beckhoff / cx9020

Scripts to build a Debian based Linux system for the CX9020 Embedded PC

CX9020

This repository provides Scripts and Patches to build a basic Linux (Debian) System for a Beckhoff CX9020 Controller. It only works with devices which are ordered with a special ordering number (CX9020-0100) which ensures that the device boots directly from the microSD card instead of using the internal bootloader. Please make sure to follow the steps below to create your microSD card.

Installation

#prepare your machine f.e.: 64-bit Debian 11 would require:
#=================================================================
./tools/10_prepare_host_debian11.sh

# get the repository:
#====================
git clone https://github.com/Beckhoff/CX9020.git
cd CX9020/

#get and patch the u-boot sources:
#=================================
./tools/prepare_uboot.sh v2022.10

#build u-boot:
#=============
make uboot

#get and patch a rt kernel:
#==========================
./tools/prepare_kernel.sh v4.19-rt

#configure and build the kernel:
#===============================
make kernel

#integrate acontis kernel extension atemsys from EC-Master SDK for emllCCAT support (optional, download link is currently broken):
#==============================================================================================
./tools/prepare_acontis.sh
make acontis

#get and patch etherlab (optional):
#==================================
./tools/prepare_etherlab.sh

#configure and build the etherlab (optional):
#============================================
make etherlab

#prepare sdcard with a small debian rootfs:
#============================================
#BE CAREFUL to specify the correct device name,
#or you might end up deleting your host's root partition!
./scripts/install.sh /dev/sdc /tmp/rootfs

Usage

The standard login on first boot:

User: root

Password: root

Please change the root password immediately and additionally create your own user.

acontis EC-Master example (optional)

To run the EcMasterDemo, extract the EC-Master SDK in /opt/EC-Master and start it from /opt/EC-Master/Bin/Linux/armv6-vfp-eabihf using:

EcMasterDemo -ccat 1 1

See manuals in the SDK's "Doc" folder for how to build and run EC-Master applications

History

TODO: Write history

cx9020's Issues

Configuration error when building etherlab.

So far everything is fine, except when I build the etherlab module.

configure: error: Failed to extract Linux kernel version!
Makefile:9: die Regel für Ziel „etherlab“ scheiterte
make: *** [etherlab] Fehler 1

sfdisk on Ubuntu 16.04

Just in case anyone will give a try running the build scripts on Ubuntu 16.04:

sfdisk version 2.26.x or greater lacks the --in-order option (– it is the default as of 2.26.x). You can detect this like so: RobertCNelson/boot-scripts@02f9dc3 .

On Ubuntu 16.04: remove the option from the script. If you want to be sure that partition are in disk order (sorted by start sector) then use command --reorder

sudo sfdisk --force ${DISK} < ${PARTITION_CONFIG}
sudo sfdisk --reorder ${DISK}

Note that '--unit M' is also unsupported and --Linux is deprecated and without any effect.

Sniff the network

Hi!

I have some troubles to capture the packages between CX9020 Linux master with etherlab and ccat configured.

My configuration:

CX9020 --> EK 1110 --> LAN9252

I'm able to sniff the EtherCAT packages using, "man on the middle" technique, but the intermediate computer is not real time machine and I have some delays.

Is it possible sniff directly on mater? How?

Thanks in advance!

New kernel configuration options

When building the kernel, the following questions bubbled up interactively.

  Disable unprivileged BPF by default (BPF_UNPRIV_DEFAULT_OFF) [N/y/?] (NEW) 
...
Harden Spectre style attacks against branch history (HARDEN_BRANCH_HISTORY) [Y/n/?] (NEW) 
...
  RT5033 fuel gauge support (BATTERY_RT5033) [N/m/y/?] (NEW) 
...
Choose kernel unwinder
> 1. Frame pointer unwinder (UNWINDER_FRAME_POINTER) (NEW)
  2. ARM EABI stack unwinder (UNWINDER_ARM) (NEW)
choice[1-2?]: 

I left their default values (i.e. hit ENTER).

Is this the correct approach? Is it worth including their new values in ./kernel-patches/config-CX9020?

Ethernet port X001 doesn't detect link up anymore

Hello,
It seems since a certain time, the kernel patch to sense link up on KSZ886X ports 0002-net-phy-multiplex-switch-phy-ports.patch doesn't fully work any more.

