Software Product Description ___________________________________________________________________ PRODUCT NAME: VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 DESCRIPTION VxWorks[[R]] Realtime Tools for Alpha is a set of programs, utilities and tools used for the development of dedicated, embedded, and dis- tributed realtime applications. VxWorks features a small and efficient kernel, high-level language support, powerful debugging, testing and profiling utilities and extensive networking facilities. The devel- opment environment is layered on the Digital UNIX operating system. The runtime environment is a standalone Alpha[[TM]] or Motorola[[R]] 68K target system. The VxWorks toolkit provides support for applications executing on the following single board computers (SBCs): o Digital AXPvme 64 o Digital AXPvme 100[1] o Digital AXPvme 160 o Digital AXPvme 166[1] o Digital AXPvme 230[1] o Digital AXPpci 33 o Alpha 21064 Evaluation Board (EB64)[2] o Alpha 21064 PCI Evaluation Board (EB64+)[2] o Alpha 21066/21068 Evaluation Board (EB66)[2] ____________________ [1] VxWorks V3.2 software is required for support on these platforms [2] The Alpha 210xx Evaluation Boards are supported only through a Board Porting Kit. DIGITAL July 1995 AE-Q4BLF-TE VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 o Motorola MVME147 o Motorola MVME167 Application development for Alpha target processors is supported with the ANSI-compliant Digital UNIX C compiler, available on Digital UNIX. Application development for Motorola 68K target processors is supported with the ANSI-compliant GNU C compiler, shipped with the VxWorks toolkit. Other standard Digital UNIX utilities are used by VxWorks including the link editor (ld) and the make utility. The VxWorks base toolkit supplies the libraries and other software which is independent of the target system. A Board Support Package (BSP) supplements the base toolkit with software and utilities specific to a particular target system. A software license for each user is required for both the base toolkit and for a BSP. A runtime license is required for each target system where a VxWorks application will run. In some cases, Digital provides programmed boot ROMs with the runtime license. Other elements of a fin- ished application, including application-specific software (both its distribution and media) and application-specific hardware are not sup- plied by Digital. The following features are supported by the base toolkit: o Realtime kernel. The VxWorks kernel is a high-performance execu- tive which provides support for multitasking, scheduling (both priority- based preemptive and round-robin), intertask synchronization and communication, interrupt handling and memory management. o Networking. A VxWorks system may use the TCP/IP protocols to con- nect to other systems which support those protocols. The connec- tion can be made via Ethernet, a VME backplane bus, or over a se- rial line. The VxWorks TCP/IP protocols are based on BSD[[TM]] V4.3. o Interrupt Handling. Interrupt service routines can be written in the C programming language. Routines are provided to connect hard- ware interrupt vectors to a interrupt handler written in C. o Device Handling. Device drivers can easily be written in the C pro- gramming language. 2 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 o Signals. VxWorks supports POSIX 1003.1 and BSD UNIX[R] Version 4.3 signals. o Shell utility. The VxWorks shell is an interactive utility that al- lows a user to start and stop applications, call system routines, load and unload programs, examine data, make connections to other systems using rlogin or telnet and to perform other system func- tions. The shell also contains a C interpreter which allows syn- tactically correct C statements to be executed by the shell. o Debugging. VxWorks supports three different debuggers. The first is the remote debugger which runs on the host and connects to the target system. This is a source-code level, fully symbolic debug- ger which has both an X Window interface and a line interface avail- able. The second is a local debugger which runs on the target sys- tem in conjunction with the shell. This is also a symbolic debug- ger but is not a source-code debugger. Both these facilities al- low users to single step, set break points, display system status, disassemble code and perform other functions. The third debugger is a kernel debugger, which can be used to debug code such as in- terrupt service routines on AXPvme systems. o Performance characterization. An application can measure CPU time, time at interrupt level, idle time, and other important system char- acteristics. o Dynamic loading and unloading. A device driver or other object mod- ule can be dynamically loaded and unloaded over the network or from a local disk. VxWorks features a linking loader that is able to link modules directly into a running system and report any undefined ref- erences. o I/O subsystem. The VxWorks I/O system offers uniform, device-independent access to various devices using the standard UNIX-compatible ba- sic I/O routines. A stdio buffered I/O package is also available. The I/O system is very flexible. User written device drivers can utilize the I/O system if desired or can implement their own I/O system without any interference from the standard I/O system. 