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<p class="MsoNormal"
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normal"><span style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-ansi-language:EN-GB;mso-fareast-language:
DE" lang="EN-GB">Hi,<br>
<br>
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.<br>
I describe my way to do this for Kernel 3.8.13.26-rt31 on the
odroid (except
the standard installation procedure) <br>
<br>
Odroid:<br>
standard installation of EtherLAB components (i choose the main
folder
/opt/etherlab )<br>
EtherCAT Master:<br>
./configure --enable-generic=yes --enable-8139too=no
--libdir=/opt/etherlab/lib/arm-linux-gnueabihf<br>
Add in /etc/sysconfig/ethercat -->
DEVICE_MODULES="generic"<br>
<br>
Matlab <br>
copie once the folder from VM or PC to odroid -->
/usr/local/MATLAB/R2011a<br>
<br>
Project:<br>
After building the project:<br>
only change in Makefile: PLATFORM_LIBDIR into
“lib/arm-linux-gnueabihf<br>
then copie the project <br>
I have the same folders on odroid an pc, so i only have to sync
the folders
(owncloud). <br>
--> /home/ubuntu/project/exec<br>
project-folder includes .mdl file<br>
exec-folder is build path of matlab ( before building the
proj go to "cd /home/ubuntu/project/exec" in matlab) <br>
<br>
now build the project on odroid<br>
--> cd /home/ubuntu/project/exec/[my-project] <br>
--> make clean<br>
--> make<br>
<br>
./[my_project]<br>
<br>
if this error appears, LD_LIBRARY_PATH is missing<br>
error while loading shared libraries: libpdserv.so.2.0.0: cannot
open shared
object file: No such file or directory<br>
--> export
LD_LIBRARY_PATH=D_LIBRARY_PATH:/usr/local/lib/arm-linux-gnueabihf/<br>
<br>
<br>
VM or PC:<br>
i use ubuntu 14.04 LTS 3.2.63-rt92 <br>
all standard installation...<br>
<br>
</span><span style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-fareast-language:DE">My Ethercat
modules: <o:p></o:p></span></p>
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Roman";mso-fareast-language:DE">4xDout<o:p></o:p></span></p>
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<p class="MsoNormal"
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<p class="MsoNormal"
style="margin-bottom:0cm;margin-bottom:.0001pt;line-height:
normal"><span
style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-fareast-language:DE">4x 4…20ma Out<o:p></o:p></span></p>
</td>
<td style="padding:0cm 0cm 0cm 0cm;height:12.75pt">
<p class="MsoNormal"
style="margin-bottom:0cm;margin-bottom:.0001pt;line-height:
normal"><span
style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-fareast-language:DE">4x 4…20ma In<o:p></o:p></span></p>
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<td style="padding:0cm 0cm 0cm 0cm;height:12.75pt">
<p class="MsoNormal"
style="margin-bottom:0cm;margin-bottom:.0001pt;line-height:
normal"><span
style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-fareast-language:DE">8x 0…10V In<o:p></o:p></span></p>
</td>
<td style="padding:0cm 0cm 0cm 0cm;height:12.75pt">
<p class="MsoNormal"
style="margin-bottom:0cm;margin-bottom:.0001pt;line-height:
normal"><span
style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-fareast-language:DE">2 Kanal Enc<o:p></o:p></span></p>
</td>
</tr>
</tbody>
</table>
<p class="MsoNormal"
style="margin-bottom:0cm;margin-bottom:.0001pt;line-height:
normal"><span style="font-size:12.0pt;font-family:"Times New
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<br>
</span><span style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-ansi-language:EN-GB;mso-fareast-language:
DE" lang="EN-GB">hope</span><span
style="font-size:12.0pt;font-family:"Times New
Roman","serif";
