From 316d7d1297cccc45ccf1ac8133f323c425743559 Mon Sep 17 00:00:00 2001
From: Damir Anicic <Damir.Anicic@psi.ch>
Date: Wed, 29 Apr 2026 11:29:58 +0200
Subject: [PATCH] initial working version

---
 .gitignore                                    |   2 +
 README.md                                     |  13 +
 .../build-ethercat-4-debian12.txt             | 146 ++++++++
 .../build-ethercat-4-yocto40-aarch64.txt      |  13 +
 .../build-yocto40-aarch64.sh                  | 322 ++++++++++++++++++
 .../gfa-ethercat.conf                         |  66 ++++
 6 files changed, 562 insertions(+)
 create mode 100644 .gitignore
 create mode 100755 build-ethercat-4-debian12/build-ethercat-4-debian12.txt
 create mode 100644 build-ethercat-4-yocto40-aarch64/build-ethercat-4-yocto40-aarch64.txt
 create mode 100755 build-ethercat-4-yocto40-aarch64/build-yocto40-aarch64.sh
 create mode 100644 build-ethercat-4-yocto40-aarch64/gfa-ethercat.conf

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..5968f0b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+1.6.2/
+1.6.3/
diff --git a/README.md b/README.md
index e69de29..fc44e38 100644
--- a/README.md
+++ b/README.md
@@ -0,0 +1,13 @@
+# EtherCAT master
+
+## Source
+
+Sources will be cloned from git@gitlab.com:etherlab.org/ethercat.git
+
+
+## build
+
+For debian12 see build-ethercat-4-debian12/*.txt
+
+For yocto40-aarch64 see build-ethercat-4-yocto40-aarch64/*.txt
+
diff --git a/build-ethercat-4-debian12/build-ethercat-4-debian12.txt b/build-ethercat-4-debian12/build-ethercat-4-debian12.txt
new file mode 100755
index 0000000..d9efeb9
--- /dev/null
+++ b/build-ethercat-4-debian12/build-ethercat-4-debian12.txt
@@ -0,0 +1,146 @@
+
+#	EthercCAT kernel driver + libs&headers
+#	(this is to replace old style ECmasterECMC EPICS module)
+#	- building 1.6.3 for debian12
+
+
+# goto SKIPIT
+
+# prepare somwhere (in anicic@gfa-ad82:workarea/EtherCAT/1.6.3):
+#	cd /home/anicic/workarea/EtherCAT
+#	mkdir 1.6.3
+#	cd 1.6.3
+#	git clone git@gitlab.com:etherlab.org/ethercat.git
+#	cd ethercat
+#	git checkout 1.6.3 -b gfa-1.6.3
+#	cd ..
+#	# you can delete ethercat folder (cloned repo) after building
+
+
+
+# SKIPIT:
+
+
+On one target debian12 system:
+
+
+#####################################################################################################################################################################################
+# get it (usualy we have no git* on target)
+
+cd /tmp
+# copy sources from somwhere
+scp -r anicic@gfa-ad82:workarea/EtherCAT/1.6.3/ethercat .   # need password here
+
+
+# build
+
+cd ethercat
+sudo apt update && sudo apt install -y pkg-config
+export LANG=en_US.UTF-8 ; export LANGUAGE=en_US:en ; export LC_ALL=C
+autoupdate
+echo 'pkgconfigdir = $(libdir)/pkgconfig' >> lib/Makefile.am
+./bootstrap
+./configure --prefix="/opt/etherlab" --sysconfdir=/etc  \
+            --enable-generic=yes --enable-e1000=no --enable-e1000e=no --enable-igb=yes --enable-igc=yes --enable-8139too=no --enable-r8169=no \
+            --enable-hrtimer=yes --disable-debug-if --disable-debug-ring --enable-sii-assign=yes --enable-eoe=no
+#make -j all modules    ### if building on 8GB (or less) RAMdisk based system, maybe will not work with -j
+make all modules
+cd ..
