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RTEMS CPU Architecture Supplement

1. 2 1 CPU Model Dependent Features This section presents the set of features which vary across ARM implementations and are of importance to RTEMS The set of CPU model feature macros are defined in the file cpukit score cpu arm rtems score arm h based upon the particular CPU model flags specified on the compilation command line 2 1 1 CPU Model Name The macro CPU_MODEL_NAME is a string which designates the architectural level of this CPU model The following is a list of the settings for this string based upon gcc CPU model predefines __ARM_ARCH4__ ARMv4 __ARM_ARCHAT__ ARMv4T __ARM_ARCH5__ ARMv5 __ARM_ARCHST__ ARMvST __ARM_ARCHSE__ ARMv5E __ARM_ARCHSTE__ ARMv5TE 2 1 2 Count Leading Zeroes Instruction The ARMv5 and later has the count leading zeroes c1z instruction which could be used to speed up the find first bit operation The use of this instruction should significantly speed up the scheduling associated with a thread blocking 2 1 3 Floating Point Unit The macro ARM_HAS_FPU is set to 1 to indicate that this CPU model has a hardware floating point unit and 0 otherwise It does not matter whether the hardware floating point support is incorporated on chip or is an external coprocessor 2 2 Calling Conventions The ARM architecture supports a simple yet effective call and return mechanism A sub routine is invoked via the branch and link b1 instruction This instruction saves the 10 RTEMS CPU Architectu
2. A compiler s calling convention is of importance when interfacing to subroutines written in another language either assembly or high level Even when the high level language and target processor are the same different compilers may use different calling conventions As a result calling conventions are both processor and compiler dependent 9 2 1 Programming Model This section discusses the programming model for the SPARC architecture 9 2 1 1 Non Floating Point Registers The SPARC architecture defines thirty two non floating point registers directly visible to the programmer These are divided into four sets e input registers e local registers e output registers e global registers Each register is referred to by either two or three names in the SPARC reference manuals First the registers are referred to as 0 through r31 or with the alternate notation r 0 through r 31 Second each register is a member of one of the four sets listed above Finally some registers have an architecturally defined role in the programming model which provides an alternate name The following table describes the mapping between the 32 registers and the register sets Register Number Register Names Description 0 7 20 g7 Global Registers 8 15 o0 o7 Output Registers 16 23 10 17 Local Registers 24 31 10 17 Input Registers As mentioned above some of the registers serve defined roles in the programming model
3. In the PowerPC architecture exceptions can be either precise or imprecise and either syn chronous or asynchronous Asynchronous exceptions occur when an external event inter rupts the processor Synchronous exceptions are caused by the actions of an instruction During an exception SRRO is used to calculate where instruction processing should resume All instructions prior to the resume instruction will have completed execution SRR1 is used to store the machine status There are two asynchronous nonmaskable highest priority exceptions system reset and machine check There are two asynchrononous maskable low priority exceptions external interrupt and decrementer Nonmaskable execptions are never delayed therefore if two nonmaskable asynchronous exceptions occur in immediate succession the state information saved by the first exception may be overwritten when the subsequent exception occurs The PowerPC arcitecure defines one imprecise exception the imprecise floating point en abled exception All other synchronous exceptions are precise The synchronization oc curing during asynchronous precise exceptions conforms to the requirements for context synchronization Chapter 7 PowerPC Specific Information 37 7 4 2 Vectoring of Interrupt Handler Upon determining that an exception can be taken the PowerPC automatically performs the following actions e an instruction address is loaded into SRRO e bits 33 36 and 42 47 of SRR1 are loaded wit
4. 8 6 1 System Reset 0 cece ee eee ee eben eens 40 8 6 2 Processor Initialization oooooooccccoooccccnorccoo 40 9 SPARC Specific Information 41 9 1 CPU Model Dependent Features 42 9 1 1 CPU Model Feature Hiags c eee eee eee ee 42 9 1 1 1 CPU Model Name Re Ree me 42 9 1 1 2 Floating Point Uut eee ee eee 42 9 1 1 3 Bitscan Instmuetion ties 43 9 1 1 4 Number of Register Windows 43 9 1 1 5 Low Power Mode 43 9 1 2 CPU Model Implementation Notes 43 9 2 Calling Convention 44 9 2 1 Programming Model srme eseese une ke ae 44 9 2 1 1 Non Floating Point Registers 2000 44 9 2 1 2 Floating Point Hegtoterg 0c eee eee ee 45 9 2 1 3 Special Registers sees EE PEE em d 45 9 2 2 Register Windows 45 9 2 3 Call and Return Mechanisme 47 9 2 4 Calling Mechanisme 4T 9 2 5 Register Us ge ag AER NEE BEE 47 9 2 6 Parameter Passing 0 00 cece eee eee eee eens 47 9 2 7 User Provided Routines 000s cece eee eee eee 47 9 3 Memory Model SEELEN EE sea EEN 47 9 3 1 Flat Memory Model 48 9 4 Interrupt Processing wc ere r3 meg Rr p REI ER AEN Ee 48 9 4 1 Synchronous Versus Asynchronous Traps 49 9 4 2 Vectoring of Interrupt Handler 49 9 4 3 Traps and Register Wmdos co 50 9 4 4 Interrupt Levels 0 cece eee n eee eee eee 50 9 4 5 Disabling of Interrupts by RTEMS 50 9 4 6 Iuterr pt Stack simio carr en e
5. It is thought that the length of time at which the processor interrupt level is elevated to fifteen by RTEMS is not anywhere near as long as the length of time ALL traps are disabled as part of the flush all register windows operation Non maskable interrupts NMI cannot be disabled and ISRs which execute at this level MUST NEVER issue RTEMS system calls If a directive is invoked unpredictable results Chapter 9 SPARC Specific Information 51 may occur due to the inability of RTEMS to protect its critical sections However ISRs that make no system calls may safely execute as non maskable interrupts 9 4 6 Interrupt Stack The SPARC architecture does not provide for a dedicated interrupt stack Thus by default trap handlers would execute on the stack of the RTEMS task which they interrupted This artificially inflates the stack requirements for each task since EVERY task stack would have to include enough space to account for the worst case interrupt stack requirements in addition to it s own worst case usage RTEMS addresses this problem on the SPARC by providing a dedicated interrupt stack managed by software During system initialization RTEMS allocates the interrupt stack from the Workspace Area The amount of memory allocated for the interrupt stack is determined by the inter rupt stack size field in the CPU Configuration Table As part of processing a non nested interrupt RTEMS will switch to the interrupt stack before invoking
6. The address may be used to reference a single byte word 2 bytes or long word 4 bytes Memory accesses within this address space are performed in the endian mode that the processor is configured for In general ARM processors are used in little endian mode Some of the ARM family members such as the 920 and 720 include an MMU and thus support virtual memory and segmentation RTEMS does not support virtual memory or segmentation on any of the ARM family members 2 4 Interrupt Processing Although RTEMS hides many of the processor dependent details of interrupt processing it is important to understand how the RTEMS interrupt manager is mapped onto the processor s unique architecture Discussed in this chapter are the ARM s interrupt response and control mechanisms as they pertain to RTEMS The ARM has 7 exception types e Reset e Undefined instruction e Software interrupt SWI Chapter 2 ARM Specific Information 11 Prefetch Abort Data Abort Interrupt IRQ e Fast Interrupt FIQ Of these types only IRQ and FIQ are handled through RTEMS s interrupt vectoring 2 4 1 Vectoring of an Interrupt Handler Unlike many other architectures the ARM has seperate stacks for each interrupt When the CPU receives an interrupt it e switches to the exception mode corresponding to the interrupt e saves the Current Processor Status Register CPSR to the exception mode s Saved Processor Status Register SPSR e masks off the
7. e the enable trap ET of the psr is set to 0 to disable traps e the supervisor bit S of the psr is set to 1 to enter supervisor mode and e the PC is set 0 and the nPC is set to 4 The processor then begins to execute the code at location 0 It is important to note that all fields in the psr are not explicitly set by the above steps and all other registers retain 52 RTEMS CPU Architecture Supplement their value from the previous execution mode This is true even of the Trap Base Register TBR whose contents reflect the last trap which occurred before the reset 9 6 2 Processor Initialization It is the responsibility of the application s initialization code to initialize the TBR and install trap handlers for at least the register window overflow and register window underflow conditions Traps should be enabled before invoking any subroutines to allow for register window management However interrupts should be disabled by setting the Processor Interrupt Level pil field of the psr to 15 RTEMS installs it s own Trap Table as part of initialization which is initialized with the contents of the Trap Table in place when the rtems_initialize_executive directive was invoked Upon completion of executive initialization interrupts are enabled If this SPARC implementation supports on chip caching and this is to be utilized then it should be enabled during the reset application initialization code In addition to the requirements describ
8. the address is stored at VBR vector no The registers and stackframe will be intact the interrupt routine will see exactly what it would see if it was called directly from the HW vector table at O comm VBR 4 2 This defines the virtual VBR From C extern void VBR myhandler At entry PC contains the full vector move l d0 sp Save d move l a0 sp Save a0 lea O hpc had Get the value of the PC move l a0 d0 Copy it to a data reg dO is VV swap a0 Now dO is VV Chapter 5 M68xxx and Coldfire Specific Information 27 and w HOxff00 d0 Now dO is VVOO 1 lsr w 6 d0 Now dO w contains the VBR table offset move l VBR a0 Get the address from VBR to a0 move l a0 d0 w Zap Fetch the vector move l 4 sp d0 Restore dO move l a0 4 sp Place target address to the stack move l sp a0 Restore a0 target address is on TOS ret This will jump to the handler and restore the stack 1 If myhandler is guaranteed to be in the first 64K e g just after the vector table then that insn is not needed There are probably shorter ways to do this but it I believe is enough to illustrate the trick Optimisation is left as an exercise to the reader 5 4 3 Interrupt Levels Eight levels 0 7 of interrupt priorities are supported by MC68xxx family members with level seven 7 being the highest priority Level zero 0 indicate
9. the stack after control is returned to the caller This removal is typically accomplished by adding the size of the argument list in bytes to the current stack pointer 5 3 Memory Model The MC68xxx family supports a flat 32 bit address space with addresses ranging from 0x00000000 to OxFFFFFFFF 4 gigabytes Each address is represented by a 32 bit value and is byte addressable The address may be used to reference a single byte word 2 bytes or long word 4 bytes Memory accesses within this address space are performed in big endian fashion by the processors in this family Some of the MC68xxx family members such as the MC68020 MC68030 and MC68040 support virtual memory and segmentation The MC68020 requires external hardware sup port such as the MC68851 Paged Memory Management Unit coprocessor which is typically Chapter 5 M68xxx and Coldfire Specific Information 25 used to perform address translations for these systems RTEMS does not support virtual memory or segmentation on any of the MC68xxx family members 5 4 Interrupt Processing Discussed in this section are the MC68xxx s interrupt response and control mechanisms as they pertain to RTEMS 5 4 1 Vectoring of an Interrupt Handler Depending on whether or not the particular CPU supports a separate interrupt stack the MC68xxx family has two different interrupt handling models 5 4 1 1 Models Without Separate Interrupt Stacks Upon receipt of an interrupt the MC68xxx fam
10. ARM CPU models from numerous semiconductor vendors and a wide variety of peripherals But at the ISA level they share a common compaability RTEMS depends upon this core similarity across the CPU models and leverages that to minimize the source code that is specific to any particular CPU core implementation or CPU model This manual is separate and distinct from the RTEMS Porting Guide That manual is a guide on porting RTEMS to a new architecture This manual is focused on the more mundane CPU architecture specific issues that may impact application development For example if you need to write a subroutine in assembly language it is critical to understand the calling conventions for the target architecture The first chapter in this manual describes these issues in general terms In a sense it is posing the questions one should be aware may need to be answered and understood when porting an RTEMS application to a new architecture Each subsequent chapter gives the answers to those questions for a particular CPU architecture Chapter 1 Port Specific Information 3 1 Port Specific Information This chaper provides a general description of the type of architecture specific information which is in each of the architecture specific chapters that follow The outline of this chapter is identical to that of the architecture specific chapters In each of the architecture specific chapters this introductory section will provide an over view of
