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Open Industrial Linux User Guide

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QorIQ Layerscape Processors, LS1043ARDB, LS1046ARDB, LS1021-IoT board, LS1012ARDB, LS1028ARDB, industrial IoT, Open Industry Linux
QorIQ Layerscape Processors, LS1043ARDB, LS1046ARDB, LS1021-IoT board, LS1012ARDB, LS1028ARDB, industrial IoT, Open Industry Linux..
https://www.nxp.com/docs/en/user-guide/OPEN-LINUX-IND-UM-1-5

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NXP Semiconductors

Document Number: OpenIL_UG Rev. 1.5, May 2019

Open Industrial Linux User Guide

Contents

Contents
Chapter 1 Introduction........................................................................................ 6
1.1 Acronyms and abbreviations.........................................................................................................................................6 1.2 Reference documentation.............................................................................................................................................7 1.3 About OpenIL............................................................................................................................................................... 8
1.3.1 OpenIL Organization..................................................................................................................................... 8 1.3.2 Host system requirements............................................................................................................................. 9 1.4 Feature set summary.................................................................................................................................................. 11 1.4.1 Compilation features.................................................................................................................................... 11 1.4.2 Supported industrial features.......................................................................................................................12 1.5 Supported NXP platforms...........................................................................................................................................12 1.5.1 Default compilation settings for NXP platforms............................................................................................13
Chapter 2 Getting started.................................................................................. 14
2.1 Getting OpenIL...........................................................................................................................................................14 2.2 OpenIL quick start...................................................................................................................................................... 14
2.2.1 Important notes........................................................................................................................................... 14 2.2.2 Building the final images............................................................................................................................. 14 2.3 Booting up the board..................................................................................................................................................16 2.3.1 SD card bootup........................................................................................................................................... 17 2.3.2 QSPI bootup................................................................................................................................................17 2.3.3 Starting up the board.................................................................................................................................. 17 2.4 Basic OpenIL operations............................................................................................................................................18
Chapter 3 NXP OpenIL platforms..................................................................... 20
3.1 Introduction................................................................................................................................................................ 20 3.2 LS1021A-TSN............................................................................................................................................................ 20
3.2.1 Switch settings............................................................................................................................................ 20 3.2.2 Updating target images .............................................................................................................................. 21 3.3 LS1021A-IoT.............................................................................................................................................................. 21 3.3.1 Switch settings ........................................................................................................................................... 21 3.3.2 Updating target images .............................................................................................................................. 22 3.4 LS1043ARDB and LS1046ARDB...............................................................................................................................22 3.4.1 Switch settings............................................................................................................................................ 22 3.4.2 Updating target images .............................................................................................................................. 23 3.5 LS1012ARDB............................................................................................................................................................. 23 3.5.1 Switch settings............................................................................................................................................ 24 3.5.2 Updating target images .............................................................................................................................. 24 3.6 i.MX6QSabreSD........................................................................................................................................................ 25 3.6.1 Switch settings for the i.MX6Q SabreSD.....................................................................................................25 3.6.2 Updating target images............................................................................................................................... 25 3.7 LS1028ARDB.............................................................................................................................................................26 3.7.1 Switch settings............................................................................................................................................. 26 3.7.2 Interface naming.......................................................................................................................................... 26 3.7.3 Updating target images................................................................................................................................29
Chapter 4 Industrial features............................................................................ 30
4.1 NETCONF/YANG.......................................................................................................................................................30 4.2 TSN............................................................................................................................................................................30

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4.3 Xenomai..................................................................................................................................................................... 31 4.3.1 Xenomai running mode............................................................................................................................... 31 4.3.2 RTnet ......................................................................................................................................................... 33
4.4 IEEE 1588.................................................................................................................................................................. 37 4.4.1 Introduction................................................................................................................................................. 37 4.4.2 PTP device types........................................................................................................................................ 37 4.4.3 Linux PTP stack.......................................................................................................................................... 38 4.4.4 Quick start guide for setting up IEEE standard 1588 demonstration...........................................................38 4.4.5 Known issues and limitations...................................................................................................................... 42 4.4.6 Long term test results for Linux PTP...........................................................................................................42
4.5 OP-TEE......................................................................................................................................................................43 4.5.1 Introduction................................................................................................................................................. 44 4.5.2 Deployment architecture............................................................................................................................. 44 4.5.3 DDR memory map...................................................................................................................................... 45 4.5.4 Configuring OP-TEE on LS1021A-TSN platform.........................................................................................46 4.5.5 Running OP-TEE on LS1021A-TSN platform..............................................................................................46
4.6 SELinux......................................................................................................................................................................48 4.6.1 Running SELinux demo.............................................................................................................................. 48
Chapter 5 NETCONF/YANG...............................................................................58
5.1 Overview.................................................................................................................................................................... 58 5.2 Netopeer.................................................................................................................................................................... 58
5.2.1 Overview..................................................................................................................................................... 59 5.2.2 libnetconf.....................................................................................................................................................59 5.2.3 Netopeer server.......................................................................................................................................... 59 5.2.4 Netopeer client............................................................................................................................................59 5.2.5 Workflow in application practice..................................................................................................................60 5.3 Installing Netopeer-cli on Centos/Ubuntu................................................................................................................... 60 5.4 Configuration..............................................................................................................................................................62 5.4.1 Netopeer-server.......................................................................................................................................... 62 5.4.2 Netopeer-manager...................................................................................................................................... 62 5.4.3 netopeer-cli .................................................................................................................................................63 5.4.4 Operation examples.................................................................................................................................... 67 5.5 Troubleshooting..........................................................................................................................................................71
Chapter 6 OPC UA..............................................................................................74
6.1 OPC introduction........................................................................................................................................................ 74 6.2 The node model......................................................................................................................................................... 75 6.3 Node Namespaces.....................................................................................................................................................76 6.4 Node classes..............................................................................................................................................................76 6.5 Node graph and references........................................................................................................................................76 6.6 Open62541................................................................................................................................................................ 78 6.7 Example of a server application: OPC SJA1105........................................................................................................ 78 6.8 FreeOpcUa Client GUI............................................................................................................................................... 79
Chapter 7 TSN ................................................................................................... 81
7.1 Using TSN features on LS1028ARDB........................................................................................................................ 81 7.1.1 Tsntool User Manual.................................................................................................................................... 81 7.1.2 Kernel configuration..................................................................................................................................... 90 7.1.3 Basic TSN configuration examples on ENETC............................................................................................ 92 7.1.4 Basic TSN configuration examples on the switch.........................................................................................99
7.2 Using TSN features on LS1021ATSN board............................................................................................................. 109

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7.2.1 Bill of Materials........................................................................................................................................... 110 7.2.2 Topology..................................................................................................................................................... 110 7.2.3 Running the demo with a single LS1021ATSN board................................................................................. 111 7.2.4 Host PC configuration................................................................................................................................ 112 7.2.5 Hardware Setup......................................................................................................................................... 115 7.2.6 Managing configurations with the sja1105-tool...........................................................................................116 7.2.7 Latency and bandwidth tester.................................................................................................................... 118 7.2.8 Rate limiting demo......................................................................................................................................119 7.2.9 Synchronized Qbv demo............................................................................................................................138 7.2.10 NETCONF usage.....................................................................................................................................150

Chapter 8 4G-LTE Modem .............................................................................. 154
8.1 Introduction.............................................................................................................................................................. 154 8.2 Hardware preparation...............................................................................................................................................154 8.3 Software preparation................................................................................................................................................ 154 8.4 Testing 4G USB modem link to the internet............................................................................................................. 154

Chapter 9 OTA implementation...................................................................... 156
9.1 Introduction.............................................................................................................................................................. 156 9.2 Platform support for OTA demo................................................................................................................................157 9.3 Server requirements.................................................................................................................................................157 9.4 OTA test case........................................................................................................................................................... 158

Chapter 10 EtherCAT....................................................................................... 159
10.1 Introduction.............................................................................................................................................................159 10.2 IGH EtherCAT architecture..................................................................................................................................... 159 10.3 EtherCAT protocol.................................................................................................................................................. 160 10.4 EtherCAT system integration and example ............................................................................................................161
10.4.1 Building kernel images for EtherCAT.......................................................................................................161 10.4.2 Command-line tool.................................................................................................................................. 162 10.4.3 System integration................................................................................................................................... 164 10.4.4 Running a sample application................................................................................................................. 166

Chapter 11 FlexCAN......................................................................................... 171
11.1 Introduction............................................................................................................................................................. 171 11.1.1 CAN bus................................................................................................................................................... 171 11.1.2 CANopen.................................................................................................................................................. 172
11.2 FlexCAN integration in OpenIL................................................................................................................................ 174 11.2.1 LS1021AIOT CAN resource allocation......................................................................................................174 11.2.2 Introducing the function of CAN example code........................................................................................ 176
11.3 Running a CAN application..................................................................................................................................... 177 11.3.1 Hardware preparation for LS1021-IoT...................................................................................................... 177 11.3.2 Hardware preparation for LS1028ARDB.................................................................................................. 178 11.3.3 Compiling the CANopen-app binary for the master node.........................................................................179 11.3.4 Running the CANopen application........................................................................................................... 180 11.3.5 Running the Socketcan commands......................................................................................................... 183 11.3.6 Testing CAN bus.......................................................................................................................................183

Chapter 12 NFC click board............................................................................ 185
12.1 Introduction.............................................................................................................................................................185

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12.2 PN7120 features.....................................................................................................................................................185 12.3 Hardware preparation.............................................................................................................................................185 12.4 Software preparation.............................................................................................................................................. 185 12.5 Testing the NFC click board................................................................................................................................... 186
Chapter 13 BLE click board............................................................................ 188
13.1 Features................................................................................................................................................................. 188 13.2 Hardware preparation.............................................................................................................................................188 13.3 Software preparation.............................................................................................................................................. 188 13.4 Testing the BLE P click board.................................................................................................................................189
Chapter 14 QT...................................................................................................192
14.1 Introduction.............................................................................................................................................................192 14.2 Software settings and configuration....................................................................................................................... 192 14.3 Hardware setup...................................................................................................................................................... 193 14.4 Running the QT5 demo.......................................................................................................................................... 193
14.4.1 Environment setting.................................................................................................................................193 14.4.2 Running the demos................................................................................................................................. 194
Chapter 15 EdgeScale client........................................................................... 197
15.1 What is EdgeScale................................................................................................................................................. 197 15.2 Edgescale features.................................................................................................................................................197 15.3 Building EdgeScale client.......................................................................................................................................197 15.4 Procedure to start EdgeScale.................................................................................................................................197
Chapter 16 Known issues............................................................................... 199
Chapter 17 Revision history........................................................................... 200

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Introduction
Chapter 1 Introduction

This document provides a complete description of Open Industrial Linux (OpenIL) features, getting started on OpenIL using NXP OpenIL platforms, and the various software settings involved. It describes in detail the industrial features, which include NETCONF/YANG, TSN, Xenomai, IEEE 1588, OP-TEE, and SELinux. It also includes detailed steps for running the demos such as Selinux demo, 1-board TSN Demo, 3-board TSN demo, 4G-LTE demo, and OTA implementation. It also provides a complete description of the OpenIL compilation steps.

1.1 Acronyms and abbreviations

The following table lists the acronyms used in this document.

Table 1. Acronyms and abbreviations

Term

Description

BC

Boundary clock

BMC

Best master clock

CA

Client application

CAN

Controller Area Network

DEI

Drop eligibility indication

EtherCAT

Ethernet for Control Automation Technology

FMan

Frame manager

ICMP

Internet control message protocol

IETF

Internet engineering task force

IPC

Inter process communication

KM

Key management

LBT

Latency and bandwidth tester

MAC

Medium access control

NMT

Network management

OC

Ordinary clock

OpenIL

Open industry Linux

OP-TEE

Open portable trusted execution environment

OS

Operating system

OTA

Over-the air

OTPMK

One-time programmable master key

PCP

Priority code point

PDO

Process data object

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Term PHC PIT PTP QSPI RCW REE RPC RTT SABRE SDO SRK TA TAS TCP TEE TFTP TSN TZASC UDP VLAN

Table 1. Acronyms and abbreviations (continued) Description PTP hardware clock Packet inter-arrival times Precision time protocol Queued serial peripheral interface Reset configuration word Rich execution environment Remote procedure call Round-trip times Smart Application Blueprint for Rapid Engineering Service data object Single root key Trusted application Time-aware scheduler Transmission control protocol Trusted execution environment Trivial file transfer protocol Time sensitive networking Trust zone address space controller User datagram protocol Virtual local area network

Reference documentation

1.2 Reference documentation
1. Refer to the following documents for detailed instructions on booting up the NXP hardware boards supported by Open IL: � LS1012ARDB Getting Started Guide. � LS1021-IoT Getting Started Guide. � LS1043ARDB Getting Started Guide. � LS1046ARDB Getting Started Guide. � i.MX6 SabreSD Board Quick Start Guide
2. For booting up LS1021A-TSN board, refer to the Section Booting up the board on page 16 of this document. 3. For the complete description of the industrial IoT baremetal framework, refer to the latest available version of Industrial IoT
Baremetal Framework Developer Guide.

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Introduction
1.3 About OpenIL
The OpenIL project ("Open Industry Linux") is designed for embedded industrial usage. It is an integrated Linux distribution for industry. OpenIL is built on buildroot project and provides packages for the industrial market.
� Focus on industry: OpenIL provides key components for industry usage, for example, Time sensitive network (TSN), Netconf, IEEE 1588, and Xenomai.
� Ease of use: OpenIL is a tool that simplifies and automates the process of building a complete Linux system for an embedded system, using cross-compilation. It follows the buildroot project rules. For more buildroot information, refer to the page: https:// buildroot.org/
� Extensibility: OpenIL provides capabilities of industry usage and standardized Linux system packages. And user can also easily replicate the same setup on customized packages and devices.
� Lightweight: OpenIL only includes necessary Linux packages and industry packages in order to make the system more lightweight to adapt to industry usage. Users can customize the package via a configuration file.
� Open Source: OpenIL is an open project. Anyone can participate in the OpenIL development through the Open Source community.
1.3.1 OpenIL Organization
OpenIL follows the Buildroot directory structure depicted in the following figure. The second and third levels of the directory are generated during compilation.

Directory name arch toolchain system
8

Figure 1. OpenIL structure
Table 2. Source directories Description Files defining the architecture variants (processor type, ABI, floating point, etc.) Packages for generating or using tool-chains Contains the rootfs skeleton and options for system-wide features
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Directory name linux package fs boot configs board support docs

About OpenIL
Table 2. Source directories (continued) Description The linux kernel package. All the user space packages (1800+) Logic to generate file system images in various formats Boot-loader packages Default configuration files for various platforms Board-specific files (kernel configurations, patches, image flashing scripts, etc.) Miscellaneous utilities (kconfig code, libtool patches, download helpers, and more) Documentation

Directory name dl output output/build output/host output/staging output/target output/images

Table 3. Build directories Description Path where all the source tarballs are downloaded Global output directory Path where all source tarballs are extracted and the build of each package takes place. Contains both the tools built for the host and the sysroot of the toolchain A symbolic link to the sysroot, that is, to host/<tuple>/sysroot/ for convenience The target Linux root filesystem, used to generate the final root filesystem images Contains all the final images: kernel, bootloader, root file system, and so on

1.3.2 Host system requirements
OpenIL is designed to build in Linux systems. The following host environments have been verified to build the OpenIL. � CentOS Linux 7 (Core) � CentOS release 6.7 (Final) � Ubuntu 16.10 � Ubuntu 16.04 � Ubuntu 14.04
While OpenIL itself builds most host packages it needs for the compilation, certain standard Linux utilities are expected to be already installed on the host system. The following tables provide an overview of the mandatory and optional packages.
NOTE Package names listed in the following tables might vary between distributions.

Mandatory packages which

Table 4. Host system mandatory packages Note
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Introduction

Mandatory packages sed make binutils build-essential gcc g++ bash patch gzip bzip2 perl tar cpio python unzip rsync file bc wget autoconf, dh-autoreconf openssl, libssl-dev

Table 4. Host system mandatory packages (continued) Note Version 3.81 or later Only for Debian based systems Version 2.95 or later Version 2.95 or later
Version 5.8.7 or later
Version 2.6 or later
Must be in /usr/bin/file

libmagickwand-dev (Debian, Ubuntu)
imageMagick-devel (CentOS)

Optional packages ncurses5 qt4 glib2, gtk2 and glade2 bazaar cvs git

Note

Table 5. Host system optional packages

To use the menuconfig interface To use the xconfig interface To use the gconfig interface

Source fetching tools.
If you enable packages using any of these methods, you need to install the corresponding tool on the host system

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Optional packages mercurial scp javac compiler jar tool asciidoc w3m python with the argparse module dblatex graphviz python-matplotlib

Table 5. Host system optional packages (continued) Note

Feature set summary

Java-related packages, if the Java Classpath needs to be built for the target system Documentation generation tools

To use graph-depends and <pkg>-graph-depends To use graph-build

1.4 Feature set summary
This section provides a summary of OpenIL's compilation and industrial features.
1.4.1 Compilation features
The following are the compilation features: � Specify partition size of the storage for the filesystem by using the make menuconfig command.
System configuration ---> (300M) Partition size of the storage for the rootfs
This configuration specifies the size of the storage device partition for the building rootfs and currently used by NXP platforms and SD card device. To set the size of the partition with 300M, 2G or other values, the target system can get the specific size of partition space for the using filesystem.
� Support custom filesystem (that is, Ubuntu) Users can download OpenIL and build the target system with an Ubuntu filesystem. The specific filesystem can be set conveniently by using the make menuconfig command.
System configuration ---> Root FS skeleton (custom target skeleton) ---> Custom skeleton via network --->
Currently, there are five NXP platforms that can support Ubuntu filesystem: -- configs/nxp_ls1043ardb-64b_ubuntu_defconfig -- configs/nxp_ls1046ardb-64b_ubuntu_defconfig -- configs/nxp_ls1028ardb-64b_ubuntu_defconfig -- configs/nxp_ls1021aiot_ubuntu_defconfig -- configs/imx6q-sabresd_ubuntu_defconfig

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1.4.2 Supported industrial features
The following are the industrial features supported by OpenIL: � Netconf/Yang � Netopeer � TSN � IEEE 1588 � IEEE 1588 2-step E2E transparent clock support � Xenomai Cobalt mode � SELinux (Ubuntu) � OP-TEE � DM-Crypt � Baremetal � FlexCan � EtherCAT � NFC-Clickboard
These are explained in detail in Industrial features on page 30.
NOTE For the complete description of the Industrial IoT baremetal framework, refer to the document, Industrial_IoT_Baremetal_Framework_Developer_Guide.

1.5 Supported NXP platforms

The following table lists the NXP platforms supported by OpenIL.

Table 6. Supported NXP platforms

Platform

Architecture

Configuration file in OpenIL

ls1021atsn

ARM v7

configs/nxp_ls1021atsn_defconfig

ls1021atsn (OP-TEE)

ARM v7

configs/nxp_ls1021atsn_optee-sb_defconfig

ls1021aiot

ARM v7

configs/nxp_ls1021aiot_defconfig

ls1021aiot (OP-TEE)

ARM v7

configs/nxp_ls1021aiot_optee_defconfig

ls1043ardb (32-bit)

ARM v8

configs/nxp_ls1043ardb-32b_defconfig

ls1043ardb (64-bit)

ARM v8

configs/nxp_ls1043ardb-64b_defconfig

ls1043ardb (Ubuntu)

ARM v8

configs/nxp_ls1043ardb-64b_ubuntu_defconfig

ls1046ardb (32-bit)

ARM v8

configs/nxp_ls1046ardb-32b_defconfig

ls1046ardb (64-bit)

ARM v8

configs/nxp_ls1046ardb-64b_defconfig

ls1046ardb (Ubuntu)

ARM v8

configs/nxp_ls1046ardb-64b_ubuntu_defconfig

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Boot SD SD SD SD SD SD SD SD SD SD
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Supported NXP platforms

Platform ls1012ardb (32-bit) ls1012ardb (64-bit) i.MX6Q SabreSD i.MX6Q SabreSD ls1028ardb (64-bit) ls1028ardb (Ubuntu)

Table 6. Supported NXP platforms (continued)

Architecture

Configuration file in OpenIL

ARM v8

configs/nxp_ls1012ardb-32b_defconfig

ARM v8

configs/nxp_ls1012ardb-64b_defconfig

ARM v7

configs/imx6q-sabresd_defconfig

ARM v7

configs/imx6q-sabresd_ubuntu_defconfig

ARM v8

configs/nxp_ls1028ardb-64b_defconfig

ARM v8

configs/nxp_ls1028ardb-64b_ubuntu_defconfig

Boot QSPI QSPI SD SD SD SD

1.5.1 Default compilation settings for NXP platforms

The following table provides the default compilation settings for each OpenIL NXP platform.

Table 7. Default compilation settings

Platform

Toolchain

libc

Init system

Filesystem

ls1021atsn

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1021atsn (OP-TEE)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1021aiot

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1021aiot (OP-TEE)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1043ardb (32-bit)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1043ardb (64-bit)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1043ardb (Ubuntu)

gcc 5.x

glibc 2.23

Systemd

ubuntu-base-16.04.3-arm64

ls1046ardb (32-bit)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1046ardb (64-bit)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1046ardb (Ubuntu)

gcc 5.x

glibc 2.23

Systemd

ubuntu-base-16.04.3-arm64

ls1012ardb (32-bit)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

ls1012ardb (64-bit)

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

i.MX6Q SabreSD

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

i.MX6Q SabreSD

gcc 5.x

glibc 2.23

Systemd

ubuntu-base-16.04.5-arm

ls1028ardb

gcc 5.x

glibc 2.23

BusyBox

OpenIL default

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Getting started
Chapter 2 Getting started
After reading this section, you should be able to get the OpenIL source code, build and program the NXP platform images, and run the OpenIL system on the supported NXP platforms.
2.1 Getting OpenIL
OpenIL releases are available every few months. The Release Number follows the format 'YYYYMM', for example, 201708. Release tarballs are available at: https://github.com/openil/openil. To follow development, make a clone of the Git repository. Use the below command:
$ git clone https://github.com/openil/openil.git $ cd openil # checkout to the 201904 v1.5 release $ git checkout OpenIL-201904 -b OpenIL-201904
2.2 OpenIL quick start
The steps below help the user to build the NXP platform images with OpenIL quickly. Ensure to follow the important notes provided in the following section.
2.2.1 Important notes
� Build everything as a normal user. There is no need to be a root user to configure and use OpenIL. By running all commands as a regular user, you protect your system against packages behaving badly during compilation and installation.
� Do not use make -jN command to build OpenIL as the top-level parallel make is currently not supported. � The PERL_MM_OPT issue: You might encounter an error message for the PERL_MM_OPT parameter when using the make
command in some host Linux environment as shown below:
You have PERL_MM_OPT defined because Perl local::lib is installed on your system. Please unset this variable before starting Buildroot, otherwise the compilation of Perl related packages will fail.
make[1]: *** [core-dependencies] Error 1 make: *** [_all] Error 2
To resolve this issue, just unset the PERL_MM_OPT parameter.
$ unset PERL_MM_OPT
2.2.2 Building the final images
For the NXP platforms supported by OpenIL, the default configuration files can be found in the configs directory. The following table describes the default configuation files for the NXP-supported OpenIL platforms.

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OpenIL quick start

Platform ls1021atsn ls1021atsn (OP-TEE) ls1021aiot ls1021aiot (OP-TEE) ls1028ardb (64-bit) ls1028ardb (Ubuntu) ls1043ardb (32-bit) ls1043ardb (64-bit) ls1043ardb (Ubuntu) ls1046ardb (32-bit) ls1046ardb (64-bit) ls1046ardb (Ubuntu) ls1012ardb (32-bit) ls1012ardb (64-bit) i.MX6Q SabreSD i.MX6Q SabreSD (Ubuntu)

Table 8. Default configuration Configuration file in OpenIL configs/nxp_ls1021atsn_defconfig configs/nxp_ls1021atsn_optee-sb_defconfig configs/nxp_ls1021aiot_defconfig configs/nxp_ls1021aiot_optee_defconfig configs/nxp_ls1028ardb-64b_defconfig configs/nxp_ls1028ardb-64b_ubuntu_defconfig configs/nxp_ls1043ardb-32b_defconfig configs/nxp_ls1043ardb-64b_defconfig configs/nxp_ls1043ardb-64b_ubuntu_defconfig configs/nxp_ls1046ardb-32b_defconfig configs/nxp_ls1046ardb-64b_defconfig configs/nxp_ls1046ardb-64b_ubuntu_defconfig configs/nxp_ls1012ardb-32b_defconfig configs/nxp_ls1012ardb-64b_defconfig configs/imx6q-sabresd_defconfig configs/imx6q-sabresd_ubuntu_defconfig

The "configs/nxp_xxxx_defconfig" files listed in the preceding table include all the necessary U-Boot, kernel configurations, and application packages for the filesystem. Based on the files without any changes, you can build a complete Linux environment for the target platforms.
To build the final images for an NXP platform (for example, LS1021ATSN), run the following commands:
$ cd openil $ make nxp_ls1021atsn_defconfig $ make # or make with a log $ make 2>&1 | tee build.log

NOTE The make clean command should be implemented before any other new compilation.
The make command generally performs the following steps: � Downloads source files (as required and at the first instance); � Configures, builds, and installs the cross-compilation toolchain; � Configures, builds, and installs selected target packages; � Builds a kernel image, if selected; � Builds a bootloader image, if selected; � Creates a root filesystem in selected formats.

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Getting started

After the correct compilation, you can find all the images for the platform at output/images.

images/

 boot.vfat

 ls1021a-tsn.dtb

--- dtb file for ls1021atsn

 rootfs.ext2

 rootfs.ext2.gz

 rootfs.ext2.gz.uboot

--- ramdisk can be used for debug

 rootfs.ext4.gz -> rootfs.ext2.gz

 rootfs.tar

 sdcard.img

--- entire image can be programmed into the SD

 uboot-env.bin

 u-boot-with-spl-pbl.bin

--- uboot image for ls1021atsn

 uImage

--- kernel image for ls1021atsn

2.3 Booting up the board
Before proceeding further with the instructions in this section, refer to the Getting Started Guide of the respective board for detailed instructions regarding board boot-up. See Reference documentation on page 7.

NOTE � Before booting up the board, you need to install mbed Windows serial port driver in order to obtain the board
console. This is a one time activity. Please ignore this step if you have already installed the mbed driver on your system (PC or laptop). You can download the mbed Windows serial port driver from the link below: https:// developer.mbed.org/handbook/Windows-serial-configuration.
� Download and install Tera Term on the host computer from the Internet. After installation, a shortcut to the tool is created on the desktop of the host computer.
� If you are using a Windows 10 machine as a host computer and encountering a serial port unstable issue, then, disable the Volume Storage service of the Windows machine.

All the NXP platforms can be booted up from the SD card or QSPI flash. After the compilation for one platform, the image files (sdcard.img or qspi.img) are generated in the folder output/images. The following table describes the software settings to be used while booting up the NXP platforms with the images built from OpenIL.

Table 9. Switch settings for the NXP boards

Platform LS1021A-TSN

Boot SD card

Final image sdcard.img

Board software setting (ON = 1) SW2 = 0b'111111

LS1021A-IOT LS1043ARDB LS1046ARDB LS1012ARDB

SD card SD card SD card QSPI

sdcard.img sdcard.img sdcard.img qspi.img

SW2[1] = 0b'0 SW4[1-8] +SW5[1] = 0b'00100000_0 SW5[1-8] +SW4[1] = 0b'00100000_0 SW1 = 0b'10100110 SW2 = 0b'00000000

LS1028ARDB i.MX6Q SabreSD

SD card SD card

sdcard.img sdcard.img

SW2[1-8] = 0b'10001000 SW6 = 0b'01000010

The flash image (sdcard.img or qspi.img) includes all the information: RCW, DTB, U-Boot, kernel, rootfs, and necessary applications.

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Booting up the board
NOTE Make sure the board is set to boot up from SD card or QSPI using software configuration. Refer to the preceding table for the switch settings for the respective platform.
.
2.3.1 SD card bootup
For platforms that can be booted up from an SD card, following are the steps to program the sdcard.img.into an SD card: 1. Insert one SD card (at least 2G size) into any Linux host machine. 2. Run the below commands:
$ sudo dd if=./sdcard.img of=/dev/sdx # or in some other host machine: $ sudo dd if=./sdcard.img of=/dev/mmcblkx
# find the right SD Card device name in your host machine and replace the "sdx" or "mmcblkx".
3. Now, insert the SD card into the target board (switch the board boot from SD card first) and power on.
2.3.2 QSPI bootup
For platforms that can be booted up from QSPI (for example, LS1012ARDB), following are the steps to program the qspi.img into QSPI flash. Set the board boot from QSPI, then power on, and enter the U-Boot command environment.
=>i2c mw 0x24 0x7 0xfc; i2c mw 0x24 0x3 0xf5 =>tftp 0x80000000 qspi.img =>sf probe 0:0 =>sf erase 0x0 +$filesize =>sf write 0x80000000 0x0 $filesize =>reset
2.3.3 Starting up the board
After the sdcard.img/qspi.img programming, startup the board. You should see the following information.

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Getting started

Figure 2. OpenIL system startup The system will be logged in automatically.
2.4 Basic OpenIL operations
This section describes the commands that can be used for performing basic OpenIL operations. In OpenIL, all packages used are in directory "./package/", and the package name is the sub-directory name. Linux kernel and uboot are also packages, the package name for Linux kernel is linux, and package name for u-boot is uboot. Sample usages of the `make' command:
� Displays all commands executed by using the make command: $ make V=1 <target>
� Displays the list of boards with a defconfig: $ make list-defconfigs
� Displays all available targets: $ make help
� Sets Linux configurations: $ make linux-menuconfig
� Deletes all build products (including build directories, host, staging and target trees, images, and the toolchain): $ make clean

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� Resets OpenIL for a new target.

Basic OpenIL operations

� Deletes all build products as well as the configuration (including dl directory): $ make distclean

NOTE Explicit cleaning is required when any of the architecture or toolchain configuration options are changed.

� Downloading, building, modifying, and rebuilding a package Run the below command to build and install a particular package and its dependencies:

$ make <pkg>
For packages relying on the OpenIL infrastructure, there are numerous special make targets that can be called independently such as the below command:

$ make <pkg>-<target>

The package build targets are listed in the following table.

Table 10. Package build targets

Package Target <pkg> <pkg>-source

Description Builds and installs a package and all its dependencies Downloads only the source files for the package

<pkg>-extract <pkg>-patch <pkg>-depends <pkg>-configure <pkg>-build <pkg>-show-depends <pkg>-show-rdepends <pkg>-graph-depends <pkg>-graph-rdepends

Extracts package sources Applies patches to the package Builds package dependencies Builds a package up to the configure step Builds a package up to the build step Lists packages on which the package depends Lists packages which have the package as a dependency Generates a graph of the package dependencies Generates a graph of the package's reverse dependencies

<pkg>-dirclean <pkg>-reconfigure <pkg>-rebuild

Removes the package's build directory Restarts the build from the configure step Restarts the build from the build step

Thus, a package can be downloaded in the directory dl/, extracted to the directory output/build/<pkg>, and then built in the directory output/build/<pkg>. You need to modify the code in the output/build/<pkg>, and then run the command, $make <pkg>-rebuild to rebuild the package.
For more details about OpenIL operations, refer to the Buildroot document available at the URL: https://buildroot.org/downloads/ manual/manual.html#getting-buildroot.

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Chapter 3 NXP OpenIL platforms
OpenIL supports the following NXP Layerscape ARM� platforms: LS1012ARDB, LS1021A-TSN, LS1021-IoT, LS1043ARDB, LS1046ARDB, and i.MX6QSabreSD. For more information about those platforms, refer to the following URLs:
� http://www.nxp.com/products/microcontrollers-and-processors/arm-processors/qoriq-layerscape-arm-processors:QORIQARM.
� https://www.nxp.com/products/processors-and-microcontrollers/arm-based-processors-and-mcus/i.mx-applicationsprocessors:IMX_HOME
3.1 Introduction
This chapter provides instructions on booting up the boards with a complete SD card or QSPI image. It also describes the process for deploying the U-Boot, Linux kernel, and root file system on the board. The instructions start with generic host and target board pre-requisites. These are followed by the board-specifc configurations listed below:
� Switch settings � U-Boot environment variables � Device microcodes � Reset configuration word (RCW) � Flash bank usage
NOTE This chapter is meant for those who want to perform more sub-system debugs, such as U-Boot, kernel, and so on. At the beginning, the board should be booted up and run in U-Boot command environment.

3.2 LS1021A-TSN
The LS1021A Time-Sensitive Networking (TSN) reference design is a platform that allows developers to design solutions with the new IEEE Time-Sensitive Networking (TSN) standard. The board includes the QorIQ Layerscape LS1021A industrial applications processor and the SJA1105T TSN switch. The LS1021A-TSN is supported by an industrial Linux SDK with Xenomai real time Linux, which also provides utilities for configuring TSN on the SJA1105T switch.
With virtualization support, trust architecture, secure platform, Gigabit Ethernet, SATA interface, and an Arduino Shield connector for multiple wireless modules, the LS1021A-TSN platform readily supports industrial IoT requirements.
3.2.1 Switch settings
The following table lists and describes the switch configuration for LS1021ATSN board.
NOTE OpenIL supports only the SD card boot for LS1021ATSN platform.

