Parallel port stepper control and etherCAT I/O

sorvi@debian:~$ sudo apt-get install ethercat-dkms libethercat libethercat-dev ethercat-master [sudo] password for sorvi: Reading package lists... Done Building dependency tree        Reading state information... Done The following additional packages will be installed:   dkms linux-headers-4.19.0-22-amd64 linux-headers-4.19.0-22-common   linux-headers-amd64 Suggested packages:   python3-apport menu The following NEW packages will be installed:   dkms ethercat-dkms ethercat-master libethercat libethercat-dev   linux-headers-4.19.0-22-amd64 linux-headers-4.19.0-22-common   linux-headers-amd64 0 upgraded, 8 newly installed, 0 to remove and 42 not upgraded. Need to get 11.0 MB of archives. After this operation, 127 MB of additional disk space will be used. Do you want to continue? [Y/n] Y WARNING: The following packages cannot be authenticated!   ethercat-dkms libethercat ethercat-master libethercat-dev Install these packages without verification? [y/N] y Get:1 http://deb.debian.org/debian buster/main amd64 dkms all 2.6.1-4 [74.4 kB] Get:2 http://security.debian.org/debian-security buster/updates/main amd64 linux-headers-4.19.0-22-common all 4.19.260-1 [8,582 kB] Get:3 https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ ethercat-dkms 1.5.2-34 [1,058 kB] Get:4 https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ libethercat 1.5.2-34 [20.8 kB] Get:5 https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ ethercat-master 1.5.2-34 [138 kB] Get:6 https://download.opensuse.org/repositories/home:/bone11111:/branches:/science:/EtherLab/Debian_10 ./ libethercat-dev 1.5.2-34 [19.5 kB] Get:7 http://security.debian.org/debian-security buster/updates/main amd64 linux-headers-4.19.0-22-amd64 amd64 4.19.260-1 [1,107 kB] Get:8 http://security.debian.org/debian-security buster/updates/main amd64 linux-headers-amd64 amd64 4.19+105+deb10u17 [7,012 B] Fetched 11.0 MB in 5s (2,368 kB/s)         Selecting previously unselected package dkms. (Reading database ... 136195 files and directories currently installed.) Preparing to unpack .../0-dkms_2.6.1-4_all.deb ... Unpacking dkms (2.6.1-4) ... Selecting previously unselected package ethercat-dkms. Preparing to unpack .../1-ethercat-dkms_1.5.2-34_all.deb ... Unpacking ethercat-dkms (1.5.2-34) ... Selecting previously unselected package libethercat. Preparing to unpack .../2-libethercat_1.5.2-34_amd64.deb ... Unpacking libethercat (1.5.2-34) ... Selecting previously unselected package ethercat-master. Preparing to unpack .../3-ethercat-master_1.5.2-34_amd64.deb ... Unpacking ethercat-master (1.5.2-34) ... Selecting previously unselected package libethercat-dev. Preparing to unpack .../4-libethercat-dev_1.5.2-34_amd64.deb ... Unpacking libethercat-dev (1.5.2-34) ... Selecting previously unselected package linux-headers-4.19.0-22-common. Preparing to unpack .../5-linux-headers-4.19.0-22-common_4.19.260-1_all.deb ... Unpacking linux-headers-4.19.0-22-common (4.19.260-1) ... Selecting previously unselected package linux-headers-4.19.0-22-amd64. Preparing to unpack .../6-linux-headers-4.19.0-22-amd64_4.19.260-1_amd64.deb ... Unpacking linux-headers-4.19.0-22-amd64 (4.19.260-1) ... Selecting previously unselected package linux-headers-amd64. Preparing to unpack .../7-linux-headers-amd64_4.19+105+deb10u17_amd64.deb ... Unpacking linux-headers-amd64 (4.19+105+deb10u17) ... Setting up dkms (2.6.1-4) ... Setting up linux-headers-4.19.0-22-common (4.19.260-1) ... Setting up ethercat-dkms (1.5.2-34) ... Loading new ethercat-dkms-1.5.2 DKMS files... Building for 4.19.0-21-rt-amd64 Module build for kernel 4.19.0-21-rt-amd64 was skipped since the kernel headers for this kernel does not seem to be installed. Adding Module to DKMS build system Error! DKMS tree already contains: ethercat-dkms-1.5.2 You cannot add the same module/version combo more than once. Doing initial module build Error! Your kernel headers for kernel 4.19.0-21-rt-amd64 cannot be found. Please install the linux-headers-4.19.0-21-rt-amd64 package, or use the --kernelsourcedir option to tell DKMS where it's located Installing initial module Error! Your kernel headers for kernel 4.19.0-21-rt-amd64 cannot be found. Please install the linux-headers-4.19.0-21-rt-amd64 package, or use the --kernelsourcedir option to tell DKMS where it's located Done. Setting up linux-headers-4.19.0-22-amd64 (4.19.260-1) ... Setting up libethercat (1.5.2-34) ... Setting up libethercat-dev (1.5.2-34) ... Setting up ethercat-master (1.5.2-34) ... Configuration file '/etc/ethercat.conf'  ==> File on system created by you or by a script.  ==> File also in package provided by package maintainer.    What would you like to do about it ?  Your options are:     Y or I  : install the package maintainer's version     N or O  : keep your currently-installed version       D     : show the differences between the versions       Z     : start a shell to examine the situation  The default action is to keep your current version. *** ethercat.conf (Y/I/N/O/D/Z) [default=N] ? y Installing new version of config file /etc/ethercat.conf ... ethercat.service is a disabled or a static unit, not starting it. Setting up linux-headers-amd64 (4.19+105+deb10u17) ... Processing triggers for man-db (2.8.5-2) ... Processing triggers for libc-bin (2.28-10+deb10u1) ... sorvi@debian:~$ ip a 1: lo: <LOOPBACK,UP,LOWER_UP> mtu 65536 qdisc noqueue state UNKNOWN group default qlen 1000     link/loopback 00:00:00:00:00:00 brd 00:00:00:00:00:00     inet 127.0.0.1/8 scope host lo        valid_lft forever preferred_lft forever     inet6 ::1/128 scope host        valid_lft forever preferred_lft forever 2: enp1s0: <NO-CARRIER,BROADCAST,MULTICAST,UP> mtu 1500 qdisc pfifo_fast state DOWN group default qlen 1000     link/ether 00:27:0e:14:35:a7 brd ff:ff:ff:ff:ff:ff 3: wlx1caff76aebba: <BROADCAST,MULTICAST,UP,LOWER_UP> mtu 1500 qdisc mq state UP group default qlen 1000     link/ether 1c:af:f7:6a:eb:ba brd ff:ff:ff:ff:ff:ff     inet 192.168.1.90/24 brd 192.168.1.255 scope global dynamic noprefixroute wlx1caff76aebba        valid_lft 85092sec preferred_lft 85092sec     inet6 fe80::4114:2ffa:3d45:136e/64 scope link noprefixroute        valid_lft forever preferred_lft forever sorvi@debian:~$ sudo geany /etc/ethercat.conf

