Tornado and vxworks实时系统培训.ppt

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1、Agenda,WelcomeIntroduction to Wind River Systems and Tornado/VxWorksTornado tools and the RTOS-VxWorks,Technology:A Revolution in Real-Time,First RTOS to support TCP/IP,socketsFirst RTOS for RISC(i960)First cross tools with dynamic loadingFirst OS simulator(VxSim)First task“logic analyzer”(WindView)

2、First Integrated,Open Environment-TornadoFirst Microsoft“Designed for Windows 95”cross-development tools.,Tornado Architecture,HOST,TARGET,VxWorks 5.3,compiler,debugger,shell,browser,config tool,StethoScope,WindView,launcher,debug agent,target server,targetsymboltable,dynamicloader,back end,OMFlibra

3、ry,The wind kernel,Most Scalable Over 300 separate modules!Sizing 30K for minimal systemMicrokernel Design(6k)Most PortableOver 16+Architectures SupportedOS API is the same across all ArchitecturesLowest Pre-emptive LatencyPrevents Priority Inversion,VxWorks ScalabilityClose to 100 options!,VxWorks

4、Modularity,af,abort,abs,arp,asctime,assert,atexit,atof,atoi,atol,boot,bootp,bsearch,cache,cksum,class,clearerr,clock,conn,cplus,ctime,dgb,difftime,dirLib,div,dll,dosFs,dsm,env,errno,ether,evtBuff,evtLog,exc,fclose,fdopen,feof,ferror,fflush,ffs,fgetc,fgetpos,fgets,fileno,fio,flags,float,fopen,fpType,

5、fpp,fprintf,fputc,fputs,fread,freopen,frexp,fscanf,fseek,fsetpos,ftell,ftp,ftpd,getc,getchar,gets,getw,gmtime,hash,host,icmp,if,inet,int,io,ios,ip_input,ip_output,isalnum,isalpha,ip_icmp,+over 200 more modules!,iscntrl,isdigit,isgraph,islower,The Tornado Development Environment,Winner of EDN Magazin

6、es 1995 Innovation of the Year,Tornado Architecture,HOST,TARGET,VxWorks 5.3,compiler,debugger,shell,browser,config tool,StethoScope,WindView,launcher,debug agent,target server,targetsymboltable,dynamicloader,back end,OMFlibrary,2023/3/4,10,Tornado,Romulator,ICE,Ethernet,Serial Line,Simulation,Enviro

7、nment,VxSim,VxWorks,Run-time,Real-Time Embedded Application,Core O/S,All Tools for All Targets,TargetServer,Debug Agent,VxSim:Tornado with no target!,HOST,2023/3/4,14,Tornado,Open Development Environment,Host tool plug-in API-C,C+,or TCLShell APIDLL backends-for run-time loadable connectionsTCL exte

8、nsibility for all toolsAll interfaces published,Key Success Factors-Supported Platforms,Host/OSPC:Win 95,NTSun:SunOS,SolarisHP:UXSGI:IRIX,Targets80386/80486/Pentium680 x0,683xxPowerPC 601,603,604,403,821,823,86080960SPARCMIPS R3000,R4000ColdfireARMHitachi SHNEC V SeriesSiemens 16x series,#1 RTOS onM

9、otorola VME Boards,VxWorks is#1 RTOS worldwideindependent study(funded by Motorola)VxWorks is“de-facto”standard for Motorola boards,VMEexec Transition Kit,Motorola stopped VMEexec supportWRS helped develop VMEexec migration strategyprovide high-level of source-code compatibilitynow VMEexec users can

10、 benefit from WRS development tools!,Motorola Bundling VxWorks on New PPC Boards,All beta copies of 2600 and 3600 PPC VME boards will contain VxWorks in flash!VxWorks was first RTOS to be ported to this board,The Tornado Development Environment,Winner of EDN Magazines 1995 Innovation of the Year,Tor

11、nado Integrated Components,VxWorks RTOSTurnkey Board Support Packages(BSPs)C&C+compilersDebug ToolsHost-target connections,Tornado Features,Host-based sym.tableModular client/server architectureOpen APIstools,connectionsC and C+supportBetter src-level debugtask and system levelinterleaved C&assmAll

