© 2005 Wind River - MKS 2 - Homepage€¦ · Latest 18:00 Wrap Up and Next Steps (all) 4 ... © 2005 Wind River Workbench - Project and Build ... © 2005 Wind River Wind River VxWorks

© 2005 Wind River

© 2005 Wind River

Device Software Optimization

Wind RiverWorkbench2.5 / VxWorks6.3

Marcus Bortel

3 © 2005 Wind River

Agenda

09:00-09:15 Welcome & Introduction (DESY)

09:15-09:30 DESY – Projects, Requirements, Meeting Goals (DESY)

09:30-10:15 Wind River Workbench – End to End IDE (Marcus Bortel)

10:15-10:50 Wind River VxWorks 6.x – world leading RTOS (Marcus Bortel)

10:50-11:00 Break Open Discussion (all)

11:00-11:30 Licensing (Floating License) (Marcus Bortel)

11:30-12:30 Workbench Introduction (Marcus Bortel)

12:30-13:15 Lunch (all)

13:15-14:15 Generate Boot loader and VxWorks Image (Marcus Bortel)

Configure and Generate a Target Image

14:15-15:30 Run Image on Target, Debugging of the Target (all Tools) (all)

15:30-15:40 Break (all)

15:40-16:45 How is BSP and Driver implemented (overview) (Marcus Bortel)

16:45-OPEN Open Discussion (all)

Latest 18:00 Wrap Up and Next Steps (all)


Agenda

1. Die neue SW-Version VxWorks 6.0 (z.Zt. ist 5.5 aktuell), für die DESY gerade

einen neuen Wartungsvertrag abgeschlossen hat. D.h. die Unterschiede und neuen

Features. Die neue VxWorks 6.0 Version kann/wird basierend auf der Workbench

Eclipse bearbeitet -> Einführung.

2. Image Konfiguration mit dem neuen Graphiktool bzw. mit dem CMD-Tool.

3. Einbinden von Treibern und eigenem Code in ein Image.

4. Einbinden von neuer HW (NIC und GRA-Karten) in das Target.

5. Allgemein das Thema Netzwerk: Zuordnung von Routingtables, laden des Images

über Subnetzgrenzen hinaus, Verwendung von Gateways usw.


Wind River Workbench Development Suite

Wind River Workbench

Graphical User Interface Host Shell

Eclipse Framework

System Viewer Third-Party CMProject Editor

Build

Compiler

Source Analyzer

Debugger

AlternateEditor

Third-Party Tool

Analysis

Data

Memory

Performance

Coverage

VxWorks Simulator

VxWorks Linux Other OS No OS

OCD and Target Agent Connectivity

UnitTester

Diagnostics

HardwareBring-Up

FirmwareDriver & BSP

ApplicationSoftware

Code QA & Test

System Test


How many tools do you use?

HardwareBring Up

Kernel/OS, Driver, & BSP

Application Software

Design & Debug

Code QA& Test

Product Life Cycle

Deployment & Field Management

System Level Testing

JTAG Tools

JTAG Debugger

Code Browsers

Build SystemsConfiguration management

Multiple Debuggers Editors

Memory Leaks Detectors

CPU Profilers

Unit Testing Tools

Data tracing Tools

Code Coverage Tools

Code Patching Framework

Telnet/Serial Shells



ApplicationSoftware

VerificationAnd Test

HardwareBring Up

Kernel/OSDriver & BSP

ApplicationSoftware

Design & Debug

Code QA& Test

JTAG Based Tools

Flashing, H/W Testing, H/W trace

JTAG Debugger

Full Source Level Debugging,Multi-Core, Multi-device Support,

Visual Kernel Configuration

Build-Compile-Debug

Code Browsing and Navigation, Automated Builds, Multi-device

Debugging, Target Management


Deployment &Field Management

Dynamic Debugging

Run-time Dynamic Code Insertion, Core File Analysis

Software Performanceand Visualization

Graphical analysis of Memory Allocations / Leaks, Function Profiling,

Visualization of OS Events

Testing and QA

Unit Testing, Performance Analysis, Code Coverage,

Field Diagnostics

Remote upgrades, Device management

Where does Workbench fit in?