+
+
+#####################################################################################################################################################################################
+# build package for target debian12
+
+EPICSHOSTARCH=deb12-x86_64
+ETHERCATGITVERSION=1.6.3
+ETHERCATVERSIONM=1
+ETHERCATVERSIONMM=${ETHERCATVERSIONM}.2
+ETHERCATVERSIONMMR=${ETHERCATVERSIONMM}.0
+ETHERCATDIR=ethercat
+KERNELVERS=`uname -r`
+
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/opt/etherlab
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/opt/etherlab/bin
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/opt/etherlab/sbin
+cp -a ${ETHERCATDIR}/tool/ethercat            ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/opt/etherlab/bin
+cp -a ${ETHERCATDIR}/script/ethercatctl       ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/opt/etherlab/sbin
+chmod a+x                                     ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/opt/etherlab/sbin/ethercatctl
+
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/master
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/devices
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/devices/igb
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/devices/igc
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/examples
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/examples/mini
+cp -a ${ETHERCATDIR}/master/ec_master.ko      ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/master
+cp -a ${ETHERCATDIR}/devices/ec_generic.ko    ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/devices
+cp -a ${ETHERCATDIR}/devices/igb/ec_igb.ko    ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/devices/igb
+cp -a ${ETHERCATDIR}/devices/igc/ec_igc.ko    ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/devices/igc
+cp -a ${ETHERCATDIR}/examples/mini/ec_mini.ko ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/lib/modules/${KERNELVERS}/ethercat/examples/mini
+
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/systemd/system
+cp -a ${ETHERCATDIR}/script/ethercat.service  ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/systemd/system/ethercat.service
+sed -i 's|#Requires=network.target|Requires=network.target|' ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/systemd/system/ethercat.service
+sed -i 's|#After=network.target|After=network.target|' ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/systemd/system/ethercat.service
+sed -i 's/^\(\(Requires=network\.target\) #.*\)$/\2/' ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/systemd/system/ethercat.service
+sed -i 's/^\(\(After=network\.target\) #.*\)$/\2/' ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/systemd/system/ethercat.service
+
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/udev/rules.d
+echo 'KERNEL=="EtherCAT[0-9]*", SUBSYSTEM=="EtherCAT", MODE="0666"' > ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/etc/udev/rules.d/99-ethercat.rules
+
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/DEBIAN
+cat <<EOF >${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/DEBIAN/control
+Package: ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv
+Version: 1.6.3
+Section: custom
+Priority: optional
+Architecture: amd64
+Essential: no
+Maintainer: damir.anicic@psi.ch
+Description: EtherCAT driver
+ This is longer description for
+ EtherCAT linux driver
+EOF
+cat <<EOF >${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/DEBIAN/postinst
+#!/bin/bash
+echo "Setting up the ethercat driver for kernel ${KERNELVERS}"
+/sbin/depmod ${KERNELVERS}
+EOF
+chmod -R 755 ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv/DEBIAN
+
+sudo chown -R root:root ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv
+
+dpkg-deb --build --root-owner-group ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv
+
+
+#####################################################################################################################################################################################
+# build tar for EPICS
+
