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L1253, System Manual ECUcore-9G20

1. eere eese eeu 74 Appendix A GNU GENERAL PUBLIC LICENSE Leer sere rere 76 Lake gt ER 81 SYS TEC electronic GmbH 2010 L 1253e 01 Page 4 System Manual ECUcore 9G20 1 Introduction Thank you that you have decided for the SYS TEC ECUcore 9G20 This product provides to you an innovative and high capacity single board computer subassembly with Linux operating system Due to its high performance on a small manufactured size and due to its low power consumption it is well suitable as communication and control processor for embedded applications Please take some time to read through this manual carefully It contains important information about the commissioning configuration and programming of the ECUcore 9G20 It will assist you in getting familiar with the functional range and usage of the ECUcore 9G20 This document is complemented by other manuals e g for the hardware of the module Table 1 in section 2 provides a listing of relevant manuals for the ECUcore 9G20 Please also refer to those complementary documents For more information optional products updates et cetera we recommend you to visit our website http www systec electronic com The content of this website is updated periodically and provides to you downloads of the latest software releases and manual versions Declaration of Electro Magnetic Conformity for ECUcore 9G20 EMC law The ECUcore 9G20
2. 71 home etc hotplug sh 71 projects ecucore setup 46 AD eee inte HE 27 INA IOg cre CR 27 var log hotplug log nennen 72 E E XUBUNTU EE 37 A ACCESSO Er 12 13 ele EE 24 Administration System requirements oannnnnooeaaaaennnnneenn 14 Aosta EE 17 AUSAT EE 17 B Sie 29 Boot cComtiguraton nennen 17 C GAIN ele 50 EE 11 ee 50 CHMOG WEEN 54 74 GO IMO m M 11 ee pm 11 GOMZ p 11 Configuration Belag at ue E 19 Readout and display 26 Configuration mode sss 15 Connection network drive 38 D paleis EE LA MU D MEE IU 25 Debugger commande nee 63 siii gm e 24 DEMO PO CC EE 56 GAN ANVerssse A 50 TORQUE 49 Development Board CONNECIONS aides crede dee he e emu soe aes 11 Gontr l elementis se 12 Development kt 10 e RE 28 DAOP essen 35 EGUcore 9620 eu er 19 SYS TEC electronic GmbH 2010 Dimensions EE 8 DIP Switch 1 Positioning and meaning 16 Driver Development Kit 13 68 E zelo 58 Configuring Debugger ni 61 Debugger commande een 63 DODUG GING rei 60 DSM DROS teen eier cad 58 Translating Droiect en 59 SCUCOIE SEUD ana 46 Embedded EIn x EE 9 EE 5 Environment variables 47 Biel 74 SE A 75 ETRO E 11 EXECHUON e 74 F FIC SY
3. candrv ko Kernelspace Module of the CAN Driver see section 7 4 1 http Demo files for the HTTP server compare section 5 14 mountnfs sh Script for a simplified integration of NFS directories into the file system of the ECUcore 9G20 see section 7 5 1 debug sh Script to simplify the start of Demo programs under the control of the Debug server see section 7 6 2 3 If necessary the delivery status of all files in the directory home may be restored by executing the setup script setup ecucore 9g20 sh The setup script setup ecucore 9920 sh is located in the directory SetupFlashdisk ECUcore 9G20 of the DVD SO 1105 Section 7 5 describes several possibilities to transfer this file onto the ECUcore 9G20 5 14 Using the HTTP server HTTP server boa is installed on the ECUcore 9G20 Hence the access to the module is possible via any WEB Browser e g Microsoft Internet Explorer Mozilla Firefox etc For the configuration of the server the file boa conf is used Upon starting the server the directory that the file contains must be identified via command line parameter c The delivery status of the ECUcore 9G20 includes Demo files in the directory home http The Demo files illustrate the application of the HTTP server To activate the Demo configuration the HTTP server boa must be started manually by indicating the Demo directory Therefore the user must first be logged in to the command shell of th
4. SYS TEC electronic GmbH 2010 L 1253e 01 Page 30 System Manual ECUcore 9G20 5 15 Updating the Linux Image Updating the Linux Image takes place via TFTP Trivial FTP within the Linux bootloader U Boot Therefore the development computer requires an appropriate TFTP server By default such a preconfigured TFTP server is already included in the VMware Image of the Linux development system To alternatively be able to run an update of the Linux Image from a Windows computer Freeware TFTPDS2 could be used for example see section 5 1 The Windows program only exists of one single EXE file that needs no installation and may be started immediately After the program start an appropriate work directory Current Directory should be set up by clicking the pushbutton Browse e g C ECUcore 9G20 This directory must contain the Linux Image for the ECUcore 9G20 root sum jffs2 Tftpd32 by Ph Jounin Current Directory CAECUcore 320 server interfaces ES 59 a Show Dir i About Settings Help Figure 23 TFTP server for Windows TFTPD32 One requirement for the TFTP download of the Linux Image is a completed Ethernet configuration of the ECUcore 9G20 according to section 5 4 In addition to the Ethernet connection a serial connection to the ECUcore 9G20 is necessary to update of the Linux Image Therefore all setups for the terminal program as described in section 5 2 1 are valid 115200 Baud 8 Databit 1 S
5. SYS TEC electronic GmbH 2010 L 1253e 01 Page 60 System Manual ECUcore 9G20 C0M1 115 00baud Tera Term YT IOl x File Edit Setup Control Window Help CUcore 9G20 login PlcAdn in assuord h d er Hount t nfs o nalock 192 168 10 82 tftpboot nnt nfz eno pcg h 3 2 nnt nfs denaft insnod pcg drv ko c ge drs nodule license TONI taints kernel isabling lock debugging due to kernel taint h 3 2 nnt nfs denatt qdbserver 192 169 10 92 10000 deng rocess deno created pid 491 istening on port 10000 Figure 52 Starting the Debug server on the ECUcore 9G20 To simplify this process the delivery status of the ECUcore 9G20 includes Shell script debug sh in the directory home This script summarizes all in this point 1 mentioned commands Hence the Shell script must be started in the Terminal program or Telnet client so that entering commands manually is no longer necessary ed debug sh Command cd without any parameter switched to the home directory home where the Shell script debug sh is located 2 Configuring the Debugger in the IDE only necessary once upon first call The configuration of the Debugger in the IDE is only necessary once upon first call The configuration takes place within Eclipse via menu item Run Debug Thus a configuration dialog opens as shown in Figure 53 Hence follow the steps listed below SYS TEC electronic GmbH 2010 L 1253e 01 Page 61 System Manual
6. demo SYS TEC electronic GmbH 2010 L 1253e 01 Page 56 System Manual ECUcore 9G20 CA Telnet 192 158 10 248 ECUcore G20 login PlcAdmin Password zh 3 zh 3 zh 3 z it mount t nfs o nolock 192 168 16 82 tftphoot mnt nfz he d du gd WfTde Tue nnt nfs demo ls nntnfs demo insmod pc qg2Hdru ko DD TEEAETUDE demo zh 3 zh 3 BERE BERE BERE RE RE ERE RE RE E ERE E RE RE RE EE EE RE RE RE re La demo application for SY YSTEC ECUcore 9G280 tce 2618 S YSTEC electronic GmbH Version 1 88 Build Har 18 2618 11 11 47 BERE BERE RE RE RE RE ERE E RE EE RE E ERE RE EE BE E RE RE RE ERE RE EE RE E RE E RE EE E E E E RE ERE RE RE RE KernelModule 1 HH UserLib 1 68 Hardware CPU Board 4258 08 HBIH gt CPU FPGA 1 84 HGH IO Board 4261 81 CHBi1H Conf ig HHABH 1 0 Driver version Driver FPGA interrupt selftest successful Start basic 1 0 main loop DI F8 4H HH DI F8 4H HH DI F8 4H HH DI F8 4H HH DI CF8 4H HH DI F8 4H HH DH HBH HBH H1 DH HBH HBH H2 D8 HH HB8 H4 DH H HS DH8 HBH HB 1H D8 HH HBH 2H hHex amp u Hx2H hHex amp u Hx2H hHex amp Su Hx2H hHex amp u Hx2H hHex amp u Hx2H hHex amp u Hx2H hDipSu HxBHH hDipSu HxBHH hDipSu HxBHH hDipS amp u HxBHH hDipSu HxBHH hDipSu HxBHH R H Su RUNH Rat H Su RUH R 53 M Su RUN R 5 M Su RUN R 5 M Su RUN R 53 M Su RUN h 3 2 mnt nfs demo _ Figu
7. SYS TEC electronic GmbH 2010 L 1253e 01 Page 70 System Manual ECUcore 9G20 9 Using the USB and SD interface 9 1 Using the USB interface The Embedded Linux used on ECUcore 9G20 supports the usage of USB devices via Hot Plug amp Play The ECUcore 9G20 functions as USB host and is able to address USB devices such as USB memory sticks All necessary drivers are already included in the Linux Image of ECUcore 9G20 Responses to plugging and removing USB memory sticks can be flexibly adjusted by the user mdev which is included in the Linux Image undertakes the signaling and processing of events on system level such as plugging or removing USB memory sticks All relevant events are further reported to the user specific Shell script home etc hotplug sh through an entry in configuration file ete mdev conf The default implementation of hotplg sh which is included in the scope of delivery of ECUcore 9G20 implements the following When a stick is plugged the Shell script home etc hotplug sh automatically mounts the new device into subdirectory mnt usb Linux command mount Afterwards the user specific script home etc diskadded sh is executed When the stick is removed the connection to the subdirectory is canceled Linux command umount and the user specific script home etc diskremoved sh processed Upon calling both scripts parameter 1 is assigned to both scripts as appropriate directory for the corresponding USB devic
8. Workspace fs ejissis ize som CP AVI glo 00 e do EE O Use this as the default and do not ask again Lal en Figure 49 Eclipse dialog Workspace Launcher After activating pushbutton OK the graphical surface of the IDE starts automatically and loads the workspace entered Figure 50 provides an overview of Eclipse after it started e Yol C C demo c Eclipse SDK VETTER File Edit Refactor Navigate Search Run Project Window Help ri D a a By e oa 9 i Biv Fle or Os zs fcic Debug D i C C Proj Si N Navigator C1 RUP BH outl Mak XN B get Run Stop Switch 4 Ux v demo bRSMSwitch PC9G20GetRSMSwitch b GS demo sin gt includes J bRSMSwitch SWITCH RUN P Ge include printf AnPlease set Run Stop Switch in Position RUN b Gg lib do P 6 demo c Makefile B dans while bRSMSwitch SWITCH RUN bRSMSwitch PC9620GetRSMSwitch B demo o printf nStart basic I O main Loop n n fRunning TRUE fLedState TRUE dwOutData 1 while fRunning set Run Error LED PC9G20SetRunLed fLedState PC9G20SetErrLed fLedState Problems GJ Console 23 Properties Debug No consoles to display at this time Writable Smart Insert 101 1 Figure 50 The graphical IDE Eclipse The source code of the demo program can be edited in the editor window By double clicking an entry in the project tree left all files of the p
9. 0x203 0x204 0x205 0x206 nun muuuu mug ggg Enter Main Loop Message 1 received CANID 6x166 Size 8 Echo Message CANID 8x280 Size 8 Send Echo Message Message 2 received CRNID 80x1806 Size 4 Echo Message CANID 6x266 Size 4 Send Echo Message Figure 43 Execution of Demo project hellocan on the ECUcore 9G20 Figure 44 shows data exchange with the Demo program hellocan in the CAN Bus analysis tool CAN REport CAN REport V3 5 1 localhost Iof x File Edit View Connection Extras Windows Help Cl ey La Eror NMT PDO SDO EMCY FLYMA o a Host 8 New connection to host localhost E 12686 056 1024 0x400 sD 68 61 6c 6c 6f 63 61 6e Bitrate kBit 1269342081 0 256 0x100 sD 00 01 02 03 04 05 06 07 12793 227 512 0x200 sD 00 01 02 03 04 05 06 07 State 1269342098 0 262 0x106 sD 11 22 33 44 connected 12749 776 518 0x206 sD 11 22 33 44 ASCII Time on off Set Mark Status Ext RTR Id Lengh BO B1 B2 B3 B4 BB B Repeat Time ms Message Name mr bs Emma T T T snd hb DU Figure 44 CAN analysis tool CAN REport SYS TEC electronic GmbH 2010 L 1253e 01 Page 51 System Manual ECUcore 9G20 7 5 Transferring programs to the ECUcore 9G20 The configuration of the module as described in section 5 4 is one requirement for transferring as well as starting programs on the ECUcore 9G20 Afterwards logi
10. Postmortem debugge Eclipse Application Name Main 69 Arguments Environment KEE Source E Common g g A Debugger gdbserver Debugger KM Stop on startup at Advanced Debugger Options Equinox OSGi Framework E Java Applet Java Application Ju JUnit Ju JUnit Plug in Test T Remote Java Application Ge SWT Application SYS TEC electronic GmbH 2010 Main Shared Libraries Connection GDB debugger arm none linux gn ueabi Browse Ecc Warning Some commands in this file may interfere with the startup operation of the debugger for example GDB command file run Standard mi fi O Verbose console mode GDB command set Protocol Apply Figure 54 Selecting the GDB Debugger L 1253e 01 Page 62 System Manual ECUcore 9G20 2 3 Configuring the connection to the Target see Figure 55 The configuration of the connection to the Target also takes place in Tabsheet Debugger Hence enter the appropriate information in section Debugger Options in Sub Tabsheet Connection see Figure 55 In area Host name or IP address the IP address of the ECUcore 9G20 as defined in section 5 4 must be entered 192 168 10 248 for the example above Enter the Port number defined in point 1 4 in area Port number when command gabserver is called for this example 10000 Create manage and run configurations S Ki thy 8 EB N
11. 13 00 42 ic 2000 by SYS TEC elctronic bubH M 1 00 RAH 32 HB lash 16 HB In sor ial ut serial rr serial et nach acbO Starting autonegotiation ach Autonegot iat ion conplete acb link up 100Kbps full duples lpa sche utoboot in 1 seconds Boot seteny serverip 192 168 10 82 Eoot gt tftp raot sun jffs acb link up 100 bp full duples lpa Osxchell sing nach device TP fron server 192 168 10 82 our IP address is 192 168 10 248 ilenane ront sun jffs2 oad address Ux2U000000 THHHHHHHHHE one ytes transferred 7039528 6bhadt hex Eoot gt erase norl 3 raze Flash Parition norl 3 bank O 0210430000 Delt ttt tt raged H sectors Boot cp b ifileaddr 0210430000 Gr les Lol opu to Flash done Boot gt l Figure 24 Downloading the Linux Image onto the ECUcore 9G20 SYS TEC electronic GmbH 2010 L 1253e 01 Page 32 System Manual ECUcore 9G20 After finishing the configuration all preconditions for the Linux Autostart must be re established according to section 5 2 1 After Reset e g pushbutton S405 on the Development Board the ECUcore 9G20 starts using the actual Linux Image Advice After the configuration is finished the serial connection between the computer and the ECUcore 9G20 is no longer necessary 5 16 Updating the bootloader U Boot Updating the U Boot bootloader is basically possible but it involves the ris
12. As alternative solution to Telnet client all commands can be edited via a Terminal program to COMO of the ECUcore 9G20 Suitable as Telnet client would be Te net which is included in the Windows delivery or TeraTerm which can also be used as Terminal program see above An FTP client allows for file exchange between the ECUcore 9G20 ETHO and the computer This allows for example editing configurations files by transferring those from the ECUcore 9G20 onto the computer where they can be edited and transferred back onto to the ECUcore 9G20 Downloading files onto the ECUcore 9G20 is also necessary to update software components Suitable as FTP client would be WinSCP which is available as Open Source download from http winscp net It only consists of one EXE file that needs no installation and can be booted immediately Furthermore freeware Core FTP LE downloadable from http www coreftp com or Total Commander integrated in the file manager are suitable as FTP client The TFTP server is necessary to update the Linux Image on the ECUcore 9G20 By default a preconfigured TFTP server is included in the VMware Image of the Linux development system To alternatively update the Linux Image from a Windows computer the freeware TFTPD32 downloadable SYS TEC electronic GmbH 2010 L 1253e 01 Page 14 System Manual ECUcore 9G20 from http tftpd32 jounin net is suitable The program only consists of one EXE file
13. NES C I RS ERE 10 4 2 X Electric commissioning of the Development Kit EC Ucore OC20 nnn 11 4 3 Control elements of the Development Kit EC Uceore goC20 12 44 Opt Oladl ACCESSONY E 12 4 4 4 USB RS232 Adapter Cable nennen nennen nnn nnns 12 4 4 2 Driver Development Kit DDK esses 13 5 EE and Administration of the ECUCore 9G20 KEN EEN 14 System requirements and necessary software tools 14 e Systeim start of the e EE 15 5 2 1 Activation Deactivation of Linux Autostart uusuunessnnennnnnnnnnnnnnennnne nennen 15 522 Me Un Tor dsel SOR rennen ern 17 5 3 Command prompt of the bootloader Boot 18 5 4 Ethernet configuration of the ECUlcore OoC20 nennen nnns 19 o 5 bogin To Ine ee EE 21 9 5 1 LOGin de The ee uge E TEE 21 992 LOJIMO Me mega 22 56 Predelined User ACCOUMIS ee 23 5 7 Adding and deleting user accounts ccccccccesssseececaeuececccuaueeceeecaaaseeesesuaaseeeeseuaseeeessaaes 24 5 8 How to change the password for user accounts uueneneeansnnennnnnennnnnonennnnnnnnonennn nenne nennen 24 cn MEE un ebin Eaui uic 25 5 10 Readout and displaying U Boot configuration data 26 5 11 Showing the installed Linux Version ccccccssseeeecceesseeeecceesseceecseauseeeecseaseeeesseaeseesssaaaes 27 5 12 File system of the EO Core 902 ee 27 5 13 Preinstalled files in the directory home 28 Sx Meaux 29 9 19 Upda
14. Open file Xubuntu ECUcore9G20 vmx in the program window of the Player by using the Open symbols see Figure 25 SYS TEC electronic GmbH 2010 L 1253e 01 Page 34 System Manual ECUcore 9G20 Commands Browse for available virtual machines When you select a virtual machine it opens in this VMware Player window s m Download a virtual appliance from VMware Virtual Appliance Lp Marketplace Y ou can then open it in VMware Player Download Featured Virtual Appliance Accellion File transfer virtual appliance An on demand file transfer solution that is secure economical and easy to use for end users and IT management Download VMware AEV Figure 25 Program window of the VMware Player using the Open symbol By executing an image VMware saves the Finger Print of the host computer in form of an UUID in the file vmx If the Linux VMware Image is started on another computer the dialog as shown in Figure 26 appears If the same Linux Image is not executed on another computer at the same time in the same network option moved it should be selected In doing so the MAC address of the virtual network card that was used so far remains valid in the host system If copied it is set the VMware generates a new MAC address for the host system This may involve that a new IP address is assigned to the development system The Linux Image is configured in a way so that it dynamically requests an IP address via DH
15. T Miel x File Edit Setup Control Window Help Boot 2009 11 00027 gb495467 Rar 09 2010 13 00 42 ic 2010 by SYS TEC elctronic GmbH V 1 00 32 HB 16 HB serial serial serial nach Starting autonegot iat ion Autonegot iat ion conplete link up I00Abps full duplex lpa Dxchel utoboot in 1 seconds Eoot gt setenw ipaddr 197 166 410 248 Boot gt seteny netnask 255 255 255 0 Eoot gt setenw gatenayip 0 0 0 0 Eoot gt seteny server Ip 192 168 10 82 Boot gt saweanw aving Environnent to Flash n Protected 1 sectors razing Flash dona Figure 9 Saving the module configuration of the ECUcore 9G20 Advice about the application of DHCP The Embedded Linux of the ECUcore 9G20 is able to request a dynamic IP address via DHCP Therefore the local IP address is to be configured as 0 0 0 0 setenv ipaddr 0 0 0 0 The following issues must be taken into consideration for the usage of DHCP e DHCP is only supported by Linux but not by the bootloader U Boot For example to update the Linux Image see section 5 15 it is necessary to assign a temporary static IP address to the module e Tocreate a Telnet or FTP connection to the ECUcore 9G20 the IP address must be known The present address that is dynamically assigned by DHCP can be determined using Terminal programs e g HyperTerminal or TeraTerm see section 5 1 via the serial interface COMO of the ECUcore 9G20 Therefore logging in to the comm