If you build the last image (c66aa23) with kernel 4.19, connect ethernet port X001, boot the device, then link goes up. If you "soft" reboot (with reboot command) the device, the link never came up again. If you power it off and on, link come back but only after "initial" boot.

This doesn't seems affect the X000 port.

I didn't try to git bisect, but at least on kernel 4.4.x it was working.

Are you aware of something like this ? Do you have an idea what could have changes and create this inconstant behavior ?

Thanks

No DVI output

This is the first time I'm using a CX9020, so I don't know how it should behave normally.

I just prepared an SD card following the instructions provided by #17 (with the etherlab master stack). I can SSH succesfully into the CX9020 and ethercat slaves returns the correct list, so I am pretty confident SD card, network and EtherCAT are working properly.

The problem is I don't see any output on the video (no DVI signal). Cable and monitor are working connected to another PC, so they are unlikely the source of the problem.

Looking at dmesg, there are a bunch of errors about a flip_done timed out.

Here is the full dmesg output.

[    0.000000] Booting Linux on physical CPU 0x0
[    0.000000] Linux version 4.19.245-rt109+ (root@5b2743cc412d) (gcc version 5.5.0 20171010 (Ubuntu/Linaro 5.5.0-12ubuntu1)) #1 PREEMPT RT Sat Jun 11 14:46:44 UTC 2022
[    0.000000] CPU: ARMv7 Processor [412fc085] revision 5 (ARMv7), cr=10c5387d
[    0.000000] CPU: PIPT / VIPT nonaliasing data cache, VIPT aliasing instruction cache
[    0.000000] OF: fdt: Machine model: Beckhoff CX9020 Embedded PC
[    0.000000] Memory policy: Data cache writeback
[    0.000000] cma: Reserved 16 MiB at 0xcf000000
[    0.000000] On node 0 totalpages: 262144
[    0.000000]   Normal zone: 1152 pages used for memmap
[    0.000000]   Normal zone: 0 pages reserved
[    0.000000]   Normal zone: 131072 pages, LIFO batch:31
[    0.000000]   HighMem zone: 131072 pages, LIFO batch:31
[    0.000000] CPU: All CPU(s) started in SVC mode.
[    0.000000] random: get_random_bytes called from start_kernel+0xac/0x4b0 with crng_init=0
[    0.000000] pcpu-alloc: s0 r0 d32768 u32768 alloc=1*32768
[    0.000000] pcpu-alloc: [0] 0 
[    0.000000] Built 1 zonelists, mobility grouping on.  Total pages: 260992
[    0.000000] Kernel command line: console=ttymxc1,115200 libphy.num_phys=2 console=tty0 quiet root=/dev/mmcblk0p1 ro rootfstype=ext4 rootwait fixrtc
[    0.000000] Dentry cache hash table entries: 65536 (order: 6, 262144 bytes)
[    0.000000] Inode-cache hash table entries: 32768 (order: 5, 131072 bytes)
[    0.000000] Memory: 1008892K/1048576K available (8192K kernel code, 564K rwdata, 2372K rodata, 1024K init, 696K bss, 23300K reserved, 16384K cma-reserved, 507904K highmem)
[    0.000000] Virtual kernel memory layout:
                   vector  : 0xffff0000 - 0xffff1000   (   4 kB)
                   fixmap  : 0xffc00000 - 0xfff00000   (3072 kB)
                   vmalloc : 0xe0800000 - 0xff800000   ( 496 MB)
                   lowmem  : 0xc0000000 - 0xe0000000   ( 512 MB)
                   pkmap   : 0xbfe00000 - 0xc0000000   (   2 MB)
                   modules : 0xbf000000 - 0xbfe00000   (  14 MB)
                     .text : 0x(ptrval) - 0x(ptrval)   (9184 kB)
                     .init : 0x(ptrval) - 0x(ptrval)   (1024 kB)
                     .data : 0x(ptrval) - 0x(ptrval)   ( 565 kB)
                      .bss : 0x(ptrval) - 0x(ptrval)   ( 697 kB)
[    0.000000] SLUB: HWalign=64, Order=0-3, MinObjects=0, CPUs=1, Nodes=1
[    0.000000] ftrace: allocating 25589 entries in 76 pages
[    0.000000] rcu: Preemptible hierarchical RCU implementation.
[    0.000000] rcu: 	RCU priority boosting: priority 1 delay 500 ms.
