SK-AM62P-LP: Ethercat build error in new kernel build

Hi Debashis,

Can you explain the how you built the Acontis EtherCAT Master? I want to see if I can follow the same steps to see if I can generate the same issue. This will help me with troubleshooting this issue.

Like you already mentioned, I think it has to do with the naming of the Kernel version (6.6.32-k3-rt vs 6.6.32-rt32-g04a9ad081f0f-dirty). The dirty keyword indicates that the Linux Git working tree has uncommitted changes. The modules are therefore installed in /lib/modules/6.6.<x>-dirty/, and the version of the running Linux kernel must match this.

Since your rebuilt Kernel has the "dirty" suffix attached to it, it indicates you have made changes in Kernel source code and built the Kernel based on those changes. You can either revert those changes or commit those changes and rebuild the Kernel and check if the Kernel version name gets rid of the "dirty" suffix. You can check if you made uncommited changes with "git status".

Although this should get rid of the "dirty" I believe the "-g04a9ad081f0f-" would still show as long as you are building the Kernel from the TI Linux SDK. Alternatively, I was wondering if you could rename the /lib/modules/6.6.32-rt32-g04a9ad081f0f-dirty/ to /lib/modules/6.6.32-k3-rt? This is probably not the proper way to handle the Kernel module versioning but I think worth a try.

-Daolin

Hi Daolin,
We are using Igh Ethercat master.
This is link you can check for installation steps https://gitlab.com/etherlab.org/ethercat/-/blob/stable-1.5/INSTALL.md?ref_type=heads

Only in this line we are doing some modification for enable or disable some functionality. 

./configure --enable-sii-assign --disable-8139too --enable-hrtimer --enable-generic --disable-eoe

Daolin Qiu said:

Although this should get rid of the "dirty" I believe the "-g04a9ad081f0f-" would still show as long as you are building the Kernel from the TI Linux SDK. Alternatively,

Yes you are correct now its showing some thing like

Linux am62pxx-evm 6.6.32-rt32-g66c58b6a4a36 #1 SMP PREEMPT_RT Fri Nov 1 10:57:25 IST 2024 aarch64 GNU/Linux

Daolin Qiu said:

I was wondering if you could rename the /lib/modules/6.6.32-rt32-g04a9ad081f0f-dirty/ to /lib/modules/6.6.32-k3-rt? This is probably not the proper way to handle the Kernel module versioning but I think worth a try.

When i rename it its showing some error to the path where we rename the modules(can't open that folder). But one thing after i rename this i have give one more addon to ethercat in ./config --with-linux-dir to /usr/src/linux-header path otherwise its showing error cannot find the linux headers.

depmod: ERROR: could not open directory /lib/modules/6.6.32-rt32-g66c58b6a4a36: No such file or directory
depmod: FATAL: could not search modules: No such file or directory

Hi Daolin,

After add on this command, I realized that  something we have to do with the linux header because i have copied the old linux headers and rename with new linux header which is might causing this error.

command
./configure ...... --with-linux-dir=/lib/modules/$(uname -r)/build --with-module-dir=/lib/modules/$(uname -r)

tree command which creates the old kernel name and installing ethercat.

root@am62pxx-evm:/home/ethercat/sncn_installer# tree /lib/modules/6.6.32-k3-rt/
/lib/modules/6.6.32-k3-rt/
-- lib
    -- modules
        -- 6.6.32-rt32-g66c58b6a4a36
            |-- devices
            |   -- ec_generic.ko
            |-- examples
            |   -- mini
            |       -- ec_mini.ko
            -- master
                -- ec_master.ko

8 directories, 3 files

Hi Daolin,

I went through the makefile of linux source code and build the linux headers.
After that, I try to build ethercat its showing error in ./configure only

