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kira-96 · Nov 26, 2024 · ad38548 · ad38548
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diff --git a/content/notes/ECMC构建指南.md b/content/notes/ECMC构建指南.md
@@ -0,0 +1,342 @@
+---
+title: "ecmc构建指南"
+date: 2024-11-26T08:56:34+08:00
+lastmod: 2024-11-26T08:56:34+08:00
+draft: true
+tags: ["EPICS", "EtherCAT"]
+keywords: ["EPICS", "EtherCAT"]
+categories: ["EPICS"]
+---
+
+## 软件包
+
+* [epics-base/epics-base: The C/C++ core of the EPICS Base control system toolkit](https://github.com/epics-base/epics-base)
+* [epics-modules/ecmc: EPICS Support for EtherCAT Motion Controller (ECMC) and Generic IO Controller](https://github.com/epics-modules/ecmc)
+* [paulscherrerinstitute/exprtk-ecmc: ESS Customized exprtk : C++ Mathematical Expression Parsing And Evaluation Library](https://github.com/paulscherrerinstitute/exprtk-ecmc)
+* [epics-modules/asyn: EPICS module for driver and device support](https://github.com/epics-modules/asyn)
+* [EuropeanSpallationSource/motor: APS BCDA synApps module: motor](https://github.com/EuropeanSpallationSource/motor)
+* [pantor/ruckig: Motion Generation for Robots and Machines. ](https://github.com/pantor/ruckig)
+* [EtherLab / EtherCAT Master · GitLab](https://gitlab.com/etherlab.org/ethercat)
+
+## 构建顺序
+
+1. epics-base
+2. asyn
+3. motor
+4. etherlab
+5. ruckig
+6. ecmc
+
+### epics-base
+
+正常交叉编译。
+
+### asyn
+
+正常交叉编译。
+
+### motor
+
+配置如下：
+``` sh
+# CONFIG_SITE.local
+
+# Uncomment the following line to build iocs in motor/modules/motorVendor/iocs
+BUILD_IOCS = YES
+```
+``` sh
+# RELEASE.local
+
+EPICS_BASE=/path/to/epics/base-7.0.8.1
+SUPPORT=$(EPICS_BASE)/../epics-modules
+ASYN=$(SUPPORT)/asyn
+```
+### etherlab
+
+需要内核源码头文件才能编译，和EPICS不相关。
+
+### ruckig 编译
+
+机器人运动控制库。
+
+配置交叉编译工具链
+
+``` cmake
+# toolchain
+set(CMAKE_C_COMPILER "loongarch64-linux-gnu-gcc")
+set(CMAKE_CXX_COMPILER "loongarch64-linux-gnu-g++")
+```
+
+编译步骤
+
+``` sh
+# 新建编译目录
+mkdir build
+cd build
+# 交叉编译
+cmake -DCMAKE_TOOLCHAIN_FILE=toolchain -DCMAKE_BUILD_TYPE=Release ..
+make
+```
+### ecmc
+
+把下载的`exprtk`解压到`exprtkSupport`目录下（也可以用`git` pull下来）。
+
+配置如下：
+
+``` sh
+# configure/RELEASE.local
+
+EPICS_BASE=/path/to/epics/base-7.0.8.1
+SUPPORT=$(EPICS_BASE)/../epics-modules
+ASYN=$(SUPPORT)/asyn
+MOTOR=$(SUPPORT)/motor
+# 指定交叉编译架构
+EPICS_HOST_ARCH=linux-loong64
+```
+
+修改`devEcmcSup/Makefile`
+
+``` diff
+#************************************************************************
+# Copyright (c) 2019 European Spallation Source ERIC
+# ecmc is distributed subject to a Software License Agreement found
+# in file LICENSE that is included with this distribution.
+#
+# Author: Jeong Han Lee <[email protected]>
+#
+#*************************************************************************
+
+TOP=..
