AMX Corporation Computer Accessories 68000 User Manual

AMX^™68000 Target Guide

First Printing: April 15, 1994

Last Printing: March 1, 2005

KADAK Products Ltd.

206 - 1847 West Broadway Avenue

Vancouver, BC, Canada, V6J 1Y5

Phone: (604) 734-2796

Fax:

(604) 734-8114

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Phone:

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AMX 68000 Target Guide

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AMX 68000 Target Guide

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AMX 68000 TARGET GUIDE

Table of Contents

Page

1. Getting Started with AMX 68000

1.1 Introduction ........................................................................................

1.2 AMX Files ..........................................................................................

1.3 AMX Nomenclature ...........................................................................

1.4 AMX 68000 Target Specifications .....................................................

1.5 Launch Requirements .........................................................................

2. Program Coding Specifications

2.1 Task Trap Handler ..............................................................................

2.2 Task Scheduling Hooks ...................................................................... 10

3. The Processor Interrupt System

3.1 Operation ............................................................................................ 11

3.2 AMX Vector Table ............................................................................ 13

3.3 AMX Interrupt Priority and NMI ....................................................... 15

3.4 Conforming ISPs ................................................................................ 16

3.5 Nonconforming ISPs .......................................................................... 18

3.6 Processor Vector Initialization ........................................................... 19

4. Target Configuration Module

4.1 The Target Configuration Process ...................................................... 21

4.2 Target Configuration Parameters ....................................................... 25

4.3 Interrupt Service Procedure (ISP) Definitions .................................... 29

4.4 Defining a Fast Clock ISP .................................................................. 32

4.5 Null Functions .................................................................................... 34

4.6 ROM Option Parameters .................................................................... 35

5. Clock Drivers

5.1 Clock Driver Operation ...................................................................... 37

5.2 Custom Clock Driver ......................................................................... 39

5.3 AMX Clock Drivers ........................................................................... 41

5.3.1 MC683xx TPU Clock Driver .......................................................... 41

5.3.2 MC68360 PIT Clock Driver ............................................................ 42

5.3.3 MC68230 Clock Driver ................................................................... 43

5.3.4 MC68901 Clock Driver ................................................................... 44

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AMX 68000 TARGET GUIDE

Table of Contents (Cont'd)

Appendices

Page

A-1

Appendix A. Target Parameter File Specification

A.1 Target Parameter File Structure ......................................................... A-1

A.2 Target Parameter File Directives ....................................................... A-3

A.3 Porting the Target Parameter File ...................................................... A-11

Appendix B. AMX 68000 Service Procedures

Appendix C. AMX 68000 ROM Option

B-1

C-1

AMX 68000 TARGET GUIDE

Table of Figures

Page

Figure 1.2-1 AMX Include Files ..............................................................

Figure 1.2-2 AMX Assembler Source Files .............................................

Figure 1.2-3 AMX C Source Files ...........................................................

Figure 1.4-1 AMX Design Constants .......................................................

Figure 3.2-1 AMX Vector Table and Vector Numbers ............................ 14

Figure 4.1-1 Configuration Manager Screen Layout ................................ 22

Figure A.1-1 AMX Target Parameter File ............................................... A-1

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1. Getting Started with AMX 68000

1.1 Introduction

The AMX^™Multitasking Executive is described in the AMX User's Guide. This target

guide describes AMX 68000 which operates on the Motorola MC680xx, MC683xx and

all architecturally compatible processors.

Throughout this manual, the term M68000 refers specifically to the Motorola MC680xx

and MC683xx families of processors and all processors which are exact replicas. When

distinctions are not important, the term M68000 is used to reference any processor which

has the general characteristics of these families. When distinctions are important, the

processors are identified explicitly.

The purpose of this manual is to provide you with the information required to properly

configure and implement an AMX 68000 real-time system. It is assumed that you have

read the AMX User's Guide and are familiar with the architecture of the M68000

processor.

Installation

AMX 68000 is delivered ready for use on a PC or compatible running Microsoft^®

Windows^®. To install AMX, follow the directions in the Installation Guide. All AMX

files required for developing an AMX application will be installed on disk in the

directory of your choice. All AMX source files will also be installed on your disk.

AMX Tool Guides

This manual describes the use of AMX in a tool set independent fashion. References to

specific assemblers, compilers, librarians, linkers, locators and debuggers are purposely

omitted. For each tool set with which AMX 68000 has been tested by KADAK, a

separate chapter in the AMX Tool Guide is provided.

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1.2 AMX Files

AMX is provided in C source format to ensure that regardless of your development

environment, your ability to use and support AMX is uninhibited. AMX also includes a

small portion programmed in M68000 assembly language.

Figures 1.2-1, 2 and 3 summarize the AMX modules provided with AMX 68000. The

AMX product manifest (file MANIFEST.TXT) is a text file which indicates the current

AMX revision level and lists the AMX modules which are provided with the product.

File Name

Module

CJ532

Generic include file

CJ532APP.H

CJ532CC .H

CJ532EC .H

CJ532IF .H

CJ532KC .H

CJ532KF .H

CJ532KP .H

CJ532KS .H

CJ532KT .H

CJ532KV .H

CJ532SD .H

CJ532TF .H

Custom application definitions

C dependent definitions

AMX error code definitions

C and target interface prototypes

Private AMX constants

AMX service procedure prototypes

Private AMX prototypes

Private AMX structure definitions

Target processor definitions

AMX version specification

AMX application structure definitions

Target dependent prototypes

CJZZZ

Copy of generic include file CJ532.H

used for portability

CHxxxxx .H

Definitions for common timer (PIT, TPU)

and serial I/O (UART) chips

Figure 1.2-1 AMX Include Files

File Name

Module

CJ532K .DEF

CJ532KQ .ASM

CJ532KR .ASM

CJ532KS .ASM

CJ532MXA.ASM

CJ532TDC.ASM

CJ532UA .ASM

CJ532UB .ASM

Private AMX assembly language definitions

Private AMX math procedures

AMX Interrupt Supervisor

AMX Task Scheduler

Message Exchange Manager constants

Time/Date Manager constants

Target processor and C support (part 1)

Target processor and C support (part 2)

Figure 1.2-2 AMX Assembler Source Files

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File Name

Module

CJ532KA .C

CJ532KB .C

CJ532KBR.C

Kernel task services

General task services

CJ532KC .C

CJ532KCR.C

Timer Manager

CJ532KD .C

CJ532KDR.C

Task management services

CJ532KE .C

CJ532KF .C

CJ532KG .C

CJ532KH .C

CJ532KI .C

CJ532KJ .C

CJ532KK .C

CJ532KL .C

CJ532KM .C

CJ532KX .C

Task termination services

Suspend/resume task

Time slice services

Task status

Enter and Exit AMX

General object access

AMX Vector Table access

Private AMX list manipulation

AMX task scheduler hook services

AMX Kernel Task

CJ532CL .C

CJ532LM .C

Circular List Manager

Linked List Manager

CJ532BM .C

CJ532BMR.C

CJ532EM .C

CJ532EMR.C

Buffer Manager

Event Manager

CJ532RM .C

CJ532SM .C

CJ532SMR.C

Semaphore Manager (resources)

Semaphore Manager

CJ532MB .C

CJ532MBR.C

Mailbox Manager

CJ532MF .C

CJ532MM .C

CJ532MMR.C

Flush mailbox and message exchange

Memory Manager

CJ532MX .C

CJ532MXR.C

Message Exchange Manager

CJ532TDA.C

CJ532TDB.C

Time/Date Manager

Time/Date formatter

CJ532UF .C

Launch and leave AMX

CJ532XTA.C

CJ532XTB.C

Message exchange task services

Message exchange task termination

CHxxxxxT.C

CHxxxxxS.C

Clock drivers for common timer (PIT, TPU) chips

Sample drivers for common serial I/O (UART) chips

Figure 1.2-3 AMX C Source Files

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1.3 AMX Nomenclature

The following nomenclature standards have been adopted throughout the AMX Target

Guide.

Numbers used in this manual are decimal unless otherwise indicated. Hexadecimal

numbers are indicated in the format 0xABCD or $ABCD.

The terminology A(Table XYZ) is used to define addresses. It is read as "the address of

Table XYZ".

Read/write memory is referred to as RAM. Read only memory (non-volatile storage) is

referred to as ROM.

AMX symbol names and reserved words are identified as follows:

cjkkpppp

cjxtttt

xttttyyy

AMX C procedure name pppp for service of class kk

AMX structure name of type tttt

Member yyy of an AMX structure of type tttt

CJ_ID

AMX object identifier (handle)

CJ_ERRST

CJ_CCPP

CJ_ssssss

Completion status returned by AMX service procedures

Procedures use C parameter passing conventions

Reserved symbols defined in AMX header files

CJ_ERxxxx

CJ_WRxxxx

CJ_FExxxx

AMX Error Code xxxx

AMX Warning Code xxxx

AMX Fatal Exit Code xxxx

CJ532xxx.xxx

CJZZZ.H

AMX 68000 filenames

Generic AMX include file

The generic include file CJZZZ.H is a copy of file CJ532.H which includes the subset of

the AMX 68000 header files needed for compilation of your AMX application C code.

By including the file CJZZZ.H in your source modules, your AMX application becomes

readily portable to other target processors.

Throughout this manual code examples are presented in lower case. File names are

shown in upper case. C code assumes that an int is 32 bits as is common for most C

compilers for the M68000 processor.

Processor registers are referenced using the software names specified by Motorola.

D0, D1, D2, D3, D4, D5, D6, D7

A0, A1, A2, A3, A4, A5, A6, A7

PC, SP = A7

SR = status register, CC = flags (condition code)

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1.4 AMX 68000 Target Specifications

AMX 68000 was initially developed and tested using the Motorola MC68020, MC68040

and MC68332 processors on a variety of Motorola evaluation boards. However, the

AMX 68000 design criteria fully encompass the Motorola M68000 processor family

requirements.

AMX uses a set of design constants which vary according to the constraints imposed by

each target processor. When operating on the M68000 processor, these design constants

assume the values listed in Figure 1.4-1.

Symbol

Purpose

CJ_CCISIZE

Size of integer is 4 bytes (32 bits)

Event group supports 32 event flags per group

AMX id (handle) is a 32 bit unsigned integer

AMX error codes are 32 bit signed integers

CJ_ID

CJ_ERRST

CJ_MINMSZ

CJ_MAXMSZ

CJ_MINKG

Minimum AMX message size is 12 bytes

Default AMX message size is 12 bytes

Minimum number of AMX message envelopes is 10

CJ_MINKS

CJ_MINIS

CJ_MINTKS

Minimum Kernel Stack is 256 bytes

Minimum Interrupt Stack is 256 bytes

Minimum task storage (including TCB) is 512 bytes

CJ_MINBFS

CJ_MINUMEM

CJ_MINSMEM

Minimum AMX buffer size is 8 bytes

Minimum AMX memory block size is 16 bytes

Minimum AMX memory section size is 128 bytes

Figure 1.4-1 AMX Design Constants

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1.5 Launch Requirements

The M68000 must be properly configured for use before AMX is launched. The manner

in which this is accomplished will depend on your target hardware implementation and

on the startup code provided with your C compiler.

AMX does not include bootstrap code to initialize the M68000 processor. It is assumed

that you will have a boot ROM present which configures the M68000 for your specific

hardware configuration and begins program execution at the entry to your C startup code.

During development, you may be using a ROM monitor provided by the processor

vendor or by the toolset supplier. The ROM monitor automatically initializes the

processor at power on. The monitor is then used to download your AMX application and

start execution at the entry point to the C startup code. Eventually your main C program

is called and AMX can be launched by your call to cjkslaunch.

Once your application has been tested, you may choose to replace the ROM monitor and

the C startup code with your own initialization code. The manner in which you do this is

outside the scope of this manual.

Operating Mode

AMX requires that the processor be set to supervisor mode. The processor is in

supervisor mode when the supervisor/user state bit S is 1 in the status register (SR). This

is the default state when the processor is reset.

Interrupt State

Interrupts can be enabled or disabled on entry to AMX. Set the interrupt priority mask in

the status register to disable (0x0600) or enable (0x0000) external interrupts. AMX will

disable interrupts during its startup initialization. AMX will enable interrupts prior to

calling your application Restart Procedures.

If you launch AMX with interrupts enabled, be sure that all interrupt sources are either

disabled or externally masked off. You must not enable or unmask any interrupt source

until you have installed an AMX Interrupt Service Procedure to properly service the

device. This subject is described in more detail in Chapters 3 and 4.

For the MC68020, MC68030, MC68040, MC68060 and architecturally similar

processors, AMX requires that the processor be set to interrupt mode. The processor is

in interrupt mode when the master/interrupt state bit M is 0 in the status register (SR). This

is the default state when the processor is reset.

Some M68000 processors include a Vector Base Register (VBR) which must be

initialized with the address of the Exception Vector Table. AMX can be configured to do

this initialization at launch time. Alternatively you can initialize the VBR prior to

launching AMX and allow AMX to read the VBR without modifying it.

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Trace Controls

AMX alters the state of the status register (SR) whenever it enables or disables interrupts.

When AMX disables interrupts, it also clears the trace control bits (T or T0 and T1) to 0.

When AMX enables interrupts, the trace control bits remain unaltered. Consequently,

you may not be able to use your debugger to single step trace through private AMX code

sequences.

M68000 Stack Use

The M68000 begins execution in supervisor mode (and interrupt mode for the MC68020,

MC68030, MC68040, MC68060, et al) using the initial interrupt stack specified by

vector number 0 in the Exception Vector Table. Your bootstrap code or C startup code

may switch to an alternate stack. Once AMX is launched, it abandons the startup stack.

AMX only uses the stacks allocated by you in your AMX System Configuration Module.

To accomplish this feat on processors which support multiple stacks, AMX always

executes in the interrupt mode (M = 0 in SR).

Instruction and Data Caching

The MC68020 includes a 256-byte instruction cache but no data cache.

The MC68030 includes a 256-byte instruction cache and a 256-byte data cache.

The MC68040 includes a 4096-byte instruction cache and a 4096-byte data cache.

The MC68060 includes an 8192-byte instruction cache and an 8192-byte data cache.

If your AMX Target Parameter File (see Chapter 4) targets one of these processors, AMX

will automatically flush and enable both caches when AMX is launched. Alternatively,

you can configure AMX to ignore the caches during the launch. AMX provides

procedures which you can use to enable or disable the caches.

For example, if you disable both caches in your main program and configure AMX to

ignore the cache, you can simplify the initial testing of your application or overcome

caching problems which may be encountered if your debugger cannot properly handle

cached operation.

