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ioPAC RTU Software User`s Manual

1. Command Description kversion Show kernel version upramdisk Mount ramdisk downramdisk Unmount ramdisk ipset Configure and save network settings setdef Reset to factory defaults and reboot setkey Set key command for Software Lock function upgradehfm Firmware upgrade utility To view the supported system commands use the help or busybox help commands as illustrated in the following examples for the ioPAC 8500 controller RTU version 1 2 0 help command root Moxa help GNU bash version 3 2 39 1 release arm unknown linux gnu These shell commands are defined internally Type help to see this list Type help name to find out more about the function name Use info bash to find out more about the shell in general Use man k or info to find out more about commands not in this list A star next to a name means that the command is disabled JOB SPEC amp expression filename arguments Dargo s 7 expression alias p name value bind lpvsPVS m keymap f fi break n builtin shell builtin arg caller EXPR case WORD in PATTERN PATTERN cd L P dir command pVv command arg compgen abcdefgjksuv o option complete abcdefgjksuv pr o continue n declare afFirtx p name val dirs clpv N N echo neE arg ioPAC RTU Software System Commands enable pnds a f filename eval
2. Port Trunking To enable the port trunking function use the debug port as described in the following steps 1 Enable the port trunking function IP_Bonding mode 1 etc init d networking stop ipset bondO aup i192 168 19 151 n255 255 255 0 g192 168 19 254 modprobe bonding mode 1 miimon 100 use_carrier 0 etc init d networking start 2 After configuration the virtual IP address will be set to 192 168 19 151 Disable the port trunking function etc init d networking stop ipset bondO adown etc init d networking start 4 Use the ifconfig command to check the Ethernet configuration Serial Configuration Modbus RTU Master Modbus RTU is a very common communication protocol in industrial applications and the ioPAC RTU controller has a built in Modbus RTU master function For more detailed information see the C C Sample Code Programming Guide for ioPAC RTU Controllers 5 RTU Data Acquisition This chapter explains how to use the ioPAC RTU controller for data acquisition The following topics are covered in this chapter a g o o I O Data Access Battery Backup SRAM Millisecond Timestamp Active OPC Server ioPAC RTU Software RTU Data Acguisition I O Data Access ioPAC RTU controllers support many kinds of I O modules that collect physical data from sensors For ioPAC 8500 series users can use modularized 85M series I O modules Moxa provides C C programming tools for users to develop their own project
3. Initializing network OK Search TFTP Server OK Using default protocol TFTP Ready to receive RTU hfm frm_headerlength 0x5c frm_header version 0x2000000 frm_modelname RTU frm_totallength 0x96eed0 frm_checksum Oxe2c36f1f frm_totalfileno 0x3 frm_apidno 0x1 frm APID 0x80000189 file filename KERNEL ioPAC 8500 file filelength 1c7a74 file checksum 65246529 file flashstart 80080000 file flashend 80400000 file flashlength 380000 file DRAMstartaddr 0 file mtdno 1 file version 260602 Erase flashrom 0x80080000 0x800a0000 OK 11 After completing the upgrade process power cycle the ioPAC RTU Loading Factory Defaults Use the following procedure to reset the ioPAC to the factory defaults Note that when you reset the ioPAC all of your tag definitions software programs and files will be deleted and the service and runtime engine will be restarted 1 When the system is booting up and the RDY LED is blinking GREEN hold the toggle switch in the RESET position 2 Continue to hold toggle switch until the RDY LED turns a solid RED and then release the toggle switch It will take around 90 seconds to complete the factory reset process 3 When the RDY LED starts blinking GREEN indicating that the kernel is rebooting the factory mode is completed 3 5 ioPAC RTU Software RTU Management Enabling and Disabling Daemons The following daemons are
4. iptables X iptables Z 4 5 ioPAC RTU Software RTU Communications Define Policy for Chain Rules Usage iptables t tables P INPUT OUTPUT FORWARD PREROUTING OUTPUT POSTROUTING ACCEPT DROP P Set the policy for the chain to the given target INPUT For packets coming into the ioPAC RTU OUTPUT For locally generated packets FORWARD For packets routed out through the ioPAC RTU PREROUTING To alter packets as soon as they come in POSTROUTING To alter packets as they are about to be sent out Examples iptables P INPUT DROP iptables P OUTPUT ACCEPT iptables P FORWARD ACCEPT iptables t nat P PREROUTING ACCEPT iptables t nat P OUTPUT ACCEPT iptables t nat P POSTROUTING ACCEPT In this example the policy accepts outgoing packets and denies incoming packets Append or Delete Rules Usage iptables t table AI INPUT OUTPUT FORWARD io interface p tcp udp icmp all s IP network sport ports d IP network dport ports j ACCEPT DROP A Append one or more rules to the end of the selected chain I Insert one or more rules in the selected chain as the given rule number i Name of an interface via which a packet is going to be received o Name of an interface via which a packet is going to be sent p The protocol of the rule or of the packet to check s Source address network name host name network IP address or plain IP address sport
5. upramdisk root Moxa df h Filesystem Available 5 Mounted on dev root E 7 8M y dev ram0 i 457 0K 5 var dev ram7 h 1 8M dev dev mtdblock3 z 11 4M tmp dev mtdblock3 x E 11 4M home dev mtdblock3 11 4M etc tmpfs E 29 8M dev shm dev raml A a 29 9M 5 var ramdisk root Moxa Follow the steps below to save the firmware file to the ioPAC RTU controller s RAM disk and upgrade the firmware 1 Type the following commands to enable the RAM disk upramdisk fcd mnt ramdisk 2 Type the following commands to use the ioPAC RTU controller s built in FTP client to transfer the firmware file FWR_ioPAC_x_x_x hfm from the PC to the ioPAC RTU mnt ramdisk gt ftp lt destination PC s IP gt Login Name xxxx Login Password xxxx ftp gt bin ftp gt get FWR_ioPAC_x_x_x hfm root Moxa ftp 192 168 127 3 Connected to 192 168 127 3 220 Welcome to Rainbow FTP G Server FREEWARE Edition 220 For Personal Use Only Name 192 168 127 3 root root 331 Password reguired for root Password 230 User successfully logged in Remote system type is UNIX ftp bin 200 Type set to BINARY ftp ls 200 Port command successful 150 Opening ASCII mode data connection for directory list 140856793 Apr 19 16 11 1 user group arm linux V1 0 Build2013041916 sh 1 user group 6158672 Jan 11 10 31 FTP G x64 exe 1 user group 10053852 Apr 17 19 09 FWR ioPAC8500 V1 1 Build13041719 STD hfm
6. www ntp org for more information about NTP and NTP server addresses root Moxa date hwclock Fri May 10 10 50 54 CST 2013 Fri May 10 02 50 53 2013 0 000000 seconds root Moxa ntpdate time stdtion gov tw 10 May 10 51 03 ntpdate 156 adjust time server 192 168 50 33 offset 0 007500 sec root Moxa hwclock w root Moxa date hwclock Fri May 10 10 51 17 CST 2013 Fri May 10 10 51 16 2013 0 000000 seconds root Moxa Add the command line to the vi etc profile directory to change the time zone For example export TZ CST 8 Before using the NTP client utility check your IP and DNS settings to make sure that an Internet connection is available Refer to Chapter 2 for instructions on how to configure the Ethernet interface and see Chapter 4 for DNS settings information Updating the Time Automatically This section demonstrates how to use a shell script to update the time automatically Example shell script to update the system time periodically bin sh ntpdate time nist gov You can use the time server s ip address or domain name directly If you use domain name you must enable the domain client on the system by updating etc resolv conf file hwclock systohc sleep 100 Updates every 100 seconds The min time is 100 seconds Change 100 to a larger number to update RTC less often Save the shell script using any file name e g fixtime How to run the shell script automatic
7. Several different tables are defined with each table containing built in chains and user defined chains Each chain is a list of rules that apply to a certain type of packet Each rule specifies what to do with a matching packet A rule such as a jump to a user defined chain in the same table is called a target The ioPAC RTU controllers support 3 types of iptables tables Filter tables NAT tables and Mangle tables A Filter tables includes three chains INPUT chain OUTPUT chain FORWARD chain B NAT tables includes three chains PREROUTING chain transfers the destination IP address DNAT POSTROUTING chain works after the routing process and before the Ethernet device process to transfer the source IP address SNAT OUTPUT chain produces local packets sub tables Source NAT SNAT changes the first source packet IP address Destination NAT DNAT changes the first destination packet IP address MASGOUERADE a special form for SNAT If one host can connect to the Internet then other computers that connect to this host can connect to the Internet when the computer does not have an actual IP address REDIRECT a special form of DNAT that re sends packets to a local host independent of the destination IP address C Mangle tables includes two chains PREROUTING chain pre processes packets before the routing process OUTPUT chain processes packets after the routing process It has three extensions T
8. 226 Transfer complete ftp get FWR ioPAC8500 V1 1 Build13041719 STD hfm home FWR ioPAC8500 V1 1 Build13041719 STD hfm local home FWR hfm remote FWR ioPAC8500 V1 1 Build13041719 STD hfm 200 Port command successful 150 Opening BINARY mode data connection for file transfer 226 Transfer complete 10053852 bytes received in 81 2 secs 1 2e 02 kbytes sec ftp 3 Next use the upgradehfm command to upgrade the kernel and root file system upgradehfm FWR ioPAC x x x hfm 3 3 ioPAC RTU Software RTU Management root Moxa mnt ramdisk upgradehfm FWR ioPAC8500 V1 1 Build13041719 STD hfm root Moxa home upgradehfm FWR ioPAC8500 V1 1 Build13041719 STD hfm Upgrade firmware utility version 1 1 To check source firmware file context The source firmware file conext is OK This step will destory all your firmware Continue Y N Now upgrade the file KERNEL ioPAC 8500 Format MTD device dev mtdl MTD device dev mtdl erase 128 Kibyte 380000 100 complete Wait to write file Completed 100 Now upgrade the file ROOTFS ioPAC 8500 Format MTD device dev mtd2 MTD device dev mtd2 erase 128 Kibyte 1000000 100 complete Wait to write file Completed 100 Now upgrade the 85M 5401 module Now upgrade the 85M 3811 module Now upgrade the 85M 3810 module Now upgrade the 85M 3801 module Now upgrade the 85M 3800 module Now upgrade the 85M 2600 module Now upgrade the 85M 1602