11. Handler Upon receipt of an interrupt the XXX family members with separate interrupt stacks au tomatically perform the following actions e TBD A nested interrupt is processed similarly by these CPU models with the exception that only a single ISF is placed on the interrupt stack and the current stack need not be switched 8 4 2 Interrupt Levels TBD 8 5 Default Fatal Error Processing The default fatal error handler for this architecture disables processor interrupts places the error code in XXX and executes a XXX instruction to simulate a halt processor instruction 8 6 Board Support Packages 8 6 1 System Reset An RTEMS based application is initiated or re initiated when the processor is reset When the processor is reset it performs the following actions e TBD 8 6 2 Processor Initialization TBD Chapter 9 SPARC Specific Information 41 9 SPARC Specific Information The Real Time Executive for Multiprocessor Systems RTEMS is designed to be portable across multiple processor architectures However the nature of real time systems makes it essential that the application designer understand certain processor dependent implementa tion details These processor dependencies include calling convention board support pack age issues interrupt processing exact RTEMS memory requirements performance data header files and the assembly language interface to the executive This document discusses the SPARC architecture dep
12. OXFFFFFFFO because the i386 asserts the upper twelve address until the first intersegment FAR JMP or CALL instruction When a JMP or CALL is executed the upper twelve address lines are lowered and the processor begins executing in the first megabyte of memory Typically an intersegment JMP to the application s initialization code is placed at address OxFFFFFFFO 4 6 2 Processor Initialization This initialization code is responsible for initializing all data structures required by the i386 in protected mode and for actually entering protected mode The i386 must be placed in protected mode and the segment registers and associated selectors must be initialized before the initialize_executive directive is invoked The initialization code is responsible for initializing the Global Descriptor Table such that the i386 is in the thirty two bit flat memory model with paging disabled In this mode the 1386 automatically converts every address from a logical to a physical address each time it is used For more information on the memory model used by RTEMS please refer to the Memory Model chapter in this document Since the processor is in real mode upon reset the processor must be switched to protected mode before RTEMS can execute Before switching to protected mode at least one descrip tor table and two descriptors must be created Descriptors are needed for a code segment and a data segment This will give you the flat memory model The st
13. RTEMS such as user extensions device drivers and MPCI routines must also adhere to these calling conventions 9 3 Memory Model A processor may support any combination of memory models ranging from pure physical addressing to complex demand paged virtual memory systems RTEMS supports a flat memory model which ranges contiguously over the processor s allowable address space RTEMS does not support segmentation or virtual memory of any kind The appropriate 48 RTEMS CPU Architecture Supplement memory model for RTEMS provided by the targeted processor and related characteristics of that model are described in this chapter 9 3 1 Flat Memory Model The SPARC architecture supports a flat 32 bit address space with addresses ranging from 0x00000000 to OxFFFFFFFF 4 gigabytes Each address is represented by a 32 bit value and is byte addressable The address may be used to reference a single byte half word 2 bytes word 4 bytes or doubleword 8 bytes Memory accesses within this address space are performed in big endian fashion by the SPARC Memory accesses which are not properly aligned generate a memory address not aligned trap type number 7 The following table lists the alignment requirements for a variety of data accesses Data Type Alignment Requirement byte 1 half word 2 word 4 doubleword 8 Doubleword load and store operations must use a pair of registers as their source or des tination This p
14. The following table describes the role of each of these registers Chapter 9 SPARC Specific Information 45 Register Name Alternate Names Description g0 NA reads return 0 writes are ignored 06 sp stack pointer 16 fp frame pointer 17 NA return address 9 2 1 2 Floating Point Registers The SPARC V7 architecture includes thirty two thirty two bit registers These registers may be viewed as follows e 32 single precision floating point or integer registers f0 fl 31 e 16 double precision floating point registers f0 f2 f4 30 e 8 extended precision floating point registers f0 f4 f8 128 The floating point status register fpsr specifies the behavior of the floating point unit for rounding contains its condition codes version specification and trap information A queue of the floating point instructions which have started execution but not yet com pleted is maintained This queue is needed to support the multiple cycle nature of floating point operations and to aid floating point exception trap handlers Once a floating point exception has been encountered the queue is frozen until it is emptied by the trap handler The floating point queue is loaded by launching instructions It is emptied normally when the floating point completes all outstanding instructions and by floating point exception handlers with the store double floating point queue stdfq instruction 9 2 1 3 Specia
15. long word 4 bytes Memory accesses within this address space are performed in big endian fashion by the processors in this family Some of the MIPS family members such as the support virtual memory and segmentation RTEMS does not support virtual memory or segmentation on any of these family members 30 RTEMS CPU Architecture Supplement 6 4 Interrupt Processing Although RTEMS hides many of the processor dependent details of interrupt processing it is important to understand how the RTEMS interrupt manager is mapped onto the processor s unique architecture Discussed in this chapter are the MIPS s interrupt response and control mechanisms as they pertain to RTEMS 6 4 1 Vectoring of an Interrupt Handler Upon receipt of an interrupt the XXX family members with separate interrupt stacks au tomatically perform the following actions e TBD A nested interrupt is processed similarly by these CPU models with the exception that only a single ISF is placed on the interrupt stack and the current stack need not be switched 6 4 2 Interrupt Levels TBD 6 5 Default Fatal Error Processing The default fatal error handler for this target architecture disables processor interrupts places the error code in XXX and executes a XXX instruction to simulate a halt processor instruction 6 6 Board Support Packages 6 6 1 System Reset An RTEMS based application is initiated or re initiated when the processor is reset When the processor is
16. quirement for data types on a byte boundary This value is used to derive the alignment restrictions for memory allocated from regions and partitions 7 1 2 Cache Alignment The macro PPC_CACHE_ALIGNMENT is set to the line size of the cache It is used to align the entry point of critical routines so that as much code as possible can be retrieved with the initial read into cache This is done for the interrupt handler as well as the context switch routines In addition the shortcut data structure used by the PowerPC implementation to ease access to data elements frequently accessed by RTEMS routines implemented in assembly language is aligned using this value 7 1 3 Maximum Interrupts The macro PPC_INTERRUPT_MAX is set to the number of exception sources supported by this PowerPC model 7 1 4 Has Double Precision Floating Point The macro PPC HAS DOUBLE is set to 1 to indicate that the PowerPC model has support for double precision floating point numbers This is important because the floating point registers need only be four bytes wide not eight if double precision is not supported 7 1 5 Critical Interrupts The macro PPC HAS RFCI is set to 1 to indicate that the PowerPC model has the Critical Interrupt capability as defined by the IBM 403 models 7 1 6 Use Multiword Load Store Instructions The macro PPC USE MULTIPLE is set to 1 to indicate that multiword load and store instructions should be used to perform context switch o
17. save instruction decrements the cwp modulo the number of register windows Similarly the restore instruction increments the cwp modulo the number of register windows Each bit in the wim represents represents whether a register window contains valid information The value of 0 indicates the register window is valid and 1 indicates it is invalid When a save instruction causes the cwp to point to a register window which is marked as invalid a window overflow condition results Conversely the restore instruction may result in a window underflow condition Other than the assumption that a register window is always available for trap i e inter rupt handlers the SPARC architecture places no limits on the number of register windows simultaneously marked as invalid i e number of bits set in the wim However RTEMS assumes that only one register window is marked invalid at a time i e only one bit set in the wim This makes the maximum possible number of register windows available to the user while still meeting the requirement that window overflow and underflow conditions can be detected The window overflow and window underflow trap handlers are a critical part of the run time environment for a SPARC application The SPARC architectural specification allows for the number of register windows to be any power of two less than or equal to 32 The most common choice for SPARC implementations appears to be 8 register windows This results in the cwp r
18. the FVO is used by RTEMS for this purpose the user application code MUST NOT modify this field The following shows the Interrupt Stack Frame for MC68xxx CPU models with separate interrupt stacks 26 RTEMS CPU Architecture Supplement Status Register 0x0 Program Counter High 0x2 Program Counter Low 0x4 Format Vector Offset 0x6 5 4 2 CPU Models Without VBR and RAM at 0 This is from a post by Zoltan Kocsi lt zoltan bendor com au gt and is a nice trick in certain situations In his words I think somebody on this list asked about the interupt vector handling w o VBR and RAM at 0 The usual trick is to initialise the vector table except the first 2 two entries of course to point to the same location BUT you also add the vector number times 0x1000000 to them That is bits 31 24 contain the vector number and 23 0 the address of the common handler Since the PC is 32 bit wide but the actual address bus is only 24 the top byte will be in the PC but will be ignored when jumping onto your routine Then your common interrupt routine gets this info by loading the PC into some register and based on that info you can jump to a vector in a vector table pointed by a virtual VBR Real vector table at 0 Long initial_sp Long initial pc Long myhandler 0x02000000 Long myhandler 0x03000000 Long myhandler 0x04000000 Long myhandler 0xff000000 This handler will jump to the interrupt routine of which
19. the installed handler 9 5 Default Fatal Error Processing Upon detection of a fatal error by either the application or RTEMS the fatal error manager is invoked The fatal error manager will invoke the user supplied fatal error handlers If no user supplied handlers are configured the RTEMS provided default fatal error handler is invoked If the user supplied fatal error handlers return to the executive the default fatal error handler is then invoked This chapter describes the precise operations of the default fatal error handler 9 5 1 Default Fatal Error Handler Operations The default fatal error handler which is invoked by the fatal_error_occurred directive when there is no user handler configured or the user handler returns control to RTEMS The default fatal error handler disables processor interrupts to level 15 places the error code in gl and goes into an infinite loop to simulate a halt processor instruction 9 6 Board Support Packages An RTEMS Board Support Package BSP must be designed to support a particular pro cessor and target board combination This chapter presents a discussion of SPARC specific BSP issues For more information on developing a BSP refer to the chapter titled Board Support Packages in the RTEMS Applications User s Guide 9 6 1 System Reset An RTEMS based application is initiated or re initiated when the SPARC processor is reset When the SPARC is reset the processor performs the following actions
20. EN nen 19 4 5 Default Fatal Error Processing 0000 e eee eee eee 19 4 6 Board Support Packages 0 0 0 cece nee eee ee 20 4 6 1 System Reset u be IRR RERO 20 4 6 2 Processor Initialization ooooooorooooommmmmmm 20 5 M68xxx and Coldfire Specific Information 23 5 1 CPU Model Dependent Features 23 5 1 1 BFEFO Instruction sirenos 4a een 23 5 1 2 Vector Base Register 23 5 1 3 Separate St cks sees sete ae o odes cae 23 5 1 4 Pre Indexing Address Mode 23 5 1 5 Extend Byte to Long Instruction 23 5 2 Calling Cemuentiong e Ne ENNER SERA 24 5 2 1 Calling Mechanisme 24 0 2 2 Register Usa een ease E bc 24 92 3 Parameter Passing cams ana 24 5 3 Memory Model ENEE dr a E EEN REENEN 24 5 4 Interrupt Processing 0 cece eee eere 25 5 4 1 Vectoring of an Interrupt Handler 25 5 4 1 1 Models Without Separate Interrupt Stacks 25 5 4 1 2 Models With Separate Interrupt Stacks 25 5 4 2 CPU Models Without VBR and RAM at 0 26 5 4 3 Interrupt Levels at NEEN a en 27 5 5 Default Fatal Error Processing 00 e cece e eens 21 5 6 Board Support Packages 2 00 e cece eee cee eee tenta 27 5 6 1 System Reset 0 ccc cece cece eee eee nnn 27 5 6 2 Processor Initialization 0 cece eee eee 28 MIPS Specific Information 29 6 1 CPU Model Dependent Features 29 6 1 1 Another Opti
21. H1 has 16 general registers r0 r15 e 10 r3 used as general volatile registers e r4 r7 used to pass up to 4 arguments to functions arguments above 4 are passed via the stack e 18 13 caller saved registers i e push them to the stack if you need them inside of a function e r14 frame pointer e r15 stack pointer 8 2 3 Parameter Passing XXX 8 3 Memory Model 40 RTEMS CPU Architecture Supplement 8 3 1 Flat Memory Model The SuperH family supports a flat 32 bit address space with addresses ranging from 0x00000000 to OxFFFFFFFF 4 gigabytes Each address is represented by a 32 bit value and is byte addressable The address may be used to reference a single byte word 2 bytes or long word 4 bytes Memory accesses within this address space are performed in big endian fashion by the processors in this family Some of the SuperH family members support virtual memory and segmentation RTEMS does not support virtual memory or segmentation on any of the SuperH family members It is the responsibility of the BSP to initialize the mapping for a flat memory model 8 4 Interrupt Processing Although RTEMS hides many of the processor dependent details of interrupt processing it is important to understand how the RTEMS interrupt manager is mapped onto the processor s unique architecture Discussed in this chapter are the MIPS s interrupt response and control mechanisms as they pertain to RTEMS 8 4 1 Vectoring of an Interrupt