You must be aware that, on processors which utilize an M68000 Memory Management

Unit (MMU), successful cache operation will depend on proper setup of the MMU. For

example, if the MMU does not properly control cached access to memory and devices,

you may find that device I/O reads and writes end up being cached, resulting in failure of

the device to operate as expected.

AMX does not manipulate the MMU. If you configure AMX to enable caching during

the launch, then you must ensure that the MMU is properly initialized to meet your

hardware memory addressing specifications prior to launching AMX. The AMX Sample

Program purposely leaves the caches unaltered to avoid possible cache related problems

during your initial use of AMX in your hardware environment.

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Memory Management Unit (MMU)

The MC68030, MC68040, MC68LC040 and MC68060 include a Memory Management

Unit (MMU) to support a demand-paged virtual memory environment. AMX does not

support the M68000 memory management unit.

If you are using AMX on the Motorola MC68000, MC68008, MC68010 or MC683xx

processors, this restriction does not apply. These processors do not implement the

M68000 memory management unit and allow direct access to the full 20, 24 or 32-bit

address space supported by the particular processor.

Your AMX application code and data must reside within the memory address ranges

allowed by the particular M68000 processor which you are using. The M68000 MMU, if

present, must be setup prior to launching AMX. In most cases, your boot ROM or C

startup code will configure the M68000 MMU for your specific hardware configuration

prior to entry to your main() program.

Warning!

Do not enable the memory caches if the MMU has not been

initialized to provide proper cached access to memory.

Big or Little Endian

AMX 68000 adheres to the big endian model in which the most significant byte of a word

(long) is stored in the lowest byte address.

Be aware that AMX for other processors may be big or little endian. If you intend to port

your AMX application to other processors, then avoid using coding techniques which are

endian dependent.

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2. Program Coding Specifications

2.1 Task Trap Handler

AMX 68000 supports task traps for the M68000 zero divide, bounds check and overflow

faults. A zero divide fault occurs if any M68000 instruction attempts an integer division

by zero. A bounds check fault occurs if the M68000 CHK instruction detects an array

bound violation. An overflow fault occurs if the overflow flag (V) is set in the status

The Task Trap Handler can be written as a C procedure with formal parameters.

#include "CJZZZ.H"

/* AMX Headers

void CJ_CCPP traphandler(

struct cjxregs *regp,

/* A(Register Structure)

/* A(Fault frame)

void

*faultfp)

{

Process the error

}

The zero divide, bounds check and overflow exceptions are serviced by AMX. The state

of each register at the time of the fault is stored on the stack in an AMX register structure

cjxregs. Parameter regp is a pointer to that structure. Structure cjxregs is defined in

AMX header file CJ532KT.H.

Interrupts are enabled upon entry to the task trap handler. Note that the SR register copy

in the register array reflects the state of the status register after the exception occurred.

A pointer to the M68000 fault frame is provided as parameter faultfp. This pointer is

the M68000 stack pointer (SP) after the fault has occurred. Fault frame members can be

referenced as described in Chapter 3.1.

The register values in structure regs can be examined and, in rare circumstances,

modified. If necessary, the fault frame at *faultfp can be modified, with extreme care,

to force resumption at some other location in the task code. If the task trap handler

returns to AMX, execution will resume at the location determined by the fault frame at

*faultfp with registers set according to the values in the structure referenced by regp.

Note that the SR register will be restored according to the value returned in the fault frame

referenced by faultfp.

Since the task trap handler executes in the context of the task in which the exception

occurred, it is free to use all AMX services normally available to tasks. In particular, the

handler can call cjtkend to end task execution if so desired.

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2.2 Task Scheduling Hooks

There are four critical points within the AMX Task Scheduler. These critical points

occur when:

a task is started

a task ends

a task is suspended

a task is allowed to resume.

AMX allows a unique application procedure to be provided for each of these critical

points. Pointers to your procedures are installed with a call to procedure cjkshook. You

must provide a separate procedure for each of the four critical points. Since these

procedures execute as part of the AMX Task Scheduler, their operation is critical. These

procedures must be coded in assembler using techniques designed to ensure that they

execute as fast as possible.

The AMX Task Scheduler calls each of your procedures with the same calling

conventions.

Upon entry to your scheduling procedures, the following conditions exist:

Interrupts are disabled and must remain so.

The Task Control Block address is in register A1.

The stack pointer in register SP references the task's stack.

The return address is on the stack at (SP).

Registers D0, D1, A0, A1, A2 and A3 are free for use.

Condition code flags in the status register (SR) can be altered.

All other registers must be preserved.

Your procedures receive a pointer to the Task Control Block (TCB) of the task which is

being started, ended, suspended or resumed. If you include AMX header file

CJ532K.DEF in your assembly language module, you can reference the private region

within the TCB reserved for your use as XTCBUSER(A1).

Your procedures are free to temporarily use the task's stack.

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3. The Processor Interrupt System

3.1 Operation

The M68000 classifies all internal and external sources of interruption as exceptions.

The processor automatically determines the cause of the exception and then branches

indirectly through entries in the processor Exception Vector Table to an appropriate

exception specific procedure.

The particular procedures which service internal or external device interrupt requests are

called Interrupt Service Procedures. All other procedures are referred to as exception

service procedures.

Upon entry to any Interrupt Service Procedure or exception service procedure the

processor state is determined by the particular exception.

Device Interrupt Service

A subset of the exception vectors are reserved for the control of devices external to, or

embedded in, the processor. These vectors include:

Vector

Vectors

Vector

Vectors

Uninitialized interrupt vector

Spurious interrupt

Interrupt priority level 1 (lowest)

Interrupt priority level 6 (highest)

Interrupt priority level 7 (Non-Maskable)

User assignable interrupts

255

The external interrupt facility is enabled by setting the interrupt mask in the processor

status register (SR) to 0 thereby enabling interrupts from priority levels 1 to 6. Note that

interrupt priority level 7 cannot be inhibited.

The external interrupt facility is disabled by setting the interrupt mask in the processor

status register (SR) to 6 thereby inhibiting interrupts from priority levels 1 to 6 inclusive.

AMX never sets the processor interrupt mask to 7.

When an interrupt occurs at priority level n, the processor pushes zero or more words of

processor dependent information on the current stack. The return address (current

Program Counter) and the content of the processor status register are then pushed onto

the current stack. The processor interrupt mask is set to n thereby disabling all external

interrupts of priority less than or equal to n.

The interrupting device then identifies the interrupt source. In most cases, the device lets

the processor use the interrupt priority level n vector. However, devices can be designed

to present the processor with their own vector number. Any vector number in the range 0

to 255 is possible, but vectors 64 to 255 are reserved for this purpose. Programmable

devices which have not been programmed with their particular vector number usually

respond with vector number 15 signifying an uninitialized interrupt. If no device

responds to the processor's demand for interrupt acknowledgment, the processor uses the

spurious interrupt vector number 24.

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Default Exception Service Procedures

AMX provides default service procedures for most exceptions. The zero divide, bounds

check and overflow exceptions are serviced by AMX using its Task Trap Handler

mechanism. All other exceptions handled by AMX are treated as fatal. AMX calls a

Fatal Exception Procedure cjksfatalexh in module CJ532UF.C identifying the

exception and the machine state at the time of the exception. If the Fatal Exception

Procedure returns, AMX calls the Fatal Exit Procedure cjksfatal in the same module

with one of the following fatal exit codes:

CJ_FETRAP

Fatal exception trap

CJ_FEISPTRAP

CJ_FETKTRAP

Task exception trap in ISP

Task exception trap occurred:

in a Restart Procedure or

in a Timer Procedure or

in a task with no task trap handler

The Fatal Exception Procedure is written in C as follows. Prior to entry, interrupts are

in the state determined by the particular exception.

#include "CJZZZ.H"

/* AMX Headers

void CJ_CCPP cjksfatalexh(

struct cjxregs *regp,

/* A(Register structure)

/* Vector number

/* A(Fault frame)

int

void

{

vnum,

*faultfp)

Process the error

}

The state of each register at the time of the fault is stored on the stack in an AMX register

structure cjxregs. Parameter regp is a pointer to that structure. Structure cjxregs is

defined in AMX header file CJ532KT.H.

Note that the SR register copy in the register array reflects the state of the status register

after the exception occurred.

A pointer to the M68000 fault frame is provided as parameter faultfp. This pointer is

the M68000 stack pointer (SP) after the fault has occurred. Fault frame members can be

referenced as follows:

*((CJ_T16U *)faultfp)

is the SR saved in the fault frame

is the A(fault instruction)

*((CJ_T32U *)((CJ_T16U *)faultfp + 1))

*((CJ_T16U *)faultfp + 3)

is the frame format type and vector offset

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3.2 AMX Vector Table

The M68000 processor provides an Exception Vector Table, often referred to as the

AMX Vector Table, through which device interrupts are vectored and processor faults are

trapped. The position of entries in the table and the vector numbers used to reference

them are dictated by Motorola.

AMX provides a set of cjksixxxx service procedures to allow you to dynamically access

or modify entries in the AMX Vector Table. The Motorola vector numbers must be used

in all calls to these procedures to identify entries in the table.

Device Interrupts

AMX uses the AMX Vector Table to maintain pointers to Interrupt Service Procedures

for all of the device interrupts to which the processor will respond. AMX does not

provide a default Interrupt Service Procedure for every device interrupt. However, AMX

does provide a default exception service procedure for the spurious interrupt (vector

number 24) and the uninitialized interrupt (vector number 15).

Processor Exceptions

AMX maintains entries in the AMX Vector Table for all of the processor exceptions for

which AMX assumes responsibility. These entries in the Vector Table are identified by

Motorola's exception vector numbers which are defined in AMX header file CJ532KT.H.

Figure 3.2-1 summarizes the exception vector mnemonics.

A 32-bit mask in your Target Parameter File is used to specify which of the possible

exceptions you wish AMX to service. The mask bits are defined in Figure 3.2-1. The

AMX Configuration Builder (see Chapter 4) puts a directive in your Target Parameter

File to specify the mask required to meet your configuration requirements.

If an enable mask bit is not defined in Figure 3.2-1 for a particular exception, then AMX

will not provide a default exception service procedure for that exception. For example,

AMX does not provide service for the TRAP n vectors (vector numbers 32 to 47). Hence,

all software traps are available for use by your application.

AMX does not provide default exception service procedures for any of the entries which

Motorola has declared as undefined but reserved.

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Vector

Name

Vector

Number

Enable

Mask

Exception

CJ_PRVNRES

CJ_PRVNBE

CJ_PRVNAE

CJ_PRVNII

CJ_PRVNZD

CJ_PRVNCH

CJ_PRVNTV

CJ_PRVNPV

CJ_PRVNTR

CJ_PRVNLA

CJ_PRVNLF

0, 1

Reset

$00000004

$00000008

$00000010

$00000020

$00000040

$00000080

$00000100

$00000200

$00000400

$00000800

Bus error (access fault)

Address error

Illegal instruction

Zero divide

CHK instruction trap

TRAPV instruction trap

Privilege violation

Trace

Line 1010 (A) emulator

Line 1111 (F) emulator

reserved

Coprocessor protocol violation

Format error (>= 68010)

Uninitialized interrupt

CJ_PRVNCP

CJ_PRVNFE

CJ_PRVNUI

$00002000

$00004000

$00008000

16 to 23

25 to 31

reserved

CJ_PRVNSI

$00000002

Spurious interrupt

Level 1 to 7 interrupt autovectors

CJ_PRVNTT 32 to 47

TRAP 0 to 15 Table

CJ_PRVNFPBS

CJ_PRVNFPIN

CJ_PRVNFPDZ

CJ_PRVNFPUN

CJ_PRVNFPOP

CJ_PRVNFPOV

CJ_PRVNFPSN

CJ_PRVNFPUD

$01000000

$02000000

$04000000

$08000000

$10000000

$20000000

$40000000

$80000000

FP Branch or set on unordered condition

FP Inexact result

FP Divide by zero

FP Underflow

FP Operand Error

FP Overflow

FP Signalling NAN

FP Unimplemented data type

CJ_PRVNMMCF

CJ_PRVNMMOP

CJ_PRVNMMAV

MMU Configuration error

MMU Illegal operation

MMU Access level violation

59 to 63

64 to 255

reserved

User defined

Figure 3.2-1 AMX Vector Table and Vector Numbers

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3.3 AMX Interrupt Priority and NMI

The M68000 family of processors offers inherent interrupt priority ordering. The AMX

Interrupt Supervisor supports this feature and allows the nesting of interrupts for fast

response to high priority events.

The M68000 interrupt priority mask in the status (SR) register establishes the current

interrupt priority. Tasks run at interrupt priority level 0 with all interrupt sources

enabled. Some interrupts may be specifically disabled by an external interrupt controller.

Tasks must NOT alter the interrupt priority level to any level other than 0 (enabled) or

6 (disabled). Doing so will interfere with the interrupt nesting support provided by

AMX.

Interrupt Service Procedures run at the interrupt priority level dictated by the interrupt

source. An ISP must NOT set the interrupt priority level to any level numerically lower

than the level of the interrupt which it is servicing.

Non-Maskable Interrupt

The Motorola M68000 processor provides a non-maskable priority level 7 interrupt

(NMI). This interrupt cannot be inhibited by software. The processor will respond to

any transition from interrupt request levels 0 to 6 to level 7 by generating a non-maskable

interrupt. When the non-maskable interrupt occurs, the processor automatically saves

zero or more processor dependent parameters, the return address and the processor status

by the level 7 interrupt autovector (vector number 31) in the Exception Vector Table.

You have complete control over the non-maskable interrupt ISP. Usually, the NMI

interrupt is used to signal a catastrophic event such as a pending loss of power. The NMI

ISP must not use any AMX services. The ISP must process the interrupt in an

application-dependent fashion, restore all registers and return to the point of interruption

if feasible. This ISP must assure that the interrupt facility is restored according to its

state at the time the non-maskable interrupt occurred.

Warning!

Because the occurrence of an NMI interrupt cannot be

controlled, the NMI interrupt can occur at any instant,

including within critical sections of AMX.

Consequently, the NMI ISP cannot use AMX service

procedures for task communication.

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3.4 Conforming ISPs

A conforming ISP consists of an ISP root and a device Interrupt Handler. The ISP root is

created in your Target Configuration Module by the AMX Configuration Generator using

the information provided in your Target Parameter File (see Chapter 4).

The address of the ISP root must be installed in the AMX Vector Table. You must

provide a Restart Procedure or task which calls AMX procedure cjksivtwr or cjksivtx

to install the ISP root pointer into the AMX Vector Table prior to enabling interrupt

generation by the device.