3 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 o Local file systems. VxWorks supports MS-DOS[[R]] and RT-11[[TM]] file systems. There is also a raw disk file system that treats an entire disk much like a large file and offers advantages in size and speed. o Remote file systems. A VxWorks system can use any of three differ- ent protocols to provide remote file access: UNIX remote shell (RSH), the Internet File Transfer Protocol (FTP) or the Network File Sys- tem (NFS.[[R]]) o Booting. A VxWorks system can be booted from the network, from a local disk, from a ROM on the target system, or over a VMEbus back- plane. o Backplane driver. VxWorks supports VME backplane drivers for Vx- Works to VxWorks and for VxWorks to Digital UNIX communication by way of standard internet protocols. o Bus support. VxWorks supports device driver development for the VME- bus and the PCI bus. AXPvme systems support the PCI-to-PCI bridge. o 68K VME Library Interface. VxWorks supports a "68K VME" interface in the AXPvme board support package. Using this interface allows for porting of 68K VxWorks device drivers to an AXPvme platform with minimal programming effort. The following features are supported by optional software: o VAXELN API. The VAXELN Application Programming Interface (API) pro- vides many of the application-callable features of the VAXELN[[TM]] realtime operating system. Users with VAXELN code written in C can use the VAXELN API to port an existing VAXELN application to Vx- Works. See SPD 28.02.xx for more information on VAXELN. o Board Support Package. A Board Support Package (BSP) includes hard- ware initialization routines, interrupt handling, hardware clock and timer management, management of local and bus memory spaces, memory sizing, and other hardware specific functions. Additional information on each BSP may be found in the hardware supplement doc- uments included in the appropriate VxWorks documentation kit. 4 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 o Board Porting Kit. A Board Porting Kit (BPK) provides sources and documentation required to port VxWorks to a customer-designed board based on a Digital supported design. CONFORMANCE TO STANDARDS o POSIX[[R]]. VxWorks supports much of the POSIX P1003.1b, P1003.4a Draft 4, and P1003.13 Draft 5 standards. * The following sections of the POSIX 1003.1b standard are sup- ported: - Synchronized Input and Output - Semaphores - Clocks and timers - Shared memory - IPC Message Passing * Functions defined by the POSIX 1003.4a, Draft 4 standard (POSIX threads) are supported. * VxWorks supports those subsets of the POSIX P1003.4, P1003.4a, and P1003.1 programming interfaces sufficient to meet the min- imum Realtime System Profile as specified in P1003.13, Draft 5. o X Window client. The following X Window programming libraries are supported: - X11 - Xlib programming library - Xt - X11 Toolkit intrinsics - Xm - OSF/Motif Widgets - Mrm - Motif Resource Manager (Alpha targets only) o Networking. The following networking protocols are supported: - IP - Internet Protocol 5 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 - TCP - Transmission Control Protocol - ICMP - Internet Control Message Protocol - ARP - Address Resolution Procotol - UDP - User Datagram Protocol - Sockets (Stream and Datagram) - SLIP - Serial Line Interface Protocol - RPC - Remote Procedure Calls - NFS - Network File System - RSH - UNIX Remote Shell - FTP - File Transfer Protocol - TFTP - Trivial File Transfer Protocol - telnet (inbound only) - rlogin - Remote Login SOURCE CODE INFORMATION A limited number of source files are provided with the base toolkit. An optional source kit can be obtained by purchasing the appropriate source option. Source code which is not proprietary to Digital is sup- plied on the source kit. Although every attempt is made to include ac- curate source modules, Digital does not guarantee the ability to re- build a binary kit. Digital does not warrant the results of using the source kit to change selected portions of the system. HARDWARE REQUIREMENTS Host Processors Supported VxWorks for Alpha is supported on properly configured Digital Alpha systems and must meet the minimum system configuration as described in the HARDWARE REQUIREMENTS and SUPPORTED HARDWARE sections of the Digital UNIX Operating System Software Product Description (SPD 41.61.xx). 