开发板配置Ubuntu+Xenomai+Igh

使用硬件 MF13-00开发板,软件环境 Ubuntu 22.04LTS,Xenomai 3.2.1, Igh 1.6.0-rc1

一、开发板装通用Ubuntu系统

        准备Ubuntu 22.04的U盘启动盘(可在网上搜索如何制作,简单),将启动盘插入,开发板上电,进入开机界面按F7,将启动项调整为U盘,回车。

        随后进入Ubuntu引导安装界面,按照一般笔记本安装ubuntu流程即可,安装教程:安装ubuntu系统

二、安装实时补丁Xenomai

        Xenomai需要对内核打补丁,Ubuntu22.04的内核版本为5.15.0。传统的xenomai补丁需要添加对应版本的i-pipe层到内核中,但5.10版本之后就开始用到dovetail ,即官方自己做好的内核源码,选择对应版本 v5.15-dovetail2-rebase   下载链接

        下载最新的xenomai源码,版本v3.2.1  下载链接

        安装工具

sudo apt update
sudo apt-get install gcc git libncurses5-dev make flex bison libssl-dev libelf-dev automake dwarves
sudo apt-get install fuse
sudo apt install debhelper findutils autotools-dev autoconf libtool pkg-config libltdl-dev

        解压并导入内核

将两个压缩包解压到同一目录下,后进入内核源码中,将xenomai导入待编译的内核中

cd /linux-dovetail-v5.10.76-dovetail3
sudo ../xenomai-v3.2.1/scripts/prepare-kernel.sh --arch=x86_64

        配置内核

sudo make menuconfig

        配置内核参数如下:

* General setup
​ 	--> Local version - append to kernel release: (-xenomai)//此处用以区分内核版本
    --> Timers subsystem
​ 		---> High Resolution Timer Support [*](默认)
 
​* Pocessor type and features
	​ --> Processor family
		​ ---> Core 2/newer Xeon 
     --> Multi-core scheduler support [](关闭)
 
 
* Xenomai/cobalt
	​ --> Sizes and static limits
		​ ---> Number of registry slots  (512 --> 4096)
		​ ---> Size of system heap (Kb)  (4096 --> 4096)
		​ ---> Size of private heap (Kb) (256 --> 256)
		​ ---> Size of shared heap (Kb)  (256 --> 256)
		​ ---> Maximum number of POSIX timers per process (256 --> 512)
	​ --> Drivers
		​ ---> RTnet
			​ ---> RTnet, TCP/IP socket interface (Enable)
				​ ----> Drivers
					​ -----> New intel(R) PRO/1000 PCIe(Gigabit) [M](模块)
					​ -----> Realtek 8169(Gigabit) [M](模块)
					​ -----> Loopback [M](默认)
				​ ----> Add-Ons
					​ -----> Real-Time Capturing Support [M](模块)
	
* Power management and ACPI options
	​ --> CPU Frequency scaling
	​ 	---> CPU Frequency scaling [](关闭)
	​ --> ACPI (Advanced Configuration and Power Interface) Support
	​ 	---> Processor [](关闭)
	​ --> CPU Idle
		​ ---> CPU idle PM support [](关闭)
 
* Memory Management Options
	​ ---> Transparent Hugepage Support [](关闭)
	​ ---> Allow for memory compaction [](关闭)
	​ ---> Contiguous Memory Allocation [](关闭)
	 ---> Page Migration [](关闭)
 
​* Device Drivers
      --> Unisys visorbus driver [](关闭) 

* Xenomai/cobalt
    ​ --> Drivers
         ---> Real-time IPC drivers [*] (双击空格选定为*)(可选)
                ---> RTIPC protocol family <M>(默认)
                    ---> XDDP cross-domain datagram protocol [*](默认)
                    ---> IDDP intra-domain datagram protocol [*](默认)
                    ---> Number of IDDP communication ports  (32) (默认)
                    ---> Buffer protocol [*](默认)
                    ---> Number of BUFP communication ports (32) (默认)

