Enhanced OS-9 for the PID7T Board Guide version 1.2

Enhanced OS-9for the PID7TBoard GuideVersion 1.2Intelligent Products For A Smarter World

Copyright and Publication InformationCopyright ©2000 Microware Systems Corporation. All Rights Reserved. Reproduction ofthis document, in part or whole, by any means, electrical, mechanical, magnetic, optical,chemical, manual, or otherwise is prohibited, without written permission from MicrowareSystems Corporation.This manual reflects Version 1.2 of Enhanced OS-9 for StrongARM.Revision:CPublication date: April 2000DisclaimerThe information contained herein is believed to be accurate as of the date of publication.However, Microware will not be liable for any damages including indirect or consequential,from use of the OS-9 operating system, Microware-provided software, or reliance on theaccuracy of this documentation. The information contained herein is subject to changewithout notice.Reproduction NoticeThe software described in this document is intended to be used on a single computersystem. Microware expressly prohibits any reproduction of the software on tape, disk, orany other medium except for backup purposes. Distribution of this software, in part orwhole, to any other party or on any other system may constitute copyright infringementsand misappropriation of trade secrets and confidential processes which are the property ofMicroware and/or other parties. Unauthorized distribution of software may cause damagesfar in excess of the value of the copies involved.For additional copies of this software/documentation, or if you have questions concerningthe above notice, please contact your OS-9 supplier.TrademarksOS-9, OS-9000, DAVID, and MAUI are registered trademarks of Microware SystemsCorporation. SoftStax, FasTrak, UpLink, and Hawk are trademarks of Microware SystemsCorporation. All other product names referenced herein are either trademarks orregistered trademarks of their respective owners.AddressMicroware Systems Corporation1500 N.W. 118th StreetDes Moines, Iowa 50325515-223-80002 Enhanced OS-9 for the PID7T Board Guide

Table of ContentsChapter 1: Installing and Configuring Enhanced OS-9 for ARM 79 Requirements and Compatibility9 Host Hardware Requirements (PC Compatible)9 Host Software Requirements (PC Compatible)9 Target Hardware Requirements10 OS-9 for ARM Architecture12 Configure Board Switch Settings14 Installing the Flash Devices15 Connecting the Target Board to the Host PC17 Configuring Your ATA Card (Optional)18 Creating and Configuring a ROM Image18 Terminology18 Valid Configurations22 Building a ROM Image for Networking26 Connecting the Target to an Ethernet Network (Optional)27 Pinging the Target28 Creating a new OS-9 Coreboot Image in Flash Memory (Optional)28 Making a Coreboot Image with an EPROM programmerChapter 2: Board Specific Considerations 3132 Low-Level System Modules36 Boot Options36 Booting from FLASH36 Booting from PCMCIA ATA Card37 Booting from PCMCIA Ethernet Card37 Restart Booter37 Break BooterEnhanced OS-9 for the PID7T Board Guide 3

38 Example Boot Session and Message39 High-Level System Modules39 CPU Support Modules39 System Configuration Modules40 Interrupt Controller Support40 Vector Module40 Ticker40 Abort Handler41 Generic IO Support Modules (File Managers)41 Pipe Descriptor41 RAM Disk Support42 RAM Disk Descriptors42 Serial and Console Devices42 sc16550 Descriptors43 scllio Descriptors43 PCMCIA Support for IDE type Devices43 rb1003 Descriptors44 PCMCIA Support for 3COM Ethernet card44 spe509_pcm Descriptors44 Network Configuration Modules45 OS9 Vector Mappings49 Port Specific UtilitiesChapter 3: OS-9 ROM Image Overview 5354 Types of ROM Images54 Coreboot Image57 ROMCore58 Bootfile Image61 Coreboot and Bootfile Image62 Boot Menu Options64 Debuggers64 Microware Hawk64 RomBug4 Enhanced OS-9 for the PID7T Board Guide

6 Enhanced OS-9 for the PID7T Board Guide

Chapter 1: Installing and ConfiguringEnhanced OS-9 for ARMThis chapter describes installing and configuring Enhanced OS-9 onthe ARM LTD ARM7TDMI Microprocessor Reference Platform (PID7T)as the target platform. Before you begin, complete the following tasks:• You successfully installed the Enhanced OS-9 for ARM CD-ROMonto your host PC.• You are familiar with your board’s features and capabilities.This chapter includes the following sections:• Requirements and Compatibility• OS-9 for ARM Architecture• Configure Board Switch Settings• Installing the Flash Devices• Connecting the Target Board to the Host PC• Configuring Your ATA Card (Optional)• Creating and Configuring a ROM Image• Connecting the Target to an Ethernet Network (Optional)• Creating a new OS-9 Coreboot Image in Flash Memory(Optional)7

1Installingand Configuring Enhanced OS-9 for ARMNotePlease refer to your reference board’s hardware documentation forinformation on hardware preparation and installation, operatinginstructions, and functional descriptions prior to installing andconfiguring OS-9.NoteThese procedures can be performed with other ARM referenceplatforms. You will need to modify the procedures as necessary for yourparticular target platform.8 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMRequirements and Compatibility1Host Hardware Requirements (PC Compatible)Your host PC should have the following:• Windows 95, Windows 98, or Windows NT• A minimum of 32MB of free disk space• An Ethernet network card• A PCMCIA card reader/writer• At least 16MB of RAMHost Software Requirements (PC Compatible)Your host PC should have a terminal emulation program (such asHyperterminal that comes with Microsoft Windows 95, Windows 98,and Windows NT).Target Hardware RequirementsYour reference board requires the following hardware:• Enclosure or chassis with power supply• A RS-232 null modem serial cableEnhanced OS-9 for the PID7T Board Guide 9

1Installingand Configuring Enhanced OS-9 for ARMOS-9 for ARM ArchitectureThe source and example code and makefiles for Enhanced OS-9 forARM are located in the following directory. The directory structure isshown in Figure 1-1.\mwos\OS9000\ARMV4\PORTS\PID7T\Figure 1-1 OS-9 for ARM DirectoriesBOOTSCMDSHWLIBLIBPCFPCMCIABOOTOBJSHOST2RB1003INSTALLBMPINIPORTBOOTDESCRAMRB1003INITDDNODISKHOST3DESCPICLIBPIPESPFSC16550WINDOWSSCLLIOSYSTEMSINITSPORTBOOTROMPORTBOOTSPFNoteSome directories are shipped only with OEM licenses.10 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMFigure 1-1 OS-9 for ARM Directories (continued)1RBFROMSCFSPFSYSMODSUTILSRAMIRQSABORTDESCARMTIMRSC16550ETCTICKERPCMCIACNFGDATADESCRB1003CNFGFUNCDRVRSPE509DESCCOMMCNFGDEFSDRVRCONSCNFGSCLLIOIDEDESCIO16550LLCISLLE509PORTMENUROMCOREUSEDEBUGEnhanced OS-9 for the PID7T Board Guide 11

1Installingand Configuring Enhanced OS-9 for ARMConfigure Board Switch SettingsFor proper operation the PID7T must have the following switch settings.For more information see the PID7T Development Card Manual.Table 1-1 PID7T Switch SettingsJumper Position CommentLK4 open Little EndianLK7openLK8 closed Set Edge interrupt for switchLK9openLK10 closed Enable abort switch interruptLK18 closed Boot from ROM (ROM at 0).LK17openTable 1-2 PID7T Switch SettingsJumperBlock Position 1-x CommentLK6LK16closed, open, open,openopen, closed,closed, closedBoot from U12 EEPROM, 512k,speed=120ns, width=8bitLK11 (all open 1-8) Parallel port defines12 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMTable 1-3 PID7T Switch Settings1SwitchBlock Position 1-x CommentS1 off, off, on, on 20Mhz operationS2S3on,on,on,off,on,on,on,offoff,off,off,offSRAM settings (change able asdesired)SLOT A Must be populated with a 4meg or larger DRAM part.Enhanced OS-9 for the PID7T Board Guide 13