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/include
+mkdir -p ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/lib
+cp -a ${ETHERCATDIR}/include/ecrt.h ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/include/ecrt.h
+cp -a ${ETHERCATDIR}/include/ectty.h ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/include/ectty.h
+cp -a ${ETHERCATDIR}/lib/.libs/libethercat.a ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/lib/libethercat.a
+cp -a ${ETHERCATDIR}/lib/.libs/libethercat.so                       ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/lib/libethercat.so
+cp -a ${ETHERCATDIR}/lib/.libs/libethercat.so.${ETHERCATVERSIONM}   ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/lib/libethercat.so.${ETHERCATVERSIONM}
+cp -a ${ETHERCATDIR}/lib/.libs/libethercat.so.${ETHERCATVERSIONMMR} ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/lib/libethercat.so.${ETHERCATVERSIONMMR}
+echo "" > ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/Readme.txt
+echo "Created at : $(date)" >> ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/Readme.txt
+echo "On         : $(uname -a)" >> ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/Readme.txt
+grep 'gitlab.' ${ETHERCATDIR}/.git/config | head -1 | awk '{print "ORIGIN     : " $3}' >> ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/Readme.txt
+echo "" >> ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}/Readme.txt
+chmod -R a+rw ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics/${EPICSHOSTARCH}
+(HERE=`pwd`; cd ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics; tar cvf ${HERE}/${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics.tar ${EPICSHOSTARCH})
+
+
+#####################################################################################################################################################################################
+# copy for installation
+
+# for each sls-lc sf-lc hipa-lc proscan-lc
+#    scp   ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv.deb  ${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics.tar    someuser@*-lc:/ioc/NeedfulThings/EtherCAT/install-packages/
+# and unpack tar file also
+#    @ *-lc:    cd /ioc/NeedfulThings/EtherCAT; mkdir -p 4epics/${ETHERCATGITVERSION; cd 4epics/${ETHERCATGITVERSION; tar xvf ../install-packages/${ETHERCATDIR}-${ETHERCATGITVERSION}-${KERNELVERS}-drv-4epics.tar )
+
+# ALSO:    chmod -R a+rw /ioc/NeedfulThings/EtherCAT/4epics/${ETHERCATGITVERSION
+
diff --git a/build-ethercat-4-yocto40-aarch64/build-ethercat-4-yocto40-aarch64.txt b/build-ethercat-4-yocto40-aarch64/build-ethercat-4-yocto40-aarch64.txt
new file mode 100644
index 0000000..9444408
--- /dev/null
+++ b/build-ethercat-4-yocto40-aarch64/build-ethercat-4-yocto40-aarch64.txt
@@ -0,0 +1,13 @@
+
+# get sources from somwhere:
+#	copy from : scp -r anicic@gfa-ad82:~/workarea/EtherCAT/1.6.3 .
+#	or          (mkdir 1.6.3; cd 1.6.3; git clone git@gitlab.com:etherlab.org/ethercat.git; cd ethercat; git checkout 1.6.3 -b gfa-1.6.3)
+
+
+# do this on machine with access to kernel sources and cross cc for yocto40-aarch64
+#          see build-yoctu40-aarch64.sh
+(
+  cd 1.6.3/ethercat
+  (./bootstrap; ../../build-ethercat-4-yocto40-aarch64/build-yocto40-aarch64.sh -a yocto40-aarch64 -m 1.6.3 -k 5.15.19-rt29-gfa -c)
+  cd ../..
+)
diff --git a/build-ethercat-4-yocto40-aarch64/build-yocto40-aarch64.sh b/build-ethercat-4-yocto40-aarch64/build-yocto40-aarch64.sh
new file mode 100755
index 0000000..0d3c7d7
--- /dev/null
+++ b/build-ethercat-4-yocto40-aarch64/build-yocto40-aarch64.sh
@@ -0,0 +1,322 @@
+#!/bin/bash
+
+# this is now only for building ZynqMP version:
+#    (./bootstrap; ../../tmp-build.sh -a yocto40-aarch64 -s none-lc      -m 1.6.3 -k 5.15.19-rt29-gfa   )
+#    (./bootstrap; ../../tmp-build.sh -a yocto40-aarch64 -s none-lc      -m 1.6.3 -k 5.15.19-rt29-gfa -c)
+
+
+
+BOLD='\033[1m'
+RED='\033[31m'
+GREEN='\033[32m'
+BLUE='\033[34m'
+CYAN='\033[36m'
+NC='\033[0m'
+
+
+# NOTE: this script is not perfect, if change EPICS_HOST_ARCH pass also option -c to regenerate config, ...
