VxWorks培训服务

课程描述

结合实际开发经验和开发工具的使用，详细介绍VxWorks系统开发的基本概念和多种调试手段，让学员深入理解VxWorks、掌握解决实际问题的技巧、真正会用VxWorks

前提知识

具备良好的C编程基础

课程形式

课程讲授和指导学员动手实验并重

开发环境由学员自备，版本不限(Vx5/6/7)

费用

公开课 - 每人每天不高于1500￥，十人开班

企业内训 - 每天不高于15000￥，不限人数

课程大纲

一系统编程(3天)

1.VxWorks简介

嵌入式系统
VxWorks特性
开发方式

2.开发工具

模拟器
工程管理
简单程序的制作
Target Server
Host Shell

3.多任务开发

多任务概述
任务的调度
任务的使用

4.多任务通信

信号量
任务同步的练习
互斥的练习
消息队列
管道
数据传输的练习
Event

5.RTP

RTP的基本概念
RTP的启动
RTP练习

6.Utility

中断与看门狗
看门狗的练习
内存的使用
图形编程

7.调试机制

调试器的使用
调试命令
dprintf
kprintf
错误检测机制
ScopeTools

8.IO系统

IO系统的使用
IO驱动

9.系统启动流程

BSP组成
Bootrom执行过程
VxWorks执行过程

二用户态编程(2天)

1.什么是RTP

为什么引入RTP
RTP的特点
RTP与Task
RTP的创建
WorkBench中启动RTP
ROMFS的使用
Code中启动RTP
系统启动时启动RTP
RTP的终止
RTP的命令
静态库
共享库

2.进程间通信

共享数据区
公共对象
信号量
消息队列
管道
公共任务
VxWorks Event
消息通道
信号
系统调用(System Call)

3.应用的移植

移植注意事项
与Kernel应用的区别

三多核编程(1天)

SMP的使用
Affinity
自旋锁
CPU内互斥
内存屏障
原子操作
调度策略
性能优化
代码移植

VxWorks是啥？

关于实时

关于硬实时

BSP是啥

Task是啥？

RTP是啥？

RTP之启动

Utility之APP自启动

Component之Kernel Shell的命令

Boot之bootrom启动顺序

加载vxWorks的boot loader有很多种，最常见的就是使用BSP编译的bootrom

它在Target里的执行顺序如下

romInit() - $(BSP)/romInit.s，这是bootrom的启动地址，它在ROM(例如Flash、硬盘)中执行最小的初始化，包括：初始化CPU、关中断、清Cache、初始化romStart()的栈STACK_SAVE、调用romStart()
romStart() - config/all/bootInit.c，这是bootrom的第一条C指令，它将bootrom镜像中未压缩的文本段与数据段从ROM复制到RAM的RAM_LOW_ADRS，然后将RAM中未占用的空间清零，将bootrom的剩余压缩部分解压到RAM的RAM_HIGH_ADRS，最后跳转到这个RAM_HIGH_ADRS处的usrEntry()执行