1Installingand Configuring Enhanced OS-9 for ARMInstalling the Flash DevicesNoteIf you have not been shipped an EPROM, see the Connecting theTarget Board to the Host PC section first.The first stage in configuring your reference board is to install thepre-loaded FLASH device included in your Enhanced OS-9 for ARMpackage. This device includes a coreboot system that has beenpre-configured to get your board up and running quickly. Install theFLASH device in socket U12.Figure 1-2 Installing the Flash DevicesPCMCIA SocketsU12NoteIf you need to reprogram the flash device or create a new flash device,see the Connecting the Target Board to the Host PC section.14 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMConnecting the Target Board to the Host PC1Connect an RS-232 null modem cable from the reference board to theserial port of a Windows 95, Windows 98, or Windows NT system.Step 1.Step 2.Step 3.Step 4.Step 5.Step 6.Step 7.Step 8.Connect the serial cable to the PL4 connector on the reference board.The PL4 connector is serial port 1.Connect the other end of the serial cable to the Host PC.On the Windows desktop, click on the Start button and selectPrograms -> Accessories -> Hyperterminal.Click the Hypertrm icon and enter a name for your Hyperterminalsession.Select an icon for the new Hyperterminal session. A new icon is createdwith the name of your session associated with it. The next time youwant to establish the same session, follow the directions in Step 3 andlook for the icon you created in Step 4.Click OKIn the Phone Number dialog, go to the Connect Using box, and select thecommunications port to be used to connect to the reference board.The port selected is the same port that you connected to the serialcable from the reference board.Click OKEnhanced OS-9 for the PID7T Board Guide 15

1Installingand Configuring Enhanced OS-9 for ARMStep 9. In the Port Settings tab, enter the following settings:Bits per second = 19200Data Bits = 8Parity = NoneStop bits = 1Flow control = XOn/XOffFigure 1-3 Port SettingsStep 10.Step 11.Step 12.Click OK.Go to the Hyperterminal menu and select Call -> Connect from thepull-down menu to establish your terminal session with the referenceboard. If you are connected, the bottom left of your Hyperterminalscreen will display the word connected.Turn on the reference board. The OS-9 bootstrap message is displayed.16 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMConfiguring Your ATA Card (Optional)1You can use your ATA card to validate that your reference board isoperational without requiring the connection to the host machine:To configure the ATA card:Step 1.Step 2.Step 3.Step 4.From a DOS prompt on the host machine, navigate to the followingdirectory:MWOS\OS9000\ARMV4\PORTS\PID7T\BOOTS\SYSTEMS\PORTBOOTand run os9make.On the host machine, copy the files located in the following directory:MWOS\OS9000\ARMV4\PORTS\PID7T\BOOTS\SYSTEMS\PORTBOOT\os9kbootinto the root directory to the ATA cardInstall the card in socket 1 (top) on the reference boardTurn on the reference board.Enhanced OS-9 for the PID7T Board Guide 17

1Installingand Configuring Enhanced OS-9 for ARMCreating and Configuring a ROM ImageThe OS-9 ROM image enables booting from PCMCIA IDE type cards.Use the Configuration Wizard to create an OS-9 ROM image to save inthe root directory of the PCMCIA card. The Configuration Wizard wasinstalled on your host PC during the Enhanced OS-9 for ARMinstallation process.There are several valid configurations for generating a ROM Image forthe PID7T target board. Each of these configurations will use somecombination of the OS-9 low-level and high-level systems. The low levelsystem initializes the target and then finds and starts the high levelsystem. The low level system is typically stored on a small boot part(~128Kb FLASH). The high level system is usually stored on a largerflash part or on other sources such as an ATA-PCMCIA card, or onanother machine (which requires booting via bootp). For the PID7T, youcan create boots of the following configurations:TerminologyROM Image = High-Level boot + Low-Level bootHigh Level boot = bootfile (or os9kboot)Low Level boot = corebootValid Configurations• Entire ROM Image on the 512k FLASH part.• Low-level system on the 512k/128k FLASH part. High-level systemon the PCMCIA ATA card or downloaded from either an EthernetBootP server or from a serial port.18 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMTo use the Configuration Wizard, perform the following steps:1Step 1.Step 2.Select the Start button on the Windows desktop.Select Programs -> Enhanced OS-9 for ARM -> MicrowareConfiguration Wizard. The following opening screen is displayed:Figure 1-4 ARM Configuration WizardSelect the directorywhere your MWOS filestructure is installed onyour Host PCSelect Advanced Modewhen you want to modify anexisting ROM imageSelect Use Wizardwhen building a ROMimage for the first timeSelect theboard modelClick on theHelp buttonfor additionalinformation onthe wizard.Enter the filename for thebuild you arecreatingStep 3.Step 4.Step 5.Step 6.Step 7.Select the path where the MWOS directory structure is located from theMWOS location button.Select the target board from the Port Selection pull-down menu.Name the ROM Image in the Configuration Name field.Select Advanced Mode and click OK. The Main Configuration windowis displayed.Select Configure -> Bootfile -> NetWork Configuration.Enhanced OS-9 for the PID7T Board Guide 19

1Installingand Configuring Enhanced OS-9 for ARMNoteIf you intend to use the Target board across a network, you need toconfigure the Ethernet settings. Be sure the Enable SoftStax radiobutton is selected in the SoftStax Setup tab.Use the Configuration Wizard help for information on the settings.Step 8.Step 9.Step 10.Step 11.Step 12.Step 13.!Leave the other options at the default settings.Select Configure -> Build Image to display the Master Builderwindow.Click Build. This will build a boot image that can be placed on thePCMCIA card.Insert the PCMCIA IDE card into the PCMCIA slot of your computer.Click Save As to save the file os9kboot to the root directory of thePCMCIA IDE card.Turn off the power to the reference board.WARNINGInserting and removing a PCMCIA card with the power on is notsupported in this release. Damage may occur to the PCMCIA card if it isinserted or removed while power is applied to the board.Step 14.Step 15.Remove the PCMCIA IDE card from the computer.Position the PCMCIA card so that the end with the connector holes isfacing the PCMCIA socket and the label is facing up.20 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMStep 16.Step 17.Slide the card into the upper socket (socket 0) of the reference boarduntil the card snaps onto the connector pins and the eject button popsout.Apply power to the board. The reference board will boot from the IDEPCMCIA card and you should see the “$” prompt.1Enhanced OS-9 for the PID7T Board Guide 21

