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vxworks_kernel_programmers_guide_6.9.pdf
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VxWorks
KERNEL PROGRAMMER'S GUIDE
6.9
®
VxWorks Kernel Programmer's G uide, 6.9
Copyright © 2011 Wind River Systems, Inc.
All rights reserved. No part of this publication may be reproduced or transmitted in any
form or by any means without the prior written permission of Wind River Systems, Inc.
Wind River, Tornado, and VxWorks are registered trademarks of Wind River Systems, Inc.
The Wind River logo is a trademark of Wind River Systems, Inc. Any third-party
trademarks referenced are the property of their respective owners. For further information
regarding Wind River trademarks, please see:
www.windriver.com/company/terms/trademark.html
This product may include software licensed to Wind River by third parties. Relevant
notices (if any) are provided in your product installation at one of the following locations:
installDir/product_name/3rd_party_licensor_notice.pdf
installDir/legal-notices/
Wind River may refer to third-party documentation by listing publications or providing
links to third-party Web sites for informational purposes. Wind River accepts no
responsibility for the information provided in such third-party documentation.
Corporate Headquarters
Wind River
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Toll free (
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Telephone: 510-748-4100
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For additional contact information, see the Wind River Web site:
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For information on how to contact Customer Support, see:
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VxWorks
Kernel Programmer's Guide
6.9
11 Feb 11
iii
Contents
PART I: CORE TECHNOLOGIES
1 Overview ...................................................................................................... 3
1.1 Introduction ...................................................................................................................... 3
1.2 Kernel Architecture .........................................................................................................3
1.3 Related Documentation Resources .............................................................................. 4
1.4 VxWorks Configuration and Build .............................................................................. 5
2 VxWorks Configuration ............................................................................. 7
2.1 Introduction ...................................................................................................................... 7
2.2 About VxWorks Configuration ................................................................................... 7
2.2.1 Default Configuration and Images ................................................................. 8
2.2.2 Configuration With VxWorks Image Projects .............................................. 8
2.2.3 Configuration With VxWorks Source Build Projects ................................... 8
2.2.4 Configuration and Customization .................................................................. 8
2.2.5 Configuration Tools: Workbench and vxprj ................................................. 9
2.3 VxWorks Image Projects: VIPs .................................................................................... 9
2.3.1 VxWorks Components ..................................................................................... 10
Component Names .......................................................................................... 10
Basic VxWorks Components ........................................................................... 11
2.3.2 Device Driver Selection ................................................................................... 13
2.3.3 Component Bundles and Configuration Profiles ........................................ 14
2.3.4 VxWorks Component Reference .................................................................... 14
2.4 VxWorks Source Build Projects: VSBs ....................................................................... 14
2.4.1 Basic Operating System VSB Options ........................................................... 16
BSP-Specific Optimizations ............................................................................. 17
VxWorks
Kernel Programmer's Guide, 6.9
iv
Inconsistent Cache Mode Support .................................................................. 17
System Viewer Instrumentation Support ...................................................... 17
Real-Time Process Support .............................................................................. 17
Object Management Support ........................................................................... 18
Error Detection and Reporting Policy Hooks ............................................... 18
Task Switch Hook Support .............................................................................. 18
Task Create Hook Support .............................................................................. 19
CPU Power Management Support ................................................................. 19
Advanced Options ............................................................................................ 19
VxWorks BSP Validation Test Suite Support ................................................ 20
Symmetric Multiprocessor (SMP) Support ................................................... 20
SMP Determinism ............................................................................................. 20
MIPC Support .................................................................................................... 20
WRLOAD Support ............................................................................................ 20
2.4.2 VSB Profiles ........................................................................................................ 20
2.4.3 Using VSB Projects to Create VxWorks Systems: Basic Steps ................... 20
2.4.4 Developing Kernel Applications for VSB Systems ..................................... 21
2.5 VxWorks Without Networking .................................................................................... 21
2.6 Small-Footprint VxWorks Configuration ................................................................... 21
2.6.1 About Small-Footprint VxWorks .................................................................... 22
Kernel Facilities ................................................................................................. 22
Unsupported Facilities ..................................................................................... 22
BSPs ..................................................................................................................... 22
2.6.2 Configuring Small Footprint VxWorks .......................................................... 23
Small-Footprint VSB Profile and Options ..................................................... 23
VSB Options Specific to the Small-Footprint Profile .................................... 24
Small-Footprint VIP Profile and Components .............................................. 24
Optional Components for a Small Footprint VIP Project ............................ 24
2.6.3 Configuration and Build Steps for Small-Footprint VxWorks ................... 25
2.6.4 Writing Applications for Small-Footprint VxWorks ................................... 25
2.6.5 Example Application ........................................................................................ 26
2.6.6 Debugging Small-Footprint VxWorks ........................................................... 27
2.7 Power Management Facilities ....................................................................................... 27
2.7.1 Light Power Management ............................................................................... 28
2.8 VxWorks Image Types .................................................................................................. 28
2.8.1 Default VxWorks Images ................................................................................ 29
2.8.2 VxWorks Images for Development and Production Systems .................... 29
2.8.3 Boot Parameter Configuration for Standalone VxWorks Images .............. 30
3 Boot Loader ................................................................................................. 31
3.1 Introduction ...................................................................................................................... 31
Contents
v
3.2 Using a Default Boot Loader ......................................................................................... 32
3.3 Boot Loader Image Types .............................................................................................. 33
3.4 Boot Loader Shell ............................................................................................................ 33
3.4.1 Boot Loader Shell Commands ......................................................................... 34
3.5 Boot Parameters ............................................................................................................... 37
3.5.1 Displaying Current Boot Parameters ............................................................. 38
3.5.2 Description of Boot Parameters ...................................................................... 39
3.5.3 Changing Boot Parameters Interactively ....................................................... 42
3.6 Rebooting VxWorks ........................................................................................................ 43
3.7 Configuring and Building Boot Loaders .................................................................... 43
3.7.1 Boot Loader Profiles .......................................................................................... 44
3.7.2 Boot Loader Components ................................................................................ 45
3.7.3 Configuring Boot Parameters Statically ......................................................... 45
3.7.4 Enabling Networking for Non-Boot Interfaces ............................................. 46
3.7.5 Selecting a Boot Device ..................................................................................... 46
3.7.6 Reconfiguring Boot Loader Memory Layout for 32-Bit VxWorks ............. 48
Redefining the Boot Loader Link Address for Custom Boot Loaders ...... 48
Reconfiguring Memory Layout for a Persistent Memory Region ............. 49
3.7.7 Reconfiguring Boot Loader Memory Layout for 64-Bit VxWorks ............. 51
3.7.8 Building Boot Loaders ...................................................................................... 51
3.8 Installing Boot Loaders .................................................................................................. 51
3.9 Booting From a Network ............................................................................................... 51
3.10 Booting From a Target File System ............................................................................. 53
3.11 Booting From the Host File System Using TSFS ..................................................... 53
4 Kernel Applications .................................................................................... 55
4.1 Introduction ...................................................................................................................... 55
4.2 About Kernel Applications ........................................................................................... 56
4.3 C and C++ Libraries ........................................................................................................ 57
4.4 Kernel Application Structure ........................................................................................ 57
4.5 VxWorks Header Files .................................................................................................... 58
4.5.1 VxWorks Header File: vxWorks.h .................................................................. 58
4.5.2 Other VxWorks Header Files .......................................................................... 58
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