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Ubuntu22.04 lgh Ethercat master安装笔记_ubuntu igh

作者：黑客灵魂 | 2024-07-14 22:35:40

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ubuntu igh

         最近打算买一台伺服电机，测试一下EtherCAT 接口。打算采用开源的lgh。网络上有许多的lgh 安装指南，但是照着安装仍然由一些问题，只能边做边记笔记。

硬件

  • Dell T3360 台式机
  • UP Squared 6000 边缘控制器

ubuntu 操作系统版本：

  1. root@T3660:/home/yao2023/etherlab# uname -a 
  2. Linux T3660 6.2.0-31-generic #31~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Wed Aug 16 13:45:26 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
  1. root@T3660:/home/yao2023/etherlab# lsb_release -a 
  2. No LSB modules are available.
  3. Distributor ID:	Ubuntu
  4. Description:	Ubuntu 22.04.3 LTS
  5. Release:	22.04
  6. Codename:	jammy

下载源代码

git clone https://gitlab.com/etherlab.org/ethercat.git /home/yao2023/etherlab

配置和安装

配置

  1. ./bootstrap
  2. sudo su
  3. ./configure --disable-8139too --prefix=/opt/etherlab  --sysconfdir=/etc

安装

  1. make
  2. make all modules
  3. sudo make modules_install install
  4. sudo depmod
  5.

查看以太网的mac地址

使用 ifconfig

  1. root@T3660:/home/yao2023/etherlab# ifconfig
  2. docker0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
  3.         inet 172.17.0.1  netmask 255.255.0.0  broadcast 172.17.255.255
  4.         inet6 fe80::42:cbff:fe8a:1e8f  prefixlen 64  scopeid 0x20<link>
  5.         ether 02:42:cb:8a:1e:8f  txqueuelen 0  (以太网)
  6.         RX packets 0  bytes 0 (0.0 B)
  7.         RX errors 0  dropped 0  overruns 0  frame 0
  8.         TX packets 77  bytes 10819 (10.8 KB)
  9.         TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
  10.  
  11. enp0s31f6: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
  12.         ether 74:86:e2:19:66:0f  txqueuelen 1000  (以太网)
  13.         RX packets 0  bytes 0 (0.0 B)
  14.         RX errors 0  dropped 0  overruns 0  frame 0
  15.         TX packets 0  bytes 0 (0.0 B)
  16.         TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
  17.         device interrupt 19  memory 0x72600000-72620000  
  18.  
  19. enp4s0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
  20.         ether a0:36:9f:30:32:a1  txqueuelen 1000  (以太网)
  21.         RX packets 0  bytes 0 (0.0 B)
  22.         RX errors 0  dropped 0  overruns 0  frame 0
  23.         TX packets 0  bytes 0 (0.0 B)
  24.         TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
  25.         device memory 0x72100000-721fffff  
  1. chmod +x /opt/etherlab/etc/init.d/ethercat    
  2.     sudo cp -f script/init.d/ethercat /etc/init.d/    
  3.     sudo mkdir -p /etc/sysconfig/
  4.     sudo chown yao.yao /etc/sysconfig/
  5.     cp -f /opt/etherlab/etc/sysconfig/ethercat /etc/sysconfig/
  6.     sudo mkdir -p /etc/udev/rules.d/
  7.     sudo chown yao.yao /etc/udev/rules.d/
  8.     touch /etc/udev/rules.d/99-ethercat.rules
  9.  
  10.    echo MASTER0_DEVICE="$(cat /sys/class/net/enp2s0/address)" > /etc/sysconfig/ethercat
  11.     echo DEVICE_MODULES="generic" >> /etc/sysconfig/ethercat
  12.     chmod go+rwx /etc/udev/rules.d/99-ethercat.rules
  13.     echo "KERNEL=="\"EtherCAT[0-9]*\"", MODE="\"777\"", GROUP=""\"ethercat\"" > /etc/udev/rules.d/99-ethercat.rules

UP Squared 6000 系统上的安装

硬件 ATOM 6000

操作系统 ubuntu 22.04

内核： 15.5.0-1043-intel-iotg

UP Squared 6000 计算机上遇到了下面的问题，启动时： 

  1. root@yao-UPN-EHL01:/home/yao/etherlab# sudo /etc/init.d/ethercat start
  2. Starting EtherCAT master 1.5.2 modprobe: ERROR: could not insert 'ec_master': Exec format error
  3.  failed

