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     3 $Id$

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     6 

     7 This is a minimal example module for the use of the EtherCAT master realtime

     8 interface with an RTAI thread.

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    10 The module expects an RTAI installation. Configure the master sources

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

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

    14 section "process data" in rtai_sample.c to your bus configuration.

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

    17 defines at the head of rtai_sample.c.

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    19 ---

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    21 To build the example module, call:

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    23 make modules

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    25 To run it, load the appropriate RTAI modules and call:

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    27 insmod ec_rtai_sample.ko

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

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