One Common Interface for All Phases of Device Development, Debug, and Test:

• Hardware Bring-up

• Kernel/OS, Driver, and BSP Development

• Application Software Design and Debug

• Code QA & Test

• System Level Testing

• Deployment & Field Management


Workbench Benefits by Phase

• Hardware Bring-up– High speed, on-chip debug (OCD) and download– Built in hardware diagnostics– Hardware breakpoints (flash/ROM)– Detailed Access to cache and peripheral registers– Flash programming

• Kernel / OS, Driver & BSP Development– OCD and agent, at the same time– Register, assembly, and and source level– OS/Runtime configuration– Kernel object browsing– Source code enhanced debugging for VxWorks and Linux

• Application Software Design & Debug– Editor, source analysis, debug integration– Source code analysis – Multiple context debugging– Data monitoring– Performance Profiling– Memory use analysis


ApplicationSoftware


HardwareBring Up


ApplicationSoftware

Design & Debug

Code QA& Test




Workbench Benefits by Phase

• Code QA & Test– Unit Testing and Test coverage analysis (optional plug-in)– Automatic generation of test harness code and test case stubs (optional plug-in)– Static code analysis and code formatting enforcement

• System Level Testing– Core file analysis after system failures– Run-time code insertion to add instrumentation

• Deployment & Field Management– Support instrumentation of deployed devices– Software version management– Field firmware upgrades


ApplicationSoftware


HardwareBring Up


ApplicationSoftware

Design & Debug

Code QA& Test




Workbench is built on an open framework

ECLIPSE Platform

CDTProjects, Editor &

Static Analysis

Views

WRSource Code

Analysis Engine

Debugger Views

Via DSDP

WR Compiler

WR Platform Specific

Tools

WRDebuggerBack-end

Target Management

Via DSDP

WRPlatform

Independent Tools

NativeGNU Tools

Support(GDB)

Open S

ource

Win

d R

iver

Wind River Workbench Value-Added Components

Open Eclipse Framework

Analysis& Test

Framework

Via TPTP

Partnerand/or

Customer-Integrated

Tools


Introduction – Eclipse platform

• WindRiver Workbench is based on the Eclipse platform

– An open, industry supported, java-based framework for tool integration

– Integration via Plug-Ins for additional technologies like ClearCase, PVCS, SlickEdit and more available

– Runs on a wide range of operating systems with common look & feel

– Open-source licensing and a community of tool developers

– For more information please seehttp://www.eclipse.org


Java VM

Eclipse platform

ClearCase, CVS, etc.

Java DevelopmentTools (JDT)

Wind River Development

Tools


Eclipse platform – what it provides

• Ready to use UI features– Native look and feel on all supported host platforms – Supports platform specific features, i.e. ActiveX– Dockable views (place views on different locations in the frame) – Floating views (open them as separate windows) – Toolbars configurable/dockable by end user – Drag & Drop support– History (ability to navigation back and forward similar to a web browser) – Bookmarks (ability to mark locations persistently) and History– Online Help (context sensitive Windows (based on HTMLHelp) and Unix

(integration with Netscape) )– Online Upgrade (could be integrated with existing WRS technology)

• Integration with 3rd party tools – ClearCase, CVS, over 950 more -> http://eclipse-plugins.2y.net/eclipse/


staticanalysis

project build


debugger targetmanager

ClearCase

Introduction - Workbench Components

Leverage SNiFF+ industry proven,

big project enabled, technologyLeverage Tornado & Vision/SingleStep technology

WR editor


Wind River® Workbench Architecture

Debugger Frame Work

Eclipse Framework

Project &

Build System*

Source

Browsing* (SNiFF+

Technology)

