米爾Remi Pi 實(shí)時(shí)系統(tǒng)與EtherCAT移植

概述

Remi Pi采用瑞薩RZ/G2L作為核心處理器，該處理器搭載雙核Cortex-A55@1.2GHz+Cortex-M33@200MHz處理器，其內(nèi)部集成高性能3D加速引擎Mail-G31 GPU(500MHz)和視頻處理單元（支持H.264硬件編解碼）,16位的DDR4-1600 / DDR3L-1333內(nèi)存控制器、千兆以太網(wǎng)控制器、USB、CAN、SD卡、MIPI-CSI等外設(shè)接口，在工業(yè)、醫(yī)療、電力等行業(yè)都得到廣泛的應(yīng)用。

在開發(fā)階段，建議配合核心板配套的評(píng)估套件 MYD-YG2L23-8E1D-120-C-REMI來加速開發(fā)。評(píng)估套件的詳細(xì)信息請(qǐng)?jiān)L問：https://www.myir.cn/shows/23/14.html

實(shí)時(shí)內(nèi)核設(shè)計(jì)

• 實(shí)時(shí)補(bǔ)丁我們選擇RT-Preempt來實(shí)現(xiàn)

2.1. 移植補(bǔ)丁

RT補(bǔ)丁可以從RT官網(wǎng)下載5.10.83對(duì)應(yīng)的補(bǔ)丁

https://cdn.kernel.org/pub/linux/kernel/projects/rt/5.10/older/

• 把補(bǔ)丁放到自己的工作目錄下，然后解壓，如圖2-1：

hjx@myir-server:~/renesas/04_Sources$ tar -xvf patches-5.10.83-rt58.tar.gz

圖2-1. 內(nèi)核源碼

• 進(jìn)入到內(nèi)核源碼打補(bǔ)丁，如圖2-2：

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ for p in `ls -1 ../patches/*.patch`; do patch -p1 < $p; done

圖2-2. 打?qū)崟r(shí)補(bǔ)丁

• 編譯內(nèi)核源碼

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ /opt/remi-sdk/environment-setup-aarch64-poky-linux
hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ make ARCH=arm64 mys_g2lx_defconfig
hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ make ARCH=arm64 Image dtbs -j16

更新編譯得到的Image即可

2.2. 其他影響性能的配置

禁用CPU Freq自動(dòng)調(diào)頻，并設(shè)置主頻為最高頻率：

cd /sys/devices/system/cpu/cpufreq/policy0
echo userspace > scaling_governor
cat scaling_max_freq > scaling_setspeed

（如不禁用cpufreq調(diào)頻功能，系統(tǒng)會(huì)因動(dòng)態(tài)調(diào)頻產(chǎn)生極大的偶然延遲）

實(shí)時(shí)性測(cè)試

• 空載測(cè)試

cyclictest -p 99 -t 1 -d 100 -i 1000 -D 24h -m -a -n

圖3-1.空載測(cè)試

• CPU&內(nèi)存滿載

cyclictest -p 99 -t 1 -d 100 -i 1000 -D 24h -m -a -n

• 增加壓力

stress-ng --cpu 4 --cpu-method all --io 4 --vm 50 -d 5 --fork 4 --timeout 36000s

圖3-2.滿載測(cè)試

數(shù)據(jù)對(duì)比：

表3-1.數(shù)據(jù)信息

EtherCAT IGH移植個(gè)標(biāo)題

4.1. 下載EtherCAT IGH源碼

到官網(wǎng)下載1.5版本的EtherCAT源碼，如圖4-1：

https://gitlab.com/etherlab.org/ethercat/-/tree/stable-1.5?ref_type=heads

圖4-1. 下載源碼

• 解壓EtherCAT源碼

hjx@myir-server:~/renesas/04_Sources$ tar -xvf ethercat-stable-1.5.tar.bz2
hjx@myir-server:~/renesas/04_Sources$ cd ethercat-stable-1.5

• 加載sdk環(huán)境變量

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ source /opt/remi-sdk/environment-setup-aarch64-poky-linux