+
+
+SUPPORTED_EPICS_ARCH=" yocto40-aarch64 "
+EPICS_HOST_ARCH="-not-defined-"
+
+
+set -e
+
+
+ETHVERSION=1.2.0
+#ARG_MODVER=1.6.3
+ARG_MODVER='test'
+
+EXEC_CFG=0
+TEST=0
+
+# defaults for arguments (these defaults are actually meaningless)
+ARG_KERNVER=''
+
+DO_INSTALL="yes"
+DO_INSTALL_BIN="yes"
+
+
+
+while getopts "a:m:k:cbl" opt; do
+  case $opt in
+    a)
+      EPICS_HOST_ARCH=$OPTARG
+      if [[ ${SUPPORTED_EPICS_ARCH} != *${EPICS_HOST_ARCH}* ]]
+      then
+        echo "$EPICS_HOST_ARCH is not one of supported <${SUPPORTED_EPICS_ARCH}>"
+	exit 1
+      fi
+      ;;
+    m)
+      # module version
+      ARG_MODVER=$OPTARG
+      if [ "$ARG_MODVER" == "test" ] || [ "$ARG_MODVER" == "TEST" ]; then
+        TEST=1
+      fi 
+      echo "Module version $ARG_MODVER"
+      ;;
+    k)
+      # kernel version
+      ARG_KERNVER=$OPTARG
+      echo "Kernel version $ARG_KERNVER"
+      ;;
+    b)
+      # execute configure
+      DO_INSTALL="no"
+      echo "Just building - will not install"
+      ;;
+    l)
+      # execute configure
+      DO_INSTALL_BIN="no"
+      echo "Will not install to .../bin"
+      ;;
+    c)
+      # execute configure
+      EXEC_CFG=1
+      echo "Configure will be executed"
+      ;;
+    \?)
+        HOST_KERNELS=$(find /usr/src/kernels/ -mindepth 1 -maxdepth 1 -type d)
+        IFC_KERNELS=$(find /opt/eldk-5.2/kernel/ -mindepth 1 -maxdepth 1 -name *-linux-*)
+        RPI_KERNELS=$(find /net/crosst-hafs/export/cross_tools/raspberrypi/ -mindepth 1 -maxdepth 1 -type d -name linux-headers-*)
+        ZYNQMP_KERNELS=$(find /psi.ch/group/8210/8211/anicic/ZynqMP/RootFsAddons-v4/my-kernel/ -mindepth 1 -maxdepth 1 -type d -name linux-xlnx-*)
+        
+        HOSTSYSTEM=$(< /etc/system-release)
+
+        echo "Invalid option: -$OPTARG" >&2
+        echo "-------------------------------------------------------------------------------"
+        echo "Usage: `basename $0` [-a epics-host-arch] [-m module_version] [-k kernel_version] [-c] "
+        echo " "
+        echo "                   module_version (-m): [n.m|test]        (n.m = 2.1, 2.2, etc)"
+        echo "                        configure (-c): execute configure (automatically done when needed)"
+        echo "                   kernel_version (-k):"
+        for i in $HOST_KERNELS; do
+            printf "%40s ($HOSTSYSTEM, %s)\n" ${i##*/} ${i##*.}
+        done
+        for i in $IFC_KERNELS; do
+            printf "%40s (ifc, PPC)\n" ${i#*-linux-}
+        done
+        for i in $RPI_KERNELS; do
+            printf "%40s (raspberry pi, arm)\n" ${i#*linux-headers-}
+        done
+        for i in $ZYNQMP_KERNELS; do
+            printf "%40s (zynqmp, arm64)\n" ${i#*linux-xlnx-}
+        done
+        echo
+        echo "Note: Only one architecture (ifc, x86_64, i686, ...) can be active (\"configured\") at any given time"
+        echo "      Also, configure has to be executed at least once for the given architecture"