9. 5 Enabling and Disabling Daemons ssssssssssrsrsrtsrrtnrttttuntttnttt tntu tunun E hene AEE LEL hine i nere ense nee se een nennen nennen 3 6 Runslevel Settiligs HF FFEFRIR A I RE RH ERR DERE A RR HA RR 3 7 oystem Time Settingiei uu E EAR i t eK nn dna UTE RD UD y bales er wees ddu meee bees nu y y n 3 8 Setting the Time Manually rrr en to eto Rage te YD ORI Y a Y TG RIA 3 8 Updating the Time with NTP Cli nt ccccececseeeeeeeeeeeeeseeeeeeeeseeauseseeaeaeseeaeaeseeaeaeseeaeceseeeeseseeansereraes 3 10 Updating the Time Automatically certe rtr neueren YNN HAU WY rtp n ERR RRRRERRERRRYPRRRR RT REREITR 3 10 NOR Server Settihg o Siiri EFA YE TH OF PE RED tabs ange HER HO RH UN NN 3 11 Executing Scheduled Commands with Cron Daemon 9 1 YYYY ee ee ee nemen A ELE LEE nennen nnne 3 11 To NR eL CE A ETE 3 12 RTU Communications 2 cccceeeeeeeeee eee ee ee eee ee eeeee eens ee eeese sees esse uasa a cuusa su uasa usas usu LEE sucum sa NEEDED RR RR RE RnR 4 1 Internet Configuration eie reet rre ROPPEHRHP RP ERE ER ERROR RE senna ka E RR ERR ERR EM AERE DAD 4 2 Modbus TCP Master and Slave sess YRR aa ie naai ne natnm Enan daa ana ELLA AF ERYR FYDR RE nen 4 2 BI C EDT rH 4 2 T lnet ETB et eu eu a ac NN t ne EAE M M te M bn 4 2 iptablesz Yu Y YY YY YY Yna Fed eee er GDG sans Y tr ees serrer dn 4 3 YY ue CI p pM T EE E EE E RF FR FFF FFF RY N SN at ok had 4 7 Port Forwarding DNAT eren Y YY YNN YNN yy NY YY WY YY
10. M V HIN REDE ERN EY scare 6 2 To TE aa HO OIG MAN e PER ETT cuv MM LE 6 2 On Line Debugging with GDB rrr HR RR rU A aE ERR YN TRYDYD A YD Da 6 4 Library and APIS cete rr HR E RR RERO RR be chee ERE ERR ERE E EM ERERERMERERRRERRRRRRE 6 4 EAECHODIuLDne A 1 Moxa Speciab Utilities uoo he eee eee eu ete tenete exa Cyd eter Y du ahaa atta Mie aia A A 1 1 Introduction The following topics are covered in this chapter O Overview Scope Related Documents Supported Products O Software Architecture gt Journaling Flash File System JFFS2 gt Software Package ioPAC RTU Software Introduction Overview This section introduces the scope of this document and lists related documents for reference Scope The purpose of this document is to help users set up and configure the ioPAC RTU and become familiar with the programming environment guickly The following topics are covered in this document Introduction Getting Started RTU Management RTU Communications RTU Data Acguisition aaaanonao RTU Programming The following information is provided in the Appendix O System Commands Related Documents Additional information about ioPAC RTU features is available in the following manuals which can be found in the ioPAC RTU Documentation amp Software CD D ioPAC 8500 RTU Hardware User s Manual O C C Sample Code Programming Guide for i
11. Source port number d Destination address dport Destination port number j Jump target Specifies the target of the rules i e how to handle matched packets For example ACCEPT the packet DROP the packet or LOG the packet Examples Example 1 Accept all packets from lo interface iptables A INPUT i lo j ACCEPT Example 2 Accept TCP packets from 192 168 0 1 iptables A INPUT i ethO p tcp s 192 168 0 1 j ACCEPT Example 3 Accept TCP packets from Class C network 192 168 1 0 24 iptables A INPUT i ethO p tcp s 192 168 1 0 24 j ACCEPT Example 4 Drop TCP packets from 192 168 1 25 iptables A INPUT i ethO p tcp s 192 168 1 25 j DROP Example 5 Drop TCP packets addressed for port 21 iptables A INPUT i ethO p tcp dport 21 j DROP Example 6 Accept TCP packets from 192 168 0 24 to W341 s port 137 138 139 iptables A INPUT i ethO p tcp s 192 168 0 24 dport 137 139 j ACCEPT 4 6 ioPAC RTU Software RTU Communications Example 7 Drop all packets from MAC address 01 02 03 04 05 06 iptables A INPUT i ethO p all m mac mac source 01 02 03 04 05 06 j DROP NOTE In Example 7 remember to issue the command modprobe ipt mac first to load module ipt mac NAT SNAT NAT Network Address Translation protocol translates IP addresses used on one network to different IP addresses used on another network One network is designated the inside network and the other is the outside
12. YU ead Yy orar e EE SY F YDY TYFU YY YU YW YY YNYR 4 9 PPP Dial Up Servie nnn aa ataa ORA DR asta A RA ao EET 4 9 PPPOE nay ya aat iaa aan YDA E yd cp c dn pn po dr 4 12 NFS Network File System Client YVYYYAY ALAR ARR EA EL EA EAR LEA hene EE EE LEA hene nene nennen nennen nens 4 14 Tn hreaur 4 14 OPENVPN mE ERES 4 14 NTP ServerZClignt correr rrr ve brie vik EU IR Y DET FR PIRE ba RR RR i iR DR ER RERO RR teens singe 4 18 POM ai aU Las SAPERET Am 4 19 Serial Configuratio c NN AA A 4 19 Modbus RTU Masters an mn that voee ete sete WR dw aeu yu dy Yw y YG 4 19 DAIUDIOCE CH IUTCTIDT ER Rnh 5 1 VO Data Accessi oet eM MM M MI MIMIEIMMEI MI MN open 5 2 Battery Backup SRAM 22st che ach acta rime RR xri AR aa p EFE aa aA ERR iima E oa Ra Ra RRRriRtRARA PAS ANN ANO DDAU 5 2 Millisecond Timestarmp ius is cs cd ck ierit tite ronem xt nr Renee eR D I Cael ee ND ddyn pear e ayn YM Unn aa 5 2 Active OPG Server uere _ ui iD e er dem antt ERU HR GE cut AR PH UN NR 5 2 RTU BU menn pme 6 1 Programming Guide erret ER RENE ERROR ERE ERR nk EA RDAU ADD ADY D DDU 6 2 Memory USad amp i 023 certae eee rue vane dived eoo Sanda ct senses od dung Ny ba qure Dare DD we paye Dese bane ad nva da DE ERN 6 2 VEERSE E AAAA REPERE AT alata ORDER D ORDRE RR EE ole LY uuo
13. both of OpenVPN peers openvpn config A tapO br conf amp openvpn config B tapO br conf amp If you see the line Peer Connection Initiated with 192 168 8 173 5000 on each machine the connection between OpenVPN machines has been established successfully on UDP port 5000 5 On each OpenVPN machine check the routing table by typing the command route Destination Gateway Genmsk Flags Metric Ref Use Iface 192 168 4 0 255 255 255 0 U 0 0 0 bro 192 168 2 0 255 255 255 0 U 0 0 0 bro 192 168 8 0 255 255 255 0 U 0 0 0 eth0 Interface eth1 is connected to the bridging interface brO to which device tapO also connects whereas the virtual device tun sits on top of tapO This ensures that all traffic from internal networks connected to interface eth1 that come to this bridge write to the TAP TUN device that the OpenVPN program monitors Once the OpenVPN program detects traffic on the virtual device it sends the traffic to its peer 6 To create an indirect connection to Host B from Host A you need to add the following routing item route add net 192 168 4 0 netmask 255 255 255 0 dev ethO To create an indirect connection to Host A from Host B you need to add the following routing item route add net 192 168 2 0 netmask 255 255 255 0 dev ethO Now ping Host B from Host A by typing ping 192 168 4 174 A successful ping indicates that you have created a VPN system that only allows au
14. enabled when the ioPAC RTU controller boots up for the first time snmpd SNMP Agent daemon telnetd Telnet Server Client daemon inetd Internet Daemons ftpd FTP Server Client daemon sshd Secure Shell Server daemon Type the ps command to list all processes currently running root Moxa cd etc root Moxa etc ps PID USER VSZ STAT COMMAND root 1868 S init 3 root O SW kthreadd root SW ksoftirqd 0 root SW kworker 0 0 root SW kworker u 0 root SW rcu kthread root SW lt Khelper root SW sync supers root SW bdi default root SW lt kblockd root SW khubd root SW rpciod root SW kswapd0 root SW kworker 0 1 root SW fsnotify mark root SW lt aio 17 root Oe SWK nfsiod O Y Oe H O H H H L root SW crypto root SW mtdblock0 root SW mtdblock1 root SW mtdblock2 I SW mtdblock3 xv I root SW kworker u 1 root SW flush 1 0 root SW LEXush L A SWN jffs2 gcd mtd3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 e root ae 106 root usr sbin inetd 113 root sbin sshd lIToxroot bin sh bin rtu agent 120 root bin rtu agent bin 125 root bin sh login 131 root sshd root ttyp0 L3J72oot bash 139 root ps root Moxa ect To run a private daemon you can edit the rc local file as follows cd etc vi rc local root Moxa cd etc root Moxa etc rc d vi rc local Next use the vi command to open yo
15. for data acquisition C C library and APIs can be found under C C Sample Code Programming Guide for ioPAC RTU Controllers 2 Files gt io io event and misc One important function of the current analog input module is the Burn Out function Users can use the MX RTU Module AI Burnout Value Set API to configure the Burn Out mode If a module is burned out or a wire is disconnected the LED will turn RED Battery Backup SRAM ioPAC RTU controllers support battery backup SRAM which is an important part of applications that require any kind of data backup in the event of a power failure The size is 128 KB and users can use the APIs MX RTU SRAM Read and MX RTU SRAM Write to access the SRAM For more detailed information and examples please refer to C C Sample Code Programming Guide for ioPAC RTU Controllers gt Files gt misc Millisecond Timestamp A timestamp is a sequence of characters or encoded information identifying when a certain event occurred usually expressing the date and time of day and sometimes accurate to a small fraction of a second The ioPAC 85M 1602 T and 85M 3801 11 T support modules have a dual CPU architecture which means each I O module has its own CPU that can easily record events in milliseconds Using this function enables the ioPAC to collect data more accurately by providing millisecond timestamps for event and historical data analysis Thanks to the millisecond timestamp function operators can distinguish t
16. incorrect the kernel will change the root file system to the kernel and use the default Moxa file system To finish the boot process run the init program 1 The user file system is a complete file system Users can create and delete directories and files including source code and executable files as needed 2 Users can create the user file system on the host PC or the target platform and copy it to the ioPAC RTU controller 3 Continuously writing data to flash is not recommended since doing so will decrease the flash s life Using C C Linux Toolchain The Linux toolchain contains a suite of cross compilers and other tools as well as the libraries and header files that are necessary to compile your applications These toolchain components must be installed on your host computer PC running Linux We have confirmed that the following Linux distributions can be used to install the toolchain ioPAC 8500 amp 5500 Series Debian 6 0 1 Ubuntu 11 04 Fedora Core 15 Steps for Installing the Linux Toolchain Refer to the Install the Toolchain onto the PC section in Chapter 2 6 2 ioPAC RTU Software RTU Programming Compilation for Applications To compile a simple C application use the cross compiler instead of the regular compiler arm linux gcc o example Wall g O2 example c arm linux strip s example arm linux gcc ggdb o example debug example c Most of the cross compiler tools are the same as their na
