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米尔瑞米派Remi Pi实时系统与Ethercat移植 应用笔记

2024-04-26 米尔 阅读：
Remi Pi采用瑞萨RZ/G2L作为核心处理器，该处理器搭载双核Cortex-A55@1.2GHz+Cortex-M33@200MHz处理器，其内部集成高性能3D加速引擎Mail-G31 GPU(500MHz)和视频处理单元（支持H.264硬件编解码）,16位的DDR4-1600 / DDR3L-1333内存控制器、千兆以太网控制器、USB、CAN、SD卡、MIPI-CSI等外设接口，在工业、医疗、电力等行业都得到广泛的应用。

在开发阶段，建议配合核心板配套的评估套件 MYD-YG2L23-8E1D-120-C-REMI来加速开发。评估套件的详细信息请访问：https://www.myir.cn/shows/23/14.htmlE6Kednc

实时内核设计E6Kednc

实时补丁我们选择RT-Preempt来实现E6Kednc

移植补丁E6Kednc

RT补丁可以从RT官网下载5.10.83对应的补丁E6Kednc

https://cdn.kernel.org/pub/linux/kernel/projects/rt/5.10/older/E6Kednc

E6Kednc

把补丁放到自己的工作目录下，然后解压，如图2-1：E6Kednc

hjx@myir-server:~/renesas/04_Sources$ tar -xvf patches-5.10.83-rt58.tar.gzE6Kednc

图2-1. 内核源码解压E6Kednc

进入到内核源码打补丁，如图2-2：E6Kednc

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ for p in `ls -1 ../patches/*.patch`; do patch -p1 < $p; doneE6Kednc

图2-2. 打实时补丁E6Kednc

编译内核源码E6Kednc

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ /opt/remi-sdk/environment-setup-aarch64-poky-linuxE6Kednc

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ make ARCH=arm64 mys_g2lx_defconfigE6Kednc

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ make ARCH=arm64 Image dtbs   -j16E6Kednc

更新编译得到的Image即可E6Kednc

其他影响性能的配置E6Kednc

禁用CPU Freq自动调频，并设置主频为最高频率：E6Kednc

cd /sys/devices/system/cpu/cpufreq/policy0E6Kednc

echo userspace > scaling_governorE6Kednc

cat scaling_max_freq  > scaling_setspeedE6Kednc

（如不禁用cpufreq调频功能，系统会因动态调频产生极大的偶然延迟）E6Kednc

实时性测试E6Kednc

空载测试E6Kednc

cyclictest -p 99 -t 1 -d 100 -i 1000 -D 24h -m -a -nE6Kednc

E6Kednc

图3-1.空载测试E6Kednc

CPU&内存满载E6Kednc

cyclictest -p 99 -t 1 -d 100 -i 1000 -D 24h -m -a -nE6Kednc

增加压力E6Kednc

stress-ng --cpu 4 --cpu-method all --io 4 --vm 50 -d 5  --fork 4 --timeout 36000s E6Kednc

E6Kednc

图3-2.满载测试E6Kednc

数据对比：E6Kednc

 E6Kednc

板卡 MYD-YG2LX-REMI
测试时间 120min
指令 cyclictest &stress-ng
空载 平均 8us最大 24us
满载 平均 13us最大 136us

 E6Kednc

表4-1.数据信息E6Kednc

ethercat IGH移植E6Kednc

下载ethercat IGH源码E6Kednc

到官网下载1.5版本的ethercat源码，如图4-1：E6Kednc

https://gitlab.com/etherlab.org/ethercat/-/tree/stable-1.5?ref_type=headsE6Kednc

E6Kednc

图4-1. 下载源码E6Kednc

解压ethercat源码E6Kednc

hjx@myir-server:~/renesas/04_Sources$ tar -xvf ethercat-stable-1.5.tar.bz2E6Kednc

hjx@myir-server:~/renesas/04_Sources$ cd ethercat-stable-1.5E6Kednc

加载sdk环境变量E6Kednc

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ source /opt/remi-sdk/environment-setup-aarch64-poky-linuxE6Kednc

编译ethercat源码E6Kednc

生成configure文件E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ./bootstrapE6Kednc