网络上建议的方法：

使用dmesg命令查看原因。

dmesg

  1. [ 1158.061004] ec_master: disagrees about version of symbol module_layout
  2. [ 1414.135696] ec_master: disagrees about version of symbol module_layout

        结果是disagrees about version of symbol module_layout。看来是版本不兼容。ec_master是一个linux 内核库，它必须与当前运行的内核兼容。

1 使用uname -r 命令看当前内核的版本为 15.5.0-1046-intel-iotg

2 使用modinfo命令看/lib/modules/5.15.0-1043-intel-iotg/ethercat/master/ec_master.ko的信息

  1. modinfo  /lib/modules/5.15.0-1043-intel-iotg/ethercat/master/ec_master.ko
  2. filename:       /lib/modules/5.15.0-1043-intel-iotg/ethercat/master/ec_master.ko
  3. version:        1.5.2 1.5.2-343-gb029271b
  4. license:        GPL
  5. description:    EtherCAT master driver module
  6. author:         Florian Pose <fp@igh-essen.com>
  7. srcversion:     3EC58E246A5BE6A6C05916D
  8. depends:        
  9. retpoline:      Y
  10. name:           ec_master
  11. vermagic:       5.15.0-1036-intel-iotg SMP mod_unload modversions 
  12. parm:           main_devices:MAC addresses of main devices (array of charp)
  13. parm:           backup_devices:MAC addresses of backup devices (array of charp)
  14. parm:           debug_level:Debug level (uint)
  15. parm:           run_on_cpu:Bind kthreads to a specific cpu (uint)

            结果发现它们的版本不同，一个是1043，一个是1036。可能是我一开始指定了15.5.0-1036-intel-iotg 安装后，以后make clean 去不掉mc-master.ko。于是：

          删除 /lib/modules/5.15.0-1043-intel-iotg/ec_master.ko(这个版本是15.5.0-1036-intel-iotg）

然后，重新编译，成功了。

运行

  1. root@T3660:/home/yao2023/etherlab# sudo /etc/init.d/ethercat start
  2. Starting EtherCAT master 1.6.0-rc1  done
  3.  
  4.  
  5. root@T3660:/home/yao2023/etherlab# sudo /etc/init.d/ethercat stop
  6. Shutting down EtherCAT master 1.6.0-rc1  done
  7.  
  8.