12、Tools for All Targets,Traditional Cross-Development Architecture,debug agent,run-time,debugger,GUI,targetinterface,HOST,TARGET,debugger-specific,debugger-dependent connection,Tornado Modular Architecture,HOST,TARGET,VxWorks 5.3,compiler,debugger,shell,browser,config tool,StethoScope,WindView,launche

13、r,debug agent,target server,targetsymboltable,dynamicloader,back end,OMFlibrary,Drop-In Ethernet Back End,HOST,TARGET,compiler,debugger,shell,browser,VxWorks 5.3,config tool,StethoScope,WindView,launcher,debug agent,target server,targetsymboltable,dynamicloader,ethernet back end,OMFlibrary,ethernet,

14、Drop-In Serial Back End,HOST,TARGET,compiler,debugger,shell,browser,VxWorks 5.3,config tool,StethoScope,WindView,launcher,debug agent,target server,targetsymboltable,dynamicloader,serial back end,OMFlibrary,serial,Drop-In NetROM Back End,HOST,TARGET,compiler,debugger,shell,browser,VxWorks 5.3,config

15、 tool,StethoScope,WindView,launcher,debug agent,target server,targetsymboltable,dynamicloader,NetROM back end,OMFlibrary,NetROM,BDM Back End,HOST,TARGET,compiler,debugger,shell,browser,VxWorks 5.3,config tool,StethoScope,WindView,launcher,target server,targetsymboltable,dynamicloader,BDM back end,OM

16、Flibrary,BDM Box,NoDebugAgent!,Create New Custom Back Ends,HOST,TARGET,compiler,debugger,shell,browser,VxWorks 5.3,config tool,StethoScope,WindView,launcher,debug agent,target server,targetsymboltable,dynamicloader,custom back end,OMFlibrary,custom,open APIfor Back End,Create New Custom Tools,HOST,T

17、ARGET,compiler,debugger,shell,browser,VxWorks 5.3,config tool,StethoScope,WindView,launcher,debug agent,target server,targetsymboltable,dynamicloader,back end,OMFlibrary,open APIfor Back End,open APIfor tools,VxSim:Tornado with no target!,HOST,2023/3/4,31,Tornado,Romulator,ICE,Ethernet,Serial Line,S

18、imulation,Environment,VxSim,VxWorks,Run-time,Real-Time Embedded Application,Core O/S,All Tools for All Targets,TargetServer,Debug Agent,2023/3/4,32,Tornado,Debug Agent,Shell,Simulation,Environment,VxSim,CrossWind,Loader,WindPower,WindConfig,Browser,on-line,hypertext,Represents all tools,Supports sys

19、tem-wide and task-specific breakpoints,Full debug support in tiny target footprint,Independent of runtime OS,can execute before kernel,Service requests from loader,reduces startup and download time,TargetServer,2023/3/4,33,Tornado,Shell,CrossWind,Loader,WindPower,WindConfig,Browser,GUI,on-line,hyper

20、text,GUI,GUI,GUI,GUI,GUI,All Tools for All Targets,Launcher,TargetServer,2023/3/4,34,Tornado,Debug Agent,Shell,Simulation,Environment,VxSim,CrossWind,Loader,WindPower,WindConfig,Browser,on-line,hypertext,TargetServer,Communicates with Target Agent for tools requests,Manages host-to-target transport

21、mechanisms,Cross-development performance improvements,target memory cache,target memory management,symbol table management,One Target Server per target,On any appropriate host,2023/3/4,35,Tornado,Powerful tools for any target,Specific to embedded,Target resource independent,Connection independent,20

22、23/3/4,36,Tornado,2023/3/4,37,Tornado,Launcher,Tornado home baseTarget and tool managementTarget Server information&reservation Tool awareness and startupAccess to Central Services Wind River support requests License administration Installation shortcuts,WindSh,Browser,WindConfig,CrossWind,WindPower

23、Tools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,38,Tornado,2023/3/4,39,Tornado,Symbolic Debugging,WindSh,CrossWind,Target Server Task&application level debugging Task spawn and control General and task-specific breakpoints Single-step Task trace Useful during exception handling Ex

24、amine stacks,registers,memory TCL support Concurrent debug sessions Each associated with a different task,WindSh,Browser,WindConfig,CrossWind,WindPowerTools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,40,Tornado,CrossWind,Application and system breakpointsSource,assembly or mixed di