+include $(TOP)/configure/CONFIG
+#----------------------------------------
+#  ADD MACRO DEFINITIONS AFTER THIS LINE
+#=============================
+
+
+ECMC = $(TOP)/devEcmcSup
+
+LIBRARY_IOC += ecmc
+
+# Ubuntu needs the following ldflags
+USR_LDFLAGS += -Wl,--no-as-needed
+USR_LDFLAGS += -lstdc++
+
+ifeq ($(T_A),linux-x86_64)
+# Assume that the etherlab user library is done via
+# https://github.com/icshwi/etherlabmaster
+USR_INCLUDES += -I/opt/etherlab/include
+USR_CFLAGS += -fPIC
+USR_LDFLAGS += -L /opt/etherlab/lib
+USR_LDFLAGS += -lethercat
+USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
+else
+# Assume that the etherlab user library is done via
+# Yocto ESS Linux bb recipe
++ # 这里注意etherlab的路径
+USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
+USR_CFLAGS   += -fPIC
+USR_LDFLAGS  += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
+USR_LDFLAGS  += -lethercat
+USR_LDFLAGS  += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
+endif
+
++ # ruckig路径
++ USR_INCLUDES += -I/path/to/ruckig/include
++ USR_LDFLAGS  += -L /path/to/ruckig/build
++ USR_LDFLAGS  += -lruckig
+
+SRC_DIRS  += $(ECMC)/plc
+ecmc_SRCS += ecmcPLC.cpp
+ecmc_SRCS += ecmcPLCTask.cpp
+ecmc_SRCS += ecmcPLCDataIF.cpp
+ecmc_SRCS += ecmcPLCMain.cpp
++ ecmc_SRCS += ecmcPLCLib.cpp
++ ecmc_SRCS += ecmcPLCLibFunc.cpp
+
+
+SRC_DIRS  += $(ECMC)/misc
+ecmc_SRCS += ecmcMisc.cpp
+ecmc_SRCS += ecmcEvent.cpp
+ecmc_SRCS += ecmcEventConsumer.cpp
+ecmc_SRCS += ecmcDataRecorder.cpp
+ecmc_SRCS += ecmcDataStorage.cpp
+ecmc_SRCS += ecmcCommandList.cpp
+
+SRC_DIRS  += $(ECMC)/main
+ecmc_SRCS += ecmcGeneral.cpp
+ecmc_SRCS += ecmcError.cpp
+ecmc_SRCS += ecmcMainThread.cpp
+ecmc_SRCS += gitversion.c
+
+
+SRC_DIRS  += $(ECMC)/ethercat
+ecmc_SRCS += ecmcEthercat.cpp
+ecmc_SRCS += ecmcEc.cpp
++ ecmc_SRCS += ecmcEcData.cpp
++ ecmc_SRCS += ecmcEcDomain.cpp
+ecmc_SRCS += ecmcEcEntry.cpp
+ecmc_SRCS += ecmcEcPdo.cpp
+ecmc_SRCS += ecmcEcSDO.cpp
+ecmc_SRCS += ecmcEcSlave.cpp
+ecmc_SRCS += ecmcEcSyncManager.cpp
+ecmc_SRCS += ecmcEcEntryLink.cpp  
