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-----------------------------------------------------------------------
README, Erlang/OTP R11B for VxWorks on PPC860 and PPC603
-----------------------------------------------------------------------
20060515 -- Patrik Nyblom, [email protected]
R11B is a libraries only release for VxWorks. Only the libraries of
erl_interface (ei+erl_inteface) and ic are expected to be used. Still
the whole erlang system is distributed, although no support will be
given for anything else but the libraries. The information in this
file still applies to the full erlang distribution and parts of it are
therefore somewhat irrelevant to commercial users.
Included OTP applications
-------------------------
appmon
asn1
compiler
cosEvent
cosNotification
cosTime
cosTransaction
debugger
erl_interface
erts
eva [1]
ic
inets [2]
jinterface
kernel
mesh
mnemosyne
mnesia [1]
mnesia_session
orber
os_mon
pman
runtime_tools
sasl
snmp
stdlib
tools
tv
[1] Only ram_copies work, The VxWorks filesystems are not
reliable enough for disk_copies to be fully supported.
[2] CGI scripts do not work on VxWorks.
Omitted applications
--------------------
crypto
emacs
etk
gs
odbc
parsetools
toolbar
ssl
megaco
webtools
As `crypto' and `ssl' provides cryptographic functionality to `inets'
and `snmp', the latter applications will not handle cryptography on
VxWorks.
Graphical interfaces
--------------------
For applications using graphical interfaces, only the backend part works.
Compilers
---------
All compilers are expected to be run on a cross host. The VxWorks
systems memory capabilities are too restricting to allow native
compiling. The expected host system is a Sun Solaris machine, although
Erlang compilation may be done on most platforms.
Supported boards and configuration (only libraries supported)
----------------------------------
The following boards and configurations are supported:
* Force PowerCore 603 with Force pcore603 BSP and VxWorks 3.5.1 (no
SENS or SENS 1.1 + SPR23938) and a minimum of 32 Mb memory.
* Force Powercore 750 with Force pcore750 BSP and VxWorks 3.5.1 (no
SENS or SENS 1.1 + SPR23938) and a minimum of 32 Mb memory.
* PSS Core PPC860 processors, only erl_interface (too small main memory).
Most PowerPC boards with FPU are expected to work, but will need to be
tested by OTP to be fully supported.
The PPC603 build has been compiled with Wind River's `-mlongcall'
flag (SPR25893) to support arbitrary function calls across more
than 32 MB of memory.
The PPC860 (PowerQuicc) has no FPU and requires a separate build.
For Erlang to run, the Wind kernel has to be configured with a minimum
of these variables defined in config.h (or by the Tornado
configuration tool):
INCLUDE_ANSI_ALL
INCLUDE_ENV_VARS
INCLUDE_EXC_HANDLING
INCLUDE_EXC_TASK
INCLUDE_FLOATING_POINT
INCLUDE_FORMATTED_IO
INCLUDE_IO_SYSTEM
INCLUDE_LOADER
INCLUDE_NETWORK
INCLUDE_NET_INIT
INCLUDE_NET_SHOW
INCLUDE_NET_SYM_TBL or INCLUDE_STANDALONE_SYM_TBL
INCLUDE_PIPES
INCLUDE_POSIX_FTRUNC
INCLUDE_RLOGIN or INCLUDE_TELNET (for pty's only)
INCLUDE_SELECT
INCLUDE_SEM_BINARY
INCLUDE_SEM_COUNTING
INCLUDE_SEM_MUTEX
INCLUDE_SHELL (*)
INCLUDE_SHOW_ROUTINES
INCLUDE_SIGNALS
INCLUDE_STARTUP_SCRIPT (*)
INCLUDE_STDIO
INCLUDE_SYM_TBL
INCLUDE_TASK_HOOKS
INCLUDE_TASK_VARS
INCLUDE_TTY_DEV
INCLUDE_UNLOADER
INCLUDE_NFS or INCLUDE_RAMDRV or INCLUDE_DOSFS (i.e. a file system,
possibly read-only) (**)
(*) Needed for the example startup script, not actually needed in production if
erlang is set up by a c routine called from usrConfig.c.
(**) INCLUDE_NFS usually requires the NFS_USER_ID and NFS_GROUP_ID variables
to be set in config.h
As an erlang system may open a lot of files, it is recommended to raise the
default NUM_FILES variable to something like 256 in config.h like this:
#ifdef NUM_FILES
#undef NUM_FILES
#endif
#define NUM_FILES 256
The SENS stack *has* to be of version 1.1 or higher, 1.0 is *not*
supported and will not work reliably. Upgrades as well as the patch
for SPR23938 can be found at www.wrs.com (i.e. WindSurf). Also, the
following constants in $WIND_BASE/target/h/netBufLib.h has to be
raised to a value of at least four times the default:
NUM_NET_MBLKS
NUM_64
NUM_128
NUM_256
NUM_512
NUM_1024
NUM_2048
NUM_SYS_64
NUM_SYS_128
NUM_SYS_256
NUM_SYS_512
Use the show routines mbufShow and netStackSysPoolShow to verify that
these pools are not exhausted.
Installation
------------
To install Erlang on a VxWorks card, the following knowledge is
expected:
* VxWorks installation and configuration.