The ISP root is the actual Interrupt Service Procedure which is executed by the processor

when the interrupt occurs. The ISP root calls the AMX Interrupt Supervisor to indicate

that interrupt service has begun.

The ISP root then calls the device Interrupt Handler to dismiss the interrupt request and

service the device. Upon return from the Interrupt Handler, the ISP root informs the

Interrupt Supervisor that the interrupt service is complete. The Interrupt Supervisor

either resumes execution at the point of interruption or invokes the Task Scheduler to

suspend the interrupted task in preparation for a context switch. The path taken is

determined by the actions initiated by your Interrupt Handler.

Interrupt Handlers can be written as C procedures with or without a single 32-bit formal

parameter. The parameter, if needed, is identified in your definition of the ISP root in

your Target Parameter File (see Chapter 4.3).

Upon entry to your Interrupt Handler written in C, the following conditions exist:

Interrupts are enabled at priority n (0 to 6) where n is the priority at which

the interrupt occurred.

The stack pointer in register SP references the AMX Interrupt Stack.

The Interrupt Handler can also be written in assembly language. Use assembly language

if speed of execution is critical. Upon entry to an Interrupt Handler written in assembly

language, the following conditions exist:

Your Interrupt Handler parameter is in register D1.

The stack pointer in register SP references the AMX Interrupt Stack.

The return address is on the stack at (SP).

Registers D0, D1, A0 and A1 are free for use.

Condition code flags in the status register (SR) can be altered.

All other registers must be preserved.

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The following examples illustrate how simple an Interrupt Handler can be.

/* The ISP root definition in the Target Parameter File is as follows:*/

...ISPC deviceisp,deviceih,26,0,0

/* The ISP root is given the public name deviceisp

/* The Interrupt Handler is named deviceih

/* The device interrupts on vector number 26 (level 2)

void CJ_CCPP deviceih(void)

{

local variables, if required

Clear the source of the interrupt request.

Perform all device service.

}

/* Assume dcbinfo is some application device control block structure. */

/* Assume deviceXdcb is a structure variable defined as

/* "struct dcbinfo deviceXdcb;".

/* The ISP root definition in the Target Parameter File is as follows:*/

...ISPC dcb_isp,dcb_ih,30,deviceXdcb,1

/* The ISP root is given the public name dcb_isp

/* The Interrupt Handler is named dcb_ih

/* The device interrupts on vector number 30 (level 6)

/* deviceXdcb is the name of the public structure variable which

/* contains information about the specific device.

void CJ_CCPP dcb_ih(struct dcbinfo *dcbp)

{

local variables, if required

Use device control block pointer dcbp to access structure variable

deviceXdcb to determine device addresses.

Clear the source of the interrupt request.

Perform all device service.

}

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3.5 Nonconforming ISPs

The M68000 family of processors provides an interrupt priority ordering mechanism

which permits the use of nonconforming ISPs within an AMX system. Since

nonconforming ISPs bypass the AMX Interrupt Supervisor, they cannot make use of any

AMX services.

Nonconforming ISPs run at the interrupt priority level dictated by the interrupt source. A

nonconforming ISP must NOT set the interrupt priority level to any level numerically

lower than the level of the interrupt which it is servicing. Higher priority interrupts are

only allowed if the corresponding ISPs are also nonconforming ISPs.

A nonconforming ISP must NOT allow an interrupt from ANY higher priority

conforming ISP. Remember that, in this context, the ISP for the device which generates

the AMX clock interrupt is considered to be a conforming ISP.

Upon entry to a nonconforming ISP the processor state matches its state at the time of the

interrupt. The processor is in supervisor mode with interrupts disabled at priority level n

(0 to 6) in the status register. No registers are free for use. All registers must be

preserved.

The nonconforming ISP executes on the stack in effect at the time of the interrupt.

Hence, the nonconforming ISP may execute on any task stack including the AMX Kernel

Task's stack. A nonconforming ISP will execute on the AMX Interrupt Stack if the

nonconforming ISP interrupts a conforming ISP.

The nonconforming ISP must service the device to remove the interrupt request and

dismiss the interrupt with an RTE instruction.

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3.6 Processor Vector Initialization

Whenever an internal or external device interrupt occurs, the M68000 processor

unconditionally vectors to a unique memory address determined by an entry in the

processor Exception Vector Table. The code located at that address is called an Interrupt

Service Procedure.

Whenever an exception occurs, the M68000 processor also unconditionally vectors to a

unique memory address determined by an entry in the processor Exception Vector Table.

The code located at that address is called an exception handler.

Your Target Parameter File defines whether the Exception Vector Table is in ROM or

RAM. The Target Parameter File further qualifies whether or not AMX is allowed to

modify the table if it is in RAM.

If the table is declared to be alterable, AMX will allow you to dynamically install

pointers to ISPs and exception handlers into the Exception Vector Table.

If the Exception Vector Table is in RAM and the table is declared to be alterable, AMX

will install pointers to the AMX Exception Supervisor into selected exception vectors in

the Exception Vector Table.

If the Exception Vector Table is unalterable (in ROM or simply constant by design), then

it is your responsibility to initialize the vector table to meet your requirements. The

address of a unique AMX exception handler must be installed in each entry in the

Exception Vector Table for which AMX is to be responsible.

Each AMX exception handler is located at an offset from entry point cj_kdevt in your

Target Configuration Module. Each offset is a multiple of 8 bytes. The AMX exception

mask identifies the specific exceptions which AMX must handle. An exception is

supported if its mask bit (see Figure 3.2-1) is enabled in the AMX exception mask. The

AMX exception handler for the exception identified by mask bit j is located at byte

address cj_kdevt+(i*8) where i is one less than the sum of the enabled bits in the

AMX exception mask, counted from bit 0 to bit j inclusive.

For example, if vectors 2 (bus error) through 8 (privilege violation) inclusive are the only

vectors to be serviced by AMX, the AMX exception mask will have value 0x000001FC.

The AMX bus error exception handler will be found at entry point cj_kdevt (enable

mask is 0x0004, j is 2, the bit sum is 1 and i is therefore 0). The AMX privilege

violation exception handler will be found at entry point cj_kdevt+(6*8) (enable mask is

0x0100, j is 8, the bit sum is 7 and i is therefore 6).

You must also initialize entries in the Exception Vector Table for each interrupt which

your application can generate. For each interrupting device, you must install the address

of the device's Interrupt Service Procedure (ISP) into the device's entry in the vector

table. For each conforming ISP or clock ISP, the address is the pointer to the ISP root

named in your AMX Target Configuration Module. For prebuilt AMX clock drivers, you

can determine the ISP root name by examining the call to cjksivtx() in procedure

chclockinit() in the clock driver source module.

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4. Target Configuration Module

4.1 The Target Configuration Process

Every AMX application must include a Target Configuration Module which defines

the manner in which AMX is to be used in your target hardware environment. The

information in this file is derived from parameters which you must provide in your Target

Parameter File.

The Target Parameter File is a text file which is structured according to the

specification presented in Appendix A. You create and edit this file using the AMX

Configuration Builder following the general procedure outlined in Chapter 16 of the

AMX User's Guide. If you have not already done so, you should review that chapter

before proceeding.

Using the Builder

When AMX is installed on your hard disk, the AMX Configuration Manager for

Windows utility program and its related files are stored in directory CFGBLDW in your

AMX installation directory. To start the Configuration Manager, double click on its

filename, CJ532CM.EXE. Alternatively, you can create a Windows shortcut to the

manager's filename and then simply double click the shortcut's icon.

To create a new Target Parameter File, select New Target Parameter File from the File

menu. The Configuration Manager will create a new, as yet unnamed, file using its

default AMX target parameters. When you have finished defining or editing your target

configuration, select Save As... from the File menu. The Configuration Manager will save

your Target Parameter File in the location which you identify using the filename which

you provide.

A good starting point is to copy one of the Sample Target Parameter Files CJSAMTCF.UP

provided with AMX into file HDWCFG.UP. Choose the file for the evaluation board which

most closely matches your hardware platform. Then edit the file to define the

requirements of your target hardware.

To open an existing Target Parameter File such as HDWCFG.UP, select Open... from the File

menu and enter the file's name and location or browse to find the file. When you have

finished defining or editing your target configuration, select Save from the File menu.

The Configuration Manager will rename your original Target Parameter File to be

HDWCFG.BAK and create an updated version of the file called HDWCFG.UP.

To direct the Configuration Manager to use its Configuration Generator utility to produce

an updated copy of your Target Configuration Module, say HDWCFG.ASM, select

Generate... from the File menu. If necessary, the path to the template file required by the

generator to create your Target Configuration Module can be defined using the

Templates... command on the File menu.

The assembly language Target Configuration Module must be assembled as described in

the toolset specific chapter of the AMX Tool Guide for inclusion in your AMX system.

The assembler will generate error messages which exactly pin-point any inconsistencies

in the parameters in your Target Parameter File.

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Screen Layout

Figure 4.1-1 illustrates the Configuration Manager's screen layout once you have begun

to create or edit a Target Parameter File. The title bar identifies the Target Parameter File

being created or edited. Below the title bar is the menu bar from which the operations

you wish the Manager to perform can be selected. Below the menu bar is an optional

Toolbar with buttons for many of the most frequently used menu commands.

At the bottom of the screen is the status bar. As you select menu items, a brief

description of their purpose is displayed in the status bar. If the Configuration Manager

encounters an error condition, it presents an error message on the status bar describing

the problem and, in many cases, the recommended solution.

Along the left margin of the screen are a set of one or more selector icons. These icons

identify the type of output files which the Manager's Configuration Generator will

produce. The Target Configuration Module selector must be active to generate the Target

Configuration Module.

The center of the screen is used as an interactive viewing window through which you can

view and modify your target configuration parameters.

Figure 4.1-1 Configuration Manager Screen Layout

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Menus

All commands to the Configuration Manager are available as items on the menus present

on the menu bar. The File menu provides the conventional New, Open, Save and

Save As... commands for creating and editing your Target Parameter File. It also provides

the Exit command.

When the Target Configuration Module selector icon is the currently active selector, the

Generate... command on the File menu can be used to generate your Target Configuration

Module. The path to the template file required by the generator to create this product can

be defined using the Templates... command on the File menu.

The Edit menu provides the conventional Cut, Copy, Paste and Undo editing commands.

It also includes an Undo Page command to restore the content of all fields on a property

page to undo a series of unwanted edits to the page. The Toolbar is hidden or made

visible using the View Toolbar command on the Edit menu.

The Help menu provides access to the complete AMX Configuration Manager reference

manual. Context sensitive help is also available by pressing the F1 function key or

clicking the ? button on the Toolbar.

Field Editing

When the Target Configuration Module selector icon is the currently active selector, the

Target Configuration Module's tabbed property sheet is displayed in the central region of

the screen. Each tab provides access to a particular property page through which your

target configuration parameters can be declared. For instance, if you select the ISP tab,

the Configuration Manager will present an ISP definition window (property page)

containing all of the parameters you must provide to completely define an Interrupt

Service Procedure.

Some fields are boolean options in which all you can do is turn the option on or off by

checking or unchecking the associated check box.

Some fields are option fields in which you must select one of a set of options identified

with radio buttons. Click on the option button which meets your preference.

Other fields may require numeric or text entry. Parameters are entered or edited in these

fields by typing new values or text to replace the current field content. Only displayable

characters can be entered. New characters which you enter are inserted at the current

cursor position in the field. Right and left arrow, backspace and delete keys may be used

to edit the field.

When you are altering a numeric or text field, you tell the Configuration Manager that

you are finished editing the field by striking the Enter key. At that point, the

Configuration Manager checks the numeric value or text string that you have entered for

correctness in the context of the current field. If the value or text string that you have

entered is invalid, an error indication is provided on the status bar at the bottom of the

screen suggesting how the fault should be corrected.

The Tab and Shift-Tab keys can also be used to complete the editing of a field and move to

the next or previous field.

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If you have modified some of the fields on a property page and then decide that these

modified values are not correct, use the Undo Page command on the Edit menu or Toolbar

to force the Configuration Manager to restore the content of all fields on the page to the

values which were in effect when you moved to that property page.

When you go to save your Target Parameter File or prepare to move to another property

page, the Configuration Manager will validate all parameters on the page which you are

leaving. If any parameters are incomplete or inconsistent with each other, you will be

forced to fix the problem before being allowed to proceed.

Add, Edit and Delete Objects

Separate property pages are provided to allow your definition of one or more objects such

as ISPs or null functions. Pages of this type include a list box at the left side of the

property page in which the currently defined objects are listed. At the bottom of the list

box there may be a counter showing the number of objects in the list and the allowable

maximum number of such objects.

Also below the list are two control buttons labeled Add and Delete. If the allowable

maximum number of objects is 0 or if all such objects have already been defined, the Add

button will be disabled. If there are no objects defined, the Delete button and all other

fields on the page will be disabled.

To add a new object, click on the Add button. A new object with a default identifier will

appear at the bottom of the list and will be opened ready for editing. When you enter a

valid identifier for the object, your identifier will replace the default in the object list.

To edit an existing object's definition, double click on the object's identifier in the object

list. The current values of all of that object's parameters will appear in the property page

and the object will be opened ready for editing.

To delete an existing object, click on the object's identifier in the object list. Then click

on the Delete button. Be careful because you cannot undo an object deletion.

The objects in the object list can be rearranged by dragging an object's identifier to the

desired position in the list. You cannot drag an object directly to the end of the list. To

do so, first drag the object to precede the last object on the list. Then drag the last object

on the list to precede its predecessor on the list.

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4.2 Target Configuration Parameters

General Parameters

The General Parameter window allows you to define the general operating characteristics

of your AMX system within your target hardware environment. The layout of the

window is shown in Figure 4.1-1 in Chapter 4.1.

CPU Type

Identify your processor architecture by selecting a processor from the available list. This

parameter is used to condition AMX to accommodate the operating characteristics of a

particular processor or architecture. The supported list of processors includes but is not

limited to:

68000, 68008, 68302, 68306, 68328,

68010, 68020, 68030, 68040, 68060,

68330, 68331, 68332, 68340, 68341, 68360,

5102

{68000 core}

{68020 core}

{CPU32 core}

{68040 core}

AMX Launch

Most AMX applications are such that once AMX is launched the application runs

forever. For such applications, check this box. If your AMX launch is to be temporary,

uncheck this box. In this case, you will be able to shut down your AMX application and

return to your main program from which AMX was launched.

Enable Cache at Launch

If the processor or architecture indicated by field CPU Type has cache control, then,

before launching AMX, you must initialize the Memory Management Unit (MMU) to

condition the memory subsystem to meet the caching requirements of your system.

