VxWorks BSP开发者指南：入门必读

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"VxWorks BSP用户指南是针对初学者的教程，涵盖了VxWorks操作系统板级支持包(BSP)的开发和使用，由Wind River Systems公司创作并享有版权。该指南可能包括了如何在不同硬件平台上配置和优化VxWorks系统的基础知识，以及与自动代码生成、网络、实时性能等相关的内容。" VxWorks是一种广泛使用的实时操作系统(RTOS)，尤其在嵌入式系统领域中。BSP（Board Support Package）是VxWorks的核心组件之一，它提供了将VxWorks操作系统与特定硬件平台集成所需的驱动程序和服务。BSP开发者指南主要目标是帮助开发者理解和创建适合目标硬件的BSP。在VxWorks BSP的开发过程中，以下是一些关键知识点： 1. **硬件初始化**：BSP首先需要初始化硬件资源，如CPU、内存管理单元、时钟、中断控制器等，确保VxWorks可以正确地运行在目标硬件上。 2. **驱动程序开发**：编写针对特定硬件设备的驱动程序，如串口、网络接口、存储设备等，使得操作系统能够识别和控制这些硬件。 3. **中断处理**：定义中断服务例程(ISRs)来处理硬件事件，并确保它们能在实时环境中快速响应。 4. **配置工具使用**：熟悉Wind River的Tornado开发环境或其他配置工具，用于构建、调试和优化BSP。 5. **系统时钟和定时器**：理解如何设置和管理系统时钟，这对于实时系统的性能至关重要。 6. **内存管理**：配置和优化内存分配策略，确保高效且可靠的内存使用。 7. **多任务和调度**：VxWorks支持抢占式调度，了解如何设置任务优先级和调度策略对系统性能有很大影响。 8. **网络支持**：VxWorks通常包含完整的TCP/IP协议栈，BSP需要确保网络接口的正确配置和驱动。 9. **电源管理和能耗优化**：对于电池供电或能源受限的设备，BSP需要考虑如何有效地管理电源。 10. **系统启动流程**：理解引导加载程序(Bootloader)的工作原理，以及VxWorks如何通过BSP进行初始化启动。 11. **调试技巧**：学会使用VxWorks的调试工具，如GDB或Wind River Workbench，对BSP进行调试和问题定位。 12. **版本控制和兼容性**：保持BSP与VxWorks内核版本的兼容性，理解升级和回退的策略。 13. **安全性和认证**：在某些行业应用中，BSP还需要满足特定的安全标准和认证要求，如DO-178C（航空电子软件）或IEC 61508（工业安全）。 VxWorks BSP开发者需要对硬件架构有深入的理解，并熟练掌握嵌入式系统编程和VxWorks操作系统机制。通过学习和实践VxWorks BSP用户指南，开发者能够更好地定制和优化操作系统以适应各种硬件平台的需求。

VxWorks 5.5

BSP Developer’s Guide

xvi

xxIoctl( ) is the Basis of endIoctl( ) .................................................. 266

H Implementing a MUX-Based Network Interface Driver .......................................... 267

H.1 Introduction ...................................................................................................... 267

H.2 How VxWorks Launches and Uses Your Driver ......................................... 270

H.2.1 Launching Your Driver ..................................................................... 271

H.2.2 Your ISR Puts Work on the Network Job Queue ........................... 272

H.2.3 Executing Calls Waiting in the Network Job Queue .................... 273

H.2.4 Adding Your Network Interface Driver to VxWorks ................... 273

H.3 Guidelines for Handling Packet Reception in Your Driver ....................... 275

H.3.1 Setting Up and Using a Memory Pool for Receive and

Transmit Buffers 276

H.3.2 Swapping Buffers Between Protocol and Driver .......................... 280

H.3.3 Using Private Memory Management Routines ............................. 280

H.3.4 Supporting Scatter-Gather in Your Driver ..................................... 280

H.4 Indicating Error Conditions ........................................................................... 280

H.5 Required Driver Entry Points and Structures .............................................. 282

H.5.1 Required Structures for a Driver ..................................................... 283

Tracking Your Device’s Control Structure: DEV_OBJ .................. 285

Identifying the Entry Points into Your Network

Driver: NET_FUNCS .......................................................... 286

Tracking Link-Level Information: LL_HDR_INFO ...................... 287

Tracking Data That Passes Between the Driver and the

Protocol: mBlk ...................................................................... 288

H.5.2 Required Driver Entry Points .......................................................... 289

Loading the Device: endLoad( ) ...................................................... 290

Unloading the Device: endUnload( ) .............................................. 291

Providing an Opaque Control Interface to Your

Driver: endIoctl( ) ................................................................ 292

Sending Data Out on the Device: endSend( ) ................................ 293

Starting a Stopped but Loaded Driver: endStart( ) ....................... 294

Contents

xvii

Stopping the Driver Without Unloading It: endStop( ) ................ 294

Handling a Polling Send: endPollSend( ) ....................................... 295

