BSP Developer's Guide

3
Creating a New BSP
not, use the src/drv/sio/templateSio.c template driver as the basis for your own
custom serial driver.
Earlier, you removed most of the body of usrRoot( ) with #if FALSE/#endif pairs.
Now, you need to move the #if FALSE line further down, below the point at which
the serial devices are initialized.
You should modify usrRoot( ) to spawn some application test code to test your
drivers. For example, you can periodically print a message to the console:
3
void myTestCode (void)
{
extern int vxTicks;
char * message = "still going...\n";
while (1)
{
taskDelay (5*sysClockRateGet()); /* every 5 seconds */
write (1, message, strlen (message)); /* print a message */
}
}
3.5 The Target Agent and Tornado
The debug agent is initialized by a call to wdbConfig( ). By default, this happens
at the very end of usrRoot( ). However, you modified this usrRoot( ) to be empty
(see config/all/usrConfig.c, p.48). To restore the agent, call wdbConfig( ) right after
your serial-line initialization code. The default configuration for the target agent
uses the network as a connection to the host. Unfortunately, networking is not yet
available. Therefore, you must use an alternative method of connection. For
information on how to do this, see the section on Alternative Back Ends in the
Tornado Users Guide: Setup and Startup.
3.6 Finishing the Port
This section summarizes the various and diverse tasks essential to completing the
port. Included is a discussion of cleanup, timers, networking, and other issues.
57