GVME600SC-B机器人卡件
功能描述本节提供MVME162FX嵌入式控制器主要模块的功能描述。前面板开关和指示灯控制器前面板上有开关和LED。开关为RESET（复位）和ABORT（中止）。如果板用作系统控制器，复位开关复位所有板载设备并驱动SYSRESET*。复位开关可由软件禁用。当由软件启用时，ABORT开关在用户可编程级别生成中断。它通常用于中止程序执行并返回到调试器。控制器前面板上有八个LED：FAIL、STAT、RUN、SCON、LAN、FUSE（LAN电源）、SCSI和VME。BRDFAIL信号线激活时，红色FAIL LED（DS1的一部分）亮起。MC68040状态线在控制器上解码，以驱动黄色STAT（状态）LED（DS1的一部分）。在这种情况下，来自处理器的停止条件会点亮LED。当本地总线TIP*信号线低时，绿色RUN LED（DS2的一部分）亮起。这表示其中一个本地总线主机正在执行本地总线循环。当VMEchip2是VMEbus系统控制器时，绿色SCON LED（DS2的一部分）亮起。当LAN芯片是本地总线主机时，绿色LAN LED（DS3的一部分）亮起。MVME162FX通过保险丝向以太网收发器接口提供+12 Vdc电源。当收发器接口可用时，绿色FUSE（LAN电源）LED（DS3的一部分）亮起。1功能说明当SCSI芯片是本地总线主机时，绿色SCSI指示灯（DS4的一部分）亮起。1-12计算机组文献中心网站板级硬件描述1当板使用VMEbus时（VMEbus AS*由VMEcchip2断言）或当板由VMEbus访问时（VMEchip2是本地总线主机），绿色VME LED（DS4的一部分）亮起。数据总线结构MVME162FX嵌入式控制器上的本地数据总线是基于MC68040总线的32位同步总线，支持突发传输和窥探。各种本地总线主设备和从设备使用本地总线进行通信。本地总线由优先级类型仲裁器仲裁。本地总线主机的优先级从高到低依次为：82596CA LAN、Industry Pack DMA、53C710 SCSI、VMEbus和MPU。一般来说，任何主机都可以访问任何从机；然而，并非所有组合都能通过常识测试。请参阅《MVME162FX嵌入式控制器程序员参考指南》和每个设备的用户指南，以确定其端口大小、数据总线连接以及访问设备时适用的任何限制。MC68040或MC68LC040 MPU在MVME162FX嵌入式控制器上使用MC680400或MC68LC 040处理器。MC68040具有片上指令和数据缓存、可选的高驱动器I/O缓冲区和浮点处理器。两个处理器之间的主要区别在于MC68040具有浮点协处理器。MC68040支持多主应用程序中的高速缓存一致性，具有专用的片上总线窥探逻辑。有关更多信息，请参阅MC68040微处理器用户手册。功能描述http://www.mcg.mot.com/literature1-13 1 MC68xx040高速缓存MVME162FX嵌入式控制器本地总线主控器（VMEcchip2、MC68xx1040、53C710 SCSI控制器和82596CA以太网控制器）具有窥探/高速缓存模式的可编程控制。IP DMA本地总线主机的窥探控制功能由J26处的跳线设置控制。J26控制所有IP DMA传输的窥探控制信号的值。这包括当在IP DMA以命令链接模式操作时更新DMA控制寄存器时执行的IP DMA。支持MC68xx040总线监听的控制器的本地总线从机在本章后面的本地总线内存映射表中定义。无VMEbus接口选项MVME162FX嵌入式控制器可作为嵌入式控制器运行，无需VMEbus界面。对于此选项，不会填充VMEchip2和VMEbus缓冲区。此外，总线授权菊花链和中断确认菊花链安装了零欧姆旁路电阻器。为了支持此功能，VMEchip2中的某些逻辑已在MC2芯片中复制。如果VMEchip2存在，则MC2芯片中禁止该逻辑。这些功能的启用由软件和MC2芯片硬件初始化控制。请注意，订购的没有VMEbus接口的MVME162FX型号附带闪存空白（工厂使用VMEbus使用调试器代码对闪存进行编程）。要使用162Bug包MVME162Bug，请确保为EPROM内存映射配置了跳线头J22。更多详情请参阅第3章和第4章。有关订购信息，请联系您当地的摩托罗拉销售办事处。1-14计算机组文献中心网站板级硬件描述1内存选项以下内存选项用于diff
Functional Description This section provides a functional description of the major blocks on the MVME162FX Embedded Controller. Front Panel Switches and Indicators There are switches and LEDs on the front panel of the controller. The switches are RESET and ABORT. The RESET switch resets all onboard devices and drives SYSRESET* if the board is acting as a system controller. The RESET switch may be disabled by software. When enabled by software, the ABORT switch generates an interrupt at a user-programmable level. It is normally used to abort program execution and return to the debugger. There are eight LEDs on the controller’s front panel: FAIL, STAT, RUN, SCON, LAN, FUSE (LAN power), SCSI, and VME. The red FAIL LED (part of DS1) lights when the BRDFAIL signal line is active. The MC68040 status lines are decoded on the controller to drive the yellow STAT (status) LED (part of DS1). In this case, a halt condition from the processor lights the LED. The green RUN LED (part of DS2) lights when the local bus TIP* signal line is low. This indicates one of the local bus masters is executing a local bus cycle. The green SCON LED (part of DS2) lights when the VMEchip2 is the VMEbus system controller. The green LAN LED (part of DS3) lights when the LAN chip is the local bus master. The MVME162FX supplies +12 Vdc power to the Ethernet transceiver interface through a fuse. The green FUSE (LAN power) LED (part of DS3) lights when power is available to the transceiver interface. 1Functional DescriptionThe green SCSI LED (part of DS4) lights when the SCSI chip is local bus master. 