22. IRQ and if the interrupt source was FIQ the FIQ is masked off as well e saves the Program Counter PC to the exception mode s Link Register LR same as R14 e and sets the PC to the exception s vector address The vectors for both IRQ and FIQ point to the _ISR_Handler function _ISR_Handler calls the BSP specific handler ExecutelTHandler Before calling ExecutelTHandler registers RO R3 R12 and R14 LR are saved so that it is safe to call C functions Even ExecutelTHandler can be written in C 2 4 2 Interrupt Levels The ARM architecture supports two external interrupts IRQ and FIQ FIQ has a higher priority than IRQ and has its own version of register R8 R14 however RTEMS does not take advantage of them Both interrupts are enabled through the CPSR The RT EMS interrupt level mapping scheme for the AEM is not a numeric level as on most RTEMS ports It is a bit mapping that corresponds the enable bits s postions in the CPSR FIQ Setting bit 6 0 is least significant bit disables the FIQ IRQ Setting bit 7 0 is least significant bit disables the IRQ 2 4 3 Interrupt Stack RTEMS expects the interrupt stacks to be set up in bsp start The memory for the stacks is reserved in the linker script 2 5 Default Fatal Error Processing The default fatal error handler for this architecture performs the following actions e disables processor interrupts e places the error code in r0 and e executes an infinite
23. RTEMS CPU Architecture Supplement Edition 4 9 0 for RTEMS 4 9 0 24 September 2008 On Line Applications Research Corporation On Line Applications Research Corporation TEXinfo 2007 12 02 17 COPYRIGHT 1988 2008 On Line Applications Research Corporation OAR The authors have used their best efforts in preparing this material These efforts include the development research and testing of the theories and programs to determine their effectiveness No warranty of any kind expressed or implied with regard to the software or the material contained in this document is provided No liability arising out of the application or use of any product described in this document is assumed The authors reserve the right to revise this material and to make changes from time to time in the content hereof without obligation to notify anyone of such revision or changes The RTEMS Project is hosted at http www rtems com Any inquiries concerning RTEMS its related support components its documentation or any custom services for RTEMS should be directed to the contacts listed on that site A current list of RTEMS Support Providers is at http www rtems com support html Table of Contents e E 1 1 Port Specific Information 3 1 1 CPU Model Dependent Features 3 KE CPU Model Name vial ai ea 4 1 1 2 Floating Point Unit a 4 1 2 Calling Convention 4 1 2 1 Calling Mechanism pssmsasauu e evt etae 4 12 2 Regis
24. ack can be placed in a normal read write data segment so no descriptor for the stack is needed Before the GDT can be used the base address and limit must be loaded into the GDTR register using an LGDT instruction Chapter 4 Intel AMD x86 Specific Information 21 If the hardware allows an NMI to be generated you need to create the IDT and a gate for the NMI interrupt handler Before the IDT can be used the base address and limit for the idt must be loaded into the IDTR register using an LIDT instruction Protected mode is entered by setting thye PE bit in the CRO register Either a LMSW or MOV CRO instruction may be used to set this bit Because the processor overlaps the interpretation of several instructions it is necessary to discard the instructions from the read ahead cache A JMP instruction immediately after the LMSW changes the flow and empties the processor if intructions which have been pre fetched and or decoded At this point the processor is in protected mode and begins to perform protected mode application initialization If the application requires that the IDTR be some value besides zero then it should set it to the required value at this point All tasks share the same i386 IDTR value Because interrupts are enabled automatically by RTEMS as part of the initialize_executive directive the IDTR MUST be set properly before this directive is invoked to insure correct interrupt vectoring If processor caching is to be utilized th
25. air of registers must be an adjacent pair of registers with the first of the pair being even numbered For example a valid destination for a doubleword load might be input registers 0 and 1 i0 and il The pair il and i2 would be invalid NOTE Some assemblers for the SPARC do not generate an error if an odd numbered register is specified as the beginning register of the pair In this case the assembler assumes that what the programmer meant was to use the even odd pair which ends at the specified register This may or may not have been a correct assumption RTEMS does not support any SPARC Memory Management Units therefore virtual mem ory or segmentation systems involving the SPARC are not supported 9 4 Interrupt Processing Different types of processors respond to the occurrence of an interrupt in its own unique fashion In addition each processor type provides a control mechanism to allow for the proper handling of an interrupt The processor dependent response to the interrupt modifies the current execution state and results in a change in the execution stream Most processors require that an interrupt handler utilize some special control mechanisms to return to the normal processing stream Although RTEMS hides many of the processor dependent details of interrupt processing it is important to understand how the RTEMS interrupt manager is mapped onto the processor s unique architecture Discussed in this chapter are the SPARC s interr
26. anging in value from 0 to 7 on most implementations The second complicating factor is the sharing of registers between adjacent register windows While each register window has its own set of local registers the input and output registers are shared between adjacent windows The output registers for register window N are the same as the input registers for register window N 1 modulo RW where RW is the number of register windows An alternative way to think of this is to remember how parameters are passed to a subroutine on the SPARC The caller loads values into what are its output registers Then after the callee executes a save instruction those parameters are available in its input registers This is a very efficient way to pass parameters as no data is actually moved by the save or restore instructions Chapter 9 SPARC Specific Information 47 9 2 3 Call and Return Mechanism The SPARC architecture supports a simple yet effective call and return mechanism A subroutine is invoked via the call call instruction This instruction places the return address in the caller s output register 7 07 After the callee executes a save instruction this value is available in input register 7 17 until the corresponding restore instruction is executed The callee returns to the caller via a mp to the return address There is a delay slot following this instruction which is commonly used to execute a restore instruction if a register wind
27. at instruction It is is important to note that the MC68xxx call and return mechanism does not automatically save or restore any registers It is the responsibility of the high level language compiler to define the register preservation and usage convention 5 2 1 Calling Mechanism All RTEMS directives are invoked using either a bsr or jsr instruction and return to the user application via the rts instruction 5 2 2 Register Usage As discussed above the bsr and jsr instructions do not automatically save any registers RTEMS uses the registers DO D1 AO and Al as scratch registers These registers are not preserved by RTEMS directives therefore the contents of these registers should not be assumed upon return from any RTEMS directive 5 2 3 Parameter Passing RTEMS assumes that arguments are placed on the current stack before the directive is invoked via the bsr or jsr instruction The first argument is assumed to be closest to the return address on the stack This means that the first argument of the C calling sequence is pushed last The following pseudo code illustrates the typical sequence used to call a RTEMS directive with three 3 arguments push third argument push second argument push first argument invoke directive remove arguments from the stack The arguments to RTEMS are typically pushed onto the stack using a move instruction with a pre decremented stack pointer as the destination These arguments must be removed from
28. ce cee eee eee 12 ii RTEMS CPU Architecture Supplement 3 Blackfin Specific Information 13 3 1 CPU Model Dependent Features 0000 e eee eee 13 3 1 1 Count Leading Zeroes Instruction 13 3 2 Calling Conventions 0 ccc ccc eee ence eee ee eeees 13 3 2 1 Processor Background ressega inimii eE eee eee 13 3 2 2 Register Usage Visa anes Poe Ce E RR Rad 13 3 2 0 Parameter Passing u ten 14 3 3 Memory Model 14 3 4 Interrupt Processing RR 14 3 4 1 Vectoring of an Interrupt Handler 14 3 4 2 Disabling of Interrupts by RTEMS 14 34 3 Interrupt Stack uesenausteiisiekeis aaa a 14 3 5 Default Fatal Error Processing eee eee ee eee 14 3 6 Board Support Packages 0 00 c cece eee eee eee eee 15 3 6 1 System Reset 0 cece cece cece een 15 4 Intel AMD x86 Specific Information 17 4 1 CPU Model Dependent Features 0 000 17 4 1 1 bswap Instruction a en en a 17 4 2 Calling Convention 17 4 2 1 Processor Backeround eee eens 17 4 2 2 Calling Mechanisme 17 4 2 3 Register USBEG eder ne een 17 4 2 4 Parameter Passing nenn 18 4 3 Memory Model 24 deg 200 85242 ANEREN er en 18 4 3 1 Flat Memory Model 18 4 4 Interrupt Processing cece eee nnn 18 4 4 1 Vectoring of Interrupt Handler 19 4 4 2 Interrupt Stack Frame 19 4 4 3 Interrupt Levels 0 00 eee ccc ee 19 AAA Interrupt Stack STEEN E
29. ch processor type provides a control mechanism to allow for the proper handling of an interrupt The processor dependent response to the interrupt modifies the current execution state and results in a change in the execution stream Most processors require that an interrupt handler utilize some special control mechanisms to return to the normal processing stream Although RTEMS hides many of the processor dependent details 6 RTEMS CPU Architecture Supplement of interrupt processing it is important to understand how the RTEMS interrupt manager is mapped onto the processor s unique architecture RTEMS supports a dedicated interrupt stack for all architectures On architectures with hardware support for a dedicated interrupt stack it will be initialized such that when an interrupt occurs the processor automatically switches to this dedicated stack On architec tures without hardware support for a dedicated interrupt stack which is separate from those of the tasks RTEMS will support switching to a dedicated stack for interrupt processing Without a dedicated interrupt stack every task in the system MUST have enough stack space to accommodate the worst case stack usage of that particular task and the interrupt service routines COMBINED By supporting a dedicated interrupt stack RTEMS signifi cantly lowers the stack requirements for each task A nested interrupt is processed similarly with the exception that since the CPU is already executing o
30. dvantage of the similarity of the various models within a CPU family Although the models do vary in significant ways the high level of compatibility makes it possible to share the bulk of the CPU dependent executive code across the entire family 9 1 1 CPU Model Feature Flags Each processor family supported by RTEMS has a list of features which vary between CPU models within a family For example the most common model dependent feature regardless of CPU family is the presence or absence of a floating point unit or coprocessor When defining the list of features present on a particular CPU model one simply notes that floating point hardware is or is not present and defines a single constant appropriately Conditional compilation is utilized to include the appropriate source code for this CPU model s feature set It is important to note that this means that RTEMS is thus compiled using the appropriate feature set and compilation flags optimal for this CPU model used The alternative would be to generate a binary which would execute on all family members using only the features which were always present This section presents the set of features which vary across SPARC implementations and are of importance to RTEMS The set of CPU model feature macros are defined in the file cpukit score cpu sparc sparc h based upon the particular CPU model defined on the compilation command line 9 1 1 1 CPU Model Name The macro CPU MODEL NAME is a string wh
31. e 1386 segment registers and associated selectors must be initialized when the initial ize_executive directive is invoked RTEMS treats the segment registers as system registers and does not modify or context switch them This i386 memory model supports a flat 32 bit address space with addresses ranging from 0x00000000 to OxFFFFFFFF 4 gigabytes Each address is represented by a 32 bit value and is byte addressable The address may be used to reference a single byte half word 2 bytes or word 4 bytes 4 4 Interrupt Processing Although RTEMS hides many of the processor dependent details of interrupt processing it is important to understand how the RTEMS interrupt manager is mapped onto the processor s unique architecture Discussed in this chapter are the the processor s response and control mechanisms as they pertain to RTEMS Chapter 4 Intel AMD x86 Specific Information 19 4 4 1 Vectoring of Interrupt Handler Although the i386 supports multiple privilege levels RTEMS and all user software executes at privilege level 0 This decision was made by the RTEMS designers to enhance compat ibility with processors which do not provide sophisticated protection facilities like those of the i386 This decision greatly simplifies the discussion of 1386 processing as one need only consider interrupts without privilege transitions Upon receipt of an interrupt the i386 automatically performs the following actions e pushes the EFLAGS regi
