* compatibility.** Similarly, the tape configuration is more complex because certain device* parameters must be turned off within VxWorks and the tape fixed block size* must be defined, assuming that the tape supports fixed blocks.** The last parameter to the dosFsDevInit() call is a pointer to a* DOS_VOL_CONFIG structure.  If NULL is specified, dosFsDevInit() reads this* information off the disk in the drive.  The read may fail if no disk is* present or if the disk has no valid dosFs directory.  Should that happen,* use dosFsMkfs() to create a new directory on a disk.  This routine uses* default parameters (see dosFsLib) that may not be suitable an application,* in which case, use dosFsDevInit() with a pointer to a valid DOS_VOL_CONFIG* structure that has been created and initialized by the user.  If* dosFsDevInit() is used, a call to diskInit() should be made to write a new* directory on the disk, if the disk is blank or disposable.** NOTE: The variable <pSbdFloppy> is global to allow the above calls to be* made from the VxWorks shell, for example:* .CS*     -> dosFsMkfs "/fd0/", pSbdFloppy* .CE* If a disk is new, use diskFormat() to format it.** INTERNAL* The fourth parameter passed to scsiPhysDevCreate() is now* <reqSenseLength> (previously <selTimeout>).*/STATUS sysScsiConfig (void)    {#if FALSE  /* EXAMPLE CODE IS NOT COMPILED */    UINT which;    int  scsiId;    char modeData [4];		/* array for floppy MODE SELECT data */    SCSI_OPTIONS options;    /*     * NOTE: Either of the following global variables may be set or reset     * from the VxWorks shell. Under 5.0, they should NOT both be set at the     * same time, or output will be interleaved and hard to read!! They are     * intended as an aid to trouble-shooting SCSI problems.     */    scsiDebug = FALSE;		/* enable SCSI debugging output */    scsiIntsDebug = FALSE;	/* enable SCSI interrupt debugging output */    /*     * The following section of code provides sample configurations within     * VxWorks of SCSI peripheral devices and VxWorks file systems. It      * should however be noted that the actual parameters provided to     * scsiPhysDevCreate(), scsiBlkDevCreate(), dosFsDevInit() etc., are     * highly dependent upon the user environment and should therefore be      * modified accordingly.     */    /*     * HARD DRIVE CONFIGURATION     *     * In order to configure a hard disk and initialise both dosFs and rt11Fs     * file systems, the following initialisation code will serve as an     * example.     */    /* configure a SCSI hard disk at busId = 2, LUN = 0 */    if ((pSpd20 = scsiPhysDevCreate (pSysScsiCtrl, 2, 0, 0, NONE, 0, 0, 0))        == (SCSI_PHYS_DEV *) NULL)	{        printErr ("usrScsiConfig: scsiPhysDevCreate failed.\n",			0, 0, 0, 0, 0, 0);	}    else	{	/* create block devices */        if (((pSbd0 = scsiBlkDevCreate (pSpd20, 0x10000, 0)) == NULL)       ||            ((pSbd1 = scsiBlkDevCreate (pSpd20, 0x10000, 0x10000)) == NULL) ||            ((pSbd2 = scsiBlkDevCreate (pSpd20, 0, 0x20000)) == NULL))	    {    	    return (ERROR);	    }        if ((dosFsDevInit  ("/sd0/", pSbd0, NULL) == NULL) )	    {	    return (ERROR);	    }#ifdef INCLUDE_RT11FS	    if ((rt11FsDevInit ("/sd1/", pSbd1, 0, 256, TRUE) == NULL) ||	    (rt11FsDevInit ("/sd2/", pSbd2, 0, 256, TRUE) == NULL))	    {	    return (ERROR);	    }#endif	}    /*      * FLOPPY DRIVE CONFIGURATION     *      * In order to configure a removable media floppy drive with a     * dosFs file system, the following device specific code will serve     * as an example. Note that some arguments like mode parameters are     * highly devcie and vendor specific. Thus, the appropriate peripheral     * hardware manual should be consulted.     */    /* configure floppy at busId = 3, LUN = 1 */    if ((pSpd31 = scsiPhysDevCreate (pSysScsiCtrl, 3, 1, 0, NONE, 0, 0, 0))	== (SCSI_PHYS_DEV *) NULL)	{        printErr ("usrScsiConfig: scsiPhysDevCreate failed.\n");	return (ERROR);	}    /*      * Zero modeData array, then set byte 1 to "medium code" (0x1b). NOTE:     * MODE SELECT data is highly device-specific. If your device requires     * configuration via MODE SELECT, please consult the device's Programmer's     * Reference for the relevant data format.     */    bzero (modeData, sizeof (modeData));    modeData [1] = 0x1b;    /*      * issue the MODE SELECT command to correctly configure     * floppy controller     */    scsiModeSelect (pSpd31, 1, 0, modeData, sizeof (modeData));    /*     * delete and re-create the SCSI_PHYS_DEV so that INQUIRY will return the     * new device parameters, i.e., correct number of blocks     */    scsiPhysDevDelete (pSpd31);    if ((pSpd31 = scsiPhysDevCreate (pSysScsiCtrl, 3, 1, 0, NONE, 0, 0, 0))	== (SCSI_PHYS_DEV *) NULL)	{        printErr ("usrScsiConfig: scsiPhysDevCreate failed.\n");	return (ERROR);	}    if ((pSbdFloppy = scsiBlkDevCreate (pSpd31, 0, 0)) == NULL)	{        printErr ("usrScsiConfig: scsiBlkDevCreate failed.\n");	return (ERROR);	}    /*     * Fill in the <blksPerTrack> (blocks (or sectors) per track) and <nHeads>     * (number of heads) BLK_DEV fields, since it is impossible to ascertain     * this information from the SCSI adapter card. This is important for     * PC compatibility, primarily.     */    scsiBlkDevInit ((SCSI_BLK_DEV *) pSbdFloppy, 15, 2);    /* Initialize as a dosFs device */    /*     * NOTE: pSbdFloppy is declared globally in case the following call     * fails, in which case dosFsMkfs or dosFsDevInit can be     * called (from the shell) with pSbdFloppy as an argument     * (assuming pSbdFloppy != NULL)     */    if (dosFsDevInit ("/fd0/", pSbdFloppy, NULL) == NULL)	{        printErr ("usrScsiConfig: dosFsDevInit failed.\n");	return (ERROR);	}    /*     * CD-ROM DRIVE CONFIGURATION     *     * In order to configure a CD-ROM drive with cdromFs file system,     * the following device specific code serves as an example.     */    /* configure a SCSI CDROM at busId 6, LUN = 0 */    if ((pSpd60 = scsiPhysDevCreate (pSysScsiCtrl, 6, 0, 0, NONE, 0,                                 0, 0)) == (SCSI_PHYS_DEV *) NULL)        {        SCSI_DEBUG_MSG ("sysScsiConfig: scsiPhysDevCreate failed for CDROM.\n",        0, 0, 0, 0, 0, 0);        }    else if( (pSbdCd = scsiBlkDevCreate (pSpd60, 0, 0))== NULL )        {        SCSI_DEBUG_MSG ("sysScsiConfig: scsiBlkDevCreate failed for CDROM.\n",        0, 0, 0, 0, 0, 0);        }    /*     * Create an instance of a CDROM device in the I/O system. A block device     * should have been created. The "cdromFsDevCreate" calls "iosDrvInstall"     * which enters the appropriate driver routines in the I/O driver table.     */    if ((cdVolDesc = cdromFsDevCreate ("cdrom:", (BLK_DEV *) pBlkDev)) == NULL)        {        printErr (ERROR);        }    /*      * TAPE DRIVE CONFIGURATION     *      * In order to configure a sequential access tape device and a tapeFs     * file system, the following code will serve as an example. Note that     * sequential access and tapeFs support are only available via SCSI-2.     * To make sure that SCSI-2 is being used, check for the INCLUDE_SCSI2     * macro definition in the BSP.     *     * The tape device does not support synchronous data transfers     * or wide data transfers. Therefore, turn off the automatic configuration     * of these features within VxWorks.     */    scsiId = 4;    which = SCSI_SET_OPT_XFER_PARAMS | SCSI_SET_OPT_WIDE_PARAMS;    options.maxOffset = SCSI_SYNC_XFER_ASYNC_OFFSET;    options.minPeriod = SCSI_SYNC_XFER_ASYNC_PERIOD;    options.xferWidth = SCSI_WIDE_XFER_SIZE_NARROW;    if (scsiTargetOptionsSet (pSysScsiCtrl, scsiId, &options, which) == ERROR)        {        printf ("Could not set target option parameters\n");        return (ERROR);        }    /* create SCSI physical device and sequential device */    if ((pSpd40 = scsiPhysDevCreate (pSysScsiCtrl, scsiId, 0,0,NONE,0,0,0))             == NULL)        {        printErr ("scsiPhysDevCreate failed.\n");        return (ERROR);        }    if ((pSd0 = scsiSeqDevCreate (pSpd40)) == NULL)        {        printErr ("scsiSeqDevCreate failed.\n");        return (ERROR);        }    /* configure a fixed block and rewind, tape file system */    pTapeConfig = (TAPE_CONFIG *) calloc (sizeof(TAPE_CONFIG),1);    pTapeConfig->rewind = TRUE;		/* rewind device */    pTapeConfig->blkSize = 512;		/* fixed 512 byte block */     if (tapeFsDevInit ("/tape1", pSd0, pTapeConfig) == NULL)	{	printErr ("tapeFsDevInit failed.\n");	return (ERROR);	}#endif /*FALSE, END OF EXAMPLE CODE */    return (OK);    }#endif /* INCLUDE_SCSI */