P oyec o Fin de G ado
G ado en Ingenie ía Elec ónica, Robó ica
y Meca ónica
Au ho : Ainoa Na a o Ma ínez
Tu o s: Ch is ian Ho n and Miguel Ángel Ridao Ca lini
Ins i u ü We kzeugmaschinen und Fab ikbe ieb
Indus ielle Au oma isie ungs echnik
Technische Uni e si ä Be lin
Dep. Ingenie ía de Sis emas y Au omá ica
Escuela Técnica Supe io de Ingenie ía
Uni e sidad de Se illa
Se illa, 2017
Implemen ación y E aluación de una In e az
en e el So wa e Open-Sou ce de un Con olado
Lógico P og amable Vi ual y los Pines
En ada/Salida de P opósi o Gene al de la
Máquina An i iona
Implemen a ion and E alua ion o an In e ace
be ween a i ual Open-Sou ce So wa e
P og ammable Logic Con olle and he Physical
GPIO-Pins o he Hos Machine
P oyec o Fin de G ado
G ado en Ingenie ía Elec ónica,
Robó ica y Meca ónica
2
3
P oyec o Fin de G ado en Ingenie ía Elec ónica, Robó ica y Meca ónica
Implemen a ion and E alua ion o an In e ace
be ween a i ual Open-Sou ce So wa e
P og ammable Logic Con olle and he Physical
GPIO-Pins o he Hos Machine
Implemen ación y E aluación de una In e az en e
el So wa e Open Sou ce de un Con olado Lógico
P og amable Vi ual y los Pines En ada/Salida de
P opósi o Gene al de la Máquina An i iona
Au ho :
Ainoa Na a o Ma ínez
Tu o s:
Ch is ian Ho n
Miguel Ángel Ridao Ca lini
Ins i u ü We kzeugmaschinen und Fab ikbe ieb
Indus ielle Au oma isie ungs echnik
Technische Uni e si ä Be lin
Dep. Ingenie ía de Sis emas y Au omá ica
Escuela Técnica Supe io de Ingenie ía
Uni e sidad de Se illa de Ingenie ía
Uni e sidad de Se illa
Se illa, 2017
4
5
P oyec o Fin de Ca e a: Implemen a ion and E alua ion o an In e ace be ween i ual Open-Sou ce
So wa e P og ammable Logic Con olle and Physical GPIO-Pins o he Hos Machine
Au o :
Ainoa Na a o Ma ínez
Tu o :
Miguel Ángel Ridao Ca lini
El ibunal nomb ado pa a juzga el P oyec o a iba indicado, compues o po los siguien es miemb os:
P esiden e:
Vocales:
Sec e a io:
Acue dan o o ga le la cali icación de:
Se illa, 2017
El Sec e a io del T ibunal

6
7
G a i ude
I am g a e ul o he oppo uni y o e ed by Ch is ian Ho n o ca y ou his p ojec , as well as he suppo and
pa ience he has always o e ed me.
I am g a e ul o he Technical Uni e si y o Be lin o he space and necessa y esou ces o he ealiza ion o
he p ojec , as well as all hose people who ha e o e ed hei help as Udo Templine , who has always a ended
me when I eques ed help.
I hank Miguel Ángel Ridao o his ad ice and suppo o make his p ojec ab oad.
Finally, I would like o hank my amily and iends, as well as José Luis Holgado Ál a ez o he a ec ion,
suppo , pa ience and calm necessa y o make his wo k possible.
Ainoa Na a o Ma ínez
Se illa, 2017
Ag adecimien os
Ag adezco la opo unidad b indada po Ch is ian Ho n pa a ealiza es e p oyec o, así como el apoyo y la
paciencia que me ha o ecido en odo momen o.
Ag adezco a la Uni e sidad Técnica de Be lín el espacio y los ecu sos necesa ios pa a la ealización del
p oyec o, así como aquellas odas pe sonas que han o ecido su ayuda como Udo Templine , que siemp e me
ha a endido cuando he eque ido su ayuda.
Ag adezco a Miguel Ángel Ridao sus consejos y su apoyo pa a pode ealiza es e p oyec o en el ex anje o.
Po úl imo, me gus a ía ag adece a mi amilia y amigos, así como a José Luis Holgado Ál a ez el ca iño, el
apoyo, la paciencia y la calma necesa ias pa a pode lle a acaba es e abajo.