Workbench

Editor*

Profiling

Tools*Scope Tools /

WR System Viewer

Unified

Debugger*

On-Chip Debug Connection

Plug-in

Target Agent Connection

Plug-in

Embedded OS

JTAG

TargetApplication

Target Agent

Network

WIND®RIVER ICE

WIND®RIVER Probe

NetworkUSB/LPT

Network

CPU Plug-in

Host

Target

Compilers(Diab & GNU)

* WR Extensions to Eclipse

Target OS Plug-in

Target BoardSerial



One Common Interface for All Phases of Device Development, Debug, and Test:

• Hardware Bring-up

• Kernel/OS, Driver, and BSP Development

• Application Software Design and Debug

• Code QA & Test

• System Level Testing

• Deployment & Field Management


Static Analysis

Capabilities– Symbol browsing (easy & quick navigation)– Function call trees, Dependency graphs– Class inheritance– Include hierarchies– Code completion & parameter hints– Conditional code highlighting– Retriever for fast Search and Replace– Refactoring (C/C++ symbol based replacement)

BenefitsNavigate instantly

• Through millions of lines of code• Thousands of files and directories• Without getting lost

Better comprehend source code• Excellent dependency visualization

Make code reuse reality• Understand VxWorks 6.3 and Linux source code• Port to custom hardware more quickly• Simplify code reviews

Coding 19%

Documenting

6%

Testing/Debugging

28%Code Analysis 47%

How do developers spend their time?

Time Savings with Wind River Workbench


Source Analysis

• Features– Symbol browsing– Function call trees– Dependency graphs– Class and diagrams– Include hierarchies– Code completion– Conditional code highlighting

• Benefits– Better understand Linux kernel

updates and open source software

– Port to custom hardware more quickly

– Simplify code reviews


Retriever

• The “most used“ SNiFF+ Tool is now available with the Wind River Workbench

• Search and Replace your project(s) content by one mouse click

New Highlights

• Speed – the Workbench Retriever is performance optimized (faster than in SNiFF+)

• Matches are automatically highlighted in the Source Editor


Wind River Workbench Editor

• Rich Graphical Code Editing– Code Completion– Symbol tool tips (even external)– Keyword and symbol high-lighting– Code Formatting– Conditional Code Highlighting

• Support for multiple languages

– C/C++, Ada and Assembly

• Well Integrated– Debugger - Set breakpoints, step

through code, mixed source and assembly views

– Source analysis – go to symbol definition, open call trees, …

• Scalable and Extensible– Works with files up to 1GB large– Accepts other Editor plug-ins based

on Eclipse

• Includes VI plug-in and Emacsconstructs


Source completion & Parameter hint


Workbench - Project and Build

• Extensions to the Eclipse project system – Wizards to create new projects

• bootable, downloadable, RTP’s, BSP’s– Integration with VxWorks kernel config and system builder UI– Multi-Language project support– Migration of existing projects (T2.2, SNiFF+ 4.x) by providing a

Project Importer Utility

• Build extensions– Multi-language, multi-platform build system– Based on Makefiles (gmake) maintained by the IDE– Automatic generation of makefiles (including dependencies)– Build can be started also from command line– Configurable for WindRiver (diab) and GNU compiler– Easily build RTP’s for different build specs


Wind River Tool Chain & Debugger

Choice of 2 compilers for flexibility and easier migration– Gnu toolchain 3.4– Wind River toolchain (diab) 5.4

(significant new cross-module optimizations)

WindRiver Debugger– Extendable design with a plug-in architecture

– Target OS (VxWorks, Linux)– Connection Types (JTAG, Serial, Ethernet)– CPU (PowerPC, Intel, ARM among others)

– Debug multiple tasks, threads, RTPs, and processors concurrently– Dual OS debug strategy

– Task mode and system mode debugging (VxWorks 6.2+)– Kernel & User mode debug via a single agent (Linux) – Same debug agent for VxWorks 6.2+ and Linux 2.4.x Linux 2.6.x