Handling a Polling Receive: endPollReceive( ) ............................. 296

Adding a Multicast Address: endMCastAddrAdd( ) ................... 296

Deleting a Multicast Address: endMCastAddrDel( ) ................... 297

Getting the Multicast Address Table: endMCastAddrGet( ) ....... 298

Forming an Address into a Packet for Transmission:

endAddressForm( ) ............................................................. 299

Getting a Data-Only mBlk: endPacketDataGet( ) ......................... 299

Return Addressing Information: endPacketAddrGet( ) ............... 300

H.6 Writing Protocols That Use the MUX API .................................................... 301

Protocol Startup .................................................................................. 302

Sending Data ...................................................................................... 303

Receiving Data .................................................................................... 303

Supporting Scatter/Gather Devices ................................................ 304

Protocol Transmission Restart .......................................................... 304

Protocol Shutdown ............................................................................ 305

H.6.1 Protocol to MUX API ......................................................................... 305

The Protocol Data Structure NET_PROTOCOL ............................ 306

Passing a Packet Up to the Protocol: stackRcvRtn( ) .................... 307

Passing Error Messages Up to the Protocol: stackError( ) ........... 308

Shutting Down a Protocol: stackShutdownRtn( ) ......................... 309

Restarting Protocols: stackTxRestartRtn( ) ..................................... 310

H.6.2 Network Layer to Data Link Layer Address Resolution ............. 310

H.7 Converting an END Driver from RFC 1213 to RFC 2233 ........................... 311

I Writing a SCSI-2 Device Driver ............................................................................... 317

I.1 Introduction ...................................................................................................... 317

I.2 Overview of SCSI ............................................................................................. 318

I.3 The SCSI Libraries ............................................................................................ 321

I.3.1 SCSI Manager (scsiMgrLib) .............................................................. 322

I.3.2 SCSI Controller Library (scsiCtrlLib) .............................................. 324

I.3.3 SCSI Direct Access Library (scsiDirectLib) .................................... 324

VxWorks 5.5

BSP Developer’s Guide

xviii

I.3.4 SCSI Sequential Access Library (scsiSeqLib) ................................. 324

I.3.5 SCSI Common Access Library (scsiCommonLib) ........................ 324

I.3.6 An Execution Example ..................................................................... 325

I.4 The SCSI Driver Programming Interface ...................................................... 325

I.4.1 Basic SCSI Controller Driver ............................................................ 325

I.4.2 Advanced SCSI Controller Driver ................................................... 334

I.5 The BSP Interface ............................................................................................. 357

I.6 Guidelines for Developing a SCSI Driver .................................................... 359

I.7 Test Suites .......................................................................................................... 360

scsciDiskThruputTest( ) .................................................................... 360

scsiDiskTest( ) ..................................................................................... 361

scsiSpeedTest( ) .................................................................................. 362

tapeFsTest( ) ........................................................................................ 363

I.8 Troubleshooting and Debugging ................................................................... 364

J BSP Validation Test Suite Reference Entries ......................................................... 365

K BSP Validation Checklists ....................................................................................... 401

L Refgen ....................................................................................................................... 415

M BSP Product Contents ............................................................................................. 423

Index .......................................................................................................................... 427

VxWorks 5.5

BSP Developer’s Guide

Over the years, Wind River has been able to offer a wide range of BSPs to

customers. However, with the proliferation of many new CPU boards (many of

which are custom designs) Wind River alone has not been able to keep up with the

demand for new BSPs.

The Tornado BSP Developer’s Kit for VxWorks (BSP Kit) is intended to help you

create, document, and test new BSPs, components, and projects. The process of

porting VxWorks to a new board can be challenging, primarily because the

VxWorks development tools are unavailable until after the porting is ﬁnished.

Wind River has developed strategies that make porting easier. This BSP Kit

provides these strategies and a detailed look at how the system elements interact.

It also includes the technical information that a third party needs in order to create

and distribute components and projects based upon Tornado 2.x.

This release of the BSP Kit is compatible with Tornado 2.0 or later. Upgrading

earlier BSPs to work with the Tornado 2.x product is a relatively simple task. For

more information, see A. Upgrading a BSP for Tornado 2.0 or B. Upgrading a BSP for

Tornado 2.2.

New Features for Tornado 2.x

■

SCSI 1 Dropped Support for SCSI-1 drivers and libraries has been dropped. These

libraries are still included in Tornado 2.0, but they are classiﬁed as obsolete and

will not be included in future releases.

■

Macro TYCO5_2 Deleted The TYCO5_2 macro is no longer supported. Customers

should be using SIO drivers for Tornado 2.x.

■

BSP Packaging Changes Refer to 10.2 BSP Packaging, p.195 for details on

packaging requirements. See M. BSP Product Contents for a quick summary of a

typical product contents.

■

Documentation All on-line documentation is now provided as HTML pages. A

utility called refgen that generates HTML from existing nroff input is included in

the system.

■

VxWorks Network Stack The network stack, which was an option for Tornado 1.0.1

users, is now the only stack supported. It is referred to as the VxWorks network

stack. All BSPs have been converted to use drivers modiﬁed for the VxWorks

network stack (BSD 44 stack). In BSPs where both BSD44 and END drivers are

available, the END driver has been selected as the default driver for the BSP.

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VxWorks BSP开发者指南：入门必读

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