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<This page is currently under reviewactive development/revision.  Please contact Alisha Babbitt (ababbitt@slaccontact  Jesus Vasquez <jvasquez@slac.stanford.edu) > for more information or questions.>

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  • EtherCAT Resources & Reference Material
  • linuxRT PC Set-up
  • Configuring the $IOC/vioc-<>-<> Directorysioc-<area>-<subsystem##> Directory where ## is a 2-digit number 01-99.
  • EtherCAT linuxRT Configuration
  • EtherCAT Template for Creating Epics Application
  • Configuring EtherCAT Epics Application
  • Debugging Tips

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Verification checks on linuxRT machines:


  •  

    Table 1

    Facility

    LinuxRT

    Account

     LinuxRT

     Group

    		Comment 
    Developmentlaci lcls 
    LCLSlaci lcls 
    LCLS-II  not yet available 
    FACETflaci  facet

    linuxRT is built with laci as the default account, users must add  facet group, user and  password

    Test-Facilityacctf ?linuxRT is built with laci as the default account, users must add  test-facility group, user and password

Verification checks on linuxRT machines:

  • Please see $IOC/Please see $IOC/cpu-<bld>-<name>/README on instructions on how to power cycle machines remotely through the use of ipmi commands
  • Once you set-up your linuxRT machine and boot up on development for instance, log in as laci to into laci on your linuxRT system (ref: Table 1). ( ssh laci@cpu-<bld>-<name>)
  • Test if your machine is running real-time linux using  uname -a

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# ===============================================================

# 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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# =========================================

# 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<insert_your_ethercat_ip_address> netmask <insert_your_netmask>

# Recommend using the following logic to configure based on the port’s MAC Address

EthCat_MAC_ADDR=00:0B:AB:39:3F:CB<insert_your_MAC_addresss_for_your_etherCAT_port>

eth_cat=$(ifconfig -a | grep "HWaddr ${EthCat_MAC_ADDR}" | awk '{print $1}')

ifconfig ${eth_cat} netmask 255.255.255.0<insert_your_ethercat_ip_address> netmask <insert_your_netmask>



# insert MAC address for eth1 after main_devices

# the ethercat slaves/devices are connected at eth1 ${eth_cat} (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 ${eth_cat} up


ln -s $ETHERCAT_DRIVER/tool/ethercat /sbin/ethercat


sleep 5

chmod o+rw /dev/EtherCAT*


# ===========================================================

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$ ethercat version

IgH EtherCAT master 1.5.2 2eff7c993a63

$ lsmod | grep ec

ec_generic              3453  1

ec_master             240382  3 ec_generic

  • If the slaves are connected with the setup, the ethercat command line tool can help visualize it.

$ ethercat slaves

0  0:0  OP  +  E1250-EC-UC V1.7b1

  • Another helpful ethercat command line took is ethercat master

Configuring the $IOC/vioc-<>-<> Directory

The $IOC/vioc-<>-<> directory created for this EtherCAT application needs the follow items:

generic

  • If the slaves are connected with the setup, the ethercat command line tool can help visualize it.

$ ethercat slaves

0  0:0  OP  +  E1250-EC-UC V1.7b1

  • Another helpful ethercat command line took is ethercat master


Configuring the $IOC/sioc-<>-<> Directory

The $IOC/vioc-<>-<> directory created for this EtherCAT application needs the follow items:

  • scannerStartup.sh (where should we put a "master" scannerStartup.sh for people to copy/point to)
  •  Proposal: put generic scannerStartup.sh under $IOC/common/ethercat.  Script has been modified to pass in the vioc name from when the script is called from the kernel-modules.cmd
    • so vioc specific information (for vioc-ltu0-mc01) was moved to the kernel-modules.cmd  => have to think about use case where multiple subsystems share cpu  (see above solution)
    • OR do we keep it in kernel-modules.cmd (this should be apart of the linuxRT discussion)
  • Create a bin directory  (currently under discussion to rename this "bin" directory to avoid confusion)
  • scannerStartup.sh (where should we put a "master" scannerStartup.sh for people to copy)
  • Create a bin directoryProposal: rename "bin" to "scanner" and use symbolic links to point to scanner binary and scanner.xml in epics application
  • In the bin directory, create a symbolic link "scanner" that points to your scanner binary in your epics application (<top>/bin/linuxRT_glibc-x68_64/scanner)
    • OH! scanner binary is NOT specific to your application.  Should point to the package area.
  • In the bin directory, create a symbolic link "scanner.xml" that points to your scanner.xml in your epics application (<top>/etc/scanner.xml)

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Generate a vioc for your application.  We are using the following format for linuxRT IOC's:  vioc-<area>-<subsystem>

makeBaseApp.pl -i -i t t slac_ethercat vioc-<>-<>

Choose your target architecture:

...

The device name needs to match the name given by the xml device templates found here: $PACKAGE_TOP/ethercat/<ethercat_version_number>/etc/xml (need to confirm....).

To obtain the revision number for the device you will need to use the slaves ethercat command line tool on your linuxRT machine (aka the EtherCAT Master).

...

Any new devices should be integrated into the EtherCAT module.  Please contact the EtherCAT module owners:owner:

 

Now that the chain.xml file has been created to generate the scanner.xml file, the second part is to configure and clean-up your epics application to only include the elements that you need.

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