AN-BMSC-001: Running Wind River VxWorks 6.9 on Bora

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Version Date Notes
1.0.0 First release

AN-BMSC-001: Running Wind River VxWorks 6.9 on Bora

Introduction

Bora SoM is particularly suited for the use in deep embededd applications such as biomedical, aerospace and trasportation. In many of these cases, system specifications require the use of commercial real-time operating systems such as Wind River VxWorks (http://www.windriver.com/products/vxworks/).

This application notes describes the porting of VwWorks 6.9 on Bora. The porting has been tested on Bora/BoraEVB hardware platform. The following peripherals are supported:


Peripheral Status Details
UART working used as console (default 115200bps)
Ethernet working used with WDB connection
USB Host working tested with INCLUDE_USB_GEN2_STORAGE_INIT
USB Target working tested with INCLUDE_MS_EMULATOR_INIT
SHDC working with limitation tested with BoraEVB microSD slot and Kingstone 16GB microSDHC class 4
QSPI working tested with Bora on-module QSPI NOR Flash
QSPI Flash working tested with Bora on-module QSPI NOR Flash
L2 Cache working enabled by default
I2C working tested by reading DS3232 registers
PS GPIO working register level access to peripheral
DEVCFG working tested by loading FPGA bitstream from BELK
RTC working support for BORA on-module DS3232 RTC

The following peripheral are NOT supported in current BSP release

Peripheral Available on BORA/BoraEVB Details
AWDT/SWDT Y Not supported in Xilinx BSP
NAND Y Not supported in Xilinx BSP
SPI Y Not supported in Xilinx BSP
XADC Y Not supported in Xilinx BSP
CAN Y Not supported in Xilinx BSP
PCIe N Not supported in Xilinx BSP
EEPROM N Supported in Xilinx BSP

Supported boot sequences

Two boot sequences are supported:

  1. Zynq Boot ROM, FSBL, U-Boot, VxWorks kernel (1)
  2. Zynq Boot ROM, FSBL, VxWorks bootrom, VxWorks kernel


(1) Please note that U-Boot released along with BELK 2.1.0 is not capable of launching VxWorks image. You need to apply the following patch to add VxWorks boot support: 

diff --git a/include/configs/bora.h b/include/configs/bora.h
index b827ab7..0810e9c 100644
--- a/include/configs/bora.h
+++ b/include/configs/bora.h
@@ -46,6 +46,8 @@
 
 #include <configs/zynq_common.h>
 
+#define CONFIG_CMD_ELF
+
 #undef CONFIG_EXTRA_ENV_SETTINGS
 #define CONFIG_EXTRA_ENV_SETTINGS 	\
 	"addcons=setenv bootargs ${bootargs} console=${console},115200n8 debug maxcpus=${nr_cpus} earlyprintk\0" \
@@ -122,7 +124,13 @@
 		"fatload mmc 0 ${loadaddr_kern} ${kernel_image} && " \
 		"fatload mmc 0 ${loadaddr_fdt} ${devicetree_image} && " \
 		"run mmcargs addcons addmem && " \
-		"bootm ${loadaddr_kern} - ${loadaddr_fdt}\0"
+		"bootm ${loadaddr_kern} - ${loadaddr_fdt}\0" \
+	"bootaddr=0x101100\0" \
+	"vxargs=setenv bootargs gem(0,0)host:vxWorks.st h=${serverip} e=${ipaddr} g=${gatewayip} tn=${hostname} u=target pw=vxTarget f=0x0\0" \
+	"loadvx=tftp ${loadaddr} ${vxfile}\0" \
+	"vxfile=bora/vxWorks\0" \
+	"jtag_vx=run vxargs; bootvx 0x200000\0" \
+	"net_vx=run loadvx vxargs; bootvx ${loadaddr}\0"
 
 #define CONFIG_CMD_CACHE

U-Boot based boot sequence

This example shows how to retrieve (via TFTP) and run VwWorks image. First of all some new environment variables are set: 

setenv loadvx 'tftp ${loadaddr} ${vxfile}'
setenv vxfile bora/vxWorks
setenv net_vx 'run loadvx vxargs; bootvx ${loadaddr}'

