抛砖，记录OKMX6ULL-C开发板移植 IGH EtherCAT 1.6

Vincentwangwt 发表于 2024-8-12 16:47:57

抛砖，记录OKMX6ULL-C开发板移植 IGH EtherCAT 1.6

本帖最后由 Vincentwangwt 于 2024-8-12 17:25 编辑

参考资料：
1、https://blog.csdn.net/yyz_1987/article/details/136760235 EtherCAT 开源主站 IGH 在 linux 开发板的移植和伺服通信测试
2、https://blog.csdn.net/u014077947/article/details/127402412 EtherCAT IGH 的下载和编译
环境条件：OKMX6ULL-C；VMware Workstation 16 Player，play->release-6ull-u18 虚拟机
操作如下：
1、参照参考资料1，在主机下载 IGH EtherCAT 1.6，传入虚拟机 /home/forlinx/work/EtherCAT_my(路径可自定，这里仅供参考)；参考资料虽有实时内核补丁，但本人对此不熟，故未加入；
2、在路径下解压压缩文件，得到文件夹 ethercat-stable-1.6 ，并以命令行进入该文件夹；
3、执行 . /opt/fsl-imx-x11/4.1.15-2.0.0/environment-setup-cortexa7hf-neon-poky-linux-gnueabi 布置交叉编译环境；
4、创建 /home/forlinx/work/EtherCAT_my/output 路径；
5、root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6# ./configure --prefix=/home/forlinx/work/EtherCAT_my/output --with-linux-dir=/home/forlinx/work/linux-4.1.15 --enable-8139too=no --enable-generic=yes --host=arm-poky-linux-gnueabi
--with-linux-dir= 须指向已指向已编译的内核源码；
6、root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6# make
7、root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6# make install
8、root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6# make ARCH=arm CROSS_COMPILE=arm-poky-linux-gnueabi- modules
9、root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6# cd devices
root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6/devices# sudo make install

10、root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6/devices# cd ..
root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6# cd master

root@ubuntu:/home/forlinx/work/EtherCAT_my/ethercat-stable-1.6/master# sudo make install

11、root@ubuntu:/home/forlinx/work/EtherCAT_my/output/modules# cp /home/forlinx/work/EtherCAT_my/ethercat-stable-1.6/devices/ec_generic.ko /home/forlinx/work/EtherCAT_my/output/modules

root@ubuntu:/home/forlinx/work/EtherCAT_my/output/modules# cp /home/forlinx/work/EtherCAT_my/ethercat-stable-1.6/master/ec_master.ko /home/forlinx/work/EtherCAT_my/output/modules

12、root@ubuntu:/home/forlinx/work/EtherCAT_my# tar -cjf output.tar.bz2 output/

13、至此，已完成虚拟机交叉编译操作，操作步骤中个别可能需要权限，可以以 sudo su 指令切换至管理员权限；后面将进入开发板操作；

Vincentwangwt 发表于 2024-8-12 17:08:19

19、进一步测试汇川驱动器SV630NS2R8I与移植安装于开发板的 IGH EtherCAT 1.6.1 主站软件的识别通信，操作及信息如下：

Freescale i.MX Release Distro 4.1.15-2.0.1 fl-imx6ull /dev/ttymxc0

fl-imx6ull login: root
Password:
root@fl-imx6ull:~# ifconfig eth0 192.168.8.9
root@fl-imx6ull:~# ifconfig eth1 192.168.157.9
root@fl-imx6ull:~# export PATH=$PATH:/etc/sysconfig
root@fl-imx6ull:~# modprobe ec_master main_devices=62:38:63:34:0f:71
EtherCAT: Master driver 1.6.1 unknown
EtherCAT: 1 master waiting for devices.
root@fl-imx6ull:~# cd /lib/modules/4.1.15-00050-ge85def2
root@fl-imx6ull:/lib/modules/4.1.15-00050-ge85def2# insmodec_generic.ko
ec_generic: EtherCAT master generic Ethernet device module 1.6.1 unknown
EtherCAT: Accepting 62:38:63:34:0F:71 as main device for master 0.
ec_generic: Binding socket to inte**ce 5 (eth1).
EtherCAT 0: Starting EtherCAT-IDLE thread.
EtherCAT 0: Link state of ecm0 changed to UP.
root@fl-imx6ull:/lib/modules/4.1.EtherCAT 0: 1 slave(s) responding on main device.
15-00050-ge85def2# EtherCAT 0: Slave states on main device: INIT.
EtherCAT 0: Scanning bus.
EtherCAT 0: Bus scanning completed in 260 ms.
EtherCAT 0: Using slave 0 as DC reference clock.
EtherCAT 0: Starting EoE thread.
EtherCAT 0: Slave states on main device: PREOP.
EtherCAT ERROR 0-0: Timeout after 10000 ms while setting state OP.
EtherCAT 0: Slave states on main device: SAFEOP.
EtherCAT 0: Slave states on main device: SAFEOP + ERROR.

