Getting Started

1.1

Components of Tornado

Getting Help
Hardware / Software Configuration
Booting
Starting Tornado
WDB Agent

1-1

What is Tornado?

1-2

Development Tools

Tornado Development Tools:

Launch - Launch Tornado tools
WindSh - Access target interactively
CrossWind

- Source-level debugger

Browser - Display system information

Project Facility - Configure applications or VxWorks

WindView

- Analyze multitasking application

Simulator

- Simulate VxWorks target on host OS

Tools are customizable with Tcl:

Add new functionality
Customize user interface
some target-resident tools are available.

1-3

Real-Time System

1-4

Performance Enhancements

All tasks reside in a common address space.

All tasks run in supervisor (privileged) mode.

1-5

Cross-development Cycle

Typical Tornado development configuration

1-6

Tornado Delivery

Boot ROMs for supported boards

Board specific
Use network to download VxWorks from host
Turnkey for standard boards

CD-ROM for product components

Tornado tools, which run on the host
The VxWorks OS, which runs on the target
Wind River Supplied BSPs

Compiler ToolKit

Manuals on VxWorks and Tornado

1-7

Portability

1-8

Tornado Directory Tree

host

Tornado host-resident tools

SETUP Setup program

/usr/wind
target
docs

share Shared XDR code

VxWorks OS, Board Support

Packages

On-Line HTML documentation

1-9

Host Directory Tree

include Header files for Tornado tools
src VxColor demo source
host-os Host-specific tools
host

bin Tornado and GNU host executables

lib Tornado Tool libraries

resource GUI, Tcl, and Help support files
tcl Standard Tcl distribution

1-10

Target Directory Tree

config Files to configure and build VxWorks
all

Generic configuration files

bspName Board Support Package (BSP)

comps

VxWorks component descriptor

files and configlettes

target

proj

Pre-built VxWorks bootable projects

VxWorks header files

lib

Libraries provided by VxWorks

src Partial VxWorks source code

unsupported Tools, drivers

1-11

Getting Started
Components of Tornado
1.2

Getting Help
Hardware / Software Configuration
Booting
Starting Tornado
WDB Agent

1-12

Overview

There are several classes of help resources:

Manuals on host tools:

Tornado Users Guide
GNU ToolKit Users Guide
WindView Users Guide

Manuals on VxWorks OS:

VxWorks Programmers Guide
VxWorks Network Programmers Guide
VxWorks Reference Manual
BSP Reference (HTML)

Tornado Online HTML Manuals

Technical Support (if purchased)

1-13

Other Resources

Usenet newsgroups covering VxWorks and embedded

programming topics, for example comp.os.vxworks.

Training courses:
Tornado Device Driver Workshop
Tornado BSP Training Workshop
Tornado Tools Training Workshop

Technical Support provides help with

installation problems and media errors
WRS software, documentation, and service errors
understanding WRS product functionality

WindSurf self-help web pages: search engine, FAQ,

patches, document updates, known problems list, ...

1-14

Getting Started
Components of Tornado
Getting Help
1.3

Hardware / Software Configuration

Booting
Starting Tornado
WDB Agent

1-15

Setting up for Cross-Development

To perform cross-development, you must:

Set up target hardware.

Define host environment variables and configure

networking software.

Start the Tornado registry, wtxregd.

wtxregd manages a list of target servers. Tools contact the
registry to look up target servers by name.

Specify target boot parameters and boot target.

Configure and launch target server.

Each target server manages host tools interaction with a
particular target.

1-16

Target Hardware Configuration

VxWorks ROMs replace the manufacturers ROMs.

Boards may need to be jumpered. See the online BSP

Reference entry for your BSP about hardware setup
considerations.

Of course,
Static electricity and overheating can damage boards.
Connectors must be firmly in place (serial cables, ethernet cables,
VME, etc.).

VME specific:
System controller in slot 0 (left-most slot).
Having empty slots between boards requires jumpering the
backplane.

1-17

UNIX: Host Software Configuration

Set environment variables required by Tornado in your

.cshrc (or .profile)
.profile file. The script torvars.csh (or
torvars.sh)
torvars.sh may be sourced to set these variables.