Platform LS1021ATSN

Table 11. LS1021ATSN SD boot software setting

Boot source

Software setting

SD card

SW2 = 0b'111111

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LS1021A-IoT
3.2.2 Updating target images
Use the following commands to build the images for LS1021A-TSN platform: � Building images
$ cd openil $ make nxp_ls1021atsn_defconfig $ make # or make with a log $ make 2>&1 | tee build.log
� Programming U-Boot with RCW in SD card
Power on the LS1021A-TSN board to the U-Boot command environment, then use the following commands:
=>tftp 81000000 u-boot-with-spl-pbl.bin =>mmc erase 8 0x500 =>mmc write 0x81000000 8 0x500 #then reset the board
� Deploying kernel and Ramdisk from TFTP 1. Set the U-Boot environment.
=>setenv bootargs `root=/dev/ram0 rw ramdisk_size=50000000 console=ttyS0,115200' =>saveenv
2. Boot up the system.
=>tftp 83000000 uImage =>tftp 88000000 rootfs.ext2.gz.uboot =>tftp 8f000000 ls1021a-tsn.dtb =>bootm 83000000 88000000 8f000000

3.3 LS1021A-IoT
The LS1021A-IoT gateway reference design is a purpose-built, small footprint hardware platform equipped with a wide array of both high-speed connectivity and low speed serial interfaces. It is engineered to support the secure delivery of IoT services to end-users at their home, business, or other commercial locations. The LS1021A-IoT gateway reference design offers an affordable, ready-made platform for rapidly deploying a secure, standardized, and open infrastructure gateway platform for deployment of IoT services.
3.3.1 Switch settings
The following table lists and describes the switch configuration for LS1021A-IoT board.
NOTE OpenIL supports only the SD card boot for the LS1021A-IoT platform.

Platform LS1021A-IoT

Table 12. LS1021A-IoT SD boot software setting

Boot source

software setting

SD card

SW2[1] = 0b'0

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3.3.2 Updating target images
Use the following commands to build the images for LS1021A-IoT platform: � Building images
$ cd openil $ make nxp_ls1021aiot_defconfig $ make # or make with a log $ make 2>&1 | tee build.log
� Programming U-Boot with RCW on the SD card
Power on the LS1021A-IoT board to U-Boot command environment. Then, use the commands below:
=>tftp 81000000 u-boot-with-spl-pbl.bin =>mmc erase 8 0x500 =>mmc write 0x81000000 8 0x500 #then reset the board
� Deploying kernel and Ramdisk from TFTP 1. Set the U-Boot environment.
=>setenv bootargs `root=/dev/ram0 rw ramdisk_size=50000000 console=ttyS0,115200' =>saveenv
2. Boot up the system.
=>tftp 83000000 uImage =>tftp 88000000 rootfs.ext2.gz.uboot =>tftp 8f000000 ls1021a-iot.dtb =>bootm 83000000 88000000 8f000000

3.4 LS1043ARDB and LS1046ARDB

The QorIQ LS1043A and LS1046A reference design boards are designed to exercise most capabilities of the LS1043A and LS1046A devices. These are NXP's first quad-core, 64-bit ARM�-based processors for embedded networking and industrial
infrastructure.

3.4.1 Switch settings

OpenIL supports only the SD card boot mode for LS1043ARDB and the LS1046ARDB platforms.

Table 13. LS1043ARDB/LS1046ARDB SD boot software settings

Platform LS1043ARDB

Boot source SD card

Software setting SW4[1-8] +SW5[1] = 0b'00100000_0

LS1046ARDB

SD card

SW5[1-8] +SW4[1] = 0b'00100000_0

NOTE In order to identify the LS1043A silicon correctly, users should ensure that the SW5[7-8] is = 0b'11.

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LS1012ARDB
3.4.2 Updating target images
For LS1043ARDB and LS1046ARDB platforms, the OpenIL can support 32-bit and 64-bit systems. Use the following commands to build the images for the LS1043ARDB or LS1046ARDB platforms:
� Building images
$ cd openil $ make nxp_ls1043ardb-32b_defconfig # or $ make nxp_ls1046ardb-32b_defconfig $ make # or make with a log $ make 2>&1 | tee build.log
� Programming U-Boot with RCW, FMan ucode, and PPA in SD card
Power on the LS1043ARDB / LS1046ARDB board to U-Boot command environment, then use the following commands:
# programming U-Boot with RCW => tftpboot 82000000 u-boot-with-spl-pbl.bin => mmc write 82000000 8 800 # programming the FMan ucode => tftpboot 82000000 fsl_fman_ucode_ls1043_r1.0_108_4_5.bin => mmc write 82000000 820 50 # programming the PPA firmware => tftpboot 82000000 ppa.itb => mmc write 82000000 2800 36
#then reset the board
� Deploying kernel and Ramdisk from TFTP 1. Set the U-Boot environment.
=>setenv bootargs "root=/dev/ram0 earlycon=uart8250,mmio,0x21c0500 console=ttyS0,115200" =>saveenv
2. Boot up the system.
# for ls1043ardb =>tftp a0000000 kernel-ls1043a-rdb-aarch32.itb # for ls1046ardb =>tftp a0000000 kernel-ls1046a-rdb-aarch32.itb
=>bootm a0000000

3.5 LS1012ARDB
The QorIQ LS1012A processor delivers enterprise-class performance and security capabilities to consumer and networking applications in a package size normally associated with microcontrollers. Combining a 64-bit ARM�v8-based processor with network packet acceleration and QorIQ trust architecture security capabilities, the LS1012A features line-rate networking performance at 1 W typical power in a 9.6 mm x 9.6 mm package.
The QorIQ LS1012A reference design board (LS1012A-RDB) is a compact form-factor tool for evaluating LS1012A application solutions. The LS1012A-RDB provides an Arduino shield expansion connector for easy prototyping of additional components such as an NXP NFC Reader module.

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3.5.1 Switch settings

The LS1012ARDB platform can be booted up only using the QSPI Flash. The table below lists the default switch settings and the description of these settings.

Table 14. LS1012ARDB QSPI boot software settings

Platform

Boot source

SW setting

LS1012ARDB

QSPI Flash 1

SW1 = 0b'10100110 SW2 = 0b'00000000

QSPI Flash 2

SW1 = 0b'10100110 SW2 = 0b'00000010

3.5.2 Updating target images
For LS1012ARDB platform, the OpenIL supports 32-bit and 64-bit systems. Use the following commands to build the images for the LS1012ARDB platform:
� Building images
$ cd openil $ make nxp_ls1012ardb-32b_defconfig $ make # or make with a log $ make 2>&1 | tee build.log
� Programming U-Boot, RCW, and PPA in QSPI
Power on the LS1012ARDB board to U-Boot command environment. Then, use the commands below:
# programming U-Boot =>i2c mw 0x24 0x7 0xfc; i2c mw 0x24 0x3 0xf5 =>tftp 0x80000000 <u-boot_file_name>.bin =>sf probe 0:0 =>sf erase 0x100000 +$filesize =>sf write 0x80000000 0x100000 $filesize
# programming RCW =>i2c mw 0x24 0x7 0xfc; i2c mw 0x24 0x3 0xf5 =>tftp 0x80000000 <rcw_file_name>.bin =>sf probe 0:0 =>sf erase 0x0 +$filesize =>sf write 0x80000000 0x0 $filesize
# programming PPA => tftp 0x80000000 ppa.itb => sf probe 0:0 => sf erase 0x500000 +$filesize => sf write 0x80000000 0x500000 $filesize
# then reset the board
� Deploying kernel and RAMdisk from TFTP
1. Set the U-Boot environment.
=>setenv bootargs `ttyS0,115200 root=/dev/ram0 earlycon=uart8250,mmio,0x21c0500' =>saveenv

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2. Boot up the system.
=>tftp a0000000 kernel-ls1012a-rdb-aarch32.itb =>bootm a0000000

i.MX6QSabreSD

3.6 i.MX6QSabreSD
The i.MX 6Dual/6Quad processors feature NXP's advanced implementation of the quad ARM� Cortex�-A9 core, which operates at speeds up to 1 GHz. These processors include 2D and 3D graphics processors, 3D 1080p video processing, and integrated power management. Each processor provides a 64-bit DDR3/LVDDR3/LPDDR2-1066 memory interface and a number of other interfaces for connecting peripherals, such as WLAN, Bluetooth�, GPS, hard drive, displays, and camera sensors.
The Smart Application Blueprint for Rapid Engineering (SABRE) board for smart devices introduces developers to the i.MX 6 series of applications processors. Designed for ultimate scalability, this entry level development system ships with the i.MX 6Quad applications processor but is schematically compatible with i.MX6 Dual, i.MX6 DualLite, and i.MX6 Solo application processors. This helps to reduce time to market by providing a foundational product design and serves as a launching point for more complex designs.
3.6.1 Switch settings for the i.MX6Q SabreSD
The following table lists and describes the switch configuration for i.MX6Q SabreSD board:
NOTE OpenIL supports only the SD card boot for the i.MX6Q SabreSD platform.

Platform i.MX6Q SabreSD

Table 15. Switch configuration for the i.MX6Q SabreSD board

Boot source

Software setting

SD card on slot 3

SW2[1] = 0b'01000010

3.6.2 Updating target images
Use the following commands to build the images for i.MX6Q SabreSD platform: Building images
$ cd openil $ make imx6q-sabresd_defconfig $ make # or make with a log $ make 2>&1 | tee build.log
# See built images as follows: $ ls output/images/ boot.vfat imx6q-sabresd.dtb rootfs.ext2 rootfs.ext2.gz rootfs.ext4.gz rootfs.tar sdcard.img SPL u-boot.bin u-boot.img zImage
Programming U-Boot on the SD card Power on the board to U-Boot command environment. Then, use the commands below:
$ dd if=SPL of=/dev/sdX bs=1K seek=1 $ dd if=u-boot.imx of=/dev/sdX bs=1K seek=69; sync

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NOTE Replace sdX with your own SD card 'node name' detected by the system.
Deploying kernel and device tree image Kernel and device tree image are stored in the first partition (vfat) of SD card.
$ cp -avf imx6q-sabresd.dtb /mnt $ cp -avf zImage /mnt $ umount /mnt
NOTE /mnt is the mount point of the vfat partition.

3.7 LS1028ARDB
The QorIQ� LS1028A reference design board (LS1028ARDB) is a computing, evaluation, development, and test platform supporting the QorIQ LS1028A processor, which is a dual-core Arm� Cortex�-v8 A72 processor with frequency up to 1.3 GHz. The LS1028ARDB is optimized to support SGMII (1 Gbit/s), QSGMII (5 Gbit/s), PCIe x1 (8 Gbit/s), and SATA (6 Gbit/s) over highspeed SerDes ports, USB 3.0, DisplayPort, and also a high-bandwidth DDR4 memory. The LS1028ARDB can be used to develop and demonstrate human machine interface systems, industrial control systems such as robotics controllers and motion controllers, and PLCs. The reference design also provides the functionality needed for Industrial IoT gateways, edge computing, industrial PCs, and wireless or wired networking gateways.
3.7.1 Switch settings
The following table lists and describes the switch configuration for LS1028ARDB board.

Platform LS1028ARDB

Boot source SD

SW setting sw2: 0b'10001000

3.7.2 Interface naming
The following section ddescribes the association between physical interfaces and networking interfaces as presented by the software.
3.7.2.1 Interface naming in U-Boot
The following figure shows the Ethernet ports as presented in U-Boot: Note: In U-Boot running on RDB, only enetc#0 is functional.

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LS1028ARDB

RDB port 1G MAC1 N/A Internal

U-Boot interface enetc#0 enetc#1
enetc#2

Internal

enetc#3

1G SWP0 to

N/A

1G SWP3

Figure 3. Ethernet ports in U-Boot

Table 16. Interface naming in U-Boot

PCI function

Comments

0000:00:00.0 0000:00:00.1 0000:00:00.2
0000:00:00.6
0000:00:00.5

enetc#0 is 1G SGMII port of ENETC.
enetc#1 is presented in U-Boot on all boards. This interface is not functional on RDB.
Connected internally (MAC to MAC) to the Ethernet switch. Note that the switch is not initialized in U-Boot; therefore, this interface is not functional.
Connected internally (MAC to MAC) to the Ethernet switch. This interface is presented if bit 851 is set in RCW. Note that the switch is not initialized in u-boot; therefore, this interface is not functional.
The switch is currently not initialized by U-Boot; therefore, these interfaces are not functional.

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3.7.2.2 Interface naming in Linux
The following figure shows how Ethernet ports are presented in Linux.

RDB port 1G MAC1 N/A
Internal

Figure 4. Ethernet ports in Linux

Table 17. Interface naming in Linux

Linux netdev PCI function

Comments

eno0

0000:00:00.0

eno1

0000:00:00.1

RGMII interface is not present on RDB board and the associated ENETC interface is disabled in device tree:

&enetc_port1 { status = "disabled"; }

eno2

0000:00:00.2

Connected internally (MAC to MAC) to swp4. This is used to carry traffic between the switch and software running on ARM cores.

Table continues on the next page...

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LS1028ARDB

Internal
1G SWP0 to 1G SWP3 Internal Internal

eno3

Table 17. Interface naming in Linux (continued)

0000:00:00.6

Connected internally (MAC to MAC) to swp5. This is intended to be used by user- space data-path applications and is disabled by default. It can be enabled by setting bit 851 in RCW.

swp0 to swp3 0000:00:00.5

By default, switching is not enabled on these ports. For detail on how to enable switching across these ports, see Felix Ethernet switch on page 78.

swp4

Connected internally (MAC to MAC) to eno2.

swp5

Last switch port (connected to eno3) is currently not presented in Linux.

3.7.3 Updating target images
This section describes how to update the target images for NXP's LS1028ARDB platforms. For this platform, OpenIL can support 64-bit systems. Use the following commands to build the images for the LS1028ARDB platforms:
1. Building images
$ cd openil $ make nxp_ls1028ardb-64b_defconfig $ make # or make with a log $ make 2>&1 | tee build.log
2. Programming U-Boot, Kernel images, RCW, DP firmware and PPA in SD card:
Power on the LS1028ARDB board to U-Boot command environment, then use the following commands:
# programming the RCW binary => tftpboot 82000000 cw_1300_sd.bin => mmc write 82000000 8 $filesize
# programming U-Boot => tftpboot 82000000 u-boot-with-spl.bin => mmc write 82000000 800 $filesize
# programming the u-boot environment => tftpboot 82000000 uboot-env.bin => mmc write 82000000 1800 $filesize
# programming the PPA firmware => tftpboot 82000000 ppa.itb => mmc write 82000000 2000 $filesize
#then reset the board
3. Deploying kernel and Ramdisk from TFTP
� Set the U-Boot environment using the commands below:
=> setenv bootargs "root=/dev/ram0 earlycon=uart8250,mmio,0x21c0500 console=ttyS0,115200"
=> saveenv
� Boot up the system
=> tftp a0000000 kernel-ls1028a-rdb.itb => bootm a0000000

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Industrial features
Chapter 4 Industrial features
This section provides a description of the following industrial features: NETCONF/YANG, TSN, Xenomai, IEEE 1588, OP-TEE, and SELinux.
NOTE For the Industrial IoT baremetal framework, refer to the document, Industrial_IoT_Baremetal_Framework_Developer_Guide available at https://www.nxp.com/support/developerresources/nxp-designs/time-sensitive-networking-solution-for-industrial-iot:LS1021A-TSN-RD? tab=Documentation_Tab.
4.1 NETCONF/YANG
� NETCONF v1.0 and v1.1 compliant (RFC 6241) � NETCONF over SSH (RFC 6242) including Chunked Framing Mechanism � DNSSEC SSH Key Fingerprints (RFC 4255) � NETCONF over TLS (RFC 5539bis) � NETCONF Writable-running capability (RFC 6241) � NETCONF Candidate configuration capability (RFC 6241) � NETCONF Validate capability ( RFC 6241) � NETCONF Distinct startup capability ( RFC 6241) � NETCONF URL capability (RFC 6241) � NETCONF Event Notifications (RFC 5277 and RFC 6470) � NETCONF With-defaults capability (RFC 6243) � NETCONF Access Control (RFC 6536) � NETCONF Call Home (Reverse SSH draft, RFC 5539bis) � NETCONF Server Configuration (IETF Draft)

4.2 TSN
On the LS1021A-TSN platform, TSN features are implemented as part of the SJA1105TEL Automotive Ethernet L2 switch. These are:
� MII, RMII, RGMII, 10/100/1000 Mbps � IEEE 802.1Q: VLAN frames and L2 QoS � IEEE 1588v2: Hardware forwarding for one-step sync messages � IEEE 802.1Qci: Ingress rate limiting (per-stream policing) � IEEE 802.1Qbv: Time-aware traffic shaping � Statistics for transmitted, received, dropped frames, buffer load � TTEthernet (SAE AS6802)

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Xenomai
4.3 Xenomai
Xenomai is a free software framework adding real-time capabilities to the mainline Linux kernel. Xenomai also provides emulators of traditional RTOS APIs, such as VxWorks� and pSOS�. Xenomai has a strong focus on embedded systems, although it runs over mainline desktop and server architectures as well. Xenomai 3 is the new architecture of the Xenomai real-time framework, which can run seamlessly side-by-side Linux as a cokernel system, or natively over mainline Linux kernels. In the latter case, the mainline kernel can be supplemented by the PREEMPT-RT patch to meet stricter response time requirements than standard kernel preemption would bring. One of the two available real-time cores is selected at build time. Xenomai can help you in:
� Designing, developing, and running a real-time application on Linux. � Migrating an application from a proprietary RTOS to Linux. � Optimally running real-time applications alongside regular Linux applications. Xenomai features are supported for LS1021A-TSN, LS1043ARDB, LS1046ARDB, LS1028ARDB, and i.MX6Q SabreSD. More information can be found at the Xenomai official website: http://xenomai.org/.
4.3.1 Xenomai running mode
The dual kernel core is codenamed Cobalt, whereas the native Linux implementation is called Mercury. Both Mercury and Cobalt are supported.
4.3.1.1 Running Xenomai Mercury
Xenomai Mercury provides the following API references: 1. Test programs:
� latency: The user manual for Xenomai timer latency benchmark can be found at:
http://www.xenomai.org/documentation/xenomai-3/html/man1/latency/index.html.
� cyclictest: The user manual for Xenomai high resolution timer test can be found at:
http://www.xenomai.org/documentation/xenomai-2.6/html/cyclictest/index.html. 2. Utilities:
� xeno: The user manual for Wrapper for Xenomai executables can be found at:
http://www.xenomai.org/documentation/xenomai-2.6/html/xeno/index.html.
� xeno-config: The user manual for displaying Xenomai libraries configuration can be found at:
http://www.xenomai.org/documentation/xenomai-2.6/html/xeno-config/index.html.
4.3.1.2 Running Cobalt mode
Xenomai Cobalt provides many APIs to perform testing. 1. Clocktest : The test program clocktest provided by Xenomai can be used to test timer APIs. There are three kinds of timer sources: CLOCK_REALTIME, CLOCK_MONOTONIC, and CLOCK_HOST_REALTIME.

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� Use the below command to check a timer with clock name CLOCK_REALTIME:
$ clocktest �C 0
� Use the below command to check a timer with clock name CLOCK_MONOTONIC:
$ clocktest �C 1
� Use the below command to check a timer with clock name CLOCK_HOST_REALTIME:
$ clocktest �C 32
2. The interrupts handled by Cobalt : IFC and e1000e interrupts are handled by the Cobalt kernel.
$ cat /proc/xenomai/irq
NOTE For e1000e test case, the Linux kernel standard network stack is used instead of rtnet stack.
3. Cobalt IPIPE tracer: The following options are available while configuring the kernel settings:
a. CONFIG_IPIPE_TRACE_ENABLE (Enable tracing on boot): Defines if the tracer is active by default when booting the system or shall be later enabled via /proc/ipipe/trace/enable. Specifically if function tracing is enabled, deferring to switch on the tracer reduces the boot time on low-end systems.
b. CONFIG_IPIPE_TRACE_MCOUNT (Instrument function entries): Traces each entry of a kernel function. Note that this instrumentation, though it is the most valuable one, has a significant performance impact on low-end systems (~50% larger worst-case latencies on a Pentium-I 133 MHz).
c. CONFIG_IPIPE_TRACE_IRQSOFF (Trace IRQs-off times): Instruments each disable and re-enable of hardware IRQs. This allows to identify the longest path in a system with IRQs disabled.
d. CONFIG_IPIPE_TRACE_SHIFT (Depth of trace log): Controls the number of trace points. The I-pipe tracer maintains four ring buffers per CPU of the given capacity in order to switch traces in a lock-less fashion with respect to potentially pending output requests on those buffers. If you run short on memory, try reducing the trace log depth which is set to 16000 trace points by default.
e. CONFIG_IPIPE_TRACE_VMALLOC (Use vmalloc'ed trace buffer): Instead of reserving static kernel data, the required buffer is allocated via vmalloc during boot-up when this option is enabled. This can help to start systems that are low on memory, but it slightly degrades overall performance. Try this option when a traced kernel hangs unexpectedly at boot time.
4. Latency of timer IRQ
$ latency -t 2 -T 60
NOTE The location of 'latency' might differ from version to version. Currently it is located in /usr/bin.
5. Latency of task in Linux kernel
$ latency -t 1 -T 60
6. Latency of task in user space
$ latency -t 0 -T 60

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7. Smokey to check feature enabled
$ smokey --run
8. Thread context switch
$ switchtest -T 30
9. xeno-test: By default, the load command is dohell 900, which generates load during 15 minutes.
Step #1: Prepare one storage disk and ethernet port connected server, for example: $ fdisk /dev/sda $ mkfs.ext2 /dev/sda1 $ mount /dev/sda1 /mnt $ ifconfig <nw port> <ip addr>
Step #2: $ cd /usr/xenomai/bin
Step #3: $ sudo ./xeno-test -l "dohell -s <server ip> -m /mnt"

Xenomai

4.3.2 RTnet
RTnet is a protocol stack that runs between the Ethernet layer and the application layer (or IP layer). It aims to provide deterministic communication, by disabling the collision detection CSMA/CD, and preventing buffering packets in the network, through the use of time intervals (time-slots).
RTnet is a software developed to run on Linux kernel with RTAI or Xenomai real-time extension. It exploits the real time kernel extension to ensure the determinism on the communication stack. To accomplish this goal, all the instructions related to this protocol make use of real time kernel functions rather than those of Linux. This binds the latencies to the execution times and latencies of interruptions, which provides deterministic communication.
The following sections describe how to enable the RTnet feature in Xenomai and enable data path acceleration architecture (DPAA) for Xenomai RTnet.
4.3.2.1 Hardware requirements
Following are the hardware requirements for implementing the RTnet protocol in your design:
� For LS1043A, two LS1043ARDB boards (one used as a master and one as a slave board).
� For LS1046A, two LS1046ARDB boards (one used as a master and one as a slave board).
� For LS1028A, two LS1028ARDB boards (one used as a master and one as a slave board).
� In case three or more boards are used, a switch is required for connecting all boards into a subnet.
� If you use an e1000e NIC, insert the e1000e NIC into the P4 slot of the LS1043ARDB or LS1046ARDB board.

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Figure 5. Hardware setup for RTnet (LS1043A as an example)
4.3.2.2 Software requirements
Use the following steps for enabling the RTnet functionality on a Xenomai supported network. 1. Run the command below to configure LS1043ARDB in the openil directory:
make nxp_ls1043ardb-64b_defconfig
2. Alternatively, for configuring LS1046ARDB in the openil directory, use the command below:
make nxp_ls1046ardb-64b_defconfig
3. Or, for configuring LS1028ARDB in the openil directory, use the command below:
make nxp_ls1028ardb-64b_defconfig
4. Then, configure the Linux kernel according to the steps listed below. For DPAA devices: � Disable the Linux DPAA driver using the settings below:
$make linux-menuconfig Device Drivers ---> [*] Staging drivers ---> [ ] Freescale Datapath Queue and Buffer management
� Add the Xenomai RTnet driver and protocol stack using the commands below:
$make linux-menuconfig [*] Xenomai/cobalt ---> Drivers ---> RTnet ---> <M> RTnet, TCP/IP socket interface Protocol Stack ---> <M> RTmac Layer ---> < > TDMA discipline for RTmac < M > NoMAC discipline for RTmac Drivers ---> <M> FMAN independent mode
For e1000e devices:
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� Disable the Linux e1000e driver using the settings below:

$make linux-menuconfig Drivers ---> [*] Network device support ---> [*] Ethernet driver support ---> < > Intel(R) PRO/1000 PCI-Express Gigabit Ethernet support

� Add the Xenomai RTnet driver and protocol stack using the commands below:

$make linux-menuconfig [*] Xenomai/cobalt ---> Drivers ---> RTnet ---> <M> RTnet, TCP/IP socket interface Protocol Stack ---> <M> RTmac Layer ---> < > TDMA discipline for RTmac <M> NoMAC discipline for RTmac Drivers ---> <M> New Intel(R) PRO/1000 PCIe (Gigabit)

For ENETC devices � Disable the Linux ENETC driver using the settings below:

$make linux-menuconfig

Device Drivers --->

Network device support --->

Ethernet driver support --->

< >

ENETC PF driver

< >

FELIX switch driver

Add the Xenomai RTnet driver and protocol stack using the commands below:

$make linux-menuconfig

[*] Xenomai/cobalt --->

Drivers --->

RTnet --->

<M> RTnet, TCP/IP socket interface Protocol Stack --->

<M> RTmac Layer --->

< > TDMA discipline for RTmac

< M > NoMAC discipline for RTmac

Drivers --->

<M> ENETC

5. Now, run the make command to build all images. 6. After flashing images to the SD card, boot LS1043ARDB or LS1046ARDB from the SD card and enter the Linux prompt. 7. Edit the configuration file, located by default, in the /etc/rtnet.conf directory using the settings below:
a. DPAA devices � Master board -- RT_DRIVER= "rt_fman_im" - The driver used (currently, it is 'rt_fman_im'). -- IPADDR="192.168.100.101" - IP address of the master board. -- NETMASK="255.255.255.0" - The other slave board will have the IP 192.168.100.XXX. -- TDMA_MODE="master" -- TDMA_SLAVES="192.168.100.102" � If there are two slave boards, this will be "192.168.100.102 192.168.100.103".

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� Slave board -- RT_DRIVER= "rt_fman_im" - The driver used (currently, it is 'rt_fman_im'). -- IPADDR="192.168.100.102" - IP address of the slave board. -- NETMASK="255.255.255.0" - net mask -- TDMA_MODE="slave" -- TDMA_SLAVES="192.168.100.102" � If there are two slave boards, this will be "192.168.100.102 192.168.100.103".
b. e1000e devices: � Master board -- RT_DRIVER= "rt_e1000e" - The driver used (currently, it is 'rt_e1000e'). -- IPADDR="192.168.100.101" - IP address of the master board. -- NETMASK="255.255.255.0" - The other slave board will have the IP 192.168.100.XXX. -- TDMA_MODE="master" -- TDMA_SLAVES="192.168.100.102" � If there are two slave boards, this will be "192.168.100.102 192.168.100.103". � Slave board -- RT_DRIVER= "rt_e1000e" - The driver used (currently, it is 'rt_e1000e'). -- IPADDR="192.168.100.102" - IP address of the slave board. -- NETMASK="255.255.255.0" - net mask -- TDMA_MODE="slave" -- TDMA_SLAVES="192.168.100.102" � If there are two slave boards, this will be "192.168.100.102 192.168.100.103".
c. ENETC devices � Master board -- RT_DRIVER= "rt_enetc" - The driver used (currently, it is 'rt_enetc'). -- IPADDR="192.168.100.101" - IP address of the master board. -- NETMASK="255.255.255.0" - The other slave board will have the IP 192.168.100.XXX. -- TDMA_MODE="master" -- TDMA_SLAVES="192.168.100.102" � If there are two slave boards, this will be "192.168.100.102 192.168.100.103". � Slave board -- RT_DRIVER= "rt_enetc" - The driver used (currently, it is 'rt_enetc'). -- IPADDR="192.168.100.102" - IP address of the slave board. -- NETMASK="255.255.255.0" - net mask -- TDMA_MODE="slave" -- TDMA_SLAVES="192.168.100.102" � If there are two slave boards, this will be "192.168.100.102 192.168.100.103".
4.3.2.3 Verifying RTnet
Use the following steps to verify your RTnet connection:

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� Step1: Load all modules related with Xenomai RTnet and analyze the configuration file both on master and slave sides. $ rtnet start
� Use CTRL+ Ckey combination to exit after using the preceding command, if it does not exit on its own. � Use the below command to display all ethernet ports. Currently, it should display four Ethernet ports (QSGMII Port 0 to Port
3) on master and slave: $ rtifconfig -a
� Configure the network on the master side using the commands below: $ rtifconfig rteth0 up 192.208.100.101 $ rtroute solicit 192.208.100.102 dev rteth0
� Configure the network on the slave side using the command below: $ rtifconfig rteth0 up 192.208.100.102
NOTE If there are more than one slave boards, you should redo this step using the IP address of the used boards. � Verify the network connection using the command below: $ rtping 192.208.100.102

4.4 IEEE 1588
This section provides an introduction to the IEEE 1588 features of Open IL. It includes a description of the Precision Time Protocol (PTP) device types, Linux PTP stack, quick start guide for implementing PTP based on the IEEE standard 1588 for Linux, known issues and limitations, and long term test results.
4.4.1 Introduction
IEEE Std 1588-2008 (IEEE Standard for a Precision Clock Synchronization Protocol for Networked Measurement and Control Systems) defines a protocol enabling precise synchronization of clocks in measurement and control systems implemented with technologies such as network communication, local computing, and distributed objects.
The 1588 timer module on NXP QorIQ platform provides hardware assist for 1588 compliant time stamping. Together with a software PTP (Precision Time Protocol) stack, it implements precision clock synchronization defined by this standard. Many open source PTP stacks are available with a little transplant effort, such as linuxptp, which are used for this release demo.
4.4.2 PTP device types
There are five basic types of PTP devices, as follows:
� Ordinary clock: A clock that has a single Precision Time Protocol (PTP) port in a domain and maintains the timescale used in the domain. It may serve as a source of time (be a master clock) or may synchronize to another clock (be a slave clock).
� Boundary clock: A clock that has multiple Precision Time Protocol (PTP) ports in a domain and maintains the timescale used in the domain. It may serve as a source of time (be a master clock) or may synchronize to another clock (be a slave clock).
� End-to-end transparent clock: A transparent clock that supports the use of the end-to-end delay measurement mechanism between slave clocks and the master clock.

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� Peer-to-peer transparent clock: A transparent clock that, in addition to providing Precision Time Protocol (PTP) event transit time information, also provides corrections for the propagation delay of the link connected to the port receiving the PTP event message. In the presence of peer-to-peer transparent clocks, delay measurements between slave clocks and the master clock are performed using the peer-to-peer delay measurement mechanism.
� Management node: A device that configures and monitors clocks.
NOTE Transparent clock, is a device that measures the time taken for a Precision Time Protocol (PTP) event message to transit the device and provides this information to clocks receiving this PTP event message.
4.4.3 Linux PTP stack
The Linux PTP stack software is an implementation of the Precision Time Protocol (PTP) based on the IEEE standard 1588 for Linux. Its dual design goals are:
� To provide a robust implementation of the standard. � To use the most relevant and modern Application Programming Interfaces (API) offered by the Linux kernel. Supporting legacy APIs and other platforms is not an objective of this software. Following are the main features of the Linux PTP stack: � Supports hardware and software time stamping via the Linux SO_TIMESTAMPING socket option. � Supports the Linux PTP Hardware Clock (PHC) subsystem by using the clock_gettime family of calls, including the new
clock_adjtimex system call. � Implements Boundary Clock (BC) and Ordinary Clock (OC). � Transport over UDP/IPv4, UDP/IPv6, and raw Ethernet (Layer 2). � Supports IEEE 802.1AS-2011 in the role of end station. � Modular design allows painless addition of new transports and clock servo algorithms.
4.4.4 Quick start guide for setting up IEEE standard 1588 demonstration
This quick start guide explains the procedure to set up demos of IEEE 1588, including master-slave synchronization, boundary clock synchronization, and transparent clock synchronization.
1. Hardware requirement � Two boards for basic master-slave synchronization � Three or more boards for BC synchronization � Three or more boards for TC synchronization (One must be LS1021ATSN board)
2. Software requirement � Linux BSP of industry solution release � PTP software stack
3. Ethernet interfaces connection for master-slave synchronization Connect two Ethernet interfaces between two boards in a back-to-back manner. Then, one board works as master and the other works as a slave when they synchronize. Both the master and the slave work as Ordinary Clocks (OCs).
4. Ethernet interfaces connection for BC synchronization At least three boards are required for BC synchronization. When three boards are used for BC synchronization, assuming board A works as boundary clock (BC) with two PTP ports, board B and board C work as OCs.

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Board A B C

Table 18. Connecting Ethernet interfaces for boundary clocks (BC) synchronization

Clock type

Interfaces used

BC

Interface 1, Interface 2.

OC

Interface 1

OC

Interface 1

5. Connect board A interface 1 to board B interface 1 in back-to-back manner.
6. Connect board A interface 2 to board C interface 1 in back-to-back manner. For example, LS1021ATSN BC synchronization connection is shown in the following figure.

Boundary Clock

(LS1021ATSN)

SGMII

SGMII

SGMII

SGMII

Ordinary Clock (LS1021ATSN)

SGMII

SGMII

Ordinary Clock (LS1021ATSN)

Figure 6. LS1021ATSN BC synchronization
7. Ethernet interfaces connection for transparent clock (TC) synchronization
At least three boards are required for TC synchronization. One must be LS1021ATSN board, which is needed as a transparent clock since there is a SJA1105 switch on it. When three boards are used for TC synchronization, assuming board A (LS1021ATSN) works as TC with two PTP ports, board B and board C work as OCs.
NOTE i.MX6Q SabreSD supports only the master-slave mode.

Board A (LS1021ATSN)
B C

Table 19. Connecting Ethernet interfaces for TC (transparent clock)

Clock Type

Interfaces used

TC

Interface 1, Interface 2. (These are two ports of SJA1105

switch.)

OC

Interface 1

OC

Interface 1

� Connect board A interface 1 to board B interface 1 in a back-to-back manner.
� Connect board A interface 2 to board C interface 1 in a back-to-back manner. For example, LS1021ATSN TC synchronization connection is shown in the following figure.