17. link symbols to enable this script at boot time In s etc openvpn openvpn bridge etc rc d rc3 d S32vpn br for example In s etc openvpn openvpn bridge etc rc d rc6 d K32vpn br for example 3 Create a configuration file named A tapO br conf and an executable script file named A tapO br sh on OpenVPN A sf point to the peer remote 192 168 8 174 dev tapO secret etc openvpn secrouter key cipher DES EDE3 CBC auth MD5 tun mtu 1500 tun mtu extra 64 ping 40 up etc openvpn A tapO br sh Start bin sh value after net is the subnet behind the remote peer route add net 192 168 4 0 netmask 255 255 255 0 dev brO Create a configuration file named B tapO br conf and an executable script file named B tapO br sh on OpenVPN B point to the peer remote 192 168 8 173 dev tapO secret etc openvpn secrouter key ioPAC RTU Software RTU Communications cipher DES EDE3 CBC auth MD5 tun mtu 1500 tun mtu extra 64 ping 40 up etc openvpn B tapO br sh dt Start bin sh value after net is the subnet behind the remote peer route add net 192 168 2 0 netmask 255 255 255 0 dev brO NOTE Select cipher and authentication algorithms by specifying cipher and auth To see which algorithms are available type openvpn show ciphers openvpn show auths 4 Start
18. of JFFS It provides improved wear leveling and garbage collection performance improved RAM footprint and response to system memory pressure improved concurrency and support for suspending flash erases marking of bad sectors with continued use of the remaining good sectors enhancing the write life of the devices native data compression inside the file system design and support for hard links The key features of JFFS2 are e Targets the flash ROM directly e Robustness e Consistency across power failures e No integrity scan fsck is required at boot time after normal or abnormal shutdown e Explicit wear leveling e Transparent compression Although JFFS2 is a journaling file system this does not preclude the loss of data The file system will remain in a consistent state across power failures and will always be mountable However if the system is powered down during a write then the incomplete write will be rolled back on the next boot but writes that have already been completed will not be affected Additional information about JFFS2 is available at http sources redhat com jffs2 jffs2 pdf http developer axis com software jffs 1 3 ioPAC RTU Software Introduction http www linux mtd infradead org Software Package Boot Loader Moxa Boot Loader v1 0 Kernel Linux 2 6 38 Protocol Stack ARP PPP CHAP PAP IPv4 ICMP TCP UDP DHCP FTP HTTP NTP NFS SMTP SSH 1 0 2 0
19. tun sh 4 17 ioPAC RTU Software RTU Communications f bin sh value after net is the subnet behind the remote peer route add net 192 168 4 0 netmask 255 255 255 0 gw 5 Create a configuration file named B tun conf and an executable script file named B tun sh on OpenVPN B remote 192 168 8 173 dev tun secret etc openvpn secrouter key cipher DES EDE3 CBC auth MD5 tun mtu 1500 tun mtu extra 64 ping 40 ifconfig 192 168 4 174 192 168 2 173 up etc openvpn B tun sh bin sh value after net is the subnet behind the remote peer route add net 192 168 2 0 netmask 255 255 255 0 gw 5 Note that the parameter ifconfig defines the first argument as the local internal interface and the second argument as the internal interface at the remote peer Note that 5 is the argument that the OpenVPN program passes to the script file Its value is the second argument of ifconfig in the configuration file 3 Check the routing table after you run the OpenVPN programs by typing the command route Destination Gateway Genmsk Flags Metric Ref Use Iface 192 168 4 174 255 255 255 255 UH 0 0 0 tunO 192 168 4 0 192 168 4 174 255 255 255 0 UG 0 0 0 tunO 192 168 2 0 255 255 255 0 U 0 0 0 ethi 192 168 8 0 255 255 255 0 U 0 0 0 etho NTP Server Client Refer to the System Time Setting section in Chapter 3 for more information ioPAC RTU Software RTU Communications
20. 0 0 0 0 0 255 0 0 0 U 0 0 0 lo 0 0 0 0 pppO 129 67 1 165 0 0 0 0 UG 0 0 6298 If your output looks similar but doesn t have the destination 0 0 0 0 line which refers to the default route used for connections you may have run pppd without the defaultroute option At this point you can try using Telnet FTP or finger bearing in mind that you ll have to use numeric IP addresses unless you ve set up etc resolv conf correctly Setting up a Machine for Incoming PPP Connections This first example applies to using a modem and requiring authorization with a username and password pppd dev ttyMO 115200 crtscts modem 192 168 16 1 192 168 16 2 login auth You should also add the following line to the file etc ppp pap secrets ww The first asterisk lets everyone log in The second asterisk lets every host connect The pair of double quotation marks is to use the etc passwd file to check the password The last asterisk is to let any IP address connect The following example does not check the username and password pppd dev ttyMO 115200 crtscts modem 192 168 16 1 192 168 16 2 PPPoE 1 Connect the ioPAC RTU controller LAN port to an ADSL modem with a cross over cable hub or switch 2 Log in to the ioPAC RTU controller as the root user 3 Edit the file etc ppp chap secrets and add the following username hinet net password Secrets for authentication using CHAP client server secret IP addres
21. R DRERERRERRRRERORRRRRERIERRRRR RR anaes 2 2 Modifying Network Settings with the Serial Console ssseennn meme mee nene nennen 2 2 Modifying Network Settings over the Network ccccceeee eter ee ee eee eee renee nennen nene nene rennen nn 2 3 Connect am RTU Toa Eine PC Fee du LRL eed SL SW sie e ue Yny ydy Ydy yg ven a 2 3 Install the Toolchain onto the PC rentani ai aanne aa aa Ema aa ana Ea hannes natnra ta HEOL ebin iii rna n enirn EDR RE nennen 2 4 Set Cross Compiler amp glibc Environment Variables YV YYFYL AAA LARA LEL nemen nennen nennen 2 4 Develop Code amp Compile the Program eese rmn tn nhan nni hn n nha ADRE RR nina REAL RF RYD nina 2 4 Upload amp Run the Program error ERE ERR yeas RR ERE ERRMRRERERI ERE hve ERE RRMKRERRRER DD DADAU 2 5 RTU Management essesesseseussnnussuuusuuu usua IA RR RAS RRSRRRRGRSRRSARSRRSASRRSRSRRSRSRRERSRRERSRRERSRRERSRRERSRSRRSuSERS4SRRS4SE 3 1 System Innopmatiol s oos oov cue Nwy etnies e does dulce eee eie O a SN on ou y y dre GYG Y EUN UI UD ME 3 2 Firmware Upgrade and Default SettingS c ccc nemen enne e nenne serene nennen 3 2 Upgrading the Firmware 2 rrr rrr ener rre HERR ERE ERR RET ERR ERR PER RORE RE REIR ER RERORDRERRERRRERRDRRXRERRRERERA 3 2 Recovering the Firmwares rre eme eren cel cody ends aAA DDR ERA ADR S tastes aes 3 4 Loading Factory Defaults iere erret EAEAP E rE EAEn E ASK E ERR RR ERRREREREREREEERERERERIR 3
22. SSL Telnet PPPoE OpenVPN TFTP File System JFFS2 NFS Ext2 Ext3 VFAT FAT OS shell command Bash Busybox Linux normal command utility collection Utilities tinylogin Login and user manager utility telnet Telnet client program ssh SSH client program ftp FTP client program smtpclient Email utility ntpdate NTP client program tftp TFTP client program ddns NO IP client program Daemons pppd Dial in out over serial port daemon telnetd Telnet server daemon inetd TCP server manager program ftpd FTP server daemon sshd Secure shell server openvpn Virtual private network openssl Open SSL ntpd NTP server daemon Linux Toolchain Gcc V4 4 2 C C PC Cross Compiler GDB V7 0 1 Source Level Debug Server Glibc V2 10 1 POSIX standard C library 1 4 2 Getting Started This chapter is intended as a guick start guide to help new users set up and configure the ioPAC RTU controller guickly and develop a simple program to run on the ioPAC RTU controller The following topics are covered in this chapter O Developing the First Program Hardware and Software Requirements Development Procedure O Configuring the Ethernet Interface Modifying Network Settings with the Serial Console gt Modifying Network Settings over the Network Connect an RTU to a Linux PC Install the Toolchain onto the PC Set Cross Compiler amp glibc Environm
23. TL MARK TOS 4 3 ioPAC RTU Software RTU Communications The following figure shows the iptables hierarchy Incoming Packets Mangle Table PREROUNTING Chain NAT Table PREROUNTING Chain Packets Mangle Table INPUT Chain Other Host Packets Filter Table Mangle Table INPUT Chain FORWARD Chain Process FORWARD Chain Mangle Table Mangle Table OUTPUT Chain POSTROUTING Chain NAT Table OUTPUT Chain Filter Table OUTPUT Chain NAT Table POSTROUNTING Chain Outgoing Packets The ioPAC RTU controllers support the following sub modules Be sure to use the module that matches your application nf_conntrack ipt MASOUERADE xt length nf conntrack ftp ipt REDIRECT xt limit nf conntrack irc ipt REJECT xt mark nf nat ftp xt TCPMSS xt multiport nf nat irc xt mac xt owner nf nat snmp basic ipt ULOG xt state nf queue ipt ah xt tcpmss ipt LOG xt esp NOTE The ioPAC RTU controllers DO NOT support IPv6 or ipchains The basic syntax to enable and load an iptables module is as follows fIsmod modprobe ip tables modprobe iptable filter Use Ismod to check if the ip tables module has already been loaded onto the ioPAC RTU controller unit Use modprobe to insert and enable the module 4 4 ioPAC RTU Software RTU Communications NOTE Use the following command to load the modules iptable_filter iptable_mangle ipta
24. ally when the kernel boots up Copy the above example shell script fixtime to directory etc init d and then use chmod 755 fixtime to change the shell script mode Next use vi editor to edit the file etc inittab Add the following line to the bottom of the file ntp 2345 respawn etc init d fixtime Use the command init q to re init the kernel ioPAC RTU Software RTU Management NTP Server Setting NOTE The ioPAC RTU controller has an NTP server setting First configure the time sync server at the path etc ntp conf and use the etc init d ntpd start command to start the NTP server root Moxa etc etc init d ntpd start Starting ntp server Use the ntpq pn command to check the NTP server status and ntpd g I etc ntp log amp to debug the NTP server ntpd and ntpdate cannot be used at the same time because the UDP port 123 will be occupied Remember to use hwclock w to update the RTC time or else the time sync settings will be lost after you restart the device Executing Scheduled Commands with Cron Daemon Start cron from the etc rc d rc local directory It will return immediately so you don t need to start it with amp to run in the background The Cron daemon will search etc cron d crontab for crontab files which are named after accounts in etc passwd Cron wakes up every minute and checks each command to see if it should be run that minute Modify the file etc cron d crontab to set up y