1Installingand Configuring Enhanced OS-9 for ARMBuilding a ROM Image for NetworkingAlthough the PID7T boards come with two PCMCIA slots, only one slotwas functional when OS-9 was tested. If networking functionality isdesired (for example when debugging) it will be necessary to create andconfigure a ROM Image that either uses one of the following technics:• Use Bootp to for a full function ROM Image, including networking.• Place a network boot on an ATA PCMCIA card. This type of boot isnecessary because the 512k ROM portion on the board does nothave enough space to include a full function ROM Image, includingnetworking.One of the following three board configurations will enable you to build afull featured ROM Image that includes networking:• Your PID7T board has a working Slot 1. This enables you to use aPCMCIA ATA card in Slot 0 and a PCMCIA ethernet card in slot 1.To determine if your board has this configuration, perform thefollowing steps:Step 1.Step 2.Prior to power up, place an ATA card in slot 0 and an Ethernet card inslot 1.Power the board on. Watch your terminal as the board boots up. If itfinds both cards you can use the Configuration Wizard to build a fullROM Image on the ATA card, which includes networking for the slot 1.• Slot 1 of your PID7T board is non-functional. In this configurationyou can use the Configuration Wizard to build a ROM Image thatincludes both ATA PCMCIA support and Ethernet support for slot 0.To accomplish this task, complete the following steps:22 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARM1Step 1. Alter the Init modules parameter list so that ipstart is not executed atstart up. After configuring your networking options in the ConfigurationWizard, select the Init Option tab and select the user radio button.Step 2. Remove the command ipstart; from its parameter list.Step 3. Select Master Builder window and rebuild the ROM Image.Step 4. After making your os9kboot file, copy it to a PC-CARD.Step 5. Place the ATA card into slot 0 (top) and power your board on. Be sure toboot from mhc1.Step 6. At the shell prompt type the following command:pcmcia -d -s=0 -vThis powers down the ATA card.Step 7. Remove the ATA card from slot 0.Step 8. Insert your networking card into slot 0 and type the following command:pcmcia -i -s=0 -vThe system should report finding your card.Step 9. Type the following command:ipstartThe command line and networking will start up.Following is an example boot of this configuration:OS-9000 Bootstrap for the ARM (Edition 62)MICROWARE PCMCIA SOCKET SERVICESi82365sl step B PCMCIA type controllersocket #00 occupied [0x04]ATA IDE disk found in socket 00IDE Base 0x0c0002e0 : Vector 0x00000047Now trying to Override autobooters.Press the spacebar for a booter menuBOOTING PROCEDURES AVAILABLE ---------- Enhanced OS-9 for the PID7T Board Guide 23

1Installingand Configuring Enhanced OS-9 for ARMBoot embedded OS-9000 in-place -------- Copy embedded OS-9000 to RAM and boot - Boot from PCMCIA-1 IDE ---------------- Boot from PCMCIA-0 IDE ---------------- Enter system debugger ----------------- Restart the System -------------------- Select a boot method from the above menu: ide0Wait for IDE drive ready......ready.IDE Model: ATA_FLASHNumber Heads: 0x0002Total Cylinders: 0x03d8Sectors Per Track: 0x0020Checking Partitions : 0Fat Type: 0x16File Name: OS9KBOOTFile Size: 0x00167648Start Cluster: 0x000057f4Reading Bootfile....Boot AddressBoot Size: 0x0302c760: 0x00167648OS-9000 kernel was found.A valid OS-9000 bootfile was found.[1]$ pcmcia -d -v -s=0socket0: occupiedIt is now safe to remove the card is socket #00[2]$ pcmcia -i -v -s=0MICROWARE PCMCIA SOCKET SERVICESi82365sl step B PCMCIA type controllersocket #0 occupied [0x06]Ethernet card found in socket0Base = 0x0c000600 Vector = 71[3]$ mbinstall[4]$ ipstart[5]$ ping hobbesPING hobbes.microware.com (172.16.1.6): 56 data bytes64 bytes from 172.16.1.6: ttl=255 time=20 ms[6]$24 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARM• Slot 1 of your PID7T board is non-functional. In this configurationyou can use the Configuration Wizard to build a ROM Image thatincludes the ethernet boot option along with configuring both highand low level networking. You can build a full featured ROM Imageand place it on the host system (or any other machine), which canbe configured to send your os9kboot file to the target during startup.Following is an example boot of this configuration:MICROWARE PCMCIA SOCKET SERVICESi82365sl step B PCMCIA type controllerNow trying to Override autobooters.1Press the spacebar for a booter menuBOOTING PROCEDURES AVAILABLE ---------- Boot embedded OS-9000 in-place -------- Copy embedded OS-9000 to RAM and boot - Boot from PCMCIA-1 IDE ---------------- Boot from PCMCIA-0 IDE ---------------- Enter system debugger ----------------- Restart the System -------------------- Select a boot method from the above menu: lrNow searching memory ($00000400 - $0007ffff) for an OS-9000Kernel...An OS-9000 kernel was found at $00026920A valid OS-9000 bootfile was found.[1]$Enhanced OS-9 for the PID7T Board Guide 25

1Installingand Configuring Enhanced OS-9 for ARMConnecting the Target to an Ethernet Network(Optional)Enhanced OS-9 for ARM supports using a 3COM Etherlink III - LAN PCCard for mwSoftStax TCP/IP connections. Also, Enhanced OS-9 forARM provides system level support for telnet, FTP, and NFS.To use Ethernet networking, you must create a bootfile that has theEthernet options enabled and insert an Ethernet PCMCIA card into thereference board.Step 1.Step 2.Step 3.Step 4.Step 5.Step 6.Step 7.!Step 8.Click the Start button on the Windows desktop.Select Programs -> Enhanced OS-9 ARM -> MicrowareConfiguration Wizard. You should see the opening screen.Click OK. The configuration screen is displayed.Select Configure -> Bootfile -> NetWork Configuration.The network options dialog box appears.Change the network settings as needed. See the mwWizard help formore information on the network settings.Create a new Bootfile by following the directions in theCreating and Configuring a ROM Image section.Turn off the power to the reference board.WARNINGInserting and removing a PCMCIA card with the power on is notsupported in this release. Damage may occur to the PCMCIA card if it isinserted or removed while power is applied to the board.Position the PCMCIA IDE card so that the end with the PCMCIA femaleconnector is facing PCMCIA socket 1 (the upper socket) and the label isfacing up.26 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMStep 9.Step 10.Step 11.Step 12.Step 13.Slide the PCMCIA IDE Ethernet card into socket 1 (the upper socket)until the card snaps onto the pins and the eject button pops out.Position the Ethernet PCMCIA card so that the end with the PCMCIAfemale connector is facing PCMCIA socket 0 (the lower socket) and thelabel is facing up.Slide the PCMCIA Ethernet card into socket 0 (the lower socket) untilthe card snaps onto the pins and the eject button pops out.Restart your reference board.Test the Ethernet connection by pinging the reference board.If the ping operation fails, you will have to check the following items:• is the board connected to a live Ethernet port?• is the Ethernet cable defective?• are the network settings for the reference board correct?1Pinging the TargetWindows 95, Windows 98, and Windows NT include a Ping commandthat can be used to test the Ethernet connection for the referenceboard.Step 1.Step 2.Go to the DOS prompt.Type ping .The IP Address is the address you assigned to the evaluation boardin either the Coreboot module or the Bootfile module. The address istyped without the brackets.If the ping was successful, you will see the following response:Reply from : bytes=xx time =xms TTL= xxIf the ping was unsuccessful, you will see the following response:Request timed out.Enhanced OS-9 for the PID7T Board Guide 27

1Installingand Configuring Enhanced OS-9 for ARMCreating a new OS-9 Coreboot Image in FlashMemory (Optional)If you want to use ROM Ethernet services such as System StateDebugging, you must create a new coreboot image. The corebootimage that was shipped with the reference board does not allow you toperform System State Debugging because the IP address in FlashROM is set to “0.0.0.0”. You can create the coreboot image with anEPROM programmer.NoteRe-creating the Coreboot image is required only when system statedebugging is desired.Making a Coreboot Image with an EPROM programmerThis section describes creating the Coreboot Image. When you aredone creating the coreboot image, please refer to your EPROMprogrammer’s instructions to learn how to load the Coreboot image intothe EPROMS.Step 1.Step 2.Click the Start button on the Windows desktop.Select Programs -> Enhanced OS-9 ARM -> MicrowareConfiguration Wizard. You should see the following openingscreen:28 Enhanced OS-9 for the PID7T Board Guide

