Moxa ioPAC 8600 User Manual

ioPAC 8600 CPU30 C Version Software

User’s Manual

Version 1.2, February 2021

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ioPAC 8600 CPU30 C Version Software

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User’s Manual

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Table of Contents

1. Introduction ...................................................................................................................................... 1-1

Overview ........................................................................................................................................... 1-2

Scope ........................................................................................................................................ 1-2

Related Documents ..................................................................................................................... 1-2

Supported Products ..................................................................................................................... 1-2

Software Architecture .......................................................................................................................... 1-2

Software Package ........................................................................................................................ 1-4

2. Getting Started.................................................................................................................................. 2-1

Developing the First Program ............................................................................................................... 2-2

Hardware Requirements ............................................................................................................... 2-2

Development Procedure ............................................................................................................... 2-2

Configuring the Ethernet Interface ........................................................................................................ 2-2

Modifying Network Settings with the Serial Console ......................................................................... 2-2

Modifying Network Settings over the Network ................................................................................. 2-3

Connecting an ioPAC Controller to a Linux PC ......................................................................................... 2-3

Installing the Toolchain on the PC ......................................................................................................... 2-4

Configuring Cross Compiler and glibc Environment Variables .................................................................... 2-4

Developing Code and Compiling a Program ............................................................................................ 2-4

Upload and Run the Program ................................................................................................................ 2-5

Systemctl Command ........................................................................................................................... 2-6

3. Controller Management ..................................................................................................................... 3-1

System Information ............................................................................................................................ 3-2

Firmware Upgrade and Default Settings ................................................................................................. 3-2

Upgrading the Firmware ............................................................................................................... 3-2

Upgrading the Firmware from the SD Card ..................................................................................... 3-4

Loading Factory Defaults .............................................................................................................. 3-4

Enabling and Disabling Daemons .......................................................................................................... 3-5

System Time Setting ........................................................................................................................... 3-5

Setting the Time Manually ............................................................................................................ 3-5

Using NTP Client to update the Time .............................................................................................. 3-5

Configuring the NTP Server .......................................................................................................... 3-6

Executing Scheduled Commands with Cron Daemon ............................................................................... 3-6

File System ........................................................................................................................................ 3-7

Web Server ........................................................................................................................................ 3-8

LOG ................................................................................................................................................ 3-10

4. Controller Communications ............................................................................................................... 4-1

Internet Configuration ......................................................................................................................... 4-2

Modbus TCP Master and Slave....................................................................................................... 4-2

DNS........................................................................................................................................... 4-2

FTP ............................................................................................................................................ 4-2

Telnet ........................................................................................................................................ 4-3

SSH ........................................................................................................................................... 4-3

Iptables ..................................................................................................................................... 4-3

NAT (SNAT) ................................................................................................................................ 4-4

Port Forwarding (DNAT) ............................................................................................................... 4-5

PPPoE ........................................................................................................................................ 4-5

NFS (Network File System) Client .................................................................................................. 4-6

Sending Mail ............................................................................................................................... 4-7

OpenVPN .................................................................................................................................... 4-7

IPSec VPN ................................................................................................................................ 4-10

NTP Server/Client ...................................................................................................................... 4-11

Port Trunking ............................................................................................................................ 4-11

DDNS ...................................................................................................................................... 4-12

opkg ........................................................................................................................................ 4-12

5. Controller Data Acquisition ............................................................................................................... 5-1

I/O Data Access.................................................................................................................................. 5-2

Data Backup Memory .......................................................................................................................... 5-2

Millisecond Timestamp ........................................................................................................................ 5-2

MX-AOPC UA Server ............................................................................................................................ 5-2

6. Controller Programming .................................................................................................................... 6-1

Programming Guide ............................................................................................................................ 6-2

Memory Usage ............................................................................................................................ 6-2

Using C/C++ ...................................................................................................................................... 6-2

Linux Toolchain ........................................................................................................................... 6-2

GDB .......................................................................................................................................... 6-3

Library and APIs .......................................................................................................................... 6-4

A. System Commands ............................................................................................................................ A-1

Special Moxa Utilities .......................................................................................................................... A-1



1. Introduction

The following topics are covered in this chapter:

Overview

 Scope

 Related Documents

 Supported Products

Software Architecture

 Software Package

ioPAC 8600 CPU30 C Version Introduction

1-2

Overview

In this section, we describe the scope of this document, and list relevant reference documents, and

supported products.