25. arg exec cl a name fil redirec exit n export nf name value or false fc e ename nlr first last for NAME in WORDS do COMMA for expl exp2 exp3 do COM function NAME COMMANDS j or NA getopts optstring name arg hash lr p pathname dt na help s pattern history c d offset n or hi if COMMANDS then COMMANDS elif kill s sigspec n signum si let arg arg local name value logout popd n printf v var format arguments pushd dir N N n pwd LP read ers u fd t timeout readonly af name value return n select NAME in WORDS do CO set abefhkmnptuvxBCHP o opti SHIT En shopt pqsu o long option opt source filename arguments test expr time p PIPELINE times trap lp arg signal_spec true type afptP name name typeset afFirtx p name valu ulimit SHacdfilmnpqstuvx limit umask p S mode unalias a name name unset f v name until COMMANDS do COMMANDS done variables Some variable names an wait n while COMMANDS do COMMANDS done COMMANDS busybox help command root Moxa busybox help BusyBox v1 15 3 2013 02 18 13 27 47 CST multi call binary Copyright C 1998 2008 Erik Andersen Rob Landley Denys Vlasenko and others Licensed under GPLv2 See source distribution for full not
26. assword Note that debug and default route 192 1 1 17 are optional pppd connect chat v ATDT5551212 CONNECT ogin username word password dev ttyMO 115200 debug crtscts modem defaultroute If the PPP server does not prompt for the username and password the command should be entered as follows Replace username with the correct username and replace password with the correct password pppd connect chat v ATDT5551212 CONNECT user username password password dev ttyMO 115200 crtscts modem The pppd options are described below connect chat etc This option gives the command to contact the PPP server The chat program is used to dial a remote computer The entire command is enclosed in single quotes because pppd expects a one word argument for the connect option The options for chat are given below v verbose mode log what we do to syslog uu Double guotes don t wait for a prompt but instead do note that you must include a space after the second quotation mark ATDT5551212 Dial the modem and then CONNECT Wait for an answer Send a return null text followed by the usual return login username word password Log in with the username and password dev Specify the callout serial port 115200 The baudrate debug Log status in syslog crtscts Use hardware flow control between computer and modem at 115200 this is a must modem Indicates tha
27. ble_nat modprobe iptable filter iptables plays the role of packet filter or NAT Take care when setting up the iptables rules If the rules are not correct remote hosts that connect via a LAN or PPP may be denied access We recommend using the serial console to set up the iptables Click on the following links for more information about iptables http www linuxguruz com iptables http www netfilter org documentation HOWTO packet filtering HOWTO html To illustrate the iptables syntax we have divided our discussion of the various rules into three categories observe and erase chain rules define policy rules and append or delete rules Observe and Erase Chain Rules Usage iptables t tables L n t tables Table to manipulate default filter example nat or filter L chain Lists all rules in selected chains If no chain is selected all chains are listed n Numeric output of addresses and ports iptables t tables FXZ F Flush the selected chain all the chains in the table if none is listed X Delete the specified user defined chain Z Set the packet and byte counters in all chains to zero Examples iptables L n In this example since we do not use the t parameter the system uses the default filter table Three chains are included INPUT OUTPUT and FORWARD INPUT chains are accepted automatically and all connections are accepted without being filtered iptables F
28. d modprobe ip_tables modprobe nf_conntrack modprobe nf_conntrack_ftp modprobe nf conntrack irc modprobe iptable nat modprobe nf nat ftp modprobe nf nat irc iptables t nat A PREROUTING p tcp dport 99 i ethO j DNAT to destination 192 168 126 100 PPP Dial up Service NOTE PPP Point to Point Protocol is used to run IP Internet Protocol and other network protocols over a serial link PPP can be used for direct serial connections using a null modem cable over a Telnet link and links established using a modem over a telephone line Modem PPP access is almost identical to connecting directly to a network through the ioPAC RTU controller Ethernet port Since PPP is a peer to peer system the ioPAC RTU controller can also use PPP to link two networks or a local network to the Internet to create a Wide Area Network WAN More information about PPP is available at http tldp org HOWTO PPP HOWTO index html http axion physics ubc ca ppp linux html The pppd daemon is used to connect to a PPP server from a Linux system For more detailed information about pppd use pppd help 4 9 ioPAC RTU Software RTU Communications Example 1 Connecting to a PPP server over a simple dial up connection The following command is used to connect to a PPP server by modem Use this command for old ppp servers that prompt for a login name replace username with the correct name and password replace password with the correct p
29. d Ethernet Tunnels To begin with check to make sure that the system has a virtual device named dev net tun If not issue the following command mknod dev net tun c 10 200 An Ethernet bridge is used to connect different Ethernet networks together The Ethernets are bundled into one bigger logical Ethernet Each Ethernet corresponds to one physical interface or port that is connected to the bridge On each OpenVPN machine you should generate a working directory such as etc openvpn where script files and key files reside Once established all operations will be performed in that directory 4 14 ioPAC RTU Software RTU Communications Setup 1 Ethernet Bridging for Private Networks on Different Subnets 1 Set up four machines as shown in the following diagram LAN1 192 168 2 171 Local net OpenVPN A LAN1 192 168 2 173 LAN2 192 168 8 173 Internet LAN1 192 168 8 174 Local net Sid OpenVPN B LAN2 192 168 4 174 LAN1 192 168 4 172 Host A B represents one of the machines that belongs to OpenVPN A B The two remote subnets are configured for a different range of IP addresses When this setup is moved to a public network the external interfaces of the OpenVPN machines should be configured for static IPs or connect to another device such as a firewall or DSL box first openvpn genkey secret secrouter key Copy the file that is generated to the OpenVPN machine 2 Create
30. d execute requests The run level for the ioPAC RTU controller is 3 Use the following command to enable or disable settings root Moxa etc re d rc3 d ls S19nfs common S25nfs user server S99showreadyled S20snmpd S55ssh S24pcmcia S99rmnologin root Moxa etc rc d rc3 df fcd etc rc d init d Edit a shell script to execute home tcps2 release and save to tcps2 as follows fcd etc rc d rc3 d 3 7 ioPAC RTU Software RTU Management in s etc rc d init d tcps2 S60tcps2 SxxRUNFILE stands for S start the run file while Linux boots up xx a number between 00 99 Smaller numbers have a higher priority RUNFILE the file name root Moxa etc rc d rc3 d ls Sl9nfs common S25nfs user server S99showreadyled S20snmpd S55ssh S24pcmcia S99rmnologin root Moxa etc re d rc3 d ln s home tcps2 release S60tcps2 root8Moxa etc rc d rc3 d4 ls Sl9nfs common S25nfs user server S99rmnologin S20snmpd S55ssh S99showreadyled S24pcmcia S60tcps2 root Moxa etc rc d rc3 df KxxRUNFILE stands for K start the run file while linux shuts down or halts xx a number between 00 99 Smaller numbers have a higher priority RUNFILE the file name To remove the daemon remove the run file from the etc rc d rc3 d directory by using the following command rm f etc rc d rc3 d S60tcps2 NOTE Level rc3 d has a higher priority than rc local so rc3 d will execute before rc local System Time Setting Setting the T
31. engineers used data encryption to develop this protection mechanism for your applications The binary file associated with each of your applications needs to undergo an additional encryption process after you have developed it The process reguires you to install an encryption key on the ioPAC RTU 1 Choose an encryption key e g ABigKey and install it on the ioPAC RTU controller using the pre loaded setkey utility program setkey ABigKey NOTE set an empty string to clear the encryption key on the ioPAC RTU controller by setkey 2 Develop and compile your program in the development PC 3 Onthe development PC run the binencryptor utility program to encrypt your program with an encryption key binencryptor yourProgram ABigKey 4 Upload the encrypted program file to the ioPAC RTU by FTP or NFS and test the program The encryption key is a computer wise key That is to say an ioPAC RTU has only one key installed Running the setkey program multiple times overrides the existing key To prove the effectiveness of this software protection mechanism prepare an ioPAC RTU that has not been installed an encryption key or install a key different from that used to encrypt your program In any case the encrypted program fails immediately This mechanism also allows an ioPAC RTU with an encryption key to bypass programs that are not encrypted and is useful in developing and testing programs on the ioPAC RTU 3 12 4 RTU Communica
32. enko and others Licensed under GPLv2 See source distribution for full notice Usage busybox function arguments or function arguments BusyBox is a multi call binary that combines many common Unix utilities into a single executable Most people will create a link to busybox for each function they wish to use and BusyBox will act like whatever it was invoked as Currently defined functions addgroup adduser arp awk basename brctl bunzip2 bzcat bzip2 cat chat chgrp chmod chown chroot clear cp crond crontab cut date delgroup deluser depmod df dirname dmesg dnsdomainname du echo egrep env expr false fdisk fgrep find flash_eraseall free freeramdisk getty grep gunzip gzip halt head hostname hwclock id ifconfig ifdown ifenslave ifup inetd insmod ip kill killall killall5 klogd ln login ls lsmod md5sum mdev mkdir mkfifo mknod mktemp modprobe more mount mv netstat nice passwd pidof ping poweroff ps pwd reboot renice rm rmdir rmmod route run parts sed sleep start stop daemon stty su sulogin sync syslogd tail tar tcpsvd telnet telnetd test tftp top touch traceroute true udhcpc umount uname vi which xargs zcat A 4