+        echo "-------------------------------------------------------------------------------"
+        exit 1
+      ;;
+  esac
+done
+
+if [[ ${SUPPORTED_EPICS_ARCH} != *${EPICS_HOST_ARCH}* ]]
+then
+  echo "$EPICS_HOST_ARCH is not one of supported <${SUPPORTED_EPICS_ARCH}>"
+  exit 1
+fi
+
+echo "EPICS_HOST_ARCH      = $EPICS_HOST_ARCH"
+
+#
+# =========================================================================================================
+#
+unset LD_LIBRARY_PATH
+
+EXTRAS=""
+ENADIS="--enable-generic=yes --enable-e1000=no --enable-e1000e=no --enable-igb=no --enable-8139too=no --enable-r8169=no \
+        --enable-hrtimer=yes --disable-debug-if --disable-debug-ring --enable-sii-assign=yes --enable-eoe=no"
+
+
+case "${EPICS_HOST_ARCH}" in
+  yocto40-aarch64)
+    if [ -d "$(ls -d /psi.ch/group/8210/8211/anicic/ZynqMP/RootFsAddons-v4/my-kernel/linux-xlnx-$ARG_KERNVER 2>/dev/null)" ] || [ -z $ARG_KERNVER ]
+    then
+      KERNEL_SRC=$(ls -d /psi.ch/group/8210/8211/anicic/ZynqMP/RootFsAddons-v4/my-kernel/linux-xlnx-$ARG_KERNVER/) || KERNEL_SRC=''
+      GCCBIN=/opt/yocto40-aarch64/sysroots/x86_64-pokysdk-linux/usr/bin/aarch64-poky-linux
+      HOST="--host=aarch64-poky-linux"
+      ARCH="arm64"
+      
+      CCC=${HOST:+${HOST#--host=}-}
+      SYSROOT=/opt/yocto40-aarch64/sysroots/cortexa53-poky-linux
+      EXTRAS="CC=\"${CCC}gcc --sysroot=$SYSROOT\" CXX=\"${CCC}g++ --sysroot=$SYSROOT\" LD=\"${CCC}ld --sysroot=$SYSROOT\" --with-sysroot=$SYSROOT"
+      
+      ENADIS="--enable-generic=yes --enable-e1000=no --enable-e1000e=no --enable-igb=no --enable-8139too=no --enable-r8169=no \
+        --enable-hrtimer=yes --disable-debug-if --disable-debug-ring --enable-sii-assign=yes --enable-eoe=no"
+
+    else
+      echo -e "Compiling for kernel version ${RED}${BOLD}$ARG_KERNVER${NC} - kernel sources not found"
+      exit 1
+    fi
+    ;;
+  *)
+    echo "Unsupported build for EPICS_HOST_ARCH=$EPICS_HOST_ARCH"
+    exit 1
+    ;;
+esac
+
+# if -k option is not given, there can also be no kernel source
+[ -z $ARG_KERNVER ] && KERNEL_SRC=''
+
+
+if [ -n "$GCCBIN" ]; then
+    PATH=$GCCBIN:$PATH
+fi
+
+if [ -f .last_kernelversion ]
+then
+  if [ "$ARG_KERNVER" != "$(< .last_kernelversion)" ] ; then
+    echo "Kernel differs from last build: running \"configure\""
+    EXEC_CFG=1
+  fi 2>/dev/null
+else
+  EXEC_CFG=1
+fi
+
+if [ -f .last_epicshostarch ]
+then
+  if [ "$EPICS_HOST_ARCH" != "$(< .last_epicshostarch)" ] ; then
+    echo "EPICS_HOST_ARCH differs from last build: running \"configure\""
+    EXEC_CFG=1
+  fi 2>/dev/null
+else
+  EXEC_CFG=1
+fi
+
+BUILD_KERNEL_MODULES="--enable-kernel=no"
+[ ! -z $KERNEL_SRC ] && BUILD_KERNEL_MODULES="--enable-kernel=yes --with-linux-dir=$KERNEL_SRC"
+
+if [ ! -f Makefile ]
+then
+  EXEC_CFG=1
+fi
+
+if [ $EXEC_CFG == 1 ]; then
+    dye make clean || echo "********** clean failed, but go on **********"
+    eval dye ./configure $HOST $BUILD_KERNEL_MODULES \
