初始化加载
root@linux:/lib/modules/4.19.115# insmod rtnet.ko
root@linux:/lib/modules/4.19.115# insmod rtipv4.ko
root@linux:/lib/modules/4.19.115# insmod rt_e1000e.ko
root@linux:/lib/modules/4.19.115# insmod rtudp.ko
root@linux:/lib/modules/4.19.115# insmod rtpacket.ko
root@linux:/lib/modules/4.19.115# insmod rtcfg.ko
root@linux:/lib/modules/4.19.115# insmod rtmac.ko
root@linux:/lib/modules/4.19.115# insmod tdma.ko
root@bogon:/usr/xenomai_debug/sbin# ./rtcfg rteth0 server
root@linux:/usr/xenomai_debug/sbin# ./tdmacfg rteth0 master 5000
root@linux:/usr/xenomai_debug/sbin# ./tdmacfg rteth0 slot 0 0
root@linux:/usr/xenomai_debug/sbin# ./rtifconfig rteth0 down
root@linux:/usr/xenomai_debug/sbin# ./rtifconfig rteth0 up 192.168.1.107
root@linux:/usr/xenomai_debug/sbin# ./rtifconfig
rteth0 Medium: Ethernet Hardware address: 6C:B3:11:0F:9B:E7
IP address: 192.168.1.107 Broadcast address: 192.168.1.255
UP BROADCAST RUNNING MTU: 1500
查看和操作
root@linux:/usr/xenomai_debug/sbin# lsmod
Module Size Used by
tdma 28672 0
rtmac 20480 1 tdma
rtcfg 49152 0
rtudp 24576 0
rt_e1000e 192512 1
rtipv4 36864 2 rtudp,rtcfg
rtnet 65536 6 rtipv4,rt_e1000e,rtudp,rtcfg,tdma,rtmac
root@linux:/usr/xenomai_debug/sbin# ./rtping 192.168.1.104
Real-time PING 192.168.1.104 56(84) bytes of data.
64 bytes from 192.168.1.104: icmp_seq=1 time=959.9 us
64 bytes from 192.168.1.104: icmp_seq=2 time=1166.2 us
64 bytes from 192.168.1.104: icmp_seq=3 time=1163.8 us
64 bytes from 192.168.1.104: icmp_seq=4 time=819.6 us
64 bytes from 192.168.1.104: icmp_seq=5 time=1161.4 us
64 bytes from 192.168.1.104: icmp_seq=6 time=1168.7 us
64 bytes from 192.168.1.104: icmp_seq=7 time=817.1 us
64 bytes from 192.168.1.104: icmp_seq=8 time=972.9 us
64 bytes from 192.168.1.104: icmp_seq=9 time=1152.8 us
64 bytes from 192.168.1.104: icmp_seq=10 time=784.3 us
64 bytes from 192.168.1.104: icmp_seq=11 time=964.8 us
64 bytes from 192.168.1.104: icmp_seq=12 time=964.8 us
root@linux:/usr/xenomai_debug/sbin# cat /proc/xenomai/irq
IRQ CPU0 CPU1 CPU2 CPU3
3: 131934 130856 170326 154827 [timer/0]
42: 726 0 0 0 rteth0
1031: 0 0 0 0 [sync]
1032: 0 1 1 1 [timer-ipi]
1033: 0 1 386 1 [reschedule]
1037: 10 11 6 0 [virtual]
root@linux:/usr/xenomai_debug/sbin# ./rtroute
Host Routing Table
Hash Destination HW Address Device
28 192.168.1.104 F4:6B:8C:02:A4:89 rteth0
3F 192.168.1.255 FF:FF:FF:FF:FF:FF rteth0
root@linux:/usr/xenomai_debug/sbin# ls /dev/rtnet -l
crw------- 1 root root 10, 240 Nov 16 05:41 /dev/rtnet
实际上留如下几个ko就可以了
root@linux:/usr/xenomai_debug/sbin# lsmod
Module Size Used by
rtcfg 49152 0
rtipv4 36864 1 rtcfg
rt_e1000e 192512 1
rtnet 65536 3 rtipv4,rt_e1000e,rtcfg
参考
ubuntu14.04、xenomai3.1、ethercat igh构建主站（1）
https://blog.csdn.net/cln512/article/details/106728954
ubuntu14.04、xenomai3.1、ethercat igh构建主站（2）
https://blog.csdn.net/cln512/article/details/107015485
Xenomai平台下基于以太网的实时通信方案
https://www.wendangwang.com/doc/c0ce9eaec47d22cc779045f6