– Performance optimized for large code bases


Wind River VxWorks Simulator

Complete simulation of VxWorks 6.3• vxSim is a port of vxWorks to a host architecture (x86)• Full featured prototyping and test environment• The capabilities of VxSim are (more or less) identical to a “true“ VxWorks running on a HW target

Ability to create virtual networks• Create virtual systems• Connect VxWorks simulation environment to real

system components

Benefits• Hardware independent development• Allows large portion of SW testing early in the development cycle


Wind River System Viewer

Software Logic Analyzer

Graphical visualization of all system activity over time

Multiple data collection and upload methods including ring-buffer and post-mortem

Data export for advanced analysis

Operating System Support• Linux • VxWorks 6.0+ (including triggering)

BenefitsQuickly analyze and understand the complete temporal behavior of your deviceFind critical proplems in your system quickerFine-tune your shippable product


Multiple Context DebuggingConnect to and debug Multiple processor cores, multiple processors, multiple

operating systems simultaneously

Systems• Multiple Cores in a Die• Multiple CPUs on a board• Multiple CPU boards in a system• Kernel Level Debug

Applications• Multiple Applications• Multiple Tasks, Threads, Processes• Multiple Kernels• Stepping through System Calls

Connections• TCP/IP• Serial• JTAG

Debug Agents• Kgdb / kernel agents• User App. agents • WDB agent• JTAG/ICE agents


Wind River WorkbenchMultiple Session and Multiple Core

• Multiple Sessions/ Connections:

– Software Agent Based– Wind River ICE– Wind River Probe

• Multiple CPUs or Boards:

• Multiple Contexts– System – Processes– Threads

• Linux Debugging– KGDB over Ethernet– KGDB over Serial– Usermode over Ethernet– Usermode over USB

• VxWorks Debugging– System mode debug– Task mode debug– Multiple connection types

(ethernet, serial, JTAG)


Wind River On-Chip Debugging Tools

Debugging enhanced with the addition of On-Chip Debugging support• Support for Board and Operating System Bring-up• CPU and Board initialization• Analyze and debug system crashes• Program Flash devices in-circuit• Built-in diagnostics for board testing• Kernel mode debugging with OS Awareness

– VxWorks– Linux– Express Logic ThreadX

Hardware supportedWind River ICE• High Speed Ethernet connectivity

• Wind River JTAGServer™ support for multiple JTAG/EJTAG/BDM devices

• Target Console Interface for backhaul of serial data from target to host development environment

• Easy migration from one processor family to another

Wind River Probe• USB 2.0 Compatible

• USB Windows Device Driver Certified

• USB Powered, no additional power supplies required

• Easy migration from one processor family to another

• 100MHz JTAG Clock support


Wind River ScopeTools

ProfileScope– Statistical Profiling

MemScope– Memory Analysis with Leak Detection

Stethoscope– Graphical Data Monitoring Tool that

provides visualization of dataTraceScope

– Code Execution tracing tool for VxWorks 6.2+CoverageScope

– Complete code coverage information for testing VxWorks 6.2+

Benefits• Fully integrated into the WindRiver Workbench via Plug-Ins

• Analyze and solve problems in demanding embedded applications

• Reduce risk, reduce time to market, by cutting integration and test time


ScopeTools Is Your Toolbox

• Provides visibility into running system– Analyze customers’ code, third-party code,

and the operating system• No recompilation or instrumentation

required (except for CoverageScope)

• Guarantees system reliability– Track memory leaks, memory corruptions, and

bad parameters• Ensures high performance

– Find slow code, unnecessary function calls, poorly assigned task priorities while running production code at full speed

• Reduces time to market – Get results instantly without making your

customers jump through hoops.


ScopeTools

• Visualization and Analysis tools– StethoScope

• Real-Time Data Monitor

– TraceScope• Execution-Flow Tracer

– ProfileScope • Dynamic Execution Profiler

– MemScope• Instant Memory Analyzer

– CoverageScope• Code Coverage Analyzer

• Used by kernel developers, middleware developers, and application developers


Finding Solutions with MemScope

• Problem: After running for several days, the application controlling my hardware fails. Because this occurred right after upgrading to a new version of a driver, we suspect there is some problem in thenew driver code.