4.2. 編譯EtherCAT源碼

• 生成configure文件

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ./bootstrap
+ touch ChangeLog
+ mkdir -p m4
+ autoreconf -i
libtoolize: putting auxiliary files in AC_CONFIG_AUX_DIR, 'autoconf'.
libtoolize: copying file 'autoconf/ltmain.sh'
libtoolize: putting macros in AC_CONFIG_MACRO_DIRS, 'm4'.
libtoolize: copying file 'm4/libtool.m4'
libtoolize: copying file 'm4/ltoptions.m4'
libtoolize: copying file 'm4/ltsugar.m4'
libtoolize: copying file 'm4/ltversion.m4'
libtoolize: copying file 'm4/lt~obsolete.m4'
configure.ac:56: installing 'autoconf/ar-lib'
configure.ac:55: installing 'autoconf/compile'
configure.ac:58: installing 'autoconf/config.guess'
configure.ac:58: installing 'autoconf/config.sub'
configure.ac:42: installing 'autoconf/install-sh'
configure.ac:42: installing 'autoconf/missing'
examples/dc_user/Makefile.am: installing 'autoconf/depcomp'

• configure設(shè)置

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ mkdir output
hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ./configure --prefix=/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output --with-linux-dir=/home/hjx/renesas/04_Sources/myir-renesas-linux --enable-8139too=no --enable-generic=yes --host=aarch64-poky-linux

（--prefix=/home/hjx/renesas/04_Sources/output 指定輸出目錄、--with-linux-dir=/home/hjx/renesas/04_Sources/myir-renesas-linux指定內(nèi)核源碼目錄）

configure: loading site script /opt/remi-sdk/site-config-aarch64-poky-linux
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for aarch64-poky-linux-strip... aarch64-poky-linux-strip
checking for a thread-safe mkdir -p... /bin/mkdir -p
checking for gawk... gawk
checking whether make sets $(MAKE)... yes
checking whether make supports nested variables... yes
checking whether make supports nested variables... (cached) yes
checking for a sed that does not truncate output... (cached) sed
checking for aarch64-poky-linux-pkg-config... no
checking for pkg-config... /opt/remi-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/pkg-config
checking pkg-config is at least version 0.9.0... yes
checking whether make supports the include directive... yes (GNU style)
..........
...............
config.status: creating examples/xenomai/Makefile
config.status: creating examples/xenomai_posix/Makefile
config.status: creating include/Makefile
config.status: creating lib/Makefile
config.status: creating lib/libethercat.pc
config.status: creating master/Kbuild
config.status: creating master/Makefile
config.status: creating script/Makefile
config.status: creating script/init.d/Makefile
config.status: creating script/init.d/ethercat
config.status: creating script/sysconfig/Makefile
config.status: creating tool/Makefile
config.status: creating tty/Kbuild
config.status: creating tty/Makefile
config.status: creating config.h
config.status: executing depfiles commands
config.status: executing libtool commands

• 編譯源碼

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ make
make all-recursive
make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'
Making all in include
make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'
make[2]: Nothing to be done for 'all'.
make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'
Making all in script
make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'
Making all in init.d
make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'
make[3]: Nothing to be done for 'all'.
make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'
Making all in sysconfig
make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/sysconfig'
make[3]: Nothing to be done for 'all'.
make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/sysconfig'
......
......
make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/user'
make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'
make[3]: Nothing to be done for 'all-am'.
make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'
make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'
make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'
make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'
make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'

• 編譯modules

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ make modules
make[1]: Entering directory '/home/hjx/renesas/04_Sources/myir-renesas-linux'
CC [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/mini/mini.o
LD [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/mini/ec_mini.o
CC [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/cdev.o
CC [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/coe_emerg_ring.o
CC [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/datagram.o
...........
............
make[1]: Leaving directory '/home/hjx/renesas/04_Sources/myir-renesas-linux'

編譯通過會(huì)對(duì)應(yīng)生成ethercat-stable-1.5/devices/ec_generic.ko和ethercat-stable-1.5/master/ec_master.ko

4.3. 安裝EtherCAT

安裝成功后前面指定/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output目錄下有編譯生成的各種用戶空間的文件。

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ make install
Making install in include
make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'
make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'
make[2]: Nothing to be done for 'install-exec-am'.
/bin/mkdir -p '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output/include'
/usr/bin/install -c -m 644 ecrt.h ectty.h '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output/include'
make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'
make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'
Making install in script
make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'
Making install in init.d
make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'
make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'
make[3]: Nothing to be done for 'install-exec-am'.
...........
..........
make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'
make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'
make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'
make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'
make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'
make[2]: Nothing to be done for 'install-exec-am'.
make[2]: Nothing to be done for 'install-data-am'.
make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'
make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'

4.4. 將EtharCAT相關(guān)文件打包

在/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output目錄下創(chuàng)建modules文件夾，并復(fù)制ec_generic.ko和ec_master.ko到modules下

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ mkdir -p output/modules
hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ cp devices/ec_generic.ko output/modules/
hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ cp master/ec_master.ko output/modules/
hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ls output
bin etc include lib modules sbin share