33. ent This chapter discusses version control deployment updates and peripherals The information in this chapter will be particularly useful when you need to run the same application on multiple ioPAC RTU controllers The following topics are covered in this chapter g g a System Information Firmware Upgrade and Default Settings Upgrading the Firmware Recovering the Firmware Loading Factory Defaults Enabling and Disabling Daemons Run Level Settings System Time Setting Setting the Time Manually Updating the Time with NTP Client Updating the Time Automatically NTP Server Setting Executing Scheduled Commands with Cron Daemon Software Lock ioPAC RTU Software RTU Management System Information NOTE To determine the hardware capability of your ioPAC RTU controller and supported software functions check the version numbers of your ioPAC RTU hardware kernel and user file system When contacting Moxa to determine the hardware version you will need the Production S N serial number which is located on the ioPAC s bottom label To check the kernel version type kversion a root Moxa root Moxa kversion a RTU version 1 1 0 build 2014 2 24 12 API version 1 4 0 build 2014 2 24 12 Slot0 Module Info VID 0Ox110a PID 0x50e0 SerialNumber 0x21 Hardware Version 1 0 0 Firmware Version 1 0 0 The kernel version number is used for the factory default conf
34. ent Variables Develop Code amp Compile the Program aaaonoanmo Upload amp Run the Program ioPAC RTU Software Getting Started Developing the First Program This section lists the minimum hardware and software reguirements and gives an overview of program development procedures Hardware and Software Reguirements The following hardware items are reguired to complete the first program O 1 x ioPAC RTU controller O 1 x 9 48VDC power supply O 1 x Ethernet cable O 1x PC or Laptop with following minimum requirements CPU Intel Pentium 4 or above RAM 512 MB 1024 MB recommended wv Vv HDD at least 200 MB of free space Network Interface 10 100M Ethernet Linux Operating System Debian 6 0 1 Ubuntu 11 04 or Fedora Core 15 are recommended VON wv Development Procedure Follow the steps below to complete the first program development Step 1 Connect an RTU to a Linux PC Step 2 Install the Toolchain onto the PC Step 3 Set Cross Compiler amp glibc Environment Variables Step 4 Develop Code amp Compile the Program Step 5 Upload amp Run the Program Configuring the Ethernet Interface The network settings of the ioPAC RTU controller can be modified with the serial console or online over the network Modifying Network Settings with the Serial Console In this section we use the serial console to configure network settings of the ioPAC First use the command fcd etc network to change
35. er We ll assume that you have uploaded a program named hello_world debug to the ioPAC RTU and start to debug the program 1 Log on to the ioPAC and run the debugging server program gdbserver 192 168 127 254 2000 hello_world debug Process hello world debug created pid 38 The debugging server listens for connections at network port 2000 from the network interface 192 168 127 254 The name of the program to be debugged follows these parameters For a program requiring arguments add the arguments behind the program name In the host computer change the directory to where the program source resides cd my work directory myfilesystem testprograms Execute the client program ddd debugger arm linux gdb hello world debug amp Enter the following command at the GDB DDD command prompt Target remote 192 168 127 5 2000 The command produces a line of output on the target console similar to the following Remote debugging using 192 168 127 5 2000 192 168 127 5 is the host PC s IP address and 2000 is the port number You can now begin debugging in the host environment using the interface provided by DDD Set an execution breakpoint by double clicking or by entering b main on the command line Click the cont button Library and APIs For more detailed information about the library and APIs please refer to the C C Sample Code Programming Guide for ioPAC RTU Controllers A System Commands Moxa Special Utilities
36. he sequence of data and know how to handle this event accordingly Users can use the APIs MX RTU Module DI Value Get MX RTU Module AI Raw Value Get and MX RTU Module AI Eng Value Get to retrieve the timestamp information from I O modules For more detailed information and examples please refer to C C Sample Code Programming Guide for ioPAC RTU Controllers gt Files Active OPC Server Active OPC AOPC Server is a software package provided by Moxa that operates as an OPC driver for an HMI or SCADA system It offers seamless connection from Moxa s ioLogik series products to SCADA systems Active OPC Server meets the latest standard of OPC DA 3 0 which allows connections to various kinds of devices and host OPC machines Moxa has pioneered the concept of active type OPC software in the automation industry The patented Active OPC Server offers non polling architecture alongside the standard OPC protocol giving users the alternative of active push based communication from Moxa s RTUs and remote I O devices This adaptation of push technology means that I O status will be updated at the Active OPC Server only when there is an I O status change a pre configured interval is reached or when a request is issued by a user This application of push technology cuts metadata overhead resulting in faster I O response times and more accurate data collection than traditional pull based architectures With Moxa s active technology advantage use
37. ice Usage busybox function arguments or function arguments BusyBox is a multi call binary that combines many common Unix utilities into a single executable Most people will create a ioPAC RTU Software System Commands link to busybox for each function they wish to use and BusyBox will act like whatever it was invoked as Currently defined functions addgroup adduser arp awk basename brctl bunzip2 bzcat bzip2 cat chat chgrp chmod chown chroot clear cp crond crontab cut date delgroup deluser depmod df dirname dmesg dnsdomainname du echo egrep env expr false fdisk fgrep find flash_eraseall free freeramdisk getty grep gunzip gzip halt head hostname hwclock id ifconfig ifdown ifenslave ifup inetd insmod ip kill killall killall5 klogd ln login ls lsmod md5sum mdev mkdir mkfifo mknod mktemp modprobe more mount mv netstat nice passwd pidof ping poweroff ps pwd reboot renice rm rmdir rmmod route run parts sed sleep start stop daemon stty su sulogin sync syslogd tail tar tcpsvd telnet telnetd test tftp top touch traceroute true udhcpc umount uname vi which xargs zcat A 3 ioPAC RTU Software System Commands busybox help command root Moxa busybox help BusyBox v1 15 3 2013 02 18 13 27 47 CST multi call binary Copyright C 1998 2008 Erik Andersen Rob Landley Denys Vlas
38. iguration You may download the latest firmware version from Moxa s website and then upgrade the ioPAC RTU hardware Firmware Upgrade and Default Settings Upgrading the Firmware The ioPAC RTU bios kernel and root file system are combined into one firmware file which can be downloaded from Moxa s website www moxa com The name of the file has the form FWR ioPAC x x x hfm with x_x_x indicating the firmware version To upgrade the firmware download the firmware file to a PC and then transfer the file to the ioPAC RTU using a console port or Telnet console connection ATTENTION Upgrading the firmware will erase all data on the flash ROM If you are using the RAM disk to store code for your applications beware that updating the firmware will erase all of the data on the flash ROM You should back up your application files and data before updating the firmware Since different flash disks have different sizes it is a good idea to check the size of your flash disk before upgrading the firmware or before using the disk to store your application and data files Use the df h command to list the size of each memory block and how much free space is available in each block 3 2 ioPAC RTU Software RTU Management Filesystem dev root dev ram0 dev ram7 dev mtdblock3 dev mtdblock3 dev mtdblock3 tmpfs Used Available Use Mounted on amp var dev tmp home etc dev shm root Moxa
39. ime Manually The ioPAC RTU controller has two time settings One is the system time and the other is the RTC Real Time Clock time kept by the ioPAC hardware Use the date command to query the current system time or set a new system time Use hwclock to query the current RTC time or set a new RTC time Use the following command to guery the system time date Use the following command to guery the RTC time hwclock Use the following command to set the system time date YYYYMMDDhhmm MM Month DD Date hhmm hour and minute YYYY Year Use the following command to set the RTC time hwclock w Write current system time to RTC The following figure illustrates how to update the system time and set the RTC time 3 8 ioPAC RTU Software RTU Management root Moxa date Fri May 10 02 35 39 UTC 2013 root Moxa hwclock Fri May 10 02 35 43 2013 0 000000 seconds root Moxa date 201305101037 Fri May 10 10 37 00 UTC 2013 root Moxa hwclock w root Moxa date hwclock Fri May 10 10 37 32 UTC 2013 Fri May 10 10 37 32 2013 0 000000 seconds root Moxa 3 9 ioPAC RTU Software RTU Management Updating the Time with NTP Client NOTE The ioPAC RTU controller has a built in NTP Network Time Protocol client that is used to initialize a time request to a remote NTP server Use ntpdate this client utility to update the system time ntpdate time stdtime gov tw hwclock w Visit http
40. in onto the PC The RTU controller s GNU toolchain requires approximately 150 MB of hard disk space on your PC The RTU controller s toolchain software is located on the Document and Software CD To install the toolchain insert the CD into your PC s CD ROM and then issue the following commands root localhost mount dev cdrom mnt cdrom root localhost sh mnt cdrom Software Toolchain arm linux Vx x sh The toolchain will be installed automatically on the host Linux PC within a few minutes Set Cross Compiler amp glibc Environment Variables Before compiling the program be sure to set the following path first since the toolchain files including the compiler link and library are located in this directory Setting the path allows you to run the compiler from any directory root localhost PATH SPATH usr local arm linux bin usr sbin root localhost export PATH root localhost LD LIBRARY PATH usr local arm linux tools lib usr lib root localhost export LD LIBRARY PATH Alternatively the same commands can be added to HOME bash_profile to make it effective for all login sessions by adding below commands PATH SPATH usr local arm linux bin usr sbin export PATH LD LIBRARY PATH usr local arm linux tools lib usr lib export LD LIBRARY PATH Develop Code amp Compile the Program The Software and Document CD contains a sample hello_world c program and makefile for users to run pilot tests to the RTU cont