++ ecmc_SRCS += ecmcEcAsyncSDO.cpp
+ecmc_SRCS += ecmcAsynLink.cpp
+ecmc_SRCS += ecmcEcMemMap.cpp
+
+
+SRC_DIRS  += $(ECMC)/com
+DBD       += ecmcController.dbd
++ ecmc_SRCS += ecmcDataItem.cpp
+ecmc_SRCS += ecmcCom.cpp
+ecmc_SRCS += ecmcOctetIF.c
+ecmc_SRCS += ecmcCmdParser.c
+ecmc_SRCS += ecmcAsynPortDriver.cpp
+ecmc_SRCS += ecmcAsynPortDriverUtils.cpp
+ecmc_SRCS += ecmcAsynDataItem.cpp
+
+SRC_DIRS  += $(ECMC)/motion
+ecmc_SRCS += ecmcMotion.cpp
+ecmc_SRCS += ecmcAxisBase.cpp
++ ecmc_SRCS += ecmcAxisGroup.cpp
+ecmc_SRCS += ecmcAxisReal.cpp
+ecmc_SRCS += ecmcAxisVirt.cpp
+ecmc_SRCS += ecmcDriveBase.cpp
+ecmc_SRCS += ecmcDriveStepper.cpp
+ecmc_SRCS += ecmcDriveDS402.cpp
+ecmc_SRCS += ecmcEncoder.cpp
+ecmc_SRCS += ecmcFilter.cpp
+ecmc_SRCS += ecmcMonitor.cpp
++ ecmc_SRCS += ecmcMotionUtils.cpp
+ecmc_SRCS += ecmcPIDController.cpp
+ecmc_SRCS += ecmcAxisSequencer.cpp
++ ecmc_SRCS += ecmcTrajectoryBase.cpp
++ ecmc_SRCS += ecmcTrajectoryS.cpp
+ecmc_SRCS += ecmcTrajectoryTrapetz.cpp
+ecmc_SRCS += ecmcAxisData.cpp
+
+SRC_DIRS  += $(ECMC)/motor
+DBD       += ecmcMotorRecordSupport.dbd
+ecmc_SRCS += ecmcMotorRecordController.cpp
+ecmc_SRCS += ecmcMotorRecordAxis.cpp
+
++ SRC_DIRS  += $(ECMC)/plugin
++ ecmc_SRCS += ecmcPluginLib.cpp
++ ecmc_SRCS += ecmcPlugin.cpp
++ ecmc_SRCS += ecmcPluginClient.cpp
+
+ecmc_LIBS += exprtkSupport
+ecmc_LIBS += $(EPICS_BASE_IOC_LIBS)
+
+
+
+include $(TOP)/configure/RULES
+#----------------------------------------
+#  ADD RULES AFTER THIS LINE
+
+gitversion.c:
+    @$(RM) $@
+    @sh $(TOP)/tools/gitversion.sh $@
+```
+
+修改`devEcmcSup/motion/ecmcTrajectoryS.h`
+
+``` diff
+#include "ecmcecmcTrajectoryBase.h"
+- #include <ruckig.hpp>
++ #include <ruckig/ruckig.hpp>
+```
+
+修改`ecmcExampleTop/configure/RELEASE.local`
+
+``` sh
+# `ecmcExampleTop/configure/RELEASE.local`
+
+EPICS_BASE=/home/ubuntu/epics/base-7.0.8.1
+SUPPORT=$(EPICS_BASE)/../epics-modules
+ASYN=$(SUPPORT)/asyn
+MOTOR=$(SUPPORT)/motor
+# 指定交叉编译架构
+EPICS_HOST_ARCH=linux-loong64
+```
+
+修改`ecmcExampleTop/ecmcIocApp/src/Makefile`
+
+``` diff
+TOP=../..