Scope

The purpose of this document is to help users set up and configure the ioPAC controller and quickly become

familiar with the programming environment. The following topics are covered in this document:

 Introduction

 Getting Started

 Controller Management

 Controller Communications

 Controller Data Acquisition

 Controller Programming

The following information is provided in the Appendix:

 System Commands

Supported Products

In this document, we cover the following products:

 ioPAC 8600-CPU30 Series

Software Architecture

The ioPAC CPU30 Programmable Controller uses an ARM Cortex™ A8-based industrial-grade CPU for the

system and ARM Cortex™ M4-based CPUs for the modules. It provides up to 4 GB eMMC, 512 MB SDRAM,

and a microSD socket (up to 32 GB) for users to install application software and to store data directly on the

controller.

The pre-installed operating system (OS) provides an open platform for software program development,

which follows a standard Linux-based architecture. Software that runs on desktop PCs can be easily

exported to the controller with a cross compiler. Program porting can be done with the toolchain provided

by Moxa.

The built-in flash ROM is partitioned into the following directory partitions: Boot Loader, Kernel, Root File

System, and User. In order to prevent user applications from crashing the Root File System, the controller

uses a unique Root File System with Protected Configuration for emergency use. This Root File System

comes with serial and Ethernet communication capability for users to load the Factory Default Image file.

User settings and applications are saved in the User directory.

ioPAC 8600 CPU30 C Version Introduction

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The ioPAC CPU30 uses OverlayFS as the file system when Linux 4.0 is implemented. For more information

about OverlayFS, check the following links:

https://github.com/torvalds/linux/commit/e9be9d5e76e34872f0c37d72e25bc27fe9e2c54c

https://docs.docker.com/engine/userguide/storagedriver/overlayfs-driver/

For more information about the memory map and programming, refer to the Programming Guide section

in Chapter 6.

ioPAC 8600 CPU30 C Version Introduction

1-4

System

File System

Ext3, Ext2, Ext4, vfat, msdos, nfs, ntfs, overlay

Busybox

Linux normal command utility collection

ddns

NO-IP client program

PPPoE

Point-to-Point over Ethernet daemon

ntpd

NTP server daemon

Linux Toolchain

Software Package

Boot loader ioPAC 8600-CPU30 Boot Loader (v1.0)

Kernel Linux 4.1.15 with Real-time patch (PREEMPT_RT)

Protocol Stack ARP, PPP, CHAP, PAP, IPv4, ICMP, TCP, UDP, DHCP, FTP, HTTP, NTP, NFS, SMTP,

SSH 1.0/2.0, SSL, Telnet, PPPoE, OpenVPN, TFTP

OS Shell command Bash

Utilities

telnet Telnet client program

ssh SSH client program

ftp FTP client program

smtpclient Email utility

ntpdate NTP client program

tftp TFTP client program

Daemons

pppd Dial in/out over serial port daemon

telnetd Telnet server daemon

inetd TCP server manager program

ftpd FTP server daemon

sshd Secure shell server

openvpn Virtual private network

openssl Open SSL

HTTP server Monkey HTTP server

systemd-journald system log daemon

gcc(v5.1.1) C/C++ PC Cross Compiler

gdb(v7.10.0) Source Level Debug Server

glibc(v2.21) POSIX standard C library



2. Getting Started

This chapter is intended as a quick start guide to help new users set up and configure the ioPAC

Programmable Controller quickly, and develop a simple program to run on the ioPAC Programmable

Controller.

The following topics are covered in this chapter:

Developing the First Program

 Hardware Requirements

 Development Procedure

Configuring the Ethernet Interface

 Modifying Network Settings with the Serial Console

 Modifying Network Settings over the Network

Connecting an ioPAC Controller to a Linux PC

Installing the Toolchain on the PC

Configuring Cross Compiler and glibc Environment Variables

Developing Code and Compiling a Program

Upload and Run the Program

Systemctl Command

ioPAC 8600 CPU30 C Version Getting Started

2-2

[moxa@ioPAC8600 ~]$ sudo nmcli c down eth0

/org/freedesktop/NetworkManager/ActiveConnection/1)

Developing the First Program

In this section, we list the hardware you will need to create your first program, and give an overview of the

program development procedure.

Hardware Requirements

The following hardware items are required to complete the first program:

 1 x ioPAC Programmable Controller

 1 x 24-110 VDC power supply

 1 x Ethernet cable

 1 x PC or laptop with following minimum requirements

 CPU: Intel Pentium 4 or above

 RAM: 512 MB (1024 MB recommended)

 HDD: at least 200 MB of free space

 Network Interface: 10/100M Ethernet

 Linux Operating System (we recommend Ubuntu 14.04)

Development Procedure

Take the following steps to develop your first program:

Step 1: Connect a Controller to a Linux PC

Step 2: Install the Toolchain onto the PC

Step 3: Configure Cross Compiler and glibc Environment Variables

Step 4: Develop the Code and Compile the Program

Step 5: Upload and Run the Program

Configuring the Ethernet Interface

The network settings of the ioPAC Programmable Controller can be modified with the ioPAC’s serial console

or web console.