+ touch ChangeLogE6Kednc

+ mkdir -p m4E6Kednc

+ autoreconf -iE6Kednc

libtoolize: putting auxiliary files in AC_CONFIG_AUX_DIR, 'autoconf'.E6Kednc

libtoolize: copying file 'autoconf/ltmain.sh'E6Kednc

libtoolize: putting macros in AC_CONFIG_MACRO_DIRS, 'm4'.E6Kednc

libtoolize: copying file 'm4/libtool.m4'E6Kednc

libtoolize: copying file 'm4/ltoptions.m4'E6Kednc

libtoolize: copying file 'm4/ltsugar.m4'E6Kednc

libtoolize: copying file 'm4/ltversion.m4'E6Kednc

libtoolize: copying file 'm4/lt~obsolete.m4'E6Kednc

configure.ac:56: installing 'autoconf/ar-lib'E6Kednc

configure.ac:55: installing 'autoconf/compile'E6Kednc

configure.ac:58: installing 'autoconf/config.guess'E6Kednc

configure.ac:58: installing 'autoconf/config.sub'E6Kednc

configure.ac:42: installing 'autoconf/install-sh'E6Kednc

configure.ac:42: installing 'autoconf/missing'E6Kednc

examples/dc_user/Makefile.am: installing 'autoconf/depcomp'E6Kednc

configure设置E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ mkdir  outputE6Kednc

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-linuxE6Kednc

（--prefix=/home/hjx/renesas/04_Sources/output 指定输出目录、--with-linux-dir=/home/hjx/renesas/04_Sources/myir-renesas-linux指定内核源码目录）E6Kednc

configure: loading site script /opt/remi-sdk/site-config-aarch64-poky-linuxE6Kednc

checking for a BSD-compatible install... /usr/bin/install -cE6Kednc

checking whether build environment is sane... yesE6Kednc

checking for aarch64-poky-linux-strip... aarch64-poky-linux-stripE6Kednc

checking for a thread-safe mkdir -p... /bin/mkdir -pE6Kednc

checking for gawk... gawkE6Kednc

checking whether make sets $(MAKE)... yesE6Kednc

checking whether make supports nested variables... yesE6Kednc

checking whether make supports nested variables... (cached) yesE6Kednc

checking for a sed that does not truncate output... (cached) sedE6Kednc

checking for aarch64-poky-linux-pkg-config... noE6Kednc

checking for pkg-config... /opt/remi-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/pkg-configE6Kednc

checking pkg-config is at least version 0.9.0... yesE6Kednc

checking whether make supports the include directive... yes (GNU style)E6Kednc

..........E6Kednc

...............E6Kednc

config.status: creating examples/xenomai/MakefileE6Kednc

config.status: creating examples/xenomai_posix/MakefileE6Kednc

config.status: creating include/MakefileE6Kednc

config.status: creating lib/MakefileE6Kednc

config.status: creating lib/libethercat.pcE6Kednc

config.status: creating master/KbuildE6Kednc

config.status: creating master/MakefileE6Kednc

config.status: creating script/MakefileE6Kednc

config.status: creating script/init.d/MakefileE6Kednc

config.status: creating script/init.d/ethercatE6Kednc

config.status: creating script/sysconfig/MakefileE6Kednc

config.status: creating tool/MakefileE6Kednc

config.status: creating tty/KbuildE6Kednc

config.status: creating tty/MakefileE6Kednc

config.status: creating config.hE6Kednc

config.status: executing depfiles commandsE6Kednc

config.status: executing libtool commandsE6Kednc

编译源码E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$   makeE6Kednc

make  all-recursiveE6Kednc

make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

Making all in includeE6Kednc

make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'E6Kednc

make[2]: Nothing to be done for 'all'.E6Kednc

make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'E6Kednc

Making all in scriptE6Kednc

make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'E6Kednc

Making all in init.dE6Kednc

make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'E6Kednc

make[3]: Nothing to be done for 'all'.E6Kednc

make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'E6Kednc

Making all in sysconfigE6Kednc

make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/sysconfig'E6Kednc

make[3]: Nothing to be done for 'all'.E6Kednc

make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/sysconfig'E6Kednc

......E6Kednc

......E6Kednc

make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/user'E6Kednc

make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'E6Kednc

make[3]: Nothing to be done for 'all-am'.E6Kednc

make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'E6Kednc

make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'E6Kednc

make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

编译modulesE6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$  make  modulesE6Kednc

make[1]: Entering directory '/home/hjx/renesas/04_Sources/myir-renesas-linux'E6Kednc