When AMX is launched, if this box is checked, AMX will enable the processor

instruction and data caches by calling the AMX cache support function cjcfhwbcache.

When AMX is launched, if this box is unchecked, AMX will not alter the state of the

processor instruction or data caches.

If the processor or architecture indicated by field CPU Type has no cache control, leave

this box unchecked.

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Vectors in RAM

In most cases, the processor Exception Vector Table will be located in alterable RAM at

address 0 or at some alternate address provided by you. Therefore check this box.

If your processor Exception Vector Table is in ROM, leave this box unchecked. In this

case, you must initialize the ROM vector table for AMX use as directed in Chapter 3.6.

Vectors Not Alterable

Even if the processor Exception Vector Table will be located in RAM, you can still

prevent AMX from altering it. To do so, check this box. In this case, be sure to initialize

the vectors for AMX use as directed in Chapter 3.6.

Vector Table Location

For most M68000 processors, the Exception Vector Table is located in RAM at memory

address 0. However, some processors include a Vector Base Register (VBR) which can

be used to relocate the base of the Exception Vector Table elsewhere in memory.

If you wish AMX to derive the address of the Exception Vector Table, select derived

from the pull down list. If your selected processor has a VBR, AMX will read the VBR

at launch time to derive the address of the Exception Vector Table. If you are using a

processor that does not have a VBR, AMX will assume that the Exception Vector Table

is at address 0 as is appropriate for such processors.

If you wish AMX to set the address of the Exception Vector Table, select adjustable from

the pull down list and enter the base address for the table. Specify the hexadecimal

memory address of the alternate table. If your selected processor has a VBR, AMX will

install the specified base address into the VBR at launch time, thereby establishing that

address as the base address of the Exception Vector Table. If you are using a processor

that does not have a VBR, AMX will ignore the base address parameter and assume that

the Exception Vector Table is at address 0 as is appropriate for such processors.

In some cases, your Exception Vector Table may be in ROM with support for a shadow

vector table in RAM. For example, assume that you use an MC68000 with ROM located

at address 0. The processor does not have a Vector Base Register; it assumes that the

Exception Vector Table is located at address 0. Now, assume that the ROM at address 0

includes a monitor which intercepts all interrupts and exceptions and dispatches each

according to entries in a shadow vector table located at address $F0000. For such a case,

select shadowed from the pull down list and enter the base address of the shadow vector

table ($F0000 in this example). Specify the hexadecimal memory address of the shadow

vector table. AMX will ignore the VBR, if one exists, and assume that the processor

Exception Vector Table is at the specified base address.

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Software I/O Delay

AMX provides a device I/O delay procedure cjcfhwdelay which is used by AMX board

support modules and sample device drivers to provide the necessary delay between

sequential references to a device I/O port. Such delay is often required to accommodate

long device access times when operating at very high processor clock frequencies.

Check this box to adjust the AMX software delay loop to match your hardware

requirements. Enter your best estimate of the processor's effective instruction execution

frequency. AMX will use this parameter to derive the loop count needed to provide a one

microsecond delay.

For example, if your processor executes at 40 MHz with no wait states for instruction

fetches and one clock cycle per instruction, enter a CPU clock frequency of 40 MHz.

If you are able to detect the processor frequency at run time, then you can dynamically

adjust this I/O delay procedure to match your target hardware without reconfiguring your

AMX application. To do so, enter a CPU frequency of 0 MHz. In this case, your main()

program must install the processor frequency value into long variable cjcfhwdelayf

prior to launching AMX.

Leave this box unchecked if you want the I/O delay procedure cjcfhwdelay to produce

no delay beyond that inherent in the procedure call and return.

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Fatal Exceptions

The Target Configuration Module defines the processor exceptions which are to be

serviced by AMX and treated as fatal. These exceptions are specified by you by

checking the appropriate boxes in the Fatal Exception window. The layout of the

window is shown below.

This example allows AMX to service the bus error, address error, privilege violation,

format error, uninitialized interrupt and spurious interrupt exceptions as fatal exceptions.

Note that the BOUNDS, CHK and TRAPV exceptions are also serviced by AMX in order to

allow the use of Task Trap Handlers by your application tasks. If any of these exceptions

occur outside a task or in a task with no Task Trap Handler, AMX will treat the exception

as fatal.

This example leaves the illegal instruction, trace and line emulation exceptions free for

use by a debugger. It also leaves the floating point exceptions free for use by a software

emulation library.

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4.3 Interrupt Service Procedure (ISP) Definitions

Your Target Configuration Module must include a device ISP root for each conforming

ISP which you intend to use in your application. The ISP roots are constructed for you

by the AMX Configuration Builder from ISP descriptions which you enter in the ISP

Definition window. The layout of the window is shown below.

To add an ISP definition, click on the Add button. A new ISP with a default ISP root

name of ---New--- will appear at the bottom of the ISP list and will be opened ready for

editing. When you enter a name for the ISP root, it will replace the default name in the

ISP list.

To edit an existing ISP definition, click on the name of the ISP root in the ISP list. The

ISP definition will appear in the property page and will be opened ready for editing.

To delete an existing ISP definition, click on the name of the ISP root in the ISP list.

Then click on the Delete button. Be careful because you cannot undo an ISP deletion.

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ISP Type

At least one of your ISPs must service a clock interrupt which provides AMX with its

fundamental clock tick at the frequency and resolution defined in your AMX System

Configuration Module. To define your custom clock ISP, choose Clock Handler from the

pull down list. An alternate fast clock ISP can be provided by choosing Fast Clock

Handler as described in Chapter 4.4. Other AMX clock drivers can be selected from the

list presented when you click the Prebuilt Clock ISPs... button.

All other application ISPs must be conforming AMX ISPs which you define by choosing

AMX Compliant from the pull down list.

ISP Root

Edit the default name ---New--- to provide the name you wish to give to the ISP root.

The ISP root name is used to identify ISPs in the ISP list.

The ISP root is a function created by the AMX Configuration Builder in your Target

Configuration Module. The function entry point is declared with a public symbol defined

with the name you provide. The name must be unique and must conform to the symbol

naming conventions of your assembler.

Interrupt Handler

Enter the name of your device Interrupt Handler which will clear the device interrupt

request and service the device. This is the name of the procedure which will be called

from the ISP root by the AMX Interrupt Supervisor once the interrupt source has been

identified and the machine state preserved according to the conditions which existed at

the time of the interrupt. Your Interrupt Handler must be coded as described in

Chapter 3.4.

If your Interrupt Handler is coded in C, you may have to add a leading or trailing

underscore to the Interrupt Handler name which you enter in order to meet the C function

naming conventions of your C compiler.

Handler Language

Your Interrupt Handler can be coded in C or assembly language. Identify the language in

which your Interrupt Handler is written by picking C or Assembly from the pull down list.

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Interrupt Handler Parameter

Your Interrupt Handler can be coded to receive a 32-bit parameter every time it is called.

The Parameter Type field is a pull down list used to identify what kind of parameter, if

any, your Interrupt Handler expects. If your Interrupt Handler has no need for a

parameter, set the Parameter Type to (none).

If your Interrupt Handler expects a numeric parameter, set the Parameter Type to Value

and enter the required unsigned, 32-bit hexadecimal numeric value into the Parameter

field.

If your Interrupt Handler parameter must be a pointer to a variable or function, set the

Parameter Type to Symbol and enter the name of the variable or function into the

Parameter field. The parameter must be a text string giving the name of a public symbol

(variable or function) defined in some module in your AMX application. The symbol's

32-bit value, as resolved by your linker, will be passed to your Interrupt Handler as its

parameter.

Prebuilt Clock ISPs

Clock drivers are provided with AMX for several common programmable interval timers.

In some cases, the AMX clock ISP can be prebuilt in your Target Configuration Module.

To select one of these clocks, click on the Prebuilt Clock ISPs... button. In the dialog box

which is presented, check the box for the particular clock driver which you wish to use.

If you do not wish to use a prebuilt clock ISP, leave all boxes unchecked.

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4.4 Defining a Fast Clock ISP

At least one of your ISPs must service a clock interrupt which provides AMX with its

fundamental clock tick at the frequency and resolution defined in your AMX System

Configuration Module. For many applications, your clock ISP will just be a standard

AMX conforming ISP defined in the ISP Definition window. It is distinguished from all

other ISPs by picking Clock Handler as its ISP Type.

Rarely does the Interrupt Handler for your AMX clock ISP have to do anything except

dismiss the clock interrupt request. This is frequently accomplished by simply writing a

command to a device I/O port. For such clocks, the AMX Configuration Builder lets you

create a fast clock ISP without having to write any code at all.

To create a fast clock ISP, go to the ISP Definition window, click on the Add button and

select Fast Clock Handler as the ISP Type. Then fill in the description of the operating

characteristics of your clock device. The layout of the window is shown below.

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ISP Type

Your fast clock ISP is identified as such by selecting Fast Clock Handler from the pull

down list.

ISP Root

Edit the default name ---New--- to provide the name you wish to give to your fast clock

ISP root. The ISP root name is used to identify your fast clock ISP in the ISP list.

The ISP root is a function created by the AMX Configuration Builder in your Target

Configuration Module. The function entry point is declared with a public symbol defined

with the name you provide. The name must be unique and must conform to the symbol

naming conventions of your assembler.

Clock Service

Your clock device will be serviced as follows:

Write Value #1 to the device port at memory Address #1.

Delay for the number of µs defined as I/O Delay (µs).

Write Value #2 to the device port at memory Address #2.

Address and Value

Each address parameter specifies the 32-bit, hexadecimal value of an absolute memory

address which, when referenced as an n-bit value, is decoded by your target hardware as

a reference to your clock device. Each value parameter is an n-bit, hexadecimal value

which must be written to the device port specified by the associated address in order to

dismiss the clock interrupt.

If your clock device only requires that one value be written to one device port, leave

fields Address #2 and Value #2 blank (empty).

I/O Delay (µs)

Your target hardware may not operate correctly if two sequential device I/O references

are issued at the processor's instruction execution speeds. If this is the case, you can

force the fast clock ISP to inject a delay of n µs between the I/O device references by

entering a non-zero value into this field.

If your clock device requires no delay or only requires that one value be written to one

device port, leave the I/O Delay field blank (empty).

Write Size

From the pull down list, select the number of bits (8, 16 or 32) which must be written to

the clock device. The least significant n bits of each value will be written to the device.

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4.5 Null Functions

Occasionally, while developing an AMX application, it can be very convenient to be able

to create software functions to satisfy your program link requirements without having to

create the final version of these functions. For example, if your AMX System

Configuration Module references a Restart Procedure and a task procedure which do not

yet exist, you will have to create them in order to successfully link your system.

Such functions are called null functions because they do nothing. Such functions can be

specified by you in the Null Function window whose layout is shown below.

To add a null function, click on the Add button. A new function named ---New--- will

appear at the bottom of the list of functions. Click on the name in the list and edit it to

meet your needs.

To edit the name of a null function, double click on its name in the list and edit it to meet

your needs.

To delete a null function, click on its name in the list and then click on the Delete button.

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4.6 ROM Option Parameters

The AMX ROM Option allows the subset of AMX and its managers required by your

application to be linked together without any application code to form a separate AMX

ROM image. The resulting AMX ROM can be located anywhere in your memory

configuration. Your AMX application is then linked with a ROM Access Module which

provides access to AMX and its managers in the AMX ROM.

The AMX ROM Option Module defines the subset of AMX and its managers which you

wish to commit to the AMX ROM. This module is assembled and linked with the AMX

Library to create that ROM. The AMX ROM Option Link/Locate Specification File is

used to link and locate the ROM image as described in the toolset dependent chapter of

the AMX Tool Guide.

The AMX ROM Access Module provides your AMX application with access to the

AMX ROM. This module is assembled and linked with your AMX application.

To access the ROM Option window, use the AMX Configuration Builder to open your

Target Parameter File. From the selector list, pick the ROM Option Module selector

making it the active selector. The layout of the window is shown below.

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Enable ROM Option

By default, the ROM Option feature is disabled. Check this box to enable the feature.

You can disable the feature by removing the check from the box.

ROM Address

You must define the absolute physical ROM address at which the AMX ROM image is to

be located. This address is dictated by you according to your hardware requirements.

Enter the address value as an unsigned 32-bit hexadecimal number. The ROM memory

address must be long aligned.

RAM Address

You must define the absolute physical RAM address of a block of 32 bytes reserved for

use by AMX. This address is dictated by you according to your hardware requirements.

Enter the address value as an unsigned 32-bit hexadecimal number. The RAM memory

address must be long aligned.

Resident Managers

Check the boxes which identify the AMX managers which you wish to commit to the

AMX ROM. If you do not want a particular manager to be in the ROM, leave the

corresponding box unchecked.

Warning!

If your AMX ROM was created without a particular

manager, then an AMX fatal exit will occur if your system

attempts to access that manager.

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5. Clock Drivers

5.1 Clock Driver Operation

You must provide a clock driver as part of your AMX application so that AMX can

provide timing services. AMX clock drivers are provided with AMX for the timer chips

used on the boards with which AMX has been tested. These drivers are ready for use and

can be installed as described in Chapter 5.3.

An AMX clock driver consists of three parts: an initialization procedure, a clock Interrupt

Service Procedure (ISP) and an optional shutdown procedure.

Clock Startup

The clock initialization procedure must configure the real-time clock to operate at the

frequency defined in your AMX System Configuration Module. It can then install the

pointer to the clock ISP root into the AMX Vector Table and start the clock.

Care must be taken to ensure that clock interrupts do not occur until the clock is properly

configured and the pointer to the clock ISP root is present in the AMX Vector Table.

Your AMX application will not have any AMX timing services until your clock

initialization procedure, say clockinit, has been executed. The first opportunity for

clockinit to execute occurs when AMX begins to execute your Restart Procedures. It

is recommended that your clockinit procedure be inserted into your list of Restart

Procedures at the point at which you wish the clock to be enabled during the launch.

Although it is not recommended, there is nothing to prohibit you from deferring the

starting of your clock by having some application task call your clockinit procedure.

The clock drivers provided with AMX illustrate how to install and start several different

real-time clocks. You should be able to pattern your clock initialization procedure after

the chip support procedure chclockinit in one of the AMX clock driver source files

CHxxxxT.C.

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Clock Interrupts

A real-time clock used with the M68000 processor will interrupt either on one of the

interrupt autovectors or on a user defined vector. In either case, the processor will

automatically dispatch through its Vector Table to your clock ISP.

The clock ISP consists of an ISP root and an Interrupt Handler. The processor dispatches

to the ISP root in response to the clock interrupt request. The ISP root calls the clock

Interrupt Handler to dismiss the clock interrupt request. Your clock ISP must be defined

as a conforming ISP of type Clock Handler as described in Chapter 4.3.

