We have been using etherLabs etherCAT stack on Debian Wheezy with a Xenomai kernel for some time now. For reasons outside of ethercat we want to move to Stretch (Debian 9) using the RT_PREEMPT kernel. I have the stack up and running, but some system differences are causing me some difficulties. I have been reading articles, but was wanting to know if someone here has already gone through the pain and would be willing to share their work.
First of all, I have found that although the UDev directories are still there, they are all empty and UDev seems to be deprecated. The UDev rule, 99-EtherCAT.rules, which contains the line “KERNEL=="EtherCAT[0-9]*", MODE="0664"” no longer seems to have any effect. Anyone know the new procedure to set the file mode for the EtherCAT devices? Second, they have switched to systemd. I have just been running the sbin/ethercatctl script to start and stop the service. Anyone know the magic mojo to add it to the system so I can use systemctrl and thus be able to have it start on system startup? TIA, Steven
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