Domain datagram working counter calculation bugfix: increment expected wc for a given slave & direction just once for each datagram
This bug occurs if you configure more than one SM in the same direction on the same slave
-------------------------------------------------------------------------------
$Id$
-------------------------------------------------------------------------------
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.
---
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.
-------------------------------------------------------------------------------