equal
deleted
inserted
replaced
439 \end{figure} |
439 \end{figure} |
440 |
440 |
441 \paragraph{Init script} |
441 \paragraph{Init script} |
442 \index{Init script} |
442 \index{Init script} |
443 |
443 |
444 Most probably you won't want to load the master module and the Ethernet driver |
444 In most cases it is not necessary to load the master module and the Ethernet |
445 modules manually, but start the master as a service. See sec.~\ref{sec:system} |
445 driver modules manually. There is an init script available, so the master can |
446 on how to do this. |
446 be started as a service (see sec.~\ref{sec:system}). |
447 |
447 |
448 \paragraph{Syslog} |
448 \paragraph{Syslog} |
449 |
449 |
450 The master module outputs information about it's state and events to the |
450 The master module outputs information about it's state and events to the |
451 kernel ring buffer. These also end up in the system logs. The above module |
451 kernel ring buffer. These also end up in the system logs. The above module |
565 % Sdo configuration |
565 % Sdo configuration |
566 % Sdo access |
566 % Sdo access |
567 % Cyclic operation |
567 % Cyclic operation |
568 |
568 |
569 The application interface provides functions and data structures for |
569 The application interface provides functions and data structures for |
570 applications to access and use an EtherCAT master. The complete documentation |
570 applications to access an EtherCAT master. The complete documentation of the |
571 of the interface is included as Doxygen~\cite{doxygen} comments in the header |
571 interface is included as Doxygen~\cite{doxygen} comments in the header file |
572 file \textit{include/ecrt.h}. You can either directly view the file comments |
572 \textit{include/ecrt.h}. It can either be read directly from the file |
573 or generate an HTML documentation as described in sec.~\ref{sec:gendoc}. |
573 comments, or as a more comfortable HTML documentation. The generation is |
|
574 described in sec.~\ref{sec:gendoc}. |
574 |
575 |
575 The following sections cover a general description of the application |
576 The following sections cover a general description of the application |
576 interface. |
577 interface. |
577 |
578 |
578 Every application should use the master in two steps: |
579 Every application should use the master in two steps: |
2473 communicates with the master via a character device. The corresponding device |
2474 communicates with the master via a character device. The corresponding device |
2474 nodes are created automatically, if the udev daemon is running. Note, that on |
2475 nodes are created automatically, if the udev daemon is running. Note, that on |
2475 some distributions, the \lstinline+udev+ package is not installed by default. |
2476 some distributions, the \lstinline+udev+ package is not installed by default. |
2476 |
2477 |
2477 The device nodes will be created with mode \lstinline+0660+ and group |
2478 The device nodes will be created with mode \lstinline+0660+ and group |
2478 \lstinline+root+ by default. If you want to give normal users reading access, |
2479 \lstinline+root+ by default. If ``normal'' users shall have reading access, a |
2479 create a udev rule file (for example |
2480 udev rule file (for example \textit{/etc/udev/rules.d/99-EtherCAT.rules}) has |
2480 \textit{/etc/udev/rules.d/99-EtherCAT.rules} with the following content: |
2481 to be created with the following contents: |
2481 |
2482 |
2482 \begin{lstlisting} |
2483 \begin{lstlisting} |
2483 KERNEL=="EtherCAT[0-9]*", MODE="0664" |
2484 KERNEL=="EtherCAT[0-9]*", MODE="0664" |
2484 \end{lstlisting} |
2485 \end{lstlisting} |
2485 |
2486 |