Create Build Scripts

Industrial Native Real-Time Linux OS Solution

Setup and Tuning Guide

ID	Date	Version	Classification
634647	01/01/2021	1.0	Public

1. Create an empty folder as your working directory on Linux Host PC and enter this new folder. In this guide the working directory is named “ecs-1.0-ubuntu”.

$ mkdir ecs-1.0-ubuntu

$ cd ecs-1.0-ubuntu

2. Create three build scripts.

Create build-all.sh:

$ vi build-all.sh

build-all.sh content is:

#!/bin/bash

set -e

DIR=$(dirname "$(realpath -s "$0")")

function help_msg()

{

printf "Usage:\n"

printf " build-all.sh <ecs-release-path> <target>\n"

printf " <ecs-release-path>: the decompressed ecs release package path.\n"

printf " <target>: xenomai (default) and preempt\n"

printf " For example:\n"

printf " build-all.sh /home/release-ecs_1.0/ecs-release xenomai\n"

}

ECS_REL="${1:-none}"

TARGET="${2:-xenomai}"

if [ ! -d ${ECS_REL} ]; then

printf "No valid ECS release package path provided! \n"

help_msg

exit -1

if [ -f "${DIR}/build-${TARGET}.sh" ]

then

printf "Start building target ${TARGET} ... \n\n\n"

source ${DIR}/build-${TARGET}.sh

else

printf "No valid target provided! \n"

help_msg

exit -1

Create build-preempt.sh for Preempt-RT build. (You can skip this script if you are using Xenomai Linux)

$ vi build-preempt.sh

build-preempt.sh content is:

#!/bin/bash

set -e

ECS_XENOMAI_META="${ECS_REL}/resources/bare-metal-xenomai"

# Xenomai build parameters

XENO_META="${ECS_XENOMAI_META}/meta-xenomai-bkc/recipes-xenomai/xenomai/files"

XENO_VER=3.1

XENO_URL="https://gitlab.denx.de/Xenomai/xenomai/-/archive/v${XENO_VER}/xenomai-v${XENO_VER}.tar.gz"

XENO_SRC=${DIR}/xenomai

XENO_DEST=${DIR}/xenomai_dest

XENO_RESOURCE=${DIR}/resources/xenomai/xenomai_${XENO_VER}

# Kernel build parameters

KERNEL_VER=4.19.59

KERNEL_TAG=lts-v${KERNEL_VER}-base-190722T171340Z

KERNEL_URL="https://github.com/intel/linux-intel-lts/archive/${KERNEL_TAG}.tar.gz"

KERNEL_SRC=${DIR}/linux-kernel

KERNEL_RESOURCE=${DIR}/resources/xenomai/linux-kernel_${KERNEL_VER}

KERNEL_CUSTOM=-ecs1.0

# Ethercat build parameters

ETHERCAT_META="${ECS_XENOMAI_META}/meta-intel-fieldbus/recipes-ethercat/ighethercat/files"

ETHERCAT_VER="1.5.2"

ETHERCAT_URL="http://www.etherlab.org/download/ethercat/ethercat-${ETHERCAT_VER}.tar.bz2"

ETHERCAT_SRC=${DIR}/ethercat

ETHERCAT_RESOURCE=${DIR}/resources/xenomai/ethercat_${ETHERCAT_VER}

ETHERCAT_DEST=${DIR}/ethercat_dest

function download_linux_kernel()

{

printf "Downloading kernel source from ${KERNEL_URL}\n"

printf "Kernel tag : ${KERNEL_TAG}\n"

curl -o linux-kernel.tar.gz -L ${KERNEL_URL}

rm -rf ${KERNEL_SRC} && mkdir ${KERNEL_SRC}

tar zxf linux-kernel.tar.gz -C $KERNEL_SRC --strip-components 1

}

function download_xenomai()

{

printf "Downloading xenomai source from ${XENO_URL}\n"

printf "Xenomai tag : ${XENO_VER}\n"

curl -o xenomai.tar.gz -L ${XENO_URL}

rm -rf ${XENO_SRC} && mkdir ${XENO_SRC}

tar zxf xenomai.tar.gz -C ${XENO_SRC} --strip-components 1

}

function download_ethercat()

