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bsp-howto: Remove obsolete information
Remove obsolete information as well as information which is highly specific to a particular platform. Update #2852.
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@ -52,22 +52,6 @@ functionality.
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In most BSPs, the directory named ``start340`` in the gen68340 BSP would be
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In most BSPs, the directory named ``start340`` in the gen68340 BSP would be
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simply named ``start`` or start followed by a BSP designation.
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simply named ``start`` or start followed by a BSP designation.
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Required Global Variables
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=========================
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Although not strictly part of initialization, there are a few global variables
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assumed to exist by reusable device drivers. These global variables should
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only defined by the BSP when using one of these device drivers.
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The BSP author probably should be aware of the ``Configuration`` Table
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structure generated by ``<rtems/confdefs.h>`` during debug but should not
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explicitly reference it in the source code. There are helper routines provided
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by RTEMS to access individual fields.
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In older RTEMS versions, the BSP included a number of required global
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variables. We have made every attempt to eliminate these in the interest of
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simplicity.
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Board Initialization
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Board Initialization
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====================
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====================
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@ -183,139 +167,3 @@ semaphores.
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After completing execution, this routine returns to the ``boot_card()``
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After completing execution, this routine returns to the ``boot_card()``
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routine. In case of errors, the initialization should be terminated via
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routine. In case of errors, the initialization should be terminated via
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``bsp_fatal()``.
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``bsp_fatal()``.
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Device Driver Initialization
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----------------------------
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At this point in the initialization sequence, the initialization routines for
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all of the device drivers specified in the Device Driver Table are invoked.
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The initialization routines are invoked in the order they appear in the Device
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Driver Table.
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The Driver Address Table is part of the RTEMS Configuration Table. It defines
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device drivers entry points (initialization, open, close, read, write, and
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control). For more information about this table, please refer to the
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*Configuring a System* chapter in the *RTEMS Application C User's Guide*.
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The RTEMS initialization procedure calls the initialization function for every
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driver defined in the RTEMS Configuration Table (this allows one to include
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only the drivers needed by the application).
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All these primitives have a major and a minor number as arguments:
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- the major number refers to the driver type,
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- the minor number is used to control two peripherals with the same driver (for
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instance, we define only one major number for the serial driver, but two
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minor numbers for channel A and B if there are two channels in the UART).
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The Interrupt Vector Table
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==========================
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The Interrupt Vector Table is called different things on different processor
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families but the basic functionality is the same. Each entry in the Table
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corresponds to the handler routine for a particular interrupt source. When an
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interrupt from that source occurs, the specified handler routine is invoked.
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Some context information is saved by the processor automatically when this
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happens. RTEMS saves enough context information so that an interrupt service
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routine can be implemented in a high level language.
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On some processors, the Interrupt Vector Table is at a fixed address. If this
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address is in RAM, then usually the BSP only has to initialize it to contain
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pointers to default handlers. If the table is in ROM, then the application
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developer will have to take special steps to fill in the table.
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If the base address of the Interrupt Vector Table can be dynamically changed to
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an arbitrary address, then the RTEMS port to that processor family will usually
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allocate its own table and install it. For example, on some members of the
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Motorola MC68xxx family, the Vector Base Register (``vbr``) contains this base
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address.
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Interrupt Vector Table on the gen68340 BSP
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------------------------------------------
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The gen68340 BSP provides a default Interrupt Vector Table in the file
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``$BSP_ROOT/start340/start340.s``. After the ``entry`` label is the definition
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of space reserved for the table of interrupts vectors. This space is assigned
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the symbolic name of ``__uhoh`` in the ``gen68340`` BSP.
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At ``__uhoh`` label is the default interrupt handler routine. This routine is
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only called when an unexpected interrupts is raised. One can add their own
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routine there (in that case there's a call to a routine -
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$BSP_ROOT/startup/dumpanic.c - that prints which address caused the interrupt
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and the contents of the registers, stack, etc.), but this should not return.
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Chip Select Initialization
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==========================
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When the microprocessor accesses a memory area, address decoding is handled by
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an address decoder, so that the microprocessor knows which memory chip(s) to
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access. The following figure illustrates this:
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.. code-block:: c
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+-------------------+
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------------| |
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------------| |------------
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------------| Address |------------
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------------| Decoder |------------
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------------| |------------
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------------| |
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+-------------------+
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CPU Bus Chip Select
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The Chip Select registers must be programmed such that they match the
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``linkcmds`` settings. In the gen68340 BSP, ROM and RAM addresses can be found
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in both the ``linkcmds`` and initialization code, but this is not a great way
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to do this. It is better to define addresses in the linker script.
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Integrated Processor Registers Initialization
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=============================================
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The CPUs used in many embedded systems are highly complex devices with multiple
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peripherals on the CPU itself. For these devices, there are always some
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specific integrated processor registers that must be initialized. Refer to the
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processors' manuals for details on these registers and be VERY careful
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programming them.
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Data Section Recopy
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===================
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The next initialization part can be found in
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``$BSP340_ROOT/start340/init68340.c``. First the Interrupt Vector Table is
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copied into RAM, then the data section recopy is initiated
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(``_CopyDataClearBSSAndStart`` in ``$BSP340_ROOT/start340/startfor340only.s``).
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This code performs the following actions:
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- copies the .data section from ROM to its location reserved in RAM (see
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:ref:`Initialized Data` for more details about this copy),
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- clear ``.bss`` section (all the non-initialized data will take value 0).
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The RTEMS Configuration Table
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=============================
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The RTEMS configuration table contains the maximum number of objects RTEMS can
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handle during the application (e.g. maximum number of tasks, semaphores,
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etc.). It's used to allocate the size for the RTEMS inner data structures.
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The RTEMS configuration table is application dependent, which means that one
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has to provide one per application. It is usually defined by defining macros
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and including the header file ``<rtems/confdefs.h>``. In simple applications
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such as the tests provided with RTEMS, it is commonly found in the main module
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of the application. For more complex applications, it may be in a file by
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itself.
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The header file ``<rtems/confdefs.h>`` defines a constant table named
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``Configuration``. With RTEMS 4.8 and older, it was accepted practice for the
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BSP to copy this table into a modifiable copy named ``BSP_Configuration``.
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This copy of the table was modified to define the base address of the RTEMS
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Executive Workspace as well as to reflect any BSP and device driver
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requirements not automatically handled by the application. In 4.9 and newer,
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we have eliminated the BSP copies of the configuration tables and are making
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efforts to make the configuration information generated by
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``<rtems/confdefs.h>`` constant and read only.
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For more information on the RTEMS Configuration Table, refer to the *RTEMS
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Application C User's Guide*.
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