[SRU][N][PATCH 0/3] Integrate IgH EtherCAT master
Wen-chien Jesse Sung
jesse.sung at canonical.com
Wed Sep 16 11:33:38 UTC 2026
BugLink: https://launchpad.net/bugs/2138621
SRU Justification:
[ Impact ]
Noble linux does not ship the IgH EtherCAT master. Users who need EtherCAT
have to build the out-of-tree driver themselves.
[ Fix ]
Import IgH EtherCAT master 1.6.8 under ubuntu/igh-ecat, wire it into Kbuild,
and enable it as a module on amd64.
The series:
- UBUNTU: SAUCE: ubuntu/igh-ecat: Import IgH EtherCAT master
from https://gitlab.com/etherlab.org/ethercat tag 1.6.8
(commit 2543cc55bd13833ddefb6cd9ec24a064cde68959)
- UBUNTU: SAUCE: igh-ecat: Plug IgH EtherCAT master into Kbuild
- UBUNTU: [Config] Enable IgH EtherCAT master
The generic Ethernet device driver is included. Device-specific drivers
are still TBD.
[ Test Plan ]
On amd64:
$ modinfo ec_master
$ sudo modprobe ec_master
$ sudo modprobe ec_generic
$ lsmod | grep '^ec_'
$ dmesg | grep -i ethercat
Without the patches: modules are absent.
With the patches: both modules load. dmesg shows the master driver coming
up.
On an EtherCAT setup, load the master with main_devices=<mac> and confirm
it sees slaves. Device-specific drivers are not in this series.
[ Where problems could occur ]
This is a large out-of-tree import living under ubuntu/. It does not change
in-tree net drivers.
If the generic device module binds a NIC, that interface leaves the normal
network stack. A wrong main_devices= argument can take a production NIC
offline.
Build or module-load failures would show up as missing ec_master /
ec_generic, or as errors from the master thread or ioctl path.
Config is amd64-only (m). Other arches stay disabled.
[ Other Info ]
Not in mainline. Source is https://gitlab.com/etherlab.org/ethercat.
Already in Ubuntu linux 6.19.0-3.3 (Resolute). This is the Noble backport.
Wen-chien Jesse Sung (3):
UBUNTU: SAUCE: ubuntu/igh-ecat: Import IgH EtherCAT master
UBUNTU: SAUCE: igh-ecat: Plug IgH EtherCAT master into Kbuild
UBUNTU: [Config] Enable IgH EtherCAT master
debian.master/config/annotations | 3 +
ubuntu/Kconfig | 4 +
ubuntu/Makefile | 4 +
ubuntu/igh-ecat/Kconfig | 21 +
ubuntu/igh-ecat/Makefile | 7 +
ubuntu/igh-ecat/config.h | 100 +
ubuntu/igh-ecat/devices/Makefile | 5 +
ubuntu/igh-ecat/devices/ecdev.h | 71 +
ubuntu/igh-ecat/devices/generic.c | 483 ++
ubuntu/igh-ecat/globals.h | 55 +
ubuntu/igh-ecat/include/Makefile.am | 26 +
ubuntu/igh-ecat/include/ecrt.h | 3153 ++++++++++++
ubuntu/igh-ecat/include/ectty.h | 106 +
ubuntu/igh-ecat/master/Kbuild.in | 112 +
ubuntu/igh-ecat/master/Makefile | 47 +
ubuntu/igh-ecat/master/Makefile.am | 76 +
ubuntu/igh-ecat/master/api_usage_notes.md | 51 +
ubuntu/igh-ecat/master/cdev.c | 281 ++
ubuntu/igh-ecat/master/cdev.h | 53 +
ubuntu/igh-ecat/master/coe_emerg_ring.c | 169 +
ubuntu/igh-ecat/master/coe_emerg_ring.h | 70 +
ubuntu/igh-ecat/master/datagram.c | 644 +++
ubuntu/igh-ecat/master/datagram.h | 142 +
ubuntu/igh-ecat/master/datagram_pair.c | 193 +
ubuntu/igh-ecat/master/datagram_pair.h | 61 +
ubuntu/igh-ecat/master/debug.c | 258 +