Installing and Configuring Enhanced OS-9 for ARMFigure 1-5 ARM Configuration Wizard1Select the directorywhere your MWOS filestructure is installed onyour Host PCSelect Advanced Modewhen you want to modify anexisting ROM imageSelect Use Wizardwhen building a ROMimage for the first timeSelect theboard modelClick on theHelp buttonfor additionalinformation onthe wizard.Enter the filename for thebuild you arecreatingStep 3.Step 4.Step 5.Step 6.Step 7.Step 8.Step 9.Give the boot image a name in the Configuration Name field.Select Advanced Mode and click OK. The configuration screen isdisplayed.Make any necessary changes to the coreboot settings.Select Configure->Build Image to display the Master Builderscreen.Select the Coreboot Only Image setting and click Build.Click Save As to save the coreboot image to a directory of yourchoosing. If you do not have that directory on the drive, you can createit.Transfer the coreboot image to the EPROMS with the EPROMprogrammer. You will need to follow the documentation for the EPROMprogrammer to complete this step.NoteMake sure the Secure Option is selected when burning Flash parts.Enhanced OS-9 for the PID7T Board Guide 29

1Installingand Configuring Enhanced OS-9 for ARM30 Enhanced OS-9 for the PID7T Board Guide

Chapter 2: Board SpecificConsiderationsThis chapter contains information that is specific to the PID7T referenceboard from ARM Ltd. It contains the following sections:• Low-Level System Modules• Boot Options• High-Level System Modules• OS9 Vector Mappings• Port Specific UtilitiesNoteThis document describes using the PID7T with the ARM Ltd.ARM7TDMI processor.More Info MoreInformation More Information More Information More-6-For More InformationFor general information on porting OS-9, see the OS-9 Porting Guide.31

2BoardSpecific ConsiderationsLow-Level System ModulesMore Info MoreInformation More Information More Information More-6-For More InformationFor a complete list of OS-9 modules common to all boards, see theOS-9 Device Descriptor and Configuration Module Referencemanual.The following low-level system modules are tailored specifically for theARM Ltd. ARM7TDMI PID7T platform. The functionality of thesemodules can be altered through changes to the configuration datamodule (cnfgdata). Table 2-1 provides a list and brief description of themodules. These modules can be found in the following directory:MWOS/OS9000/ARMV4/PORTS/PID7T/CMDS/BOOTOBJS/ROMTable 2-1 PID7T-Specific Low-Level System ModuleModule NamecnfgdatacnfgfuncCommcnfgconscnfgideio16550llcisDescriptionContains the low-level configuration data.Provides access services to cnfgdata’s data.Inits communication port defined in cnfgdata.Inits console port defined in cnfgdata.IDE boot support module. PCMCIA compatible.Provides polled serial driver support for the low-levelsystem.Inits the PCMCIA interface including cards.32 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsTable 2-1 PID7T-Specific Low-Level System Module (continued)2Module Namelle509portmenuromcoreArmtimrusedebugDescriptionProvides low-level ethernet services via 3COMPCMCIA card.Inits booters defined in the cnfgdata.Board specific initialization code.Provides low-level timer services via time baseregister.Inits low-level debug interface to RomBug, SNDP, ornone.The following low-level system modules provide generic services forOS9000 Modular ROM. Table 2-2 provides a list and brief description ofthe modules. These modules can be found in the following directory:MWOS/OS9000/ARMV3/CMDS/BOOTOBJS/ROMTable 2-2 Generic Services Low-Level System ModulesModule NamebootsysconsoledbgentrydbgserveexcptionflshcachDescriptionBooter registration service module.Provides console services.Inits debugger entry point for system use.Provides debugger services.Provides low-level exception services.Provides low-level cache management services.Enhanced OS-9 for the PID7T Board Guide 33

2BoardSpecific ConsiderationsTable 2-2 Generic Services Low-Level System Modules (continued)Module NamehlprotollbootpLlipllsliplltcplludpllkermitnotifyoverrideparserpcmanprotomanrestartrombootrombreakrombugDescriptionProvides user level code access to protoman.Booter which provides bootp services.Provides low-level IP services.Provides low-level SLIP services.Provides low-level TCP services.Provides low-level UDP services.Booter which uses kermit protocol.Provides state change information for use with LLand HL drivers.Booter which allows choice between menu and autobooters.Provides argument parsing services.Booter which reads MS-DOS file system.Protocol management module.Booter which cause a soft reboot of system.Booter which allows booting from ROM.Booter which calls the installed debugger.Low-level system debugger.34 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsTable 2-2 Generic Services Low-Level System Modules (continued)2Module NamesndpsrecordswtimerDescriptionProvides low-level system debug protocol.Booter which accepts S-Records.Provides timer services via software loops.Enhanced OS-9 for the PID7T Board Guide 35

2BoardSpecific ConsiderationsBoot OptionsFollowing are the default boot options for the reference board. Selectthese options by hitting the space bar during boot up when the followingmessage appears on the console port:Now trying to Override autobootersChange the configuration of these booters by altering thedefault.des file located in the following directory:mwos/os9000/ARMV4/PORTS/PID7T/ROM/Booters can be configured to be either menu or auto booters. The autobooters automatically try and boot in order from each entry in the autobooter array. Menu booters from the defined menu booter array arechosen interactively from the console command line after getting theboot menu.Booting from FLASHWhen romcnfg.h has a ROM search list defined the options ro andlr appear in the boot menu. If no search list is defined N/A appears inthe boot menu. If an OS-9 ROM Image is programmed into Flash in theaddress range defined in ports default.des file, the system can bootand run from Flash.rolrRom boot, the system runs from the Flashbank.Load to ram, the system copies the Flashimage into ram and runs from there.Booting from PCMCIA ATA CardThe system can boot from either from a PC formatted PCMCIA hardcard residing in slot 0 or slot 1.36 Enhanced OS-9 for the PID7T Board Guide

Board Specific Considerations2NoteThe system will hang during boot if there is not PCMCIA card, and it isconfigured to boot from one.ide1ide0The file os9kboot is searched for in slot 1, iffound, it is copied to system RAM and runs fromthere.The file os9kboot is searched for in slot 0, iffound, it is copied to system RAM and runs fromthere.Booting from PCMCIA Ethernet CardThe system can boot using the BootP protocol using an Ethernet cardand eb option.ebEthernet boot, a PCMCIA card that supportsethernet will use the bootp protocol to transfera bootfile into RAM. The system runs fromthere.Restart BooterThe restart booter allows a method to restart the bootstrap sequence.qQuit, quit and attempt to restart the bootingprocess.Break BooterThe break booter allows entry to the system level debugger (if oneexists). If the debugger is not in the system the system will reset.Enhanced OS-9 for the PID7T Board Guide 37

2BoardSpecific ConsiderationsbreakBreak, break and enter the system leveldebugger Rombug.Example Boot Session and MessageOS-9000 Bootstrap for the ARMATA IDE disk found in socket 00Now trying to Override autobooters.BOOTING PROCEDURES AVAILABLE ------------- Boot embedded OS-9000 in-place ----------- Copy embedded OS-9000 to RAM and boot ---- Boot from PCMCIA-1 IDE ------------------- Boot from PCMCIA-0 IDE ------------------- Restart the System ----------------------- Enter system debugger -------------------- Select a boot method from the above menu: ide0Wait for IDE drive ready.IDE Model : ATA_FLASHNumber Heads: 0x0002Total Cylinders: 0x03d8Sectors Per Track: 0x0020Checking Partitions : 0Fat Type: 0x16File Name: OS9KBOOTFile Size: 0x000fdeb0Start Cluster: 0x00003a57Reading Bootfile....Boot AddressBoot Size: 0xc002c850: 0x000fdeb0OS-9000 kernel was found.A valid OS-9000 bootfile was found.$38 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsHigh-Level System Modules2The following OS-9 system modules are tailored specifically for theARM Ltd. ARM7TDMI PID7T board peripherals. Unless otherwisespecified, each module can be found in a file of the same name in thefollowing directory:MWOS/OS9000/ARMV4/PORTS/PID7T/CMDS/BOOTOBJSCPU Support ModulesThese files are all found in the following directory:MWOS/OS9000/ARMV4/CMDS/BOOTOBJSkernelfpuvectorsThe kernel provides all basic services for theOS-9 system.Provides software emulation for floating pointinstructions.Provides interrupt service entry and exit code.The vectors module is found in the file vectarm.System Configuration ModulesThese files are located in the following directory:MWOS/OS9000/ARMV4/PORTS/PID7T/CMDS/BOOTOBJS/INITSinitnodiskDescriptor module with high level systeminitialization information.Same as init, but used in a disk-less system.Enhanced OS-9 for the PID7T Board Guide 39

