米爾Remi Pi 實時系統與EtherCAT移植

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內存控制器、千兆以太網控制器、USB、CAN、SD卡、MIPI-CSI等外設接口，在工業、醫療、電力等行業都得到廣泛的應用。

在開發階段，建議配合核心板配套的評估套件 MYD-YG2L23-8E1D-120-C-REMI來加速開發。

實時內核設計

實時補丁我們選擇RT-Preempt來實現

2.1.移植補丁

RT補丁可以從RT官網下載5.10.83對應的補丁

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

把補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. 內核源碼

進入到內核源碼打補丁，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. 打實時補丁

編譯內核源碼

hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ /opt/remi-sdk/environment-setup-aarch64-poky-linuxhjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ make ARCH=arm64 mys_g2lx_defconfighjx@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CPUFreq自動調頻，并設置主頻為最高頻率：

cd /sys/devices/system/cpu/cpufreq/policy0echo userspace > scaling_governorcat scaling_max_freq > scaling_setspeed

（如不禁用cpufreq調頻功能，系統會因動態調頻產生極大的偶然延遲）

實時性測試

空載測試

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

圖3-1.空載測試

CPU&內存滿載

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.滿載測試

數據對比：

表3-1.數據信息

EtherCAT IGH移植個標題

4.1.下載EtherCAT IGH源碼

到官網下載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.bz2hjx@myir-server:~/renesas/04_Sources$ cd ethercat-stable-1.5

加載sdk環境變量

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 -ilibtoolize: 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 installing 'autoconf/ar-lib'configure.ac installing 'autoconf/compile'configure.ac installing 'autoconf/config.guess'configure.ac installing 'autoconf/config.sub'configure.ac installing 'autoconf/install-sh'configure.ac installing 'autoconf/missing'examples/dc_user/Makefile.am: installing 'autoconf/depcomp'

configure設置

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$mkdiroutputhjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ./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指定內核源碼目錄）

configure: loading site script /opt/remi-sdk/site-config-aarch64-poky-linuxchecking for a BSD-compatible install... /usr/bin/install -cchecking whether build environment is sane... yeschecking for aarch64-poky-linux-strip... aarch64-poky-linux-stripchecking for a thread-safe mkdir -p... /bin/mkdir -pchecking for gawk... gawkchecking whether make sets $(MAKE)... yeschecking whether make supports nested variables... yeschecking whether make supports nested variables... (cached) yeschecking for a sed that does not truncate output... (cached) sedchecking for aarch64-poky-linux-pkg-config... nochecking for pkg-config... /opt/remi-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/pkg-configchecking pkg-config is at least version 0.9.0... yeschecking whether make supports the include directive... yes (GNU style).........................config.status: creating examples/xenomai/Makefileconfig.status: creating examples/xenomai_posix/Makefileconfig.status: creating include/Makefileconfig.status: creating lib/Makefileconfig.status: creating lib/libethercat.pcconfig.status: creating master/Kbuildconfig.status: creating master/Makefileconfig.status: creating script/Makefileconfig.status: creating script/init.d/Makefileconfig.status: creating script/init.d/ethercatconfig.status: creating script/sysconfig/Makefileconfig.status: creating tool/Makefileconfig.status: creating tty/Kbuildconfig.status: creating tty/Makefileconfig.status: creating config.hconfig.status: executing depfiles commandsconfig.status: executing libtool commands

編譯源碼

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ makemake all-recursivemake[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'Making all in includemake[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 scriptmake[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'Making all in init.dmake[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 sysconfigmake[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 modulesmake[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.oLD [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/mini/ec_mini.oCC [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/cdev.oCC [M] /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/coe_emerg_ring.oCC [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'

編譯通過會對應生成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 installMaking install in includemake[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 scriptmake[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'Making install in init.dmake[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相關文件打包

在/home/hjx/renesas/04_Sources/ethercat-stable-1.5/output目錄下創建modules文件夾，并復制ec_generic.ko和ec_master.ko到modules下

hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ mkdir -p output/moduleshjx@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 outputbin 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.confoutput/etc/init.d/output/etc/init.d/ethercatoutput/etc/sysconfig/output/etc/sysconfig/ethercatoutput/sbin/output/sbin/ethercatctloutput/include/output/include/ectty.houtput/include/ecrt.houtput/modules/output/modules/ec_master.kooutput/modules/ec_generic.kooutput/share/output/share/bash-completion/output/share/bash-completion/completions/output/share/bash-completion/completions/ethercatoutput/bin/output/bin/ethercatoutput/lib/output/lib/libethercat.sooutput/lib/pkgconfig/output/lib/pkgconfig/libethercat.pcoutput/lib/libethercat.so.1.2.0output/lib/cmake/output/lib/cmake/ethercat/output/lib/cmake/ethercat/ethercat-config.cmakeoutput/lib/libethercat.aoutput/lib/libethercat.laoutput/lib/libethercat.so.1hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ ls output.tar.bz2output.tar.bz2

至此IGH交叉編譯完成，下面是在對應arm目標板上的操作。

4.5.移植EtherCAT相關庫到開發板

將上面制作好的output.tar.bz2傳到開發板上，然后解壓出來。

root@myir-remi-1g:~# tar -xvf output.tar.bz2output/output/etc/output/etc/ethercat.confoutput/etc/init.d/output/etc/init.d/ethercatoutput/etc/sysconfig/output/etc/sysconfig/ethercatoutput/sbin/output/sbin/ethercatctloutput/include/output/include/ectty.houtput/include/ecrt.houtput/modules/output/modules/ec_master.kooutput/modules/ec_generic.kooutput/share/output/share/bash-completion/output/share/bash-completion/completions/output/share/bash-completion/completions/ethercatoutput/bin/output/bin/ethercatoutput/lib/output/lib/libethercat.sooutput/lib/pkgconfig/output/lib/pkgconfig/libethercat.pcoutput/lib/libethercat.so.1.2.0output/lib/cmake/output/lib/cmake/ethercat/output/lib/cmake/ethercat/ethercat-config.cmakeoutput/lib/libethercat.aoutput/lib/libethercat.laoutput/lib/libethercat.so.1

將output目錄下各文件目錄的內容復制到板子根文件系統根目錄下相應目錄下，例如：cp bin/ethercat /bin/(include目錄不用復制)

root@myir-remi-1g:~/output# lsbin etc include lib modules sbin shareroot@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.droot@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EtherCAT

4.6.1.配置主站的MAC地址

root@myir-remi-1g:~# depmodroot@myir-remi-1g:~# modprobe ec_master main_devices=1E191A:B3

4.6.2.啟動EtherCAT

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

至此所有步驟完成。

米爾瑞米派 Remi Pi

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Remi Pi兼容樹莓派所有配件，方便產品原型搭建和創新應用；

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