This fix a segfault in xenomai_posix example when calling pthread_setschedparam(cyclic_thread, ...) from main thread. As a side effect EL2004 becomes EL2088 - that's what IU have for testing.
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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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