GNU tool-chain for MO_CPU2 68376

This CD contains GNU archives with development tools targeted to Motorola m683xx processors, specially for MO_CPU1/2 mc68376 based board. Binaries of compilers are prepared for recent GNU/Linux glibc-2 based host systems and for Windows MinGW32 and Gygwin unix-like environment.

Tools Sources Sites

GCC - GNU Compiler Collection: http://gcc.gnu.org/
http://www.uclinux.org/pub/uClinux/m68k-elf-tools/gcc-3/
Binutils - Assembler, Linker etc.: http://sources.redhat.com/binutils/
BDM Support for GDB - hardware assisted debugging: http://sourceforge.net/projects/bdm/
http://cmp.felk.cvut.cz/~pisa/m683xx/bdm_driver.html

Linux archives

Archive of tools prepared for Linux Glibc-2 based systems

m683xx-bdm-driver-040618.tar.gz: mc683xx BDM interface Linux driver sources need to be compiled for used host system
bdm-load-030815.tar.gz: m683xx BDM FLASH eraser and loader (Archive contains both static binary and sources)
DDD - official site: graphical front-end for plain GDB
gcc-m68k-coff-3.4.3-bin.tar.gz: m68k-coff GNU tool-chain includes GCC-3.4.3, binutils, plain GDB with BDM support C libraries for system-less setup
gcc-m68k-elf-3.4.3-bin.tar.gz: m68k-elf GCC 3.4.3 toolchain
seyon-2.20c.tar.gz: simple X based terminal for modems and serial lines
seyon68-cfg.tar.gz: example invocation script and configuration for terminal for /dev/ttyS1 = COM2 interface.

The subdirectory "src" contains sources user for building of developmen toochains binaries.

Provided binutils are compiled with shared BFD library and are able to disassemble and work with many different processors object formats. Running of "ldconfig" is required after installation of

/usr/lib/libbfd-2.15.so
/usr/lib/libopcodes-2.15.so

shared libraries.

More informations about m68k, m683xx and ColdFire tools can be found at next sites:

m68k elf tools for uClinux: These tools are based on old GCC-2.95.3 compiller
New m68k elf tools for uClinux: These tools are result of heroic work of Bernardo Innocenti and are based on recent GCC-3.3.x sources. The changes has been integrated into official GCC-3.4 distribution and our tool-chain is upgraded to this version now.
Pages with Pavel Pisa's branch of BDM patches for GDB: The debugging tools provides driver and reguired GDB-5.3 patches.
Motorola m683xx and ColdFire BDM support development page: This is place of joint forces to provide BDM support for GDB. Generic Chris Johns branch for m683xx and ColFire CPUs. This branch can be used for building of tools for Windows environment as well. Latest m683xx branch sources are in the SourceForge CVS as well.

Windows archives

There exist two environments trying to provide reasonable standard compliant environment for GNU tools under Windows operating system.

CygWin: This environment tries to achieve compatibility with POSIX standard by providing its own C runtime library (cygwin.dll) which emulates POSIX system-calls as fork, link, unlink, etc.
MinGW: MinGW project is not aimed for full POSIX compliance. It tries use features provided by Microsoft system runtime libraries.

CygWin environment and m68k toolchain

Installation of minimal set of CygWin packages is required to prepare environment for cross-compiler tool-chain. Please, use CygWin site to install base environment. The initial intention to provide snapshot of live CygWin systems showed to be difficult, because installation phase is required to correctly populate configuration.

The archives of development tools for CygWin environment are stored in the directory m68k/tools/cygwin.

GiveIO.zip: Generic driver which enables acces to IO ports for Windows programs, this driver is used by BDM tools for fast direct printer port manipulation. Driver GiveIO.sys should be copyed into Windows system32/drivers and registered by instdrv.exe.
insdrv.exe: Program to register driver without reboot.
usage instdrv.exe giveio c:\winnt\system32\drivers\giveio.sys
giveio.reg: Content of HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\giveio registry branch after successful GiveIO installation. It can be even imported and then instdrv.exe need not be used. One or two reboots should be enough. If there is problem, deletion and recreation of registry branch should help.
m68k-bdm-elf-gdb.exe: CygWin binary of GDB-6.0 with BDM m683xx and ColdFire support.
bdmctrl.exe: Tool for batch target manipulation through BDM interface. This tool enables among other things writing application image into target FLASH memory. More information can be read from README.bdmctrl. Help for recognized commands is printed when invoked with -h switch. Tool can be even used for fast target assisted FLASHing mode, when target FLASH program algorithm plugin is compiled.
m68k-coff-binutils-2.15.96-cygwin-1.tar.gz: Binary utilities (assembler, linker, etc) for m68k-coff target. Archive should be extracted by tar -xzf m68k-coff-binutils-2.15.96-cygwin-1.tar.gz in the root directory of CygWin instalation.
m68k-coff-gcc-3.4.3-cygwin-1.tar.gz: GCC-3.3.3 with NewLib C library for m68k-coff targets. Archive should be extracted by tar -xzf m68k-coff-gcc-3.4.3-cygwin-1.tar.gz in the root directory of CygWin instalation.