[    0.000000] 	No expedited grace period (rcu_normal_after_boot).
[    0.000000] 	Tasks RCU enabled.
[    0.000000] NR_IRQS: 16, nr_irqs: 16, preallocated irqs: 16
[    0.000000] TrustZone Interrupt Controller (TZIC) initialized
[    0.000000] CPU identified as i.MX53, unknown revision
[    0.000000] Switching to timer-based delay loop, resolution 29ns
[    0.000009] sched_clock: 32 bits at 33MHz, resolution 29ns, wraps every 64424507889ns
[    0.000023] clocksource: mxc_timer1: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 57337812242 ns
[    0.000761] Console: colour dummy device 80x30
[    0.000784] console [tty0] enabled
[    0.000833] Calibrating delay loop (skipped), value calculated using timer frequency.. 66.66 BogoMIPS (lpj=333333)
[    0.000846] pid_max: default: 32768 minimum: 301
[    0.001172] Mount-cache hash table entries: 1024 (order: 0, 4096 bytes)
[    0.001185] Mountpoint-cache hash table entries: 1024 (order: 0, 4096 bytes)
[    0.002211] CPU: Testing write buffer coherency: ok
[    0.002255] CPU0: Spectre v2: using BPIALL workaround
[    0.003379] Setting up static identity map for 0x70100000 - 0x7010003c
[    0.003690] rcu: Hierarchical SRCU implementation.
[    0.007932] devtmpfs: initialized
[    0.014177] VFP support v0.3: implementor 41 architecture 3 part 30 variant c rev 2
[    0.014494] clocksource: jiffies: mask: 0xffffffff max_cycles: 0xffffffff, max_idle_ns: 19112604462750000 ns
[    0.014517] futex hash table entries: 256 (order: 1, 8192 bytes)
[    0.015800] pinctrl core: initialized pinctrl subsystem
[    0.017218] NET: Registered protocol family 16
[    0.019351] DMA: preallocated 256 KiB pool for atomic coherent allocations
[    0.024050] hw-breakpoint: debug architecture 0x4 unsupported.
[    0.027650] imx53-pinctrl 53fa8000.iomuxc: Failed to create dummy-iomuxc-gpr@53fa8000 debugfs directory
[    0.027933] imx53-pinctrl 53fa8000.iomuxc: initialized IMX pinctrl driver
[    0.053410] SCSI subsystem initialized
[    0.053763] libata version 3.00 loaded.
[    0.054086] usbcore: registered new interface driver usbfs
[    0.054144] usbcore: registered new interface driver hub
[    0.054196] usbcore: registered new device driver usb
[    0.054384] usb_phy_generic usbphy-0: usbphy-0 supply vcc not found, using dummy regulator
[    0.054477] usb_phy_generic usbphy-0: Linked as a consumer to regulator.0
[    0.054628] usb_phy_generic usbphy-1: usbphy-1 supply vcc not found, using dummy regulator
[    0.054718] usb_phy_generic usbphy-1: Linked as a consumer to regulator.0
[    0.055907] i2c i2c-1: IMX I2C adapter registered
[    0.055927] i2c i2c-1: can't use DMA, using PIO instead.
[    0.056050] pps_core: LinuxPPS API ver. 1 registered
[    0.056057] pps_core: Software ver. 5.3.6 - Copyright 2005-2007 Rodolfo Giometti <[email protected]>
[    0.056094] PTP clock support registered
[    0.057512] clocksource: Switched to clocksource mxc_timer1
[    0.157758] NET: Registered protocol family 2
[    0.158005] IP idents hash table entries: 8192 (order: 4, 65536 bytes)
[    0.158887] tcp_listen_portaddr_hash hash table entries: 256 (order: 0, 7168 bytes)
[    0.158923] TCP established hash table entries: 4096 (order: 2, 16384 bytes)
[    0.158981] TCP bind hash table entries: 4096 (order: 4, 98304 bytes)
[    0.159173] TCP: Hash tables configured (established 4096 bind 4096)
[    0.159344] UDP hash table entries: 256 (order: 2, 16384 bytes)
[    0.159386] UDP-Lite hash table entries: 256 (order: 2, 16384 bytes)
[    0.159588] NET: Registered protocol family 1
[    0.160384] hw perfevents: enabled with armv7_cortex_a8 PMU driver, 5 counters available
[    0.162115] workingset: timestamp_bits=14 max_order=18 bucket_order=4
