVS RTEMS release.
I believe in valuable real-time programming, where technical neatness, performance and truth are. I hope I still believe. Any suggestion, bug reports, or even bug fixes (great!) would be highly appreciated so that I still believe what I believe.
Acknowledgements:
Valuable information was obtained from the following: 1) Marvell NDA document for the discovery system controller. Other related documents are listed at : http://www.aps.anl.gov/epics/meetings/2006-06/RTEMS_Primer_SIG/RTEMS_BSP_MVME5500.pdf 2) netBSD: For the two NICS and some headers : Allegro Networks, Inc., Wasabi Systems, Inc.
3) RTEMS: This BSP also builds on top of the work of others who have contributed to similar RTEMS powerpc shared and motorola_powerpc BSPs, most notably Eric Valette, Till Straumann (SVGM1 BSP, too), Eric Norum and others.
See ./LICENSE file.
1) The BSP is tested with the 60x bus mode instead of the MPX bus mode. ( No jumper or a jumper across pins 1-2 on J19 selects the 60x bus mode)
2) On the mvme5500 board, Ethernet 1 is the Gigabit Ethernet port and is front panel only. Ethernet 2 is 10/100 BaseT Ethernet. For front-panel Ethernet2, install jumpers across pins 1-2 on all J6, J7, J100 and J101 headers.
3) Enable SROM initialization at startup. (No jumper or a jumper across pins 1-2 on J17)
In fact, (if I did not miss anything) the mvme5500 board should function properly if one keeps all the jumpers at factory configuration. One can leave out the jumper on J30 to disable EEPROM programming.
UPDATE: (2004/5). The BSP now uses page tables for mapping the entire 512MB of RAM. DBAT0 and DBAT1 is hence free for use by the application. A simple 1:1 (virt<->phys) mapping is employed. The BSP write-protects the text and read-only data areas of the application. Special acknowledgement to Till Straumann strau.nosp@m.man@.nosp@m.slac..nosp@m.stan.nosp@m.ford..nosp@m.edu for providing inputs in porting the memory protection software he wrote (BSP_pgtbl_xxx()) to MVME5500.
The default VME configuration uses DBAT0 to map more PCI memory space for use by the universe VME bridge:
Written by S. Kate Feng feng1.nosp@m.@bnl.nosp@m..gov, Aug. 28, 2007
The bootloader is adapted from Till Straumann's Generic Mini-loader, which he wrote originally for the SVGM powerpc board. The BSP is built and tested on the 4.7 CVS RTEMS release.
1) One needs to setup BOOTP/DHCP and TFTP servers and /etc/bootptab(BOOTP) or /etc/dhcpd.conf (DHCP) properly to boot the system. (Note : EPICS needs a NTP server).
2) Please copy the prebuilt RTEMS binary (e.g. misc/rtems5500-cexp.bin) and perhaps others (e.g. misc/st.sys) to the /tftpboot/epics/hostname/bin/ directory or the TFTPBOOT one you specified in the 'tftpGet' command of the boot script (as shown in the following example).
3) Example of the boot script setup carried out on the MOTLoad command line :
4) Other reference web sites for mvme5500 BSP: http://lansce.lanl.gov/EPICS/presentations/KateFeng%20RTEMS-mvme55001.ppt http://www.nsls.bnl.gov/facility/expsys/software/EPICS/ http://www.nsls.bnl.gov/facility/expsys/software/EPICS/FAQ.txt
5) When generating code (especially C++) for this system, one should use at least gcc-3.2 (preferrably a copy downloaded from the RTEMS site [snapshot area] )
6) To reboot the RTEMS-MVME5500 (board reset), one can invoke the bsp_reset() command at Cexp> prompt.
7) Please reference http://www.slac.stanford.edu/~strauman/rtems for the source code and installation guidance of cexp, GeSys and other useful utilities such as telnet, nfs, and so on.
8) To get started with RTEMS/EPICS and to build development tools and BSP, I would recommend one to reference http://www.aps.anl.gov/epics/base/RTEMS/tutorial/ in additional to the RTEMS document.
Shuchen Kate Feng feng1.nosp@m.@bnl.nosp@m..gov, Sept. 2, 2007
As per implementation in shared PPC code, the BSPirqPrioTable[96] listed in irq_init.c is where the software developers can change the levels of priority for all the interrupts based on the need of their applications. The IRQs can be eanbled dynamically via the BSP_enable_pic_irq(), or disbaled dynamically via the BSP_disable_pic_irq().
Support for run-time priority setup could be added easily, but there is no action taken yet due to concerns over computer security at VME CPU level.
The software developers are forbidden to setup picIsrTable[], as it is a powerful engine for the BSP to find the pending highest priority IRQ at run time. It ensures the fastest/faster interrupt service to the highest/higher priority IRQ, if pending.
Written by S. Kate Feng feng1.nosp@m.@bnl.nosp@m..gov , 7/22/04
Some VME modules(e.g. Oms58 motor controller) might require a PCI sync command following the out_xx() function (e.g. out_be16()) if mvme5500 is used as the SBC. The mechanism is a hardware hook to help software synchronize between the CPU and PCI activities. The PCI sync is implemented in pci/pci_interface.c. For more example of the usage,one can reference the drvOMS58.cc file that is posted in synAppRTEMS of http://www.nsls.bnl.gov/organization/UserScience/Detectors/Software/Default.htm.
In spite of the PCI sync overhead for the Oms58 motor controller, I do not see the runtime performance of RTEMS-mvme5500 being compromised as compared with that of RTEMS-mvme2307. For example, it takes the same time to run motor_init() of synAppRTEMS for 48 motor initializations running either RTEMS-mvme2307 or RTEMS-mvme5500.
1.9.6