Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
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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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