Modifying Network Settings with the Serial Console

In this section, we show how to use the serial console to configure the network interface. The default IP

addresses and port numbers are 192.168.127.254/24 for interface port eth0 and 192.168.126.254/24 for

interface port eth1. We illustrate how to configure both static and dynamic IP addresses for interface port

eth0.

Static IP address:

1. Deactivate eth0.

Connection 'eth0' successfully deactivated (D-Bus active path:

2. Configure a static IP and gateway for eth0.

ioPAC 8600 CPU30 C Version Getting Started

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[moxa@ioPAC8600 ~]$ sudo nmcli c modify eth0 ipv4.method manual ipv4.addresses

192.168.127.254/24 ipv4.gateway 192.168.127.1

[moxa@ioPAC8600 ~]$ sudo nmcli c up eth0

/org/freedesktop/NetworkManager/ActiveConnection/2)

[moxa@ioPAC8600 ~]# sudo nmcli c down eth0

/org/freedesktop/NetworkManager/ActiveConnection/1)

[moxa@ioPAC8600 ~]# sudo nmcli c modify eth0 ipv4.method auto

[moxa@ioPAC8600 ~]# sudo nmcli c up eth0

/org/freedesktop/NetworkManager/ActiveConnection/2)

[moxa@ioPAC8600 ~]# sudo nmcli c modify eth0 ipv4.method manual ipv4.addresses

192.168.127.254/24 ipv4.gateway 192.168.127.1

[moxa@ioPAC8600 ~]# sudo reboot

LAN2 (default IP: 192.168.126.254)

192.168.126.100

[root@localhost ~]# ssh moxa@192.168.127.254

3. Activate eth0.

Connection successfully activated (D-Bus active path:

Dynamic IP Address:

1. Deactivate eth0.

Connection 'eth0' successfully deactivated (D-Bus active path:

2. Configure eth0 to request an IP address dynamically.

3. Activate eth0.

Connection successfully activated (D-Bus active path:

Modifying Network Settings over the Network

In this section, we show how to use the web console to configure the network interface over an Ethernet

connection. The default IP addresses and port numbers are 192.168.127.254/24 for interface port eth0 and

192.168.126.254/24 for interface port eth1. We illustrate how to configure a static IP address for interface

port eth0.

Static IP address:

1. Configure a static IP and gateway for eth0.

2. Reboot the system.

Connecting an ioPAC Controller to a Linux PC

Take the following steps to establish a connection between the PC and the controller.

Step 1: Use an Ethernet cable to connect the PC’s Ethernet port to the ioPAC controller’s LAN1 or LAN2

port.

Step 2: Change the PC’s IP address as indicated below:

If the ioPAC controller is connected to: Set PC’s IP address to:

LAN1 (default IP: 192.168.127.254) 192.168.127.100

Step 3: Use the ssh command to access the ioPAC’s console.

Step 4: When a connection between the PC and controller has been established, the following message will

be shown on the screen.

ioPAC 8600 CPU30 C Version Getting Started

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[root@localhost ~]$ ssh moxa@192.168.127.254

[moxa@ioPAC8600 ~]$

[root@localhost ~]$ mount /dev/cdrom /mnt/cdrom

/mnt/cdrom/Software/Toolchain/ioPAC_CPU30_toolchain_Vx.x.x.x_Buildxxxxxxxx.sh

[moxa@ioPAC8600 ~]# PATH=$PATH:/usr/local/arm-linux/bin:/usr/sbin

[moxa@ioPAC8600 ~]# export LD_LIBRARY_PATH

[moxa@ioPAC8600 ~]# cd /tmp/

root@moxa:/tmp# cp –r /mnt/cdrom/Software/Sample/hello_world/* /tmp/example

[moxa@ioPAC8600 ~]# cd/tmp/example/hello_world

root@moxa:/tmp/example/hello_world# make

lrtu_common

-ltag -Wl,-rpath,/lib/RTU/ -Wl,--allow-shlib-undefined

moxa@192.168.127.254's password:

Installing the Toolchain on the PC

The controller’s GNU toolchain requires approximately 2 GB of hard disk space on your PC. The controller’s

toolchain software is located on the Document and Software CD. To install the toolchain, insert the CD into

your PC’s CD-ROM and then issue the following commands:

[root@localhost ~]$ unzip /mnt/cdrom/Software/Toolchain/

ioPAC_CPU30_toolchain_Vx.x.x.x_Buildxxxxxxxx.zip .

