target.nr

ARM板驱动程序源代码

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.\" at91rm9200/target.nr - Ateml AT91RM9200DK/EK board's target-specific documentation
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.\" 01a,1aug05,ajb  created, derived from pid920t
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.TH AT91RM9200 T "Atmel AT91rm9200DK/EK" "Rev: 21 Feb 00" "TORNADO REFERENCE: VXWORKS"

.SH "NAME"
.aX "Atmel AT91rm9200DK/EK "

.SH "INTRODUCTION"
This reference entry provides board-specific information necessary to run
VxWorks for the Atmel AT91rm9200DK/EK evaluation board.  Before using a board with VxWorks, 
verify that the board runs in the factory configuration using vendor-supplied 
ROMs and jumper settings and checking the RS-232 connection.

.SS "ARM 920Tsupport"
The ARM 920T cache/MMMU support is used to create five memory regions:

RAM, from 0  to LOCAL_MEM_SIZE, is cached.  
Note that if auto-sizing is added, this should adjust the size of this
region correspondingly.

The peripheral registers area, 0x10000000 (INTEGRATOR_PERIPHERAL_BASE) to
0x20000000 (+INTEGRATOR_PERIPHERAL_SIZE), is uncached.

Flash memory, starting at 0x24000000 (FLASH_ADRS) to 0x28000000
(+INTEGRATOR_FLASH_SIZE), is uncached.

The PCI address space region starting at 0x40000000 (INTEGRATOR_PCI_BASE) 
and finishing at 0x60000000.

PCI IO area, config area and V360EPC registers, starting at 0x60000000 
(CPU_PCI_IO_ADRS) with CPU_PCI_IO_SIZE. 

All other regions are marked as invalid.

.SS "ARM 946es support"

NOTE: Cache and MMU support for the 946e is not included in the architecture
archives for the 946e.  In order to obtain support for this core, it is 
necessary to apply a patch (SPR-68958).  Consult WindSurf for this update.

In addition to the memory regions defined for the 940T/740T, a sixth
region was created for the I-SSRAM memory region.  SSRAM is not enabled 
in this implementation.  The address region is defined for compatibility 
with systems that make use of SSRAM.  When not enabled, I-SSRAM address 
space is supported by system RAM.  This region is not used by either
the bootrom image or vxWorks.  The arm architecture requires that the
exception vectors be located at address zero.  These vectors are placed
at the bottom of this region.  This region is not cached.

If D-SSRAM is used, a separate region will need to be defined in 
sysLib.c.

.SS "ARM Firmware Suite Flash library conformance"

The AFS Flash library defines a mechanism for storing multiple images
in Flash.  Each image can be identified by a record ('footer') which is
stored at the end of the last Flash page used by the image.  A special
type of image is used to store System Information Blocks ('SIB').  The
standard Integrator boot-switcher uses a SIB to store system settings,
such as core and bus clock speeds.

The current BSP implementation doesn't use this information.  Instead,
default values are chosen based on the CPU type.

Flash is used to store the boot line parameters.  The location in Flash
is defined by FLASH_ADRS.  This location in Flash can be changed by
modifying the block number in the definition of FLASH_ADRS (cf.
integrator.h).  If INCLUDE_FLASH_SIB_FOOTER is defined, a footer is
written at the end of this block to mark it as a Wind River Systems
type (TYPE_WRS_SIB).  This complies with the footer format used with
AFS.

.SS "ROM Init code"

Most of the code in romInit.s has been copied from uHAL's start-up
macros for the Integrator.  The board-specific code starts at HiPosn,
where the Core Module remap flag is set.

The code to calculate the size of SDRAM/SSRAM is copied directly from
uHAL's target.s.  As described in the comments, this leaves r1
containing the size of RAM available.  This value is stored in the
variable integratorMemSize, but is not currently used.


.SS "Boot ROMs"

The boot ROM image has been tested running from Flash.  The Makefile
options are set to run the image from the start of Flash, 0x24000000.
Two methods are available for loading the boot ROM image into target 
flash.  The image may be loaded via the target serial port using the 
supplied onboard boot Monitor program (ref: ARM Firmware Suite 
Reference Guide Chapt 4).  To load the target flash using this method,
first build bootrom.hex using the Tornado.  Connect a null serial cable
from the host serial port to the target Comm-1 port (closest to the 
dip-switches).  Open a terminal emulator program and configure it for 
38400 baud.  Power on the Integrator board and observe the ARM boot ROM 
banner.  Download the flash image by typing "L <enter>" for
load image.  Observe that the firmware deletes image zero.  Select
Transfer->SendTextFile, then browse to find the above hex file.  After the
download initiates, type "<control-C>".  The terminal window will remain
silent for approximately two minutes, after which it will acknowledge that 
the download has completed and return a boot monitor prompt.
  
Note: Some serial communication programs do not work properly if they
do not delay (approx 5ms) between sending characters.  Other
serial communication programs (such as Hyperterminal) may take an
extraordinary amount of time (1 hour) to program the flash because
they continuously time out from being unable to handle the
communication protocol used by the ARM boot loader.