Ainoa Na a o Ma ínez
Se illa, 2017
8
9
Abs ac
The Bachelo Thesis ocuses on de eloping an in e ace be ween i -So -PLC and physical ha dwa e
GPIO-Pins o he hos machine based on exis ing code o a di e en in e ace. Fo his pu pose, an
exis ing in e ace be ween i -So -PLC (Awlsim) has been used as empla e o he new in e ace. As
ounda ion o he wo k he mapping o he I/O be ween Hos -Ope a ing Sys em (Hype iso ) and Gues -
Ope a ing Sys em (Vi ual Machine wi h So -PLC) has been con igu ed.
The objec i e is he eading o a digi al signal ough his po , he signal mus be ead in he i ual machine o
be ecei e by he PLC so wa e ha wo ks in his i ual machine.
To ead he signal he hos machine Ke nel has been modi ied, because he p ojec equi es Real Time.
The I/O pins mapping be ween he Hos and he Gues machine mus be con igu ed o exchange he signal
be ween hem.
16
Figu es Index
Figu e 1 PLC Ha dwa e 19
Figu e 2 Gene al Scheme 22
Figu e 3 Digi al Inpu /ou pu 23
Figu e 4 Selec ing Ke nel con igu a ions 28
Figu e 5 Selec ing Ke nel con igu a ions 28
Figu e 6 Selec ing Ke nel con igu a ions 29
Figu e 7 Selec ing Ke nel con igu a ions 29
Figu e 8 Selec ing Ke nel con igu a ions 30
Figu e 9 Selec ing Ke nel con igu a ions 30
Figu e 10 Selec ing Ke nel con igu a ions 31
Figu e 11 Selec ing Ke nel con igu a ions 31
Figu e 12 S ep 0 Vi ual Machine Ins alla ion 36
Figu e 13 S ep 1 Vi ual Machine Ins alla ion 36
Figu e 14 S ep 2 Vi ual Machine Ins alla ion 37
Figu e 15 S ep 3 Vi ual Machine Ins alla ion 37
Figu e 16 S ep 4 Vi ual Machine Ins alla ion 38
Figu e 17 S ep 5 Vi ual Machine Ins alla ion 38
Figu e 18 Digi al I/O, oscilloscope and signal gene a o connec ion 42
Figu e 19 Digi al I/O, oscilloscope and signal gene a o connec ion 42
Figu e 20 Compa ison be ween he ecei ed (blue) and he desi ed (yellow) signal 43
Figu e 21 Delay using Ke nel 4.7 45
Figu e 22 Delay using Ke nel 4.1.5 45
Figu e 23 Checking he a ailabili y o V -d i ualiza ion 46
Figu e 24 Selec ing Ke nel con igu a ions 48
Figu e 25 Selec ing Ke nel con igu a ions 49
Figu e 26 Selec ing Ke nel con igu a ions 49
Figu e 27 Selec ing Ke nel con igu a ions 50
Figu e 28 Selec ing Ke nel con igu a ions 50
Figu e 29 Selec ing Ke nel con igu a ions 51
Figu e 30 Selec ing Ke nel con igu a ions 51
Figu e 31 Selec ing Ke nel con igu a ions 52

17
Figu e 32 Selec ing Ke nel con igu a ions 53
Figu e 33 Selec ing Ke nel con igu a ions 54
18
19
1 In oduc ion
1.1 The Bi h o he PLC
A PLC is a p og ammable logic con olle , is a compu e used in indus ial au oma iza ion, i has unlimi ed
applica ions since i can ule all he con ol p ocesses in a ac o y o in an assembly line.
The i s PLC was in en ed a he end o he se en ies by Bed o d Associa es ha de eloped Modicon
(Modula Digi al Con olle ), i pu pose was subs i u ing he old wi ed elay sys em ha Gene al Mo o s was
using in i s ac o ies. Since ha momen PLC s a ed o sp ead all o e he wo ld because i s mul iple inpu
ou pu signal, which make hem pe ec o ule any kind o indus ial p ocess. PLCs can also ule emo e
p ocess in Real Time.
The i s language ha PLCs uses was a lis o ins uc ions, bu i was no he only de eloping language, ladde
logic, Block diag ams o S uc u ed ex a e examples o hem. I also uses se e al ypes o communica ion
p o ocols such as SCADA, P o ibus, E he ne , Modbus… depending on he applica ion.
