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Hello Aiser,<br>
<br>
you can do this in one process with different threads. One of your
thread, maybe your main thread, calls ecrt_request_master(). You
register each EtherCAT board in a separate domain. Then you are able
to access the different boards individually through the different
domains. The only thing you have to consider is that every time you
call the master with one thread, you need to lock it with a global
mutex, so that it cannot be accessed the same time by different
threads.<br>
<br>
Best regards,<br>
Jürgen<br>
<br>
<div class="moz-cite-prefix">Am 14.11.2013 13:37, schrieb Asier
Tamayo:<br>
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<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:10.0pt;
font-family:Arial">Hello all,<o:p></o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:10.0pt;
font-family:Arial"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:
10.0pt;font-family:Arial" lang="EN-GB">I’m a new user to
the EtherCAT Master, so I beg your pardon if this question
has already been answered or it is a RT*M type question.
I’m using the master with Xenomai.<o:p></o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:
10.0pt;font-family:Arial" lang="EN-GB"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:
10.0pt;font-family:Arial" lang="EN-GB">I want to access
EtherCAT from two different tasks, each one accessing to
different EtherCAT boards. Is there any way I can do it?
The ecrt_request_master() function reserves the EtherCAT
master for exclusive use, and therefore I can’t call it
again from the second task. Do I have to create a Xenomai
RTDM driver that would reserve the master for itself and
then let the tasks execute ioctl’s to that driver? Is it
possible?<o:p></o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:
10.0pt;font-family:Arial" lang="EN-GB"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:
10.0pt;font-family:Arial" lang="EN-GB">Best regards,<o:p></o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:
10.0pt;font-family:Arial" lang="EN-GB"><o:p> </o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:10.0pt;
font-family:Arial">Asier<o:p></o:p></span></font></p>
<p class="MsoNormal"><font face="Arial" size="2"><span
style="font-size:10.0pt;
font-family:Arial"><o:p> </o:p></span></font></p>
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<br>
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<br>
<pre wrap="">_______________________________________________
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<br>
<div class="moz-signature">-- <br>
Dipl.-Inform. Jürgen Kunz<br>
<br>
<a href="http://www.tu-darmstadt.de">Technische Universität
Darmstadt</a><br>
<a href="http://www.sim.tu-darmstadt.de">FG Simulation,
Systemoptimierung und Robotik</a><br>
Hochschulstr. 10<br>
64289 Darmstadt<br>
<br>
Tel.: ++49 (0) 6151-16-70383<br>
Fax: ++49 (0) 6151-16-6648<br>
E-Mail: kunz(at)sim.tu-darmstadt.de<br>
Homepage: <a href="http://www.sim.tu-darmstadt.de">http://www.sim.tu-darmstadt.de</a></div>
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