{

printf "Downloading ethercat source from ${ETHERCAT_URL}\n"

printf "Ethercat tag : ${ETHERCAT_VER}\n"

curl -o ethercat.tar.bz2 -L ${ETHERCAT_URL}

rm -rf ${ETHERCAT_SRC} && mkdir ${ETHERCAT_SRC}

tar jxf ethercat.tar.bz2 -C ${ETHERCAT_SRC} --strip-components 1

}

function do_patching()

{

if (($# != 3)); then

printf "Please provide patch config file, target source path \n"

printf "and ECS release resource meta path. \n"

printf "do_patching ./linux-kernel ./patch ${XENO_META}\n"

exit -1

local src_path=$1

local patch_cfg=$2

local meta_path=$3

pushd ${src_path}

cat ${patch_cfg} | while read line

pf=($line)

if [[ ${pf[0]} == "patch" ]]

then

printf "Patching ${pf[1]}\n"

patch -p1 < ${meta_path}/${pf[1]}

done

popd

}

function build_kernel()

{

printf "Patching kernel\n"

do_patching ${KERNEL_SRC} ${KERNEL_RESOURCE}/patch ${XENO_META}

if [ -f ${KERNEL_RESOURCE}/patches/patch ]; then

printf "Extra patching\n"

do_patching ${KERNEL_SRC} ${KERNEL_RESOURCE}/patches/patch ${KERNEL_RESOURCE}/patches

printf "Preparing kernel\n"

cp ${KERNEL_RESOURCE}/config ${KERNEL_SRC}/.config

${XENO_SRC}/scripts/prepare-kernel.sh --arch=x86_64 --linux=${KERNEL_SRC}

printf "Building kernel\n"

pushd ${KERNEL_SRC}

make -j `getconf _NPROCESSORS_ONLN` bindeb-pkg LOCALVERSION=${KERNEL_CUSTOM}

popd

}

function build_xenomai()

{

printf "Patching xenomai\n"

do_patching ${XENO_SRC} ${XENO_RESOURCE}/patch ${XENO_META}

printf "Building xenomai\n"

rm -rf ${XENO_DEST} && mkdir ${XENO_DEST}

pushd ${XENO_SRC}

./scripts/bootstrap

./configure --prefix=/usr/xenomai --with-core=cobalt --enable-smp --enable-pshared

make -j `getconf _NPROCESSORS_ONLN`

make DESTDIR=${XENO_DEST} install

popd

}

function build_ethercat()

{

printf "Patching ethercat\n"

do_patching ${ETHERCAT_SRC} ${ETHERCAT_RESOURCE}/patch ${ETHERCAT_META}

printf "Building ethercat\n"

rm -rf ${ETHERCAT_DEST} && mkdir ${ETHERCAT_DEST}

pushd ${ETHERCAT_SRC}

local xenomai_dir=${XENO_DEST}/usr/xenomai

# workaround to make ethercat build on the previous built xenomai

# cp ${xenomai_dir}/bin/xeno-config ${DIR}/xeno-config

# sed -i "s#prefix=\"/usr/xenomai\"#prefix=\"${xenomai_dir}\"#g" ${DIR}/xeno-config

sudo cp -r ${xenomai_dir} /usr/

chmod +x bootstrap && ./bootstrap

./configure --enable-sii-assign \

--disable-8139too \

--enable-igb \

--libdir=/usr/xenomai/lib \

--with-xenomai-dir=/usr/xenomai \

--with-xenomai-config=/usr/xenomai/bin/xeno-config \

--with-linux-dir=${KERNEL_SRC} \

--with-devices=8 \

--enable-rtdm \

--disable-eoe \

--enable-hrtimer \

--enable-cycles

make all modules

make DESTDIR=${ETHERCAT_DEST} install

make INSTALL_MOD_PATH=${ETHERCAT_DEST} modules_install

popd

sudo rm -rf /usr/xenomai

}

function pack_xenomai_to_deb()

{

printf "Packaging xenomai to deb\n"

mkdir ${XENO_DEST}/DEBIAN

cp ${XENO_RESOURCE}/control ${XENO_DEST}/DEBIAN/

dpkg -b ${XENO_DEST} xenomai_${XENO_VER}_amd64.deb

}

function pack_ethercat_to_deb()

{

printf "Packaging ethercat to deb\n"