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Transparent Clock

(LS1021ATSN SJA1105)

Port

Port

SGMII

SGMII

Ordinary Clock (LS1021ATSN)

SGMII

SGMII

Ordinary Clock (LS1021ATSN)

Figure 7. LS1021ATSN TC synchronization 8. PTP stack startup
Before starting up the kernel to run PTP stack, make sure there is no MAC address conflict in the network. Different MAC addresses should be set for each MAC on each board in U-Boot. For example, Board A:
=> setenv ethaddr 00:04:9f:ef:00:00 => setenv eth1addr 00:04:9f:ef:01:01 => setenv eth2addr 00:04:9f:ef:02:02
Board B:
=> setenv ethaddr 00:04:9f:ef:03:03 => setenv eth1addr 00:04:9f:ef:04:04 => setenv eth2addr 00:04:9f:ef:05:05
Board C:
=> setenv ethaddr 00:04:9f:ef:06:06 => setenv eth1addr 00:04:9f:ef:07:07 => setenv eth2addr 00:04:9f:ef:08:08
Linux PTP stack supports both OC and BC. It is included in the SD card images of LS1021ATSN, LS1043ARDB, LS1046ARDB, and i.MX6Q SabreSD, built using buildroot. 9. Basic master-slave synchronization For basic master-slave synchronization, use the below command. It can be observed that the slave synchronizes with the master with time.
� For LS platforms:
$ ptp4l -i eth0 -p /dev/ptp0 -f /etc/ptp4l_default.cfg �m
� For i.MX platforms:

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First create ptp config file as follow for both board A and B:
cat ptp.cfg [global] # # Run time options # logAnnounceInterval -4 logSyncInterval -4 logMinDelayReqInterval -4 logMinPdelayReqInterval -4 tx_timestamp_timeout 10
-- Board A

IEEE 1588

sysctl -w net.ipv4.igmp_max_memberships=20 ifconfig eth0 up 192.168.0.100 ptp4l -f ./ptp.cfg -A -4 -H -m -i eth0
-- Board B
sysctl -w net.ipv4.igmp_max_memberships=20 ifconfig eth0 up 192.168.0.101 ptp4l -f ./ptp.cfg -A -4 -H -m -i eth0
10. BC synchronization For BC synchronization, run OC using the below command. It can be observed that the slave synchronizes with the master with time.
$ ptp4l -i eth0 -p /dev/ptp0 -f /etc/ptp4l_default.cfg -m
If the board is used as BC with several PTP ports, the `-i ' argument could point more interfaces. For running BC with more than one interfaces, use the below command:
$ ptp4l -i eth0 -i eth1 -p /dev/ptp0 -f /etc/ptp4l_default.cfg �m
11. TC synchronization For TC synchronization, set the two-step end-to end transparent clock configuration for SJA1105 on TC (LS1021ATSN). Free running PTP clock is used for TC because the residence time is very short (about 2 ~ 3 s as per test results). Even if synchronization is implemented for TC, the improvement for residence time accuracy is still very small and can be ignored.
$ sja1105-ptp-free-tc.sh
Run OC using the below command:
$ ptp4l -i eth0 -p /dev/ptp0 -2 -m
It can be observed that slave synchronizes its time with the master clock. If you use the '-l 7' argument to enable debug message for slave, the correction field value of Sync and Delay_resp messages are displayed, which are the residence time of Sync and Delay_req messages.

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NOTE � For all the three cases mentioned above, the master clock could be selected by using the software BMC (Best
Master Clock) algorithm. � The interface name and PTP device name in commands should be changed accordingly.
4.4.5 Known issues and limitations
1. For LS1021ATSN, the Linux PTP stack only supports LS1021A Ethernet interfaces. It cannot be used for SJA1105 switch Ethernet interfaces.
2. Packet loss issue could be observed on LS1021ATSN SGMII interfaces connected in back-to-back manner. The root cause is that the PHY supports IEEE 802.11az EEE mode, by default. The low speed traffic makes it switch to low power mode, which affects 1588 synchronization performance greatly. Use the below workaround to disable this feature.
$ ifconfig eth0 up $ ethtool --set-eee eth0 advertise 0 $ ifconfig eth0 down $ ifconfig eth0 up
3. The ptp4l stack may report a timeout for getting the tx timestamp, but this rarely appears. This is not a bug. The stack tries to get the tx timestamp after sending a message, but cannot get it if the driver has not completed tx timestamp processing, in time. Just increasing the tx_timestamp_timeout parameter and re-running the stack will resolve this problem.
ptp4l[574.149]: timed out while polling for tx timestamp ptp4l[574.152]: increasing tx_timestamp_timeout may correct this issue, but it is likely caused by a driver bug
4.4.6 Long term test results for Linux PTP
This section describes the long term test results for Linux PTP stack implementation. Linux PTP Connection: back-to-back master to slave Configuration: Sync internal is -3 Test boards: two LS1021ATSN boards, one as master and another one as slave

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Figure 8. Offset from master in start up state

Figure 9. Offset from master in stable state

4.5 OP-TEE
This section explains how to run Open Portable Trusted Execution Environment (OP-TEE) on ARM� based NXP platforms, such as LS1021A-TSN and LS1021A-IoT platforms. OP-TEE started as collaboration between ST Microelectronics and Linaro. Later, it was made available to the open source community. It contains the complete stack from normal world client APIs (optee_client), the Linux kernel TEE driver (optee_linuxdriver), and the Trusted OS and the secure monitor (optee_os).

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4.5.1 Introduction
This section describes the operating environment, tools and, dependencies necessary for deploying OP-TEE. It describes the installation based on the design and setup of one specific environment. Thereafter, users need to adapt the setup and deployment for their specific environment and requirements. It includes the following:
� Getting OP-TEE and relevant test program � Compiling the image � Prerequisites of integrating TEE binary image into the final images. � Installation and usage steps for the TEE application and output obtained on the LS1021A platform. The TEE used for this demo is Open Portable Trusted Execution Environment (OP-TEE). This release supports the following features: � Supports the LS1021A-TSN and LS1021A-IOT platforms � Secure boot by SD boot � TrustZone Controller enabled � U-boot: v2016.09. � Linux Kernel v4.1 with OP-TEE drivers backported from mainline kernel v4.11 � OP-TEE OS: v2.4.0 � OP-TEE Client: v2.4.0 � OP-TEE Test: v2.4.0.
NOTE For LS1021AIOT, the nxp_ls1021aiot_optee_defconfig configuration file does not support secure boot, it just includes OP-TEE.
4.5.2 Deployment architecture
The following figure shows the deployment architecture of OP-TEE on ARM TrustZone enabled SoCs.

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Figure 10. Architecture of OP-TEE on an ARM TrustZone enabled SoC
4.5.3 DDR memory map
The following figure shows the DDR memory map for LS1021A-TSN platform with OP-TEE implementation.

Figure 11. DDR memory map

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4.5.4 Configuring OP-TEE on LS1021A-TSN platform
Use the following commands to build the images with the OP-TEE feature on the LS1021A-TSN platform.
$ cd openil $ make clean $ make nxp_ls1021atsn_optee-sb_defconfig $ make #or make with a log $ make 2>&1 | tee build.log
NOTE The host Linux machine must have the following libraries:
� libmagickwand-dev for APT on Debian/Ubuntu.
� ImageMagick-devel for Yum on CentOS.
The nxp_ls1021atsn_optee-sb_defconfig configuration file includes some default configurations for secure boot and OPTEE. These are listed below:
1. ls1021atsn_sdcard_SECURE_BOOT_TEE U-Boot configuration. 2. kernel CONFIG_OPTEE configuration. 3. OP-TEE OS, client, and test applications. 4. CST tool to create secure boot keys and headers. The CST tool can support two special functions, which are: 1. Using custom srk.pri and srk.pub files to maintain the consistent keys. For this feature, move the custom srk.pri and
srk.pub files into the directory named board/nxp/ls1021atsn/. Then, the CST tool creates all the keys and header files for secure boot based on the two files, each time. In addition, after running gen_keys 1024 to get the srk.pri and srk.pub files at the first instance, if there are no custom files in board/nxp/ls1021atsn/, the CST tool always uses the existing srk.pri and srk.pub, until the two files are deleted.
2. Enabling/disabling the core hold-off switch for the secure boot, by using the make menuconfig command. This can be done by using the following command:
Host utilities ---> [*]host cst tool *** core hold-off ***
[*] secure boot core hold-off
After the correct building, the final SD card image named sdcard.img can be located at output/images. The keys for secure boot that should be programmed into the silicon can be located in the file output/images/srk.txt.
4.5.5 Running OP-TEE on LS1021A-TSN platform
This section provides the commands for running OP-TEE on the LS1021A-TSN platform. It includes commands for secure boot, executing OP-TEE daemon, and executing OP-TEE test cases.
4.5.5.1 Running secure boot
OP-TEE must run together with secure boot in order to protect all images to avoid being attacked. For details about secure boot, refer to the section, Secure Boot in the Chapter, Boot Loaders in the online LSDK document: https:// freescalereach01.sdlproducts.com/LiveContent/web/pub.xql?c=t&action=home&pub=QorIQ_SDK&lang=en-US

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Refer to the following useful CCS commands for secure boot:
#Connect to CCS and configure Config Chain delete all config cc cwtap:<ip address of cwtap> show cc ccs::config_server 0 10000 ccs::config_chain {ls1020a dap sap2} display ccs::get_config_chain
#Check Initial SNVS State and Value in SCRATCH Registers ccs::display_mem <dap chain pos> 0x1e90014 4 0 4 ccs::display_mem <dap chain pos> 0x1ee0200 4 0 4
#Write the SRK Hash Value in Mirror Registers ccs::write_mem <dap chain pos> 0x1e80254 4 0 <SRKH1> ccs::write_mem <dap chain pos> 0x1e80258 4 0 <SRKH2> ccs::write_mem <dap chain pos> 0x1e8025c 4 0 <SRKH3> ccs::write_mem <dap chain pos> 0x1e80260 4 0 <SRKH4> ccs::write_mem <dap chain pos> 0x1e80264 4 0 <SRKH5> ccs::write_mem <dap chain pos> 0x1e80268 4 0 <SRKH6> ccs::write_mem <dap chain pos> 0x1e8026c 4 0 <SRKH7> ccs::write_mem vdap chain pos> 0x1e80270 4 0 <SRKH8>
#Get the Core Out of Boot Hold-Off ccs::write_mem <dap chain pos> 0x1ee00e4 4 0 0x00000001
If the image verification passes, the board boot up starts in the secure mode.
4.5.5.2 Executing Op-tee Daemon
Run OPTee client daemon using the command below:
tee-supplicant /dev/teepriv0 &
4.5.5.3 Executing OP-Tee test cases
OP-Tee test cases can be run using the steps listed below. 1. Run xtest binary in Linux console:
xtest
2. Then you should get a log similar to the following as a test result:
Run test suite with level=0 TEE test application started with device [(null)] ###################################################### # # regression # ###################################################### ... 24003 subtests of which 0 failed 76 test cases of which 0 failed 0 test case was skipped TEE test application done!

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4.6 SELinux
SELinux is a security enhancement to Linux that allows users and administrators better access control. Access can be constrained on variables so as to enable specific users and applications to access specific resources. These resources may take the form of files. Standard Linux access controls, such as file modes (-rwxr-xr-x) are modifiable by the user and the applications which the user runs. Conversely, SELinux access controls are determined by a policy loaded on the system, which are not changed by careless users or misbehaving applications. SELinux also adds finer granularity to access controls. Instead of only being able to specify who can read, write or execute a file, for example, SELinux lets you specify who can unlink, append only, move a file, and so on. SELinux allows you to specify access to many resources other than files as well, such as network resources and interprocess communication (IPC). More information can be found at official Security Enhanced Linux (SELinux) project page: https://selinuxproject.org.
4.6.1 Running SELinux demo
This section describes the procedure for running the SELinux demo on NXP's LS1043ARDB-64bit and LS1046ARDB-64bit platforms.
4.6.1.1 Obtaining the image for SELinux
The SELinux can run on the NXP platforms:- LS1028ARDB, LS1043ARDB-64bit, and LS1046ARDB-64bit with Ubuntu file system. Use the below commands for building these two platforms for the SELinux demo:
$ cd openil $ make clean
$ make nxp_ls1043ardb-64b_ubuntu_defconfig # for ls1043ardb-64b platform # or $ make nxp_ls1046ardb-64b_ubuntu_defconfig # for ls1046ardb-64b platform # or $ make nxp_ls1028ardb-64b_ubuntu_defconfig # for ls1028ardb-64b platform
$ make # or make with a log $ make 2>&1 | tee build.log
4.6.1.2 Installing basic packages
Install the following basic packages before running the SELlinux demo: 1. Basic packages: � $ apt-get update � $ apt-get install dpkg � $ apt-get install vim � $ apt-get install wget � $ apt-get install bzip2 � $ apt-get install patch � $ apt-get install bison � $ apt-get install flex

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� $ apt-get install xz-utils
� $ apt-get install selinux-utils
� $ apt-get install policycoreutils
� $ apt-get install auditd
� $ apt-get install ssh
� $ apt-get install apache2
� $ apt-get install selinux-basics
� $ apt-get install selinux-policy-default
2. Install Grub Common from source code:
$ wget http://archive.ubuntu.com/ubuntu/pool/main/g/grub2/grub2_2.02~beta2.orig.tar.xz $ tar -xvf grub2_2.02~beta2.orig.tar.xz$ cd grub-2.02~beta2/ $ ./configure $ make $ make install
NOTE It would take considerable time to run the make and make install commands.
3. Install SELinux from source code:
$ wget http://archive.ubuntu.com/ubuntu/pool/universe/s/selinux/selinux_0.11.tar.gz $ tar -xvf selinux_0.11.tar.gz $ cd selinux-0.10/ $ make $ make install
4. Install SELinux policy from source code:
$ wget http://archive.ubuntu.com/ubuntu/pool/universe/r/refpolicy-ubuntu/refpolicyubuntu_0.2.20091117.orig.tar.bz2 $ wget http://archive.ubuntu.com/ubuntu/pool/universe/r/refpolicy-ubuntu/refpolicyubuntu_0.2.20091117-0ubuntu2.debian.tar.gz $ tar jxvf refpolicy-ubuntu_0.2.20091117.orig.tar.bz2 $ tar zxvf refpolicy-ubuntu_0.2.20091117-0ubuntu2.debian.tar.gz $ cd refpolicy $ cp -r ../debian/patches/ ./ patch -p1 < patches/bashisms.patch patch -p1 < patches/*.patch patch -p1 < patches/conf.patch patch -p1 < patches/users.patch patch -p1 < patches/xserver.patch patch -p1 < patches/sysnetwork.patch patch -p1 < patches/cups.patch patch -p1 < patches/ssh.patch patch -p1 < patches/hal.patch patch -p1 < patches/dbus.patch patch -p1 < patches/bluetooth.patch patch -p1 < patches/avahi.patch patch -p1 < patches/networkmanager.patch patch -p1 < patches/consolekit.patch patch -p1 < patches/usermanage.patch patch -p1 < patches/cron.patch patch -p1 < patches/corecommands.patch

SELinux

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patch -p1 < patches/userdomain.patch patch -p1 < patches/fstools.patch patch -p1 < patches/kernel.patch patch -p1 < patches/locallogin.patch patch -p1 < patches/unconfined.patch patch -p1 < patches/libraries.patch patch -p1 < patches/init.patch patch -p1 < patches/mount.patch patch -p1 < patches/udev.patch patch -p1 < patches/devtmpfs.patch patch -p1 < patches/rtkit.patch patch -p1 < patches/devkit.patch patch -p1 < patches/gnome.patch patch -p1 < patches/apt.patch patch -p1 < patches/policykit.patch patch -p1 < patches/modemmanager.patch patch -p1 < patches/fix-ftbfs.patch $ make conf $ make policy $ make install

4.6.1.3 Basic setup
Perform the following basic steps before running the SELlinux demo. 1. Map root to sysadm_u, modify the mapping of root and selinux user:

$ semanage login -m -s sysadm_u root

Logout and login again. Check root's SELinux login user:

$ id -Z sysadm_u:sysadm_r:sysadm_t:s0

2. Map linux user to a selinux user named user_u:

$ semanage login -m -s user_u __default__

Check all the selinux users logged in:

$ semanage login -l

Login Name

SELinux User

MLS/MCS Range

Service

__default__ root system_u

user_u sysadm_u system_u

s0

*

s0

*

s0-s0:c0.c1023

*

3. Label the system. Modify the SELinux config file with SELINUXTYPE=default using the command below:

$ vim /etc/selinux/config

Restore the type of files in /root:

$ semanage fcontext -a -t home_root_t '/root(/.*)?'

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Restore the system using the command below:
$ restorecon -R / $ reboot
4. Check ssh server after the kernel boots up:
$ systemctl status ssh ssh.service - OpenBSD Secure Shell server Loaded: loaded (/lib/systemd/system/ssh.service; enabled; vendor preset: enabled) Active: active (running) since 2017-05-09 07:23:56 CST; 1 weeks 6 days ago Main PID: 908 (sshd) CGroup: /system.slice/ssh.service 908 /usr/sbin/sshd -D
If checking the ssh server status fails, restart the ssh server using the command below:
$ systemctl restart ssh
5. Check the http server:
$ systemctl status apache2 apache2.service - LSB: Apache2 web server
Loaded: loaded (/etc/init.d/apache2; bad; vendor preset: enabled) Drop-In: /lib/systemd/system/ apache2.service.d apache2-systemd.conf Active: active (running) since Thu 2016-02-11 16:30:39 UTC; 2min 3s ago Docs: man:systemd-sysvgenerator(8) Process: 3975 ExecStart=/etc/init.d/apache2 start (code=exited, status=0/SUCCE CGroup: / system.slice/apache2.service 3990 /usr/sbin/apache2 -k start 3993 /usr/sbin/apache2 -k start 3994 /usr/sbin/apache2 -k start
If checking the apache2 status fails, restart apache2 service:
$ systemctl restart apache2
6. Add the user test1: Add a linux user named test1. Specify password for test1 and other configurations can be defaultMap root to sysadm_u.
$ adduser test1 Adding user `test1' ... Adding new group `test1' (1001) ... Adding new user `test1' (1001) with group `test1' ... Creating home directory `/home/test1' ... Copying files from `/etc/skel' ... Enter new UNIX password: Retype new UNIX password: passwd: password updated successfully Changing the user information for test1 Enter the new value, or press ENTER for the default Full Name []: Room Number []: Work Phone []: Home Phone []: Other []: Is the information correct? [Y/n] y
4.6.1.4 Demo 1: local access control
This demo shows how SELinux protects a local file. The process cannot access local files if it is unauthorized.

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Example 1: Denying a process from reading a wrong file type In this example, a vi process created by user with uid: test1, acts as a subject to access a common file, which has a DAC permission of 777.

Figure 12. Allowing local file access control 1. root: create a test file:
$ echo "file created in root home" > /root/file $ chmod 777 /root/file $ mv /root/file / $ ls -Z /file sysadm_u:object_r:home_root_t:s0 /file
2. root: enable SELinux:
$ setenforce 1 $ getenforce 0 Enforcing
3. User test1: logs in and visits the file. User test1 logs in the system via ssh and checks id info:
$ id -Z user_u:user_r:user_t:s0
User test1 visits the file using the vi command.
$ vi /file
SELinux denies access to the file, even though the file is 777.
Figure 13. The VI command log Because there is no allowed rule such as the following
allow user_t home_root_t: file {write append}
4. root: change the type of file
$ setenforce 0 $ chcon -t user_t /file $ setenforce 1
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SELinux 5. User test1: visits the file of correct type, and his request is approved. The user test1 visits the file again and succeeds.
$ vi /file 6. root: Refer to the audit log: /var/log/audit/audit.log with commands audit2why and audit2allow.
$ audit2why -a There is an AVC information about access denied and a reasonable root cause as shown in the below figure.
Figure 14. Audit log for vi $ audit2allow -a This command suggests the rules that can approve the access.

Figure 15. Audit suggestion for Vi
Example 2: Denying a root user from changing SELinux running mode In this example, the root user is restricted to have no permission to change the SELinux running mode when SELinux is enforced.

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Figure 16. Restricting root permissions

1. Root: Turn on and then turn off Selinux

Booleans are shortcuts for the user to modify the SELinux policy dynamically. The policy,secure_mode_policyload is one of these policies, which can deny a root user from changing SELinux running mode. By default, it is Off.

$ getsebool secure_mode_policyload secure_mode_policyload --> off

Root can turn on SELinux:

$ setenforce 1

Root can then turn off SELinux:

$ setenforce 0

2. root: enable secure_mode_policyload

Now the SELinux is permissive. Run the setsebool command to enable secure_mode_policyload:

$ setsebool secure_mode_policyload on

Check the status of secure_mode_policyload again:

$ getsebool secure_mode_policyload secure_mode_policyload --> on

3. Root: Try to turn on and turn off SELinux.

Root can still turn on SELinux:

$ setenforce 1

Root tries to turn off SELinux but gets permission denied:

$ setenforce 0 setenforce:

setenforce() failed

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If root user tries to disable secure_mode_policyload, it fails too:
$ setsebool secure_mode_policyload off Segmentation fault
Now there is no superuser in the system even if you are the root user.
Reboot the system. Booting with kernel option enforcing=0 can make the system running in permissive mode. In this way, you can proceed with use cases similar to the ones described above.
4.6.1.5 Demo 2: enabling remote access control
This demo shows how SELinux can also be used to provide website visiting permissions. A web client cannot access website files remotely if it is not authorized.
Example 1: Denying an HTTP client from visiting a private website Use the following commands for running this sample demo:
1. root: Copy index.html to /root
$ cp /var/www/html/index.html /root
2. root: Move index.html to apache2
$ mv /root/index.html /var/www/html/index.html
3. root: turn on SELinux and wget website
$ setenforce 1 $ wget localhost --2016-02-11 16:41:08-- http://localhost/ Resolving localhost [ 795.609868] systemd-journald[1983]: recvmsg() failed: Permission denied (localhost)... ::1, 127.0.0.1 Connecting to localhost (localhost)|::1|:80... connected. HTTP request sent, awaiting response... 403 Forbidden 2016-02-11 16:41:08 ERROR 403: Forbidden.
Now wget, as a http client, fails to visit apache2 home page. 4. root: check type of index.html.
$ ls -Z /var/www/html/index.html sysadm_u:object_r:home_root_t:SystemLow /var/www/html/index.html
The index.html has a type of home_root_t which cannot be access by the http client with type httpd_t. 5. root: restore index.html to a right type.
$ setenforce 0 $ restorecon /var/www/html/index.html $ ls -Z /var/www/html/index.html sysadm_u:object_r:httpd_sys_content_t:SystemLow /var/www/html/index.html
The index.html now contains the httpd_sys_content_t and can be access by httpd_t. 6. root: turn on SELinux and visit again.
$ setenforce 1 $ wget localhost

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Resolving localhost (localhost)... ::1, 127.0.0.1

Connecting to localhost (localhost)|::1|:80... connected.

HTTP request sent, awaiting response... 200 OK

Length: 11321 (11K) [text/html]

Saving to: `index.html.1'

index.html.1

100%[===================>] 11.06K --.-KB/s in 0s

2016-02-11 16:57:16 (148 MB/s) - `index.html.1' saved [11321/11321]

Example 2 Denying ssh client from remote login with root The following figure shows how to deny ssh remote login permission for a root user.

1. root: config sshd to permitrootlogin

Figure 17. ssh remote permission

$ setenforce 0 $ vi /etc/ssh/sshd_config

Find "PermitRootLogin prohibit-password" and change it to "PermitRootLogin yes" 2. root: restart ssh server

$ /etc/init.d/sshd restart

Now root should be allowed to access the system from remote side with ssh. 3. root: turn on SELinux and ssh.

$ setenforce 1 $ ssh root@localhost /bin/bash: Permission denied Connection to localhost closed.

Even though sshd_config file has permitted root login but still fails in ssh. 4. root: turn on ssh login boolean

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Check that the following settings are configured:
$ getsebool -a | grep ssh allow_ssh_keysign --> off fenced_can_ssh --> off sftpd_write_ssh_home --> off ssh_sysadm_login --> off ssh_use_gpg_agent --> off
There is a boolean named ssh_sysadm_login. This denies a root user from ssh login. Turn on it.
$ setenforce 0 $ setsebool ssh_sysadm_login on
5. root: enforcing and ssh again.
$ setenforce 1 $ ssh root@localhost
Now root user can ssh successfully. 6. root: refer to the audit log.
$ audit2why -a

SELinux

$ audit2allow -a

Figure 18. Audit log for sshd

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NETCONF/YANG
Chapter 5 NETCONF/YANG

5.1 Overview

The NETCONF protocol defines a mechanism for device management and configuration retrieval and modification. It uses a remote procedure call (RPC) paradigm and a system of exposing device (server) capabilities, which enables a client to adjust to the specific features of any network equipment. NETCONF further distinguishes between state data (which is read-only) and configuration data (which can be modified). Any NETCONF communication happens on four layers as shown in the table below. XML is used as the encoding format.

Table 20. The NETCONF layers

Layer

Purpose

Example

1

Content

Configuration data, Notification data

2

Operations

<edit-config>

3

Messages

<rpc>, <rpc-reply>, <notification>

4

Secure

Transport SSH, TLS

YANG is a standards-based, extensible, hierarchical data modeling language that is used to model the configuration and state data used by NETCONF operations, remote procedure calls (RPCs), and server event notifications. The device configuration data are stored in the form of an XML document. The specific nodes in the document as well as the allowed values are defined by a model, which is usually in YANG format or possibly transformed into YIN format with XML-based syntax. There are many such models created directly by IETF to further support standardization and unification of the NETCONF interface of the common network devices. For example, the general system settings of a standard computer are described in the IETF-system model (rfc7317) or the configuration of its network interfaces defined by the IETF-interfaces model (rfc7223). However, it is common for every system to have some specific parts exclusive to it. In that case there are mechanisms defined to enable extensions while keeping the support for the standardized core. Also, as this whole mechanism is designed in a liberal fashion, the configuration does not have to concern strictly network. Even RPCs additional to those defined by NETCONF can be characterized, thus allowing the client to request an explicit action from the server.
A YANG module defines a data model through its data, and the hierarchical organization of and constraints on that data. A module can be a complete, standalone entity, or it can reference definitions in other modules and sub-modules as well as augment other data models with additional nodes. The module dictates how the data is represented in XML.
A YANG module defines not only the syntax but also the semantics of the data. It explicitly defines relationships between and constraints on the data. This enables you to create syntactically correct configuration data that meets constraint requirements and enables you to validate the data against the model before uploading it and committing it on a device.
For information about NETCONF, see RFC 6241, NETCONF Configuration Protocol.
For information about YANG, see RFC 6020, YANG - A Data Modeling Language for the Network Configuration Protocol (NETCONF), and related RFCs.

5.2 Netopeer
Netopeer is a set of NETCONF tools built on the libnetconf (https://github.com/CESNET/libnetconf) library. It allows developers to control their devices via NETCONF and operators to connect to their NETCONF-enabled devices.

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Netopeer
5.2.1 Overview
Netopeer is a set of NETCONF tools built on the libnetconf (https://github.com/CESNET/libnetconf) library. It allows developers to control their devices via NETCONF and operators to connect to their NETCONF-enabled devices.

Figure 19. Netopeer overview
5.2.2 libnetconf
libnetconf is a NETCONF library in C intended for building NETCONF clients and servers. It provides basic functions to connect NETCONF client and server to each other via SSH, to send and receive NETCONF messages and to store and work with the configuration data in a datastore. libnetconf implements the NETCONF protocol introduced by IETF. libnetconf is maintained and further developed by the Tools for Monitoring and Configuration department of CESNET.
For information about libnetconf see:
https://github.com/CESNET/libnetconf
https://rawgit.com/CESNET/libnetconf/master/doc/doxygen/html/index.html
5.2.3 Netopeer server
Netopeer software is a collection of utilities and tools to support the main application, Netopeer server, which is a NETCONF server implementation. It uses libnetconf for all NETCONF communication. Conforming to the relevant RFCs2 and still being part of the aforementioned library, it supports the mandatory SSH as the transport protocol but also TLS. Once a client successfully connects using either of these transport protocols and establishes a NETCONF session, it can send NETCONF RPCs and the Netopeer server responds with correct replies.
Most of the standard capabilities mentioned in the RFC 6241 are implemented including validating the new configuration before applying it or being able to return to a previous configuration if the new one failed to be applied. Except these, Netopeer server supports additional features such as these:
� Sending notifications on certain events to a client, provided that the client subscribes to them
� Access control, when every user has the available parts of the configuration for reading and for writing specified and cannot access any other.
The following set of tools are a part of the Netopeer server:
� Netopeer-server as the main service daemon integrating the SSH/TLS server.
� Netopeer-manager as a tool to manage the netopeer server modules.
� Netopeer-configurator as a tool for the server's first run configuration.
5.2.4 Netopeer client
Netopeer-cli is a CLI interface that allows you to connect to a NETCONF-enabled device and obtain and manipulate its configuration data.

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This application is a part of the Netopeer software bundle, but compiled and installed separately. It is a NETCONF client with a command line interface developed and primarily used for Netopeer server testing, but allowing all the standards and even some optional features of a full-fledged NETCONF client.
Netopeer-cli serves as a generic NETCONF client providing a simple interactive command line interface. It allows you to establish a NETCONF session with a NETCONF-enabled device on the network and to obtain and manipulate its configuration data. Netopeer-cli is limited to a single NETCONF connection at a time via a forward or a reverse (Call Home) connecting method.
5.2.5 Workflow in application practice
In practical application, we use the YANG language to model the device and generate the YANG model. The model is then instantiated to generate configuration files in XML format. The device was then configured using this configuration file as input via netopeer.

Figure 20. Workflow for netopeer

5.3 Installing Netopeer-cli on Centos/Ubuntu
Use the following steps for installing Netopeer-cli on Centos or Ubuntu operating systems. Steps for installation on Centos 7.2:
1. Install the following packages:
$ sudo yum install libxml2-devel libxslt-devel openssl-devel libgcrypt dbus-devel doxygen libevent readline.x86_64 ncurses-libs.x86_64 ncurses-devel.x86_64 libssh.x86_64 libssh2-devel.x86_64 libssh2.x86_64 libssh2-devel.x86_64
2. Install pyang :
$ git clone https://github.com/mbj4668/pyang.git $ cd pyang $ sudo python setup.py install
3. Pull, configure, make, and install libnetconf:
$ git clone https://github.com/CESNET/libnetconf.git $ cd libnetconf

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Installing Netopeer-cli on Centos/Ubuntu
$ ./configure $ sudo make $ sudo make install
4. Pull netopeer and configure, make, and install cli:
$ git clone https://github.com/CESNET/netopeer.git $cd netopeer/cli $ ./configure $ make $ make install
Steps for installation on Ubuntu 16.04 1. Install the following packages:
$ sudo apt-get install libxml2-dev libxslt-dev libssl-dev libssh2-1-dev xsltproc doxygen pkg-config libtool-bin cmake libssh-dev libevent-dev libreadline-dev libcurl4-openssl-dev python-libxml2 autoconf
2. Install pyang:
$ git clone https://github.com/mbj4668/pyang.git $ cd pyang $ sudo python setup.py install
NOTE There is a version issue for libssh installation on Ubuntu below version 16.04. Apt-get install libssh may get version 0.6.4. But libnetconf needs a version of 0.7.3 or later. Remove the default one and reinstall by downloading the source code and installing it manually.
$ dpkg -r libssh-dev $ wget https://red.libssh.org/attachments/download/195/libssh-0.7.3.tar.xz --no-check-certificate $ unxz libssh-0.7.3.tar.xz $ tar -xvf libssh-0.7.3.tar $ cd libssh-0.7.3/ $ mkdir build $ cd build/ $ cmake .. $ make $ sudo make install
3. Pull, configure, make, and install libnetconf:
$ git clone https://github.com/CESNET/libnetconf.git $ cd libnetconf $ ./configure $ sudo make $ sudo make install
4. Pull netopeer and configure, make, and install cli:
$ git clone https://github.com/CESNET/netopeer.git $ cd netopeer/cli $ ./configure $ make $ sudo make install

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5.4 Configuration
5.4.1 Netopeer-server
The netopeer-server is the NETCONF protocol server running as a system daemon. The netopeer-server is based on the libnetconf library. It provides an environment to run transAPI modules for configuring a specific device or application according to its data model.
� -d: Run in daemon mode. � -h: Show help. � -V: Show program version. � -v: level Set the verbosity level. Possible values are from 0 (default) to 3. This overrides any NETOPEER_VERBOSE
environment variable.
5.4.2 Netopeer-manager
The netopeer-manager provides access to the configuration of the netopeer-server modules. The netopeer-server modules extend its functionality to control another devices or applications via transAPI or just by storing configuration data. It can be configured using the options and commands described below. OPTIONS
� --help: Prints the generic description and a list of commands. The detailed description and list of arguments for the specific command are displayed by using --help argument of the command.
COMMANDS � add: Adds a new netopeer-server module. The added module is enabled by default and it is loaded by the netopeer-server during its next start. Use the following example:
add [--help] --name NAME (--model MODEL | --augment AUGMENT | --import IMPORT) [--transapi TRANSAPI] [--features FEATURE [FEATURE ...]] [--datastore DATASTORE]
Where the arguments are as follows: -- --name NAME Specifies the name of the netopeer-server module. The NAME is used as an identifier of the module in the netopeer-server configuration. -- --model MODEL Specifies path (absolute or relative) to the module's main data model in YIN format. In this option, the whole module configuration is created. -- --augment AUGMENT Specifies path (absolute or relative) to an augment model of the main data model in YIN format. This model is always appended at the end of the model list. -- --import IMPORT Specifies path (absolute or relative) to a model in YIN format that is imported by the main model. This model is always prepended at the beginning of the model list. -- --transapi TRANSAPI Optional parameter to specify path to the transAPI module related to the module's main data model. If the transAPI module is not specified, netopeer-server allows the connection and configuration data manipulation according to the data model, but the changes are not applied to any device. This part of the process is handled just by the trans API module. -- --features FEATURE [FEATURE ...] Data model can define various features that extend its basic functionality. By default, netopeer-server supposes all features to be disabled. This option explicitly specifies the list of features to enable. To enable all features, use the format value * .