2BoardSpecific ConsiderationsInterrupt Controller SupportThis module provides an extension to the vectors module by mappingthe single interrupt generated by an interrupt controller into a range ofpseudo vectors which are recognized by OS-9 as extensions to thebase CPU exception vectors.More Info MoreInformation More Information More Information More-6-For More InformationThe mappings are described in the OS9 Vector Mappings section.Vector ModulearmirqP2module which provides interruptacknowledge and dispatching support for theARM7TDMI pic.TickertkarmDriver which provides the system ticker basedon the ARM7TDMI system timer.Abort HandlerabortP2module which provides a way to enter thesystem-state debugger via the interrupttriggered by PID7T switch SW1.40 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsGeneric IO Support Modules (File Managers)2These modules are found in the following directory:MWOS/OS9000/ARMV3/CMDS/BOOTOBJSiomanscfrbfpcfspfmfmpipemanProvides generic io support for all IO devicetypes.Provides generic character device managementfunctions.Provides generic block device managementfunctions for OS-9 format.Provides generic block device managementfunctions for MS-DOS FAT format.Provides generic protocol device managementfunction support.Provides generic graphics device support forMAUI.Provides a memory FIFO buffer forcommunication.Pipe DescriptorThe pipe descriptor is found in the following directory:MWOS/OS9000/ARMV4/PORTS/PID7T/CMDS/BOOTOBJS/DESCpipePipeman descriptor which provides a RAMbased FIFO for process communication.RAM Disk SupportramRBF driver which provides a RAM based virtualblock device.Enhanced OS-9 for the PID7T Board Guide 41

2BoardSpecific ConsiderationsRAM Disk DescriptorsThe RAM disk descriptors are found in the following directory:MWOS/OS9000/ARMV4/PORTS/PID7T/CMDS/BOOTOBJS/DESC/RAMr0r0.ddRBF descriptor which provides access to a ramdisk.Same as r0 except with module name dd (foruse as the default device).Serial and Console Devicessc16550SCF driver which provides serial support thePID7T’s 16552.sc16550 Descriptorsterm_t1/t1term_t3/t3Descriptor modules for use with SC16552UART A.PID7T Board header: PL4Default Baud Rate: 19200Default Parity: NoneDefault Data Bits: 8Default Handshake: SoftwareDescriptor modules for use with SC16552UART B.PID7T Board header: PL3Default Baud Rate: 115200Default Parity: NoneDefault Data Bits: 8Default Handshake: Software42 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsscllioSCF driver which provides serial support via thepolled low-level serial driver.2scllio Descriptorsvcons/termDescriptor modules for use with scllio inconjunction with a low-level serial driver. Portconfiguration and set up follows what isconfigured in cnfgdata for the console port. Itis possible for scllio to communicate with atrue low-level serial device driver like io1100,or with an emulated serial interface provided byiovcons.More Info MoreInformation More Information More Information More-6-For More InformationSee the OS-9 Porting Guide for more information.PCMCIA Support for IDE type Devicesrb1003RBF/PCF driver which provides driver supportfor IDE/EIDE devices. This driver is used toprovide disk support for PCMCIA ATA FLASH.rb1003 Descriptorshc1/hc1fmt, hc1.dd RBF Descriptor modules for use with PCMCIAslot #0 (bottom).PID7T Board header: SK4hc1fmt: format enabledhc1.dd: module name of ddEnhanced OS-9 for the PID7T Board Guide 43

2BoardSpecific Considerationsmhc1, mhc1.dd PCF Descriptor modules for use with PCMCIAslot #0 (bottom).PID7T Board header: SK4mhc1.dd: module name of ddhe1, he1fmt, he1.dd RBF Descriptor modules for use with PCMCIAslot #1 (top).PID7T Board header: SK4he1fmt: format enabledhe1.dd: module name of ddmhe1, mhe1.ddPCF Descriptor modules for use with PCMCIAslot #1 (top).PID7T Board header: SK4mhc1.dd: module name of ddPCMCIA Support for 3COM Ethernet cardThese files are found in the following directory:MWOS/OS9000/ARMV4/PORTS/PID7T/CMDS/BOOTOBJS/SPFspe509_pcmSPF driver to support ethernet for a 3COMEtherLink III PCMCIA card.spe509_pcm Descriptorsspe30spe31SPF descriptor module for use with PCMCIAslot #0 (bottom, SK4).SPF descriptor module for use with PCMCIAslot #1 (top, SK4).Network Configuration Modulesinetdb/inetdb2/rpcdb44 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsOS9 Vector Mappings2This section contains the vector mappings for the OS9 PID7Timplementation on the ARM7TDMI.The ARM standard defines exceptions 0x0-0x8. The OS-9000 systemmaps these 1-1. External interrupts from vector 0x6 are expanded tothe virtual vector rage shown below by the armirq module.NoteVectors can be virtually remapped from a ROM at physical address 0,into DRAM at virtual address 0. This speeds up interrupt response timeand is enabled by defining the first cache list entry as a sub 1 Meg size.More Info MoreInformation More Information More Information More-6-For More InformationSee the Arm Development Card Manual for further information onindividual sources.Table 2-3 IRQ Assignments for the PID7T ARM7TDMI BoardOS9 IRQ #0x00x10x2ARM FunctionProcessor ResetUndefined InstructionSoftware InterruptEnhanced OS-9 for the PID7T Board Guide 45

2BoardSpecific ConsiderationsTable 2-3 IRQ Assignments for the PID7T ARM7TDMI Board (continued)OS9 IRQ #0x30x40x50x60x70x8ARM FunctionAbort on Instruction PrefetchAbort on Data AccessUnassigned/ReservedExternal Interrupt (expanded to virtual vectors0x40-0x4f)Fast InterruptAlignment errorTable 2-4 IRQ Assignments for the PID7T ARM7TDMI BoardOS-9 IRQ #0x400x410x420x430x440x450x46PID7T APB FPGA (pic)ReservedSoft InterruptCOMMSRX from processorCOMMSTX from processorTIMER1 (internal)TIMER2 (internal)PC card slot A46 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsTable 2-4 IRQ Assignments for the PID7T ARM7TDMI Board (continued)2OS-9 IRQ #0x47PID7T APB FPGA (pic)PC card slot B0x48 SERIAL A (16552)0x49 SERIAL B (16552)0x4aPARALLEL0x4b ASB expansion 00x4c ASB expansion 10x4d APB expansion 00x4e APB expansion 10x4f APB expansion 2Enhanced OS-9 for the PID7T Board Guide 47

