Hello Michael: Now,I think i have figured out something.In fact,our zedboard should be based on kernel-4.1.18 patched with Xenomai-3.0.2.Because our zedboard should run third-party application----KPA EtherCat Master,that third-party application is based on Xenomai Kernels.That is it.
在 2016年8月24日星期三 UTC+8下午8:22:11，Michael Haberler写道： > > > > Am 24.08.2016 um 14:05 schrieb lf <[email protected] <javascript:>>: > > > > Hello Michael: > > This is my mistake.Your image is ok,I have tried again.It can be > written to SD card. > > There is a question I want to ask you.The kernels for all platforms > are based on RT-PREEMPT kernels and that is to say Xenomai kernels are no > longer supported? > > That is factually wrong. The BB uses Xenomai 3.8 and there are i386 and > amd64 Xenomai kernels available in the debian repo. We did cede support for > RTAI a while ago. > > Machinekit supports either flavor transparently, and builds happen for all > of non-realtime ('posix'), RT-PREEMPT or Xenomai. On startup, Machinekit > detects the kernel type and does the right thing. That opens the option to > use whatever kernel is available for a given platform, as you cannot assume > a certain RT kernel is available on all potential platforms. > > > I think may be I should build Xenomai kernels for zedboard running > machinekit,because in my side I have to choose Xenomai kernels. > > You are heading for a complete waste of time. Xenomai2 stopped at linux > 3.8, and all the FPGA manager support required for mksocfpga is from > 4.1/4.4 onwards in the respective manufacturer trees. > > can you explain a bit what "in my side I have to choose Xenomai kernels" > means? Being faced with the option of a super-intrusive kernel patch which > is de-facto extinct except for the installed base, and the alternative > heading for linux mainline, it looks like an easy choice to me. > > In terms of performance and maintainability there are not many good > reasons left to pursue Xenomai2. You might want to read up on > http://blog.machinekit.io/2015/11/and-winner-is-rt-preempt.html . > > - Michael > > > > > > 在 2016年8月23日星期二 UTC+8下午8:48:31，lf写道： > > Hello Michael Haberler: > > I have tried to write other image to the SD card's boot partition > with bmaptools.If I write other image,the SD card would be ok and it can be > found by system.So I think may be the image damaged while I > download,because the download speed was very slow that time.I download the > image through the url you given again,but it doesn't work again.I think may > be the image is wrong. > > > > 在 2016年8月23日星期二 UTC+8下午2:30:49，lf写道： > > Hello Michael Haberler: > > There is a problem that I can't figure out.When I write the image to > the SD card's boot partition with bmaptools successfully,then I can't find > the SD card's boot partition in my debian system.I have posted the problem > to machinekit groups in detail. > > > > 在 2016年8月22日星期一 UTC+8上午8:11:25，Michael Haberler写道： > > Hello Liu Fei, > > > > > > > Am 21.08.2016 um 14:59 schrieb lf <[email protected]>: > > > > > > Dear all: > > > I'm from China.Recently,I was compiling machinekit running on i386 > computer and zedboard.When I followed machinekit official Documentation in > the official website—http://www.machinekit.io/,I compile machinekit > successfully running on the Debain.But when I tried to cross compile > machinekit to run on zedboard,I found there are not official documentation > to follow.So I turned to https://github.com/machinekit/machinekit/issues > and I saw several issues about zedboard.I found there are someone has cross > compiled machinekit running on zedboard,and there are a video show— > https://youtu.be/_AcWxu475aY.I was encouraged. > > > I found out there are a directory about cross compiling machinekit > running on zedboard,it is mksocfpga directory.But the README file tell > about QuartusProjects more and clearer,and I follow the README file in the > VivadoProjects directory when I executed ./make_bitfile.sh > microzed/microzed_jd2cb/config then I failed.I have looked back to the > make_bitfile.sh,I can't understand it embarrassedly.So I turn to there for > help.We also can discuss there. > > > Thanks,guys. > > > > We do want machinekit and the hostmot2 FPGA running on both the Altera > CycloneV and Xilinx Zynq platforms as they have the greatest potential in > price/performance for machine control of any embedded platform on the > market. They blow away everything based on host-side-only signal generation > by at least two orders of magnitude short only of the Beaglebone/Sitara > platform - I have scoped stepgen at 3.6Mhz output and reliable A/B decoding > at 700kHz, which is plainly impossible with non-hardware accelerated > platforms. > > > > We are very close to reaching that goal, after over a year's work - see > the machinekit/machinekit and machinekit/mksocfpga issue tracker, where all > the related work is discussed. If you are interested I recommend to 'watch' > both repositories on github to stay up to date. In a sense, the tracker > issues are machinekit's developer exchange. > > > > to summarize where we are - > > > > - we currently focus on the Terasic DE0 Nano (cv) and MYIR Z-Turn and > Zedboard (zynq) as initial targets > > - most of the software is generic - a