16. The IP address is to be defined by the network administrator To assign a dynamic IP address to the ECUcore 9G20 via DHCP value 0 0 0 0 must be entered as address Compare the advice about DHCP in the text below This command sets the network mask of the ECUcore 9G20 The network mask is to be defined by the network administrator This command defines the IP address of the gateway which is to be used by the ECUcore 9G20 The gateway address is set by the network administrator Advice If ECUcore 9G20 and Programming PC are located within the same sub net defining the gateway address may be skipped and value 0 0 0 0 may be used instead This command defines the IP address of the Linux development system It is used for example to update the Linux Image see section 5 15 as well as to include the Linux development system via NFS into the local file system of the ECUcore 9G20 see section 7 5 1 The procedure to determine the IP address of the Linux development system describes section 6 5 saveenv This command saves active configurations in the flash of the ECUcore 9G20 L 1253e 01 Page 19 System Manual ECUcore 9G20 Modified configurations may be verified again by entering printenv in the U Boot command prompt Active configurations are permanently saved in the Flash of the ECUcore 9G20 by command saveenv Modifications are adopted upon next Reset of the ECUcore 9G20 C0M1 115 00baud Tera Term
17. 10 829 7Lf0pbooOt mit mbs Use command cd to switch to NFS directory in the local file system cd mnt nfs demo Directory mnt nfs on the ECUcore 9G20 is identical with directory ftoboot of the Linux development system in the VMware Image Accordingly all files copied by the Makefile to directory tftoboot demo in the Linux development system are accessible by the ECUcore 9G20 in directory mnt nfs demo of its file system It is not necessary to explicitly download executable binary files to the ECUcore 9G20 The demo program needs the I O driver pc9g20arv to access the in and outputs on the ECUcore 9G20 Consequently command insmod must be used to explicitly load the driver insmod pc9g20drv ko Starting the demo program on the ECUcore 9G20 is controlled by the debug server Therefore command gabserver is required and is written as follows gdbserver ip vmware image port program args For the example above this would be the following call gdbserver 192 168 10 82 10000 demo Use 192 168 10 82 as IP address of the Linux development system compare section 6 5 for the determination of the IP address The port number following the colon may be chosen freely here 10000 but it must correspond with the port number of the Target connection within Eclipse as described in the following section 2 3 also compare Figure 55 Figure 52 illustrates the steps to be accomplished on the ECUcore 9G20
18. Linux development system onto the ECUcore 9G20 To mount directory tftpboot of the Linux Image into the local file system of the ECUcore 9G20 command mount must be used as follows mount t nfs o nolock ip vmware image tftpboot mnt nfs SYS TEC electronic GmbH 2010 L 1253e 01 Page 52 System Manual ECUcore 9G20 For example to attach the ECUcore 9G20 to the Linux development system via the IP address defined in section 6 5 the following command must be entered on the ECUcore 9G20 mount t nfs o nolock 192 1698 10 892 tftpboot umnt nfs Script mountnfs sh that is located in the home directory of the ECUcore 9G20 is able to simplify the usage of the mount command The user is automatically located in that home directory after login to the command prompt The IP address of the Linux Image must be given to that script as parameter Hence for the example above this would lead to the following call mountnfs sh 192 168 10 82 After the mount command is executed the entire content of directory tftoboot of the Linux Image including potential sub directories is available in the local directory mnt nfs of the ECUcore 9G20 Figure 45 summarizes all necessary steps to mount the Linux Image into the local file system of the ECUcore 9G20 COM1 115200baud Tera Term T IOl x File Edit Setup Control Window Help Insert HS server to etc resolw conf dona starting done las th link up 100 Fu1
19. Manual no L 1255 Hardware Manual Development Board 9G20 Manual no L 1256 Software Manual Driver Development Kit DDK for the ECUcore 9G20 Manual no L 1257 FPGA Manual PLCcore 9G20 Manual Nr L 1244 CAN Driver Software Manual Manual Nr L 1023 e Advanced Programming in the UNIX Environment Stevens Rago Addison Wesley e GNU Function List http www silicontao com ProgrammingGuide GNU function list SYS TEC electronic GmbH 2010 L 1253e 01 Page 6 System Manual ECUcore 9G20 Section 4 Section 5 Section 6 Section 7 Section 10 of this manual describes the electrical commissioning of the ECUcore 9G20 on the basis of the Development Kit ECUcore 9G20 exemplifies details about the usage of the ECUcore 9G20 such as configuration and administration of the module login to the system Ethernet configuration the start process and the file system describes the VMware Image with the Linux development system outlines the software development for the ECUcore 9G20 and explains the integration of the I O Driver into own applications as well as the procedure for translating user specific programs and their transfer onto the module and debugging provides tips amp tricks to simplify the usage of Linux This section is especially helpful for newcomers of using Linux SYS TEC electronic GmbH 2010 L 1253e 01 Page 7 System Manual ECUcore 9G20 3 Product Description The ECUcore 9G
20. SICIN WE 27 Files preinstalled cccseececcsseeceeseeeceeeeeeeseess 28 TS Ce E 28 um 54 Login to ECUcore 9G20 22 mule TR 14 EPSON O ae ee en eer 55 MOS E 54 116 0 dee LT 55 IW DINGI V ae a 26 G gabSerV6lt E 60 EI 9 H RS lee E 50 CT EE Ed Eeler 29 We eler 25 I ICON RV DRM 37 INSMOd EE 49 50 iodrvdemo nnn 69 J Ee Ee 27 L Bi RE 9 Linux VMware Imagge e 35 IU BOW EE 65 L 1253e 01 Page 81 System Manual ECUcore 9G20 M MARS een 56 Makel 47 Manuals ONEVIEW eene Wee 6 NOU Mase sa tacts oed ut Potsdam Ea dest En e deuote o3 N BRI 38 Network emvironment esses 37 NFS THOU DAE Dean o3 P ld RR TETTE 74 Predefined user accounts 23 development system 36 ptxdist KErnelCONTIG nennen 65 DEXGISHIMEMUCOMING cs nctuiw cect cuenetidonaca ded nent 66 ej fiiio ER 22 55 R Neie nn DU 31 S SDC P UM 73 DE AION Dal c tK 74 Sell RTO e EM 25 Setting system time esses 25 setup ecucore 99g20 sh sus 29 SENIOREN 34 SO 1 TODa aar tained t utut Recte 68 Software EE 45 Software update LINUX IMage aa 31 U Boot see als 33 SE Sta EE 17 T TAB completion A 74 Telnet Login to ECUcore 9G20 21 Login to Linux development system 38 Telnet chent 14 SYS TEC electronic GmbH 2010 Terminal p
21. Switch in Position RUN amp include b includes T lib b Gg include bRSMSwitch PC9G20GetRSMSwitch Build Project b Ge lib Clean Project mc while bRSMSwitch SWITCH RUN b s demo armle b La demo o armle Makefile printf nStart basic I O main loop n n 4 Problems amp Console 23 Properties Debug E r7 E r3j B C Build demo Make Settings CFLAGS 00 g Wall march armv5te mcpu arm926ej s mtune arm9tdmi msoft float I I I include D DEBUG LDFLAGS marchzarmv5te mcpu arm926ej s mtune arm9tdmi msoft float LDLIBS Compiling demo c Linking demo Done Copy executeable demo to destination tftpboot demo done Copy I O driver lib pc9g20drv ko to destination tftpboot demo done Figure 51 Translating the demo project in Eclipse If problems or warnings occur during translation e g as a result of modifying the demo project by the user they are clearly illustrated in IDE window Problems By double clicking an entry the IDE opens the corresponding source file and marks the row in the editor By double clicking entry Clean Project see Figure 51 all generated files are deleted Targets can be edited if entries Demo Project or Clean Project are clicked on with the right mouse button e g modifying the corresponding name 7 6 2 3 Debugging the demo project in the IDE One of the most considerable advan
22. development system It illustrates the access to in and outputs of the module Therefore the Demo project uses the assistance of the I O Driver filed in projects ECUcore 9G20 driver pc9g20drv Section 7 6 in much detail describes the Demo project as reference project for software development for the ECUcore 9G20 Prior to starting the Demo project command insmod is used to explicitly load the I O Driver Afterwards the Demo program can be called insmod pe9Sg20drv ko demo Figure 48 in section 7 6 1 exemplifies the execution of the Demo project on the ECUcore 9G20 The Demo project can be closed either by setting the Run Stop Switch to position MRes or by pressing Ctrl C 7 4 CAN Driver for the ECUcore 9G20 7 4 1 Integration of CAN Driver into own user projects For the integration into own user projects directory projects ECUcore 9G20 driver candrv of the Linux development system contains Header files and completely generated libraries of the CAN Driver for the ECUcore 9G20 The structure of the CAN Driver is identical to the I O Driver structure as specified in section 7 3 1 Hence the CAN Driver also is divided into a Kernelspace module candrv ko that is in charge for accesses to the CAN controller and a User space library candrv a Both components Kernelspace module and User space library are necessary to access the CAN Bus From the CAN Driver project directory the following files are relevant for the in
23. df DiskFree see Figure 20 CA Telnet 192 158 10 248 ECUcore G20 login PlcAdmin Password 1624 hblocks Used Available User Mounted on 1177 12 465 w i x deu 4 tmp x var log A FNAP run z uar lock home zh 3 2 Figure 20 Display of information about the file system Particular information about the system login and handling the Linux command shell of the ECUcore 9G20 is given attention in section 5 5 1 5 13 Preinstalled files in the directory home A Flash disk is bound to the directory home mounted It provides part of the on board Flash memory of the ECUcore 9G20 as file system This path is writable during runtime and serves as permanent storage for modifiable and updatable files such as configuration files or user programs see section 5 12 Upon delivery the ECUcore 9G20 includes the following files in the directory home SYS TEC electronic GmbH 2010 L 1253e 01 Page 28 System Manual ECUcore 9G20 home etc autostart Script that automatically starts user software see section 5 2 2 rc usr Optional user specific configuration script hotplug sh Scripts for response of connecting disconnecting USB Sticks diskadded sh see section 9 1 diskremoved sh bin pc9g20drv ko Kernelspace Module of the I O Driver see section 7 3 1 iodrvdemo Userspace program to test the hardware connection see section 8 2
24. for the execution file oc9g20drv ko are copied to directory tfipboot demo compare screenshot in Figure 47 All required steps are completed after the translation and copying is finished All further steps exclusively take place on the ECUcore 9G20 Therefore login to the command shell of the module is necessary see section 5 5 1 Afterwards the following steps must be executed in the Terminal program or Telnet client 1 Integration of directory projects tftoboot via NFS from the Linux development system to the local file system of the ECUcore 9G20 see section 7 5 1 mount t nfs o nolock 192 168 10 822 tftpbootc mnt ntfs 2 Switching to NFS directory in the local file system by using command cd cd mnt nfs demo Directory mnt nfs on the ECUcore 9G20 is identical with directory ftoboot of the Linux development system in the VMware Image Accordingly all files copied by the Makefile to directory tftoboot demo in the Linux development system are accessible by the ECUcore 9G20 in directory mnt nts demo of its file system It is not necessary to explicitly download executable binary files to the ECUcore 9G20 3 Starting the demo program on the ECUcore 9G20 Since the demo program accesses in and outputs of the ECUcore 9G20 it requires I O driver pc9g20arv to do so Consequently the I O driver must be loaded using command insmod Afterwards the demo program can be started insmod pc9g20drv ko
25. has been designed to be used as vendor part for the integration into devices further industrial processing or as Development Board for laboratory development hard and software development After the integration into a device or when changes extensions are made to this product the conformity to EMC law again must be assessed and certified Only thereafter products may be launched onto the market The CE conformity is only valid for the application area described in this document and only under compliance with the following commissioning instructions The ECUcore 9G20 is ESD sensitive and may only be unpacked used and operated by trained personal at ESD conform work stations The ECUcore 9G20 is a module for the application in automation technology It is programmable under Linux and uses CAN bus and standard Ethernet network interfaces for various solutions in the automation industry Moreover it uses the standardized CANopen network protocol Due to all those features the module implicates shorter development times at reasonable hardware costs SYS TEC electronic GmbH 2010 L 1253e 01 Page 5 System Manual ECUcore 9G20 2 Overview Where to find what The present document describes the commissioning of the ECUcore 9G20 based on the Development Kit ECUcore 9G20 as well as general procedures for software development of this module There are different hardware manuals for all hardware components such as the ECUcore 9G20 development b
26. is only completed after calling close For Shell scripts use command sync SYS TEC electronic GmbH 2010 L 1253e 01 Page 73 System Manual ECUcore 9G20 10 Tips amp Tricks for Handling Linux This chapter provides a brief summary of specific features that should be paid attention to when using Linux It is only possible to address most important issues If necessary more detailed information can be gathered from appropriate Linux reference books e Calling programs search path On the contrary to DOS Windows if acommand is called Linux only searches through paths defined in the environment variable PATH It does not search through the current directory For example to call program demo which is located in the current directory it must explicitly be pointed to the current directory by adding to the call Thus program demo would be called as demo Standard commands such as Is can be called without specifying the path because they are located within a path that is defined by the environment variable PATH e Calling programs execution rights To run a program in Linux the corresponding file must be explicitly marked as executable Responsible for this is the so called x Flag in the file attributes eXecuteable which are shown if Is la is called e g ls la mountnfs sh rwXr Xr X 1 1000 users 2236 Jan 21 2009 mountnfs sh If this Flag is not set the file is not marked as being executable and t
27. of the ECUcore 9G20 For logging in to the ECUcore 9G20 via the Windows standard Telnet client the command telnet must be called by using the IP address provided in section 5 4 e g telnet 122 169 10 228 Run eee EE Type the name of a program Folder document ar Internet resource and Windows will open it Far you Open telnet 192 166 10 248 Cancel Browse Figure 10 Calling the Telnet client in Windows Logging in to the ECUcore 9G20 is possible in the Terminal window if connected via COMO or in the Telnet window if connected via ETHO The following user account is preconfigured for the administration of the module upon delivery of the ECUcore 9G20 also compare section 5 6 User PlcAdmin Password Plc123 SYS TEC electronic GmbH 2010 L 1253e 01 Page 21 System Manual ECUcore 9G20 CA Telnet 192 158 10 248 EClcore 7G2H login PlcAdmin Password sh 3 2 H _ Figure 11 Login to the ECUcore 9G20 Figure 11 exemplifies the login to the ECUcore 9G20 using a Windows standard Telnet client 5 5 2 Login to the FTP server The ECUcore 9G20 has available a FTP server FTP Deamon that allows file exchange with any FTP client e g up and download of files to or from a computer Due to security and performance reasons the FTP server is deactivated by default and must be started manually if required Therefore the user must first be logged in to the command shell of the ECUcore 9G20 following
28. should exclusively be filed in directory home which is a from the Root file system independent partition All files that have been filed in other directories will get lost during an update In general one of the two RAM disk directories tmp or var log should be used for tests during the development phase if not anyway some parts of the Linux development system are integrated via NFS see section 7 5 1 SYS TEC electronic GmbH 2010 L 1253e 01 Page 27 System Manual ECUcore 9G20 Table 7 File system configuration of the ECUcore 9G20 Pan Io oecon home 4096 kByte Flash disk to permanently store files modifiable and updatable by the user e g user software and configuration files it is not overwritten during the update of the Linux kernel and Root file system data preservation in case of power breakdown tmp 8192 kByte RAM disk suitable as intermediate buffer for FTP downloads but no data preservation in case of power breakdown var log 1024 kByte RAM disk which is used by the system to store temporary files no data preservation in case of power breakdown mnt Target for integrating remote directories of other systems via NFS compare section 7 5 1 Advice Sizes of the file system directories tmp and var log may be modified through adjustment in the configuration file etc fstab oizes of file system paths that are configured or still available can be identified by using the Linux command
29. that needs no installation and can be booted immediately For programs that communicate via Ethernet interface such as FTP client or TFTP server it must be paid attention to that rights in the Windows Firewall are released Usually Firewalls signal when a program seeks access to the network and asks if this access should be permitted or denied In this case access is to be permitted 5 2 System start of the ECUcore 9G20 5 2 1 Activation Deactivation of Linux Autostart During standard operation mode the bootloader U Boot automatically starts the Linux operating system of the module after Reset or Power on Afterwards the operating system loads all further software components and controls the execution of user programs see section 5 2 2 For service purposes such as configuring the Ethernet interface see section 5 4 or updating the Linux Image see section 5 15 it is necessary to disable this Autostart mode and to switch to U Boot command prompt instead configuration mode The automatic boot of Linux operating system is connected with the simultaneous compliance with various conditions AND relation Consequently for disabling Linux Autostart it is sufficient to simply not comply with one of the conditions Table 4 lists up all conditions that are verified by the bootloader U Boot All of them must be complied with to start an Autostart for the Linux Image Table 4 Conditions for booting Linux No common nmn DIP
30. to be of the greatest possible use to the public the best way to achieve this is to make it free software which everyone can redistribute and change under these terms To do so attach the following notices to the program It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty and each file should have at least the copyright line and a pointer to where the full notice is found one line to give the program s name and a brief idea of what it does Copyright C year name of author This program is free software you can redistribute it and or modify it under the terms of the GNU General Public License as published by the Free Software Foundation either version 2 of the License or at your option any later version This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to the Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA Also add information on how to contact you by electronic and paper mail If the program is interactive make it output a short notice like this when it starts in an interactive mode Gnomovision version 69 Copyright C year name of a
