| author | Florian Pose <fp@igh-essen.com> |
| Wed, 25 Jan 2012 16:05:40 +0100 | |
| branch | redundancy |
| changeset 2353 | b78ed959d52d |
| parent 1080 | 088a61306930 |
| permissions | -rw-r--r-- |
|
1080
088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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$Id$ |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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------------------------------------------------------------------------------- |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
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This is a minimal example module for the use of the EtherCAT master realtime |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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interface with an RTAI thread. |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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The module expects an RTAI installation. Configure the master sources |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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specifying --with-rtai-dir to have the right include paths. |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
12 |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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Most probably you'll have different EtherCAT slaves present. Try adjusting the |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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section "process data" in rtai_sample.c to your bus configuration. |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
16 |
There are some features that can be disabled by commenting out the respective |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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defines at the head of rtai_sample.c. |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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--- |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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To build the example module, call: |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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make modules |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
25 |
To run it, load the appropriate RTAI modules and call: |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
26 |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
27 |
insmod ec_rtai_sample.ko |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
28 |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
29 |
...and watch the system logs for the outputs. |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
30 |
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088a61306930
Removed MSR example; adapted RTAI example; README files for examples.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
31 |
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