2BoardSpecific ConsiderationsNoteFast Interrupt Vector (0x7)The ARM4 defined fast interrupt (FIQ) mapped to vector 0x7 is handleddifferently by the OS9 interrupt code and can not be used as freely asthe external interrupt mapped to vector 0x6. To make fast interrupts asquick as possible for extremely time critical code, no context informationis saved on exception and FIQs are never masked. This requires anyexception handler to save and restore its necessary context if the FIQmechanism is to be used. This requirement means that a FIQ handler’sentry and exit points must be in assembly, as the C compiler will makeassumptions about context. In addition, no system calls are possibleunless a full C ABI context save has been done first. The OS-9 IRQcode for the ARM7TDMI has assigned all interrupts as normal externalinterrupts and the user must re-define a source as an FIQ to make useof this feature.48 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsPort Specific Utilities2The following port specific utilities are included:• pcmciaEnhanced OS-9 for the PID7T Board Guide 49

2BoardSpecific ConsiderationspcmciaSyntaxpcmcia []options-s=socket: socket [default all sockets]-d de-iniz socket(s)-i iniz socket(s)-v verbose mode-x dump CIS/Config information-? Print this help messageDescriptionpcmcia provides the ability to initilize or deinitilize a PCMCIA card afterthe system has booted. It also displays a PCMCIA cards CIS structure.50 Enhanced OS-9 for the PID7T Board Guide

Board Specific ConsiderationsExample$ pcmcia -x -s=0ATA IDE disk found in socket0Dump CIS Window for Socket #0Addr 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 2 4 6 8 A C E-------- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -----------------28000000 01 03 d9 01 ff 1c 04 03 d9 01 ff 18 02 df 01 20 ...............28000020 04 01 4e 00 01 15 2b 04 01 56 49 4b 49 4e 47 20 ..N...+..VIKING28000040 43 4f 4d 50 4f 4e 45 4e 54 53 20 20 20 20 20 20 COMPONENTS28000060 20 20 00 43 46 20 41 54 41 20 00 56 2e 31 30 32 .CF ATA .V.10228000080 00 ff 21 02 04 01 22 02 01 01 22 03 02 04 5f 1a ..!..."..."..._.280000a0 05 01 03 00 02 0f 1b 09 c0 40 a1 21 55 55 08 00 .........@.!UU..280000c0 22 1b 06 00 01 21 b5 1e 35 1b 0b c1 41 99 21 55 "....!..5...A.!U280000e0 55 64 f0 ff ff 22 1b 06 01 01 21 b5 1e 35 1b 0d Ud..."....!..5..28000100 82 41 98 ea 61 f0 01 07 f6 03 01 ee 22 1b 06 02 .A..a......."...28000120 01 21 b5 1e 35 1b 0d 83 41 98 ea 61 70 01 07 76 .!..5...A..ap..v28000140 03 01 ee 22 1b 06 03 01 21 b5 1e 35 14 00 ff ff ..."....!..5....28000160 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ................28000180 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ................280001a0 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ................280001c0 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ................280001e0 ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ff ................Dump Config Window for Socket #0Addr 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 2 4 6 8 A C E-------- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -----------------28000200 43 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 C...............28000220 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ...............28000240 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................28000260 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................28000280 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................280002a0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................280002c0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................280002e0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................28000300 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................28000320 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................28000340 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................28000360 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................28000380 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................280003a0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................280003c0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................280003e0 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 ................2Enhanced OS-9 for the PID7T Board Guide 51

2BoardSpecific Considerations52 Enhanced OS-9 for the PID7T Board Guide

Chapter 3: OS-9 ROM Image OverviewThis chapter is an overview of building an Enhanced OS-9 ROM Imageand its components. Using the Configuration Wizard eliminates theneed to have an in-depth understanding of how to create and update anOS-9 ROM Image. This chapter explains the types of images created bythe wizard for those interested in more detailed knowledge.NoteThis chapter provides a generic, general overview of the contents of atypical OS-9 ROM image. It is not board/processor specific.53

3OS-9ROM Image OverviewTypes of ROM ImagesThe OS-9 ROM Image is divided into two sets of files to simplify theprocess of loading and testing OS-9. The low-level images are thecoreboot files, which boot the target board to an OS-9 boot menu. Thehigh-level images are the bootfile files, which boot the board up to anOS-9 shell prompt.Figure 3-1 OS-9 ROM ImageOS-9 ROM ImageCorebootROMCORELow-level SystemModulesBootfilekernelHigh-level ModulesCoreboot ImageCoreboot is the low-level image that boots the system up to the OS-9boot menu on the target board. Coreboot is the ROMCore imagemerged with several low-level system modules. From this boot menuyou can select a booter module (Flash, PCMCIA ATA card, RAM, etc.).This tells ROMCore the location from which to load the high-levelsystem. At this point, OS-9 is not yet capable of running.54 Enhanced OS-9 for the PID7T Board Guide

OS-9 ROM Image OverviewThe configuration wizard simplifies the process of building a corebootimage. Table 3-1 lists the typically included modules. In this case, thehigh-level system is to be booted from a PCMCIA card:3Table 3-1 Typical Coreboot Image ContentsNamebootsyscnfgdatacnfgfunccommcnfgconscnfgconsoledbgentrydbgservedbinitexcptionflshcachhlprotoideio1100llbootpDescriptionBooter registration service module.Contains the low-level configuration data.Provides access services to cnfgdata data.Inits communication port defined in cnfgdata.Inits console port defined in cnfgdata.Provides console services.Inits debugger entry point for system use.Provides debugger services.Initilizes any daughter boards present.Provides low-level exception services.Provides low-level cache management services.Provides user level code access to protoman.IDE boot support module. PCMCIA compatible.Provides polled serial driver support for the low-levelsystem.Booter that provides bootp services.Enhanced OS-9 for the PID7T Board Guide 55

3OS-9ROM Image OverviewTable 3-1 Typical Coreboot Image Contents (continued)Namellcislle509llipllkermitllne2000llsliplltcplludpnotifyoemgloboverrideparserpcmanportmenuprotomanDescriptionInits the PCMCIA interface including cards.Provides low-level ethernet services via 3COMPCMCIA card.Provides low-level IP services.Booter that uses kermit protocol.Provides low-level ethernet services viaSOCKET-LPE PCMCIA card.Provides low-level SLIP services.Provides low-level TCP services.Provides low-level UDP services.Provides state change information for use with LL andHL drivers.Creates a shared variable area for high/low levelsystem interactions.Booter that allows choice between menu and autobooters.Provides argument parsing services.Booter that reads MS-DOS file system.Inits booters defined in the cnfgdata.Protocol management module.56 Enhanced OS-9 for the PID7T Board Guide

OS-9 ROM Image OverviewTable 3-1 Typical Coreboot Image Contents (continued)3Namerestartrombootrombreakrombugromcoresndpsplashsrecordswtimertmr1_1100usedebugDescriptionBooter that cause a soft reboot of system.Booter that allows booting from ROM.Booter that calls the installed debugger.Low-level system debugger.Board specific initialization code.Provides low-level system debug protocol.Provides way to init LCD screen with a compressedimage.Booter that accepts S-Records.Provides timer services via software loops.Provides low-level timer services via time baseregister.Inits low-level debug interface to RomBug, SNDP, ornone.ROMCoreThis is the bootstrap code in raw binary object code. ROMCore exists inthe Coreboot image and is responsible for initializing basic hardware,determining boot options, and determining the RAM/ROM configuration.ROMCore calls the system level debugger (if available) as well as theappropriate booter module to find the bootfile. After the high levelsystem is loaded, ROMCore transfers control over to the kernel.Enhanced OS-9 for the PID7T Board Guide 57

