Rapberry Pi 4 安装VxWorks笔记

sudo apt install build-essential libc6:i386

sudo apt install python3-pip
sudo pip install pyftpdlib

tar -xzf firmware-1.20230405.tar.gz
cd firmware-1.20230405
cp -rL boot/*  {sd根目录}
#剪切完成之后，确认一下
ls {sd根目录}

tar -xzf u-boot-2023.10.tar.gz 
cd u-boot-2023.10

sudo apt install gcc-aarch64-linux-gn

## 官方文档提供的额外包安装，我暂时没有全部安装
sudo apt-get install bc bison build-essential coccinelle \
  device-tree-compiler dfu-util efitools flex gdisk graphviz imagemagick \
  liblz4-tool libgnutls28-dev libguestfs-tools libncurses-dev \
  libpython3-dev libsdl2-dev libssl-dev lz4 lzma lzma-alone openssl \
  pkg-config python3 python3-asteval python3-coverage python3-filelock \
  python3-pkg-resources python3-pycryptodome python3-pyelftools \
  python3-pytest python3-pytest-xdist python3-sphinxcontrib.apidoc \
  python3-sphinx-rtd-theme python3-subunit python3-testtools \
  python3-virtualenv swig uuid-dev

# 上面的包我没有都安装，根据后面的错误提示我额外安装了bison和flex
sudo apt-get install bison flex

# 下载很慢
git clone https://source.denx.de/u-boot/u-boot.git
# 改用github
git clone https://github.com/u-boot/u-boot.git

cd u-boot
# 选择版本
git checkout v2023.10

# config/配置
CROSS_COMPILE=aarch64-linux-gnu- make rpi_4_defconfig

# build/编译
CROSS_COMPILE=aarch64-linux-gnu- make

# copy or move/复制到sd卡中,并更名为u-boot-64.bin
cp u-boot.bin {sd根目录}/u-boot-64.bin

#检查文件是否存在
ls {sd根目录}

## 解压时间也较长，毕竟压缩包都八百多兆。
tar -xjf wrsdk-vxworks7-raspberrypi4b-1.5.1.tar.bz2
cd wrsdk-vxworks7-raspberrypi4b
ls -al
# 可以看到有一个vxsdk的目录，进入
cd vxsdk
ls -al
## 这里面有4个文件夹，其中的sdcard和bsps就是我们待会要用到的目录。
## 拷贝的时间会稍长，需要耐心等待
cp -rL sdcard/*  {sd根目录}

## 官方的readme说法是只复制uVxWorks
cp bsps/rpi_4_0_1_3_0/uVxWorks {sd根目录}

## 我的做法是将整个rpi_4_0_1_3_0目录复制过去
cp -rL bsps/rpi_4_0_1_3_0/* {sd根目录}

U-Boot 2023.10 (Jan 06 2024 - 19:32:58 +0800)

DRAM:  948 MiB (effective 1.9 GiB)
RPI 4 Model B (0xb03112)
Core:  209 devices, 15 uclasses, devicetree: board
MMC:   mmcnr@7e300000: 1, mmc@7e340000: 0
Loading Environment from FAT... OK
In:    serial,usbkbd
Out:   serial,vidconsole
Err:   serial,vidconsole
Net:   
Warning: ethernet@7d580000 MAC addresses don’t match:
Address in DT is                dc:a6:32:c8:21:09
Address in environment is       dc:a6:32:07:b3:a4
eth0: ethernet@7d580000
Hit any key to stop autoboot:  0 
15767528 bytes read in 677 ms (22.2 MiB/s)
## Booting kernel from Legacy Image at 00100000 ...
   Image Name:   vxworks
   Image Type:   AArch64 VxWorks Kernel Image (uncompressed)
   Data Size:    15767464 Bytes = 15 MiB
   Load Address: 00100000
   Entry Point:  00100000
   Verifying Checksum ... OK
Working FDT set to 0
   Loading Kernel Image
   !!! WARNING !!! Using legacy DTB
## Starting vxWorks at 0x00100000, device tree at 0x00000000 ...
Instantiating /ram0 as rawFs,  device = 0x1
Formatting /ram0 for HRFS v1.2
Instantiating /ram0 as rawFs, device = 0x1
Formatting...OK.
Target Name: vxTarget 
Instantiating /tmp as rawFs,  device = 0x10001
Formatting /tmp for HRFS v1.2
Instantiating /tmp as rawFs, device = 0x10001
Formatting...OK.
 