mso-fareast-font-family:"Times New
Roman";mso-fareast-language:DE"> this is
helpfull!<br>
<br>
Mark<o:p></o:p></span></p>
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<div class="moz-forward-container"> <br>
<br>
-------- Weitergeleitete Nachricht --------
<table class="moz-email-headers-table" border="0" cellpadding="0"
cellspacing="0">
<tbody>
<tr>
<th align="RIGHT" nowrap="nowrap" valign="BASELINE">Betreff:
</th>
<td>[etherlab-users] Etherlab on BeagleBone Black</td>
</tr>
<tr>
<th align="RIGHT" nowrap="nowrap" valign="BASELINE">Datum: </th>
<td>Wed, 14 Jan 2015 15:33:03 +0100</td>
</tr>
<tr>
<th align="RIGHT" nowrap="nowrap" valign="BASELINE">Von: </th>
<td>Thomas Reischl <a class="moz-txt-link-rfc2396E" href="mailto:reischl.tomml@web.de"><reischl.tomml@web.de></a></td>
</tr>
<tr>
<th align="RIGHT" nowrap="nowrap" valign="BASELINE">An: </th>
<td><a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a></td>
</tr>
</tbody>
</table>
<br>
<br>
<div dir="ltr">
<div style="FONT-SIZE: 12pt; FONT-FAMILY: 'Calibri'; COLOR:
#000000">
<div>Hello everyone,</div>
<div> </div>
<div>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.</div>
<div> </div>
<div> </div>
<div> </div>
<div>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).</div>
<div> </div>
<div>Virual Machine requirements:</div>
<div>Matlab/Simulink 2014a</div>
<div>Etherlab 2.1.0 development environment</div>
<div>Etherlab 2.1.0 runtime environment with PdServ and
commoncpp2-1.8.1, log4cplus-1.1.3-rc2, yaml-0.1.5</div>
<div>EtherCAT-Master 1.5.2</div>
<div> </div>
<div>BeagleBone Black requirements:</div>
<div>Etherlab 2.1.0 development environment</div>
<div>Etherlab 2.1.0 runtime environment with PdServ and
commoncpp2-1.8.1, log4cplus-1.1.3-rc2, yaml-0.1.5</div>
<div>EtherCAT-Master 1.5.2</div>
<div> </div>
<div> </div>
<div>Etherlab installation:</div>
<div>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.</div>
<div>Moreover, gcc and cmake had to be downloaded from the
repository for the BBB. On my virtual machine they where
already available, I think.</div>
<div>--> Install etherlab-2.1.0 (cmake, make, make install)</div>
<div> </div>
<div>To install PdServ there are three additional library
dependecies: Log4cplus Library, CommonCpp2 Library and YAML
Library, which can be downloaded as tarballs.</div>
<div>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:</div>
<div> </div>
<div>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</div>
<div> </div>
<div>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. <a
moz-do-not-send="true"
title="http://www.patrickmin.com/linux/tip.php?name=commoncpp"
href="http://www.patrickmin.com/linux/tip.php?name=commoncpp">http://www.patrickmin.com/linux/tip.php?name=commoncpp</a>)</div>
<div>Now I was able to install commoncpp2 (./configure, make,
make install) and after that PdServ (cmake, make, make
install).</div>
<div> </div>
<div> </div>
<div>EtherCAT-Master installation:</div>
<div>Again, I did the installation according to the
instruction-pdf. Download the tarball and unzip (tar
âxjf).</div>
<div>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)</div>
<div>I configured it as follows:</div>
<div> </div>
<div>virtual machine: ./configure --disable-8139too
--prefix=/vol/opt/etherlab
--libdir=/vol/opt/etherlab/lib/x86_64-linux-gnu</div>
<div>BeagleBone: ./configure --disable-8139too
--prefix=/vol/opt/etherlab
--libdir=/vol/opt/etherlab/lib/arm-linux-gnueabihf</div>
<div> </div>
<div>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</div>
<div>have a what your directory in
â/vol/opt/etherlab/lib/â after the Etherlab installation
is called.</div>
<div>If there are missing âlinux sourcesâ for configuring