[    0.168752] zbud: loaded
[    0.171244] fuse init (API version 7.27)
[    0.178267] bounce: pool size: 64 pages
[    0.178378] Block layer SCSI generic (bsg) driver version 0.4 loaded (major 249)
[    0.178640] io scheduler noop registered
[    0.178648] io scheduler deadline registered
[    0.179013] io scheduler cfq registered (default)
[    0.179023] io scheduler mq-deadline registered
[    0.183760] imx-sdma 63fb0000.sdma: Direct firmware load for imx/sdma/sdma-imx53.bin failed with error -2
[    0.183777] imx-sdma 63fb0000.sdma: Falling back to syfs fallback for: imx/sdma/sdma-imx53.bin
[    0.184538] Serial: 8250/16550 driver, 6 ports, IRQ sharing disabled
[    0.187110] 53fc0000.serial: ttymxc1 at MMIO 0x53fc0000 (irq = 48, base_baud = 4166666) is a IMX
[    0.187333] console [ttymxc1] enabled
[    0.189551] tfp410-bridge dvi-converter: Connector's ddc i2c bus found
[    0.190896] [drm] Supports vblank timestamp caching Rev 2 (21.10.2013).
[    0.190905] [drm] No driver support for vblank timestamp query.
[    0.191473] imx-drm display-subsystem: bound imx-ipuv3-crtc.2 (ops ipu_crtc_ops)
[    0.191783] imx-drm display-subsystem: bound imx-ipuv3-crtc.3 (ops ipu_crtc_ops)
[    0.191888] imx-drm display-subsystem: bound display-0 (ops imx_pd_ops)
[    0.217174] fbcon: Deferring console take-over
[    0.217198] imx-drm display-subsystem: fb0: DRM emulated frame buffer device
[    0.218161] [drm] Initialized imx-drm 1.0.0 20120507 for display-subsystem on minor 0
[    0.218216] imx-ipuv3 18000000.ipu: IPUv3M probed
[    0.220630] fec 63fec000.ethernet: 63fec000.ethernet supply phy not found, using dummy regulator
[    0.220767] fec 63fec000.ethernet: Linked as a consumer to regulator.0
[    0.230786] ehci_hcd: USB 2.0 'Enhanced' Host Controller (EHCI) Driver
[    0.230817] ehci-platform: EHCI generic platform driver
[    0.235205] ci_hdrc ci_hdrc.0: doesn't support gadget
[    0.235218] ci_hdrc ci_hdrc.0: no supported roles
[    0.235255] fbcon: Taking over console
[    0.241412] imx_usb 53f80200.usb: Linked as a consumer to regulator.2
[    0.244261] ci_hdrc ci_hdrc.1: EHCI Host Controller
[    0.244592] ci_hdrc ci_hdrc.1: new USB bus registered, assigned bus number 1
[    0.267615] ci_hdrc ci_hdrc.1: USB 2.0 started, EHCI 1.00
[    0.268005] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 4.19
[    0.268013] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[    0.268019] usb usb1: Product: EHCI Host Controller
[    0.268025] usb usb1: Manufacturer: Linux 4.19.245-rt109+ ehci_hcd
[    0.268030] usb usb1: SerialNumber: ci_hdrc.1
[    0.268677] hub 1-0:1.0: USB hub found
[    0.268738] hub 1-0:1.0: 1 port detected
[    0.270462] mousedev: PS/2 mouse device common for all mice
[    0.271218] mxc_rtc_v2 53fa4000.rtc: char device (253:0)
[    0.271242] mxc_rtc_v2 53fa4000.rtc: registered as rtc0
[    0.271388] i2c /dev entries driver
[    0.272996] imx2-wdt 53f98000.wdog: timeout 60 sec (nowayout=1)
[    0.273456] sdhci: Secure Digital Host Controller Interface driver
[    0.273460] sdhci: Copyright(c) Pierre Ossman
[    0.273463] sdhci-pltfm: SDHCI platform and OF driver helper
[    0.274194] sdhci-esdhc-imx 50004000.esdhc: Got CD GPIO
[    0.301400] mmc0: SDHCI controller on 50004000.esdhc [50004000.esdhc] using ADMA
[    0.302174] sdhci-esdhc-imx 50008000.esdhc: Got CD GPIO
[    0.327791] mmc1: SDHCI controller on 50008000.esdhc [50008000.esdhc] using ADMA
[    0.329649] hidraw: raw HID events driver (C) Jiri Kosina
[    0.330122] usbcore: registered new interface driver usbhid
[    0.330128] usbhid: USB HID core driver
[    0.332186] NET: Registered protocol family 10
[    0.334362] Segment Routing with IPv6
[    0.334445] mip6: Mobile IPv6
