Hi,
i started playing around wiith patching the Odroid U3+ kernel and now i
can run Etherlab with Matlab (R2011a ) code on it inspired by Thomas post.
I describe my way to do this for Kernel 3.8.13.26-rt31 on the odroid
(except the standard installation procedure)
Odroid:
standard installation of EtherLAB components (i choose the main folder
/opt/etherlab )
EtherCAT Master:
./configure --enable-generic=yes --enable-8139too=no
--libdir=/opt/etherlab/lib/arm-linux-gnueabihf
Add in /etc/sysconfig/ethercat --> DEVICE_MODULES="generic"
Matlab
copie once the folder from VM or PC to odroid --> /usr/local/MATLAB/R2011a
Project:
After building the project:
only change in Makefile: PLATFORM_LIBDIR into “lib/arm-linux-gnueabihf
then copie the project
I have the same folders on odroid an pc, so i only have to sync the
folders (owncloud).
--> /home/ubuntu/project/exec
project-folder includes .mdl file
exec-folder is build path of matlab ( before building the proj go
to "cd /home/ubuntu/project/exec" in matlab)
now build the project on odroid
--> cd /home/ubuntu/project/exec/[my-project]
--> make clean
--> make
./[my_project]
if this error appears, LD_LIBRARY_PATH is missing
error while loading shared libraries: libpdserv.so.2.0.0: cannot open
shared object file: No such file or directory
--> export
LD_LIBRARY_PATH=D_LIBRARY_PATH:/usr/local/lib/arm-linux-gnueabihf/
VM or PC:
i use ubuntu 14.04 LTS 3.2.63-rt92
all standard installation...
My Ethercat modules:
EL2004
EL1008
EL4024
EL3124
EL3068
EL5152
4xDout
8xDin
4x 4…20ma Out
4x 4…20ma In
8x 0…10V In
2 Kanal Enc
hopethis is helpfull!
Mark
-------- Weitergeleitete Nachricht --------
Betreff: [etherlab-users] Etherlab on BeagleBone Black
Datum: Wed, 14 Jan 2015 15:33:03 +0100
Von: Thomas Reischl <[email protected]>
An: [email protected]
Hello everyone,
this is a post for everyone trying to control a plant with Etherlab over
a BeagleBone Black. Iâll just describe my approach and how it worked
for me as an example.
I am using an virtual machine (Linux ubuntu 3.13.0-32-generic) to make
my Simulink model with additional Etherlab blocks and generate the
C-code. After that, the model should be compiled and executed on the BBB
(Linux beaglebone 3.8.13-bone47).
Virual Machine requirements:
Matlab/Simulink 2014a
Etherlab 2.1.0 development environment
Etherlab 2.1.0 runtime environment with PdServ and commoncpp2-1.8.1,
log4cplus-1.1.3-rc2, yaml-0.1.5
EtherCAT-Master 1.5.2
BeagleBone Black requirements:
Etherlab 2.1.0 development environment
Etherlab 2.1.0 runtime environment with PdServ and commoncpp2-1.8.1,
log4cplus-1.1.3-rc2, yaml-0.1.5
EtherCAT-Master 1.5.2
Etherlab installation:
I did the installation as directed (with default directory:
/vol/opt/etherlab). Matlab 2014a should be installed
(â/usr/local/MATLAB/R2014aâ) with Simulink and Simulink Coder.
Moreover, gcc and cmake had to be downloaded from the repository for the
BBB. On my virtual machine they where already available, I think.
--> Install etherlab-2.1.0 (cmake, make, make install)
To install PdServ there are three additional library dependecies:
Log4cplus Library, CommonCpp2 Library and YAML Library, which can be
downloaded as tarballs.
Now unzip them and install (tar âxjf for .bz2/ tar âxf for .xz or
.gz, ./configure, make, make install). On the BBB the installation of
commoncpp2 was a little tricky, because I got an error saying:
âapplog.cpp: In constructor 'ost::logger::logger(const char*, bool)':
applog.cpp:300:43: error: 'S_IREAD' was not declared in this scope
applog.cpp:300:53: error: 'S_IWRITE' was not declared in this scope
applog.cpp:300:61: error: 'mkfifo' was not declared in this scopeâ
To fix that error I edited the file â/src/applog.cppâ and
substituted every S_IREAD through S_IRUSR and S_IWRITE through S_IWUSR.
Additionally, I added â#include <sys/stat.h>â on top of that file.
(cf. http://www.patrickmin.com/linux/tip.php?name=commoncpp)
Now I was able to install commoncpp2 (./configure, make, make install)
and after that PdServ (cmake, make, make install).