usrEntry() - config/all/usrEntry.c，RAM中的第一条指令，它的唯一功能就是调用usrInit()
usrInit() - config/all/usrConfig.c，主要工作包括：将BSS清零、初始化Cache库、设置中断向量表基址、安装异常向量、调用sysHwInit()、使能Cache、调用usrKernelCorePreInit()初始化Class、对象、信号量等、初始化wdb、调用usrKernelInit()
- usrKernelInit() - comps/src/usrKernel.c，配置内核使用的数据结构，包括初始化内核的Task库、配置调度策略、初始化Tick队列、初始化wind work队列、记录系统内存池尺寸、调用kernelInit()初始化内
- kernelInit() - src/wind/kernelLib.c，初始化并启动内核，包括设置中断栈尺寸、设置内存池位置、初始化中断lock-out等级、关闭时间片轮转策略、将系统Tick清零、初始化中断栈、初始化并启动第一个任务tRootTask
usrRoot() - config/all/usrConfig.c，这就是系统第一个任务的入口地址，主要负责post-kernel的初始化，逐步加载系统服务，它内部同样由大量初始化函数组成
- usrKernelCoreInit() - src/config/usrKernelCore.c，初始化内核的一些机制，包括Event、信号量的open机制、消息队列及open机制、看门狗、任务的open机制等
- memInit() - src/os/mm/memLib.c，初始化系统内存池
- usrMmuInit() - comps/src/usrMmuInit.c，初始化MMU
- usrKernelCreateInit() - src/config/usrKernelCore.c，初始化内核对象的creation机制，例如任务、消息队列、看门狗
- sysClkConnect() - src/drv/timer/xxxTimer.c，挂接系统时钟ISR，调用sysHwInit2()
- sysHwInit2() - $(BSP)/sysLib.c，挂接中断，配置其它附加信息
- iosInit() - src/os/io/iosLib.c，初始化IO系统
- tyLibInit() - src/os/io/tyLib.c，初始化TTY库
- ttyDrv() - src/os/io/ttyDrv.c，初始化TTY驱动
- ttyDevCreate - src/os/io/ttyDrv.c，创建TTY设备
- 初始化其它机制，例如任务级job机制、message logging库、管道驱动、标准IO库、ERF(Event Reporting Framework)库、设备管理、文件系统相关机制、pty(pseudo-terminal)驱动、存储设备加载、Boot Line解析等
- bootAppShellInit() - src/boot/bootAppShell.c，初始化Boot Shell
- Boot方式的初始化，例如文件系统、网络
- bootApp() - src/boot/bootApp.c，启动Boot Loader主任务bootApp
bootAppTask() - src/boot/bootApp.c，bootApp的入口地址。它默认先等待7秒，如果Boot Shell接收到命令，则解析执行；如果7秒倒计时结束，则按照Boot Line将vxWorks镜像加载到RAM_LOW_ADRS，然后跳转到这个地址开始执行vxWorks