32. e eae her emen 51 9 5 Default Fatal Error Processing 00 e cece eee eee 5l 9 5 1 Default Fatal Error Handler Operations 51 9 6 Board Support Packages sssssssssesseee eee eee Dil 9 0 1 System Reset ausstellen ees 51 9 6 2 Processor Initialization 0 0 0 cece eee eee 52 Command and Variable Index 53 Concept IMEX vs Se ohh eco ee genet 55 Preface 1 Preface The Real Time Executive for Multiprocessor Systems RTEMS is designed to be portable across multiple processor architectures However the nature of real time systems makes it essential that the application designer understand certain processor dependent implementa tion details These processor dependencies include calling convention board support pack age issues interrupt processing exact RTEMS memory requirements performance data header files and the assembly language interface to the executive Each architecture represents a CPU family and usually there are a wide variety of CPU models within it These models share a common Instruction Set Architecture ISA which often varies based upon some well defined rules There are often multiple implementations of the ISA and these may be from one or multiple vendors On top of variations in the ISA there may also be variations which occur when a CPU core implementation is combined with a set of peripherals to form a system on chip For example there are many
33. ed in the Board Support Packages chapter of the C Applications Users Manual for the reset code which is executed before the call to rtems_ initialize_executive the SPARC version has the following specific requirements e Must leave the S bit of the status register set so that the SPARC remains in the supervisor state e Must set stack pointer sp such that a minimum stack size of MINI MUM STACK SIZE bytes is provided for the rtems initialize executive di rective e Must disable all external interrupts i e set the pil to 15 e Must enable traps so window overflow and underflow conditions can be properly handled e Must initialize the SPARC s initial trap table with at least trap handlers for register window overflow and register window underflow Command and Variable Index Command and Variable Index There are currently no Command and Variable Index entries 53 Concept Index Concept Index There are currently no Concept Index entries 55
34. efined for the PPC603e 7 2 Calling Conventions RTEMS supports the Embedded Application Binary Interface EABI calling convention Documentation for EABI is available by sending a message with a subject line of EABI to eabi goth sis mot com 7 2 1 Programming Model This section discusses the programming model for the PowerPC architecture 7 2 1 1 Non Floating Point Registers The PowerPC architecture defines thirty two non floating point registers directly visible to the programmer In thirty two bit implementations each register is thirty two bits wide In sixty four bit implementations each register is sixty four bits wide These registers are referred to as gprO to gpr31 Some of the registers serve defined roles in the EABI programming model The following table describes the role of each of these registers 34 RTEMS CPU Architecture Supplement Register Name Alternate Names Description rl sp stack pointer r2 NA global pointer to the Small Constant Area SDA2 r3 r12 NA parameter and result passing r13 NA global pointer to the Small Data Area SDA2 7 2 1 2 Floating Point Registers The PowerPC architecture includes thirty two sixty four bit floating point registers All PowerPC floating point instructions interpret these registers as 32 double precision floating point registers regardless of whether the processor has 64 bit or 32 bit implementation The floating point status and cont
35. en it should be enabled during the reset application initialization code The reset code which is executed before the call to initialize_executive has the following requirements For more information regarding the i386 data structures and their contents refer to Intel s 386 Programmer s Reference Manual Chapter 5 M68xxx and Coldfire Specific Information 23 5 M68xxx and Coldfire Specific Information This chapter discusses the Freescale formerly Motorola MC68xxx and Coldfire architec tural dependencies The MC68xxx family has a wide variety of CPU models within it based upon different CPU core implementations Ignoring the Coldfire parts the part numbers for these models are generally divided into MC680xx and MC683xx The MC680xx models are more general purpose processors with no integrated peripherals The MC683xx models on the other hand are more specialized and have a variety of peripherals on chip including sophisticated timers and serial communications controllers Architecture Documents For information on the MC68xxx and Coldfire architecture refer to the following documents available from Freescale website http www freescale com e M68000 Family Reference Motorola FR68K D e MC68020 User s Manual Motorola MC68020UM AD e MC68881 MC68882 Floating Point Coprocessor User s Manual Motorola MC68881UM AD 5 1 CPU Model Dependent Features This section presents the set of features which vary across m68k Cold
36. endencies in this port of RTEMS Currently only implementations of SPARC Version 7 are supported by RTEMS It is highly recommended that the SPARC RTEMS application developer obtain and become familiar with the documentation for the processor being used as well as the specification for the revision of the SPARC architecture which corresponds to that processor SPARC Architecture Documents For information on the SPARC architecture refer to the following documents available from SPARC International Inc http www sparc com e SPARC Standard Version 7 e SPARC Standard Version 8 e SPARC Standard Version 9 ERC32 Specific Information The European Space Agency s ERC32 is a three chip computing core implementing a SPARC V7 processor and associated support circuitry for embedded space applications The integer and floating point units 90C601E amp 90C602E are based on the Cypress 7C601 and 7C602 with additional error detection and recovery functions The memory controller MEC implements system support functions such as address decoding memory interface DMA interface UARTs timers interrupt control write protection memory reconfigura tion and error detection The core is designed to work at 25MHz but using space qualified memories limits the system frequency to around 15 MHz resulting in a performance of 10 MIPS and 2 MFLOPS Information on the ERC32 and a number of development support tools such as the SPARC Instruction Si
37. ent traps before enabling traps and invoking the user s interrupt handler 9 4 4 Interrupt Levels Sixteen levels 0 15 of interrupt priorities are supported by the SPARC architecture with level fifteen 15 being the highest priority Level zero 0 indicates that interrupts are fully enabled Interrupt requests for interrupts with priorities less than or equal to the current interrupt mask level are ignored Although RTEMS supports 256 interrupt levels the SPARC only supports sixteen RTEMS interrupt levels 0 through 15 directly correspond to SPARC processor interrupt levels All other RTEMS interrupt levels are undefined and their behavior is unpredictable 9 4 5 Disabling of Interrupts by RTEMS During the execution of directive calls critical sections of code may be executed When these sections are encountered RTEMS disables interrupts to level seven 15 before the execution of this section and restores them to the previous level upon completion of the section RTEMS has been optimized to insure that in terrupts are disabled for less than RTEMS MAXIMUM DISABLE PERIOD microsec onds on a RTEMS MAXIMUM DISABLE PERIOD MHZ Mhz ERC32 with zero wait states These numbers will vary based the number of wait states and proces sor speed present on the target board NOTE The maximum period with inter rupts disabled is hand calculated This calculation was last performed for Release RTEMS RELEASE FOR MAXIMUM DISABLE PERIOD NOTE
38. es An RTEMS Board Support Package BSP must be designed to support a particular pro cessor model and target board combination In each of the architecture specific chapters this section will present a discussion of archi tecture specific BSP issues For more information on developing a BSP refer to BSP and Device Driver Development Guide and the chapter titled Board Support Packages in the RTEMS Applications User s Guide 1 6 1 System Reset An RTEMS based application is initiated or re initiated when the processor is reset or transfer is passed to it from a boot monitor or ROM monitor In each of the architecture specific chapters this subsection describes the actions that the BSP must tak assuming the application gets control when the microprocessor is reset Chapter 2 ARM Specific Information 9 2 ARM Specific Information This chapter discusses the ARM architecture dependencies in this port of RTEMS The ARM family has a wide variety of implementations by a wide range of vendors Conse quently there are many many CPU models within it Architecture Documents For information on the ARM architecture refer to the following documents available from Arm Limited http www arm com There does not appear to be an electronic version of a manual on the architecture in general on that site The following book is a good resource e David Seal ARM Architecture Reference Manual Addison Wesley ISBN 0 201 73719 1 2001
39. f the exception vector table EVT e The program counter PC is set to the value stored at vector 1 bytes 4 7 of the EVT e The processor begins execution at the address stored in the PC 5 6 2 Processor Initialization The address of the application s initialization code should be stored in the first vector of the EVT which will allow the immediate vectoring to the application code If the application requires that the VBR be some value besides zero then it should be set to the required value at this point All tasks share the same MC68020 s VBR value Because interrupts are enabled automatically by RTEMS as part of the context switch to the first task the VBR MUST be set by either RTEMS of the BSP before this occurs ensure correct interrupt vectoring If processor caching is to be utilized then it should be enabled during the reset application initialization code In addition to the requirements described in the Board Support Packages chapter of the Applications User s Manual for the reset code which is executed before the call to initialize executive the MC68020 version has the following specific requirements e Must leave the S bit of the status register set so that the MC68020 remains in the supervisor state e Must set the M bit of the status register to remove the MC68020 from the interrupt state e Must set the master stack pointer MSP such that a minimum stack size of MINI MUM_STACK_SIZE bytes is provided for the i
40. fire implementations that are of importance to RTEMS The set of CPU model feature macros are defined in the file cpukit score cpu m68k m68k h based upon the particular CPU model selected on the compilation command line 5 1 1 BFFFO Instruction The macro M68K_HAS_BFFFO is set to 1 to indicate that this CPU model has the bfffo instruction 5 1 2 Vector Base Register The macro M68K_HAS_VBR is set to 1 to indicate that this CPU model has a vector base register vbr 5 1 3 Separate Stacks The macro M68K_HAS_SEPARATE_STACKS is set to 1 to indicate that this CPU model has separate interrupt user and supervisor mode stacks 5 1 4 Pre Indexing Address Mode The macro M68K_HAS_PREINDEXING is set to 1 to indicate that this CPU model has the pre indexing address mode 5 1 5 Extend Byte to Long Instruction The macro M68K_HAS_EXTB_L is set to 1 to indicate that this CPU model has the extb l instruction This instruction is supposed to be available in all models based on the cpu32 core as well as mc68020 and up models 24 RTEMS CPU Architecture Supplement 5 2 Calling Conventions The MC68xxx architecture supports a simple yet effective call and return mechanism A subroutine is invoked via the branch to subroutine bsr or the jump to subroutine jsr instructions These instructions push the return address on the current stack The return from subroutine rts instruction pops the return address off the current stack and transfers control to th
41. g mc68020 1 1 2 Floating Point Unit In most architectures the presence of a floating point unit is an option It does not mat ter whether the hardware floating point support is incorporated on chip or is an external coprocessor as long as it appears an FPU per the ISA However if a hardware FPU is not present it is possible that the floating point emulation library for this CPU is not reentrant and thus context switched by RTEMS RTEMS provides two feature macros to indicate the FPU configuration e CPU HARDWARE FP is set to TRUE to indicate that a hardware FPU is present e CPU_SOFTWARE_FP is set to TRUE to indicate that a hardware FPU is not present and that the FP software emulation will be context switched 1 2 Calling Conventions Each high level language compiler generates subroutine entry and exit code based upon a set of rules known as the compiler s calling convention These rules address the following issues e register preservation and usage e parameter passing e call and return mechanism A compiler s calling convention is of importance when interfacing to subroutines written in another language either assembly or high level Even when the high level language and target processor are the same different compilers may use different calling conventions As a result calling conventions are both processor and compiler dependent 1 2 1 Calling Mechanism In each of the architecture specific chapters this subsect
42. h information specific to the exception e bits 0 32 37 41 and 48 63 of SRR1 are loaded with corresponding bits from the MSR e the MSR is set based upon the exception type e instruction fetch and execution resumes using the new MSR value at a location specific to the execption type If the interrupt handler was installed as an RTEMS interrupt handler then upon receipt of the interrupt the processor passes control to the RTEMS interrupt handler which performs the following actions e saves the state of the interrupted task on it s stack e saves all registers which are not normally preserved by the calling sequence so the user s interrupt service routine can be written in a high level language e if this is the outermost i e non nested interrupt then the RTEMS interrupt handler switches from the current stack to the interrupt stack e enables exceptions e invokes the vectors to a user interrupt service routine ISR Asynchronous interrupts are ignored while exceptions are disabled Synchronous interrupts which occur while are disabled result in the CPU being forced into an error mode A nested interrupt is processed similarly with the exception that the current stack need not be switched to the interrupt stack 7 4 3 Interrupt Levels The PowerPC architecture supports only a single external asynchronous interrupt source This interrupt source may be enabled and disabled via the External Interrupt Enable EE bit
