VxWorks Kernel Programmer's Guide, 6.6 Programmers Guide

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VxWorks Kernel Programmer's Guide, 6.6
Contents
Part I Core Technologies
1 Overview
- 1.1 Introduction
- 1.2 Related Documentation Resources
- 1.3 VxWorks Configuration and Build
2 Kernel
- 2.1 Introduction
- 2.2 Kernel Architecture
  - 2.2.1 Operating System Facilities
  - 2.2.2 System Tasks
- 2.3 System Startup
- 2.4 VxWorks Configuration
- 2.5 Power Management
  - 2.5.1 Power Management for IA Architecture
  - 2.5.2 Power Management for Other Architectures
- 2.6 Kernel Applications
- 2.7 Custom Kernel Libraries
- 2.8 Custom VxWorks Components and CDFs
- 2.9 Custom System Calls
- 2.10 Custom Scheduler
  - 2.10.1 Requirements for a Custom Scheduler
    - Code Requirements
    - Configuration Requirements
  - 2.10.2 Traditional VxWorks Scheduler
3 Boot Loader
- 3.1 Introduction
- 3.2 Using a Default Boot Loader
- 3.3 Boot Loader Image Types
- 3.4 Boot Loader Shell
  - 3.4.1 Boot Loader Shell Commands
- 3.5 Boot Loader Parameters
- 3.6 Rebooting VxWorks
- 3.7 Customizing and Building Boot Loaders
- 3.8 Installing Boot Loaders
- 3.9 Booting From a Network
- 3.10 Booting From a Target File System
- 3.11 Booting From the Host File System Using TSFS
4 Multitasking
- 4.1 Introduction
- 4.2 Tasks and Multitasking
  - 4.2.1 Task States and Transitions
- 4.3 Task Scheduling
  - 4.3.1 Task Priorities
  - 4.3.2 Task Scheduling Control
    - Task Priority
    - Preemption Locks
  - 4.3.3 VxWorks Traditional Scheduler
    - Priority-Based Preemptive Scheduling
    - Round-Robin Scheduling
- 4.4 Task Creation and Management
  - 4.4.1 Task Creation and Activation
  - 4.4.2 Task Creation Options
  - 4.4.3 Task Stack
    - Task Stack Protection
  - 4.4.4 Task Names and IDs
  - 4.4.5 Task Information
  - 4.4.6 Task Deletion and Deletion Safety
  - 4.4.7 Task Execution Control
  - 4.4.8 Tasking Extensions
- 4.5 Task Error Status: errno
  - 4.5.1 Layered Definitions of errno
  - 4.5.2 A Separate errno Value for Each Task
  - 4.5.3 Error Return Convention
  - 4.5.4 Assignment of Error Status Values
- 4.6 Task Exception Handling
- 4.7 Shared Code and Reentrancy
  - 4.7.1 Dynamic Stack Variables
  - 4.7.2 Guarded Global and Static Variables
  - 4.7.3 Task-Specific Variables
    - Thread-Local Variables: __thread Storage Class
    - taskVarLib and Task Variables
  - 4.7.4 Multiple Tasks with the Same Main Routine
- 4.8 Intertask and Interprocess Communication
- 4.9 Public and Private Objects
  - 4.9.1 Creating and Naming Public and Private Objects
  - 4.9.2 Object Ownership and Resource Reclamation
- 4.10 Shared Data Structures
- 4.11 Mutual Exclusion
  - 4.11.1 Interrupt Locks and Latency
  - 4.11.2 Preemptive Locks and Latency
- 4.12 Semaphores
  - 4.12.1 Semaphore Control
    - Static Instantiation of Semaphores
  - 4.12.2 Binary Semaphores
    - Mutual Exclusion
    - Synchronization
  - 4.12.3 Mutual-Exclusion Semaphores
  - 4.12.4 Counting Semaphores
  - 4.12.5 Read/Write Semaphores
  - 4.12.6 Special Semaphore Options
    - Timeouts
    - Queues
  - 4.12.7 Semaphores and VxWorks Events
- 4.13 Message Queues
  - 4.13.1 VxWorks Message Queue Routines
  - 4.13.2 Displaying Message Queue Attributes
  - 4.13.3 Servers and Clients with Message Queues
  - 4.13.4 Message Queues and VxWorks Events
- 4.14 Pipes
- 4.15 VxWorks Events
