RomWBW/Doc/FDU.txt

================================================================
Floppy Disk Utility (FDU) v5.3 for RetroBrew Computers 
Disk IO / Zeta / Dual-IDE / N8 / RC2014 / SmallZ80 / Dyno
================================================================

Updated January 5, 2020
by Wayne Warthen (wwarthen@gmail.com)

Application to test the hardware functionality of the Floppy 
Disk Controller (FDC) on the ECB DISK I/O, DISK I/O V3, ZETA 
SBC, Dual IDE w/ Floppy, or N8 board.
 
The intent is to provide a testbed that allows direct testing 
of all possible media types and modes of access.  The 
application supports read, write, and format by sector, track, 
and disk as well as a random read/write test.

The application supports access modes of polling, interrupt, 
INT/WAIT, and DRQ/WAIT.  At present, it supports 3.5" media at 
DD (720KB) and HD (1.44MB) capacities.  It also now supports 
5.25" media (720KB and 1.2MB) and 8" media (1.11MB) as well.   
Additional media will be added when I have time and access to 
required hardware.  Not all modes are supported on all 
platforms and some modes are experimental in all cases.

In many ways this application is merely reinventing the wheel 
and performs functionality similar to existing applications, 
but I have not seen any other applications for RetroBrew 
Computers hardware that provide this range of functionality.

While the application is now almost entirely new code, I would 
like to acknowledge that much was derived from the previous 
work of Andrew Lynch and Dan Werner.  I also want to credit 
Sergio Gimenez with testing the 5.25" drive support and Jim 
Harre with testing the 8" drive support.  Support for Zeta 2 
comes from Segey Kiselev.  Thanks!

General Usage
-------------

In general, usage is self explanatory.  At invocation, you 
must select the floppy disk controller (FDC) that you are 
using.  Subsequently, the main menu allows you to set the 
unit, media, and mode to test.  These settings MUST match your 
situation.  Read, write, format, and verify functions are 
provided.  A sub-menu will allow you to choose sector, track, 
disk, or random tests.

The verify function requires a little explanation.  It will 
take the contents of the current in-memory disk buffer, save 
it, and compare it to the selected sectors.  So, you must 
ensure that the sectors to be verified already have been 
written with the same pattern as the buffer contains.  I 
typically init the buffer to a pattern, write the pattern to 
the entire disk, then verify the entire disk.

Another submenu is provided for FDC commands.  This sub-menu 
allows you to send low-level commands directly to FDC.  You 
*must* know what you are doing to use this sub-menu.  For 
example, in order to read a sector using this sub-menu, you 
will need to perform specify, seek, sense int, and read 
commands specifying correct values (nothing is value checked 
in this menu).

Required Hardware/BIOS
----------------------

Of course, the starting point is to have a supported hardware 
configuration. The following Z80 / Z180 based CPU boards are 
supported:

 - SBC V1/2
 - Zeta
 - Zeta 2
 - N8
 - Mark IV
 - RC2014 w/ SMC
 - RC2014 w/ WDC
 - SmallZ80
 - Dyno

You must be using either a RomWBW or UBA based OS version.

You must have one of the following floppy disk controllers:

 - Disk IO ECB Board FDC
 - Disk IO 3 ECB Board FDC
 - Dual-IDE ECB Board FDC
 - Zeta SBC onboard FDC
 - Zeta 2 SBC onboard FDC
 - N8 SBC onboard FDC
 - RC2014 Scott Baker SMC-based Floppy Module
 - RC2014 Scott Baker WDC-based Floppy Module
 
Finally, you will need a floppy drive connected via an 
appropriate cable:

Disk IO - no twist in cable, drive unit 0/1 must be selected by jumper on drive
DISK IO 3, Zeta, Zeta 2, RC2014, Dyno - cable with twist, unit 0 after twist, unit 1 before twist
DIDE, N8, Mark IV, SmallZ80 - cable with twist, unit 0 before twist, unit 1 after twist

Note that FDU does not utilize your systems ROM or OS to 
access the floppy system.  FDU interacts directly with 
hardware.  Upon exit, you may need to reset your OS to get the 
floppy system back into a state that is expected.

The Disk I/O should be jumpered as follows:

J1: depends on use of interrupt modes (see interrupt modes below)
J2: pins 1-2, & 3-4 jumpered
J3: hardware dependent timing for DMA mode (see DMA modes below)
J4: pins 2-3 jumpered
J5: off
J6: pins 2-3 jumpered
J7: pins 2-3 jumpered
J8: off
J9: off
J10: off
J11: off
J12: off

Note that J1 can be left on even when not using interrupt 
modes.  As long as the BIOS is OK with it, that is fine.  Note 
also that J3 is only relevant for DMA modes, but also can be 
left in place when using other modes.

