examples/rtai_rtdm/README
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     1 -------------------------------------------------------------------------------
       
     2 
       
     3 $Id$
       
     4 
       
     5 -------------------------------------------------------------------------------
       
     6 
       
     7 This is a minimal example application for the use of the EtherCAT
       
     8 master realtime RTDM interface with an RTAI-LXRT thread.
       
     9 
       
    10 The application expects an RTAI installation. Configure the master sources
       
    11 specifying --enable-rtdm --with-rtai-dir to have the right include paths.
       
    12 
       
    13 Most probably you'll have different EtherCAT slaves present. Try adjusting the
       
    14 section "process data" in main.c to your bus configuration.
       
    15 
       
    16 There are some features that can be disabled by commenting out the respective
       
    17 defines at the head of main.c.
       
    18 
       
    19 ---
       
    20 
       
    21 To build the example, call:
       
    22 
       
    23 make 
       
    24 
       
    25 To run it, load the appropriate RTAI modules:
       
    26 insmod $(RTAI_DIR)/modules/rtai_hal.ko
       
    27 insmod $(RTAI_DIR)/modules/rtai_lxrt.ko
       
    28 insmod $(RTAI_DIR)/modules/rtai_sem.ko
       
    29 insmod $(RTAI_DIR)/modules/rtai_rtdm.ko
       
    30 
       
    31 Preload the EtherCAT RTDM module:
       
    32 modprobe ec_rtdm
       
    33 
       
    34 and call as root:
       
    35 
       
    36 ./ec_rtai_rtdm_example
       
    37 
       
    38 ...and watch the system logs for the outputs.
       
    39 
       
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