I s mul ipu pose, lexibili y, ease, scalabili y and compa ibili y makes he PLC pe ec o any kind o
indus ial au oma iza ion, hose a e he easons o i s success.
1.2 PLC`s Ha dwa e
The ha dwa e o a PLC i s cons i u ed by he powe supply, he CPU, I/O In e ace modules, he
communica ions in e ace, he p og am and da a memo y module and he p og amming de ice.
Figu e 1 PLC Ha dwa e
20
Powe Supply
The powe supply is used o supply he equi ed ene gy o he CPU as well as he es o he I/O ci cui s
a ached o he PLC and he p og amming de ice.
CPU
The CPU con ols he RAM, coun e s, elays, ime s … The CPU eads all he inpu and ou pu signals
in ol ed in he p ocess o un he applica ion p og am.
I/O In e ace Modules
The In e ace Modules allows he communica ion be ween he CPU and all he elec omechanical componen s
in ol ed in he p ocess using buses o ha pu pose, I/O In e aces manage all he di e en ensions and
cu en s o he ci cui s o connec all he ac ua o s and senso s.
Communica ion In e ace
The communica ion in e ace sends and ecei es all he da a he communica ion ne wo k ha may use
di e en communica ion p o ocols like E he ne , P o ibus …
P og am and Da a Memo y
The memo y keeps all he in o ma ion o un he con ol p og am like he p ocess da a and he con ol da a.
A PLC has wo mainly ypes o memo ies, ola ile (RAM) and non- ola ile memo y (EPROM).
P og amming De ice
The p og amming De ice p o ides he in e ace be ween he PLC and he p og amme , his de ice could be a
egula compu e wi h a dedica ed so wa e o p og am he PLC.
1.3 S a e o he a
The di e en manu ac u e s o each PLC de elop, suppo and p o ide he equi ed so wa e o p og am
and use PLCs.
Nowadays PLCs a e widely sp ead, he applica ions and he elec onic de ices in ol ed in he new con ol
sys em a e endless, so he pa e n ies o coo dina e all, de elope s need he eedom o un, dis ibu e, copy,
and modi y he so wa e wi hou es ic ions. The end in las yea s is o c ea e Open sou ce PLC`s so wa e,
in he pas PLC`s and i s applica ions o manage hem whe e in eg a ed and sold by he manu ac u e s, also he
ope a i e sys em whe e hey we e unning was p ede e mined. The ope a i e sys ems equi ed o un PLC`s
so wa e we e no ee, bu hese days he use o Linux o un SCADA o DCS sys em has se e al ad an ages
like mo e secu i y, s abili y as well as less cos s.
The e a e lo s o di e en p ojec s like Open PLC, Awlsim, Small PLC, ha a e open sou ce p ojec s ha y
o de elop Open Sou ce PLC`s so wa e as well as Ha dwa e.
21
1.4 Mo i a ion
PLCs a e e y used in he indus y, o make hem e en mo e mul ipu pose, Open-Sou ce and accessible o any
kind o OS, compu e , applica ion o p ocess ha i s al eady unning we e he mo i a ion o de elop his
p ojec .
A o me p ojec ha subs i u es he ha dwa e o an old Siemens PLC o make he con ol applica ion
de eloped wi h a Siemens so wa e unning in he cloud, mo i a ed me o y o send a signal o communica e
a machine wi h an Open-Sou ce so wa e o p og am PLCs (Alwsim).
To accomplish his p ojec a new in e ace ha wo ks in Real Time had o be de eloped, his in e ace is based
in Awlsim. The mapping be ween he I/O po o he Hos and he Gues machine was done o achie e he
communica ion. The ha dwa e as well as o he esou ces o his p ojec we e p o ided by he Uni e si y o
Be lin.

22
2 P ojec Ta ge
The a ge o he p ojec consis s in eading an incoming signal h ough a GPIO-pins po ha he compu e
A k-1550 has, his signal mus be ead by a Gues Vi ual Machine unning in he Hos Machine ins alled in
he compu e .
To achie e he eading, a communica ion in e ace be ween he Hos , he Gues and he GPIO-pins mus be
de eloped, o ha he i -So -PLC (Awlsim) in e ace is used as an example o de eloping he equi ed
in e ace.
