igh主站搭建过程(e1000e 网卡/ generic网卡）

1、下载igh源码
gary@jxes:~$ git clone https://gitlab.com/etherlab.org/ethercat.git
2、配置（可参考官方文档）
gary@jxes:~/Xenomai/xenomai-v3.2.1$ sudo cp …/…/ethercat/ . -r
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat$ sudo ./bootstrap

• touch ChangeLog
• mkdir -p m4
• autoreconf -i
  libtoolize: putting auxiliary files in AC_CONFIG_AUX_DIR, ‘autoconf’.
  libtoolize: copying file ‘autoconf/ltmain.sh’
  libtoolize: putting macros in AC_CONFIG_MACRO_DIRS, ‘m4’.
  libtoolize: copying file ‘m4/libtool.m4’
  libtoolize: copying file ‘m4/ltoptions.m4’
  libtoolize: copying file ‘m4/ltsugar.m4’
  libtoolize: copying file ‘m4/ltversion.m4’
  libtoolize: copying file ‘m4/lt~obsolete.m4’
  configure.ac:58: installing ‘autoconf/ar-lib’
  configure.ac:57: installing ‘autoconf/compile’
  configure.ac:61: installing ‘autoconf/config.guess’
  configure.ac:61: installing ‘autoconf/config.sub’
  configure.ac:42: installing ‘autoconf/install-sh’
  configure.ac:42: installing ‘autoconf/missing’
  examples/dc_user/Makefile.am: installing ‘autoconf/depcomp’
  配置可以参考官方配置文档，比如–with-module-dir即指定内核源码路径，需要查看当前系统的module是什么：
  gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat$ ls /lib/modules
  5.13.0-30-generic 5.13.0-40-generic 5.13.0xenomai 5.15.0-60-generic 5.15.0-69-generic 5.15.106-xenomai3.2.1
  下面是本人的配置，具体视情况而定：
  gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat$ sudo ./configure --with-module-dir=/lib/modules/5.15.106-xenomai3.2.1 --enable-generic --enable-8139too=no --enable-e1000e --enable-cycles --enable-hrtimer --prefix=/opt/etherlab --with-xenomai-dir=/home/gary/Xenomai/xenomai-v3.2.1
  如果在刚开始配置的时候没有动–prefix选项，默认是安装在/opt/下的，可以查看在/opt/路径下多了一个etherlab文件夹。
  以上./configure执行失败如下：
  checking for kernel for e1000e driver… configure: error: kernel 5.15 not available for e1000e driver!
  原因是网卡与内核版本不匹配。
  下载e100e网卡：
  https://www.intel.cn/content/www/cn/zh/download/14611/15817/intel-network-adapter-driver-for-pcie-intel-gigabit-ethernet-network-connections-under-linux-final-release.html?
  具体安装方法参考：
  https://www.intel.cn/content/www/cn/zh/support/articles/000005480/ethernet-products.html
  下载后编译安装，编译时遇到错误，是与内核版本匹配问题。
  综合上面，这里只是演示下igh的源码编译，所以将e1000e网卡去掉。
  sudo ./configure --with-module-dir=/lib/modules/5.15.106-xenomai3.2.1 --enable-generic --enable-8139too=no --enable-cycles --enable-hrtimer --prefix=/opt/etherlab --with-xenomai-dir=/home/gary/Xenomai/xenomai-v3.2.1
  这样就配置成功，生成Makefile。

为了验证，于是重新下载了版本igh（带有E100E网卡）：
https://gitlab.com/etherlab.org/ethercat/-/tree/e1000e-5.10?ref_type=heads
步骤与上面一样：
gary@jxes:~/Xenomai/xenomai-v3.2.1$ sudo cp ~/Downloads/ethercat-e1000e-5.10 . -r
gary@jxes:~/Xenomai/xenomai-v3.2.1$ cd ethercat-e1000e-5.10/
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ sudo ./bootstrap