31. transfer mode Binary 5 6 Predefined user accounts All user accounts in Table 6 are predefined upon delivery of the ECUcore 9G20 Those allow for a login to the command shell serial RS232 connection or Telnet and at the FTP server of the ECUcore 920 SYS TEC electronic GmbH 2010 L 1253e 01 Page 23 System Manual ECUcore 9G20 Table 6 Predefined user accounts of the ECUcore 9G20 PlcAdmin Plc123 Predefined user account for the administration of the ECUcore 9G20 configuration user administration software updates etc Sys123 Main user account root of the ECUcore 9G20 5 7 Adding and deleting user accounts Adding and deleting user accounts requires the login to the ECUcore 9G20 as described in section 5 5 1 Adding a new user account takes place via Linux command adduser In embedded systems such as the ECUcore 9G20 it does not make sense to open a directory for every user Hence parameter H disables the opening of new directories By using parameter h home instead the given directory home is rather assigned to the new user To open a new user account on the ECUcore 9G20 Linux command adduser is to be used as follows adduser h home H G group username Figure 15 exemplifies adding a new user account on the ECUcore 9G20 for user admin2 x Telnet 197 168 10 248 f DI x ECUcore G20 login PlcAdmin Password sh 3 2 adduser h home H G users admin Changing password f
32. 0 D0 I EFS 40 D0 I I F5 A0 00 I I F5 A0 00 I I F5 A0 00 I EFS 40 D0 00 00 00 01 00 00 00 02 00 00 00 04 00 00 00 08 00 00 00 10 00 00 00 20 00 00 00 40 00 00 00 40 00 00 01 00 00 00 02 00 00 00 04 00 00 00 06 00 00 00 10 00 bieutu Uuv Al bieutu Uuv Al bHe Su 0s20 bHe Su 04s20 bHe Su 04s20 bHesSu O0x20 bHe Su 0s20 bHe Su 04s20 bHe Su 04s20 bHesSu 04s20 bHe Su 04s20 bHesSu O0 20 bHe Su 04s20 bUipSu 0 00 bD ipSu 0 00 bD ipSu O 00 bUipSu O 00 bD ipSu 0 00 bD ipSu 0 00 bD ipSu O 00 bD ipSu 0 00 bD ipSu O 00 bD ipSu 0 00 bUipSu O 00 bUipSu 0 00 bD ipSu O 00 R Sz H Su RUM R Sz H Su RUM R Sr H Su RUM RY Sz H Su RUM R Sz H Su RUM BY Sz H Su RUM R Sr H Su RUM R Sr H Su RUM Ryo H Su RUM R Sr H Su RUM R Sz H Su RUM RY Sr H Su RUM R Sz H Su RUM Figure 57 Terminal outputs of the ECUcore 9G20 during debugging 7 7 Configuration and Translation of Linux Image and U Boot All Linux sources for the ECUcore 9G20 are filed in the VMware Image of the Linux development system in directory projects ECUcore 9G20 LinuxBSP 2 6 To modify the configuration of the Linux kernel use command cd in a console window to switch to the directory projects ECUcore 9G20 LinuxBSP 2 6 ptxdist ECUcore 9G20 Afterwards call command ptxdist kernelconfig od J7projects ECUcore 96020 LimuxBSP 2 6 ptxdist ECUGore 9620 ptxdist kernelconfig Figure 58 shows the typical surface for the configuration of L
33. 1 CUcore 9G20 login PlcAdn in assuord h 3 22 nountnfs sh 192 168 10 82 heck reachability of nfs server 192 168 10 82 server is online punt nnt nfz dona h 3 2 cd mnt nfz h 3 2 nnt nfstt ls la c 1000 10 4096 Har 15 2010 b root O Har 16 2010 e 1000 4096 Har 12 2010 deno e 1000 4096 Har 12 2010 hellocan e 1000 4096 Har 12 2010 iii 1 1000 039520 Har 18 2010 root sun jtfse 1 1000 5033878 Har 12 2010 root tgz 1 1000 165168 Har 12 2010 u boot bin h 3 2 nnt nfst ff Figure 45 Mounting the Linux Image into the local file system of the ECUcore 9G20 7 5 2 Using FTP As an alternative to the integration of the Linux Image into the local file system of the ECUcore 9G20 via NFS data may be transferred into both directions between the development computer and the ECUcore 9G20 via FTP There the ECUcore 9G20 can function as both server and client When executable programs are transferred via FTP connection it must be kept in mind that the X Flag in data attributes eXecuteable is always deleted Hence after each FTP transfer the X Flag must be set again by using command chmod also compare chapter Calling programs in section 10 Tips amp Tricks for Handling Linux chmod X mountnfs sh SYS TEC electronic GmbH 2010 L 1253e 01 Page 53 System Manual ECUcore 9G20 7 5 2 1 ECUcore 9G20 as FTP client If the ECUcore 9G20 is used as FTP client the Linux development system acts as
34. 1 This interface is used for the configuration of the unit e g setting the IP address and for the diagnosis or debugging It can be used freely for general operation of the user program COM 1 RS232 X300 Interface can be used freely for the user program COM RS232 X302 Interface can be used freely for the user program CANO CAN X303 Interface can be used freely for the user program Figure 3 shows the positioning of the most important connections of the Development Board for the ECUcore 9G20 Instead of using the 24V DC power adapter included in the Kit the power supply may optionally take place via X601 with an external source of 24V 1A ETHO 24V 1A Figure 3 Positioning of most important connections on the Development Board for the ECUcore 9G20 SYS TEC electronic GmbH 2010 L 1253e 01 Page 11 System Manual ECUcore 9G20 4 3 Control elements of the Development Kit ECUcore 9G20 The Development Kit ECUcore 9G20 allows for easy commissioning of the ECUcore 9G20 It has available various control elements to configure the module and to simulate in and outputs for the usage of the ECUcore 9G20 as the main component of an industrial control Table 3 lists the control elements of the Development Board and describes their meaning Table 3 Control elements of the Development Board for the ECUcore 9G20 Cowsemen name Weaning Digital Output DOS Poti ADC H429 Analog Input AIO Run Stop Switch S404 C
35. 1 of ECUcore 9G20 Off DIP Switch 1 on the ECUcore 9G20 and module connection BOOT are electrically connected in AND parallel Only if both elements are not active DIP switch 1 open module connection BOOT not active the Connection BOOT High Signal BOOT is at level H for ECUcore 9G20 and pushbutton S406 on the releases the Linux Autostart Development Board not The position of DIP Switch 1 on the ECUcore 9G20 is pressed shown in Figure 5 the position of connection BOOT on the module pin connector is defined in the Hardware Manual ECUcore 9G20 Manual no L 1255 No abort of Autostart via COMO If the conditions above are met U Boot checks the of the ECUcore 9G20 serial interface COMO of the ECUcore 9G20 for about 1 second after Reset regarding the reception of SPACE signals ASCII 20H If such a signal is received within that time U Boot will disable the Linux Autostart and will activate its own command prompt instead SYS TEC electronic GmbH 2010 L 1253e 01 Page 15 System Manual ECUcore 9G20 After activating the Reset pushbutton e g pushbutton S405 on the Development Board the U Boot command prompt answers Figure 5 shows the positioning and meaning of DIP Switch 1 on the ECUcore 9G20 This DIP Switch might be hard to access of the module is built in Thus the Portpin of the processor that is connected to the switch is available as connection BOOT on the pin connector of the ECUcore 9
36. 20 is another innovative product that extends the SYS TEC electronic GmbH product range within the field of control applications In the form of an insert ready core module Core it provides to the user a complete single board computer subassembly that is programmable under Linux and has available several extension interfaces Because of its high performance and numerous on board interfaces the ECUcore 9G20 is very suitable for realizing peripheral control tasks Li SE ah i Ke e eg ab 44t paw pit b owe E H k LT i T AC D a A K E TITLE C mU Y B E Figure 1 Top view of the ECUcore 9G20 These are some significant features of the ECUcore 9G20 e High performance CPU kernel Atmel 32 Bit AT91SAM9G20 400 MHz CPU Clock 440 MIPS 32 MByte SDRAM Memory 16 MByte FLASH Memory max 64 MByte SDRAM Memory 64 MByte FLASH Memory on board FPGA ECP2 6 1x 10 100 Mbps Ethernet LAN interface with on board PHY 1x CAN 2 0B interface 2x USB 2 0 Host 1x USB 2 0 Device 2x SD Card 5x Asynchronous Serial Ports UART 1x SSC 19 digital inputs 8 digital outputs standard configuration modifiable via DDK 3 analog inputs ADC 4 high speed counter Pulse Dir or A B 4 PWM PTO output Pulse Dir Externally usable SPI and I C On board peripherals RTC temperature sensor watchdog power fail input Operating system Linux Small dimensions 78 x 54 mm Making available a complete single board comput
37. 9g20drv so Image TCP IP prep dis C Source Code Kernelspace SPI Driver DC Driver VO Driver PLD Programming Driver Part of the Part of the Kernel Module plddrv ko LinuxBSP LinuxBSP pc9g20drv ko Hardware VHDL Source Code ADC ADS7822 TMP101 GPIO Figure 60 Overview of the Driver Development Kit for the ECUcore 9G20 SYS TEC electronic GmbH 2010 L 1253e 01 Page 68 System Manual ECUcore 9G20 Scope of delivery components of the DDK The DDK contains the following components 1 VHDL project for the FPGA comprises all files necessary to regenerate FPGA software VHLS source files pin assignment timing settings project file etc 2 Source code for the Linux kernel driver pc9g20arv ko see Figure 60 includes all files necessary to regenerate kernel drivers C and H files Make file etc 3 Source code for the Linux user library pc9g20arv so see Figure 60 contains all files incl implementation of Shared Process Image necessary to regenerate a user library C and H files Make file etc 4 PLD FPGA Programming Tool platool plddrv ko enables a FPGA software update using Linux without additional JTAG hardware 5 O driver demo application odrvdemo in the source code allows for a quick and trouble free test of the I O drivers 6 Documentation The Driver Development Kit is based on the software package SO 1105 VMware Image of the Linux development system It contains sources o
38. CP client 150 1105 DevSystem ECUcore 9G20 50 1105 DevSystem ECUcore 9G20 Ea ch This virtual machine may have been moved or copied In order ta configure certain management and networking features VMware Workstation needs to know which Did you move this virtual machine or did you copy it IF you don t know answer copied it C copied it Figure 26 VMware selection dialog to generate or remain the MAC adaress Figure 27 shows the desktop of a Linux development system after starting the Linux Image in the VMware Player SYS TEC electronic GmbH 2010 L 1253e 01 Page 35 System Manual ECUcore 9G20 2 Applications Bi Places Es 8 2 GDBD 08 49 ur l L3 f A ay Terminal a Cem ste To direct input to this virtual machine press Ctrl G Figure 27 Desktop of the Linux development system 6 4 User accounts to log in to the Linux development system Table 9 lists up all predefined user accounts for logging in to the Linux development system Table 9 Predefined user accounts of the Linux development system Local console User vmware Predefined user account within the Linux Terminal normal user Password vmware development system rights Administrator rights Command sudo The Linux development system that is used Password vmware does not support explicit login as root to execute a command with administrator rights Linux command sudo can be put in front if required e g sudo cat etc
39. ECUcore 9G20 2 1 Determining the program that is to be executed in the Debugger see Figure 53 Therefore the name of the program that is to be debugged must be entered in Tabsheet Main in area C C Application this would be demo for the above example Create manage and run configurations Sex ea x type filter text E C C Attach to Local Applic w c C C Local Application Name CY o Arguments PS Environment Debugger amp Source Common Project c demo E C C Postmortem debugger Eclipse Application Equinox OSGi Framework E Java Applet m See C C Application J ere meat See M Connect process input amp output to a terminal 1 Java Application Ju JUnit Ju JUnit Plug in Test 31 Remote Java Application E7 SWT Application Figure 53 Determining the application that is to be debugged 2 2 Selecting the GDB Debugger to be used see Figure 54 Host sided use the GDB Debugger that is included in the GNU Crosscompiler Toolchain for ARMS processors To select it activate Tabsheet Debugger Enter GDB Debugger of the Crosscompiler Toolchain in section Debugger Options in Sub Tabsheet Main area GDB debugger see Figure 54 for the above example this would be arm none linux gnueabi gab Create manage and run configurations te x e type filter text E C C Attach to Local Applic v c C C Local Application c demo E C C
40. G20 see Hardware Manual ECUcore 9G20 Manual no L 1255 DIP1 ON DIP1 Off Stop in U Boot Boot Linux amp Config Mode Start Applications 5 un gi TL 3354 ae Figure 5 Positioning and meaning of DIP Switch 1 on the ECUcore 9G20 Communication with the bootloader U Boot only takes place via the serial interface COMO of the ECUcore 9G20 As receiver on the computer one of the terminal programs must be started e g HyperTerminal or TeraTerm see section 5 1 and must be configured as follows see Figure 6 115200 Baud 8 Data bit 1 Stop bit no parity no flow control SYS TEC electronic GmbH 2010 L 1253e 01 Page 16 System Manual ECUcore 9G20 Tera Term Serial port setup x Port Baud rate h s200 gt Data fa bit Cancel Parity none gt Stop bn gt Help Flow control none gt Transmit delay fo msec char fo msecfline Figure 6 Terminal configuration using the example of TeraTerm 5 2 2 Autostart for user software By default the ECUcore 9G20 starts running the Linux operation system upon Power on or Reset which loads all necessary software components to execute the user software afterwards Hence the ECUcore 9G20 is suitable for the usage in autarchic control systems In case of power breakdown such systems resume the execution of control programs independently and without user intervention Figure 7 shows the system start in detail Power on Reset For more de
41. I O Driver are relevant for the integration into own user projects pc9g20drv h projects ECUcore 9G20 driver pc9g20drv include pc9g20drv h Header file to describe the Driver interface This Header file is to be integrated into the Source code c of the user project via include pc9g20arv a projects EC Ucore 99g20 ariver pc9g20arv lib pc9g20arv a User space library of the I O Driver to be statically linked to the user application similar to static standard libraries of the C development environment If statically linked the User space library is intrinsically linked to the user application and cannot be separated This implies the advantage that explicit library paths must no longer be indicated when the application is started on the ECUcore 9G20 pc9g20arv so projects ECUcore 9G20v ariver pc9g20arv lib pc9g20arv so User space library of the I O Driver to be dynamically loaded by the user application during runtime similar to the usage of DLL in Windows This version of the User space library is loaded into the address space of the user application during runtime This implies the advantage that Driver libraries and user application are independent from each other and therefore interchangeable Different user applications together can use the same version of the Driver library Therefore the environment variable LD LIBRARY PATHz must be set on the ECUcore 9G20 eg export LD LIBRARY PATH pc9g20arv ko projects ECUcore 9G20 a
42. It illustrates the access to the CAN interfaces of the module Therefore the Demo program needs the CAN Driver that is filed in projects ECUcore 9G20 driver candrv To demonstrate information exchange via the CAN Bus an appropriate receiver is needed Therefore the CAN analysis tool CAN REport in combination with an USB CANmodul is well suitable By using CAN REport any CAN messages can be sent and received see Figure 44 Advice the USB CANmodul and CAN REport are not included on the scope of delivery of Development Kit ECUcore 9G20 Both products are available as Bundle under order number SO 1054 U Demo program hellocan uses 125kBit s as Bitrate After being started it initially generates 10 channels to receive CAN messages and 10 channels to send them Reception area CAN messages within the Identifier area 0x100 0x109 Send area CAN messages within the Identifier area 0x200 0x209 After successfully completing initialization the Demo program hellocan only once sends a CAN message with Identifier 0x400 and data 68 61 6C 6C 6f 63 61 6E ASCII hellocan to the Bus Afterwards it passes on to its main loop in which it waits for receiving CAN messages in the specified Identifier area Ox100 0x109 When a CAN message is received it is sent back as echo increased by 0x100 Identifier equals Identifier area 0x200 0x209 Figure 43 shows the execution of Demo project hellocan on the ECUcore 9G20 The Demo project can
43. NUX KDIR PATH S ARM9G20 LINUX BSP PATH linux 2 60 ARM9G20 CC PATH SARM9G20 BASE PATH toolchain arm 2009q3 bin ARM9G20 CC PREFIX SARM9G20 CC PATH arm none linux gnueabi ARM9G20 CFLAGS ARM9G20 GDB PATH SARM9G20 CC PATH export ARM9G20 BASE PATH export ARM9G20 LINUX BSP PATH export ARM9G20 LINUX KDIR PATH export ARM9G20 CC PATH export ARM9G20 CC PREFIX export ARM9G20 CFLAGS export ARM9G20 GDB PATH add toolchain to PATH export PATH SARM9G20 CC PATH S PATH add ptxdist to PATH export PATH SARM9G20 LINUX BSP PATH ptxdist bin S 9PATH The template in path orojects EC Ucore 9G20 user demo should be the initial point to develop own programs or Vm xubuntu projects EC Ucore 9G20 user demo in the Windows network environment Hereby variables defined in Makefile demo source Makefile and references to GNU Crosscompiler Toolchain for ARM9 processors based on definitions in orojects ecucore setup are especially relevant SYS TEC electronic GmbH 2010 L 1253e 01 Page 46 System Manual ECUcore 9G20 CDEFS S ARM9G20 CFLAGS CFLAGS 00 g Wall march armv5te mcpu arm926ej s mtune arm9tdmi msoft float S INCLUDES CDEFS LDFLAGS march armv5te mcpu arm926ej s mtune arm9tdmi msoft float CROSS S ARM9G20 CC PREFIX CC S COROSS gOC STRIP S CROSS strip AR S CROSS ar Calling Tools via an appropriate Macro such as CC takes place within the Makefile S CC S CFLAGS 0 S EXEC de
44. RUNNING MTU 16436 Metric l RA pacxets 860 errors dropped O overruns O frame 0 TX pacxets 80 errors dropped 0 overruns 0 carrier collisions 0 txqueuelen 0 RA bytes 58 76 5 8 KB TA bytes 58 6 5 8 KB vmware vm xubuntu Figure 28 Determining the IP address of the Linux development system 6 6 Access to the Linux development system from a Windows computer 6 6 1 Access via Windows network environment The access to files in the Linux development system via Windows network environment is possible by using the Samba server that is installed in the VMware Image This allows for comfortable creation and editing of source codes by using any Windows editor such as the Visual Studio The file system of the Linux development system in the Windows network environment is accessible from path Workgroup under computer name Vm xubuntu also compare Table 9 in section 6 4 File Edit View Favorites Tools Help C9 ack Ed c Bi 4 Search Folders tFEpbant E S Printers and Faxes Figure 29 Linux development system in Windows network environment After double clicking the symbol users see Figure 29 login is possible as user vmware with the corresponding password vmware see Figure 30 In conclusion path Wm xubuntu users is accessible SYS TEC electronic GmbH 2010 L 1253e 01 Page 37 System Manual ECUcore 9G20 Connect to vm xubuntu ajx S 3 Connecting to Vm xubunku User name Q5
45. SYS TEC System Manual ECUcore 9G20 User Manual Version 1 0 Edition March 2010 Document No L 1253e 01 SYS TEC electronic GmbH August Bebel Stra e 29 D 07973 Greiz Telefon 49 3661 6279 0 Telefax 49 3661 6279 99 Web http www systec electronic com Mail info systec electronic com SYS TEC electronic GmbH System House for Distributed Automation Solutions System Manual ECUcore 9G20 Status Changes Status released 1 0 SYS TEC electronic GmbH 2010 L 1253e 01 Page 1 System Manual ECUcore 9G20 This manual includes descriptions for copyrighted products that are not explicitly indicated as such The absence of the trademark symbol does not infer that a product is not protected Additionally registered patents and trademarks are similarly not expressly indicated in this manual The information in this document has been carefully checked and is believed to be entirely reliable However SYS TEC electronic GmbH assumes no responsibility for any inaccuracies SYS TEC electronic GmbH neither guarantees nor accepts any liability whatsoever for consequential damages resulting from the use of this manual or its associated product SYS TEC electronic GmbH reserves the right to alter the information contained herein without prior notification and does not accept responsibility for any damages which might result Additionally SYS TEC electronic GmbH neither guarantees nor assumes any liability for damages ari