43. he Little endian mode enable bit LE in the Machine State Register MSR While the 36 RTEMS CPU Architecture Supplement processor is in big endian mode memory accesses which are not properly aligned gener ate an alignment exception vector offset 0x00600 In little endian mode the PowerPC architecture does not require the processor to generate alignment exceptions The following table lists the alignment requirements for a variety of data accesses Data Type Alignment Requirement byte 1 half word 2 word 4 doubleword 8 Doubleword load and store operations are only available in PowerPC CPU models which are sixty four bit implementations RTEMS does not directly support any PowerPC Memory Management Units therefore virtual memory or segmentation systems involving the PowerPC are not supported 7 4 Interrupt Processing Although RTEMS hides many of the processor dependent details of interrupt processing it is important to understand how the RTEMS interrupt manager is mapped onto the processor s unique architecture Discussed in this chapter are the PowerPC s interrupt response and control mechanisms as they pertain to RTEMS RTEMS and associated documentation uses the terms interrupt and vector In the PowerPC architecture these terms correspond to exception and exception handler respectively The terms will be used interchangeably in this manual 7 4 1 Synchronous Versus Asynchronous Exceptions
44. hitecture Supplement 4 2 4 Parameter Passing RTEMS assumes that arguments are placed on the current stack before the directive is invoked via the call instruction The first argument is assumed to be closest to the return address on the stack This means that the first argument of the C calling sequence is pushed last The following pseudo code illustrates the typical sequence used to call a RTEMS directive with three 3 arguments push third argument push second argument push first argument invoke directive remove arguments from the stack The arguments to RTEMS are typically pushed onto the stack using a push instruction These arguments must be removed from the stack after control is returned to the caller This removal is typically accomplished by adding the size of the argument list in bytes to the stack pointer 4 3 Memory Model 4 3 1 Flat Memory Model RTEMS supports the i386 protected mode flat memory model with paging disabled In this mode the i386 automatically converts every address from a logical to a physical address each time it is used The 1386 uses information provided in the segment registers and the Global Descriptor Table to convert these addresses RTEMS assumes the existence of the following segments e a single code segment at protection level 0 which contains all application and executive code e asingle data segment at protection level zero 0 which contains all application and executive data Th
45. ich designates the name of this CPU model For example for the European Space Agency s ERC32 SPARC model this macro is set to the string erc32 9 1 1 2 Floating Point Unit The macro SPARC HAS FPU is set to 1 to indicate that this CPU model has a hardware floating point unit and 0 otherwise Chapter 9 SPARC Specific Information 43 9 1 1 3 Bitscan Instruction The macro SPARC_HAS_BITSCAN is set to 1 to indicate that this CPU model has the bitscan instruction For example this instruction is supported by the Fujitsu SPARClite family 9 1 1 4 Number of Register Windows The macro SPARC_NUMBER_OF_REGISTER_WINDOWS is set to indicate the number of register window sets implemented by this CPU model The SPARC architecture allows a for a maximum of thirty two register window sets although most implementations only include eight 9 1 1 5 Low Power Mode The macro SPARC_HAS_LOW_POWER_MODE is set to one to indicate that this CPU model has a low power mode If low power is enabled then there must be CPU model specific implementation of the IDLE task in cpukit score cpu sparc cpu c The low power mode IDLE task should be of the form while TRUE enter low power mode The code required to enter low power mode is CPU model specific 9 1 2 CPU Model Implementation Notes The ERC32 is a custom SPARC V7 implementation based on the Cypress 601 602 chipset This CPU has a number of on board peripherals and was developed by the Eur
46. ily members without separate interrupt stacks automatically perform the following actions e To Be Written 5 4 1 2 Models With Separate Interrupt Stacks Upon receipt of an interrupt the MC68xxx family members with separate interrupt stacks automatically perform the following actions e saves the current status register SR e clears the master interrupt M bit of the SR to indicate the switch from master state to interrupt state e sets the privilege mode to supervisor e suppresses tracing e sets the interrupt mask level equal to the level of the interrupt being serviced e pushes an interrupt stack frame ISF which includes the program counter PC the status register SR and the format exception vector offset FVO word onto the supervisor and interrupt stacks e switches the current stack to the interrupt stack and vectors to an interrupt service routine ISR If the ISR was installed with the interrupt_catch directive then the RTEMS interrupt handler will begin execution The RTEMS interrupt handler saves all registers which are not preserved according to the calling conventions and invokes the application s ISR A nested interrupt is processed similarly by these CPU models with the exception that only a single ISF is placed on the interrupt stack and the current stack need not be switched The FVO word in the Interrupt Stack Frame is examined by RTEMS to determine when an outer most interrupt is being exited Since
47. in the Machine State Register MSR Thus only two level enabled and disabled of external device interrupt priorities are directly supported by the PowerPC architecture Some PowerPC implementations include a Critical Interrupt capability which is often used to receive interrupts from high priority external devices The RTEMS interrupt level mapping scheme for the PowerPC is not a numeric level as on most RTEMS ports It is a bit mapping in which the least three significiant bits of the interrupt level are mapped directly to the enabling of specific interrupt sources as follows Critical Interrupt Setting bit 0 the least significant bit of the interrupt level enables the Critical Interrupt source if it is available on this CPU model Machine Check Setting bit 1 of the interrupt level enables Machine Check execptions External Interrupt Setting bit 2 of the interrupt level enables External Interrupt execp tions 38 RTEMS CPU Architecture Supplement All other bits in the RTEMS task interrupt level are ignored 7 5 Default Fatal Error Processing The default fatal error handler for this architecture performs the following actions e places the error code in r3 and e executes a trap instruction which results in a Program Exception If the Program Exception returns then the following actions are performed e disables all processor exceptions by loading a 0 into the MSR and e goes into an infinite loop to simulate a halt process
48. ion will describe the instruction s used to perform a normal subroutine invocation All RTEMS directives are invoked as normal C language functions so it is important to the user application to understand the call and return mechanism 1 2 2 Register Usage In each of the architecture specific chapters this subsection will detail the set of registers which are NOT preserved across subroutine invocations The registers which are not pre served are assumed to be available for use as scratch registers Therefore the contents of these registers should not be assumed upon return from any RTEMS directive Chapter 1 Port Specific Information 5 In some architectures there may be a set of registers made available automatically as a side effect of the subroutine invocation mechanism 1 2 3 Parameter Passing In each of the architecture specific chapters this subsection will describe the mechanism by which the parameters or arguments are passed by the caller to a subroutine In some architectures all parameters are passed on the stack while in others some are passed in registers 1 2 4 User Provided Routines All user provided routines invoked by RTEMS such as user extensions device drivers and MPCI routines must also adhere to these calling conventions 1 3 Memory Model A processor may support any combination of memory models ranging from pure physical addressing to complex demand paged virtual memory systems RTEMS supports a flat me
49. kfin Architecture works with two different kind of stacks User and Supervisor Stack Since RTEMS and its Application run in supervisor mode all interrupts will use the interrupted tasks stack for execution 3 5 Default Fatal Error Processing The default fatal error handler for the Blackfin performs the following actions e disables processor interrupts e places the error code in r0 and e executes an infinite loop while 0 to simulate a halt processor instruction Chapter 3 Blackfin Specific Information 3 6 Board Support Packages 3 6 1 System Reset TBD 15 Chapter 4 Intel AMD x86 Specific Information I 4 Intel AMD x86 Specific Information This chapter discusses the Intel x86 architecture dependencies in this port of RT EMS This family has multiple implementations from multiple vendors and suffers more from having evolved rather than being designed for growth For information on the 1386 processor refer to the following documents e 386 Programmer s Reference Manual Intel Order No 230985 002 e 386 Microprocessor Hardware Reference Manual Intel Order No 231732 003 e 80386 System Software Writer s Guide Intel Order No 231499 001 e 80387 Programmer s Reference Manual Intel Order No 231917 001 4 1 CPU Model Dependent Features This section presents the set of features which vary across 1386 implementations and are of importance to RTEMS The set of CPU model feature macros are defined in the file cp
50. l Registers The SPARC architecture includes two special registers which are critical to the programming model the Processor State Register psr and the Window Invalid Mask wim The psr contains the condition codes processor interrupt level trap enable bit supervisor mode and previous supervisor mode bits version information floating point unit and coprocessor enable bits and the current window pointer cwp The cwp field of the psr and wim register are used to manage the register windows in the SPARC architecture The register windows are discussed in more detail below 9 2 2 Register Windows The SPARC architecture includes the concept of register windows An overly simplistic way to think of these windows is to imagine them as being an infinite supply of fresh register sets available for each subroutine to use In reality they are much more complicated The save instruction is used to obtain a new register window This instruction decrements the current window pointer thus providing a new set of registers for use This register set includes eight fresh local registers for use exclusively by this subroutine When done with a register set the restore instruction increments the current window pointer and the previous register set is once again available The two primary issues complicating the use of register windows are that 1 the set of register windows is finite and 2 some registers are shared between adjacent registers windo
51. la Doc ument MPC821UM AD e PowerQUICC MPC860 User s Manual Motorola Document MPC860UM AD Motorola maintains an on line electronic library for the PowerPC at the following URL http www mot com powerpc library library html This site has a a wealth of information and examples Many of the manuals are available from that site in electronic format PowerPC Processor Simulator Information PSIM is a program which emulates the Instruction Set Architecture of the PowerPC mi croprocessor family It is reely available in source code form under the terms of the GNU General Public License version 2 or later PSIM can be integrated with the GNU De bugger gdb to execute and debug PowerPC executables on non PowerPC hosts PSIM supports the addition of user provided device models which can be used to allow one to develop and debug embedded applications using the simulator The latest version of PSIM is included in GDB and enabled on pre built binaries provided by the RTEMS Project 32 RTEMS CPU Architecture Supplement 7 1 CPU Model Dependent Features This section presents the set of features which vary across PowerPC implementations and are of importance to RTEMS The set of CPU model feature macros are defined in the file cpukit score cpu powerpc powerpc h based upon the particular CPU model specified on the compilation command line 7 1 1 Alignment The macro PPC_ALIGNMENT is set to the PowerPC model s worst case alignment re
52. loop while 0 to simulate a halt processor instruction 12 RTEMS CPU Architecture Supplement 2 6 Board Support Packages 2 6 1 System Reset An RTEMS based application is initiated or re initiated when the processor is reset When the processor is reset the processor performs the following actions e TBD 2 6 2 Processor Initialization TBD Chapter 3 Blackfin Specific Information 13 3 Blackfin Specific Information This chapter discusses the Blackfin architecture dependencies in this port of RTEMS Architecture Documents For information on the Blackfin architecture refer to the following documents available from Analog Devices TBD e ADSP BF533 Blackfin Processor Hardware Reference http www analog com UploadedFiles Associated_Docs 892485982bf533_hwr pdf J 3 1 CPU Model Dependent Features CPUs of the Blackfin 53X only differ in the peripherals and thus in the device drivers This port does not yet support the 56X dual core variants 3 1 1 Count Leading Zeroes Instruction The Blackfin CPU has the BITTST instruction which could be used to speed up the find first bit operation The use of this instruction should significantly speed up the scheduling associated with a thread blocking 3 2 Calling Conventions This section is heavily based on content taken from the Blackfin uCLinux doc umentation wiki which is edited by Analog Devices and Arcturus Networks http docs blackfin uclinux org 3 2 1 P
