米尔Remi Pi 实时系统与EtherCAT移植

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。

实时内核设计

实时补丁我们选择RT-Preempt来实现

2.1.移植补丁

RT补丁可以从RT官网下载5.10.83对应的补丁

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

把补丁放到自己的工作目录下，然后解压，如图2-1：

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

图2-1. 内核源码

进入到内核源码打补丁，如图2-2：

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

图2-2. 打实时补丁

编译内核源码

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

更新编译得到的Image即可

2.2.其他影响性能的配置

禁用CPUFreq自动调频，并设置主频为最高频率：

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

（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）

实时性测试

空载测试

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

图3-1.空载测试

CPU&内存满载

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

增加压力

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

图3-2.满载测试

数据对比：

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

表3-1.数据信息

EtherCAT IGH移植个标题

4.1.下载EtherCAT IGH源码

到官网下载1.5版本的EtherCAT源码，如图4-1：

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

图4-1. 下载源码

解压EtherCAT源码

hjx@myir-server:~/renesas/04_Sources$ tar -xvf ethercat-stable-1.5.tar.bz2hjx@myir-server:~/renesas/04_Sources$ cd ethercat-stable-1.5

加载sdk环境变量

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

4.2.编译EtherCAT源码

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设置

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

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

编译源码

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'

编译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'

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.ko

4.3.安装EtherCAT

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。

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.将EtharCAT相关文件打包

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

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

压缩output输出文件

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交叉编译完成，下面是在对应arm目标板上的操作。

4.5.移植EtherCAT相关库到开发板

将上面制作好的output.tar.bz2传到开发板上，然后解压出来。

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

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)

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.启动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.启动EtherCAT

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

至此所有步骤完成。

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米尔瑞米派 Remi Pi

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采用瑞萨RZ/G2L工业级处理器，便于企业客户产品开发；

Remi Pi兼容树莓派所有配件，方便产品原型搭建和创新应用；

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