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Installing Device and Driver Support for F3RP71 and F3RP61

Table Of Contents

Introduction

This document describes instructions for cross-building the device and driver support for F3RP71 and F3RP61 on linux-x86_64 or linux-x86 host.

Software Requirements

F3RP71 (e-RT3 plus)

  • This device support works with EPICS base from R3.14.12 on, tested up to R3.15.8 / R7.0.7.
  • Xilinx Vivado 2013.4 Standalone SDK
  • Linux BSP for F3RP71 (SFRD12), R1.03
  • Refer to User's Manual for installation of Xilinx SDK and Linux BSP:
    • IM 34M06M52-22E_002, "e-RT3 Linux BSP (SFRD12) Programming Manual", 2. Building development environment
    • It is assumed that Xilinx SDK and Linux BSP are installed in /opt/Xilinx.
    • In this document, we don't use Eclipse but GNU toolchain installed along with SDK.

F3RP61 (e-RT3 2.0)

  • This device support works with EPICS base from 3.14.11 on, tested up to R3.15.8.
  • Linux BSP for F3RP61 (SFRD11), R2.0x
    • Refer to User's Manual for installation of BSP:
      • IM 34M06M51-43E, "RTOS-CPU module (F3RP61-␣␣) Linux BSP Start-up Manual", 6. Introduction Methods
      • IM 34M06M51-44E, "RTOS-CPU module (F3RP61-␣␣) Linux BSP Reference Manual", 6. PLC Device Access, 6.4 User Interface
    • It is assumed that Linux BSP is installed in /opt/f3rp6x.

The device and driver support depends on a run-time library, libm3.so.1.0.0, which has to be installed manually both on the development environment and userland.

  • Install the library on the development environment:
cd /opt/f3rp6x/ppc_6xx/usr/lib
cp /path/to/BSP/yokogawa/library/libm3.so.1.0.0 .
ln -s libm3.so.1.0.0 libm3.so.1
ln -s libm3.so.1.0.0 libm3.so
  • Install the library on userland:
cd /opt
mv libm3.so.1* /usr/lib
cd /usr/lib
ln -s libm3.so.1.0.0 libm3.so.1
ln -s libm3.so.1.0.0 libm3.so
ldconfig

Building EPICS Base for F3RP71 and/or F3RP61

Extracting distribution file

Untar the tar ball, epics-f3rp61-2.0.0.tar.gz, to an appropriate directory, e.g., ${EPICS_BASE}/../modules/src:

mkdir -p ${EPICS_BASE}/../modules/src
tar -C ${EPICS_BASE}/../modules/src -x -f epics-f3rp61-2.0.0.tar.gz

Go to the top-level directory of the device / driver support:

cd ${EPICS_BASE}/../modules/src/epics-f3rp61-2.0.0/f3rp61

Install definition files

Copy os-architecture specific definition files from top-level directory to ${EPICS_BASE}/configure/os/:

  • Definitions for F3RP71:
CONFIG.Common.linux-f3rp71
CONFIG.linux-f3rp71.Common
CONFIG.linux-x86.linux-f3rp71
CONFIG.linux-x86_64.linux-f3rp71
CONFIG_SITE.Common.linux-f3rp71
  • Definitions for F3RP61:
CONFIG.Common.linux-f3rp61
CONFIG.linux-f3rp61.Common
CONFIG.linux-x86.linux-f3rp61
CONFIG.linux-x86_64.linux-f3rp61
CONFIG.linux-f3rp61.linux-f3rp61

Site-specific build configuration

Edit ${EPICS_BASE}/configure/CONFIG_SITE and add target-architectures to CROSS_COMPILER_TARGET_ARCHS variable.

  • for F3RP71 support:
CROSS_COMPILER_TARGET_ARCHS += linux-f3rp71
  • for F3RP61 support:
CROSS_COMPILER_TARGET_ARCHS += linux-f3rp61
  • for both F3RP71 and F3RP61 support:
CROSS_COMPILER_TARGET_ARCHS += linux-f3rp71
CROSS_COMPILER_TARGET_ARCHS += linux-f3rp61

Now you are ready to build the EPICS base for linux-f3rp71 and/or linux-f3rp61:

make

Building the Device / Driver Support Library

Edit ${EPICS_BASE}/../modules/src/epics-f3rp61-2.0.0/f3rp61/configure/RELESE so that EPICS_BASE variable points your $EPICS_BASE correctly:

EPICS_BASE=/path/to/epics/base

and build the device / driver support library:

cd ${EPICS_BASE}/../modules/src/epics-f3rp61-2.0.0/f3rp61
make

Using the Device / Driver Support with IOC Application

This section explains how to include the device / driver support components to your IOC application.

  • In the configure/RELEASE file add definition for F3RP61:
F3RP61 = ${EPICS_BASE}/../modules/src/epics-f3rp61-2.0.0/f3rp61
  • In the configure/CONFIG_SIZE file add linux-f3rp71 (or linux-f3rp61) to CROSS_COMPILER_TARGET_ARCHS:
CROSS_COMPILER_TARGET_ARCHS = linux-f3rp71
# CROSS_COMPILER_TARGET_ARCHS = linux-f3rp61
  • In the <app>App/src/Makefile file:
...
ifneq ($(filter $(T_A), linux-f3rp61 linux-f3rp71),)
PROD_IOC = <app>
endif
...
<app>_DBD += f3rp61.dbd
...
<app>_LIBS += f3rp61
PROD_LDLIBS += -lm3

An example Makefile for exampleApp is included in the distribution:

${EPICS_BASE}/../modules/src/epics-f3rp61-2.0.0/f3rp61/Makefile.testApp
SampleMakefileForTestApp.

Using real-time scheduling with F3RP71/F3RP61-based IOC

Both F3RP71 and F3RP61 supports real-time linux kernel with CONFIG_PREEMPT_RT patch set. If you choose this option, you might want to choose a priority-based scheduling policy for real-time responsiveness. The choice of the scheduling policy is subject to EPICS base. In ${EPICS_BASE}/configure/CONFIG_SITE change

USE_POSIX_THREAD_PRIORITY_SCHEDULING = NO

to

USE_POSIX_THREAD_PRIORITY_SCHEDULING = YES

You might also want to call mlockall() in your Main.cpp to make your IOC process memory resident.

Note that you need to be careful so as NOT to run any relevant threads that execute a busy loop if you choose the scheduling policy. Otherwise, what you will have gotten is what you should have gotten.

References