53. mory model which ranges contiguously over the processor s allowable address space RTEMS does not support segmentation or virtual memory of any kind The appropriate memory model for RTEMS provided by the targeted processor and related characteristics of that model are described in this chapter 1 3 1 Flat Memory Model Most RTEMS target processors can be initialized to support a flat address space Although the size of addresses varies between architectures on most RTEMS targets an address is 32 bits wide which defines addresses ranging from 0x00000000 to OXFFFFFFFF 4 gigabytes Each address is represented by a 32 bit value and is byte addressable The address may be used to reference a single byte word 2 bytes or long word 4 bytes Memory accesses within this address space may be performed in little or big endian fashion On smaller CPU architectures supported by RTEMS the address space may only be 20 or 24 bits wide If the CPU model has support for virtual memory or segmentation it is the responsibility of the Board Support Package BSP to initialize the MMU hardware to perform address translations which correspond to flat memory model In each of the architecture specific chapters this subsection will describe any architecture characteristics that differ from this general description 1 4 Interrupt Processing Different types of processors respond to the occurrence of an interrupt in its own unique fashion In addition ea
54. mulator SIS are freely available on the Internet The following documents and SIS are available via anonymous ftp or pointing your web browser at ftp ftp estec esa nl pub ws wsd erc32 e ERC32 System Design Document e MEC Device Specification Additionally the SPARC RISC User s Guide from Matra MHS documents the functionality of the integer and floating point units including the instruction set information To obtain this document as well as ERC32 components and VHDL models contact Matra MHS SA 3 Avenue du Centre BP 309 42 RTEMS CPU Architecture Supplement 78054 St Quentin en Yvelines Cedex France VOICE 31 1 30607087 FAX 31 1 30640693 Amar Guennon amar guennon matramhs fr is familiar with the ERC32 9 1 CPU Model Dependent Features Microprocessors are generally classified into families with a variety of CPU models or im plementations within that family Within a processor family there is a high level of binary compatibility This family may be based on either an architectural specification or on main taining compatibility with a popular processor Recent microprocessor families such as the SPARC or PowerPC are based on an architectural specification which is independent or any particular CPU model or implementation Older families such as the M68xxx and the 1X86 evolved as the manufacturer strived to produce higher performance processor models which maintained binary compatibility with older models RTEMS takes a
55. n nen E ees 34 72 2 Call and Return Mechanisme 34 ii iv RTEMS CPU Architecture Supplement 7 2 3 Calling Mechanisme 35 1 2 4 Register Usage ea 35 1 2 9 Parameter Passing RE ora ae Yen 35 71 3 Memory Model EELER eee RR EE ne 35 1 3 1 Flat Memory Model was REENEN rere yere 35 1 4 Interrupt Processing ore t eo ee EE EE ee abana ene es 36 7 4 1 Synchronous Versus Asynchronous Exceptions 36 7 4 2 Vectoring of Interrupt Handler 37 1 4 9 Interrupt Levels ica ihr EE NN Ad On 7 5 Default Fatal Error Processing 0 e cece eee eee eee 38 7 6 Board Support Packages 0 00 cece eee eee eens 38 1 6 1 System Besetz serere EE ENEE wae 38 7 6 2 Processor Initialization 0000 srir tsger sead 38 8 SuperH Specific Information 39 8 1 CPU Model Dependent Features 0000s 39 8 1 1 Another Optional Feature icis reris 00 cece utis 39 8 2 Calling Convention 39 8 2 1 Calling Mechantam ee 39 8 2 2 Register Usage e eee xU de EES ERE PS 39 82 3 Parameter Passing smc aaa 39 8 amp 3 Memory Model ee EIERE EEN eee saan ane ann 39 8 3 1 Flat Memory Model 40 8 4 Interr pt Processing 14 a 2 2 pup PR aan ois RE 40 8 4 1 Vectoring of an Interrupt Handler 40 8 4 2 Interrupt Levels 0 cece cece eee eens 40 8 5 Default Fatal Error Processing 0oooccococccccnoccccnn co 40 8 6 Board Support Packages ococooocccconnnnccnnnncra a 40
56. n the interrupt stack there is no need to switch to the interrupt stack In some configurations RTEMS allocates the interrupt stack from the Workspace Area The amount of memory allocated for the interrupt stack is user configured and based upon the confdefs h parameter CONFIGURE_INTERRUPT_STACK_SIZE This parameter is described in detail in the Configuring a System chapter of the User s Guide On configurations in which RTEMS allocates the interrupt stack during the initialization process RTEMS will also install its interrupt stack In other configurations the interrupt stack is allocated and installed by the Board Support Package BSP In each of the architecture specific chapters this section discesses the interrupt response and control mechanisms of the architecture as they pertain to RTEMS 1 4 1 Vectoring of an Interrupt Handler In each of the architecture specific chapters this subsection will describe the architecture specific details of the interrupt vectoring process In particular it should include a descrip tion of the Interrupt Stack Frame ISF 1 4 2 Interrupt Levels In each of the architecture specific chapters this subsection will describe how the interrupt levels available on this particular architecture are mapped onto the 255 reserved in the task mode The interrupt level value of zero 0 should always mean that interrupts are enabled Any use of an interrupt level that is is not undefined on a particular archi
57. nitialize executive directive e Must initialize the MC68020 s vector table Chapter 6 MIPS Specific Information 29 6 MIPS Specific Information This chapter discusses the MIPS architecture dependencies in this port of RTEMS The MIPS family has a wide variety of implementations by a wide range of vendors Conse quently there are many many CPU models within it Architecture Documents IDT docs are online at http www idt com products risc Welcome html For information on the XXX architecture refer to the following documents available from VENDOR http www XXX com e XXX Family Reference VENDOR PART NUMBER 6 1 CPU Model Dependent Features This section presents the set of features which vary across MIPS implementations and are of importance to RTEMS The set of CPU model feature macros are defined in the file cpukit score cpu mips mips h based upon the particular CPU model specified on the compilation command line 6 1 1 Another Optional Feature The macro XXX 6 2 Calling Conventions 6 2 1 Processor Background TBD 6 2 2 Calling Mechanism TBD 6 2 3 Register Usage TBD 6 2 4 Parameter Passing TBD 6 3 Memory Model 6 3 1 Flat Memory Model The MIPS family supports a flat 32 bit address space with addresses ranging from 0x00000000 to OxFFFFFFFF 4 gigabytes Each address is represented by a 32 bit value and is byte addressable The address may be used to reference a single byte word 2 bytes or
58. o the return address which is stored in the LR The previous contents of the LR are not automatically saved by either the bl or bla It is the responsibility of the callee to save the contents of the LR before invoking another subroutine If the callee invokes another subroutine it must restore the LR before executing the blr instruction to return to the caller Chapter 7 PowerPC Specific Information 35 It is important to note that the PowerPC subroutine call and return mechanism does not automatically save and restore any registers The LR may be accessed as special purpose register 8 SPR8 using the move from special register mfspr and move to special register mtspr instructions 7 2 3 Calling Mechanism All RTEMS directives are invoked using the regular PowerPC EABI calling convention via the bl or bla instructions 7 2 4 Register Usage As discussed above the call instruction does not automatically save any registers It is the responsibility of the callee to save and restore any registers which must be preserved across subroutine calls The callee is responsible for saving callee preserved registers to the program stack and restoring them before returning to the caller 7 2 5 Parameter Passing RTEMS assumes that arguments are placed in the general purpose registers with the first argument in register 3 r3 the second argument in general purpose register 4 r4 and so forth until the seventh argument is in general pur
59. onal Feature 0 0 cece eee eee 29 6 2 Calling Convention 29 6 2 1 Processor Background 0 cece eee 29 6 2 2 Calling Mechanisme 29 6 2 3 Register Usage 29 6 2 4 P ar meter Passings isis cssaa snes ited a BEA EE dacs 29 6 3 Memory Model ii ae 29 6 3 1 Flat Memory Model 29 6 4 Interrupt Processing 6 cece eee ee eee 30 6 4 1 Vectoring of an Interrupt Handler 30 6 4 2 Interrupt Levels 2 2er 30 6 5 Default Fatal Error Processing 0 e cece eee eee eee 30 6 6 Board Support Package 30 6 6 1 System Reset s sssssseessss enn 30 6 6 2 Processor Initialization 0 cece eee eee eee 30 PowerPC Specific Information 31 7 1 CPU Model Dependent Features 32 Tl Alignment e nether hne Re el 32 1 1 2 Cache Alignment EE ENNEN ENEE eme RE ne 32 7 1 9 Maximum Interrupts 2r RR RR separa scans 32 7 1 4 Has Double Precision Floating Pomt 32 1 1 5 Critical Interrupts 2 sete ee ee e E ee 32 7 1 6 Use Multiword Load Store Instructions 32 7 1 7 Instruction Cache Size 2 eee eee eee 32 7 1 8 Data Cache ze 32 1 1 9 Debug Model ad e Re RR RE RR 33 7 1 9 1 Low Power Model 33 7 2 Calling Comventiong en 33 7 2 1 Programming Model 33 7 2 1 1 Non Floating Point Registers 2000 33 7 2 1 2 Floating Point Hegiaters 00 ee eee eee 34 7 2 1 3 Special Registers reraina
60. opean Space Agency to target space applications RTEMS currently provides support for the following peripherals e UART Channels A and B e General Purpose Timer e Real Time Clock e Watchdog Timer so it can be disabled e Control Register so powerdown mode can be enabled e Memory Control Register e Interrupt Control The General Purpose Timer and Real Time Clock Timer provided with the ERC32 share the Timer Control Register Because the Timer Control Register is write only we must mirror it in software and insure that writes to one timer do not alter the current settings and status of the other timer Routines are provided in erc32 h which promote the view that the two timers are completely independent By exclusively using these routines to access the Timer Control Register the application can view the system as having a General Purpose Timer Control Register and a Real Time Clock Timer Control Register rather than the single shared value The RTEMS Idle thread take advantage of the low power mode provided by the ERC32 Low power mode is entered during idle loops and is enabled at initialization time 44 RTEMS CPU Architecture Supplement 9 2 Calling Conventions Each high level language compiler generates subroutine entry and exit code based upon a set of rules known as the compiler s calling convention These rules address the following issues e register preservation and usage e parameter passing e call and return mechanism
61. or instruction 7 6 Board Support Packages 7 6 1 System Reset An RTEMS based application is initiated or re initiated when the PowerPC processor is reset The PowerPC architecture defines a Reset Exception but leaves the details of the CPU state as implementation specific Please refer to the User s Manual for the CPU model in question In general at power up the PowerPC begin execution at address OxFFF00100 in supervisor mode with all exceptions disabled For soft resets the CPU will vector to either 0xFFF00100 or 0x00000100 depending upon the setting of the Exception Prefix bit in the MSR If during a soft reset a Machine Check Exception occurs then the CPU may execute a hard reset 7 6 2 Processor Initialization If this PowerPC implementation supports on chip caching and this is to be utilized then it should be enabled during the reset application initialization code On chip caching has been observed to prevent some emulators from working properly so it may be necessary to run with caching disabled to use these emulators In addition to the requirements described in the Board Support Packages chapter of the RTEMS C Applications User s Manual for the reset code which is executed before the call to rtems_initialize_executive the PowrePC version has the following specific require ments e Must leave the PR bit of the Machine State Register MSR set to 0 so the PowerPC remains in the supervisor state e Must set stack poin
62. ow was allocated by this subroutine It is important to note that the SPARC subroutine call and return mechanism does not automatically save and restore any registers This is accomplished via the save and restore instructions which manage the set of registers windows 9 2 4 Calling Mechanism All RTEMS directives are invoked using the regular SPARC calling convention via the call instruction 9 2 5 Register Usage As discussed above the call instruction does not automatically save any registers The save and restore instructions are used to allocate and deallocate register windows When a register window is allocated the new set of local registers are available for the exclusive use of the subroutine which allocated this register set 9 2 6 Parameter Passing RTEMS assumes that arguments are placed in the caller s output registers with the first argument in output register 0 00 the second argument in output register 1 o1 and so forth Until the callee executes a save instruction the parameters are still visible in the output registers After the callee executes a save instruction the parameters are visible in the corresponding input registers The following pseudo code illustrates the typical sequence used to call a RTEMS directive with three 3 arguments load third argument into o2 load second argument into ol load first argument into 00 invoke directive 9 2 7 User Provided Routines All user provided routines invoked by
63. perations The relative efficiency of multiword load and store instructions versus an equivalent set of single word load and store instructions varies based upon the PowerPC model 7 1 7 Instruction Cache Size The macro PPC_I_CACHE is set to the size in bytes of the instruction cache 7 1 8 Data Cache Size The macro PPC D CACHE is set to the size in bytes of the data cache Chapter 7 PowerPC Specific Information 33 7 1 9 Debug Model The macro PPC DEBUG MODEL is set to indicate the debug support features present in this CPU model The following debug support feature sets are currently supported PPC_DEBUG_MODEL_STANDARD indicates that the single step trace enable SE and branch trace enable BE bits in the MSR are supported by this CPU model PPC_DEBUG_MODEL_SINGLE_STEP_ONLY indicates that only the single step trace enable SE bit in the MSR is supported by this CPU model PPC_DEBUG_MODEL_1BM4xx indicates that the debug exception enable DE bit in the MSR is supported by this CPU model At this time this particular debug feature set has only been seen in the IBM 4xx series 7 1 9 1 Low Power Model The macro PPC LOW POWER MODE is set to indicate the low power model supported by this CPU model The following low power modes are currently supported PPC_LOW_POWER_MODE_NONE indicates that this CPU model has no low power mode support PPC_LOW_POWER_MODE_STANDARD indicates that this CPU model follows the low power model d
