Building the eNET image

overview

Building the eNET image involves first generating the kernel and bootloader with the TI sdk, then building the full image with buildroot.

ti-sdk

overview

Original work is based on 08.00.00.21 SDK

buildroot

Download and run

ti-processor-sdk-linux-am64xx-evm-08.00.00.21-Linux-x86-Install.bin The directory where you install it doesn't really matter, and is the ./sdk-root/

19:50:45:jdolan@work-laptop:~/eNET-image/ti-processor-sdk-linux-am64xx-evm-08.00.00.21$ls -l
total 702884
drwxr-xr-x  2 jdolan jdolan      4096 Aug 21 19:50 bin
drwxr-xr-x  9 jdolan jdolan      4096 Aug 11  2021 board-support
drwxr-xr-x 12 jdolan jdolan      4096 Aug 11  2021 docs
drwxr-xr-x  6 jdolan jdolan      4096 Aug 11  2021 example-applications
drwxr-xr-x  2 jdolan jdolan      4096 Aug 11  2021 filesystem
drwxrwxr-x  3 jdolan jdolan      4096 Aug 21 19:50 linux-devkit
-rwxr-xr-x  1 jdolan jdolan 719690148 Aug 11  2021 linux-devkit.sh
-rwxr-xr-x  1 jdolan jdolan     16528 Aug 10  2021 Makefile
-rwxr-xr-x  1 jdolan jdolan      1575 Aug 21 19:50 Rules.make
-rwxr-xr-x  1 jdolan jdolan      4188 Aug 10  2021 setup.sh

Patch the Linux kernel

Needed to boot

This patch https://github.com/accesio/linux/commit/5c7ecc0b095a5c2be28efd8685755df3c11b669d needs to be applied to the kernel. If you are building with 08.00.00.21 you can just check out this commit directly

sdk-root/board-support/linux-5.10.41+gitAUTOINC+4c2eade9f7-g4c2eade9f7>git remote add aio git@github.com:accesio/linux.git
sdk-root/board-support/linux-5.10.41+gitAUTOINC+4c2eade9f7-g4c2eade9f7>git fetch aio
sdk-root/board-support/linux-5.10.41+gitAUTOINC+4c2eade9f7-g4c2eade9f7>git checkout 5c7ecc0b

importing driver to kernel source tree

The script import-to-kernel-tree.sh will setup a kernel source tree with the current driver source. It takes two parameters

1 (required) Path to the root of th linux source tree

2 (optional) Filename of the kernel config used during build.

Example:

17:01:33:jdolan@work-laptop:~/acces-git/eNET_TCP_Server/apci-eNET/image$./import-to-kernel-tree.sh /home/jdolan/eNET-image/ti-processor-sdk-linux-am64xx-evm-08.00.00.21/board-support/linux-5.10.41+gitAUTOINC+4c2eade9f7-g4c2eade9f7/ /home/jdolan/eNET-image/ti-processor-sdk-linux-am64xx-evm-08.00.00.21/board-support/linux-5.10.41+gitAUTOINC+4c2eade9f7-g4c2eade9f7/arch/arm64/configs/tisdk_am64xx-evm_defconfig

patch u-boot

git remote add aio git@github.com:accesio/u-boot.git
git fetch aio
git checkout aio-enet

Run the SDK make

Takes about seventeen minutes on my dev machine

sdk-root>make

buildroot

overview

Original work is based on https://buildroot.org/downloads/buildroot-2022.05.tar.gz Need to decompress buildroot, copy config files, setup the overlay and build

Download and decompress buildroot you will be using.