+
+include $(TOP)/configure/CONFIG
+#----------------------------------------
+#  ADD MACRO DEFINITIONS AFTER THIS LINE
+#=============================
+
+#=============================
+# Build the IOC application
+
+PROD_IOC = ecmcIoc
+
+# Ubuntu needs the following ldflags
+USR_LDFLAGS_Linux += -Wl,--no-as-needed
+
++ ifeq ($(T_A),linux-x86_64)
++ # Assume that the etherlab user library is done via
++ # https://github.com/icshwi/etherlabmaster
++ USR_INCLUDES += -I/opt/etherlab/include
++ USR_CFLAGS += -fPIC
++ USR_LDFLAGS += -L /opt/etherlab/lib
++ USR_LDFLAGS += -lethercat
++ USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
++ else
++ # Assume that the etherlab user library is done via
++ # Yocto ESS Linux bb recipe
++ # 这里注意etherlab的路径
++ USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
++ USR_CFLAGS   += -fPIC
++ USR_LDFLAGS  += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
++ USR_LDFLAGS  += -lethercat
++ USR_LDFLAGS  += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
++ endif
+
++ # ruckig路径
++ USR_INCLUDES += -I/path/to/ruckig/include
++ USR_LDFLAGS  += -L /path/to/ruckig/build
++ USR_LDFLAGS  += -lruckig
+
+# ecmcioc.dbd will be created and installed
+DBD += ecmcIoc.dbd
+
+# opcuaIoc.dbd will be made up from these files:
+ecmcIoc_DBD += base.dbd
+ecmcIoc_DBD += ecmcController.dbd
+
+# Add all the support libraries needed by this IOC
+ecmcIoc_LIBS += asyn
+ecmcIoc_LIBS += ecmc
++ ecmcIoc_LIBS += motor
+ecmcIoc_LIBS += exprtkSupport
+
+ecmcIoc_SRCS += ecmcIoc_registerRecordDeviceDriver.cpp
+
+# Build the main IOC entry point on workstation OSs.
+ecmcIoc_SRCS_DEFAULT += ecmcIocMain.cpp
+ecmcIoc_SRCS_vxWorks += -nil-
+
+# Finally link to the EPICS Base libraries
+ecmcIoc_LIBS += $(EPICS_BASE_IOC_LIBS)
+
+#===========================
+include $(TOP)/configure/RULES
+#----------------------------------------
+#  ADD RULES AFTER THIS LINE
+```
+
+编译的时候需要指定使用`c++17`的标准，不然有一些语法不支持，应该是`ruckig`库比较新。
+添加`CPPFLAGS=-std=c++17`
+
+``` sh
+# 执行交叉编译
+make CPPFLAGS=-std=c++17 \
+LD=loongarch64-linux-gnu-ld \
+CC=loongarch64-linux-gnu-gcc \
+CCC=loongarch64-linux-gnu-g++ -j4
+```
diff --git a/content/posts/龙芯开发板移植IgH EtherCAT Master.md b/content/posts/龙芯开发板移植IgH EtherCAT Master.md
@@ -1,7 +1,7 @@
 ---
 title: "龙芯开发板移植 IgH EtherCAT Master"
 date: 2024-02-23T12:54:31+08:00
-lastmod: 2024-03-12T15:57:25+08:00
+lastmod: 2024-11-26T09:12:50+08:00
 draft: false
 description: 龙芯2K0500开发板移植EtherCAT主站程序和EPICS EtherCAT模块
 tags: ["linux", "EPICS", "龙芯"]
@@ -47,7 +47,7 @@ dls ethercat是由英国钻石光源开发的用于 EPICS 控制系统 EtherCAT
 
 **源码一定要下载 *stable-1.5* 分支的，其他版本我也没有测试！**
 
-### 打补丁
+### ~~打补丁~~(此步骤可以跳过)
 
 ``` shell
 # 先将补丁复制到ethercat驱动源码下
@@ -183,8 +183,11 @@ cd ethercat-stable-1.5/
 # 这里需要注意是否出现报错，需要安装 autoconf、pkg-config 等工具
 
 # 执行configure
-# --host 指定程序运行的主机架构
-# --with-linux-dir 指定源码目录
+# `--host` 指定程序运行的主机架构
+# `--with-linux-dir` Linux内核源码
+# `--with-devices` 冗余接口需要 > 1
+# `--enable-hrtimer` 使用高分辨率定时器让主状态机在发送帧之间休眠
+# `--enable-wildcards` 允许使用0xffffff作为供应商ID和产品代码的通配符
 # 如果是安装的linux-headers，通常在 /usr/src/linux-headers-xxx
 # 如果直接使用内核源码，则必须通过上述编译步骤！
 # --prefix 指定安装目录