Xenomai 2 to 3 migration says "RTDM drivers implementing differentiated ioctl() support for both domains should serve all real-time only requests from ioctl_rt(), returning -ENOSYS for any unrecognized request, which will cause the adaptive switch to take place automatically to the ioctl_nrt() handler. The ioctl_nrt() should then implement all requests which may be valid from the regular Linux domain exclusively."
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This is the INSTALL file of the IgH EtherCAT Master.
$Id$
vim: set spelllang=en spell tw=78
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Building and installing
=======================
The complete build and installation procedure is described in the respective
section of the documentation available from http://etherlab.org/en/ethercat.
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For the impatient: The procedure mainly consists of calling
$ ./boostrap # to create the configure script, if downloaded from the repo
$ ./configure
$ make all modules
... and as root:
# make modules_install install
# depmod
... and linking the init script and copying the sysconfig file from $PREFIX/etc
to the appropriate locations and customizing the sysconfig file.
# ln -s ${PREFIX}/etc/init.d/ethercat /etc/init.d/ethercat
# cp ${PREFIX}/etc/sysconfig/ethercat /etc/sysconfig/ethercat
# vi /etc/sysconfig/ethercat
Make sure, that the 'udev' package is installed, to automatically create the
EtherCAT character devices. The character devices will be created with mode
0660 and group root by default. If you want to give normal users reading
access, create a udev rule like this:
# echo KERNEL==\"EtherCAT[0-9]*\", MODE=\"0664\" > /etc/udev/rules.d/99-EtherCAT.rules
Now you can start the EtherCAT master:
# /etc/init.d/ethercat start
Have a look at the examples/ subdirectory for some application examples.
Have fun!
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