• touch ChangeLog
• mkdir -p m4
• autoreconf -i
  libtoolize: putting auxiliary files in AC_CONFIG_AUX_DIR, ‘autoconf’.
  libtoolize: copying file ‘autoconf/ltmain.sh’
  libtoolize: putting macros in AC_CONFIG_MACRO_DIRS, ‘m4’.
  libtoolize: copying file ‘m4/libtool.m4’
  libtoolize: copying file ‘m4/ltoptions.m4’
  libtoolize: copying file ‘m4/ltsugar.m4’
  libtoolize: copying file ‘m4/ltversion.m4’
  libtoolize: copying file ‘m4/lt~obsolete.m4’
  configure.ac:58: installing ‘autoconf/ar-lib’
  configure.ac:57: installing ‘autoconf/compile’
  configure.ac:60: installing ‘autoconf/config.guess’
  configure.ac:60: installing ‘autoconf/config.sub’
  configure.ac:44: installing ‘autoconf/install-sh’
  configure.ac:44: installing ‘autoconf/missing’
  examples/dc_user/Makefile.am: installing ‘autoconf/depcomp’
  gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ sudo ./configure --with-module-dir=/lib/modules/5.15.106-xenomai3.2.1 --enable-generic --enable-8139too=no --enable-e1000e --enable-cycles --enable-hrtimer --prefix=/opt/etherlab --with-xenomai-dir=/home/gary/Xenomai/xenomai-v3.2.1
  这样配置还是失败，原来还是内核不匹配，从igh官网下载带e1000e网卡可知，它适配的是5.10内核，所以目前只能作罢，需要重新制一个基于linux5.10版本的内核，编译时间太久了（电脑有点肉），于是乎，只得放弃e1000e网卡的使用。
  经验告诉我，制作xenomai实时系统+开源ethercat，需要事先将各软件版本的对应关系搞清楚，否则中途会像我上面一样。

3、编译
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat$ sudo make #编译
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat$ sudo make modules #编译模块
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat$ sudo make install #安装
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat$ sudo make modules_install #安装模块
最终在安装目录有如下内容：
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/
bin etc include lib sbin share
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ sudo cp /opt/etherlab/etc/sysconfig/ethercat /etc/sysconfig/
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ sudo cp /opt/etherlab/etc/init.d/ethercat /etc/init.d/
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/bin/
ethercat
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/etc/
ethercat.conf init.d sysconfig
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/etc/init.d/
ethercat
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/etc/sysconfig/
ethercat
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/lib/
cmake libethercat.a libethercat.la libethercat.so libethercat.so.1 libethercat.so.1.1.0 pkgconfig
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/sbin/
ethercatctl
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/share/
bash-completion
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/share/bash-completion/
completions
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ls /opt/etherlab/share/bash-completion/completions/
ethercat
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$

4、配置

sudo mkdir /etc/sysconfig #创建文件夹
sudo cp /opt/etherlab/etc/sysconfig/ethercat /etc/sysconfig/ #复制配置文件
sudo cp /opt/etherlab/etc/init.d/ethercat /etc/init.d/ #复制启动脚本
sudo chmod a+x /etc/init.d/ethercat
sudo update-rc.d ethercat defaults

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

配置用户权限
sudo gedit /etc/udev/rules.d/99-EtherCAT.rules
输入下列内容
KERNEL==“EtherCAT[0-9]*”, MODE=“0664”, GROUP=“users”

把相关模块放进系统目录，如果使用通用网卡是这样的
sudo cp devices/ec_generic.ko /lib/modules/$(uname-r)sudocpmaster/e{c}_{m}aster.ko/lib/modules/$(uname -r)
这边用的是专用网卡
sudo cp devices/e1000e/ec_e1000e.ko /lib/modules/$(uname-r)sudocpmaster/e{c}_{m}aster.ko/lib/modules/$(uname -r)

执行
sudo depmod

查看网卡MAC地址和类型
ifconfig
得到ethercat通信的地址为
enp3s0: flags=4163 mtu 1500
inet6 fe80::fbe:4e35:95d4:4056 prefixlen 64 scopeid 0x20
ether 00:e8:4c:68:30:de txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 19 bytes 3183 (3.1 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
device interrupt 19 memory 0xf7d00000-f7d20000

配置网卡
sudo gedit /etc/sysconfig/ethercat
在大约27行和60行处填入自己的网卡信息
MASTER0_DEVICE=“00:e8:4c:68:30:de” # mac 地址
DEVICE_MODULES=“e1000e” # 通用网卡填generic

启动主站
sudo /etc/init.d/ethercat start
这里只能用通用网卡演示：（e1000e网卡不存在）
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ sudo /etc/init.d/ethercat start
Starting EtherCAT master 1.5.2 done
主站启动成功表示安装成功。

查看帮助 或者 pdo信息

ethercat 工具可以用帮助查看如下：
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ sudo ethercat --h
Usage: ethercat [OPTIONS] [ARGUMENTS]

Commands (can be abbreviated):
alias Write alias addresses.
config Show slave configurations.
crc CRC error register diagnosis.
cstruct Generate slave PDO information in C language.
data Output binary domain process data.
debug Set the master’s debug level.
domains Show configured domains.
download Write an SDO entry to a slave.
eoe Display Ethernet over EtherCAT statictics.
foe_read Read a file from a slave via FoE.
foe_write Store a file on a slave via FoE.
graph Output the bus topology as a graph.
master Show master and Ethernet device information.
pdos List Sync managers, PDO assignment and mapping.
reg_read Output a slave’s register contents.
reg_write Write data to a slave’s registers.
rescan Rescan the bus.
sdos List SDO dictionaries.
sii_read Output a slave’s SII contents.
sii_write Write SII contents to a slave.
slaves Display slaves on the bus.
soe_read Read an SoE IDN from a slave.
soe_write Write an SoE IDN to a slave.
states Request application-layer states.
upload Read an SDO entry from a slave.
version Show version information.
xml Generate slave information XML.