46. TEC electronic GmbH 2010 L 1253e 01 Page 63 System Manual ECUcore 9G20 Figure 56 shows the Debugging process of the Demo program within the IDE Eclipse Ifthe mouse pointer is positioned to a variable its current value is shown A Debug demo c Eclipse SDK ta WR NENNEN File Edit Refactor Navigate Search Run Project Window Help ri 0 q amp E far Br i t or o zt Goen 3 Debug Debug amp A px Variables 23 Breakpoints Registers Modules om e mp D 2 Q i ov els KT v E demo C C Local Application El name value D v amp gdbserver Debugger 3 19 10 12 21 PM Suspended 69 nArgCnt p 1 vw a Thread 1 Suspended b pszArg_p Oxbecd3e04 d 1 maint projects ECUcore 9G20 user demo source demo c 119 gt F pl arm none linux gnueabi gdb 3 19 10 12 21 PM END Iq gt EBEN Makefile B b Outline 3 m initialize ECUcore 9G20 board driver a so dwDrvVer 0 a bRetCode PC9G20Initialize amp dwDrvVer stdio h 4 printf I O Driver version KernelModule u 02u UserLib u 02u n J stdlib h WORD dwDrvVer gt gt 24 amp OxFF WORD dwDrvVer gt gt 16 amp OxFF eu WORD dwDrvVer gt gt 8 amp OxFF WORD dwDrvVer gt gt amp OxFF sn if bRetCode PC9G20DRV SUCCESSFUL S sys ioctl h S sys types h printf ERROR Could not open board driver n n au ae sys time h fcntl h Y EJ Console 23 Tasks M
47. The access with Telnet client directly takes place via the IP address of the Linux development system Section 6 5 describes how the IP address of the Linux development system can be determined To login to the Linux development system via the Telnet client included in Windows by default call command telnet and enter the IP address The procedure is analog to the login to the command shell of the ECUcore 9G20 compare Figure 10 in section 5 5 1 e g celne 192 16002 10 02 Login as user vmware with the corresponding password vmware is possible in the Telnet window also see Table 9 in section 6 4 SYS TEC electronic GmbH 2010 L 1253e 01 Page 38 System Manual ECUcore 9G20 Telnet 192 168 10 58 Ubuntu 8 18 um xubuntu login umuvare Password Last login Wed Jan 14 14 69 44 UTC 2669 from Ws sieherl systec electronic de on EP Linux um xuhuntu 2 6 27 9 generic 1 SMP Thu Mov 28 21 57 66 UTC 2668 1686 The programs included with the Uhuntu system are free software the exact distribution terms for each program are described in the individual files in usr share doc copyright Ubuntu comes with ABSOLUTELY HO WARRANTY to the extent permitted hy applicable law To access official Ubuntu documentation please visit http help ubuntu com umnvarelum xubuntu ls projects EGllcore 5484 ecucore setup lost found tftphoot tmp mwareB um xubuntu m Figure 31 Access to the Linux development s
48. ame demo type filter text E E EE E Main 69 Arguments PS Environment EET Source Common C C Attach t Appli E CIC Attach to Local Applic Debugger gdbserver Debugger v E C C Local Application c demo M Stop on startup at main Advanced c C C Postmortem debugge M Debugger Options Eclipse Application Main Shared Libraries Connection Equinox OSGi Framework E Java Applet Type TCP 1 Java Application Host name or IP address IKRLTRIeKERGZ Ju JUnit J junit Plug in Test Port number 10000 31 Remote Java Application fe SWT Application Apply Revert ECCE Figure 55 Configuring the connection to the Target Thus the configuration of the Debuggers is completed By activating pushbutton Debug the Debugger starts with the current settings 3 Executing the Debugger in the IDE After the configuration described in point 2 is completed the Debugger can be called in Eclipse via menu item Run Debug Last Launched Thereby the IDE switched from C C Perspective to Debug Perspective see Figure 56 Table 10 lists up the most important Debugger commands Table 10 Overview of most important Debugger commands Command Function F5 al Step Into F6 ra Step Over AE F7 Step Return F8 a Run if necessary until the next Breakpoint Ctrl Shift B Double click Toggle Line Breakpoint SYS
49. and shell of the ECUcore 9G20 must be accomplished as described in section 5 5 1 Afterwards the current IP address may be queried using command ifconfig After completing the configuration all preconditions for a Linux Autostart must be re established according to section 5 2 1 After Reset e g pushbutton S405 on the Development Board the module starts with current settings SYS TEC electronic GmbH 2010 L 1253e 01 Page 20 System Manual ECUcore 9G20 Advice After the configuration is finished the serial connection between the computer and the ECUcore 9G20 is no longer necessary 5 5 Login to the ECUcore 9G20 5 5 1 Login to the command shell The administration and the software development require the entry of Linux commands in the command shell of the ECUcore 9G20 Therefore the user must be directly logged in at the module There are two possibilities to login e Logging in possible by using a Terminal program e g HyperTerminal or TeraTerm see section 5 1 via the serial interface COMO of the ECUcore 9G20 analog to the procedure described for the Ethernet configuration in section 5 4 For the configuration of the terminal settings pay attention to only use CR carriage return as end of line character Login with user name and password is not possible for CR LF carriage return line feed e Alternatively the login is possible using a Telnet client e g Telnet or also TeraTerm via the Ethernet interface ETHO
50. aring and reuse of software generally NO WARRANTY 11 BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE THERE IS NO WARRANTY FOR THE PROGRAM TO THE EXTENT PERMITTED BY APPLICABLE LAW EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU SHOULD THE PROGRAM PROVE DEFECTIVE YOU ASSUME THE COST OF ALL NECESSARY SERVICING REPAIR OR CORRECTION 12 IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER OR ANY OTHER PARTY WHO MAY MODIFY AND OR REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE BE LIABLE TO YOU FOR DAMAGES INCLUDING ANY GENERAL SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES END OF TERMS AND CONDITIONS SYS TEC electronic GmbH 2010 L 1253e 01 Page 79 System Manual ECUcore 9G20 How to Apply These Terms to Your New Programs If you develop a new program and you want it
51. at you distribute or publish that in whole or in part contains or is derived from the Program or any part thereof to be licensed as a whole at no charge to all third parties under the terms of this License C If the modified program normally reads commands interactively when run you must cause it when started running for such interactive use in the most ordinary way to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty or else saying that you provide a warranty and that users may redistribute the program under these conditions and telling the user how to view a copy of this License Exception if the Program itself is interactive but does not normally print such an announcement your work based on the Program is not required to print an announcement These requirements apply to the modified work as a whole If identifiable sections of that work are not derived from the Program and can be reasonably considered independent and separate works in themselves then this License and its terms do not apply to those sections when you distribute them as separate works But when you distribute the same sections as part of a whole which is a work based on the Program the distribution of the whole must be on the terms of this License whose permissions for other licensees extend to the entire whole and thus to each and every part regardless of who wrote it Thus it is not the intent of
52. atatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatatata TH TH TH TH TH TH TH ta ta IZO Driver version KernelModule 1 66 UserLib 1 66 Hardware CPU Board 4258 88 lt H 1H gt CPU PLD 1 84 lt cHB6H gt IO Board 4261 81 UH IO config Digital In 1 Digital Out Analog In Analog Out Counter PUM PTO TempSensor Conf ig Driver PLD interrupt selftest successful Please Select 6 Exit this application Run Basic 1 0 test digital I O and user switches Run Counter test Run PWM test pre configured demo Run PUM test manual parameter input Run PTO test pre configured demo Run PTO test manual parameter input Run fiDC test Run EEPROM test Run Temperature Sensor test Select 1 Basic I 0 Test Start basic I 0 main loop DI xF8 80x48 80x88 DI 8xF8 8x40 8x88 DI xF8 80x48 80x88 DI 8xF8 8x40 8x88 DI 8xF8 8x40 8xB88 DI 8xF8 8x40 8x80 DH Ha HH Ha HH Ha HI D8 8x88 80x880 80x802 D8 8x88 8x880 80x804 DH Ha HH Ha HH Ha Hi DH Ha 5 15 Ha HH Hal 8 D8 8x880 8x800 80x20 press ESC to abort bHexSuitch 8x28 bHexSwitch 6x26 bHexSuitch 8x28 bHexSuitch 8x28 bHexSuitch 8x28 bHexSwitch 6x26 bDipSwitch 6x66 bDipSwitch 6x66 bDipSwitch 6x66 bDipSwitch 6x66 bDipSwitch 6x66 bDipSwitch 6x66 R S M Switch R S M Switch R S M Switch R S M Switch R S M Switch R S M Switch Figure 61 Testing the hardware connections using iodrvdemo
53. ated so long as such parties remain in full compliance 5 You are not required to accept this License since you have not signed it However nothing else grants you permission to modify or distribute the Program or its derivative works These actions are prohibited by law if you do not accept this License Therefore by modifying or distributing the Program or any work based on the Program you indicate your acceptance of this License to do so and all its terms and conditions for copying distributing or modifying the Program or works based on it 6 Each time you redistribute the Program or any work based on the Program the recipient automatically receives a license from the original licensor to copy distribute or modify the Program subject to these terms and conditions You may not impose any further restrictions on the recipients exercise of the rights granted herein You are not responsible for enforcing compliance by third parties to this License 7 f as a consequence of a court judgment or allegation of patent infringement or for any other reason not limited to patent issues conditions are imposed on you whether by court order agreement or otherwise that contradict the conditions of this License they do not excuse you from the conditions of this License If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations then as a consequence you may not distribute th
54. ation is included without limitation in the term modification Each licensee is addressed as you Activities other than copying distribution and modification are not covered by this License they are outside its scope The act of running the Program is not restricted and the output from the Program is covered only if its contents constitute a work based on the Program independent of having been made by running the Program Whether that is true depends on what the Program does 1 You may copy and distribute verbatim copies of the Program s source code as you receive it in any medium provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty keep intact all the notices that refer to this License and to the absence of any warranty and give any other recipients of the Program a copy of this License along with the Program You may charge a fee for the physical act of transferring a copy and you may at your option offer warranty protection in exchange for a fee 2 You may modify your copy or copies of the Program or any portion of it thus forming a work based on the Program and copy and distribute such modifications or work under the terms of Section 1 above provided that you also meet all of these conditions a You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change b You must cause any work th
55. ave Close Figure 13 Login settings for WinSCP After using pushbutton Login the FTP client logs in to the ECUcore 9G20 and lists up the current content of directory home in the right window Figure 14 shows the FTP client WinSCP after successful login to the ECUcore 9G20 Ts ECUcore 9G20 PlcAdmin 192 168 10 248 WinSCP mi sl Local Mark Files Commands Session Options Remote Help Heel tn id Default i 3 SG e Bi en D See C HardDisk gar ch Ea Um home i e fal is KR CECUcore IG20 home Size Changed pem 17 589 File 3192010 4 31 50 AM ca 11130 2009 7 48 AM rwxr xr x Es pc9gz0drv ko 17 392 KO File 319 2010 4 31 50 AM ca etc 2125 2010 3 40 DM rwxr xr x http 11130 2009 7 48 AM rwxr xr x debug sh 3 201 311012010 2 06 PM rwxr xr x Ei mountnfs sh 2 159 311712010 2 27 PM rwxr xr x OB of 34 381 B in O of 2 OB of 5 350 B in Oot 5 P F2 Rename Ei F4 Edit Es F5 Copy FG Move Es F7 Create Directory A F Delete EST F9 Properties WL F10 Quit B FTF Figure 14 FTP client for Windows WinSCP After successful login configuration files on the ECUcore 9G20 may be edited by using pushbuttons F4 or F4 Edit within the FTP client WinSCP select transfer mode Text With the help of pushbutton F5 or F5 Copy files may be transferred between the computer and the ECUcore 9G20 e g for data backups of the ECUcore 9G20 or to transfer installation files for firmware updates select
56. be closed by pressing Ctrl C SYS TEC electronic GmbH 2010 L 1253e 01 Page 50 System Manual ECUcore 9G20 c Telnet 192 168 10 248 E ECUcore 9G28 login PlcAdmin Password sh 3 2 mountnfs sh 192 168 10 82 Check reachability of nfs server 192 168 18 82 server is online mount mnt nfs done cd mnt nfs hellocan mnt nfs hellocan ls su ko mnt nfs hellocan insmod candrv ko mnt nfs hellocan hellocan CAN demo application for SYSTEC ECUcore 9G28 lt c 2818 SYSTEC electronic GmbH Build i Mar 23 2616 18 38 18 KRHRAHKKKHHKHHKHK KHK HH TH TH FH TH FH TH TH TH TH TH FH TH FH TH TH TH TH TH FH TH TH TH TH TH HH HH HEHE Runtime configuration Supported instances 1 DevNumber H Bitrate 125kBaud Initialize CAN Device Number Register Rx CAN ID pool Register GAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register Rx CAN ID Register Tx CAN ID po Register GAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID Register CAN ID 0x207 Register CAN ID 0x2808 Register Tx CAN ID 0x209 Register Tx CAN ID for hello message Register Tx CAN ID Baan ok Send hello message ok 6x166 x1 1 Bx182 0x103 Bx184 x1 5 x1 6 0x107 Bx188 08x18 1 Bx288 x261 0x202
57. be started manually if needed The advantage of using the FTP server on the ECUcore 9G20 is that client sided there are comfortable graphical programs which enable simplified data exchange without knowing Linux commands For example if the device is applied in practice later on this would enable a service technician to transfer a firmware update to the ECUcore 9G20 or to select log files from this module via a graphic FTP client on his Windows laptop Section 5 5 2 explains the activation of the FTP server on the ECUcore 9G20 and the login to the module via a FTP client Section 5 1 specifies suitable FTP client programs 7 6 Translation and execution of demo project demo 7 6 1 Usage of make Directory projects ECUcore 9G20 user demo in the VMware Image of the Linux development system contains a demo program that illustrates accesses to in and outputs The I O driver filed in projects ECUcore 9G20 driver pc9g20drv is used by the demo program to access the I O It is recommended that the demo project or at least its Makefile should be referred to as template for own projects The source code can be created or edited via Windows network environment in any Windows Editor On the contrary translating the project is only possible within a Linux development environment Therefore it is possible to either use a console window in the Linux Image also called Terminal or access must be enabled via a Telnet client from outside by followi
58. core 9G20 desktop size for the Linux VMware Image use the mouse to adjust the window frame of the VMware Player to the desired size The maximum usable window size is defined in the configuration file SO 1105 Xubuntu ECUcore9G20 vmx of the VMware Player and may be modified if required treten display Fart tt tt ie a i tt to svga maxWidth 1024 svga maxHeight 768 6 7 3 Setting a static IP address for the Linux VMware Image By default the dynamic configuration of the IP address via DHCP is activated in the Linux VMware Image Hence in most network environments the Linux VMware Image can be used ad hoc without setting parameters manually beforehand In networks that do not provide a DHCP server the static IP address for the Linux VMware Image must be defined by the user Otherwise an Ethernet based communication with the ECUcore 9G20 is not possible To define a static IP address for the Linux VMware Image the symbol of the Network Manager in the task menu see Figure 37 must be clicked on with the right mouse button and entry Edit Connections must be called from the Popup menu Afterwards dialog Network Connections opens up see Figure 38 220 a 14 38 ur be V Enable Networking 9 Connection Information iz Edit Connections lt gt About Figure 37 Network Manager for the configuration of the Ethernet interface In Tab sheet Wired in the dialog Network Connections see Figure 38 anew ne
59. e Hence user defined actions can be automated as being a reaction to these events Figure 62 illustrates the above descriptions Linux Image User Configuration Hot Plug amp Play Device added home etc diskadded sh Hotplug Subsystem mdev home etc etc mdev conf hotplug sh Device removed mount USB device to mnt usb Figure 62 Internal procedures for plugging or removing USB memory sticks The following example shows a simplified version for the Shell script diskadded sh which automatically lists the files of an USB memory stick when it is plugged SYS TEC electronic GmbH 2010 L 1253e 01 Page 71 System Manual ECUcore 9G20 17 bin sh echo e e MMC a c ccc c 2 echo n New disk drive added 1 977 cC c MC C QC en M ML c EE echo ls la 51 echo GIU Vorne E EEE u A Eee m ee echo The user specific Shell script hotplug sh as well as the scripts diskadded sh and diskremoved sh called by it are all executed within a system process to which a console is assigned Consequently the outputs generated by the scripts do not appear in the terminal window To still display these outputs anyway script hotplug sh redirects all messages into file var log hotplug log This file could for example be output in the terminal window by using Linux command cat cat var log hotplug log Figure 63 exemplifies the output of messages generated by the
60. e ECUcore 9G20 as explained in section 5 5 1 Afterwards the following command is entered in the Telnet or Terminal window boa g home http Figure 21 exemplifies starting the HTTP server boa for the Demo configuration included in the delivery status of the ECUcore 9G20 SYS TEC electronic GmbH 2010 L 1253e 01 Page 29 System Manual ECUcore 9G20 cr Telnet 192 168 10 248 ECUcore G20 login PlcAdmin Password zh 3 2 H hoa c home http 3 m Figure 21 Starting the HTTP server boa To call the pages provided by the HTTP server prefix htto plus the IP address of the ECUcore 9G20 as set in section 5 4 e g htto 192 168 10 248 must be entered in the address bar of the WEB Browser Figure 22 shows HTML pages for the ECUcore 9G20 in the WEB Browser E ECUcore 9G20 Main Page Microsoft Internet Explorer E BEI File Edit View Favorites Tools Help au Back gt Rd x E v 7 Search xv Favorites 4 C 3 Address http 192 168 10 248 EJs uns gt ECUcore 9G20 The all round System on Module SOM Programmable in C C and in IEC 61131 3 el Done F ix de Internet Figure 22 Display of HTML pages for the ECUcore 9G20 in the WEB Browser Advice By entering the start call of the HTTP server e g boa c home htto into the start script home etc autostart calling the HTTP server upon boot of the ECUcore 9G20 may be automated see section 5 2 2