The place it is decompressed to is ./buildroot/

./buildroot-2022.05$ls -l
total 928
drwxrwxr-x    2 jdolan jdolan   4096 Jun  6 13:14 arch
drwxrwxr-x   76 jdolan jdolan   4096 Jun  6 13:14 board
drwxrwxr-x   26 jdolan jdolan   4096 Jun  6 13:14 boot
-rw-rw-r--    1 jdolan jdolan 475682 Jun  6 13:14 CHANGES
-rw-rw-r--    1 jdolan jdolan  29551 Jun  6 13:14 Config.in
-rw-rw-r--    1 jdolan jdolan 148773 Jun  6 13:14 Config.in.legacy
drwxrwxr-x    2 jdolan jdolan  16384 Jun  6 13:14 configs
-rw-rw-r--    1 jdolan jdolan  18767 Jun  6 13:14 COPYING
-rw-rw-r--    1 jdolan jdolan  75866 Jun  6 13:14 DEVELOPERS
drwxr-xr-x    5 jdolan jdolan   4096 Jun  6 13:21 docs
drwxrwxr-x   20 jdolan jdolan   4096 Jun  6 13:14 fs
drwxrwxr-x    2 jdolan jdolan   4096 Jun  6 13:14 linux
-rw-rw-r--    1 jdolan jdolan  46317 Jun  6 13:14 Makefile
-rw-rw-r--    1 jdolan jdolan   2292 Jun  6 13:14 Makefile.legacy
drwxrwxr-x 2602 jdolan jdolan  69632 Jun  6 13:14 package
-rw-rw-r--    1 jdolan jdolan   1075 Jun  6 13:14 README
drwxrwxr-x   13 jdolan jdolan   4096 Jun  6 13:14 support
drwxrwxr-x    3 jdolan jdolan   4096 Jun  6 13:14 system
drwxrwxr-x    5 jdolan jdolan   4096 Jun  6 13:14 toolchain
drwxrwxr-x    3 jdolan jdolan   4096 Jun  6 13:14 utils

copy config

Copy image/eNET-buildroot-2022.05.config to buildroot/.config
mkdir buildroot/users
Copy image/acces-users.txt to buildroot/users/

Setup the overlay

Notes:

You do NOT use sudo in this case
The mv after the make is because of the way buildroot merges the lib directories.

cd buildroot/
mkdir overlay
cd sdk-root/
DESTDIR=buildroot/overlay make install
cd buildroot/overlay
mv lib usr
mkdir -p etc/systemd/system
mkdir -p etc/modules-load.d
mkdir -p etc/aionet.d/config.current
mkdir -p etc/aionet.d/config.factory
mkdir -p etc/sudoers.d
mkdir -p etc/avahi/services
mkdir -p opt/aionetd

Copy image/aioenetd.service to buildroot/overlay/etc/systemd/system/
Copy image/apci.conf to buildroot/overlay/etc/modules-load.d
Copy image/DAC_Range.conf etc/aionet.d/config.current/DAC_RangeCh0.conf
Copy image/DAC_Range.conf etc/aionet.d/config.current/DAC_RangeCh1.conf
Copy image/DAC_Range.conf etc/aionet.d/config.current/DAC_RangeCh2.conf
Copy image/DAC_Range.conf etc/aionet.d/config.current/DAC_RangeCh3.conf
Copy image/DAC_Range.conf etc/aionet.d/config.factory/DAC_RangeCh0.conf
Copy image/DAC_Range.conf etc/aionet.d/config.factory/DAC_RangeCh1.conf
Copy image/DAC_Range.conf etc/aionet.d/config.factory/DAC_RangeCh2.conf
Copy image/DAC_Range.conf etc/aionet.d/config.factory/DAC_RangeCh3.conf
Copy image/sudoers-acces etc/sudoers.d/acces
Copy image/aionetd-avahi.service etc/avahi/services/aionetd.service

//Note that for S01 you place aionetd.service and aionetd binary in /home/access/ and put a symlink to them in the locations below

Copy image/aionetd.service etc/systemd/system/
Copy the aionetd from the eNET_TCP_SERVER repo to buildroot/overlay/opt/aioenet/

Run make in ./buildroot/

Takes about two hours on my machine. A lot of that is download, and it is building everything from source.

cd buildroot
make

Creating the SD card

The SD card needs to have two partitions.

Boot partition formatted as FAT. (Mine is 79MB)
Rootfs partition formatted as Ext4. (You can make this take up the rest of the card)

Copy files to boot partition

Must be owned by root so use sudo

sudo cp sdk-root/board-support/u-boot_build/a53/u-boot.img /path/to/boot/
sudo cp sdk-root/board-support/u-boot_build/a53/tispl.bin /path/to/boot/
sudo cp sdk-root/board-support/prebuilt-images/tiboot3.bin /path/to/boot/

Extract files to rootfs partition

Must be owned by root so use sudo

sudo tar -xvf buildroot/output/images/rootfs.tar -C /path/to/rootfs

enabling emmc boot

copy needed files to sd card. Then boot from sd card

copy u-boot files to boot partition

fdisk /dev/mmcblk0p1

for example commands see emmc-boot-write.sh

/dev/mmcblk1p1       2048 15269887 15267840  7.3G 83 Linux

extract rootfs

Building the docker (updated 2023 01 22)