  CC [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/mini/mini.oE6Kednc

  LD [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/mini/ec_mini.oE6Kednc

  CC [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/cdev.oE6Kednc

  CC [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/coe_emerg_ring.oE6Kednc

  CC [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/datagram.oE6Kednc

...........E6Kednc

............E6Kednc

make[1]: Leaving directory '/home/hjx/renesas/04_Sources/myir-renesas-linux'E6Kednc

编译通过会对应生成ethercat-stable-1.5/devices/ec_generic.ko和ethercat-stable-1.5/master/ec_master.koE6Kednc

安装ethercatE6Kednc

安装成功后前面指定/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output目录下有编译生成的各种用户空间的文件。E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ make installE6Kednc

Making install in includeE6Kednc

make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'E6Kednc

make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'E6Kednc

make[2]: Nothing to be done for 'install-exec-am'.E6Kednc

 /bin/mkdir -p '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output/include'E6Kednc

 /usr/bin/install -c -m 644 ecrt.h ectty.h '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output/include'E6Kednc

make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'E6Kednc

make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/include'E6Kednc

Making install in scriptE6Kednc

make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'E6Kednc

Making install in init.dE6Kednc

make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'E6Kednc

make[3]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'E6Kednc

make[3]: Nothing to be done for 'install-exec-am'.E6Kednc

...........E6Kednc

..........E6Kednc

make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'E6Kednc

make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'E6Kednc

make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples'E6Kednc

make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

make[2]: Nothing to be done for 'install-exec-am'.E6Kednc

make[2]: Nothing to be done for 'install-data-am'.E6Kednc

make[2]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

make[1]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'E6Kednc

将etharcat相关文件打包E6Kednc

在/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output目录下创建modules文件夹，并复制ec_generic.ko和ec_master.ko到modules下E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$  mkdir -p output/modulesE6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$  cp devices/ec_generic.ko  output/modules/E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$  cp master/ec_master.ko   output/modules/E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ls outputE6Kednc

bin  etc  include  lib  modules  sbin shareE6Kednc

压缩output输出文件E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ tar -jcvf output.tar.bz2 output/  E6Kednc

output/E6Kednc

output/etc/E6Kednc

output/etc/ethercat.confE6Kednc

output/etc/init.d/E6Kednc

output/etc/init.d/ethercatE6Kednc

output/etc/sysconfig/E6Kednc

output/etc/sysconfig/ethercatE6Kednc

output/sbin/E6Kednc

output/sbin/ethercatctlE6Kednc

output/include/E6Kednc

output/include/ectty.hE6Kednc

output/include/ecrt.hE6Kednc

output/modules/E6Kednc

output/modules/ec_master.koE6Kednc

output/modules/ec_generic.koE6Kednc

output/share/E6Kednc

output/share/bash-completion/E6Kednc

output/share/bash-completion/completions/E6Kednc

output/share/bash-completion/completions/ethercatE6Kednc

output/bin/E6Kednc

output/bin/ethercatE6Kednc

output/lib/E6Kednc

output/lib/libethercat.soE6Kednc

output/lib/pkgconfig/E6Kednc

output/lib/pkgconfig/libethercat.pcE6Kednc

output/lib/libethercat.so.1.2.0E6Kednc

output/lib/cmake/E6Kednc

output/lib/cmake/ethercat/E6Kednc

output/lib/cmake/ethercat/ethercat-config.cmakeE6Kednc

output/lib/libethercat.aE6Kednc

output/lib/libethercat.laE6Kednc

output/lib/libethercat.so.1E6Kednc

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ls output.tar.bz2E6Kednc

output.tar.bz2E6Kednc

至此IGH交叉编译完成，下面是在对应arm目标板上的操作。E6Kednc

移植ethercat相关库到开发板E6Kednc

将上面制作好的output.tar.bz2传到开发板上，然后解压出来。E6Kednc

root@myir-remi-1g:~# tar -xvf output.tar.bz2                                             E6Kednc

