WOODWARD 5466-033 Servo driver module

This section explains how to avoid contaminating the operating environment of the debugger. Topics covered include: ❏ 187Bug Vector Table and workspace ❏ Hardware functions ❏ Exception vectors used by 187Bug ❏ CPU/MPU registers 187Bug uses certain of the MVME187 onboard resources and may also use offboard system memory to contain temporary variables, exception vectors, etc. If you disturb resources upon which 187Bug depends, then the debugger may function unreliably or not at all. If your application enables translation through the Memory Management Units (MMUs), and utilizes resources of the debugger (e.g., system calls), your application must create the necessary translation tables for the debugger to have access to its various resources. The debugger honors the enabling of the MMUs; it does not disable translation.

187Bug Vector Table and Workspace

 The debugger and diagnostic firmware resides in the EPROMs. The first 64KB of RAM are also used by the debugger for storage of the Vector Table, executable code, variables, and stack.The only hardware resources used by the debugger are the EIA232-D ports, which are initialized to interface to the debug terminal and a host. If these ports are reprogrammed, the terminal characteristics must be modified to suit, or the ports should be restored to the debugger-set characteristics prior to reinvoking the debugger. Note Although the 187Bug does not explicitly manage the MC88200 or MC88204 CMMUs, hardware prevents caching of I/O space on the MVME187, i.e., . Furthermore, the code cache must not be operative for code pages which are being traced or breakpointed.

Floating Point Support The floating point Special Function Unit (SFU) of the MC88100 microprocessor chip is supported in 187Bug. For MVME187BUG, the commands MD, MM, RM, and RS have been extended to allow display and modification of floating point data in registers and in memory. Floating point instructions can be assembled and disassembled with the DI option of the MD and MM commands.The top 16 MC88100 exception vectors (i.e., #496 to 511 inclusive) are reserved for use by the debugger. CPU/MPU Registers MPU register CR20 is reserved for usage by the debugger. If CR20 is to be used by the user program, it must be restored prior to utilizing debugger resources (system calls).

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