MinGW and MSYS m68k toolchain

All required packages should be found on the CD in the directory archive/mingw.

MinGW-3.1.0-1.exe: Installation of MinGW libraries and native compiler tools.
MSYS-1.0.10-rc-3.exe: Archive of key individual packages available at the time of release.
msysDTK-1.0.1.exe: MSYS Developer Tool Kit.
binutils-2.14.90-20040120-1.tar.gz: Upgrade to latest native binary utilities for MinGW system. Optional. required only for build of new cross-compilation tools or native Windows application.
gcc-core-3.3.1-20030804-1.tar.gz: Upgrade to GCC-3.3.1. Optional. required only for build of new cross-compilation tools or native Windows application.
gcc-g++-3.3.1-20030804-1.tar.gz: GCC-3.3.1 C++ language support. Optional. required only for build of new cross-compilation tools or native Windows application.

The archives of development tools for MinGW environment are stored in the directory archive/mingw/tools.

GiveIO.zip: Generic driver which enables acces to IO ports for Windows programs, this driver is used by BDM tools for fast direct printer port manipulation. Driver GiveIO.sys should be copyed into Windows system32/drivers and registered by instdrv.exe.
insdrv.exe: Program to register driver without reboot.
usage instdrv.exe giveio c:\winnt\system32\drivers\giveio.sys
giveio.reg: Content of HKEY_LOCAL_MACHINE\SYSTEM\CurrentControlSet\Services\giveio registry branch after successful GiveIO installation. It can be even imported and then instdrv.exe need not be used. One or reboot should be enough. If there is problem, deletion and recreation of registry branch should help.
m68k-bdm-elf-gdb.exe: MinGW binary of GDB-6.0 with BDM m683xx and ColdFire support.
bdmctrl.exe: Tool for batch target manipulation through BDM interface. This tool enables among other things writing application image into target FLASH memory. More information can be read from README.bdmctrl. Help for recognized commands is printed when invoked with -h switch. Tool can be even used for fast target assisted FLASHing mode, when target FLASH program algorithm plugin is compiled.
m68k-coff-binutils-2.14.zip: Binary utilities (assembler, linker, etc) for m68k-coff target. Archive should be extracted in the root directory of MinGW instalation.
m68k-coff-gcc-3.3.3.zip: GCC-3.3.3 with NewLib C library for m68k-coff targets. Archive should be extracted in the root directory of MinGW instalation.

Dev-C++ - Windows IDE for GCC based tool-chains

Homepage of Dev-C++

devcpp4980.exe: Dev-C++ IDE version 4.9.8.7.

Setup of Dev-C++ for m68k cross-compilation is described in in one of next paragraphs. There has been found problem with Dev-C++ invocation of MinGW Make and GCC program invocation. There has not been found problems with CygWin based cross-compilation tools invocation.

Simple example application for MO_CPU1/2 board

simple-m68k.tar.gz: Linux simple directory snapshot. To rebuild call make clean ; make ; in the simple directory.
simple-m68k.zip: Build directory snapshot from MinGW environment. To rebuild call make clean ; make ; from MinGW shell prompt in the simple directory.
simple-m68k.tar.gz: Build directory snapshot from CygWin environment. To rebuild call make clean ; make ; from CygWin shell prompt in the simple directory.
simple.dev: Dev-C++ project file for Simple appliaction.
devcpp.ini: Dev-C++ configuartion file with m68k-coff compiler setup. The configuration file is hold in c:\Documents and Settings\user\Local Settings\Application Data.

Setup of Dev-C++ for m68k cross-compilation is described in in one of next paragraphs. There has been found problem with Dev-C++ invocation of MinGW Make and GCC program. Dev-C++ works well with CygWin based cross-compilation tools.

Setup of Linux cross-development environment for m683xx MO_CPU1/2 targets

Working installation of recent distribution GNU/Linux system based on Glibc-2 (libc-6) libraries and root privileges are necessary. Binaries of all needed packages are provided except binary of the Linux kernel BDM driver, which must be unpacked and compiled against Linux kernel headers matching and configured for current running Linux kernel. Basic steps


  cd /usr/src
  tar -xzf m683xx-bdm-driver-040618.tar.gz
  cd m683xx-bdm-driver-040618
  make
  make install
  depmod -a

should install binary of the driver into right place. Device nodes must be created by provided "./MAKEDEV" command for static "/dev" tree. When "devfsd" is used, device nodes are created on fly. Default driver compilation setup uses Linux Parport layer to access priter port. If the driver is compilled without parport support then Printer driver should be unloaded by


  /sbin/modprobe -r lp parport_pc parport

And driver can be loaded by


  /sbin/modprobe bdm

That process can be automated as described in the driver associated README or in detailed description in the bdm_driver.pdf file. Making of symbolic link "bdm" in the "/dev" directory pointing to used interface is expected in next examples


  cd /dev
  ln -s icd_bdm0 bdm

equivalent to managing of link for devfsd setup


  "/dev/bdm" -> "/dev/m683xx-bdm/icd0".