new board might need an adapted > u-boot bootloader and matching devicetree but not much else in specifics > > > > - machinekit - software: > > - a machinekit hostmot2 driver which covers both platforms exists and > so far works reliably; except for that driver's command line all the > hostmot2 documentation applies > > - example configs exist but again are essentially hostmot2-style > without much surprises > > - FPGA firmware config: > > - cv: firmware for 4xMesanet 7i76, 1x7i76+1x7i85s+2xGPIO exists and > works - known to move metal reproducibly > > - zynq: firmware for Zedboard, Z-turn exists, GPIO (no Mesanet support > AFAICT yet), Devin has a machine running with that > > - continuous integration (meaning debian packages exist and are being > produced automatically if a github PR is merged): > > - machinekit: done - you do NOT have to build for 'zedboard' or some > other board as the hostmot2 driver support is completely generic and even > binary compatible, and covers both platforms > > - u-boot boot loaders for all platforms: done > > - RT-PREEMPT kernels for all platforms: done > > - FPGA firmware for CycloneV: done > > - FPGA firmware for Zynq platforms: in very late stages, Devin is busy > touching this up > > - SD image assembly: > > - we have had a preliminary SD image for the Terasic DE0 nano board > for a while: > https://gist.github.com/mhaberler/89a813dc70688e35d8848e8e467a1337, this > image has been used by a few people and so far no major damage reports have > come in - it is a 'developer preview' with machinekit as a 'run in place' > build compiled for easy updating and debugging (i.e does currently not use > the machinekit debian packages) > > - I am currently working on an same-style SD image for the Zynq > platforms - the first booting CI build happened yesterday and does not yet > have all the latest fixes in but I do not expect showstoppers; this image > should support all Zynq platforms provided the device tree is adapted for > in the boot phase - everything else is generic, as is the linux kernel. > > - these images are console images at this time - no display support as > of yet. You will have to work through remote X11. > > > > 'we' are Michael Brown, Charles Steinkuehler, Devin Hughes, Bas de > Brujin, and myself. > > > > > > All this is currently not yet in shape as turn-key image for beginners > which is why we have not made a lot of noise about it, but the dust is > settling. > > > > > > Since it seems you are an advanced user it'd be great to add you to > 'we', provided some patience as we will face some more iterations on the > Zynq side. > > > > My recommendation would be to read up in particular on: > > > > https://github.com/machinekit/machinekit/issues/915 > > https://github.com/machinekit/machinekit/issues/687 > > https://github.com/machinekit/mksocfpga/issues/20 > > https://github.com/machinekit/machinekit/issues/903 and all other > issues in https://github.com/machinekit/mksocfpga/issues to get the idea > how things came about > > > > and then tune in on https://github.com/machinekit/mksocfpga/issues/20 > as the Zynq SD image matures. > > > > if you are ready for some immediate pain ;) : > > - download the image in > http://deb.mah.priv.at/uploads/zynq/debian-8.5-console-armhf-2016-08-21 > > - write it to an SD card with bmaptools > > - mount the linux partition of that card on some linux machine, and > inspect /boot/dtbs - I guess you will have to change /boot/uEnv.txt > dtb=zynq-zturn.dtb to dtb=zynq-zed.dtb > > - hope it boots > > - login as machinekit, sudo apt update/upgrade > > - see the firmware files in /lib/firmware/zynq and the dtbo's in > /lib/firmware/zynq/dtbo and read up on github.com/machinekit/mksocfpga > what they provide > > - study the configs in > /home/machinekit/machinekit/configs/hm2-soc-stepper > > - the 5i25-zynq.ini is a starting point - no guarantees it works out of > the box > > - the irqtest.hal test script contains the latest syntax and options for > the hostmot2 and hm2_soc_ol components, take clues and adapt from there > > > > As soon as you get something working we'd be looking for your pull > requests! > > > > best regards, > > - Michael > > > > > > > > > > > > -- > > > website: http://www.machinekit.io blog: http://blog.machinekit.io > github: https://github.com/machinekit > > > --- > > > You received this message because you are subscribed to the Google > Groups "Machinekit" group. > > > To unsubscribe from this group and stop receiving emails from it, send > an email to [email protected]. > > > Visit this group at https://groups.google.com/group/machinekit. > > > For more options, visit https://groups.google.com/d/optout. > > > > > > -- > > website: http://www.machinekit.io blog: http://blog.machinekit.io > github: https://github.com/machinekit > > --- > > You received this message because you are subscribed to the Google > Groups "Machinekit" group. > > To unsubscribe from this group and stop receiving emails from it, send > an email to [email protected] <javascript:>. > > Visit this group at https://groups.google.com/group/machinekit. > > For more options, visit https://groups.google.com/d/optout. > > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. 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