From df6073968ad0703571863fa1444c976dfdbfaf85 Mon Sep 17 00:00:00 2001 From: yangzhenghan Date: Wed, 28 Feb 2024 18:57:57 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=BA=86=E5=8D=9A=E5=AE=A2?= =?UTF-8?q?=E6=96=87=E7=AB=A0=E5=86=85=E5=AE=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ...247\273\346\244\215IgH EtherCAT Master.md" | 168 ++++++++++++++++-- 1 file changed, 158 insertions(+), 10 deletions(-) diff --git "a/content/posts/\351\276\231\350\212\257\345\274\200\345\217\221\346\235\277\347\247\273\346\244\215IgH EtherCAT Master.md" "b/content/posts/\351\276\231\350\212\257\345\274\200\345\217\221\346\235\277\347\247\273\346\244\215IgH EtherCAT Master.md" index 10b21cd..80629a7 100644 --- "a/content/posts/\351\276\231\350\212\257\345\274\200\345\217\221\346\235\277\347\247\273\346\244\215IgH EtherCAT Master.md" +++ "b/content/posts/\351\276\231\350\212\257\345\274\200\345\217\221\346\235\277\347\247\273\346\244\215IgH 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: 2024-02-28T13:05:54+08:00 +lastmod: 2024-02-28T18:56:32+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"] @@ -386,7 +386,7 @@ vi 3rd/include/libxml2/libxml/xmlversion.h 做好上面的准备工作，还需要修改源码中的路径配置，然后才能正常编译。 下面都是我踩坑留下的记录。 -1. 修改 configure/RELEASE +1. 修改 `configure/RELEASE` ``` shell cd ethercat-master/ @@ -408,7 +408,7 @@ EPICS_HOST_ARCH=linux-la64 EPICS_BASE=/home/ubuntu/loongson/base-7.0.8 ``` -2. 修改 ethercatApp/scannerSrc/Makefile +2. 修改 `ethercatApp/scannerSrc/Makefile` ``` shell cd ethercat-master/ @@ -438,7 +438,7 @@ serialtool_INCLUDES += -I$(ETHERLAB)/master get-slave-revisions_INCLUDES += -I$(ETHERLAB)/master ``` -3. 修改 ethercatApp/src/Makefile，与上面类似。 +3. 修改 `ethercatApp/src/Makefile`，与上面类似。 ``` shell cd ethercat-master/ @@ -463,7 +463,131 @@ USR_LDFLAGS += -L$(TOP)/3rd/lib -Wl,-rpath=$(TOP)/3rd/lib USR_SYS_LIBS += xml2 ``` -4. 编译 +4. 修改源码 + +由于`ethercat-master`的源码原本是为`x86_64`架构编写的，编译到`LoongArch`架构的设备上运行可能会出现一些奇怪的错误。 + +例如，在运行`slaveinfo`时会出现`Segmentation fault`错误，通常是**空指针**导致内存访问出错。 + +原因分析： + +`slaveinfo`在运行时会根据程序自己的路径寻找`slave-types.txt`文件，问题就出在这里。来看源码 `ethercatApp/scannerSrc/slave-list-path.c`。 + +``` c +// ethercatApp/scannerSrc/slave-list-path.c + +int get_root_dir_index(const char *program_name) +{ + // Search for the binary path + char binary_dir[] = "bin/linux-x86_64/"; + + // Find the binary path in the program path and return the pointer + char *found = strstr(program_name, binary_dir); + + // Handle the case where it is not found + if (found == NULL) + { + return -1; + } + + // Calculate the difference in the pointers to get the index + return found - program_name; +} +``` + +这个`get_root_dir_index`函数是用于计算当前程序(`slaveinfo`)所在的**根**目录。这里向上查找的路径为`bin/linux-x86_64`，当然不能找到`LoongArch`的目录`bin/linux-la64`了。所以，此函数只在路径为`bin/linux-x86_64/slaveinfo`时才能正常运行，其它情况都返回`-1`。（第一次见到这样写的，真无语了……） + +``` c +// ethercatApp/scannerSrc/slave-list-path.c + +char *get_slave_list_filename(const char *program_path) +{ + char relative_path[] = "etc/scripts/slave-types.txt"; + char *slave_list_filename = NULL; + + // Get absolute path of application + char *real_path = calloc(PATH_MAX, sizeof(char)); + get_app_path(program_path, real_path); + + // Get root directory + int root_dir_index = get_root_dir_index(real_path); + if (root_dir_index != -1) + { + slave_list_filename = calloc(root_dir_index + strlen(relative_path) + 1, sizeof(char)); + strncpy(slave_list_filename, real_path, root_dir_index); + } + + // Append relative path + strcat(slave_list_filename, relative_path); + + // Check file + struct stat fstat; + int result = stat(slave_list_filename, &fstat); + if (result) + { + printf("Could not find slave list file at %s\n", slave_list_filename); + } + + // Cleanup + free(real_path); + + return slave_list_filename; +} +``` + +而在`get_slave_list_filename`函数中，只处理了`get_root_dir_index`返回正常时的情况。