41. ioPAC RTU Software User s Manual First Edition October 2013 www moxa com product MOXA 2013 Moxa Inc All rights reserved ioPAC RTU Software User s Manual The software described in this manual is furnished under a license agreement and may be used only in accordance with the terms of that agreement Copyright Notice Trademarks 2013 Moxa Inc All rights reserved The MOXA logo is a registered trademark of Moxa Inc All other trademarks or registered marks in this manual belong to their respective manufacturers Disclaimer Information in this document is subject to change without notice and does not represent a commitment on the part of Moxa Moxa provides this document as is without warranty of any kind either expressed or implied including but not limited to its particular purpose Moxa reserves the right to make improvements and or changes to this manual or to the products and or the programs described in this manual at any time Information provided in this manual is intended to be accurate and reliable However Moxa assumes no responsibility for its use or for any infringements on the rights of third parties that may result from its use This product might include unintentional technical or typographical errors Changes are periodically made to the information herein to correct such errors and these changes are incorporated into new editions of the publication Technical Support Contact Informa
42. l the network interfaces that are UP pppO should be one of them and you should recognize the first IP address as your own and the P t P address or point to point address the address of your server Here s what it looks like on one machine lo Link encap Local Loopback inet addr 127 0 0 1 Bcast 127 255 255 255 Mask 255 0 0 0 UP LOOPBACK RUNNING MTU 2000 Metric 1 RX packets O errors 0 dropped 0 overrun 0 pppO Link encap Point to Point Protocol inet addr 192 76 32 3 P t P 129 67 1 165 Mask 255 255 255 0 UP POINTOPOINT RUNNING MTU 1500 Metric 1 RX packets 33 errors 0 dropped 0 overrun 0 TX packets 42 errors 0 dropped 0 overrun 0 Now type ping z z z z where z z z z is the address of your name server This should work Here s what the response could look like waddington p ping 129 67 1 165 PING 129 67 1 165 129 67 1 165 56 data bytes 64 bytes from 129 67 1 165 icmp_seq 0 ttl 225 time 268 ms 64 bytes from 129 67 1 165 icmp_seq 1 ttl 225 time 247 ms 64 bytes from 129 67 1 165 icmp_seq 2 ttl 225 time 266 ms C 129 67 1 165 ping statistics 3 packets transmitted 3 packets received 0 packet loss round trip min avg max 247 260 268 ms waddington Try typing 4 11 ioPAC RTU Software RTU Communications netstat nr This should show three routes something like this Kernel routing table Destination iface Gateway Genmask Flags Metric Ref Use 129 67 1 165 pppO 0 0 0 0 255 255 255 255 UH 0 0 6 127 0 0
43. load amp Run the Program Follow the steps below to upload and run the hello world c program Step 1 Use the telnet command to access the console of the RTU controller root localhost telnet 192 168 127 254 Step 2 Enter root for both the account and password Step 3 Before uploading the compiled program to the RTU controller check the free space of the flash memory on the RTU controller If the flash memory is full you cannot save data to the flash ROM Use the following command to calculate the amount of available flash memory root Moxa df h NOTE If there is not enough available space for user s program users must delete some existing files Step 4 Use the following commands to connect the FTP server of the RTU controller Step 5 Enter root for both the account and password 2 5 ioPAC RTU Software Getting Started Step 6 Use the following commands to upload hello_world release to the RTU controller by FTP in Binary mode ftp gt cd home ftp gt put hello world Step 7 Use the following commands to run the hello_world program on the RTU controller root Moxa home chmod x hello world root Moxa home hello world To run the program automatically after the system starts modify the home autoexec sh file as follows bin sh f This script will be executed in rd local Echo Load user s script from home autoexec sh home hello world 2 6 3 RTU Managem
44. module NOTE The firmware upgrade contains the I O modules firmware If there is no compatible I O modules installed it will automatically skip the I O module firmware upgrading procedure Recovering the Firmware If the ioPAC RTU fails to boot up normally the device firmware may be corrupt Follow the steps below to recover the device firmware 1 Run a TFTP server on your PC 2 Putthe ioPAC RTU firmware file in the root folder of the TFTP server 3 Power off the ioPAC RTU controller 4 Connect the ioPAC RTU controller to the PC to the console port with a console cable and to the LAN1 port with an Ethernet cable 5 Start a terminal program e g PComm with the settings Baudrate 115200 no hardware flow control 8 N 1 character set VT100 6 Hold down the DEL key on your PC keyboard 7 Power on the ioPAC RTU controller You will be guided to the boot loader utility menu as shown below Network Configuration Format User Disk Firmware Upgrade Reboot Command 3 8 Press 1 to configure the Network e g TFTP server IP address and ioPAC RTU IP address 3 4 ioPAC RTU Software RTU Management 9 Press 3 to upgrade the ioPAC RTU controller firmware 10 Press 1 to select Load from LAN and then type the firmware filename to upgrade the device firmware Load from LAN Load from serial with Xmodem Command gt gt 1 Please input load file name Default file name RTU hfm User Input file name RTU hfm
45. network Typically the ioPAC RTU controllers connect several devices on a network and maps local inside network addresses to one or more global outside IP addresses and un maps the global IP addresses on incoming packets back into local IP addresses NOTE Click on the following links for more information about iptables and NAT http www netfilter org documentation HOWTO NAT HOWTO html The IP address of LAN1 is changed to 192 168 127 254 you will need to load the module ipt MASQUERADE Internet LAN1 192 168 127 254 24 ioPAC RTU controller LAN2 192 168 126 254 24 PC2 Linux or Widows echo 1 gt proc sys net ipv4 ip_forward modprobe ip tables modprobe iptable filter modprobe nf conntrack modprobe iptable nat modprobe ipt MASQUERADE iptables t nat A POSTROUTING o ethO j SNAT to source 192 168 127 254 Ziptables t nat A POSTROUTING o ethO s 192 168 126 0 24 j MASQUERADE oM o Ww DM E 4 7 ioPAC RTU Software RTU Communications Enabling NAT at Bootup In most real world situations use a simple shell script to enable NAT when the ioPAC RTU controller boots up The following script is an example bin bash If you put this shell script in the home nat sh Remember to chmod 744 home nat sh Edit the rc local file to make this shell startup automatically vi etc rc d rc local Add a line in the end of rc local home nat sh EXIF ethO This is an external interface f
46. nnected to the ADSL modem If you use LAN1 to connect to the ADSL modem then add etc ppp options ethO If you use LAN2 to connect to the ADSL modem then add etc ppp options eth1 The file context is shown below name username hinet net mtu 1492 mru 1492 defaultroute noipdefault Type your username the one you set in the etc ppp pap secrets and etc ppp chap secrets files after the name option You may add other options as desired 7 Set up DNS If you are using DNS servers supplied by your ISP edit the file etc resolv conf by adding the following lines of code nameserver ip addr of first dns server nameserver ip addr of second dns server For example nameserver 168 95 1 1 nameserver 139 175 10 20 8 Use the following command to create a PPPoE connection pppd ethO The eth0 is what is connected to the ADSL modem LAN port The example above uses LAN1 To use LAN2 type pppd eth1 9 Type ifconfig pppO to check if the connection is OK or has failed If the connection is OK you will see information about the pppO setting for the IP address Use ping to test the IP 10 If you want to disconnect it use the kill command to kill the pppd process ioPAC RTU Software RTU Communications NFS Network File System Client The Network File System NFS is used to mount a disk partition on a remote machine as if it were on a local hard drive allowing fast seamless sharing of files across a network NFS allows users t
47. o develop applications for the ioPAC RTU controllers without worrying about the amount of disk space that will be available The ioPAC RTU controller supports NFS protocol for clients NOTE More information about NFS is available at http www tldp org HOWTO NFS HOWTO index html http nfs sourceforge net nfs howto client html http nfs sourceforge net nfs howto server html Setting up the ioPAC RTU Controller as an NFS Client The following procedure is used to mount a remote NFS Server 1 To know the NFS Server s shared directory 2 Establish a mount point on the NFS Client site 3 Mount the remote directory to a local directory mkdir p home nfs public mount t nfs NFS Server IP directory mount point Example mount t nfs o nolock 192 168 13 1 home public home nfs public Sending Mail msmtp is a minimal SMTP client that takes an email message body and passes it on to an SMTP server It is suitable for applications that use email to send alert messages or important logs to a specific user NOTE More information about smtpclient is available at https wiki archlinux org index php Msmtp To send an email message use the smtpclient utility which uses SMTP protocol Type msmtp help to see the help message Example msmtp host hostname read envelope from address receiver moxa com OpenVPN OpenVPN provides two types of tunnels for users to implement VPNS Routed IP Tunnels and Bridge