+        --prefix=/usr/local --sysconfdir=/etc \
+        $ENADIS \
+        $EXTRAS
+fi
+echo $ARG_KERNVER > .last_kernelversion
+echo $EPICS_HOST_ARCH > .last_epicshostarch
+
+dye make all
+
+[   -z $KERNEL_SRC ] && echo "Not building kernel modules (no -k option given)"
+[ ! -z $KERNEL_SRC ] && dye make modules ARCH=$ARCH CROSS_COMPILE=${HOST:+${HOST#--host=}-} V=0
+
+
+#
+# =========================================================================================================
+#
+ARG_KERNVER_SHOW="$ARG_KERNVER"
+[ -z $ARG_KERNVER_SHOW ] && ARG_KERNVER_SHOW="none"
+echo -e "---------------------------------------------------------------------------------------------------------"
+echo -e
+echo -e " ARCH ${RED}$ARCH${NC}, EPICS_HOST_ARCH ${RED}$EPICS_HOST_ARCH${NC}, EtherCAT Master ${RED}${BOLD}$ARG_MODVER${NC}, Kernel ${RED}${BOLD}$ARG_KERNVER_SHOW${NC}"
+echo -e
+echo -e "---------------------------------------------------------------------------------------------------------"
+
+ROOT_TARGET_DIR=/ioc/NeedfulThings/EtherCAT/4epics
+HOSTNAME=`hostname`
+HOSTNAME=${HOSTNAME%%.*}
+
+if [ ! -d "$ROOT_TARGET_DIR" ] && [ ! -d "/import$ROOT_TARGET_DIR" ]; then
+  echo -e "Directory ${BOLD}$ROOT_TARGET_DIR${NC} does not exist here ($HOSTNAME)."
+  exit 1
+fi
+
+rm -rf .deploy
+mkdir -p .deploy/include
+mkdir -p .deploy/lib
+[ "$DO_INSTALL_BIN" != "no" ] && mkdir -p .deploy/bin
+[ ! -z $KERNEL_SRC ] && mkdir -p .deploy/kernel/${ARG_KERNVER}
+LIBNAME=libethercat.so.${ETHVERSION}
+
+cp include/*.h               .deploy/include
+cp lib/.libs/$LIBNAME        .deploy/lib
+cp lib/.libs/libethercat.a   .deploy/lib
+[ ! -z $KERNEL_SRC ] && cp master/ec_master.ko       .deploy/kernel/${ARG_KERNVER}
+[ ! -z $KERNEL_SRC ] && cp devices/ec_generic.ko     .deploy/kernel/${ARG_KERNVER}
+
+
+if [ ${TEST} = 0 ]; then
+ln -s $LIBNAME               .deploy/lib/${LIBNAME%.*.*}
+ln -s $LIBNAME               .deploy/lib/${LIBNAME%.*.*.*}
+fi
+
+
+TARGET_DIR=${ROOT_TARGET_DIR}/$ARG_MODVER/$EPICS_HOST_ARCH
+ARCHIVENAME=ethercat-$ARG_MODVER-$ARG_KERNVER-drv-4epics.tar
+
+
+echo "" > .deploy/Readme.txt
+echo "Created at : $(date)" >> .deploy/Readme.txt
+echo "On         : $(uname -a)" >> .deploy/Readme.txt
+grep 'gitlab.' .git/config | head -1 | awk '{print "ORIGIN     : " $3}' >> .deploy/Readme.txt
+echo "" >> .deploy/Readme.txt
+
+
+[ "$DO_INSTALL_BIN" != "no" ] && cp tool/ethercat             .deploy/bin/ethercat
+[ "$DO_INSTALL_BIN" != "no" ] && cp script/ethercatctl        .deploy/bin/ethercatctl
+[ "$DO_INSTALL_BIN" != "no" ] && chmod a+x .deploy/bin/ethercat*
+
+echo "# paths for this EtherCAT version" > .deploy/this-paths
+echo "export PATH=\$PATH:$TARGET_DIR/bin" >> .deploy/this-paths
+echo "export MODULE_PATH=$TARGET_DIR/kernel/$ARG_KERNVER" >> .deploy/this-paths
+echo "#export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:$TARGET_DIR/lib" >> .deploy/this-paths
+
+
+# original ethercatctl needs modules to be installed in /lib/modules/...
