This package could control servo motor based on Ethercat COE, SOEM and Xenomai.

 ethercat manager   :   Receive and send ethercat frames   
 
 elmo control       :   Send and receive status data based on CIA402 
 
 robot control      :   Motor control user layer

1.Resource

1.1.linux-4.9.38

download: https://mirrors.edge.kernel.org/pub/linux/kernel/v4.x/linux-4.9.38.tar.gz

1.2.Xenomai3.0.5

download: https://gitlab.denx.de/Xenomai/xenomai/-/archive/stable/v3.0.x/xenomai-stable-v3.0.x.tar.bz2

1.3.SOEM

download: https://github.com/OpenEtherCATsociety/SOEM/archive/master.zip

2. Install

2.1 linux and xenomai install

2.1.1 compile tool install

sudo apt-get install libncurses5-dev libssl-dev
sudo apt-get install build-essential openssl
sudo apt-get install libidn11-dev libidn11
sudo apt-get install bc
sudo apt-get install gawk sudo apt-get install libstdc++6
sudo apt-get install lib32stdc++6 sudo apt-get install zlibc minizip

2.1.2 linux kernel compile and install

Refer:https://rtt-lwr.readthedocs.io/en/latest/rtpc/xenomai3.html

2.1.3 test linux version

uname -a
terminator show:
Linux tan-pc 4.9.38-xenomai-3.0.5 #1 SMP Thu May 23 22:01:51 CST 2019 x86_64 x86_64 x86_64 GNU/Linux
success

2.1.4 test Xenomai latency

cd /usr/xenomai/bin
sudo ./latency

2.2 SOEM install

Refer:https://github.com/OpenEtherCATsociety/SOEM/blob/master/README.md

3.Elmo control

3.1 Install

cd
git clone https://github.com/Jiongyu/module_robot.git
cd module_robot
mkdir build && cd build
cmake ..
make

3.2 Motor control test

cd ./../bin/
l

cia 402 control mode test

sudo ./csp_test
sudo ./csv_test
sudo ./cst_test
sudo ./pp_test
sudo ./pv_test
sudo ./pt_test

motor control ui

sudo ./ui_motor_control