File _service:obs_scm:README.md of Package igh-ethercat-xenomai

# ethercat-igh

#### 介绍

This is an open-source EtherCAT master for Xenomai.

#### 软件架构

软件架构说明

目前仅在ARM，即kunpeng920测试完成，其他架构暂未测试。

#### 硬件支持

支持的硬件列表：
http://etherlab.org/en/ethercat/hardware.php.

#### 安装教程

1. Xenomai安装

```shell
   $ ./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw
   
   $ make -j`nproc`
   
   $ sudo make install
   
   $ echo '
   ### Xenomai
   export XENOMAI_ROOT_DIR=/usr/xenomai
   export XENOMAI_PATH=/usr/xenomai
   export PATH=$PATH:$XENOMAI_PATH/bin:$XENOMAI_PATH/sbin
   export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:$XENOMAI_PATH/lib/pkgconfig
   export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$XENOMAI_PATH/lib
   export OROCOS_TARGET=xenomai
   ' >> ~/.xenomai_rc
   $ echo 'source ~/.xenomai_rc' >> ~/.bashrc
   $ source ~/.bashrc
   ```

2. Ethercat-igh编译

```
   $ ./boostrap 
   
   $ ./configure
   $ make all modules
   
   ... and as root:
   
   # make modules_install install
   # depmod
   ```

#### 使用说明

添加 /etc/sysconfig/ethercat 配置文或者建立/usr/local/etherlab/etc/sysconfig/ethercat 软连接到/etc/sysconfig/ethercat，修改 ethercat配置文件如下，添加 网卡对应驱动及网卡mac。

```shell
@@ -24,7 +24,7 @@

# created: A non-empty variable MASTER0_DEVICE will create one master, adding a

# non-empty variable MASTER1_DEVICE will create a second master, and so on.

#
-MASTER0_DEVICE="a0:36:9f:4f:fb:d4"
+MASTER0_DEVICE=""
 #MASTER1_DEVICE=""

#
@@ -97,7 +97,7 @@

# has to be activated (with OS methods, for example 'ip link set ethX up'),

# before the master is started, otherwise all frames will time out.

#
-DEVICE_MODULES="igb"
+DEVICE_MODULES=""

# Flags for loading kernel modules.
```
启动 EtherCAT master:

```
/etc/init.d/ethercat start
```
测试

使用配置网卡连接DIEWU EtherCAT-IO设备，过程如下：

```shell
cd test && make
./ethercat_io_board_diewu
```