6 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 Optional Hardware o SCSI Disk. The VxWorks Realtime Tools provide SCSI-2 support for hard disks only. VxWorks supports commonly used SCSI-2 function- ality, based on the ANSI SCSI-2 1993 Specification, on Digital Equip- ment Corporation supported devices. Functionality not supplied with VxWorks may be coded by the user through an IOCTL I/O function as described in the VxWorks Programmer's Guide. o EtherWORKS TURBO PCI. The EtherWORKS TURBO PCI adapter (PN DE435- AA) is supported with the AXPpci 33 Baby AT motherboard. o PCI-to-PCI bridge. The AXPpci BSP supports the PCI-to-PCI bridge (DC21050). Target Processors Supported The VxWorks Realtime Tools provide runtime support for the following target processors: Digital: o AXPvme 64, 100, 160, 166, and 230 o AXPpci 33[3] o EB64, EB64+ and EB66 Evaluation Boards Motorola: o MVME147 and MVME167 Disk Space Requirements The following list provides disk space requirements for loading Vx- Works software subsets on Alpha processors running the Digital UNIX operating system. ____________________ [3] Single slot single function PCI devices are supported with the AXP- pci 33. PCI devices used with a PCI-to-PCI bridge are not supported by VxWorks on the AXPpci 33. 7 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 o VxWorks Base Support - During installation: 31300 Kbytes - After installation: 31200 Kbytes o VxWorks Release Notes - During installation: 100 Kbytes - After installation: 100 Kbytes o VxWorks BSP for 68K - During installation: 23400 Kbytes - After installation: 23400 Kbytes o VxWorks BSP for Alpha - During installation: 20600 Kbytes - After installation: 20600 Kbytes o VxWorks BPK for Alpha - During installation: 29500 Kbytes - After installation: 29500 Kbytes o VxWorks VAXELN API - During installation: 900 Kbytes - After installation: 900 Kbytes o VxWorks X Client - During installation: 16400 Kbytes - After installation: 16400 Kbytes These counts refer to the disk space required on the system disk. The sizes are approximate; actual sizes may vary depending on the user's system environment, configuration, and software options. 8 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 SOFTWARE REQUIREMENTS Digital UNIX Operating System V3.0 or higher Refer to the Digital UNIX Software Product Description (SPD 41.61.xx) for operating system prerequisites. OPTIONAL SOFTWARE The following software is licensed separately from the base toolkit: o Board Support Packages. The following Board Support Packages are separately orderable: - Board Support Package for Alpha - Board Support Package for 68K o Board Porting Kit. The following Board Porting Kit is separately orderable: - Board Porting Kit for the Alpha 21064 and the Alpha 21066/21068 Evaluation Boards. Each customer-designed target system based on an evaluation board requires a runtime license. o VAXELN API. o X Window client. The VxWorks DECwindows client development libraries provide VxWorks realtime applications with an interface to the X Window System[[TM]] (X11, Release 5) and the OSF/Motif programming interface (Version 1.2). Using VxWorks DECwindows client libraries, client applications executing on a VxWorks target can use DECwin- dows to open windows and display text and graphics on a display server. o Source kit. The VxWorks Source Kit provides selected VxWorks source files for use in making basic modifications to the product and for studying how the product works. A Software Source License Agree- ment is required for purchase of the VxWorks Source kit. 9 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 THIRD PARTY SOFTWARE The following software is licensed and supported by the provider listed. These providers have ported their software applications to VxWorks for Alpha. Please contact them for additional product information. StethoScope[[R]] is a realtime data visualization, profiling, and de- bugging tool that lets the user examine and analyze a VxWorks appli- cation while it's running. Contact Real-Time Innovations, Inc. for fur- ther details. Real-Time Innovations, Inc. 954 Aster Sunnyvale, Ca. 94086 Phone: 408.720.8312 internet: info@rti.com Vsystem is an open, high speed data acquisition tool used for build- ing networked data-logging and control systems. It includes an MMI pack- age, scripting language, alarming, data-logging, playback, and so on. It is used in industrial and research applications where scalability and openness are required. For more information on Vsystem, contact Vista Control Systems. Vista Control Systems[[R]] 134 Eastgate Drive, #B Los Alamos, NM 87544 Phone: 505.662.2484 internet: sales@vistanm.com Optional Documentation The following optional VxWorks Documentation kits provide ordering flex- ibility. Refer to the Ordering Information section of this SPD for spe- cific ordering information. o VxWorks Realtime Tools Doc Set. This is the primary VxWorks doc- umentation kit. It contains all of the VxWorks manuals except for the VxWorks Board Porting Guide and the VAXELN to VxWorks Migra- tion Guide. 