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1.概述 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。 2.實時內核設計 RT補丁可以從RT官網下載5.10.83對應的補丁 - hjx@myir-server:~/renesas/04_Sources$ tar -xvf patches-5.10.83-rt58.tar.gz
圖2-1. 內核源碼 - hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ for p in `ls -1 ../patches/*.patch`; do patch -p1 < $p; done
圖2-2. 打實時補丁 - hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ /opt/remi-sdk/environment-setup-aarch64-poky-linux
- hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ make ARCH=arm64 mys_g2lx_defconfig
- hjx@myir-server:~/renesas/04_Sources/myir-renesas-linux$ make ARCH=arm64 Image dtbs -j16
2.2. 其他影響性能的配置 3.實時性測試 - cyclictest -p 99 -t 1 -d 100 -i 1000 -D 24h -m -a -n
圖3-1.空載測試 - 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
圖3-2.滿載測試 表3-1.數據信息 4.1. 下載EtherCAT IGH源碼 https://gitlab.com/etherlab.org/ethercat/-/tree/stable-1.5?ref_type=heads 圖4-1. 下載源碼 - hjx@myir-server:~/renesas/04_Sources$ tar -xvf ethercat-stable-1.5.tar.bz2
- hjx@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
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 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 install
- Making install in include
- make[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 script
- make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'
- Making install in init.d
- make[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 至此IGH交叉編譯完成，下面是在對應arm目標板上的操作。 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.conf
- output/etc/init.d/
- output/etc/init.d/ethercat
- output/etc/sysconfig/
- output/etc/sysconfig/ethercat
- output/sbin/
- output/sbin/ethercatctl
- output/include/
- output/include/ectty.h
- output/include/ecrt.h
- output/modules/
- output/modules/ec_master.ko
- output/modules/ec_generic.ko
- output/share/
- output/share/bash-completion/
- output/share/bash-completion/completions/
- output/share/bash-completion/completions/ethercat
- output/bin/
- output/bin/ethercat
- output/lib/
- output/lib/libethercat.so
- output/lib/pkgconfig/
- output/lib/pkgconfig/libethercat.pc
- output/lib/libethercat.so.1.2.0
- output/lib/cmake/
- output/lib/cmake/ethercat/
- output/lib/cmake/ethercat/ethercat-config.cmake
- output/lib/libethercat.a
- output/lib/libethercat.la
- output/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# ls
- bin etc include lib modules sbin share
- root@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.d
- root@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 4.6.2. 啟動EtherCAT - root@myir-remi-1g:~# /etc/init.d/ethercat start
- Starting EtherCAT master 1.5.2 done
至此所有步驟完成。
米爾瑞米派 Remi Pi瑞薩第一款MPU生態板卡，兼容樹莓派擴展模塊 采用瑞薩RZ/G2L工業級處理器，便于企業客戶產品開發； Remi Pi兼容樹莓派所有配件，方便產品原型搭建和創新應用； 更多的工業接口，兼顧開發、學習和實際應用； ![]()
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