As he signal needs o be ead as quickly as possible, Real- ime is a need, o use Real Time, he Linux ke nel
ins alled in he hos and in he gues machine mus be pa ched and modi ied o use Real Time.
A e ha he signal needs o be gene a ed and ead by a p og am, o ha pu pose use - space di ec access o
he pins is equi ed o ead he signal.
Once he signal is ead by he hos machine, he nex s ep would be o i ualize he GPIO-pins in he gues
machine o ead he signal.
Figu e 2 Gene al Scheme
23
3 Ha dwa e
3.1 The compu e A k-1550
The A k-1550 is he compu e which has been used o de elop he p ojec , his compu e was chosen because
o i s ea u es, specially designed o embedded applica ions and i s Digi al I/O.
The A k-1550 is a Fanless embedded compu e designed by Ad an ech, all he elec onics a e in eg a ed in a
compac and p o ec ed designed. The dimensions a e 223 x 46.6 x 133.0 mm and is powe ed by 12V DC
inpu , i has a single boa d and i o e s:
• In el® Dual Co e Cele on 2980U 1.6 GHz / Co e i5 4300U 1.9 GHz SoC
• One Ho Swappable 2.5" SATA HDD Bay and mSATA slo
• T iple Independen Displays by VGA + HDMI + LVDS (LVDS op ion)
• Op ional VESA / DIN Rail Moun ing ki s
• Suppo s 2 x In el GbE and 1 x GPIO
• Buil -in 1 x ull size MiniPCIe (i.e.: 3G module) and 1 x hal size MiniPCIe slo (i.e.: WIFI module)
• Lockable DC jack design
• Suppo s iManage , SUSIAccess and Embedded So wa e APIs
• Suppo In el Tu bo Boos Technology 2.0 in Co e i5 4300U
3.1.1 The Digi al I/O
The mos in e es ing ea u e o his p ojec is he Digi al I/O, i has an 8-bi DIO connec o and one g ound
pin. Each bi can be se as a digi al inpu o ou pu independen ly. The signal will be sen h ough his po o
communica e he ha dwa e wi h he gues machine PLC so wa e.
Figu e 3 Digi al Inpu /ou pu
24
Digi al I/O Connec o Pins
Pin
Signal Name
1
DIO bi 4
2
DIO bi 3
3
DIO bi 2
4
DIO bi 1
5
DIO bi 0
6
GND
7
DIO bi 5
8
DIO bi 6
9
DIO bi 7
Table 2 Digi al I/O Connec o Pins
The pin numbe six is he g ound and he pins ou and i e will be used as an ou pu and inpu espec i ely.
The signal mus be sen h ough his po , he signal will be gene a ed wi h a signal gene a o and will be sen
o he pin numbe i e, hen p og am ha was de eloped, will ead his signal and will send i o he pin
numbe ou , so he signal can be ead and showed in an oscilloscope using a es p obe.
25
4 So wa e
4.1 Awlsim: S7 Compa ible So -PLC
Awlsim is an Open-Sou ce so wa e o p og am P og ammable Logic Con olle s (PLCs) om Siemens
which is compa ible wi h AWL/STL So -PLC, i has been w i en in Py hon. Awlsim is he empla e o
de elop he new in e ace.
Awlsim can un on Windows as well as any o he pla o ms ha suppo Py hon, like Linux o Mac OS
X.
Since Real Time is a mus o his p ojec , Awlsim can ge se e al housand o millions o AWL/STL
ins uc ions pe second, his ea u e is in e es ing, e en hough he execu ion speed eally depends on he
machine whe e Awlsim i is being execu ed as well as he Py hon in e p e e .
Awlsim ins alla ion is equi ed because he de eloping o he new in e ace is based on i .
4.1.1 Ins alla ion o Awlsim
To use Awlsim-gui he Awlsim elease 0.55 Sou ce package mus be downloaded om:
h ps://bues.ch/cms/au oma ion/awlsim.h ml#download
Since he Hos Machine is an A k-1550 embedded compu e om Ad an ech and i s Ope a i e Sys em
Ubun u 16.04, a ew addi ional ools we e equi ed o un Awlsim-gui, one o hem is Building PySide on
he sys em.
4.1.1.1 P e equisi es
The ins alla ion o se e al dependencies is needed as well as he la es e sion o pip dis ibu ion o ins all
Alwsim.
