8.7. Linux SockRaw - emllSockRaw

emllSockRaw is part of EC-Monitor for Linux. emllSockRaw uses the native network adapter, e.g. eth0, eth1, etc . The network adapter must be exclusively used for EtherCAT and cannot be used for LAN (local area network) at the same time. Because the native Linux driver for the network adapter type is typically not fully real-time capable, it cannot be used for real time applications. If possible, an acontis Real-time Ethernet Driver, e.g. emllIntelGbe, should be used instead. emllSockRaw does not need the atemsys driver.

Note

Root privileges are required. A cycle time of 4 ms or higher may be needed.

To run the application without root privileges, set the Linux capability ‘cap_net_raw’ to the application.

sudo setcap 'cap_net_raw+pe' ./EcMasterDemo

To run python scripts without root privileges, create a python environment and set the Linux capability ‘cap_net_raw’ to the python interpreter.

cd Bin/Linux
python3 -m venv --copies PyEnv/
source PyEnv/bin/activate
sudo setcap 'cap_net_raw+pe' PyEnv/bin/python3

The parameters to emllSockRaw are setup-specific. The function CreateLinkParmsFromCmdLineSockRaw() in EcSelectLinkLayer.cpp demonstrates how to initialize the parameters.

struct EC_T_LINK_PARMS_SOCKRAW

Public Members

EC_T_LINK_PARMS linkParms

Common link parameters. Signature must be set to EC_LINK_PARMS_SIGNATURE_SOCKRAW

EC_T_CHAR szAdapterName[EC_SOCKRAW_ADAPTER_NAME_SIZE]

Native ETH device name, e.g. “eth0” (zero terminated)

EC_T_BOOL bDisableForceBroadcast

Don’t change target MAC address to FF:FF:FF:FF:FF:FF

EC_T_BOOL bReplacePaddingWithNopCmd

Prevent adding Ethernet padding to work-around EtherCAT corruption bugs from native Linux driver(s).

EC_T_BOOL bUsePacketMmapRx

Use PACKET_MMAP PACKET_RX_RING for receive

EC_T_BOOL bSetCoalescingParms

Set Coalescing parameters to enhance the link layer performance

EC_T_BOOL bSetPromiscuousMode

Enable promiscuous mode at network adapter