Next step is to unpack gcc-m68k-coff-3.4.3-bin.tar.gz archive in "/" directory or better in temporary directory and manual move to "/". Check if some files are overwritten and make appropriate backup of original files. Run "ldconfig" command

Provided sample application named simple should compile by "make" command now.

Connect the MO_CPU1/2 board to computer by serial cable. Install seyon-2.20c.tar.gz simple terminal, look at example configuration in archive/linux/tools/seyon68-cfg.tar.gz archive, copy "seyon68" somewhere on the path and copy initialization script into ".seyon" subdirectory in your home directory. Open terminal for right device (/dev/ttyS0 = COM1, /dev/ttyS1 = COM2). Connect board to power supply +5VDC/500mA. Next banner should appear.


  # SIMPLE v0.5 build Pi Mar 26 2002 21:44:27
  # test mode enabled
  # kl41_lcd_init :   -1
  # date : 2002-03-28 01:49:57

You can type "help" command to see sample "simple" application accepted commands. Commands names in uppercase letters are part of motion controller set and requires character ":" for assignment of value and character "?" for query. Other commands are simple command line tests. "date" can be used for date/time read and when new value in same format is appended, date is adjusted to that value. Commands for flash tests can be applied only to that chip, which is not used for instruction fetches (ie. "flashid 0x900000") is OK, but (ie. "flashid 0x800000") is not, when code runs from FLASH. Command "gdbbreak" can be used for establish of serial GDB stub debugging. It takes one parameter - level :

disable serial stub
enable serial stub and redirect RS232 Ctrl+C to stub
enable stub and initiate break immediately and wait for GDB execution can be continued by
```
        (gdb) p $pc=$pc+2
      
```
to skip breakpoint instruction
- redirects all RS232 communication to the GDB stub
- disables "simple" application interrupts and wait for GDB to load new executable

Connection of BDM debugging interface. Power board off.

Make sure, that logic ground of mc68376 microcontroller is interconnected with PC chassis ground before plugging BDM interface parallel port cable. Plugging of cable when there is voltage differential between MO_CPU1/2 board and PC parallel port can lead to damage of the chip.

When same ground and supply is used for RS232 interface and the microcontroller core (no galvanic isolation), interconnection of RS232 cable is enough for voltage rejection and board grounding. Connect BDM interface cable. Power board up.

Start command "m68k-coff-gdb" (or "gdb68" shortcut) in the directory with the right debugger initialization file ".gdbinit68" and "cpu32init" SIM initialization files. Bellow is session example


  bash-2.05# gdb68
  GNU gdb
  ...
  This GDB was configured as "--host=i686-pc-linux-gnu --target=m68k-bdm-coff"



Now set breakpoint

  (gdb)b main
  Breakpoint 1 at 0x31d8: file simple.c, line 1443.


download and execute application image "simple"

  (gdb) run
  Starting program: /root/m683xx/simple/simple
  Do you want to download '/root/m683xx/simple/simple'
  (y or n) y


Both LEDs on BDM interface should lit for while.
Then should both switch-off and immediately freeze LED
should lit again as address of breakpoint is reached

  Breakpoint 1, main () at simple.c:1443
  1443    { unsigned flags=0;
  (gdb)

  (gdb)c


Continues application in full-speed and example commands
could be set through serial terminal.


Now you can use "Ctrl+c"
to stop and then "s", "c",
 "p <variable>"
commands or you can install Insight or DDD front-ends from archives
ddd-3.3.1.tar.gz and
 m68k-coff-insight.tar.gz.


Gdb macro "bdm_hw_init" defined in "run376.gdb" can be invoked at any time
to reset target when GDB debug session is run. Automatic reset and setup
of target before subsequent "run" commands can be requested by GDB command
"bdm_autoreset on". This command uses "cpu32init" in current directory
to setup SIM registers.


To place breakpoint into function "do_trap" could be useful for
exception catching in the "simple" application during development.


