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CS545_Lecture_19

CS545_Lecture_19 - CS545-Contents XIX An Introduction to...

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CS545—Contents XIX An Introduction to VxWorks The VxWorks Real-Time Operating System The Tornado User Interface The Experimental Setup for the Robot Labs Compiling C-Code for VxWorks Reading Assignment for Next Class See http://www-clmc.usc.edu/~cs545
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A Typical Robot Environment with vxWorks and a VME bus Robot Host Computer (rubens.usc.edu) Sun Solaris 2.8 VME-Bus Eight PPC MVME 2700 Targets (vxWorks) Bus master (brainstem.usc.edu) Motor-Servo (spinal-cord.usc.edu) Task-Servo (premotor-cortex.usc.edu) AJC-Bus Ethernet VME Backplane Parallel I/O “Analog Wires” VME Backplane
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An Introduction to VxWorks What does VxWorks do? Offers a development environment on a host computer Offers a UNIX-like real-time operating system on the targets Integrates target and host development smoothly Allows multiple targets Allows target communication and memory sharing Integrates the system smoothly into a TCP/IP computer network Guarantees real-time performance (preemptive priority
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CS545_Lecture_19 - CS545-Contents XIX An Introduction to...

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