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 a minimal example module for the use of the EtherCAT master realtime
interface. It uses a kernel timer to generate a cyclic task.
Most probably you'll have different EtherCAT slaves present. Try adjusting the
section "process data" in mini.c to your bus configuration.
There are some features that can be disabled by commenting out the respective
defines at the head of mini.c.
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To build the example module, call:
make modules
To run it, call:
insmod ec_mini.ko
...and watch the system logs for the outputs.
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