48. oPAC RTU Controllers Supported Products O ioPAC 8500 Series O ioPAC 5500 Series Software Architecture The ioPAC RTU controller uses an ARM9 based industrial grade CPU for the system and ARM Cortex M4 based CPUs for the modules It provides up to 10 MB Flash ROM 64 MB on board SDRAM and a microSD socket up to 32 MB for users to install application software and to store data directly on the controller The pre installed operating system OS provides an open platform for software program development which follows a standard Linux based architecture Software that runs on desktop PCs can be easily exported to the RTU controller with a cross compiler Program porting can be done with the toolchain provided by Moxa The built in flash ROM is partitioned into Boot Loader Kernel Root File System and User directory partitions In order to prevent user applications from crashing the Root File System the RTU controller uses a unigue Root File System with Protected Configuration for emergency use This Root File System comes with serial and Ethernet communication capability for users to load the Factory Default Image file User settings and applications are saved in the user directory To improve system reliability the RTU controller has a built in mechanism that prevents the system from crashing When the kernel boots up the RTU will mount the root file system in read only mode and then enable services and daemons At the same time the ke
49. or setting up a valid IP address EXNET 192 168 126 0 24 This is an internal network address 1 Insert modules Here 2 dev null means the standard error messages will be dump to null device modprobe nf tables 2 dev null modprobe nf conntrack 2 dev null modprobe nf conntrack ftp 2 dev null modprobe nf conntrack irc 2 dev null modprobe iptable nat 2 dev null modprobe nf nat ftp 2 dev null modprobe nf nat irc 2 dev null 2 Define variables enable routing and erase default rules PATH bin sbin usr bin usr sbin usr local bin usr local sbin export PATH echo 1 proc sys net ipv4 ip forward bin iptables F bin iptables X bin iptables Z bin iptables F t nat bin iptables X t nat bin iptables Z t nat bin iptables P INPUT ACCEPT bin iptables P OUTPUT ACCEPT bin iptables P FORWARD ACCEPT bin iptables t nat P PREROUTING ACCEPT bin iptables t nat P POSTROUTING ACCEPT bin iptables t nat P OUTPUT ACCEPT 3 Enable IP masquerade 4 8 ioPAC RTU Software RTU Communications Port Forwarding DNAT Port forwarding allows remote computers e g computers on the Internet to connect to a specific computer or service within a private local area network LAN The following is an FTP port forwarding example Internet LAN1 192 168 127 254 24 ioPAC RTU controller LAN2 192 168 126 254 24 FTP Server Port 21 echo 1 gt proc sys net ipv4 ip_forwar
50. our scheduled applications Crontab files have the following format mm h dom mon dow user command min hour date month week user command 0 59 0 23 1 31 1 12 0 6 O is Sunday The following example demonstrates how to use cron How to use cron to update the system time and RTC time every day at 8 00 Step 1 Write a shell script named fixtime sh and save it to home bin sh ntpdate time nist gov hwclock w exit O Step 2 Change the fixtime sh mode chmod 755 fixtime sh Step 3 Modify the etc cron d crontab file to run fixtime sh at 8 00 every day Add the following line to the end of crontab 8 root home fixtime sh Step 4 Enable the cron daemon manually 3 etc init d crond start Step 5 Enable cron when the system boots up Add the following line in the etc rc d rc local file etc init d crond start 3 11 ioPAC RTU Software RTU Management Software Lock Software Lock is an innovative technology developed by the Moxa engineering team It can be adopted by a system integrator or developer to protect his her applications from being copied An application is compiled into a binary format bound to the ioPAC RTU and the operating system OS that the application runs on So as long as the application is obtained from the development PC it can be installed on the same hardware and the same operating system resulting in a loss of the add on value created by the developer Moxa s
51. rnel will start searching for system configuration parameters via rc or inittab Normally the kernel uses the Root File System to boot up the system The Root File System is protected and cannot be changed by users which creates a safe zone for users 1 2 ioPAC RTU Software Introduction For more information about the memory map and programming refer to the Programming Guide section in Chapter 6 AP API r Protocol Stacks Device Driver OS Kernel Micro Memory Control Schedule Process Kernel Hardware Journaling Flash File System JFFS2 The Root File System and User directory in the flash memory is formatted with the Journaling Flash File System JFFS2 The formatting process places a compressed file system in the flash memory This operation is transparent to users The Journaling Flash File System JFFS2 which was developed by Axis Communications in Sweden puts a file system directly on the flash instead of emulating a block device It is designed for use on flash ROM chips and recognizes the special write requirements of a flash ROM chip JFFS2 implements wear leveling to extend the life of the flash disk and stores the flash directory structure in the RAM A log structured file system is maintained at all times The system is always consistent even if it encounters crashes or improper power downs and does not require fsck file system check on boot up JFFS2 is the newest version
52. roller 2 4 ioPAC RTU Software Getting Started Type the following commands for the host PC to copy the files used for this example root localhost cd tmp root localhost tmp mkdir example root localhost tmp cp r mnt cdrom Software Sample hello world tmp example To compile the program go to the hello_world subdirectory and issue the following commands root localhost cd tmp example hello world root localhost tmp example hello worldf make The following response should be shown on the screen root localhost tmp example hello worldf make usr local arm linux bin arm linux gcc I usr local arm linux include I usr local arm linux include RTU o hello world hello world o L usr local arm linux lib lpthread lmxml L usr local arm linux lib RTU lmoxa rtu lrtu common ltag Wl rpath lib RTU Wl allow shlib undefined The hello_world release and hello_world debug executable files are described as below e hello world release an ARM platform executable file created specifically to run on the Moxa RTU Controllers e hello world debug an ARM platform GDB debug server executable file NOTE Since Moxa s toolchain places a specially designed makefile in the tmp example hello world directory be sure to type the make command from within that directory If users type the make command from any other directory the host Linux PC may use other system compilers e g cc or gcc and result in errors Up
53. rs can now instantly receive alarms and real time updates allowing for timely risk response Use the AOPC APIs to configure and access the AOPC tag information For more detailed information and examples please refer to C C Sample Code Programming Guide for ioPAC RTU Controllers gt Files 2 aopc 5 2 6 RTU Programming This chapter describes how to install a toolchain onto the host computer that you use to develop your applications Cross platform development and debugging are also discussed The following topics are covered in this chapter O Programming Guide Memory Usage O Using C C gt Linux Toolchain gt On Line Debugging with GDB gt Library and APIs ioPAC RTU Software RTU Programming Programming Guide Memory Usage NOTE Partition sizes are hard coded into the kernel binary The total flash memory on the ioPAC RTU controller is 32 MB FLASH system space 20 MB read only FLASH user space 12 MB read write home etc temp support Users can use df and free commands to check memory information root Moxa df Filesystem 1K blocks Used Available Us dev root 16384 8452 7932 5 dev ram0 499 17 457 dev ram7 2011 15 1894 dev mtdblock3 12288 740 11548 dev mtdblock3 12288 740 11548 dev mtdblock3 12288 740 11548 tmpfs 30556 0 30556 0 dev shm root Moxa free total used shared buffers Mem 61116 13476 0 40 Swap 0 0 Total 61116 13476 root Moxa If the user file system is
54. ses PPPOE example if you want to use it you need to unmark it and modify it username hinet net password x following is INBOUND for everyone NL username hinet net is the username obtained from the ISP to log in to the ISP account password is the corresponding password for the account 4 Edit the file etc ppp pap secrets and add the following username hinet net password INBOUND connections Every regular user can use PPP and has to use passwords from etc passwd wa f PPPOE user example if you want to use it you need to unmark it and modify it username hinet net E password x ioPAC RTU Software RTU Communications UserIDs that cannot use PPP at all Check your etc passwd and add any other accounts that should not be able to use pppd guest hostname ba master hostname root hostname support hostname Wa wx n Wa wx n em stats hostname username hinet net is the username obtained from the ISP to log in to the ISP account password is the corresponding password for the account 5 Editthe file etc ppp options and add the following line plugin pppoe f This wait period only applies if the connect or pty option is used connect delay n Load the pppoe plugin plugin lib pppoe so lt End of File gt 6 Add one of two files etc ppp options ethO or etc ppp options eth1 The choice depends on which LAN is co
55. ss is specified by the nameserver command For example add the following line to etc resolv conf if the DNS server s IP address is 168 95 1 1 nameserver 168 95 1 1 root Moxa etc cat resolv conf f resolv conf This file is the resolver configuration file See resolver 5 ii nameserver 192 168 1 16 02 nameserver 168 95 1 1 nameserver 140 115 1 31 nameserver 140 115 236 10 root Moxa etc etc nsswitch conf This file defines the sequence to resolve the IP address by using etc hosts file or etc resolv conf Telnet FTP In addition to supporting Telnet client server and FTP client server architectures the ioPAC RTU controllers also support SSH and SFTP client server architectures To enable or disable the Telnet FTP server first edit the file etc inetd conf Enabling the Telnet FTP server The following example shows the default content of the etc inetd conf file The Telnet FTP server is enabled by default discard dgram udp wait root bin discard discard stream tcp nowait root bin discard telnet stream tcp nowait root bin telnetd ftp stream tcp nowait root bin ftpd I Disabling the Telnet FTP server Disable the daemon by typing in front of the first character of the row to comment out the line 4 2 ioPAC RTU Software RTU Communications iptables The iptables command is an administrative tool for setting up maintaining and inspecting the Linux kernel s IP packet filter rule tables
