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This manual describes the VxWorks operating system, and how to use VxWorks facilities in the development of real-time applications and systems. It covers the following topics: ■ kernel facilities, kernel-based applications, and kernel customization ■ multitasking facilities ■ POSIX standard interfaces ■ memory management ■ I/O system ■ local file systems ■ flash file system support with TrueFFS ■ error detection and reporting ■ target tools, such as the kernel shell, kernel object-module loader, and target symbol table ■ C++ development ■ shared memory objects (VxMP)
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VxWorks
KERNEL PROGRAMMER’S GUIDE
®
6.2
VxWorks Kernel Programmer's Guide
Copyright ¤ 2005 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, the Wind River logo, Tornado, and VxWorks are registered trademarks 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:
http://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 the following location:
installDir/product_name/3rd_party_licensor_notice.pdf.
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 Systems, Inc.
500 Wind River Way
Alameda, CA 94501-1153
U.S.A.
toll free (
U.S.): (800) 545-WIND
telephone: (510) 748-4100
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For additional contact information, please visit the Wind River URL:
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For information on how to contact Customer Support, please visit the following URL:
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VxWorks Kernel Programmer’s Guide, 6.2
11 Oct 05
Part #: DOC-15672-ZD-00
iii
Contents
1 Overview ............................................................................................... 1
1.1 Introduction ............................................................................................................. 1
1.2 Related Documentation Resources ..................................................................... 2
1.3 VxWorks Configuration and Build ..................................................................... 2
2 Kernel .................................................................................................... 5
2.1 Introduction ............................................................................................................. 6
2.2 Kernel Architecture ................................................................................................ 7
2.2.1 Operating System Facilities .................................................................... 8
2.2.2 System Tasks ............................................................................................. 9
2.3 System Startup ........................................................................................................ 12
2.4 Boot Loader .............................................................................................................. 12
2.4.1 Boot Loader Image Types ........................................................................ 13
2.4.2 Boot Loader Parameters and Commands, and Booting VxWorks .... 14
2.4.3 Customizing and Building Boot Loaders ............................................. 15
Changing Boot Loader Parameters ........................................................ 15
Reconfiguring Boot Loader Components ............................................. 16
VxWorks
Kernel Programmer’s Guide, 6.2
iv
Reconfiguring Memory ........................................................................... 16
Reconfiguring for Booting with the Target Server File System (TSFS) 17
Reconfiguring for Booting from a SCSI Device ................................... 18
Building Boot Loaders ............................................................................. 18
2.5 Kernel Images, Components, and Configuration ............................................ 19
2.5.1 VxWorks Image Types ............................................................................. 19
2.5.2 VxWorks Components ............................................................................. 21
2.5.3 Reconfiguring VxWorks .......................................................................... 26
2.5.4 VxWorks Configuration Profiles ............................................................ 26
VxWorks Profiles for a Scaling the Operating System ........................ 27
VxWorks Scalability Profiles: A Multi-Level View of The System .... 29
Minimal Kernel Profile ............................................................................ 31
Basic Kernel Profile .................................................................................. 35
Basic OS Profile ......................................................................................... 38
2.5.5 Customizing VxWorks Code .................................................................. 40
System Clock Modification ..................................................................... 40
Hardware Initialization Customization ................................................ 41
Other Customization ............................................................................... 41
2.6 Power Management ............................................................................................... 42
2.6.1 Power Management for IA Architecture .............................................. 42
ACPI Processor Power and Performance States .................................. 43
ACPI Thermal Management ................................................................... 44
VxWorks Power Management Facilities ............................................... 45
Configuring VxWorks With Power Management Facilities ............... 50
Power Management and System Performance .................................... 50
2.6.2 Power Management for Other Architectures ....................................... 50
2.7 Kernel-Based Applications ................................................................................... 52
2.7.1 Application Structure .............................................................................. 52
2.7.2 VxWorks Header Files ............................................................................. 53
2.7.3 Static Instantiation of Kernel Objects .................................................... 56
Static Instantiation of Kernel Objects .................................................... 58
2.7.4 Applications and VxWorks Kernel Component Requirements ......... 62
Contents
v
2.7.5 Building Kernel-Based Application Modules ...................................... 63
2.7.6 Downloading Kernel-Based Application Object Modules to a Target 65
2.7.7 Linking Kernel-Based Application Object Modules with VxWorks . 65
2.7.8 Image Size Considerations ...................................................................... 66
2.7.9 Configuring VxWorks to Run Applications Automatically ............... 68
2.8 Custom Kernel Libraries ....................................................................................... 68
2.9 Custom Kernel Components ................................................................................ 69
2.9.1 Component Description Language ....................................................... 70
Components .............................................................................................. 70
Bundles ...................................................................................................... 76
Folders ....................................................................................................... 77
Selections ................................................................................................... 79
Parameters ................................................................................................. 81
Initialization Groups ................................................................................ 82
2.9.2 Component Description File Conventions ........................................... 84
CDF Precedence ........................................................................................ 85
CDF Contents Template .......................................................................... 87
2.9.3 Creating and Modifying Components .................................................. 90
Elements of Components in a VxWorks Installation Tree .................. 90
Defining a Component ............................................................................ 91
Modifying a Component ......................................................................... 97
Testing New Components ....................................................................... 98
2.10 Custom System Calls ............................................................................................. 99
2.10.1 How System Calls Work .......................................................................... 99
2.10.2 System Call Requirements ...................................................................... 100
System Call Naming Rules ..................................................................... 100
System Call Numbering Rules ............................................................... 101
System Call Argument Rules .................................................................. 102
System Call Return Value Rules ............................................................. 103
2.10.3 System Call Handler Requirements ...................................................... 104
System Call Handler Naming Rules ...................................................... 104
System Call Handler Argument Validation ......................................... 105
System Call Handler Error Reporting ................................................... 105
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