Transcript 01. Getting Started - eBook.PLDWorld.com

Getting Started
1.1 Components of Tornado
Getting Help
Hardware / Software Configuration
Booting
Starting Tornado
WDB Agent
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What is Tornado?
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Development Tools

Tornado Development Tools:
– Launch
- Launch Tornado tools
– WindSh
- Access target interactively
– CrossWind
- Source-level debugger
– Browser
- Display system information
– Project Facility - Configure applications or VxWorks

– WindView
- Analyze multitasking application
– Simulator
- Simulate VxWorks target on host OS
Tools are customizable with Tcl:
– Add new functionality
– Customize user interface
– some target-resident tools are available.
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Real-Time System
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Performance Enhancements

All tasks reside in a common address space.

All tasks run in supervisor (privileged) mode.
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Cross-development Cycle
Typical Tornado development configuration
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Tornado Delivery

Boot ROM’s for supported boards
– Board specific
– Use network to download VxWorks from host
– Turnkey for standard boards

CD-ROM for product components
– Tornado tools, which run on the host
– The VxWorks OS, which runs on the target
– Wind River Supplied BSP’s

Compiler ToolKit

Manuals on VxWorks and Tornado
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Portability
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Tornado Directory Tree
host
Tornado host-resident tools
SETUP Setup program
/usr/wind
share Shared XDR code
target VxWorks OS, Board Support
Packages
docs On-Line HTML documentation
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Host Directory Tree
include Header files for Tornado tools
src VxColor demo source
host-os Host-specific tools
host
bin Tornado and GNU host executables
lib Tornado Tool libraries
resource GUI, Tcl, and Help support files
tcl Standard Tcl distribution
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Target Directory Tree
config Files to configure and build VxWorks
target
all
Generic configuration files
bspName
Board Support Package (BSP)
comps
VxWorks component descriptor
files and configlettes
proj
Pre-built VxWorks bootable projects
h
VxWorks header files
lib
Libraries provided by VxWorks
src
Partial VxWorks source code
unsupported Tools, drivers
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Getting Started
Components of Tornado
1.2 Getting Help
Hardware / Software Configuration
Booting
Starting Tornado
WDB Agent
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Overview

There are several classes of help resources:

Manuals on host tools:
– Tornado User’s Guide
– GNU ToolKit User’s Guide
– WindView User’s Guide

Manuals on VxWorks OS:
– VxWorks Programmer’s Guide
– VxWorks Network Programmer’s Guide
– VxWorks Reference Manual
– BSP Reference (HTML)

Tornado Online HTML Manuals

Technical Support (if purchased)
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Other Resources

Usenet newsgroups covering VxWorks and embedded
programming topics, for example comp.os.vxworks.

Training courses:
– Tornado Device Driver Workshop
– Tornado BSP Training Workshop
– Tornado Tools Training Workshop

Technical Support provides help with
– installation problems and media errors
– WRS software, documentation, and service errors
– understanding WRS product functionality

WindSurf self-help web pages: search engine, FAQ,
patches, document updates, known problems list, ...
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Getting Started
Components of Tornado
Getting Help
1.3 Hardware / Software Configuration
Booting
Starting Tornado
WDB Agent
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Setting up for Cross-Development
To perform cross-development, you must:

Set up target hardware.

Define host environment variables and configure
networking software.

Start the Tornado registry, wtxregd.
– wtxregd manages a list of target servers. Tools contact the
registry to look up target servers by name.

Specify target boot parameters and boot target.

Configure and launch target server.
– Each target server manages host tools’ interaction with a
particular target.
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Target Hardware Configuration

VxWorks ROM’s replace the manufacturer’s ROM’s.

Boards may need to be jumpered. See the online BSP
Reference entry for your BSP about hardware setup
considerations.

Of course,
– Static electricity and overheating can damage boards.
– Connectors must be firmly in place (serial cables, ethernet cables,
VME, etc.).

VME specific:
– “System controller” in slot 0 (left-most slot).
– Having empty slots between boards requires jumpering the
backplane.
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UNIX: Host Software Configuration

Set environment variables required by Tornado in your
.cshrc (or .profile) file. The script torvars.csh (or
torvars.sh) may be sourced to set these variables.

