documentation/ethercat_doc.tex
branchstable-1.4
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parent 1641 e260d76b9c70
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  1907 % --master
  1907 % --master
  1908 
  1908 
  1909 \subsection{Character Devices}
  1909 \subsection{Character Devices}
  1910 \label{sec:cdev}
  1910 \label{sec:cdev}
  1911 
  1911 
  1912 Each master instance will get a character device as a user-space interface.
  1912 Each master instance will get a character device as a userspace interface.
  1913 The devices are named \textit{/dev/EtherCATX}, where $X$ is the index of the
  1913 The devices are named \textit{/dev/EtherCATx}, where $x \in \{0 \ldots n\}$ is
  1914 master.
  1914 the index of the master.
  1915 
  1915 
  1916 % FIXME
  1916 \paragraph{Device Node Creation} The character device nodes are automatically
  1917 % udev
  1917 created, if the \lstinline+udev+ Package is installed. See section
  1918 % rights
  1918 \ref{sec:autonode} for how to install and configure it.
  1919 
  1919 
  1920 %------------------------------------------------------------------------------
  1920 %------------------------------------------------------------------------------
  1921 
  1921 
  1922 \subsection{Setting Alias Addresses}
  1922 \subsection{Setting Alias Addresses}
  1923 \label{sec:alias} % FIXME
  1923 \label{sec:alias} % FIXME
  2430 
  2430 
  2431 \begin{lstlisting}
  2431 \begin{lstlisting}
  2432 # `\textbf{/etc/init.d/ethercat start}`
  2432 # `\textbf{/etc/init.d/ethercat start}`
  2433 \end{lstlisting}
  2433 \end{lstlisting}
  2434 
  2434 
  2435 The operation of the master can be observed with the command
  2435 At this time, the operation of the master can be observed by viewing the
  2436 \lstinline+ethercat master+ or by viewing the Syslog\index{Syslog}
  2436 Syslog\index{Syslog} messages, which should look like the ones below. If
  2437 messages, which should look like the ones below. If EtherCAT slaves are
  2437 EtherCAT slaves are connected to the master's EtherCAT device, the activity
  2438 connected to the master's EtherCAT device, the activity indicators should
  2438 indicators should begin to flash.
  2439 begin to flash.
       
  2440 
  2439 
  2441 \begin{lstlisting}[numbers=left]
  2440 \begin{lstlisting}[numbers=left]
  2442 EtherCAT: Master driver `\masterversion`
  2441 EtherCAT: Master driver `\masterversion`
  2443 EtherCAT: 1 master waiting for devices.
  2442 EtherCAT: 1 master waiting for devices.
  2444 EtherCAT Intel(R) PRO/1000 Network Driver - version 6.0.60-k2
  2443 EtherCAT Intel(R) PRO/1000 Network Driver - version 6.0.60-k2
  2471 \item[\linenum{9} -- \linenum{16}] The master goes to idle phase, starts its
  2470 \item[\linenum{9} -- \linenum{16}] The master goes to idle phase, starts its
  2472 state machine and begins scanning the bus.
  2471 state machine and begins scanning the bus.
  2473 
  2472 
  2474 \end{description}
  2473 \end{description}
  2475 
  2474 
       
  2475 \section{Automatic Device Node Creation}
       
  2476 \label{sec:autonode}
       
  2477 
       
  2478 The \lstinline+ethercat+ command-line tool (see section~\ref{sec:ethercat})
       
  2479 communicates with the master via a character device. The corresponding device
       
  2480 nodes are created automatically, if the udev daemon is running.
       
  2481 Note, that on some distributions, the \lstinline+udev+ package is not
       
  2482 installed by default.
       
  2483 
       
  2484 The device nodes will be created with mode \lstinline+0660+ and group
       
  2485 \lstinline+root+ by default. If you want to give normal users reading access,
       
  2486 create a udev rule file (for example
       
  2487 \textit{/etc/udev/rules.d/99-EtherCAT.rules} with the following content:
       
  2488 
       
  2489 \begin{lstlisting}
       
  2490 KERNEL=="EtherCAT[0-9]*", MODE="0664"
       
  2491 \end{lstlisting}
       
  2492 
       
  2493 After the udev rule file is created and the EtherCAT master is restarted with
       
  2494 \lstinline[breaklines=true]+/etc/init.d/ethercat restart+, the device node
       
  2495 will be automatically created with the desired rights:
       
  2496 
       
  2497 \begin{lstlisting}
       
  2498 # `\textbf{ls -l /dev/EtherCAT0}`
       
  2499 crw-rw-r--  1 root root 252, 0 2008-09-03 16:19 /dev/EtherCAT0
       
  2500 \end{lstlisting}
       
  2501 
       
  2502 Now, the \lstinline+ethercat+ tool can be used (see
       
  2503 section~\ref{sec:ethercat}) even as a non-root user.
       
  2504 
  2476 %------------------------------------------------------------------------------
  2505 %------------------------------------------------------------------------------
  2477 
  2506 
  2478 \begin{thebibliography}{99}
  2507 \begin{thebibliography}{99}
  2479 
  2508 
  2480 \bibitem{etherlab} Ingenieurgemeinschaft IgH: EtherLab -- Open Source Toolkit
  2509 \bibitem{etherlab} Ingenieurgemeinschaft IgH: EtherLab -- Open Source Toolkit