VxWorks BSP User Guide. Ref: BSPUG0120

Transcription

1 VxWorks BSP User Guide Ref: BSPUG0120

2 Document reference number BSPUG0120. Copyright 2000 AG Electronics Ltd. This publication is protected by Copyright Law, with all rights reserved. Complete and unmodified copies of this document may be freely redistributed. Redistribution of modified versions requires prior written permission from AG Electronics. AG Electronics reserves the right to alter specifications without notice, in line with its policy of continuous development. AG Electronics cannot accept responsibility to any third party for loss or damage arising out of the use of this information. AG Electronics acknowledges all registered trademarks. AG Electronics Ltd Forestry House Stadhampton Road Great Haseley Oxon OX44 7PF United Kingdom tel: +44 (0) fax: +44 (0) web:

3 Introduction 1 Introduction The TPE3 and TM3 PowerPC boards have one major difference from traditional single board computers, and this must be taken into account when developing VxWorks applications to run on them. These boards are both processing peripherals, and are intended to be used in conjunction with a host system, which may be running a real-time or a desktop operating system. The host system is responsible for configuring the PCI bus, and for loading code onto the PowerPC board. The Tornado development tools will normally be run on a separate system, connected to the PowerPC via a serial cable. This allows VxWorks debugging without interference with the host system. The VxWorks application can communicate with host programs using the same library as the AG Electronics Basic Environment Tools. Once development is finished, the VxWorks application can be turned into a single bootable file, and the serial cable disconnected allowing stand-alone operation of the host system and TPE3. Throughout this document the product name TPE3 is used to refer to both TPE3 PCI cards and TM3 PMCs. There are no software visible differences between the two. This manual assumes some knowledge of VxWorks and of Tornado 2, and of PCI bus concepts. 1.1 On-board Peripherals The PowerPC processor node has a block of local memory, a serial port, a timer, and a block of non-volatile memory. The local memory of the PowerPC consists of 64 to 256MByte of SDRAM, and the board can be configured to make any quantity above 1Mbyte visible to the PCI bus. The default configuration is to make all memory visible to PCI, but systems using a large number of PowerPC nodes may need to reduce this to stay within the 4GByte limit of the 32-bit PCI address space. The serial port is normally used with the WDM protocol for VxWorks debugging. The timer provides the VxWorks auxilliary clock, and enables use of the Spy utility. VxWorks BSP User Guide 1

4 Technical Support 1.2 Technical Support Contact information for technical support is provided in the separate "Support" document. A hard copy of this is shipped with the TPE3 and an HTML version is provided with the on-line documentation. 1.3 About this manual If you are viewing this manual as an Acrobat PDF document on the AG Electronics Resources CD-ROM, then you can use the various hot links provided. These include cross references within this document (e.g. "section N on page P"), references to other Acrobat documents (shown in red) and Internet URLs (shown in blue). The mouse pointer will change to a pointing hand when it is held over a link that you can click on. The Acrobat Reader application is free and available for various platforms from References and Resources For further information on VxWorks, see: WindRiver Systems ( VxWorks BSP User Guide 2

5 Getting Started 2 Getting Started 2.1 The Host System First, the TPE3 or TM3 must be installed in the host system, and the Basic Environment Tools from the AG Electronics CDROM or website installed. The software manual for the tools describes the installation process in more detail, but once the tools have been installed it shoul be possible to verify the operation of the board using the tpe3test command. 2.2 The Development System First, ensure that the Tornado 2 development tools are installed. Then, use the File>New Project menu item to create a bootable version of the BSP. From the initial menu, select "Create a bootable VxWorks image": VxWorks BSP User Guide 3

6 Booting VxWorks In Step 1, select a project name and directory. In Step 2, select the directory containing the source of the TPE3 BSP as the base of the project: Having built the project, check the configuration options. For best performance, set the speed of the serial connection to baud. Once the configuration is set, build the project. This will produce a bootable VxWorks image in the file default/vxworks under the project directory. 2.3 Booting VxWorks The next step is to connect a null-modem cable, such as that supplied with the TPE3, between a serial port of the development system and the serial port of the TPE3. VxWorks BSP User Guide 4

7 Booting VxWorks On the host system, load the VxWorks image. This will produce a few lines of output, which will vary depending on hardware configuration and the debugging options of the BSP: F:\Tornado\project0\default>ppcload -v vxworks Searching for TPE Not in I2O yet No of kernel headers: 1 Initial offset: 52 Size: 32 Loading ELF section to 0x length 0x0008b5c8 Start address 0x Entering service loop [0] It s alive! [0] BATS: [0] 0: IBAT 0x000003ff 0x DBAT 0x000003ff 0x [0] 1: IBAT 0x020003ff 0x DBAT 0x020003ff 0x [0] 2: IBAT 0x040003ff 0x DBAT 0x040003ff 0x [0] 3: IBAT 0x060003ff 0x DBAT 0x060003ff 0x [0] (2) MSR: 0x0000b030 HID0: 0x0000c0a4 [0] Setting L2: 0x On the development system, configure a target server, using the Tools>Target Server>Configure menu item: VxWorks BSP User Guide 5

8 Booting VxWorks The target server baud rate must be set to the same rate as that configured into the BSP. The target server must also be set to use the correct VxWorks image as the source for its symbols: Launch the target server using the launch button. If all goes well the target server log window should contain something similar to the following: tgtsvr Tue Apr 11 15:46: Wind River Systems Target Server: NT/Win95 version Connecting to target agent... succeeded. Attaching C++ interface... succeeded. Attaching elf OMF reader for PPC CPU family... succeeded. It should now be possible to start a shell, and to use the normal features of the Tornado environment. VxWorks BSP User Guide 6

9 Implementation Details 3 Implementation Details 3.1 PCI Access The BSP provides the normal VxWorks mechanisms for PCI access, such as pcifinddevice(). The host system will have set the PCI addresses at boot time, so no further configuration should be necessary. By default the BSP only supports PCI bus 0, which allows access to the PMC site of the TPE3, and allows the TM3 access to other devices on the same bus. When VxWorks loads the BSP scans the PCI bus and adds static memory mappings to the sysphysmemdesc array, so that the TPE3 can access its PMC site. The TPE3 by default maps PowerPC address range 0x to 0xffffffff onto PCI memory address range 0x to 0xffffffff.This allows access to other PCI devices by direct mastering, but means that on PC systems it is necessary to use DMA engines for access to host memory. 3.2 Use of PCI Bus Masters On a traditional single board computer, the mapping between memory addresses and PCI addresses is fixed. On the TPE3, these addresses are decided by the BIOS of the host system at boot time. Hard-coding these addresses into applications is not recommended, as they may change if any other PCI device in the system is changed. As a further complication, in some systems it is necessary to configure the TPE3 so that not all of the memory is visible on the PCI bus. The functions to access this information are available through the <topaz/topaz.h> header file. If the TPE3 is configured with a memory window equal to its memory size, then existing device drivers for bus-mastering peripherals will require only minor modification. It is necessary to add an offset value to local addresses to turn them into PCI bus addresses, as is done on PowerPC PREP systems. Replace this offset with the value of TPZ_local_to_pci(0). VxWorks BSP User Guide 7

10 3.2.1 Memory Pools Use of PCI Bus Masters If the TPE3 has a memory window smaller than its memory size, it is necessary to create two pools of memory. The BSP will create a separate memory partition to be used by the TPZ_shared_alloc() function. This memory partition contains memory guaranteed to be PCI bus. The PART_ID of this partition is accessible as shared_mem_pool. The rest of memory is placed into the standard memory partition, accessed by malloc(). VxWorks BSP User Guide 8