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ab@2059: 
ab@2059: $Id$
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ab@2059: 
ab@2059: This is a minimal example application for the use of the EtherCAT
ab@2059: master realtime RTDM interface with an RTAI-LXRT thread.
ab@2059: 
ab@2059: The application expects an RTAI installation. Configure the master sources
ab@2059: specifying --enable-rtdm --with-rtai-dir to have the right include paths.
ab@2059: 
ab@2059: Most probably you'll have different EtherCAT slaves present. Try adjusting the
ab@2059: section "process data" in main.c to your bus configuration.
ab@2059: 
ab@2059: There are some features that can be disabled by commenting out the respective
ab@2059: defines at the head of main.c.
ab@2059: 
ab@2059: ---
ab@2059: 
ab@2059: To build the example, call:
ab@2059: 
ab@2059: make 
ab@2059: 
ab@2059: To run it, load the appropriate RTAI modules:
ab@2059: insmod $(RTAI_DIR)/modules/rtai_hal.ko
ab@2059: insmod $(RTAI_DIR)/modules/rtai_lxrt.ko
ab@2059: insmod $(RTAI_DIR)/modules/rtai_sem.ko
ab@2059: insmod $(RTAI_DIR)/modules/rtai_rtdm.ko
ab@2059: 
ab@2059: Preload the EtherCAT RTDM module:
ab@2059: modprobe ec_rtdm
ab@2059: 
ab@2059: and call as root:
ab@2059: 
ab@2059: ./ec_rtai_rtdm_example
ab@2059: 
ab@2059: ...and watch the system logs for the outputs.
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