Ethercat installation from repositories - how to step by step

We found the indentation was the error. We had to delete indentation and redo it then it worked.
Very odd as it's worked before.
I guess we should fork the repo and set realtime.mak up correctly. and clone the forked repo, not the original.

Hi all,

I'm experiencing the same errors as mentioned before:
- fresh install of Debian 12 (6.1.0-9-rt-amd64)
- Debian Testing repo for etherlabmaster
- building of linuxcnc-ethercat driver works with original realtime.mk file, but error "undefined symbol: ecrt_slave_config_sdo" when starting linuxcnc
- building linuxcnc-ethercat driver fails when using the modified realtime.mk (example from the spoiler, end of line 5 corrected with " ; ) ", compile error in line 33: missing separator.

Is there a way to fix this without waiting for the forked repo?

rodw wrote:

We found the indentation was the error. We had to delete indentation and redo it then it worked.
Very odd as it's worked before.
I guess we should fork the repo and set realtime.mak up correctly. and clone the forked repo, not the original.
 

hello rodw
on github there is a recent fork with updated and working realtime.mk,
it's here.
I tested and it works.

deedee wrote:

Hi all,

I'm experiencing the same errors as mentioned before:
- fresh install of Debian 12 (6.1.0-9-rt-amd64)
- Debian Testing repo for etherlabmaster
- building of linuxcnc-ethercat driver works with original realtime.mk file, but error "undefined symbol: ecrt_slave_config_sdo" when starting linuxcnc
- building linuxcnc-ethercat driver fails when using the modified realtime.mk (example from the spoiler, end of line 5 corrected with " ; ) ", compile error in line 33: missing separator.

Is there a way to fix this without waiting for the forked repo?

I had success by using the realtime.mk code from the thread linked in the first post. I copied and pasted the whole code (I did not manually add ; ) (space added to avoid forum emoji))

Thanks Pippin. I think I might attach a known good the realtime.mak to the first post when I get a bit of spare time. There is some new formatting issues that are causing issues for some people (Including me).

0x2102 wrote:

 
Hi Robert, 

so far so good. The 6.x kernel's network stack  (compared to 5.x) seems to be vastly improved. I have had no issues so far with regard to latency (Mesa and EtherCAT) - which I am both testing. I am able to run up to 4 kHz Servo Thread (Mesa and EtherCAT).

Hi Markus,

Sorry for dredging up this post from a couple of months ago, but 4 kHz is really good on -rt. What driver are you using—surely not just ec_generic? The latest patched drivers I see for e.g. igb/r8169 only go up to 5.15.

Thanks,

Tom

UPDATE: The first post has been updated following upstream changes. It also covers addidional steps required to build DKMS drivers if you have Secure boot (UEFI) enabled on your PC. 

Hi Rodw,

I tryed the steps in the update post. Everythings looks fine till the install ethercat-master.
After 'sudo apt install ethercat-master' i get E: Unable to locate package ethercat-master.

Psylocke wrote:

Hi Rodw,

I tryed the steps in the update post. Everythings looks fine till the install ethercat-master.
After 'sudo apt install ethercat-master' i get E: Unable to locate package ethercat-master.

Did you create the /etc/apt/sources.list.d/ighvh.sources file?
did you do sudo apt update?
What distro are you using? Bookworm? or another?

Hi Rodw,

Thank you for the very fast respond, i've been struggling for already more than a week to get a working rpi4+linuxcnc+ethercat. I did this several times with several distro's ans several notes. The rpi4 with linuxcnc under -rt is running, installing the needed ethercat despite without result. As i want to retrofit a 3+2 axis milling machine i want to use more profession drives with ethercat.

So here is the info:

Yes, i created the /etc/apt/sources.list.d/ighvh.sources file. I copied the shown data as instructed.

Raspberry Pi 4 Model B Rev 1.5

Linux rpi4-20230612 6.1.0-10-rt-arm64 #1 SMP PREEMPT_RT Debian 6.1.38-2 (2023-07-27) aarch64 GNU/Linux

PRETTY_NAME="Debian GNU/Linux 12 (bookworm)"
NAME="Debian GNU/Linux"
VERSION_ID="12"
VERSION="12 (bookworm)"
VERSION_CODENAME=bookworm
ID=debian
HOME_URL="www.debian.org/"
SUPPORT_URL="www.debian.org/support"
BUG_REPORT_URL="bugs.debian.org/"

Here my screen no errors till ethercat instruction:
nc@rpi4-20230612:~$ sudo nano /etc/apt/sources.list.d/ighvh.sources
cnc@rpi4-20230612:~$ sudo apt update
Hit:1 security.debian.org/debian-security bookworm-security InRelease
Hit:2 deb.debian.org/debian bookworm InRelease                          
Hit:3 deb.debian.org/debian bookworm-updates InRelease                  
Get:4 download.opensuse.org/repositories/home:...herLabDKMS/Debian_12 ./ InRelease [1586 B]
Fetched 1586 B in 2s (1003 B/s)                                                
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
All packages are up to date.
cnc@rpi4-20230612:~$ sudo apt install -y linux-headers-$(uname -r)
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
linux-headers-6.1.0-10-rt-arm64 is already the newest version (6.1.38-2).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
cnc@rpi4-20230612:~$ sudo apt install ethercat-master
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
E: Unable to locate package ethercat-master