xenomai网卡驱动分析之一 加载和使用

初始化加载

root@linux:/lib/modules/4.19.115# insmod rtnet.ko 

root@linux:/lib/modules/4.19.115# insmod rtipv4.ko 

root@linux:/lib/modules/4.19.115# insmod rt_e1000e.ko

root@linux:/lib/modules/4.19.115# insmod rtudp.ko
root@linux:/lib/modules/4.19.115# insmod rtpacket.ko

root@linux:/lib/modules/4.19.115# insmod rtcfg.ko
root@linux:/lib/modules/4.19.115# insmod rtmac.ko
root@linux:/lib/modules/4.19.115# insmod tdma.ko 

root@bogon:/usr/xenomai_debug/sbin# ./rtcfg rteth0 server

root@linux:/usr/xenomai_debug/sbin# ./tdmacfg rteth0 master 5000
root@linux:/usr/xenomai_debug/sbin# ./tdmacfg rteth0 slot 0 0


root@linux:/usr/xenomai_debug/sbin# ./rtifconfig rteth0 down
root@linux:/usr/xenomai_debug/sbin# ./rtifconfig rteth0 up 192.168.1.107
root@linux:/usr/xenomai_debug/sbin# ./rtifconfig 
rteth0    Medium: Ethernet  Hardware address: 6C:B3:11:0F:9B:E7
          IP address: 192.168.1.107  Broadcast address: 192.168.1.255
          UP BROADCAST RUNNING  MTU: 1500

查看和操作

root@linux:/usr/xenomai_debug/sbin# lsmod
Module                  Size  Used by
tdma                   28672  0
rtmac                  20480  1 tdma
rtcfg                  49152  0
rtudp                  24576  0
rt_e1000e             192512  1
rtipv4                 36864  2 rtudp,rtcfg
rtnet                  65536  6 rtipv4,rt_e1000e,rtudp,rtcfg,tdma,rtmac

root@linux:/usr/xenomai_debug/sbin# ./rtping 192.168.1.104
Real-time PING 192.168.1.104 56(84) bytes of data.
64 bytes from 192.168.1.104: icmp_seq=1 time=959.9 us
64 bytes from 192.168.1.104: icmp_seq=2 time=1166.2 us
64 bytes from 192.168.1.104: icmp_seq=3 time=1163.8 us
64 bytes from 192.168.1.104: icmp_seq=4 time=819.6 us
64 bytes from 192.168.1.104: icmp_seq=5 time=1161.4 us
64 bytes from 192.168.1.104: icmp_seq=6 time=1168.7 us
64 bytes from 192.168.1.104: icmp_seq=7 time=817.1 us
64 bytes from 192.168.1.104: icmp_seq=8 time=972.9 us
64 bytes from 192.168.1.104: icmp_seq=9 time=1152.8 us
64 bytes from 192.168.1.104: icmp_seq=10 time=784.3 us
64 bytes from 192.168.1.104: icmp_seq=11 time=964.8 us
64 bytes from 192.168.1.104: icmp_seq=12 time=964.8 us


root@linux:/usr/xenomai_debug/sbin# cat /proc/xenomai/irq 
  IRQ         CPU0        CPU1        CPU2        CPU3
    3:      131934      130856      170326      154827         [timer/0]
   42:         726           0           0           0         rteth0
 1031:           0           0           0           0         [sync]
 1032:           0           1           1           1         [timer-ipi]
 1033:           0           1         386           1         [reschedule]
 1037:          10          11           6           0         [virtual]

root@linux:/usr/xenomai_debug/sbin# ./rtroute 
Host Routing Table
Hash    Destination     HW Address              Device
28      192.168.1.104   F4:6B:8C:02:A4:89       rteth0
3F      192.168.1.255   FF:FF:FF:FF:FF:FF       rteth0

root@linux:/usr/xenomai_debug/sbin# ls /dev/rtnet -l
crw------- 1 root root 10, 240 Nov 16 05:41 /dev/rtnet

// 加载ko后查看一下创建的任务
root@linux:/usr/xenomai_debug/sbin# ./rtps 
PID    TIME                THREAD                   CMD

0      000:02:21.446,114   ROOT/0 idle -1 0         -
0      000:02:21.444,183   ROOT/1 idle -1 0         -
0      000:02:21.441,012   ROOT/2 idle -1 0         -
0      000:02:21.443,764   ROOT/3 idle -1 0         -
3089   000:00:00.000,003   rtnet-stack rt 98 0      -
3096   000:00:00.000,003   rtnet-rtpc rt 0 0        -
0      000:00:00.021,991   IRQ3: [timer] idle 0 0   -
0      000:00:00.023,519   IRQ3: [timer] idle 0 0   -
0      000:00:00.026,031   IRQ3: [timer] idle 0 0   -
0      000:00:00.023,975   IRQ3: [timer] idle 0 0   -

实际上留如下几个ko就可以了
root@linux:/usr/xenomai_debug/sbin# lsmod
Module                  Size  Used by
rtcfg                  49152  0
rtipv4                 36864  1 rtcfg
rt_e1000e             192512  1
rtnet                  65536  3 rtipv4,rt_e1000e,rtcfg

参考

ubuntu14.04、xenomai3.1、ethercat igh构建主站（1）
https://blog.csdn.net/cln512/article/details/106728954

ubuntu14.04、xenomai3.1、ethercat igh构建主站（2）
https://blog.csdn.net/cln512/article/details/107015485

Xenomai平台下基于以太网的实时通信方案
https://www.wendangwang.com/doc/c0ce9eaec47d22cc779045f6

DevOps xenomai在ubuntu上的移植及运行  网络方面讲的挺好
https://www.dazhuanlan.com/dream29831/topics/1232857

Ubuntu16.04 Xenomai3.x 系列移植笔记----测试与编程
https://blog.csdn.net/gu655366/article/details/104983069

Xenomai 源码分析
https://jiuaidu.com/it/2575205/