当`get_root_dir_index`返回`-1`时，`slave_list_filename`始终为`NULL`，这就导致后续操作出错。 + +其实这个问题直接把程序放到`bin/linux-x86_64`目录下运行就可以了，不过既然找到了问题，索性就改一改。 + +现在已经知道了出错的地方，该如何修改呢？这里我本着尽量少改动源码的原则，在`get_root_dir_index`查找**根**目录出错时，直接使用当前目录。 + +``` diff +char *get_slave_list_filename(const char *program_path) +{ + char relative_path[] = "etc/scripts/slave-types.txt"; + char *slave_list_filename = NULL; + + // Get absolute path of application + char *real_path = calloc(PATH_MAX, sizeof(char)); + get_app_path(program_path, real_path); + + // Get root directory + int root_dir_index = get_root_dir_index(real_path); + if (root_dir_index != -1) + { + slave_list_filename = calloc(root_dir_index + strlen(relative_path) + 1, sizeof(char)); + strncpy(slave_list_filename, real_path, root_dir_index); + } ++ else ++ { ++ slave_list_filename = calloc(PATH_MAX, sizeof(char)); ++ if (NULL != getcwd(slave_list_filename, PATH_MAX)) ++ { ++ strcat(slave_list_filename, "/"); ++ } ++ } + + // Append relative path + strcat(slave_list_filename, relative_path); + + // Check file + struct stat fstat; + int result = stat(slave_list_filename, &fstat); + if (result) + { + printf("Could not find slave list file at %s\n", slave_list_filename); + } + + // Cleanup + free(real_path); + + return slave_list_filename; +} +``` + +目前只发现了这个问题，希望后面没有坑了。 + +5. 编译 最后终于可以开始编译了。 @@ -474,7 +598,7 @@ make LD=loongarch64-linux-gnu-ld CC=loongarch64-linux-gnu-gcc CCC=loongarch64-li ``` 到这里，编译过程还可能会出错，不过已经可以编译出我们所需要的东西了。 -最终编译得到`scanner`程序就可以了。 +最终编译得到`scanner`、`slaveinfo`程序就可以了。 以下是我编译时的输出： @@ -482,11 +606,15 @@ make LD=loongarch64-linux-gnu-ld CC=loongarch64-linux-gnu-gcc CCC=loongarch64-li ... Installing library ../../../lib/linux-la64/libscannerlib.a ... +Installing created executable ../../../bin/linux-la64/serialtool +Installing created executable ../../../bin/linux-la64/get-slave-revisions Installing created executable ../../../bin/linux-la64/scanner +Installing created executable ../../../bin/linux-la64/slaveinfo Installing created executable ../../../bin/linux-la64/parsertest ... Installing shared library ../../../lib/linux-la64/libecAsyn.so Installing library ../../../lib/linux-la64/libecAsyn.a +Installing created executable ../../../bin/linux-la64/parsertest ... Installing template file ../../../db/EK1100.template ... @@ -653,9 +781,9 @@ fi # check for modules to replace for MODULE in ${DEVICE_MODULES}; do ECMODULE=ec_${MODULE} - if ! ${MODINFO} "${ECMODULE}" > /dev/null; then - continue # ec_* module not found - fi +- if ! ${MODINFO} "${ECMODULE}" > /dev/null; then +- continue # ec_* module not found +- fi if [ "${MODULE}" != "generic" ]; then if ${LSMOD} | grep "^${MODULE} " > /dev/null; then if ! ${RMMOD} "${MODULE}"; then @@ -690,6 +818,11 @@ IP=/bin/ip + ETHERCAT=/usr/bin/ethercat + MODULE_DIR=/root/modules +#------------------------------------------------------------------------------ + +- ETHERCAT_CONFIG=/home/loongson/__install_dir/etc/ethercat.conf ++ ETHERCAT_CONFIG=/etc/ethercat.conf + start) ... @@ -703,7 +836,22 @@ fi LOADED_MODULES=ec_master -... +# check for modules to replace +for MODULE in ${DEVICE_MODULES}; do + ECMODULE=ec_${MODULE} +- if ! ${MODINFO} "${ECMODULE}" > /dev/null; then +- continue # ec_* module not found +- fi + + if [ "${MODULE}" != "generic" ] && [ "${MODULE}" != "ccat" ]; then + # unload standard module and check if unloading was successful + ${RMMOD} "${MODULE}" 2> /dev/null || true + if ${LSMOD} | grep "^${MODULE} " > /dev/null; then + # could not unload module + ${RMMOD} ${LOADED_MODULES} + exit 1 + fi + fi - if ! ${MODPROBE} ${MODPROBE_FLAGS} "${ECMODULE}"; then + if ! ${INSMOD} "${MODULE_DIR}/${ECMODULE}.ko"; then