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<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>Hi,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>I've just been updating my project to use the latest EtherCAT 1.5.2
master (2526), using RTDM with RTAI.<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'> <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>The ethercat_rtdm library calls fprintf to log various errors that may
occur. This knocks the hard realtime thread back to soft realtime due to
making a standard syscall. I have created a patch that will use rt_printk
instead if RTDM is active (attached).<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>It does the following, in ioctl.h: <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>#ifdef EC_RTDM<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>#define KERN_ERR "<3>"<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>#define EC_PRINT_ERR(fmt,
args...) \<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>
printk(KERN_ERR "EtherCAT ERROR: " fmt, ##args) <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>#else<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>#define EC_PRINT_ERR(fmt,
args...) \<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'> fprintf(stderr,
fmt, ##args) <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>#endif<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>and then changes the fprintf's, eg: from:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>
fprintf(stderr, "Failed to get reference clock time: %s\n",<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>
strerror(EC_IOCTL_ERRNO(ret)));<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>to:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>
EC_PRINT_ERR("Failed to get reference clock time: %s\n",<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'>
strerror(EC_IOCTL_ERRNO(ret)));<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face="Courier New"><span lang=EN-US
style='font-size:10.0pt;font-family:"Courier New"'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>I see there is a TODO item to replace the fprintf calls with return
codes, but you may want to do this in the meantime (or both).<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>Regards,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 face=Arial><span lang=EN-US style='font-size:
10.0pt'>Graeme.<o:p></o:p></span></font></p>
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