Boot之VxWorks的镜像类型

Boot之vxWorks启动顺序

Tool之VIP

Tool之DKM

Tool之Debugger

Vx7之VmWare

Vx7之VirtualBox

Component之netstat

Component之抓包工具

Component之Spy

C语言之关键字static

UGL之HelloWorld

UGL之绘制多边形

Net之UDP极简编程

Net之TCP极简编程

Net之MultiCast极简编程

Net之SCTP极简编程

Net之TFTP

Net之NFS

Task之消息队列

Component之CMD的0x10x10个命令

命令	简介
adrsp	Display information on the address space.
alias	Add an alias or display alias
arp	IPNET arp control
bp	Display, set or unset a breakpoint
C	Switch to C interpreter
cd	Change current directory.
cpu	Set/Get CPU affinity
date	Show/Set current date
demangle	Display demangled string
dprintf	Insert a dynamic printf eventpoint
echo	Display a line of text
echoclient	TCP/UDP echo client
echoserver	TCP/UDP echo server
edr clear	Clear ED&R log
edr show	Display ED&R log
edr show boot	Display ED&R records caused by a boot
edr show fatal	Display fatal records from the ED&R log
edr show info	Display information records from the ED&R log
edr show init	Display ED&R records caused by initialization
edr show interrupt	Display ED&R records caused by an interrupt
edr show kernel	Display ED&R records created at the kernel-level
edr show reboot	Display ED&R records caused by a reboot
edr show rtp	Display ED&R records created by the RTP system
edr show user	Display ED&R records created at the user-level
exit	Exit the shell session.
expr	Evaluate expressions
file concat	Concatenate and display files.
file copy	Copy files and directories.
file create	Create files or directories.
file list	List the files in a directory.
file move	Move (rename) files.
file remove	Remove files or directories.
ftp	FTP client
func call	Call a given routine with parameters.
getenv	Get an environment variable
history load	Load an history file into the current shell session.
history save	Save the current shell session history.
ifconfig	IPNET interface configuration
ipd	ipd - Interpeak daemon control
ipversion	Show interpeak product versions
logout	Logout the shell session.
lookup	Lookup a symbol
mem	Memory debug tool
mem block list	Display information on allocated blocks.
mem block mark	Mark allocated blocks.
mem block unmark	Unmark allocated blocks.
mem dump	Display memory
mem info	Display memory information
mem list	Disassemble and display a specified number of instructions
mem modify	Modify memory values
mem part list	Display information on memory partition instrumentation.
mem queue flush	Flush the free queue.
mem rtp block list	Display information on allocated blocks.
mem rtp block mark	Mark allocated blocks.
mem rtp block unmark	Unmark allocated blocks.
mem rtp part list	Display information on memory partition instrumentation.
mib2	Print MIB-2 statistics
mmap list	Display information on memory mapped objects.
module	Display the current status for all the loaded modules
module info	Display complete information for a loaded module
module load	Load an object module into kernel memory
module unload	Unload an object module from kernel memory
more	Browse and page through a text file.
netstat	IPNET socket and route stats
nslookup	Query Internet name servers interactively
object handle	Display the object Id for an object handle.
object info	Display information on specified objects.
pcap	Packet capture utility
ping	IPNET ping utility
pppconfig	ppp config
print errno	Print a errno value
printf	Write formatted output
pwd	Display current working directory.
qc	IPNET output queue configuration
qos	IPNET Quality of Service configuration
reboot	Reboot the system
repeat	Repeat a command
ripctrl	RIP daemon control
route	IPNET route table control
rtp	Display process list.
rtp attach	Attach the shell session to a process.
rtp background	Run the current or specified process in the shell background.
rtp continue	Continue a process.
rtp delete	Delete a process.
rtp detach	Detach the shell session from a process
rtp exec	Execute a process.
rtp foreground	Bring the current or specified process into the shell foreground.
rtp hooks	Display the list of RTP hooks in the system.
rtp info	Display process information.
rtp list	Display the list of RTPs in the system.
rtp meminfo	Display memory information for a process.
rtp shl	Display the list of shared libraries in the process.
rtp stop	Stop a RTP.
rtp symbols add	Add symbols to a RTP symbol table
rtp symbols override	Overrides RTP symbol registration policy
rtp symbols remove	Removes symbols from a RTP symbol table
rtp task	Display a process task list.
sd	Display information on shared data regions.
sd info	Display detail information on shared data regions.
set	Set the value of a symbol
set bootline	Change the boot line
set config	Set or display shell configuration variables
set cwc	Set the current working context of the shell session
set deploy	Set or display the system debug flag.
set env	Set or display shell environment variables
set history	Set the size of shell history.
set prompt	Set the shell session prompt
set symbol	Set the value of a symbol
setenv	Set an environment variable
shl	Display information on shared libraries.
shl info	Display detail information on an SHL.
show bootline	Display the boot line
show devices	Display all subsystem-known devices.
show drivers	Display a list of system drivers
show fds	Display a list of file descriptor names in the system.
show history	Display the shell history events.
show lasterror	Display the last error value of a command.
slab	Print slab cache information
sleep	Suspend execution for an interval.
sockperf	Network performance test tool
socktest	Socket API test tool
spy	Begin periodic task activity reports.
spy clkstart	Start collecting task activity data.
spy clkstop	Stop collecting task activity data.
spy report	Display task activity data.
spy stop	Stop spying and reporting.
string free	Free a string allocated within the kernel shell
syscall hooks	Display the list system call hooks.
syscall monitor	Turn on system call monitor for all system calls.
syscalls	Display system call group information in the system.
sysctl	IPNET sysctl configuration
syslog	syslog
sysvar	System variable tool
task	Display a summary of each task's TCB
task continue	Continue from a breakpoint
task default	Set or display the default task
task delete	Delete a task
task hooks	Display task hook functions
task info	Display complete information from a task's TCB
task regs	Set task register value
task resume	Resume a task
task spawn	Spawn a kernel or an RTP task with default parameters
task stack	Display a summary of each task's stack usage
task step	Single-step a task
task stepover	Single-step, but step over a subroutine
task stop	Stop a task
task suspend	Suspend a task
task trace	Display a stack trace of a task
task wait	Display info about the object a task is pending on
time	Show/Set current time
tip	Connect to one or several remote systems over serial lines.
traceroute	Trace route command for IPv4
ttcp	ttcp - standard performance test
ttcp1	ttcp - min priority
ttcp7	ttcp - max priority
unalias	Remove an alias
unset config	Remove a shell configuration variable
user	User admin command
version	Display VxWorks version information.
vm context	Display information on the virtual memory context.

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