ubuntu/igh-ecat/master/debug.h | 58 +
ubuntu/igh-ecat/master/device.c | 716 +++
ubuntu/igh-ecat/master/device.h | 150 +
ubuntu/igh-ecat/master/domain.c | 719 +++
ubuntu/igh-ecat/master/domain.h | 82 +
ubuntu/igh-ecat/master/doxygen.c | 82 +
ubuntu/igh-ecat/master/eoe_request.c | 80 +
ubuntu/igh-ecat/master/eoe_request.h | 70 +
ubuntu/igh-ecat/master/ethernet.c | 886 ++++
ubuntu/igh-ecat/master/ethernet.h | 122 +
ubuntu/igh-ecat/master/flag.c | 69 +
ubuntu/igh-ecat/master/flag.h | 51 +
ubuntu/igh-ecat/master/fmmu_config.c | 91 +
ubuntu/igh-ecat/master/fmmu_config.h | 58 +
ubuntu/igh-ecat/master/foe.h | 54 +
ubuntu/igh-ecat/master/foe_request.c | 195 +
ubuntu/igh-ecat/master/foe_request.h | 78 +
ubuntu/igh-ecat/master/fsm_change.c | 615 +++
ubuntu/igh-ecat/master/fsm_change.h | 84 +
ubuntu/igh-ecat/master/fsm_coe.c | 2537 ++++++++++
ubuntu/igh-ecat/master/fsm_coe.h | 74 +
ubuntu/igh-ecat/master/fsm_eoe.c | 509 ++
ubuntu/igh-ecat/master/fsm_eoe.h | 67 +
ubuntu/igh-ecat/master/fsm_foe.c | 915 ++++
ubuntu/igh-ecat/master/fsm_foe.h | 87 +
ubuntu/igh-ecat/master/fsm_master.c | 1472 ++++++
ubuntu/igh-ecat/master/fsm_master.h | 107 +
ubuntu/igh-ecat/master/fsm_pdo.c | 806 +++
ubuntu/igh-ecat/master/fsm_pdo.h | 76 +
ubuntu/igh-ecat/master/fsm_pdo_entry.c | 541 ++
ubuntu/igh-ecat/master/fsm_pdo_entry.h | 75 +
ubuntu/igh-ecat/master/fsm_sii.c | 482 ++
ubuntu/igh-ecat/master/fsm_sii.h | 82 +
ubuntu/igh-ecat/master/fsm_slave.c | 685 +++
ubuntu/igh-ecat/master/fsm_slave.h | 87 +
ubuntu/igh-ecat/master/fsm_slave_config.c | 1864 +++++++
ubuntu/igh-ecat/master/fsm_slave_config.h | 81 +
ubuntu/igh-ecat/master/fsm_slave_scan.c | 1121 +++++
ubuntu/igh-ecat/master/fsm_slave_scan.h | 75 +
ubuntu/igh-ecat/master/fsm_soe.c | 844 ++++
ubuntu/igh-ecat/master/fsm_soe.h | 67 +
ubuntu/igh-ecat/master/globals.h | 314 ++
ubuntu/igh-ecat/master/ioctl.c | 5591 +++++++++++++++++++++
ubuntu/igh-ecat/master/ioctl.h | 879 ++++
ubuntu/igh-ecat/master/mailbox.c | 203 +
ubuntu/igh-ecat/master/mailbox.h | 64 +
ubuntu/igh-ecat/master/master.c | 3350 ++++++++++++
ubuntu/igh-ecat/master/master.h | 386 ++
ubuntu/igh-ecat/master/module.c | 681 +++
ubuntu/igh-ecat/master/pdo.c | 309 ++
ubuntu/igh-ecat/master/pdo.h | 67 +
ubuntu/igh-ecat/master/pdo_entry.c | 124 +
ubuntu/igh-ecat/master/pdo_entry.h | 58 +
ubuntu/igh-ecat/master/pdo_list.c | 338 ++
ubuntu/igh-ecat/master/pdo_list.h | 71 +
ubuntu/igh-ecat/master/reg_request.c | 125 +
ubuntu/igh-ecat/master/reg_request.h | 59 +
ubuntu/igh-ecat/master/rt_locks.h | 75 +
ubuntu/igh-ecat/master/rtdm-ioctl.c | 1 +
ubuntu/igh-ecat/master/rtdm.c | 259 +
ubuntu/igh-ecat/master/rtdm.h | 50 +
ubuntu/igh-ecat/master/rtdm_details.h | 60 +
ubuntu/igh-ecat/master/rtdm_xenomai_v3.c | 193 +
ubuntu/igh-ecat/master/sdo.c | 124 +
ubuntu/igh-ecat/master/sdo.h | 61 +
ubuntu/igh-ecat/master/sdo_entry.c | 69 +
ubuntu/igh-ecat/master/sdo_entry.h | 64 +
ubuntu/igh-ecat/master/sdo_request.c | 256 +
ubuntu/igh-ecat/master/sdo_request.h | 75 +
ubuntu/igh-ecat/master/slave.c | 1010 ++++
ubuntu/igh-ecat/master/slave.h | 266 +