* Network (TCP/IP) configuration.
* Erlang basic operation and configuration.
There is no specific install script for erlang on the VxWorks
platform. There is however an example VxWorks startup file named
erts-5.0.1/bin/erl_script.sam under the root of an unpacked
release. There may of course be other things to do in the start
script, like using the rdate program in the erlang distribution to get
a correct date and set the TIMEZONE variable.
Please consult the "Embedded System" documentation for further
information on installation.
Known Bugs and problems
-----------------------
We have found the VxWorks/NFS client file system to be unreliable.
Important file operations like rename, ftruncate, cd and unlink
doesn't always work as expected. Therefore more complex file using
parts of OTP, like DETS and disk based mnesia tables cannot be used
reliably with NFS. Lowering the NFS cache size (global variable
nfsCacheSize) to 512 gives a more reliable NFS client, but to disk
base the mnesia tables over NFS is still not a good idea, especially
as disk based mnesia tables are not supported on VxWorks. Another
problem with VxWorks file systems is that the error codes they produce
are not consistent. We have worked around this problem by mapping the
codes to POSIX ones, by doing this we make the VxWorks Erlang platform
behave similarly to the UNIX and Windows implementations.
The rename and ftruncate operations over NFS are emulated using
copying of files. This is mainly for our own test suites and it is not
recommended to use file:rename and/or file:ftruncate on NFS file
systems in production.
Floating point operations is somewhat faulty. For instance, testing
floating point numbers for equality should be done with care. This is
actually not a bug, IEEE specifies no equality among floating point
numbers.
Memory handling
---------------
Please read the erl_set_memory_block(3) manual page in the ERTS
documentation for information concerning memory handling in the erlang
emulator. Also please observe that reclaim.o has to be loaded and
reclaim_init() called before any other erlang routines are loaded and
started. If one wish to use the resource reclamation routines in other
programs, refer to the header file in `erts-5.0.1/include/reclaim.h'.
Including that file in your C source makes malloc/realloc/free and
open/fopen/socket/close etc be redefined to routines that makes the
memory and files be free'd/closed when the task exits. Still,
reclaim_init() *has* to be called before any program that uses this is
started.
Using heart
-----------
The default behavior of the heart object file that is part of the
distribution is that it reboots the target when the Erlang process
hasn't given it a heart beat in 60 seconds. The normal heart beat rate
is one beat per five seconds. This makes an effective "software
watchdog" but there is really no substitute for the real thing --- a
hardware watchdog. If you want to add a hardware watchdog to the
system please contact us for directions. If you want to disable the
reboot you may set the environment variable HEART_DONT_REBOOT (see the
example erlang start script, erl). Please note that if you DO want the
card to reboot you mustn't define HEART_DONT_REBOOT at all. E.g. to
disable heart reboot you may include the following line in the start
script (as is indeed the case with the example start script).
putenv "HEART_DONT_REBOOT=1"
A few words on writing port program and dynamically loaded drivers for VxWorks
------------------------------------------------------------------------------
VxWorks has one name-space for all symbols. This makes it harder to
write C programs whose global symbols doesn't interfere with each
other. It is a good rule to avoid all globally visible symbols that
are not absolutely necessary. Due to these facts we use the following
naming rules that are crucial to follow. (there are more issues
involved but the issues described here is a good beginning).
Port programs must have a function with the same name as the object
file. E.g. if you have an object file named `port_test.o' it must
contain a globally visible function named `port_test'. This is the
function that will be called when you output data from Erlang to the
port. (The object file, in this example, should be named
`port_test.o', but `port_test' will also do).
Also, in an embedded system, it is recommended to load the port
program into the system before the port program is used. This is to
avoid the real time degradation dynamical linking in runtime would
introduce. Use VxWorks command ld < "port_prg" to accomplish this.
Dynamically linked drivers must have a function with the same name as
the object file with the added suffix `_init'. We recommend the use of
the macro DRIVER_INIT in `driver.h'. E.g. if you have an object file
named `echo_drv.eld' it must contain a globally visible function
`echo_drv_init'. (The object file, in this example, should be named
`echo_drv.eld' (`eld' is short for Erlang Loadable Driver), but
`echo_drv.o' and `echo_drv' will both also do). It is also very
important to initialize all unused function pointer in the
`driver_entry' struct to NULL (see example below).
Example of dynamically linked driver
------------------------------------
#include <stdio.h>
#include "driver.h"
static int erlang_port;
static long echo_start();
static int echo_stop(), echo_read();
static struct driver_entry echo_driver_entry = {
null_func,
echo_start,
echo_stop,
echo_read,
null_func,
null_func,
"echo_drv",
null_func
};
int DRIVER_INIT(echo_drv)(void *handle)
{
erlang_port = -1;
echo_driver_entry.handle = handle;
return (int) &echo_driver_entry;
}
static long echo_start(long port,char *buf)
{
if (erlang_port != -1) {
return -1;
}
erlang_port = port;
return port;
}
static int echo_read(long port, char *buf, int count)
{
return driver_output(erlang_port, buf, count);
}
static int echo_stop()
{
return erlang_port = -1;
}
