'\" t.so wrs.an.\" integrator940t/target.nr - ARM Limited Integrator board's target-specific documentation.\".\" Copyright 1999-2000 ARM Limited.\" Copyright 1999-2000 Wind River Systems, Inc..\".\" modification history.\" --------------------.\" 01a,28may02,m_h  windML.\" 01i,22mar02,rec  add ARMARCH5 references.\" 01h,12mar02,m_h  correct 3800 baud to 38400, serial download quirks.\" 01e,03dec01,rec  use generic driver for amba timer.\" 01f,27nov01,rec  add reference to SPR-68958..\" 01e,10oct01,rec  integrator946es changes.\" 01e,24aug01,dgp  change manual entry to reference entry per SPR 23698.\" 01d,01may01,rec  clerical updates for 2.1.0 release..\" 01c,22feb00,jpd  minor corrections..\" 01b,13jan00,pr   updated with support for PCI and CPU740T..\" 01a,29nov99,ajb  created, derived from pid940t.\".TH integrator T "ARM Limited Integrator" "Rev: 21 Feb 00" "TORNADO REFERENCE: VXWORKS".SH "NAME".aX "ARM Limited Integrator 7t/720/740/920T/940T/966es/946es".SH "INTRODUCTION"This reference entry provides board-specific information necessary to runVxWorks for the Integrator/AP with an ARM7T, ARM720T, ARM740T, ARM920T,ARM940T, ARM966es, or ARM946es core module.  Before using a board with VxWorks, verify that the board runs in the factory configuration using vendor-supplied ROMs and jumper settings and checking the RS-232 connection..SS "ARM 940T/740T support"The ARM 940T/740T cache/MPU support is used to create five memory regions:RAM, from 0  to LOCAL_MEM_SIZE, is cached.  Note that if auto-sizing is added, this should adjust the size of thisregion correspondingly.The peripheral registers area, 0x10000000 (INTEGRATOR_PERIPHERAL_BASE) to0x20000000 (+INTEGRATOR_PERIPHERAL_SIZE), is uncached.Flash memory, starting at 0x24000000 (FLASH_ADRS) to 0x28000000(+INTEGRATOR_FLASH_SIZE), is uncached.The PCI address space region starting at 0x40000000 (INTEGRATOR_PCI_BASE) and finishing at 0x60000000.PCI IO area, config area and V360EPC registers, starting at 0x60000000 (CPU_PCI_IO_ADRS) with CPU_PCI_IO_SIZE. All other regions are marked as invalid..SS "ARM 946es support"NOTE: Cache and MMU support for the 946e is not included in the architecturearchives for the 946e.  In order to obtain support for this core, it is necessary to apply a patch (SPR-68958).  Consult WindSurf for this update.In addition to the memory regions defined for the 940T/740T, a sixthregion was created for the I-SSRAM memory region.  SSRAM is not enabled in this implementation.  The address region is defined for compatibility with systems that make use of SSRAM.  When not enabled, I-SSRAM address space is supported by system RAM.  This region is not used by eitherthe bootrom image or vxWorks.  The arm architecture requires that theexception vectors be located at address zero.  These vectors are placedat the bottom of this region.  This region is not cached.If D-SSRAM is used, a separate region will need to be defined in sysLib.c..SS "ARM Firmware Suite Flash library conformance"The AFS Flash library defines a mechanism for storing multiple imagesin Flash.  Each image can be identified by a record ('footer') which isstored at the end of the last Flash page used by the image.  A specialtype of image is used to store System Information Blocks ('SIB').  Thestandard Integrator boot-switcher uses a SIB to store system settings,such as core and bus clock speeds.The current BSP implementation doesn't use this information.  Instead,default values are chosen based on the CPU type.Flash is used to store the boot line parameters.  The location in Flashis defined by FLASH_ADRS.  This location in Flash can be changed bymodifying the block number in the definition of FLASH_ADRS (cf.integrator.h).  If INCLUDE_FLASH_SIB_FOOTER is defined, a footer iswritten at the end of this block to mark it as a Wind River Systemstype (TYPE_WRS_SIB).  This complies with the footer format used withAFS..SS "ROM Init code"Most of the code in romInit.s has been copied from uHAL's start-upmacros for the Integrator.  The board-specific code starts at HiPosn,where the Core Module remap flag is set.The code to calculate the size of SDRAM/SSRAM is copied directly fromuHAL's target.s.  As described in the comments, this leaves r1containing the size of RAM available.  This value is stored in thevariable integratorMemSize, but is not currently used..SS "Boot ROMs"The boot ROM image has been tested running from Flash.  The Makefileoptions are set to run the image from the start of Flash, 0x24000000.Two methods are available for loading the boot ROM image into target flash.  The image may be loaded via the target serial port using the supplied onboard boot Monitor program (ref: ARM Firmware Suite Reference Guide Chapt 4).  To load the target flash using this method,first build bootrom.hex using the Tornado.  Connect a null serial cablefrom the host serial port to the target Comm-1 port (closest to the dip-switches).  Open a terminal emulator program and configure it for 38400 baud.  Power on the Integrator board and observe the ARM boot ROM banner.  Download the flash image by typing "L <enter>" forload image.  Observe that the firmware deletes image zero.  SelectTransfer->SendTextFile, then browse to find the above hex file.  After thedownload initiates, type "<control-C>".  