root@am62pxx-evm:/home/ethercat# ./configure --enable-sii-assign --disable-8139too --enable-hrtimer --enable-generic --disable-eoe
checking for a BSD-compatible install... /usr/bin/install -c
checking whether build environment is sane... yes
checking for a race-free mkdir -p... /usr/bin/mkdir -p
checking for gawk... no
checking for mawk... mawk
checking whether make sets $(MAKE)... yes
checking whether make supports nested variables... yes
checking whether make supports nested variables... (cached) yes
checking for a sed that does not truncate output... /usr/bin/sed
checking for pkg-config... /usr/bin/pkg-config
checking pkg-config is at least version 0.9.0... yes
checking whether make supports the include directive... yes (GNU style)
checking for gcc... gcc
checking whether the C compiler works... yes
checking for C compiler default output file name... a.out
checking for suffix of executables... 
checking whether we are cross compiling... no
checking for suffix of object files... o
checking whether the compiler supports GNU C... yes
checking whether gcc accepts -g... yes
checking for gcc option to enable C11 features... none needed
checking whether gcc understands -c and -o together... yes
checking dependency style of gcc... gcc3
checking for ar... ar
checking the archiver (ar) interface... ar
checking for g++... g++
checking whether the compiler supports GNU C++... yes
checking whether g++ accepts -g... yes
checking for g++ option to enable C++11 features... none needed
checking dependency style of g++... gcc3
checking build system type... aarch64-unknown-linux-gnu
checking host system type... aarch64-unknown-linux-gnu
checking how to print strings... printf
checking for a sed that does not truncate output... (cached) /usr/bin/sed
checking for grep that handles long lines and -e... /usr/bin/grep
checking for egrep... /usr/bin/grep -E
checking for fgrep... /usr/bin/grep -F
checking for ld used by gcc... /usr/bin/ld
checking if the linker (/usr/bin/ld) is GNU ld... yes
checking for BSD- or MS-compatible name lister (nm)... /usr/bin/nm -B
checking the name lister (/usr/bin/nm -B) interface... BSD nm
checking whether ln -s works... yes
checking the maximum length of command line arguments... 1572864
checking how to convert aarch64-unknown-linux-gnu file names to aarch64-unknown-linux-gnu format... func_convert_file_noop
checking how to convert aarch64-unknown-linux-gnu file names to toolchain format... func_convert_file_noop
checking for /usr/bin/ld option to reload object files... -r
checking for file... file
checking for objdump... objdump
checking how to recognize dependent libraries... pass_all
checking for dlltool... no
checking how to associate runtime and link libraries... printf %s\n
checking for archiver @FILE support... @
checking for strip... strip
checking for ranlib... ranlib
checking command to parse /usr/bin/nm -B output from gcc object... ok
checking for sysroot... no
checking for a working dd... /usr/bin/dd
checking how to truncate binary pipes... /usr/bin/dd bs=4096 count=1
checking for mt... mt
checking if mt is a manifest tool... no
checking for stdio.h... yes
checking for stdlib.h... yes
checking for string.h... yes
checking for inttypes.h... yes
checking for stdint.h... yes
checking for strings.h... yes
checking for sys/stat.h... yes
checking for sys/types.h... yes
checking for unistd.h... yes
checking for dlfcn.h... yes
checking for objdir... .libs
checking if gcc supports -fno-rtti -fno-exceptions... no
checking for gcc option to produce PIC... -fPIC -DPIC
checking if gcc PIC flag -fPIC -DPIC works... yes
checking if gcc static flag -static works... yes
checking if gcc supports -c -o file.o... yes
checking if gcc supports -c -o file.o... (cached) yes
checking whether the gcc linker (/usr/bin/ld) supports shared libraries... yes
checking whether -lc should be explicitly linked in... no
checking dynamic linker characteristics... GNU/Linux ld.so
checking how to hardcode library paths into programs... immediate
checking whether stripping libraries is possible... yes
checking if libtool supports shared libraries... yes
checking whether to build shared libraries... yes
checking whether to build static libraries... yes
checking how to run the C++ preprocessor... g++ -E
checking for ld used by g++... /usr/bin/ld
checking if the linker (/usr/bin/ld) is GNU ld... yes
checking whether the g++ linker (/usr/bin/ld) supports shared libraries... yes
checking for g++ option to produce PIC... -fPIC -DPIC
checking if g++ PIC flag -fPIC -DPIC works... yes
checking if g++ static flag -static works... yes
checking if g++ supports -c -o file.o... yes
checking if g++ supports -c -o file.o... (cached) yes
checking whether the g++ linker (/usr/bin/ld) supports shared libraries... yes
checking dynamic linker characteristics... (cached) GNU/Linux ld.so
checking how to hardcode library paths into programs... immediate
checking whether to build kernel modules... yes
checking for Linux kernel sources... 
configure: error: Failed to extract Linux kernel version!

Regards,
Debashis

Hi Debashis,

Debashis Mahanty said:

copied the old linux header(linux-headers-6.6.32-k3-rt) to updated kernel name in /usr/src

You stated that "6.6.32-k3-rt" is the "old linux header". Where did this "6.6.32-k3-rt" originate from? Was it generated from building the Linux Kernel from the TI SDK? 