25、splaysPoint&click and command line interfaceTCL scripting interfaceGDB 4.12 based,WindSh,Browser,WindConfig,CrossWind,WindPowerTools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,41,Tornado,2023/3/4,42,Tornado,WindSh,Host-based interpretive shell Interpret&execute C expressions Intera

26、ctive calls to any subroutine Rapid prototyping Incremental testing C+support,including“demangling”Examine and modify memory Includes TCL interpreter Extend and customize WindSh,WindSh,Browser,WindConfig,CrossWind,WindPowerTools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,43,Tornado

27、,Dynamic Linking Loader,Provided by Target Server Loads object files from hostResolves external references via symbol table on host Run-time linking Application cab be easily partitioned Module unload Better resource re-use“Live”development environment,WindSh,Browser,WindConfig,CrossWind,WindPowerTo

28、ols,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,44,Tornado,Browser,Summarize active tasks Detailed system object inspection For semaphores,message queues,etc.Stack utilization profile Memory allocation and use inspection Subroutine execution timer Task activity profiler,WindSh,Brows

29、er,WindConfig,CrossWind,WindPowerTools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,45,Tornado,2023/3/4,46,Tornado,WindConfig,Graphical BSP ConfigurationPoint&Click selection of configurable featuresInclude application modules for linkingArchive alternative configurationsRapid startu

30、p,WindSh,Browser,WindConfig,CrossWind,WindPowerTools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,47,Tornado,GNU Toolkit,GNU Toolset for Cross-compilationOptimized C and C+compilerComplete ANSI supportPortable and consistent across hostsAdditional utilities(UNIX Equivalent)Linker,ass

31、embler,etc.State-of-the-art technologyProductized and supported by Wind River Systems,WindPowerTools,WindSh,Browser,WindConfig,CrossWind,WindPowerTools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,2023/3/4,48,Tornado,Wind Foundation Classes,Object Oriented interface to VxWorks intrinsicsTasks

32、,semaphores,etc.1/0 Streams Booch ComponentsStandard for multi-threadedData structures,algorithms,IPC,semaphores,btrees,monitors,etc.Rogue Wave tools.h+Utilities,data structures,time&date,stringsEnhanced to be“thread safe”g+or cfront,2023/3/4,49,Windview,Dynamic display of the interactions among tas

33、ks,VxWorks system objects and interrupts.“logic analyzer”for VxWorks,2023/3/4,50,Stethoscope,Graphically plots contents of program variables and memory locations“Oscilloscope”for your application,CodeTEST/Coverage,CoverageSummary,FunctionCoverage,SourceCoverage,CoverageTrend,CodeTEST/Memory,Allocati

34、on,Errors,Source,Look!for Tornado-Concept,Source Code,Object Model,Dynamic Synchronization,Exploit C+structure,Application Views,55,WindNavigator-Class Hierarchy View,The parent class,ExpNode,is shown withall of its subclasses.,The menu shows the options available when a specific class is selected.,

35、2023/3/4,56,WindNavigator-Function Call Tree View,From any function in the defined project,all calling and called functions can be shown,Here,all of the functions that call Util_T:throw_s have been shown,Next,Demo_T:start was selected(blue)and its call path was shown(red),2023/3/4,57,Tornado,Open De

36、velopment Environment,Host tool plug-in API-C,C+,or TCLShell APIDLL backends-for run-time loadable connectionsTCL extensibility for all toolsAll interfaces published,2023/3/4,58,Tornado,Third Party Toolkits,Diab Data SDS Rational Tartan Thomson Green Hills Software more coming soon.,WindSh,Browser,W

37、indConfig,CrossWind,WindPowerTools,3rd PartyToolsets,GNU Toolkit,LAUNCHER,TARGETSERVER,Tornado Demo,Tadpole SPARCbook HostSunOS 4.1.332 MB RAMTargetVxSim simulatorVxWorks 5.3Network ConnectionULIP TCP/IP driver simulates Ethernet connection,Tornado Demo Program,producer task,consumer task,message qu

38、eue,read message from Qmultiply by factordeallocate buffer,2023/3/4,62,The VxWorks Real Time OS,The Embedded and Real-Time Industry Standard,VxWorks:Designed for Real Time,Fast,deterministicCPU-and board-independent interfaceTurnkey Board Support PackagesBSP Porting Kit for custom boardsSupports ind

