README-PSI.md

EtherCAT master at PSI

This is the EtherCAT master implementation that is currently used at PSI. It includes the official EtherLab IgH Master 1.5.2 with addition of all community patches, and some PSI fixes.

Hardware & OS

The master was tested on:

• Intel CPU (XEON)
• Intel I210 & I350 network cards
• Debian 10 with PREEMPT-RT patched kernel 4.19

Building

Before building, ensure that all required software to build kernel modules and libraries is present.

apt install build-essential dkms automake tree linux-headers-rt-amd64

After downloading the repo:

cd ethercat
./bootstrap
./configure --enable-cycles=yes --enable-igb --enable-generic --disable-8139too --disable-e100 --disable-e1000 --disable-e1000e --disable-r8169 --disable-ccat --enable-static=yes --enable-shared=yes --enable-eoe=no --enable-hrtimer=yes --enable-regalias=no --enable-tool=yes --enable-userlib=yes --enable-sii-assign=yes --enable-rt-syslog=yes
make all modules
make modules_install install
depmod

Usage

  TODO

Use ec_igb on the specific port only

In case only one port should run the dedicated driver this can be done:

1. Find the BDF of the port we want to replace the driver (usual format XX:XX.X) using

    lspci
   

2. Unbind the current driver

    echo -n "BDF number" > /sys/bus/pci/drivers/igb/unbind
   

3. Add the ethercat master module

    modprobe ec_master main_devices=$(MAC_ADDRESS)
   

4. Add the dedicated network driver

    modprobe ec_igb
   

Test

In order to test if the ethercat master is running type:

    ethercat master