# workaround to delete modules info files to avoid install conflict

rm -f ${ETHERCAT_DEST}/lib/modules/${KERNEL_VER}*/modules.*

mkdir ${ETHERCAT_DEST}/DEBIAN

cp ${ETHERCAT_RESOURCE}/control ${ETHERCAT_DEST}/DEBIAN/

dpkg -b ${ETHERCAT_DEST} ethercat_${ETHERCAT_VER}_amd64.deb

}

if [ ! -d ${XENO_META} ]; then

printf "Path ${XENO_META} is not existed!\n"

printf "No valid ECS release package path provided! \n"

exit -1

download_linux_kernel

download_xenomai

download_ethercat

build_kernel

build_xenomai

build_ethercat

pack_xenomai_to_deb

pack_ethercat_to_deb

Create build-xenomai.sh for the Xenomai build. (You can skip this script if you are going to using Preempt RT Linux.)

$ vi build-xenomai.sh

build-xenomai.sh content is:

#!/bin/bash

set -e

ECS_XENOMAI_META="${ECS_REL}/resources/bare-metal-xenomai"

# Xenomai build parameters

XENO_META="${ECS_XENOMAI_META}/meta-xenomai-bkc/recipes-xenomai/xenomai/files"

XENO_VER=3.1

XENO_URL="https://gitlab.denx.de/Xenomai/xenomai/-/archive/v${XENO_VER}/xenomai-v${XENO_VER}.tar.gz"

XENO_SRC=${DIR}/xenomai

XENO_DEST=${DIR}/xenomai_dest

XENO_RESOURCE=${DIR}/resources/xenomai/xenomai_${XENO_VER}

# Kernel build parameters

KERNEL_VER=4.19.59

KERNEL_TAG=lts-v${KERNEL_VER}-base-190722T171340Z

KERNEL_URL="https://github.com/intel/linux-intel-lts/archive/${KERNEL_TAG}.tar.gz"

KERNEL_SRC=${DIR}/linux-kernel

KERNEL_RESOURCE=${DIR}/resources/xenomai/linux-kernel_${KERNEL_VER}

KERNEL_CUSTOM=-ecs1.0

# Ethercat build parameters

ETHERCAT_META="${ECS_XENOMAI_META}/meta-intel-fieldbus/recipes-ethercat/ighethercat/files"

ETHERCAT_VER="1.5.2"

ETHERCAT_URL="http://www.etherlab.org/download/ethercat/ethercat-${ETHERCAT_VER}.tar.bz2"

ETHERCAT_SRC=${DIR}/ethercat

ETHERCAT_RESOURCE=${DIR}/resources/xenomai/ethercat_${ETHERCAT_VER}

ETHERCAT_DEST=${DIR}/ethercat_dest

function download_linux_kernel()

{

printf "Downloading kernel source from ${KERNEL_URL}\n"

printf "Kernel tag : ${KERNEL_TAG}\n"

curl -o linux-kernel.tar.gz -L ${KERNEL_URL}

rm -rf ${KERNEL_SRC} && mkdir ${KERNEL_SRC}

tar zxf linux-kernel.tar.gz -C $KERNEL_SRC --strip-components 1

}

function download_xenomai()

{

printf "Downloading xenomai source from ${XENO_URL}\n"

printf "Xenomai tag : ${XENO_VER}\n"

curl -o xenomai.tar.gz -L ${XENO_URL}

rm -rf ${XENO_SRC} && mkdir ${XENO_SRC}

tar zxf xenomai.tar.gz -C ${XENO_SRC} --strip-components 1

}

function download_ethercat()

{

printf "Downloading ethercat source from ${ETHERCAT_URL}\n"

printf "Ethercat tag : ${ETHERCAT_VER}\n"

curl -o ethercat.tar.bz2 -L ${ETHERCAT_URL}

rm -rf ${ETHERCAT_SRC} && mkdir ${ETHERCAT_SRC}

tar jxf ethercat.tar.bz2 -C ${ETHERCAT_SRC} --strip-components 1

}

function do_patching()

{

if (($# != 3)); then

printf "Please provide patch config file, target source path \n"

printf "and ECS release resource meta path. \n"

printf "do_patching ./linux-kernel ./patch ${XENO_META}\n"

exit -1

local src_path=$1

local patch_cfg=$2

local meta_path=$3

pushd ${src_path}

cat ${patch_cfg} | while read line

pf=($line)

if [[ ${pf[0]} == "patch" ]]

then

printf "Patching ${pf[1]}\n"

patch -p1 < ${meta_path}/${pf[1]}

done

popd

}

function build_kernel()

