基于ZYNQ平台的powerlink接口平台搭建

1，搭建powerlink接口所需硬件平台：

· Zynq ZC702 board (used as openPOWERLINK MN)
· AVNET expander board (AES-FMC-ISMNET-G)
· Linux PC
· Micro SD card reader
· Micro SD card
· Ethernet cables
· 1 Mini USB serial cable

2，搭建powerlink接口所需软件平台：

· Ubuntu 14.04 or later version
· Vivado-2016.2
· CMake v2.8.7 or later version

  openPOWERLINK Linux MN Demo

3，XILINX官网下载Xilinx Linux (https://github.com/Xilinx/linux-xlnx)

       下载完成后，使用命令git checkout -b zynq-build xilinx-2016.2

4，安装 CMake and CMake GUI

     sudo apt-get install cmake
     sudo apt-get install cmake-gui

    安装 libncurses5 library ： sudo apt-get install libncurses5-dev

   安装u-boot-tools package用于create uImage：sudo apt-get install u-boot-tools

5，从下面链接下载用于 Xilinx-linux编译用的RT Preempt 4.4-rt2 version：
     https://www.kernel.org/pub/linux/kernel/projects/rt/4.4/older/patch-4.4-rt2.patch.gz
·   从下面链接下载openPOWERLINK stack (2.5.0 or higher)：
    http://openpowerlink.sourceforge.net/web/openPOWERLINK/Download.html

    将RT Preempt 4.4-rt2安装包解压剪切到内核编译包Xilinx-linux里面，然后编译内核

    cd <Xilinx_Linux_directory>

     Apply the patch 输入下面命令: patch -p1 < <(gunzip -c <path_to_patch-4.4-rt2.patch.gz>

     导入交叉编译器环境变量：export CROSS_COMPILE=arm-linux-gnueabihf

    使用ZYNQ配置文件配置Linux kernel：make ARCH=arm xilinx_zynq_defconfig

     编译内核的命令：make ARCH=arm CROSS_COMPILE=<Xilinx_dir>/SDK/2016.2/gnu/aarch32/lin/gcc-arm-linux-gnueabi/bin/arm-linux-gnueabihf-

6，编译uImage文件的命令：make ARCH=arm UIMAGE_LOADADDR=0x8000 uImage CROSS_COMPILE=<Xilinx_dir>/SDK/2016.2/gnu/aarch32/lin/gcc-arm-linux-gnueabi/bin/arm-linux-gnueabihf-modules

安装modules：make ARCH=arm UIMAGE_LOADADDR=0x8000 uImage CROSS_COMPILE=<Xilinx_dir>/SDK/2016.2/gnu/aarch32/lin/gcc-arm-linux-gnueabi/bin/arm-linux-gnueabihf-modules_install

7，Change the path to the Xilinx Vivado directory：cd <Xilinx_dir>/Vivado/2016.2/bin

     · Open Vivado TCL console 2016.2:./vivado -mode tcl

        在tcl输入如下命令：

      > xsct
      > vivado -mode tcl
      > vivado -mode batch

8，cd <openPOWERLINK_dir>/hardware/build/xilinx-microblaze

    使用下面命令build the hardware 在 Debug 模式：

cmake -GUnix\ Makefiles -DCMAKE_TOOLCHAIN_FILE=../../../cmake/toolchain-xilinx-microblaze-gnu.cmake ../..
cmake ../.. -DCMAKE_BUILD_TYPE=Debug -DSKIP_BITSTREAM=OFF -DDEMO_Z702_MN_DUAL_SHMEM_GPIO=ON
make install

      使用下面命令build the hardware在 Release 模式：

 cmake ../.. -DCMAKE_BUILD_TYPE=Release -DSKIP_BITSTREAM=OFF -DDEMO_Z702_MN_DUAL_SHMEM_GPIO=ON
 make install

9. cd <openPOWERLINK_dir>/stack/build/xilinx-microblaze

   使用下面命令build the PCP 在Debug 模式：

   cmake -GUnix\ Makefiles -DCMAKE_TOOLCHAIN_FILE=../../../cmake/toolchain-xilinx-microblaze-gnu.cmake ../.. -DCMAKE_BUILD_TYPE=Debug -DCFG_COMPILE_LIB_MNDRV_DUALPROCSHM=ON
  make install