[    0.334459] NET: Registered protocol family 17
[    0.334509] Key type dns_resolver registered
[    0.334682] ThumbEE CPU extension supported.
[    0.335558] mmc0: host does not support reading read-only switch, assuming write-enable
[    0.336025] registered taskstats version 1
[    0.336147] zswap: loaded using pool lzo/zbud
[    0.338860] mmc0: new high speed SD card at address b368
[    0.341147] mmcblk0: mmc0:b368 AF UD 471 MiB 
[    0.342524] Key type encrypted registered
[    0.348948]  mmcblk0: p1
[    0.363859] mxc_rtc_v2 53fa4000.rtc: setting system clock to 2022-06-11 15:07:55 UTC (1654960075)
[    0.375887] random: fast init done
[    0.557560] usb 1-1: new high-speed USB device number 2 using ci_hdrc
[    0.758030] usb 1-1: New USB device found, idVendor=0424, idProduct=2514, bcdDevice= b.b3
[    0.758038] usb 1-1: New USB device strings: Mfr=0, Product=0, SerialNumber=0
[    0.758800] hub 1-1:1.0: USB hub found
[    0.759026] hub 1-1:1.0: 4 ports detected
[    1.077554] usb 1-1.3: new low-speed USB device number 3 using ci_hdrc
[    1.233138] usb 1-1.3: New USB device found, idVendor=1c4f, idProduct=0026, bcdDevice= 1.10
[    1.233147] usb 1-1.3: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[    1.233153] usb 1-1.3: Product: USB Keyboard
[    1.233158] usb 1-1.3: Manufacturer: SIGMACHIP
[    1.239438] input: SIGMACHIP USB Keyboard as /devices/platform/soc/50000000.aips/53f80200.usb/ci_hdrc.1/usb1/1-1/1-1.3/1-1.3:1.0/0003:1C4F:0026.0001/input/input0
[    1.307975] hid-generic 0003:1C4F:0026.0001: input,hidraw0: USB HID v1.10 Keyboard [SIGMACHIP USB Keyboard] on usb-ci_hdrc.1-1.3/input0
[    1.313611] input: SIGMACHIP USB Keyboard Consumer Control as /devices/platform/soc/50000000.aips/53f80200.usb/ci_hdrc.1/usb1/1-1/1-1.3/1-1.3:1.1/0003:1C4F:0026.0002/input/input1
[    1.377921] input: SIGMACHIP USB Keyboard System Control as /devices/platform/soc/50000000.aips/53f80200.usb/ci_hdrc.1/usb1/1-1/1-1.3/1-1.3:1.1/0003:1C4F:0026.0002/input/input2
[    1.378234] hid-generic 0003:1C4F:0026.0002: input,hidraw1: USB HID v1.10 Device [SIGMACHIP USB Keyboard] on usb-ci_hdrc.1-1.3/input1
[    1.477551] usb 1-1.4: new full-speed USB device number 4 using ci_hdrc
[    1.629016] usb 1-1.4: New USB device found, idVendor=0eef, idProduct=c000, bcdDevice=61.01
[    1.629024] usb 1-1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[    1.629030] usb 1-1.4: Product: eGalaxTouch EXC3000-1561-49.00.00
[    1.629035] usb 1-1.4: Manufacturer: eGalax Inc.
[    1.650181] input: eGalax Inc. eGalaxTouch EXC3000-1561-49.00.00 Touchscreen as /devices/platform/soc/50000000.aips/53f80200.usb/ci_hdrc.1/usb1/1-1/1-1.4/1-1.4:1.0/0003:0EEF:C000.0003/input/input3
[    1.650677] input: eGalax Inc. eGalaxTouch EXC3000-1561-49.00.00 as /devices/platform/soc/50000000.aips/53f80200.usb/ci_hdrc.1/usb1/1-1/1-1.4/1-1.4:1.0/0003:0EEF:C000.0003/input/input5
[    1.651291] hid-generic 0003:0EEF:C000.0003: input,hiddev0,hidraw2: USB HID v2.10 Pointer [eGalax Inc. eGalaxTouch EXC3000-1561-49.00.00] on usb-ci_hdrc.1-1.4/input0
[   10.727571] [drm:drm_atomic_helper_wait_for_flip_done] *ERROR* [CRTC:30:crtc-0] flip_done timed out
[   10.727656] Console: switching to colour frame buffer device 170x48
[   20.967565] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [CRTC:30:crtc-0] flip_done timed out
[   31.207542] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [CONNECTOR:37:HDMI-A-1] flip_done timed out
[   41.447539] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [PLANE:28:plane-0] flip_done timed out
[   51.687546] [drm:drm_atomic_helper_wait_for_flip_done] *ERROR* [CRTC:30:crtc-0] flip_done timed out
[   61.927546] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [CRTC:30:crtc-0] flip_done timed out