In some cases you may be able to create a fast clock ISP which has an ISP root but no

Interrupt Handler. In this case, it is the ISP root which dismisses the clock interrupt

request. Such a clock ISP is defined to be a conforming ISP of type Fast Clock Handler as

described in Chapter 4.4.

In other cases you may be able to pick one of the prebuilt AMX clock ISPs which has an

ISP root but no Interrupt Handler. In this case, it is the ISP root which dismisses the

clock interrupt request. Such a clock ISP is selected from the list which is accessed via

the Prebuilt Clock ISPs... button.

It is the ISP root which informs AMX that a hardware clock tick has occurred. When you

define your clock ISP, your definition of the ISP as a Clock Handler (or Fast Clock Handler)

or your selection of a prebuilt clock ISP ensures that the ISP is recognized by AMX as

the source of its fundamental clock tick operating at the frequency and resolution defined

in your AMX System Configuration Module.

Clock Shutdown

The clock shutdown procedure stops the clock in preparation for an AMX shutdown

following a temporary launch of AMX. If AMX is launched for permanent execution,

there is no need for a clock shutdown procedure.

If you intend to launch AMX for temporary execution, insert your clock shutdown

procedure, say clockexit, into your list of Exit Procedures at the point at which you

wish the clock to be disabled during the shutdown. Usually that will require that

clockexit be the last Exit Procedure in the list because, once you stop your clock, AMX

timing services will no longer be available.

The clock drivers provided with AMX illustrate how to disable several different real-time

clocks. You should be able to pattern your clock shutdown procedure after the chip

support procedure chclockexit in one of the AMX clock driver source files CHxxxxT.C.

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5.2 Custom Clock Driver

The easiest way to create a custom clock driver is by example. Assume that the

counter/timer which you intend to use for your AMX clock is characterized as follows:

The I/O base address of the clock is at 0xFFA00100.

The clock interrupt is generated using vector number 25.

The clock interrupt is dismissed by writing bit pattern 0x08 to the clock register at its

base address plus 4.

The Interrupt Handler for an assembly language conforming clock ISP for such a device

could be coded as follows:

XDEF

EQU

_clockih

* receives D1 = ISP root parameter = A(clock base)

MOVEA.L D1,A0

* A0 = A(clock base)

MOVE.B

RTS

#$08,4(A0)

* Dismiss interrupt

* Return

Create a clock ISP root for the clock as described in Chapter 4.3. Use the following

parameters in your definition of the clock ISP.

ISP Type:

ISP Root:

Interrupt Handler:

Handler Language: Assembly

Parameter Type:

Parameter:

Clock Handler

clockroot

clockih

Value

0xFFA00100

Note that you could just as easily create a fast clock ISP root for this simple clock as

described in Chapter 4.4 avoiding the need to create the Interrupt Handler clockih. Use

the following parameters in your definition of the fast clock ISP.

ISP Type:

ISP Root:

Address #1:

Value #1:

I/O Delay:

Address #2:

Value #2:

Write Size:

Fast Clock Handler

clockroot

0xFFA00104

0x08

leave blank

8-bit

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The clock initialization procedure for this custom clock driver could be coded in C as

follows. Insert procedure clockinit into your list of Restart Procedures provided in

your System Configuration Module at the point at which you wish the clock to be

enabled during the launch.

void CJ_CCPP clockroot(void);

/* External clock ISP root */

void CJ_CCPP clockinit(void)

{

/* Inhibit clock interrupts

/* Configure clock for correct frequency

/* Install pointer to clock ISP root into AMX Vector Table

cjksivtwr(25, (CJ_ISPPROC)clockroot);

/* Start clock and enable clock interrupts

}

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5.3 AMX Clock Drivers

AMX clock drivers are provided with AMX for the timer chips used on the boards with

which AMX has been tested. These drivers are ready for use as described in this chapter.

The clock drivers are delivered in chip support source files having names of the form

CHnnnnT.C where nnnn identifies the particular clock chip. The clock chip support

procedures are named chxxxxxxx.

5.3.1 MC683xx TPU Clock Driver

The AMX clock driver for the Motorola MC683xx TPU is ready for use on either the

Motorola M68332EVK Evaluation Kit or the GreenSpring Platform332 board. It is

configured to use timer channel 0 operating at 1 KHz (1 ms period). Source code for this

AMX clock driver is provided in file CH68332T.C.

You must compile clock source module CH68332T.C and link the resulting object module

with the rest of your AMX application.

To use the AMX MC683xx TPU clock driver, you must create a clock ISP root as

described in Chapter 4.3. Simply check the box next to the MC683xx TPU clock ISP on

the list provided via the Prebuilt Clock ISPs... button.

Your Target Configuration Module will include a clock ISP root named _ch68tpuclk.

The clock driver's initialization procedure will install the pointer to this clock ISP into the

AMX Vector Table. On the Motorola M68332EVK board or GreenSpring Platform332

board, the pointer is installed into the entry for interrupt vector number 96+n ($60+n)

where n is the TPU timer channel number (0 to 15).

Clock driver module CH68332T.C includes the clock initialization procedure

chclockinit and the clock shutdown procedure chclockexit. Insert procedure

chclockinit into the list of Restart Procedures provided in your System Configuration

Module at the point at which you wish the clock to be enabled during the launch. If you

intend to launch AMX for temporary execution, insert chclockexit into the list of Exit

Procedures at the point at which you wish the clock to be disabled during the shutdown.

Porting the MC683xx TPU Clock Driver

If you wish to use a different MC683xx TPU timer channel, change the timer frequency

or use a different AMX vector number, you must edit the definitions in source file

CH68332T.C and recompile the module. Edit instructions are included in the file.

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5.3.2 MC68360 PIT Clock Driver

The AMX clock driver for the Motorola MC68360 Periodic Interval Timer (PIT) is ready

for use on the Motorola M68360QUADS Application Development System board. It is

configured to operate at approximately 1 KHz (1 ms period). Source code for this AMX

clock driver is provided in file CH68360T.C.

You must compile clock source module CH68360T.C and link the resulting object module

with the rest of your AMX application.

To use the AMX MC68360 PIT clock driver, you must create a clock ISP root as

described in Chapter 4.3. Simply check the box next to the MC68360 PIT clock ISP on

the list provided via the Prebuilt Clock ISPs... button.

Your Target Configuration Module will include a clock ISP root named _ch68360clk.

The clock driver's initialization procedure will install the pointer to this clock ISP into the

AMX Vector Table. On the Motorola M68360QUADS Application Development

System board, the pointer is installed into the entry for interrupt vector number 96 ($60).

Clock driver module CH68360T.C includes the clock initialization procedure

chclockinit and the clock shutdown procedure chclockexit. Insert procedure

chclockinit into the list of Restart Procedures provided in your System Configuration

Module at the point at which you wish the clock to be enabled during the launch. If you

intend to launch AMX for temporary execution, insert chclockexit into the list of Exit

Procedures at the point at which you wish the clock to be disabled during the shutdown.

Porting the MC68360 PIT Clock Driver

If you wish to change the MC68360 PIT timer frequency or use a different AMX vector

number, you must edit the definitions in source file CH68360T.C and recompile the

module. Edit instructions are included in the file.

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5.3.3 MC68230 Clock Driver

The AMX clock driver for the Motorola MC68230 Parallel Interface/Timer is ready for

use on the Motorola M68EC040 Integrated Development Platform (IDP). It is

configured to operate at approximately 1 KHz (1 ms period). Source code for this AMX

clock driver is provided in file CH68230T.C.

You must compile clock source module CH68230T.C and link the resulting object module

with the rest of your AMX application.

To use the AMX MC68230 clock driver, you must create a clock ISP root as described in

Chapter 4.3. Simply check the box next to the MC68230 clock ISP on the list provided

via the Prebuilt Clock ISPs... button.

Your Target Configuration Module will include a clock ISP root named _ch68230clk.

The clock driver's initialization procedure will install the pointer to this clock ISP into the

AMX Vector Table. On the Motorola M68EC040 Integrated Development Platform

(IDP), the pointer is installed into the entry for interrupt vector number 96 ($60).

Clock driver module CH68230T.C includes the clock initialization procedure

chclockinit and the clock shutdown procedure chclockexit. Insert procedure

chclockinit into the list of Restart Procedures provided in your System Configuration

Module at the point at which you wish the clock to be enabled during the launch. If you

intend to launch AMX for temporary execution, insert chclockexit into the list of Exit

Procedures at the point at which you wish the clock to be disabled during the shutdown.

Porting the MC68230 Clock Driver

If you wish to change the MC68230 timer frequency or use a different AMX vector

number, you must edit the definitions in source file CH68230T.C and recompile the

module. Edit instructions are included in the file.

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5.3.4 MC68901 Clock Driver

The AMX clock driver for the Motorola MC68901 Multi-Function Peripheral is ready for

use on the Motorola MVME133 VMEmodule board. It is configured to use timer A

operating at 1 KHz (1 ms period). Source code for this AMX clock driver is provided in

file CH68901T.C.

You must compile clock source module CH68901T.C and link the resulting object module

with the rest of your AMX application.

To use the AMX MC68901 clock driver, you must create a clock ISP root as described in

Chapter 4.3. Simply check the box next to the MC68901 clock ISP on the list provided

via the Prebuilt Clock ISPs... button.

Your Target Configuration Module will include a clock ISP root named _ch68901clk.

The clock driver's initialization procedure will install the pointer to this clock ISP into the

AMX Vector Table. On the Motorola MVME133 VMEmodule board, the pointer is

installed into the entry for interrupt vector number 96+n ($60+n) where n is $0D for timer

A (or 8 for timer B, 5 for timer C or 4 for timer D).

Clock driver module CH68901T.C includes the clock initialization procedure

chclockinit and the clock shutdown procedure chclockexit. Insert procedure

chclockinit into the list of Restart Procedures provided in your System Configuration

Module at the point at which you wish the clock to be enabled during the launch. If you

intend to launch AMX for temporary execution, insert chclockexit into the list of Exit

Procedures at the point at which you wish the clock to be disabled during the shutdown.

Porting the MC68901 Clock Driver

If you wish to use a different MC68901 timer, say B (or C or D), or change the timer

frequency or use a different AMX vector number, you must edit the definitions in source

file CH68901T.C and recompile the module. Edit instructions are included in the file.

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Appendix A. Target Parameter File Specification

A.1 Target Parameter File Structure

The Target Parameter File is a text file structured as illustrated in Figure A.1-1. This file

can be created and edited by the AMX Configuration Manager, a Windows^®utility

provided with AMX.

; AMX Target Parameter File

...LAUNCH

PERM,VNA

...HDW

PROC,VMASK,VBR,EVTROM,CACHE

...VBASE

VTABLE

CPUFREQ

...DELAY

;

Null Functions (optional; one line for each null function)

FNNAME

...NULLFN

;

Conforming ISP definitions (one line for each ISP)

ISPROOT,HANDLER,VNUM,PARAM,PARTYPE

...ISPA

...ISPC

;

ISPROOT,HANDLER,VNUM,PARAM,PARTYPE

;

Conforming fast clock ISP (no user code required)

CLKROOT,CLKADR,CLKCMD,CLKADR2,CLKCMD2,IODELAY,VNUM

or Motorola MC683xx TPU prebuilt clock ISP

...CLKFAST

...CLKFAST16

...CLKFAST32

;

...CLK68TPU

;

or Motorola MC68360 PIT prebuilt clock ISP

or Motorola MC68230 prebuilt clock ISP

or Motorola MC68901 prebuilt clock ISP

...CLK68360

;

...CLK68230

;

...CLK68901

;

or conforming clock ISP (coded in assembly language)

CLKROOT,CLKHAND,VNUM,PARAM,PARTYPE

or conforming clock ISP (coded in C)

CLKROOT,CLKHAND,VNUM,PARAM,PARTYPE

...CLKA

;

...CLKC

;

AMX ROM Option (optional)

ROMADR,RAMADR

...ROMOPT

...ROMSM

...ROMEM

...ROMMB

...ROMMX

...ROMBM

...ROMMM

...ROMCL

...ROMLL

...ROMTD

;Semaphore Manager

;Event Manager

;Mailbox Manager

;Message Exchange Manager

;Buffer Manager

;Memory Manager

;Circular List Manager

;Linked List Manager

;Time/Date Manager

Figure A.1-1 AMX Target Parameter File

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The Target Parameter File consists of a sequence of directives consisting of a keyword of

the form ...XXX beginning in column one which is usually followed by a parameter list.

Some directives require only a keyword with no parameters. Any line in the file which

does not begin with a valid keyword is considered a comment and is ignored.

It is the purpose of this appendix to specify all AMX 68000 directives by defining their

keywords and the parameters, if any, which they require.

The example in Figure A.1-1 uses symbolic names for all of the parameters following

each of the keywords. The symbol names in the Target Parameter File are replaced by

the actual parameters needed in your system.

The order of keywords in the Target Parameter File is not critical. The order of the

keywords in Figure A.1-1 may not match their order in the sample Target Parameter File

provided with AMX.

It is expected that you will use the AMX Configuration Manager to create and edit your

Target Parameter File. The Configuration Manager creates the directives using the

parameters which you provide. Since these parameters are well described in Chapter 4,

the parameter definitions presented in this appendix will be limited to the detail needed to

form a working specification.

If you are unable to use AMX Configuration Manager utility, you should refer to the

porting directions provided in Appendix A.3.

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A.2 Target Parameter File Directives

The AMX Launch Parameters are defined as follows.

...LAUNCH

PERM

VNA

PERM,VNA

0 if the AMX launch is temporary

1 if the AMX launch is permanent

0 if the AMX Vector Table entries are to be alterable

1 if the AMX Vector Table entries are NOT to be alterable

You must set VNA to 0 to allow AMX or your application to dynamically install exception

handlers into the AMX Vector Table at run time. If you set VNA to 0, you must also set

EVTROM to 0 in the ...HDW keyword entry. If you set VNA to 1, you must initialize the

AMX Vector Table entries for AMX use as described in Chapter 3.6.

The Target Parameter File includes a set of hardware definitions.