Global options:
–master -m Comma separated list of masters
to select, ranges are allowed.
Examples: ‘1,3’, ‘5-7,9’, ‘-3’.
Default: ‘-’ (all).
–force -f Force a command.
–quiet -q Output less information.
–verbose -v Output more information.
–help -h Show this help.

Numerical values can be specified either with decimal (no
prefix), octal (prefix ‘0’) or hexadecimal (prefix ‘0x’) base.

Call ‘ethercat --help’ for command-specific help.

Send bug reports to [email protected].
gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ ethercat pdos
这里没有接任何ethercat设备，所以查看不到。

5、让应用程序可以使用到ethercat库
确认ethercat没有问题后，配置系统，让应用程序可以使用 /opt/etherlab/lib 到你的 /etc/ld.so.conf（/opt/ethercatlab前缀实在前面配置ethercat是选定的，默认是/opt/ethercatlab）
sudo gedit /etc/ld.so.conf
添加
/opt/etherlab/lib
执行
sudo ldconfig
测试是否安装，若成功，最后一行会显示 libethercat.so.1 -> libethercat.so.1.1.0
sudo ldconfig -v | grep libether*

gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$ sudo ldconfig -v | grep libether*
/sbin/ldconfig.real: Can’t stat /usr/local/lib/x86_64-linux-gnu: No such file or directory
/sbin/ldconfig.real: Path /usr/lib/x86_64-linux-gnu' given more than once /sbin/ldconfig.real: Path /usr/lib32’ given more than once
/sbin/ldconfig.real: Path /usr/libx32' given more than once /sbin/ldconfig.real: Path /lib/x86_64-linux-gnu’ given more than once
/sbin/ldconfig.real: Path /usr/lib/x86_64-linux-gnu' given more than once /sbin/ldconfig.real: Path /usr/lib’ given more than once
/sbin/ldconfig.real: /lib/x86_64-linux-gnu/ld-2.31.so is the dynamic linker, ignoring

/sbin/ldconfig.real: /lib32/ld-2.31.so is the dynamic linker, ignoring

libethercat.so.1 -> libethercat.so.1.1.0

gary@jxes:~/Xenomai/xenomai-v3.2.1/ethercat-e1000e-5.10$

=======================================================
重新制作基于通用网卡的Igh主站，其实前面第一次下载的ethercat默认就是通用网卡的，
编译过程同上。因为目前没有实时环境和ethercat设备，所以下面这个基于通用网卡的主站比较适合我。
git clone http://gitlab.com/etherlab.org/ethercat.git
cd ethercat/
./bootstrap
./configure --enable-8139too=no
sudo make
sudo make modules
sudo make install
sudo make modules_install

ifconfig
cd /opt/etherlab
sudo cp etc/sysconfig/ethercat /etc/sysconfig/
sudo ln -s /opt/etherlab/etc/init.d/ethercat /etc/init.d/
sudo gedit /etc/sysconfig/ethercat

MASTER0_DEVICE=“08:00:27:7c:5d:e8”
DEVICE_MODULES=“generic”

gedit ~/.bashrc
PATH=$PATH:/opt/etherlab/bin
source ~/.bashrc
sudo depmod

gary@jxes:/opt/etherlab$ sudo ethercat slave
Failed to obtain number of masters: ioctl() version magic is differing: /dev/EtherCAT0: 30, ethercat tool: 37
主站编译安装配置完成后，需要重启ubuntu就OK了。

在下次启动ubuntu时，扫描不到网卡:
gary@jxes:~$ ethercat slave
Failed to obtain number of masters: Failed to open master device /dev/EtherCAT0: No such file or directory
需要启动ethercat主站：
gary@jxes:~$ sudo /etc/init.d/ethercat start
[sudo] password for gary:
Starting EtherCAT master 1.5.2 done
gary@jxes:~$ ls /dev/EtherCAT0
/dev/EtherCAT0
gary@jxes:~$
gary@jxes:~$ ethercat slave
gary@jxes:~$ sudo ethercat slaves
[sudo] password for gary:
gary@jxes:~$ ls /dev/EtherCAT0
/dev/EtherCAT0
gary@jxes:~$ sudo ethercat slave
gary@jxes:~$