The following dump shows the messages printed out on console during the whole boot process: 

zynq-uboot> run net_vx
Gem.e000b000 Waiting for PHY auto negotiation to complete..... done
Using Gem.e000b000 device
TFTP from server 192.168.0.23; our IP address is 192.168.0.77
Filename 'bora/vxWorks'.
Load address: 0x8000000
Loading: T #################################################################
[snip]
         #
         1 MiB/s
done
Bytes transferred = 12313616 (bbe410 hex)
## Ethernet MAC address not copied to NV RAM
Loading .text @ 0x00200000 (2322020 bytes)
Loading .wrs_build_vars @ 0x00436e64 (336 bytes)
Loading .data @ 0x00436fc0 (243212 bytes)
Loading .tls_data @ 0x004725cc (8 bytes)
Loading .tls_vars @ 0x004725d8 (12 bytes)
Clearing .sbss @ 0x004725e4 (4 bytes)
Clearing .bss @ 0x004725e8 (156896 bytes)
## Using bootline (@ 0x101100): gem(0,0)host:vxWorks.st h=192.168.0.23 e=192.168.0.77 g= tn=bora u=target pw=vxTarget f=0x0
## StartingþtffsDevCreate failed.
Target Name: vxTarget

Adding 8527 symbols for standalone.


                VxWorks

Copyright 1984-2014  Wind River Systems, Inc.

             CPU: Xilinx Zynq-7000 ARMv7
    Runtime Name: VxWorks
 Runtime Version: 6.9
     BSP version: 6.9/7
         Created: Dec 16 2014 14:02:34
ED&R Policy Mode: Deployed
   WDB Comm Type: WDB_COMM_END
             WDB: Ready.


->

VxWorks bootrom based boot sequence

The following dump shows the messages printed out on console in case of VxWorks bootrom based boot sequence: 

                            VxWorks System Boot


Copyright 1984-2015  Wind River Systems, Inc.





CPU: Xilinx Zynq-7000 ARMv7
Version: VxWorks 6.9
BSP version: 6.9/2
Creation date: Mar 25 2015 17:48:05




Press any key to stop auto-boot...
 1
auto-booting...


boot device          : fs
unit number          : 0
processor number     : 0
host name            : bora2
file name            : /tffs0/vxWorks
inet on ethernet (e) : 192.168.0.77
host inet (h)        : 192.168.0.13
gateway inet (g)     : 192.168.0.254
user (u)             : target
ftp password (pw)    : vxTarget
flags (f)            : 0x0
target name (tn)     : xlnx_zynq7k

Loading /tffs0/vxWorks...2189460 + 488768
Starting at 0x200000...


usrNetDevNameGet: no network device
usrNetDevNameGet: no network device

Adding 8271 symbols for standalone.
usrNetDevNameGet: no network device
wdbCommDevInit: could not get device name
wdbConfig: error configuring WDB communication interface


                VxWorks

Copyright 1984-2015  Wind River Systems, Inc.

             CPU: Xilinx Zynq-7000 ARMv7
    Runtime Name: VxWorks
 Runtime Version: 6.9
     BSP version: 6.9/2
         Created: Mar 26 2015 12:05:55
ED&R Policy Mode: Deployed
   WDB Comm Type: WDB_COMM_END
             WDB: Agent configuration failed.


Trying to create RAM disk /bd/0
Instantiating /bd/0 as rawFs,  device = 0x20001
OK. Trying to format RAM disk /bd/0 as dosFs
Formatting /bd/0 for DOSFS
-> Instantiating /bd/0 as rawFs, device = 0x20001
Formatting...OK.
usbTargRbcCmdDataUpdate: BytesPerBlock is 512,NumOfBlock is 20480
usbTargInitialize() returned OK
usbTargTcdAttach() returned OK
targChannel = 0x1
usbTargEnable() returned OK
FSL TCD initialized

->
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