The ARM Flash Utility (AFU) can be used to program the image into
Flash.  For this the bootrom needs to be generated and converted to 
binary format:
.bS
   make bootrom.hex
.bE
The 4-pole DIL switch (S1) is used to control the boot settings.  Turn
S1-1 off to boot from the start of Flash (0x24000000).  With S1-1 on,
the boot switcher will run, in which case S1-4 determines whether to
enter the boot monitor console (s1-4 on), or boot from a defined Flash
image (s1-4 off).

The ARM debugger can be used to load this binary image onto Flash.
For this choose a backend to connect to the target and start the ARM 
debugger and set S1-1 on.  Load and run the semihosted AFU.AXF until 
there are some messages printed in the ARM debugger console window 
with a AFU> prompt. 

To see a listing of the images present in the Flash enter the 
following command:
.bS
    AFU> list
.bE
Assuming there is already an image with number 1 in Flash, the new 
binary image can replace it with the following sequence of commands:
.bS
  AFU> Delete 1
  AFU> Program 1 VxBoot c:\Tornado\target\config\integrator940t\bootrom.bin b0
.bE

The board can use this new image to boot from by setting S1-1 off.

The boot monitor's BI command determines which Flash image to boot from.

.SS "Libraries"

Included within this BSP release are two directories containing object 
files:
.bS
     - objARMARCH4gnuvx 
     - objARMARCH4_Tgnuvx
.bE

These must be used to add and replace the versions of these files contained 
within the architecture libraries:
.bS
    target/lib/libARMARCH4gnuvx.a
    target/lib/libARMARCH4_Tgnuvx.a
.bE

If this is not done, kernels will be built which may fail to start, or in the 
case of ARM720T, kernels will fail to build.

First, make a copy of the existing library files in case something goes wrong. 
Replace the object file in the libraries using commands like:
.bS
    cp objARMARCH4gnuvx/* $(WIND_BASE)/target/lib/objARMARCH4gnuvx
    ararm crus $(WIND_BASE)/target/lib/libARMARCH4gnuvx.a \
	       $(WIND_BASE)/target/lib/objARMARCH4gnuvx/*
and
    cp objARMARCH4_Tgnuvx/* $(WIND_BASE)/target/lib/objARMARCH4_Tgnuvx
    ararm crus $(WIND_BASE)/target/lib/libARMARCH4_Tgnuvx.a \
	       $(WIND_BASE)/target/lib/objARMARCH_T4gnuvx/*
.bE

.SS "Jumpers"
The following jumpers and switches are relevant to VxWorks configuration.

.TS E
expand;
cf3 s s
lf3 lf3 lf3
l l lw(3i) .
.ne 5
Integrator 940T
.sp .25
Jumper	Function	Description
_
S1	Various	T{
Four-pole DIL switches, S1-1 to S1-4
T}
S1-1	Boot ROM select	T{
This switch determines which device is mapped to low memory at startup
(before the header card maps its own RAM to address 0).  When the
switch is turned ON, the boot ROM is selected, causing the AFS Boot
Monitor to execute.  Otherwise, Flash is selected.
T}
S1-4	Boot switcher 	T{
The boot monitor reads this switch at startup to determine whether to
continue execution or jump to Flash.  If the switch is ON, the boot
monitor prompt is generated; otherwise it reads the SIB to determine
which Flash block to jump to.
T}
.TE

For details of jumper configuration, see the board diagram at the end
of this entry and in the hardware manual.

.SH "FEATURES"

The Integrator/AP is a platform for code development for embedded ARM
processors.  It supports up to four processors for which it provides clocks, 
bus arbitration and interrupt handling.  It also provides Flash memory, 
boot ROM, 2 serial ports, readable switches and controllable LEDS.

The Integrator/AP supports flexible expansion:

 - system bus expansion allowing core modules and logic modules to be added.
 - PCI bus bridge allowing PCI expansion cards to be mounted.
 - extension to the PCI bus allowing the Integrator/AP to be installed in a 
   CompactPCI card rack.

The ARM720T, ARM740T and ARM940T daughter cards can be used with
this BSP.

.SS "Supported Features"

The BSP supports and has been tested with PCI Ethernet cards containing
the Digital 21x4x Ethernet controller chip.

.SS "RAM size"

By default, the RAM size is set to 8 Mbytes (see LOCAL_MEM_SIZE).  This
requires an SDRAM DIMM of at least that size to be fitted to the core
module header card.  The RAM size is configured by changing
LOCAL_MEM_SIZE in config.h.  If this is reduced below 8 MBytes, other
values may need changing, such as RAM_HIGH_ADRS.  The boot ROM
initialization code automatically reads the SPD data from the SDRAM to
configure CM_SDRAM correctly (see CM940T User Guide, p. 4-14).
However, this data is not currently used to derive a correct value for
the memory size.

.SS "Timestamp support"

The two AMBA timers are used by the system and auxiliary clock
facilities.  The system clock provides the timestamp timer as well.


.SS "Unsupported Features"

No explicit support is provided for use of the JTAG port, EmbeddedICE, 
reading the switches, or any other PCI cards.  However, nothing is done
to prevent these features from being used (e.g. by the Multi-ICE
backend for Tornado).

.SS "Flash memory as NVRAM"

If the BSP is configured with INCLUDE_FLASH defined, the standard VxWorks
Flash support is included.