64. pose register 10 r10 If there are more than seven arguments then subsequent arguments are placed on the program stack The following pseudo code illustrates the typical sequence used to call a RTEMS directive with three 3 arguments load third argument into r5 load second argument into r4 load first argument into r3 invoke directive 7 3 Memory Model 7 3 1 Flat Memory Model The PowerPC architecture supports a variety of memory models RTEMS supports the PowerPC using a flat memory model with paging disabled In this mode the PowerPC automatically converts every address from a logical to a physical address each time it is used The PowerPC uses information provided in the Block Address Translation BAT to convert these addresses Implementations of the PowerPC architecture may be thirty two or sixty four bit The Pow erPC architecture supports a flat thirty two or sixty four bit address space with addresses ranging from 0x00000000 to OxFFFFFFFF 4 gigabytes in thirty two bit implementations or to OXFFFFFFFFFFFFFFFF in sixty four bit implementations Each address is repre sented by either a thirty two bit or sixty four bit value and is byte addressable The address may be used to reference a single byte half word 2 bytes word 4 bytes or in sixty four bit implementations a doubleword 8 bytes Memory accesses within the address space are performed in big or little endian fashion by the PowerPC based upon the current setting of t
65. r a particular version of RTEMS please contact OAR Corporation and we will be happy to product the results as a consulting service Non maskable interrupts NMI cannot be disabled and ISRs which execute at this level MUST NEVER issue RTEMS system calls If a directive is invoked unpredictable results may occur due to the inability of RTEMS to protect its critical sections However ISRs that make no system calls may safely execute as non maskable interrupts 1 5 Default Fatal Error Processing Upon detection of a fatal error by either the application or RTEMS during initialization the rtems_fatal_error_occurred directive supplied by the Fatal Error Manager is invoked The Fatal Error Manager will invoke the user supplied fatal error handlers If no user supplied handlers are configured or all of them return without taking action to shutdown the processor or reset a default fatal error handler is invoked Most of the action performed as part of processing the fatal error are described in detail in the Fatal Error Manager chapter in the User s Guide However the if no user provided extension or BSP specific fatal error handler takes action the final default action is to invoke a CPU architecture specific function Typically this function disables interrupts and halts the processor In each of the architecture specific chapters this describes the precise operations of the default CPU specific fatal error handler 1 6 Board Support Packag
66. re Supplement return address in the 1r register Returning from a subroutine only requires that the return address be moved into the program counter pc possibly with an offset It is is important to note that the bl instruction does not automatically save or restore any registers It is the responsibility of the high level language compiler to define the register preservation and usage convention 2 2 1 Calling Mechanism All RTEMS directives are invoked using the bl instruction and return to the user application via the mechanism described above 2 2 2 Register Usage As discussed above the ARM s call and return mechanism dos not automatically save any registers RTEMS uses the registers r0 r1 r2 and r3 as scratch registers and per ARM calling convention the 1r register is altered as well These registers are not preserved by RTEMS directives therefore the contents of these registers should not be assumed upon return from any RTEMS directive 2 2 3 Parameter Passing RTEMS assumes that ARM calling conventions are followed and that the first four argu ments are placed in registers rO through r3 If there are more arguments than that then they are place on the stack 2 3 Memory Model 2 3 1 Flat Memory Model Members of the ARM family newer than Version 3 support a flat 32 bit address space with addresses ranging from 0x00000000 to OxFFFFFFFF 4 gigabytes Each address is represented by a 32 bit value and is byte addressable
67. reset it performs the following actions e TBD 6 6 2 Processor Initialization TBD Chapter 7 PowerPC Specific Information 31 7 PowerPC Specific Information This chapter discusses the PowerPC architecture dependencies in this port of RTEMS The PowerPC family has a wide variety of implementations by a range of vendors Consequently there are many many CPU models within it It is highly recommended that the PowerPC RTEMS application developer obtain and become familiar with the documentation for the processor being used as well as the speci fication for the revision of the PowerPC architecture which corresponds to that processor PowerPC Architecture Documents For information on the PowerPC architecture refer to the following documents available from Motorola and IBM e PowerPC Microprocessor Family The Programming Environment Motorola Doc ument MPRPPCFPE 01 e IBM PPC403GB Embedded Controller User s Manual e PoweRisControl MPC500 Family RCPU RISC Central Processing Unit Reference Manual Motorola Document RCPUURM AD e PowerPC 601 RISC Microprocessor User s Manual Motorola Document MPR601UM AD e PowerPC 603 RISC Microprocessor User s Manual Motorola Document MPR603UM AD e PowerPC 603e RISC Microprocessor User s Manual Motorola Document MPR603EUM AD e PowerPC 604 RISC Microprocessor User s Manual Motorola Document MPR604UM AD e PowerPC MPC821 Portable Systems Microprocessor User s Manual Motoro
68. rocessor Background The Blackfin architecture supports a simple call and return mechanism A subroutine is invoked via the call call instruction This instruction saves the return address in the RETS register and transfers the execution to the given address It is the called funcions responsability to use the link instruction to reserve space on the stack for the local variables Returning from a subroutine is done by using the RTS RTS instruction which loads the PC with the adress stored in RETS It is is important to note that the call instruction does not automatically save or restore any registers It is the responsibility of the high level language compiler to define the register preservation and usage convention 3 2 2 Register Usage A called function may clobber all registers except RETS R4 R7 P3 P5 FP and SP It may also modify the first 12 bytes in the callers stack frame which is used as an argument area for the first three arguments which are passed in RO R3 but may be placed on the stack by the called function 14 RTEMS CPU Architecture Supplement 3 2 3 Parameter Passing RTEMS assumes that the Blackfin GCC calling convention is followed The first three parameters are stored in registers RO R1 and R2 All other parameters are put pushed on the stack The result is returned through register RO 3 3 Memory Model The Blackfin family architecutre support a single unified 4 GB byte address space using 32 bit addre
69. rol register fpscr records exceptions and the type of result generated by floating point operations Additionally it controls the rounding mode of operations and allows the reporting of floating exceptions to be enabled or disabled 7 2 1 3 Special Registers The PowerPC architecture includes a number of special registers which are critical to the programming model Machine State Register The MSR contains the processor mode power management mode endian mode exception information privilege level floating point available and floating point excepiton mode address translation in formation and the exception prefix Link Register The LR contains the return address after a function call This regis ter must be saved before a subsequent subroutine call can be made The use of this register is discussed further in the Call and Return Mechanism section below Count Register The CTR contains the iteration variable for some loops It may also be used for indirect function calls and jumps 7 2 2 Call and Return Mechanism The PowerPC architecture supports a simple yet effective call and return mechanism A subroutine is invoked via the branch and link b1 and brank and link absolute bla instructions This instructions place the return address in the Link Register LR The callee returns to the caller by executing a branch unconditional to the link register blr instruction Thus the callee returns to the caller via a jump t
70. s that interrupts are fully enabled Interrupt requests for interrupts with priorities less than or equal to the current interrupt mask level are ignored Although RTEMS supports 256 interrupt levels the MC68xxx family only supports eight RTEMS interrupt levels 0 through 7 directly correspond to MC68xxx interrupt levels All other RTEMS interrupt levels are undefined and their behavior is unpredictable 5 5 Default Fatal Error Processing The default fatal error handler for this architecture disables processor interrupts to level 7 places the error code in DO and executes a stop instruction to simulate a halt processor instruction 5 6 Board Support Packages 5 6 1 System Reset An RTEMS based application is initiated or re initiated when the MC68020 processor is reset When the MC68020 is reset the processor performs the following actions e The tracing bits of the status register are cleared to disable tracing e The supervisor interrupt state is entered by setting the supervisor S bit and clear ing the master interrupt M bit of the status register e The interrupt mask of the status register is set to level 7 to effectively disable all maskable interrupts e The vector base register VBR is set to zero e The cache control register CACR is set to zero to disable and freeze the processor cache 28 RTEMS CPU Architecture Supplement e The interrupt stack pointer ISP is set to the value stored at vector 0 bytes 0 3 o
71. s the state of the interrupted task on it s stack e insures that a register window is available for subsequent traps e if this is the outermost i e non nested interrupt then the RTEMS interrupt handler switches from the current stack to the interrupt stack e enables traps 50 RTEMS CPU Architecture Supplement e invokes the vectors to a user interrupt service routine ISR Asynchronous interrupts are ignored while traps are disabled Synchronous traps which occur while traps are disabled result in the CPU being forced into an error mode A nested interrupt is processed similarly with the exception that the current stack need not be switched to the interrupt stack 9 4 3 Traps and Register Windows One of the register windows must be reserved at all times for trap processing This is critical to the proper operation of the trap mechanism in the SPARC architecture It is the responsibility of the trap handler to insure that there is a register window available for a subsequent trap before re enabling traps It is likely that any high level language routines invoked by the trap handler such as a user provided RTEMS interrupt handler will allocate a new register window The save operation could result in a window overflow trap This trap cannot be correctly processed unless 1 traps are enabled and 2 a register window is reserved for traps Thus the RTEMS interrupt handler insures that a register window is available for subsequ
72. sses It maps all resources like internal and external memory and IO registers into separate sections of this common address space The Blackfin architcture supports some form of memory protection via its Memory Man agement Unit Since the Blackfin port runs in supervisior mode this memory protection mechanisms are not used 3 4 Interrupt Processing Discussed in this chapter are the Blackfin s interrupt response and control mechanisms as they pertain to RTEMS The Blackfin architecture support 16 kinds of interrupts broken down into Core and general purpose interrupts 3 4 1 Vectoring of an Interrupt Handler RTEMS maps levels 0 15 directly to Blackfins event vectors EVTO EVT15 Since EVTO EV T6 are core events and it is suggested to use EVT15 and EVT15 for Software interrupts 7 Interrupts EVT7 EVT13 are left for periferical use When installing an RTEMS interrupt handler RTEMS installs a generic Interrupt Handler which saves some context and enables nested interrupt servicing and then vectors to the users interrupt handler 3 4 2 Disabling of Interrupts by RTEMS During interrupt disable critical sections RTEMS disables interrupts to level four 4 before the execution of this section and restores them to the previous level upon completion of the section RTEMS uses the instructions CLI and STI to enable and disable Interrupts Emulation Reset NMI and Exception Interrupts are never disabled 3 4 3 Interrupt Stack The Blac
73. ster e pushes the far address of the interrupted instruction e vectors to the interrupt service routine ISR A nested interrupt is processed similarly by the i386 4 4 2 Interrupt Stack Frame The structure of the Interrupt Stack Frame for the 1386 which is placed on the interrupt stack by the processor in response to an interrupt is as follows Old EFLAGS Register ESP 8 UNUSED Old CS ESP 4 Old EIP ESP 4 4 3 Interrupt Levels Although RTEMS supports 256 interrupt levels the i386 only supports two enabled and disabled Interrupts are enabled when the interrupt enable flag IF in the extended flags EFLAGS is set Conversely interrupt processing is inhibited when the IF is cleared During a non maskable interrupt all other interrupts including other non maskable ones are inhibited RTEMS interrupt levels 0 and 1 such that level zero 0 indicates that interrupts are fully enabled and level one that interrupts are disabled All other RTEMS interrupt levels are undefined and their behavior is unpredictable 4 4 4 Interrupt Stack The i386 family does not support a dedicated hardware interrupt stack On this processor RTEMS allocates and manages a dedicated interrupt stack As part of vectoring a non nested interrupt service routine RTEMS switches from the stack of the interrupted task to a dedicated interrupt stack When a non nested interrupt returns RTEMS switches back to the stack of the interrup