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Configuration
-- --datastore DATASTORE specifies the path to the file where the configuration data is stored. If not specified, the datastore is implemented as empty and it does not store any configuration data.
� list: Prints the list of all netopeer-server modules. The command format is as follows:
list [--help] [--name NAME]
Where: -- --name: specifies the name of the main netopeer-server module for which, the list of extending data models would be printed.
� rm: Removes the specified netopeer-server main module. The command format is as follows:
rm [--help] --name NAME [--model MODEL]
Where the arguments are -- --name: NAME Specifies the name of the main netopeer-server module to remove. -- --model: If MODEL is specified, only this extending model is removed instead of the whole module.
5.4.3 netopeer-cli
The netopeer-cli is command line interface similar to the NETCONF client. It serves as a generic NETCONF client providing a simple interactive command line interface. It allows user to establish a NETCONF session with a NETCONF-enabled device on the network and to obtain and manipulate its configuration data. netopeer-cli is limited to a single NETCONF connection at a time via a forward or a reverse (Call Home) connecting method.
5.4.3.1 Netopeer CLI commands
Following are the Netopeer CLI commands: 1. help: Displays a list of commands. The --help option is also accepted by all commands to show detailed information about the command. 2. Connect: Connects to a NETCONF server.
connect [--help] [--login username] [--port num] host
The connect command has the following arguments: � --login username: Specifies the user to log in as on the NETCONF server. If not specified, current local username is taken. � --tls: Uses NETCONF over TLS transport instead of default SSH. Default client certificate and trusted CA directory are used for TLS handshake. This option is available only when the netopeer-cli is compiled with configure's --enabletls option. � --cert cert_path -- Uses a specific certificate for TLS handshake. cert_path specifies path to the client certificate in CRT format. If --key option is not specified, cert_path is expected to contain also the private key for the client certificate, in PEM format. -- This option is available only when the netopeer-cli is compiled with configure's --enable-tls option. � --key key_path -- Specifies path to the private key for the client certificate in KEY format. If not specified, cert_path is expected to contain also the private key for the client certificate, in PEM format. -- This option is available only when the netopeer-cli is compiled with configure's --enable-tlsoption.

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� --trusted trusted_CA_store -- Specifies path to a trusted CA certificate bundle in PEM format to be used exclusively for server verification for this connection instead of the default CA directory. -- This option is available only when the netopeer-cli is compiled with configure's --enable-tls option.
� --port num -- Port to connect to on the NETCONF server. By default, port 830 for SSH or 6513 for TLS transport is used.
� host -- Hostname of the target NETCONF server.
3. disconnect: disconnects from a NETCONF server. 4. commit
� Performs the NETCONF commit operation. For details, see RFC 6241 section 8.3.4.1. 5. copy-config: Performs NETCONF copy-config operation. For details, see RFC 6241 section 7.3.
copy-config [--help] [--defaults mode] [--source datastore | --config file] target_datastore
Where, the arguments are the following: � --defaults mode: Use: with the -defaults capability with specified retrieval mode. For details, refer to the RFC 6243 section 3 or WITH-DEFAULTS section of this manual. � --source datastore: Specifies the source datastore for the copy-config operation. For description of the datastore parameter, refer to Netopeer CLI datastore on page 67.
NOTE This option is available only when the netopeer-cli is compiled with configure's --enable-tls option.
� --config file -- Specifies the path to a local file containing the complete configuration to copy. This option alternates the --source option.
� target_datastore -- Target datastore to be rewritten. For description of possible values, refer to Netopeer CLI datastore on page 67.
6. delete-config Performs NETCONF delete-config operation. For more details see RFC 6241 section 7.4.
delete-config [--help] target_datastore
Where � target_datastore is the Target datastore to delete. For description of possible values, refer to Netopeer CLI datastore on page 67. Note that the running configuration datastore cannot be deleted. � discard-changes: Performs NETCONF <discard-changes> operation. It reverts the candidate configuration to the current running configuration. For more details see RFC 6241 section 8.3.4.2.
7. edit-config Performs NETCONF edit-config operation. For details, see RFC 6241 section 7.2.
edit-config [--help] [--defop operation] [--error action] [--test option] [--config file | --url URI] target_datastore
Where

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Configuration
� --defop operation
-- Specifies default operation for applying configuration data.
-- merge: Merges configuration data at the corresponding level. This is the default value.
-- replace: Edits configuration data completely replaces the configuration in the target datastore.
-- none: The target datastore is unaffected by the edit configuration data, unless and until the edit configuration data contains the operation attribute to request a different operation. For more info, see the EDIT-CONFIG section of this document.
� --error action
-- Sets reaction to an error.
-- Stop: Aborts the operation on first error. This is the default value.
-- Continue: Continues to process configuration data on error. The error is recorded and negative response is returned.
-- Rollback: Stops the operation processing on error and restore the configuration to its complete state at the start of this operation. This action is available only if the server supports rollback-on-error capability (see RFC 6241 section 8.5).
� --test option
-- Performs validation of the modified configuration data. This option is available only if the server supports :validate:1.1 capability (see RFC 6241 section 8.6).
-- set: Does not perform validation test.
-- test-only: Does not apply the modified data, only perform the validation test.
-- test-then-set: Performs a validation test before attempting to apply modified configuration data. This is the default value.
� --config file
-- Specify path to a file containing edit configuration data. The content of the file is placed into the config element of the edit-config operation. Therefore, it does not have to be a well-formed XML document with only a single root element. If neither --config nor --url is specified, user is prompted to write edit configuration data manually. For examples, see the EDIT-CONFIG section of this document.
� --url URI
-- Specifies remote location of the file containing the configuration data hierarchy to be modified, encoded in XML under the element config in the urn:ietf:params:xml:ns:netconf:base:1.0 namespace. Note, that this differs from file parameter, where the config element is not expected.
� target_datastore
-- Target datastore to modify. For description of possible values, refer to Netopeer CLI datastore on page 67. Note that the url configuration datastore cannot be modified.
8. get: Performs NETCONF get operation. Receives both the status as well as configuration data from the current running datastore. For more details see RFC 6241 section 7.7. The command format is as follows:
get [--help] [--defaults mode] [--filter [file]]
� --defaults mode
-- Use with the -defaults capability with specified retrieval mode. For more details see RFC 6243 section 3 or WITH-DEFAULTS section of this manual.
� --filter [file]

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-- Specifies if the request will contain subtree filter (RFC 6241 section 6). The option is able to accept path to the file containing the filter specification. If the path is not specified, user is prompted to write the filter specification manually.
� get-config Performs NETCONF get-config operation. Retrieves only configuration data from the specified target_datastore. For details, refer to RFC 6241 section 7.1.
get-config [--help] [--defaults mode] [--filter [file]] target_datastore
� --defaults mode -- Use: with the -defaults capability with specified retrieval mode. For more details see RFC 6243 section 3 or WITH-DEFAULTS section of this manual.
� --filter [file] -- Specifies if the request will contain subtree filter (RFC 6241 section 6). The option is able to accept path to the file containing the filter specification. If the path is not specified, user is prompted to write the filter specification manually.
� target_datastore -- Target datastore to retrieve. For description of possible values, refer to Netopeer CLI datastore on page 67. Note, that the url configuration datastore cannot be retrieved.
9. get-schema: Performs NETCONF get-schema operation that retrieves specified data model used by the server. This operation is available only if the server implements the YANG module for NETCONF monitoring. The list of available schemas can be retrieved from /netconf-state/schemas subtree via the get operation. For more details see RFC 6022 sections 3.1 and 4.
get-schema [--help] [--version version] [--format format] identifier
� --version version -- Version of the requested schema.
� --format format -- The data modeling language (format) of the requested schema. The default value is yang.
� identifier -- Identifier for the schema list entry.
10. lock Performs the NETCONF lock operation to lock the entire configuration datastore of a server. For details, see RFC 6241 section 7.5.
lock [--help] target_datastore
Where the � target_datastore: specifies the target datastore to lock. For description of possible values, refer to Netopeer CLI datastore on page 67. Note, that the url configuration datastore cannot be locked.
11. unlock: Performs the NETCONF unlock operation to release a configuration lock, previously obtained with the lock operation. For more details see RFC 6241 section 7.6.
unlock [--help] target_datastore
where � target_datastore: specifies the target datastore to unlock. For description of possible values, refer to Netopeer CLI datastore on page 67. Note, that the url configuration datastore cannot be unlocked.

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Configuration
12. user-rpc: Sends your own content in an RPC envelope. This can be used for RPC operations defined in data models not supported by the netopeer-cli.
user-rpc [--help] [--file file]
13. file file � Specifies a file containing NETCONF RPC operation in XML format. Only the NETCONF rpc envelope is added to the file content and then it is sent to a server. If the option is omitted, user is prompted to type the RPC content manually.
14. verbose � Enables/disables verbose messages.
15. debug � Enables/disables debug messages. Available only if the netopeer-cli is compiled with configure's --enable-debug option.
16. quit � Quits the program.
5.4.3.2 Netopeer CLI datastore
Following are the netopeer CLI datastores: � running -- This is the base NETCONF configuration datastore holding the complete configuration currently active on the device. This datastore always exists. � startup -- The configuration datastore holding the configuration loaded by the device when it boots. This datastore is available only on servers that implement the :startup capability. � candidate -- The configuration datastore that can be manipulated without impacting the device's current configuration and that can be committed to the running configuration datastore. This datastore is available only on servers that implement :candidate capability. � url:URI -- Refers to a remote configuration datastore located at URI. The file that the URI refers to contains the configuration data hierarchy to be modified, encoded in XML under the element config in the urn:ietf:params:xml:ns:netconf:base: 1.0 namespace. This datastore is available only on servers that implement the :url capability.
5.4.4 Operation examples
The following figure describes the basic process of operating netopeer:

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Figure 21. Examples of Netopeer operation process In the sja1105 YANG model, you may set any register of sj1105 or a whole register map by netopeer-cli. Make sure the netconf server is running (check the netopeer-server is running at ls1021atsn). If the netopeer-server is not running, input the below command to allow it to run (in verbose mode):
$ /usr/local/bin/netopeer-server -v 3 Test commands at netopeer-client (a CentOS/Ubuntu PC to run netopeer-cli as an example):
1. Start client software $ netopeer-cli
2. Connect the netconf server ls1021atsn board (use the IP on ls1021atsn, here 10.193.20.53 is example): $ Netconf> connect --port 830 --login root 10.193.20.53

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3. Get staus datas of server
$ netconf> get
4. User can get daters what he wants by --filter option
$ netconf> get --filter
5. Then input the filtered node you want to see in the text editor:
<sja1105> <static> <ports/> </static>
</sja1105>
6. Get config daters what he wants in running/candidate/startup space:
$ netconf> get-config running $ netconf> get-config candidate $ netconf> get-config startup
7. You can also add --filter parameter to filter what you want to see. 8. You can use discard-changes command to copy data from running to candidate space.
$ netconf> discard-changes

Configuration

NOTE It is recommend to run discard-changes at the first instance when the board boots up. Refer the step No. 5 in Section Troubleshooting on page 71.
9. Use the commit command to copy data from `candidate' to `running' space.
$ netconf> commit
10. You can edit any elements in the tables or multiple tables elements for running/candidate/startup space.
$ netconf> edit-config candidate

NOTE The `candidate' modification only edits the candidate registers map. It does not actually modify this information in the sja1105 true registers.
a. The `running' modification only edits the running registers map. It actually modifies the sja1105 true registers.
$ netconf> edit-config running
b. The `startup' modification only edits the startup registers map. It does not actually modify this information in the sja1105 true registers.
$ netconf> edit-config startup

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NETCONF/YANG c. Input below text into the editor as an example and wait for got 'OK' message: sja1105 xmlns="http://nxp.com/ns/yang/tsn/sja1105"

<static> <l2-policing-table> <entry> <index>1</index> <sharindx>0x1</sharindx> <smax>0x8000</smax> <rate>0xFA00</rate> <maxlen>0x5EE</maxlen> <partition>0x0</partition> </entry> </l2-policing-table> </static> </sja1105>
The preceding example shows how to edit the 'index 1' entry in the l2-policing-table. d. Refer to Operation examples on page 67 to check the YANG model of the sja1105 data design. 11. You can edit config a saved xml file with all of or part of the full yang model nodes list. You can refer the files under board/nxp/ls1021atsn/rootfs_overlay/etc/sja1105/*.xml for how to input edit-config content in the cross compiler buildroot folder.
$ ls board/nxp/ls1021atsn/rootfs_overlay/etc/sja1105/*.xml policing.xml prioritizing.xml standard.xml
12. You can even check the server board to see the xml file that has been saved on the server:
$ netconf> get --filter <sja1105><static><config-files/></static></sja1105>
So as an example of the edit-config command would be (suppose we are under buildroot source code root folder):
$ netconf> edit-config --config board/nxp/ls1021atsn/rootfs_overlay/etc/sja1105/policing.xml candidate
� Use running option to directly edit in the physical registers of sja1105. � Use candidate option to edit the register into candidate space. 13. You can copy data between the running/candidate/startup by using copy-config or source xml file in the client:
$ netconf> copy-config --source running startup
14. Here is an example of copying the running space date to startup space.Three more RPC calls are provided in the sja1105 YANG model.
15. If user wants to save current registers mapping into a file (must extend with .xml. This `save-local-config' command would save current `running' space config registers value into the file.)
16. In the netopeer-cli shell, by user-rpc command:
$ netconf> user-rpc
17. Input below text into the editor (nc_standard.xml is an example file name):
<save-local-config xmlns="http://nxp.com/ns/yang/tsn/sja1105"> <configfile>

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Troubleshooting
nc_standard.xml </configfile> </save-local-config>
Then, a file nc_standard.xml would be saved to the /etc/sja1105/ directory in the server (board).
NOTE You can get all saved xml files by using the 'get' command and the `config-files' filter.
If user wants to load a xml to set the sja1105 registers into running and candidate space, user can use rpc command `load-local-config.' The xml file must list in the /etc/sja1105/. (Get file list by using the get command and with configfiles filter.) In the netopeer-cli shell, by `user-rpc' command:
$ netconf> user-rpc
Use the commands below to achieve this (policing.xml is an example name):
<load-local-config xmlns="http://nxp.com/ns/yang/tsn/sja1105"> <configfile> policing.xml </configfile> </load-local-config>
18. Users can load a default registers mapping mode (sja1105 as a normal switch mode). In the netopeer-cli shell, you can do this by using the `user-rpc' command:
$ netconf> user-rpc
19. Input the below text in the editor (policing.xml is an example name):
<load-default xmlns="http://nxp.com/ns/yang/tsn/sja1105" />

5.5 Troubleshooting
1. Connect fails at client side:
libnetconf ERROR: Remote host key changed, the connection will be terminated! libnetconf ERROR: Checking the host key failed.
Fixing: The reason is that the SSHD key changed at the server. You need to input command `quit' netopeer-cli first. Then remove ~/.ssh/ known_hosts and restart netopeer-cli. 2. Command error shows:
libnetconf ERROR: Input channel error (Socket error: Connection reset by peer) user-rpc: receiving rpc-reply failed.
Closing the session.
Fixing: Lost connection in few minutes later if not to communicate with server.

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Reconnect server. 3. Run command at netopeer-server (board):
[$ /usr/local/bin/netopeer-server -v 3
Got error:
netopeer-server[216]: sock_listen: could not bind "::0" port 830 (Address already in use) netopeer-server[216]: Server is not listening on any address!
Fixing: There should another netopeer-server is running. Use command to check:
$ ps | grep netopeer-server
If there is a netopeer-server process:
$ /usr/local/bin/netopeer-server -d
4. Terminating netopeer-server. The right way to terminate the server is by using Ctrl ^ C or the below command:
$ /etc/init.d/S90netconf stop
5. Get an empty candidate contend:
$ netconf> get-config candidate
Result:
Fixing: It is recommend to input a `discard-changes' command when the first time for netopeer-server boot up and connected by client.
$ netconf> discard-changes
6. When you operate command `edit-config' `get-config' got error:
NETCONF error: operation-failed (application) - There is no device/data that could be affected.
Fixing: The reason is that the server was not properly terminated. If you killed the server several times then all this is stored in the shared memory and that many times on next server startup the candidate datastore is not replaced by the running datastore. Do not use kill -9 to terminate netopeer-server process. Use Ctrl ^ C in the terminal with netopeer-server (or you can send SIGINT instead SIGKILL). You should restart netopeer-server (Ctrl^ C or /etc/init.d/S90netconf restart)
$ /etc/init.d/S90netconf restart
Then, in the client netopeer-cli soon after connection:
$ netconf> discard-changes
7. The netopeer-server default to set nothing registers of sja1105 chip when server startup. If user wants to let netopeer-server auto set a series registers in sja1105 at netopeer-server boot up time, you need to set the registers value to the startup space. Below contend introduce how to set `startup' space. Edit `startup' space configuration.

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startup' space configures are for setting sja1105 registers when netopeer-server start time. There are several ways to edit `startup' space configures data. Here are the examples: From the `running' space configure copy to `startup' space:
$ netconf> copy-config --source running startup
Copy from client local file (policing.xml is example file name) to server `startup' space:
$ netconf> copy-config copy-config --config policing.xml startup
Modify some sub-tree registers from client local file (policing.xml is example file name) to server `startup' space:
$ netconf> edit-config --config policing.xml startup
8. Validate command shows:
NETCONF error: operation-not-supported (application) - Request could not be completed because the requested operation is not supported by this implementation.
NOTE The `validate' command is not supported in the current version of NETCONF.
9. Datastores dead lock: When the server crashes or is terminated with SIGKILL, it may happen that the internal datastore locks stay locked. In such a case, the next time the netopeer-server (or any other libnetconf based application) tries to access the configuration datastores, it freezes. To solve this problem, release the locks manually removing the /dev/shm/ sem.NCDS_FLOCK_* files. Refer to the point No. 4 above, for how to terminate the netopeer-server properly.
10. Modifying /etc/network/interfaces might cause the netopeer-server segment fault when netopeer-server starts if ietfinterfaces is selected in the buildroot. Use the below command to remove the ietf-interfaces model.
$ /usr/local/bin/netopeer-manager rm --name ietf-interfaces $ /usr/local/bin/netopeer-manager list

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Chapter 6 OPC UA
OPC (originally known as "OLE for Process Control", now "Open Platform Communications") is a collection of multiple specifications, most common of which is OPC Data Access (OPC DA). OPC Unified Architecture (OPC UA) was released in 2010 by the OPC Foundation as a backward incompatible standard to OPC Classic, under the name of IEC 62541. OPC UA has turned away from the COM/DCOM (Microsoft proprietary technologies) communication model of OPC Classic, and switched to a TCP/IP based communication stack (asynchronous request/response), layered into the following:
� Raw connections � Secure channels � Sessions
6.1 OPC introduction
OPC UA defines: � The transport protocol for communication (that can take place over HTTP, SOAP/XML or directly over TCP). � A set of 37 'services' that run on the OPC server, and which clients call into, via an asynchronous request/response RPC mechanism. � A basis for creating information models of data using object-oriented concepts and complex relationships.
The primary goal of OPC is to extract data from devices in the easiest way possible. The Information Model provides a way for servers to not only provide data, but to do so in the most self-explanatory and intuitive way possible.
NOTE Further references to 'OPC' in this document will imply OPC UA. OPC Classic is not discussed in this document.
Following are the typical scenarios for embedding an OPC-enabled device into a project: � Manually investigate ("browse") the server's Address Space looking for the data you need using a generic, GUI client (such as UaExpert from Unified Automation, or the FreeOpcUa covered in this chapter). � Using References and Attributes, understand the format it is in, and the steps that may be needed to convert the data. � Have a custom OPC client (integrated into the application) subscribe directly to data changes of the node that contains the desired data.
In a typical use case: � The OPC server runs near the source of information (in industrial contexts, this means near the physical process � for example, on a PLC on a plant floor). � Clients consume the data at run time (for example, logging into a database, or feeding it into another industrial process).
OPC-enabled applications can be composed: an industrial device may run an OPC client and feed the collected data into another physical process, while also exposing the latter by running an OPC server.

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The node model
6.2 The node model
Data in an OPC server is structured in Nodes. The collection of all nodes that an OPC server exposes to its clients is known as an Address Space. Some nodes have a predefined meaning, while others have meaning that is unique to the Information Model of that specific OPC server. Every Node has the following Attributes:
� an ID (unique) � a Class (what type of node it is) � a BrowseName (a string for machine use) � a DisplayName (a string for human use)
Figure 22. OPC UA address space

Shown on the left-hand side of the figure is the Address Space (collection of information that the server makes available to clients) of the OPC server found at opc.tcp://192.168.15.4:16664.
Selected is a node with NodeID ns=1;i=118, BrowseName=1:SJA1105 and of NodeClass Object.
The full path of the selected node is 0:Root,0:Objects,1:SJA1105.

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6.3 Node Namespaces
Namespaces are the means for separating multiple Information Models present in the same Address Space of a server. � Nodes that do not have the ns= prefix as part of the NodeID have an implicit ns=0; prefix (are part of the namespace zero). � Nodes in namespace * 0 have NodeID's pre-defined by the OPC UA standard. For example, the 0:Server object, which holds self-describing information (capabilities, diagnostics, and vendor information), has a predefined NodeID of ns=0;i=2253;.
It is considered a good practice to not alter any of the nodes exposed in the namespace * 0.
6.4 Node classes
OPC nodes have an inheritance model, based on their NodeClass. There are eight base node classes defined by the standard:
� Object � Variable � Method � View � ObjectType � VariableType � ReferenceType � DataType All nodes have the same base Attributes (inherited from the Node object), plus additional ones depending on their NodeClass.
6.5 Node graph and references
It may appear that nodes are only chained hierarchically, in a simple parent-child relationship. However, in reality nodes are chained in a complex directed graph, through References to other nodes.

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Node graph and references
Figure 23. Hierarchy of the standard ReferenceTypes, defined in Part 3 of the OPC UA specification (Image taken from www.open62541.org)
In OPC, even ReferenceTypes are Nodes, and as such are structured hierarchically, as can be seen in the figure above. The definitions of all OPC ReferenceTypes can be found under the 0:Root,0:Types,0:ReferenceTypes path. The semantics of OPC references can be enriched by creating custom ReferenceType nodes.

Figure 24. The 'Attributes' and 'References' views of the FreeOpcUa Client populated with details of the RGMII4 node
Selected in the Address Space is node ns=1;i=197. Conceptually, this represents one of the five Ethernet ports of the SJA1105 TSN switch.

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Its NodeClass is Object, but it has a reference of type HasTypeDefinition to NodeID ns=1;i=117 which is 1:EthPortType. For this reason, the 1:RGMII4 node is of the custom ObjectType EthPortType.
6.6 Open62541
OpenIL integrates the Open62541 software stack (https://open62541.org/). This supports both server-side and client-side API for OPC UA applications. Only server-side capabilities of open62541 are being shown here. Open62541 is distributed as a C-based dynamic library (libopen62541.so). The services run on pthreads, and the application code runs inside an event loop. When building with the BR2_PACKAGE_OPEN62541_EXAMPLES flag, the following Open62541 example applications are included in the OpenIL target image:
� open62541_client � open62541_server_instantiation � open62541_tutorial_client_firststeps � open62541_tutorial_server_firststeps � open62541_tutorial_server_variable � open62541_server � open62541_server_mainloop � open62541_tutorial_datatypes � open62541_tutorial_server_method � open62541_tutorial_server_variabletype � open62541_server_inheritance � open62541_server_repeated_job � open62541_tutorial_server_datasource � open62541_tutorial_server_object
6.7 Example of a server application: OPC SJA1105
In addition to the default Open62541 examples, OpenIL includes an application for monitoring the SJA1105 traffic counters on the LS1021A-TSN board. It can be started by running:
[root@openil] $ /usr/bin/opc-sja1105
The application's information model hierarchically describes the per-port traffic counters of the L2 switch under the 1:SJA1105 node. On the server, a repeated job runs once per second, reads the port counters over SPI, and manually updates the port counter nodes.

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FreeOpcUa Client GUI
6.8 FreeOpcUa Client GUI
FreeOpcUa (http://freeopcua.github.io/) is another open source framework for OPC UA communication (both server- and clientside). For this example, the client GUI available at https://github.com/FreeOpcUa/opcua-client-gui can be used to interact with the opc-sja1105 server application from OpenIL.
1. Follow the instructions from the opcua-client-gui README.md to install it on a host PC (either Windows or GNU/ Linux). As noted, a Python runtime with Qt5 support is required.
2. In Windows, navigate to the location of your WinPython installation, and open WinPython Command Prompt.exe. 3. Execute the following command:
opcua-client
The FreeOpcUa client GUI window pops up. 4. In the address drop-down input field, insert the following text:
opc.tcp://192.168.15.2:16664
After selecting Connect, a connection to the OPC UA server running on Board 2 is established. 5. In the OPC UA client, navigate to the node Root -> Objects -> SJA1105 TSN Switch -> RGMII2 -> Traffic Counters ->
ETH3 ::: N_TXBYTE. This should correspond to the Node ID ns=1;i=173. Right click on this node, and select Subscribe to data change. 6. After this step, the OPC UA client should look like this:

Figure 25. Subscribing to data changes of the ETH3 ::: N_TXBYTE node of the OPC-SJA1105 server
In the FreeOpcUa GUI, it is possible to create subscriptions to Data Changes on port counters of interest (by right-clicking on the individual nodes in the Address Space).
A dedicated OPC client might run custom code upon receiving Data Change notifications from the server, whereas the FreeOpcUa GUI only displays the updated values.

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Figure 26. Data change notification The preceding figure shows the Data Change Subscriptions to two counters: the Tx Frames of the L2 switch towards the LS1021, and the Tx Bytes towards chassis port ETH5. Note that the subscribed value of ETH5 ::: N_TXBYTE (48259) is higher than the Value of its Attribute (47849). This is because the Subscriptions view updates automatically, while the Attributes do not.

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Chapter 7 TSN

Time Sensitive Networking (TSN) is an extension to traditional Ethernet networks, providing a set of standards compatible with IEEE 802.1 and 802.3. These extensions are intended to address the limitations of standard Ethernet in sectors ranging from industrial and automotive applications to live audio and video systems.Applications running over traditional Ethernet must be designed very robust in order to withstand corner cases such as packet loss, delay or even reordering. TSN aims to provide guarantees for deterministic latency and packet loss under congestion, allowing critical and non-critical traffic to be converged in the same network.
This chapter describes the process and use cases for implementing TSN features on the LS1021ATSN and the LS1028ARDB boards.

7.1 Using TSN features on LS1028ARDB
The tsntool is an application configuration tool to configure the TSN capability on LS1028ARDB. The files /usr/bin/tsntool and /usr/lib/libtsn.so are located in the rootfs. Run tsntool to start the setting shell.
7.1.1 Tsntool User Manual
Tsntool is a tool to set the TSN capability of the Ethernet ports of TSN Endpoint and TSN switch. This document describes how to use tsntool for NXP's LS1028ARDB hardware platform.
NOTE Currently the Tsntool supports only the LS1028ARDB platform. Other hardware platforms might be supported in future.

7.1.1.1 Getting the source code
Github of the tsntool code is: https://github.com/openil/tsntool.git

7.1.1.2 Tsn tool commands

The following table lists the TSN tool commands and their description.

Command

Table 21. TSN tool commands and their description Description

help

Lists commands support

version verbose

Shows software version Debugs on/off for tsntool

quit qbvset

Quits prompt mode Sets time gate scheduling config for <ifname>

qbvget

Gets time scheduling entries for <ifname>

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Command cbstreamidset cbstreamidget qcisfiset qcisfiget qcisgiset qcisgiget qcisficounterget qcifmiset qcifmiget cbsset cbsget qbuset qbugetstatus tsdset tsdget ctset cbgen cbrec pcpmap dscpset sendpkt regtool

Table 21. TSN tool commands and their description (continued) Description Sets stream identification table Gets stream identfication table and counters Sets stream filter instance Gets stream filter instance Sets stream gate instance Gets stream gate instance Gets stream filter counters Sets flow metering instance Gets flow metering instance Sets TCs credit-based shaper configure Gets TCs credit-based shaper status Sets one 8-bits vector showing the preemptable traffic class Not supported Not supported Not supported Sets cut through queue status (specific for ls1028 switch) Sets sequence generate configure (specific for ls1028 switch) Sets sequence recover configure (specific for ls1028 switch) Sets queues map to PCP tag (specific for ls1028 switch) Sets queues map to DSCP of Qos tag (specific for ls1028 switch) Not supported Register read/write of bar0 of PFs (specific for ls1028 enetc) Table continues on the next page...

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Command ptptool
dscpset

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Table 21. TSN tool commands and their description (continued) Description ptptool get/set ptp timestamp. Useful commands: #get ptp0 clock time ptptool -g
#get ptp1 clock time ptptool -g -d /dev/ptp1
Set queues map to DSCP of QoS tag (specific for ls1028 switch)

7.1.1.3 Tsntool commands and parameters

This section lists the tsntool commands along with the parameters and arguments, with which they can be used.

Table 22. Tsntool command parameters and arguments

qbvset parameter <argument>

Description

--device <ifname>

An interface such as eno0/swp0

--entryfile <filename>

A file script to input gatelist format. It has the following arguments:
#'NUMBER' 'GATE_VALUE' 'TIME_LONG'
� NUMBER: # 't' or 'T' head. Plus entry number. Duplicate entry number will result in an error.
� GATE_VALUE: # format: xxxxxxxxb . # The MSB corresponds to traffic class 7. The LSB corresponds to traffic class 0. # A bit value of 0 indicates closed, whereas, a bit value of 1 indicates open.
� TIME_LONG: # nanoseconds. Do not input 0 time long. t0 11101111b 10000 t1 11011111b 10000
NOTE Entryfile parameter must be set. If not set, there will be a vi text editor prompt, "require to input the gate list".

--basetime <value>
--cycletime <value> --cycleextend <value>

AdminBaseTime A 64-bit hex value means nano second until now. OR a value input format as: Seconds.nanoSeconds Example: 115.532038675
AdminCycleTime
AdminCycleTimeExtension Table continues on the next page...

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qbvset parameter <argument>

Table 22. Tsntool command parameters and arguments (continued) Description

--enable | --disable

� enable: enables the qbv for this port � disable: disables the qbv for this port Default is set to enable, if no enable or disable input

--maxsdu <value>

queueMaxSDU

--initgate <value>

AdminGateStates

--configchange

ConfigChange. Default set to 1.

--configchangetime <value> ConfigChangeTime

Parameter <argument> --device <ifname>

Description

Table 23. qbvget

An interface such as eno0/swp0

Parameter <argument>

Description

Table 24. cbstreamidset

--enable | --disable

� enable: Enables the entry for this index.
� disable: Disables the entry for this index. Default is set to enable if no enable or disable input

--index <value>

Index entry number in this controller. Mandatory parameter.

--device <string>

An interface such as eno0/swp0

--streamhandle <value>

tsnStreamIdHandle

--infacoutport <value>

tsnStreamIdInFacOutputPortList

--outfacoutport <value>

tsnStreamIdOutFacOutputPortList

--infacinport <value>

tsnStreamIdInFacInputPortList

--outfacinport <value>

tsnStreamIdOutFacInputPortList

--nullstreamid | --

tsnStreamIdIdentificationType:

sourcemacvid | --destmacvid | --ipstreamid

� -nullstreamid:Null Stream identification

� -sourcemacvid: Source MAC and VLAN Stream identification

� -destmacvid: not supported

� -ipstreamid: not supported

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Parameter <argument> --nulldmac <value> --nulltagged <value> --nullvid <value> --sourcemac <value> --sourcetagged <value> --sourcevid <value>
parameter <argument> --device <ifname> --index <value>
Parameter <argument> --device <ifname> --enable | --disable
--maxsdu <value> --flowmeterid <value> --index <value> --streamhandle <value>
--priority <value> --gateid <value> --oversizeenable --oversize

Table 24. cbstreamidset (continued) Description tsnCpeNullDownDestMac tsnCpeNullDownTagged tsnCpeNullDownVlan tsnCpeSmacVlanDownSrcMac tsnCpeSmacVlanDownTagged tsnCpeSmacVlanDownVlan

Using TSN features on LS1028ARDB

Table 25. cbstreamidget Description An interface such as eno0/swp0
Index entry number in this controler. Mandatory to have.

Description

Table 26. qcisfiset

An interface such as eno0/swp0

� enable: enable the entry for this index � disable: disable the entry for this index � default to set enable if no enable or disable input

Maximum SDU size.

Flow meter instance identifier index number.

StreamFilterInstance. index entry number in this controler.

StreamHandleSpec This value corresponds to tsnStreamIdHandle of cbstreamidset command.

PrioritySpec

StreamGateInstanceID

StreamBlockedDueToOversizeFrameEnable

StreamBlockedDueToOversizeFrame

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parameter <argument> --device <ifname> --index <value>
parameter <argument> --device <ifname> --index <value> --enable | --disable
--configchange --enblkinvrx --blkinvrx --initgate --initipv --cycletime --cycletimeext --basetime
--gatelistfile

Description

Table 27. qcisfiget

An interface such as eno0/swp0

Index entry number in this controller. Mandatory to have.

Description

Table 28. qcisgiset

An interface such as eno0/swp0

Index entry number in this controller. Mandatory to have.

� enable: enable the entry for this index. PSFPGateEnabled � disable: disable the entry for this index � default to set enable if no enable or disable input

configchange

PSFPGateClosedDueToInvalidRxEnable

PSFPGateClosedDueToInvalidRx

PSFPAdminGateStates

AdminIPV

Default not set. Get by gatelistfile.