  - 4.15.1 Preparing a Task to Receive Events
  - 4.15.2 Sending Events to a Task
  - 4.15.3 Accessing Event Flags
  - 4.15.4 Events Routines
  - 4.15.5 Task Events Register
  - 4.15.6 Show Routines and Events
- 4.16 Message Channels
- 4.17 Network Communication
- 4.18 Signals
  - 4.18.1 Configuring VxWorks for Signals
  - 4.18.2 Basic Signal Routines
  - 4.18.3 Queued Signal Routines
  - 4.18.4 Signal Events
  - 4.18.5 Signal Handlers
- 4.19 Watchdog Timers
- 4.20 Interrupt Service Routines
  - 4.20.1 Connecting Routines to Interrupts
  - 4.20.2 Interrupt Stack
    - Filling Interrupt Stacks
    - Interrupt Stack Protection
  - 4.20.3 Writing and Debugging ISRs
  - 4.20.4 ISRs and the Kernel Work Queue
  - 4.20.5 Special Limitations of ISRs
  - 4.20.6 Exceptions at Interrupt Level
  - 4.20.7 Reserving High Interrupt Levels
  - 4.20.8 Additional Restrictions for ISRs at High Interrupt Levels
  - 4.20.9 Interrupt-to-Task Communication
5 POSIX Facilities
- 5.1 Introduction
- 5.2 Configuring VxWorks with POSIX Facilities
  - 5.2.1 VxWorks Components for POSIX Facilities
- 5.3 General POSIX Support
- 5.4 POSIX Header Files
- 5.5 POSIX Namespace
- 5.6 POSIX Clocks and Timers
- 5.7 POSIX Asynchronous I/O
- 5.8 POSIX Advisory File Locking
- 5.9 POSIX Page-Locking Interface
- 5.10 POSIX Threads
- 5.11 POSIX Thread Mutexes and Condition Variables
  - 5.11.1 Thread Mutexes
    - Protocol Mutex Attribute
    - Priority Ceiling Mutex Attribute
  - 5.11.2 Condition Variables
- 5.12 POSIX and VxWorks Scheduling
- 5.13 POSIX Semaphores
- 5.14 POSIX Message Queues
- 5.15 POSIX Signals
- 5.16 POSIX Memory Management
6 Memory Management
- 6.1 Introduction
- 6.2 Configuring VxWorks With Memory Management Facilities
- 6.3 System Memory Maps
- 6.4 Shell Commands
- 6.5 System RAM Autosizing
- 6.6 Reserved Memory
- 6.7 Kernel Heap and Memory Partition Management
- 6.8 Memory Error Detection
  - 6.8.1 Heap and Partition Memory Instrumentation
  - 6.8.2 Compiler Instrumentation
- 6.9 Virtual Memory Management
- 6.10 Additional Memory Protection Features
- 6.11 Processes Without MMU Support
  - Configuring VxWorks With Process Support for Systems Without an MMU
7 I/O System
- 7.1 Introduction
- 7.2 Configuring VxWorks With I/O Facilities
- 7.3 Files, Devices, and Drivers
  - 7.3.1 Filenames and the Default Device
- 7.4 Basic I/O
- 7.5 Buffered I/O: stdio
  - 7.5.1 Using stdio
  - 7.5.2 Standard Input, Standard Output, and Standard Error
- 7.6 Other Formatted I/O
- 7.7 Asynchronous Input/Output
- 7.8 Devices in VxWorks
- 7.9 Differences Between VxWorks and Host System I/O
- 7.10 Internal I/O System Structure
- 7.11 PCMCIA
- 7.12 Peripheral Component Interconnect: PCI
8 Local File Systems
- 8.1 Introduction
- 8.2 File System Monitor
  - Device Insertion Events
  - XBD Name Mapping Facility
- 8.3 Virtual Root File System: VRFS
- 8.4 Highly Reliable File System: HRFS
- 8.5 MS-DOS-Compatible File System: dosFs
- 8.6 Raw File System: rawFs
- 8.7 CD-ROM File System: cdromFs
- 8.8 Read-Only Memory File System: ROMFS
- 8.9 Target Server File System: TSFS
9 Network File System: NFS
- 9.1 Introduction
- 9.2 Configuring VxWorks for an NFS Client
- 9.3 Creating an NFS Client
- 9.4 Configuring VxWorks for an NFS Server
- 9.5 Creating an NFS Server
  - Initializing an NFS File System for Export
  - Exporting a File System through NFS
10 Flash File System Support: TrueFFS
- 10.1 Introduction