Overview

The docker becomes a custom cross compiler for the image generated by the ti-sdk and buildroot.
It requires two toolchains.
- One is for the kernel
- One is for userspace.
Generating a new docker should only need to be done when
- Making changes to the buildroot that add new libraries
- Making changes to the kernel that break module compatibility

Setting up file system. Need to copy files to a staging directory for the docker build

When you are done the tree should look like this

./eNET-builder$tree -L 3
.
├── Dockerfile
└── opt
    ├── aarch64-buildroot-linux-gnu_sdk-buildroot
    │   ├── aarch64-buildroot-linux-gnu
    │   ├── bin
    │   ├── doc
    │   ├── etc
    │   ├── include
    │   ├── lib
    │   ├── lib64 -> lib
    │   ├── libexec
    │   ├── relocate-sdk.sh
    │   ├── sbin
    │   ├── share
    │   ├── usr -> .
    │   └── var
    ├── src
    │   └── linux
    └── ti-sdk-sysroot
        ├── environment-setup.d
        ├── etc
        ├── lib
        ├── post-relocate-setup.d
        ├── sbin
        ├── usr
        └── var

24 directories, 2 files

kernel toolchain

Copy the contents of ti-sdk-root/linux-devkit/sysroots/x86_64-arago-linux/usr/bin to Docker/opt/ti-sdk-sysroot
- cp -r ti-sdk-root/linux-devkit/sysroots/x86_64-arago-linux/* eNET-builder/opt/ti-sdk-sysroot/

doppel@26887bead8ad:/opt/ti-sdk-sysroot$ ls -l
total 28
drwxr-xr-x  2 root root 4096 Aug 17 13:00 environment-setup.d
drwxr-xr-x  7 root root 4096 Aug 17 13:00 etc
drwxr-xr-x  2 root root 4096 Aug 17 13:00 lib
drwxr-xr-x  2 root root 4096 Aug 17 13:00 post-relocate-setup.d
drwxr-xr-x  2 root root 4096 Aug 17 13:00 sbin
drwxr-xr-x 10 root root 4096 Aug 17 13:00 usr
drwxr-xr-x  5 root root 4096 Aug 17 13:00 var

kernel source

copy the overlay/usr/lib/modules/5.10.41-g4c2eade9f7/ to eNET-builder/opt/src/linux/
- rsync -r --copy-links /home/jdolan/eNET-image/buildroot-2022.05/overlay/usr/lib/modules/5.10.41-g4c2eade9f7/ linux/

./eNET-builder/opt/src/linux$ls -l
total 1276
drwxr-xr-x 31 jdolan jdolan   4096 Jan 22 10:53 build
drwxrwxr-x  2 jdolan jdolan   4096 Jan 22 10:53 extra
drwxrwxr-x 10 jdolan jdolan   4096 Jan 22 10:53 kernel
-rw-r--r--  1 jdolan jdolan 315654 Jan 22 10:53 modules.alias
-rw-r--r--  1 jdolan jdolan 320044 Jan 22 10:53 modules.alias.bin
-rw-rw-r--  1 jdolan jdolan  15992 Jan 22 10:53 modules.builtin
-rw-r--r--  1 jdolan jdolan  35713 Jan 22 10:53 modules.builtin.alias.bin
-rw-r--r--  1 jdolan jdolan  19038 Jan 22 10:53 modules.builtin.bin
-rw-rw-r--  1 jdolan jdolan 103994 Jan 22 10:53 modules.builtin.modinfo
-rw-r--r--  1 jdolan jdolan  52681 Jan 22 10:53 modules.dep
-rw-r--r--  1 jdolan jdolan  85009 Jan 22 10:53 modules.dep.bin
-rw-r--r--  1 jdolan jdolan    168 Jan 22 10:53 modules.devname
-rw-rw-r--  1 jdolan jdolan  26323 Jan 22 10:53 modules.order
-rw-r--r--  1 jdolan jdolan    484 Jan 22 10:53 modules.softdep
-rw-r--r--  1 jdolan jdolan 125517 Jan 22 10:53 modules.symbols
-rw-r--r--  1 jdolan jdolan 159953 Jan 22 10:53 modules.symbols.bin
drwxr-xr-x 31 jdolan jdolan   4096 Jan 22 10:53 source

application toolchain

The application toolchain can be generated by running make sdk in buildroot
tar -xf buildroot/output/images/aarch64-buildroot-linux-gnu_sdk-buildroot.tar.gz -C eNET-builder/opt

Contents of Dockerfile for eNET builder (You can ignore "file: could not find any valid magic files! (No such file or directory)" errors from relocate-sdk.sh

To create the docker locally run docker build -t enet-builder
To run the docker after it is created docker run -v$(pwd):/home/doppel --rm -it --entrypoint bash enet-builder
- This is done in the root of your souce tree.