3OS-9ROM Image OverviewBootfile ImageThis image contains the kernel and other high-level modules (initmodule, file managers, drivers, descriptors, applications). The image isloaded based on the device you select from the boot menu. The bootfilenormally brings up a shell prompt, but can be configured toautomatically start your application.The Configuration Wizard simplifies the process of building a Bootfileimage. Table 3-2 lists the typically included high-level modules.Table 3-2 Typical Bootfile Image ContentsNameabortcachefpugx_sa1100initiomanirq1100irq11x1DescriptionP2module that provides a way to enter thesystem-state debugger.Provides cache control for the CPU cachehardware. The cache module is in the file cach1100.Provides software emulation for floating pointinstructions.MFM MAUI driver module with support for an LCDpanel.Descriptor module with high level systeminitialization information.Provides generic IO support for all IO device types.P2module that provides interrupt acknowledge anddispatching support for the SA1100 pic.P2module that provides interrupt acknowledge anddispatching support for the SA1111 pic (vectorrange 0x71-0xB2).58 Enhanced OS-9 for the PID7T Board Guide

OS-9 ROM Image OverviewTable 3-2 Typical Bootfile Image Contents (continued)3Namekernelmfmnodiskpcfpipepipemanpwrmanpwrplcyr0r0.ddramrb1003DescriptionThe kernel provides all basic services for the OS-9system.Provides generic graphics device support for MAUI.Same as init, but used in a disk-less system.Provides generic block device managementfunctions for MS-DOS FAT format.Pipeman descriptor that provides a RAM basedFIFO that can be used for process communication.Provides a memory FIFO buffer for communication.P2module that provides generic powermanagement functions.P2module that provides power state controlfunctions.RBF descriptor that provides access to a ram disk.Same as r0 except with module name dd (for use asthe default device).RBF driver that provides a RAM based virtual blockdevice.RBF/PCF driver that provides driver support forIDE/EIDE devices. This driver is used to providedisk support for PCMCIA ATA FLASH.Enhanced OS-9 for the PID7T Board Guide 59

3OS-9ROM Image OverviewTable 3-2 Typical Bootfile Image Contents (continued)Namerbfrtc1100sc1100sc16550scfsclliospe509_pcmspe91c94spfspne2000spucb1200DescriptionProvides generic block device managementfunctions for OS-9 specific format.Driver that provides OS-9 access to the SA1110on-board real time clock.SCF driver that provides serial support theSA1110’s SP1 and SP3 ports when configured asUARTS.SCF driver that provides serial support for PCMCIAmodem cards.Provides generic character device managementfunctions.SCF driver that provides serial support via thepolled low-level serial driver.SPF driver to support ethernet for a 3COMEtherLink III PCMCIA card.SPF driver to support ethernet for the SMC91C94chip.Provides generic protocol device managementfunction support.SPF driver to support ethernet for a Socket-LPE CFcard.SPF driver that supports the on-board PhillipsUCB1200 chip. This device communicates to theSA1100 over SP4 using MCP.60 Enhanced OS-9 for the PID7T Board Guide

OS-9 ROM Image OverviewTable 3-2 Typical Bootfile Image Contents (continued)3Namessmsysiftk1100vectorsDescriptionThe System Security Module provides support forthe Memory Management Unit (MMU) on the CPU.P2module that provides SA1100 CPU power statecontrol.Driver that provides the system ticker based on theSA1110 Operating System Timer.Provides interrupt service entry and exit code. Thevectors module is found in the file vect110.Coreboot and Bootfile ImageThe combined coreboot and bootfile images are referred to as the OS-9ROM Image. The OS-9 ROM Image contains a high-level embeddedOS-9 bootfile as well as the system bootstrap code, low-level systemmodules, and embedded utility set for a fully functional OS-9 embeddedsystem.Enhanced OS-9 for the PID7T Board Guide 61

3OS-9ROM Image OverviewBoot Menu OptionsYou select your boot device menu options using the configurationwizard. For each boot device option, you can select whether you want itto be displayed on a boot menu, set up to autoboot, or both. Theautoboot option enables the device selected to automatically boot upthe high-level bootfile, bypassing the boot device menu.NoteWhen using the Configuration Wizard, you should select only onedevice for autoboot on your system.Following is an example of the Boot Menu displayed in the terminalemulation window (using Hyperterminal):OS-9000 Bootstrap for the ARMATA IDE disk found in socket 00Now trying to Override autobooters.BOOTING PROCEDURES AVAILABLE ------------- Boot embedded OS-9000 in-place ----------- Copy embedded OS-9000 to RAM and boot ---- Boot from PCMCIA-1 IDE ------------------- Boot from PCMCIA-0 IDE ------------------- Load bootfile via kermit Download -------- Download and Program coreboot into FLASH - Download and Program bootfile into FLASH - Restart the System ----------------------- Enter system debugger -------------------- Select a boot method from the above menu: ide062 Enhanced OS-9 for the PID7T Board Guide

OS-9 ROM Image OverviewWhat you select for boot options in the configuration wizard determineswhat modules are included in the coreboot image. Table 3-3 lists someof the supported boot devices for Enhanced OS-9:3Table 3-3 Supported Boot MethodsType of BootPCMCIA ATA CardBoot embedded OS-9in-placeCopy embedded OS-9 toRAM and BootDescriptionCopy OS-9 from ATA hard drive toRAM and boot (ide0).Boot OS-9 from FLASH (bo)Copy OS-9 from FLASH (if storedthere) to RAM and boot (lr).Enhanced OS-9 for the PID7T Board Guide 63

3OS-9ROM Image OverviewDebuggersThe configuration wizard supports two debuggers, Microware Hawkand ROMBug. It installs the appropriate low-level modules in yourcoreboot file when you make your build. The selection is then containedin the coreboot image that is downloaded to your target system.Microware HawkMicroware Hawk and its debugger enable you to create, run, debug,and update your programs. It is included on your Enhanced OS-9 CD.RomBugRomBug is used to debug system and user state programs. It runs insupervisor state and takes over control of the CPU when invoked.RomBug is configured as a low-level module that gains access to theresources it needs by using other low-level modules.64 Enhanced OS-9 for the PID7T Board Guide

OS-9 ROM Image OverviewIncluding Options in Your Build3Using the configuration wizard, there are additional options you canselect as part of your build. These options enable increasedfunctionality on the target system. Following are descriptions of some ofthese options.ROM Utility SetTable 3-4 lists the utilities in the ROM utility set.Table 3-4 ROM Utility Setshell date devs breakdeiniz dump echo eventsexbin help ident inizirqs link maps mdirmfree printenv procs setimesleep tmode unlink xmodeMore Info MoreInformation More Information More Information More-6-For More InformationFor more information on ROM utilities, see the OS-9 UtilitiesReference.Enhanced OS-9 for the PID7T Board Guide 65

3OS-9ROM Image OverviewRomBug in Bootfile (p2init)The p2init utility initializes an OS9P2 system extension module afterthe operating system is up and running. This provides additionalfunctionality which would not be available when the OS9P2 module isinitialized as part of the system startup. You can also use the p2initutility to add OS9P2 modules to a running ROM-based system.User State Debugging ModulesUser state is the normal program environment in which processes areexecuted. Generally, user-state processes do not deal directly with thespecific hardware configuration of the system. System-state debuggingis defined as debugging the entire system as opposed to just oneprocess running on the system (user-state debugging). System-statedebugging is initiated by using the attach command either to attach to asystem or to an emulator.Enable Disk Support ModulesThese modules support disk and tape devices in addition to utilities tomanipulate these device classes. It adds RBF, PCF, and SCF based I/Odevices.Disk UtilitiesThese utilities provide utilities for partitioning, formatting, andmaintaining disks on target systems.SoftStax Support ModulesThese modules support the SoftStax communications environment ontarget systems.66 Enhanced OS-9 for the PID7T Board Guide