- 10.2 Overview of Implementation Steps
- 10.3 Creating a System with TrueFFS
- 10.4 Using TrueFFS Shell Commands
- 10.5 Using TrueFFS With HRFS
  - 10.5.1 TrueFFS With HRFS Code Example
  - 10.5.2 TrueFFS With HRFS Shell Command Example
11 Error Detection and Reporting
- 11.1 Introduction
- 11.2 Configuring Error Detection and Reporting Facilities
- 11.3 Error Records
- 11.4 Displaying and Clearing Error Records
- 11.5 Fatal Error Handling Options
  - 11.5.1 Configuring VxWorks with Error Handling Options
  - 11.5.2 Setting the System Debug Flag
- 11.6 Using Error Reporting APIs in Application Code
- 11.7 Sample Error Record
12 Target Tools
- 12.1 Introduction
- 12.2 Kernel Shell
- 12.3 Kernel Object-Module Loader
- 12.4 Kernel Symbol Tables
- 12.5 Show Routines
- 12.6 WDB Target Agent
- 12.7 Common Problems
13 C++ Development
- 13.1 Introduction
- 13.2 Configuring VxWorks for C++
- 13.3 C++ Code Requirements
- 13.4 Using C++ in Signal Handlers and ISRs
- 13.5 Downloadable Kernel Modules in C++
- 13.6 C++ Compiler Differences
  - 13.6.1 Template Instantiation
  - 13.6.2 Run-Time Type Information
- 13.7 Namespaces
- 13.8 C++ Demo Example
Part II Multiprocessing Technologies
14 Overview of Multiprocessing Technologies
- 14.1 Introduction
- 14.2 VxWorks SMP
- 14.3 Shared Memory Objects
- 14.4 Distributed Shared Memory
- 14.5 TIPC Over Distributed Shared Memory
- 14.6 Message Channels
15 VxWorks SMP
- 15.1 Introduction
- 15.2 Technology Overview
- 15.3 VxWorks SMP Configuration and Build
- 15.4 Booting VxWorks SMP
- 15.5 Programming for VxWorks SMP
- 15.6 Spinlocks for Mutual Exclusion and Synchronization
- 15.7 CPU-Specific Mutual Exclusion
  - 15.7.1 CPU-Specific Mutual Exclusion for Interrupts
  - 15.7.2 CPU-Specific Mutual Exclusion for Tasks
- 15.8 Memory Barriers
- 15.9 Atomic Memory Operations
- 15.10 CPU Affinity
  - 15.10.1 Task CPU Affinity
  - 15.10.2 Interrupt CPU Affinity
- 15.11 CPU Information and Management
  - CPU Information and Management Routines
  - CPU Set Variables and Macros
- 15.12 Debugging SMP Code
- 15.13 Optimizing SMP Performance
- 15.14 Sample Programs
- 15.15 Migrating Code to VxWorks SMP
16 Shared-Memory Objects: VxMP
- 16.1 Introduction
- 16.2 Using Shared-Memory Objects
- 16.3 System Requirements
- 16.4 Performance Considerations
- 16.5 Configuring VxWorks for Shared Memory Objects
- 16.6 Displaying Information About Shared Memory Objects
- 16.7 Troubleshooting
  - 16.7.1 Configuration Problems
  - 16.7.2 Troubleshooting Techniques
17 Distributed Shared Memory: DSHM
- 17.1 Introduction
- 17.2 Technology Overview
  - 17.2.1 Architecture
    - DSHM Management Service and Custom Services
    - Hardware Interface
  - 17.2.2 Communication Model
- 17.3 Configuring VxWorks for DSHM
  - 17.3.1 Components and Parameters
- 17.4 Developing Custom Services
- 17.5 Developing a Hardware Interface
18 Message Channels
- 18.1 Introduction
- 18.2 Message Channel Facilities
- 18.3 Multi-Node Communication with TIPC
- 18.4 Single-Node Communication with COMP and DSI
- 18.5 Socket Name Service
  - 18.5.1 Multi-Node Socket Name Service
  - 18.5.2 snsShow( ) Example
- 18.6 Socket Application Libraries
  - 18.6.1 SAL Server Library
  - 18.6.2 SAL Client Library
- 18.7 Configuring VxWorks for Message Channels
- 18.8 Comparison of Message Channels and Message Queues
Index

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