PSFPAdminCycleTimeExtension

PSFPAdminBaseTime A 64-bit hex value means nano second until now. OR a value input format as: Seconds.nanoSeconds Example: 115.532038675

PSFPAdminControlList. A file input the gate list: 'NUMBER' 'GATE_VALUE' 'IPV' 'TIME_LONG' 'OCTET_MAX'
� NUMBER: # 't' or 'T' head. Plus entry number. Duplicate entry number will result in an error.
� GATE_VALUE: format: xb: The MSB corresponds to traffic class 7. The LSB corresponds to traffic class 0. A bit value of 0 indicates closed, A bit value of 1 indicates open.
� IPV: # 0~7
� TIME_LONG: in nanoseconds. Do not input time long as 0.
� OCTET_MAX: The maximum number of octets that are permitted to pass the gate. If zero, there is no maximum. t0 1b -1 50000 10

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parameter <argument> --device <ifname> --index <value>
parameter <argument> --device <ifname> --index <value> --disable --cir <value> --cbs <value> --eir <value> --ebs <value> --cf --cm --dropyellow --markred_enable --markred
parameter <argument> --device <ifname> --index <value>
parameter <argument> --device <ifname> --preemptable <value>

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Description

Table 29. qcisgiget

An interface such as eno0/swp0

Index entry number in this controller. Mandatory to have.

Description

Table 30. qcifmiset

An interface such as eno0/swp0 Index entry number in this controller. Mandatory to have.

If not set disable, then to be set enable. cir. kbit/s. cbs. octets. eir.kbit/s. ebs.octets. cf. couple flag. cm. color mode. drop yellow. mark red enable. mark red.

Table 31. qcifmiget parameter Description An interface such as eno0/swp0 Index entry number in this controller. Mandatory to have.

Table 32. qbuset parameter Description
An interface such as eno0/swp0
8-bit hex value. Example: 0xfe The MS bit corresponds to traffic class 7. The LS bit to traffic class 0. A bit value of 0 indicates express. A bit value of 1 indicates preemptable.

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parameter <argument>

Table 33. cbsset command Description

--device <ifname>

An interface such as eno0/swp0

--tc <value> --percentage <value>

Traffic class number. Set percentage of tc limitation.

--all <tc-percent:tc-percent...> Not supported.

parameter <argument> --device <ifname> --tc <value>

Description

Table 34. cbsget

An interface such as eno0/swp0

Traffic class number.

parameter <argument>
Usage: regtool { pf number } { offset } [ data ]

Description

Table 35. regtool

pf number: pf number for the pci resource to act on

offset: offset into pci memory region to act upon

data: data to be written

parameter <argument> --device <ifname> --queue_stat <value>

Table 36. ctset Description An interface such as eno0/swp0
Specifies which priority queues have to be processed in cut-through mode of operation. Bit 0 corresponds to priority 0, Bit 1 corresponds to priority 1 so-on.

parameter <argument> --device <ifname> --index <value>
--iport_mask <value>

Description

Table 37. cbgen

An interface such as eno0/swp0

Index entry number in this controller. Mandatory to have. This value corresponds to tsnStreamIdHandle of cbstreamidset command.

INPUT_PORT_MASK: If the packet is from input port belonging to this port mask, then it's a known stream and Sequence generation parameters can be applied

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parameter <argument> --split_mask <value>
--seq_len <value>
--seq_num <value>
parameter <argument> --device <ifname> --index <value> --seq_len <value>
--his_len <value> --rtag_pop_en
parameter <argument> --device <ifname> --enable
parameter <argument> --device <ifname> --disable --index

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Table 37. cbgen (continued) Description
SPLIT_MASK: Port mask used to add redundant paths (or ports). If split is enabled (STREAM_SPLIT) for a stream. This is OR'ed with the final port mask determined by the forwarding engine.
SEQ_SPACE_LOG2: Minimum value is 1 and maximum value is 28. tsnSeqGenSpace = 2**SEQ_SPACE_LOG2 For example, if this value is 12, then valid sequence numbers are from 0x0 to 0xFFF.
GEN_REC_SEQ_NUM: The sequence number to be used for outgoing packet passed to SEQ_GEN function. Note: Only lower 16-bits are sent in RED_TAG.

Description

Table 38. cbrec

An interface such as eno0/swp0

Index entry number in this controller. Mandatory to have. This value corresponds to tsnStreamIdHandle of cbstreamidset command.

SEQ_SPACE_LOG2:Min value is 1 and maximum value is 28. tsnSeqRecSeqSpace = 2**SEQ_REC_SPACE_LOG2 For example, if this value is 12, then valid sequence numbers are from 0x0 to 0xFFF.

SEQ_HISTORY_LEN: Refer to SEQ_HISTORY, Min 1 and Max 32.

REDTAG_POP: If True, then the redundancy tag is popped by rewriter.

Description

Table 39. pcpmap

An interface such as eno0/swp0

Enable pcp to traffic class for frames.

Description

Table 40. dscpset

An interface such as eno0/swp0

Disable DSCP to traffic class for frames. DSCP value
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parameter <argument> --cos --dpl

Table 40. dscpset (continued) Description Priority number of queue which is mapped to Drop level which is mapped to

7.1.1.4 Input tips
While providing the command input, you can use the following shortcut keys to make the input faster: � When you input a command, use the TAB key to help list the related commands. For example:
tsntool> qbv
Then press TAB key, to get all related qbv* start commands. If there is only one choice, it is filled as the whole command automatically. � When you input parameters, if you don't remember the parameter name. You can just input "--" then press TAB key. It displays all the parameters. If you input half the parameter's name, pressing the TAB key lists all the related names. � History: press the up arrow "" . You will get the command history and can re-use the command.
7.1.1.5 Non-interactive mode
Tsntool also supports non-interactive mode. For example: In the interactive mode:
tsntool> qbuset --device eno0 --preemptable 0xfe
In non-interactive mode:
tsntool qbuset --device eno0 --preemptable 0xfe

7.1.2 Kernel configuration
Before compiling the Linux kernel, we need to configure it. In the kernel, select the configuration settings displayed below:
Symbol: TSN [=y]  Type : boolean  Prompt: 802.1 Time-Sensitive Networking support  Location:  -> Networking support (NET [=y])  -> Networking options  Depends on: NET [=y] && VLAN_8021Q [=y] && PTP_1588_CLOCK [=y]
 Symbol: ENETC_TSN [=y]  Type : boolean  Prompt: TSN Support for NXP ENETC driver  Location:

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 -> Device Drivers

 -> Network device support (NETDEVICES [=y])

 -> Ethernet driver support (ETHERNET [=y])

 -> Freescale devices (NET_VENDOR_FREESCALE [=y])

 Defined at drivers/net/ethernet/freescale/enetc/Kconfig:41

 Depends on: NETDEVICES [=y] && ETHERNET [=y] && NET_VENDOR_FREESCALE [=y] && FSL_ENETC [=m] &&

TSN [=y]



Symbol: FSL_ENETC_PTP_CLOCK [=y]

 Type : tristate

 Prompt: ENETC PTP clock driver

 Location:

 -> Device Drivers

 -> Network device support (NETDEVICES [=y])

 -> Ethernet driver support (ETHERNET [=y])

 -> Freescale devices (NET_VENDOR_FREESCALE [=y])



Symbol: FSL_ENETC_HW_TIMESTAMPING [=y]

 Type : boolean

 Prompt: ENETC hardware timestamping support

 Location:

 -> Device Drivers

 -> Network device support (NETDEVICES [=y])

 -> Ethernet driver support (ETHERNET [=y])

 -> Freescale devices (NET_VENDOR_FREESCALE [=y])

|

Symbol: MSCC_FELIX_SWITCH_TSN [=y]

| Type : tristate

| Prompt: TSN on FELIX switch driver

| Location:

| -> Device Drivers

| -> Network device support (NETDEVICES [=y])

| -> Ethernet driver support (ETHERNET [=y])

|

-> Microsemi devices (NET_VENDOR_MICROSEMI [=y])

|

-> Ocelot switch driver (MSCC_OCELOT_SWITCH [=y])

|

-> FELIX switch driver (MSCC_FELIX_SWITCH [=y])

| Defined at drivers/net/ethernet/mscc/Kconfig:38

Symbol: NET_PKTGEN [=y]

| Type : tristate

| Prompt: Packet Generator (USE WITH CAUTION)

| Location:

|

-> Networking support (NET [=y])

|

-> Networking options

|

-> Network testing

| Defined at net/Kconfig:325

| Depends on: NET [=y] && INET [=y] && PROC_FS [=y]

Symbol: MSCC_FELIX_SWITCH_PTP_CLOCK [=y]

| Type : boolean

| Prompt: FELIX switch PTP clock support

| Location:

| -> Device Drivers

| -> Network device support (NETDEVICES [=y])

|

-> Ethernet driver support (ETHERNET [=y])

|

-> Microsemi devices (NET_VENDOR_MICROSEMI [=y])

|

-> Ocelot switch driver (MSCC_OCELOT_SWITCH [=y])

|

-> FELIX switch driver (MSCC_FELIX_SWITCH [=y])

| Defined at drivers/net/ethernet/mscc/Kconfig:38

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| Depends on: NETDEVICES [=y] && ETHERNET [=y] && NET_VENDOR_MICROSEMI | Selects: PTP_1588_CLOCK [=y]

7.1.3 Basic TSN configuration examples on ENETC
The tsntool is an application configuration tool to configure the TSN capability. You can find the file, /usr/bin/tsntool and /usr/ lib/libtsn.so in the rootfs. Run tsntool to start the setting shell. The following sections describe the TSN configuration examples on the ENETC ethernet driver interfaces. Before testing the ENETC TSN test cases, you need to enable mqprio by using the command:
tc qdisc add dev eno0 root handle 1: mqprio num_tc 8 map 0 1 2 3 4 5 6 7 hw 1

7.1.3.1 Linuxptp test
To test 1588 synchronization on ENETC interfaces, use the following procedure: 1. Connect ENETC interfaces on two boards in a back-to-back manner. (For example, eno0 to eno0.) The linux booting log is as follows:

... pps pps0: new PPS source ptp0 ...
2. Check PTP clock and timestamping capability:

# ethtool -T eno0

Time stamping parameters for eno0:

Capabilities:

hardware-transmit

(SOF_TIMESTAMPING_TX_HARDWARE)

hardware-receive

(SOF_TIMESTAMPING_RX_HARDWARE)

hardware-raw-clock

(SOF_TIMESTAMPING_RAW_HARDWARE)

PTP Hardware Clock: 0

Hardware Transmit Timestamp Modes:

off

(HWTSTAMP_TX_OFF)

on

(HWTSTAMP_TX_ON)Hardware Receive Filter Modes:

none

(HWTSTAMP_FILTER_NONE)

all

(HWTSTAMP_FILTER_ALL)

3. Configure the IP address and run ptp4l on two boards:

# ifconfig eno0 <ip_addr> # ptp4l -i eno0 -p /dev/ptp0 -m

4. After running, one board would be automatically selected as the master, and the slave board would print synchronization messages.
5. For 802.1AS testing, just use the configuration file gPTP.cfg in linuxptp source. Run the below command on the boards, instead:

# ptp4l -i eno0 -p /dev/ptp0 -f gPTP.cfg -m

7.1.3.2 Qbv test
This test includes the Basic gates closing test, Basetime test, and the Qbv performance test. These are described in the following sections.

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7.1.3.2.1 Basic gates closing
The commands below describe the steps for closing the basic gates:

cat > qbv0.txt << EOF

t0

00000000b

EOF

20000

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#Explanation:

# 'NUMBER'

:

# 'GATE_VALUE' :

# 'TIME_LONG'

:

t0 00000000b 20000 ns

cp libtsn.so /lib ./tsntool tsntool> verbose tsntool> qbvset --device eno0 --entryfile ./qbv0.txt
ethtool -S eno0 ping 192.168.0.2 -c 1 #Should not pass any frame since gates are all off.

7.1.3.2.2 Basetime test
Base on case 1 qbv1.txt gate list.

#create 1s gate

cat > qbv1.txt << EOF

t0 11111111b

10000

t1 00000000b

99990000

EOF

tsntool> regtool 0 0x18 tsntool> regtool 0 0x1c

#read the current time tsntool> ptptool -g

#add some seconds, for example, you get 200.666 time clock, then set 260.666 as result

tsntool> qbvset --device eno0 --entryfile qbv1.txt --basetime 260.666 tsntool> qbvget --device eno0 #You can check configchange time tsntool> regtool 0 0x11a10 #Check pending status, 0x1 means time gate is working

#Waiting to change state, ping remote computer ping 192.168.0.2 -A -s 1000

#The reply time will be about 100 ms

Since 10000 ns is the maximum limit for package size 1250 B.

ping 192.168.0.2 -c 1 -s 1300 #frame should not pass

7.1.3.2.3 Qbv performance test
Use the setup described in the figure below for testing ENETC port0 (MAC0).

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Figure 27. Setup for testing ENETC port0

cat > qbv5.txt << EOF

t0 11111111b

1000000

t1 00000000b

1000000

EOF

qbvset --device eno0 --entryfile qbv5.txt ./pktgen/pktgen_twoqueue.sh -i eno0 -q 3 -n 0

#The stream would get about half line rate

7.1.3.3 Qci test cases
Use the following as the background setting: � Set eno0 MAC address
ip link set eno0 address 10:00:80:00:00:00
TestCenter MAC address 99:aa:bb:cc:dd:ee as an example. � Use the figure below as the hardware setup.

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Figure 28. Qci test case setup
7.1.3.3.1 Test SFI No Streamhandle
To test no streamhandle for a stream filter, set a close gate stream id 2. Then no stream identifies the package check and other streams would pass the gate, as shown in the following example:
tsntool> qcisfiset --device eno0 --index 2 --gateid 2 � Streams no streamhandle should pass this filter. tsntool> qcisfiget --device eno0 --index 2 � Send a frame from the Test center. tsntool> qcisfiget --device eno0 --index 2 � Set Stream Gate entry 2 tsntool> qcisgiset --device eno0 --index 2 --initgate 1 � Send a frame from the Test center. tsntool> qcisfiget --device eno0 --index 2 � Set Stream Gate entry 2, gate closes permanently. tsntool> qcisgiset --device eno0 --index 2 --initgate 0

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� Send a frame from the Test center.

tsntool> qcisfiget --device eno0 --index 2

#The result should look like below:

match pass gate_drop sdu_pass sdu_drop red

1 0 1

1 0 0

7.1.3.3.2 Testing null stream identify entry
Use the following steps: 1. Set main stream by close gate. 2. Set Stream identify Null stream identify entry 1. tsntool> cbstreamidset --device eno0 --index 1 --nullstreamid --nulldmac 0x000000800010 --nulltagged 3 --nullvid 10 --streamhandle 100 3. Get SID index 1. tsntool> cbstreamidget --device eno0 --index 1 4. Set Stream filer entry 1. tsntool> qcisfiset --device eno0 --streamhandle 100 --index 1 --gateid 1 5. Set Stream Gate entry 1. tsntool> qcisgiset --device eno0 --index 1 --initgate 0 6. Send one frame from the Test center. tsntool> qcisfiget --device eno0 --index 1 7. The result should look like the output below: match pass gate_drop sdu_pass sdu_drop red 1 0 1 1 0 0

7.1.3.3.3 Testing source stream identify entry
Use the following steps for this test: 1. Keep Stream Filter entry 1 and Stream gate entry 1. 2. Add stream2 in test center: SMAC is 66:55:44:33:22:11 DMAC:20:00:80:00:00:00 3. Set Stream identify Source stream identify entry 3
tsntool> cbstreamidset --device eno0 --index 3 --sourcemacvid --sourcemac 0x112233445566 -sourcetagged 3 --sourcevid 20 --streamhandle 100
4. Send frame from test center. The frame passes to stream filter index 1.
tsntool> qcisfiget --device eno0 --index 1

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7.1.3.3.4 SGI stream gate list
Use the command below for this test:
cat > sgi1.txt << EOF t0 0b -1 1000 0 t1 1b -1 1000 0 EOF tsntool> qcisfiset --device eno0 --index 2 --gateid 2 tsntool> qcisgiset --device eno0 --index 2 --initgate 1 --gatelistfile sgi1.txt
#flooding frame size 64bytes at test center tsntool> qcisfiget --device eno0 --index 2
Check the frames dropped and passed, they should be the same.
7.1.3.3.5 FMI test
Only send green color frames, set the test center speed to 10000000 bsp/s:
tsntool> qcisfiset --device eno0 --index 2 --gateid 2 --flowmeterid 2 tsntool> qcifmiset --device eno0 --index 2 --cm --cf --cbs 1500 --cir 5000000 --ebs 1500 --eir 5000000
The below setting shows the dropped frames:
tsntool> qcifmiset --device eno0 --index 2 --cm --cf --cbs 1500 --cir 5000000 --ebs 1500 --eir 2000000
To get information of color frame counters showing at application layer, use the code as in the below example:
tsntool> qcifmiget --device eno0 --index 2 ======================================================================= bytecount drop dr0_green dr1_green dr2_yellow remark_yellow dr3_red remark_red 1c89 0 4c 0 0 0 0 0 ======================================================================= index = 2 cir = c34c cbs = 5dc eir = 4c4b3c ebs = 5dc couple flag color mode
7.1.3.4 Qbu test
Set the frame path from eno0 to external by linking enetc MAC0 - SWP0. Use the setup as shown in the following figure for the Qbu test.

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Figure 29. Qbu test

NOTE 0x11f10 Port MAC Merge Frame Assembly OK Count Register
0x11f18 Port MAC Merge Fragment Count TX Register (MAC_MERGE_MMFCTXR)
For linking the ENETC port0 to SWP0, use the steps below: 1. Make sure link speed is 1 Gbps by using the command: ethtool eno0 2. If it is not 1Gbps, set it to 1 Gbps by using the command: ethtool -s swp0 speed 1000 duplex full autoneg on 3. Set the switch to enable merge: devmem 0x1fc100048 32 0x111 #DEV_GMII:MM_CONFIG:ENABLE_CONFIG 4. Use the below ENETC port setting: ip link set eno0 address 90:e2:ba:ff:ff:ff tsntool> qbuset --device eno0 --preemptable 0xfe ./pktgen/pktgen_twoqueue.sh -i eno0 -q 0 -s 100 -n 20000 -m 90:e2:ba:ff:ff:ff 5. Check the tx merge counter, if it has a non-zero value, it indicates that the Qbu is working. tsntool> regtool 0 0x11f18

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7.1.3.5 Qav test
The following figure illustrates the hardware setup diagram for the Qav test.

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1. Run the following commands:

Figure 30. Qav test setup

cbsset --device eno0 --tc 7 --percentage 60 cbsset --device eno0 --tc 6 --percentage 20 ./pktgen/pktgen_twoqueue.sh -i eno0 -q 6 -s 1500 -n 0 -m 10:11:12:13:14:15
2. Check the test center result, TC6 should have 1/3 frames of TC7. 3. Check one queue:

./pktgen/pktgen_sample01_simple.sh -i eno0 -q 7 -s 500 -n 0 It should get about 60% percentage line rate.

7.1.4 Basic TSN configuration examples on the switch
The following sections describe examples for the basic configuration of TSN switch.

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7.1.4.1 Switch configuration

Figure 31. TSN switch configuration
Use the following commands for configuring the switch on LS1028ARDB:
ls /sys/bus/pci/devices/0000:00:00.5/net/
Get switch device interfaces: swp0 swp1 swp2 swp3 swp4 swp5>
ip link add name switch type bridge ip link set switch up ip link set swp0 master switch && ip link set swp0 up ip link set swp1 master switch && ip link set swp1 up ip link set swp2 master switch && ip link set swp2 up ip link set swp3 master switch && ip link set swp3 up ip link set swp4 master switch && ip link set swp4 up ip link set swp5 master switch && ip link set swp5 up

7.1.4.2 Linuxptp test
To test 1588 synchronization on felix-switch interfaces, connect two boards back-to-back with switch interfaces. For example, swp0 to swp0. The Linux booting log is displayed below:
... pps pps0: new PPS source ptp1 ...
Check PTP clock and timestamping capability
# ethtool -T swp0 Time stamping parameters for swp0:

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Capabilities: hardware-transmit (SOF_TIMESTAMPING_TX_HARDWARE) hardware-receive (SOF_TIMESTAMPING_RX_HARDWARE) hardware-raw-clock (SOF_TIMESTAMPING_RAW_HARDWARE)
PTP Hardware Clock: 1 Hardware Transmit Timestamp Modes:
off (HWTSTAMP_TX_OFF) on (HWTSTAMP_TX_ON) Hardware Receive Filter Modes: none (HWTSTAMP_FILTER_NONE) all (HWTSTAMP_FILTER_ALL)

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For 802.1AS testing, use the configuration file gPTP.cfg in linuxptp source. Run the below commands on the two boards instead. # ptp4l -i swp0 -p /dev/ptp1 -f gPTP.cfg -m
7.1.4.3 Qbv test
The following figure describes the setup for Qbv test on LS1028ARDB.

Figure 32. Qbv test
7.1.4.3.1 Closing basic gates
Use the set of commands below for basic gate closing.

echo "t0 00000000b 20000" > qbv0.txt

#Explaination:

# 'NUMBER'

: t0

# 'GATE_VALUE' : 00000000b

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# 'TIME_LONG' : 20000 ns
cp libtsn.so /lib ./tsntool tsntool> verbose tsntool> qbvset --device swp1 --entryfile ./qbv0.txt
#Send one broadcast frame to swp0 from TestCenter. ethtool -S swp1 #Should not get any frame from swp1 on TestCenter.
echo "t0 11111111b 20000" > qbv0.txt tsntool> qbvset --device swp1 --entryfile ./qbv0.txt
#Send one broadcast frame to swp0 on TestCenter. ethtool -S swp1 #Should get one frame from swp1 on TestCenter.
7.1.4.3.2 Basetime test
For the basetime test, first get the current second time:
#Get current time: tsntool> ptptool -g -d /dev/ptp1
#add some seconds, for example you get 200.666 time clock, then set 260.666 as result tsntool> qbvset --device swp1 --entryfile ./qbv0.txt --basetime 260.666
#Send one broadcast frame to swp0 on the Test Center. #Frame could not pass swp1 until time offset.
7.1.4.3.3 Gate time limitation
Use the following commands for testing the gate time limitation:
echo "t0 00000000b 20000" > qbv0.txt echo "t1 11111111b 100" >> qbv0.txt tsntool> qbvset --device swp1 --entryfile ./qbv0.txt tsntool> qbuset --device swp1 --preemptable 0xff
#Send one broadcast frame (frame size = 1500) to swp0 on Test Center. #Frame could not pass swp1. # We can get one fragment frame (frame size less than 1500) from swp1 on Test Center.
7.1.4.3.4 Qbv performance test
Use the following commands for the QBv performance test:
cat > qbv5.txt << EOF t0 11111111b 1000000 t1 00000000b 1000000 EOF qbvset --device swp1 --entryfile qbv5.txt
#Send 1G rate stream to swp0 on TestCenter.

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#The stream would get about half line rate from swp1.
7.1.4.4 Qbu test
The figure below illustrates the setup for performing the Qbu test using the TSN switch.

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Figure 33. Qbu test on switch 1. Map PCP value of VLan to queues on port 0.
tsntool> pcpmap �device swp0 �enable 2. Next, map PCP value of VLan to queues on port 1.
tsntool> pcpmap �device swp1 �enable 3. Set queue 1 to be preemptable.
tsntool> qbuset --device swp3 --preemptable 0x02 4. Send two streams from TestCenter, then check the number of additional mPackets transmitted by PMAC:
devmem 0x1fc010e48 32 0x3 && devmem 0x1fc010280
7.1.4.5 Qci test cases
The figure below illustrates the Qci test case setup.

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Figure 34. Qci test case
7.1.4.5.1 Stream identification
Use the following commands for stream identification: 1. Set a stream to swp0 on TestCenter. 2. Edit the stream, set the destination MAC as: 00:01:83:fe:12:01, Vlan ID : 1
tsntool> cbstreamidset --device swp1 --nullstreamid --index 1 --nulldmac 0x000183fe1201 -nullvid 1 --streamhandle 1 tsntool> qcisfiset --device swp0 --streamhandle 1 --index 1 --gateid 1 --priority 0 --flowmeterid 68 #Explanation: #'flowmeterid': PSFP Policer id, ranges from 63 to 383.
3. Send one frame.
ethtool -S swp1 ethtool -S swp2
# Only swp1 can get the frame.

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7.1.4.5.2 Stream gate control
1. Use the following commands for stream gate control:
echo "t0 1b 3 50000 200" > sgi.txt tsntool> qcisgiset --device swp0 --enable --index 1 --initgate 1 --initipv 0 --gatelistfile sgi.txt --basetime 0x0
Explanation: � 'index': gateid � 'basetime' : It is the same as Qbv set.
2. Send one frame on TestCenter.
ethtool -S swp1
The frame could pass, and green_prio_3 has increased. 3. Now run the following commands:
echo "t0 0b 3 50000 200" > sgi.txtx tsntool> qcisgiset --device swp0 --enable --index 1 --initgate 1 --initipv 0 --gatelistfile sgi.txt --basetime 0x0
4. Next, send one frame on TestCenter.
ethtool -S swp1
Note that the frame could not pass.
7.1.4.5.3 SFI maxSDU test
Use the following command to run this test:
tsntool> qcisfiset --device swp0 --streamhandle 1 --index 1 --gateid 1 --priority 0 --flowmeterid 68 -maxsdu 200
Now, send one frame (frame size > 200) on TestCenter.
ethtool -S swp1
You can observe that the frame could not pass.
7.1.4.5.4 FMI test
Use the following set of commands for the FMI test. 1. Run the command:
tsntool> qcifmiset --device swp0 --index 68 --cir 100000 --cbs 4000 --ebs 4000 --eir 100000
NOTE The index of qcifmiset must be the same as flowmeterid of qcisfiset.
2. Now, send one stream (rate = 100M) on TestCenter.
ethtool -S swp0

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3. Now, send one stream (rate = 200M) on TestCenter. ethtool -S swp0
Observe that all frames pass and get green and yellow frames. 4. Send one stream (rate = 300M) on TestCenter.
ethtool -S swp0 Note that not all frames could pass and get green, yellow, and red frames. 5. Map the CFI value of VLan to dp value on port 0 to recognize yellow frames.
tsntool> pcpmap --device swp0 --enable 6. Send one yellow stream (rate = 100M) on TestCenter.
ethtool -S swp0 All frames pass and get all yellow frames. 7. Send one yellow stream (rate = 200M) on TestCenter.
ethtool -S swp0 Note that not all frames could pass and get yellow and red frames. 8. Test cf mode.
tsntool> qcifmiset --device swp0 --index 68 --cir 100000 --cbs 4000 --ebs 4000 --eir 100000 --cf 9. Send one yellow stream (rate = 200M) on TestCenter.
ethtool -S swp0 All frames pass and get all yellow frames (use CIR as well as EIR). 10. Send one yellow stream (rate = 300M) on TestCenter.
ethtool -S swp0
NOTE Note that not all frames could pass and get yellow and red frames.
7.1.4.6 Qav test case
The below figure illustrates the Qav test case setup.

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Figure 35. Qav test case 1. Map PCP value of VLan to queues on port 0 using the command:
tsntool> pcpmap --device swp0 --enable
2. Now, map PCP value of VLan to queues on port 1:
tsntool> pcpmap --device swp1 --enable tsntool> cbsset --device swp2 --tc 1 --percentage 20 tsntool> cbsset --device swp2 --tc 2 --percentage 40
3. Send two streams from Test center, then check the frames count.
ethtool -S swp2
Note that the frame count of queue1 is half of queue2. NOTE
Stream rate must lager than bandwidth limited of queue.
4. Capture frames on swp2 on TestCenter. # The Get Frame sequence is: (PCP=1), (PCP=2), (PCP=2), (PCP=1), (PCP=2), (PCP=2),...
7.1.4.7 Seamless redundancy test case
The following figure describes the test setup for the seamless redundancy test case.

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Figure 36. Seamless redundancy test
7.1.4.7.1 Sequence Generator test
Use the following set of commands for the 'Sequence Generator' test. 1. Use the following commands on board B:
ifconfig eno2 192.168.0.2 up ifconfig eno2
Get the MAC address of eno2: 7E:A8:8C:9B:41:DD 2. Use the following commands on board A:
ifconfig eno2 192.168.0.1 up ping 192.168.0.2
The network is connected now. 3. On board A, run the commands:
tsntool> cbstreamidset --device swp0 --nullstreamid --index 1 --nulldmac 0x7EA88C9B41DD -nullvid 1 --streamhandle 1 tsntool> cbgen --device swp0 --index 1 --iport_mask 0x3f --split_mask 0x07 --seq_len 16 -seq_num 2048
Capture frames on swp2 on TestCenter. 4. Now run the command below:
ping 192.168.0.2
# We can get frames from swp2 on TestCenter, each frame adds the sequence number: 23450801, 23450802, 23450803... 5. On board B, run the below command:
tcpdump -i eno2 -w eno2.pcap
Users can also get a copy of frames from eno2 on board B, which are transmitted through swp0 of board A.

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7.1.4.7.2 Sequence Recover test
Use the following steps for the Sequence Recover test: 1. On board B, run the following commands:
tsntool> cbstreamidset --device swp4 --nullstreamid --index 1 --nulldmac 0x7EA88C9B41DD -nullvid 1 --streamhandle 1 tsntool> cbrec --device swp0 --index 1 --seq_len 16 --his_len 31 --rtag_pop_en tcpdump -i eno2 -w eno2.pcap
2. On board A, run the command:
ping 192.168.0.2
Then on board B, we can get a frame without sequence tags from board A. 3. Connect swp1 of board A with swp1 of board B. 4. On board B, run the following commands:
tsntool> cbrec --device swp1 --index 1 --seq_len 16 --his_len 31 --rtag_pop_en tcpdump -i eno2 -w eno2.pcap
5. On board A, run the command:
ping 192.168.0.2
On board B, we can get only one frame without sequence tag, another frame from swp0 or swp1 is dropped.
NOTE The index of cbrec must be the same as streamhandle of cbstreamidset.
7.1.4.8 Netconf usage on LS1028ARDB
For accessing the qbv YANG model, click here (https://github.com/openil/openil/blob/master/package/yang-tsn/tsn/tsn.yang).
7.1.4.8.1 Examples to configure qbv
User can configure the qbv feature of LS1028ARDB. For this purpose, follow the Recommended operational steps listed in the README of the yang-tsn package (https://github.com/openil/openil/blob/master/package/yang-tsn/README).

7.2 Using TSN features on LS1021ATSN board
On the OpenIL platforms, TSN features are provided by the SJA1105TEL Automotive Ethernet switch present on the LS1021ATSN board. These hardware features can be used to implement the following IEEE standards:
� 802.1Qbv - Time Aware Shaping � 802.1Qci - Per-Stream Filtering and Policing � 1588v2 - Precision Time Protocol There are two separate use cases being shown as part of this TSN demonstration: � Rate limiting � Synchronized Qbv Both these use cases require a common topology comprising three LS1021ATSN boards and a host PC.

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7.2.1 Bill of Materials
For the TSN demo, the Bill of Materials contains: � 3 LS1021ATSN boards � 1 host PC or laptop running Windows or a GNU/Linux distribution � 1 regular L2 switch with 4 Ethernet ports � Cabling, power adapters, microSD cards
7.2.2 Topology
The TSN demo topology consists of three IP networks : � The management network (192.168.15.0/24) contains the eth0 interfaces of the three LS1021ATSN boards, connected together through the regular L2 switch, and to the host PC which has a static IP address of 192.168.15.100. � The untagged TSN network (172.15.0.0/24), where the three participating network interfaces are the eth2 ports of each board (the Ethernet interface connected internally to the SJA1105 switch). � The tagged TSN network (172.15.100.0/24) physically overlaps with the untagged network, but packets are transmitted with a VLAN ID of 100.
This topology is depicted in the following figure.

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Figure 37. Topology of the demo network
7.2.3 Running the demo with a single LS1021ATSN board
Out of the two upcoming use cases of the TSN demo, only the Synchronized Qbv strictly requires the use of three LS1021ATSN boards. For the rate-limiting use case, a single LS1021ATSN board is sufficient (Board 2). Boards 1 and 3 can be replaced with other hosts, which satisfy the following criteria:
� Have a 1 Gbps Ethernet port (that will replace the eth2 port of the LS1021 board) � The Ethernet port is configured for a static IP in the 172.15.0.0/24 network (untagged TSN) � Are able to run a GNU/Linux environment � Have the following packages installed:
-- openssh-server -- openssh-client -- iperf3 -- tcpdump

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-- prl (Pipe Rate-Limiter: https://github.com/openil/openil/tree/master/package/prl) � Board 2 is able to log into these hosts via SSH without asking for password.
-- For key-based authentication, the public RSA key of Board 2 (/etc/ssh/ssh_host_rsa_key.pub in OpenIL) must be copied into the ~/.ssh/authorized_hosts configuration file of the GNU/Linux user that LBT would attempt to log in.
NOTE � The VLAN-tagged TSN network is not needed for the rate-limiting use case, so do not configure it. � If Board 1 and Board 3 are replaced with PCs or laptops, there is no longer a need for having the L2 switch
and the 192.168.15.0/24 management network. � The LBT web application must be run by connecting to http://172.15.0.2:8000 � In OpenIL (Board 2), edit the /usr/lib/node_modules/lbt/config.json file and replace this
line:
"measurementInterface": "eth2"
With the actual interface name of the Ethernet port of the TSN board replacement. � Porting the prl program to the replacement hosts most likely involves compiling it from source and adding it to /usr/bin by running make install. If this is not desirable, view the /usr/lib/ node_modules/lbt/README.md for instructions on how to patch the LBT application as to not require the prl program as dependency, and the drawbacks of doing so.
NOTE NXP provides a separate document that describes how to run the rate-limiting TSN demo using one LS1021A-TSN board, a bootable live Ubuntu USB image, and a FRDM-LS1012A board. For more details about this setup, refer to LS1021A TSN 1Board Demo Quick Start Guide.
7.2.4 Host PC configuration
Required software: � An SSH client (openssh-client for GNU/Linux; PuTTY, MobaXTerm, TeraTerm etc. for Windows) � An application for serial communication (screen, minicom, etc. for GNU/Linux; PuTTY, MobaXTerm, TeraTerm etc. for Windows)
Follow these steps if you have a Windows PC: 1. On the PC, assign the static IP address of 192.168.15.100 to the Ethernet interface that is connected directly to the L2 switch, and indirectly to the 3 boards. In Windows, this is done by editing the network settings from the Control Panel as in the figure below:

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Figure 38. Windows network settings 2. Go to Advanced settings (in the same window) and configure a manual metric of 100 for this interface. This way,
Internet traffic should not be routed through the Ethernet connection if the laptop is also connected to Wi-Fi. Follow the below steps if you have a GNU/Linux PC:
1. Open GNOME NetworkManager by clicking on its system tray icon and then choosing "Edit Connections..." from the drop-down menu.
2. Choose your Ethernet interface from the dialog box, click "Edit" and go to the IPv4 Settings tab. 3. Change the Method to Manual and Add an IP address of 192.168.15.100. 4. Press the "Routes..." button and tick the "Use this connection only for resources on its network" checkbox. 5. Close all NetworkManager windows and click again on the system tray icon, this time selecting the newly configured
Ethernet interface, in order to reload its configuration.