Both prepared versions of Linux GNU debugger (plain version
"gdb68" and TclTk version Insight "m68k-coff-insight") were
were tested with BDM interface (target bdm /dev/m683xx-bdm/icd0)
and serial (target remote /dev/ttyS1 equivalent to target remote COM2 for windows).
Serial stub of in the "simple" MO_CPU2 application can be invoked
by terminal command "bdmbreak'.
DDD fronted can be invoked for plain gdb (ddd68) as well.
Look to the directory "doc/bdm" for more informations about Linux
BDM debugging.

The full reference documentation for GNU debugger is placed in the directory
"doc/gnu/gdb".
There is runtime GDB "help" command as well.
Typing of "help bdm_" and pressing Tab key for completion lists all BDm subcommands.
Then help for each of them can be retrieved. The full BDM documentation is
BDM debbuging article.


CygWin

The delivered MO_CPU1/2 boards are tested and then simple application is written
into FLASH memory. When board is powered, it sends startup message
message to the RS-232 port and then receives simple commands.
The communication speed is set to 9600 Bd without parity and with one stop-bit.
This way correctness and functionality of RS-232 interconnection can be checked.


Next step is to interconnect BDM interface with target board
and PC computer printer port (LPT1).



Make sure, that logic ground of mc68376 microcontroller
is interconnected with PC chassis ground before plugging
BDM interface parallel port cable. Plugging of cable when
there is voltage differential between MO_CPU1/2 board
and PC parallel port can lead to damage of the chip.


An example of the cross-compiled project can be found in "/m683xx"
directory. There is "simple" application as
template for MO_CPU2 development. Commands to compile

  make clean
  make
  make flash


generates RAM image "simple"
and FLASH image "flash".
The directory "boot" contains
board setup boot block "mo_flashbb".


Built application can be downloaded and run in target by GDB command line debugger.

  m68k-bdm-elf-gdb

Windows version of GDB loads initialization script .gdbinit and access
printer port at address 0x378 when target bdm /dev/bdmicd0 is selected.
Same commands as for Linux GDB environment can be used.


Application can be load into RAM even by batch utility bdmctrl.
This way is even defined as Makefile target

  make ram-load



Next procedure is used to download application image into FLASH memory.

  make flash-burn

This erases FLASH memory and writes linked flash image
into FLASH memory. The example uses only slow host write method. Target assisted flashing
can be prepared for larger applications. 


A linker scripts are used to define RAM and FLASH memory regions.

  mo_cpu1-1005.ld-cfg
    MO_CPU1/2 populated with 1MB RAM, 0.5MB FLASH 
  mo_cpu1-1010.ld-cfg
    MO_CPU1/2 populated with 1MB RAM, 1MB FLASH 
  mo_cpu1-2020.ld-cfg
    MO_CPU1/2 populated with 2MB RAM, 2MB FLASH 
  mo_cpu1.ld-cfg
    Actually selected configuration included by other scripts
  mo_cpu1.ld-ram
    Memory layout for linking of application into RAM region
  mo_cpu1.ld-flash
    Memory layout for linking of application text and data initialization values
        into FLASH. Space for read/write data and BSS is allocated in RAM region
  mo_cpu1.ld-boot
    Setup for building board initialization code stored FLASH boot block



Dev-C++ use with CygWin m68k tools

New compiller settings needs to be defined for use of Dev-C++ for cross development.
Tools -> Compiler Options is used to define new compiller set.
Cannonical target name m68k-coff is used in the example.



The CygWin binary directory has to be added to the binaries paths listing.



Command names of cross-compiller utilities used for target has to be defined.



These options are held in c:\Documents and Settings\user\Local Settings\Application Data
directory. Configuration with m68k-coff target defined can be found in the provided file
devcpp.ini.

The project of target application has to specify name and set of used tools.





Some additional sub-architecture selecting options should be specified.
The linker script selection is mandatory to generate image for correct 
memory region.



The example of project file for simple application can be found in 
ther file simple.dev.





More documentation

Documentation is distributed between local copies and online references.


  Linux BDM debugging
    Article about BDM debugging
  Datasheets
    Datasheets for the components used on the MO_CPU2 board
  HTML documentation for GNU tools
    
      
        binutils
        gcc
        gdb
        make
      
    
  NEWLIB C Library
    
      
        C Library
        Math Library
      
    
  MO_CPU2/MO_CPU2
    
      Drawings for the second revision of the board
      
        Schematic diagram of the board
        Connector navigator
        Physical dimensions of the board
        Top wiew of the board
        Bottom wiew of the board
      
    
  PiKRON WWW pages
    



Disclaimer
All software and documentation is provided in hope to be useful,
but there is not WARRANTY of any kind.


All GNU software is freely distributable when contitions written in COPYING
file are met. We hope, that we have met all requirements by providing sources and configuration examples
of used software.


Example "simple" and m68k serial GDB stubs are provided without copyright restrictions
for use as template for real world embedded applications.


RTEMS copyright should be suitable for embedded applications as well.


This CD-ROM can be copyed freely .