====== Install the Acontis EtherCAT Stack (ecmaster) ======
===== Overview =====
First, read [[embedded_systems:ethercat:understanding_acontis|this]] short article to get an overview over the Acontis EtherCAT stack. The software consists of the precompiled library, necessary kernel module, and demo programs (source code) and has to be downloaded from the Acontis website.

The Acontis Stack (Class B) and the DCM Add On (Class A) can be placed anywhere.
In this documentation the placeholders ''<classB_path>'' and ''<classA_path>'' are used.
  * ''<classB_path>'' Path to the Class B EtherCAT Stack (i.e. ''/home/username/acontisStack/EC-Master-V2.9-Linux_x64-Eval'')
  * ''<classA_path>'' Path to the Class A AddOn (i.e. ''/home/username/acontisStack/EC-Master-ClassA-AddOn-V2.9'')

===== LinkLayer Module =====
  - The EC LinkLayer module (kernel module) has to be compiled against the installed linux kernel. If the kernel changes, the module has to be rebuilt and reloaded.
  - The loaded standard Ethernet driver (the driver is a Linux kernel module) has to be unloaded after boot.
  - The EC LinkLayer has to be loaded after boot.


==== Build Module====
 * {{:embedded_systems:ethercat:ec-master_classb.pdf|EC-Master_ClassB.pdf}} 2.3.5.1\\

=== Compile native ===
<code>
cd <classB_path>/Sources/LinkOsLayer/Linux/atemsys
make modules
sudo make modules_install
</code>

The module will be installed to ''/lib/modules/$(uname -r)/extra''

=== Cross-Compile ===
<code>
cd <classB_path>/Sources/LinkOsLayer/Linux/atemsys
export ARCH=<…>
export CROSS_COMPILE=<…>
cd Sources/atemsys
make modules KERNELDIR=<path to target kernel dir>
</code>

=== Possible problems ===
The module may refuse to build and displays an error message like this:
<code>
error: unknown type name 'wait_queue_t'
</code>

This is because the stack version is not compatible with the installed kernel.

The Acontis stack V2.9 is compatible with the linux kernel v4.4 but not mit kernel v4.14.

==== Unload standard Ethernet driver ====
=== Identify Network Card ===
  * List all PCI devices:\\
<code>lspci</code>
  * Search for your Ethernet controller. For example: ''00:19.0 Ethernet controller: Intel Corporation Ethernet Connection I218-LM (rev04)''
  * The number on the left is the Instance-ID. In this example ''00:19.0''
  * List all PCI devices in verbose mode:
<code>lspci -v</code>
  * Find your controller again with the Instance-ID
  * If one line says something like ''Kernel driver in use: e1000e'' a driver is already bound to the controller. This driver needs to be unbound.

=== Unbind standard driver ===
<code>echo "<Instance-ID>" | sudo tee -a /sys/bus/pci/drivers/<driver-name>/unbind
echo "0000:00:19.0" | sudo tee -a /sys/bus/pci/drivers/e1000e/unbind</code>

=== Load LinkLayer module ===
<code>sudo modprobe atemsys</code>


==== Automate unbind driver and load module ====
To automate unbinding the standard driver and loading the EC LinkLayer module you can add the following lines to the .bashrc file:

<code>
echo "<Instance-ID>" | sudo tee -a /sys/bus/pci/drivers/<driver-name>/unbind
modprobe atemsys
</code>

===== Libraries =====
Copy the following library to your working folder (where you want to run your application).
  * libemll8254x.so (in ''<classB_path>''\Bin\Linux\x64)