Ubuntu22.04 lgh Ethercat master安装笔记

         最近打算买一台伺服电机，测试一下EtherCAT 接口。打算采用开源的lgh。网络上有许多的lgh 安装指南，但是照着安装仍然由一些问题，只能边做边记笔记。

硬件

• Dell T3360 台式机
• UP Squared 6000 边缘控制器

ubuntu 操作系统版本：

root@T3660:/home/yao2023/etherlab# uname -a 
Linux T3660 6.2.0-31-generic #31~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Wed Aug 16 13:45:26 UTC 2 x86_64 x86_64 x86_64 GNU/Linux

root@T3660:/home/yao2023/etherlab# lsb_release -a 
No LSB modules are available.
Distributor ID:	Ubuntu
Description:	Ubuntu 22.04.3 LTS
Release:	22.04
Codename:	jammy

下载源代码

git clone https://gitlab.com/etherlab.org/ethercat.git /home/yao2023/etherlab     

配置和安装

配置

./bootstrap
sudo su
./configure --disable-8139too --prefix=/opt/etherlab  --sysconfdir=/etc  

安装

make
make all modules
sudo make modules_install install
sudo depmod

查看以太网的mac地址

使用 ifconfig

root@T3660:/home/yao2023/etherlab# ifconfig
docker0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 172.17.0.1  netmask 255.255.0.0  broadcast 172.17.255.255
        inet6 fe80::42:cbff:fe8a:1e8f  prefixlen 64  scopeid 0x20<link>
        ether 02:42:cb:8a:1e:8f  txqueuelen 0  (以太网)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 77  bytes 10819 (10.8 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

enp0s31f6: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether 74:86:e2:19:66:0f  txqueuelen 1000  (以太网)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device interrupt 19  memory 0x72600000-72620000  

enp4s0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether a0:36:9f:30:32:a1  txqueuelen 1000  (以太网)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
        device memory 0x72100000-721fffff  

chmod +x /opt/etherlab/etc/init.d/ethercat    
    sudo cp -f script/init.d/ethercat /etc/init.d/    
    sudo mkdir -p /et