Implementation and Evaluation of an Interface between a virtual Open-Source Software Programmable Logic Controller and the Physical GPIO-Pins of the Host Machine

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. 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