Release Note
MPI VxWorks Package

	Current Version
VxWorks Version	5.5.1
Tornado II	2.2.1
Supported Products	XMP, ZMP

Introduction

Welcome to the MPI-VxWorks Support Package. The distribution was built and tested using Tornado II. This document provides an overview of the release and describes the new features and changes from the standard WinNT MPI software releases. Each MPI-VxWorks distribution has a particular revision and can only be used with a standard, WinNT MPI release of the identical revision.

Features

This MPI release provides support for any combination of XMP and ZMP controllers on a PCI backplane, up to a total of 4 controllers in a single system. Support is also provided for shared interrupts, allowing multiple devices on the PCI backplane to use the same IRQ signal. All platform independent MPI features are supported, including client/server operation over Ethernet. An optional module is provided for BSPs which do not automatically configure the MMU to allow accessing PCI devices.

VxWorks System Requirements

The MPI-VxWorks release is designed to operate with either a Win32 or SPARC station host with the Tornado 2.2.1 development environment. Tornado 1.0.1 is no longer supported. Only x86 targets are supported by this release.

Target System	Any pcPentium-based BSP
VxWorks Version	5.5.1

These instructions assume that Tornado 2.2.1 with x86 or Pentium target support is installed on a development machine.

Installing the Distribution on the Host System

Installation of MPI VxWorks support requires first installing the standard MPI WinNT base distribution on the development system, followed by installation of the MPI VxWorks support package. Installers assume a default installation directory of C:\MEI unless otherwise specified The MPI-VxWorks installation is designed to install on top of the standard Win32 MPI release; both releases must be installed entirely for the Makefiles to run correctly.

All VxWorks specific files are installed into VxWorks\x86 subdirectories. Key components of the distribution are:

The release and debug versions of the MPI-VxWorks libraries. Installed in the C:\MEI\xmp\LIB\VxWorks\x86\Release subdirectory.
GNU Makefiles for various sample applications and utilities.

Board Support Package Requirements

The MPI-VxWorks release requires that the target BSP configure the MMU to enable access to XMP and ZMP PCI devices. Some BSPs perform this configuration automatically; the group of pcPentium based BSPs provided with Tornado do not. If an MPI program generates a general protection fault during calls to meiControlInit—the shell tt command can determine this—then enable PCI automatic configuration in your BSP:

Set PCI_CFG_TYPE to PCI_CFG_AUTO: this can be done in config.h by adding:

#undef PCI_CFG_TYPE
#define PCI_CFG_TYPE PCI_CFG_AUTO

...or by the corresponding VxWorks settings in your Tornado project.
This setting may generate a compiler error when compiling vxWorks due to a missing sysBusPci.c.

Copy C:\MEI\xmp\MPI\VxWorks\x86\sysBusPci.c to your BSP directory. This module will configure MMU entries for XMP and ZMP controllers only.

Wind River also recommends examining your network memory buffer settings; see the VxWorks Network Programmer’s Guide, section 4.3.3, for a discussion of buffer size settings. These settings can enhance the performance of the MPI server program but affect no other part of MPI.

General Option

Boot the Target System

Boot the target system using a valid VxWorks and bootrom image. Verify that
the target has successfully attached to the host computer and no warning or
error messages were logged.

Load the library object modules

Once the target is booted, load the MEI library modules mpiXmp.o and appUtil.o to the target:
   ld < /mei/xmp/lib/VxWorks/x86/debug/mpiXmp.o
   ld < /mei/xmp/sqNodelib/lib/VxWorks/x86/debug/libsqNode.a
   ld < /mei/xmp/lib/VxWorks/x86/debug/appUtil.o

These object modules have been precompiled for a VxWorks target and come in a Release or Debug format. The mpiXmp.o must be loaded first as it contains definitions for libsqNode.a and appUtil.o.

Host/Client Communication between Win32 and VxWorks Applications

The target system is accessible from a Win32 host through TCP/IP via the server application. The server.o program is loaded on the target and then executed by typing ‘server’ from the telnet shell or console. This process must be active to receive any commands from a Win32 host. Press any key on the target to exit the server program. On the host side, all Win32 utilities and sample programs must be run with the –server <target> flag.

Server now has a new VxWorks specific option, “-background”, which avoids any console interaction. This is useful to allow MOCON and other host utilities to interact with the controller for diagnostic purposes. With no clients, server requires very little CPU support; and can be run with a very low priority:

Id < /mei/xmp/util/VxWorks/x86/debug/server.o
taskSpawn “server0”, 248, 0, 1024*1024, server, “-control”, “0”, “-listen”, “3300”, “-background”, “1”

This enables the server with a low priority (248) and a 1MB stack, with the parameters “-control 0 –listen 3300 –background 1”.

Running XMP support utilities under VxWorks

Pre-compiled utilities are included in the VxWorks release located at C:\MEI\XMP\BIN. These utilities support two modes of communication. They can be loaded and run from the target system or across Ethernet from a Win32 host with the –server flag:

version program

Load the version.o object onto the target system.
Type: ver

NOTE: Due to a VxWorks module name conflict, the version.o main routine does not match the module name.

reset program

Load the reset.o object onto the target system.
Type: reset

Running via TCP/IP from a Win32 host.
Type: reset –server <target>

flash program

Load the flash.o object onto the target system.
For example, type: flash “C:/MEI/XMP/bin/xmpNNNxN.bin”

Running via TCP/IP from a Win32 host.
Type: flash –server <target> “C:/MEI/XMP/bin/xmpNNNxN.bin”

VM3 program

Operation not supported on the target system or via a sparc station.
Running via TCP/IP from a Win32 host, type: Vm3 –server <target>

Motion Console

Running via TCP/IP from a Win32 host, please see the Motion Console section.

Motion Scope

Running via TCP/IP from a Win32 host, please see the Motion Scope section.

MPI/XMP Sample Applications

This release installs a makefile for building the sample applications under Tornado. The makefile provides an interface to build all the sample apps from the command line using the make utility.

General Changes

Default Stack Sizes

Due to increased application memory requirements for SynqNet motion control network support, the default application stack size has been increased to 8MB in this release. This stack size can be adjusted by modifying the VXW_APP_STACK_SIZE define in [C:\MEI]\XMP\apputil\arg.h. A recompile of the apputil.o library will be required to make the change effective.

Removal of sysXMP.c/h

Due to automatic PCI enumeration using the sysBusPci.c module, the sysXMP.c/h files are no longer necessary to provide support to XMP-series controllers under VxWorks. Similarly, making changes to the VxWorks BSP file sysLib.c is also no longer necessary.

Known Bugs and Issues

There are no known bugs or open issues.

Release Note MPI VxWorks Package