       使用下面命令build the PCP在 Release 模式：

        cmake -GUnix\ Makefiles -DCMAKE_TOOLCHAIN_FILE=../../../cmake/toolchain-xilinx-microblaze-gnu.cmake ../.. -DCMAKE_BUILD_TYPE=Release -DCFG_COMPILE_LIB_MNDRV_DUALPROCSHM=ON
      make install

· Change directory:

> cd <openPOWERLINK_dir>/drivers/xilinx-microblaze/drv_daemon/build
> cmake -GUnix\ Makefiles -DCMAKE_TOOLCHAIN_FILE=../../../cmake/toolchain-xilinx-microblaze-gnu.cmake ../.. -DCMAKE_BUILD_TYPE=Release -DCFG_BUILD_KERNEL_STACK=PCP\ Daemon\ Dual-Proc -DCFG_HW_LIB=xilinx-z702/mn-dual-shmem-gpio ..
> make install

10，产生FSBL

fsbl.elf (from <Xilinx_SDK_workspace>/<project_name>/Debug/)

download.bit (from <openPOWERLINK_dir>/bin/generic/microblaze/xilinx-z702/mn-dual-shmem-gpio)

u-boot.elf (from Zynq ZC702 package http://www.wiki.xilinx.com/Zynq+2016.2+Release)

oplkdrv-daemon_o.elf (from <openPOWERLINK_dir>/bin/generic/microblaze/xilinx-z702/mn-dual-shmem-gpio)

编译指令： <Xilinx_dir>/SDK/2016.2/bin/bootgen -image bootimage.bif -o i boot.bin

   11，编译设备树命令：<Xilinx_Linux_dir>/scripts/dtc/dtc -I dts -O dtb -o devicetree.dtb system.dts

使用cakem-gui

> source <Xilinx_dir>/Vivado/2016.2/settings64.sh
> cmake-gui

12,英文步骤继续

• Refer to the link given below to convert the SD card to a bootable medium for the Zynq:
  • http://www.wiki.xilinx.com/Prepare+Boot+Medium
• Refer to the link given below to download the Zynq ZC702 2016.2 pre-built Linux binaries:
  • http://www.wiki.xilinx.com/Zynq+2016.2+Release
• Extract the Zynq ZC702 2016.2 pre-built Linux binaries package.
• Copy the following content to the boot partition of the SD card:
  • uramdisk.image.gz from:
    • Zynq ZC702 2016.2 pre-built Linux binaries package
  • devicetree.dtb from:
    • <openPOWERLINK_dir>/hardware/boards/xilinx-z702/mn-dual-shmem-gpio/sdk/handoff
  • BOOT.bin from:
    • <openPOWERLINK_dir>/tools/xilinx-zynqvivado
  • openPOWERLINK driver and application folders from:
    • <openPOWERLINK_dir>/bin/linux/arm/oplkdrv_kernelmodule_zynq
    • <openPOWERLINK_dir>/bin/linux/arm/demo_mn_console
  • The uImage from:
    • <Xilinx_Linux_dir>/arch/arm/boot
• Hardware setup
  • Connect the Avnet expander board to the J3 FMC1 connector of the Zynq ZC702 board.
  • Now connect the Ethernet cable to any of the Ethernet ports J6/J2 of the Avnet extension board and to a CN in the network.
• To run openPOWERLINK
  • Insert the SD card into the Zynq ZC702 board.
  • Connect the USB UART port in the Zynq ZC702 board with the Linux PC.
  • From the terminal, run minicom using the following command:

> sudo minicom -s

• • Go to the serial port setup.
  • Change the serial device to the USB serial device name. (Example: /dev/ttyUSB0)
  • Set the hardware flow control settings to NO.
  • Select Save setup as dfl.
  • After saving the configuration, select Exit to proceed.
  • Once the auto-boot finishes, enter root as username.
  • Mount the SD card using the following command:

> mount /dev/mmcblk0p1 /mnt/

• Change the directory

> cd /mnt/oplkdrv_kernelmodule_zynq/

• Insert the driver module using the following command:

> insmod oplkmnzynqintf.ko

• Change the directory

> cd /mnt/demo_mn_console

• Run the openOWERLINK MN demo using the following command:

> ./demo_mn_console