Debashis Mahanty said:

command
./configure ...... --with-linux-dir=/lib/modules/$(uname -r)/build --with-module-dir=/lib/modules/$(uname -r)

Are you running this command on a Linux host PC? Why have you chose to configure --with-linux-dir and --with-module-dir with /lib/modules/..? If this is on a host PC, the contents of /lib/modules would be different from the /lib/modules on your DUT (SK-AM62P-LP).

Instead you should point --with-linux-dir to the <TI SDK install path>/board-support/<TI Linux Kernel directory> of your installed TI SDK.

Additionally, --with-modules-dir should point to where the kernel modules that will be built should be installed. One option is to make your own directory and point to that directory so that modules will be installed there. Afterwards you just need to remember to install these modules on the SD card of your DUT if you are using an SD card.

-Daolin

Hi Daolin,
For your information let me tell you that i am building the ethercat in SK-AM62P-LP not in my host system.
I only build the kernel with some configuration flag to make docker work.

this is default kernel come with Trixi sdk "6.6.32-k3-rt"  in this kernel ethercat building as well as working perfectly.
As you said above i did a commit and again build the kernel with some updated flag(updated kernel 6.6.32-rt32-g66c58b6a4a36) and dump in sd card.


The steps I followed:

/*After the respective changes for kernel related flags*/ 

make ARCH=arm64 CROSS_COMPILE="$CROSS_COMPILE_64" defconfig ti_arm64_prune.config ti_rt.config

make ARCH=arm64 CROSS_COMPILE="$CROSS_COMPILE_64" Image

make ARCH=arm64 CROSS_COMPILE="$CROSS_COMPILE_64" modules

sudo cp arch/arm64/boot/Image /media/rootfs/boot

sudo make ARCH=arm64 INSTALL_MOD_PATH=/media/rootfs modules_install

Hi Debashis,

Debashis Mahanty said:

For your information let me tell you that i am building the ethercat in SK-AM62P-LP not in my host system.

Are you able to try building in your host system instead? I think building directly in your DUT might have caused some conflict resulting the EtherCAT build issue you are seeing. It is more standard to build Kernel modules in your host development system and then copy/install them into your SD card of your DUT. This would include building the EtherCAT modules from IgH.

Debashis Mahanty said:

this is default kernel come with Trixi sdk "6.6.32-k3-rt"  in this kernel ethercat building as well as working perfectly.

What is "Trixi sdk"? This was working perfectly on the same DUT? I don't think "6.6.32-k3-rt" is Linux Kernel version name showing up on our TI SDK 10.0 default images. As I mentioned before, our TI SDK Linux kernels will follow "6.6.32-6.6.32-rt32-g04a9ad081f0f" format on SDK 10.0.

-Daolin

Hi Daolin,

Daolin Qiu said:

What is "Trixi sdk"? This was working perfectly on the same DUT? I don't think "6.6.32-k3-rt" is Linux Kernel version name showing up on our TI SDK 10.0 default images. As I mentioned before, our TI SDK Linux kernels will follow "6.6.32-6.6.32-rt32-g04a9ad081f0f" format on SDK 10.0.

This is the default sdk given by ti: 

tisdk-debian-trixie-rt-am62pxx-evm.wic.xz   link PROCESSOR-SDK-LINUX-RT-AM62P Software development kit (SDK) | TI.com

"6.6.32-rt32-g04a9ad081f0f"  this name you can see only after building the kernel and dumping but you will not see this name with default sdk kernel.
default kernel name is "6.6.32-k3-rt" 

But i don't know how to build the ethercat in host system can you guide me how to do it. Till now we are doing that in target system only.

Or else tell me if I am missing any steps for new kernel build if its possible because in default kernel ethercat is working but docker is not working there.

And can you please tell what is DUT?


Regards,
Debashis

Hi Debashis,

Debashis Mahanty said:

But i don't know how to build the ethercat in host system can you guide me how to do it. Till now we are doing that in target system only.

Debashis Mahanty said:

This is link you can check for installation steps https://gitlab.com/etherlab.org/ethercat/-/blob/stable-1.5/INSTALL.md?ref_type=heads

I'll see if I can run through the steps you shared before on the target system tomorrow and see if after rebuilding the kernel I can see the same issue. I plan on responding with an update tomorrow.

Debashis Mahanty said:

And can you please tell what is DUT?

DUT= device under test or the target system

-Daolin