移植PLC程序到OpenHarmony上

Ethereal Lv4
  2023-12-18 14:05:32 2023-12-18 14:05 Created   2024-06-30 19:02:17 2024-06-30 19:02 Updated  

下载代码

在Ubuntu上执行

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git clone git@github.com:Ethereal-O/OHPLC_ARKTS.git -b control_plane control_plane

在Windows上执行

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git clone git@github.com:Ethereal-O/OHPLC_ARKTS.git -b go go
git clone git@github.com:Ethereal-O/OHPLC_ARKTS.git -b frontends frontends

编译EtherCAT

在Ubuntu上执行。进入control-plane目录beremiz_optimize下的EthercatMasterX目录

  1. 下载必要环境
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sudo apt install automake libtool net-tools gcc-aarch64-linux-gnu g++-aarch64-linux-gnu make pkg-config
sudo rm -rf ethercat
git clone https://gitlab.com/etherlab.org/ethercat.git
cd ethercat
git checkout stable-1.5
./bootstrap
  1. 交叉编译
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./configure --enable-cycles --enable-hrtimer --enable-8139too=no --disable-eoe CC=aarch64-linux-gnu-gcc CXX=aarch64-linux-gnu-g++ --host=aarch64-linux
make clean
make all modules
  1. 复制并打包EthercatMasterX/ethercat/lib/.libs下的所有文件
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tar cvf Ethercat.tar -C ./beremiz_optimize/EthercatMasterX/ethercat/lib/.libs .

编译Soem

在Ubuntu上执行。进入control-plane目录beremiz_optimize下的SoemX目录

  1. 原理。其先导入setup.sh中的环境变量，以决定其是否进行交叉编译。因此，要修改setup.sh，使其可以找到我们的编译器。EtherCAT主站SOEM在TI AM335x上的移植 
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diff Soem/setup.sh SoemX/setup.sh 
28a29,31
>    bq3568hm)
>       export CROSS_GCC=aarch64-linux-gnu
>       ;;
54c57,58
< export GCC_PATH=${COMPILERS:-/opt/rt-tools/compilers}/$CROSS_GCC
---
> # export GCC_PATH=${COMPILERS:-/opt/rt-tools/compilers}/$CROSS_GCC
> export GCC_PATH=${COMPILERS:-/usr}
61d64
< 
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diff Soem/make/app.mk SoemX/make/app.mk 
26c26,27
< ifeq ($(ARCH),linux)
---
> # ifeq ($(ARCH),linux)
> ifeq ($(BSP),linux)
37c38,39
<       $(SILENT)$(CC) $(LDFLAGS) $(LD_PATHS) $(OBJDIR)/*.o -o $@ $(LIBS)
---
>       # $(SILENT)$(CC) $(LDFLAGS) $(LD_PATHS) $(OBJDIR)/*.o -o $@ $(LIBS)
>       $(SILENT)$(CC) $(LD_PATHS) $(OBJDIR)/*.o -o $@ $(LIBS)
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cat SoemX/make/compilers/aarch64-linux-gnu-gcc.mk 
# Prefix of the cross-compiler
CROSS_GCC := aarch64-linux-gnu

# Common settings
include $(PRJ_ROOT)/make/compilers/gcc.mk

# Machine settings
-include $(PRJ_ROOT)/make/compilers/$(ARCH).mk

# Default machine settings
MACHINE ?= -mthumb-interwork -mlittle-endian -mthumb

# # Compiler flags
# CFLAGS  += $(MACHINE) -fshort-wchar
# LDFLAGS += $(MACHINE) -Wl,--no-wchar-size-warning
  1. 交叉编译
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source ./setup.sh bq3568hm linux
make all
  1. 打包/lib/bq3568hm下文件
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tar cvf Soem.tar -C ./beremiz_optimize/SoemX/lib/bq3568hm .

编译Modbus

在Ubuntu上执行。进入control-plane目录beremiz_optimize下的ModbusX目录。
修改MakeFile中的CC，改为aarch64-linux-gnu-gcc。直接make。

编译PLC

在Ubuntu上执行。进入control-plane目录beremiz_optimize下的PLC/projects/RACK1_SoemX/build目录

  1. 修改makefile
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diff ./RACK1_Soem/build/Makefile ./RACK1_SoemX/build/Makefile
3,4c3,4
< CC := gcc
< # CC := aarch64-linux-gnu-gcc
---
> # CC := gcc
> CC := aarch64-linux-gnu-gcc
9,15c9,15
< ethercat_master_include := $(beremizDir)/EthercatMaster/ethercat/include
< soem_include := ${beremizDir}/Soem/soem
< nicdrv_include := ${beremizDir}/Soem/oshw/linux
< modbus_include := ${beremizDir}/Modbus
< ethercat_master_lib := $(beremizDir)/EthercatMaster/ethercat/lib/.libs
< soem_lib := ${beremizDir}/Soem/lib/linux
< modbus_lib := $(beremizDir)/Modbus
---
> ethercat_master_include := $(beremizDir)/EthercatMasterX/ethercat/include
> soem_include := ${beremizDir}/SoemX/soem
> nicdrv_include := ${beremizDir}/SoemX/oshw/linux
> modbus_include := ${beremizDir}/ModbusX
> ethercat_master_lib := $(beremizDir)/EthercatMasterX/ethercat/lib/.libs
> soem_lib := ${beremizDir}/SoemX/lib/bq3568hm
> modbus_lib := $(beremizDir)/ModbusX