• 壓縮output輸出文件

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ tar -jcvf output.tar.bz2 output/
output/
output/etc/
output/etc/ethercat.conf
output/etc/init.d/
output/etc/init.d/ethercat
output/etc/sysconfig/
output/etc/sysconfig/ethercat
output/sbin/
output/sbin/ethercatctl
output/include/
output/include/ectty.h
output/include/ecrt.h
output/modules/
output/modules/ec_master.ko
output/modules/ec_generic.ko
output/share/
output/share/bash-completion/
output/share/bash-completion/completions/
output/share/bash-completion/completions/ethercat
output/bin/
output/bin/ethercat
output/lib/
output/lib/libethercat.so
output/lib/pkgconfig/
output/lib/pkgconfig/libethercat.pc
output/lib/libethercat.so.1.2.0
output/lib/cmake/
output/lib/cmake/ethercat/
output/lib/cmake/ethercat/ethercat-config.cmake
output/lib/libethercat.a
output/lib/libethercat.la
output/lib/libethercat.so.1
hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ls output.tar.bz2
output.tar.bz2

至此IGH交叉編譯完成，下面是在對(duì)應(yīng)arm目標(biāo)板上的操作。

4.5. 移植EtherCAT相關(guān)庫到開發(fā)板

將上面制作好的output.tar.bz2傳到開發(fā)板上，然后解壓出來。

root@myir-remi-1g:~# tar -xvf output.tar.bz2
output/
output/etc/
output/etc/ethercat.conf
output/etc/init.d/
output/etc/init.d/ethercat
output/etc/sysconfig/
output/etc/sysconfig/ethercat
output/sbin/
output/sbin/ethercatctl
output/include/
output/include/ectty.h
output/include/ecrt.h
output/modules/
output/modules/ec_master.ko
output/modules/ec_generic.ko
output/share/
output/share/bash-completion/
output/share/bash-completion/completions/
output/share/bash-completion/completions/ethercat
output/bin/
output/bin/ethercat
output/lib/
output/lib/libethercat.so
output/lib/pkgconfig/
output/lib/pkgconfig/libethercat.pc
output/lib/libethercat.so.1.2.0
output/lib/cmake/
output/lib/cmake/ethercat/
output/lib/cmake/ethercat/ethercat-config.cmake
output/lib/libethercat.a
output/lib/libethercat.la
output/lib/libethercat.so.1

將output目錄下各文件目錄的內(nèi)容復(fù)制到板子根文件系統(tǒng)根目錄下相應(yīng)目錄下，例如：cp bin/ethercat /bin/(include目錄不用復(fù)制)

root@myir-remi-1g:~/output# ls
bin etc include lib modules sbin share
root@myir-remi-1g:~/output# cp bin/ethercat /bin/
root@myir-remi-1g:~/output# cp etc/ethercat.conf /etc/
root@myir-remi-1g:~/output# cp etc/init.d/* /etc/init.d
root@myir-remi-1g:~/output# cp -r etc/sysconfig/ /etc/
root@myir-remi-1g:~/output# cp lib/libethercat.* /lib64/
root@myir-remi-1g:~/output# cp -r lib/pkgconfig /lib64/
root@myir-remi-1g:~/output# cp modules/ec_master.ko /lib/modules/5.10.83-cip1-yocto-standard/
root@myir-remi-1g:~/output# cp sbin/ethercatctl /sbin/

4.6. 啟動(dòng)EtherCAT

4.6.1. 配置主站的MAC地址

root@myir-remi-1g:~# depmod
root@myir-remi-1g:~# modprobe ec_master main_devices=1E:ED:19:27:1A:B3

4.6.2. 啟動(dòng)EtherCAT

root@myir-remi-1g:~# /etc/init.d/ethercat start
Starting EtherCAT master 1.5.2 done

至此所有步驟完成。

米爾瑞米派 Remi Pi

瑞薩第一款MPU生態(tài)板卡，兼容樹莓派擴(kuò)展模塊

采用瑞薩RZ/G2L工業(yè)級(jí)處理器，便于企業(yè)客戶產(chǎn)品開發(fā)；

Remi Pi兼容樹莓派所有配件，方便產(chǎn)品原型搭建和創(chuàng)新應(yīng)用；

更多的工業(yè)接口，兼顧開發(fā)、學(xué)習(xí)和實(shí)際應(yīng)用；

軟件系統(tǒng)豐富，支持Debian/Ubuntu/Linux等。