Hello Michael: Michael,if i just want to cross compile machinekit to run on zedboard and don't use the mksocfpga file.How should i do?I have tried several times.I just can't get through the configure process.By the way,i want to use Xenomai 3.8,so my operation is as follows. 1. ./debian/configure -X 3.8 2. sudo mk-build-deps -ir 3. cd src 4. ./autogen.sh 5. ./configure --host=arm-xilinx-linux-gnueabi --with-xenomai-kernel --with-platform-zedboard Then configure reports,error:Request '--with-xenomai-kernel',but unable.
I think may be it lack the xenomai-kernel's source for zedboard and i have applied Xenomai 2.6.3 patches to a Xilinx Linux kernel.So i change the shell as below. ./configure --host=arm-xilinx-linux-gnueabi --with-xenomai-kernel-sources=/home/lf/Downloads/linux-xlnx-xilinx-v14.5.01 --with-platform-zedboard Configure reports--error:Xinerama library or headers not found.I think that may be some library or headers about graphical interface,but i can't find option to disable it or how to disable it. I do also copy your binary's file about machinkit in the 8-25 image to my zedboard,but it can't work. How do i change the configure shell,Michael? Thanks --Fei. 在 2016年9月1日星期四 UTC+8上午5:39:33，Michael Haberler写道： > > > > Am 31.08.2016 um 11:46 schrieb [email protected] <javascript:>: > > > > > > Dear Michael, > > I am sorry to trouble you. Now I want to run MachineKit on the Zedboard. > And the operation system running on the Zedboard is Linux patched the > Xenomai2.6.3 or Xenomai3.x. > > please state which one as it matters. Please paste the output of dmesg to > pastebin.com so we can end the guesswork. > > > And I have two questions. > > 1, The MachineKit is only an linux's application who will only to call > the API from Linux. So why do I need to consider which FPGA or which > hardware below the Linux operation system? > > you do not have to. You can use the zed gpio driver for a (slow) stepper > config. > > Again it would help if you explained what you are trying to achieve. If > this Xenomai kernel thing comes from the EtherCAT master as a requirement: > are you planning to have the EtherCAT master talk to machinekit? Why do you > need any local I/O at all then? And how is that going to work? I have never > seen any interworking with that product. > > If EtherCAT is separate from running machinekit, why bother about the > kernel at all? > > > I think that is because you want to compile a common SD kernel, > which can run either on CycloneV or Zynq platforms. > > no. These are separate kernels based on separate vendor trees as many of > the required changes are not Linux mainline yet. Maybe downstream, but > certainly not under a year from now. > > > So you need to use the hostmot2 driver and need to care the hardware. > > These kernels (+FPGA manager) enable hostmot2. However you can run > machinekit like on other platforms with GPIO as well - slow but works. It > is an option, not a requirement. > > > But If I don't use the SD kernel image from you. And I only want to > build the MachineKit witch need run on Zedboard with xenomai by myself. > > Why? apt install machinekit and either machinekit-xenomai or > machinekit-rtpreempt and be done. Likely the zedboard driver works ok for > both Xenomai2 or RT-PREEMPT. > > > What should I do？ Do I should to build the hostmot2 driver? > > I am out of my depth to answer that given what I know about your plans. > > > Can you kindly share me some document about how to build the MachineKit > in order to run on the Zedboard with xenomai? > > it is all on http://www.machinekit.io . > > That said: as long as your plans are very unclear, I advise against > "building" everything in sight in the hope this will yield great results. > Everything you need to run Machinekit on a Xenomai2 or RT-PREEMPT kernel > can be had by a package install. > > > > > 2, As far as I know, you has build the MachineKit which can run on the > Zedboard. But the operation system is Linux patch RT-Preemt. And you have > packaged into a SD image. > > So I want to know, do you have the plans to build a SD image for > MachineKit on the Linux patch xenomai? > > No, as I already explained this makes no sense and therefore will not > happen. I see no hope for running the hostmot2 code with the on-chip FPGA > on either the Zynq or Altera platforms with Xenomai2. > > > No matter xenomai2.6.3 or xenomai3.x. > > It DOES matter which is why I'm asking for the output of 'dmesg' . > > > Because it is important for us, we only want to use the OS of Linux > patch xenomai. We don't want to use the RT-Preemt. > > Well fine, and there are consequences. In this case this means: no > hostmot2 with on-chip FPGA for Xenomai2. > > > - Michael > > > > > 在 2016年8月29日星期一 UTC+8下午3:44:51，Michael Haberler写道： > > > > > Am 29.08.2016 um 09:19 schrieb lf <[email protected]>: > > > > > > Hello Michael: > > > Recently,I am doing some summary and plan on how to start our > project. > > > > > > There are some question,i want to ask you to figure out. > > > > > > 1.Three words:hostmot2 driver, FPGA manager, mksocfpga.As far as i > know,mksocfpga is a project about machinekit running on FPGA boards.This > project's main module is hostmot2 driver which based on FPGA manager code > makes machinekit running on different FPGA boards. It is means that we > should choose kernels which support FPGA manager first.That is my > understanging and that's correct? > > > > The https://github.com/machinekit/mksocfpga/ repository contains the > Mesanet hostmot2 VHDL code, and the supplementary IP and configurations to > build firmware bitfiles for the CycloneV and Zynq platforms - nothing else. > > > > The machinekit hm2_soc_ol HAL driver is the glue layer talking to the > FPGA manager to load a bitfile, and to map a portion of the FPGA region ( > http://freeby.mesanet.com/regmap) into memory so the hostmot2 driver can > talk to it. > > > > Since the hm2_soc_ol driver expects and FPGA manager API, the latter is > a prerequisite, yes. > > > > > > > > 2.As you said "well the KPA website says it runs with RT-PREEMPT > kernels as well, and since Xenomai3 supports multiple flavors you might > just as well check if your kernel isnt RT-PREEMPT under the hood > anyway".Actually,I can't fully understand "since Xenomai3 supports multiple > flavors you might just as well check if your kernel isn't PT-PREEMPT under > the hood anyway".Could it be that Xenomai3 can be patch to RT-PREEMPT > kernels? > > > > The Xenomai3 website explains the options pretty well: > https://xenomai.org/introducing-xenomai-3/ > > > > Xenomai3 is mostly about a common API over two options - either > RT-PREEMPT or an ipipe-patched kernel in the style of Xenomai2. Since > Machinekit has a Xenomai2 as well as an RT-PREEMPT support layer there is > no value a Xenomai3 glue layer would add as there would be no added > functionality. > > > > If you are not sure what your kernel is, consider looking at the boot > log: > > > > Xenomai2 example: > > > > mah@cancan:~$ dmesg |grep Xenomai > > [ 0.701245] I-pipe: head domain Xenomai registered. > > [ 0.701280] Xenomai: hal/arm started. > > [ 0.702721] Xenomai: scheduling class idle registered. > > [ 0.702745] Xenomai: scheduling class rt registered. > > [ 0.707480] Xenomai: real-time nucleus v2.6.3 (Lies and Truths) > loaded. > > [ 0.707491] Xenomai: debug mode enabled. > > [ 0.707944] Xenomai: starting native API services. > > [ 0.707957] Xenomai: starting POSIX services. > > [ 0.708160] Xenomai: starting RTDM services. > > > > This is typical for a Xenomai-2 type kernel (I-pipe: line). > > > > For determining if a kernel is RT-PREEMPT, look at the config: > > > > root@mksocfpga:/boot# grep PREEMPT config-4.1.22-ltsi-rt23-ge3c1da3 > > CONFIG_PREEMPT_RCU=y > > CONFIG_PREEMPT=y > > CONFIG_PREEMPT_RT_BASE=y > > CONFIG_HAVE_PREEMPT_LAZY=y > > CONFIG_PREEMPT_LAZY=y > > # CONFIG_PREEMPT_NONE is not set > > # CONFIG_PREEMPT_VOLUNTARY is not set > > # CONFIG_PREEMPT__LL is not set > > # CONFIG_PREEMPT_RTB is not set > > CONFIG_PREEMPT_RT_FULL=y <-------- this must be > present > > CONFIG_PREEMPT_COUNT=y > > CONFIG_DEBUG_PREEMPT=y > > # CONFIG_PREEMPT_TRACER is not set > > > > For a quick check, you can look at the contents of /sys/kernel/realtime > - if it exists and its content is '1', it is an RT-PREEMPT kernel. > > > > The way machinekit detects a kernel at runtime is implemented in > https://github.com/machinekit/machinekit/blob/master/src/rtapi/rtapi_kdetect.c > > . > > > > > > - Michael > > > > > > > > -Fei. > > > > > > > > > > > > 在 2016年8月25日星期四 UTC+8下午9:57:02，Michael Haberler写道： > > > > > > > Am 25.08.2016 um 13:36 schrieb lf <[email protected]>: > > > > > > > > Hello Michael: > > > > Actually,the FPGA is Xillin FPGA. > > > > > > well yes, but the relevant code in the kernel is from Altera, is > called 'Altera FPGA Manager' and supports _both_ Xilinx and Altera > platforms transparently which is why we standardize on it. > > > > > > before FPGA Manager, there were significant variations as to how > things are done. > > > > > > > > > > > Currently,our zedboard should be based on Xenomai kernels because > of needing to support third-party application,and it was. > > > > > > > > It seems that your image can't be used for our zedboard.So i think > may be i should build Xenomai kernels for zedboard running machinekit. > > > > > > well the KPA website says it runs with RT-PREEMPT kernels as well, and > since Xenomai3 supports multiple flavors you might just as well check if > your kernel isnt RT-PREEMPT under the hood anyway. > > > > > > > > > > As for the KPA EtherCat Master,i think you may have heard.I can > explain to you carefully later what we are trying to do. > > > > > > > > > describing your highlevel goals helps - easy to get lost in alphabet > soup. > > > > > > So: why hostmot2 AND EtherCAT? does not add up for me yet > > > > > > -m > > > > > > > > Currently,our zedboard should be based on Xenomai kernels because > of needing to support third-party application,and it was. > > > > > > > > It seems that your image can't be used for our zedboard.So i think > may be i should build Xenomai kernels for zedboard running machinekit. > > > > > > > > As for the KPA EtherCat Master,i think you may have heard.I can > explain to you carefully later what we are trying to do. > > > > > > > > Thanks,Michael. > > > > > > > > --Fei. > > > > > > > > 在 2016年8月25日星期四 UTC+8下午5:07:43，Michael Haberler写道： > > > > > > > > > Am 25.08.2016 um 10:21 schrieb lf <[email protected]>: > > > > > > > > > > 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. > > > > > > > > If that kernel version supports the Altera FPGA manager you might be > lucky, else not so much > > > > > > > > I do not think you will find much support from here for that setup > > > > > > > > but maybe you can explain a bit what you are actually trying to do: > if you use an EtherCAT master to talk to _remote_ EtherCAT devices, what is > the purpose of talking to _local_ devices connected to the FPGA? > > > > > > > > > > > > -m > > > > > > > > ps: below it should say "The BB uses Xenomai2 on a 3.8 kernel base > ..." > > > > > > > > > > > > > > > > > > > > > > > > > > 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]>: > > > > > > > > > > > > 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]. > > > > > > 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]. > > > > > 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]. > > > > 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]. > > > 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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