1-12 Computer Group Literature Center Web Site Board Level Hardware Description 1 The green VME LED (part of DS4) lights when the board is using the VMEbus (VMEbus AS* is asserted by the VMEchip2) or when the board is accessed by the VMEbus (VMEchip2 is the local bus master). Data Bus Structure The local data bus on the MVME162FX Embedded Controller is a 32-bit synchronous bus based on the MC68040 bus, and which supports burst transfers and snooping. The various local bus master and slave devices use the local bus to communicate. The local bus is arbitrated by a priority type arbiter. The priority of the local bus masters from highest to lowest is: 82596CA LAN, Industry Pack DMA, 53C710 SCSI, VMEbus, and MPU. Generally speaking, any master can access any slave; however, not all combinations pass the common sense test. Refer to the MVME162FX Embedded Controller Programmer’s Reference Guide and to the user’s guide for each device to determine its port size, data bus connection, and any restrictions that apply when accessing the device. MC68040 or MC68LC040 MPU The MC68040 or MC68LC040 processor is used on the MVME162FX Embedded Controller. The MC68040 has on-chip instruction and data caches, optional high drive I/O buffers, and a floating point processor. The major difference between the two processors is that the MC68040 has a floating point coprocessor. The MC68040 supports cache coherency in multi-master applications with dedicated on-chip bus snooping logic. Refer to the MC68040 Microprocessor User’s Manual for more information. Functional Description http://www.mcg.mot.com/literature 1-13 1 MC68xx040 Cache The MVME162FX Embedded Controller local bus masters (VMEchip2, MC68xx040, 53C710 SCSI controller, and 82596CA Ethernet controller) have programmable control of the snoop/caching mode. The IP DMA local bus master’s snoop control function is controlled by jumper settings at J26. J26 controls the value of the snoop control signals for all IP DMA transfers. This includes the IP DMA which is executed when the DMA control registers are updated while the IP DMA is operating in the command chaining mode. The controller’s local bus slaves which support MC68xx040 bus snooping are defined in the Local Bus Memory Map table later in this chapter. No-VMEbus-Interface Option The MVME162FX Embedded Controller can be operated as an embedded controller without the VMEbus interface. For this option, the VMEchip2 and the VMEbus buffers are not populated. Also, the bus grant daisy chain and the interrupt acknowledge daisy chain have zero-ohm bypass resistors installed. To support this feature, certain logic in the VMEchip2 has been duplicated in the MC2 chip. This logic is inhibited in the MC2 chip if the VMEchip2 is present. The enables for these functions are controlled by software and MC2 chip hardware initialization. Note that MVME162FX models ordered without the VMEbus interface are shipped with a flash memory blank (the factory uses the VMEbus to program the flash memory with debugger code). To use the 162Bug package, MVME162Bug, be sure that jumper header J22 is configured for the EPROM memory map. Refer to Chapters 3 and 4 for further details. For ordering information, contact your local Motorola sales office. 1-14 Computer Group Literature Center Web Site Board Level Hardware Description 1 Memory Options The following memory options are used on the different versions of the MVME162FX Embedded Controller. DRAM Options The controller’s design allows a 4MB, 8MB, or 16MB DRAM option.
