164 lines
5.4 KiB
ReStructuredText
164 lines
5.4 KiB
ReStructuredText
.. _using_vxworks_as_uos:
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Run VxWorks as the User VM
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##########################
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`VxWorks`_\* is a real-time proprietary OS designed for use in embedded systems requiring real-time, deterministic
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performance. This tutorial describes how to run VxWorks as the User VM on the ACRN hypervisor
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based on Ubuntu Service VM (ACRN tag v2.0).
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.. note:: You'll need to be a Wind River* customer and have purchased VxWorks to follow this tutorial.
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Steps for Using VxWorks as User VM
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**********************************
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#. Build VxWorks
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Follow the `VxWorks Getting Started Guide <https://docs.windriver.com/bundle/vxworks_7_tutorial_kernel_application_workbench_sr0610/page/rbu1422461642318.html>`_
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to set up the VxWorks development environment and build the VxWorks Image.
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.. note::
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The following kernel configuration should be **excluded**:
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* INCLUDE_PC_CONSOLE
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* DRV_SIO_PCI_NS16550
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* SELECT_PC_CONSOLE_KBD
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The following kernel configuration should be **included**:
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* DRV_SIO_IA_NS16550
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* DRV_SIO_FDT_NS16550
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The following kernel configuration value should be **set**:
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* CONSOLE_BAUD_RATE = 115200
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* SYS_CLK_RATE_MAX = 1000
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#. Build GRUB2 bootloader Image
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We use grub-2.02 as the bootloader of VxWorks in this tutorial; other versions may also work.
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.. code-block:: none
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$ curl ftp://ftp.gnu.org/gnu/grub/grub-2.02.tar.xz | tar xJv
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$ cd grub-2.02
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$ ./autogen.sh
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$ ./configure --with-platform=efi --target=x86_64
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$ make
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$ ./grub-mkimage -p /EFI/BOOT -d ./grub-core/ -O x86_64-efi -o grub_x86_64.efi \
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boot efifwsetup efi_gop efinet efi_uga lsefimmap lsefi lsefisystab \
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exfat fat multiboot2 multiboot terminal part_msdos part_gpt normal \
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all_video aout configfile echo file fixvideo fshelp gfxterm gfxmenu \
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gfxterm_background gfxterm_menu legacycfg video_bochs video_cirrus \
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video_colors video_fb videoinfo video net tftp
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This will build a ``grub_x86_64.efi`` image in the current directory.
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#. Preparing the Boot Device
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.. code-block:: none
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$ dd if=/dev/zero of=VxWorks.img bs=1M count=35
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$ mkfs.vfat -F 32 VxWorks.img
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$ sudo mount `sudo losetup -f -P --show VxWorks.img` /mnt
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Create the following directories.
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.. code-block:: none
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$ sudo mkdir -p /mnt/efi/boot
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$ sudo mkdir -p /mnt/kernel
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Copy ``vxWorks`` and ``grub_x86_64.efi``.
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.. code-block:: none
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$ sudo cp vxWorks /mnt/kernel/
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$ sudo cp grub-2.02/grub_x86_64.efi /mnt/efi/boot/bootx64.efi
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Create ``/mnt/efi/boot/grub.cfg`` containing the following:
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.. code-block:: none
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set default=0
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set timeout=5
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menuentry "VxWorks Guest" {
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multiboot /kernel/vxWorks
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}
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Unmount the loopback device:
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.. code-block:: none
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$ sudo umount /mnt
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You now have a virtual disk image with bootable VxWorks in ``VxWorks.img``.
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#. Follow :ref:`install-ubuntu-Service VM-NVMe` to boot the ACRN Service VM.
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#. Boot VxWorks as User VM.
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On the ACRN Service VM, prepare a directory and populate it with VxWorks files.
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.. code-block:: none
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$ mkdir vxworks && cd vxworks
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$ cp /usr/share/acrn/samples/nuc/launch_vxworks.sh .
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You will also need to copy the ``VxWorks.img`` created in the VxWorks build environment into directory
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``vxworks`` (via, e.g. a USB drive or network).
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Run the ``launch_vxworks.sh`` script to launch VxWorks as the User VM.
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.. code-block:: none
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$ sudo ./launch_vxworks.sh
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Then VxWorks will boot automatically. You will see the prompt.
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.. code-block:: console
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VxWorks 7 SMP 64-bit
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Copyright 1984-2019 Wind River Systems, Inc.
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Core Kernel version: 1.2.7.0
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Build date: May 5 2019 21:40:28
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Board: x86 Processor (ACPI_BOOT_OP) SMP/SMT
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CPU Count: 1
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OS Memory Size: ~1982MB
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ED&R Policy Mode: Permanently Deployed
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Adding 9315 symbols for standalone.
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->
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Finally, you can type ``help`` to see available VxWorks commands.
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.. code-block:: console
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-> help
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help Print this list
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dbgHelp Print debugger help info
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edrHelp Print ED&R help info
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ioHelp Print I/O utilities help info
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nfsHelp Print nfs help info
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netHelp Print network help info
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rtpHelp Print process help info
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spyHelp Print task histogrammer help info
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timexHelp Print execution timer help info
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h [n] Print (or set) shell history
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i [task] Summary of tasks' TCBs
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ti task Complete info on TCB for task
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sp adr,args... Spawn a task, pri=100, opt=0x19, stk=20000
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taskSpawn name,pri,opt,stk,adr,args... Spawn a task
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tip "dev=device1#tag=tagStr1", "dev=device2#tag=tagStr2", ...
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Connect to one or multiple serial lines
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td task Delete a task
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ts task Suspend a task
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tr task Resume a task
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Type <CR> to continue, Q<CR> or q<CR> to stop:
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.. _VxWorks: https://www.windriver.com/products/vxworks/
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