did anyone success install linuxcnc-ethercat on rpi4?

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5 years 7 months ago #203668 by thang
did anyone success install linuxcnc-ethercat on rpi4? was created by thang
To install linuxcnc-ethercat it requires install etherlabmaster, etherlabmaster-dev, linuxcnc-dev then linuxcnc-ethercat.
Following tutorial is written by Grotius: forum.linuxcnc.org/27-driver-boards/3559...uxcnc-how-to-install . I success to build etherlabmaster.deb and etherlabmaster-dev.deb for rpi4 but stucked when installing etherlabmaster, it return error "Error! Bad return status for module build on kernel:"
I'm using kernel linux-image-4.19.71-rt24-v7l+ for rpi 4

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5 years 7 months ago #203673 by Hakan
Replied by Hakan on topic did anyone success install linuxcnc-ethercat on rpi4?
I did earlier this week. Follow these instructions, they work. I can at least switch on and off digital outputs on the EL2008.
I tried the instructions you link to and didn't succeed either.
forum.linuxcnc.org/24-hal-components/223...er?limit=6&start=882

Actually there is a step missing and that is to apply the linuxcnc-ethercat/patches/add-task-pll-functions-2.8.patch to linuxcnc-dev sources. Also, start with the rt kernel that comes from linuxcnc.

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5 years 7 months ago #203689 by thang
Replied by thang on topic did anyone success install linuxcnc-ethercat on rpi4?
I did a fresh install following your post.
1. Install linuxcnc official iso image for rpi4: www.linuxcnc.org/iso/linuxcnc-2.8.1-pi4.zip
2. Install linux-header correspond realtime kernel
3. following ur link, i success install etherlabmaster
4. Installing linuxcnc-dev 2.8
5. Download linuxcnc-ethercat and make but i get error:
lcec_conf.h:22:10: fatal error: ecrt.h: No such file or directory
What did i miss?
The error above seem relate to etherlabmaster-dev, also the add-task-pll-functions-2.8.patch seem already be in linuxcnc 2.8

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5 years 7 months ago #203701 by Hakan
Replied by Hakan on topic did anyone success install linuxcnc-ethercat on rpi4?
I just redid the compile of linuxcnc-ethercat. Here is what I did - after ". ~/linuxcnc-dev/scripts/rip-environment"
Check the include-directories "-I." etc, you may need to add them to config.mk and realtime.mk , I don't remember the details but there were some mod needed there.

Attachment not found



Edit: Also needed to add -L/opt/etherlab/lib to the LDFLAGS line of realtime.mk for it to find libethercat.so

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5 years 7 months ago #203702 by Grotius
Replied by Grotius on topic did anyone success install linuxcnc-ethercat on rpi4?
I repaired some stuff.

Try this.

You have to set your includepath in the /configure.mk file to point to halcompile if you use the methode below :
For example /usr/include/halcompile
That's all.

$ git clone github.com/grotius-cnc/linuxcnc-ethercat
$ cd linxucnc-ethercat
$ make
$ make install

This will also install the lcec.so in the correct linuxcnc rt dir. Etc.

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5 years 7 months ago #203751 by Hakan
Replied by Hakan on topic did anyone success install linuxcnc-ethercat on rpi4?
@thang did you get it to work? I checked a bit more and the problem arises because etherlab is installed all under /opt/etherlab. Include files and libraries are not found in the usual places, thus one need to add paths to include files and libraries during build. Unfortunately.

After etherlab is built, an ugly fix is to create links from the common places to /opt/etherlab.
Code:
sudo ln -s /opt/etherlab/include/*.h /usr/include/linuxcnc/ sudo ln -s /opt/etherlab/lib/lib* /usr/lib/

After this, linuxcnc-ethercat build cleanly without modification. Linux with ethercat starts up without further mod as well. It is enough to use linuxcnc-uspace-dev package, it is not necessary to build linuxcnc from source.

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5 years 7 months ago #203768 by thang
Replied by thang on topic did anyone success install linuxcnc-ethercat on rpi4?
Nice guys, Linuxcnc-ethercat now is built, I will start test it on my driver and write a short tutorial

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5 years 7 months ago #204011 by thang
Replied by thang on topic did anyone success install linuxcnc-ethercat on rpi4?
Here is a short tutorial to install linuxcnc ethercat, thank Hakan and Grotius for making my life easier :laugh:

1. Installing linuxcnc image:
Code:
Download official image: www.linuxcnc.org/iso/linuxcnc-2.8.1-pi4.zip Flash SD card. setting up system

2. Installing etherlab master
Code:
sudo apt-get update sudo apt-get dist-upgrade sudo apt-get install bison flex libssl-dev sudo apt-get install linux-headers-4.19.71-rt24-v7l+ sudo wget -P /usr/include/tools/ https://raw.githubusercontent.com/raspberrypi/linux/rpi-4.19.y/tools/include/tools/be_byteshift.h sudo wget -P /usr/include/tools/ https://raw.githubusercontent.com/raspberrypi/linux/rpi-4.19.y/tools/include/tools/le_byteshift.h cd /usr/src/linux-headers-4.19.71-rt24-v7l+/ sudo make -i modules_prepare sudo apt install -y build-essential libtool automake tree dkms git mercurial cd mkdir ethercat cd ethercat git clone http://github.com/icshwi/etherlabmaster make init echo "ENABLE_CYCLES = NO" > configure/CONFIG_OPTIONS.local make build make install echo "ETHERCAT_MASTER0=eth0" > ethercatmaster.local make dkms_add make dkms_build make dkms_install make setup # Reboot or start manually by sudo systemctl start ethercat # Checking ethercat sudo systemctl status ethercat.service

3. Installing linuxcnc-ethercat
Code:
sudo apt-get install linuxcnc-uspace-dev sudo ln -s /opt/etherlab/include/*.h /usr/include/linuxcnc/ sudo ln -s /opt/etherlab/lib/lib* /usr/lib/ git clone http://github.com/sittner/linuxcnc-ethercat.git cd linuxcnc-ethercat make

4. You are now can use lcec_conf and lcec.so in linuxcnc-ethercat/src folder
Code:
Copy lcec_conf to config folder Copy lcec.so to usr/lib/linuxcnc/modules

5. If you are using linuxcnc-dev
Code:
git clone github.com/grotius-cnc/linuxcnc-ethercat # Set your includepath in the /configure.mk file to point to halcompile cd linxucnc-ethercat make make install

Reference: forum.linuxcnc.org/10-advanced-configura...at-on-raspberry-pi-4

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4 years 10 months ago #229941 by virencq
Replied by virencq on topic did anyone success install linuxcnc-ethercat on rpi4?
One question remains, can we use EtherCat (For Servo drives) along with GPIO's (for Inputs/outputs). Mainly for cost savings.

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4 years 10 months ago #229954 by rodw
Replied by rodw on topic did anyone success install linuxcnc-ethercat on rpi4?
Yes you can. The pin function needs to be correctly set for the purpose.

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