examples/rtai/README
author Martin Troxler <martin.troxler@komaxgroup.com>
Thu, 26 Nov 2009 15:33:48 +0100
changeset 1583 017fa8fd9ac1
parent 1080 088a61306930
permissions -rw-r--r--
Each slave got its own SDO state machine (faster handling of external SDO requests)
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$Id$

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This is a minimal example module for the use of the EtherCAT master realtime
interface with an RTAI thread.

The module expects an RTAI installation. Configure the master sources
specifying --with-rtai-dir to have the right include paths.

Most probably you'll have different EtherCAT slaves present. Try adjusting the
section "process data" in rtai_sample.c to your bus configuration.

There are some features that can be disabled by commenting out the respective
defines at the head of rtai_sample.c.

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To build the example module, call:

make modules

To run it, load the appropriate RTAI modules and call:

insmod ec_rtai_sample.ko

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

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