61. e Program at all For example if a patent license would not permit royalty free redistribution of the Program by all those who receive copies directly or indirectly through you then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program If any portion of this section is held invalid or unenforceable under any particular circumstance the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances SYS TEC electronic GmbH 2010 L 1253e 01 Page 78 System Manual ECUcore 9G20 It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims this section has the sole purpose of protecting the integrity of the free software distribution system which is implemented by public license practices Many people have made generous contributions to the wide range of software distributed through that system in reliance on consistent application of that system it is up to the author donor to decide if he or she is willing to distribute software through any other system and a licensee cannot impose that choice This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License 8 If the distribution and or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces th
62. e automatic update of packet lists is deactivated in the Linux VMware Image Hence it is assured to retain a defined system revision Although the user will not receive information if updated packets are available that close security gaps Nevertheless it is possible to re activate the automatic update of packet lists or to initiate an update manually This is possible via program Synaptic Package Manager from the menu system and the console program aptitude After updating packet lists it is also possible to install new packet lists with those programs 6 7 5 Changing the computer name in the Windows network environment By default in the Windows network environment the Linux VMware Image uses the computer name Vm xubuntu also see Table 9 in section 6 4 The access to a computer in the Windows network is controlled via its name Hence computer names must be adjusted clearly if the Linux VMware Image runs in parallel on several computers This prevents multiple use of the same name which could bring about collisions and access errors The computer name is defined via file etc hostname Enter command sudo gedit etc hostname to modify this name The modified name will be taken over after restart Command hostname brings about prompt change of the name Therefore the new computer name must be entered as parameter e g sudo hostname vm xubuntu 2 Changing the name with this command only lasts temporarily until the next restar
63. e configuration in the bootloader U Boot The configuration settings administered by the Bootloader U Boot can also be accessed from Linux section 5 10 describes the procedure SYS TEC electronic GmbH 2010 L 1253e 01 Page 18 System Manual ECUcore 9G20 5 4 Ethernet configuration of the ECUcore 9G20 The main Ethernet configuration of the ECUcore 9G20 takes place within the bootloader U Boot and is taken on for all other software components Linux user software HTTP server etc The Ethernet configuration is carried out via the serial interface COMO Therefore the U Boot command prompt must be activated as explained in section 5 2 1 Table 5 lists up U Boot commands necessary for the Ethernet configuration of the ECUcore 9G20 Table 5 U Boot configuration commands of the ECUcore 9G20 Configuration MAC address IP address of the ECUcore 9G20 Network mask Gateway address IP address of the Linux development system Saving the configuration SYS TEC electronic GmbH 2010 setenv ethaddr XX XX XX XX XX XX setenv ipaddr XXX XXX XXX XXX setenv netmask lt XXX XXX XXX XXX gt setenv gatewayip lt XXX XXX XXX XXX gt setenv serverip XXX XXX XXX XXX Command Remak 0 The MAC address worldwide is a clear identification oft he module and is assigned by the producer It should not be modified by the user This command sets the local IP address of the ECUcore 9G20
64. e original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries so that distribution is permitted only in or among countries not thus excluded In such case this License incorporates the limitation as if written in the body of this License 9 The Free Software Foundation may publish revised and or new versions of the General Public License from time to time Such new versions will be similar in spirit to the present version but may differ in detail to address new problems or concerns Each version is given a distinguishing version number If the Program specifies a version number of this License which applies to it and any later version you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation If the Program does not specify a version number of this License you may choose any version ever published by the Free Software Foundation 10 If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different write to the author to ask for permission For software which is copyrighted by the Free Software Foundation write to the Free Software Foundation we sometimes make exceptions for this Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sh
65. emory D Ex ER rm ZO rr 70 demo C C Local Application projects ECUcore 9G20 user demo source demo 3 19 10 12 21 PM EB DH E Writable Smart Insert 119 1 Figure 56 Debugging the Demo project in Eclipse Figure 57 illustrates Terminal outputs that are generated on the ECUcore 9G20 during the debugging process SYS TEC electronic GmbH 2010 L 1253e 01 Page 64 System Manual ECUcore 9G20 C0M1 115 00baud Tera Term YT File Edit Window Help Bie x Setup Control CUcore 9G20 login PlcAdn ini Passuord sh 3 2 mount t nfs o nolock 197 168 10 82 tftpboot nnt nfz h 3 2 cd nnt nf edeno sh 3 2 nnt nf s danott ls dena pcSgeUdry ko sh 3 2 mnt nfz denost insnod peSgelldru ko ncHo lldra nodule license S YSTEC taints kernel Disabling lock debugging due to kernel taint sh 3 2 mnt nfz denott gdbservear 192 168 10 82 10000 deng Process deng created pid 491 istening on port 10000 kenote debugging fron host 192 168 10 82 LU deno application for SYSTEC ECUcore 9620 c 2010 SYSTEC electronic GmbH Version 1 00 Build Har 18 2010 11 11 47 LU Driver version Kernellodule 1 00 UserLib 1 00 arduare CPU Board 3259 00 CHOTH CPU FPGA 1 04 EU I0 Board 4261 01 01H Drivers Contig OOOOH PGA interrupt zelftest successful Start basic LU nain loop IH I F5 A0 00 DH I F5 A0 00 I EFS 40 D0 I I F5 A0 00 I I F5 A0 00 DH EFS 40 D0 1 EFS 40 D0 I EFS 4
66. er subassembly as an insert ready core module with small dimensions reduces effort and costs significantly for the development of user specific controls The ECUcore 9G20 is also very well suitable as intelligent network node for decentralized processing SYS TEC electronic GmbH 2010 L 1253e 01 Page 8 System Manual ECUcore 9G20 of process signals CANopen and UDP Additionally it can be used for motion control applications or as basic component for special assemblies in the industry Based on the default I O configuration the module features 19 digital inputs DIO DI18 3 3V level 8 digital outputs DOO DO7 3 3V Pegel 4 high speed counter inputs and 4 PWM PTO outputs This default I O configuration can be adapted for specific application requirements by using the Driver Development Kit SO 1 105 Saving the user application in the on board Flash Disk of the module allows an automatic restart in case of power breakdown Das ECUcore 9G20 is based on Embedded Linux as operating system This allows for simultaneous execution of several user specific programs The Embedded Linux applied to the ECUcore 9G20 is licensed under GNU General Public License version 2 Appendix A contains the license text All sources of LinuxBSP are included in the VMware Image of the Linux development system SO 1 105 If you require the LinuxBSP sources independently from the VMware Image of the Linux development system please contact our support sup
67. f the LinuxBSP used and it includes the necessary GNU Crosscompiler Toolchain for ARM9 processors 8 2 Testing the hardware connections The ECUcore 9G20 primarily is designed as vendor part for the application in industrial controls Hence the ECUcore 9G20 typically is integrated in a user specific baseboard To enable trouble free inspection of correct I O activation the Testing program iodrvdemo can be used This test program is directly tied in with the I O driver and allows quick and direct access to the periphery The Testing program is preinstalled as ready to use Binary home bin iodrvdemo on the ECUcore 9G20 Moreover the program sources are included as reference application in the I O driver project see section 7 3 Start the Testing program iodrvdemo as follows cd home bin insmod pc9g20drv ko iodrvdemo Figure 61 illustrates testing the hardware connection by using iodrvdemo SYS TEC electronic GmbH 2010 L 1253e 01 Page 69 System Manual ECUcore 9G20 ci Telnet 192 168 10 248 ECUcore 9G28 login Plcfidmin Password sh 3 2 cd home bin sh 3 2 bin insmod pc9g28drv ko sh 3 2 hbin iodrvdemo E22 2 2 2 2 2 2 2 2 2 2 2 2 2 2 02 2 0202 02 0202 020202 02 020202020202 0202 0202020202 02020202 020202020202 020202020202 0202020202 020202020202 Test application for SYSTEC PLCcore 9G28 board driver Version 1 88 lt c gt 2669 2616 SYS TEC electronic GmbH wuw systec electronic com Katatatat
68. gs gt Settings Manager see Figure 34 2 Applications Places Settings vi Settings Manager ail Calendar Settings j Accessories da i Default Printer ME e Encryption and Keyrings E Login Window Menu Editor Open DK Java 6 Policy Tool 4 Graphics G Network i Office System EZ Power Management Help Ga Printing 9 About Xfce SCIM Input Method Setup KI Quit gt Sun Java 6 Plugin Control Panel Sun Java 6 Policy Tool Figure 34 Calling Xfce Settings Manager from the start menu More keyboard layout can be added or deleted within the Xfce Settings Manager by using option Keyboard and sub option Layouts see Figure 35 SYS TEC electronic GmbH 2010 L 1253e 01 Page 40 System Manual ECUcore 9G20 Applications B Places Xfce Settings Manager w7 Xfce Settings Manager Customize your Xfce desktop A Autostarted apps SS Keyboard Preferences zu Keyboard Preferences Settings Shortcuts Accessibility Layouts O Use X configuration Keyboard model Preferred Applications Generic 105 key Intl PC v Keyboard layouts Phase BE zi Layout Variant TERREA us um Um Im de User interface 3 Close Figure 35 Adding keyboard layouts in the Xfce Settings Manager Setting the time zone takes place via a control panel of the system configuration
69. he respective command cannot be called For example this is generally the case after downloading a file via FTP The x Flag can again be set by using command chmod chmod TX mountnfs sh Command chmod generally enables influencing all file attributes setting and deleting Details can be obtained by calling chmod help e Automatic completion of entries via TAB button The automatic completion of file or command names via TAB button is a really convenient feature in Linux The user must only enter as much signs of the file or command name as necessary until only one name is left that those signs apply to By pressing the TAB button the remaining signs of the entry are completed automatically Example It is sufficient to enter m to call the Shell script mountnfs sh in directory home of the ECUcore 9G20 By pressing the TAB button the shell automatically completes the signs to the full command mountnfs sh e Displaying environment variables Command echo is necessary to display environment variables For example command echo PATH would display the current configured search path SYS TEC electronic GmbH 2010 L 1253e 01 Page 74 System Manual ECUcore 9G20 e Setting environment variables When setting an environment variable consider that it is only visible within the current shell instance or within the sub shells called by the current shell If for example an environment variable is defined in a Shell scri
70. he software is free for all its users This General Public License applies to most of the Free Software Foundation s software and to any other program whose authors commit to using it Some other Free Software Foundation software is covered by the GNU Library General Public License instead You can apply it to your programs too When we speak of free software we are referring to freedom not price Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software and charge for this service if you wish that you receive source code or can get it if you want it that you can change the software or use pieces of it in new free programs and that you know you can do these things To protect your rights we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights These restrictions translate to certain responsibilities for you if you distribute copies of the software or if you modify it For example if you distribute copies of such a program whether gratis or for a fee you must give the recipients all the rights that you have You must make sure that they too receive or can get the source code And you must show them these terms so they know their rights We protect your rights with two steps 1 copyright the software and 2 offer you this license which gives you legal permission to copy distribute and or modify the software Also fo
71. hile etc really have been executed e Setting the time zone for the ECUcore 9G20 Setting the time zone for the ECUcore 9G20 takes place by defining the environment variable TZ in start script etc profile environment The appropriate definition for Germany UTC 1 00 including begin and end of summer time is already provided as a comment The definition can be adjusted for other time zones SYS TEC electronic GmbH 2010 L 1253e 01 Page 75 System Manual ECUcore 9G20 Appendix A GNU GENERAL PUBLIC LICENSE The Embedded Linux used on the ECUcore 9G20 is licensed under GNU General Public License version 2 The entire license text is specified below A German translation is available from http www gnu de documents gpl 2 0 de html Be advised that this translation is not official or legally approved Additional SYS TEC system software and programs developed by the user are not subject to the GNU General Public License GNU GENERAL PUBLIC LICENSE Version 2 June 1991 Copyright C 1989 1991 Free Software Foundation Inc 59 Temple Place Suite 330 Boston MA 02111 1307 USA Everyone is permitted to copy and distribute verbatim copies of this license document but changing it is not allowed Preamble The licenses for most software are designed to take away your freedom to share and change it By contrast the GNU General Public License is intended to guarantee your freedom to share and change free software to make sure t
72. ings about the executions of other user applications Basic configuration settings for the ECUcore 9G20 are determined within the bootloader U Boot The command prompt of the bootloader U Boot is primarily needed for the following tasks e Ethernet configuration of the ECUcore 9G20 see section 5 4 and e Update of the Linux Image see section 5 15 Section 5 2 1 describes the procedure to activate the U Boot command prompt Entering will show help for all available commands the command printenv shows the current module configuration see Figure 8 COM1 115200baud Tera Term YT IOl x File Edit Setup Control Window Help Boot printer ootargsscongolesttys0 1100 root dewntdblock3 rootfstype jftse ntdparts physnap t lash 0 384k lubo tro 128k Cubooteny dH hone Croat natcnd fzload boot ulnage booth ootdelay 1 audrate 115200 ingerpr int inf ob lock1 inf ob lock inf ob lock3 inf ob lock4 inf ob lockS inf ob lockf infoblock tdids norl physnap t lash H tdparts ntdparts physnap f lash 0 384k luboot ro 128k Cubooteny 4AChone root art it ion norl 3 tddeynun 3 tddeyvnane roct ernun 4 630 thaddr 00 50 02 39 50 02 rdernun 4001016 nard id 1008005 ns ip 0 0 0 0 pere 192 168 10 248 etnask 255 755 755 0 atevayip 0 0 0 0 arver ip2197 168 10 82 tdin serial tdout ser ial tderr ser ial nv ropnpont size 609131068 bytes Boot gt l Figure 8 Displaying the current modul
73. inux kernel SYS TEC electronic GmbH 2010 L 1253e 01 Page 65 System Manual ECUcore 9G20 Terminal Eie Edit View Terminal Go Help Linux Kernel Configuration Arrow keys navigate the menu lt Enter gt selects submenus gt Highlighted letters are hotkeys Pressing lt Y gt includes lt N gt excludes lt M gt modularizes features Press lt Esc gt lt Esc gt to exit lt gt for Help lt gt for Search Legend built in excluded lt M gt module lt gt General setup gt Enable loadable module suppart Enable the block layer gt system Type gt Bus support gt Kernel Features gt Boot options gt CPU Power Management gt Floating point emulation gt Userspace binary formats gt Eam lt Exit gt Figure 58 User surface for the configuration of the Linux kernel The configuration of user applications including BusyBox takes place in the same directory where the configuration of the Linux kernel takes place Therefore command ptxdist menuconfig must be called od projects ECUcore 9G20 LinuxBSP 2 6 ptxdist ECUCore 96020 ptxdist menuconfig Figure 59 shows the typical user interface to configure user applications including BusyBox Terminal De Edit View Terminal Go Help Powered by PTXdist http www pengutronix de software ptxdist Arrow keys navigate the menu Enter selects submenus gt Highlighted letters are hotkeys Pres
74. iz GERMANY Fax 49 0 36 61 6279 99 Email info systec electronic com SYS TEC electronic GmbH 2010 L 1253e 01 Page 84
75. k that the ECUcore 9G20 will not boot anymore if an update failed or carried defective software For this reason all flash sectors in which the U Boot is integrated are protected from accidental deletion That s why the bootloader U Boot should only be updated if absolutely essential If required please contact our support service support systec electronic com SYS TEC electronic GmbH 2010 L 1253e 01 Page 33 System Manual ECUcore 9G20 6 VMware Image with Linux Development System 6 1 Overview The ECUcore 9G20 is delivered with a preinstalled Embedded Linux Hence all applications that shall run on the module must be developed as Linux programs The Kit is equipped with a complete Linux development system in the form of a VMware Image It allows for an easy introduction into software development for the ECUcore 9G20 The VMware Image may be used unmodified in different host systems Table 1 in section 2 lists well suited reference works about Linux programming The VMware Image of the Linux development system includes the following software components GNU Crosscompiler Toolchain for ARM9 Processors Linux Sourcecode for the ECUcore 9G20 LinuxBSP Eclipse graphic IDE to simplify the software development Samba server enables the access from outside via Windows network environment FTP server enables the usage of Linux Console from outside in the form of a Telnet client under Windows as well as data exchange betwee
76. l that is well established in practice Both FTP server and clients are available for several operating Systems such as Linux and Windows On the contrary to NFS by using FTP it is possible to transfer files from a Windows computer to the ECUcore 9G20 e g program update through service technicians by using Windows laptop Moreover FTP allows for detailed access control through authentication via username and password Disadvantageous about FTP is the command entry that is required for each data transmission Usually this is considered bothersome or may be even forgotten especially during development phase It then may occur that an old program version is run on the ECUcore 9G20 without noticing it Section 7 5 2 describes the usage of FTP 7 5 1 Using NFS The easiest way of starting a user program on the ECUcore 9G20 that was first translated within the Linux Image is a direct integration to mount of a directory from the VMware Image of the Linux development system into the local file system of the ECUcore 9G20 Therefore directory tftpboot including all sub directories are exported by the VMware Image of the Linux development system The following steps are necessary to mount this file directory tree of the development system into the local file system of the ECUcore 9G20 1 Determining the IP address of the Linux development system Section 6 5 describes the procedure to determine the IP address of the Linux Image 2 Mounting the
