

	
		
		Memo	
												


Date:  
November 28, 2000


To:
Tim Zappia
cc:

From:
Jim Rosenow



Subject:	VxWorks on the B600


Follow these steps to update the VxWorks OS at B600.

1. Cable a serial port between your laptop and com1 on the PowerPC transition board.  Start one of the supplied Hyperterminal sessions.  VxCom1.ht if cabled to your COM1 port or vxCom2.ht if on COM2.

2. Hit the Enter key a few times.  You should see the VxWorks prompt -->.  If you don't see this try some cable swapping until you do.

3. Reboot the PowerPC and record the boot information.  From the vxWorks prompt you can type CTRL+x to reboot the processor.  I find the easiest way to record the boot information is to cut and paste from the hyperterminal session.  Below is an example cut from hyperterminal on my machine.

boot device          : dc
processor number     : 0
host name            : host
file name            : /D/VTIProject/VTICode/bin/vxWorks
inet on ethernet (e) : 90.0.0.2
host inet (h)        : 90.0.0.1
user (u)             : anonymous
ftp password (pw)    : guest
flags (f)            : 0x8
target name (tn)     : target
startup script (s)   : /D/VTIProject/VTICode/AppCon/VXStartup.txt

Attaching network interface dc0... done.
Attaching network interface lo0... done.
Loading...

4. Shut down the box and install the new boot roms.  Requires a small phillips screwdriver and a PLCC chip puller.  Make sure jumper J10 is strapped 2-3, not 1-2.  This selects flash bank A, i.e. the parts you just installed.

5. Put vxWorks and vxWorks.sym in the correct location on the Unix host.  You should be able to determine where the correct location is by the file name line in the boot information.

6. Power on the box and watch the CPU go through its boot sequence in the hyperterminal.  There should not be any errors and after a few seconds you should see the VxWorks banner scroll into view closely followed by a few commands that execute on behalf of the shell.  Ultimately the VxWork arrow prompt will be displayed and no other activity will occur.  If bootup does not occur, verify the integrity of the boot line information (saved in step 3).  You can change this information by presssing any key during the auto-boot countdown.  Doing so will display the [VxWorks Boot]: prompt.  Type "?" for a list of available commands.  Use the 'c' command to change the boot parameters, use the 'p' command to display them.

7. If you get this far, we are in pretty good shape.  The COOPS application needs a few small modification to run on this OS.  In particular, the memory map has changed.  The next few steps accomodates this memory map change.  Note that I have included the changed files in the accompanying file folder.

8. In the AppDsp directory.  Copy addaPC.h to adda.h (Unix command is: cp addaPC.h adda.h).  Filename case does matter!  Basically the only thing that changes here is the base address of the ADDA.

9. In the AppCon directory.  Edit vm.c.  Find the following lines (line 134 or so):
/* mts dio board address constants */
#define DIOADDR(i)		(0xefff4000+((i-1)*0x0400))	/* base address */

Change to:
/* mts dio board address constants */
#define DIOADDR(i)		(0x4000+((i-1)*0x0400))		/* base address */

10. In the project root Directory.  Edit Makefile.  Find the following line(line 159 or so):
	$(LIBDSP)/PaulVxMapVME.o	\
to:
	$(LIBDSP)/vxMapVME.o	\

11. In the project root directory.  Type:
make clean
make
This will rebuild the entire COOPS application.  I assume it will compile error free.

12. Reboot the controller once more to get these changes into the machine then start the Alltalk application on the Unix host.  Assuming the app comes up error free do the following validity checks:
* Check all feedback values.  Make sure the values are reasonable.
* Check DIO operation.
* If the application has a CPU Monitor panel, open it and make sure the system is not overrunning (an indication of a memory mapping error or omission) due to bus errors occuring.
* If any of the above occur, call me!

13. Only if all the above checks out should you begin to move the machine under hydraulic power.  Enjoy.
14. FYI, the VME A32 master address window from the CPU point-of-view starts at 0x10000000.  This address corresponds to VME 0xC0000000.  This is the area where adda resides.  This window has a range of 0x10000000 - 1.  The A32 address modifier code is 0x9.  The MTS dio board are slaved in VME A16 space starting at address 0x4000 and incrementing 0x400 for each subsequent board.  The CPU address for this space starts at 0xfbff0000.  The range of this window is 64K bytes.  The A16 address modifier code is 0x29.  This information is useful for poking around with the shell if (when) things don't work!
MTS Systems Corp
		



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