39、ustry standardsHighly scalable,The wind Microkernel,clock,task,scheduler,timing services,VxWorks:A Highly Scalable RTOS,clock,task,scheduler,I/O,memory,mgmt.,intertask,comms,timing services,Multi-Tasking,all tasks share same address spacepriority-based(256 levels)dynamically changeablepreemptive sch

40、edulingoptional round-robin,Timing Services,System clockdelay taskswatchdog timerssemaphore,message queue timeoutsAuxiliary clock(s)support high-resolution timing,Intertask Communication,SemaphorescountingbinarymutexMessage Queuesvariable length queuesvariable sized messagesPipesSignals,VxWorks POSI

41、X support,1003.1base system calls1003.1breal-time extensions1003.1cp-threads(in development)1003.1dmisc.real-time(planned)WRS active participant in committees,Memory Management,Heap-basedmalloc,freeUser-defined memory partitionsassign different address ranges to partitions,VxWorks I/O System,Device

42、IndependentPOSIX-compliantread,write,open,close,ioctl,etc.Formatted I/Oscanf,printf,etc.Optimized for real timeSCSI 2 device support,VxWorks Local Filesystems,Device-independent layerRAM disk SCSI disk etc.DOS 5.0 format+optional extensionscontiguous fileslong filenamesRaw Filesystem for High-speed

43、Disk NFS-exportable,Local Filesystems,VxWorks Network Filesystems,Transparently access host filesystem viaftprshNFS clientFacilitate application testing,VxMP(optional),library for managing shared objectssemaphores,message queues,memorysame interface as for local objectstransparent access in source c

44、ode,VxVMIVirtual Memory Interface(optional),CPU-independent access to MMUProtect code and/or dataEstablish multiple memory mappingsUser determines protection vs.performance trade-offs,Wind Foundation Classes(optional),iostreamsC+wrapper classes for VxWorksRogue Wave tools.h+Rogue Wave Booch componen

45、ts,2023/3/4,78,Comprehensive Networking Support,2023/3/4,79,Scalable Enhanced Network Stack,Scalable configurations:IP,IP+UDP,IP+UDP+TCPLatest Internet feature support:IP multicast,CIDR,RFC-1323,DNS client DHCP server,client,and relay agentSNTPserver,clientNew driver structure with multiple protocol

46、s supported over same network deviceIntegrated MIB-II supportBSD 4.4-compatible socket library,2023/3/4,80,WindNet-Streams,UNIX SVR4-compatible Highly optimized primitives:allocB,freeB,dupB Multithread supportXTI/TLI-Transport Library Interface library and module,DLPI-Data Link Provider InterfaceSTR

47、EAMS sad driver,log driver and autopush,strerr,strace utilities Pipes and pipemod module,2023/3/4,81,WindNet-SNMP,supports SNMP v1 and v2cCompact(less than 50K)Complete MIB-II groups supported include:system,interfaces,at,ip,icmp,tcp,udp,snmp,Extensible through custom MIB;MIB compiler generates larg

48、e portion of access methods codeDynamic addition and removal of MIB variablesinteroperates with popular NMSs,including SunNet Manager,HP OpenView,NetView/6000,Cabletron Spectrum,and others.,2023/3/4,82,WindNet-Partners,http:/,2023/3/4,83,WindNet-Partners for Protocols,ATM and FrameRelayHarris&Jeffri

49、esTrillium Digital SystemsTelenetworksISDNTelenetworksTrillium Digital SystemsLAPDHarris&JeffriesTelenetworksLLC,SDLC,SMDSHarris&Jeffries,IPX/SPX,NESTNovellPPP/Multilink Telenetworks SS7Trillium Digital SystemsDatakineticsX.25Harris&JeffriesTrillium Digital SystemsTelenetworks,2023/3/4,84,WindNet-Pa

50、rtners for Distributed Computing,CASEObjecTimeCORBA 2 VisigenicIONA Technologies,CORBA/OLE/JAVAIONA TechnologiesVisigenicDISTRIBUTED DATAReal-Time Innovations,2023/3/4,85,WindNet-Partners for Network Management,CMIP/GDMO/Q3/TMNDSETMobile AgentSystem Management Arts,Wind River SystemsEmbedded Interne