77. mo c Prepared in the Makefile also is the copying of generated executables into directory tftoboot or one of its subdirectories Through this the executable program can later on be started directly on the ECUcore 9G20 without other intermediate steps also compare section 7 5 1 7 3 VO Driver for the ECUcore 9G20 7 3 1 Integration of the I O Driver into own user projects Directory projects ECUcore 9G20 driver pc9g20drv of the Linux development system contains the source code of the I O Driver for the ECUcore 9G20 including testing application Moreover it contains Header files and complete libraries of the Driver for the integration into own user projects Figure 42 illustrates the structure of the UO Driver for the ECUcore 9G20 The Driver is divided into a Kernelspace module pc9g20arv ko which is in charge of accesses to the hardware FPGA and Port pins and a User space library pc9g20arv a as static library or pc9g20arv so as dynamically loadable library Both components the Kernelspace module and the User space library static or dynamic are necessary to accomplish I O accesses User Application ab O Wei 7 UO Driver al D pc9g20drv a or pc9g20drv so O a Q pc9g20drv ko 2 S Y Figure 42 Structure of the I O Driver for the ECUcore 9G20 SYS TEC electronic GmbH 2010 L 1253e 01 Page 47 System Manual ECUcore 9G20 The following files from the project directory of the
78. n the ECUcore 9G20 and the development computer e TFTP server enables downloading the Linux Image for the ECUcore 9G20 from the development computer e NFS server enables the integration of the development computer into the local file system of the ECUcore 9G20 6 2 Installing the Linux VMware Image The Development Kit ECUcore 9G20 contains the DVD SO 1105 which includes the VMware Image for the Linux development system of the ECUcore 9G20 as well as the VMware Player for Windows The VMware Player is free of charge software for a desktop virtualization so that the VMware Image of the Linux development system may be executed on a Windows or Linux computer If required active versions of the VMware Player or Players for other host systems can be downloaded directly from the manufacturer s website hitp www vmware com Execute the appropriate setup program to install the VMware Player Advice During installation of the VMware Player standard setup Bridged Mode should be retained for the Ethernet interface Otherwise the communication to the ECUcore 9G20 could possibly be defective The VMware Image is included on the DVD as self extracting archive SO 1105 exe If SO 1105 exe is started all files corresponding to the VMware Image are unpacked onto the local hard disk That decompressed image requires about 10 GByte 6 3 Starting the Linux VMware Image Initially the VMware Player must be started on the host computer
79. n to the command shell of the ECUcore 9G20 according to section 5 5 1 is necessary There are two possibilities for the transmission of programs on the ECUcore 9G20 or data exchange between development system VMware Linux Image and the ECUcore 9G20 in general Both imply advantages and disadvantages NFS Network File System NFS represents the easiest way of directly starting a user program translated in the Linux Image on the ECUcore 9G20 To do so from the VMware Image of the Linux development system a directory is mounted into the local file system of the ECUcore 9G20 mounted Enter the appropriate command on the ECUcore 9G20 to start the program Required data transfer from the development system to the ECUcore 9G20 implicitly takes place via NFS no further commands from the user are necessary Consequently it is assured that the ECUcore 9G20 is always running a current program version rather than one that is out of date Hence NFS is especially suitable during software development On the one hand it is disadvantageous about NFS that it only allows for connections to other Linux machines but not to a Windows computer for example On the other hand NFS only enables rudimental user administration and access control Later on this is most likely not desired if devices are used in practice Section 7 5 1 provides details about the application of NFS FTP The File Transfer Protocol is a standard and platform independent protoco
80. nfiguration data is shown see Figure 18 A direct query of specific configuration information is possible by calling fw printenv lt paramname gt e g fw printenv ipadar The above mentioned scripts illustrate the usage of fw printenv demonstrate the assignment of requested information to environment variables and show the analysis of information in the Shell script 5 11 Showing the installed Linux Version The Linux Version installed on the ECUcore 9G20 is shown by calling command version see Figure 19 CA Telnet 192 158 10 248 ECUcore G20 login PlcAdmin Password sh 3 2 H version Linux U2 6 31 12 LinuxBSP 1 8 8 sh 3 2 H Figure 19 Showing the installed Linux Version 5 12 File system of the ECUcore 9G20 The Embedded Linux which is pre installed on ECUcore 9G20 provides most of the on board memory as flash disk The JFFS2 is used as file system It is a well known system in the embedded field and was specifically developed as data carrier for the usage of flash modules The on board flash of ECUcore 9G20 is separated into two independent JFFS2 partitions The first partition contains the Linux kernel and the Root file system The second partition is completely mounted as directory home There is a complete read and write access for both partitions To ensure a trouble free update of the Linux Image including the Root file system user specific configuration data and user programs loaded onto the module
81. ng all necessary steps analog Hence in the following there will be no difference between the console window in the Linux Image and the Telnet access from outside Switch to the appropriate project directory that contains the Makefile by using command cd in the console window To translate the demo project use directory orojects EC Ucore 9G20 user demo source cd projects ECUcore 9G20 user demo source Afterwards command make must be started Figure 47 shows the usage of commands cd and make for the exemplary demo program contained in the VMware Image SYS TEC electronic GmbH 2010 L 1253e 01 Page 55 System Manual ECUcore 9G20 E En Terminal les Eie Edit View Terminal Go Help vmware vm xubuntu cd projects ECUcore 96G20 user demo source vmware vm xubuntu projects ECUcore 9G20 user demo sources MEE Make Settings CFLAGS 08 g Wall march armv5te mcpu arm926ej s mtune arm9tdmi mscf t float I I include D DEBUG march sarmv5te mcou arm92bej s mtun arm9tdmi msoft float LDFLAGS LDLIBS Copy executeable demo to destination tftpboot demo done Copy I O driver lib pc9g20drv ko to destination tftpboot demo done vmware vm xubuntu projects ECUcore 9G20 user demo sources Figure 47 Translating the demo project in the Linux Image During executing the Makefile and after completing the build process successfully the demo program itself file demo and the I O driver needed
82. oards and reference circuitry Software sided the ECUcore 9G20 is delivered with preinstalled Embedded Linux Hence applications that are to be run on this module should be programmed as Linux programs The Kit contains a completely equipped Linux development system in the form of a VMware Image and therefore allows trouble free entry into the software development for the ECUcore 9G20 The VMware Image can be used unmodified within different host systems Table 1 lists up all relevant manuals for the ECUcore 9G20 Table 1 Overview of relevant manuals for the ECUcore 9G20 Information about Basic information about the ECUcore 9G20 configuration administration connection assignment software development reference designs et cetera Application of the ECUcore PLCcore 9G20 as PLC Programming of the PLCcore 9G20 as PLC according to IEC 61131 3 Process Image Data exchange via Shared Process Image with external applications et cetera Hardware description for the ECUcore 9G20 reference designs et cetera Development Board for the ECUcore 9G20 reference designs et cetera Driver Development Kit DDK for the ECUcore 9G20 Register and Function description for PLD resp FPGA of the ECUcore 9G20 PLCcore 9G20 CAN Driver Appropriate reference books about the application programming under Linux In which manual In this manual System Manual PLCcore 9G20 Manual no L 1254 Hardware Manual ECUcore 9G20
83. ommand is required for example to transfer startup script autostart via FTP from the ECUcore 9G20 into directory tftpboot of the host system ftpput u vmware p vmware 192 168 10 82 tftpboot autostart home etc autostart Figure 46 exemplifies the usage of commands ftpget and ftoput to download and upload files via FTP C0M1 115 00baud Tera Term T IOl x File Edit Setup Control Window Help onf igure network interface athll ACADDR 00 50 02 39 30 02 IPADDR 197 168 10 248 ATEMAY 0 0 0 0 ETHASK 255 255 255 0 HSSERVER 0 0 0 0 nable network interface done dd default route route SIOCHDDET Invalid argunent one Insert DNS server to atc resolw conf done uyslog ng starting yslog ng done tarting telnetd loading nodules th link up 400 Full CUcore 9G20 login PlcAdn in assuord h 3 2 8 ftpput u vmarg p wnuare 192 168 10 82 tftpboot fstab atc fstab did ls tnp d ftpget u huare p wnuare 192 168 10 82 tnp fstab tftphaot fstab did ls tnp PR b lisse h 3 h 3 h 3 Figure 46 Download and upload via FTP SYS TEC electronic GmbH 2010 L 1253e 01 Page 54 System Manual ECUcore 9G20 7 5 2 2 ECUcore 9G20 as FTP server The ECUcore 9G20 provides a FTP server FTP Deamon that makes possible data exchange with any FTP client e g up and download of files to or from a computer For security or performance reasons this FTP server is deactivated by default and must
84. on the ECUcore 9G20 The Development Kit ECUcore 9G20 contains the following components ECUcore 9G20 Development Board for the ECUcore 9G20 24V Power adapter Ethernet cable RS232 cable DVD with Linux development system examples documentation and other tools SO 1105 The Linux development system included in the Kit serves as software development platform and as debug environment for the ECUcore 9G20 In the form of a VMware Image the development system can be used unmodified for different host systems Section 6 exemplifies the usage of the VMware Image under Windows SYS TEC electronic GmbH 2010 L 1253e 01 Page 10 System Manual ECUcore 9G20 4 2 Electric commissioning of the Development Kit ECUcore 9G20 The power adapter necessary for running the Development Kit ECUcore 9G20 and Ethernet and RS232 cables are already included in the Kit delivery For commissioning the Kit it is essential to use at least the power supply connections X600 X601 COMO X301 and ETHO X304 Table 2 provides an overview over the connections of the Development Kit ECUcore 9G20 Table 2 Connections of the Development Kit ECUcore 9G20 Power supply X600 or X601 The 24V DC power adapter included in the delivery is intended for direct connection to X600 ETHO Ethernet This interface serves as communication interface with the Linux development system Programming PC and can as well be used freely for the user program COMO RS232 X30
85. ontrol element can be used freely for the user program e g Run Stop to operate the control program Run LED D405 Control element can be used freely for the user program e g Display of activity state of the control program Error LED D406 Control element can be used freely for the user program e g Display of error state of the control program DIP Switch S407 Control element can be used freely for the user program e g Configuration bitrate and master mode CANO 4 4 Optional accessory 4 4 1 USB RS232 Adapter Cable The SYS TEC USB RS232 Adapter Cable order number 3234000 provides a RS232 interface via an USB Port of the PC Together with a terminal program it enables the configuration and diagnosis of the ECUcore 9G20 from PCs e g laptop computers which do not have RS232 interfaces any more see section 5 SYS TEC electronic GmbH 2010 L 1253e 01 Page 12 System Manual ECUcore 9G20 Figure 4 SYS TEC USB RS232 Adapter Cable 4 4 2 Driver Development Kit DDK The ECUcore 9G20 Driver Development Kit order number SO 1106 allows the user to independently adjust the I O level to his own baseboard Section 8 1 provides information about the Driver Development Kit SYS TEC electronic GmbH 2010 L 1253e 01 Page 13 System Manual ECUcore 9G20 5 Application and Administration of the ECUcore 9G20 5 1 System requirements and necessary software tools The administration of the ECUcore 9G20 requires any Windows
86. oot For example it is used in the start script etc rc d SO5network to re use the Ethernet configuration set for the ECUcore 9G20 within the U Boot see section 5 4 to parameterize interface ETHO under Linux The same is essential for taking over the server address defined in the U Boot into the Shell scripts home mountnfs sh and home debug sh ECUcore G20 login Plcftdmin Password h 3 2 fFu_printeny hnaotargs conzsole ttuSH 11528H root dev mtdhlock3 rootfstype jffs2 mtdparts phys map f lash 6 384ktuboot ro 128kCubootenv gt 4h Chome gt Croot gt hootcmd fsload boot ulmage bootm hootde lay 1 haudrate 115208 fingerprint linfoblocki infohlack2 linfoblock3 gt infoblock4 infoblockS inf oblock6 mtdids norl physmap f lash mtdparts ntdparts physmap f lash 46 384kCuboot sro 128ktubootenv gt 4h thome gt Croot gt part it ion norh 3 mtddevnum 3 mtddevname root stdin serial stdout serial stderr serial zernum 47763H ethaddr HB8 58 62 39 38 H82 ordernum 4661616 Ibhoardid 1 08805 nzip H H H H ipaddr 1 2 168 109 248 netmazk 255 255 255 H qgatewauip H BH H H Iseruerip 172 168 18 82 h 3 2 d4 Figure 18 Displaying U Boot configuration data under Linux using fw printenv SYS TEC electronic GmbH 2010 L 1253e 01 Page 26 System Manual ECUcore 9G20 By calling fw printenv without indicating parameters all U Boot co
87. or Linux computer that has available an Ethernet interface and a serial interface RS232 As alternative solution to the on board serial interface SYS TEC offers a USB RS232 Adapter Cable order number 3234000 see section 4 4 1 that provides an appropriate RS232 interface via USB port All examples referred to in this manual are based on an administration of the ECUcore 9G20 using a Windows computer Procedures using a Linux computer would be analogous To administrate the ECUcore 9G20 the following software tools are necessary Terminal program Telnet client FTP client TFTP server A Terminal program allows the communication with the command shell of the ECUcore 9G20 via a serial RS232 connection to COMO of the ECUcore 9G20 This is required for the Ethernet configuration of the ECUcore 9G20 as described in section 5 4 After completing the Ethernet configuration all further commands can either be entered in the Terminal program or alternatively in a Telnet client see below Suitable as Terminal program would be HyperTerminal which is included in the Windows delivery or TeraTerm which is available as Open Source and meets higher demands downloadable from http ttssh2 sourceforge jp Telnet Client allows the communication with command shell of the ECUcore 9G20 via Ethernet connection to ETHO of the ECUcore 9G20 Using Telnet clients requires a completed Ethernet configuration of the ECUcore 9G20 according to section 5 4
88. or admin Meu password Retype password Password for admin changed by root sh 3 2 H Figure 15 Adding a new user account To delete an existing user account from the ECUcore 9G20 Linux command deluser plus the respective user name must be used deluser username 5 8 How to change the password for user accounts Changing the password for user accounts requires login to the ECUcore 9G20 as explained in section 9 941 To change the password for an existing user account on the ECUcore 9G20 Linux command passwd plus the respective user name must be entered SYS TEC electronic GmbH 2010 L 1253e 01 Page 24 System Manual ECUcore 9G20 passwd lt username gt Figure 16 exemplifies the password change for user PlcAdmin CA Telnet 192 158 10 248 ECUcore G20 login PlcAdmin Password h 3 2 passwd PlcAdmin Changing password for PlicAdmin Hew password Retype password Password for PlcAdmin changed by root 3 m Figure 16 Changing the password for a user account 5 9 Setting the system time Setting the system time requires login to the ECUcore 9G20 as described in section 5 5 1 There are two steps for setting the system time of the ECUcore 9G20 At first the current date and time must be set using Linux command date Afterwards by using Linux command hwclock w the system time is taken over into RTC module of the ECUcore 9G20 Linux command date is structured as follows da
89. outputs of the ECUcore 9G20 on the one hand section 7 3 1 includes details and serves as template for own projects on the other In the following all further descriptions about the software development refer to this Demo project specifically in section 7 6 Directory projects ECUcore 9G20 user hellocan includes a Demo program that describes access to the CAN interface of the ECUcore 9G20 on the one hand and serves as template for own projects on the other Path projects tftpboot is the root directory for the integration of the Linux development system into the local file system of the ECUcore 9G20 via NFS see section 7 5 1 Shell script projects ecucore setup sets the required environment parameters that are necessary to execute the build system see section 7 2 This Shell script is automatically executed if a console Terminal is opened via file bashrc In the same way if the graphical IDE Eclipse is started via the appropriate desktop symbol 7 2 Makefile and environment variables to create projects Creating user programs for the ECUcore 9G20 requires the usage of GNU Crosscompiler Toolchain for ARMO9 processors This is completely installed and configured in the VMware Image of the Linux development system Environment variables defined in the Shell script projects ecucore setup are relevant in this matter ARM9G20 BASE PATH projects ECUcore 9G20 ARM9G20 LINUX Bop PATH SARM9G20 BASE PATH LinuxBSP 2 60 ARM9G20 LI
90. pment Kit DDK for the ECUcore 9G20 is distributed as additional software package with the order number SO 1106 It is not included in the delivery of the Development Kit ECUcore 9G20 The Software Manual Driver Development Kit for the ECUcore 9G20 Manual no L 1257 provides details about the DDK The Driver Development Kit for the ECUcore 9G20 enables the user to adapt an UO level to self developed baseboards Consequently the user is able to completely adapt the I O driver to own requirements By using the DDK the following resources may be integrated into the I O level Periphery usually GPIO of the AT91SAM9G20 on board FPGA Lattice ECP2 6 Address Data Bus memory mapped periphery SPI Bus and I C Bus All other resources provided by the operating system e g file system and TCP IP Figure 60 provides an overview of the DDK structure and its components The DDK contains the FPGA software sources VHDL as well as the source code of the Linux kernel driver pc9g20arv ko and the Linux user library pc9g20drv so Additionally the DDK includes a PLD Programming Tool oldtool plddrv ko which allows for a FPGA software update without extra JTAG hardware User C C Application or User C C Application PLC Runtime System C Source Code pet Userspace Applikationen File System m 2d 7 O Driver Shared PLD Programming Tool Userspace Library Process pldtool Sei pc