• Solution: MemScope quickly points out that the third-party driver has a memory leak and shows where it is occurring. It’s easy to go back to the vendor to have them fix the problem.


MemScope - Memory Analyzer

What Task?

Bytes Outstanding

Which Function (full callstack)?

# Frees

# Allocs


MemScope – Fragmentation View

Memory map

Display by -Size-Task -Module

Details for block


Finding Solutions with ProfileScope

• Problem: “I need to test how much load my system can handle. How can I measure its response to an external load?”

• Solution: Run ProfileScope and install its output into StethoScope to see how your CPU is used over time.


ProfileScope – Dynamic Execution Profiler

• Find functions/ tasks that are CPU hogs

• See how your program handles varying loads

• View load history with StethoScope


ProfileScope - Execution Profiler

% CPU Total

Task and Function Call Tree

Graphical Usage Meter

% CPU Current


Finding Solutions with StethoScope

• Problem: “My system needs some tuning. How can I adjust the run-time performance without having to repeatedly edit, recompile, reload, etc.?”

• Solution: StethoScope’s writeback feature makes it easy to adjust parameters on the fly in running applications and to immediately see the results of your changes.


StethoScope – Real-Time Data Monitor

•Watch any variable• Global or static variables on-the-fly• Local variables via API

•Dynamic visualization • How noisy is my sensor?• When did the valve close?• How many packets per second am I receiving?

• Display it while it happens• Catch user-defined events• Change variables on the fly• Minimal impact


Tech Update – Scope Tools

CoverageScope

TraceScope

StethoScope

ProfileScope

MemScope

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Target OS's compatible with Workbench 2.3Scope Tool


Wind River Workbench Summary

Set of tools for the entire development lifecycle, from hardware bring-up to product test and manufacture

End-to-End Integration

Multiple Contexts

Extensible, Scalable Framework

Based on Eclipse, seamlessly integrates 3rd-party and in-house plug-ins for total customization and scalability

Supports multiple OSes, CPUs, architectures, cores, languages and connection types

© 2005 Wind River

Workbench Diagnostics 1.0


Transforming Service Delivery

Connected DevicesRemote Tools

Proactive AlgorithmsAutomated Analytics

Yesterday Today Tomorrow

• Customer Identifies Problem

• Customer Initiates Service

• Support Eng Dispatched

• Problem Reproduced, Fixed

Reactive

• System Identifies Problems

• Customer Initiates Service

• Remote Diagnosis

• Remote Repair or Dispatch

Proactive

• Online System Monitors Data

• Diagnoses or Fixes Problem

• Automated, Self-managed

• Calls Customer Before Issue

Predictive

Design for Serviceability


What is Unit Testing?

Unit testing is the lowest level of testing performed during software development, where individual units of software are tested in isolation from other parts of a program.

• In C, this is usually an isolated function or sub-routine. In C++, unit testing usually occurs at the class level.

• Unit tests have to be repeated whenever software is modified or used in a new environment.


Identifying a Unit to Test

Workbench Project

C / C++ Source Fileint strlen (char *str){int len = 0;// Do calculation here ......return len;}

Function (or Class)

Unit


Code Coverage Analysis

Case: X = 1, 2 or 3?

Start

Function1

1

2

3Print Error

Log Event

Reset

AdditionalCheck

End

Case: Y = Null? Function 2

Are test cases written to try all possible decisions

and exercise all code branches?


Unit Tester Reporting

Unit Tester provides consistent project-wide PASS/FAIL and

coverage reporting.

Drill-down tree views of project results and support for XML, Word, HTML, and ASCII report generation.


What does Wind River Unit Tester Do?

1. Wizard-driven Test Script Generation• Step-by-step facilities for creating a complete test driver environment.

Automatically generates test harness code and test-case stubs / wrappers.