Modify the registry host’s start-up files to start the
registry daemon, wtxregd, when the host boots.

Configure network access information:
– Obtain target IP addresses
– Assign host names to targets (optional)
– If booting with RSH, list your target’s name in
~/.rhosts.
– If necessary, modify routing tables.
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PC: Host Software Configuration

No environment variables need be set to work within the
Tornado IDE under Windows. Source torVars.bat to use
tools from the command line.

Registry startup procedure is defined when installing
Tornado. The registry may be installed
– in the Startup folder for Windows 95, 98 or NT 4.0.
– as a service for Windows NT.

The registry may also be run manually.

When using Tornado, specify the registry host you wish
to use on the Tools => Options... =>Tornado Registry
page.

Consult Windows 95/98/NT documentation to install and
configure TCP/IP for a PC.
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Getting Started
Components of Tornado
Getting Help
Hardware / Software Configuration
1.4 Booting
Starting Tornado
WDB Agent
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Boot ROM

Target’s boot ROM code executes on power up.

Boot ROM’s do not contain the VxWorks system under
which your application runs.

VxWorks system image is an object module on the host.

The boot ROM code:
– Allows setting of boot parameters.
– Downloads VxWorks into target memory via the network.
– Starts executing VxWorks.
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Boot Configuration
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At Power-On of Target
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Boot Parameters
[VxWorks Boot]: p
boot device
:
unit number
:
processor number
:
host name
:
file name
:
inet on ethernet (e):
host inet (h)
:
user (u)
:
ftp password (pw)
:
flags (f)
:
target name (tn)
:

ei
0
0
wolverine
c:\tornado2\target\config\mv162\vxWorks
147.11.12.204:ffffff00
147.11.12.165
todd
covert
0
t12-204
Unset boot parameters are not displayed by p:
gateway inet (g)
startup script (s)
other (o)
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Changing Boot Parameters

Type “c” at the boot prompt to change the boot
parameters interactively.

Target boards with NVRAM retain changes after power is
cycled.

Alternatively, can type boot parameters on a single line at
the boot prompt:
$ei(0,0)wolverine:c:\tornado2\target\config\mv162\vxWorks \
h=147.11.12.165 e=147.11.12.204 u=todd pw=covert tn=t12-204

Keeping this line in a file on the host machine allows cut
and paste (in host’s windowing system) for boot.

Can also make new boot ROM’s with correct default
parameters (see the Reconfiguration chapter).
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Booting
[VxWorks Boot]: @
boot device
unit number
processor number
host name
file name
inet on ethernet (e)
host inet (h)
user (u)
ftp password (pw)
flags (f)
target name (tn)
:
:
:
:
:
:
:
:
:
:
:
ei
0
0
wolverine
c:\tornado2\target\config\mv162\VxWorks
147.11.12.204:ffffff00
147.11.12.165
todd
covert
0x0
t12-204
Attached TCP/IP interface to ei0.
Attaching network interface lo0... done.
Loading... 424504 + 29664 + 29404
Starting at 0x20000...
Attached TCP/IP interface to ei unit 0
Attaching network interface lo0... done.
NFS client support not included.
VxWorks
Copyright 1984-1998
CPU:
VxWorks:
BSP version:
Creation date:
WDB:
Wind River Systems, Inc.
Motorola MVME162
5.4
1.2/0
Apr 22 1999
Ready.
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Rebooting

Type reboot( ) at a WindSh prompt.

Type CTRL-X in target console or UNIX WindSh.

Press abort button on board.

Press reset button on chassis.

On a power-on or other cold reboot, RAM is zeroed out to
avoid parity errors reading uninitialized memory. A warm
reboot skips this step.
– Typing reboot( ) or CTRL-X generates a warm reboot.
– In a VME environment, typically an abort generates a warm
reboot, while a reset causes a cold reboot for all CPU’s on the
bus.
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Alternative Booting Schemes

The shared memory network allows a target to boot over
the VMEbus. This scheme is discussed in the appendix.

Boot from a local disk.

Boot one VxWorks target from another, using the FTP
server.

Boot over a serial line, using SLIP, CSLIP, PPP, or TSFS.
Slower than booting across ethernet.