91. port systec electronic com SYS TEC electronic GmbH 2010 L 1253e 01 Page 9 System Manual ECUcore 9G20 4 Development Kit ECUcore 9G20 4 1 Overview Due to the Development Board contained in the Kit the Development Kit ECUcore 9G20 allows for a quick commissioning of the ECUcore 9G20 and simplifies the design of prototypes for user specific applications that are based on this module Among other equipment the Development Board features several possibilities for power supply Ethernet interfaces connections for CAN bus USB and SD card 4 push buttons and 4 LED as control elements for the digital in and outputs Moreover it contains a potentiometer for analog input Signals that are available from plug connectors of the ECUcore 9G20 are linked to pin header connectors and enable easy connection of own peripheral circuitry Hence the Development Board forms an ideal experimentation and testing platform for the ECUcore 9G20 Figure 2 Development Kit ECUcore 9G20 The Development Kit ECUcore 9G20 ensures quick and problem free commissioning of the ECUcore 9G20 Therefore it combines all hard and software components that are necessary to create own applications the core module ECUcore 9G20 itself the corresponding Development Board containing UO periphery and numerous interfaces the Linux development system as well as further accessory Thus the Development Kit forms the ideal platform for developing user specific applications based
92. pt it will no longer be valid after the Shell script is executed The reason for this that for executing a script a new shell instance is called that finishes the script The respective environment variable is accessible within this shell instance and for this reason within the script being executed in it After finishing the script the shell instance that was started to execute the script is closed Consequently also the environment variable that was defined for this shell instance is no longer valid One possibility to set environment variables e g TZ permanently is to define it in script etc profile environment This script is started once when starting the first shell instance during the boot process This implies that all variables defined in that shell instance remain valid during the entire runtime and they will be passed on to all other sub shells started afterwards e Assistance in a program By entering the program name followed by help e g mount help it is possible in Linux to call brief help and assistance in a program including description of parameters used e Error diagnostics in Shell scripts To simplify error diagnostics when executing Shell scripts the script that is to analyzed can be called via command sh x script file Option x instructs the shell to output each executed line on the console Thus it can be easily reproduced which sectors of a conditional execution n V If case w
93. r each author s protection and ours we want to make certain that everyone understands that there is no warranty for this free software If the software is modified by someone else and passed on we want its recipients to know that what they have is not the original so that any problems introduced by others will not reflect on the original authors reputations Finally any free program is threatened constantly by software patents We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses in effect making the program proprietary To prevent this we have made it clear that any patent must be licensed for everyone s free use or not licensed at all The precise terms and conditions for copying distribution and modification follow SYS TEC electronic GmbH 2010 L 1253e 01 Page 76 System Manual ECUcore 9G20 GNU GENERAL PUBLIC LICENSE TERMS AND CONDITIONS FOR COPYING DISTRIBUTION AND MODIFICATION 0 This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License The Program below refers to any such program or work and a work based on the Program means either the Program or any derivative work under copyright law that is to say a work containing the Program or a portion of it either verbatim or with modifications and or translated into another language Hereinafter transl
94. r the ECUcore 9G20 UO Driver for the integration into own user projects including source code and testing application CAN Driver for the integration into own user projects Source code of the Linux Images for the ECUcore 9G20 Linux kernel and user programs Source code of the bootloader U Boot Source code of the Linux kernel for the ECUcore 9G20 User programs and Build System for the ECUcore 9G20 other components of the Linux Image GCC Toolchain for the ECUcore 9G20 Path to file user projects Reference and UO Demo project for the ECUcore 9G20 Reference and CAN Demo project for the ECUcore 9G20 tftpboot NFS directory for the integration by the ECUcore 9G20 ecucore setup Shell script to set environment variables Path projects ECUcore 9G20 LinuxBSP 2 6 contains all Linux sources for the ECUcore 9G20 SYS TEC electronic GmbH 2010 L 1253e 01 Page 45 System Manual ECUcore 9G20 Directory projects ECUcore 9G20 driver pc9g20drv includes the source code of the I O Driver of the ECUcore 9G20 also testing application as well as Header files and complete libraries of the UO Driver for the integration into own user projects see section 7 3 1 Directory projects ECUcore 9G20 driver candrv contains Header files and complete libraries of the CAN Driver for the integration into own user projects see section 7 4 1 Directory projects ECUcore 9G20 user demo provides a Demo program that describes access to in and
95. re 48 Executing the demo project demo on the ECUcore 9G20 Figure 48 demonstrates the execution of the demo project on the ECUcore 9G20 To finish the demo project either set Run Stop Switch to position MRes or simply press Ctrl C 7 6 2 Using graphical IDE Eclipse Eclipse as graphical IDE is installed in the VMware Image of the Linux development system This allows for accomplishing work steps in the software development process such as editing translating and debugging user programs within a comfortable development environment similar to Visual Studio for example The following sections describe the application of IDE Eclipse using the exemplary demo project that is included in the VMware Image and filed in directory projects ECUcore 9G20 user demo also compare descriptions in section 7 6 1 7 6 2 1 How to open and edit the demo project The graphical IDE Eclipse is started by clicking on the appropriate desktop symbol Dialog Workspace Launcher appears as shown in Figure 49 Enter the path for the workspace directory in the project tree in area Workspace For the demo project of the Linux development system this would be projects ECUcore 9G20 user demo workspace SYS TEC electronic GmbH 2010 L 1253e 01 Page 57 System Manual ECUcore 9G20 e Yol Workspace Launcher ll Select a workspace Eclipse SDK stores your projects in a folder called a workspace Choose a workspace folder to use for this session
96. river pc9g20arv lib pc9g20arv ko Kernelspace module of the I O Driver for accesses to hardware PLD and Port pins This module must be loaded using Linux command insmod prior to starting the user application insmod pc9g20drv ko In the exemplary Demo program in section 7 6 the User space library of the I O Driver is strongly attached to the user application Therefore upon calling GCC the static library pc9g20arv a must be added to the list of objects to be linked Variable LIBS is set in the Makefile of the Demo project and is transferred to the linker via GCC call LIBS c 71i1b pe9g20dtw a S CC S LDFLAGS O 20 S10BJS S LIBS SCLDLIBS Functions provided by the I O Driver are listed in Header file oc9g20drv h their usage is kept record of in the Demo program projects ECUcore 9G20 user demo also see section 7 6 The delivery status of the ECUcore 9G20 includes a completely generated and ready to load via insmod Kernel module of the I O Driver filed in directory home bin see section 5 13 insmod home bin pc9g20drv ko The Demo project in orojects EC Ucore 9G20 user demo shows an example for the application of the I O Driver on the ECUcore 9G20 see sections 7 3 2 and 7 6 SYS TEC electronic GmbH 2010 L 1253e 01 Page 48 System Manual ECUcore 9G20 7 3 2 VO Driver Demo project The Demo project for the I O Driver is filed in directory projects ECUcore 9G20 user demo of the Linux
97. rogram 14 Terminal settmgs Rennen 16 Testing Hardware Connections 69 RK EE EN luuten 75 TOGHA npe 47 EE 75 U BOO cire S 18 U Boot command prompt ACIVallOR WEE 15 U Boot command prompt Terminal settings 16 U Boot commands Ethernet configuration 19 Update Linux Image 31 USB MGM ACG nee 71 USB RS232 Adapter Cable n nnannnennaannnn 12 User accounts Addition and deleion 24 Changing password n eoooeennneneeeeennni 24 Predefined eserse a N 23 predefined development system 36 V VMware Image Determining IP address 37 Determining static IP address 42 Jee Udo RE 34 Keyboard layout ee nnnenneennn 39 KEEN nee 34 SANKO kesis ra eaa ra 44 Sla GEET 35 System update eeeeeeeeseeese 44 TME zone 41 VMware Player JE Ee 1 EE 34 W Windows network environment 37 WINS OP ae 22 L 1253e 01 Page 82 System Manual ECUcore 9G20 Document System Manual ECUcore 9G20 Document number L 1253e 1 1 Edition March 2010 How would you improve this manual Did you detect any mistakes in this manual Page Submitted by Customer number Name Company Address Please return your SYS TEC electronic GmbH suggestions to August Bebel Str 29 D 07973 Gre
98. roject can be opened and edited 7 6 2 2 Translating the demo project To translate the demo project open entry Demo in window Make Targets by clicking on the triangle that is put in front Afterwards call the translating process by double clicking on entry Build Project see Figure 51 Hence Eclipse executes the Makefile of the demo project in directory source orojects ECUcore 9G20 user demo source Makefile This is the same Makefile that was called manually in a Terminal window as described section 7 6 1 Accordingly all messages shown in IDE window Console are identical to the ones shown in Figure 47 In the same way the demo program file demo and the I O drivers needed to execute it file oc9g20drv ko are copied into directory tftoboot demo Consequently the demo program can be started on the ECUcore 9G20 after successful completion of the Build process as explained in section 7 6 1 SYS TEC electronic GmbH 2010 L 1253e 01 Page 58 System Manual ECUcore 9G20 Toi C C demo c Eclipse SDK VETT FT File Edit Refactor Navigate Search Run Project Window Help web ae y Gy By Ge 35 O Q 9 fe v Ds r Gacic s Debug E C C Proj 3 Navigator O demo c 33 amp Makefile xZ las get Run Stop Switch v E demo bRSMSwitch PC9G20GetRSMSwitch v tS demo r i WISEN d bRSMSwitch SWITCH RUN amp settings b lt Archives printf nPlease set Run Stop
99. scripts when plugging and removing USB memory sticks CA Telnet 192 158 10 248 ECUcore 9G2 login PlcAdmin Password sh 3 2 cat var log hotplug log Thu 25 Feb 28618 14 41 33 8608 Event Disk added Heu disk drive added mnt uzh druxruxrux druxr xr x CompanyProfile pdf 1938613 PLCcore 113H pdf 1347731 PLCcore 5484 pdf 1361355 PLOmodule_C32 pdf Thu 25 Feb 2010 15 82 58 8608 Event Disk removed Figure 63 Outout of messages redirected into file var log hotplug log The preinstalled version of Shell script diskadded sh which is included in the delivery of ECUcore 9G20 verifies if a file autostart is located in the root directory of the plugged USB memory stick If such a file is provided it will be called and executed This allows for individual actions such as automated upload of software updates onto the ECUcore 9G20 SYS TEC electronic GmbH 2010 L 1253e 01 Page 72 System Manual ECUcore 9G20 Advice for using USB memory sticks Writing accesses to USB sticks take place asynchronously The return of the write function does not imply that all data has been completely written onto the stick In fact the data is temporarily buffered in the RAM of the ECUcore 9G20 and afterwards transferred onto the stick in the background In C C programs the writing process is finished after calling close Command sync is used for Shell scripts 9 2 Using the SD interface The Embedded Lin
100. server This option implies the advantage that there will be no safety risk if the device is applied in practice later on The reason for this is that the server service on the module does not have to be activated and explicit user administration is not necessary For using the ECUcore 9G20 as FTP client the IP address of the Linux development system assigned via DHCP must first be determined The procedure is given explanation in section 6 5 FIP Download Downloading files from the Linux Image onto the ECUcore 9G20 takes place via command ftpget Parameters u for username and p for password are necessary for an authentication at the host system Command ftpget is written as follows ftpget u username p password ip vmware image local file remote file When looking at program demo for example that was translated in section 7 2 and copied into directory tftoboot demo the following command is required to transfer the program via FTP from that directory to the local directory tmp of the ECUcore 9G20 ftpget u vmware p vmware 192 168 10 82 tmp demo tftpboot demo demo FTP Upload Uploading files of the ECUcore 9G20 into the Linux Image happens via command ftpput Parameters u for username and p for password are needed to authenticate at the host system Command ftoput is written as follows ftpput u username p password ip vmware image remote file local file The following c
101. shadow Windows network Group Workgroup Predefined user account to access the Linux environment Computer Vm xubuntu development system via Windows network User vmware environment Samba Password vmware Telnet access User vmware Predefined user account to login to the Linux Password vmware development system via a Telnet client e g Telnet client under Windows SYS TEC electronic GmbH 2010 L 1253e 01 Page 36 System Manual ECUcore 9G20 6 5 Determining the IP address of the Linux development system To determine the IP address that is assigned to the Linux development system via DHCP a console window must be started in Linux symbol Terminal After entering command ifconfig among other things the IP address of the Linux Image is displayed marked with color in screenshot Figure 28 uu Terminal les De Edit View Terminal Go Help vmwaredvm xubuntu ifconfig eth4 Link encap Ethernet HWaddr 0 0c 29 cO a4 c1 inet lei 192 168 10 82 Bcast 192 168 10 255 Mask 255 255 255 0 inet6 addr fe30 20c 280f7 fec9 a4cl1 64 Scope ink UP BROADCAST RUNNING MULTICAST MTU 1590 Metric l RX packets 94953 errors dropped overruns frame 0 TX packets 30232 errors 0 dropped 0 overruns carrier collisions O txqueuvelen 1000 RX bytes 11121112 11 1 MB TX bytes 14831203 14 8 MB Interrupt 18 Base address 6x10a4 Link encap Local Loopback inet addr 127 9 0 1 HMask 255 9 0 0 inet6 addr 1 128 Scope Host UP LOOPBACK
102. sing Y includes lt N gt excludes lt M gt modularizes features Press lt Esc gt lt Esc gt to exit for Help lt gt for Search Legend built in excluded lt M gt module lt gt Project Name amp Version Host Options PTXdist Options Host Tools Cross Tools Debug Tools ad oot Filesystem Core libc locales lt Exit gt Figure 59 User interface to configure user applications including BusyBox SYS TEC electronic GmbH 2010 L 1253e 01 Page 66 System Manual ECUcore 9G20 After configuring the Linux kernel user applications and BusyBox switch to superior directory projects ECUcore 9G20 LinuxBSP 2 6 By calling make all software components are translated and summarized to a new image Gd yZyprogjects ECUcore 9620 7Il1nuxBSPb 2 6 make To regenerate the bootloader U Boot switch to directory projects ECUcore 9G20 LinuxBSP 2 6 u boot and call command make cd projects ECUcore 9G20 LinuxBSP 2 6 u boot make By calling Shell script copy image the Linux Image and U Boot are copied into directory tftoboot From there both software components can be loaded onto the ECUcore 9G20 see section 5 15 cd projects ECUcore 9G20 LinuxBSP 2 6 copy image SYS TEC electronic GmbH 2010 L 1253e 01 Page 67 System Manual ECUcore 9G20 8 Adaptation and Testing of the hardware connections 8 1 Driver Development Kit DDK for the ECUcore 9G20 The Driver Develo
103. sing from the improper usage or improper installation of the hardware or software SYS TEC electronic GmbH further reserves the right to alter the layout and or design of the hardware without prior notification and accepts no liability for doing so Copyright 2010 SYS TEC electronic GmbH All rights including those of translation reprint broadcast photomechanical or similar reproduction and storage or processing in computer systems in whole or in part are reserved No reproduction may occur without the express written consent from SYS TEC electronic GmbH Inform yourselves Address SYS TEC electronic GmbH August Bebel Str 29 D 07973 Greiz GERMANY Ordering 449 0 36 61 62 79 0 Please find a list of our Information info systec electronic com EAE stec electronic com distributors under 36 61 62 79 0 http www systec Technical Support nn electronic com distributors GG support systec electronic com Web Site http www systec electronic com 1st Edition March 2010 SYS TEC electronic GmbH 2010 L 1253e 01 Page 2 System Manual ECUcore 9G20 Table of Contents SYS TEC electronic GmbH 2010 L 1253e 01 Page 3 t oh de Ve Eet e dece 5 2 Overview Where to find what uus 002000022u0000ann0nnnnnunnnnnnunnnannnnnnnnnnnnnnnnnnannunnnnennnn 6 3 PFOGUCTIDESCHIDUON eMe eege 8 4 Development Kit ECUCOre 9G20 uuau22202aan000nnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 10
104. stribution and only if you received the program in object code or executable form with such an offer in accord with Subsection b above The source code for a work means the preferred form of the work for making modifications to it For an executable work complete source code means all the source code for all modules it contains plus any associated interface definition files plus the scripts used to control compilation and installation of the executable However as a special exception the source code distributed need not include anything that is normally distributed in either source or binary form with the major components compiler kernel and so on of the operating system on which the executable runs unless that component itself accompanies the executable If distribution of executable or object code is made by offering access to copy from a designated place then offering equivalent access to copy the source code from the same place counts as distribution of the source code even though third parties are not compelled to copy the source along with the object code 4 You may not copy modify sublicense or distribute the Program except as expressly provided under this License Any attempt otherwise to copy modify sublicense or distribute the Program is void and will automatically terminate your rights under this License However parties who have received copies or rights from you under this License will not have their licenses termin
105. t in contrast to modifying file etc hostname 6 7 6 Shrinking the VMware Image Call the VMware Toolbox by entering command sudo vmware toolbox to shrink the VMware Image to the necessary minimal size The VMware Image can be minimized shrunk to its necessary minimum size via tab sheet Shrink SYS TEC electronic GmbH 2010 L 1253e 01 Page 44 System Manual ECUcore 9G20 7 Software Development for the ECUcore 9G20 7 1 Software structure of the ECUcore 9G20 All components necessary to develop software for the ECUcore 9G20 are filed in path orojects in the VMware Image of the Linux development system or lI Vm xubuntu users projects in the Windows network environment Figure 41 illustrates the directory structure projects File Manager Fie Edit View Go Help 5 orojects v B Ecucare 9620 v B driver b E candrv P pc9gzodrv gt ig LinuxBSP 2 6 b toolchain v E user b demo b hellocan P EI tftpboot A e projects ECUCure 9322 Lfl pbouL ecucuore seLup 3 items 8 9 kB Free space 17 3 GB Figure 41 Structure of directory projects in the Linux development system projects ECUCOre 9G20 pc9g20drv candrv linux 2 6 10 ptxdist mu LinuxBSP 2 6 toolchain user demo hellocan Driver Libraries fo
