1.基于Igh-master1.5.2的多种Ethercat IO 模块及伺服电机的操作例子
2.基于Ethercat-Ighmaster二次开发库简化你的开发流程
所有源码及文档托管在码云平台，附件中有代码仓库地址
3.含有IghMaster1.5.2最新版本代码，编译脚本及安装到
最新的代码托管在:
https://gitee.com/wllw7176/MyEthercat-IGH-1.5.2.git
EtherCAT 1.5.2 编译及使用说明
1.交叉编译源码
源码中有内核模块编译，指令定模块目录
根据实际情况修改build_ethercat-1.5.2.sh中以下几个变量:
output_dir='output' #编译输出目录
module_install_dir='module_install' #内核模块安装目录
kernel_source_dir='/mnt/fs_ext/imx6/linux-3.0.35' #内核源码目录
lib_modules_kernel_promt='3.0.35-2666-gbdde708' #内核版本号
host=arm-fsl-linux-gnueabi #交叉编译链前缀
注意要先编译内核，然后编译Ethrecat因为Ethercat依赖于内核通用网卡模块
以root用户运行./build_ethercat-1.5.2.sh #编译具体根据提示选择y/n就可以了
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手动安装Ethercat到ARM开发板:
2.内核模块安装
2.1
将output文件下通lib_modules_kernel_promt='3.0.35-2666-gbdde708'(build_ethercat-1.5.2.sh 中定义)放入开发板/lib/modules下
2.2
开发板中执行"depmod"命令
3. output里面的其它文件放入开发板对应位置
4. 设置参数
修改/etc/sysconfig/ethercat
MASTER0_DEVICE="e4:f3:f5:c6:41:b6" #与ethercat绑定的Mac地址
DEVICE_MODULES="generic" #通用网卡就填generic，其余支持网卡换成模块名字就行
5.添加udev规则
echo KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\" > /etc/udev/rules.d/99-EtherCAT.rules
6. 启动服务
/etc/init.d/ethercat restart
出现以下信息表明移植成功
Shutting down EtherCAT master 1.5.2 done
Starting EtherCAT master 1.5.2 ec_generic: Binding socket to interface 3 (eth0).
done
7. 应用层测试
root@linaro-ubuntu-desktop:~# ethercat
Please specify a command!
Usage: ethercat <COMMAND> [OPTIONS] [ARGUMENTS]
Commands (can be abbreviated):
alias Write alias addresses.
config Show slave configurations.
cstruct Generate slave PDO information in C language.
data Output binary domain process data.
debug Set the master's debug level.
domains Show configured domains.
download Write an SDO entry to a slave.
eoe Display Ethernet over EtherCAT statictics.
foe_read Read a file from a slave via FoE.
foe_write Store a file on a slave via FoE.
graph Output the bus topology as a graph.
master Show master and Ethernet device information.
pdos List Sync managers, PDO assignment and mapping.
reg_read Output a slave's register contents.
reg_write Write data to a slave's registers.
rescan Rescan the bus.
sdos List SDO dictionaries.
sii_read Output a slave's SII contents.
sii_write Write SII contents to a slave.
slaves Display slaves on the bus.
soe_read Read an SoE IDN from a slave.
soe_write Write an SoE IDN to a slave.
states Request application-layer states.
upload Read an SDO entry from a slave.
version Show version information.
xml Generate slave information XML.
Global options:
--master -m <master> Comma separated list of masters
to select, ranges are allowed.
Examples: '1,3', '5-7,9', '-3'.
Default: '-' (all).
--force -f Force a command.
--quiet -q Output less information.
--verbose -v Output more information.
--help -h Show this help.
Numerical values can be specified either with decimal (no
prefix), octal (prefix '0') or hexadecimal (prefix '0x') base.
Call 'ethercat <COMMAND> --help' for command-specific help.
以上内容为基本的使用，进一步使用要结合ethercat说明文档和电机说明。
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自动安装Ethercat到ARM开发板:
将output目录复制到开发板然后运行output目录下install_to_arm.sh脚本
执行6，7步骤测试自动安装是否成功
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问题汇总:
(1)Starting EtherCAT master 1.5.2 EtherCAT ERROR: MAC address may not be empty.
FATAL: Error inserting ec_master (/lib/modules/3.0.35-2666-gbdde708-gbdbf2583/mnt/hgfs/win_linux_share/linux/download/ethercat-1.5.2/module_install/master/ec_master.ko): Invalid argument
failed
Mac地址为空，将对应的mac地址MASTER0_DEVICE="e4:f3:f5:c6:41:b6"
(2)编译Ethercat 一定要保证所用编译器与内核与硬件平台一致，否则会出现内核模块不能使用或者其它未知问题
(3)内核源码要先编译通过，否则Ethercat模块将不能编译通过，因为Ethercat模块依赖于内核本身驱动模块。
