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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