56. t this is a modem device pppd will hang up the phone before and after making the call defaultroute ioPAC RTU Software RTU Communications Once the PPP link is established make it the default route if you have a PPP link to the Internet this is probably what you want 192 1 1 17 This is a degenerate case of a general option of the form x x x x y y y y Here x x x x is the local IP address and y y y y is the IP address of the remote end of the PPP connection If this option is not specified or if just one side is specified then x x x x defaults to the IP address associated with the local machine s hostname located in etc hosts and y y y y is determined by the remote machine Example 2 Connecting to a PPP Server over a Hard Wired Link If a username and password are not reguired use the following command note that noipdefault is optional pppd connect chat v noipdefault dev ttyMO 19200 crtscts If a username and password is reguired use the following command note that noipdefault is optional and root is both the username and password www wy pppd connect chat v dev ttyMO 19200 crtscts user root password root noipdefault How to Check the Connection Once you ve set up a PPP connection there are some steps you can take to test the connection First type sbin ifconfig The folder ifconfig may be located elsewhere depending on your distribution You should be able to see al
57. thorized users from one internal network to access users at the remote site For this system all data is transmitted by UDP packets on port 5000 between OpenVPN peers 7 To shut down OpenVPN programs type the command killall TERM openvpn Setup 2 Ethernet Bridging for Private Networks on the Same Subnet 1 Set up four machines as shown in the following diagram ioPAC RTU Software RTU Communications LAN1 192 168 2 171 Local net OpenVPN A LAN1 192 168 2 173 LAN2 192 168 8 173 Internet LAN1 192 168 8 174 Local SESS OpenVPN B LAN2 192 168 2 174 LAN1 192 168 2 172 2 The configuration procedure is almost the same as for the previous example The only difference is that you will need to comment on the parameter up in etc openvpn A tap0 br conf and etc openvpn B tapO br conf Setup 3 Routed IP 1 Set up four machines as shown in the following diagram LAN1 192 168 2 171 Local net OpenVPNA LAN1 192 168 2 173 LAN2 192 168 8 173 Internet LAN1 192 168 8 174 Local net OpenVPN B LAN2 192 168 4 174 LAN1 192 168 4 172 2 Create a configuration file named A tun conf and an executable script file named A tun sh point to the peer remote 192 168 8 174 dev tun secret etc openvpn secrouter key cipher DES EDE3 CBC auth MD5 tun mtu 1500 tun mtu extra 64 ping 40 ifconfig 192 168 2 173 192 168 4 174 up etc openvpn A
58. tion Moxa Americas Toll free 1 888 669 2872 Tel 1 714 528 6777 Fax 1 714 528 6778 Moxa Europe Tel 49 89 3 70 03 99 0 Fax 49 89 3 70 03 99 99 Moxa India Tel 91 80 4172 9088 Fax 91 80 4132 1045 www moxa com su ort Moxa China Shanghai office Toll free 800 820 5036 Tel 86 21 5258 9955 Fax 86 21 5258 5505 Moxa Asia Pacific Tel 886 2 8919 1230 Fax 886 2 8919 1231 N o gt Table of Contents Inner 1 1 e IaU ED p C 1 2 SCODe nic Y 1 2 Related DOCUMOENtS sAm imee TIERE DR 1 2 Supported Products s cen Y Y Ye ydd GY An CO nian e oeuvre rM xe e Muy ERU ME E 1 2 Software Architectute cease Lour ied FRAD p Ta Ta aa Ta aa Sa aaa A aa aE a A RR RERRARIRRRRERSRRRRIRTRERRPABRRR NER RT PIT 1 2 Journaling Flash File System JFFS2 erem hr rh R ERR rar biribi rpi RR ER RR YR RENE RRXRRR RR ERR 1 3 Software Package rece I er ern neri Hr A N 1 4 Getting Started 2 1 Developing the First Program ccccceceeceeeeeeeeeaeeeeeeaeeeseeseseeaeaeseeaeseseeaeneseeaeneseeeeeneneeeseeesereuseeeesaseearanseears 2 2 Hardware and Software Requirements cece eee LEA EE e nene nere nnne nnn 2 2 Development Procedure inire rr RERRTRMRRIRURARTTRRRARRORARRRRRRRRERRRRDRRRRSRRRARRRRRRRRRRERRRRIRERRRRDTAR 2 2 Configuring the Ethernet Interface esee eerte asart eppi ERR RR ERE E
59. tions In this chapter we explain how to configure the ioPAC RTU various communication functions The following topics are covered in this chapter O Internet Configuration VON ON Y V VV VV WV Modbus TCP Master and Slave DNS Telnet FTP iptables NAT SNAT Port Forwarding DNAT PPP Dial up Service PPPoE NFS Network File System Client Sending Mail OpenVPN NTP Server Client Port Trunking O Serial Configuration Modbus RTU Master ioPAC RTU Software RTU Communications Internet Configuration Modbus TCP Master and Slave Modbus TCP is a very common communication protocol in industrial applications and the ioPAC RTU controller has built in Modbus TCP master and slave functions For more detailed information refer to the C C Sample Code Programming Guide for ioPAC RTU Controllers DNS The ioPAC RTU controllers can be set as a DNS client but not a DNS server To set up the ioPAC as a DNS client edit three configuration files etc hosts etc resolv conf and etc nsswitch conf etc hosts This is the first file that the Linux system reads to resolve the host name and IP address etc resolv conf This is the most important file to edit when using DNS for the other programs For example before using ntpdate time nist goc to update the system time add the DNS server address to the file Ask your network administrator which DNS server address you should use The DNS server s IP addre
60. tive compiler counterparts but have an additional prefix that specifies the target system In the case of x86 environments the prefix is i386 linux In the case of the ioPAC RTU controller the prefix is arm linux For example the native C compiler is gcc and the cross C compiler for ARM in the ioPAC is arm linux gcc Moxa provides cross compiler tools for the following native compilers Simply add the arm linux prefix ar Manages archives static libraries as Assembler c g C compiler cpp C preprocessor gcc C compiler gdb Debugger Id Linker nm Lists symbols from object files objcopy Copies and translates object files objdump Displays information about object files ranlib Generates indexes to archives static libraries readelf Displays information about ELF files size Lists object file section sizes strings Prints strings of printable characters from files usually object files strip Removes symbols and sections from object files usually debugging information 6 3 ioPAC RTU Software RTU Programming On Line Debugging with GDB The toolchain also provides an online debugging mechanism to help you develop your program Before performing a debugging session add the option ggdb to compile the program A debugging session runs on a client server architecture on which the server gdbserver is installed on the ioPAC RTU and the client ddd is installed in the host comput
61. to the directory where the network s configuration files are located root Moxa cd etc network root Moxa etc network Call up the vi text editor to begin editing the interfaces configuration file by typing vi interfaces You can configure the ioPAC RTU controller s Ethernet ports for static or dynamic DHCP IP addresses 2 2 ioPAC RTU Software Getting Started Static IP addresses As shown below 2 network addresses need to be modified address network netmask and broadcast The default IP addresses are 192 168 127 254 for LAN1 and 192 168 126 254 for LAN2 with default netmasks of 255 255 255 0 We always want the loopback interface auto eth0 ethl lo fauto eth0 lo iface lo inet loopback iface ethO inet static address 192 168 127 254 network 192 168 127 0 netmask 255 255 255 0 roddcast 192168 IP PAS gateway 192 168 127 1 embedded ethernet LAN2 iface ethl inet static address 192 168 126 254 network 192 168 126 0 netmask 255 255 255 0 broadcast 192 168 126 255 gateway 192 168 126 1 Dynamic IP Addresses By default the ioPAC RTU is configured for static IP addresses To configure LAN ports to request an IP address dynamically replace static with dhcp and then delete the address network netmask and broadcast lines Auto ethO ethl lo iface lo inet loopback iface ethO inet dhcp iface ethl inet dhcp Modifying Network Settings over the Network IP settings can be acti
62. ur application program In this example we use the hello_world c program and let it run in the background 3 6 ioPAC RTU Software RTU Management bin sh if f home autoexec sh then home autoexec sh fi Add the new daemons or programs starting from the next line home hello world amp The enabled daemons will be available after you reboot the system root Moxa ps PID USER VSZ STAT COMMAND root 1868 S inre 3 root 0 SW kthreadd root SW ksoftirqd 0 root SW kworker 0 0 root SW kworker u 0 root SW rcu kthread root Khelper root SW sync supers root SW bdi default root kblockd root SW khubd root rpciod root SW Kswapd0 root SW kworker 0 1 root SW fsnotify mark root aio root nfsiod root crypto root mtdblock0 root mtdblock1 root mtdblock2 root mtdblock3 root kworker u 1 root jffs2 gcd mtd3 106 root usr sbin inetd 113 root sbin sshd 117 root bin sh bin rtu agent 120 root bin rtu agent bin 125 root bin sh login 131 root sshd root ttyp0 137 root bash 159 root usr sbin telnetd 160 root bash Lol root lush lz7 164 root hello world 171 root sshd root ttyp2 177 root bash 178 root ps root Moxa nn U zz COO OO OO O QOO gt gt OO o wm n o wm E zZ DNNNNNNNNNNNNN Run Level Settings In this section we outline the steps you should take to set the Linux run level an
63. vated over the network but the new settings will not be saved to the flash ROM without modifying the file etc network interfaces For example type the command ifconfig ethO 192 168 127 1 to change the IP address of LAN1 to 192 168 127 1 root Moxa ifconfig ethO 192 168 127 1 root Moxa etc network NOTE You can use the ipset command to directly configure the settings and save them to the flash ROM and the route table to debug any issues when configuring over an Ethernet connection Connect an RTU to a Linux PC Follow the steps below to establish the connection between the PC and the RTU Step 1 Connect the PC Ethernet connector to LAN1 or LAN2 of the ioPAC RTU with an Ethernet cable Step 2 Change the IP address of the PC as follows Connected to ioPAC RTU LAN Port Set PC s IP address 2 3 ioPAC RTU Software Getting Started LAN1 default IP 192 168 127 254 192 168 127 100 LAN2 default IP 192 168 126 254 192 168 126 100 Step 3 Use the telnet command to access the console of the RTU controller root localhost telnet 192 168 127 254 Step 4 If successfully connected to the RTU controller the following message will be shown on the screen Close this connection to return to the local PC root localhost telnet 192 168 127 254 Mew aig 3099 lEs 1027 5 2l s s Connected to 192 168 127 254 JNSOCINS Claicicacirere te A Moxa login Install the Toolcha

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