+sed -i "/^LSMOD=/i\
+. /ioc/NeedfulThings/EtherCAT/4epics/$ARG_MODVER/$EPICS_HOST_ARCH/this-paths\n\
+MODINS=/sbin/insmod
+"                                                                                                                 .deploy/bin/ethercatctl
+sed -i 's|${MODPROBE} ${MODPROBE_FLAGS} ec_master|${MODINS} ${MODPROBE_FLAGS} $MODULE_PATH/ec_master.ko|'         .deploy/bin/ethercatctl
+sed -i 's|${MODINFO} "${ECMODULE}"|${MODINFO} "$MODULE_PATH/${ECMODULE}.ko"|'                                     .deploy/bin/ethercatctl
+sed -i 's|${MODPROBE} ${MODPROBE_FLAGS} "${ECMODULE}"|${MODINS} ${MODPROBE_FLAGS} "$MODULE_PATH/${ECMODULE}.ko"|' .deploy/bin/ethercatctl
+sed -i "s|/usr/local/bin/ethercat|/ioc/NeedfulThings/EtherCAT/4epics/$ARG_MODVER/$EPICS_HOST_ARCH/bin/ethercat|"  .deploy/bin/ethercatctl
+
+echo -e "${BOLD}${CYAN}Creating .deploy/$ARCHIVENAME for copy/unpack at $TARGET_DIR on *-lc servers${NC}"
+
+echo "# load EtherCAT modules and start configured intercfaces"                                                  > .deploy/prepare-load-drvr-and-start-ethercat.sh
+echo ". /ioc/NeedfulThings/EtherCAT/4epics/$ARG_MODVER/$EPICS_HOST_ARCH/this-paths"                             >> .deploy/prepare-load-drvr-and-start-ethercat.sh
+echo "cp /ioc/NeedfulThings/EtherCAT/4epics/$ARG_MODVER/$EPICS_HOST_ARCH/gfa-ethercat.conf /etc/ethercat.conf"  >> .deploy/prepare-load-drvr-and-start-ethercat.sh
+echo "ethercatctl start"                                                                                        >> .deploy/prepare-load-drvr-and-start-ethercat.sh
+chmod a+x                                                                                                          .deploy/prepare-load-drvr-and-start-ethercat.sh
+
+# our version of /etc/ethercat.conf
+cp ../../build-ethercat-4-yocto40-aarch64/gfa-ethercat.conf .deploy/gfa-ethercat.conf
+
+(cd .deploy; tar cvf ${ARCHIVENAME} --exclude ${ARCHIVENAME} .)
