etherlabmaster: comparison documentation/ethercat

equal deleted inserted replaced

-:c9cb34469c74
+:e43a29f9079e
 The master module has a parameter \textit{ec\_eoeif\_count} to specify
 the number of EoE interfaces (and handlers) per master to create. This
 parameter can either be specified when manually loading the master
 module, or (when using the init script) by setting the
-\textit{\$EOE\_INTERFACES} variable in the sysconfig file (see
+\textit{EOE\_INTERFACES} variable in the sysconfig file (see
 section~\ref{sec:sysconfig}). Upon loading of the master module, the
 virtual interfaces become available:
 \begin{lstlisting}
 host# `\textbf{ifconfig -a}`
 \label{sec:init}
 \index{Init script}
 The EtherCAT master provides an ``init script'', that conforms to the
 requirements of the ``Linux Standard Base'' (LSB\index{LSB},
-\cite{lsb}). The script is installed to \textit{/etc/init.d/ethercat},
+\cite{lsb}). The script is installed to \textit{etc/init.d/ethercat}
-so that the master can be easily inserted as a service. The different
+below the installation prefix and has to be copied to the appropriate
-Linux distributions offer different ways to mark the service for
+location (see section~\ref{sec:make}), before the master can be
-starting and stopping in certain runlevels (for example, SUSE provides
+inserted as a service. The different Linux distributions offer
-the \textit{insserv} command).
+different ways to mark the service for starting and stopping in
+certain runlevels (for example, SUSE Linux provides the
+\textit{insserv} command).
 To provide service dependencies (i.~e. which services have to be
 started before) right inside the init script code, LSB defines a
 special comment block. System tools can extract this information to
 insert the EtherCAT init script at the correct place in the startup
 \end{lstlisting}
 The init script can also be used for manually starting and stopping
 the EtherCAT master. It has to be executed with one of the parameters
 \textit{start}, \textit{stop}, \textit{restart} or \textit{status}.
-Besides, a link to the script is placed at
-\textit{/usr/sbin/rcethercat} for easier access.
 \begin{lstlisting}
 host# `\textbf{/etc/init.d/ethercat restart}`
 Shutting down EtherCAT master                done
 Starting EtherCAT master                     done
 \subsubsection{The EtherCAT Sysconfig File}
 \label{sec:sysconfig}
 \index{Sysconfig file}
 For persistent configuration, the init script uses a sysconfig file
-installed to \textit{/etc/sys\-config/ethercat}, that is mandatory for
+installed to \textit{etc/sysconfig/ethercat} (below the installation
-the init script. The sysconfig file contains all configuration
+prefix), that is mandatory for the init script. The sysconfig file
-variables needed to operate a master:
+contains all configuration variables needed to operate a master:
 \begin{description}
 \item[DEVICE\_INDEX] This variable must contain the PCI index of the
 EtherCAT device.  Setting this is mandatory for the EtherCAT init
 script. Default: $-1$
 The current EtherCAT master code is available at~\cite{etherlab}.
 After downloading the \textit{tar.bz2} file, it has to be unpacked
 with the command below (or similar):
 \begin{lstlisting}
-host> `\textbf{tar xjf ethercat-stable-1.1-r513-src.tar.bz2}`
+host> `\textbf{tar xjf ethercat-1.1-rXXX.tar.bz2}`
-host> `\textbf{cd ethercat-stable-1.1-r513-src}`
+host> `\textbf{cd ethercat-1.1-rXXX/}`
 \end{lstlisting}
-For compilation, the kernel sources are needed. Basically any kernel
+The tarball was created with GNU Autotools, so the build process
-sources are appropriate\footnote{If a realtime extension is to be
+follows the usual commands:
-used, the kernel has to be patched before that.}, that are
-configured with networking. If the host kernel is not the running
-kernel, a copy of the configuration template has to be made:
 \begin{lstlisting}
-host> `\textbf{cp ethercat.conf.tmpl ethercat.conf}`
+host> `\textbf{./configure}`
-\end{lstlisting}
+host> `\textbf{make}`
+\end{lstlisting}
-Now the \textit{\$KERNEL} variable inside the \textit{ethercat.conf}
-file can be adjusted to reflect the appropriate kernel version. If
+The default installation prefix is \textit{/opt/etherlab}. It can be
-everything is correct now, the sucessive call to
+changed with the \texttt{--prefix} argument.
+Linux kernel sources are needed for compilation\footnote{If a realtime
+extension shall to be used, the kernel should be patched before
+compiling the EtherCAT master.}. To compile the EtherCAT master
+modules for a different kernel than the running kernel, the target
+kernel version can be specified with the \texttt{--with-linux}
+argument. Example:
 \begin{lstlisting}
+host> `\textbf{./configure --with-linux="2.6.17-ipipe"}`
 host> `\textbf{make}`
 \end{lstlisting}
-will result in no errors.
 The following commands have to be entered as \textit{root}: To install
-the kernel modules, the init script, the sysconfig file and the user
+the kernel modules, headers, the init script, the sysconfig file and
-space tools, the below command has to be executed:
+the user space tools, the below command has to be executed:
 \begin{lstlisting}
 host# `\textbf{make install}`
 \end{lstlisting}
-If the sysconfig file did not exist yet, the user is notified to edit
+If the EtherCAT master shall be run as a service (recommended), the
-it, before running the master. For the contents of the file, see
+init script and the sysconfig file have to be copied to the
-section~\ref{sec:sysconfig}. To give a short summary: The most
+appropriate locations. The below example is suitable for SUSE Linux.
-important thing is to adjust the \textit{\$DEVICE\_INDEX} variable. It
+It may vary for other distributions.
-has to be set to the index of the compatible network device to use
+\begin{lstlisting}
+host# `\textbf{cd /opt/etherlab}`
+host# `\textbf{cp etc/sysconfig/ethercat /etc/sysconfig/}`
+host# `\textbf{cp etc/init.d/ethercat /etc/init.d/}`
+host# `\textbf{insserv ethercat}`
+\end{lstlisting}
+Now the sysconfig file has to be customized. For the contents of the
+file, see section~\ref{sec:sysconfig}. To give a short summary: The
+most important thing is to adjust the \textit{DEVICE\_INDEX} variable.
+It has to be set to the index of the compatible network device to use
 with EtherCAT, where the order of devices is dependent on their
 position in the PCI bus. If this is not known, the index can be
 determinded with trial and error, but it has to be considered that a
 wrong value can cause a loss of network connection.
 \begin{lstlisting}
 host# `\textbf{/etc/init.d/ethercat start}`
 \end{lstlisting}
 The operation of the master can be observed by looking at the
-syslog\index{syslog} messages, which should look like the ones below:
+syslog\index{syslog} messages, which should look like the ones below.
+If EtherCAT slaves are connected to the master's EtherCAT device, the
+activity indicators should begin to flash.
 \begin{lstlisting}[numbers=left]
 EtherCAT: Master driver, 1.1 (stable) - rev. 513,
 compiled by fp at Aug 09 2006 10:23:20
 EtherCAT: Initializing 1 EtherCAT master(s)...

changeset 374	e43a29f9079e
parent 371	97f684433d3b
child 376	d1441d87f5c1