diff -r 543c4ce9e86e -r ab0b96ac18bb examples/xenomai/README
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+++ b/examples/xenomai/README	Wed Mar 23 08:06:58 2011 +0100
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+-------------------------------------------------------------------------------
+
+$Id$
+
+-------------------------------------------------------------------------------
+
+This is a minimal example application for the use of the EtherCAT
+master realtime RTDM interface with an XENOMAI NATIVE thread.
+
+The application expects an XENOMAI installation. Configure the master sources
+specifying --enable-rtdm --with-xenomai-dir to have the right include paths.
+
+Most probably you'll have different EtherCAT slaves present. Try adjusting the
+section "process data" in main.c to your bus configuration.
+
+There are some features that can be disabled by commenting out the respective
+defines at the head of main.c.
+
+---
+
+To build the example, call:
+
+make 
+
+To run it, preload the EtherCAT RTDM module:
+
+modprobe ec_rtdm
+
+and call as root:
+
+./ec_xenomai_example
+
+...and watch the system logs for the outputs.
+
+-------------------------------------------------------------------------------