#If you see the following errors during the relocate-sdk.sh then you need to pick a "from" that has a compatible
#glibc version to the machine used to build the ti-sdk and buildroot. Nothing involving the cross-compile will work
#file: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.34' not found (required by file)
#file: /lib/x86_64-linux-gnu/libc.so.6: version `GLIBC_2.33' not found (required by /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/bin/../lib/libmagic.so.1)
from ubuntu:22.04

RUN apt-get update && apt-get install build-essential -y
ENV PATH "$PATH:/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/bin:/opt/ti-sdk-sysroot/usr/bin:"
ENV CC "aarch64-linux-gcc"
ENV GCC "aarch64-linux-gcc"
ENV KDIR "/opt/src/linux/build"
ENV CFLAGS "--sysroot=/opt/aarch64-buildroot-linux-gnu_sdk-buildroot/aarch64-buildroot-linux-gnu/sysroot"
COPY . /
WORKDIR /opt/aarch64-buildroot-linux-gnu_sdk-buildroot/
RUN ./relocate-sdk.sh
RUN useradd -ms /bin/bash doppel
USER doppel
WORKDIR /home/doppel

Using the enet-builder docker

There is a preexisting ACCES docker available on docker hub

docker pull jdolanacces/enet-builder

Building kernel modules

The KDIR and CC environment variables were already set in the environment when the docker was created
Makefile will need to include the CROSS_COMPILE and ARCH options

obj-m += apci.o
CC		?= gcc
KDIR            ?= /lib/modules/$(shell uname -r)/build

apci-objs :=      \
    apci_fops.o   \
	apci_dev.o

all:
	$(MAKE) CC=$(CC) -C $(KDIR) M=$(CURDIR) ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- modules

clean:
	$(MAKE) CC=$(CC) -C $(KDIR) M=$(CURDIR) ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- clean

install:
	$(MAKE) CC=$(CC) -C $(KDIR) M=$(CURDIR) ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- modules_install
	depmod -A
	modprobe -r apci
	modprobe apci

Example run

13:28:45:jdolan@dalaptop:~/acces-git/eNET_TCP_Server/apci-eNET$docker run -v$(pwd):/home/doppel --rm -it --entrypoint bash enet-builder
doppel@4519aac21004:~$ ls
Makefile   README.txt	  apci_dev.c  apci_fops.c  apci_ioctl.h  build-and-copy.sh  eNET-AIO.h	     image
README.md  apci_common.h  apci_dev.h  apci_fops.h  apcilib	 build.sh	    eNET-builder.sh
doppel@4519aac21004:~$ make
make CC=aarch64-linux-gcc -C /opt/src/linux/build M=/home/doppel ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- modules
make[1]: Entering directory '/opt/src/linux/build'
  CC [M]  /home/doppel/apci_fops.o
  CC [M]  /home/doppel/apci_dev.o
  LD [M]  /home/doppel/apci.o
  MODPOST /home/doppel/Module.symvers
  CC [M]  /home/doppel/apci.mod.o
  LD [M]  /home/doppel/apci.ko
make[1]: Leaving directory '/opt/src/linux/build'
doppel@4519aac21004:~$ exit
exit
13:28:58:jdolan@dalaptop:~/acces-git/eNET_TCP_Server/apci-eNET$file apci.ko
apci.ko: ELF 64-bit LSB relocatable, ARM aarch64, version 1 (SYSV), BuildID[sha1]=074d3f72c5d26e5a78a6c52ef41c31ad59011b12, not stripped
13:29:01:jdolan@dalaptop:~/acces-git/eNET_TCP_Server/apci-eNET$