74. tecture may result in behavior that is unpredictable 1 4 3 Disabling of Interrupts by RTEMS During the execution of directive calls critical sections of code may be executed When these sections are encountered RTEMS disables all external interrupts before the execution of this section and restores them to the previous level upon completion of the section RTEMS has been optimized to ensure that interrupts are disabled for the shortest number of instructions possible Since the precise number of instructions and their execution time varies based upon target CPU family CPU model board memory speed compiler version and optimization level it is not practical to provide the precise number for all possible RTEMS configurations Chapter 1 Port Specific Information 7 Historically the measurements were made by hand analyzing and counting the execution time of instruction sequences during interrupt disable critical sections For reference pur poses on a 16 Mhz Motorola MC68020 the maximum interrupt disable period was typically approximately ten 10 to thirteen 13 microseconds This architecture was memory bound and had a slow bit scan instruction In contrast during the same period a 14 Mhz SPARC would have a worst case disable time of approximately two 2 to three 3 microseconds because it had a single cycle bit scan instruction and used fewer cycles for memory accesses If you are interested in knowing the worst case execution time fo
75. ted stack The current stack pointer is not altered by RTEMS on nested interrupt 4 5 Default Fatal Error Processing The default fatal error handler for this architecture disables processor interrupts places the error code in EAX and executes a HLT instruction to halt the processor 20 RTEMS CPU Architecture Supplement 4 6 Board Support Packages 4 6 1 System Reset An RTEMS based application is initiated when the i386 processor is reset When the i386 is reset e The EAX register is set to indicate the results of the processor s power up self test If the self test was not executed the contents of this register are undefined Other wise a non zero value indicates the processor is faulty and a zero value indicates a successful self test e The DX register holds a component identifier and revision level DH contains 3 to indicate an 1386 component and DL contains a unique revision level indicator e Control register zero CRO is set such that the processor is in real mode with paging disabled Other portions of CRO are used to indicate the presence of a numeric coprocessor e All bits in the extended flags register EFLAG which are not permanently set are cleared This inhibits all maskable interrupts e The Interrupt Descriptor Register IDTR is set to point at address zero e All segment registers are set to zero e The instruction pointer is set to OxOOOOFFFO The first instruction executed after a reset is actually at
76. ter sp or rl such that a minimum stack size of MINI MUM STACK SIZE bytes is provided for the RT EMS initialization sequence e Must disable all external interrupts i e clear the EI EE bit of the machine state register e Must enable traps so window overflow and underflow conditions can be properly handled e Must initialize the PowerPC s initial Exception Table with default handlers Chapter 8 SuperH Specific Information 39 8 SuperH Specific Information This chapter discusses the SuperH architecture dependencies in this port of RTEMS The SuperH family has a wide variety of implementations by a wide range of vendors Conse quently there are many many CPU models within it Architecture Documents For information on the SuperH architecture refer to the following documents available from VENDOR http www XXX com e SuperH Family Reference VENDOR PART NUMBER 8 1 CPU Model Dependent Features This chapter presents the set of features which vary across SuperH implementations and are of importance to RTEMS The set of CPU model feature macros are defined in the file cpukit score cpu sh sh h based upon the particular CPU model specified on the compilation command line 8 1 1 Another Optional Feature The macro XXX 8 2 Calling Conventions 8 2 1 Calling Mechanism All RTEMS directives are invoked using a XXX instruction and return to the user application via the XXX instruction 8 2 2 Register Usage The S
77. ter Usage 2 22 dE eek 4 1 2 8 Parameter Passing 00 0 cece eee eee een eee eeee 5 1 2 4 User Provided Routines 0 0 c cece eee eee eee 5 L3 Memory Models an a eg en nu 5 1 3 1 Flat Memory Model 5 TA Interrupt Processing uere 72 etna hated eine air 5 1 4 1 Vectoring of an Interrupt Handler 6 1 4 2 Interrupt Level 6 1 4 8 Disabling of Interrupts by HIEMS 6 1 5 Default Fatal Error Processing 00 00 c cece eee ee eee T 1 6 Board Support Package 7 1 6 1 System Reset u tien eaten E T 2 ARM Specific Information 9 2 1 CPU Model Dependent Features 0 00 eee eee eee 9 2 1 1 CPU Model Name 9 2 1 2 Count Leading Zeroes Instruction 9 2 1 3 Floating Point Unibet eege ec Roe 9 2 2 Calling Convention 9 2 2 1 Calling Mechanisme 10 2 2 2 Register Usage anna tanda REX A bs 10 2 2 3 Parameter Passing 0 cece cece eee eee ees 10 2 9 Memory Model scene CPP a e adea 10 2 3 1 Flat Memory Model 10 2 4 Interrupt Processing esee ele nena qe pada ER RUNS gae 10 2 4 1 Vectoring of an Interrupt Handler Ti 24 2 Tnterrupt Levels conan erat nee EN bate 14 2 4 3 Interrupt Stack u neueren ae eier kann 11 2 5 Default Fatal Error Processing 00 e cece e eee eee 11 2 6 Board Support Packages 0 00 eee eee eee eee eee eee 12 2 0 1 System Reset neni RR nen end 12 2 6 2 Processor Initialization 0 ccc ce
78. the architecture Architecture Documents In each of the architecture specific chapters this section will provide pointers on where to obtain documentation 1 1 CPU Model Dependent Features Microprocessors are generally classified into families with a variety of CPU models or im plementations within that family Within a processor family there is a high level of binary compatibility This family may be based on either an architectural specification or on main taining compatibility with a popular processor Recent microprocessor families such as the SPARC or PowerPC are based on an architectural specification which is independent or any particular CPU model or implementation Older families such as the M68xxx and the 1X86 evolved as the manufacturer strived to produce higher performance processor models which maintained binary compatibility with older models RTEMS takes advantage of the similarity of the various models within a CPU family Although the models do vary in significant ways the high level of compatibility makes it possible to share the bulk of the CPU dependent executive code across the entire family Each processor family supported by RTEMS has a list of features which vary between CPU models within a family For example the most common model dependent feature regardless of CPU family is the presence or absence of a floating point unit or coprocessor When defining the list of features present on a particular CPU model one simpl
79. tomatically performs the following actions e disables traps sets the ET bit of the psr to 0 e the S bit of the psr is copied into the Previous Supervisor Mode PS bit of the psr e the cwp is decremented by one modulo the number of register windows to activate a trap window e the PC and nPC are loaded into local register 1 and 2 10 and 11 e the trap type tt field of the Trap Base Register TBR is set to the appropriate value and e if the trap is not a reset then the PC is written with the contents of the TBR and the nPC is written with TBR 4 If the trap is a reset then the PC is set to zero and the nPC is set to 4 Trap processing on the SPARC has two features which are noticeably different than interrupt processing on other architectures First the value of psr register in effect immediately before the trap occurred is not explicitly saved Instead only reversible alterations are made to it Second the Processor Interrupt Level pil is not set to correspond to that of the interrupt being processed When a trap occurs ALL subsequent traps are disabled In order to safely invoke a subroutine during trap handling traps must be enabled to allow for the possibility of register window overflow and underflow traps If the interrupt handler was installed as an RTEMS interrupt handler then upon receipt of the interrupt the processor passes control to the RTEMS interrupt handler which performs the following actions e save
80. ukit score cpu i386 1386 h based upon the particular CPU model specified on the compilation command line 4 1 1 bswap Instruction The macro 1386 HAS BSWAP is set to 1 to indicate that this CPU model has the bswap instruction which endian swaps a thirty two bit quantity This instruction appears to be present in all CPU models i486 s and above 4 2 Calling Conventions 4 2 1 Processor Background The i386 architecture supports a simple yet effective call and return mechanism A subrou tine is invoked via the call call instruction This instruction pushes the return address on the stack The return from subroutine ret instruction pops the return address off the current stack and transfers control to that instruction It is is important to note that the 1386 call and return mechanism does not automatically save or restore any registers It is the responsibility of the high level language compiler to define the register preservation and usage convention 4 2 2 Calling Mechanism All RTEMS directives are invoked using a call instruction and return to the user application via the ret instruction 4 2 3 Register Usage As discussed above the call instruction does not automatically save any registers RTEMS uses the registers EAX ECX and EDX as scratch registers These registers are not pre served by RTEMS directives therefore the contents of these registers should not be assumed upon return from any RTEMS directive 18 RTEMS CPU Arc
81. upt response and control mechanisms as they pertain to RTEMS RTEMS and associated documentation uses the terms interrupt and vector In the SPARC architecture these terms correspond to traps and trap type respectively The terms will be used interchangeably in this manual Chapter 9 SPARC Specific Information 49 9 4 1 Synchronous Versus Asynchronous Traps The SPARC architecture includes two classes of traps synchronous and asynchronous Asynchronous traps occur when an external event interrupts the processor These traps are not associated with any instruction executed by the processor and logically occur between instructions The instruction currently in the execute stage of the processor is allowed to complete although subsequent instructions are annulled The return address reported by the processor for asynchronous traps is the pair of instructions following the current instruction Synchronous traps are caused by the actions of an instruction The trap stimulus in this case either occurs internally to the processor or is from an external signal that was provoked by the instruction These traps are taken immediately and the instruction that caused the trap is aborted before any state changes occur in the processor itself The return address reported by the processor for synchronous traps is the instruction which caused the trap and the following instruction 9 4 2 Vectoring of Interrupt Handler Upon receipt of an interrupt the SPARC au
82. ws 46 RTEMS CPU Architecture Supplement Because the set of register windows is finite it is possible to execute enough save instructions without corresponding restore s to consume all of the register windows This is easily accomplished in a high level language because each subroutine typically performs a save instruction upon entry Thus having a subroutine call depth greater than the number of register windows will result in a window overflow condition The window overflow condition generates a trap which must be handled in software The window overflow trap handler is responsible for saving the contents of the oldest register window on the program stack Similarly the subroutines will eventually complete and begin to perform restore s If the restore results in the need for a register window which has previously been written to memory as part of an overflow then a window underflow condition results Just like the window overflow the window underflow condition must be handled in software by a trap handler The window underflow trap handler is responsible for reloading the contents of the register window requested by the restore instruction from the program stack The Window Invalid Mask wim and the Current Window Pointer cwp field in the psr are used in conjunction to manage the finite set of register windows and detect the window overflow and underflow conditions The cwp contains the index of the register window currently in use The
83. y notes that floating point hardware is or is not present and defines a single constant appropriately Conditional compilation is utilized to include the appropriate source code for this CPU model s feature set It is important to note that this means that RTEMS is thus compiled using the appropriate feature set and compilation flags optimal for this CPU model used The alternative would be to generate a binary which would execute on all family members using only the features which were always present The set of CPU model feature macros are defined in the file cpukit score cpu CPU rtems score cpu h based upon the GNU tools multilib variant that is appropriate for the particular CPU model defined on the compilation command line In each of the architecture specific chapters this section presents the set of features which vary across various implementations of the architecture that may be of importance to RTEMS application developers The subsections will vary amongst the target architecture chapters as the specific features may vary However each port will include a few common features such as the CPU Model 4 RTEMS CPU Architecture Supplement Name and presence of a hardware Floating Point Unit The common features are described here 1 1 1 CPU Model Name The macro CPU_MODEL_NAME is a string which designates the name of this CPU model For example for the MC68020 processor model from the m68k architecture this macro is set to the strin

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