How to run an application on the real target

1. Select a PC to run VxWorks OS, and remember its IP address.

2. Create a new target in target manager:

3. From this point on you can work the same as with the simulator.

Note: All the VxWorks PCs have its stdin, stdout and stderr redirected to the serial port. You can use a Target Console Tool to redirect I/Os to your development PC. If you run a Host Shell, you can interact with the system, but application's I/O still go to the console (i.e. serial port or target console tool).

Interrupt Handling

Task: Read the position of IRC sensor in the motor.

Documentation to the motor: slides-motor.pdf (only see pages 4 and 8).

How to Use Interrupts

HW interrupts IRQ0 through IRQ 15 are mapped to inerrupt vectors 20h through 2Fh. Parallel port (LPT) interrupt is thus mapped to the vector 27h.

#include <stdio.h>
#include <syslib.h>
#include <intLib.h>
#include <iv.h>


#define LPT_IRQ 0x7
#define LPT_PORT 0x378


/* task_IRC is IRQ handler routine, which handler LPT interrupts */
void task_IRC(int val)
{
  unsigned char port;
  port = sysInByte(LPT_PORT+1);
  /* other things to do */
}


void inter(void)
{
 
    sysOutByte(LPT_PORT+2, sysInByte(LPT_PORT+2) | 0x10); /* allow parallel port to generate interrupts */
    if (intConnect(INUM_TO_IVEC(0x20 + LPT_IRQ), task_IRC, 0) == OK)
    {
        printf("intConnect OK\n");
    }
    else
    {
        printf("intConnect error\n");
    } 

 
    sysIntEnablePIC(LPT_IRQ); //enable IRQ7 in PC interrupt controller

    // something useful should be here or at least a long taskDelay()
 
    sysIntDisablePIC(LPT_IRQ); //disable IRQ7
}