+
+#echo "======================= TAR FILE ========================="; tar tf .deploy/${ARCHIVENAME}; exit 0
+
+
+
+[ "$DO_INSTALL" = "no" ] && echo "Will not install (-b option given)"
+[ "$DO_INSTALL" = "no" ] && exit 0
+
+
+echo
+echo -e "${BOLD}${GREEN}Build completed${NC}"
+echo
+
+
+echo -e "${CYAN}#${NC}"
+echo -e "${CYAN}# Now copy and unpack on NFS servers${NC}"
+echo -e "${CYAN}#${NC}"
+echo -e "${CYAN}# for each sls-lc sf-lc hipa-lc proscan-lc ${NC}"
+echo -e "${CYAN}#    scp   .deploy/${ARCHIVENAME}   someuser@*-lc:/ioc/NeedfulThings/EtherCAT/install-packages/ ${NC}"
+echo -e "${CYAN}# and unpack tar file also ${NC}"
+echo -e "${CYAN}#    at *-lc: ${NC}"
+echo -e "${CYAN}#             cd /ioc/NeedfulThings/EtherCAT "
+echo -e "${CYAN}#             mkdir -p 4epics/${ARG_MODVER}/${EPICS_HOST_ARCH} ${NC}"
+echo -e "${CYAN}#             cd       4epics/${ARG_MODVER}/${EPICS_HOST_ARCH} ${NC}"
+echo -e "${CYAN}#             tar xvf ../../../install-packages/${ARCHIVENAME} ${NC}"
+echo -e "${CYAN}#${NC}"
+
diff --git a/build-ethercat-4-yocto40-aarch64/gfa-ethercat.conf b/build-ethercat-4-yocto40-aarch64/gfa-ethercat.conf
new file mode 100644
index 0000000..ecd6784
--- /dev/null
+++ b/build-ethercat-4-yocto40-aarch64/gfa-ethercat.conf
@@ -0,0 +1,66 @@
+# -------------------------------------------------------------------------
+# Network devices to bind EtherCAT master
+#
+# master devices
+# device kernel module
+DEVICE_MODULES="generic"
+#DEVICE_MODULES="igb"
+#
+# devices to enable
+#
+LINK_DEVICES=""
+# end of link devices
+#
+# AD82 added on 27.09.2023
+# you can redefine:
+#   DEVICE_MODULES="generic"                          # this is default
+#   DEVICE_MODULES="igb"
+#   DEVICE_MODULES="igb generic"
+#   DEVICE_MODULES="or whichever drivers you want"
+#
+# AD82 added on 06.11.2024 - can also (re)define LINK_DEVICES and MAC addresses (MASTER*_DEVICE) 
+#
+USEDTHERCATDRVRFN=""
+MYCFGDIR="/ioc/hosts/`hostname`/cfg"
+MYETHERCATDRVRFN="${MYCFGDIR}/ETHERCATDRVR"
+if [ -f ${MYETHERCATDRVRFN} ]
+then
+  USEDTHERCATDRVRFN=${MYETHERCATDRVRFN}
+else
+  MYCFGDIR="/ioc/`hostname`/cfg"
+  MYETHERCATDRVRFN="${MYCFGDIR}/ETHERCATDRVR"
+  if [ -f ${MYETHERCATDRVRFN} ]
+  then
+    USEDTHERCATDRVRFN=${MYETHERCATDRVRFN}
+  fi
+fi
+
+if [ -n "${USEDTHERCATDRVRFN}" ]
+then
+  . ${USEDTHERCATDRVRFN}
+
+  # echo "My DEVICE_MODULES=\"${DEVICE_MODULES}\"   #  see ${MYETHERCATDRVRFN}"
+  if [[ -n "$LINK_DEVICES" && -n "$LINK_DEVICE_MACS" ]]
+  then
+    # echo "Both LINK_DEVICES and LINK_DEVICE_MACS are not empty - will (re)define MASTER*_DEVICE vars"
+ 
+    # unset any MASTER*_DEICE if already defined (should be none)
+    for var in $(compgen -v | grep -E '^MASTER[0-9]+_DEVICE$')
+    do
+      unset "$var"
+    done
+
+    counter=0
+    for mac in $LINK_DEVICE_MACS
+    do
+      eval "MASTER${counter}_DEVICE='$mac'"
+      ((counter++))
+    done
+
+    #echo "New ethercat vars:"
+    #echo "DEVICE_MODULES: $DEVICE_MODULES"
+    #echo "LINK_DEVICES:   $LINK_DEVICES"
+    #echo "MASTER*_DEICE:  $(compgen -v | grep -E '^MASTER[0-9]+_DEVICE$')"
+
+  fi
+fi