The Disk I/O 3 board should be jumpered at the default settings:

JP2: 3-4
JP3: 1-2 for int mode support, otherwise no jumper
JP4: 1-2, 3-4
JP5: 1-2
JP6: 1-2
JP7: 1-2, 3-4

Zeta & Zeta 2 do not have any relevant jumper settings.  The 
hardwired I/O ranges are assumed in the code.

The Dual-IDE board should be jumpered as follows:

K3 (DT/R or /RD): /RD
P5 (bd ID): 1-2, 3-4 (for $20-$3F port range)

There are no specific N8 jumper settings, but the default
I/O range starting at $80 is assumed in the published code.

The RC2014 Scott Baker SMC-based floppy module should be jumpered
for I/O base address 0x50 (SV1: 11-12), JP1 (TS) shorted,
JP2 (/FAULT) shorted, JP3 (MINI): 2-3, JP4 (/DC/RDY): 2-3.

The RC2014 Scott Baker WDC-based floppy module should be jumpered
for I/O base address 0x50 (SV1: 11-12), JP1 (/DACK): 1-2,
JP2 (TC): 2-3.

SmallZ80 does not have any relevant jumper settings.  The 
hardwired I/O ranges are assumed in the code.

Dyno does not have any relevant jumper settings.  The 
hardwired I/O ranges are assumed in the code.

Modes of Operation
------------------

You can select the following test modes.  Please refer to the 
chart that follows to determine which modes should work with 
combinations of Z80 CPU speed and media format.

WARNING: In general, only the polling mode is considered fully 
reliable.  The other modes are basically experimental and 
should only be used if you know exactly what you are doing.

Polling: Traditional polled input/output.  Works well and very 
reliable with robust timeouts and good error recovery.  Also, 
the slowest performance which precludes it from being used 
with 1.44MB floppy on a 4MHz Z80. This is definitely the mode 
you want to get working before any others. It does not require 
J1 (interrupt enable) on DISK I/O and does not care about the 
setting of J3.

Interrupt: Relies on FDC interrupts to determine when a byte 
is ready to be read/written.  It does *not* implement a 
timeout during disk operations.  For example, if there is no 
disk in the drive, this mode will just hang until a disk is 
inserted. This mode *requires* that the host has interrupts 
active using interrupt mode 1 (IM1) and interrupts attached to 
the FDC controller.  The BIOS must be configured to handle 
these interrupts safely.

Fast Interrupt: Same as above, but sacrifices additional 
reliability for faster operation.  This mode will allow a 
1.44MB floppy to work with a 4MHz Z80 CPU.  However, if any 
errors occur (even a transient read error which is not 
unusual), this mode will hang.  The same FDC interrupt 
requirements as above are required.

INT/WAIT: Same as Fast Interrupt, but uses CPU wait instead of 
actual interrupt.  This mode is exclusive to the original Disk 
IO board.  It is subject to all the same issues as Fast 
Interrupt, but does not need J1 shorted.  J3 is irrelevant.

DRQ/WAIT: Uses pseudo DMA to handle input/output.  Does not 
require that interrupts (J1) be enabled on the DISK I/O.  
However, it is subject to all of the same reliability issues 
as "Fast Interrupt".  This mode is exclusive to the original 
Disk IO board.  At present, the mode is *not* implemented!

The chart below attempts to describe the combinations that 
work for me.  By far, the most reliable mode is Polling, but 
it requires 8MHz CPU for HD disks.

DRQ/WAIT --------------------------------+
INT/WAIT -----------------------------+  |
Fast Interrupt --------------------+  |  |
Interrupt ----------------------+  |  |  |
Polling ---------------------+  |  |  |  |
                             |  |  |  |  |
CPU Speed --------------+    |  |  |  |  |
                        |    |  |  |  |  |
                        |    |  |  |  |  |

3.5" DD (720K) ------  4MHz  Y  Y  Y  Y  X
                       8MHz+ Y  Y  Y  Y  X

3.5" HD (1.44M) -----  4MHz  N  N  Y  Y  X
                       8MHz+ Y  Y  Y  Y  X
					   
5.25" DD (360K) -----  4MHz  Y  Y  Y  Y  X
                       8MHz+ Y  Y  Y  Y  X

5.25" HD (1.2M) -----  4MHz  N  N  Y  Y  X
                       8MHz+ Y  Y  Y  Y  X
					   
8" DD (1.11M) -------  4MHz  N  N  Y  Y  X
                       8MHz+ Y  Y  Y  Y  X
					   
Y = Yes, works
N = No, does not work
X = Experimental, probably won't work

Tracing
-------

Command/result activity to/from the FDC will be written out if 
the trace setting is changed from '00' to '01' in setup. 
Additionally, if a command failure is detected on any command, 
that specific comand and results are written regardless of the 
trace setting.