应用代码

  1. /**
  2.   * compile : gcc test.c -o test -I/opt/etherlab/include -L/opt/etherlab/lib -lethercat
  3.   */
  4. #include <errno.h>
  5. #include <signal.h>
  6. #include <stdio.h>
  7. #include <string.h>
  8. #include <sys/resource.h>
  9. #include <sys/time.h>
  10. #include <sys/types.h>
  11. #include <unistd.h>
  12. #include <sys/mman.h>
  13.  
  14. /****************************************************************************/
  15.  
  16. #include "ecrt.h"
  17.  
  18. /****************************************************************************/
  19.  
  20. /*Application Parameters*/
  21. #define TASK_FREQUENCY          10 /*Hz*/
  22. #define TARGET_VELOCITY         110000 /*target velocity*/
  23. #define PROFILE_VELOCITY            3   /*Operation mode for 0x6060:0*/
  24.  
  25. /*****************************************************************************/
  26.  
  27. /*EtherCAT*/
  28. static ec_master_t *master = NULL;
  29. static ec_master_state_t master_state = {};
  30.  
  31. static ec_domain_t *domain1 = NULL;
  32. static ec_domain_state_t domain1_state = {};
  33.  
  34. static ec_slave_config_t *sc;
  35. static ec_slave_config_state_t sc_state = {};
  36.  
  37. /****************************************************************************/
  38.  
  39. /*Process Data*/
  40. static uint8_t *domain1_pd = NULL;
  41.  
  42. #define DM3E         0,0                        /*EtherCAT address on the bus*/
  43.  
  44. #define VID_PID           0x00004321,0x00008100   /*Vendor ID, product code*/
  45.  
  46. /*Offsets for PDO entries*/
  47. static struct{
  48.     unsigned int operation_mode;
  49.     unsigned int ctrl_word;
  50.     unsigned int target_velocity;
  51.     unsigned int status_word;
  52.     unsigned int current_velocity;
  53.     unsigned int current_position;
  54. }offset;
  55.  
  56. const static ec_pdo_entry_reg_t domain1_regs[] = {
  57.     {DM3E, VID_PID, 0x6040, 0, &offset.ctrl_word},
  58.     {DM3E, VID_PID, 0x6060, 0, &offset.operation_mode },
  59.     {DM3E, VID_PID, 0x60FF, 0, &offset.target_velocity},
  60.     {DM3E, VID_PID, 0x6041, 0, &offset.status_word},
  61.     {DM3E, VID_PID, 0x606C, 0, &offset.current_velocity},
  62.     {DM3E, VID_PID, 0x6064, 0, &offset.current_position},
  63.     {}
  64. };
  65.  
  66. /***************************************************************************/
  67. /*Config PDOs*/
  68. static ec_pdo_entry_info_t device_pdo_entries[] = {
  69.     /*RxPdo 0x1600*/
  70.     {0x6040, 0x00, 16},
  71.     {0x6060, 0x00, 8 }, 
  72.     {0x60FF, 0x00, 32},
  73.     /*TxPdo 0x1A00*/
  74.     {0x6041, 0x00, 16},
  75.     {0x606C, 0x00, 32},
  76.     {0x6064, 0x00, 32}
  77. };
  78.  
  79. static ec_pdo_info_t device_pdos[] = {
  80.     //RxPdo
  81.     {0x1600, 3, device_pdo_entries + 0 },
  82.     //TxPdo
  83.     {0x1A00, 3, device_pdo_entries + 3 }
  84. };
  85.  
  86. static ec_sync_info_t device_syncs[] = {
  87.     { 0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE },
  88.     { 1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE },
  89.     { 2, EC_DIR_OUTPUT, 1, device_pdos + 0, EC_WD_DISABLE },
  90.     { 3, EC_DIR_INPUT, 1, device_pdos + 1, EC_WD_DISABLE },
  91.     { 0xFF}
  92. };
  93.  
  94. /**************************************************************************/
  95.  
  96. /*************************************************************************/
  97.  
  98. void check_domain1_state(void)
  99. {
  100.     ec_domain_state_t ds;
  101.     ecrt_domain_state(domain1, &ds);
  102.     if (ds.working_counter != domain1_state.working_counter)
  103.     {
  104.         printf("Domain1: WC %u.\n", ds.working_counter);
  105.     }
  106.     if (ds.wc_state != domain1_state.wc_state)
  107.     {
  108.         printf("Domain1: State %u.\n", ds.wc_state);
  109.     }
  110.     domain1_state = ds;
  111. }
  112.  
  113. void check_master_state(void)
  114. {
  115.     ec_master_state_t ms;
  116.     ecrt_master_state(master, &ms);
  117.     if (ms.slaves_responding != master_state.slaves_responding)
  118.     {
  119.         printf("%u slave(s).\n", ms.slaves_responding);
  120.     }
  121.     if (ms.al_states != master_state.al_states)
  122.     {
  123.         printf("AL states: 0x%02X.\n", ms.al_states);
  124.     }
  125.     if (ms.link_up != master_state.link_up)
  126.     {
  127.         printf("Link is %s.\n", ms.link_up ? "up" : "down");
  128.     }
  129.     master_state = ms;
