基于am5728芯片的ethercat和ROS开源协议栈的配置流程-4-EhterCAT编译和安装

基于am5728基板的ethercat和ROS开源协议栈的配置流程-4-EhterCAT编译和安装

EhterCAT编译和安装

##编译
#配置环境变量
export PATH=$HOME/ti-linux-kernel-dev/dl/gcc-linaro-6.4.1-2017.11-x86_64_arm-linux-gnueabihf/bin/:$PATH
alias sudo='sudo env PATH=$PATH'

cd $HOME/ethercat-1.5.2
sudo ./configure --prefix=/ --with-linux-dir=$HOME/ti-linux-kernel-dev/KERNEL --enable-generic=no --enable-8139too=no --enable-cpsw=yes --enable-wildcards --enable-rtdm=yes --with-xenomai-dir=$HOME/rootfs/usr/xenomai CC=arm-linux-gnueabihf-gcc --host=arm-linux-gnueabihf --with-pic=on
sudo make
sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- modules


##安装
cd $HOME/ethercat-1.5.2
sudo cp examples/xenomai/.libs/ec_xenomai_exmaple  $HOME/rootfs/
sudo make DESTDIR=$HOME/rootfs install
sudo mv $HOME/rootfs/lib/modules/4.4.113-ti-xenomai-r149  /lib/modules/
sudo make ARCH=arm CROSS_COMPILE=arm-linux-gnueabihf- modules_install
sudo mv /lib/modules/4.4.113-ti-xenomai-r149 $HOME/rootfs/lib/modules/