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Figure 39. Ubuntu network settings (GNOME NetworkManager)
Connection to the three boards over SSH can be verified using MobaXTerm for Windows PC only: 1. Open MobaXTerm, click Session -> SSH and type in the IP address of Board 1: "192.168.15.1" with username "root".

Figure 40. MobaXTerm session settings 2. Connect to Board 1 via MobaXTerm. You should be able to view this interface:
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Figure 41. Login shell to OpenIL on Board 1 in MobaXTerm 3. Repeat the previous steps for Board 2 and Board 3.
7.2.5 Hardware Setup
Perform the following steps for each board individually (without having the whole topology assembled). You will need a serial connection.
1. Boot the boards to U-Boot. Then, change the MAC addresses of the three boards by executing these U-boot commands: Board 1:
=> setenv ethaddr 00:04:9f:ef:00:00 => setenv eth1addr 00:04:9f:ef:01:01 => setenv eth2addr 00:04:9f:ef:02:02
Board 2:
=> setenv ethaddr 00:04:9f:ef:03:03 => setenv eth1addr 00:04:9f:ef:04:04 => setenv eth2addr 00:04:9f:ef:05:05
Board 3:
=> setenv ethaddr 00:04:9f:ef:06:06 => setenv eth1addr 00:04:9f:ef:07:07 => setenv eth2addr 00:04:9f:ef:08:08
2. Resume the boot process for each board:
=> saveenv => boot
3. In Linux, modify the following files, by adapting the address to the board number (172.15.0.{1,2,3}, 172.15.100.{1,2,3}, 192.168.15.{1,2,3}): /etc/network/interfaces (customize for boards 1, 2, 3):
# /etc/network/interfaces � configuration file for ifup(8), ifdown(8) # The loopback interface

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auto lo iface lo inet loopback auto eth2 iface eth2 inet static address 172.15.0.1 netmask 255.255.255.0 auto eth1 iface eth1 inet dhcp auto eth0 iface eth0 inet static address 192.168.15.1 netmask 255.255.255.0
/etc/init.d/S45vlan (customize for boards 1, 2, 3):
IPADDR="172.15.100.1/24"
/etc/hosts (copy as-is for boards 1, 2, 3):

127.0.0.1 127.0.1.1 172.15.0.1 172.15.0.2 172.15.0.3 172.15.100.1 172.15.100.2 172.15.100.3 192.168.15.1 192.168.15.2 192.168.15.3 192.168.15.100

localhost OpenIL board1 board2 board3 board1-vlan board2-vlan board3-vlan board1-mgmt board2-mgmt board3-mgmt host-pc

4. Now, disconnect the USB-serial cables and assemble the 3 boards, PC, and L2 switch in their final position: 5. Place the 3 LS1021ATSN boards in a stack, with Board 1 on top and Board 3 at the bottom. 6. Make the following connections between the 3 boards:
a. Board 1 ETH2 to Board 2 ETH3 b. Board 2 ETH2 to Board 3 ETH3 c. Board 1 ETH0 to Regular L2 Switch d. Board 2 ETH0 to Regular L2 Switch e. Board 3 ETH0 to Regular L2 Switch f. Laptop to Regular L2 Switch

7.2.6 Managing configurations with the sja1105-tool
The sja1105-tool is a Linux user space application for configuring the SJA1105 TSN switch. The tool supports: � Importing a configuration for the SJA1105 switch from an XML file � Exporting the current SJA1105 configuration as an XML file � Uploading the current SJA1105 configuration to the switch through its SPI interface � Inspecting the current SJA1105 configuration

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� On-the-fly modification of the current SJA1105 configuration through command line or scripting interface Figure 42. State machine view of the sja1105-tool commands and configuration formats

The physical SPI registers of the SJA1105 switch are write-only. Therefore, a copy of these registers is kept in the staging area, which is effectively a file in the LS1021A OpenIL filesystem. The staging area keeps a binary image of the configuration to be uploaded over SPI using sja1105-tool config upload, and can also be read back by the user with sja1105-tool config show.
More documentation on the sja1105-tool is distributed as man pages along with the source code:
[ubuntu:~] $ git clone https://github.com/openil/sja1105-tool.git [ubuntu:~] $ cd sja1105-tool [ubuntu:sja1105-tool] $ cd docs/man [ubuntu:man] $ man -l ./sja1105-tool.1 [ubuntu:man] $ man -l ./sja1105-tool-config.1 [ubuntu:man] $ man -l ./sja1105-tool-status.1 [ubuntu:man] $ man -l ./sja1105-tool-reset.1 [ubuntu:man] $ man -l ./sja1105-conf.5 [ubuntu:man] $ man -l ./sja1105-tool-config-format.5
7.2.6.1 SJA1105-tool helper scripts
In order to create other customized configurations, the sja1105-tool may be used as a host tool (run in a GNU/Linux userspace environment on a PC) and may generate XML files.
Install dependencies for sja1105-tool and its helper scripts (shown here for Ubuntu 16.04):
sudo apt-get install build-essential jq libxml2-dev

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Set up sja1105-tool for host usage:
[ubuntu:~] $ git clone git@github.com:openil/sja1105-tool.git [ubuntu:~] $ cd sja1105-tool/src/helpers [ubuntu:~] $ source envsetup
Inside the sja1105-tool source files, there are two helper scripts in the src/helpers/bin/ folder: � scheduler-create � policer-limit
The two helper scripts above constitute the recommended high-level way of interacting with the SJA1105 ingress policer and Qbv engine. The input to the policer-limit script is provided through command-line arguments, while the scheduler-create script expects to read a JSON description of Qbv cycles and timeslots. Actual examples of using the helper scripts are the files in the src/helpers/configs/rate-limiting/ folder. These represent the four configurations presented in this use case and are named:
� standard.sh � prioritizing.sh � policing.sh � scheduling.sh Running each of these scripts produces an XML configuration of the same name that can be uploaded to Board 2 and loaded into the sja1105-tool.
7.2.7 Latency and bandwidth tester
Latency and bandwidth tester (LBT) is a web application written in Node JS that is distributed with the OpenIL image for LS1021ATSN and as such, runs on each of the three boards. It serves as a web interface on the HTTP port 8000, through which users may configure the parameters of a traffic test. The two types of network tests it can perform are iPerf3 (for bandwidth measurements) and ping (for latency measurements). For each of these two types of traffic, users can define an arbitrary amount of flows (their source, destination, and flow-specific parameters). After the configuration phase is finished and the traffic is started, the web server automatically connects over SSH to the source and destination host of each flow (ping and iPerf). The web server collects network traffic information in real-time from the source and destination hosts, and plots it inside the browser window. For the following two use cases, we use the LBT web application to generate traffic and characterize the behavior of the SJA1105 TSN switch under different loads and configurations.
1. From a shell connected to any of the three LS1021ATSN boards, the LBT server can be started by running the following command:
[root@openil] $ /usr/lib/node_modules/lbt/server.js
2. A successful invocation of the server displays this as the final line:
Server listening for http requests on port 8000
3. If the server displays the following on the final line of its output, it means that the LBT server was already started and is running:
Error: listen EADDRINUSE :::8000

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killall node 5. In a browser window, navigate to the management IP (in the 192.168.15.0/24 network) of the board, on port 8000, in order
to view the application.
Figure 43. Latency and bandwidth tester default interface As shown in the above figure, the traffic is stopped, and the two tables with iPerf and ping flows are empty. New flows can be added to the tables by pressing the "+" button.
NOTE Traffic generation using LBT is absolutely equivalent, from an expected performance perspective, to running 'iperf' and 'ping' commands manually between boards from the command line. The LBT web application has a configuration file under the following path: /usr/lib/node_modules/lbt/config.json.
7.2.8 Rate limiting demo 7.2.8.1 Demo overview
The rate-limiting demo focuses on configuring the QoS features of a single SJA1105 switch, as to handle the congestion created by two competing traffic flows. The use case conceptually employs three machines connected through the SJA1105 switch under test. Of the three machines, 2 generate traffic, while the third receives it. In practice, all three machines are in fact the LS1021A cores running OpenIL on each of the 3 boards. The TSN switch under test is that of Board 2. The SJA1105 switches of Board 1 and Board 3 also forward traffic, but their configuration is fixed (not subject to change) for the entirety of the demonstration, and is "standard" (equivalent to a non-TSNenabled L2 switch).

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SJA1105 switch of Board 1
(Not Under Test)

Sender 1
LS1021A core of Board 1

SJA1105 switch of Board 2 Under Test

Sender 2
LS1021A core of Board 2

SJA1105 switch of Board 3
(Not Under Test)

Receiver
LS1021A core of Board 3

Figure 44. Connections of the three hosts and their roles as traffic senders/receivers

Through the SJA1105 switch of Board 2, there are two TCP flows competing for bandwidth: � An iPerf3 connection running from client Board 1 to server Board 3 � An iPerf3 connection running from client Board 2 to server Board 3
LS1021A core of Board 1

Sender 1

Cable between Board 1 and Board 2

SJA1105 switch of Board 2 Under Test

Internal RGMII4 port of Board 2

Cable between Board 2 and Board 3

Sender 2

Receiver

LS1021A core of Board 2

LS1021A core of Board 3

Figure 45. Simplified traffic flows for the rate limiting use case

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Flows directed from Board 1 and Board 2 towards Host 3 are bottlenecked at the middle switch's egress interface The schematic diagram of the two iPerf3 flows is shown above. Flows directed from Board 1 and Board 2 towards Host 3 are bottle-necked at the middle switch's egress interface. The LS1021 on Board 3 is acting as iPerf server, whereas the ones on Board 1 and Board 2 are the iPerf clients. Since both these flows share the same link between the SJA1105 switches of Board 2 and Board 3, they are bottlenecked and compete for the 1000 Mbps total bandwidth of that link. The demo shows 3 approaches to isolate the flows' impact on one another (each of these approaches can be seen as an XML configuration applied to the SJA1105 switch of Board 2): � Standard switch configuration: This is the behavior of traditional Ethernet switches. � Ingress Policing: Rate-limit traffic coming from the LS1021 of Board 2 (in order to protect the flow Board 1 -> Board 3). � Time Gating: Schedule the 2 flows on different time slots.
NOTE In the following sections, unless otherwise specified, the term 'SJA1105' or just 'TSN switch' implicitly refers to the SJA1105 switch present on Board 2.
7.2.8.2 Objectives
� Manage bandwidth problems related to network contention � Demonstrate the features of the L2 Ingress Policer � Create time slots for scheduled traffic � Show the usage of the sja1105-tool and helper scripts
7.2.8.3 Latency and bandwidth tester configuration
For this use case, two iPerf flows would be used as shown in the following figure. Figure 46. iperf flows for bandwidth and latency tester

The preceding figure shows the LBT configured to generate two flows labeled "Host 1" and "Host 2", both destined to 172.15.0.3 (eth2 interface of Board 3), and originating from Board 1 and Board 2, respectively. It bears no importance whether the IP addresses of the iPerf sources are part of the management network (192.168.15.0/24) or TSN network (172.15.0.0/24). The route of the iPerf traffic is decided based on the requested destination address of the flow (in this situation, traffic goes through the TSN network).
7.2.8.4 Use of VLAN tags in the demo
The 802.1Q standard specifies that VLAN-encapsulated Ethernet frames have an additional 4 octet header with the following fields:

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� VLAN Ethertype: must be set to 0x8100 � VLAN Priority Code Point (PCP) � Drop Eligibility Indication (DEI) � VLAN ID In the second and third approaches of the demo (Ingress Policing and Time Gating), the SJA1105 must distinguish between the two flows, in order to prioritize them. To do so, it uses VLAN tags, specifically the PCP (priority) field. The SJA1105 switch has three main stages in its packet processing pipeline: � Ingress � Forwarding � Egress On the ingress stage, the switch is configured to assign a default ("native") VLAN header on frames, based on their incoming port. Based on the default VLAN tagging, the flows receive differentiated treatment: � In the policing configuration, one of the flows is rate-limited on the ingress port. � In the scheduling configuration, similar rate-limiting effect is achieved as each flow gets its own time slot allocated for the
forwarding and egress stages. On the egress stage, the default VLAN tag is removed, so the connected hosts (Board 1, Board 2, Board 3) are oblivious to this VLAN tagging.
7.2.8.5 Standard configuration
Prepare the 3 boards with default L2 switch configurations: � Ingress Policer is disabled on all ports � All frames are internally tagged with a VLAN priority of 0 and are, as such, treated as equal when forwarded � Qbv engine is not configured � All ports are enabled for forwarding traffic
The XML configuration for this case was generated by running this sja1105-tool helper script: Boards 1 and 3 make use of the default, built-in configuration of the sja1105-tool, while Board 2 loads it from standard.xml. Board 1:
[root@board1] $ sja1105-tool config default ls1021atsn [root@board1] $ sja1105-tool config upload # Shorthand version: # sja1105-tool config default -f ls1021atsn
Board 2:
[root@board2] $ sja1105-tool config load standard.xml [root@board2] $ sja1105-tool config upload # Shorthand version: # sja1105-tool config load -f standard.xml
Board 3:
[root@board3] $ sja1105-tool config default ls1021atsn [root@board3] $ sja1105-tool config upload # Shorthand version: # sja1105-tool config default -f ls1021atsn

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Note that the configuration provided in standard.xml is equivalent to that of the built-in one. This can be seen by running: Board 2:
# Load the built-in configuration into the staging area (no SPI write) [root@board2] $ sja1105-tool config default ls1021atsn # Export the configuration from the staging area to an XML file [root@board2] $ sja1105-tool config save builtin.xml # Compare the two [root@board2] $ diff builtin.xml standard.xml # No output means match
7.2.8.5.1 Ingress Policer
The L2 Ingress Policer inside the SJA1105 is implemented as a Token Bucket: � Bucket max size (also known as burst size) is called SMAX (maximum is 0xFFFF) � Bucket refill speed is RATE bytes per second (up to a maximum of 64000) � Each ingress packet removes from the bucket a number of tokens equal to its length in bytes � Can also police traffic based on maximum frame size
The Policing table has 45 entries: � One for each Ingress Port x VLAN PRIO (5 x 8) � One for Broadcast Traffic coming from each Ingress Port (5)
In the standard configuration, the L2 Ingress Policer is "deactivated". This means that RATE and SMAX are set to maximum (0xFFFF, 0xFA00) for all entries, so rate limiting can never occur at the maximum ingress rate of 1000Mbps. This can be seen by looking at the l2-policing-table entries:
[root@board2] $ sja1105-tool conf show l2-pol
7.2.8.5.2 Default VLAN assignments
These are configurable through the MAC Configuration Table (5 entries, one per port are available through the SPI registers of the SJA1105 switch). Default VLAN tags are added only if the switch received the packets as untagged. The user can select whether the switch includes the VLAN tags in the egress packet or not. VLAN priorities are taken into consideration for the L2 Forwarding stage. In the standard configuration, all ingress ports get by default VLAN priority 0 (best-effort) and all egress ports remove VLAN tags from packets.

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7.2.8.5.3 Queuing diagram

Figure 47. Queuing diagram
/> The above figure shows how all traffic gets assigned to VLAN priority 0, causing contention on the same egress queue.
7.2.8.5.4 Results for the standard configuration
This section describes the results for different flows for the standard configuration. In the LBT web app, run the following three tests:
� Only flow 1 enabled

� Only flow 2 enabled

Figure 48. Standard configuration: Flow 1 run by its own

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� Both flows enabled

Figure 49. Standard configuration: Flow 2 run by its own

Figure 50. Standard configuration: Both flows run at the same time
Comments: � Individually, both Board 1 and 2 get around 950 Mbps. � Run at the same time, bandwidths for Flow 1 and Flow 2 oscillate. � Bandwidth allocation is suboptimal (sum of the flows is much lower than 1000 Mbps).
7.2.8.6 Prioritizing configuration
In this case, configure the SJA1105 switch of Board 2 to assign these default VLAN priorities for untagged traffic: � Board 1: VLAN PCP 5 � Board 2: VLAN PCP 3
This is done on a per-ingress port basis (Board 1 - Port RGMII0 (ETH3), Board 3 - Port 4 (internal)). This means that all untagged traffic received by the SJA1105 under test (Board 2) on the respective ports would have this VLAN tag appended for internal processing. Frames that are already VLAN tagged (not applicable to this scenario) are not altered. On the egress port 2 (ETH3, towards Board 3), if flow 1's queue is not empty, the switch always prefers to send packets from that instead of flow 2's queue, because of its higher VLAN priority.

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[ubuntu@sja1105-tool/src/helpers] $ ./configs/rate-limiting/prioritizing.sh --flow1-prio 5 --flow2prio 3 Configuration saved as ./configs/rate-limiting/prioritizing.xml. View with: "sja1105-tool config load ./configs/rate-limiting/prioritizing.xml; sja1105-tool config show | less" The SJA1105 configurations to use on Board 1 and Board 3 are the default, built-in ones that were programmed in the standard case.
7.2.8.6.1 Queuing diagram
The following figure shows the queuing diagram for the prioritizing configuration. It shows that Board 2 traffic is assigned a higher VLAN priority than Board 1. On egress, Board 2 dominates because of the strict priority queuing discipline of the switch.
Figure 51. Prioritizing configuration
7.2.8.6.2 Results for the prioritizing configuration
This section describes the results for different flows for the prioritizing configuration. In the LBT web app, run the following tests:
� Flow 1 run by its own

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� Flow 2 run by its own

Figure 52. Prioritizing configuration: Flow 1 run by its own

Figure 53. Prioritizing configuration: Flow 2 run by its own

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Figure 54. Prioritizing configuration: both flows run at the same time
Comments: � Each flow, when run by its own, gets access to the full link bandwidth. � When run at the same time, the switch applies strict priority between the flows, and Flow 1 (with a VLAN priority of 5) is protected, keeping the same bandwidth as when running alone. � Flow 2 can only get the remaining bandwidth up to 1000 Mbps, which is typically very low.
7.2.8.7 Policing configuration
Based on the prioritizing configuration, we can apply rate limiting on Flow 1, since it has a higher VLAN priority and will obtain its rate-limited slice of the bandwidth, anyway. The XML configuration for this case can be generated by running this sja1105-tool helper script:
[ubuntu@sja1105-tool/src/helpers] $ ./configs/rate-limiting/policing.sh --flow1prio 5 --flow2-prio 3 --flow1-rate-mbps 600 Configuration saved as ./configs/rate-limiting/policing.xml. View with: "sja1105-tool config load ./configs/rate-limiting/policing.xml; sja1105-tool config show | less"
7.2.8.7.1 Queuing diagram
The following figure shows the queuing diagram for the policing configuration. It shows the same queues as with the prioritizing configuration. The higher-priority traffic is rate-limited to allow the lower-priority traffic to use more of the remaining space.

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Figure 55. Queuing diagram for policing configuration .
7.2.8.7.2 Results for the policing configuration
This section describes the results for different flows for the policing configuration. Run the following tests: � Flow 1 run by its own

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� Flow 2 run by its own

Figure 56. Policing configuration: Flow 1 run by its own

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Figure 57. Policing configuration: Flow 2 run by its own � Both flows run at the same time

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Figure 58. Policing configuration: both flows running at the same time Comments:
� Using a combination of prioritization and policing, you can obtain the desired bandwidth allocation for both Flow 1 and Flow 2 (600-400).
� This is done by dropping part of the packets from Flow 1 (which might not always be desirable). � In absence of the higher priority flow, Flow 2 is able to obtain line rate, because it is not rate-limited. The same cannot be
said about Flow 1.
7.2.8.8 Scheduling configuration
The Time-Aware Scheduler of the SJA1105 switch works by following the guidelines in 802.1Qbv: � Its 5 Ethernet ports each have 8 gates on egress, which can be open or closed � Each gate controls its associated queue (there are 8 queues, one per traffic class priority) � Whenever a gate is open, packets from its respective queue can be sent out the wire � The Time Aware Scheduler (or Qbv engine) functions based on a clock ticking with a period of 200ns � Time slots can be created, where some gates can be opened (allow certain traffic classes) and some can be closed. Each time slot's action applies to some specified egress ports. A time slot has a defined period of time for which it is active, and is chained together with other time slots in a periodic cycle.

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Figure 59. Structure of the Time Aware Scheduler
The user defines how many clock ticks each time slot (called subschedule, in SJA1105 terminology) takes, and also which flows (identified by their VLAN PRIO bits) are allowed to dequeue packets on each time slot. Once the Time-Aware Scheduler goes through each time slot (subschedule) in a round-robin fashion, it starts over again periodically. A complete period of subschedules is called a schedule.
In 802.1Qbv terminology, a time slot corresponds to a SetGateStates operation, and the length of the cycle is equal to OperCycleTime.
There are a total of 1024 entries allowed by the SJA1105 hardware for time slots. These can be grouped together to form at most 8 cycles, that run independently.
When defining multiple concurrent cycles, care must be taken to manually ensure that no two time slots ever trigger at the exact same moment in time.
In the third approach of the rate-limiting use case, the Time Aware Scheduler is active on the SJA1105 under test (that of Board 2) for egress port 1 (ETH2). This is the link towards Board 3, where the contention between Flow 1 and Flow 2 happens.

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The XML configuration for this case was generated by running this sja1105-tool helper script:
[ubuntu@sja1105-tool/src/helpers] $ ./configs/rate-limiting/scheduling.sh --flow1-prio 5 --flow2-prio 3 --flow1-time-ms 6 --flow2-time-ms 4
Configuration saved as ./configs/rate-limiting/scheduling.xml. View with: "sja1105-tool config load ./configs/rate-limiting/scheduling.xml;
sja1105-tool config show | less"
The SJA1105 switch is configured to create a subschedule for VLAN PRIO 3 and one for PRIO 5. The total egress bandwidth is split 60% to Flow 1 (a time slot duration of 6 ms out of a total cycle length of 10 ms) and 40% to Flow 2. In this configuration, Flow 1 is completely isolated from Flow 2, and there is minimal interference between the two, which allows better utilization of bandwidth.

Figure 60. Time gating for Host 1 and Host 3, viewed on the time axis
There are four SJA1105 configuration tables that control the behavior of the Time-Aware Scheduler: � Schedule Table � Schedule Entry Points Table � Schedule Parameters Table � Schedule Entry Points Parameters Table
The Schedule Table contains the definitions of all the subschedules (time slots), or SetGateStates operations in Qbv terminology: � What egress ports is the subschedule active on � Which gates (egress queues for traffic classes) should be open and which should close � The duration of the subschedule, in 200 ns increments
The Schedule Table does NOT define how the subschedules are linked together. Each schedule has a starting point and an ending point, defined as indices to subschedules from the Schedule Table:
� The starting point is defined in the Schedule Entry Points table � The ending point is defined in the Schedule Parameters table For a more complete description of how the SJA1105 should be configured for Qbv operation, refer to the sja1105-tool helper script under src/helpers/bin/scheduler-create.
7.2.8.8.1 Results for the scheduling configuration
This section describes the results for ping testing for different flows for the Scheduling configuration. � Flow 1 run by its own

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� Flow 2 run by its own

Figure 61. Scheduling configuration: Flow 1 run by its own

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Figure 62. Scheduling configuration: Flow 2 run by its own � Both flows run at the same time

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Figure 63. Both flows run at the same time
Comments: � Regardless of being run separately or simultaneously, the two flows are allocated at 60% and 40% of the total Port 1 egress bandwidth by the Time-Aware Scheduler of SJA1105 on Board 2. � The Time Aware Scheduler of the SJA1105 allows finer-grained control over bandwidth allocation.
7.2.8.9 Results of the demo
After running the steps described in the preceding sections, the following four XML files can be located in the OpenIL home directory of Board 2:
� standard.xml � prioritizing.xml � policing.xml � scheduling.xml The walkthrough must be followed step-by-step only once. Afterwards, a specific configuration can be loaded as shown in the commands below:
[root@openil] $ sja1105-tool config load standard.xml [root@openil] $ sja1105-tool config upload
The SJA1105 configuration on the other boards must be kept default. Ensure these commands are run once, at the beginning of the tests:
[root@board1] $ sja1105-tool config default -f ls1021atsn [root@board3] $ sja1105-tool config default -f ls1021atsn

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7.2.9 Synchronized Qbv demo
This section describes the synchronized Qbv demo in brief, its objectives, Qbv schedule analysis, the various scenarios, setup preparation, and Latency and Bandwidth Tester (LBT) configuration.
7.2.9.1 Introduction
This demo covers a possible use case of the following TSN standards combined:
� IEEE 1588 (Precision Time Protocol)
� IEEE 802.1Qbv (Time-Aware Scheduling)
The scenario is to assure deterministic, fixed latency for a particular control flow in a switched Ethernet network, regardless of interfering traffic. Let's assume that Node A generates control events periodically, every 5 ms, and that these need to be propagated as soon as possible to Node B, which is situated 3 Ethernet switches away (3 hops) from Node A.
Trying to do this inside a regular, unconfigured Ethernet switched network usually results in latencies between Node A and Node B that invariably and uncontrollably increase as soon as there is any sort of background traffic through the network. This is because, by default, all frames are treated equally (best-effort) by the switches, which makes all traffic susceptible to unpredictable queuing delays.
The na�ve solution to the queuing issue would be to simply raise the L2 priority of that specific control flow, such that Ethernet switches along its path always schedule that flow for transmission first.
The problems with this initial solution are twofold.
� Firstly, simply increasing a flow's priority puts too much trust in its well-behaving. If Node A malfunctions, or simply decides to send packets quicker than the 5 ms interval we accounted for, there is a high chance it will cause the other traffic flows, with less priority, to suffer from starvation.
� Secondly, although the control flow has the highest priority possible, it might still happen that it experiences forwarding delays. This is because by the time a control flow frame should be sent, the transmission medium might already be occupied transmitting a frame with less priority, which the switch must first finish sending. This is a form of priority inversion.
For the first issue, we can apply rate limiting on the control flow we just prioritized. This way, through prioritization we ensure a minimum guarantee of service, while through rate limiting we put a maximum limit to that guarantee.
Rate limiting can be applied in two ways: either with egress shaping on that specific port, or with ingress policing on the receiving side of that flow. Both these algorithms are generally implemented as a Token Bucket, which is a simple method to spread out heavy bursts of packets, either by dropping some (ingress policer) or delaying the sending of some (egress shaping).
The simple Token Bucket algorithm is only able to generate packets that are spread out evenly, given a specific time resolution. If more complex "waveforms" of packet transmission are desired, or if the timing accuracy must be very low, a different approach called Time-Aware Scheduling (TAS) can be employed.
The Time-Aware Scheduler, defined in IEEE 802.1Qbv, associates "gates" with each of the 8 priority queues connected to the egress ports. A gate is said to be "open" if frames are allowed to be selected for transmission from that gate's associated queue, or "closed" otherwise. A cyclic schedule is kept, where multiple timeslots define what is the state of every one of the gates (open or closed), and for how long.
Revisiting the question of how to minimize the impact of competing traffic flows on one another, one can configure the Time-Aware Scheduler with a single gate open per timeslot, effectively isolating the flows in time, and creating a Time-Division Multiple Access (TDMA) type of forwarding policy.
Even with the Time-Aware Scheduler, one issue still remains: the priority inversion caused by unfinished frame transmission at the end of its allocated timeslot. For this issue, two solutions exist: either IEEE 802.1Qbu (frame preemption), or allocation of an empty extra timeslot which serves as a guard band.
But even then, if there are multiple Time-Aware Schedulers in the same L2 network, they need to have a common notion of time. By synchronizing the clocks of all Time-Aware Schedulers using IEEE 1588 (PTP), frames can be forwarded in a coordinated manner, similar to synchronized traffic lights.

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With careful planning of the schedule, each packet always reaches the destination with the same predictable latency. The goal of the synchronized Qbv demo is for frames to spend almost no time being buffered on nodes internal to the TSN network, but instead only at the entry point. Once the time comes for a frame to be transmitted towards the TSN network, it passes with minimal delay through it.
7.2.9.2 Objectives
The objectives of the demo are the following:
� Synchronize the SJA1105 PTP clocks using IEEE 1588.
� Generate SJA1105 XML configurations offline (on host) using a simplified JSON description, and upload them to the 3 boards over SSH or NETCONF.
� Run the SJA1105 Time-Aware Scheduler (Qbv engine) based off the PTP clock.
� Create a 3-switch TSN network with deterministic latency.
� Use ping traffic to determine the degree of synchronization between boards.
� Use iPerf3 as source of interfering traffic and prove it does not alter the ping latency.
7.2.9.3 Qbv schedule analysis
The Qbv schedule common to all three boards comprises of six timeslots, numbered 0 to 5.
The JSON description can be found inside the src/helpers/configs/synchronized-qbv/qbv-ptp.sh helper script from the sja1105-tool source tree and is displayed here for reference:
{ "clksrc": "ptp", "cycles": [ { "start-time-ms": "1", "timeslots": [ { "duration-ms": "4", "ports": [${echo_port}, ${reply_port}], "gates-open": [0, 1, 2, 3, 4, 5, 6], "comment": "regular traffic 1" }, { "duration-ms": "10", "ports": [${echo_port}, ${reply_port}], "gates-open": [], "comment": "guard band 1" }, { "duration-ms": "1", "ports": [${echo_port}], "gates-open": [7], "comment": "icmp echo request" }, { "duration-ms": "4", "ports": [${echo_port}, ${reply_port}], "gates-open": [0, 1, 2, 3, 4, 5, 6], "comment": "regular traffic 2" }, { "duration-ms": "10",

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"ports": [${echo_port}, ${reply_port}], "gates-open": [], "comment": "guard band 2" }, { "duration-ms": "1", "ports": [${reply_port}], "gates-open": [7], "comment": "icmp echo response" } ] } ] }
The echo_port and reply_port variables take individual values for each of the three boards.
The Qbv configuration can be summarized as follows:
Figure 64. Qbv schedule

� Ping traffic (ICMP echo request and echo reply) is classified by OpenIL through the /etc/init.d/S45vlan script and tagged with VLAN priority 7
� The blue time slots (0 and 3) represent regular traffic (traffic classes 0 through 6). The iPerf flows (traffic class 0) fall in this category.
� The grey time slots (1 and 4) represent periods of time where the switch allows no packet to be forwarded. These are guard bands for time slots 2 and 6.
� Time slot 2 (orange) allows ICMP Echo Request packets to be forwarded from source towards destination.
� Time slot 5 (yellow) allows ICMP Echo Reply packets to be forwarded from destination back towards source.
Correct functioning of the test (only a single ping packet will come through per Qbv cycle) is ensured by the fact that the ping is being run in "Adaptive" mode ("-A" flag).
The orange and yellow time slots must be large enough in order to counter potential time offsets between the three boards. This means that once a ping packet is forwarded by the first switch at the beginning of the time slot, there should be enough time left such that the same packet would also be forwarded in the same slot by the rest of the switches along the packet's path.
Although the orange and yellow time slots are long enough to permit forwarding multiple packets, in practice, at most two are forwarded per cycle (one ICMP echo request and one response) because ping is run in adaptive mode. Thus, there will be always be at most a single packet in flight, at any given moment.
� RTT (Round-Trip Time) is defined as the time interval between ICMP Echo Request i and ICMP Echo Reply i, both measured at the sender.
� PIT (Packet Inter-arrival Time) is defined as the time interval between ICMP Echo Request i and ICMP Echo Request (i+1), both measured at the receiver.
This use case analysis focuses on the Packet Inter-arrival Times measured at the receiver. This eliminates most delays caused by Linux user-space scheduling of the ping process and closely reflects the Qbv cycle length configured on the TSN switches.
The guard bands have two roles:
� Reduce the jitter while forwarding the ping packets through the network (ensure the switches have no other packets queued on the egress port when time slots 2 and 5 are scheduled for transmission. The guard bands are an alternative to IEEE

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802.1Qbu Frame Preemption. A guard band duration of the time it takes to transmit an MTU-sized frame time at 1 Gbps is sufficient to eliminate this jitter.
� Let the LS1021 cores of the iPerf receiver cool down from receiving Rx interrupts from the network driver and finish processing the incoming traffic. This is important because, if upon receiving an ICMP echo request during time slot 2, the destination cannot process it and generates a reply until time slot 5 (15 ms), then a full Qbv cycle will be missed. The reported inter-arrival time in this scenario would be double (60 ms).
7.2.9.4 Scenarios
In both the 1-hop and 3-hop scenarios, adaptive ping is used to simulate the control flow packets sent from Node A to Node B. "Adaptive" ("-A" flag) means that the sending interval of Node A adapts to the RTT of the TSN network, which we are controlling directly by means of the Time-Aware Schedulers of the SJA1105 TSN switches along the path.
7.2.9.4.1 1 Hop scenario
In this scenario, Node A (ping sender) is Board 1, and Node B (ping receiver) is Board 2. Control traffic flows through a single Time-Aware Scheduler (TAS 1). The boards are connected as shown in the following figure.

A time visualization of ping packets in this 1-hop network looks as shown in the following figure.