The format of the line written is:
<OPERATION>: <COMMAND BYTES> --> <RESULT BYTES> [<RESULT>]

For example, this is the output of a normal read operation:
READ: 46 01 00 00 01 02 09 1B FF --> 01 00 00 00 00 02 02 [OK]

Please refer to the i8272 data sheet for information on the 
command and result bytes.

Note that the sense interrupt command can return a non-OK 
result.  This is completely normal in some cases.  It is 
necessary to "poll" the drive for seek status using sense 
interrupt.  If there is nothing to report, then the result 
will be INVALID COMMAND.  Additionally, during a recalibrate 
operation, it may be necessary to issue the command twice 
because the command will only step the drive 77 times looking 
for track 0, but the head may be up to 80 tracks away.  In 
this case, the first recalibrate fails, but the second should 
succeed.  Here is what this would look like if trace is turned 
on:

RECALIBRATE: 07 01 --> <EMPTY> [OK]
SENSE INTERRUPT: 08 --> 80 [INVALID COMMAND]
	...
	...
	...
SENSE INTERRUPT: 08 --> 80 [INVALID COMMAND]
SENSE INTERRUPT: 08 --> 71 00 [ABNORMAL TERMINATION]
RECALIBRATE: 07 01 --> <EMPTY> [OK]
SENSE INTERRUPT: 08 --> 21 00 [OK]

Another example is when the FDC has just been reset.  In this 
case, you will see up to 4 disk change errors.  Again these 
are not a real problem and to be expected.

When tracing is turned off, the application tries to be 
intelligent about error reporting.  The specific errors from 
sense interrupt documented above will be suppressed because 
they are not a real problem.  All other errors will be 
displayed.

Error Handling
--------------

There is no automated error retry logic.  This is very 
intentional since the point is to expose the controller and 
drive activity.  Any error detected will result in a prompt to 
abort, retry, or continue.  Note that some number of errors is 
considered normal for this technology.  An occasional error 
would not necessarily be considered a problem.

CPU Speed
---------

Starting with v5.0, the application adjusts it's timing loops 
to the actual system CPU speed by querying the BIOS for the 
current CPU speed.

Interleave
----------

The format command now allows the specification of a sector 
interleave.  It is almost always the case that the optimal 
interleave will be 2 (meaning 2:1).

360K Media
----------

The 360K media definition should work well for true 360K 
drives.  However, it will generally not work with 1.2M 
drives.  This is because these drives spin at 360RPM instead 
of the 300RPM speed of true 360K drives.  Additionally, 1.2M 
drives are 80 tracks and 360K drives are 40 tracks and, so 
far, there is no mechanism in FD to "double step" as a way to 
use 40 track media in 80 track drives.

With this said, it is possible to configure some 1.2M 5.25" 
drives to automatically spin down to 300RPM based on a density 
select signal (DENSEL).  This signal is asserted by FD for 
360K media, so IF you have configured your drive to react to 
this signal correctly, you will be able to use the 360K media 
defintion. Most 1.2M 5.25" drives are NOT configured this way 
by default. TEAC drives are generally easy to modify and have 
been tested by the author and do work in this manner.  Note 
that this does not address the issue of double stepping above; 
you will just be using the first 40 of 80 tracks.

Support
-------

I am happy to answer questions as fast and well as I am able. 
Best contact is wwarthen@gmail.com or post something on the 
RetroBrew Computers Forum 
https://www.retrobrewcomputers.org/forum/.

Changes
-------

WW 8/12/2011

Removed call to pulse TC in the FDC initialization after 
determining that it periodically caused the FDC to write bad 
sectors.  I am mystified by this, but definitely found it to 
be true.  Will revisit at some point -- probably a timing 
issue between puslsing TC and whatever happens next.

Non-DMA mode was being set incorrectly for FAST-DMA mode. It 
was set for non-DMA even though we were doing DMA.  It is 
interesting that it worked fine anyway.  Fixed it anyway.