 _________            _________
 \........\          /......../
  \........\        /......../
   \........\      /......../
    \........\    /......../
     \........\   \......./
      \........\   \...../              VxWorks SMP 64-bit
       \........\   \.../
        \........\   \./     Release version: 23.09
         \........\   -      Build date: Sep 19 2023 16:16:34
          \........\
           \......./         Copyright Wind River Systems, Inc.
            \...../   -                 1984-2023
             \.../   /.\
              \./   /...\
               -   -------

                   Board: Raspberry Pi 4 Model B - ARMv8
               CPU Count: 4
          OS Memory Size: ~883MB
        ED&R Policy Mode: Deployed
     Debug Agent: Started (always)
         Stop Mode Agent: Not started
              BSP Status: *** UNSUPPORTED ***

Instantiating /ram as rawFs,  device = 0x50001
Formatting /ram for DOSFS
Instantiating /ram as rawFs, device = 0x50001
Formatting...Retrieved old volume params with %38 confidence:
Volume Parameters: FAT type: FAT32, sectors per cluster 0
  0 FAT copies, 0 clusters, 0 sectors per FAT
  Sectors reserved 0, hidden 0, FAT sectors 0
  Root dir entries 0, sysId (null)  , serial number 5b0000
  Label:"           " ...
Disk with 64 sectors of 512 bytes will be formatted with:
Volume Parameters: FAT type: FAT12, sectors per cluster 1
  2 FAT copies, 54 clusters, 1 sectors per FAT
  Sectors reserved 1, hidden 0, FAT sectors 2
  Root dir entries 112, sysId VXDOS12 , serial number 5b0000
  Label:"           " ...
OK.
Thu Jan  1 00:00:01 1970: ipnet[44a0f0]: Error: ipcom_getsockaddrbyaddr failed gw: dhcp

 Adding 22707 symbols for standalone.

-> 

## 切换到你的vx7 sdk解压位置，比如我的位置在~/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b
cd ~/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b

## 配置
source  sdkenv.sh

## 检查一下cmake版本，这样便于自己在编写CMakeLists.txt使用过高的版本
cmake --version

## 我们先尝试build例程中的hello_cmake_rtp
cd  examples/rtp/hello_cmake_rtp/

## 为了原始目录干净，创建build文件夹
mkdir build
cd build

## 这里的cmake需要指定工具链，这里使用RTP工具链接
cmake -D CMAKE_TOOLCHAIN_FILE=${WIND_SDK_HOME}/vxsdk/sysroot/mk/rtp.toolchain.cmake ..

## 此时应该成功编译，显示类似如下信息
CMake Deprecation Warning at CMakeLists.txt:19 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


-- The C compiler identification is Clang 16.0.0
-- The CXX compiler identification is Clang 16.0.0
-- The ASM compiler identification is Clang with MSVC-like command-line
-- Found assembler: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/vxsdk/host/x86_64-linux/bin/wr-cc
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/vxsdk/host/x86_64-linux/bin/wr-cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/vxsdk/host/x86_64-linux/bin/wr-c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done (0.6s)
-- Generating done (0.0s)
-- Build files have been written to: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/examples/rtp/hello_cmake_rtp/build

## 生成的文件中包含了makefile，这时候你make一下即可
make

## 我们先尝试build例程中的hello_cmake_rtp
cd  examples/dkm/hello_cmake_dkm

## 为了原始目录干净，创建build文件夹
mkdir build
cd build

## 这里的cmake需要指定工具链，这里使用RTP工具链接
cmake -D CMAKE_TOOLCHAIN_FILE=${WIND_SDK_HOME}/vxsdk/sysroot/mk/dkm.toolchain.cmake ..

## 此时应该成功编译，显示类似如下信息
CMake Deprecation Warning at CMakeLists.txt:18 (cmake_minimum_required):
  Compatibility with CMake < 2.8.12 will be removed from a future version of
  CMake.

  Update the VERSION argument <min> value or use a ...<max> suffix to tell
  CMake that the project does not need compatibility with older versions.


-- The C compiler identification is Clang 16.0.0
-- The CXX compiler identification is Clang 16.0.0
-- The ASM compiler identification is Clang with MSVC-like command-line
-- Found assembler: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/vxsdk/host/x86_64-linux/bin/wr-cc
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/vxsdk/host/x86_64-linux/bin/wr-cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/vxsdk/host/x86_64-linux/bin/wr-c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done (0.4s)
-- Generating done (0.0s)
-- Build files have been written to: /home/xxxxx/Workspaces/Vxworks_RPI/wrsdk-vxworks7-raspberrypi4b/examples/dkm/hello_cmake_dkm/build

## 生成的文件中包含了makefile，这时候你make一下即可
make

iam       "user"[,"passwd"]    Set user name and passwd, possibly in
                               an interactive manner

# 这个指令是通过netHelp查询到的
netDevCreate "devname","hostname",protocol
                                   - create an I/O device to access files
                                     on the specified host

