[etherlab-dev] seek heip

[COOKIY]

hello everyone

	We intend to develop the EtherCAT master based on Linux,in order to fit the real-time requirements,we have installed RTAI (version 4.0) under the catalog of /usr/real time,including the support of LXRT and RTDM.

------------------------------------------------------------------------------------------------

        Now,I will list details of the installation steps of EtherCAT master:




        tar -xf ethercat-1.5.2.tar.bz2

        cd ethercat-1.5.2

       ./configure --prefix=/opt/ethercat --with-linux-dir=/usr/src/linux --with-rtai-dir=/usr/realtime --enable-generic  --enable-r8169 --enable-rtdm --enable-cycles --enable-hrtimer --with-module-dir=modules

        make

        make modules

        mkdir output/modules

        sudo make install

        sudo make modules_install

        vim /etc/ld.so.conf.d/ethercat.conf

        /opt/ethercat/lib

        sudo ldconfig

        sudo mkdir /usr/local/bin

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

        sudo ln -s /usr/local/bin/ethercat /usr/sbin/ethercat

        sudo ln -s /opt/ethercat/etc/init.d/ethercat /etc/init.d/ethercat

        sudo mkdir /etc/sysconfig

        sudo cp /opt/ethercat/etc/sysconfig/ethercat /etc/sysconfig/ethercat

        sudo vim /etc/sysconfig/ethercat

    ---Change Master0 Mac Address

    ---And device module="ec_generic"

        sudo /sbin/depmod

        sudo sh -c 'echo KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\" > /etc/udev/rules.d/99-EtherCAT.rules'

-----------------------------------------------------------------------------------------------

        During the installation process in the above,there have been some warning messages below:

        first,when excuting the order of 'make', the messages are showed below:

-------------------------------------------------------------------------------------------------------------------------

 *** Warning: Linking the shared library libethercat_rtdm.la against the loadable module

 *** liblxrt.so is not portable!

  ...

 *** Warning: Linking the executable ec_rtai_rtdm_example against the loadable module

 *** librtdm.so is not portable!

 ...

 *** Warning: Linking the executable ec_rtai_rtdm_dc_example against the loadable module

 *** librtdm.so is not portable!  

----------------------------------------------------------------------------------------------------------------------------

      then in the stage of make module, the warnings are like this:

---------------------------------------------------------------------------------------------------------------------------

      WARNING: "rtdm_dev_register" [~/ethercat-1.5.2/master/ec_master.ko] undefined!

      WARNING: "rtdm_dev_unregister" [~/ethercat-1.5.2/master/ec_master.ko] undefined!

      WARNING: "rtdm_mmap_to_user" [~/ethercat-1.5.2/master/ec_master.ko] undefined!

      WARNING: "rt_task_wait_period" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_sem_wait" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_sem_delete" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_task_init" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_sem_init" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_sem_signal" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "stop_rt_timer" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_task_delete" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "start_rt_timer" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_task_make_periodic" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_get_time" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "nano2count" [~/ethercat-1.5.2/examples/rtai/ec_rtai_sample.ko] undefined!

      WARNING: "rt_task_wait_period" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_sem_wait" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_get_real_time_ns" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_sem_delete" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "count2nano" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_task_init" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_sem_init" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_sem_signal" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "stop_rt_timer" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_task_delete" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "start_rt_timer" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_task_make_periodic" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "rt_get_time" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

      WARNING: "nano2count" [~/ethercat-1.5.2/examples/dc_rtai/ec_dc_rtai_sample.ko] undefined!

-----------------------------------------------------------------------------------------------------------------------------------

      after carried out all the process listing above, there arised two questions：

     1.because of failing to load ec_master,we could start up ethercat master using the command of 'sudo ./etc/init.d/ethercat start '  ;

     2.under the catalog of '/opt/lib', there was not any library file relevant to ethercat RTDM. 







It is very grateful that someone who has encounter the same questions or know the solutions will reply mail back.

thank you very much.
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