Building userspace

CFLAGS is already set in the environment when building the docker.
- This is to point the toolchain at all the libraries available on the eNET
- If you need to modify CFLAGS be sure to append to them and not overwrite.
CC and GCC are already set in the environment.
- For GCC override with g++ to use standard libraries without including them explicitly

all: aioenetd

#GCC doesn't include libstdc++, so just override it here
GCC := aarch64-linux-g++

test:	test.cpp Makefile eNET-types.h TMessage.cpp TMessage.h TError.h TError.cpp apcilib.cpp logging.h adc.cpp adc.h
	$(GCC) -g -Wfatal-errors -std=gnu++2a -o test test.cpp TError.cpp logging.cpp TMessage.cpp apcilib.cpp adc.cpp -lm -lpthread -latomic -O3



aioenetd:	Makefile $(wildcard *.h) $(wildcard *.cpp) $(wildcard DataItems/*.cpp) $(wildcard DataItems/*.h)
	$(GCC) -g -Wfatal-errors -std=gnu++2a -o aioenetd $(wildcard *.cpp) $(wildcard DataItems/*.cpp) -lm -lpthread -latomic -O3

clean:
	rm -f test aioenetd

example run

13:36:50:jdolan@dalaptop:~/acces-git/eNET_TCP_Server$docker run -v$(pwd):/home/doppel --rm -it --entrypoint bash enet-builder
doppel@f6bd89e0d3f5:~$ ls
DataItems   TError.h	  adc.h		apci.h	      config.cpp	logging.cpp  safe_queue.h
Makefile    TMessage.cpp  aioenetd.cpp	apci_ioctl.h  config.h		logging.h    test.c_p
README.md   TMessage.h	  apci-eNET	apcilib.cpp   eNET-AIO16-16F.h	my-reboot
TError.cpp  adc.cpp	  apci.cpp	apcilib.h     eNET-types.h	reboot.c
doppel@f6bd89e0d3f5:~$ make
aarch64-linux-g++ -g -Wfatal-errors -std=gnu++2a -o aioenetd TError.cpp TMessage.cpp adc.cpp aioenetd.cpp apci.cpp apcilib.cpp config.cpp logging.cpp DataItems/ADC_.cpp DataItems/BRD_.cpp DataItems/CFG_.cpp DataItems/DAC_.cpp DataItems/REG_.cpp DataItems/TDataItem.cpp -lm -lpthread -latomic -O3
doppel@f6bd89e0d3f5:~$ exit
exit
13:37:36:jdolan@dalaptop:~/acces-git/eNET_TCP_Server$file aioenetd
aioenetd: ELF 64-bit LSB pie executable, ARM aarch64, version 1 (GNU/Linux), dynamically linked, interpreter /lib/ld-linux-aarch64.so.1, for GNU/Linux 3.7.0, with debug_info, not stripped
13:37:39:jdolan@dalaptop:~/acces-git/eNET_TCP_Server$

Name		Name	Last commit message	Last commit date
Latest commit History 149 Commits
.vscode		.vscode
apcilib		apcilib
image		image
.gitignore		.gitignore
Makefile		Makefile
README.md		README.md
README.txt		README.txt
apci_common.h		apci_common.h
apci_dev.c		apci_dev.c
apci_dev.h		apci_dev.h
apci_fops.c		apci_fops.c
apci_fops.h		apci_fops.h
apci_ioctl.h		apci_ioctl.h
build-and-copy.sh		build-and-copy.sh
build.sh		build.sh
eNET-AIO.h		eNET-AIO.h
eNET-builder.sh		eNET-builder.sh

accesio/apci-eNET

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Building the eNET image

overview

ti-sdk

overview

buildroot

Download and run

Patch the Linux kernel

Needed to boot

importing driver to kernel source tree

patch u-boot

Run the SDK make

buildroot

overview

Download and decompress buildroot you will be using.

copy config

Setup the overlay

Run make in ./buildroot/

Creating the SD card

Copy files to boot partition

Extract files to rootfs partition

enabling emmc boot

copy needed files to sd card. Then boot from sd card

copy u-boot files to boot partition

fdisk /dev/mmcblk0p1

for example commands see emmc-boot-write.sh

extract rootfs

Building the docker (updated 2023 01 22)

Overview

Setting up file system. Need to copy files to a staging directory for the docker build

kernel toolchain

kernel source

application toolchain

Contents of Dockerfile for eNET builder (You can ignore "file: could not find any valid magic files! (No such file or directory)" errors from relocate-sdk.sh

Using the enet-builder docker

There is a preexisting ACCES docker available on docker hub

Building kernel modules

Example run

Building userspace

example run

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