2. Flexible Test Build / Run• Build and run test projects from inside Workbench

3. Intuitive Test Directives• Quickly develop structured, repeatable tests, yielding clear and unambiguous

results. Allows for easy test-case re-use

4. Code Verification• Checks for expected and unexpected exceptions, standard and user-defined

data types. Performs integrated code-coverage analysis and metrics on executing test-cases.


Unit Tester Integrated Reporting


What Is Workbench Diagnostics?

Wind River Workbench Diagnostics is a root-

cause analysis tool set that enables device

software developers to securely record, isolate,

diagnose, and correct device software defects


Key Features of Workbench Diagnostics

• Sensor Points– Software test points that can be

dynamically placed into a running application

• No pre-instrumentation required in application code

– No modification to application source code required

– Minimally intrusive to application operation

– Tightly integrated tool set

• VxWorks 6.2 Core Image Generation– Comprehensive system state

information at the point of exception

– Tightly integrated tool set

Application

VxWorks

SP 1

SP 2

SP 4

SP 3

SP 5

Application

VxWorks

Core Image

© 2005 Wind River

Sensor Point Run-Time


Sensor Points

• Dynamic instrumentation of functions running on “live” devices or systems

– Instrument applications written in C or C++– Instrument kernel, ISRs, and device drivers– Instrument third-party code

• Software instrumentation modules– Sensor points written in ANSI-C with custom

directives– No application, kernel, or third-party source

code needed– Same scope as any function in which it is

inserted• Access to local and global variables

• Highly efficient, minimal overhead logging framework

• Minimally intrusive

• Small footprint

Application

VxWorks

SP 1

SP 2

SP 4

SP 3

SP 5

Third-Party Run-Time


Sensor Point Architecture

Application

Sensor Point 1

Device Management Agent

Sensor Point Manager

Sensor Point Logging

Log1

Log2

Log3

void foo(int param){int state;state = globallist[param].state;

if (state < 10)return state;

return 0;}

static count = 0;sensorpoint thread{

sensorpoint “foo”{on_line(5):

log($state, count++)}

}

1

2

3• Dynamically instrument

• Enable instrumentation

• Log data

1

2

3


Sensor Point Execution Path

Branch to patch Push the stack

Save registers

Load PatchID

Call sensor point

Restore registers

Pop stack

Original instruction

Branch back

Sensor point

{

….

}

foo( )


Benefits

• Improves development and QA productivity– Enables fact-driven analysis

• Minimizes project delays by reducing time-to-resolution for defects found during development/testing/manufacturing

• Increases overall product reliability

• Allows customers to make go-to-market decisions with confidence

© 2005 Wind River

Core File Tools


VxWorks 6.2+ Core Generation

• Core image is a snapshot of system memory induced:– By kernel

• Fatal System Exception: An exceptions that occurs during kernel initialization, at interrupt level, or while in kernel state

• Kernel Panic: An unrecoverable situation detected by the kernel

• Kernel Task-Level Exception: An exception that occurs in a kernel task (exception not fatal to the system)

– On demand by user application• User applications can call

coreDumpUsrGenerate()

Application

VxWorks

Core Image


Core Image Storage

• Persistent memory– Area of RAM at the top of VxWorks 6.x system

memory specifically reserved for error records – Not cleared after warm reboots (provided a VxWorks

6.x boot loader is used) – Cold reboot always clears the persistent memory

region

• Multiple core image

• On-target compression

• Raw device– Device Access Layer that consists of a set of device

specific routines provided by the user as a separate module

• sysCoreRawDumpDevInit — initialize raw storage device interface

• sysCoreDumpDevErase — erase interface for core dump

• sysCoreDumpDevWrite — write interface for core dump

• sysCoreDumpRawDevRead — read from core dump device

• sysCoreDumpDevFlush — flush the core dump device

Application

VxWorks

Core Image 0

Core Image 1

Core Image 2


Workbench Debugger

• Core file analysis with Workbench and Workbench Diagnostics

– Attach Workbench to a core file• Target Manager

– “Connect” to a core file stored on the host file-system

• Does not require a running target

• Read-only mode for IDE tools– Debugging

• Stack trace points to the function running at the point of exception

• View content of microprocessor register content and view variable values captured when the core was generated

