[etherlab-dev] A rookie try to build ethercat host master on ubuntu10.04

Wed Jun 11 20:46:02 CEST 2014

Here are notes I wrote for my junior programmer to help him install on our machines. Maybe they’ll help for you.

# sudo adduser <username> src
MAKE SURE YOU HAVE BOOTED UNDER THE TARGET KERNEL
# wget http://etherlab.org/download/ethercat/ethercat-1.5.2.tar.bz2
# tar xjf ethercat-1.5.2.tar.bz2

Move the source working directory to /usr/local/src
# sudo mv ethercat-1.5.2 /usr/local/src/
 Move to that location
# cd /usr/local/src/
Make a link to the source directory called Ethercat

# sudo ln -s ethercat-1.5.2 ethercat

Move into the source directory
# cd ethercat
# ./configure --enable-e1000e --enable-generic –disable-8139too
# make
# make modules
# sudo make install
# sudo make modules_install

When we've completed installing all the modules we want to use, we need to do a final depmod

# sudo depmod

Now, we do some configuration work. We start by finding the MAC address we want to use.

# sudo ifconfig

Pick out the HWAddr (Hardware Address, also known as the MAC Address) of the adapter you'd like to use (example: eth0) and record it. You'll need to type it in later.

Now let's copy in the configuration to the location that the EtherCAT Master will be expecting it.

# sudo mkdir /etc/sysconfig/

# sudo cp /opt/etherlab/etc/sysconfig/ethercat /etc/sysconfig/

Edit the configuration file using the nano text editor.

# sudo nano /etc/sysconfig/ethercat

You need to setup this file as prescribed in the EtherCAT manual. You definitely need to change the values for MASTER0_DEVICE, which need the MAC address of the Ethernet card you've selected, and then the driver you'd like to use for that device.
For a development system, "generic" is fine. For a production system, the hope is that you've selected a target machine with a supported network device. We typically used cards supported by the e1000e driver, but check the hardware specs if you’re unsure.

Example:

MASTER0_DEVICE="00:0C:29:09:E0:D7"

DEVICE_MODULES="e1000e"

(For a Development or VM-based system: DEVICE_MODULES="generic" )

 The next step is to install the EtherCAT driver as a service.

cd /opt/etherlab

Copy the initialization script (If this doesn't work, make sure that there isn't a /etc/init.d/ethercat already. If so, remove it), change its ownership properties.

# sudo cp ./etc/init.d/ethercat /etc/init.d/

# sudo chmod a+x /etc/init.d/ethercat

OPTIONAL:: This will automatically start the ethercat master on startup. Generally, we DON’T WANT TO DO THIS.

# sudo update-rc.d ethercat defaults

Make ethercat tool available:

# sudo ln -s /opt/etherlab/bin/ethercat /usr/local/bin/ethercat

  So “normal" users shall have reading access, a udev rule must be created, which simply means creating the file:
/etc/udev/rules.d/99-EtherCAT.rules

Using the text editor nano:

$ sudo nano /etc/udev/rules.d/99-EtherCAT.rules

Enter the following contents:

KERNEL=="EtherCAT[0-9]*", MODE="0664", GROUP="users"

Test that the master is working.

# sudo /etc/init.d/ethercat start

Setting up for User Program Development

The EtherLAB EtherCAT master is now running on the system. The next task is to setup the system so that other programs can use the master. You need to add /opt/etherlab/lib to your /etc/ld.so.conf so that the user programs calling it can link to the shared object.

# cd /etc/

# sudo nano ld.so.conf

THIS LINE WILL ALREADY EXIST ==> include /etc/ld.so.conf.d/*.conf

Underneath it, add:

/opt/etherlab/lib

So, when you're done, the file will look like the following:

include /etc/ld.so.conf.d/*.conf
/opt/etherlab/lib

Exit, save, then we need to update the system from the configuration file.

# sudo ldconfig

You can see if it got installed by running:

# ldconfig -v | grep libether*

Good luck!

From: taotao <taotao at cptek.com.cn<mailto:taotao at cptek.com.cn>>
Date: Tuesday, June 10, 2014 at 10:36 PM
To: "etherlab-dev at etherlab.org<mailto:etherlab-dev at etherlab.org>" <etherlab-dev at etherlab.org<mailto:etherlab-dev at etherlab.org>>
Subject: [etherlab-dev] A rookie try to build ethercat host master on ubuntu10.04

Dear Sir,

  Please forgive my poor english.  I ' m a C++ developer,  My boss want to let my build ethercat on Linux. also my company is your vendor. so i download 1.5.2 source code. and i has been successfully compled on Ubuntu 10.04.

I don't know what to do next.  so can you just send some create ethercat host master docmenet  to me?

  and I try to start ethercat master, but it's report error:

  "Starting EtherCAT Master 1.5.2 FATAL: Error Inserting ec_master (/lib/modules/2.6.32-38-generic/ethercat/master/ec_master.ko): Invalid argument“

  Is it ubuntu 10.04 kernel of linnux 2.6.32-38-generic problem?

  I was check file(lib/modules/2.6.32-38-generic/ethercat/master/ec_master.ko) is exist.

Best wish

2014-06-11
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