#------------------------------------------------------------------------------ # #  EtherCAT master configuration file for use with ethercatctl. # #  $Id$ # #  vim: spelllang=en spell tw=78 # #------------------------------------------------------------------------------ # # Main Ethernet devices. # # The MASTER<X>_DEVICE variable specifies the Ethernet device for a master # with index 'X'. # # Specify the MAC address (hexadecimal with colons) of the Ethernet device to # use. Example: "00:00:08:44:ab:66" # # Alternatively, a network interface name can be specified. The interface # name will be resolved to a MAC address using the 'ip' command. # Example: "eth0" # # The broadcast address "ff:ff:ff:ff:ff:ff" has a special meaning: It tells # the master to accept the first device offered by any Ethernet driver. # # The MASTER<X>_DEVICE variables also determine, how many masters will be # created: A non-empty variable MASTER0_DEVICE will create one master, adding a # non-empty variable MASTER1_DEVICE will create a second master, and so on. # # Examples: # MASTER0_DEVICE="00:00:08:44:ab:66" # MASTER0_DEVICE="eth0" # MASTER0_DEVICE="" #MASTER1_DEVICE="" # # Backup Ethernet devices # # The MASTER<X>_BACKUP variables specify the devices used for redundancy. They # behaves nearly the same as the MASTER<X>_DEVICE variable, except that it # does not interpret the ff:ff:ff:ff:ff:ff address. # #MASTER0_BACKUP="" # # Ethernet driver modules to use for EtherCAT operation. # # Specify a non-empty list of Ethernet drivers, that shall be used for # EtherCAT operation. # # Except for the generic Ethernet driver module, the init script will try to # unload the usual Ethernet driver modules in the list and replace them with # the EtherCAT-capable ones. If a certain (EtherCAT-capable) driver is not # found, a warning will appear. # # Possible values: 8139too, e100, e1000, e1000e, r8169, generic, ccat, igb. # Separate multiple drivers with spaces. # # Note: The e100, e1000, e1000e, r8169, ccat and igb drivers are not built by # default. Enable them with the --enable-<driver> configure switches. # # Attention: When using the generic driver, the corresponding Ethernet device # has to be activated (with OS methods, for example 'ip link set ethX up'), # before the master is started, otherwise all frames will time out. # DEVICE_MODULES="" # # Flags for loading kernel modules. # # This can usually be left empty. Adjust this variable, if you have problems # with module loading. # #MODPROBE_FLAGS="-b" #------------------------------------------------------------------------------

ip a, (or ip addr)

link/ether 00:0c:29:11:47:23 brd ff:ff:ff:ff:ff:ff

sudo apt install -y linux-headers-$(uname -r)

sorvi@debian:~$ ethercat slaves 0  0:0  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus) 1  0:1  PREOP  +  EL2004 4K. Dig. Ausgang 24V, 0.5A 2  0:2  PREOP  +  EL1004 4K. Dig. Eingang 24V, 3ms 3  0:3  PREOP  +  EL1124 4K. Dig. Eingang 5V, 2.2�s, Sensorversorgung sorvi@debian:~$