Drivers implementation for ROS - rtt_soem

Hi,

Nice.

Indeed edit the start_hal.sh file to load ethercat stuff.
You have the opurtunity to be the first to test the ethercat
on hal-core.

To point at the xml, you can do that in the start_hal.sh file.
See my attachements how i load a lcec config. You can use this as template.

# Full command to load a .hal file with halcmd:
/opt/hal-core/bin/./halcmd \-f ethercat.hal

or if you are already in dir (path), just :
halcmd \-f ethercat.hal

Then it would be something like this:
#!/usr/bin/bash

cd scripts
. ./rip-environment
cd ..

cd bin

halcmd stop
halcmd \-f ethercat.hal
halcmd start

halcmd show

# To clean the hal environment :
# $ /opt/hal-core$ /opt/linuxcnc/scripts/halrun -U

You can load the ethercat stuff from within a .c file. I do this freqently like :
system("/opt/hal-core/bin/./halcmd \-f ethercat.hal");

A hint could be executing this file :
** github.com/grotius-cnc/Linux-Pro/release...0.0/online-installer
If you open that file, you can edit your needs.
It will install linuxcnc, ethercat etc in /opt/ dir alongside the /opt/hal-core/
In the linuxcnc dir there is a /addons dir where ethercat lives.
Soon i will make something similar for the hal-core app.

Grotius wrote:

Hi,

Nice.

Indeed edit the start_hal.sh file to load ethercat stuff.
You have the opurtunity to be the first to test the ethercat
on hal-core.

To point at the xml, you can do that in the start_hal.sh file.
See my attachements how i load a lcec config. You can use this as template.

# Full command to load a .hal file with halcmd:
/opt/hal-core/bin/./halcmd \-f ethercat.hal

or if you are already in dir (path), just :
halcmd \-f ethercat.hal

Then it would be something like this:
#!/usr/bin/bash

cd scripts
. ./rip-environment
cd ..

cd bin

halcmd stop
halcmd \-f ethercat.hal
halcmd start

halcmd show

# To clean the hal environment :
# $ /opt/hal-core$ /opt/linuxcnc/scripts/halrun -U

You can load the ethercat stuff from within a .c file. I do this freqently like :
system("/opt/hal-core/bin/./halcmd \-f ethercat.hal");

A hint could be executing this file :
** github.com/grotius-cnc/Linux-Pro/release...0.0/online-installer
If you open that file, you can edit your needs.
It will install linuxcnc, ethercat etc in /opt/ dir alongside the /opt/hal-core/
In the linuxcnc dir there is a /addons dir where ethercat lives.
Soon i will make something similar for the hal-core app.
 

Hi Grotius,

Thanks again for the hints.

Right now I was able to build and convert the .o files to .so and place it into rtlib (EtherCAT drivers).
Also I already change the start_hal.sh file with my own configuration.

Right now I got this when launch the start_hal.sh script: pastebin.com/4nQ3Cr2W (At least boots and start working but no the EtherCAT one)

I double checked that files are located in the right places.

This is part of my actual configuration:


halcmd stop
halcmd loadrt threads name1=base-thread fp1=0 period1=25000 name2=servo-thread period2=1000000
halcmd loadusr -W /opt/hal-core/rtlib/lcec_conf /opt/hal-core/ethercat-conf.xml
halcmd loadrt lcec
halcmd addf lcec.read-all servo-thread
halcmd addf lcec.write-all servo-thread
halcmd start
 

Hi,

It could'nt find the lcec.so, wich has to be located in the /rtlib. But i think you forgot to clean you hal environment :
$ /opt/hal-core/scripts/halrun -U

Maybe wait a few hours, I will try to fabricate a hal-core ethercat installer.

Right now I was able to build and convert the .o files to .so and place it into rtlib (EtherCAT drivers).
Can you point me to your procedure?




 

I just have the same idea to build a EtherCAT installer for it .

I provide you the changes I did in the script you should put in linuxcnc-ethercat/src/.
1. First have to run make on the linuxcnc-ethercat directory. Once we have the .o files created, you should run the script (Attached here)



I all I did. Because I modified you script to build the .o but got different errors on the way.
I will try to do a issue in the Git so you can get more that I have done or to check changes I have done so far.

Regards

I recompiled everything from scratch and was able to get LCEC running with some other errors like: pastebin.com/tTxhBndT

Hi,

Interesting. You build everything as stand alone instead of one lcec.so library that includes all the ethercat slaves?

 

Yes, because doing that way I don't get any error related to lcec.so when it tries to load ax5200 for example.

I will try to replicate that issue. If you know a better way to do this please let me know.

This was my first attempt to compile everything in case do you want to have a look.

 

Hi,

I had a quick look. I think you missed the -lethercat flag when building the last stage "shared libs".

# Compile to shared library
gcc -shared -o lcec.so lcec_main.o lcec_class_enc.o lcec_generic.o lcec_ax5200.o lcec_el1xxx.o lcec_el1252.o lcec_el1859.o lcec_el2521.o lcec_el2xxx.o lcec_el2202.o lcec_el31x2.o lcec_el31x4.o lcec_el3255.o lcec_el40x1.o lcec_el40x2.o lcec_el40x8.o lcec_el41x2.o lcec_el41x4.o lcec_el5101.o lcec_el5151.o lcec_el5152.o lcec_el6900.o lcec_el1904.o lcec_el2904.o lcec_el7041_1000.o lcec_el7211.o lcec_el7342.o lcec_el95xx.o lcec_em7004.o lcec_stmds5k.o lcec_deasda.o lcec_omrg5.o lcec_ph3lm2rm.o -Wl,-rpath,/opt/hal-core/lib -L/opt/hal-core/lib -lhalcore -lethercat -lrt

 

Hi,

I found the problem. In the /opt/linuxcnc/ install the ethercat compiled in the /hal-core/ dir works.
But starting from /hal-core/ we have a problem with the "loadusr .." command.
I will take a look into the halcmd source code.