  130. }
  131.  
  132. /****************************************************************************/
  133.  
  134. void check_slave_config_states(void)
  135. {
  136.     ec_slave_config_state_t s;
  137.     ecrt_slave_config_state(sc, &s);
  138.     if (s.al_state != sc_state.al_state)
  139.     {
  140.         printf("slave: State 0x%02X.\n", s.al_state);
  141.     }
  142.     if (s.online != sc_state.online)
  143.     {
  144.         printf("slave: %s.\n", s.online ? "online" : "offline");
  145.     }
  146.     if (s.operational != sc_state.operational)
  147.     {
  148.         printf("slave: %soperational.\n", s.operational ? "" : "Not ");
  149.     }
  150.     sc_state = s;
  151. }
  152.  
  153. /*******************************************************************************/
  154.  
  155. void cyclic_task()
  156. {
  157.     static uint16_t command=0x004F;//用来帮助判断状态字的值
  158.     uint16_t    status;
  159.     /*Receive process data*/
  160.     ecrt_master_receive(master);
  161.     ecrt_domain_process(domain1);
  162.     /*Check process data state(optional)*/
  163.     check_domain1_state();
  164.  
  165.     //Check for master state
  166.     check_master_state();
  167.     //Check for slave configuration state(s)
  168.     check_slave_config_states();
  169.     /*Read state*/
  170.     status = EC_READ_U16(domain1_pd + offset.status_word);//读取状态字
  171.  
  172.     //DS402 CANOpen over EtherCAT status machine
  173.     if( (status & command) == 0x0040 )
  174.     {
  175.         EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x0006 );
  176.         EC_WRITE_S8(domain1_pd + offset.operation_mode, PROFILE_VELOCITY);
  177. //设置控制模式
  178.         command = 0x006F;
  179.     }
  180.  
  181.     else if( (status & command) == 0x0021)
  182.     {
  183.         EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x0007 );
  184.         command = 0x006F;
  185.     }
  186.  
  187.     else if( (status & command) == 0x0023)
  188.     {
  189.         EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x000f );
  190.         command = 0x006F;
  191.     }
  192.     //operation enabled
  193.  
  194.     else if( (status & command) == 0x0027)
  195.     {
  196.         EC_WRITE_S32(domain1_pd + offset.target_velocity, TARGET_VELOCITY);
  197.         EC_WRITE_U16(domain1_pd + offset.ctrl_word, 0x001f );
  198.     }
  199.  
  200.     /*Send process data*/
  201.     ecrt_domain_queue(domain1);
  202.     ecrt_master_send(master);
  203. }
  204.  
  205. /****************************************************************************/
  206.  
  207. int main(int argc, char **argv)
  208. {
  209. 	 printf("Requesting master...\n");
  210.     master = ecrt_request_master(0);
  211.     if (!master)
  212.     {
  213.         exit(EXIT_FAILURE);
  214.     }
  215.     
  216.     domain1 = ecrt_master_create_domain(master);
  217.     if (!domain1)
  218.     {
  219.         exit(EXIT_FAILURE);
  220.     }
  221.     if (!(sc = ecrt_master_slave_config(master, DM3E, VID_PID)))
  222.     {
  223.         fprintf(stderr, "Failed to get slave configuration for slave!\n");
  224.         exit(EXIT_FAILURE);
  225.     }
  226.     printf("Configuring PDOs...\n");
  227.     if (ecrt_slave_config_pdos(sc, EC_END, device_syncs))
  228.     {
  229.         fprintf(stderr, "Failed to configure slave PDOs!\n");
  230.         exit(EXIT_FAILURE);
  231.     }
  232.     else
  233.     {
  234.         printf("*Success to configuring slave PDOs*\n");
  235.     }
  236.  
  237.     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) 
  238.     {
  239.         fprintf(stderr, "PDO entry registration failed!\n");
  240.         exit(EXIT_FAILURE);
  241.     }
  242.    
  243.     printf("Activating master...\n");
  244.     if (ecrt_master_activate(master)) {
  245.         exit(EXIT_FAILURE);
  246.     }
  247.     else
  248.     {
  249.         printf("*Master activated*\n");
  250.     }
  251.     if (!(domain1_pd = ecrt_domain_data(domain1))) {
  252.         exit(EXIT_FAILURE);
  253.     }
  254.  
  255.     printf("*It's working now*\n");
  256.  
  257.     while (1) 
  258.     {
  259.         usleep(100000/TASK_FREQUENCY);
  260.         cyclic_task();
  261.     }
  262.     return EXIT_SUCCESS;
  263. }
  264.

编译

gcc testB.c -o test -lethercat

运行

  • 启动ethercat 
  • 运行程序test

结束

下一步，连接松下的伺服驱动，希望顺利一点。

参考文章：

Ubuntu 20.04 , Igh 安装，驱动汇川伺服电机

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