概述

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
  移植补丁
  
  

• 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. 内核源码解压

• 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-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
  更新编译得到的Image即可
  其他影响性能的配置
  禁用CPU Freq自动调频，并设置主频为最高频率：
  cd /sys/devices/system/cpu/cpufreq/policy0
  echo userspace > scaling_governor
  cat 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4-1.数据信息
  

  ---

  
  ethercat IGH移植
  下载ethercat IGH源码
  到官网下载1.5版本的ethercat源码

  
  
  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.bz2
  hjx@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

  
  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 -i
  libtoolize: 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'

• configure设置
  hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$ mkdir  output
  hjx@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-linux
  checking for a BSD-compatible install... /usr/bin/install -c
  checking whether build environment is sane... yes
  checking for aarch64-poky-linux-strip... aarch64-poky-linux-strip
  checking for a thread-safe mkdir -p... /bin/mkdir -p
  checking for gawk... gawk
  checking whether make sets $(MAKE)... yes
  checking whether make supports nested variables... yes
  checking whether make supports nested variables... (cached) yes
  checking for a sed that does not truncate output... (cached) sed
  checking for aarch64-poky-linux-pkg-config... no
  checking for pkg-config... /opt/remi-sdk/sysroots/x86_64-pokysdk-linux/usr/bin/pkg-config
  checking pkg-config is at least version 0.9.0... yes
  checking whether make supports the include directive... yes (GNU style)
  ..........
  ...............
  config.status: creating examples/xenomai/Makefile
  config.status: creating examples/xenomai_posix/Makefile
  config.status: creating include/Makefile
  config.status: creating lib/Makefile
  config.status: creating lib/libethercat.pc
  config.status: creating master/Kbuild
  config.status: creating master/Makefile
  config.status: creating script/Makefile
  config.status: creating script/init.d/Makefile
  config.status: creating script/init.d/ethercat
  config.status: creating script/sysconfig/Makefile
  config.status: creating tool/Makefile
  config.status: creating tty/Kbuild
  config.status: creating tty/Makefile
  config.status: creating config.h
  config.status: executing depfiles commands
  config.status: executing libtool commands

• 编译源码
  hjx@myir-server:~/renesas/04_Sources/ethercat-stable-1.5$   make
  make  all-recursive
  make[1]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5'
  Making all in include
  make[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 script
  make[2]: Entering directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script'
  Making all in 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 'all'.
  make[3]: Leaving directory '/home/hjx/renesas/04_Sources/ethercat-stable-1.5/script/init.d'
  Making all in sysconfig
  make[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  modules
  make[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.o
   LD [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/examples/mini/ec_mini.o
   CC [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/cdev.o
   CC [M]  /home/hjx/renesas/04_Sources/ethercat-stable-1.5/master/coe_emerg_ring.o
   CC [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
  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 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'
  

  
  

  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/modules
  hjx@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 output
  bin  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/