...HDW

PROC,VMASK,VBR,EVTROM,CACHE

PROC

VMASK

VBR

Processor identifier

= $MMMMMMMM = AMX exception vector mask

= $xxxxxxxx = A(Exception Vector Table) for VBR

= -1 if VBR is read only

EVTROM

CACHE

0 if the AMX Vector Table is to be in RAM

1 if the AMX Vector Table is to be in ROM

0 if cache is to be ignored by AMX at launch

1 if cache is to be enabled by AMX at launch

The PROC parameter is a string used to identify the processor architecture. PROC must be

one of:

68000, 68008, 68302, 68306, 68328,

68010, 68020, 68030, 68040, 68060,

68330, 68331, 68332, 68340, 68341, 68360,

5102

{68000 core}

{68020 core}

{CPU32 core}

{68040 core}

Set bit N of the VMASK Exception Vector Mask for each of the exceptions which are to be

serviced by AMX. For example, set this parameter to $FF00EFFE to allow AMX to

handle all exceptions. Bits in the mask are defined in Figure 3.2-1. When you are using

AMX with a debugger, do not set any of the mask bits for exceptions which the debugger

services. For example, a mask of $000041EC is commonly used with many debuggers.

The CACHE parameter can be used to instruct AMX to enable the M68000 instruction and

data caches when AMX is launched. If the processor or architecture selected with

parameter PROC has no cache control, set parameter CACHE to 0.

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Vector Base Register

The VBR parameter is used to specify the memory address at which the Exception Vector

Table is located. For most applications, the Exception Vector Table is located at address

0. You can use the VBR parameter to redefine the location of the Exception Vector Table

or to define its location in ROM.

At launch, AMX installs the address specified by parameter VBR into the processor's

Vector Base Register (VBR), if one exists for the processor specified by parameter PROC.

If parameter VBR is set to -1, AMX will leave the VBR unaltered and will read its content

at launch time to determine the address of the Exception Vector Table.

If you are using a processor that does not have a VBR, set parameter VBR to 0. AMX will

assume that the Exception Vector Table is at address 0 as is appropriate for such

processors.

Shadow Vector Table Location

In some cases, your Exception Vector Table may be in ROM with support for a shadow

vector table in RAM. For example, assume that you use an MC68000 with ROM located

at address 0. The processor does not have a Vector Base Register; it assumes that the

Exception Vector Table is located at address 0. Now, assume that the ROM at address 0

includes a monitor which intercepts all interrupts and exceptions and dispatches each

according to entries in a shadow vector table located at address $F0000.

To use AMX in this example, the ...HDW parameter VBR must be set to 0 and the

following directive must be present in the Target Parameter File.

...VBASE $F0000

AMX will assume that the Exception Vector Table is at address $F0000. If the processor

has a Vector Base Register, AMX will ignore its content and leave it unaltered.

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Device I/O Delay

The Target Parameter File includes a device I/O delay definition.

...DELAY

CPUFREQ

M68000 processor instruction execution frequency (MHz)

The ...DELAY directive allows you to condition the delay loop of the AMX device I/O

delay procedure cjcfhwdelay to match your hardware requirements. This directive

allows AMX to use your estimate of the processor's instruction execution frequency

defined by parameter CPUFREQ to derive the loop count needed to provide a one

microsecond delay.

Null Function Declarations

To create a null function, a function that does nothing, include the following directive in

your Target Parameter File.

...NULLFN

FNNAME

Name given to the null function

For every ...NULLFN directive, your Target Configuration Module will include a public

assembly language function with name given by your parameter FNNAME. The function

will do nothing but return to the caller.

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Conforming ISP Declarations

The Target Parameter File must include a definition of an ISP root for each conforming

Interrupt Service Procedure (ISP) which you intend to use in your application. The ISP

root definition is provided using one of the following directives. The ISP root is declared

using ...ISPC if its Interrupt Handler is coded in C or ...ISPA if its Interrupt Handler is

coded in assembly language.

...ISPC

...ISPA

ISPROOT,HANDLER,VNUM,PARAM,PARTYPE

ISPROOT

HANDLER

VNUM

Name of the ISP root entry point

Name of the public device Interrupt Handler

Interrupt vector number assigned to the device

Interrupt Handler parameter

PARAM

PARTYPE

Parameter PARAM type

If your Interrupt Handler does not require a parameter, leave field PARAM blank (empty)

and set PARTYPE to 0.

If your Interrupt Handler requires a numeric parameter, set PARAM to the 32-bit signed or

unsigned value and set PARTYPE to 0. The numeric value must be expressed in a form

acceptable to your assembler.

If your Interrupt Handler requires a pointer to a public variable as a parameter, let PARAM

be the name of that variable and set PARTYPE to 1.

VNUM defines the interrupt vector number which you have assigned to the device. VNUM is

25 to 31 or 64 to 255. Note that all other vector numbers in the range 0 to 255 are

reserved by Motorola.

If VNUM is 0 to 255, AMX will automatically install the pointer to the ISP root ISPROOT

into vector number VNUM in the AMX Vector Table when AMX is launched. The pointer

will be installed by AMX before any application Restart Procedures execute.

Consequently, you must ensure that interrupts from the device are not possible at the time

AMX is launched.

If VNUM is -1, you must provide a Restart Procedure or task which installs the pointer to

the ISP root ISPROOT into the AMX Vector Table using AMX procedure cjksivtwr or

cjksivtx.

Note

Parameter VNUM cannot be adjusted using the AMX

Configuration Builder. This parameter is provided for

compatibility with other AMX implementations.

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AMX Clock Handler Declaration

The Target Parameter File must include a definition of an ISP root for your AMX clock

handler. The clock ISP root definition must be provided using one of the following

directives. The clock ISP root is declared using ...CLKC if its Interrupt Handler is coded

in C or ...CLKA if its Interrupt Handler is coded in assembly language. The clock ISP

root can be declared using ...CLKFAST if an Interrupt Handler is not required to service

the clock.

...CLK68TPU

...CLK68360

...CLK68230

Prebuilt Motorola MC683xx TPU Clock ISP

Prebuilt Motorola MC68360 PIT Clock ISP

Prebuilt Motorola MC68230 Clock ISP

...CLK68901

...CLKC

...CLKA

Prebuilt Motorola MC68901 Clock ISP

CLKROOT,CLKHAND,VNUM,PARAM,PARTYPE

...CLKFAST

...CLKFAST16

...CLKFAST32

CLKROOT,CLKADR,CLKCMD,CLKADR2,CLKCMD2,IODELAY,VNUM

CLKROOT

CLKHAND

VNUM

Name of the clock ISP root entry point

Name of the public clock device Interrupt Handler

Interrupt vector number assigned to the clock device

Interrupt Handler parameter

PARAM

PARTYPE

Parameter PARAM type

If your clock Interrupt Handler does not require a parameter, leave field PARAM blank

(empty) and set PARTYPE to 0.

If your clock Interrupt Handler requires a numeric parameter, set PARAM to the 32-bit

signed or unsigned value and set PARTYPE to 0. The numeric value must be expressed in

a form acceptable to your assembler.

If your clock Interrupt Handler requires a pointer to a public variable as a parameter, let

PARAM be the name of that variable and set PARTYPE to 1.

The definition of parameter VNUM is exactly the same as that described for conforming

ISPs declared using the ...ISPC or ...ISPA directives. However, unless warranted by

exceptional circumstances, parameter VNUM should always be set to -1 in the declaration

of your clock ISP root. It is the responsibility of your clock initialization procedure to

install the pointer to the ISP root ISPROOT into the AMX Vector Table.

Note

Parameter VNUM cannot be adjusted using the AMX

Configuration Builder. This parameter is provided for

compatibility with other AMX implementations.

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KADAK

If your clock can be serviced by writing one or two n-bit values to a device I/O port, you

can use the ...CLKFAST directive to create a very fast clock ISP root with no application

code required. The general form of the ...CLKFAST directive is as follows.

...CLKFAST

CLKROOT,CLKADR,CLKCMD,CLKADR2,CLKCMD2,IODELAY,VNUM

CLKROOT

Name of the clock ISP root entry point

32-bit numeric device memory address

8-bit numeric command

32-bit numeric secondary device memory address

8-bit numeric secondary command

Delay (µs) required between I/O commands

Interrupt vector number assigned to the clock device

CLKADR

CLKCMD

CLKADR2

CLKCMD2

IODELAY

VNUM

The numeric parameters must be expressed in a form acceptable to your assembler.

Parameters CLKADR2, CLKCMD2, IODELAY and VNUM can be omitted if they are not required.

If a parameter is omitted, its field must be left blank (empty) and the comma to the left of

the field must be retained. If the resulting ...CLKFAST directive ends with a string of

commas because the intervening parameters have all been omitted, it is acceptable to

delete the trailing commas.

The clock ISP root will dismiss the clock interrupt by writing the 8-bit value CLKCMD to

the 32-bit device memory address CLKADR. If parameter CLKADR2 is present in the

...CLKFAST directive, the clock ISP root will then write the 8-bit value to the 32-bit

device memory address CLKADR2. If parameter CLKADR2 is present, parameter CLKCMD2

must also be present. If this second device I/O command is not required, leave both

CLKCMD2 and CLKADR2 blank (empty).

If two I/O commands are provided, parameter IODELAY can be used to define the delay, if

any, required after the first command before the second command can be issued. The

delay is provided by a call to AMX procedure cjcfhwdelay (see directive ...DELAY).

If there is no need for a delay or a second command is not required, leave the IODELAY

field blank (empty).

Parameter VNUM has been described on the preceding page. If parameter VNUM is omitted,

then a value of -1 is assumed for VNUM.

Use the ...CLKFAST16 directive if 16-bit values must be written to the clock.

Use the ...CLKFAST32 directive if 32-bit values must be written to the clock.

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AMX 68000 Target Guide

KADAK

AMX ROM Option

To use the AMX ROM option, the Target Parameter File must include the following

directives.

...ROMOPT

...ROMSM

...ROMEM

...ROMMB

...ROMMX

...ROMBM

...ROMMM

...ROMCL

...ROMLL

...ROMTD

ROMADR,RAMADR

;Semaphore Manager

;Event Manager

;Mailbox Manager

;Message Exchange Manager

;Buffer Manager

;Memory Manager

;Circular List Manager

;Linked List Manager

;Time/Date Manager

Parameter ROMADR is the absolute physical ROM address at which the AMX ROM image

is to be located.

Parameter RAMADR is the absolute physical RAM address of a block of 32 bytes reserved

for use by AMX.

Both ROMADR and RAMADR must specify memory addresses which are long aligned.

Parameters ROMADR and RAMADR must be expressed as undecorated hexadecimal numbers.

An undecorated hexadecimal number is a hexadecimal number expressed without the

leading or trailing symbols used by programming languages to identify such numbers.

Language

Hexadecimal

0xABCDEF01

0ABCDEF01H

$ABCDEF01

Undecorated

ABCDEF01

Assembler (Intel)

Assembler (Motorola)

Keywords ...ROMxx are used to identify the AMX managers which you wish to commit

to the AMX ROM. If you do not want a particular manager to be in the ROM, omit the

corresponding keyword statement from the Target Parameter File or insert the comment

character ; in front of the keyword.

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A-10

AMX 68000 Target Guide

KADAK

A.3 Porting the Target Parameter File

It is expected that you will use the AMX Configuration Manager to create and edit your

Target Parameter File. If you are unable to use the AMX Configuration Manager utility,

you will have to create and edit your Target Parameter File using a text editor.

You should begin by choosing one of the sample Target Parameter Files provided with

AMX. Choose the Target Parameter File for the Sample Program which operates on the

evaluation board which most closely matches your target hardware. Edit the parameters

in all directives to meet your requirements. Follow the specifications provided in

Appendix A.2 and adhere to the detailed parameter definitions given in the presentation

of the AMX Configuration Manager screens in Chapter 4.

The AMX Configuration Manager includes its own copy of the AMX Configuration

Generator which it uses to produce your Target Configuration Module from the Target

Configuration Template File and the directives in your Target Parameter File. If you are

unable to use the Configuration Manager, you will have to use the stand alone version of

the AMX Configuration Generator.

The command line required to run the Configuration Generator and use it to produce a

Target Configuration Module HDWCFG.ASM from the AMX 68000 Target Configuration

Template File CJ532HDW.CT and a Target Parameter File called HDWCFG.UP is as follows:

CJ532CG HDWCFG.UP CJ532HDW.CT HDWCFG.ASM

If you are not doing your development on a PC or compatible, you may still be able to

port the Configuration Generator to your development system as described in

Appendix C of the AMX User's Guide.

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AMX 68000 Target Guide

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Appendix B. AMX 68000 Service Procedures

B.1 Summary of Services

AMX 68000 provides a collection of target dependent AMX service procedures for use

with the M68000 processor and compatibles and the C compilers which support them.

These procedures are summarized below.

Interrupt Control (class ksi)

cjksitrap

cjksivtp

cjksivtrd

cjksivtwr

cjksivtx

Install a task trap handler

Fetch pointer to the AMX Vector Table

Read an entry from the AMX Vector Table

Write an entry into the AMX Vector Table

Exchange an entry in the AMX Vector Table

Processor and C Interface Procedures (class cf)

In addition to the services provided by AMX and its managers, the AMX Library

includes several C procedures of a general nature which simplify application

programming in real-time systems on your target processor.

cjcfccsetup

cjcfdi

cjcfei

cjcfflagrd

cjcfflagwr

cjcfhwdelay

cjcfhwbcache

cjcfhwdcache

cjcfhwicache

cjcfin8

Setup C environment

Disable interrupts at priority level 6

Enable interrupts at priority level 0

Read the processor status register (SR)

Write to the processor status register (SR)

Delay n microseconds

Flush and enable/disable data and instruction caches

Flush and enable/disable data cache

Flush and enable/disable instruction cache

Read an 8-bit input port

cjcfin16

Read a 16-bit input port

cjcfin32

Read a 32-bit input port

cjcfjlong

cjcfjset

cjcfmcopy

cjcfmset

Long jump to a mark set by cjcfjset

Set a mark for a subsequent long jump by cjcfjlong

Copy a block of memory

Set (fill) a block of memory

cjcfout8

Write an 8-bit value to an output port

Write a 16-bit value to an output port

Write a 32-bit value to an output port

Switch stacks and jump to a new procedure

Convert a string to an AMX tag value

Read a volatile 8-bit variable

cjcfout16

cjcfout32

cjcfstkjmp

cjcftag

cjcfvol8

cjcfvol16

cjcfvol32

cjcfvolpntr

Read a volatile 16-bit variable

Read a volatile 32-bit variable

Read a volatile pointer variable

AMX 68000 Target Guide

rev7 B-1

KADAK

The AMX Library also includes several C procedures which are used privately by

KADAK. These procedures, although available for your use, are not documented in this

manual and are subject to change at any time. The procedures are briefly described in

source file CJZZZUB.ASM. Prototypes will be found in file CJZZZIF.H. The register array

structure cjxregs which they use is defined in fileCJZZZKT.H.

cjcfregld

cjcfregst

cjcfsint

Load M68000 registers from a register array

Store M68000 registers into a register array

Generate a software interrupt

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B.2 Service Procedures

A description of all processor dependent AMX 68000 service procedures is provided in

this appendix. The descriptions are ordered alphabetically for easy reference.