output/E6Kednc

output/etc/E6Kednc

output/etc/ethercat.confE6Kednc

output/etc/init.d/E6Kednc

output/etc/init.d/ethercatE6Kednc

output/etc/sysconfig/E6Kednc

output/etc/sysconfig/ethercatE6Kednc

output/sbin/E6Kednc

output/sbin/ethercatctlE6Kednc

output/include/E6Kednc

output/include/ectty.hE6Kednc

output/include/ecrt.hE6Kednc

output/modules/E6Kednc

output/modules/ec_master.koE6Kednc

output/modules/ec_generic.koE6Kednc

output/share/E6Kednc

output/share/bash-completion/E6Kednc

output/share/bash-completion/completions/E6Kednc

output/share/bash-completion/completions/ethercatE6Kednc

output/bin/E6Kednc

output/bin/ethercatE6Kednc

output/lib/E6Kednc

output/lib/libethercat.soE6Kednc

output/lib/pkgconfig/E6Kednc

output/lib/pkgconfig/libethercat.pcE6Kednc

output/lib/libethercat.so.1.2.0E6Kednc

output/lib/cmake/E6Kednc

output/lib/cmake/ethercat/E6Kednc

output/lib/cmake/ethercat/ethercat-config.cmakeE6Kednc

output/lib/libethercat.aE6Kednc

output/lib/libethercat.laE6Kednc

output/lib/libethercat.so.1E6Kednc

将output目录下各文件目录的内容复制到板子根文件系统根目录下相应目录下，例如：cp bin/ethercat /bin/(include目录不用复制)E6Kednc

root@myir-remi-1g:~/output# lsE6Kednc

bin  etc  include  lib  modules  sbin  shareE6Kednc

root@myir-remi-1g:~/output# cp bin/ethercat /bin/E6Kednc

root@myir-remi-1g:~/output# cp etc/ethercat.conf /etc/E6Kednc

root@myir-remi-1g:~/output# cp etc/init.d/*  /etc/init.dE6Kednc

root@myir-remi-1g:~/output# cp -r etc/sysconfig/ /etc/E6Kednc

root@myir-remi-1g:~/output# cp  lib/libethercat.* /lib64/E6Kednc

root@myir-remi-1g:~/output# cp -r lib/pkgconfig /lib64/E6Kednc

root@myir-remi-1g:~/output# cp modules/ec_master.ko /lib/modules/5.10.83-cip1-yocto-standard/E6Kednc

root@myir-remi-1g:~/output# cp sbin/ethercatctl  /sbin/E6Kednc

启动EtherCATE6Kednc

配置主站的MAC地址E6Kednc

root@myir-remi-1g:~# depmodE6Kednc

root@myir-remi-1g:~# modprobe ec_master main_devices=1E:ED:19:27:1A:B3 E6Kednc

启动ethercatE6Kednc

root@myir-remi-1g:~# /etc/init.d/ethercat startE6Kednc

Starting EtherCAT master 1.5.2  doneE6Kednc

至此所有步骤完成。E6Kednc

米尔瑞米派 Remi PiE6Kednc

瑞萨第一款MPU生态板卡，兼容树莓派扩展模块E6Kednc

采用瑞萨RZ/G2L工业级处理器，便于企业客户产品开发；E6Kednc

Remi Pi兼容树莓派所有配件，方便产品原型搭建和创新应用；E6Kednc

更多的工业接口，兼顾开发、学习和实际应用；E6Kednc

软件系统丰富，支持Debian/Ubuntu/Linux等。E6Kednc

E6Kednc

如需了解板卡，您可以通过访问以下米尔电子官网链接：E6Kednc

https://www.myir.cn/shows/23/14.html更多关于Remi Pi技术问题讨论请登录米尔官方论坛：https://bbs.myir-tech.com/forum-66-1.htmlE6Kednc

责编：Demi
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