The terminal window will remainsilent for approximately two minutes, after which it will acknowledge that the download has completed and return a boot monitor prompt.  Note: Some serial communication programs do not work properly if theydo not delay (approx 5ms) between sending characters.  Otherserial communication programs (such as Hyperterminal) may take anextraordinary amount of time (1 hour) to program the flash becausethey continuously time out from being unable to handle thecommunication protocol used by the ARM boot loader.The ARM Flash Utility (AFU) can be used to program the image intoFlash.  For this the bootrom needs to be generated and converted to binary format:.bS   make bootrom.hex.bEThe 4-pole DIL switch (S1) is used to control the boot settings.  TurnS1-1 off to boot from the start of Flash (0x24000000).  With S1-1 on,the boot switcher will run, in which case S1-4 determines whether toenter the boot monitor console (s1-4 on), or boot from a defined Flashimage (s1-4 off).The ARM debugger can be used to load this binary image onto Flash.For this choose a backend to connect to the target and start the ARM debugger and set S1-1 on.  Load and run the semihosted AFU.AXF until there are some messages printed in the ARM debugger console window with a AFU> prompt. To see a listing of the images present in the Flash enter the following command:.bS    AFU> list.bEAssuming there is already an image with number 1 in Flash, the new binary image can replace it with the following sequence of commands:.bS  AFU> Delete 1  AFU> Program 1 VxBoot c:\Tornado\target\config\integrator940t\bootrom.bin b0.bEThe board can use this new image to boot from by setting S1-1 off.The boot monitor's BI command determines which Flash image to boot from..SS "Libraries"Included within this BSP release are two directories containing object files:.bS     - objARMARCH4gnuvx      - objARMARCH4_Tgnuvx.bEThese must be used to add and replace the versions of these files contained within the architecture libraries:.bS    target/lib/libARMARCH4gnuvx.a    target/lib/libARMARCH4_Tgnuvx.a.bEIf this is not done, kernels will be built which may fail to start, or in the case of ARM720T, kernels will fail to build.First, make a copy of the existing library files in case something goes wrong. Replace the object file in the libraries using commands like:.bS    cp objARMARCH4gnuvx/* $(WIND_BASE)/target/lib/objARMARCH4gnuvx    ararm crus $(WIND_BASE)/target/lib/libARMARCH4gnuvx.a \	       $(WIND_BASE)/target/lib/objARMARCH4gnuvx/*and    cp objARMARCH4_Tgnuvx/* $(WIND_BASE)/target/lib/objARMARCH4_Tgnuvx    ararm crus $(WIND_BASE)/target/lib/libARMARCH4_Tgnuvx.a \	       $(WIND_BASE)/target/lib/objARMARCH_T4gnuvx/*.bE.SS "Jumpers"The following jumpers and switches are relevant to VxWorks configuration..TS Eexpand;cf3 s slf3 lf3 lf3l l lw(3i) ..ne 5Integrator 940T.sp .25Jumper	Function	Description_S1	Various	T{Four-pole DIL switches, S1-1 to S1-4T}S1-1	Boot ROM select	T{This switch determines which device is mapped to low memory at startup(before the header card maps its own RAM to address 0).  When theswitch is turned ON, the boot ROM is selected, causing the AFS BootMonitor to execute.  Otherwise, Flash is selected.T}S1-4	Boot switcher 	T{The boot monitor reads this switch at startup to determine whether tocontinue execution or jump to Flash.  If the switch is ON, the bootmonitor prompt is generated; otherwise it reads the SIB to determinewhich Flash block to jump to.T}.TEFor details of jumper configuration, see the board diagram at the endof this entry and in the hardware manual..SH "FEATURES"The Integrator/AP is a platform for code development for embedded ARMprocessors.  It supports up to four processors for which it provides clocks, bus arbitration and interrupt handling.  It also provides Flash memory, boot ROM, 2 serial ports, readable switches and controllable LEDS.The Integrator/AP supports flexible expansion: - system bus expansion allowing core modules and logic modules to be added. - PCI bus bridge allowing PCI expansion cards to be mounted. - extension to the PCI bus allowing the Integrator/AP to be installed in a    CompactPCI card rack.The ARM720T, ARM740T and ARM940T daughter cards can be used withthis BSP..SS "Supported Features"The BSP supports and has been tested with PCI Ethernet cards containingthe Digital 21x4x Ethernet controller chip..SS "RAM size"By default, the RAM size is set to 8 Mbytes (see LOCAL_MEM_SIZE).  Thisrequires an SDRAM DIMM of at least that size to be fitted to the coremodule header card.  The RAM size is configured by changingLOCAL_MEM_SIZE in config.h.  If this is reduced below 8 MBytes, othervalues may need changing, such as RAM_HIGH_ADRS.  The boot ROMinitialization code automatically reads the SPD data from the SDRAM toconfigure CM_SDRAM correctly (see CM940T User Guide, p. 4-14).However, this data is not currently used to derive a correct value forthe memory size..SS "Timestamp support"The two AMBA timers are used by the system and auxiliary clockfacilities.  The system clock provides the timestamp timer as well..SS "Unsupported Features"No explicit support is provided for use of the JTAG port, EmbeddedICE, reading the switches, or any other PCI cards.  However, nothing is doneto prevent these features from being used (e.g. by the Multi-ICEbackend for Tornado).