The i s s ep will be he ins alla ion o he building dependencies:
$ sudo ap -ge ins all build-essen ial gi cmake libq 4-de libphonon-
de py hon2.7-de libxml2-de libxsl 1-de q mobili y-de libq webki -
de
q mobil y-de package could be ound in he ollowing link:
h ps://packages.ubun u.com/ us y/q mobili y-de
The second s ep will be he ins alla ion o pip acco ding o he py hon e sion used:
$ wge h ps://boo s ap.pypa.io/ge -pip.py
$ sudo py hon2.7 ge -pip.py
I he py hon e sion used is Py hon 3.2, exis s an incompa ibili y ha does no allow Awlsim-gui o un,
o download he ge -pip.py a chi e equi ed o his Py hon e sion can be ound he e:
h ps://pip.pypa.io/en/s able/ins alling/
32
Selec exi and un:
$ make
$ sudo make modules_ins all
$ sudo make ins all
Depending on he compu e his p ocess may ake a while.
A e he g ub mus be upda ed:
$ sudo upda e-g ub
Reboo he sys em and selec he new Ke nel in he g ub.

4.3 KVM (Ke nel-Based Vi ual Machine)
KVM is a solu ion o implemen a ull i ualiza ion wi h Linux. I is o med by a Ke nel module and
o he ools in he use space. KVM is an Open-Sou ce so wa e de eloped by Qum ane .
To use KVM a x86 o x86_64 p ocesso wi h i ualiza ion suppo is needed. KVM can un
Linux/Unix/Windows gues s o 32 o 64 bi s.
KVM allows he execu ion o se e al Vi ual Machines using ISO images wi h di e en OS (ope a i e
sys em). Each i ual machine has i s own ha dwa e which is i ualized, such as a Ha d Disk D i e, a
Ne wo k In e ace Ca d o a G aphics Ca d …
KVM has been used o ully i ualize he Gues machine inside he Hos machine.
4.3.1 Ins alla ion o KVM
Be o e ins alling KVM he CPU mus suppo ha dwa e i ualiza ion, o ha his command mus be
un:
$ eg ep -c '( mx|s m)' /p oc/cpuin o
I he esul is one o mo e he CPU suppo s ha dwa e i ualiza ion, he nex s ep will be enabling he
i ualiza ion in he BIOS:
$ k m-ok
I he esul is KVM accele a ion can be used i means he ins alla ion can be made, o s a , se e al
packages a e equi ed, such as:
$ sudo ap -ge ins all qemu-k m lib i -bin ubun u- m-builde
b idge-u ils
• qemu-k m is he backend
• lib i -bin p o ides lib i d o adminis e qemu and k m ins ances using lib i
• ubun u- m-builde o building i ual machines
• b idge-u ils o se up a ne wo k o a hos ed i ual machine
A e he use name mus be added o he g oup lib i d:
$ sudo adduse `id -un` lib i d
Adding use '<use name>' o g oup 'lib i d' ...
34
To e i y he ins alla ion un:
$ i sh lis –all
To elog in o es a he Ke nel modules:
$ mmod k m
$ modp obe -a k m
35
4.4 Vi -manage
To c ea e and manage he i ual machine (gues machine), i -manage will be used.
i -Manage is a GUI ool o manage i ual machines h ough lib i . I manages KVM, XEN and LCX
i ual machines. I ep esen s he CPU usage as well as he Hos CPU usage and he Memo y usage o
each i ual machine.
As KVM is equi ed, i -manage is a com o able and easy GUI ool o manage he i ual machine.
4.4.1 Ins alla ion o Vi -manage (g aphical use in e ace)
The ins alla ion o i -manage also equi es se e al packages like lib i -bin and b idge-u ils, which a e
al eady ins alled, as well as he ins alla ion o KVM.
$ sudo ap -ge ins all i -manage
Then, un i -manage :
$ sudo i -manage
Be o e c ea ing a i ual machine, a new connec ion o local QEMU ins ance om ile mus be se
→Add Connec ion menu. Selec QEMU/KVM in he i ual machine lis .
4.4.2 Ins alla ion o a Vi ual Machine wi h Ubun u 16.04
Using he i -manage g aphical use in e ace selec → C ea e a new i ual machine in he ool ba .
