瑞米派（RemiPi）实时系统与EtherCAT移植

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

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

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

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

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

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

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

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

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

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: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'

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

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

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'

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'

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'

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

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

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

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/

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

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