[   64.487686] imx-sdma 63fb0000.sdma: external firmware not found, using ROM firmware
[   72.167546] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [CONNECTOR:37:HDMI-A-1] flip_done timed out
[   82.407539] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [PLANE:28:plane-0] flip_done timed out
[   92.647535] [drm:drm_atomic_helper_wait_for_flip_done] *ERROR* [CRTC:30:crtc-0] flip_done timed out
[   92.750297] EXT4-fs (mmcblk0p1): mounted filesystem with ordered data mode. Opts: (null)
[   92.750387] VFS: Mounted root (ext4 filesystem) readonly on device 179:1.
[   92.751342] devtmpfs: mounted
[   92.754846] Freeing unused kernel memory: 1024K
[   92.755268] Run /sbin/init as init process
[   93.158043] systemd[1]: Failed to insert module 'autofs4': No such file or directory
[   93.177231] random: systemd: uninitialized urandom read (16 bytes read)
[   93.180637] random: systemd: uninitialized urandom read (16 bytes read)
[   93.194151] systemd[1]: systemd 232 running in system mode. (+PAM +AUDIT +SELINUX +IMA +APPARMOR +SMACK +SYSVINIT +UTMP +LIBCRYPTSETUP +GCRYPT +GNUTLS +ACL +XZ +LZ4 +SECCOMP +BLKID +ELFUTILS +KMOD +IDN)
[   93.194870] systemd[1]: Detected architecture arm.
[   93.197906] systemd[1]: Set hostname to <CX9020>.
[   93.393465] random: systemd-gpt-aut: uninitialized urandom read (16 bytes read)
[   93.718965] systemd[1]: Created slice System Slice.
[   93.720311] systemd[1]: Created slice system-serial\x2dgetty.slice.
[   93.720869] systemd[1]: Started Forward Password Requests to Wall Directory Watch.
[   93.721066] systemd[1]: Reached target Swap.
[   93.722449] systemd[1]: Started Dispatch Password Requests to Console Directory Watch.
[   93.727025] systemd[1]: Mounting Debug File System...
[   93.728861] systemd[1]: Created slice system-getty.slice.
[   94.015646] ccat: loading out-of-tree module taints kernel.
[   94.639759] EXT4-fs (mmcblk0p1): re-mounted. Opts: errors=remount-ro
[   94.900252] systemd-journald[106]: Received request to flush runtime journal from PID 1
[   95.898110] Generic PHY 63fec000.ethernet-1:01: attached PHY driver [Generic PHY] (mii_bus:phy_addr=63fec000.ethernet-1:01, irq=POLL)
[   95.898340] IPv6: ADDRCONF(NETDEV_UP): eth0: link is not ready
[   95.965365] EtherCAT: Master driver 1.5.2 334c34cfd2e5+
[   95.971305] EtherCAT: 1 master waiting for devices.
[   95.996381] EtherCAT: Accepting 00:01:05:6F:30:FD as main device for master 0.
[   95.996405] EtherCAT 0: Starting EtherCAT-IDLE thread.
[   96.000859] ecm0 (uninitialized): NIC Link is Up
[   96.000899] EtherCAT 0: Link state of ecm0 changed to UP.
[   96.000910] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[   96.017880] EtherCAT 0: 2 slave(s) responding on main device.
[   96.017898] EtherCAT 0: Slave states on main device: INIT.
[   96.017968] EtherCAT 0: Scanning bus.
[   96.248630] EtherCAT 0: Bus scanning completed in 230 ms.
[   96.248644] EtherCAT 0: No DC reference clock found.
[   96.327553] EtherCAT 0: Slave states on main device: PREOP.
[   98.008121] fec 63fec000.ethernet eth0: Link is Up - 100Mbps/Full - flow control off
[   98.008162] IPv6: ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready
[  115.047583] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [CRTC:30:crtc-0] flip_done timed out
[  125.287572] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [CONNECTOR:37:HDMI-A-1] flip_done timed out
[  135.527585] [drm:drm_atomic_helper_wait_for_dependencies] *ERROR* [PLANE:28:plane-0] flip_done timed out
[  145.767588] [drm:drm_atomic_helper_wait_for_flip_done] *ERROR* [CRTC:30:crtc-0] flip_done timed out
[  244.647509] random: crng init done
[  244.647526] random: 7 urandom warning(s) missed due to ratelimiting

