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     3 $Id$

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     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.

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

    14 section "process data" in main.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 main.c.

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    19 ---

    20 

    21 To build the example, call:

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    23 make 

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    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:

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    36 ./ec_rtai_rtdm_example

    37 

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

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