106. tages for using Eclipse is the possibility to debug the translated program directly on high level language within the IDE This includes for example line by line eradication of programs on C level setting breakpoints directly in the source code and observing variables within the IDE While on the computer Eclipse IDE runs with the Linux development environment the program to be debugged is directly executed on the ECUcore 9G20 controlled by a debug server gdbserver This procedure is called Remote Debugging Therefore access to the Linux development environment Host computer and to the ECUcore 9G20 Target is required In the following all steps necessary to debug a user application are exemplarily described for the demo project included in the VMware Image of the Linux development system 1 Starting the Debug server with the user program on the ECUcore 9G20 To debug simply start the demo program on the ECUcore 9G20 directly from NFS directory of the Linux development system Therefore login to the command shell of the module is required see section 5 5 1 Afterwards complete the following steps in the Terminal program or Telnet client SYS TEC electronic GmbH 2010 L 1253e 01 Page 59 System Manual ECUcore 9G20 1 1 1 2 1 3 1 4 Integration of directory orojects tftpboot from the Linux development system into the local file system of the ECUcore 9G20 via NFS see section 7 5 1 mount E mts o nolock 192 1608
107. tails on how to Start Linux Bootloader deactivate the autarchic Linux U Boot start and to activate the U Boot command prompt compare section 5 2 1 Start Linux Operating System Load Module Drivers VO CAN RTC etc Run Boot Script Start Servers home etc autostart HT TP Server FTP Server Details about the programming of the ECUcore 9G20 are covered Start User Software in section 7 Figure 7 System start of the ECUcore 9G20 It is possible to configure the ECUcore 9G20 so that the user software starts automatically after Reset Therefore all essential commands must be lodged in the start script home etc autostart If required all necessary environment variables can be set and needed drivers can be loaded as well SYS TEC electronic GmbH 2010 L 1253e 01 Page 17 System Manual ECUcore 9G20 The start script home etc autostart must be adjusted according to desired functionality By entering command pureftp for example it is possible that the FTP server is called automatically during booting the ECUcore 9G20 The script can be edited directly on the ECUcore 9G20 in the FTP client WinSCP see section 5 1 using pushbuttons F4 or F4 Edit 5 3 Command prompt of the bootloader U Boot After hardware reset of the ECUcore 9G20 the bootloader U Boot is the first software component to start immediately During standard operation mode the bootloader automatically loads the Linux operating system that br
108. te options YYYY MM DD hh mm ss Example date 2010 02 25 112234358 ee Second C OE Minute To set the system time of the ECUcore 9G20 to 2010 02 25 and 11 34 55 as shown in the example above the following commands are necessary date 2010 02 25 11 54755 hwclock w The current system time is displayed by entering Linux command date without parameter The Linux command hwclock r can be used to recall current values from the RTC By using hwclock s the current values of the RTC are taken over as system time for Linux synchronizing the kernel with the RTC Figure 17 exemplifies setting and displaying the system time SYS TEC electronic GmbH 2010 L 1253e 01 Page 25 System Manual ECUcore 9G20 ECUcore 9G28 login PlcAdmin Password ish 3 2 H date 2H1H H2 25 11 34 55 Thu Feb 25 11 34 55 UTC 2010 sh 3 2 R huclock w GLEN sh 3 2 7 date Thu Feb 25 11 35 23 UTC 2618 Ge DKW hwelock r un 11 35 26 26186 H DDR seconds sh 3 2 m Figure 17 Setting and displaying the system time Upon start of the ECUcore 9G20 date and time are taken over from the RTC and set as current system time of the module Therefore Linux command hwclock s is necessary which is included in start script etc init d hwclock 5 10 Readout and displaying U Boot configuration data Command fw printenv under Linux enables the access to configuration data of the bootloader U B
109. tegration into own user projects cdrvinc h projects ECUcore 9G20 driver candrv include cdrvinc h Header file to describe Driver interfaces This Header file is to be integrated into the Source code c of the user project via Zinclude It then includes all further Header files in directory include according to the correct sequence candrv a projects ECUcore 9G20 driver candrv lib candrv a Users pace library of the I O Driver to be statically linked to user applications canarv ko projects ECUcore 9G20 ariver canarv lib canarv ko Kernelspace module of the CAN Driver to access the CAN controller This module must be loaded using Linux command insmod prior to starting the user application insmod candrv ko The CAN Driver Software Manual Manual no L 1023 includes descriptions about the interface and the usage of the CAN Driver in own applications Demo project projects ECUcore 9G20 user hellocan is an example for the usage of the CAN Driver on the ECUcore 9G20 see section 7 4 2 SYS TEC electronic GmbH 2010 L 1253e 01 Page 49 System Manual ECUcore 9G20 The delivery status of the ECUcore 9G20 provides a completely generated and ready to load Kernel module of the CAN Driver filed in directory home bin see section 5 13 insmod home bin candrv ko 7 4 2 CAN Driver Demo project The Demo project for the CAN Driver is filed in directory projects ECUcore 9G20 user hellocan of the Linux development system
110. the procedures described in section 5 5 1 Afterwards the following command must be entered in the Telnet or Terminal window pureftp Figure 12 illustrates an example for starting the FTP server pureftp CA Telnet 192 158 10 248 ECUcore 5484 login FleAdmin Password sh 2 865 H ftpd D UH zh 2 HWb5 Figure 12 Starting the FTP server Advice By entering command pureftp in the start script home etc autostart the FTP server may be called automatically upon boot of the ECUcore 9G20 see section 5 2 2 WinSCP which is available as open source would be suitable as FTP client for the computer see section 5 1 It consists of only one EXE file needs no installation and may be started immediately After program start dialog WinSCP Login appears see Figure 13 and must be adjusted according to the following instructions File protocol FTP Host name IP address of the ECUcore 9G20 as defined in section 5 4 User name PicAdmin for predefined user account see section 5 6 Password Pic123 for predefined user account see section 5 6 SYS TEC electronic GmbH 2010 L 1253e 01 Page 22 System Manual ECUcore 9G20 Session Sessio Stored sessions Host name Fort number Environment 182 158 10 248 az Directories Preferences User name Password Fic cmin ee eese Private key fle Frotoco Eile protocol FTP sl Insecure Select color Advanced options About Languages S
111. this section to claim rights or contest your rights to work written entirely by you rather the intent is to exercise the right to control the distribution of derivative or collective works based on the Program In addition mere aggregation of another work not based on the Program with the Program or with a work based on the Program on a volume of a storage or distribution medium does not bring the other work under the scope of this License SYS TEC electronic GmbH 2010 L 1253e 01 Page 77 System Manual ECUcore 9G20 3 You may copy and distribute the Program or a work based on it under Section 2 in object code or executable form under the terms of Sections 1 and 2 above provided that you also do one of the following a Accompany it with the complete corresponding machine readable source code which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or b Accompany it with a written offer valid for at least three years to give any third party for a charge no more than your cost of physically performing source distribution a complete machine readable copy of the corresponding source code to be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange or c Accompany it with the information you received as to the offer to distribute corresponding source code This alternative is allowed only for noncommercial di
112. ting ine bipux ene EE 31 5 16 Updating the bootloader U Boot EE 33 6 VMware Image with Linux Development System ees 34 OE OS DII EE ee ne ene ee 34 6 2 Installing the Linux VMware Image nennen 34 6 3 Starting the Linux VMware Mage nennen nennen nennen nn 34 6 4 User accounts to log in to the Linux development system 36 6 5 Determining the IP address of the Linux development system 37 6 6 Access to the Linux development system from a Windows computer 37 6 6 1 Access via Windows network environment uansessssnsssnnennennnnnnennnnnennnn nennen nennen 37 6 6 2 Access via Telnet dent 38 6 7 Personal configuration and actualization of the Linux VMware Image 39 6 7 1 Adjustment of keyboard layout and time zone 39 6 7 2 Adjusting the desktop ee 41 6 7 3 Setting a static IP address for the Linux VMware mage een 42 6 7 4 System update of the Linux VMware Image 44 6 7 5 Changing the computer name in the Windows network environment 44 6 7 6 Shrinking the VMware mage nennen nennen nnne nnn nnns 44 7 Software Development for the ECUCOre 9G20 ecce creer 45 7 1 Software structure of the ECllcore oG20 nennen nnne nnne nnn nnn 45 System Manual ECUcore 9G20 7 2 Makefile and environment variables to create projec
113. topbit no parity no flow control An update of the Linux Image on the ECUcore 9G20 is only possible if Linux is not yet running Hence prior to updating the Linux Image the Linux Autostart must be prevented and it must be switched to the U Boot command prompt instead All necessary steps are covered in section 5 2 1 After Reset e g pushbutton S405 on the Development Board the U Boot command prompt answers To update the Linux Image all commands explained in the following table must be entered in the same sequence as provided below SYS TEC electronic GmbH 2010 L 1253e 01 Page 31 System Manual ECUcore 9G20 Table 8 Command sequence to update the Linux Image on the ECUcore 9G20 Command setenv serverip lt host_ip_addr gt Setting the IP address of the TFTP server If the TFTP server is used in the VMware Image of the Linux development system the necessary IP address must be determined using Linux command ifconfig see section 6 5 if the Windows program TFT PD32 is used the IP address is shown on the computer in array Server Interface tfto root sum jffs2 Downloading the Linux Image from the Development PC onto the ECUcore 9G20 erase noro 3 Erase the Flash area needed by Linux Image cp b fileaddr 0x10480000 filesize Saving the Linux Image in the Flash of the ECUcore 9G20 COM1 115200baud Tera Term YT File Edit Setup Control Window Help Boot 2009 11 00027 gb495467 Har 09 2010
114. ts nennen 46 7 3 WO Driverfor the ECUCOre 9020 nme pen ege eeh Seed 47 7 3 1 Integration of the I O Driver into own user projects nennen 47 7 32 VO Diiver Demo proje lansis aa 49 7 4 GAN Driver for the EClUlcore OCG20 ee 49 7 4 1 Integration of CAN Driver into own user projects 222uunsssnnnnnnnnnnnneennnnnnnnnnne nn 49 1 4 2 GAN Driver Demo proJecL iui nen a a 50 7 5 Transferring programs to the ECUcore 9G20 nennen 52 2 5 1 DEI 52 252 UMOR EP ew CE 53 xod sEGUcore 9G20 as FTP CHEM 2 22 54 79 22 EGCUC0re 9620235 FTP Server ooi tbe nes 55 76 Translation and execution of demo project demo 55 AOT Usage MAKES vate E 55 Pee Usinhdgagraphical IDE Gelle 57 7 6 2 1 How to open and edit fedemoproiert nennen 57 7 6 2 2 Translating the demo Groe 58 7 6 2 3 Debugging the demo project in the IDEA 59 7 7 Configuration and Translation of Linux Image and U Boot 65 8 Adaptation and Testing of the hardware connections 68 8 1 Driver Development Kit DDK for the ECUcore 9G20 sees 68 8 2 Testing the hardware connections sseeesssssesssssessseeeee nennen nennen nennen nn nn nnns 69 9 Using the USB and SD interface 2 22u2000n2ann00nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 71 9T Be Te Bu USB E e EE 71 92 AISIIAG ING ER BET EE 73 10 Tips amp Tricks for Handling Linux
115. twork environment can be created by using pushbutton Add Afterwards dialog Edit Wired Connection opens up see Figure 39 SYS TEC electronic GmbH 2010 L 1253e 01 Page 42 System Manual ECUcore 9G20 Figure 38 Adding a network connection In dialog Edit Wired Connection see Figure 39 in the choice box Method pre adjustment Automatic DHCP is to be changed to the alternative option Manual Afterwards settings for IP address network mask gateway DNS server etc can be undertaken in Tab sheet IPv4 Settings Editing Wired connection 1 Connection name Wired connection 1 KM Connect automatically System setting 02 1x Security Pv4 Settings Welhwd Manual Addresses Address Netmask Gateway 192 168 10 123 255 255 255 0 192 168 10 1 DNS Servers 192 168 10 5 wal Routes Figure 39 Configuration of the network connection After the configuration is completed and all dialogs are closed click again on symbol Network Manager in the task menu by using the left mouse button this time see Figure 40 Choose the new network connection with the static IP address as active connection SYS TEC electronic GmbH 2010 L 1253e 01 Page 43 System Manual ECUcore 9G20 Wired Networks 47 amp Wired connection 1L CO Auto eth2 VPN Connections gt Figure 40 Changing the network configuration in the Network Manager 6 7 4 System update of the Linux VMware Image Th
116. uthor Gnomovision comes with ABSOLUTELY NO WARRANT Y for details type show w This is free software and you are welcome to redistribute it under certain conditions type show c for details The hypothetical commands show w and show c should show the appropriate parts of the General Public License Of course the commands you use may be called something other than show w and show c they could even be mouse clicks or menu items whatever suits your program You should also get your employer if you work as a programmer or your school if any to sign a copyright disclaimer for the program if necessary Here is a sample alter the names Yoyodyne Inc hereby disclaims all copyright interest in the program Gnomovision which makes passes at compilers written by James Hacker signature of Ty Coon 1 April 1989 Ty Coon President of Vice This General Public License does not permit incorporating your program into proprietary programs If your program is a subroutine library you may consider it more useful to permit linking proprietary applications with the library If this is what you want to do use the GNU Library General Public License instead of this License SYS TEC electronic GmbH 2010 L 1253e 01 Page 80 System Manual ECUcore 9G20 Index e EE 28 ei el CEET 27 28 Jbomeieiclautostart esse eee eeeees 17 home etc diskadded sh 71 home etc diskremoved sh
117. ux used for the ECUcore 9G20 supports the usage of SD cards All necessary drivers are already included in the Linux Image of the ECUcore 9G20 To use the SD card load the following drivers modprobe at91 mci modprobe mmc block After loading all drivers the SD card can be mounted into the local file system of the ECUcore 9G20 by using Linux command mount mount t vfat dev mmcblkO0pi1 mnt sd After executing the mount command the SD card is mounted in path mnt sd Use the following command to list all files includes on the SD card cd mnt sd ie la Figure 64 illustrates the loading process of drivers the mounting of the SD card into the local file system and the access to the SD card at ECUcore 9G20 CA Telnet 192 158 10 248 IECUcore 9G28 login PlcAdmin Fassword h 3 2 modprohe H modprobe mmc block mount t vfat deu mmchlkHpi mnt sd cd mnte sd mnt s idt ls la drwuxr xr x 2 root Foot 16384 Jan druxr xr x Foot Foot AH Har Foot Foot GER root root root root root root Figure 64 Access to the SD card at ECUcore 9G20 Advices for using the SD card Writing accesses to the SD card take place asynchronously The return of the write function does not mean that all data has been completely written onto the SD card In fact the data from the ECUcore 9G20 is cached in the RAM and afterwards it is transferred to the SD card in the background For C C programs the writing procedure
118. vmware sl Password mE Remember my password ce Figure 30 Login to Vm xubuntu Alternatively the VMware Image of the Linux development system may be linked directly to a drive letter via Windows command net use This could be necessary for example if problems occur due to long timeouts during searching the Windows network environment or in general during locating the virtual computer This may take place either through symbolic names or directly via the IP address of the Linux development system In the latter case the IP address of the Linux development system must first be determined as described in section 6 5 Command net use is as follows net use local device lt computername sharename gt user username options To tie the VMware Image with the Linux development system to the local drive letter X for example command net use is to be used as follows net use x Vm xubuntu users user vmware persistent NO Alternatively instead of the symbolic name the IP address of the Linux development system may be directly entered e g net use x 192 168 10 82 users user vmware persistent NO 6 6 2 Access via Telnet client Access to a console of the Linux development system is also possible via a Telnet client in Windows because the VMware Image has a Telnet server installed This allows for calling command line tools such as make to translate user projects via Windows user interface
119. which is as well directly callable from the start menu Applications gt System Time and Date see Figure 36 Since changing the time zone is an administrative activity the dialog must first be released by using pushbutton Unlock also see Figure 36 Therefore the administrator password will be asked analog to the console command sudo By default password vmware must be entered also compare Table 9 in section 6 4 Afterwards the capital and the corresponding time zone can be chosen via path Time zone lt Applications Bj Places vi Settings Terminal d Accessories gt minal Go Help Development untu 4 Graphics Network Office f System r2 Add Remove Authorizations EES EZ Hardware Drivers Y gece GER fe Language Support l Quit LJ Services ED Shared Folders T Software Sources L a EN r Synaptic Package Manager System Monitor 5 Time and Date Update Manager amp Users and Groups Time 14 B E Date lt January gt lt 2009 gt Unlock 3 Close Figure 36 Adjusting the time zone 6 7 2 Adjusting the desktop size The Linux VMware Image is able to automatically adjust the desktop size to the window size of the VMware Player The VMware Player runs like a normal Windows application Hence to change the SYS TEC electronic GmbH 2010 L 1253e 01 Page 41 System Manual ECU
120. ystem via Telnet client Figure 31 exemplifies login to the Linux developments by using the Telnet client that is included in Windows as standard 6 7 Personal configuration and actualization of the Linux VMware Image 6 7 1 Adjustment of keyboard layout and time zone By default the Linux VMware Image is set to US keyboard layout and UTC time zone Via the country symbol in the task menu it is possible to easily switch to another preinstalled keyboard layout see Figure 32 3 Applications B Places amp Es Ee f I l amp iso2urc e 5 E EK E Terminal X Eclipse Text Editor Krusader ee Figure 32 Country symbol for switching keyboard layouts SYS TEC electronic GmbH 2010 L 1253e 01 Page 39 System Manual ECUcore 9G20 By clicking with the right mouse button on the country symbol in the task menu see Figure 32 and by calling entry Properties from the popup menu an alternative keyboard layout may be permanently chosen Hence dialog Configure Keyboard Layout Switcher opens and the desired layout can be set as Default Layout see Figure 33 Configure Keyboard Layout Switcher Show layout as image v Per application settings O Remember layout for each application 24 Close Figure 33 Choosing a permanent keyboard layout Adding more keyboard layouts is possible by using Xfce Settings Manager which can be directly called from the start menu Applications gt Settin

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