## 官方的做法
sudo python3 -m pyftpdlib -p 21 -u target -P vxTarget -d $HOME &
## 因为官方的hello是建立在$HOME目录下，但是我的不是。我的在sdk的example里面
## 之前 “source  sdkenv.sh”之后实际上$$WIND_SDK_HOME已经指向了sdk
## 你可以通过echo命令确认一下
cd $WIND_SDK_HOME/examples/rtp/hello_cmake_rtp/build
## 如果正常你应该已经进入了build目录,我们将上面的$HOME替换为我们需要的路径，如下
sudo python3 -m pyftpdlib -p 21 -u target -P vxTarget -d $WIND_SDK_HOME/examples/rtp/hello_cmake_rtp/build &

## 查看自己的IP地址
 ip address

# 先建立IO通道,请注意我这里的命令是错误的“wrs”前面少了"/",后面有描述
netDevCreate ("wrs", "192.168.0.105", 1)
# 进入cmd环境，请注意推出cmd的指令是大写字母C，如果指令没有运行可以按CTRL+C推出执行
cmd
# 然后查看自己的IP（RPI4B）
ipconfig -a
# 我这里显示的IP地址是192.168.0.102，所以在同一个网段

## 我卡在了这一步，因为在最初其实出现了提示：
## Thu Jan  1 00:00:01 1970: ipnet[44a0f0]: Error: ipcom_getsockaddrbyaddr failed gw: dhcp
cd wrs

# 在cmd模式下，如果是C interpreter模式，需要先输入cmd切换到cmd模式
# “[vxWorks *]#” 开头表示的是cmd模式下用户输入命令。返回的信息不带上述开头。
[vxWorks *]# ifconfig dhcp
ifconfig: interface dhcp not found

## 查看一下自己的ip情况，注意还是在cmd模式下。
# “[vxWorks *]#” 开头表示的是cmd模式下用户输入命令。返回的信息不带上述开头。
[vxWorks *]# ifconfig genet0 -dhcp
lo0     Link type:Local loopback
        inet 127.0.0.1  mask 255.255.255.255
        inet6 unicast fe80::1%lo0  prefixlen 64  automatic
        inet6 unicast ::1  prefixlen 128
        UP RUNNING LOOPBACK MULTICAST NOARP ALLMULTI 
        MTU:1500  metric:1  VR:0  ifindex:1
        RX packets:1721 mcast:3 errors:0 dropped:0
        TX packets:1721 mcast:3 errors:0
        collisions:0 unsupported proto:0
        RX bytes:310678 (310 k)  TX bytes:310678 (310 k)
genet0  Link type:Ethernet  HWaddr dc:a6:32:c8:21:09
        inet 192.168.0.102  mask 255.255.255.0  broadcast 192.168.0.255
        inet6 unicast fe80::dea6:32ff:fec8:2109%genet0  prefixlen 64  automatic
        UP RUNNING SIMPLEX BROADCAST MULTICAST DHCP 
        MTU:1500  metric:1  VR:0  ifindex:2
        RX packets:1390 mcast:0 errors:0 dropped:0
        TX packets:726 mcast:10 errors:0
        collisions:0 unsupported proto:0
        RX bytes:129067 (129 k)  TX bytes:206348 (206 k)
## disable gnet0的DHCP服务
[vxWorks *]# ifconfig genet0 -dhcp
[vxWorks *]# ifconfig genet0 192.168.0.102
[vxWorks *]# ifconfig -a
lo0     Link type:Local loopback
        inet 127.0.0.1  mask 255.255.255.255
        inet6 unicast fe80::1%lo0  prefixlen 64  automatic
        inet6 unicast ::1  prefixlen 128
        UP RUNNING LOOPBACK MULTICAST NOARP ALLMULTI 
        MTU:1500  metric:1  VR:0  ifindex:1
        RX packets:1770 mcast:3 errors:0 dropped:0
        TX packets:1770 mcast:3 errors:0
        collisions:0 unsupported proto:0
        RX bytes:315706 (315 k)  TX bytes:315706 (315 k)

genet0  Link type:Ethernet  HWaddr dc:a6:32:c8:21:09
        inet 192.168.0.102  mask 255.255.255.0  broadcast 192.168.0.255
        inet6 unicast fe80::dea6:32ff:fec8:2109%genet0  prefixlen 64  automatic
        UP RUNNING SIMPLEX BROADCAST MULTICAST 
        MTU:1500  metric:1  VR:0  ifindex:2
        RX packets:1448 mcast:0 errors:0 dropped:0
        TX packets:735 mcast:10 errors:0
        collisions:0 unsupported proto:0
        RX bytes:133933 (133 k)  TX bytes:207956 (207 k)
# 尝试ping通设备
[vxWorks *]# ping -c 3  192.168.0.102