Modify the registry hosts start-up files to start the

registry daemon, wtxregd,
wtxregd when the host boots.

Configure network access information:

Obtain target IP addresses
Assign host names to targets (optional)
If booting with RSH, list your targets name in
~/.rhosts.
~/.rhosts
If necessary, modify routing tables.

1-18

PC: Host Software Configuration

No environment variables need be set to work within the

Tornado IDE under Windows. Source torVars.bat to use
tools from the command line.

Registry startup procedure is defined when installing

Tornado. The registry may be installed
in the Startup folder for Windows 95, 98 or NT 4.0.
as a service for Windows NT.

The registry may also be run manually.

When using Tornado, specify the registry host you wish

to use on the Tools => Options... =>Tornado Registry
page.

Consult Windows 95/98/NT documentation to install and

configure TCP/IP for a PC.

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Getting Started
Components of Tornado
Getting Help
Hardware / Software Configuration
1.4

Booting
Starting Tornado
WDB Agent

1-20

Boot ROM

Targets boot ROM code executes on power up.

Boot ROMs do not contain the VxWorks system under

which your application runs.

VxWorks system image is an object module on the host.

The boot ROM code:

Allows setting of boot parameters.
Downloads VxWorks into target memory via the network.
Starts executing VxWorks.

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Boot Configuration

1-22

At Power-On of Target

1-23

Boot Parameters
[VxWorks Boot]: p
boot device
:
unit number
:
processor number
:
host name
:
file name
:
inet on ethernet (e):
host inet (h)
:
user (u)
:
ftp password (pw)
:
flags (f)
:
target name (tn)
:

ei
0
0
wolverine
c:\tornado2\target\config\mv162\vxWorks
147.11.12.204:ffffff00
147.11.12.165
todd
covert
0
t12-204

Unset boot parameters are not displayed by p:

gateway inet (g)

startup script (s)
other (o)

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Changing Boot Parameters

Type c at the boot prompt to change the boot

parameters interactively.

Target boards with NVRAM retain changes after power is

cycled.

Alternatively, can type boot parameters on a single line at

the boot prompt:
$ei(0,0)wolverine:c:\tornado2\target\config\mv162\vxWorks \
h=147.11.12.165 e=147.11.12.204 u=todd pw=covert tn=t12-204

Keeping this line in a file on the host machine allows cut

and paste (in hosts windowing system) for boot.

Can also make new boot ROMs with correct default

parameters (see the Reconfiguration chapter).

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Booting
[VxWorks Boot]: @
boot device
unit number
processor number
host name
file name
inet on ethernet (e)
host inet (h)
user (u)
ftp password (pw)
flags (f)
target name (tn)

:
:
:
:
:
:
:
:
:
:
:

ei
0
0
wolverine
c:\tornado2\target\config\mv162\VxWorks
147.11.12.204:ffffff00
147.11.12.165
todd
covert
0x0
t12-204

Attached TCP/IP interface to ei0.

Attaching network interface lo0... done.
Loading... 424504 + 29664 + 29404
Starting at 0x20000...
Attached TCP/IP interface to ei unit 0
Attaching network interface lo0... done.
NFS client support not included.
VxWorks
Copyright 1984-1998
CPU:
VxWorks:
BSP version:
Creation date:
WDB:

Wind River Systems, Inc.

Motorola MVME162
5.4
1.2/0
Apr 22 1999
Ready.

1-26

Rebooting

Type reboot( )at a WindSh prompt.

Type CTRL-X in target console or UNIX WindSh.

Press abort button on board.

Press reset button on chassis.

On a power-on or other cold reboot, RAM is zeroed out to

avoid parity errors reading uninitialized memory. A warm
reboot skips this step.
Typing reboot( ) or CTRL-X generates a warm reboot.
In a VME environment, typically an abort generates a warm reboot,
while a reset causes a cold reboot for all CPUs on the bus.

1-27

Alternative Booting Schemes

The shared memory network allows a target to boot over

the VMEbus. This scheme is discussed in the appendix.

Boot from a local disk.

Boot one VxWorks target from another, using the FTP

server.

Boot over a serial line, using SLIP, CSLIP, PPP, or TSFS.

Slower than booting across ethernet.