Italics are used to distinguish programming examples. Procedure names and variable

names which appear in narrative text are also displayed in italics. Occasionally a lower

case procedure name or variable name may appear capitalized if it occurs as the first

word in a sentence.

Vertical ellipses are used in program examples to indicate that a portion of the program

code is missing. Most frequently this will occur in examples where fragments of

application dependent code are missing.

: /* Dismiss device interrupt */

Capitals are used for all defined AMX filenames, constants and error codes. All AMX

procedure, structure and constant names can be readily identified according to the

nomenclature introduced in Chapter 1.3 of the AMX User's Guide.

A consistent style has been adopted for each description. The procedure name is

presented at the extreme top right and left as in a dictionary. This method of presentation

has been chosen to make it easy to find procedures since they are ordered alphabetically.

Purpose

Used by

A one-line statement of purpose is always provided.

n Task

o ISP

o Timer Procedure

n Restart Procedure

o Exit Procedure

This block is used to indicate which of your AMX application procedures

can call the AMX procedure. The term ISP refers to the Interrupt Handler

of a conforming ISP. A filled in box indicates that the procedure is

allowed to call the AMX procedure. In the above example, only tasks and

Restart Procedures would be allowed to call the procedure.

Setup

The prototype of the AMX procedure is shown.

The AMX header file in which the prototype is located is identified.

Include AMX header file CJZZZ.H for compilation.

File CJZZZ.H is a generic AMX include file which automatically includes

the correct subset of the AMX header files for a particular target

processor. If you include CJZZZ.H instead of its KADAK part numbered

counterpart (CJnnn.H), your AMX application source modules will be

readily portable to other processors without editing.

Description Defines all input parameters to the procedure and expands upon the

purpose or method if required.

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KADAK

Interrupts

AMX procedures frequently must deal with the processor interrupt mask.

The effect of each AMX procedure on the interrupt state is defined

according to the following legend.

n Disabled

n Enabled

n Restored

(Not in ISP)

D E R Effect on Interrupts

Untouched

Disabled and left disabled upon return

Enabled and left enabled upon return

Disabled and then enabled upon return

Disabled and then, prior to return, restored to the state in

effect upon entry to the procedure

Disabled, possibly briefly enabled and then, prior to return,

restored to the state in effect upon entry to the procedure

The warning ^{(Not in ISP)}will be present as a reminder that when the Interrupt

Handler of a conforming ISP calls the AMX procedure, interrupts will

NOT be explicitly enabled by the AMX procedure. If interrupts are

enabled when an Interrupt Handler calls the AMX procedure, they will be

enabled upon return.

Returns

The outputs, if any, produced by the procedure are always defined.

Most AMX procedures return an integer error status identified as a

CJ_ERRST. Note that CJ_ERRST is not a C data type. CJ_ERRST is defined

(using #define) to be an int allowing error codes to be easily handled as

integers but readily identified as AMX error codes.

Restrictions If any restrictions on the use of the procedure exist, they are described.

Note Special notes, suggestions or warnings are offered where necessary.

Task Switch Task switching effects, if any, are described.

Example

An example is provided for each of the more complex AMX procedures.

The examples are kept simple and are intended only to illustrate the

correct calling sequence.

See Also

A cross reference to other related AMX procedures is always provided if

applicable.

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cjcfccsetup

Purpose

Used by

Setup

Setup C Environment

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in file CJZZZIF.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfccsetup(void);

Description Use cjcfccsetup to setup all low level processor registers to meet the

requirements of a particular C compiler. For example, the C compiler may

assume that some data variables can be accessed using a particular register

which always points to the data. However, when mixing languages, you

may find that when a C procedure is called from assembly language, the

C procedure will setup the correct register content.

Interrupts

Returns

o Disabled

o Enabled

o Restored

The registers, if any, which are required by C are set to the values which

they contained when AMX was launched.

Restrictions Use cjcfccsetup with care. You may inadvertently cause a register to be

set which violates the register preservation rules of the other language.

AMX 68000 Target Guide

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KADAK

cjcfdi

cjcfei

cjcfdi

cjcfei

Purpose

Used by

Disable or Enable Interrupts

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

(cjcfdi only)

Setup

Prototype in file CJZZZTF.H or macro in file CJZZZCC.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfdi(void);

void CJ_CCPP cjcfei(void);

Description Tasks can use cjcfdi to briefly disable all sources of interrupt.

Immediately thereafter the task can use cjcfei to enable all sources of

interrupt again.

Interrupts

Returns

Disabled by cjcfdi

Enabled by cjcfei

Nothing

The interrupt priority in the status register (SR) is set to 6 to disable

interrupts or reset to 0 to enable interrupts.

Restrictions ISPs must not use cjcfei. If nested interrupts are supported in your

application, ISPs must always use cjcfflagwr to restore interrupts to the

state determined by an earlier call to cjcfflagrd.

Interrupts should be enabled within a short time after they are disabled or

system performance will be degraded.

See Also

cjcfflagrd, cjcfflagwr

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cjcfflagrd

cjcfflagwr

cjcfflagrd

cjcfflagwr

Purpose

Used by

Setup

Read or Write Processor Status Register

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype in file CJZZZTF.H or macro in file CJZZZCC.H.

#include "CJZZZ.H"

CJ_TYFLAGS CJ_CCPP cjcfflagrd(void);

void CJ_CCPP cjcfflagwr(CJ_TYFLAGS flags);

Description Cjcfflagrd returns the actual state of the processor status register (SR).

Cjcfflagwr updates the processor status register (SR) by writing the

parameter flags to the register.

Use cjcfflagrd to read the state of the processor status register, thereby

capturing the current interrupt state. Then use cjcfdi to briefly disable

all sources of interrupt. Immediately thereafter, use cjcfflagwr to restore

the state of the interrupt system.

Interrupts

Returns

Untouched by cjcfflagrd

Restored by cjcfflagwr

Cjcfflagrd returns the actual state of the processor status register.

Cjcfflagwr returns nothing.

Cjcfflagwr unconditionally copies flags into the processor status

flags is performed, caution in the use of cjcfflagwr is advised.

See Also

cjcfdi, cjcfei

AMX 68000 Target Guide

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KADAK

cjcfhwdelay

Purpose

Used by

Setup

Delay n Microseconds

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in fileCJZZZIF.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfhwdelay(int n);

Description n is the delay interval measured in microseconds.

Use cjcfhwdelay to generate a software delay loop of approximately n

microseconds. This procedure is intended for use in device drivers which

must introduce device access delays to avoid violating the minimum

timing delay needed between sequential references to a device I/O port.

The ...DELAY directive in your Target Parameter File is used by AMX to

derive the delay loop count needed to produce an n microsecond delay.

Interrupts

Returns

Note

o Disabled

o Enabled

o Restored

Nothing

This procedure can be used at any time, even prior to launching AMX or

after exiting from AMX.

If the ...DELAY directive in your Target Parameter File indicates that the

processor frequency is 0, then you must install the frequency value into

the public long variable cjcfhwdelayf prior to launching AMX. If you

call procedure cjcfhwdelay() prior to launching AMX, be sure that

variable cjcfhwdelayf is initialized before making the call.

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KADAK

cjcfhwbcache

cjcfhwdcache

cjcfhwicache

cjcfhwbcache

cjcfhwdcache

cjcfhwicache

Purpose

Used by

Setup

Flush and Enable/Disable Caches

n Task

o ISP

o Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype in file CJZZZIF.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfhwbcache(int operation);

void CJ_CCPP cjcfhwdcache(int operation);

void CJ_CCPP cjcfhwicache(int operation);

Description operation = 0 to force the caches to be flushed and disabled.

operation = 1 to force the caches to be flushed and enabled.

Interrupts

Returns

n Disabled

o Enabled

n Restored

Nothing

Cjcfhwbcache flushes and disables (or enables) both the data and

instruction caches.

Cjcfhwdcache flushes and disables (or enables) only the data cache.

Cjcfhwicache flushes and disables (or enables) only the instruction

cache.

Note

These procedures can be called even if your Target Parameter File

indicates that you are targeting an M68000 processor with no cache or

only one kind of cache. In such cases, the procedures only affect the

caches which exist.

Restrictions ISPs and Timer Procedures must not use these procedures. Since

interrupts are disabled while the caches are flushed, use caution when

calling these procedures or system performance will be degraded,

especially if the cache sizes are large.

AMX 68000 Target Guide

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KADAK

cjcfin8

cjcfin16

cjcfin32

cjcfin8

cjcfin16

cjcfin32

Purpose

Used by

Setup

Read an 8, 16 or 32-Bit Input Port

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype in file CJZZZTF.H or macro in file CJZZZCC.H.

#include "CJZZZ.H"

CJ_T8 CJ_CCPP cjcfin8(void *port);

CJ_T16 CJ_CCPP cjcfin16(void *port);

CJ_T32 CJ_CCPP cjcfin32(void *port);

Description port is the address of an 8, 16 or 32-bit memory-mapped device input

port.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Cjcfin8 returns an 8-bit signed value.

Cjcfin16 returns a 16-bit signed value.

Cjcfin32 returns a 32-bit signed value.

Example

#include "CJZZZ.H"

/* Console status register

#define CONSTAT ((CJ_T8 *)0xFFFA002DL)

/* Console data register

#define CONDATA ((CJ_T8 *)0xFFFA002FL)

void CJ_CCPP conout(char ch) {

/* Wait for ready

while ( (cjcfin8(CONSTAT) & 0x80) == 0 )

;

/* Write character

cjcfout8(CONDATA, (CJ_T32)ch);

}

See Also

cjcfout8, cjcfout16, cjcfout32

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KADAK

cjcfjlong

cjcfjset

cjcfjlong

cjcfjset

Purpose

cjcfjset Sets a Mark for a Long Jump

cjcfjlong Long Jumps to that Mark

These procedures are provided for AMX portability. They are not

replacements for C library procedures longjmp or setjmp although they

function in a similar manner.

Used by

Setup

n Task

o ISP

o Timer Procedure

o Restart Procedure

n Exit Procedure

Prototype is in file CJZZZTF.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfjlong(struct cjxjbuf *jbuf, int value);

int CJ_CCPP cjcfjset(struct cjxjbuf *jbuf);

Description jbuf is a pointer to a jump buffer to be used to mark the processor state at

the time cjcfjset is called and to restore that state when cjcfjlong is

subsequently called.

The processor dependent structure cjxjbuf is defined in file

CJZZZCC.H.

value is an integer value to be returned to the cjcfjset caller when

cjcfjlong initiates the long jump return. Value cannot be 0. If value

= 0, cjcfjlong will replace it with value = 1.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Cjcfjset returns 0 when initially called to establish the mark. Cjcfjset

returns value (non 0) when cjcfjlong is called to do the long jump to the

mark established by the initial cjcfjset call.

There is no return from cjcfjlong.

Restrictions Cjcfjset must be called prior to any call to cjcfjlong. Each call must

reference the same jump buffer. The jump buffer must remain unaltered

between the initial cjcfjset call and the subsequent cjcfjlong long

jump return.

Under no circumstances should one task attempt a long jump using a jump

buffer set by another task.

AMX 68000 Target Guide

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KADAK

Example

#include "CJZZZ.H"

void CJ_CCPP dowork(struct cjxjbuf *jbp);

static struct cjxjbuf jumpbuffer;

#define STACKSIZE 512

#define STACKDIR 1

/* Stack size (longs)

/* 0=grows up; 1=grows down */

static long newstack[STACKSIZE];

#if (STACKDIR == 1)

#define STACKP (&newstack[STACKSIZE - 1])

#else

#define STACKP newstack

#endif

void CJ_CCPP taskbody(void) {

if (cjcfjset(&jumpbuffer) == 0)

/* Switch to new stack and do work

cjcfstkjmp(&jumpbuffer, STACKP,

(CJ_VPPROC)dowork);

/* Never returns to here

/* Do work using original stack

dowork(NULL);

}

void CJ_CCPP dowork(struct cjxjbuf *jbp) {

/* Do work

/* If jump buffer provided, then use long jump to

/* restore the original stack and return

if (jbp != NULL)

cjcfjlong(jbp, 1);

}

See Also

cjcfstkjmp

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AMX 68000 Target Guide

KADAK

cjcfmcopy

cjcfmset

cjcfmcopy

cjcfmset

Purpose

Copy a Block of Memory

Set (Fill) a Block of Memory

These procedures are provided for AMX portability. They are not

replacements for C library procedures memcpy or memset.

Used by

Setup

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in file CJZZZTF.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfmcopy(int *sourcep, int *destp,

unsigned int size);

void CJ_CCPP cjcfmset(int *mempntr,

unsigned int size, int pattern);

Description sourcep is a pointer to the integer aligned block of memory which is to be

copied to the destination.

destp is a pointer to the integer aligned block of memory which is the

destination of the block being copied.

mempntr is a pointer to the integer aligned block of memory which is to be

filled with pattern.

size is the number of integers to be copied or set. The number of bytes

copied or set will therefore be size * sizeof(int).

Interrupts

Returns

o Disabled

o Enabled

o Restored

Nothing

Restrictions The source and destination blocks must not overlap unless destp is lower

in memory than sourcep.

ISPs and Timer Procedures should not fill or copy large blocks of

memory.

Failure to observe this restriction may impose serious

performance penalties on your application.

Example

#include "CJZZZ.H"

#define BLOCKSIZE 1024

static int srcarray[BLOCKSIZE];

static int dstarray[BLOCKSIZE];

void CJ_CCPP blocksetcopy(int pattern) {

cjcfmset(srcarray, sizeof(srcarray), pattern);

cjcfmcopy(srcarray, dstarray, sizeof(srcarray));

}

AMX 68000 Target Guide

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KADAK

cjcfout8

cjcfout16

cjcfout32

cjcfout8

cjcfout16

cjcfout32

Purpose

Used by

Setup

Write to an 8, 16 or 32-Bit Output Port

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype in file CJZZZTF.H or macro in file CJZZZCC.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfout8(void *port, CJ_T32 data);

void CJ_CCPP cjcfout16(void *port, CJ_T32 data);

void CJ_CCPP cjcfout32(void *port, CJ_T32 data);

Description port is the address of an 8, 16 or 32-bit memory-mapped device output

port.

data is the 8, 16 or 32-bit value to be output to the port.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Nothing

Cjcfout8 outputs the least significant 8 bits of data to the port.

Cjcfout16 outputs the least significant 16 bits of data to the port.

