I have been unable to receive UDP multicast under VxWorks 5.5. I've joined the multicast group:
setsockopt(soc, IPPROTO_IP, IP_ADD_MEMBERSHIP, (char *) &ipMreq, sizeof (ipMreq));
Similar code on an adjacent Windows machine does receive multicast. I am able to send multicast from VxWorks; ifShow() indicates the interface is multicast capable; MCAST_ROUTING is enabled in the kernel config, but still unable to receive multicast.
Edit: I needed to set a bit in the RealTek Ethernet drive RX configuration register to enable multicast to be passed on to the application layer.
#define RTL_RXCG_AM 0x04 /* Accept Multicast */