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$Id$

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This is a minimal example application for the use of the EtherCAT

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master realtime RTDM interface with an RTAI-LXRT thread.

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The application expects an RTAI installation. Configure the master sources

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specifying --enable-rtdm --with-rtai-dir to have the right include paths.

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Most probably you'll have different EtherCAT slaves present. Try adjusting the

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section "process data" in main.c to your bus configuration.

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There are some features that can be disabled by commenting out the respective

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defines at the head of main.c.

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---

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To build the example, call:

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make 

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To run it, load the appropriate RTAI modules:

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insmod $(RTAI_DIR)/modules/rtai_hal.ko

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insmod $(RTAI_DIR)/modules/rtai_lxrt.ko

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insmod $(RTAI_DIR)/modules/rtai_sem.ko

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insmod $(RTAI_DIR)/modules/rtai_rtdm.ko

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Preload the EtherCAT RTDM module:

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modprobe ec_rtdm

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and call as root:

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./ec_rtai_rtdm_example

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...and watch the system logs for the outputs.

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