2.Ubuntu14.04搭建igh

0,安装依赖

sudo apt-get install autoconf autogen libtool

1,下载ethercat

cd XenomaiIgh

https://github.com/ribalda/ethercat

git clone https://github.com/ribalda/ethercat

2,配置

cd ethercat

./bootstrap //如果没有configure文件则执行此语句

./configure --with-linux-dir=/usr/src/linux-headers-4.9.38-xenomai-3.0.5 --with-module-dir=/lib/modules/4.9.38-xenomai-3.0.5 --enable-generic=yes --enable-8139too=yes --enable-e1000=yes --enable-e1000e=yes --enable-r8169=yes --enable-rtdm=yes --enable-cycles=yes --enable-hrtimer=yes --with-xenomai-dir=/usr/xenomai

./configure --with-linux-dir=/usr/src/linux-headers-4.9.38-xenomai-3.0.5 --with-module-dir=/lib/modules/4.9.38-xenomai-3.0.5 --enable-generic=yes --enable-8139too=yes --enable-e1000=yes --enable-e1000e=yes --enable-r8169=yes --enable-rtdm=yes --enable-cycles=yes --enable-hrtimer=yes --with-xenomai-dir=/usr/xenomai

3,编译安装

make #编译用户态的库
make modules #编译ethercat驱动
sudo su #登录root用户
make install #安装库文件
make modules_install #安装驱动

安装目录在/opt/etherlab或者/usr/local，安装完了可以打开看看

4,配置项

cd /etc
sudo mkdir sysconfig
sudo cp /usr/local/etherlab/etc/sysconfig/ethercat /etc/sysconfig
sudo cp /usr/local/etherlab/etc/init.d/ethercat /etc/init.d
sudo cp /usr/local/etherlab/etc/ethercat.conf /etc

5,配置网卡的mac地址

ifconfig

hh@hh:~$ ifconfig eth0 Link encap:Ethernet HWaddr
00:e0:4c:c2:08:15
inet6 addr: fe80::2e0:4cff:fec2:815/64 Scope:Link
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:0 errors:0 dropped:0 overruns:0 frame:0
TX packets:227 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:1000
RX bytes:0 (0.0 B) TX bytes:42692 (42.6 KB)

sudo gedit /etc/ethercat.conf
sudo gedit /etc/sysconfig/ethercat

在上面2个文件中的MASTER0_DEVICE=后添加你的网卡的mac地址
MASTER0_DEVICE=“00:e0:4c:c2:08:15”, DEVICE_MODULES=添加"generic"或r8169形如DEVICE_MODULES="generic"

sudo depmod

6,运行

sudo /etc/init.d/ethercat start  #启动ethercat

sudo /etc/init.d/ethercat stop    #停止ethercat

sudo /etc/init.d/ethercat restart      #重新启动ethercat

7,配置用户态库和依赖

7.1修改ethercat设备权限

cd /etc/udev/rules.d   #进入udev rules文件夹

sudo gedit 99-ethercat.rules #新建一个ethercat的rule文件

然后在该文件中添加

KERNEL=="EtherCAT[0-9]", MODE="0777"

7.2,配置实时权限

sudo gedit /etc/security/limits.conf

然后在该文件中添加

<username> hard rtprio 99