36
Figu e 12 S ep 0 Vi ual Machine Ins alla ion
Then w i e he name o you i ual machine, in his case he i ual machine was called MV1, and hen selec
how o ins all he ope a ing sys em.
Figu e 13 S ep 1 Vi ual Machine Ins alla ion
This i ual machine was ins alled using a ISO image o Ubun u 16.04, which can be downloaded om he
sou ce page:
h ps://www.ubun u.com/download/desk op
37
Figu e 14 S ep 2 Vi ual Machine Ins alla ion
The hi d s ep will be choosing he Memo y and CPU se ing, 1024 MB o he RAM and 1 CPU, hese alues
may change depending on he needs.
Figu e 15 S ep 3 Vi ual Machine Ins alla ion
The ou h s ep will be he s o age con igu a ion ha will be assigned o he i ual machine.

38
Figu e 16 S ep 4 Vi ual Machine Ins alla ion
The las s ep, e i y he se ings and modi y se e al ad anced op ions like ne wo king se ings (selec de aul ),
he i ualiza ion ype (KVM) and he a chi ec u e (x86_64). Then p ess Finish.
Figu e 17 S ep 5 Vi ual Machine Ins alla ion
39
When he i ual machine uns o he i s ime he ins alla ion o Ubun u will s a , a e he ins alla ion he
i ual machine can be used.
The ins alla ion o he Ke nel, as well as he ins alla ion o Awlsim mus be done in he i ual machine oo,
ollowing he same s eps ha we e used in he hos machine.
40
4.5 DKMS (dynamic Ke nel Module Suppo )
As he compila ion o he d i e module is equi ed o use he po , DKMS is needed o his pu pose.
DKMS package helps o compile and ins all supplemen a y e sions o Ke nel modules in o he Ke nel ee.
I was de eloped by he Company Dell, one ad an age o DKMS esides in he addi ion o new Ke nel
modules wi hou ins alling a new one, as well as adding new d i e on a sys em, ha ’s why DKMS is e y
use ul o his p ojec .
4.5.1 DKMS Ins alla ion and Use
The package can be ins alled unning he command:
sudo ap -ge ins all build-essen ial dkms
A e ins alling, a dkms.con a chi e mus be c ea ed and w i en in o de o compile and ins all he equi ed
module, in his case imanage -co e.
# cd /home/ia /d i e /iManage
# ouch dkms.con #c ea e dkms.con ile
# gedi dkms.con
In he dkms.con a chi e he ollowing lines a e equi ed:
MAKE="make -C KERNELDIR=/lib/modules/${ke nel e }/build"
CLEAN="make -C clean"
BUILT_MODULE_NAME=iManage
BUILT_MODULE_LOCATION=.
PACKAGE_NAME=iManage
PACKAGE_VERSION=1
REMAKE_INITRD=yes
Then ins alling he equi ed module in o DKMS, he module ins alla ion iles mus be copied in o he Ke nel
sou ce ee:
# ls
README dkms.con lib s c
# sudo cp -R . /us /s c/iManage -1
# sudo dkms add -m iManage – 1
The equi ed module has been added o he lis o modules o build, o ins all he module in o he cu en
Ke nel he ollowing commands mus be un:
# sudo dkms build -m iManage - 1
# sudo dkms ins all -m iManage - 1
Some e o s may appea bu e en hough he compila ion and ins alla ion o he equi ed module wo k
41
5 Sending he Signal o he Hos Machine
5.1 Ad an ech iManage Linux D i e Se
Ad an ech iManage Linux D i e Se is a se o pla o m d i e s which con ains he needed suppo o use he
8-bi Digi al I/O. To manage he GPIOs he Ke nel con ig op ion CONFIG_GPIO_SYSFS needs o be
enabled.
5.1.2 Loading he modules
I he module building and ins alla ion using DKMS is well done, he module should be ins alled, bu no
loaded, o load he module:
$ sudo modp obe imanage -co e
5.1.3 Using GPIO om Use -Space
To y he GPIOs his p og am was implemen ed, i w i es he alue o he signal ha comes in o he pin 504,
he de ice’s ou h pin, hen i s alue is w i en in o he pin 505 which is he de ice’s i h pin:
$ sudo su
$ cd /sys/class/gpio
$ echo 504 > expo
$ echo in > gpio504/di ec ion
$ echo 505 > expo
$ echo ou > gpio505/di ec ion
$cd $HOME
#!/bin/sh
#modp obe imanage -co e
#echo $1> /sys/class/gpio/expo
#echo ou > /sys/class//gpio/$1/di ec ion
while busybox echo hey > /de /null
do
alue=`ca /sys/class/gpio/gpio505/ alue`
echo “$ alue” > /sys/class/gpio/gpio504/ alue
done
The aim o his p og am is o show ha he communica ion be ween he Digi al I/O o he hos machine and
he Linux OS is possible.