DIO_SETMEDIA was not clearing DCD_DSKRDY as it should.  Fixed.

WW 8/26/2011: v1.1

Added support for Zeta.  Note that INT/WAIT and DRQ/WAIT are 
not available on Zeta.  Note that Zeta provides the ability to 
perform a reset of the FDC independent of a full CPU reset.  
This is VERY useful and the FDC is reset anytime a drive reset 
is required.

Added INT/WAIT support.

WW 8/28/2011: V1.2

All changes in this version are Zeta specific.  Fixed FDC 
reset logic and motor status display for Zeta (code from 
Sergey).

Modified Zeta disk change display to include it in the command 
output line.  This makes more sense because a command must be 
issued to select the desired drive first.  You can use the 
SENSE INT command id you want to check the disk change value 
at any time.  It will also be displayed with any other command 
output display.

WW 9/1/2011: V1.3

Added CPUFREQ configuration setting to tune delays based on 
cpu speed.  The build app is set for 8MHz which also seems to 
work well for 4MHz CPU's.  Faster CPU speeds will probably 
require tuning this setting.

WW 9/5/2011: V1.4

Changed the polling execution routines to utilize CPUFREQ 
variable to optimize timeout counter.  Most importantly, this 
should allow the use of faster CPUs (like 20MHz).

WW 9/19/2011: V1.5

Zeta changes only.  Added a call to FDC RESET after any 
command failure.  This solves an issue where the drive remains 
selected if a command error occurs.  Also added FDC RESET to 
FDC CONTROL menu.

WW 10/7/2011: V2.0

Added support for DIDE.  Only supports polling IO and it does 
not appear any other modes are possible given the hardware 
constraints.

WW 10/13/2011: V2.1

Modified to support N8.  N8 is essentially identical to Dual 
IDE. The only real change is the IO addresses.  In theory, I 
should be able to support true DMA on N8 and will work on that.

WW 10/20/2011: v2.2

I had some problems with the results being read were sometimes 
missing a byte.  Fixed this by taking a more strict approach 
to watching the MSR for the exact bits that are expected.

WW 10/22/2011: V2.3

After spending a few days trying to track down an intermittent 
data corruption issue with my Dual IDE board, I added a verify 
function.  This helped me isolate the problem very nicely 
(turned out to be interference from the bus monitor).

WW 11/25/2011: V2.4

Preliminary support for DISKIO V3.  Basically just assumed 
that it operates just like the Zeta.  Needs to be verified 
with real hardware as soon as I can.

WW 1/9/2012: V2.5

Modified program termination to use CP/M reset call so that a 
warm start is done and all drives are logged out.  This is 
important because media may have been formatted during the 
program execution.

WW 2/6/2012: v2.6

Added support for 5.25" drives as tested by Sergio.

WW 4/5/2012: v2.7

Added support for 8" drives as tested by Jim Harre.

WW 4/6/2012: v2.7a

Fixed issue with media selection menu to remove duplicate 
entries.

WW 4/8/2012: v2.7b

Corrected the handling of the density select signal.

WW 5/22/2012: v2.8

Added new media definitions (5.25", 320K).

WW 6/1/2012: v2.9

Added interleave capability on format.

WW 6/5/2012: v3.0

Documentation cleanup.

WW 7/1/2012: v3.1

Modified head load time (HLT) for 8" media based on YD-180 
spec.  Now set to 50ms.

WW 6/17/2013: v3.2

Cleaned up SRT, HLT, and HUT values.

SK 2/10/2015: v3.3

Added Zeta SBC v2 support (Sergey Kiselev)

WW 3/25/2015: v4.0

Renamed from FDTST --> FD

WW 9/2/2017: v5.0

Renamed from FD to FDU.
Added runtime selection of FDC hardware.
Added runtime timing adjustment.

WW 12/16/2017: v5.1

Improved polling version of read/write to fix occasional overrun errors.

WW 1/8/2018: v5.2

Added support for RC2014 hardware:
  - Scott Baker SMC 9266 FDC module
  - Scott Baker WDC 37C65 FDC module

WW 9/5/2018: v5.3
  - Removed use of pulsing TC to end R/W operations after one sector and
    instead set EOT = R (sector number) so that after desired sector is
    read, R/W stops with end of cylinder error which is a documented
    method for controling number of sectors R/W.  This specific termination
    condition is no longer considered an error, but a successful end of
    operation.
  - Added support for SmallZ80

WW 5/1/2020: v5.4
  - Added support for Dyno (based on work by Steve Garcia)