• View data structure content, such as kernel tasks, message queues, semaphores, and other operating system resources captured when the core was generated

– Editor• Points to the line in source code

that raised the exception

Stack Backtrace

© 2005 Wind River

VxWorks 6.x


VxWorks 6.x Key Goals

• Increase customer value by enabling:– Leverage and reuse of existing IP investment– Improved development experience and edit-compile-debug cycle– The ability to create more robust, higher quality end-products

• VxWorks 6.x delivers on these goals by providing:– Easy migration from VxWorks 5.5– An optional, viable memory protection model– Continued focus on VxWorks key attributes– Best in class IDE (Eclipse based) and debugger (Multi-X) based on

Wind River technology -> Wind River Workbench


VxWorks 6.x – Seamless Migration

• Seamless compatibility with VxWorks 5.5:recompile only

– Runs existing VxWorks 5.5 BSPs, drivers and kernel applications

• Easy migration of a user application fromVxWorks 5.5 kernel to an RTP

• Extensive compatibility testing– VxWorks 5.5 test suites– Customer code

VxWorks 5.4• Tornado 2 IDE• Networking Routing• File Systems• Connectivity• Graphics and Java

VxWorks 5.5• Diab Compiler• POSIX pThreads• pSOS-Events

VxWorks 6.0• Memory Protection

• Error Detection • Real-Time Process • IPC Messaging

• Unified MX Debugger• Eclipse-based IDE

VxWorks 5.3.1•wind Kernel / Target Shell•TCP/IP Networking• Distributed Shared Memory


“VxWorks 6” – Key Focus

• Higher Performance, Reliability and Productivity

• Seamless migration from VxWorks 5.5

• State of the art memory protection

– Error detection and reporting

– Real-Time Processes (RTP)

– Inter-Process Communication (IPC)

• Modular runtime and IDE

• Innovative Debugger: a system solution

• Validated by industry-leading companies


Real-Time Operating System

FileSystems

I/OSystem

NetworkStack

DeviceDrivers

Kernel


Mem

ory

Man

agem

ent

Intertask Communications

Interrupt Support

Semaphores

Task

Managem

ent Syste

m C

lock

VxWorks – The wind Microkernel

VxMP

Real-Time Embedded Application

Target Agent

Java & Web

Target

VxVMI

VxWorks 5.X

File System

WindNetNetworking SCSI

Core OS

wind Microkernel

POSIX Library

BSPWind Microkernel

The VxWorks System


Overhead to C ISRInterrupt Exit andRescheduling

HardwareInterrupt

Kernal InterruptLatency

C ISRResume withHighest Prio.Task2,1 µs 1,2 µs

Total Interrupt Response Time = 3,2 µs

Total Task Response Time = 10,0 µs

Optimized Performance

• 16kB Instruction-Cache• 16 kB Data-Cache• No L2 Cache

• MPC8260 ADS Board• 40 MHz PowerQUICII• 16MB SDRAMDRAM

2,2 µs


Technical Goals of VxWorks 6.x

• Reduce problematic error propagation– To help find root causes sooner

• Provide strong memory protection– To contain error propagation paths

• Provide message passing IPC: Wind River Multi Processing Technology– To facilitate the interaction of software separated by memory

protection boundaries


Memory Protection –Error Detection & Reporting

• Real-Time error detecting, reporting & handling

• Faster and cheaper development & testing cycles

• Increased robustness & reliability

• Key features– ISR/Task stack overrun detection– Code corruption detection– Null pointer usage detection– Heap block overrun detection– Heap usage tracking & leakage

detection– Persistent storage of error records

Stack Pages Program Pages Address Space

0x0

Readonly

Rawdata

Start

Stop

Stack

Task 1

Task 2

Task 3

Heap Blocks Heap Blocks


Error Detection(Using the MMU)

