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    VxWorks BSP Developer'sGuide, 6.9 VxWorks ® BSP DEVELOPER'S GUIDE 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: ww w.windriver.com/company/terms/trademark.html This product may includ e 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 docum entation by listing pu blications 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 500 Wind River Way Alameda, CA 94501-1153 U.S.A. Toll free (U.S.A.): 800-545-WIND Telephone: Facsimile: 510-748-4100 510-749-2010 For add itional contact information, see the Wind River Web site: ww w.windriver.com For information on how to contact Customer Supp ort, see: ww w.windriver.com/support VxWorks BSP Developer's Guide 6.9 11 Feb 11
    Contents 1 Introduction .......................................................................................................... 1.1 1.2 1.3 1.4 About This Document ................................................................................................. The Board Support Package ....................................................................................... The BSP Development Process .................................................................................. Terminology ................................................................................................................. 2 Overview of a BSP .............................................................................................. 2.1 2.2 2.3 Introduction ................................................................................................................... Boot Sequence ............................................................................................................... Sequence Overview ...................................................................................... 2.2.1 2.2.2 Boot Sequence Configurations ..................................................................... Architecture Considerations ......................................................................... 2.2.3 2.2.4 Detailed Boot Sequence ................................................................................. Components of a BSP .................................................................................................. Source and Include Files ............................................................................... 2.3.1 README ......................................................................................................... ........................................................................................................... Makefile config.h ........................................................................................................... ...................................................................................................... bspname.h sysALib.s ........................................................................................................ romInit.s ........................................................................................................... sysLib.c ........................................................................................................... target.ref ........................................................................................................... board.jpg .......................................................................................................... sysDev.c .......................................................................................................... hwconf.c ........................................................................................................... configAll.h ....................................................................................................... bootInit.c .......................................................................................................... usrConfig.c ...................................................................................................... 1 1 2 2 3 5 5 7 7 10 13 14 19 19 20 21 21 21 22 22 23 23 23 23 24 24 24 24 iii
    VxWorks BSP Developer's Guide, 6.9 2.3.2 2.3.3 2.3.4 2.3.5 2.3.6 2.3.7 2.3.8 ................................................................................................... Derived Files .............................................................................. Required Data Variables ................................................................ sysPhysMemDesc[ ] (32-bit only) sysPhysMemDescNumEnt (32-bit only) ...................................................... ................................................................. sysPhysRamDesc[ ] (64-bit only) .......................................................... sysPhysRamDescCount (64-bit only) sysDma32MemDesc[ ] (64-bit only) ............................................................ sysDma32MemDescCount (64-bit only) ..................................................... sysUserMemDesc[ ] (64-bit only) .................................................................. ......................................................... sysUserMemDescCount (64-bit only) sysPmMemDesc[ ] (64-bit only) ................................................................... sysPmMemDescCount (64-bit only) ............................................................. sysBootLine ..................................................................................................... sysExcMsg ....................................................................................................... sysFlags ............................................................................................................ hcfDeviceList[ ] ............................................................................................... hcfDeviceNum ................................................................................................ devUnitCfgData[ ] .......................................................................................... Required Routines .......................................................................................... sysBspRev( ) .................................................................................................... ................................................................................. Timer Driver Routines sysMemDescInit( ) (64-bit only) ................................................................... sysMemDescGet( ) (64-bit only) ................................................................... sysMemTop( ) (32-bit only) ........................................................................... sysPhysMemTop( ) (32-bit only) .................................................................. sysModel( ) ...................................................................................................... .......................................................................................... NVRAM Routines Hardw are Initialization Routines ................................................................ sysSerialChanGet( ) ........................................................................................ sysToMonitor( ) ................................................................................................ ........................................................................................... Required Macros Optional Routines .......................................................................................... Optional Macros ............................................................................................. Hardware Considerations ............................................................................. 2.4 The Development Environment ................................................................................ .............................................................................. 2.4.1 BSP Debugging Methods .............................................................................................. Primitive Tools .................................................................................... Native Debug ROMs ROM Emulator ............................................................................................ On-Chip Debugging (OCD) Devices ............................................................ Logic Analyzer ................................................................................................ In-Circuit Emulator ........................................................................................ 2.4.2 WDB Debugging Interface .......................................................................... 2.4.3 Workbench Libraries and Tools ..................................................................... 2.4.4 .......................................................................... ............................................................................................. 2.4.5 Compiler and Tool Choice Download Path 2.5 Common Problems ..................................................................................................... 25 25 26 27 27 28 28 29 29 30 30 31 31 31 31 31 31 32 32 33 33 34 35 36 37 38 38 39 39 40 41 44 44 44 45 46 46 46 46 47 47 48 48 49 49 50 51 iv
    Contents 2.5.1 2.5.2 2.5.3 2.5.4 2.5.5 Failing to Include LOCAL_MEM_LOCAL_ADRS ..................................... Providing Too Much Device Initialization in romInit.s ........................... Providing Insufficient Initialization in sysALib.s ....................................... Including Confusing Configuration Options ............................................ ................................................................ Using Non-Maskable Interrupts 51 51 52 52 53 3 Porting a BSP to Custom Hardware ............................................................... 55 Introduction ................................................................................................................... 3.1 3.2 3.3 Getting a Default Kernel Running 3.2.1 3.2.2 3.2.3 3.2.4 3.2.5 ......................................................................... ..................................................................................... Initializing the Board ..................................................................................... Initializing Memory ..................................... Using Debug Routines in the Initialization Code ..................................................................... VxBus Initialization Sequence .............................................................. Debugging the Initialization Code ......................................................... Initializing ROM-Based Image Types Creating Additional Diagnostic Routines ................................................ Copying Additional Code From the Reference BSP ................................. Initializing RAM-Based Image Types ......................................................... ....................................................................... Initializing All Image Types Starting the WDB Agent Before the Kernel .............................................. ........................................................ Building and Downloading VxWorks Interrupt Controllers .................................................................................... DMA ............................................................................................................... ......................................................................... ............................................................................................... ...................................................................... 3.2.6 3.2.7 3.2.8 3.2.9 3.2.10 Minimum Required Drivers 3.2.11 3.2.12 VxBus Initialization Routines Serial Drivers Finalizing Your BSP 3.3.1 3.3.2 3.3.3 3.3.4 3.3.5 ................................................................................................... Removing Development-Related Changes ................................................ Creating Workbench Projects ....................................................................... Adding Other Timers ................................................................................... Enabling NVRAM ........................................................................................ Enabling Cache and MMU Devices .............................................................. Cache and MMU BSP Development Overview ......................................... Managing Cache and MMU During Reset and Initialization ................... .............................. Initialize VxWorks Cache and MMU Support Layers Providing Architecture-Specific Cache and MMU Support ..................... Supporting L2 and L3 Cache (Optional) ....... .............................................. ......................................................... Supporting Cache Locking (Optional) Defining the Cache and MMU Configuration ........................................... Additional Information ................................................................................. 55 56 56 57 57 59 60 60 62 63 63 63 65 67 68 68 68 68 69 70 71 71 71 72 73 73 74 75 82 82 84 85 93 v
    VxWorks BSP Developer's Guide, 6.9 3.3.6 3.3.7 3.3.8 3.3.9 3.3.10 ....................................................................................... Testing Boot ROMs ............. ..................................................... Providing Bus Interface Support .............................................................................................. VxBus Support ............................................................................. PCI Bus Interface Support ........................................................................ VME Bus Interface Support ........................................................................... USB Bus Interface Support .................................................... Updating BSP-Specific Documentation ..................................... Providing Additional Optional Device Support ................................................................................ Adding VxBus Devices Adding Ethernet Devices ............................................................................ Adding Other Devices ................................................................................... Troubleshooting and Debugging ............................................................... ............................................................................................................................. 99 SCSI Cables and Termination Data Coherency Problems Data Address in Virtual Memory Environments ................. ................................................... ........................................................................... .................................... 94 94 95 95 95 96 96 96 96 97 98 99 99 99 4 Adding BSP Support for VxWorks Features ............................................... 101 4.1 4.2 4.3 Introduction ................................................................................................................... 101 Power Management ..................................................................................................... 101 PROFILE_BOOTAPP ................................................................................................... 4.3.1 103 Adding PROFILE_BOOTAPP Support to a BSP ......................................... 104 Loading the ROM Compress Image to the Boot Device ............................ 106 Migrating Boot Loader Customizations to PROFILE_BOOTAPP ........... 106 4.3.2 5 Debugging Your BSP ......................................................................................... 107 5.1 5.2 Introduction ................................................................................................................... 107 ................................................................ 108 Applying Basic Debugging Techniques 108 ............................................................... Using LEDs as a Diagnostic Tool 5.2.1 Verifying the Image Location ....................................................................... 108 5.2.2 Finding Addresses in the Image File ............................................................ 108 109 Finding Addresses in the Flash image ...................................................... 111 Finding Addresses in RAM .......................................................................... Verifying RAM ................................................................................................ 112 Verifying the Image and OS Configuration ................................................. 113 113 Post-Processed Compiler Output Operating System Components Built Into the Image 113 .............................................................. .............................. 5.2.3 5.2.4 5.3 Applying Advanced Debugging Techniques 5.3.1 5.3.2 ....................................................... Symbols ............................................................................................................ Breakpoints .................................................................................................. 115 115 116
    vi
    Contents Types of Breakpoints ...................................................................................... The Boot Procedure as It Relates to OCD ................................................... Initial Breakpoints in Flash Images ........................................................... Initial Breakpoints in Downloaded Images ................................................. 116 116 117 117 6 Extending a BSP to an SMP System ............................................................. 119 6.1 6.2 6.3 6.4 6.5 6.6 Introduction ................................................................................................................... 119 About VxWorks SMP ................................................................................................... 120 Development Overview ............................................................................................. 120 Development Prerequisites 6.4.1 6.4.2 6.4.3 6.4.4 6.4.5 ........................................................................................ 121 Hardw are Documentation ............................................................................ 121 Hardware Support 121 VxWorks SMP Architecture Support ............................................................ 122 ..................................................................................... 122 Existing BSP Support VxBus Support ................................................................................................ 123 ........................................................................................ Implementation Overview ........................................................................................ 123 Implementation Details 6.6.1 6.6.2 6.6.3 6.6.4 6.6.5 6.6.6 6.6.7 6.6.8 ............................................................................................. 125 Creating the Initial BSP ................................................................................. 125 Using Component and Configuration Preprocessor Macros .................... 125 Updating and Adding CDF Code ................................................................. 126 127 Mandatory changes ........................................................................................ 127 Optional Changes ........................................................................................... Implementing a Boot Loader Strategy ........................................................ 128 .................................................................... 129 Implementing SMP Boot Logic 130 Booting the Bootstrap CPU ........................................................................... Booting the Secondary CPUs ........................................................................ 131 131 Holding a Secondary CPU in Startup or Reset ........................................ Prioritizing Interprocessor Interrupts (IPIs) ................................................ 133 Modifying Cache Handling ........................................................................ 134 cacheEnable( ) and cacheDisable( ) ................ .............................................. 134 cacheClear( ), cacheFlush( ), and cacheInvalidate( ) .................................. 134 cacheLock( ) and cacheUnlock( ) ................................................................... 135 Modifying Cache Modes to Support Coherency ....................................... 135 Implementing SMP BSP Routines ................................................................. 135 CPU Index and CPU ID ................................................................................. 135 Logical and Physical CPU Index in VxWorks 6.8 Update Pack 1 .................................................................................................... and Beyond .................................................................................. vxCpuPhysIndexGet( ) vxCpuIdGet( ) ................................................................................................. vxCpuIndexGet( ) ........................................................................................... 136 136 137 137 vii
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