OS-9 ROM Image OverviewNFS Client Support Module3This module provides support for the Network File System (NFS).Keyboard SupportThis enables the use of a keyboard attached to the target system.Mouse SupportThis enables the use of a mouse as an input device on the targetsystem.User ModulesBy default, the only module included is kermit. You can include othermodules by editing the user.ml file under the Sources-Port pull-downmenu found in the configuration wizard Advanced Mode.Enhanced OS-9 for the PID7T Board Guide 67

3OS-9ROM Image Overview68 Enhanced OS-9 for the PID7T Board Guide

Appendix A: The FastbootEnhancementThe Fastboot enhancements to OS-9 provide faster system bootstrapperformance to embedded systems. The normal bootstrap performanceof OS-9 is attributable to its flexibility. OS-9 handles many differentruntime configurations to which it dynamically adjusts during thebootstrap process.The Fastboot concept consists of informing OS-9 that the definedconfiguration is static and valid. These assumptions eliminate thedynamic searching OS-9 normally performs during the bootstrapprocess and enables the system to perform a minimal amount ofruntime configuration. As a result, a significant increase in bootstrapspeed is achieved.69

ATheFastboot EnhancementOverviewThe Fastboot enhancement consists of a set of flags that control thebootstrap process. Each flag informs some portion of the bootstrapcode that a particular assumption can be made and that the associatedbootstrap functionality should be omitted.The Fastboot enhancement enables control flags to be statically definedwhen the embedded system is initially configured as well asdynamically altered during the bootstrap process itself. For example, thebootstrap code could be configured to query dip switch settings,respond to device interrupts, or respond to the presence of specificresources which would indicate different bootstrap requirements.In addition, the Fastboot enhancement’s versatility allows for specialconsiderations under certain circumstances. This versatility is useful ina system where all resources are known, static, and functional, butadditional validation is required during bootstrap for a particularinstance such as a resource failure. The low-level bootstrap code couldrespond to some form of user input that would inform it that additionalchecking and system verification is desired.70 Enhanced OS-9 for the PID7T Board Guide

The Fastboot EnhancementImplementation OverviewAThe Fastboot configuration flags have been implemented as a set of bitfields. An entire 32-bit field has been dedicated for bootstrapconfiguration. This four-byte field is contained within the set of datastructures shared by the ModRom sub-components and the kernel.Hence, the field is available for modification and inspection by the entireset of system modules (high-level and low-level). Currently, there arejust six bit flags defined with eight bits reserved for user-definablebootstrap functionality. The reserved user-definable bits are thehigh-order eight bits (31-24). This leaves bits available for futureenhancements. The currently defined bits and their associatedbootstrap functionality are listed below:B_QUICKVALThe B_QUICKVAL bit indicates that only the module headers ofmodules in ROM are to be validated during the memory module searchphase. This causes the CRC check on modules to be omitted. Thisoption is potentially a large time saver due to the complexity andexpense of CRC generation. If a system has many modules in ROM,where access time is typically longer than RAM, omitting the CRCcheck on the modules will drastically decrease the bootstrap time. It isfairly rare that corruption of data occurs in ROM. Therefore, omittingCRC checking will usually be a safe option.B_OKRAMThe B_OKRAM bit informs both the low-level and high-level systems thatthey should accept their respective RAM definitions without verification.Normally, the system probes memory during bootstrap based on thedefined RAM parameters. This allows system designers to specify apossible RAM range which the system will validate upon startup. Thusthe system can accommodate varying amounts of RAM. But in anembedded system where the RAM limits are usually statically definedEnhanced OS-9 for the PID7T Board Guide 71

ATheFastboot Enhancementand presumed to be functional, there is no need to validate the definedRAM list. Bootstrap time is saved by assuming that the RAM definition isaccurate.B_OKROMThe B_OKROM bit causes acceptance of the ROM definition withoutprobing for ROM. This configuration option behaves just like theB_OKRAM option except that it applies to the acceptance of the ROMdefinition.B_1STINITThe B_1STINIT bit causes acceptance of the first init module foundduring cold-start. By default, the kernel searches the entire ROM listpassed up by the ModRom for init modules before it accepts and usesthe init module with the highest revision number. In a staticallydefined system, time is saved by using this option to omit the extendedinit module search.B_NOIRQMASKThe B_NOIRQMASK bit informs the entire bootstrap system that it shouldnot mask interrupts for the duration of the bootstrap process. Normally,the ModRom code and the kernel cold-start mask interrupts for theduration of the system startup. But some systems that have a welldefined interrupt system (i.e. completely calmed by the sysinithardware initialization code) and also have a requirement to respond toan installed interrupt handler during system startup can enable thisoption to prevent the ModRom and the kernel cold-start from disablinginterrupts. This is particularly useful in power-sensitive systems thatneed to respond to “power-failure” oriented interrupts.72 Enhanced OS-9 for the PID7T Board Guide

The Fastboot EnhancementANoteSome portions of the system may still mask interrupts for short periods during theexecution of critical sections.B_NOPARITYIf the RAM probing operation has not been omitted, the B_NOPARITYbit causes the system to not perform parity initialization of the RAM.Parity initialization occurs during the RAM probe phase. TheB_NOPARITY option is useful for systems that either require no parityinitialization at all or systems that only require it for “power-on” resetconditions. Systems that only require parity initialization for initial“power-on” reset conditions can dynamically use this option to preventparity initialization for subsequent “non-power-on” reset conditions.Enhanced OS-9 for the PID7T Board Guide 73

ATheFastboot EnhancementImplementation DetailsThis section describes the compile-time and runtime methods by whichusers can control the bootstrap speed of their system.Compile-time ConfigurationThe compile-time configuration of the bootstrap is provided by apre-defined macro (BOOT_CONFIG) which is used to set the initialbit-field values of the bootstrap flags. Users can redefine the macro forrecompilation to create a new bootstrap configuration. The newover-riding value of the macro should be established by redefining themacro in the rom_config.h header file or as a macro definitionparameter in the compilation command.The rom_config.h header file is one of the main files used toconfigure the ModRom system. It contains many of the specificconfiguration details of the low-level system. Here is an example ofhow a user can redefine the bootstrap configuration of their systemusing the BOOT_CONFIG macro in the rom_config.h header file:#define BOOT_CONFIG (B_OKRAM + B_OKROM + B_QUICKVAL)And here is an alternate example showing the default definition as acompile switch in the compilation command in the makefile:SPEC_COPTS = -dNEWINFO –dNOPARITYINIT –dBOOT_CONFIG=0x7This redefinition of the BOOT_CONFIG macro would result in a bootstrapmethod which would accept the RAM and ROM definitions as they arewithout verification, and also validate modules solely on the correctnessof their module headers.Runtime ConfigurationThe default bootstrap configuration can be overridden at runtime bychanging the rinf->os->boot_config variable from either alow-level P2 module or from the sysinit2() function of the74 Enhanced OS-9 for the PID7T Board Guide

The Fastboot Enhancementsysinit.c file. The runtime code can query jumper or other hardwaresettings to determine what user-defined bootstrap procedure should beused. An example P2 module is shown below.ANoteIf the override is performed in the sysinit2() function, the effect isnot realized until after the low-level system memory searches havebeen performed. This means that any runtime override of the defaultsettings pertaining to the memory search must be done from the codein the P2 module code.#define NEWINFO#include #include #include #include #include #include error_code p2start(Rominfo rinf, u_char *glbls){/* if switch or jumper setting is set… */if (switch_or_jumper == SET) {/* force checking of ROM and RAM lists */rinf->os->boot_config &= ~(B_OKROM+B_OKRAM);}return SUCCESS;}Enhanced OS-9 for the PID7T Board Guide 75

ATheFastboot Enhancement76 Enhanced OS-9 for the PID7T Board Guide

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