root@fl-imx6ull:/# ethercat master
Master0
Phase: Idle
Active: no
Slaves: 1
Ethernet devices:
Main: 62:38:63:34:0f:71 (attached)
   Link: UP
   Tx frames: 199463
   Tx bytes: 12003204
   Rx frames: 199462
   Rx bytes: 12003144
   Tx errors: 0
   Tx frame rate : 100 100 639
   Tx rate :    5.9 5.9 37.6
   Rx frame rate : 100 100 639
   Rx rate :    5.9 5.9 37.6
Common:
   Tx frames: 199463
   Tx bytes: 12003204
   Rx frames: 199462
   Rx bytes: 12003144
   Lost frames: 0
   Tx frame rate : 100 100 639
   Tx rate :    5.9 5.9 37.6
   Rx frame rate : 100 100 639
   Rx rate :    5.9 5.9 37.6
   Loss rate :       0 -0    0
   Frame loss [%]:       0.0 -0.0 0.0
Distributed clocks:
Reference clock: Slave 0
DC reference time: 0
Application time:0
                  2000-01-01 00:00:00.000000000
root@fl-imx6ull:/# ethercat slaves
00:0SAFEOP+ERRORESV630_1Axis_03716

Vincentwangwt 发表于 2024-8-12 17:03:03

本帖最后由 Vincentwangwt 于 2024-8-12 17:30 编辑

14、root@fl-imx6ull:~/EtherCAT# scpforlinx@192.168.8.11:/home/forlinx/work/EtherCAT_my/output.tar.bz2 /home/root/EtherCAT
forlinx@192.168.8.11's password:
output.tar.bz2                            100% 1999KB 2.0MB/s 00:01

15、root@fl-imx6ull:~/EtherCAT# tar -jxvf output.tar.bz2

16、个人对软连接型式理解不深，暂弃之，开发板的存贮相对充足，以拷贝代替
root@fl-imx6ull:~/EtherCAT/output# cp etc/init.d/ethercat /etc/init.d
root@fl-imx6ull:~/EtherCAT/output# cp etc/ethercat.conf /etc             ->参考资料2，新加入
root@fl-imx6ull:~/EtherCAT/output# cp bin/ethercat /usr/bin
root@fl-imx6ull:~/EtherCAT/output# cp etc/sysconfig/ethercat /etc/sysconfig
root@fl-imx6ull:~/EtherCAT/output#

16.1root@fl-imx6ull:~/EtherCAT/output# vi etc/sysconfig/ethercat

......
#MASTER0_DEVICE=""
#modify up line
MASTER0_DEVICE="62:38:63:34:0f:71"                ->MAC值指向开发板 eth1 网口

#MASTER1_DEVICE=""

......

#DEVICE_MODULES=""
#modify up line
DEVICE_MODULES="generic"

......

#new add
echo KERNEL==\"EtherCAT*\", MODE=\"0664\" > /etc/udev/rules.d/99-EtherCAT.rules

   注：该编缉操作亦可在虚拟机上完成；

16.2、root@fl-imx6ull:/# export PATH=$PATH:/etc/sysconfig    ->追加路径，但实际测试似不是非常必要
root@fl-imx6ull:/# echo $PATH
/usr/local/bin:/usr/bin:/bin:/usr/local/sbin:/usr/sbin:/sbin:/etc/sysconfig

17、root@fl-imx6ull:/# modprobe ec_master main_devices=62:38:63:34:0f:71
EtherCAT: Master driver 1.6.1 unknown
EtherCAT: 1 master waiting for devices.

root@fl-imx6ull:/lib/modules/4.1.15-00050-ge85def2# insmodec_generic.ko    ec_generic: EtherCAT master generic Ethernet device module 1.6.1 unknown
EtherCAT: Accepting 62:38:63:34:0F:71 as main device for master 0.
ec_generic: Binding socket to inte**ce 5 (eth1).
EtherCAT 0: Starting EtherCAT-IDLE thread.

root@fl-imx6ull:/lib/modules/4.1.15-00050-ge85def2# cd /etc/init.d

root@fl-imx6ull:/# ethercat master
Master0
Phase: Idle
Active: no
Slaves: 0
Ethernet devices:
Main: 62:38:63:34:0f:71 (attached)
   Link: DOWN
   Tx frames: 0
   Tx bytes: 0
   Rx frames: 0
   Rx bytes: 0
   Tx errors: 0
   Tx frame rate :    0    0    0
   Tx rate :    0.0 0.0 0.0
   Rx frame rate :    0    0    0
   Rx rate :    0.0 0.0 0.0
Common:
   Tx frames: 0
   Tx bytes: 0
   Rx frames: 0
   Rx bytes: 0
   Lost frames: 0
   Tx frame rate :    0    0    0
   Tx rate :    0.0 0.0 0.0
   Rx frame rate :    0    0    0
   Rx rate :    0.0 0.0 0.0
   Loss rate :       0    0    0
   Frame loss [%]:       0.0 0.0 0.0
Distributed clocks:
Reference clock: None
DC reference time: 0
Application time:0
                  2000-01-01 00:00:00.000000000

root@fl-imx6ull:/etc/init.d# ./ethercat stop
Shutting down EtherCAT master 1.6.1 EtherCAT 0: Master thread exited.
EtherCAT 0: Releasing main device 62:38:63:34:0F:71.
ec_generic: Unloading.
EtherCAT: Master module cleaned up.
done
root@fl-imx6ull:/etc/init.d# ./ethercat start
Starting EtherCAT master 1.6.1 EtherCAT: Master driver 1.6.1 unknown
EtherCAT: 1 master waiting for devices.
ec_generic: EtherCAT master generic Ethernet device module 1.6.1 unknown
EtherCAT: Accepting 62:38:63:34:0F:71 as main device for master 0.
ec_generic: Binding socket to inte**ce 5 (eth1).
EtherCAT 0: Starting EtherCAT-IDLE thread.
done
root@fl-imx6ull:/etc/init.d#