EtherCAT-Master installation:
Again, I did the installation according to the instruction-pdf. Download
the tarball and unzip (tar âxjf).
The ./configure call has to be done with some special options, since
Etherlab and EtherCAT-Master have to be installed into the same
directory (/vol/opt/etherlab). Furthermore, library paths have to be the
same as etherlab-library paths (see below the libdir option)
I configured it as follows:
virtual machine: ./configure --disable-8139too
--prefix=/vol/opt/etherlab --libdir=/vol/opt/etherlab/lib/x86_64-linux-gnu
BeagleBone: ./configure --disable-8139too
--prefix=/vol/opt/etherlab
--libdir=/vol/opt/etherlab/lib/arm-linux-gnueabihf
These options are important, as the default installation path of the
EtherCAT-Master is âopt/etherlabâ (not â/vol/opt/etherlabâ) and
the default lib-path of EtherCAT-Master is â/opt/etherlab/libâ. The
last libdir directory is probably different for other systems, so just
have a what your directory in â/vol/opt/etherlab/lib/â after the
Etherlab installation is called.
If there are missing âlinux sourcesâ for configuring I found a
script generating the for BeagleBone Black:
http://dumb-looks-free.blogspot.de/2014/06/beaglebone-black-bbb-kernal-headers.html
Now you should be able to install the EtherCAT-Master (./configure ...,
make, make install, make modules, make modules_install).
To start the EtherCAT-Master just adapt
â/vol/opt/etherlab/etc/sysconfig/ethercatâ and copy it into the
directory â/etc/sysconfig/â (I had to create /etc/sysconfig at
first). Start it with ./ethercat start (in directory
â/vol/opt/etherlab/etc/init.d/â).
At this point you are able to create your simulink model with your
virtual machine and generate c-code, saved in a directory called
(MODEL)_etl_hrt. The following files are needed on the BBB to build an
executable and can be transported via usb-stick (usb-stick appears in
/media):
+ @\cp $(MODEL).mk $(MODEL)_etl_hrt/
+ @\cp rtw_proj.tmw $(MODEL)_etl_hrt/
+ @\cp *.h $(MODEL)_etl_hrt/
+ @\cp *.c $(MODEL)_etl_hrt/
+ @\cp Makefile $(MODEL)_etl_hrt/
+ @\cp $(MATLAB_ROOT)////simulink/include//*.h
$(MODEL)_etl_hrt/simulink/include/
+ @\cp $(MATLAB_ROOT)////extern/include//*.h
$(MODEL)_etl_hrt/extern/include/
+ @\cp $(MATLAB_ROOT)////rtw/c/src//*.h $(MODEL)_etl_hrt/rtw/c/src/
+ @\cp $(MATLAB_ROOT)////rtw/c/src//*.c $(MODEL)_etl_hrt/rtw/c/src/
+ @\cp $(MATLAB_ROOT)////rtw/c/tools/unixtools.mk
$(MODEL)_etl_hrt/rtw/c/tools//
+ @\cp $(MATLAB_ROOT)////rtw/c/src/ext_mode/common//*.h
$(MODEL)_etl_hrt/rtw/c/src/ext_mode/common
+ @\cp $(MATLAB_ROOT)////rtw/c/src/ext_mode/common//*.c
$(MODEL)_etl_hrt/rtw/c/src/ext_mode/common
Hints:
- (MODEL) must be exchanged with your model name, of course
- the Makefile is only a link to (MODEL).mk and has the same content.
- MATLAB_ROOT on the virtual machine was in my case
â/usr/local/MATLAB/R2014aâ
I saved these files on my BBB in â/home/debian/(MODEL)_etl_hrt/â.
Afterwards I had to adapt the variable PLATFORM_LIBDIR into
âlib/arm-linux-gnueabihfâ inside the Makefile. I copied the file
rtwtypes.h from â/home/debian/(MODEL)_etl_hrtâ to
âhome/debian/(MODEL)_etl_hrt/rtw/c/srcâ and i copied all .h- and
.c-files from â/home/debian/(MODEL)_etl_hrtâ to
â/vol/opt/etherlab/rtw/srcâ.
Now it should be possible to create an executable with: âmake
MATLAB_ROOT=/home/debian/(MODEL)_etl_hrt ETHERLAB_DIR=/vol/opt/etherlabâ
It normally appears in â/home/debianâ.
If âerror while loading shared libraries: libccext2-1.8.so.0: cannot
open shared object file: No such file or directoryâ appears when
executing, you have to call âldconfigâ to make shared libraries usable.
This is how it worked for me and I hope it will help other users trying
something similar.
Best regards,
Thomas
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