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VxWorks

KERNEL PROGRAMMER'S GUIDE

6.8

VxWorks Kernel Programmer's G uide, 6.8

iii

Contents

PART I: CORE TECHNOLOGIES

1 Overview ...................................................................................................... 3

1.1 Introduction ...................................................................................................................... 3

1.2 Related Documentation Resources .............................................................................. 4

1.3 VxWorks Configuration and Build .............................................................................. 4

2 Kernel Facilities and Kernel Configuration .............................................. 5

2.1 Introduction ...................................................................................................................... 5

2.2 Kernel Architecture .........................................................................................................5

2.3 System Startup ................................................................................................................. 7

2.4 VxWorks System Tasks .................................................................................................. 7

Basic VxWorks Tasks ........................................................................................ 7

Tasks for Optional Components ..................................................................... 10

2.5 Power Management ........................................................................................................ 12

2.5.1 Power Management for IA Architecture ....................................................... 12

ACPI Processor Power and Performance States ........................................... 12

ACPI Thermal Management ............................................................................ 13

VxWorks Power Management Facilities ........................................................ 14

Configuring VxWorks With Power Management Facilities ....................... 17

Power Management and System Performance ............................................. 18

2.5.2 Power Management for Other Architectures ................................................ 18

2.6 About VxWorks Configuration ................................................................................... 19

2.6.1 Default Configuration and Images ................................................................. 19

2.6.2 Configuration With VxWorks Image Projects .............................................. 19

2.6.3 Configuration With VxWorks Source Build Projects ................................... 19

2.6.4 Configuration and Customization .................................................................. 20

VxWorks

Kernel Programmer's Guide, 6.8

2.6.5 Configuration Tools: Workbench and vxprj ................................................. 20

2.7 VxWorks Image Projects: VIPs .................................................................................... 20

2.7.1 VxWorks Components ..................................................................................... 21

Component Names .......................................................................................... 21

Basic VxWorks Components ........................................................................... 22

2.7.2 Device Driver Selection ................................................................................... 24

2.7.3 Component Bundles and Configuration Profiles ........................................ 24

2.7.4 VxWorks Component Reference .................................................................... 25

2.8 VxWorks Source Build Projects: VSBs ....................................................................... 25

2.8.1 Basic Operating System VSB Options ........................................................... 27

BSP-Specific Optimizations ............................................................................. 28

Inconsistent Cache Mode Support .................................................................. 28

System Viewer Instrumentation Support ...................................................... 28

Real-Time Process Support .............................................................................. 28

Object Management Support ........................................................................... 29

Error Detection and Reporting Policy Hooks ............................................... 29

Shared Memory Objects (VxMP) Support ..................................................... 29

Task Switch Hook Support .............................................................................. 30

Task Create Hook Support .............................................................................. 30

CPU Power Management Support ................................................................. 30

Advanced Options ............................................................................................ 30

VxWorks BSP Validation Test Suite Support ................................................ 30

Symmetric Multiprocessor (SMP) Support ................................................... 30

SMP Determinism ............................................................................................. 30

MIPC Support .................................................................................................... 31

WRLOAD Support ............................................................................................ 31

2.8.2 VSB Profiles ........................................................................................................ 31

2.8.3 Using VSB Projects to Create VxWorks Systems: Basic Steps ................... 31

2.8.4 Developing Kernel Applications for VSB Systems ..................................... 32

2.9 Small-Footprint VxWorks Configuration ................................................................... 32

2.9.1 About Small-Footprint VxWorks .................................................................... 32

Kernel Facilities ................................................................................................. 32

Unsupported Facilities ..................................................................................... 32

BSPs ..................................................................................................................... 33

2.9.2 Configuring Small Footprint VxWorks .......................................................... 33

Small-Footprint VSB Profile and Options ..................................................... 33

VSB Options Specific to the Small-Footprint Profile .................................... 34

Small-Footprint VIP Profile and Components .............................................. 35

2.9.3 Configuration and Build Steps for Small-Footprint VxWorks ................... 35

2.9.4 Writing Applications for Small-Footprint VxWorks ................................... 36

2.9.5 Example Application ........................................................................................ 36

2.9.6 Debugging Small-Footprint VxWorks ........................................................... 37

Contents

2.10 VxWorks Image Types .................................................................................................. 37

2.10.1 Default VxWorks Images ................................................................................ 39

2.10.2 VxWorks Images for Development and Production Systems .................... 39

2.10.3 Boot Parameter Configuration for Standalone VxWorks Images .............. 39

3 Kernel Customization ................................................................................. 41

3.1 Introduction ...................................................................................................................... 41

3.2 Custom Components and CDFs ................................................................................... 42

3.2.1 About Components and CDFs ........................................................................ 42

3.2.2 Overview of Component Creation ................................................................. 42

3.2.3 Code Development for Components ............................................................. 43

3.2.4 Code Installation Directories ........................................................................... 43

3.2.5 CDF Objects and Properties ............................................................................. 43

Reserved Object Name Prefixes ...................................................................... 44

Underscore Operator ........................................................................................ 44

Component Object and Properties ................................................................. 45

Parameter Object and Properties .................................................................... 53

Initialization Group Object and Properties .................................................. 55

Bundle Object and Properties .......................................................................... 56

Profile Object and Properties ........................................................................... 58

Workbench Folder Object and Properties ..................................................... 59

Workbench Selection Object and Properties ................................................. 61

BSP Object and Properties ............................................................................... 62

3.2.6 CDF File Names and Precedence .................................................................... 64

3.2.7 CDF Installation Directories and Precedence ............................................... 65

3.2.8 CDF Testing ....................................................................................................... 66

3.3 Custom System Calls ...................................................................................................... 68

3.3.1 How System Calls Work .................................................................................. 68

3.3.2 System Call Requirements ............................................................................... 68

System Call Naming Rules .............................................................................. 69

System Call Numbering Rules ........................................................................ 69

System Call Argument Rules .......................................................................... 70

System Call Return Value Rules ..................................................................... 71

3.3.3 System Call Handler Requirements ............................................................... 72

System Call Handler Naming Rules ............................................................... 72

System Call Handler Argument Validation .................................................. 73

System Call Handler Error Reporting ............................................................ 73

3.3.4 Adding System Calls ........................................................................................ 73

Adding System Calls Statically ....................................................................... 73

Adding System Calls Dynamically ................................................................. 78

3.3.5 Monitoring And Debugging System Calls .................................................... 80

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