18、至此，个人认为 IGH EtherCAT 主站已被移植至开发板，但是否合用，尚有待进一步测试；

Vincentwangwt 发表于 2024-8-12 17:13:00

以上，为个人测试移植安装 IGH EtherCAT 1.6 至 OKMX6ULL-C 开发板的测试操作记录，难免有疪漏，请原谅；也请对此先达高手不吝置喙。

Vincentwangwt 发表于 2024-8-16 10:20:39

附上一个最简单的关于 IGH Ethercat 的Qt 工程 Ecat_Test_II，仅为测试前面所建立环境对 Qt 是否适用，过程记录如下：

编缉工程文件
QT    += core gui

INCLUDEPATH += /home/forlinx/work/EtherCAT_my/output/include                #新加入
LIBS += -L/home/forlinx/work/EtherCAT_my/output/lib -lethercat                   #新加入

编缉头文件
private:
Ui::MainWindow *ui;

ec_master_t *master = NULL;                //新加入

编缉 Forms 文件，加入按钮 pushButton_ec_master_init、pushButton_ec_master_clear，并 go slot...，建立槽函数

编缉源文件，仅对槽函数加入操作
void MainWindow::on_pushButton_ec_master_init_clicked()
{
master = ecrt_request_master(0);
if (!master)
{
   if( DEBUG_INFO_MAIN_MainWindow)
         qDebug() <<"IGH EtherCAT master request failed! ";

   return;
}
else
{
   if( DEBUG_INFO_SUB_MainWindow)
         qDebug() <<"IGH EtherCAT master request success! ";
}
}

void MainWindow::on_pushButton_ec_master_clear_clicked()
{
// 清理EtherCAT资源
ecrt_release_master(master);
}

编译之，可以通过。

将编译生成的可运行文件 Ecat_Test_II，传至开发板上，给予权限，运行；
root@fl-imx6ull:~/qt_my/Ecat_Test_II# ./Ecat_Test_II
./Ecat_Test_II: error while loading shared libraries: libethercat.so.1: cannot open shared object file: No such file or directory

运行报错，尝试将前面编译生成的库文件，加入开发板 lib 文件夹；
root@fl-imx6ull:/lib# cp /home/root/EtherCAT/output/lib/libether* /lib

再次运行 Qt 程序
root@fl-imx6ull:/lib# cd /home/root/qt_my/Ecat_Test_II
root@fl-imx6ull:~/qt_my/Ecat_Test_II# ./Ecat_Test_II
libEGL warning: DRI2: failed to authenticate
这次程序可以正常启动，尝试点击按钮 “pushButton_ec_master_init”，调试端口输出信息如下
EtherCAT: Requesting master 0...
EtherCAT: Successfully requested master 0.
IGH EtherCAT master request success!
EtherCAT 0: Releasing master...
EtherCAT 0: Released.
root@fl-imx6ull:~/qt_my/Ecat_Test_II# ethercat master
Master0
Phase: Idle
Active: no
Slaves: 0
Ethernet devices:
Main: 62:38:63:34:0f:71 (attached)
   Link: DOWN
   Tx frames: 0
   Tx bytes: 0
   Rx frames: 0
   Rx bytes: 0
   Tx errors: 0
   Tx frame rate :    0    0    0
   Tx rate :    0.0 0.0 0.0
   Rx frame rate :    0    0    0
   Rx rate :    0.0 0.0 0.0
Common:
   Tx frames: 0
   Tx bytes: 0
   Rx frames: 0
   Rx bytes: 0
   Lost frames: 0
   Tx frame rate :    0    0    0
   Tx rate :    0.0 0.0 0.0
   Rx frame rate :    0    0    0
   Rx rate :    0.0 0.0 0.0
   Loss rate :       0    0    0
   Frame loss [%]:       0.0 0.0 0.0
Distributed clocks:
Reference clock: None
DC reference time: 0
Application time:0
                  2000-01-01 00:00:00.000000000

从以上测试结果可以看出，前面搭建的 IGH EtherCAT 1.6 环境，可以正常编译运行关于 EtherCAT 的 Qt 程序。

知识库 发表于 2024-9-19 16:25:36

顶:hug::hug:

hwh132 发表于 2024-9-24 16:34:01

学习下，感谢分享！

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抛砖，记录OKMX6ULL-C开发板移植 IGH EtherCAT 1.6