  1. 交叉编译

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    make

打包glibc

在Ubuntu上执行

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tar cvf libc.tar -C /usr/aarch64-linux-gnu/lib .

此时得到四个文件，分别为Ethercat.tar，Soem.tar，libc.tar和RACK1_Soem。

关闭SELinux

在Windows上执行

  1. 查看状态
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.\hdc.exe list targets
.\hdc.exe shell mount -o rw,remount /
.\hdc.exe shell cat /etc/selinux/config
  1. 永久关闭
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.\hdc.exe list targets
.\hdc.exe shell mount -o rw,remount /
.\hdc.exe shell sed -i s#SELINUX=enforcing#SELINUX=disabled# /etc/selinux/config

安装包

在Windows上执行
将上述三个压缩包发送至设备，解压，复制到/usr/lib下

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.\hdc.exe list targets
.\hdc.exe shell mount -o rw,remount /
.\hdc.exe shell mkdir -p /data/data/beremiz/dependency/lib
.\hdc.exe file send .\Ethercat.tar /data/data/beremiz/dependency/lib/Ethercat.tar
.\hdc.exe file send .\Soem.tar /data/data/beremiz/dependency/lib/Soem.tar
.\hdc.exe file send .\libc.tar /data/data/beremiz/dependency/lib/libc.tar
.\hdc.exe file send .\RACK1_Soem /data/data/beremiz/RACK1_Soem
.\hdc.exe shell chmod 777 /data/data/beremiz/RACK1_Soem
.\hdc.exe shell
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cd /data/data/beremiz/dependency/lib
mkdir Ethercat && mkdir Soem && mkdir libc
tar xvf Ethercat.tar -C Ethercat
tar xvf Soem.tar -C Soem
tar xvf libc.tar -C libc
cp ./Ethercat/*so* /lib/ -d
cp ./Soem/*so* /lib/ -d
cp ./libc/*so* /lib/ -d

安装管理程序

在Windows上执行，进入go目录。

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go env -w CGO_ENABLED=0
go env -w GOARCH=arm64
go env -w GOOS=linux
go build -o supershell .\supershell.go
.\hdc.exe shell mount -o remount,rw /
.\hdc.exe shell mkdir -p /data/data/supershell
.\hdc.exe file send .\supershell /system/bin/supershell
.\hdc.exe file send .\cfg\supershell.cfg /system/etc/init/supershell.cfg
.\hdc.exe file send .\cfg\background.sh /data/data/supershell/background.sh
.\hdc.exe shell chmod 777 /system/bin/supershell
.\hdc.exe shell reboot

清除设置的go env，直接将文件C:\Users\Ethereal\AppData\Roaming\go\env清空。

编译前端

在Windows上打开deveco，编译执行前端。

（已经不需要）注意api版本编译10，兼容9。

其他常用命令

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.\hdc.exe shell power-shell wakeup #唤醒设备
.\hdc.exe shell power-shell setmode 602 #设置屏幕常亮
.\hdc.exe shell power-shell suspend #锁屏
.\hdc.exe shell mount -o remount,rw / #挂载分区可读可写
.\hdc.exe shell dmesg #查看log
.\hdc.exe shell ps -A #查看所有进程
.\hdc.exe shell netstat #查看端口占用

参考

实验室EtherCAT文档

EtherCAT主站SOEM在TI AM335x上的移植

查看SELinux状态及关闭SELinux

  • Title: 移植PLC程序到OpenHarmony上
  • Author: Ethereal
  • Created at: 2023-12-18 14:05:32
  • Updated at: 2024-06-30 19:02:17
  • Link: https://ethereal-o.github.io/2023/12/18/移植PLC程序到OpenHarmony上/
  • License: This work is licensed under CC BY-NC-SA 4.0.
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On this page
移植PLC程序到OpenHarmony上
  1. 下载代码
  2. 编译EtherCAT
  3. 编译Soem
  4. 编译Modbus
  5. 编译PLC
  6. 打包glibc
  7. 关闭SELinux
  8. 安装包
  9. 安装管理程序
  10. 编译前端
  11. 其他常用命令
  12. 参考