Is this caused by a faulty CX9020? Is this a software issue? Is it something I missed to do on my side?

Ordering a CX9020 with the U900

If I order a CX9020 with the capacitive 1-second UPS (U900), how is it going to work? Will the CX9020 shutdown the OS automatically on powerfailure?

mx53cx9020_defconfig missing

Hi,

I've tried compiling u-boot but there is a file missing. Tried v2016.07 and v2015.07. No luck.

cd u-boot && make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- distclean
make[1]: Verzeichnis „/home/stefan/CX9020/u-boot“ wird betreten
make[1]: Verzeichnis „/home/stefan/CX9020/u-boot“ wird verlassen
cd u-boot && make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- mx53cx9020_defconfig
make[1]: Verzeichnis „/home/stefan/CX9020/u-boot“ wird betreten
  HOSTCC  scripts/basic/fixdep
  HOSTCC  scripts/kconfig/conf.o
  SHIPPED scripts/kconfig/zconf.tab.c
  SHIPPED scripts/kconfig/zconf.lex.c
  SHIPPED scripts/kconfig/zconf.hash.c
  HOSTCC  scripts/kconfig/zconf.tab.o
  HOSTLD  scripts/kconfig/conf
***
*** Can't find default configuration "arch/../configs/mx53cx9020_defconfig"!
***
scripts/kconfig/Makefile:114: die Regel für Ziel „mx53cx9020_defconfig“ scheiterte
make[2]: *** [mx53cx9020_defconfig] Fehler 1
Makefile:477: die Regel für Ziel „mx53cx9020_defconfig“ scheiterte
make[1]: *** [mx53cx9020_defconfig] Fehler 2
make[1]: Verzeichnis „/home/stefan/CX9020/u-boot“ wird verlassen
Makefile:15: die Regel für Ziel „uboot“ scheiterte
make: *** [uboot] Fehler 2

Accessing local I/O modules

Hi, I was wondering how one is supposed to access local I/O modules programmatically. I'm new to Beckhoff products in general...from what I gather I need EtherLab, specifically PdServ and PdCom in order to access I/O values from my userspace application, is this correct?

I'm assuming that optional interfaces, such as RS485, just show up as ordinary serial ports e.g. /dev/ttySomething

I apologize for posting a non-issue on here -- I contacted Beckhoff USA tech support first and they gave me a very firm "You cannot use our software with Linux" and "we do not support Linux".

Any help would be appreciated, thank you.

Using a different EtherCAT Master

Is the eBus interface available as a network interface? My application uses a different EtherCAT Master (Simple Open EtherCAT Master) and needs a network interface.

Setup problems

Hello everybody!

I'm trying to deploy the master on CX9020 device, following the README instructions.
I can create SD card without problems, but, when I start the init.d service, the output shows "done". But, when I check the service status, the output shows "dead".

Anybody have the same problem?

Please correct info in README.md

The documentation in README.md at https://github.com/Beckhoff/CX9020/blame/0cfe0b17183f31ba370c4bc317efe936ef388578/README.md#L58-L60 states:

#install etherlab (optional):
#=============================
./scripts/52_install_etherlab.sh /dev/sdc1

which is wrong / outdated with the current master branch version of ./scripts/52_install_etherlab.sh:

When you run scripts/52_install_etherlab.sh from the current master branch, it will tell you that you should give it a mount point as an argument, not a device file:

$ ./scripts/52_install_etherlab.sh /dev/sde1
Usage:
 ./scripts/52_install_etherlab.sh <rootfs_mount>

example:
 ./scripts/52_install_etherlab.sh /tmp/rootfs

Please correct the info the README.md.

Virtual Machine

Do you have a good setup for a virtual machine like bochs or so to test the image on?

tools/prepare_kernel.sh does not apply the patch 0004-net-phy-multiplex-switch-phy-ports.patch

Is this intentional?