        编译内核映像

sudo scripts/config --disable SYSTEM_TRUSTED_KEYS

sudo scripts/config --disable SYSTEM_REVOCATION_KEYS

sudo scripts/config --disable CONFIG_DEBUG_INFO_BTF 

sudo make bzImage -j4        //-j* 进行多核编译加快进度(和处理器数量挂钩)

sudo make modules -j4

sudo make INSTALL_MOD_STRIP=1 modules_install -j4

        安装

拷贝.config文件到/boot文件夹下,并重命名为尾缀同配置参数时相同。

sudo cp .config  /boot

sudo mv /boot/.config   /boot/config-5.15.0-xenomai

拷贝bzImage到/boot文件夹下,并重命名。

sudo cp /arch/x86_64/boot/bzImage  /boot
sudo mv /boot/bzImage   /boot/vmlinuz-5.15.0-xenomai

拷贝System.map到/boot文件夹下,并重命名。

sudo cp System.map /boot
sudo mv /boot/System.map /boot/System.map-5.15.0-xenomai

生成initrd文件

cd /lib/modules/5.15.0-xenomai
sudo update-initramfs -c -k 5.15.0-xenomai

        允许非root用户(由于xenomai实时任务是在linux软实时任务基础上创建的,而linux实时任务的创建需要权限,所以还需要配置用户组允许非root用户运行实时任务。创建用户组xenomai,并将当前非root用户与root用户加入用户组xenomai)

sudo addgroup xenomai --gid 1234
sudo addgroup root xenomai
sudo usermod -a -G xenomai $USER

        配置GRUB

sudo gedit  /etc/default/grub

# GRUB_TIMEOUT_STYLE=hidden

GRUB_TIMEOUT=10

GRUB_CMDLINE_LINUX_DEFAULT="quiet splash xenomai.allowed_group=1234"

        更新GRUB

sudo update-grub

        重启电脑,确认版本号已更新

uname -a

        安装Xenomai库

cd /xenomai-v3.2.1

sudo apt install automake libtool m4 autoconf 

sudo autoreconf -vif


sudo ./scripts/bootstrap
sudo ./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw
sudo make -j4
sudo make install

        更新环境变量

echo '
### Xenomai
export XENOMAI_ROOT_DIR=/usr/xenomai
export XENOMAI_PATH=/usr/xenomai
export PATH=$PATH:$XENOMAI_PATH/bin:$XENOMAI_PATH/sbin
export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$XENOMAI_PATH/lib/pkgconfig
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$XENOMAI_PATH/lib
export OROCOS_TARGET=xenomai
' >> ~/.xenomai_rc

echo 'source ~/.xenomai_rc' >> ~/.bashrc
source ~/.bashrc

//追加权限

sudo chmod -R 777 /dev/rtdm/memdev-private
sudo chmod -R 777 /dev/rtdm/memdev-shared

        测试

sudo /usr/xenomai/bin/latency

        修复负延迟

sudo -s
echo 0>/proc/xenomai/latency
sudo /usr/xenomai/bin/latency

//NUM值为“last_best”值*1000

echo NUM>/proc/xenomai/latency 

三、安装Igh

        源码下载编译

    git clone http://gitlab.com/etherlab.org/ethercat.git
    ./bootstrap
        #--with-linux-dir是指定安装的linux内核目录 可以打开configure查看详细配置项

        #--prefix是指定编译输出文件夹
    ./configure  --enable-eoe=no --enable-8139too=no --enable-generic=yes --enable-rtmutex --enable-cycles=yes --enable-hrtimer --with-xenomai-dir=/usr/xenomai   --prefix=/home/fc/test/pc/ethercat/output
    make
    make all modules
    sudo make modules_install install
    sudo depmod

        创建链接安装

sudo ln -fs /home/fc/test/pc/ethercat/output/etc/init.d/ethercat /etc/init.d
sudo mkdir /etc/sysconfig
sudo ln -fs /home/fc/test/pc/ethercat/output/etc/sysconfig/ethercat /etc/sysconfig/
sudo ln -fs /home/fc/test/pc/ethercat/output/bin/ethercat /bin/
sudo -i
echo KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\" > /etc/udev/rules.d/99-EtherCAT.rules

        网络配置

ifconfig #查询有线网卡的MAC地址

sudo gedit /etc/sysconfig/ethercat

在其中添加MASTER0_DEVICE=”网卡地址“

DEVICE_MODULES=”generic”

   启动测试

sudo /etc/init.d/ethercat start|stop|restart

显示...done 成功

参考链接:

https://blog.csdn.net/qq_28882933/article/details/123626659

https://blog.csdn.net/rushlalala/article/details/123371687?spm=1001.2014.3001.5502


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