ubuntu/igh-ecat/master/slave_config.c | 1652 ++++++
ubuntu/igh-ecat/master/slave_config.h | 196 +
ubuntu/igh-ecat/master/soe_errors.c | 88 +
ubuntu/igh-ecat/master/soe_request.c | 333 ++
ubuntu/igh-ecat/master/soe_request.h | 76 +
ubuntu/igh-ecat/master/sync.c | 170 +
ubuntu/igh-ecat/master/sync.h | 60 +
ubuntu/igh-ecat/master/sync_config.c | 55 +
ubuntu/igh-ecat/master/sync_config.h | 51 +
ubuntu/igh-ecat/master/voe_handler.c | 553 ++
ubuntu/igh-ecat/master/voe_handler.h | 65 +
108 files changed, 41590 insertions(+)
create mode 100644 ubuntu/igh-ecat/Kconfig
create mode 100644 ubuntu/igh-ecat/Makefile
create mode 100644 ubuntu/igh-ecat/config.h
create mode 100644 ubuntu/igh-ecat/devices/Makefile
create mode 100644 ubuntu/igh-ecat/devices/ecdev.h
create mode 100644 ubuntu/igh-ecat/devices/generic.c
create mode 100644 ubuntu/igh-ecat/globals.h
create mode 100644 ubuntu/igh-ecat/include/Makefile.am
create mode 100644 ubuntu/igh-ecat/include/ecrt.h
create mode 100644 ubuntu/igh-ecat/include/ectty.h
create mode 100644 ubuntu/igh-ecat/master/Kbuild.in
create mode 100644 ubuntu/igh-ecat/master/Makefile
create mode 100644 ubuntu/igh-ecat/master/Makefile.am
create mode 100644 ubuntu/igh-ecat/master/api_usage_notes.md
create mode 100644 ubuntu/igh-ecat/master/cdev.c
create mode 100644 ubuntu/igh-ecat/master/cdev.h
create mode 100644 ubuntu/igh-ecat/master/coe_emerg_ring.c
create mode 100644 ubuntu/igh-ecat/master/coe_emerg_ring.h
create mode 100644 ubuntu/igh-ecat/master/datagram.c
create mode 100644 ubuntu/igh-ecat/master/datagram.h
create mode 100644 ubuntu/igh-ecat/master/datagram_pair.c
create mode 100644 ubuntu/igh-ecat/master/datagram_pair.h
create mode 100644 ubuntu/igh-ecat/master/debug.c
create mode 100644 ubuntu/igh-ecat/master/debug.h
create mode 100644 ubuntu/igh-ecat/master/device.c
create mode 100644 ubuntu/igh-ecat/master/device.h
create mode 100644 ubuntu/igh-ecat/master/domain.c
create mode 100644 ubuntu/igh-ecat/master/domain.h
create mode 100644 ubuntu/igh-ecat/master/doxygen.c
create mode 100644 ubuntu/igh-ecat/master/eoe_request.c
create mode 100644 ubuntu/igh-ecat/master/eoe_request.h
create mode 100644 ubuntu/igh-ecat/master/ethernet.c
create mode 100644 ubuntu/igh-ecat/master/ethernet.h
create mode 100644 ubuntu/igh-ecat/master/flag.c
create mode 100644 ubuntu/igh-ecat/master/flag.h
create mode 100644 ubuntu/igh-ecat/master/fmmu_config.c
create mode 100644 ubuntu/igh-ecat/master/fmmu_config.h
create mode 100644 ubuntu/igh-ecat/master/foe.h
create mode 100644 ubuntu/igh-ecat/master/foe_request.c
create mode 100644 ubuntu/igh-ecat/master/foe_request.h
create mode 100644 ubuntu/igh-ecat/master/fsm_change.c
create mode 100644 ubuntu/igh-ecat/master/fsm_change.h
create mode 100644 ubuntu/igh-ecat/master/fsm_coe.c
create mode 100644 ubuntu/igh-ecat/master/fsm_coe.h
create mode 100644 ubuntu/igh-ecat/master/fsm_eoe.c
create mode 100644 ubuntu/igh-ecat/master/fsm_eoe.h
create mode 100644 ubuntu/igh-ecat/master/fsm_foe.c
create mode 100644 ubuntu/igh-ecat/master/fsm_foe.h
create mode 100644 ubuntu/igh-ecat/master/fsm_master.c