Stack

Start

End

Stack Pages

Read-Only Code

RW Data

Program PagesAddress Space

0x0

ISR/Task Stack Overrun Detection

Code Corruption Detection

Null Ptr Usage Detection


Heap Error Detection(MMU not required)

Heap Blocks Heap Blocks

Task1

Task2

Task3

Heap Block Overrun Detection

Heap Usage Tracking & Leakage Detection


• Error records

• Error reporting & handling policy is customizable

• ISR contexts managed - not just tasks

• Persistent memory capability

Error Reporting Features





• Provide message passing IPC: Wind River Multi Processing Technology– To facilitate the interaction of software separated by memory

protection boundaries


VxWorks 5.x Today

Shared Environment:

– Single address space

– Program code & data

– Kernel objects

– Heap

• Supervisor privilege tasks

• Direct device access

• Simple to understand

• Straightforward to programVxWorks Kernel Environment

Task1

Driver2

Driver1

SemB

MsgQA

App DCode

App CCode

App BCode

App ACode

Heap

man

age

r

Task3

Task2

SemA

VxWorks OS Modules

VxWorks BSP

But this has its challenges too…

• Resource reclamation difficult

• Symbols collide during integration

• App errors are unmanaged and so must be treated as system errors

• Software errors/faults can propagate


Memory Protection –Real-Time Processes (RTPs)

• Protects kernel from applications and applications from each other

• Familiar UnixTM-style process programming model

– Executing from a main() routine

• Easy integration and testing of legacy or third-party code

• MMU or MMU- less • User-level objects (code, heap,

stack, tasks, semaphores, FDs, etc.)

• Global task scheduler• Resource reclamation

VxWorks Kernel Environment

Task1

Driver2

Driver1

SemB

MsgQA

App DCode

App CCode

App BCode

App 1Code

Heap m

anag

er

Task3

Task2

SemA

VxWorks OS Modules

VxWorks BSP

RTP 1

RTP1 Code

Task

Heap

TaskTask ...

RTP 2

RTP2 Code

Task

Heap

TaskTask ...


Embedded Shared Libraries

Kernel

RTP 1

Shared Lib 1Data (RTP 1)

RTP 2


RTP 3


Shared Lib 1 Code

RTP 4


Shared Lib 2Code

RTP 5

RTP 1 StaticCode & Data





Kernel Static Code & Data





• Provide message passing IPC: Wind River Multi Processing Technology– To facilitate the interaction of software separated by memory protection

boundaries


Memory Protection –Message Channels

• Common IPC mechanism for runtime integration of all applications and middleware

• New message passing model complements existing function call model

• Location transparency provides design flexibility

• Three messaging modes– Unidirectional send (“fire-and-

forget”)– Send with asynchronous reply– Blocking send-receive-reply (RPC

semantics)

• Designed for future multi-core and multi-processor messaging

RTP 1

RTP 2


Task Task

Fire & Forget

Reply Reply

Async Send Block until Receive

RTP 1

RTP 2


Task Task

Fire & Forget

Reply Reply

Async Send Block until Receive


IPC: Message Channels

• Client Tasks “connect” to a service to open a message channel

• Messages are sent across the message channel to the message service

• Server tasks process messages in priority or FIFO order and can send back an optional reply

• Clients and servers can be in the same RTP or in different RTPs

• Messaging API is sockets (select() supported)

ServerTask 2

Use

r Spa

ceK

erne

l Spa

ce

ServerTask 1

ClientTask 1

ClientTask 2

ClientTask 3

RTP 1 RTP 2 RTP 3

MessageChannel 3

MessageChannel 1

MessageChannel 2


VxWorks 6.x Summary

• Backward compatibility with VxWorks 5.5

• State-of-the-art memory protection

• Memory error detection and reporting mechanisms

• Standard process-based programming model

• Scalable message passing architecture

© 2005 Wind River

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