{

printf "Patching kernel\n"

do_patching ${KERNEL_SRC} ${KERNEL_RESOURCE}/patch ${XENO_META}

if [ -f ${KERNEL_RESOURCE}/patches/patch ]; then

printf "Extra patching\n"

do_patching ${KERNEL_SRC} ${KERNEL_RESOURCE}/patches/patch ${KERNEL_RESOURCE}/patches

printf "Preparing kernel\n"

cp ${KERNEL_RESOURCE}/config ${KERNEL_SRC}/.config

${XENO_SRC}/scripts/prepare-kernel.sh --arch=x86_64 --linux=${KERNEL_SRC}

printf "Building kernel\n"

pushd ${KERNEL_SRC}

make -j `getconf _NPROCESSORS_ONLN` bindeb-pkg LOCALVERSION=${KERNEL_CUSTOM}

popd

}

function build_xenomai()

{

printf "Patching xenomai\n"

do_patching ${XENO_SRC} ${XENO_RESOURCE}/patch ${XENO_META}

printf "Building xenomai\n"

rm -rf ${XENO_DEST} && mkdir ${XENO_DEST}

pushd ${XENO_SRC}

./scripts/bootstrap

./configure --prefix=/usr/xenomai --with-core=cobalt --enable-smp --enable-pshared

make -j `getconf _NPROCESSORS_ONLN`

make DESTDIR=${XENO_DEST} install

popd

}

function build_ethercat()

{

printf "Patching ethercat\n"

do_patching ${ETHERCAT_SRC} ${ETHERCAT_RESOURCE}/patch ${ETHERCAT_META}

printf "Building ethercat\n"

rm -rf ${ETHERCAT_DEST} && mkdir ${ETHERCAT_DEST}

pushd ${ETHERCAT_SRC}

local xenomai_dir=${XENO_DEST}/usr/xenomai

# workaround to make ethercat build on the previous built xenomai

# cp ${xenomai_dir}/bin/xeno-config ${DIR}/xeno-config

# sed -i "s#prefix=\"/usr/xenomai\"#prefix=\"${xenomai_dir}\"#g" ${DIR}/xeno-config

sudo cp -r ${xenomai_dir} /usr/

chmod +x bootstrap && ./bootstrap

./configure --enable-sii-assign \

--disable-8139too \

--enable-igb \

--libdir=/usr/xenomai/lib \

--with-xenomai-dir=/usr/xenomai \

--with-xenomai-config=/usr/xenomai/bin/xeno-config \

--with-linux-dir=${KERNEL_SRC} \

--with-devices=8 \

--enable-rtdm \

--disable-eoe \

--enable-hrtimer \

--enable-cycles

make all modules

make DESTDIR=${ETHERCAT_DEST} install

make INSTALL_MOD_PATH=${ETHERCAT_DEST} modules_install

popd

sudo rm -rf /usr/xenomai

}

function pack_xenomai_to_deb()

{

printf "Packaging xenomai to deb\n"

mkdir ${XENO_DEST}/DEBIAN

cp ${XENO_RESOURCE}/control ${XENO_DEST}/DEBIAN/

dpkg -b ${XENO_DEST} xenomai_${XENO_VER}_amd64.deb

}

function pack_ethercat_to_deb()

{

printf "Packaging ethercat to deb\n"

# workaround to delete modules info files to avoid install conflict

rm -f ${ETHERCAT_DEST}/lib/modules/${KERNEL_VER}*/modules.*

mkdir ${ETHERCAT_DEST}/DEBIAN

cp ${ETHERCAT_RESOURCE}/control ${ETHERCAT_DEST}/DEBIAN/

dpkg -b ${ETHERCAT_DEST} ethercat_${ETHERCAT_VER}_amd64.deb

}

if [ ! -d ${XENO_META} ]; then

printf "Path ${XENO_META} is not existed!\n"

printf "No valid ECS release package path provided! \n"

exit -1

download_linux_kernel

download_xenomai

download_ethercat

build_kernel

build_xenomai

build_ethercat

pack_xenomai_to_deb

pack_ethercat_to_deb

3. Add execute permissions to the build scripts created:

$ cd <your path to>/ecs-1.0-ubuntu

$ chmod +x *.sh