Download ppt - RTEMS Experiences at SSRL (continued)

Stephanie Allison EPICS Meeting June, 2003

1

Stanford Linear Accelerator Center

RTEMS Experiences at SSRL (continued)

• Introduction• Building/Booting

• Available EPICS Support• Wish List

Stephanie Allison EPICS Meeting June, 2003 2

Introduction

• Currently at RTEMS 4.6.0pre2• We no longer build for VxWorks• Building RTEMS is complicated• …but using is easy• OSI layer makes porting from

VxWorks almost trivial


Building RTEMS at SSRL1) Tools and libraries2) Unbundled RTEMS applications3) Create symbol list used in system image

link4) System image used by all IOC

• Not all libraries included• Include some unbundled apps like Cexp• Don’t use routines (rtems_init and

rtems_netconfig) delivered in base/src/RTEMS

Building is complex - Till’s README files helpful


RTEMS Unbundled Apps• C Expression Interpreter

(Cexp) (our “shell”)• Telnet• NFS• Monitor


RTEMS Boot• System image loaded• Initialization task

• Also loads symbol file• Runs common non-EPICS startup script to

load other unbundled apps, set TZ, start tasks, etc

• Then runs EPICS app startup script identified in NVRAM which loads app image and initializes EPICS

• Left at Cexp prompt – at this point, usage similar in concept to VxWorks

CEXP QuickStart

For CEXP details, read $RTEMS_APPS/cexp/README.

Things to remember:

* arrow and backspace keys work (up/down-arrow for history since reboot) * all commands need parenthesis even if the fcn has no arguments

Popular CEXP commands:

* Symbol (Function) Lookup:

Cexp> lkup("<part-of-fcn-name>") example: Cexp> lkup("drv") ===== In module 'bin/multiUse.obj' (0x01d5ac68) =====: 0x019c47ac[ 12]: VOID void drvIpac 0x019c4930[ 12]: VOID void drvTip810

USER VARIABLES: 0x00000000 (0)

* Changing Directory and Invoking a Script:

Cexp> chdir("/TFTP/BOOTP_HOST/<directory>/") *** Remember the final "/" *** Cexp> cexp("<script-file>") example: Cexp> chdir("/TFTP/BOOTP_HOST/epics/saa/iocBoot/iocspear6/") Cexp> cexp("st.cmd")

* Rebooting

Cexp> rtemsReboot() Note: If connected via terminal server, you can reboot by ctrl-] to telnet and typing "send break": Cexp> telnet> send break

CEXP QuickStart (continued)

* System Monitor

Cexp> rtemsMonitor() monitor> help *** lists monitor queries *** monitor> task *** task list *** monitor> cpuUsageDump monitor> cpuUsageReset monitor> exit

* Network Monitor

Cexp> rtems_bsdnet_show_if_stats() Cexp> rtems_bsdnet_show_ip_stats() Cexp> rtems_bsdnet_show_tcp_stats() Cexp> rtems_bsdnet_show_udp_stats() Cexp> rtems_bsdnet_show_mbuf_stats() Cexp> rtems_bsdnet_show_icmp_stats() Cexp> rtems_bsdnet_show_inet_routes()

* Favorite EPICS Commands

Cexp> dbl() *** DB record list *** Cexp> dbcar() *** CA link list *** Cexp> dbior() *** Drv/Dev report *** Cexp> casr() *** CAS report *** Cexp> dbpr("<record-name>",5) *** Full DB record dump *** Cexp> scanppl() *** Scan DB record lists *** Cexp> iocsh() *** Enter IOC shell ***


EPICS/RTEMS Support Available at SSRL

• IPAC – CANBus, Acromag, Hytec• BitBus Controller• GPIB – LAN and Termios• Echotek Digital Receiver• AB EtherIP• Generic Transient Recorder• Bumpless Reboot Restore• Sequencer• Soon – General Standards PMC


Wish List• osiDevLib – layer on top of VME/VXI (return

errors for soft IOCs)• devStats – CPU health status monitor like

[VX,vx,Vx,vX]Stats• epicsOSversion – get OS class and version as

string• osiTS – periodic NTP sync and timestamp

update like soft time slave IOC in VxWorks’s drvTS

• Routine to show boot parameters• BTW, include files under base/src/vxWorks/src

should be installed in base/include/os/vxWorks