equal
deleted
inserted
replaced
447 \end{figure} |
447 \end{figure} |
448 |
448 |
449 \paragraph{Init script} |
449 \paragraph{Init script} |
450 \index{Init script} |
450 \index{Init script} |
451 |
451 |
452 Most probably you won't want to load the master module and the Ethernet driver |
452 In most cases it is not necessary to load the master module and the Ethernet |
453 modules manually, but start the master as a service. See sec.~\ref{sec:system} |
453 driver modules manually. There is an init script available, so the master can |
454 on how to do this. |
454 be started as a service (see sec.~\ref{sec:system}). |
455 |
455 |
456 \paragraph{Syslog} |
456 \paragraph{Syslog} |
457 |
457 |
458 The master module outputs information about it's state and events to the |
458 The master module outputs information about it's state and events to the |
459 kernel ring buffer. These also end up in the system logs. The above module |
459 kernel ring buffer. These also end up in the system logs. The above module |
574 % Sdo access |
574 % Sdo access |
575 % VoE handlers |
575 % VoE handlers |
576 % Cyclic operation |
576 % Cyclic operation |
577 |
577 |
578 The application interface provides functions and data structures for |
578 The application interface provides functions and data structures for |
579 applications to access and use an EtherCAT master. The complete documentation |
579 applications to access an EtherCAT master. The complete documentation of the |
580 of the interface is included as Doxygen~\cite{doxygen} comments in the header |
580 interface is included as Doxygen~\cite{doxygen} comments in the header file |
581 file \textit{include/ecrt.h}. You can either directly view the file comments |
581 \textit{include/ecrt.h}. It can either be read directly from the file |
582 or generate an HTML documentation as described in sec.~\ref{sec:gendoc}. |
582 comments, or as a more comfortable HTML documentation. The generation is |
|
583 described in sec.~\ref{sec:gendoc}. |
583 |
584 |
584 The following sections cover a general description of the application |
585 The following sections cover a general description of the application |
585 interface. |
586 interface. |
586 |
587 |
587 Every application should use the master in two steps: |
588 Every application should use the master in two steps: |
2659 communicates with the master via a character device. The corresponding device |
2660 communicates with the master via a character device. The corresponding device |
2660 nodes are created automatically, if the udev daemon is running. Note, that on |
2661 nodes are created automatically, if the udev daemon is running. Note, that on |
2661 some distributions, the \lstinline+udev+ package is not installed by default. |
2662 some distributions, the \lstinline+udev+ package is not installed by default. |
2662 |
2663 |
2663 The device nodes will be created with mode \lstinline+0660+ and group |
2664 The device nodes will be created with mode \lstinline+0660+ and group |
2664 \lstinline+root+ by default. If you want to give normal users reading access, |
2665 \lstinline+root+ by default. If ``normal'' users shall have reading access, a |
2665 create a udev rule file (for example |
2666 udev rule file (for example \textit{/etc/udev/rules.d/99-EtherCAT.rules}) has |
2666 \textit{/etc/udev/rules.d/99-EtherCAT.rules} with the following content: |
2667 to be created with the following contents: |
2667 |
2668 |
2668 \begin{lstlisting} |
2669 \begin{lstlisting} |
2669 KERNEL=="EtherCAT[0-9]*", MODE="0664" |
2670 KERNEL=="EtherCAT[0-9]*", MODE="0664" |
2670 \end{lstlisting} |
2671 \end{lstlisting} |
2671 |
2672 |