厦门莫格电气自动化有限公司销售Honeywell霍尼韦尔620-8996您迈开询价的一小步，我还您成功的一大步。​620-8996620-8996620-8996a).硬件准备./ColibriiMX7计算机模块和ColibriEvaBoard开发板./UbuntuLinux开发主机b).软件准备./iMX7模块Cortex-A7核心运行ToradexEmbeddedLinuxreleaseV2.6Beta2./UbuntuLinux开发主机FreeRTOSsourcecode交叉编译ToolChain-LinaroARMEmbedded,4.92015-Q3版本-从这里***3).配置a).***FreeRTOSforColibriiMX7------------------------$gitclone-bmaster-1.0.1git:///freertos-toradex.gitfreertos-colibri-imx7/$cdfreertos-colibri-imx7/------------------------b).解压缩交叉编译工具------------------------$tarxjfgcc-arm-none-eabi-4_9-2015q3-20150921-linux.2//如果开发主机是Ubuntu64bit操作系统,则需要安装下面32bit支持包$sudodpkg--add-architecturei386$sudoapt-getupdate$sudoapt-getinstalllibc6:i386libncurses5:i386//测试gcc运行$cd.../gcc-arm-none-eabi-4_9-2015q3/bin/$./arm-none-eabi-gcc--version//安装make和Cmake工具$sudoapt-getinstallmakecmake------------------------4).编译FreeRTOSFreeRTOS的examples目录下提供了诸多例程,在编译前需要先设置叉编译工具路径的环境变量ARMGCC_DIR,然后运行armgcc子目录下准备好的编译脚本即可进行编译.------------------------$exportARMGCC_DIR=.../gcc-arm-none-eabi-4_9-2015q3/$cd.../freertos-colibri-imx7/examples/imx7_colibri_m4/demo_apps/hello_world/armgcc$./------------------------编译好的可执行文件位于armgcc下的release和debug子目录下,可以加载到M4核心上面运行了.5).在M4核心上面运行Firmwarea).M4的固件程序在ColibriiMX7A7核心Linux系统U-Boot中进行加载,将编译好的n程序放到SD卡根目录(FAT32格式),并连接到开发板上.------------------------ColibriiMX7#fatloadmmc0:10x7F8000n...ColibriiMX7#dcacheflushColibriiMX7#bootaux0x7F8000##Startingauxiliarycoreat0x007F8000...------------------------b).FreeRTOS默认使用UARTB作为其调试输出串口,波特率设置1152008N1。A7Linux默认devicetree设置也会访问UARTB,为了防止出现冲突,推荐在devicetree中禁用UARTB(设置status参数)。也可以在U-Boot中添加下面参数,临时禁用UARTB。------------------------ColibriiMX7#setenvfdt_fixup'fdtaddr${fdt_addr_r}&&fdtrm/soc/aips-bus@30800000/spba-bus@30800000/serial@30890000'ColibriiMX7#s***eenvSieb&Meyer26.36.12伺服放大器模块Sieb&Meyer26.36.16TYPEM5伺服放大器模块Sieb&Meyer26.36.15TYPEM3电源模块Sieb&Meyer26.36.5526-36-55驱动器模块Sieb&Meyer26.37.05A2伺服驱动控制Sieb&Meyer26.39.27263927交流伺服驱动模块Sieb&Meyer26.39.5电源模块Sieb&Meyer26.44.26TYPEM3伺服驱动速度控制器Sieb&Meyer26.44.29Sieb&Meyer26.50.65H电源模块Sieb&MeyerAFSK260482-23R-SERVO-2.1Sieb&MeyerCSS90#15235主轴处理器Sieb&MeyerCSS90#K256961Sieb&MeyerCSS90#K256995943.01.06ACSS90主轴输出板Sieb&MeyerCSS9043.01.05.2电路板Sieb&MeyerCSS91处理器模块Sieb&Meyer7903425-44-25C伺服控制器DENGENSHAPMU-0531-3#22738逆变器板DENGENSHAPMU-0531-1#23132逆变器板DENGENSHAPCC-0275电路板DENGENSHAPF-0482电路板DENGENSHAPHF-0329-1S电路板DENGENSHAPT-0328-1电路板DENGENSHAPFI-0533-3-SK3ADENGENSHADGN-2DGN2电路板MURRELEKTRONIKPOWERSUPPLYMCS40MURRELEKTRONIKPOWERSUPPLYMCS20MazakSystemBoardD65UB002740ShimadzuTMP2001-LME真空涡轮泵ShimadzuTMP-2203LM真空涡轮泵ShimadzuTMP-3403LMTC3620-00486真空涡轮泵ShimadzuTMP-3203LMC-K1真空涡轮泵ShimadzuTMP-3203LMEC-K1真空涡轮泵ShimadzuTMP-3203LMC-A13620-00145真空涡轮泵ShimadzuTMP2003LM-C涡轮泵ShimadzuTMP-3403LMC3620-00454ShimadzuShimadzuTMP-3403LMTC真空涡轮泵ShimadzuTMP-3403LMC真空涡轮泵ShimadzuTMP-3203LMC-K1真空涡轮泵ShimadzuTMP-3203LMC-K1VG300真空涡轮泵ShimadzuTMP-3203LMEC-K1真空涡轮泵ShimadzuTMP-H3603LMC-A1ShimadzuEI-3203MD涡轮泵控制器ShimadzuTMP3403LMC(A2)涡轮分子泵ShimadzuTMP280-L真空涡轮泵ShimadzuEI-3203MDTMP-3203LMEC涡轮泵控制器ShImadzuEI-D1103M涡轮泵控制器ShimadzuTMC-3202LMC-K1真空涡轮泵ShimadzuEI-D3603M轮泵控制器ShimadzuTMP-3203LMC-A1涡轮泵ShimadzuEI-3203MD涡轮泵控制器ShimadzuEI-3203MD-A1涡轮泵控制器ShimadzuEI-3203MD涡轮泵控制器Shimadzu280-L真空涡轮泵ShimadzuTMP280-L涡轮泵ShimadzuTMP-303LM303-LMShimadzuEI-3203MD涡轮泵控制器ShimadzuEL-281涡轮泵电源Shimadzuboard501-72536Eassy501-72535CShimadzuboard501-69697Cassy501-69696DShimadzuboard501-69697Dassy501-69696DShimadzuboard501-72536Dassy501-72535BShimadzuboard501-71653Jassy501-71652HShimadzuboard501-71651Kassy501-71650JShimadzuboard501-71659Dassy501-71658CShimadzuboard501-79572JShimadzuCPUassy638-72430Shimadzuassy228-34148-93ShimadzuSBC8601board202-59845-05ShimadzuDSP-R206-17194ShimadzuSBC-8602A202-50235-84ShimadzuSBC-8602A202-50235ShimadzuRF-CPU-V20-EMC206-85313-91ShimadzuTMP-280涡轮分子泵ShimadzuEI-3203MD涡轮泵控制器ShimadzuLC-6ADShimadzuTMP-203M涡轮分子泵ShimadzuTMP-280-L涡轮分子泵Shimadzupart638-72274-01TOCAT4ShimadzuSCL-10A系统控制器ShimadzuCPUboard206-12679ShimadzuRF-CPUV02206-60505-05Shimadzuassy206-14943H206-14945HShimadzuTMP-2001-LM-EShimadzupart206-11281Shimadzupart206-12682Shimadzu638-72457Shimadzupart541-18591D541-18592EShimadzupart204-77157NEWShimadzuGFA-4BCPU206-16355Shimadzu541-18247E541-18248D6ES5420-4UA141166ES5430-4UA1416ES5441-4UA1376ES5441-4UA14746ES5470-4UB1346FM1726-3CA1020SAFT-123-PACReliance57C330Reliance57C331Reliance57C370Reliance57C373Reliance57C375Reliance57C376Reliance57***01Reliance57***05Reliance57***06Reliance57***07Reliance57***09Reliance57***10Reliance57***11Reliance57***17Reliance57***17AReliance57***21Reliance57***230BReliance57***235AReliance57***40Reliance57***40AReliance57400-1Reliance57402Reliance57406Reliance57407-4Reliance57***22BReliance57***04CReliance57***02Reliance57***16Reliance57422Reliance57***30Reliance57419Reliance57404BReliance57410Reliance57411Reliance57411-1Reliance57411-2Reliance57402DReliance57***10AReliance57***11Reliance57***09Reliance57C565Reliance57C651Reliance57C653Reliance45C1Reliance45C15CReliance45C1AReliance45C200AReliance45C301A)