Obtain boot parameters using DHCP or BOOTP, then

download the boot file using TFTP.

Can put VxWorks in ROM. This will be covered in the

Reconfiguration chapter.

1-28

Getting Started
Components of Tornado
Getting Help
Hardware / Software Configuration
Booting
1.5

Starting Tornado
WDB Agent

1-29

Accessing Tools

Use a control panel to manage your Tornado session:

Create and manage target servers.
Start Tornado tools.
Invoke online manuals.
File requests for Technical Support.
Browse relevant Web sites.

For UNIX hosts, the control panel is the Launcher.

Launcher Start
control panel with:
% launch &

For PC hosts, the Tornado integrated development

environment (IDE) serves as the control panel. Invoke the
IDE with from the Start menu.

1-30

UNIX: Launcher
Menu Bar
Button Bar

Display
Panels

Tool Select
Icons

1-31

PC: Tornado Environment

Launch
Toolbar

1-32

Target Server

After booting a target, you must start a target server to

access the target using the Tornado tools.

Target server provides host-based management of target

resources needed by development tools:
Communication with debug agent on target.
Dynamic module loading and unloading.
Host-resident symbol table for target.
Allocation of memory on target for host tools.
Cache of target program text segment memory.
Virtual I/O facilities.

This scheme is flexible:

Minimizes tools impact on target.
Tools independent of type of communication link.

1-33

Tornado Architecture

wtxregd must be started before target server and tools.

The tools, registry, and target server may run on different

hosts.

1-34

UNIX:Creating Target Servers (Pt. 1)

Target name/
IP Address
Target
Server Name

Target
Server Lock

1-35

Creating Target Servers (Pt. 2)

Backend list

Target server
command line
Launch Button

1-36

PC: Managing Target Servers

Target Server Name

Target Server
Properties

Target name/
IP Address
Target Server
Command Line
Launch Button

1-37

Connecting To Target

Once the target server is successfully connected to the

target,
(UNIX)
UNIX An xterm will appear with connection information (provided
the Verbose option was specified), or
(Windows)
Windows A dedicated target server window will display status.
Look in taskbar system tray for
.

Now Tornado tools may be started to interact with the

target.

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Getting Started
Components of Tornado
Getting Help
Hardware / Software Configuration
Booting
Starting Tornado
1.6

WDB Agent

1-39

WDB Agent Configuration

The WDB Agent acts on the target on behalf of the target

server and Tornado tools:
Reading or modifying memory.
Setting or clearing break points.
Creating, starting, stopping, and deleting tasks.
Calling functions.
Gathering system object information.

Agent is configurable:
Specify task, external, or dual debug mode.
Select communication strategy consistent with target server back
end.
Set amount of target memory reserved for agents use.

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Host - Target Interaction

1-41

Agent Configuration

In the default VxWorks image, the WDB agent is defined,

enabling WDB Agent support. All target agent
components are in /development tool components/WDB agent
components/.

Set WDB mode component to the appropriate debug

strategy (select at least one of the two):
.../select WDB mode/WDB system debugging
.../select WDB mode/WDB task debugging

Set WDB communication type. Some example

components are:
.../select WDB connection/WDB END driver connection
.../select WDB connection/WDB serial connection

Configure the agents serial channel (optional) by setting

component parameters.

1-42

Summary

Tornados three components:

VxWorks real-time operating system
Networking
Development tools

BSP (Board Support Package)

Located in wind/target/config/bspName
Contains board-specific files

Host executables are located in wind/host/host-os/bin/.

Help available:
Online documentation
Customer Support and WindSurf

1-43

Summary

Target hardware setup is described in BSP

documentation.

Host environment.
Set environment variables for UNIX or command-line use.
Configure network facilities: IP addresses and hostnames.

Critical boot parameters:

boot device
VxWorks pathname
host internet address
target internet address
user name
processor number

1-44

Summary

Use control panel to manage a Tornado development

session:
Create, restart, and kill target servers.
Start Tornado tools like WindSh, Browser, etc..

Invoke a target server for each target.

Target server manages:

Target resources used by host tools.
Target information.
Communication with target.
Tool-target interactions.

1-45

Summary

Configure WDB Agent:

Debug mode
Communication strategy

1-46