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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 XENOMAI NATIVE thread.

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    10 The application expects an XENOMAI installation. Configure the master sources

    11 specifying --enable-rtdm --with-xenomai-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 ---

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    21 To build the example, call:

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    23 make 

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    25 To run it, preload the EtherCAT RTDM module:

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    27 modprobe ec_rtdm

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    29 and call as root:

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    31 ./ec_xenomai_example

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

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