Obtain boot parameters using DHCP or BOOTP, then
download the boot file using TFTP.

Can put VxWorks in ROM. This will be covered in the
Reconfiguration chapter.
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Getting Started
Components of Tornado
Getting Help
Hardware / Software Configuration
Booting
1.5 Starting Tornado
WDB Agent
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Accessing Tools

Use a control panel to manage your Tornado session:
– Create and manage target servers.
– Start Tornado tools.
– Invoke online manuals.
– File requests for Technical Support.
– Browse relevant Web sites.

For UNIX hosts, the control panel is the Launcher. Start
control panel with:
% launch &

For PC hosts, the Tornado integrated development
environment (IDE) serves as the control panel. Invoke the
IDE with from the Start menu.
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UNIX: Launcher
Menu Bar
Button Bar
Display
Panels
Tool Select
Icons
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PC: Tornado Environment
Launch
Toolbar
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Target Server

After booting a target, you must start a target server to
access the target using the Tornado tools.

Target server provides host-based management of target
resources needed by development tools:
– Communication with debug agent on target.
– Dynamic module loading and unloading.
– Host-resident symbol table for target.
– Allocation of memory on target for host tools.
– Cache of target program text segment memory.
– Virtual I/O facilities.

This scheme is flexible:
– Minimizes tool’s impact on target.
– Tools independent of type of communication link.
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Tornado Architecture

wtxregd must be started before target server and tools.

The tools, registry, and target server may run on different
hosts.
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UNIX:Creating Target Servers (Pt. 1)
Target name/
IP Address
Target
Server Name
Target
Server Lock
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Creating Target Servers (Pt. 2)
Backend list
Target server
command line
Launch Button
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PC: Managing Target Servers
Target Server Name
Target Server
Properties
Target name/
IP Address
Target Server
Command Line
Launch Button
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Connecting To Target

Once the target server is successfully connected to the
target,
– (UNIX) An xterm will appear with connection information
(provided the Verbose option was specified), or
– (Windows) A dedicated target server window will display status.
Look in taskbar system tray for
.

Now Tornado tools may be started to interact with the
target.
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Getting Started
Components of Tornado
Getting Help
Hardware / Software Configuration
Booting
Starting Tornado
1.6 WDB Agent
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WDB Agent Configuration

The WDB Agent acts on the target on behalf of the target
server and Tornado tools:
– Reading or modifying memory.
– Setting or clearing break points.
– Creating, starting, stopping, and deleting tasks.
– Calling functions.
– Gathering system object information.

Agent is configurable:
– Specify task, external, or dual debug mode.
– Select communication strategy consistent with target server back
end.
– Set amount of target memory reserved for agent’s use.
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Host - Target Interaction
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Agent Configuration

In the default VxWorks image, the WDB agent is defined,
enabling WDB Agent support. All target agent
components are in /development tool components/WDB agent
components/.

Set WDB mode component to the appropriate debug
strategy (select at least one of the two):
– .../select WDB mode/WDB system debugging
– .../select WDB mode/WDB task debugging

Set WDB communication type. Some example
components are:
– .../select WDB connection/WDB END driver connection
– .../select WDB connection/WDB serial connection

Configure the agent’s serial channel (optional) by setting
component parameters.
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Summary

Tornado’s three components:
– VxWorks real-time operating system
– Networking
– Development tools

BSP (Board Support Package)
– Located in wind/target/config/bspName
– Contains board-specific files

Host executables are located in wind/host/host-os/bin/.

Help available:
– Online documentation
– Customer Support and WindSurf
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Summary

Target hardware setup is described in BSP
documentation.

Host environment.
– Set environment variables for UNIX or command-line use.
– Configure network facilities: IP addresses and hostnames.

Critical boot parameters:
– boot device
– VxWorks pathname
– host internet address
– target internet address
– user name
– processor number
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Summary

Use control panel to manage a Tornado development
session:
– Create, restart, and kill target servers.
– Start Tornado tools like WindSh, Browser, etc..

Invoke a target server for each target.

Target server manages:
– Target resources used by host tools.
– Target information.
– Communication with target.
– Tool-target interactions.
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Summary

Configure WDB Agent:
– Debug mode
– Communication strategy
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