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| $ uname -a Linux cpu-b34-mc23 3.18.11-rt7 #5 SMP PREEMPT RT Wed Mar 16 19:03:38 PDT 2016 x86_64 GNU/Linux $ /lib/libc.so.6 GNU C Library (Buildroot) stable release version 2.20, by Roland McGrath et al. Copyright (C) 2014 Free Software Foundation, Inc. |
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EtherCAT EtherCAT linuxRT Configuration
We are currently using Etherlab's EtherCAT Master module, which can be found under the package area<To be finished tomorrow.>
3. As the OS is set up, the linux Kernel Driver is required. For this, include the kernel module, include the port where the device is connected into the kernel-modules.cmd file. ( ref : $IOC/cpu-b34-mc23)
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The kernel-modules.cmd file needs to be updated to include the following:
Update the following lines of code in your $IOC/cpu-<>-<>/kernel-modules.cmd. The following code excerpts are from $IOC/cpu-b084-hp03/kernel-modules.cmd
This current code stanza defines the location for the EtherCAT kernel drivers.
# =============================================================== # Define kernel module driver location # =============================================================== PACKAGE_TOP=/afs/slac/g/lcls/package KERNEL_DRIVER_HOME=$PACKAGE_TOP/linuxKernel_Modules ETHERCAT_DRIVER=$KERNEL_DRIVER_HOME/ethercat/buildroot-2015.02-x86_64 |
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The following stanza provides the network configuration, installs kernel drivers, and performs some EtherCAT system configuration & set-up
# ========================================= # Install EtherCat kernel drivers + Set-up # ========================================= # Need to configure another ethernet port on cpu-b084-hp03 for ethercat # MUST configure another ethernet port for ethercat # ifconfig eth1 192.168.1.10 netmask 255.255.252.0 # Recommend using the following logic to configure based on the port’s MAC Address EthCat_MAC_ADDR=00:0B:AB:39:3F:CB eth_cat=$(ifconfig -a | grep "HWaddr ${EthCat_MAC_ADDR}" | awk '{print $1}') ifconfig ${eth_cat} netmask 255.255.255.0 # insert MAC address for eth1 after main_devices # the ethercat slaves/devices are connected at eth1 (for this specific configuration) insmod $ETHERCAT_DRIVER/master/ec_master.ko main_devices=${EthCat_MAC_ADDR} insmod $ETHERCAT_DRIVER/devices/ec_generic.ko /sbin/ifconfig eth1 up ln -s $ETHERCAT_DRIVER/tool/ethercat /sbin/ethercat sleep 5 chmod o+rw /dev/EtherCAT* # =========================================================== |
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Next, need to add the following lines to start the scanner process up automatically.
# ===================================================================
# Now we start the ethercat scanner process under the linux screen program:
# This will allow us to attach/detach to our Ethercat scanner process
# ==============================================
# ============================================== cd $EPICS_IOCS/cpu-b084-hp03 su laci -c $EPICS_IOCS/vioc-b084-tmp1/scannerStartup.sh # ================================================= |
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Verification checks on linuxRT machines:
$ ethercat version IgH EtherCAT master 1.5.2 2eff7c993a63 $ lsmod | grep ec ec_generic 3453 1 ec_master 240382 3 ec_generic |
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$ ethercat slaves 0 0:0 OP + E1250-EC-UC V1.7b1 |
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EtherCAT Template for Creating Epics Application
When starting a new EtherCAT application, it is highly recommended to start a new epics application and vioc using the slac_ethercat template.
Configuring EtherCAT Epics Application
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