create mode 100644 ubuntu/igh-ecat/master/fsm_master.h
create mode 100644 ubuntu/igh-ecat/master/fsm_pdo.c
create mode 100644 ubuntu/igh-ecat/master/fsm_pdo.h
create mode 100644 ubuntu/igh-ecat/master/fsm_pdo_entry.c
create mode 100644 ubuntu/igh-ecat/master/fsm_pdo_entry.h
create mode 100644 ubuntu/igh-ecat/master/fsm_sii.c
create mode 100644 ubuntu/igh-ecat/master/fsm_sii.h
create mode 100644 ubuntu/igh-ecat/master/fsm_slave.c
create mode 100644 ubuntu/igh-ecat/master/fsm_slave.h
create mode 100644 ubuntu/igh-ecat/master/fsm_slave_config.c
create mode 100644 ubuntu/igh-ecat/master/fsm_slave_config.h
create mode 100644 ubuntu/igh-ecat/master/fsm_slave_scan.c
create mode 100644 ubuntu/igh-ecat/master/fsm_slave_scan.h
create mode 100644 ubuntu/igh-ecat/master/fsm_soe.c
create mode 100644 ubuntu/igh-ecat/master/fsm_soe.h
create mode 100644 ubuntu/igh-ecat/master/globals.h
create mode 100644 ubuntu/igh-ecat/master/ioctl.c
create mode 100644 ubuntu/igh-ecat/master/ioctl.h
create mode 100644 ubuntu/igh-ecat/master/mailbox.c
create mode 100644 ubuntu/igh-ecat/master/mailbox.h
create mode 100644 ubuntu/igh-ecat/master/master.c
create mode 100644 ubuntu/igh-ecat/master/master.h
create mode 100644 ubuntu/igh-ecat/master/module.c
create mode 100644 ubuntu/igh-ecat/master/pdo.c
create mode 100644 ubuntu/igh-ecat/master/pdo.h
create mode 100644 ubuntu/igh-ecat/master/pdo_entry.c
create mode 100644 ubuntu/igh-ecat/master/pdo_entry.h
create mode 100644 ubuntu/igh-ecat/master/pdo_list.c
create mode 100644 ubuntu/igh-ecat/master/pdo_list.h
create mode 100644 ubuntu/igh-ecat/master/reg_request.c
create mode 100644 ubuntu/igh-ecat/master/reg_request.h
create mode 100644 ubuntu/igh-ecat/master/rt_locks.h
create mode 120000 ubuntu/igh-ecat/master/rtdm-ioctl.c
create mode 100644 ubuntu/igh-ecat/master/rtdm.c
create mode 100644 ubuntu/igh-ecat/master/rtdm.h
create mode 100644 ubuntu/igh-ecat/master/rtdm_details.h
create mode 100644 ubuntu/igh-ecat/master/rtdm_xenomai_v3.c
create mode 100644 ubuntu/igh-ecat/master/sdo.c
create mode 100644 ubuntu/igh-ecat/master/sdo.h
create mode 100644 ubuntu/igh-ecat/master/sdo_entry.c
create mode 100644 ubuntu/igh-ecat/master/sdo_entry.h
create mode 100644 ubuntu/igh-ecat/master/sdo_request.c
create mode 100644 ubuntu/igh-ecat/master/sdo_request.h
create mode 100644 ubuntu/igh-ecat/master/slave.c
create mode 100644 ubuntu/igh-ecat/master/slave.h
create mode 100644 ubuntu/igh-ecat/master/slave_config.c
create mode 100644 ubuntu/igh-ecat/master/slave_config.h
create mode 100644 ubuntu/igh-ecat/master/soe_errors.c
create mode 100644 ubuntu/igh-ecat/master/soe_request.c
create mode 100644 ubuntu/igh-ecat/master/soe_request.h
create mode 100644 ubuntu/igh-ecat/master/sync.c
create mode 100644 ubuntu/igh-ecat/master/sync.h
create mode 100644 ubuntu/igh-ecat/master/sync_config.c
create mode 100644 ubuntu/igh-ecat/master/sync_config.h
create mode 100644 ubuntu/igh-ecat/master/voe_handler.c
create mode 100644 ubuntu/igh-ecat/master/voe_handler.h
--
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