[root@localhost ~]$ sh

The toolchain will be installed automatically on the host Linux PC within a few minutes.

Configuring Cross Compiler and glibc Environment Variables

Before compiling the program, issue the following commands to change the path to the directory that

contains the toolchain files (including the compiler, link, and library). Configuring the path allows you to run

the compiler from any directory.

[moxa@ioPAC8600 ~]# export PATH

[moxa@ioPAC8600 ~]# LD_LIBRARY_PATH=/usr/local/arm-linux/tools/lib:/usr/lib

Developing Code and Compiling a Program

Use the hello_world.c sample program and makefile from the Software and Document CD to learn how to

develop code and compile a program on the ioPAC controller.

Type the following commands from the host PC to copy the files used for this example.

root@moxa:/tmp# mkdir example

To compile the program, go to the hello_world subdirectory and issue the following commands:

The following response should be shown on the screen.

/usr/local/arm-linux/bin/arm-linux-gcc -I/usr/local/arm-linux/include -

I/usr/local/arm-linux/include/RTU -o hello_world hello_world.o -L/usr/local/arm-

linux/lib -lpthread -lmxml -L/usr/local/arm-linux/lib/RTU -lmoxa_rtu -

ioPAC 8600 CPU30 C Version Getting Started

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NOTE

Since Moxa’s too

be sure to type the

any other directory, the host Linux PC

errors.

ATTENTION

You

can

221 Goodbye.

The hello_world-release and hello_world-debug executable files are described below:

• hello_world-release: an ARM platform executable file (created specifically to run on the Moxa

Controllers)

• hello_world-debug: an ARM platform GDB debug server executable file

must use the sudo command to run the programs that use Moxa library for the ioPAC 8600. Or, you

switch to the root account before you run programs that use Moxa library for the ioPAC 8600.

lchain places a specially designed makefile in the /tmp/example/hello_world directory,

#make command from within that directory. If you type the #make command from

might use other system compilers (e.g., cc or gcc), resulting in

Upload and Run the Program

In this section, we give step-by-step instructions that describe how to upload and run the hello_world.c

program. Before starting the process, set up the networking environment as follows:

• ioPAC 8600 IP: 192.168.127.254

• localhost IP: 192.168.127.1

• Make sure that the ioPAC 8600 and localhost can connect to each other over the network.

1. Start vftpd service on the ioPAC 8600.

[moxa@ioPAC8600 ~]$ sudo systemctl start vsftpd.service

2. Open the directory where the program will be saved on localhost.

[root@localhost ~]$ ls –hl

total 12

-rwxr-xr-x 1 root root 10.1K Jan 8 00:34 hello_world

3. Upload the program from localhost to the ioPAC8600.

[root@localhost ~]$ ftp 192.168.127.254

Connected to 192.168.127.254.

220 (vsFTPd 3.0.3)

Name (192.168.127.254:root): moxa

331 Please specify the password.

Password:

230 Login successful.

Remote system type is UNIX.

Using binary mode to transfer files.

ftp> put hello_world

200 PORT command successful. Consider using PASV.

150 Ok to send data.

226 Transfer complete.

10340 bytes sent in 5.5e-05 seconds (179 Mbytes/s)

ftp> quit

4. Open the directory where the program will be saved on the ioPAC8600.

[moxa@ioPAC8600 ~]$ ls -hl

total 12

-rw------- 1 moxa moxa 10.1K Jan 8 00:39 hello_world

ioPAC 8600 CPU30 C Version Getting Started

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5. Change the program to an executable file.

[moxa@ioPAC8600 ~]$ chmod +x hello_world

6. Run the program.

[moxa@ioPAC8600 ~]$ ./hello_world

Hello World

Systemctl Command

The following commands can be used with the ioPAC 8600 CPU30 Series to execute some services without

doing any settings in advance. To control a service, type the respective command after

[moxa@ioPAC8600 ~].

• list installed unit files

# systemctl list-unit-files

• start the service

# systemctl start [unit.service]

• stop the service

# systemctl stop [unit.service]

• restart the service

# systemctl restart [unit.service]

• enable the service to start on bootup

# systemctl enable [unit.service]

• disable the service from starting on bootup

# systemctl disable [unit.service]

• show service status

# systemctl status [unit.service]

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