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On the time axis, on the left hand side are Round-Trip Times (RTT) reported by Node A (sender), while on the right-hand side are Packet Interarrival Times (PIT) reported by Node B (receiver).
The first RTT reported by Node A is expected to be random, since the ping sending interval is not yet aligned with the TAS cycle length. Afterwards, the forwarding of each subsequent ICMP Echo Request is expected to be delayed a full cycle by TAS 1, until it reaches Node B.
The Qbv scheduler on TSN switch 1 operates on two ports:
� On the echo port, during the orange time slot 2, where ICMP Echo Request packets are forwarded.
� On the response port, during the yellow time slot 5, where ICMP Echo Response packets are forwarded.
These time slots for ICMP traffic consume 2 ms out of the total Qbv cycle length of 30 ms (including their associated guard bands, the total rises to 22 ms out of 30 ms). In the rest of the Qbv cycle (8 ms, time slots 0 and 3), regular traffic (iPerf) is scheduled on both the echo and response port.
7.2.9.4.2 3-hop scenario
In this scenario, Node A (ping sender) is the Board 1 and Node B (ping receiver) is the Board 3. Control traffic flows through three Time-Aware Schedulers (TAS 1, TAS 2, and TAS 3). The boards are connected as shown in the following figure.

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Figure 65. 3-hop scenario The ideal scenario is when forwarding a ping packet takes a single cycle through all three hops. A time visualization of this scenario looks as shown in the following figure.

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Figure 66. Timeslots in the 3 hop scenario
This scenario poses more difficulties, because the clocks of TAS 1, TAS 2, and TAS 3 must be in sync with one another. The expectation for this test is to get the same 30 ms interval reported as in the 1-hop case. This proves that using synchronized Qbv in a multi-switch network does not incur additional delays and can be used to ensure deterministic latency regardless of the number of hops. As is the case with the 1-hop setup, TAS 1 delays the forwarding of ICMP Echo Requests until time slot 2 (orange). The key is that once TAS 1 forwards the ping packet, it is caught immediately (in the same cycle) by the orange time slot of TAS 2, and then by the green time slot of TAS 3. As mentioned, this is possible because the lengths of the orange time slots are large enough to make up for potential PTP synchronization offsets between the boards. The goal for the 3-hop scenario is for 100% of the ping packets to report an inter-arrival time (PIT) of 1 cycle (30 ms) at the destination, same as if it were a single hop.
7.2.9.5 Setup preparation
1. Inside a GNU/Linux environment, go to the SJA1105 helper scripts folder:
cd sja1105-tool/src/helpers source envsetup
2. Generate the XML configurations for the 3 boards and upload them to the boards:
for i in 1 2 3; do ./configs/synchronized-qbv/qbv-ptp.sh --board ${i}; scp ./configs/ synchronized-qbv/qbv-ptp-board${i}.xml root@192.168.15.${i}:.; done
3. Open an SSH connection to Board 1.

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4. Run the "tmux" command inside board 1's terminal. Tmux is a "terminal multiplexer" that allows you to have multiple shells over the same SSH connection. Inside tmux, press the following keys: "Ctrl-a" and then "c". Do this twice. You should now have 3 shells spawned inside tmux, as can be seen in the status bar at the bottom: "1:sh 2:sh 3:sh":

5. Navigate to the first tmux shell by clicking on "1-sh". Inside this shell, load the XML configuration into the sja1105-tool:
>sja1105-tool config load -f qbv-ptp-board1.xml
If successful, no output should be seen from this command. 6. Navigate to the second tmux shell by clicking on "2-sh". Inside this shell, start the LBT web application:
/usr/lib/node_modules/lbt/server.js
7. As these XML configurations for SJA1105 use the PTP clock source for Qbv, you must run the PTP synchronization daemon inside the third tmux shell (3-sh):
ptp4l -i eth0 -p /dev/ptp0 -m -l 7 -t 1000
After a while where only this debug message is printed:
ptp4l[0000.000]: sja1105: sync timer timeout
The PTP daemon will begin to keep in sync the SJA1105 PTP clock with the eTSEC clock of the LS1021 eth0 port. Synchronization offsets can be followed by examining these output lines:
ptp4l[46335.657]: sja1105: offset 202 ns, delay 94627 ns
The PTP daemon will also monitor and control the Qbv engine, which piggybacks its clock source from the PTP clock. The Qbv engine can be in one of 3 states:
� Disabled � Enabled but not running (scheduled to begin in 3 seconds) � Running These states can be seen by examining the following output lines:
ptp4l[46335.658]: sja1105_qbv_monitor: state disabled ptp4l[46335.916]: sja1105_qbv_monitor: state enabled not running

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ptp4l[46335.917]: time to start: [2.870531024] ptp4l[46702.166]: sja1105_qbv_monitor: state running
Under normal operation, the Qbv engine is expected to remain in the running state. Large PTP synchronization offsets will reset the PTP clock, synchronization algorithm, and thus, also the Qbv state machine. Note that while the Qbv engine is not in the running state (either disabled or scheduled to begin), ping traffic is forwarded freely, and not rate-limited or protected. 8. Open an SSH connection to Board 2, open tmux and create 3 shells. 9. In the first shell ("1:sh"), load the XML configuration into sja1105-tool:
sja1105-tool config load -f qbv-ptp-board2.xml
10. In the second shell ("2:sh"), start the OPC UA server:
opc-sja1105
11. In the third shell, start the PTP synchronization daemon:
ptp4l -i eth0 -p /dev/ptp0 -m -l 7 -t 1000
12. Open an SSH connection to Board 3; open tmux and create 2 shells. 13. In the first shell ("1:sh"), load the XML configuration into sja1105-tool:
sja1105-tool config load -f qbv-ptp-board3.xml
14. In the second shell, start the PTP synchronization daemon:
ptp4l -i eth0 -p /dev/ptp0 -m -l 7 -t 1000

7.2.9.6 Latency and Bandwidth Tester Configuration
On Board 1, ensure that the file /usr/lib/node_modules/lbt/config.json has the following content:
{ "listenPort": 8000, "sshPrivateKey": "/etc/ssh/ssh_host_rsa_key", "ping": { "plotStyle": "lineGraph", "xlabel": "Time (seconds)", "ylabel": "PIT (ms)", "xmin": "0", "ymin": "0", "xlen": "60", "binwidth": "0.01", "measurement": "pit", "measurementInterface": "eth2", "title": "Ping Packet Inter-arrival Time" }, "iperf": { "plotStyle": "lineGraph", "xmin": "0", "ymin": "0", "xlen": "60", "xlabel": "Time (seconds)", "ylabel": "Bandwidth (Mbps)", "title": "iPerf3 Bandwidth"

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Using TSN features on LS1021ATSN board } } If necessary, restart the LBT server after updating its configuration file. In the browser, navigate to http://192.168.15.1:8000. Input the following flows, as shown in the following figure: � Flow 1: iPerf from Board 1 to Board 3 (over untagged TSN network) � Flow 2: iPerf from Board 2 to Board 3 (over untagged TSN network) � 1 Hop: Adaptive Ping from Board 1 to Board 2 (over VLAN-tagged TSN network) � 3 Hops: Adaptive Ping from Board 1 to Board 3 (over VLAN-tagged TSN network)
Figure 67. LBT configuration of flows for the Synchronized Qbv demo
7.2.9.7 Ping testing
The purpose of the ping test is to verify that the Qbv schedule engine is properly configured and synchronized across all three TSN boards, regardless of the number of hops and the background traffic.
7.2.9.7.1 1-hop flow
On the LBT web page, enable only the 1 Hop flow (from 172.15.100.1 to 172.15.100.2). This passes through the TAS of Board 1. Expected behavior: In this case, a constant 30 ms PIT measured on Board 2, can be observed, as shown in the following figure.

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Figure 68. 1-hop flow
7.2.9.7.2 3-hops flow
Enable only the 3 Hops flow on the LBT web page. This flow passes through the TAS of Board 1, Board 2, and Board 3. Expected behavior: You can observe the same 30 ms PIT, despite having added two extra hops in the TSN network as shown in the following figure.
Figure 69. 3-hops flow

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7.2.9.7.3 1-hop with background traffic
Enable the following flows on the LBT web page: � Flow 1 (iPerf) � Flow 2 (iPerf) � 1 Hop (Ping)
Expected behavior: The ping traffic is protected by TSN switch 1 from interference with the iPerf and retains a packet inter-arrival time of 30 ms at Board 2. This is shown in the following figure.

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Figure 70. 1-hop ping with background traffic
7.2.9.7.4 3 Hops with background traffic
Enable the following flows on the LBT web page: � Flow 1 (iPerf) � Flow 2 (iPerf) � 3 Hops (Ping)
Expected behavior: the ping traffic is protected by TSN switch 1 from interference with the iPerf and retains a packet inter-arrival time of 30 ms at Board 2.
Figure 71. 3-hop ping with background traffic

7.2.10 NETCONF usage
Examples are provided only for Board 1 (IP 192.168.15.1). You need to repeat all steps described in this section for Board 2 and Board 3.
7.2.10.1 sja1105 YANG models
Following are the register tables in the sja1105 YANG model: "schedule-table", "schedule-entry-points-table",

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"vl-lookup-table", "vl-policing-table", "vl-forwarding-table", "l2-address-lookup-table", "l2-policing-table", "vlan-lookup-table", "l2-forwarding-table", "mac-configuration-table", "schedule-parameters-table", "schedule-entry-points-parameters-table", "vl-forwarding-parameters-table", "l2-address-lookup-parameters-table", "l2-forwarding-parameters-table", "clock-synchronization-parameters-table", "avb-parameters-table", "general-parameters-table", "retagging-table", "xmii-mode-parameters-table", Each table owns its own registers list. The sja1105 YANG model tries to add all the table entry elements as 'leaves'. For the YANG model of sja1105, click here (https://github.com/openil/openil/blob/master/package/yang-sja1105/sja1105/ sja1105.yang).
7.2.10.2 Creating a NETCONF session
Create three connections open to all three boards, each in a separate window using the following set of commands.
[ubuntu] $ netopeer-cli netconf> connect --port 830 --login root 192.168.15.<board{1|2|3}-ip> netconf> # press Enter for no password # You may need to run this, in case you are using the candidate # datastore (here we are not) and it becomes locked. # See 5.6.5. # netconf> discard-changes
7.2.10.3 Applying the configuration over NETCONF
For applying the configuration over NETCONF, repeat the following commands for board1, board2, and board3:
# Apply qbv-ptp-board1.xml to the running datastore # Configuration takes effect immediately netconf> edit-config --config qbv-ptp-board1.xml running # Inspect the running datastore netconf> get-config running

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7.2.10.4 Running a configuration at startup
Repeat the following commands for Board1, Board2, and Board3:
netconf> copy-config --source running startup
7.2.10.5 Loading an existing XML configuration into the NETCONF datastore
After running the synchronized Qbv demo steps, on each board there should be a configuration file named /root/qbv-ptpboard{1,2,3}.xml. The NETCONF server running on the board can be instructed to load it into its datastore: netconf> user-rpc <!--# Type the content of a RPC operation. -->
netconf> user-rpc <!--# Type the content of a RPC operation. -->
<load-local-config xmlns="http://nxp.com/ns/yang/tsn/sja1105"> <configfile> board1-qbv-sync.xml </configfile>
</load-local-config>
Running the preceding command also applies the configuration.
7.2.10.6 Transferring the SJA1105 configuration to Ubuntu
It is also possible to retrieve and inspect the configuration from the board using NETCONF and netopeer-cli commands:
netconf> get-config running --out qbv-ptp-board1-retrieved.xml
After successfull completion of this operation, a new file named qbv-ptp-board1-retrieved.xml, is created in the current working directory on Ubuntu, with the current contents of the datastore of the netopeer-server that we are connected to. Assuming you followed along over step 0, this should match exactly the content of qbv-ptp-board1.xml on Board 1. Proceed and transfer the contents of all XML configurations to the Ubuntu PC. At the end of this step, the current working directory should have the following files:
� qbv-ptp-board1.xml � qbv-ptp-board2.xml � qbv-ptp-board3.xml � qbv-ptp-board1-retrieved.xml � qbv-ptp-board2-retrieved.xml � qbv-ptp-board3-retrieved.xml

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7.2.10.7 Viewing port statistics counters
The NETCONF protocol (and YANG data models) make a clear distinction between configuration data and state data. SJA1105 port counters are an example of state data exported by the yang-sja1105 netopeer module. These can be very useful for debugging or investigating the traffic remotely.
# Get all configuration + state data # get-config, by contrast, shows just configuration data netconf> get # Get just the port counters netconf> get --filter <sja1105>
<ports/> </sja1105>
7.2.10.8 Ending the NETCONF session
Use the following command to end the NETCONF session:
netconf> disconnect

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Chapter 8 4G-LTE Modem

8.1 Introduction
4G-LTE USB modem functionality is supported on NXP's LS1021-IoT, LS1012ARDB, LS1043ARDB, LS1046ARDB, and LS1028ARDB platforms.

8.2 Hardware preparation
A HuaWei E3372 USB Modem (as example) is used for the 4G-LTE network verification. Insert this USB modem into USB slot of LS1012ARDB board (LS1012ARDB as example).

8.3 Software preparation
In order to support 4G-LTE modem, some options are needed.
1. In OpenIL environment, use command "make menuconfig" to enable the below options:
$make menuconfig System configuration --->
<*> /dev management (Dynamic using devtmpfs + eudev)
Target packages ---> Hardware handling ---> <*> usb_modeswitch
<*> usb_modeswitch_data
2. In Linux kernel environment, make sure the below options are enabled:
$make linux-menuconfig Device Drivers --->
[*] Network device support ---> <*> USB Network Adapters ---> <*> Multi-purpose USB Networking Framework <*> CDC Ethernet support <*> CDC EEM support <*> CDC NCM support
Finally, update the images, refer to Updating target images for LS1012ARDB.

8.4 Testing 4G USB modem link to the internet
Perform the following instructions to set up the 4G Modem . After booting up the Linux kernel, an Ethernet interface will be identified, for example "eth2".
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1. Set eth2 connected to the network.
$ udhcpc -BFs -i eth2
2. Test the 4G modem link to the internet.
$ ping www.nxp.com PING www.nxp.com (210.192.117.231): 56 data bytes 64 bytes from 210.192.117.231: seq=0 ttl=52 time=60.223 ms 64 bytes from 210.192.117.231: seq=1 ttl=52 time=95.076 ms 64 bytes from 210.192.117.231: seq=2 ttl=52 time=89.827 ms 64 bytes from 210.192.117.231: seq=3 ttl=52 time=84.694 ms 64 bytes from 210.192.117.231: seq=4 ttl=52 time=68.566 ms

Testing 4G USB modem link to the internet

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OTA implementation
Chapter 9 OTA implementation
NXP's LS1021-IoT, LS1012ARDB, LS1043ARDB, LS1046ARDB, and LS1028ARDB platforms support OTA (Over-the-air) requirements. This section provides an introduction to OTA use cases, scripts, configuration settings for implementation and server preparation, and a test case. It also lists the OTA features supported by each hardware platform.
9.1 Introduction
OTA refers to a method of updating U-Boot, kernel, file system, and even the full firmware to devices through the network. If the updated firmware does not work, the device can rollback the firmware to the latest version automatically.
NOTE While updating U-Boot, there is no hardware method to rollback the device automatically, hence the device might not be rolled back, once the U-Boot is not working.
� version.json: This is a JSON file which saves the board name and version of each firmware. Below is an example of version.json.
{ "updatePart":"kernel", /* Name of firmware image which has been updated. */ "updateVersion":"1.0", /* Version of firmware image which has been updated. */ "all":"1.0", /* version of the full firmware image which has been used now */ "u-boot":"1.0", /* version of the u-boot image which has been used now */ "kernel":"1.0", /* version of the kernel image which has been used now */ "filesystem":"1.0", /* version of the filesystem image which has been used now */ "boardname":"ls1021aiot" /* used to get the corresponding firmware from server*/ "URL":"https://www.nxp.com/lgfiles/iiot" /* used to get the corresponding firmware from server*/ }
� update.json: This file is stored in server, it saves the name and version of firmware image which will be updated. Below is a sample update.json file:
{ "updateStatus":"yes", /* set yes or no to tell devices is it need to update. */ "updatePart":"kernel", /* name of update firmware. */ "updateVersion":"1.0", /* version of update firmware */ }
� ota-update: This script can get a JSON file named update.json from server, then parse the file and get the new firmware version to confirm whether to download it from server or not. It finally writes the firmware into the SD card instead of the old one. After that, save the "updatePart" and "updateVersion" into version.json, and mark the update status on 4080 block of SD card to let U-Boot know it.
� ota-versioncheck: This script checks if the firmware has been updated, then updates the version of the update part in version.json, and cleans the flag of update status on 4080 block of SD card. This script runs automatically each time the system restarts.
� ota-rollback: This script runs on the ramdisk filesystem after the filesystem update fails. It gets the old firmware version from the version.json file and then updates it from the server.

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Platform support for OTA demo

9.2 Platform support for OTA demo
The OTA demo is supported by four NXP hardware platforms. Following is the list of features supported by each platform: 1. LS1021A-IoT � Full SD card firmware update � U-Boot image update kernel image update � File system image update � Full SD card firmware update 2. LS1012ARDB � Full SD card firmware update � RCW and U-Boot image update on QSPI flash � Kernel image update and rollback � File system image update and rollback 3. LS1043ARDB � Full SD card firmware update � U-Boot image update � Kernel image update and rollback � File system image update and rollback 4. LS1046ARDB � Full SD card firmware update � U-Boot image update � Kernel image update and rollback � File system image update and rollback

9.3 Server requirements
This demo provides a sample server to update images for the v1.0 release. In case you want to use another server, you need to change the URL to your own server path at "target/linux/layerscape/image/backup/version.json" such as the following:
"URL":"https://www.nxp.com/lgfiles/iiot/" The server must include a JSON file named update.json that can send information to device boards. Below is a sample update.json file.
{ /* set yes or no to tell devices is it need to update. */ "updateStatus":"yes",
/* which part to update, you can write "all", "u-boot", "kernel", "filesystem" */ "updatePart":"filesystem",
/* version of update firmware */

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"updateVersion":"1.0", }
Images for OTA are stored in the path: <updateVersion>/<boardname>/ where the <boardname> can be one of these: ls1021aiot, ls1012ardb-64b, ls1012ardb-32b, ls1043ardb-64b, ls1043ardb-32b, ls1046ardb-64b, or ls1046ardb-32b. Images must be named as following:
� u-boot.bin: U-Boot image for update. In ls1012ardb folder, this image includes RCW and U-Boot. � uImage: kernel image for update � rootfs.ext4: filesystem image for update � firmware_sdcard.bin: a full firmware of SD card image.
9.4 OTA test case
1. Plug network cable into Eth1 on the board. This enables the network after the system is running. 2. Update U-Boot using the following steps:
� Update the .json on server as shown in the following example:
{ "updateStatus":"yes",
"updatePart":"u-boot", "updateVersion":"1.0",
}
� Upload the u-boot image on server path: 1.0/<boardname>/u-boot.bin � Run ota-update command on device board. 3. Updating the file system: � Set the "updatePart" to "filesystem" in update.json. � Upload the filesystem image on server path: 1.0/<boardname>/rootfs.ext4 � Run ota-update command on the device board. 4. Updating full firmware � Set the "updatePart" to "all" in update.json. � Upload the full firmware image on server path: 1.0/<boardname>/firmware_sdcard.bin � Run ota-update command on device board. 5. Rollback test: � The Kernel and file system can use a wrong image to upload on the server and test update on device.

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Introduction
Chapter 10 EtherCAT
OpenIL supports the use of EtherCAT ((Ethernet for Control Automation Technology) and integrates the IGH EtherCAT master stack. EtherCAT support is verified on NXP's LS1021-IoT, LS1043ARDB, LS1046ARDB, and LS1028ARDB platforms.
10.1 Introduction
EtherCAT is an Ethernet-based fieldbus system, invented by BECKHOFF Automation. The protocol is standardized in IEC 61158 and is suitable for both hard and soft real-time computing requirements in automation technology. The goal during development of EtherCAT was to apply Ethernet for automation applications requiring short data update times (also called cycle times;  100 �s) with low communication jitter (for precise synchronization purposes;  1 �s) and reduced hardware costs.
� EtherCAT is Fast: 1000 dig. I/O: 30 �s, 100 slaves: 100 �s. � EtherCAT is Ethernet: Standard Ethernet at I/O level. � EtherCAT is Flexible: Star, line, drop, with or without switch. � EtherCAT is Inexpensive: ethernet is mainstream technology, therefore inexpensive. � EtherCAT is Easy: everybody knows Ethernet, it is simple to use. At present, the EtherCAT master supports the common open source code for SOEM of RT - LAB development (Simple Open Source EtherCAT Master) and EtherLab, the IGH EtherCAT master. To use SOEM is simpler than to use the IGH EtherCAT Master, but IGH for the realization of the EtherCAT is more complete. For example, IGH supports more NIC. For more information, see https://rt-labs.com/ethercat/ and http://www.etherlab.org. The integration in OpenIL is IGH EtherCAT master.
10.2 IGH EtherCAT architecture
The components of the master environment are described below: � Master module: This is the kernel module containing one or more EtherCAT master instances, the `Device Interface' and the `Application Interface.' � Device modules: These are EtherCAT-capable Ethernet device driver modules that offer their devices to the EtherCAT master via the device interface. These modified network drivers can handle network devices used for EtherCAT operation and `normal' Ethernet devices in parallel. A master can accept a certain device and then, is able to send and receive EtherCAT frames. Ethernet devices declined by the master module are connected to the kernel's network stack, as usual. � Application: A program that uses the EtherCAT master (usually for cyclic exchange of process data with EtherCAT slaves). These programs are not part of the EtherCAT master code, but need to be generated or written by the user. An application can request a master through the application interface. If this succeeds, it has the control over the master: It can provide a bus configuration and exchange process data. Applications can be kernel modules (that use the kernel application interface directly) or user space programs, that use the application interface via the EtherCAT library, or the RTDM library. The following figure shows that IGH EtherCAT master architecture.

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Figure 72. IGH EtherCAT master architecture

10.3 EtherCAT protocol
Following are the characteristics of the EtherCAT protocol:
� The EtherCAT protocol is optimized for process data and is transported directly within the standard IEEE 802.3 Ethernet frame using Ethertype 0x88a4.
� The data sequence is independent of the physical order of the nodes in the network; addressing can be in any order.
� Broadcast, multicast, and communication between slaves is possible, but must be initiated by the master device.
� If IP routing is required, the EtherCAT protocol can be inserted into UDP/IP datagrams. This also enables any control with Ethernet protocol stack to address EtherCAT systems.
� It does not support shortened frames.

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The following figure shows the EtherCAT frame structure.

EtherCAT system integration and example

Figure 73. EtherCAT frame structure

10.4 EtherCAT system integration and example
This section describes how to integrate EtherCAT with the OpenIL system and provides an example of running the BECKHOFF application.
10.4.1 Building kernel images for EtherCAT
For LS1021A-IoT, EtherCAT supports the following configuration files: � nxp_ls1021aiot_baremetal_defconfig � nxp_ls1021aiot_baremetal_ubuntu_defconfig � nxp_ls1021aiot_defconfig � nxp_ls1021aiot_optee_defconfig � nxp_ls1021aiot_optee_ubuntu_defconfig � nxp_ls1021aiot_ubuntu_defconfig.
For LS1043ARDB, EtherCAT supports the following configurations: � nxp_ls1043ardb-64b_defconfig � nxp_ls1043ardb-64b_ubuntu_defconfig � nxp_ls1043ardb_baremetal-64b_defconfig.
For LS1046ARDB, EtherCAT supports the following configurations: � nxp_ls1046ardb-64b_defconfig � nxp_ls1046ardb-64b_qspi_defconfig � nxp_ls1046ardb-64b_qspi-sb_defconfig

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� nxp_ls1046ardb-64b_ubuntu_defconfig � nxp_ls1046ardb_baremetal-64b_defconfig. Use the command below to build image supporting EtherCAT (example: nxp_ls1046ardb-64b_defconfig):

$ make nxp_ls1046ardb-64b_defconfig $ make
Then, flash the image to SD card and reboot the board with this card and SD boot.

10.4.2 Command-line tool
Each master instance gets a character device as a userspace interface. The devices are named /dev/EtherCATx, where x is the index of the master.
Device node creation The character device nodes are automatically created, if the startup script is executed. The following example illustrates the command-line tools:
Table 41. Command line tools for EtherCAT

Command

Description

Arguments

Output

ethercat config [OPTIONS]

Shows slave configurations.

Options:
� --alias -a <alias > Configuration alias (see above)
� --position -p <pos > Relative position (see above).
� -- verbose -v Show detailed configurations.

Without the -- verbose option, slave configurations are output one -per - line. For example, the output for1001:0 0 x0000003b /0 x02010000 3 would be displayed as follows:
� 1001:0 -> Alias address and relative position (both decimal).
� 0 x0000003b /0 x02010000 -> Expected vendor ID and product code (both hexadecimal).
� 3 -> Absolute decimal ring position of the attached slave, or '-' if none attached.

� OP -> Application � layer state of the attached slave, or '-', if no slave is attached.

Table continues on the next page...

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ethercat master [OPTIONS]

EtherCAT system integration and example

Table 41. Command line tools for EtherCAT (continued)

Shows master and Ethernet device information.

Options:
-- master -m <indices > Master indices. A comma separated
list with ranges is supported.
Example: 1 ,4 ,5 ,7 -9. Default: - (all ).

Master0

Phase: Idle

Active: no

Slaves: 8

Ethernet devices:

Main:

00:00:08:44: ab :66 (attached)

Link: UP

Tx frames:

18846

Tx bytes:

1169192

Rx frames:

18845

Rx bytes:

1169132

Tx errors: 0

Tx frame rate

[1/s]:

125

395 241

Tx rate [KByte/

s]: 7.3 24.0 14.6

Rx frame rate

[1/s]:

125

395 241

Rx rate [KByte/

s]: 7.3 24.0 14.6

Common:

Tx frames:

18846

Tx bytes:

1169192

Rx frames:

18845

Rx bytes:

1169132

Lost frames: 0

Tx frame rate

[1/s]:

125

395 241

Tx rate [KByte/

s]: 7.3 24.0 14.6

Rx frame rate

[1/s]:

125

583 241

Rx rate [KByte/

s]: 7.3 210.4 14.6

Loss rate [1/

s]:

0

-0

0

Frame loss

[%]:

0.0 -0.0 0.0

Distributed clocks:

Reference clock:

Slave 0

Application time:

0

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ethercat states [ OPTIONS ] <STATE >

Table 41. Command line tools for EtherCAT (continued)

Requests application - layer states

STATE can be 'INIT ', 'PREOP ', 'BOOT ', 'SAFEOP ', or 'OP '.

None

Options:

� --alias -a <alias >

� -- position -p <pos > Slave selection. See the help of the 'slaves' command.

NOTE � Numerical values can be specified either with decimal (no prefix), octal (prefix '0') or hexadecimal (prefix '0x
') base.
� More command-line information can be obtained by using the command ethercat --help.

10.4.3 System integration
An init script and a sysconfig file are provided to integrate the EtherCAT master as a service into a running system. These are described below.
� Init Script
The EtherCAT master init script conforms to the requirements of the 'Linux Standard Base' (LSB). The script is installed to etc/ init.d/EtherCAT, before the master can be inserted as a service. Please note, that the init script depends on the sysconfig file described below.
LSB defines a special comment block to provide service dependencies (that is, which services should be started before others) inside the init script code. System tools can extract this information to insert the EtherCAT init script at the correct place in the startup sequence:
# Required - Start: $local_fs $syslog $network # Should - Start: $time ntp # Required - Stop: $local_fs $syslog $network # Should - Stop: $time ntp # Default - Start: 3 5 # Default - Stop: 0 1 2 6 # Short - Description: EtherCAT master # Description: EtherCAT master 1.5.2 ### END INIT INFO
� Sysconfig file
For persistent configuration, the init script uses a sysconfig file installed to etc/sysconfig/EtherCAT, that is mandatory for the init script. The sysconfig file contains all configuration variables needed to operate one or more masters. The documentation is inside the file and included below:

#-----------------------------------------------------------------------------## Main Ethernet devices. # # The MASTER <X> _DEVICE variable specifies the Ethernet device for a master # with index 'X '. # # Specify the MAC address (hexadecimal with colons) of the Ethernet device to
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# use. Example: "00:00:08:44: ab :66" # # The broadcast address "ff:ff:ff:ff:ff:ff" has a special meaning : It tells # the master to accept the first device offered by any Ethernet driver. # # The MASTER <X> _DEVICE variables also determine, how many masters will be # created: A non - empty variable MASTER0_DEVICE will create one master, adding a # non - empty variable MASTER1_DEVICE will create a second master, and so on. # MASTER0_DEVICE ="" # MASTER1_DEVICE ="" # # Backup Ethernet devices # # The MASTER <X> _BACKUP variables specify the devices used for redundancy. They # behaves nearly the same as the MASTER <X> _DEVICE variable, except that it # does not interpret the ff:ff:ff:ff:ff:ff address . # # MASTER0_BACKUP ="" # # Ethernet driver modules to use for EtherCAT operation. # # Specify a non - empty list of Ethernet drivers, that shall be used for # EtherCAT operation. # # Except for the generic Ethernet driver module, the init script will try to # unload the usual Ethernet driver modules in the list and replace them with # the EtherCAT - capable ones. If a certain (EtherCAT - capable) driver is not # found, a warning will appear. # # Possible values: 8139 too, e100, e1000, e1000e, r8169, generic, ccat, igb. # Separate multiple drivers with spaces. # # Note: The e100, e1000, e1000e, r8169, ccat and igb drivers are not built by # default. Enable them with the --enable -<driver > configure switches. # # Attention: When using the generic driver, the corresponding Ethernet device # has to be activated (with OS methods, for example 'ip link set ethX up '), # before the master is started, otherwise all frames will time out. # DEVICE_MODULES ="" # # Flags for loading kernel modules. # # This can usually be left empty. Adjust this variable, if you have problems # with module loading. # # MODPROBE_FLAGS ="-b" #------------------------------------------------------------------------------
Starting the Master as a service: After the init script and the sysconfig file are placed into the right location, the EtherCAT master can be inserted as a service.The init script can also be used for manually starting and stopping the EtherCAT master. It should be executed with one of the parameters: start, stop, restart or status. For example:
$/etc/init.d/EtherCAT restart Shutting down EtherCAT master done Starting EtherCAT master done

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10.4.4 Running a sample application
This section describes how to run a sample application. List of materials Following is the list of materials needed for running the Igh EtherCAT application:
� OpenIL board (LS1021-IoT, LS1043ARDB, and LS1046ARDB) � BECKHOFF EK1100 and EL2008 � 42-stepping motor and stepper motor driver The figures below show the required materials: � The figure below shows the board and BECKHOFF connected by a wire.

Figure 74. Board connects with BECKHOFF � The figure below shows the BECKHOFF's EK1100 and EL2008.

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Figure 75. BECKHOFF EL2008 � The figure below shows a stepper motor driver.

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Figure 76. Stepper motor driver
The stepper motor needs to be connected to the EL2008 with a driver. EL2008 needs connections to the EN, STP, and DIR pins of the stepping motor drive. � The figure below shows a 42-stepper motor. Note the manner in which the stepper motor is connected to the driver:
-- A is connected to A. -- B is connected to B.

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Figure 77. Stepper motor For more information about EL2008, see https://www.beckhoff.com/english.asp?ethercat/el2008.htm. Follow the steps below to run a sample application:
1. Update the sysconfig file etc/sysconfig/EtherCAT for the persistent configuration.Variables MASTER0_DEVICE and DEVICE_MODULES need to be changed to the specified MAC and driver type. The MAC address is the one that is connected to BECKHOFF. For example, the MAC used is 00:00:08:44: ab :66 and the drivers used are generic:
MASTER0_DEVICE ="00:00:08:44: ab :66" DEVICE_MODULES ="generic"
2. Execute the initialization script and specify the parameter start.
$ /etc/init.d/ethercat restart
3. Run the example application.
$ ec_user_example
� If the init script fails to start EtherCAT master, the command insmod or modprobe can be used to load the module directly: ec_master.ko and ec_generic.ko are found in the path /lib/modules/4.9.35-ipipe/extra/
$ insmod ec_master.ko main_devices= MAC address $ insmod ec_generic.ko

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EtherCAT � Run the example application. $ ec_user_example
ATTENTION If the console prompts Failed to open /dev/EtherCAT0, the module fails to load, please check it.

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Introduction
Chapter 11 FlexCAN
The following sections provide an introduction to the FlexCAN standard, details of the CAN bus, the Canopen communication system, details of how to integrate FlexCAN with OpenIL, and running a FlexCAN application.
11.1 Introduction
Both the LS1021A and LS1028A boards have the FlexCAN module. The FlexCAN module is a communication controller implementing the CAN protocol according to the CAN 2.0 B protocol specification. The main sub-blocks implemented in the FlexCAN module include an associated memory for storing message buffers, Receive (Rx) Global Mask registers, Receive Individual Mask registers, Receive FIFO filters, and Receive FIFO ID filters. A general block diagram is shown in the following figure. The functions of these submodules are described in subsequent sections.

Figure 78. FlexCAN block diagram
11.1.1 CAN bus
CAN (Controller Area Network) is a serial bus system. A CAN bus is a robust vehicle bus standard designed to allow microcontrollers and devices to communicate with each other in applications without a host computer. Bosch published several versions of the CAN specification and the latest is CAN 2.0 published in 1991. This specification has two parts; part A is for the standard format with an 11-bit identifier, and part B is for the extended format with a 29-bit identifier. A CAN device that uses 11-bit identifiers is commonly called CAN 2.0A and a CAN device that uses 29-bit identifiers is commonly called CAN 2.0B.
CAN is a multi-master serial bus standard for connecting Electronic Control Units [ECUs] also known as nodes. Two or more nodes are required on the CAN network to communicate. The complexity of the node can range from a simple I/O device up to

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an embedded computer with a CAN interface and sophisticated software. The node may also be a gateway allowing a standard computer to communicate over a USB or Ethernet port to the devices on a CAN network. All nodes are connected to each other through a two wire bus. The wires are a twisted pair with a 120  (nominal) characteristic impedance.
High speed CAN signaling drives the CAN high wire towards 5 V and the CAN low wire towards 0 V when transmitting a dominant (0), and does not drive either wire when transmitting a recessive (1). The dominant differential voltage is a nominal 2 V. The termination resistor passively returns the two wires to a nominal differential voltage of 0 V. The dominant common mode voltage must be within 1.5 to 3.5 V of common and the recessive common mode voltage must be within +/-12 of common.