I found a script generating the for BeagleBone Black: <a
moz-do-not-send="true"
title="http://dumb-looks-free.blogspot.de/2014/06/beaglebone-black-bbb-kernal-headers.html"
href="http://dumb-looks-free.blogspot.de/2014/06/beaglebone-black-bbb-kernal-headers.html">http://dumb-looks-free.blogspot.de/2014/06/beaglebone-black-bbb-kernal-headers.html</a></div>
<div>Now you should be able to install the EtherCAT-Master
(./configure ..., make, make install, make modules, make
modules_install).</div>
<div>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).</div>
<div> </div>
<div> </div>
<div>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):</div>
<div> </div>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MODEL).mk $(MODEL)_etl_hrt/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp rtw_proj.tmw $(MODEL)_etl_hrt/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp *.h $(MODEL)_etl_hrt/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp *.c $(MODEL)_etl_hrt/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp Makefile $(MODEL)_etl_hrt/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MATLAB_ROOT)<span class="moz-txt-tag"><i>/</i></span><i>simulink/include<span class="moz-txt-tag">/</span></i>*.h $(MODEL)_etl_hrt/simulink/include/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MATLAB_ROOT)<span class="moz-txt-tag"><i>/</i></span><i>extern/include<span class="moz-txt-tag">/</span></i>*.h $(MODEL)_etl_hrt/extern/include/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MATLAB_ROOT)<span class="moz-txt-tag"><i>/</i></span><i>rtw/c/src<span class="moz-txt-tag">/</span></i>*.h $(MODEL)_etl_hrt/rtw/c/src/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MATLAB_ROOT)<span class="moz-txt-tag"><i>/</i></span><i>rtw/c/src<span class="moz-txt-tag">/</span></i>*.c $(MODEL)_etl_hrt/rtw/c/src/</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MATLAB_ROOT)<span class="moz-txt-tag"><i>/</i></span></font><i><font style="FONT-SIZE: 10pt">rtw/c/tools/unixtools.mk $(MODEL)_etl_hrt/rtw/c/tools</font><span class="moz-txt-tag"><font style="FONT-SIZE: 10pt">/</font></span></i></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MATLAB_ROOT)<span class="moz-txt-tag"><i>/</i></span><i>rtw/c/src/ext_mode/common<span class="moz-txt-tag">/</span></i>*.h $(MODEL)_etl_hrt/rtw/c/src/ext_mode/common</font></font></pre>
<pre style="MARGIN: 0cm 0cm 0pt"><font face="Courier New"><font style="FONT-SIZE: 10pt">+<span style="mso-tab-count: 1"> </span>@\cp $(MATLAB_ROOT)<span class="moz-txt-tag"><i>/</i></span><i>rtw/c/src/ext_mode/common<span class="moz-txt-tag">/</span></i>*.c $(MODEL)_etl_hrt/rtw/c/src/ext_mode/common</font></font></pre>
<div> </div>
<div>Hints: </div>
<div>- (MODEL) must be exchanged with your model name, of
course</div>
<div>- the Makefile is only a link to (MODEL).mk and has the
same content.</div>
<div>- MATLAB_ROOT on the virtual machine was in my case
â/usr/local/MATLAB/R2014aâ</div>
<div> </div>
<div>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.</div>
<div> </div>
<div>Now it should be possible to create an executable with:
âmake MATLAB_ROOT=/home/debian/(MODEL)_etl_hrt
ETHERLAB_DIR=/vol/opt/etherlabâ</div>
<div>It normally appears in â/home/debianâ.</div>
<div> </div>
<div>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.</div>
<div> </div>
<div> </div>
<div> </div>
<div>This is how it worked for me and I hope it will help
other users trying something similar.</div>
<div> </div>
<div>Best regards,</div>
<div>Thomas</div>
<div> </div>
<div> </div>
<div> </div>
<div> </div>
<div> </div>
<div> </div>
<div> </div>
</div>
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