Cjcfout32 outputs the full 32 bits of data to the port.

Example

#include "CJZZZ.H"

/* Console status register

#define CONSTAT ((CJ_T8 *)0xFFFA002DL)

/* Console data register

#define CONDATA ((CJ_T8 *)0xFFFA002FL)

void CJ_CCPP conout(char ch) {

/* Wait for ready

while ( (cjcfin8(CONSTAT) & 0x80) == 0 )

;

/* Write character

cjcfout8(CONDATA, (CJ_T32)ch);

}

See Also

cjcfin8, cjcfin16, cjcfin32

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AMX 68000 Target Guide

KADAK

cjcfstkjmp

Purpose

Switch Stacks and Jump to a New Procedure

This procedure is provided for AMX portability.

Used by

Setup

n Task

o ISP

o Timer Procedure

o Restart Procedure

n Exit Procedure

Prototype is in file CJZZZTF.H.

#include "CJZZZ.H"

void CJ_CCPP cjcfstkjmp(void *vp, void *stackp,

CJ_VPPROC procp);

Description vp is a pointer which is passed as a parameter to the new procedure.

stackp is a pointer to a properly aligned block of memory for use as a

stack. For the M68000 family, the stack must be 16-bit word aligned.

For some M68000 processors, performance will be improved if the

stack is 32-bit long word aligned.

Stackp must point to the top of the memory block since the processor

stack builds downward by popular convention.

procp is a pointer to the new procedure which is prototyped as follows:

void CJ_CCPP newfunc(void *vp);

For portability using different C compilers, cast your procedure pointer

as (CJ_VPPROC)newfunc in your call to cjcfstkjmp.

Interrupts

Returns

o Disabled

o Enabled

o Restored

There is no return from cjcfstkjmp. Use cjcfjset and cjcfjlong if

there is a requirement to return to the original stack.

Restrictions The new procedure referenced by procp must never return. The

procedure can call cjtkend to end the calling task.

Example

See Also

See the example provided with cjcfjset and cjcfjlong.

cjcfjlong, cjcfjset, cjtkend

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cjcftag

Purpose

Used by

Setup

Convert a String to an Object Name Tag

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in file CJZZZTF.H.

#include "CJZZZ.H"

CJ_TYTAG CJ_CCPP cjcftag(char *tag);

Description tag is a pointer to a string which is a one to four character name tag.

Interrupts

Returns

o Disabled

o Enabled

o Restored

The name tag string is converted to a 32-bit name tag value of type

CJ_TYTAG which is returned to the caller.

If the name tag string is less than four characters, the returned name tag

value is 0 filled. If the name tag string is longer than four characters, the

returned name tag value is limited to the first four characters of the string.

Example

See Also

See any of the cjXXbuild examples in which an object name tag string is

converted to a name tag value for insertion into the object definition

structure.

cjksfind, cjksgbfind

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cjcfvol8

cjcfvol16

cjcfvol32

cjcfvol16

cjcfvol32

cjcfvolpntr

Purpose

Fetch a Volatile 8-Bit, 16-Bit, 32-Bit or Pointer Value

Use these procedures to fetch the content of a volatile variable if the C

compiler does not support the C keyword volatile. These procedures (or

macros) also guarantee that multiple byte fetches will be done in an

indivisible fashion.

Used by

Setup

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype in file CJZZZTF.H or macro in file CJZZZCC.H.

#include "CJZZZ.H"

CJ_T8 CJ_CCPP cjcfvol8(void *varp);

CJ_T16 CJ_CCPP cjcfvol16(void *varp);

CJ_T32 CJ_CCPP cjcfvol32(void *varp);

void * CJ_CCPP cjcfvolpntr(void *pntrp);

Description varp is a pointer to an 8, 16 or 32-bit variable.

pntrp is a pointer to a pointer variable.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Cjcfvol8 returns an 8-bit signed value from *varp.

Cjcfvol16 returns a 16-bit signed value from *varp.

Cjcfvol32 returns a 32-bit signed value from *varp.

Cjcfvolpntr returns a pointer from *pntrp.

Example

#include "CJZZZ.H"

extern CJ_T8 controlflag;

extern int *valuep;

/* Volatile control flag

/* Volatile pointer

int * CJ_CCPP readpntr(void) {

int *pntr;

/* Wait until access allowed */

while (cjcfvol8(&controlflag) == 0)

;

/* Wait for valid pointer

while ((pntr = (int *)cjcfvolpntr(&valuep)) == CJ_NULL)

;

controlflag = 0;

return (pntr);

}

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cjksitrap

Purpose

Used by

Setup

Install a Task Trap Handler

n Task

o ISP

o Timer Procedure

o Restart Procedure

n Exit Procedure

Prototype is in file CJZZZIF.H.

#include "CJZZZ.H"

CJ_ERRST CJ_CCPP cjksitrap(int trapid, CJ_TRAPPROC handler);

Description trapid is the processor vector number which identifies the particular error

trap.

CJ_PRVNZD

CJ_PRVNCH

CJ_PRVNTV

Zero divide trap

CHK (bounds check) instruction trap

TRAPV (overflow test) instruction trap

handler is a pointer to the task's trap handler for the particular error trap.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Error status is returned.

CJ_EROK

Call successful.

Errors returned:

CJ_ERTKTRAP

Trapid is not a vector number for which task traps

are allowed.

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cjksivtp

Purpose

Used by

Setup

Fetch Pointer to the AMX Vector Table

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in file CJZZZIF.H.

#include "CJZZZ.H"

void * CJ_CCPP cjksivtp(void);

Interrupts

Returns

o Disabled

o Enabled

o Restored

A pointer to the AMX Vector Table.

See Also

cjksivtrd, cjksivtwr, cjksivtx

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cjksivtrd

Purpose

Used by

Setup

Read from the AMX Vector Table

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in file CJZZZIF.H.

#include "CJZZZ.H"

CJ_ERRST CJ_CCPP cjksivtrd(int vector, CJ_ISPPROC *oldproc);

Description vector is the processor vector number (0 to 255).

Vectors 12, 16 to 23 and 59 to 63 are reserved by Motorola.

oldproc is a pointer to storage for a copy of the Interrupt Service

Procedure pointer (or exception service procedure pointer) retrieved

from the specified entry in the AMX Vector Table.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Error status is returned.

Call successful.

CJ_EROK

*oldproc contains the Interrupt Service Procedure pointer (or

exception service procedure pointer) retrieved from AMX Vector Table

entry number vector.

Errors returned:

None

See Also

cjksivtwr, cjksivtx

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cjksivtwr

Purpose

Used by

Setup

Write to the AMX Vector Table

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in file CJZZZIF.H.

#include "CJZZZ.H"

CJ_ERRST CJ_CCPP cjksivtwr(int vector, CJ_ISPPROC newproc);

Description vector is the processor vector number (0 to 255).

Vectors 12, 16 to 23 and 59 to 63 are reserved by Motorola.

newproc is a pointer to the new Interrupt Service Procedure.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Error status is returned.

CJ_EROK

Call successful.

Errors returned:

CJ_ERNOACCESS AMX Vector Table is not accessible.

AMX was launched with access to its

Vector Table denied.

Restrictions You must NOT use this procedure to alter the task trap vectors (vector =

CJ_PRVNZD, CJ_PRVNCH or CJ_PRVNTV). Use cjksitrap for that purpose.

See Also

cjksivtrd, cjksivtx

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cjksivtx

Purpose

Used by

Setup

Exchange an Entry in the AMX Vector Table

n Task

n ISP

n Timer Procedure

n Restart Procedure

n Exit Procedure

Prototype is in file CJZZZIF.H.

#include "CJZZZ.H"

CJ_ERRST CJ_CCPP cjksivtx(int vector,

CJ_ISPPROC newproc,

CJ_ISPPROC *oldproc);

Description vector is the processor vector number (0 to 255).

Vectors 12, 16 to 23 and 59 to 63 are reserved by Motorola.

newproc is a pointer to the new Interrupt Service Procedure.

oldproc is a pointer to storage for the previous Interrupt Service

Procedure pointer (or exception service procedure pointer) retrieved

from the AMX Vector Table.

Interrupts

Returns

o Disabled

o Enabled

o Restored

Error status is returned.

Call successful.

CJ_EROK

*oldproc contains the previous Interrupt Service Procedure pointer (or

exception service procedure pointer).

Errors returned:

For all errors, *oldproc is undefined on return.

CJ_ERNOACCESS AMX Vector Table is not accessible.

AMX was launched with access to its

Vector Table denied.

Restrictions You must NOT use this procedure to alter the task trap vectors (vector =

CJ_PRVNZD, CJ_PRVNCH or CJ_PRVNTV). Use cjksitrap for that purpose.

See Also

cjksivtrd, cjksivtwr

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Appendix C. AMX 68000 ROM Option

An AMX system can be configured in two ways. The particular configuration is chosen

to best meet your application needs.

Most AMX systems are linked. Your AMX application is linked with your System

Configuration Module, your Target Configuration Module and the AMX Library. The

resulting load module is then copied to memory for execution either by loading the image

into RAM or by committing the image to ROM. Such a ROM contains an image of your

application merged with AMX in an inseparable fashion.

The AMX ROM option offers an alternate method of committing AMX to ROM. The

ROM option allows the subset of AMX and its managers required by your application to

be linked together without any application code to form a separate AMX ROM image.

The resulting ROM can be located anywhere in your memory configuration. The penalty

paid for ROMing in this fashion is slightly slower access by application code to AMX

services.

Selecting AMX ROM Options

To support an AMX ROM system, the following files are provided.

CJ532ROP.LKT

AMX ROM Option toolset dependent

Link Specification Template

CJ532ROP.CT

CJ532RAC.CT

AMX ROM Option Template

AMX ROM Access Template

To use the AMX ROM option, you must edit your Target Parameter File to identify the

AMX components which you wish to place in the AMX ROM and to specify where the

AMX ROM is to be located. You can use the AMX Configuration Builder to enter these

parameters as described in Chapter 4.6.

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Creating an AMX ROM

The AMX ROM is created by using the AMX Configuration Generator to produce a

ROM Option Module which is then linked with the AMX Library to form an AMX ROM

image.

The Configuration Generator combines the information in your Target Parameter File

with the ROM Option Template file CJ532ROP.CT to produce an assembly language

ROM Option Module CJ532ROP.ASM.

You can use the AMX Configuration Builder to generate the ROM Option Module. Use

the AMX Configuration Manager to open your Target Parameter File. Make the ROM

Option Module selector the active selector. The ROM Option window will become

visible allowing you to view your ROM option parameters. To generate the ROM Option

Module, select Generate... from the File menu.

If you are unable to use the AMX Configuration Manager or are creating your ROM

Option Module from within a make file, you can use the stand alone version of the

Configuration Generator. If your Target Parameter File is named HDWCFG.UP, the stand

alone version of the Configuration Generator utility is invoked as follows:

CJ532CG HDWCFG.UP CJ532ROP.CT CJ532ROP.ASM

The ROM Option Module CJ532ROP.ASM is then assembled in exactly the same manner

as your Target Configuration Module HDWCFG.ASM according to the directions in the

AMX Tool Guides.

The AMX ROM is linked according to the directions in the AMX Tool Guides.

The resulting AMX ROM image file is then committed to ROM using conventional

ROM burning tools. The manner in which this is accomplished will depend completely

upon your development environment. In general, the process involves the transfer of the

AMX ROM hex file to a PROM programmer.

Note that your toolset may require a filename extension other than .ASM for assembly

language files.

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Linking for AMX ROM Access

The AMX Configuration Generator is used to produce a ROM Access Module which,

when linked with your application, provides access to AMX in the AMX ROM.

The Configuration Generator combines the information in your Target Parameter File

with the ROM Access Template file CJ532RAC.CT to produce an assembly language

ROM Access Module CJ532RAC.ASM.

You can use the AMX Configuration Builder to generate the ROM Access Module. Use

the AMX Configuration Manager to open your Target Parameter File. Make the ROM

Access Module selector the active selector. The ROM Option window will become

visible allowing you to view your ROM option parameters. To generate the ROM

Access Module, select Generate... from the File menu.

If you are unable to use the AMX Configuration Manager or are creating your ROM

Access Module from within a make file, you can use the stand alone version of the

Configuration Generator. If your Target Parameter File is named HDWCFG.UP, the stand

alone version of the Configuration Generator utility is invoked as follows:

CJ532CG HDWCFG.UP CJ532RAC.CT CJ532RAC.ASM

The ROM Access Module CJ532RAC.ASM is then assembled in exactly the same manner

as your Target Configuration Module HDWCFG.ASM according to the directions in the

AMX Tool Guides.

The AMX ROM Access Module provides access to all of the procedures of AMX and the

subset of AMX managers which you included in your AMX ROM. These ROM access

procedures make software jumps to the ROM resident procedures.

To create an AMX system which uses your AMX ROM, proceed just as though you were

going to include AMX as part of a linked system. Your System Configuration Module

must indicate that AMX and its managers are in a separate ROM. To meet this

requirement, you may have to use the AMX Configuration Manager to edit your User

Parameter File accordingly and regenerate your System Configuration Module. If you do

so, do not forget to recompile the System Configuration Module.

Your AMX application is then linked as described in the AMX Tool Guides. However,

since AMX and a subset of its managers are in ROM, you must include the AMX ROM

Access Module CJ532RAC.OBJ in your list of object modules to be linked. By so doing,

you will preclude the inclusion of AMX and its managers from the AMX Library

CJ532.LIB.

Note that you must still include the AMX Library CJ532.LIB in your link in order to

have access to the small subset of AMX procedures which are never installed in your

AMX ROM.

Note that your toolset may require filename extensions other than .OBJ and .LIB for

object and library files.

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Once linked, your AMX application can be downloaded into RAM memory in your target

hardware configuration. Alternatively, your application can be transferred to ROM using

the same techniques that were used to produce the AMX ROM. Regardless of the

manner in which your AMX system is loaded into your target hardware, access to the

AMX ROM via the ROM Access Module is now possible.

For simplicity, the complexities which you will encounter when trying to commit the C

Runtime Library to ROM have been ignored. Refer to your C compiler reference manual

for guidance in ROMing C code and data in embedded applications.

Warning!

If your AMX ROM was created without a particular

manager, then an AMX fatal exit will occur if your system

attempts to access that manager.

Moving the AMX ROM

The AMX ROM is not position independent. Nor is the location of the RAM used by

AMX.

To move either, you must edit the AMX ROM option parameters in your Target

Parameter File to define the new location of the AMX ROM and its RAM. Reconstruct a

new AMX ROM image and burn a new AMX ROM. Then rebuild the AMX ROM

Access Module and relink your AMX system with it.

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