Figure 79. High speed CAN signaling Figure 80. Base frame format

Figure 81. High speed CAN network
11.1.2 CANopen
CANopen is a CAN-based communication system. It comprises higher-layer protocols and profile specifications. CANopen has been developed as a standardized embedded network with highly flexible configuration capabilities. Today it is used in various application fields, such as medical equipment, off-road vehicles, maritime electronics, railway applications, or building automation.

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Introduction
CANopen provides several communication objects, which enable device designers to implement desired network behavior into a device. With these communication objects, device designers can offer devices that can communicate process data, indicate device-internal error conditions or influence and control the network behavior. As CANopen defines the internal device structure, the system designer knows exactly how to access a CANopen device and how to adjust the intended device behavior.
� CANopen lower layers
CANopen is based on a data link layer according to ISO 11898-1. The CANopen bit timing is specified in CiA 301 and allows the adjustment of data rates from 10 kbit/s to 1000 kbit/s. Although all specified CAN-ID addressing schemata are based on the 11-bit CAN-ID, CANopen supports the 29-bit CAN-ID as well. Nevertheless, CANopen does not exclude other physical layer options.
� Internal device architecture
A CANopen device consists of three logical parts. The CANopen protocol stack handles the communication via the CAN network. The application software provides the internal control functionality. The CANopen object dictionary interfaces the protocol as well as the application software. It contains indices for all used data types and stores all communication and application parameters. The CANopen object dictionary is most important for CANopen device configuration and diagnostics.
� CANopen protocols
-- SDO protocol
-- PDO protocol
-- NMT protocol
-- Special function protocols
-- Error control protocols
The following figure shows the CANopen architecture.

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Figure 82. CANopen architecture

11.2 FlexCAN integration in OpenIL
For LS1021A, there are four CAN controllers. Two CAN controllers (CAN3 and CAN4) are used to communicate with each other. CAN4 is assigned to core0, which runs Linux and CANOpen as master node, whereas CAN3 is assigned to core1, which runs the baremetal and CANOpen as slave node. For LS1028A, there are two CAN controllers, CAN1 and CAN2, and both of them are used in LS1028ARDB board.
11.2.1 LS1021AIOT CAN resource allocation
This section describes steps for assigning CAN4 to Linux and CAN3 to baremetal core, and how to change or configure it. These examples assume that CAN1 and CAN2 are not enabled, and the pins of CAN1 and CAN2 are used by other IPs.
1. Assigning CAN4 to Linux
In Linux, the port is allocated through the DTS file. DTS file path is industry-linux/arch/arm/boot/dts/ls1021aiot.dts. Content related to CAN ports is as follows:
/* CAN3 port */ &can2 { status = " disabled ";

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}; /* CAN4 port */
&can3 { status = "okay"; };
2. Assigning CAN3 to Baremetal
In baremetal, the port is allocated through the flexcan.c file. The flexcan.c path is industry-uboot/drivers/flexcan/ flexcan.c. In this file, you need to define the following variables:
a. struct can_bittiming_t flexcan3_bittiming = CAN_BITTIM_INIT(CAN_500K);
NOTE Set bit timing and baud rate (500K) of the CAN port.
b. struct can_ctrlmode_t flexcan3_ctrlmode
struct can_ctrlmode_t flexcan3_ctrlmode = {
.loopmode = 0, /* Indicates whether the loop mode is enabled */ .listenonly = 0, /* Indicates whether the only-listen mode is enabled */ .samples = 0, .err_report = 1, };
c. struct can_init_t flexcan3
struct can_init_t flexcan3 = {
.canx = CAN3, /* Specify CAN port */ .bt = &flexcan3_bittiming, .ctrlmode = &flexcan3_ctrlmode, .reg_ctrl_default = 0, .reg_esr = 0 };
d. Optional parameters
� CAN port
#define CAN3 ((struct can_module *)CAN3_BASE) #define CAN4 ((struct can_module *)CAN4_BASE)
� Baud rate
#define CAN_1000K 10 #define CAN_500K 20 #define CAN_250K 40 #define CAN_200K 50 #define CAN_125K 80 #define CAN_100K 100 #define CAN_50K 200 #define CAN_20K 500 #define CAN_10K 1000 #define CAN_5K 2000

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11.2.2 Introducing the function of CAN example code
CAN example code supports the CANopen protocol. It mainly implements three parts of functions: network manage function (NMT protocol), service data transmission function (SDO protocol), and process data transmission function (PDO protocol). NMT protocol can manage and monitor slave nodes, include heart beat message. SDO protocol can transmit single or block data. The PDO protocol can transmit process data that requires real time.
CAN example calls the CANopen interfaces, described in the table below:

API name (type)

Table 42. CAN Net APIs and their description Description

UNS8 canReceive_driver (CAN_HANDLE fd0, Message * m) Socketcan receive CAN messages � fd0 � socketcan handle � m � receive buffer

UNS8 canSend_driver (CAN_HANDLE fd0, Message const * Socketcan send CAN messages

m)

� fd0 � socketcan handle

� m � CAN message to be sent

void setNodeId(CO_Data* d, UNS8 nodeId)

Set this node id value. � d � object dictionary � nodeId � id value (up to 127)

UNS8 setState(CO_Data* d, e_nodeState newState)

Set node state � d � object dictionary � newState � The state that needs to be set
Returns 0 if ok, > 0 on error

void canDispatch(CO_Data* d, Message *m)

CANopen handles data frames that CAN receive. � d � object dictionary � m � Received CAN message

void timerForCan(void)

CANopen virtual clock counter.

UNS8 sendPDOrequest (CO_Data * d, UNS16 RPDOIndex)

Master node requests slave node to feedback specified data. � d � object dictionary � RPDOIndex � index value of specified data

Table continues on the next page...

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Table 42. CAN Net APIs and their description (continued)

API name (type)

Description

UNS8 readNetworkDictCallback (CO_Data* d, UNS8 nodeId, The master node gets the specified data from the slave node.

UNS16 index, UNS8 subIndex, UNS8 SDOCallback_t Callback, UNS8 useBlockMode)

dataType,

� d � object dictionary � nodeId � the id value of slave node

� index � the index value of the specified data

� subIndex � the subindex value of the specified data

� dataType � the data type of the specified data

� Callback � callback function

� useBlockMode � specifies whether it is a block transmission

UNS8 writeNetworkDictCallBack (CO_Data* d, UNS8 nodeId, The master node sets the specified data to the slave node.

UNS16 index, UNS8 subIndex, UNS32 count, UNS8 dataType, void *data, SDOCallback_t Callback, UNS8 useBlockMode)

� d � object dictionary � nodeId � the id value of slave node

� index � the index value of the specified data

� subIndex � the subindex value of the specified data

� count � the length of the specified data

� dataType � the data type of the specified data

� Callback � callback function

� useBlockMode � specifies whether it is a block transmission

11.3 Running a CAN application
The following sections describe the hardware and software preparation steps for running a CAN application. The hardware preparation is described separately for the LS1021A-IoT and LS1028ARDB, but the sections Compiling the CANopen-app binary for the master node on page 179, Running the CANopen application on page 180, and Running the Socketcan commands on page 183 are applicable to both LS1021A-IoT and LS1028A platforms.
11.3.1 Hardware preparation for LS1021-IoT
For LS1021-IoT, the list of hardware required for implementing the FlexCAN demo is as follows:
� LS1021A-IoT boards
� Two CAN hardware interfaces (for example, CAN3 and CAN4 for LS1021A-IoT)
� Two CAN transceivers (for example: TJA1050 )

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Figure 83. Hardware diagram for the FlexCan demo NOTE
-- Line1 and line3 are 5.0 V. -- Line2 and line4 are GND. -- Line5 is CAN3 Tx. -- Line6 is CAN3 Rx. -- Line7 is CAN4 Rx. -- Line8 is CAN4 Tx.
11.3.2 Hardware preparation for LS1028ARDB
For LS1028ARDB, below hardware is required:
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� LS1028ARDB board � Two cables to connect CAN1 and CAN. The hardware connection diagram is as shown in the following figure

Running a CAN application

Figure 84. Physical connection for CAN using LS1028ARDB
11.3.3 Compiling the CANopen-app binary for the master node
This section describes the procedure for compiling the CANopen-app binary for the master node, for both LS1021A and LS1028A platforms. CANopen application's name is CANopen-app. Perform the steps listed below to compile Canopen-app as linux command to the target/usr/bin directory.
1. Configure cross-toolchain on your host environment. 2. Use the commands below:
$ git clone https://github.com/openil/openil.git $ cd openil # checkout to OpenIL-201904 $ make nxp_ls1021aiot_baremetal_defconfig # or $ make nxp_ls1028ardb-64b_defconfig $ make
3. The generated openil image file is in the output/images/ directory. 4. Download the sdcard.img image file to the SD card: In U-Boot mode, first run the tftp command for downloading sdcard.img to the buffer. Then, run the mmc command for downloading the sdcard.img to SD card.

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NOTE Make sure to enable the below options before building the image:

$ make menuconfig Target packages --->
Libraries ---> Networking ---> [*] canfestival driver (socket) ---> (--SDO_MAX_LENGTH_TRANSFER=512 --SDO_BLOCK_SIZE=75 --SDO_MAX_SIMULTANEOUS_TRANSFERS=1) additional configure options [*] install examples [*] libsocketcan
Networking applications ---> [*] can-utils [*] iproute2
NOTE � The following options are displayed only when the canfestival option is set to Y.
� Linux uses the SocketCAN interface, so the driveroption selects the socket.
� The following additional configure options can be configured in the config.h file of CANopen:
Parameter description:
-- --SDO_MAX_LENGTH_TRANSFER: Sets buffer size of SDO protocol.
-- -- SDO_BLOCK_SIZE: Sets the maximum number of frames that can be sent by SDO block transport protocol.
-- --SDO_MAX_SIMULTANEOUS_TRANSFERS: Sets the number of SDO modules.
� Install binary application to openil filesystem, if theinstall examples option is set to Y.
11.3.4 Running the CANopen application
This section describes the procedure for running the CANopen-app application, which is the same for both LS1021A and LS1028A platforms.
1. First, boot the LS1021A-IoT or LS1028ARDB board.
2. Then, run the CANopen-app command in any directory in Linux prompt. While executing this command, first run the test code.
3. After the test code is completed, you can implement the required instructions. The command CANopen-app execution process steps are described below:
a. First, indicate whether the CAN interface has opened successfully. All commands are dynamically registered. Then, indicate whether the command was registered successfully.
� Command registration log
Command Registration Log: [root@OpenIL:~]# CANopen-app [ 80.899975] IPv6: ADDRCONF(NETDEV_CHANGE): can0: link becomes ready Note: open the CAN interface successfully! "can_quit" command: register OK! "setState" command: register OK! "showPdo" command: register OK! "requestPdo" command: register OK!

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"sdo" command: register OK! "" command: register OK! "test_startM" command: register OK! "test_sdoSingle" command: register OK! "test_sdoSingleW" command: register OK! "test_sdoBlock" command: register OK! "test_showPdoCyc" command: register OK! "test_showpdoreq" command: register OK! "test_requestpdo" command: register OK!
b. There are nine test codes in total, tests 1 to 9. Test code details are shown in the test log.
� Test code log "---test---" indicates that the test code begins.
� Firstly, the execution rights of the SDO and PDO protocol are explained.
� The tests 1~4 are SDO protocol test codes. After starting the CANopen master node, it automatically enters into initialization and pre-operation mode.
� The test5 is a test code that master node enters the operation mode and starts all slave nodes.
� The tests 6~9 are PDO protocol test codes.

Test Code Log: ------------------------- test --------------------------Note: Test code start execute...
SDO protocol is valid in preoperation mode, but PDO protocol is invalid! SDO and PDO protocol are both valid in operation mode! Console is invalid when testing! ---------------------------------------------------------Note: test1--Read slave node single data by SDO. Note: master node initialization is complete! Note: master node entry into the preOperation mode! Note: Alarm timer is running! Note: slave node "0x02" entry into "Initialisation" state! ---------------------------------------------------------Note: test2--Write 0x2CD5 to slave node by SDO. Note: Master write a data to 0x02 node successfully. ---------------------------------------------------------Note: test3--Read slave node single data by SDO again. Note: reveived data is 0x2CD5 ---------------------------------------------------------Note: test4--Read slave node block data by SDO. ---------------- text -----------------Note: reveived string ==> CANopen is a CAN-based communication system. It comprises higher-layer protocols and profile specifications. CANopen has been developed as a standardized embedded network with highly flexible configuration capabilities. It was designed originally for motion-oriented machine control systems, such as handling systems. Today it is used in various application fields, such as medical equipment, off-road vehicles, maritime electronics, railway applications, or building automation.

----------------------------------------

----------------------------------------------------------

Note: test5--Master node entry operation mode, and start slave nodes!

Note: master node entry into the operation mode,and start all slave nodes!

----------------------------------------------------------

Note: test6--Master node show requested PDO data.

Note: Rpdo4 data is "

"

----------------------------------------------------------

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Note: test7--Master node request PDO data. ---------------------------------------------------------Note: test8--Master node show requested PDO data. Note: Rpdo4 data is "require" Note: slave node "0x02" entry into "Operational" state! ---------------------------------------------------------Note: test9--Master node show received cycle PDO data. Note: Rpdo2 data is " cycle" ----------------------------------------------------------

NOTE tests 1 to 9 are not commands.

c. After the test code is executed, it automatically prints the list of commands. Num00~06 are normal commands. After executing these instructions without parameters, the instruction usage is displayed. Num08~14 are test commands. All test commands except num10 have no parameters. Argument of Num10 is a 16-bit integer.
� Now the user can execute any command in the command list.
Command List

Command List:

-------------------------------------------------------------------------

num |

command

|

introduction

-------------------------------------------------------------------------

00 | ctrl_quit

| console thread exit!

-------------------------------------------------------------------------

01 | help

| command list

-------------------------------------------------------------------------

02 | can_quit

| exit CANopen thread

-------------------------------------------------------------------------

03 | setState

| set the CANopen node state

-------------------------------------------------------------------------

04 | showPdo

| show the data of RPDO

-------------------------------------------------------------------------

05 | requestPdo

| request the data of RPDO

-------------------------------------------------------------------------

06 | sdo

| read/write one entry by SDO protocol

-------------------------------------------------------------------------

07 |

|

-------------------------------------------------------------------------

08 | test_startM

| test -- Start master

-------------------------------------------------------------------------

09 | test_sdoSingle

| test -- Read slave node single data

-------------------------------------------------------------------------

10 | test_sdoSingleW

| test -- Write slave node single data

-------------------------------------------------------------------------

11 | test_sdoBlock

| test -- Read slave node block data

-------------------------------------------------------------------------

12 | test_showPdoCyc

| test -- Show cycle PDO data

-------------------------------------------------------------------------

13 | test_showpdoreq

| test -- Show requested PDO data

-------------------------------------------------------------------------

14 | test_requestpdo

| test -- Request PDO data

-------------------------------------------------------------------------

Note: You can send command by console!

Note: Test code execution is complete!

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Running a CAN application
Example: The following example shows the usage log after running the sdo command without any parameters.
SDO Command: sdo usage: sdo -type index subindex nodeid data
type = "r"(read), "w"(write), "b"(block) index = 0~0xFFFF,unsigned short subindex = 0~0xFF,unsigned char nodeid = 1~127,unsigned char data = 0 ~ 0xFFFFFFFF
11.3.5 Running the Socketcan commands
This section describes the steps for running Socketcan commands that can be performed on either of the boards (LS1021A-IoT or LS1021ARDB). These commands are executed on Linux. The standard Socketcan commands are the following:
1. Open the can0 port.
$ ip link set can0 up
2. Close the can0 port.
$ ip link set can0 down
3. Set the baud rate to 500K for the can0 port
$ ip link set can0 type can bitrate 500000
4. Set can0 port to Loopback mode.
$ ip link set can0 type can loopback on
5. Send a message through can0. 002 (HEX) is node id, and this value must be 3 characters. 2288DD (HEX) is a message, and can take a value up to 8 bytes.
$ cansend can0 002#2288DD
6. Monitor can0 port and wait for receiving data.
$ candump can0
7. See can0 port details.
$ ip -details link show can0
NOTE The third and fourth commands are valid when the state of can0 port is closed.
11.3.6 Testing CAN bus
Below is the sample code for testing the CAN bus on LS1028ARDB.
[root@OpenIL:~]# ip link set can0 down [root@OpenIL:~]# ip link set can1 down [root@OpenIL:~]# ip link set can0 type can loopback off [root@OpenIL:~]# ip link set can1 type can loopback off

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[root@OpenIL:~]# ip link set can0 type can bitrate 500000 [root@OpenIL:~]# ip link set can1 type can bitrate 500000 [root@OpenIL:~]# ip link set can0 up [root@OpenIL:~]# ip link set can1 up [root@OpenIL:~]# candump can0 & [root@OpenIL:~]# candump can1 & [root@OpenIL:~]# cansend can0 001#224466
can0 001 [3] 22 44 66 [root@OpenIL:~]# can1 001 [3] 22 44 66 [root@OpenIL:~]# cansend can1 001#224466
can0 001 [3] 22 44 66 can1 001 [3] 22 44 66 [root@OpenIL:~]# cansend can1 001#113355 can0 001 [3] 11 33 55 can1 001 [3] 11 33 55 [root@OpenIL:~]# cansend can0 000#224466 can0 000 [3] 22 44 66

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Introduction
Chapter 12 NFC click board
NFC click board is a mikroBUSTM add-on board with a versatile near field communications controller from NXP -- the PN7120 IC. NFC devices are used in contactless payment systems, electronic ticketing, smartcards, but also in retail and advertising -- inexpensive NFC tags can be embedded into packaging labels, flyers or posters. This board is fully compliant with NFC Forum specifications. This implies that users can use the full potential of NFC and its three distinct operating modes listed below:
1. Card emulation 2. Read/Write 3. P2P
12.1 Introduction
The NXP's PN7120 IC integrates an ARMTM Cortex-M0 MCU, which enables easier integration into designs, because it requires fewer resources from the host MCU. The integrated firmware provides all NFC protocols for performing the contactless communication in charge of the modulation, data processing and error detection. The board communicates with the target board MCU through the mikroBUSTM I2C interface, in compliance with NCI 1.0 host protocols (NCI stands for NFC controller interface). RST and INT pins provide additional functionality. The board uses a 3.3V power supply.
12.2 PN7120 features
PN7120 embeds a new generation RF contactless front-end supporting various transmission modes according to NFCIP-1 and NFCIP-2, ISO/IEC14443, ISO/IEC 15693, ISO/IEC 18000-3, MIFARE and FeliCa specifications. It embeds an ARM Cortex-M0 microcontroller core loaded with the integrated firmware supporting the NCI 1.0 host communication.
12.3 Hardware preparation
Use the following hardware items for the NFC clickboard demo setup: 1. LS1028ARDB 2. NFC Click board 3. NFC Sample Card (tag
NOTE You need to insert the NFC click board into the LS1028ardb mikroBUS1 slot.

12.4 Software preparation
In order to support NFC click board, use the following steps:

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NFC click board 1. In OpenIL environment, use the command make menuconfig to enable the below options: $make menuconfig Target packages ---> Libraries ---> Hardware handling ---> [*] libnfc-nci 2. In Linux kernel environment, make sure the below options are enabled: $make linux-menuconfig Device Drivers ---> Misc devices ---> <M> NXP PN5XX based driver NOTE The NXP PN5XX based driver only supports the Module mode. 3. Use the make command to create the images.
12.5 Testing the NFC click board
Use the following steps for testing the NFC Clickboard: 1. Install NFC driver module [root@OpenIL:~]# insmod /lib/modules/4.14.47-ipipe/kernel/drivers/misc/nxp-pn5xx/pn5xx_i2c.ko 2. The following logs appear at the console after the above command is successful. The error information can be ignored in this case.
3. Run the nfcDemoApp application [root@OpenIL:~]# nfcDemoApp poll

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Testing the NFC click board 4. Put the NFC Sample Card (tag) on top of the NFC click board: Printing the above information indicates successful card reading.

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BLE click board
Chapter 13 BLE click board
This chapter introduces the features of the BLE P click board and how to use it on NXP's LS1028A reference design board (RDB)
13.1 Features
Following are the features provided by BLE P clickboard: � nRF8001 Bluetooth low energy RF transceiver -- 16 MHz crystal oscillator -- Ultra-low peak current consumption <14 mA -- Low current for connection-oriented profiles, typically 2 A � PCB trace antenna (2400-2483.5 MHz, up to 40 meters) � BLE Android app � Interface: SPI (CS, SCK, MISO, MOSI), RDY and ACT lines � 3.3 V power supply
13.2 Hardware preparation
Use the following hardware items for the BLE P click board demo setup: 1. LS1028ARDB 2. BLE P Click board 3. Android phone (option)
13.3 Software preparation
Use these steps for the BLE Pclickboard demo software setup: � Download the JUMA UART (Android app) by using the link: https://apkpure.com/juma-uart/com.juma.UART � Then, run the below steps in order to support BLE P click board: 1. In OpenIL environment, use the command make menuconfig to enable the below options:
$make menuconfig Target packages --->
Hardware handling ---> [*] i2c-tools
Libraries ---> Hardware handling ---> [*] libblep

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2. In Linux kernel environment, make sure the below options are enabled:

Testing the BLE P click board

$make linux-menuconfig Device Drivers --->
SPI support ---> <*> Freescale DSPI controller <*> User mode SPI device driver support
3. Use the make command to create the images.
NOTE The above operation can be replaced by executing the make nxp_ls1028ardbXXXX_defconfig file.

13.4 Testing the BLE P click board
Use the following steps for testing the BLE P click board: 1. Running the blep_demo application.
The following log is displayed to indicate that the BLE P click board is initialized. At this time, you can scan for BLE P click board from your mobile phone or your computer's Bluetooth device. The name of the BLE P click board used is "MikroE"

2. Connection log
Connect the BLE P click board via mobile app. On successful connection, the following log is displayed. Thereafter, the application can communicate with the BLE P click board.

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3. Disconnection log Click the Disconnect button of the Android APP to disconnect from the BLE P click board. The following log displays that the disconnection is successful:
4. Command line introduction The blep _demo application supports four command lines: devaddr, name=, version, and echo. a. devaddr This command is used to obtain the MAC address of the BLE P click board. You can run this command at any time.
b. name= This command is used to set the Bluetooth name of the ble p click board when broadcasting. No spaces are required after the equal sign "=", and the content after the equal sign is the set name. The maximum length is 16 characters.
c. version This command is used to obtain the version of the BLE P click board. You can run this command at any time.

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Testing the BLE P click board
d. echo This command is used to send a string to the Android app. This command should be executed after the connection is established. The maximum length is 20 characters. The below log displays the message displayed after user tries to send a string when no connection is established:
The below log is displayed when user sends a string after a connection is established:
5. Receiving data When the Android app sends a string:

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QT
Chapter 14 QT
This chapter introduces the QT feature for OpenIL and provides instructions on how to enable this feature on NXP's LS1028A reference design board.
14.1 Introduction
Qt is a full development framework with tools designed to streamline the creation of applications and user interfaces for desktop, embedded, and mobile platforms. For details, see http://doc.qt.io/qt-5/index.html This section describes how to enable QT5 in OpenIL.
14.2 Software settings and configuration
Use the following steps to configure QT5 on target board and build the images. 1. Configure the target board: There are two configuration files used for LS1028ARDB board: nxp_ls1028ardb-64b_defconfig and nxp_ls1028ardb-64b_ubuntu_defconfig. Use one of them:
make nxp_ls1028ardb-64b_defconfig
or
make nxp_ls1028ardb-64b_ubuntu_defconfig
2. Configure QT5: Use the command make menuconfig to configure the QT5:
Target packages -> Graphic libraries and applications (graphic/text) -> [*] Qt5 ->
[*] Approve free license [*] Compile and install examples (with code) [*] concurrent module [*] MySQL Plugin [*] PostgreSQL Plugin [*] gui module [*] widgets module [*] fontconfig support [*] GIF support [*] JPEG support [*] PNG support [*] DBus module [*] Enable ICU support [*] Enable Tslib support [*] qt5enginio [*] qt5imageformats [*] qt5location [*] qt5multimedia [*] qt5sensors [*] qt5serialbus [*] qt5svg

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3. Build the images using the command: make -j8
14.3 Hardware setup
For the QT setup, you require the following hardware: 1. Monitor that supports DP interface 2. Cable matters DisplayPort to DisplayPort (DP to DP Cable) 3. USB wired/wireless mouse or keyboard Figure 85. Hardware setup for QT

Hardware setup

14.4 Running the QT5 demo
This section describes the steps for configuring the environment and running the Qt demos for LS1028ARDB.
14.4.1 Environment setting
Use the steps listed below to configure the environment settings: 1. For nxp_ls1028ardb-64b_defconfig configuration � Make sure that the fonts directory exists in the /usr/share/ directory. If it does not exist, you can find it in the root directory, and copy one or more to /usr/share, as shown in the example below:

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2. For nxp_ls1028ardb-64b_ubuntu_defconfig configuration � Replace /lib/aarch64-linux-gnu/libz.so.1 with the following commands:
rm /lib/aarch64-linux-gnu/libz.so.1 ln -s -f /usr/lib/libz.so.1.2.11 /lib/aarch64-linux-gnu/libz.so.1
� Make sure that the fonts directory exists in the /usr/lib/ directory. If it does not exist, you can find it in the root directory and copy one or more to /usr/lib/ using the following commands:
cd / find ./ -name fonts cp -r /usr/lib/qt/examples/quick/text/fonts/content/fonts /usr/lib

The QT5 framework is configured now, and user can add any applications.
14.4.2 Running the demos
There are many sample demos in the directory /usr/lib/qt/examples. Following are some of the demos and their corresponding commands:
1. Example1: /usr/lib/qt/examples/widgets/widgets/wiggly/wiggly --platform linuxfb

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Running the QT5 demo

Figure 86. Example 1: Wiggly text 2. Example 2:/usr/lib/qt/examples/quick/demos/calqlatr/calqlatr -- platform linuxfb

Figure 87. Example 2: Calculator 3. Example 3: /usr/lib/qt/examples/quick/demos/clocks/clocks --platform linuxfb

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Figure 88. Example 3: Clocks 4. Example 4: /usr/lib/qt/examples/gui/analogclock/analogclock --platform linuxfb

Figure 89. Example 4: Analog clock

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What is EdgeScale
Chapter 15 EdgeScale client
This chapter describes edgescale, its features and the procedure to use Edgescale on NXP supported hardware platforms.
15.1 What is EdgeScale
EdgeScale is a unified, scalable, and secure device management solution for Edge Computing applications. It enables OEMs and developers to leverage cloud compute frameworks like AWS Greengrass, Azure IoT and Aliyun on Layerscape devices. It provides the missing piece of device security and management needed for customers to securely deploy and manage a large number of Edge computing devices from the cloud. End-users and developers can use the EdgeScale cloud dashboard to securely enroll Edge devices, monitor their health, attest and deploy container applications and firmware updates. EdgeScale can also be used as a development environment to build containers and generate firmware.

15.2 Edgescale features
Following are the features supported by Edgescale: � EdgeScale dashboard for users � Secure device enrolment � Secure key/certificate provisioning � OTA: firmware update (LS1012A, LS1043. LS1046, or LS1028) � Device status monitoring on the cloud � Dynamic deployment of container-based applications � The above specified features are currently supported in LSDK. For more details, please visit: EDGESCALE: EdgeScale for Secure Edge Computing
15.3 Building EdgeScale client
To Build the EdgeScale client in OpenIL for LS1043A, LS1046A and LS1028A, follow the configuration below:
Make menuconfig Target packages ---> Edge-scale service ---> [*] qorio edgescale eds [*] qorio eds kubelet [*] qorio eds bootstrap

15.4 Procedure to start EdgeScale
For complete details on how to start EdgeScale, visit the URL https://doc.edgescale.org/.

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NOTE Follow these steps after downloading the device identification info file (which is a script file):
1. Copy the script file to the DUT and run it using the command below:
sh xxxx.sh /dev/mmcblk0
2. Then, reboot the board. 3. Run the below command to start edgescale client in Linux prompt:
sh /usre/local/edgescale/bin/startup.sh

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Chapter 16 Known issues

The following table lists the known issues for Open Industrial Linux for this release.

Table 43. Known issues for this release

Item

Description

1

Need to define more relevant usage scenario for SAE AS6802 features (time-triggered, rate-constrained traffic).

These are not used at the moment.

2

Sja1105-tool does not communicate with the BCM5464R PHY.

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Revision history
Chapter 17 Revision history

The table below summarizes revisions to this document.

Date

Document version

01/05/2019 1.5

01/02/2019 1.4

Table 44. Document Revision History Topic cross- reference Change description

Interface naming on page 26

Added the section. Describes interface naming for U-Boot and Linux for LS1028ARDB.

Using TSN features on LS1028ARDB on page 81

Updated this section in the Chapter "TSN Demo".

BLE click board on page Added the Chapter. 188

EdgeScale client on page 197

Added the Chapter.

Getting Open IL

Updated the OpenIL version and Git tag.

Supported NXP platforms on page 12

Added support for LS1028ARDB (64-bit and Ubuntu). Updated various sections accordingly.

Getting Open IL

Updated the OpenIL version and Git tag.

LS1028ARDB on page 26

Added this Section for LS1028ARDB support.

TSN on page 81

Reorganized this Chapter and added separate Section for Using TSN features on LS1028ARDB on page 81.

NFC click board on page Added the Chapter. 185

FlexCAN on page 171

Minor updates in this Chapter. Also added the section, Hardware preparation for LS1028ARDB on page 178 and Testing CAN bus on page 183.

QT on page 192

Added the Chapter.

15/10/2018 1.3.1 31/08/2018 1.3

Getting Open IL EtherCAT FlexCAN i.MX6QSabreSD support. Getting Open IL Selinux demo

Updated the OpenIL version and Git tag
Added the chapter.
Added the chapter.
Added the section in chapter: NXP OpenIL platforms. Updated other sections for i.MX6Q Sabre support.
Updated the section.
Added the section, Installing basic packages on page 48 and updated Basic setup. Updates in other sections.

Table continues on the next page...

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Date

Document version

31/05/2018 1.2

18/04/2018 1.1.1 30/03/2018 1.1

22/12/2017 1.0 25/08/2017 0.3

26/05/2017 0.2

Table 44. Document Revision History (continued) Topic cross- reference Change description

Hardware requirements Updated the Section, "RTnet hardware requirements". on page 33

Software requirements on page 34

Updated the Section, "RTnet software requirements".

RTnet on page 33

Added the Section, "RTnet".

Switch settings on page Added a note for LS1043A switch setting. 22

Supported industrial features on page 12

Added support for industrial IoT baremetal framework in this section.

Booting up the board on Added a note for steps to be performed before booting up the board. page 16

Reference documentation on page 7

Added the section.

OPC UA on page 74

Added the Chapter.

TSN on page 81

Chapters for "1-board TSN demo" and "3-board TSN demo" replaced by a single chapter, "TSN demo".

IEEE 1588 on page 37

� Updated the section, 'Industrial Features'.

� -IEEE 1588 -'sja1105-ptp' support removed.

-

Set up the OpenIL websitehttp://www.openil.org/.

OTA implementation on page 156
TSN on page 81
SELinux on page 48

OTA - Xenomai Cobalt 64-bit and SJA1105 support added.
Qbv support added. SELinux support for LS1043 / LS1046 Ubuntu Userland added.

OP-TEE on page 43

OP-TEE support for LS1021ATSN platform added.

4G-LTE Modem on page 4G LTE module - 64-bit support for LS1043ARDB, LS1046ARDB,

154

and LS1012ARDB added.

NXP OpenIL platforms on page 20

Ubuntu Userland support for 64-bit LS1043ARDB and 64-bit LS1046ARDB added.

-

Initial public release.

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How To Reach Us Home Page: nxp.com Web Support: nxp.com/support

Information in this document is provided solely to enable system and software implementers to use NXP products. There are no express or implied copyright licenses granted hereunder to design or fabricate any integrated circuits based on the information in this document. NXP reserves the right to make changes without further notice to any products herein.
NXP makes no warranty, representation, or guarantee regarding the suitability of its products for any particular purpose, nor does NXP assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation consequential or incidental damages. "Typical" parameters that may be provided in NXP data sheets and/or specifications can and do vary in different applications, and actual performance may vary over time. All operating parameters, including "typicals," must be validated for each customer application by customer's technical experts. NXP does not convey any license under its patent rights nor the rights of others. NXP sells products pursuant to standard terms and conditions of sale, which can be found at the following address: nxp.com/ SalesTermsandConditions.
While NXP has implemented advanced security features, all products may be subject to unidentified vulnerabilities. Customers are responsible for the design and operation of their applications and products to reduce the effect of these vulnerabilities on customer's applications and products, and NXP accepts no liability for any vulnerability that is discovered. Customers should implement appropriate design and operating safeguards to minimize the risks associated with their applications and products.
NXP, the NXP logo, Freescale, the Freescale logo, Layerscape, and QorIQ are trademarks of NXP B.V. Arm and Cortex are the registered trademarks of Arm Limited (or its subsidiaries) in the EU and/or elsewhere. All other product or service names are the property of their respective owners. All rights reserved.
 2019 NXP B.V.

� NXP B.V. 2019.

All rights reserved.

For more information, please visit: http://www.nxp.com For sales office addresses, please send an email to: salesaddresses@nxp.com
Date of release: May 2019 Document identifier: OpenIL_UG