ubuntu+xenomai+igh_ubuntu22.04 xenomai

一.xenomai

安装相关库：sudo apt-get install gcc git libncurses5-dev make flex bison libssl-dev libelf-dev automake

1.xenomai

(1)ipipe补丁：tar

-xvf linux-4.4.182.tar.xz

cd linux-4.4.182/

patch -p1 < ../ipipe-core-4.4.182-x86-15.patch

(2)xenomai补丁：

tar -xvf xenomai-3.0.10.tar.bz2
cd xenomai-3.0.10
./scripts/prepare-kernel.sh --linux=/home/myc/vx/igh/linux-4.4.182 --arch=x86_64 --outpatch=../xenomai-3.0.10.patch

cd linux-4.4.182/
patch -p1 < ../xenomai-3.0.10.patch
(3)编译内核:

cd linux-4.4.182/
cp /boot/config-4.4.0-176-generic .config
make menuconfig

make bzImage -j4
make modules -j4

(4)安装：

make INSTALL_MOD_STRIP=1 modules_install
sudo mkinitramfs /lib/modules/4.4.182/ -o /boot/initrd.img-4.4.182-xenomai
sudo cp arch/x86/boot/bzImage /boot/vmlinuz-4.4.182-xenomai
sudo cp System.map /boot/System.map-4.4.182-xenomai
sudo update-grub2

cd xenomai-3.0.10
./configure --with-core=cobalt --enable-smp --enable-pshared
./configure --with-core=cobalt --enable-smp --enable-pshared  CFLAGS="-fPIC"
sudo make install

(5)实时性：sudo /usr/xenomai/bin/latency

2.igh安装

# 原生版本igh

unzip ethercat-master.zip

cd ethercat-master/

./bootstrap 

./configure --with-linux-dir=/home/aruogan/igh/linux-4.4.182 --with-module-dir=/lib/modules/4.4.182-xenomai/ --enable-generic --enable-igb --enable-rtdm --with-xenomai-dir=/usr/xenomai --enable-cycles --enable-hrtimer --enable-8139too=no

sudo make  #编译
sudo make modules  #编译模块
sudo make install  #安装
sudo make modules_install  #安装模块

sudo mkdir /etc/sysconfig  #创建文件夹
sudo cp /usr/local/etc/sysconfig/ethercat /etc/sysconfig/  #复制配置文件
sudo cp /usr/local/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

sudo gedit /etc/udev/rules.d/99-EtherCAT.rules（KERNEL=="EtherCAT[0-9]*", MODE="0664", GROUP="users" ）

1. sudo cp devices/igb/ec_igb.ko /lib/modules/$(uname -r)
2. sudo cp master/ec_master.ko /lib/modules/$(uname -r)
3. sudo depmod
4. sudo gedit /etc/sysconfig/ethercat
5. sudo /etc/init.d/ethercat start