# 推出cmd模式，再次进入C interpreter模式
[vxWorks *]# C
-> 

-> netDevCreate ("wrs", "192.168.0.105", 1)
value = 4294967295 = 0xffffffff

# 后来我终于发现我前面的操作是无效的，只是因为我的命令有误。正确的命令"wrs"前面有"/"
-> netDevCreate ("/wrs", "192.168.0.105", 1)
value = 0 = 0x0

# 既然这次成功建立了IO设备，那么我们就乘胜追击，继续下一步
# 切换到cmd
> cmd
[vxWorks *]# cd wrs/
[vxWorks *]# pwd
/wrs
# 这一步官方的显示是/wrs/我的稍有不同
[vxWorks *]# cd opt
[vxWorks *]# ls
# 我的没有回应，官方的会显示很多文件

$ ip address
[1]+  Stopped                 sudo python3 -m pyftpdlib -p 21 -u target -P vxTarget -d $HOME
## 应该是我反复尝试多次导致的，总之目前的ftp是无法启动的

from pyftpdlib.authorizers import DummyAuthorizer
from pyftpdlib.handlers import FTPHandler
from pyftpdlib.servers import FTPServer

authorizer = DummyAuthorizer()
authorizer.add_user("target", "vxTarget", "/home/xxxxx/", perm="elradfmwMT")
authorizer.add_anonymous("/home/xxxxx/")

handler = FTPHandler
handler.authorizer = authorizer

server = FTPServer(("192.168.0.105", 21), handler)
server.serve_forever()

$ sudo python3 simple_ftp_server.py 
Traceback (most recent call last):
  File "/home/x x x x x/Workspaces/Test/pyftp_simple/simple_ftp_server.py", line 12, in <module>
    server = FTPServer(("192.168.0.105", 21), handler)
  File "/usr/local/lib/python3.10/dist-packages/pyftpdlib/servers.py", line 117, in __init__
    self.bind_af_unspecified(address_or_socket)
  File "/usr/local/lib/python3.10/dist-packages/pyftpdlib/ioloop.py", line 1030, in bind_af_unspecified
    raise socket.error(err)
OSError: [Errno 98] Address already in use

# 通过netstat寻找正在使用21接口的pid
$ sudo netstat -tunlp
Active Internet connections (only servers)
Proto Recv-Q Send-Q Local Address           Foreign Address         State       PID/Program name    
tcp        0      0 0.0.0.0:2049            0.0.0.0:*               LISTEN      -                   
tcp        0      0 0.0.0.0:35743           0.0.0.0:*               LISTEN      2969/rpc.mountd     
tcp        0      0 0.0.0.0:36015           0.0.0.0:*               LISTEN      2969/rpc.mountd     
tcp        0      0 0.0.0.0:111             0.0.0.0:*               LISTEN      1/init              
tcp        0      0 0.0.0.0:21              0.0.0.0:*               LISTEN      40899/python3       
tcp        0      0 127.0.0.1:9090          0.0.0.0:*               LISTEN      32012/clash    
# 上图的0.0.0.0:21 ，有时是::::21,总之端口是21的那个就是你需要锁定的，记下它的pid
# 比如我的pid是40899，后面使用kill命令关闭它
$ sudo kill -9 40899
$ sudo python3 simple_ftp_server.py 
[I 2024-01-08 20:10:02] concurrency model: async
[I 2024-01-08 20:10:02] masquerade (NAT) address: None
[I 2024-01-08 20:10:02] passive ports: None
[I 2024-01-08 20:10:02] >>> starting FTP server on 192.168.0.105:21, pid=41454 <<<

$ ip address

-> cmd
[vxWorks *]# ifconfig -a

$ cd {你的python文件目录下}
$ sudo python3 simple_ftp_server.py 

# 如果你当前处于cmd状态下,输入大写C切换到C解析模式
[vxWorks *]# C
# 目前你处于C解析模式,创建FTP访问IO设备
-> netDevCreate ("/wrs", "192.168.0.105", 1)
# 这时候返回值应该是0，而不是0xffffffff。切换到cmd模式
-> cmd
[vxWorks *]# cd /wrs
#这时候你应该进入了你最初设置的"/home/xxxxx/"目录
[vxWorks *]# cd {你的examples所在的目录}
[vxWorks *]# ls
dkm
rtp 
#此时显示你的文件目录，如果是examples应该有dkm和rtp
[vxWorks *]# cd rtp/hello_cmake_rtp/build
# 使用ls查看一下是否包含hello_cmake
[vxWorks *]# ls
[vxWorks *]# hello_cmake
Launching process 'hello_cmake' ...
Process 'hello_cmake' (process Id = 0xffff8000004fded0) launched.
Hello cpp - IntListItem constructed: 1
Hello cpp - IntListItem constructed: 2

Hello world from user space!
argv[0]=./hello_cmake
Hello cpp - number one: 1
Hello Static Library
Hello assembler: 1+1=2