48
6.3 Ke nel Con igu a ion and building
To change he Ke nel con igu a ion, he nex command mus be un:
$ make menucon ig
Then se e al con igu a ions mus be selec ed in he menu:
• Selec P ocesso ype and u u es→ P eemp ion Model (Fully P eemp ible Ke nel (RT)) → Enable Fully
P eemp ible Ke nel (RT)
Figu e 24 Selec ing Ke nel con igu a ions

49
Figu e 25 Selec ing Ke nel con igu a ions
Figu e 26 Selec ing Ke nel con igu a ions
50
• Selec Gene al Se up→ Enable P omp o de elopmen and/o incomple e code/d i e s
Figu e 27 Selec ing Ke nel con igu a ions
Figu e 28 Selec ing Ke nel con igu a ions
51
• Selec Bus Op ions→ Enable Suppo o DMA Remapping De ices (Expe imen al)
Figu e 29 Selec ing Ke nel con igu a ions
Figu e 30 Selec ing Ke nel con igu a ions
52
• Selec Bus Op ions→ Enable DMA Remapping De ices by de aul
Figu e 31 Selec ing Ke nel con igu a ions
53
• Selec Bus Op ions→ Enable Suppo o In e up Remapping (EXPERIMENTAL)
Figu e 32 Selec ing Ke nel con igu a ions

54
• Selec Bus Op ions→ Enable PCI S ub d i e
Figu e 33 Selec ing Ke nel con igu a ions
Those con igu a ions ha e been modi ied in o use a Fully P eemp ible Ke nel o wo k in Real Time and o
assign de ices wi h V -d in KVM V -d Suppo o communica e he Digi al I/O wi h he gues machine.
Selec exi and un:
$ make CC=gcc-4.9
$ sudo make modules_ins all
$ sudo make ins all
The i s command is e y impo an , as a 3.0 Ke nel e sion was equi ed, he Ke nel mus be compiled wi h
a gcc e sion unde gcc-5 one.
Depending on he compu e his p ocess may ake a while.
A e he g ub mus be upda ed:
$ sudo upda e-g ub
Reboo he sys em and selec he new Ke nel in he g ub.
55
Conclusion and Fu u e In es iga ions
A e eboo ing he sys em and using he new Ke nel e sion ha was equi ed o i ualize he Digi al I/O o
ead he signal om he gues machine, he sys em was no wo king p ope ly, he pe o mance o any kind o
p og am was slow, also se e al d i e s we e missing, like he E he ne one. This p oblem was sol ed, e en he
d i e s ha we e missing we e ins alled, he sys em was no s ill wo king p ope ly.
As i was impossible con inue wo king wi h his Ke nel e sion ha allows he i ualiza ion o he po , he
con inua ion o he p ojec was no possible because he communica ion be ween he gues machine and he
digi al I/O is no achie able. A possible cause may be ha he d i e se o manage he Digi al I/O was no
de eloped by he ha dwa e de elope so i may no wo k as i is expec ed. Also, he equi ed expe imen al
Ke nel op ions we e emo ed om he new Ke nel eleases which a e no suppo ed anymo e.
E en hough he communica ion be ween he Digi al I/O and he Linux sys em wo ks wi hou p oblems as i
was shown wi h he oscilloscope images ha ep esen s he desi ed signal and he ecei ed signal ha Linux
ge s.
To con inue and imp o e he p ojec he delay mus minimized using ano he Ke nel con igu a ion ha should
be modi ied.
Abou he i ualiza ion o he Digi al I/O ha equi es V -d, he ins alla ion and compila ion o a Ke nel
e sion unde he 3.0 and y i he expe imen al con igu a ions equi ed wo k.
O he possibili y may include o he ha dwa e o he use o o he OS o y he po i ualiza ion in he gues
machine.
56
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