10 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 o VxWorks General User Doc Set. This kit contains manuals for gen- eral application programing: VxWorks Programmer's Guide, VxWorks Reference Manual, Introduction to VxWorks, VxWorks Guide to DECwin- dows, and VxWorks Guide to VxGDB. o VxWorks 68K Doc Set. This kit contains the VxWorks Motorola MVME147S- 1 and MVME147SA-1 Hardware Supplement, the VxWorks Motorola MVME167 Hardware Supplement, and the VxWorks Guide to GNU Software for 68K Systems. o VxWorks Alpha Target Doc Set. This documentation set contains the VxWorks Alpha Hardware Supplement. o VxWorks Board Porting Doc Set. This documentation set contains the VxWorks Board Porting Guide, the VxWorks Alpha Hardware Supplement, and the VxWorks Guide to Writing and Porting Device Drivers. The VxWorks Board Porting Guide is not included in any other documen- tation package. o VxWorks VAXELN API Doc Set. The VAXELN to VxWorks Migration Guide is available only with this documentation set. o VxWorks POSIX Documentation. The VxWorks POSIX Manual contains all VxWorks POSIX documentation. GROWTH CONSIDERATIONS The minimum hardware and software requirements for future versions of VxWorks may change in the future. DISTRIBUTION MEDIA CD-ROM This product is available on the Digital CD-ROM Software Library for Digital Alpha. 11 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 ORDERING INFORMATION[4] VxWorks Realtime Tools: o Licenses: QL-2JRAM- o Media/Documentation: QA-2JRAA-H8 o Documentation: VxWorks Realtime Tools Doc Set, QA-2JRAA-GZ o Product Services: QT-2JRA - VxWorks Board Support Package for Alpha: o Licenses: QL-2JTAM- o Documentation: VxWorks Alpha Target Doc Set, QA-2JTAA-GZ VxWorks Board Support Package for 68K: o Licenses: QL-2JSAM- o Documentation: VxWorks 68K Doc Set, QA-2JSAA-GZ VxWorks Runtime for Alpha: o Runtime License: QL-2JZA9-FA VxWorks Runtime for 68K:[5] o Runtime License for MVME147: QB-MFRAA-AA o Runtime License for MVME167: QB-2JYAA-AA ____________________ [4] The character denotes a variant character in the order number. For additional information on available licenses, services, and media, refer to the asppropriate price book. [5] An appropriate boot ROM is supplied with each runtime package for a 68K target. 12 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 VxWorks X Window Client Support: o License: QL-2JVAM- VxWorks VAXELN API: o Licenses: QL-2JUAM- o Documentation: VxWorks VAXELN API Doc Set, QA-2JUAA-GZ VxWorks Board Porting Kits for Alpha: o Licenses: QL-2JXAM- o Documentation: VxWorks Board Porting Doc Set, QA-2JXAA-GZ VxWorks Source: o Source kit: QB-2JRAA- VxWorks General Users: o Documentation: VxWorks General User Doc Set, QA-3J3AA-GZ VxWorks POSIX: o Documentation: VxWorks POSIX Documentation, QA-3J4AA-GZ SOFTWARE LICENSING This software is furnished only under a license. For more information about Digital's licensing terms and policies, contact your local Dig- ital office. License Management Facility Support: This layered product supports the Digital UNIX License Management Fa- cility. 13 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 This layered product offers a Personal Use license. Each Personal Use license allows one identified individual to use the layered product. Concurrent debug sessions are limited to the number of users licensed. SOFTWARE PRODUCT SERVICES A variety of service options are available from Digital. For more in- formation, contact your local Digital office. SOFTWARE WARRANTY Warranty for this software product is provided by Digital with the pur- chase of a license for the product as defined in the Software Warranty Addendum of this SPD. The runtime license licenses the user-written application, supported by the user, for execution on the target platform. The VxWorks for Al- pha kernel, and all other VxWorks for Alpha tools and utilities in- cluded with the user application are warrantied by Digital as defined in the Software Warranty Addendum. The above information is valid at time of release. Please contact your local Digital office for the most up-to-date information. © 1995 Digital Equipment Corporation. All rights reserved. [R] Motif and OSF/1 are registered trademarks of Open Software Foundation, Inc. [R] Motorola is a registered trademark of Motorola , Inc. [R] MS-DOS is a registered trademark of Microsoft Corporation. [R] NFS is a registered trademark of Sun Microsystems, Inc. [R] POSIX is a registered trademark of IEEE. [R] StethoScope is a registered trademark of Real-Time Innovations, Inc. [R] UNIX is a registered trademark in the United States and other countries, licensed exclusively through X/Open Company, Ltd. 14 VxWorks Realtime Tools for Alpha, SPD 51.39.05 Version 3.2 [R] Vista Control Systems is a registered trademark of Vista Con- trol Systems. [R] VxWorks is a registered trademark of Wind River Systems, Inc. [TM]BSD is a trademark of the University of California, Berkley, CA. [TM]X Window System is a trademark of the Massachusetts Institute of Technology. [TM]The DIGITAL Logo, Alpha, CI, COHESIONworX, DEC, DECstation, DECsystem, DECwindows, Digital, OpenVMS, RT-11, VAXELN, and VMS are trademarks of Digital Equipment Corporation. 15