Introduction

The Raspberry Pi is a Single Board Computer with an fully functional Operating System on Top. It is capable as an application controller for the iRJ45/SoM module.

Software

The uGOAL software package provides several examples for the device. The examples can be compiled either at a host system or the target. For a host based build a cross compiler toolchain is required.

For compiling some requirements are needed. These can be installed using this command:

sudo apt-get install build-essential

In addition the SPI interface needs to be enabled using raspi-config. Under “Interface options” it os possible to enable the SPI interface.

sudo raspi-config

The uGOAL software package (download) needs to be transferred to the target. This can be done using scp:

scp 2015013_ugoal_release_2.2.3.zip pi@raspberrypi:/home/pi/.

On the raspberry pi the archive needs to be extracted:

unzip 2015013_ugoal_release_2.2.3.zip

Getting Started

Using delivered build system

Within a example folder “ugoal/projects/ugoal/<example name>/gcc” of the uGOAL software package, build the firmware with following commands:

pi@raspberrypi:~/ugoal/projects/ugoal/02_profinet/gcc $
make PLATFORM=linux

The build system will then start to build the software. The resulting file is stored in the subfolder “build/raspberry_pi_raspi_shield” named goal_raspberry_pi_raspi_shield.bin.

pi@raspberrypi:~/ugoal/projects/ugoal/02_profinet/gcc $
./build/linux/02_profinet_linux.bin

[AC_I|plat_spiInit:169] spi opened successfully
[AC_I|goal_rpcSetStackMax:819] rpc transfer size set to 1024
[AC_I|goal_miMctcDmCbRead:747] peer requested Sync Init
[AC_I|goal_miMctcDmCbRead:747] peer requested Sync Init
[AC_I|goal_miMctcDmCbRead:747] peer requested Sync Init
[AC_I|goal_miMctcDmCbRead:747] peer requested Sync Init
[AC_I|goal_miMctcRpcSyncLoop:471] RPC state synchronized, running appl_setup
[AC_I|goal_miMctcRpcSyncLoop:474] configuring timeout values for peer
[AC_I|goal_pnioNewAc:341] PROFINET Application Core successfully started
[AC_I|appl_setup:245] Initializing device structure
[AC_I|goal_pnioDmDpAddAc:4132] generic data provider mapped to position 0
[AC_I|appl_setup:302] PROFINET ready
[AC_I|goal_miMctcRpcSyncLoop:506] local setup done

#/usr/bin/env bash
echo "13" > /sys/class/gpio/export || true 
sleep 1 
echo "out" > /sys/class/gpio/gpio13/direction 
sleep 1 
echo "0" > /sys/class/gpio/gpio13/value 
sleep 1
echo "1" > /sys/class/gpio/gpio13/value

This script will set the GPIO, where the reset signal of the SoM module is connected to a defined value. Beside that a reset is performed. After this, the application should start properly.

Generate Projects for an IDE

The uGOAL software package contains a project generator for IDEs like Eclipse.

From any project folder a project generator can be run to create an Eclipse project for the application. The project generator requires a python3 installation. Required dependencies are installed automatically.

If you want to create an Eclipse project, run the following command:

pi@raspberrypi:~/ugoal/projects/ugoal/02_profinet/gcc $
make PLATFORM=linux gen_project

Please select a template - OR - press <CTRL+c> and set the
GEN_PROJECT_TPL environment variable.

Choose IDE:
  [ 1] e2studio
  [ 2] eclipse
  [ 3] stmcubeide

Choice [1-3]:

For the Raspberry Pi platform the template number 1 needs to be chosen.

Selected template: [1] eclipse/port/generic

gen_project
-----------
Project: 02_profinet_linux
Templates: /home/pi/ugoal/tools/gen_project/templates/eclipse/port/generic
Generating: .cproject .project language.settings.xml
Output dir: /home/pi/ugoal/projects/ugoal/02_profinet/gcc/../ide/eclipse/port/linux/

Known Issues

Following you’ll find current limitations regarding the Raspberry Pi.

• EtherCAT Distributed Clocks is not fully supported due to missing assignment to external GPIOs at the platform driver “ugoal/plat/drv/linux/plat.c”.