試驗(yàn)機(jī)器人的vxWorks目標(biāo)機(jī)安裝-

1、硬盤啟動(dòng) + 從硬盤下載vxWorks鏡像 + 應(yīng)用程序自啟動(dòng)前期準(zhǔn)備工作:1將整個(gè)硬盤格式化(用dos6.22或者是其他系統(tǒng)工具啟動(dòng)電源,按下Del進(jìn)入BIOS啟動(dòng)順序:Boot Sequence2用dos6.22分區(qū),分到c盤100M左右(vxWorks代碼小,以利于以后的格式化速度。將c盤設(shè)為active,并查看文件系統(tǒng)格式是否為fat 16。基本命令列舉:格式化:fomat c:分區(qū):fdisk重新引導(dǎo)主扇區(qū)(慎用:fdisk/mbr拷貝:copy a:bootrom.sys c:copy a:vxWorks c: (這里也可以通過Tornado 在Shell里拷貝制作Bootrom有

2、價(jià)值的參考建議:先制作從硬盤啟動(dòng)的bootrom,當(dāng)目標(biāo)機(jī)系統(tǒng)啟動(dòng)后可以修改啟動(dòng)參數(shù),告訴目標(biāo)機(jī)到哪里去下載vxWorks鏡像。主要涉及兩個(gè)參數(shù):命令P: 顯示啟動(dòng)參數(shù)命令c:修改啟動(dòng)參數(shù)命令: 啟動(dòng)目標(biāo)機(jī)ata=0,0 ata=0,00 fei0 fei/ata0/vxWorks /ata0/vxWorks F:/vxWorks F:/vxWorks從硬盤啟動(dòng)的bootrom的制作方法:1: 修改啟動(dòng)行Bootline(config.h(如果要從硬盤下載vxWorks鏡像的話#elif (CPU = PENTIUM3#define DEFAULT_BOOT_LINE "ata=0,

3、0(0,0host:/ata0/vxWorks h=15 e=21 u=ha pw=target o=fei" /*ha ata=0,0(0,0*/2 重定義從顯示器輸出(默認(rèn)從串口輸出#undef INCLUDE_PC_CONSOLE /* PC keyboard and VGA console */ #define INCLUDE_PC_CONSOLE /*ha*/3包含ATA/*#undef INCLUDE_ATA */ /* include IDE/EIDE(ATA hard disk driver */#define INCLUD

4、E_ATA /*ha*/4定義從硬盤啟動(dòng)/*#define SYS_WARM_TYPE SYS_WARM_FD /*ha*/* warm start device */#define SYS_WARM_TYPE SYS_WARM_ATA /*ha*/5關(guān)于硬盤參數(shù)(lzy的機(jī)器不用修改可以#define ATA_CTRL0_DRV0_CYL (761/*ha 8960 (761*/ /* ATA 0, device 0 cylinders */#define ATA_CTRL0_DRV0_HDS (8 /*ha (815*/ /* ATA 0, device 0 heads */#define

5、 ATA_CTRL0_DRV0_SPT (39 /*ha (3963*/ /* ATA 0, device 0 sectors per track */#define ATA_CTRL0_DRV0_BPS (512 /*ha 8959 (512*/ /* ATA 0, device 0 bytes per sector */#define ATA_CTRL0_DRV0_WPC (0xff/*ha 65535(0xff*/ /* ATA 0, device 0 write pre-compensation */6配置環(huán)境變量c:>cd tornado2.2c: tornado2.2>

6、 cd hostc: tornado2.2host>cd x86-win32c: tornado2.2hostx86-win32>cd binc:tornado2.2hostx86-win32bin>torvars制作bootromc:tornado2.2targetconfigpcpentium3>make cleanc:tornado2.2targetconfigpcpentium3>make bootrom制作bootrom盤及拷貝相關(guān)文件軟驅(qū)中插入格式化好的軟盤,在命令行執(zhí)行c:tornado2.2targetconfigpcpentium3>mkb

7、oot a: bootrom6此時(shí)a盤出現(xiàn)的文件是bootrom.sys將C:Tornado2.2hostx86-win32bin下的objcopypentium.exe(沒有用到、mkboot.bat(和的作用一樣拷到a盤將Dos6.22盤中找到COMMAND.COM(注意只有在dos下才能看到,windows下只能在C:Tornado2.2hostx86-win32bin下存在,所以要到此目錄才能看到將COMMAND.COM拷到上面幾個(gè)文件一起a盤必須文件:bootrom.sys COMMAND.COM不是必須的文件:mkboot.bat objcopypentium.exe7用dos6.

8、22啟動(dòng)目標(biāo)機(jī)進(jìn)入dos用fdisk查看分區(qū)情況,注意文件格式是否為FAT16,是否為主盤,是否設(shè)置為Active 最好能隨時(shí)查看這些情況。8將硬盤引導(dǎo)為windriver認(rèn)同的格式命令:vxsys c:9將bootrom.sys拷貝到硬盤(其中要用到COMMAND.COMcopy a:bootrom.sys c:9將vxWorks鏡像拷貝到硬盤可以通過軟盤,或者是利用Tornado shell直接拷貝Co10設(shè)定目標(biāo)機(jī)啟動(dòng)模式為從硬盤啟動(dòng)制作用戶自啟動(dòng)程序:1將downloadable應(yīng)用程序拷貝到制作vxWorks鏡像的工程目錄(并要手動(dòng)加入Add Files.2修改E:TornadoZS

9、4bootP3selfusrAppInit.c(vxWorks鏡像的工程目錄#include "SY2.h"/* add application specific code here */mainTask(;vxWorks鏡像的制作new project->create a bootable VxWorks image-> Include下列4個(gè)組件:1.Hardware/peripherals/hard disks/ATA hard driveHardware/peripherals/hard disks/ATA hard drive information

10、display/show 2. hardware/peripherals/serial/PC Console3.operating system components/I O system component/dos File system component /File System Backup and Achival4.development tool component/target shell Components注意C盤根目錄下的鏡像和目標(biāo)機(jī)得一定要一致.目標(biāo)機(jī)為啟動(dòng)前可以copy “host:c:/vxWorks”,”/ata0/vxWorks”通過網(wǎng)絡(luò)考過去,而不用硬盤。此時(shí)必須打開fileserver,才能copy。ZS4的要加上network component/network protocols